fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-06 05:10:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'cmake-2' into cmake-2-pthread

Browse Source
This commit is contained in:
Lorenz Meier
2015-09-20 12:56:14 +02:00
parent 672a6d8f9b 1c27b9fa41
commit fe644fb3e0
5 changed files with 89 additions and 43 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/simulator/simulator_mavlink.cpp
+25 -9
View File
@@ -370,19 +370,35 @@ void Simulator::send()
void Simulator::initializeSensorData()
{
struct baro_report baro = {};
baro.pressure = 120000.0f;
// write sensor data to memory so that drivers can copy data from there
RawMPUData mpu = {};
mpu.accel_z = 9.81f;
// acceleration report
struct accel_report accel = {};
write_MPU_data((void *)&mpu);
RawAccelData accel = {};
accel.z = 9.81f;
accel.range_m_s2 = 80.0f;
// gyro report
struct gyro_report gyro = {};
write_accel_data((void *)&accel);
// mag report
struct mag_report mag = {};
RawMagData mag = {};
mag.x = 0.4f;
mag.y = 0.0f;
mag.z = 0.6f;
write_mag_data((void *)&mag);
RawBaroData baro = {};
// calculate air pressure from altitude (valid for low altitude)
baro.pressure = 120000.0f;
baro.altitude = 0.0f;
baro.temperature = 25.0f;
write_baro_data((void *)&baro);
RawAirspeedData airspeed {};
write_airspeed_data((void *)&airspeed);
}
void Simulator::pollForMAVLinkMessages(bool publish)
src/platforms/posix/drivers/accelsim/accelsim.cpp
+5 -4
View File
@@ -448,6 +448,9 @@ ACCELSIM::init()
{
int ret = ERROR;
struct mag_report mrp = {};
struct accel_report arp = {};
/* do SIM init first */
if (VDev::init() != OK) {
PX4_WARN("SIM init failed");
@@ -478,7 +481,6 @@ ACCELSIM::init()
measure();
/* advertise sensor topic, measure manually to initialize valid report */
struct mag_report mrp;
_mag_reports->get(&mrp);
/* measurement will have generated a report, publish */
@@ -493,7 +495,6 @@ ACCELSIM::init()
_accel_class_instance = register_class_devname(ACCEL_BASE_DEVICE_PATH);
/* advertise sensor topic, measure manually to initialize valid report */
struct accel_report arp = {};
_accel_reports->get(&arp);
/* measurement will have generated a report, publish */
@@ -1014,7 +1015,7 @@ ACCELSIM::measure()
} raw_accel_report;
#pragma pack(pop)
accel_report accel_report;
accel_report accel_report = {};
/* start the performance counter */
perf_begin(_accel_sample_perf);
@@ -1023,7 +1024,7 @@ ACCELSIM::measure()
memset(&raw_accel_report, 0, sizeof(raw_accel_report));
raw_accel_report.cmd = DIR_READ | ACC_READ;
if(OK != transfer((uint8_t *)&raw_accel_report, (uint8_t *)&raw_accel_report, sizeof(raw_accel_report))) {
if (OK != transfer((uint8_t *)&raw_accel_report, (uint8_t *)&raw_accel_report, sizeof(raw_accel_report))) {
return;
}
src/platforms/posix/drivers/gyrosim/gyrosim.cpp
+8 -6
View File
@@ -419,6 +419,9 @@ GYROSIM::init()
return ret;
}
struct accel_report arp = {};
struct gyro_report grp = {};
/* allocate basic report buffers */
_accel_reports = new ringbuffer::RingBuffer(2, sizeof(accel_report));
if (_accel_reports == nullptr) {
@@ -466,7 +469,6 @@ GYROSIM::init()
measure();
/* advertise sensor topic, measure manually to initialize valid report */
struct accel_report arp = {};
_accel_reports->get(&arp);
/* measurement will have generated a report, publish */
@@ -482,7 +484,6 @@ GYROSIM::init()
/* advertise sensor topic, measure manually to initialize valid report */
struct gyro_report grp = {};
_gyro_reports->get(&grp);
_gyro->_gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &grp,
@@ -511,8 +512,9 @@ GYROSIM::transfer(uint8_t *send, uint8_t *recv, unsigned len)
if (cmd == MPUREAD) {
// Get data from the simulator
Simulator *sim = Simulator::getInstance();
if (sim == NULL)
if (sim == NULL) {
return ENODEV;
}
// FIXME - not sure what interrupt status should be
recv[1] = 0;
@@ -1012,7 +1014,7 @@ GYROSIM::measure()
x++;
}
#endif
struct MPUReport mpu_report;
struct MPUReport mpu_report = {};
/* start measuring */
perf_begin(_sample_perf);
@@ -1031,8 +1033,8 @@ GYROSIM::measure()
/*
* Report buffers.
*/
accel_report arb;
gyro_report grb;
accel_report arb = {};
gyro_report grb = {};
// for now use local time but this should be the timestamp of the simulator
grb.timestamp = hrt_absolute_time();
src/systemcmds/topic_listener/CMakeLists.txt
+17 -17
View File
@@ -31,23 +31,23 @@
#
############################################################################
#add_custom_command(OUTPUT topic_listener.cpp
# COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/generate_listener.py ${CMAKE_SOURCE_DIR} > topic_listener.cpp
# )
add_custom_command(OUTPUT topic_listener.cpp
COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/generate_listener.py ${CMAKE_SOURCE_DIR} > topic_listener.cpp
)
#add_custom_target(generate_topic_listener
# DEPENDS topic_listener.cpp)
add_custom_target(generate_topic_listener
DEPENDS topic_listener.cpp)
#px4_add_module(
# MODULE systemcmds__topic_listener
# MAIN listener
# STACK 1800
# COMPILE_FLAGS
# -Os
# SRCS
# topic_listener.cpp
# DEPENDS
# platforms__common
# generate_topic_listener
# )
px4_add_module(
MODULE systemcmds__topic_listener
MAIN listener
STACK 1800
COMPILE_FLAGS
-Os
SRCS
topic_listener.cpp
DEPENDS
platforms__common
generate_topic_listener
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :