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Merge branch 'master' into linux

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Signed-off-by: Mark Charlebois <charlebm@gmail.com>

Conflicts:
	makefiles/firmware.mk
This commit is contained in:
Mark Charlebois
2015-04-22 10:38:46 -07:00
parent 8e500f543e 67956341e6
commit f63ab3d5e3
22 changed files with 229 additions and 169 deletions
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src/modules/commander/commander.cpp
+35 -31
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@@ -1127,6 +1127,10 @@ int commander_thread_main(int argc, char *argv[])
commander_initialized = true;
thread_running = true;
/* update vehicle status to find out vehicle type (required for preflight checks) */
param_get(_param_sys_type, &(status.system_type)); // get system type
status.is_rotary_wing = is_rotary_wing(&status) || is_vtol(&status);
bool checkAirspeed = false;
/* Perform airspeed check only if circuit breaker is not
* engaged and it's not a rotary wing */
@@ -1206,15 +1210,7 @@ int commander_thread_main(int argc, char *argv[])
}
/* disable manual override for all systems that rely on electronic stabilization */
if (status.system_type == vehicle_status_s::VEHICLE_TYPE_COAXIAL ||
status.system_type == vehicle_status_s::VEHICLE_TYPE_HELICOPTER ||
status.system_type == vehicle_status_s::VEHICLE_TYPE_TRICOPTER ||
status.system_type == vehicle_status_s::VEHICLE_TYPE_QUADROTOR ||
status.system_type == vehicle_status_s::VEHICLE_TYPE_HEXAROTOR ||
status.system_type == vehicle_status_s::VEHICLE_TYPE_OCTOROTOR ||
(status.system_type == vehicle_status_s::VEHICLE_TYPE_VTOL_DUOROTOR && vtol_status.vtol_in_rw_mode) ||
(status.system_type == vehicle_status_s::VEHICLE_TYPE_VTOL_QUADROTOR && vtol_status.vtol_in_rw_mode)) {
if (is_rotary_wing(&status) || (is_vtol(&status) && vtol_status.vtol_in_rw_mode)) {
status.is_rotary_wing = true;
} else {
@@ -1222,8 +1218,7 @@ int commander_thread_main(int argc, char *argv[])
}
/* set vehicle_status.is_vtol flag */
status.is_vtol = (status.system_type == vehicle_status_s::VEHICLE_TYPE_VTOL_DUOROTOR) ||
(status.system_type == vehicle_status_s::VEHICLE_TYPE_VTOL_QUADROTOR);
status.is_vtol = is_vtol(&status);
/* check and update system / component ID */
param_get(_param_system_id, &(status.system_id));
@@ -1424,8 +1419,8 @@ int commander_thread_main(int argc, char *argv[])
orb_copy(ORB_ID(vtol_vehicle_status), vtol_vehicle_status_sub, &vtol_status);
status.vtol_fw_permanent_stab = vtol_status.fw_permanent_stab;
/* Make sure that this is only adjusted if vehicle realy is of type vtol*/
if ((status.system_type == vehicle_status_s::VEHICLE_TYPE_VTOL_DUOROTOR) || (status.system_type == vehicle_status_s::VEHICLE_TYPE_VTOL_QUADROTOR)) {
/* Make sure that this is only adjusted if vehicle really is of type vtol*/
if (is_vtol(&status)) {
status.is_rotary_wing = vtol_status.vtol_in_rw_mode;
}
}
@@ -1604,7 +1599,11 @@ int commander_thread_main(int argc, char *argv[])
if (arming_ret == TRANSITION_CHANGED) {
arming_state_changed = true;
mavlink_and_console_log_critical(mavlink_fd, "LOW BATTERY, LOCKING ARMING DOWN");
}
} else {
mavlink_and_console_log_emergency(mavlink_fd, "CRITICAL BATTERY, LAND IMMEDIATELY");
}
status_changed = true;
@@ -2222,13 +2221,34 @@ set_main_state_rc(struct vehicle_status_s *status_local, struct manual_control_s
if (res == TRANSITION_DENIED) {
print_reject_mode(status_local, "OFFBOARD");
/* mode rejected, continue to evaluate the main system mode */
} else {
/* changed successfully or already in this state */
return res;
}
}
/* offboard switched off or denied, check main mode switch */
/* RTL switch overrides main switch */
if (sp_man->return_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
res = main_state_transition(status_local,vehicle_status_s::MAIN_STATE_AUTO_RTL);
if (res == TRANSITION_DENIED) {
print_reject_mode(status_local, "AUTO_RTL");
/* fallback to LOITER if home position not set */
res = main_state_transition(status_local,vehicle_status_s::MAIN_STATE_AUTO_LOITER);
}
if (res != TRANSITION_DENIED) {
/* changed successfully or already in this state */
return res;
}
/* if we get here mode was rejected, continue to evaluate the main system mode */
}
/* offboard and RTL switches off or denied, check main mode switch */
switch (sp_man->mode_switch) {
case manual_control_setpoint_s::SWITCH_POS_NONE:
res = TRANSITION_NOT_CHANGED;
@@ -2273,23 +2293,7 @@ set_main_state_rc(struct vehicle_status_s *status_local, struct manual_control_s
break;
case manual_control_setpoint_s::SWITCH_POS_ON: // AUTO
if (sp_man->return_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
res = main_state_transition(status_local,vehicle_status_s::MAIN_STATE_AUTO_RTL);
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}
print_reject_mode(status_local, "AUTO_RTL");
// fallback to LOITER if home position not set
res = main_state_transition(status_local,vehicle_status_s::MAIN_STATE_AUTO_LOITER);
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}
} else if (sp_man->loiter_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
if (sp_man->loiter_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
res = main_state_transition(status_local,vehicle_status_s::MAIN_STATE_AUTO_LOITER);
if (res != TRANSITION_DENIED) {