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Merge branch 'master' into beta

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This commit is contained in:
Anton Babushkin
2014-01-30 17:23:10 +01:00
parent 13a5b5b4a3 2f267fbf43
commit f64872b9b3
19 changed files with 649 additions and 176 deletions
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src/modules/commander/commander.cpp
+46 -7
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@@ -153,6 +153,11 @@ static bool on_usb_power = false;
static float takeoff_alt = 5.0f;
static struct vehicle_status_s status;
static struct actuator_armed_s armed;
static struct safety_s safety;
static struct vehicle_control_mode_s control_mode;
/* tasks waiting for low prio thread */
typedef enum {
LOW_PRIO_TASK_NONE = 0,
@@ -211,6 +216,11 @@ void print_reject_arm(const char *msg);
void print_status();
int arm();
int disarm();
transition_result_t check_navigation_state_machine(struct vehicle_status_s *status, struct vehicle_control_mode_s *control_mode, struct vehicle_local_position_s *local_pos);
/**
* Loop that runs at a lower rate and priority for calibration and parameter tasks.
*/
@@ -236,7 +246,7 @@ int commander_main(int argc, char *argv[])
daemon_task = task_spawn_cmd("commander",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 40,
3000,
2088,
commander_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
@@ -276,6 +286,16 @@ int commander_main(int argc, char *argv[])
exit(0);
}
if (!strcmp(argv[1], "arm")) {
arm();
exit(0);
}
if (!strcmp(argv[1], "disarm")) {
disarm();
exit(0);
}
usage("unrecognized command");
exit(1);
}
@@ -342,6 +362,30 @@ void print_status()
static orb_advert_t status_pub;
int arm()
{
int arming_res = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed);
if (arming_res == TRANSITION_CHANGED) {
mavlink_log_info(mavlink_fd, "[cmd] ARMED by commandline");
return 0;
} else {
return 1;
}
}
int disarm()
{
int arming_res = arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed);
if (arming_res == TRANSITION_CHANGED) {
mavlink_log_info(mavlink_fd, "[cmd] ARMED by commandline");
return 0;
} else {
return 1;
}
}
bool handle_command(struct vehicle_status_s *status, const struct safety_s *safety, struct vehicle_command_s *cmd, struct actuator_armed_s *armed)
{
/* result of the command */
@@ -556,11 +600,6 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
}
static struct vehicle_status_s status;
static struct vehicle_control_mode_s control_mode;
static struct actuator_armed_s armed;
static struct safety_s safety;
int commander_thread_main(int argc, char *argv[])
{
/* not yet initialized */
@@ -672,7 +711,7 @@ int commander_thread_main(int argc, char *argv[])
pthread_attr_t commander_low_prio_attr;
pthread_attr_init(&commander_low_prio_attr);
pthread_attr_setstacksize(&commander_low_prio_attr, 2992);
pthread_attr_setstacksize(&commander_low_prio_attr, 1728);
struct sched_param param;
(void)pthread_attr_getschedparam(&commander_low_prio_attr, &param);