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Merge master into linux

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This commit is contained in:
Lorenz Meier
2015-05-18 23:28:57 +02:00
parent 791d780bb8 c06ba047e2
commit e5fad077df
13 changed files with 292 additions and 97 deletions
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src/modules/mavlink/mavlink_ftp.cpp
+8
View File
@@ -310,8 +310,12 @@ MavlinkFTP::_workList(PayloadHeader* payload)
DIR *dp = opendir(dirPath);
if (dp == nullptr) {
#ifdef MAVLINK_FTP_UNIT_TEST
warnx("File open failed");
#else
_mavlink->send_statustext_critical("FTP: can't open path (file system corrupted?)");
_mavlink->send_statustext_critical(dirPath);
#endif
// this is not an FTP error, abort directory read and continue
payload->data[offset++] = kDirentSkip;
@@ -334,8 +338,12 @@ MavlinkFTP::_workList(PayloadHeader* payload)
for (;;) {
// read the directory entry
if (readdir_r(dp, &entry, &result)) {
#ifdef MAVLINK_FTP_UNIT_TEST
warnx("readdir_r failed");
#else
_mavlink->send_statustext_critical("FTP: list readdir_r failure");
_mavlink->send_statustext_critical(dirPath);
#endif
payload->data[offset++] = kDirentSkip;
*((char *)&payload->data[offset]) = '\0';
src/modules/mavlink/mavlink_messages.cpp
+21
View File
@@ -546,6 +546,27 @@ protected:
status.battery_remaining * 100.0f : -1;
_mavlink->send_message(MAVLINK_MSG_ID_SYS_STATUS, &msg);
/* battery status message with higher resolution */
mavlink_battery_status_t bat_msg;
bat_msg.id = 0;
bat_msg.battery_function = MAV_BATTERY_FUNCTION_ALL;
bat_msg.type = MAV_BATTERY_TYPE_LIPO;
bat_msg.temperature = INT16_MAX;
for (unsigned i = 0; i < (sizeof(bat_msg.voltages) / sizeof(bat_msg.voltages[0])); i++) {
if (i < status.battery_cell_count) {
bat_msg.voltages[i] = (status.battery_voltage / status.battery_cell_count) * 1000.0f;
} else {
bat_msg.voltages[i] = 0;
}
}
bat_msg.current_battery = status.battery_current * 100.0f;
bat_msg.current_consumed = status.battery_discharged_mah;
bat_msg.energy_consumed = -1.0f;
bat_msg.battery_remaining = (status.battery_voltage > 0) ?
status.battery_remaining * 100.0f : -1;
_mavlink->send_message(MAVLINK_MSG_ID_BATTERY_STATUS, &bat_msg);
}
}
};
src/modules/mavlink/mavlink_receiver.cpp
+1 -1
View File
@@ -1388,7 +1388,7 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
if (!_hil_local_proj_inited) {
_hil_local_proj_inited = true;
_hil_local_alt0 = hil_state.alt / 1000.0f;
map_projection_init(&_hil_local_proj_ref, hil_state.lat, hil_state.lon);
map_projection_init(&_hil_local_proj_ref, lat, lon);
hil_local_pos.ref_timestamp = timestamp;
hil_local_pos.ref_lat = lat;
hil_local_pos.ref_lon = lon;