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Merge branch 'release_v1.0.0' into beta

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This commit is contained in:
Lorenz Meier 2015-06-05 22:42:27 +02:00
commit e6b97321df
12 changed files with 205 additions and 129 deletions
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25
ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil
View File

@ -6,5 +6,30 @@
sh /etc/init.d/rc.fw_defaults
if [ $AUTOCNF == yes ]
then
param set BAT_N_CELLS 3
param set FW_AIRSPD_MAX 20
param set FW_AIRSPD_MIN 12
param set FW_AIRSPD_TRIM 14
param set FW_ATT_TC 0.3
param set FW_L1_DAMPING 0.74
param set FW_L1_PERIOD 16
param set FW_LND_ANG 15
param set FW_LND_FLALT 5
param set FW_LND_HHDIST 15
param set FW_LND_HVIRT 13
param set FW_LND_TLALT 5
param set FW_THR_LND_MAX 0
param set FW_PR_FF 0.35
param set FW_PR_I 0.1
param set FW_PR_IMAX 0.4
param set FW_PR_P 0.2
param set FW_RR_FF 0.6
param set FW_RR_I 0.1
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.3
fi
set HIL yes
set MIXER AERT

8
ROMFS/px4fmu_common/init.d/3034_fx79
View File

@ -7,4 +7,12 @@
sh /etc/init.d/rc.fw_defaults
if [ $AUTOCNF == yes ]
then
param set NAV_LOITER_RAD 150
param set FW_AIRSPD_MAX 30
param set FW_AIRSPD_MIN 13
param set FW_AIRSPD_TRIM 15
fi
set MIXER FX79

39
ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
View File

@ -9,26 +9,29 @@ sh /etc/init.d/rc.fw_defaults
if [ $AUTOCNF == yes ]
then
# TODO: these are the X5 default parameters, update them to the caipi
param set FW_AIRSPD_MIN 15
param set FW_AIRSPD_TRIM 20
param set FW_AIRSPD_MAX 40
param set FW_AIRSPD_MAX 20
param set FW_AIRSPD_MIN 12
param set FW_AIRSPD_TRIM 16
param set FW_ATT_TC 0.3
param set FW_L1_DAMPING 0.74
param set FW_L1_PERIOD 15
param set FW_PR_FF 0.3
param set FW_PR_I 0
param set FW_PR_IMAX 0.2
param set FW_PR_P 0.03
param set FW_P_ROLLFF 0
param set FW_RR_FF 0.3
param set FW_RR_I 0
param set FW_L1_PERIOD 16
param set FW_LND_ANG 15
param set FW_LND_FLALT 5
param set FW_LND_HHDIST 15
param set FW_LND_HVIRT 13
param set FW_LND_TLALT 5
param set FW_THR_LND_MAX 0
param set FW_PR_FF 0.35
param set FW_PR_I 0.01
param set FW_PR_IMAX 0.4
param set FW_PR_P 0.08
param set FW_RR_FF 0.6
param set FW_RR_I 0.01
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.03
param set FW_R_LIM 60
param set FW_R_RMAX 0
param set FW_RR_P 0.04
fi
set MIXER Q
set MIXER caipi
# Provide ESC a constant 1000 us pulse
set PWM_OUT 4
set PWM_DISARMED 1000

51
ROMFS/px4fmu_common/mixers/caipi.main.mix Normal file
View File

@ -0,0 +1,51 @@
Delta-wing mixer
===========================
Designed for TBS Caipirinha
This file defines mixers suitable for controlling a delta wing aircraft using
PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
assumed to be unused.
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
(roll), 1 (pitch) and 3 (thrust).
See the README for more information on the scaler format.
Elevon mixers
-------------
Three scalers total (output, roll, pitch).
On the assumption that the two elevon servos are physically reversed, the pitch
input is inverted between the two servos.
The scaling factor for roll inputs is adjusted to implement differential travel
for the elevons.
M: 2
O: 10000 10000 -3000 -10000 10000
S: 0 0 -9000 -9000 0 -10000 10000
S: 0 1 8000 8000 0 -10000 10000
M: 2
O: 10000 10000 3000 -10000 10000
S: 0 0 -9000 -9000 0 -10000 10000
S: 0 1 -8000 -8000 0 -10000 10000
Output 2
--------
This mixer is empty.
Z:
Motor speed mixer
-----------------
Two scalers total (output, thrust).
This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
range. Inputs below zero are treated as zero.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000

5
msg/navigation_capabilities.msg Normal file
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@ -0,0 +1,5 @@
uint64 timestamp # timestamp this topic was emitted
float32 turn_distance # the optimal distance to a waypoint to switch to the next
float32 landing_horizontal_slope_displacement
float32 landing_slope_angle_rad
float32 landing_flare_length

2
src/drivers/px4io/px4io.cpp
View File

@ -1009,7 +1009,7 @@ PX4IO::task_main()
orb_copy(ORB_ID(vehicle_command), _t_vehicle_command, &cmd);
// Check for a DSM pairing command
if (((int)cmd.command == vehicle_command_s::VEHICLE_CMD_START_RX_PAIR) && ((int)cmd.param1 == 0)) {
if (((uint32_t)cmd.command == vehicle_command_s::VEHICLE_CMD_START_RX_PAIR) && ((int)cmd.param1 == 0)) {
dsm_bind_ioctl((int)cmd.param2);
}
}

14
src/drivers/trone/trone.cpp
View File

@ -314,10 +314,16 @@ TRONE::probe()
uint8_t who_am_i=0;
const uint8_t cmd = TRONE_WHO_AM_I_REG;
if (transfer(&cmd, 1, &who_am_i, 1) == OK && who_am_i == TRONE_WHO_AM_I_REG_VAL) {
// it is responding correctly to a WHO_AM_I
return measure();
}
// set the I2C bus address
set_address(TRONE_BASEADDR);
// can't use a single transfer as TROne need a bit of time for internal processing
if (transfer(&cmd, 1, nullptr, 0) == OK) {
if ( transfer(nullptr, 0, &who_am_i, 1) == OK && who_am_i == TRONE_WHO_AM_I_REG_VAL){
return measure();
}
}
debug("WHO_AM_I byte mismatch 0x%02x should be 0x%02x\n",
(unsigned)who_am_i,

8
src/modules/commander/commander.cpp
View File

@ -1582,6 +1582,8 @@ int commander_thread_main(int argc, char *argv[])
low_battery_voltage_actions_done = true;
if (armed.armed) {
mavlink_log_critical(mavlink_fd, "LOW BATTERY, RETURN TO LAND ADVISED");
} else {
mavlink_log_critical(mavlink_fd, "LOW BATTERY, TAKEOFF DISCOURAGED");
}
status.battery_warning = vehicle_status_s::VEHICLE_BATTERY_WARNING_LOW;
status_changed = true;
@ -2054,11 +2056,13 @@ int commander_thread_main(int argc, char *argv[])
set_tune(TONE_ARMING_WARNING_TUNE);
arm_tune_played = true;
} else if (status.battery_warning == vehicle_status_s::VEHICLE_BATTERY_WARNING_CRITICAL) {
} else if ((status.hil_state != vehicle_status_s::HIL_STATE_ON) &&
status.battery_warning == vehicle_status_s::VEHICLE_BATTERY_WARNING_CRITICAL) {
/* play tune on battery critical */
set_tune(TONE_BATTERY_WARNING_FAST_TUNE);
} else if (status.battery_warning == vehicle_status_s::VEHICLE_BATTERY_WARNING_LOW || status.failsafe) {
} else if ((status.hil_state != vehicle_status_s::HIL_STATE_ON) &&
(status.battery_warning == vehicle_status_s::VEHICLE_BATTERY_WARNING_LOW || status.failsafe)) {
/* play tune on battery warning or failsafe */
set_tune(TONE_BATTERY_WARNING_SLOW_TUNE);

9
src/modules/mavlink/mavlink_receiver.cpp
View File

@ -948,7 +948,7 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
* which makes the corner positions unreachable.
* scale yaw up and clip it to overcome this.
*/
rc.values[2] = man.r / 1.2f + 1500;
rc.values[2] = man.r / 1.1f + 1500;
if (rc.values[2] > 2000) {
rc.values[2] = 2000;
} else if (rc.values[2] < 1000) {
@ -956,7 +956,12 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
}
/* throttle */
rc.values[3] = man.z + 1000;
rc.values[3] = man.z / 0.9f + 1000;
if (rc.values[3] > 2000) {
rc.values[3] = 2000;
} else if (rc.values[3] < 1000) {
rc.values[3] = 1000;
}
rc.values[4] = decode_switch_pos_n(man.buttons, 0) * 1000 + 1000;
rc.values[5] = decode_switch_pos_n(man.buttons, 1) * 1000 + 1000;

4
src/modules/navigator/mission_params.c
View File

@ -81,7 +81,7 @@ PARAM_DEFINE_INT32(MIS_ONBOARD_EN, 1);
* @max 1000
* @group Mission
*/
PARAM_DEFINE_FLOAT(MIS_DIST_1WP, 500);
PARAM_DEFINE_FLOAT(MIS_DIST_1WP, 900);
/**
* Altitude setpoint mode
@ -94,7 +94,7 @@ PARAM_DEFINE_FLOAT(MIS_DIST_1WP, 500);
* @max 1
* @group Mission
*/
PARAM_DEFINE_INT32(MIS_ALTMODE, 0);
PARAM_DEFINE_INT32(MIS_ALTMODE, 1);
/**
* Multirotor only. Yaw setpoint mode.

99
src/modules/px4iofirmware/controls.c
View File

@ -64,6 +64,10 @@ static int _dsm_fd;
static uint16_t rc_value_override = 0;
#ifdef ADC_RSSI
static unsigned _rssi_adc_counts = 0;
#endif
bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated, bool *sumd_updated)
{
perf_begin(c_gather_dsm);
@ -71,17 +75,22 @@ bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated, bool
uint8_t n_bytes = 0;
uint8_t *bytes;
*dsm_updated = dsm_input(r_raw_rc_values, &temp_count, &n_bytes, &bytes);
if (*dsm_updated) {
r_raw_rc_count = temp_count & 0x7fff;
if (temp_count & 0x8000)
if (temp_count & 0x8000) {
r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_RC_DSM11;
else
} else {
r_raw_rc_flags &= ~PX4IO_P_RAW_RC_FLAGS_RC_DSM11;
}
r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FRAME_DROP);
r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
}
perf_end(c_gather_dsm);
/* get data from FD and attempt to parse with DSM and ST24 libs */
@ -94,7 +103,7 @@ bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated, bool
/* set updated flag if one complete packet was parsed */
st24_rssi = RC_INPUT_RSSI_MAX;
*st24_updated |= (OK == st24_decode(bytes[i], &st24_rssi, &rx_count,
&st24_channel_count, r_raw_rc_values, PX4IO_RC_INPUT_CHANNELS));
&st24_channel_count, r_raw_rc_values, PX4IO_RC_INPUT_CHANNELS));
}
if (*st24_updated) {
@ -121,7 +130,7 @@ bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated, bool
/* set updated flag if one complete packet was parsed */
sumd_rssi = RC_INPUT_RSSI_MAX;
*sumd_updated |= (OK == sumd_decode(bytes[i], &sumd_rssi, &sumd_rx_count,
&sumd_channel_count, r_raw_rc_values, PX4IO_RC_INPUT_CHANNELS));
&sumd_channel_count, r_raw_rc_values, PX4IO_RC_INPUT_CHANNELS));
}
if (*sumd_updated) {
@ -170,7 +179,8 @@ controls_init(void)
}
void
controls_tick() {
controls_tick()
{
/*
* Gather R/C control inputs from supported sources.
@ -184,19 +194,24 @@ controls_tick() {
uint16_t rssi = 0;
#ifdef ADC_RSSI
if (r_setup_features & PX4IO_P_SETUP_FEATURES_ADC_RSSI) {
unsigned counts = adc_measure(ADC_RSSI);
if (counts != 0xffff) {
/* use 1:1 scaling on 3.3V ADC input */
unsigned mV = counts * 3300 / 4096;
/* scale to 0..253 and lowpass */
rssi = (rssi * 0.99f) + ((mV / (3300 / RC_INPUT_RSSI_MAX)) * 0.01f);
if (counts != 0xffff) {
/* low pass*/
_rssi_adc_counts = (_rssi_adc_counts * 0.998f) + (counts * 0.002f);
/* use 1:1 scaling on 3.3V, 12-Bit ADC input */
unsigned mV = _rssi_adc_counts * 3300 / 4095;
/* scale to 0..100 (RC_INPUT_RSSI_MAX == 100) */
rssi = (mV * RC_INPUT_RSSI_MAX / 3300);
if (rssi > RC_INPUT_RSSI_MAX) {
rssi = RC_INPUT_RSSI_MAX;
}
}
}
#endif
/* zero RSSI if signal is lost */
@ -207,21 +222,26 @@ controls_tick() {
perf_begin(c_gather_dsm);
bool dsm_updated, st24_updated, sumd_updated;
(void)dsm_port_input(&rssi, &dsm_updated, &st24_updated, &sumd_updated);
if (dsm_updated) {
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM;
}
if (st24_updated) {
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_ST24;
}
if (sumd_updated) {
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_SUMD;
}
perf_end(c_gather_dsm);
perf_begin(c_gather_sbus);
bool sbus_failsafe, sbus_frame_drop;
bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count, &sbus_failsafe, &sbus_frame_drop, PX4IO_RC_INPUT_CHANNELS);
bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count, &sbus_failsafe, &sbus_frame_drop,
PX4IO_RC_INPUT_CHANNELS);
if (sbus_updated) {
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_SBUS;
@ -231,17 +251,19 @@ controls_tick() {
if (sbus_frame_drop) {
r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_FRAME_DROP;
sbus_rssi = RC_INPUT_RSSI_MAX / 2;
} else {
r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FRAME_DROP);
}
if (sbus_failsafe) {
r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_FAILSAFE;
} else {
r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
}
/* set RSSI to an emulated value if ADC RSSI is off */
/* set RSSI to an emulated value if ADC RSSI is off */
if (!(r_setup_features & PX4IO_P_SETUP_FEATURES_ADC_RSSI)) {
rssi = sbus_rssi;
}
@ -257,17 +279,20 @@ controls_tick() {
*/
perf_begin(c_gather_ppm);
bool ppm_updated = ppm_input(r_raw_rc_values, &r_raw_rc_count, &r_page_raw_rc_input[PX4IO_P_RAW_RC_DATA]);
if (ppm_updated) {
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_PPM;
r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FRAME_DROP);
r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
}
perf_end(c_gather_ppm);
/* limit number of channels to allowable data size */
if (r_raw_rc_count > PX4IO_RC_INPUT_CHANNELS)
if (r_raw_rc_count > PX4IO_RC_INPUT_CHANNELS) {
r_raw_rc_count = PX4IO_RC_INPUT_CHANNELS;
}
/* store RSSI */
r_page_raw_rc_input[PX4IO_P_RAW_RC_NRSSI] = rssi;
@ -308,10 +333,13 @@ controls_tick() {
/*
* 1) Constrain to min/max values, as later processing depends on bounds.
*/
if (raw < conf[PX4IO_P_RC_CONFIG_MIN])
if (raw < conf[PX4IO_P_RC_CONFIG_MIN]) {
raw = conf[PX4IO_P_RC_CONFIG_MIN];
if (raw > conf[PX4IO_P_RC_CONFIG_MAX])
}
if (raw > conf[PX4IO_P_RC_CONFIG_MAX]) {
raw = conf[PX4IO_P_RC_CONFIG_MAX];
}
/*
* 2) Scale around the mid point differently for lower and upper range.
@ -330,10 +358,12 @@ controls_tick() {
* DO NOT REMOVE OR ALTER STEP 1!
*/
if (raw > (conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE])) {
scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_MAX] - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]));
scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(
conf[PX4IO_P_RC_CONFIG_MAX] - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]));
} else if (raw < (conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])) {
scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE] - conf[PX4IO_P_RC_CONFIG_MIN]));
scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(
conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE] - conf[PX4IO_P_RC_CONFIG_MIN]));
} else {
/* in the configured dead zone, output zero */
@ -347,6 +377,7 @@ controls_tick() {
/* and update the scaled/mapped version */
unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT];
if (mapped < PX4IO_CONTROL_CHANNELS) {
/* invert channel if pitch - pulling the lever down means pitching up by convention */
@ -360,6 +391,7 @@ controls_tick() {
if (((raw < conf[PX4IO_P_RC_CONFIG_MIN]) && (raw < r_setup_rc_thr_failsafe)) ||
((raw > conf[PX4IO_P_RC_CONFIG_MAX]) && (raw > r_setup_rc_thr_failsafe))) {
r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_FAILSAFE;
} else {
r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
}
@ -389,6 +421,7 @@ controls_tick() {
/* if we have enough channels (5) to control the vehicle, the mapping is ok */
if (assigned_channels > 4) {
r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_MAPPING_OK;
} else {
r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_MAPPING_OK);
}
@ -408,9 +441,9 @@ controls_tick() {
/* clear the input-kind flags here */
r_status_flags &= ~(
PX4IO_P_STATUS_FLAGS_RC_PPM |
PX4IO_P_STATUS_FLAGS_RC_DSM |
PX4IO_P_STATUS_FLAGS_RC_SBUS);
PX4IO_P_STATUS_FLAGS_RC_PPM |
PX4IO_P_STATUS_FLAGS_RC_DSM |
PX4IO_P_STATUS_FLAGS_RC_SBUS);
}
@ -427,8 +460,8 @@ controls_tick() {
if (rc_input_lost) {
/* Clear the RC input status flag, clear manual override flag */
r_status_flags &= ~(
PX4IO_P_STATUS_FLAGS_OVERRIDE |
PX4IO_P_STATUS_FLAGS_RC_OK);
PX4IO_P_STATUS_FLAGS_OVERRIDE |
PX4IO_P_STATUS_FLAGS_RC_OK);
/* flag raw RC as lost */
r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_RC_OK);
@ -451,9 +484,9 @@ controls_tick() {
* Override is enabled if either the hardcoded channel / value combination
* is selected, or the AP has requested it.
*/
if ((r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) &&
!(r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE)) {
if ((r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) &&
!(r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE)) {
bool override = false;
@ -464,8 +497,9 @@ controls_tick() {
* requested override.
*
*/
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && (REG_TO_SIGNED(rc_value_override) < RC_CHANNEL_LOW_THRESH))
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && (REG_TO_SIGNED(rc_value_override) < RC_CHANNEL_LOW_THRESH)) {
override = true;
}
/*
if the FMU is dead then enable override if we have a
@ -473,20 +507,23 @@ controls_tick() {
*/
if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) &&
(r_setup_arming & PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE) &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK))
override = true;
(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) {
override = true;
}
if (override) {
r_status_flags |= PX4IO_P_STATUS_FLAGS_OVERRIDE;
/* mix new RC input control values to servos */
if (dsm_updated || sbus_updated || ppm_updated || st24_updated || sumd_updated)
if (dsm_updated || sbus_updated || ppm_updated || st24_updated || sumd_updated) {
mixer_tick();
}
} else {
r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_OVERRIDE);
}
} else {
r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_OVERRIDE);
}
@ -512,8 +549,10 @@ ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len)
/* PPM data exists, copy it */
*num_values = ppm_decoded_channels;
if (*num_values > PX4IO_RC_INPUT_CHANNELS)
if (*num_values > PX4IO_RC_INPUT_CHANNELS) {
*num_values = PX4IO_RC_INPUT_CHANNELS;
}
for (unsigned i = 0; ((i < *num_values) && (i < PPM_MAX_CHANNELS)); i++) {
values[i] = ppm_buffer[i];

70
src/modules/uORB/topics/navigation_capabilities.h
View File

@ -1,70 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file navigation_capabilities.h
*
* Definition of navigation capabilities uORB topic.
*/
#ifndef TOPIC_NAVIGATION_CAPABILITIES_H_
#define TOPIC_NAVIGATION_CAPABILITIES_H_
#include "../uORB.h"
#include <stdint.h>
/**
* @addtogroup topics
* @{
*/
/**
* Airspeed
*/
struct navigation_capabilities_s {
float turn_distance; /**< the optimal distance to a waypoint to switch to the next */
/* Landing parameters: see fw_pos_control_l1/landingslope.h */
float landing_horizontal_slope_displacement;
float landing_slope_angle_rad;
float landing_flare_length;
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(navigation_capabilities);
#endif