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Merged master into driver_framework

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Lorenz Meier
2015-12-01 12:34:02 +01:00
parent 1e99b04d9c 93bb1ab80f
commit f0a4979da6
109 changed files with 5346 additions and 359 deletions
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src/modules/fw_att_control/fw_att_control_main.cpp
+11 -9
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@@ -59,6 +59,7 @@
#include <arch/board/board.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/fw_virtual_attitude_setpoint.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_virtual_fw.h>
@@ -142,6 +143,7 @@ private:
orb_id_t _rates_sp_id; // pointer to correct rates setpoint uORB metadata structure
orb_id_t _actuators_id; // pointer to correct actuator controls0 uORB metadata structure
orb_id_t _attitude_setpoint_id;
struct control_state_s _ctrl_state; /**< control state */
struct accel_report _accel; /**< body frame accelerations */
@@ -360,6 +362,7 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
_rates_sp_id(0),
_actuators_id(0),
_attitude_setpoint_id(0),
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "fw att control")),
@@ -633,9 +636,11 @@ FixedwingAttitudeControl::vehicle_status_poll()
if (_vehicle_status.is_vtol) {
_rates_sp_id = ORB_ID(fw_virtual_rates_setpoint);
_actuators_id = ORB_ID(actuator_controls_virtual_fw);
_attitude_setpoint_id = ORB_ID(fw_virtual_attitude_setpoint);
} else {
_rates_sp_id = ORB_ID(vehicle_rates_setpoint);
_actuators_id = ORB_ID(actuator_controls_0);
_attitude_setpoint_id = ORB_ID(vehicle_attitude_setpoint);
}
}
}
@@ -1015,15 +1020,12 @@ FixedwingAttitudeControl::task_main()
att_sp.thrust = throttle_sp;
/* lazily publish the setpoint only once available */
if (!_vehicle_status.is_rotary_wing && !_vehicle_status.in_transition_mode) {
if (_attitude_sp_pub != nullptr) {
/* publish the attitude setpoint */
orb_publish(ORB_ID(vehicle_attitude_setpoint), _attitude_sp_pub, &att_sp);
} else {
/* advertise and publish */
_attitude_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
}
if (_attitude_sp_pub != nullptr) {
/* publish the attitude setpoint */
orb_publish(_attitude_setpoint_id, _attitude_sp_pub, &att_sp);
} else if (_attitude_setpoint_id) {
/* advertise and publish */
_attitude_sp_pub = orb_advertise(_attitude_setpoint_id, &att_sp);
}
}