fly316/PX4-Autopilot
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Merge master into cmake-2

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This commit is contained in:
Lorenz Meier
2015-10-03 15:34:30 +02:00
parent d63231a23c 526bb51570
commit fefdcd3fa9
10 changed files with 121 additions and 25 deletions
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src/modules/attitude_estimator_q/attitude_estimator_q_params.c
+1 -1
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@@ -116,4 +116,4 @@ PARAM_DEFINE_FLOAT(ATT_BIAS_MAX, 0.05f);
* @min 0.001
* @max 100
*/
PARAM_DEFINE_FLOAT(ATT_VIBE_THRESH, 0.1f);
PARAM_DEFINE_FLOAT(ATT_VIBE_THRESH, 0.2f);
src/modules/mavlink/mavlink_main.cpp
+3 -1
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@@ -1666,6 +1666,7 @@ Mavlink::task_main(int argc, char *argv[])
configure_stream("GPS_RAW_INT", 1.0f);
configure_stream("GLOBAL_POSITION_INT", 3.0f);
configure_stream("LOCAL_POSITION_NED", 3.0f);
configure_stream("NAMED_VALUE_FLOAT", 2.0f);
configure_stream("RC_CHANNELS", 1.0f);
configure_stream("SERVO_OUTPUT_RAW_0", 1.0f);
configure_stream("POSITION_TARGET_GLOBAL_INT", 3.0f);
@@ -1682,6 +1683,7 @@ Mavlink::task_main(int argc, char *argv[])
configure_stream("GPS_RAW_INT", 5.0f);
configure_stream("GLOBAL_POSITION_INT", 50.0f);
configure_stream("LOCAL_POSITION_NED", 30.0f);
configure_stream("NAMED_VALUE_FLOAT", 10.0f);
configure_stream("CAMERA_CAPTURE", 2.0f);
configure_stream("HOME_POSITION", 0.5f);
configure_stream("ATTITUDE_TARGET", 10.0f);
@@ -1723,7 +1725,7 @@ Mavlink::task_main(int argc, char *argv[])
configure_stream("ATTITUDE_TARGET", 8.0f);
configure_stream("PARAM_VALUE", 300.0f);
configure_stream("MISSION_ITEM", 50.0f);
configure_stream("NAMED_VALUE_FLOAT", 10.0f);
configure_stream("NAMED_VALUE_FLOAT", 50.0f);
configure_stream("OPTICAL_FLOW_RAD", 10.0f);
configure_stream("DISTANCE_SENSOR", 10.0f);
configure_stream("VFR_HUD", 20.0f);
src/modules/simulator/simulator.h
+3
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@@ -51,6 +51,7 @@
#include <drivers/drv_hrt.h>
#include <drivers/drv_rc_input.h>
#include <uORB/uORB.h>
#include <uORB/topics/optical_flow.h>
#include <v1.0/mavlink_types.h>
#include <v1.0/common/mavlink.h>
namespace simulator
@@ -259,11 +260,13 @@ private:
orb_advert_t _baro_pub;
orb_advert_t _gyro_pub;
orb_advert_t _mag_pub;
orb_advert_t _flow_pub;
bool _initialized;
// class methods
int publish_sensor_topics(mavlink_hil_sensor_t *imu);
int publish_flow_topic(mavlink_hil_optical_flow_t *flow);
#ifndef __PX4_QURT
// uORB publisher handlers
src/modules/simulator/simulator_mavlink.cpp
+41
View File
@@ -245,6 +245,12 @@ void Simulator::handle_message(mavlink_message_t *msg, bool publish)
update_sensors(&imu);
break;
case MAVLINK_MSG_ID_HIL_OPTICAL_FLOW:
mavlink_hil_optical_flow_t flow;
mavlink_msg_hil_optical_flow_decode(msg, &flow);
publish_flow_topic(&flow);
break;
case MAVLINK_MSG_ID_HIL_GPS:
mavlink_hil_gps_t gps_sim;
mavlink_msg_hil_gps_decode(msg, &gps_sim);
@@ -762,3 +768,38 @@ int Simulator::publish_sensor_topics(mavlink_hil_sensor_t *imu)
return OK;
}
int Simulator::publish_flow_topic(mavlink_hil_optical_flow_t* flow_mavlink)
{
uint64_t timestamp = hrt_absolute_time();
/* flow */
{
struct optical_flow_s flow;
memset(&flow, 0, sizeof(flow));
flow.sensor_id = flow_mavlink->sensor_id;
flow.timestamp = timestamp;
flow.time_since_last_sonar_update = 0;
flow.frame_count_since_last_readout = 0; // ?
flow.integration_timespan = flow_mavlink->integration_time_us;
flow.ground_distance_m = flow_mavlink->distance;
flow.gyro_temperature = flow_mavlink->temperature;
flow.gyro_x_rate_integral = flow_mavlink->integrated_xgyro;
flow.gyro_y_rate_integral = flow_mavlink->integrated_ygyro;
flow.gyro_z_rate_integral = flow_mavlink->integrated_zgyro;
flow.pixel_flow_x_integral = flow_mavlink->integrated_x;
flow.pixel_flow_x_integral = flow_mavlink->integrated_y;
flow.quality = flow_mavlink->quality;
if (_flow_pub == nullptr) {
_flow_pub = orb_advertise(ORB_ID(optical_flow), &flow);
} else {
orb_publish(ORB_ID(optical_flow), _flow_pub, &flow);
}
}
return OK;
}