According to https://github.com/mavlink/mavlink/pull/629 the mavlink
command DO_SET_MODE should only determine the mode but not the
armed/disarmed state, so the MAV_MODE_FLAG_SAFETY_ARMED bit should be
ignored.
Instead the mavlink command COMPONENT_ARM_DISARM should be used instead.
Therefore, the commander now ignores the arm/disarm bit.
(leads to double publishing on the console when a new link is established, but this is the best compromise between fixing and completely restructuring)
This patch reorders px4_defines.h to make it more readable (I think)
but more importantly, cleans up the #include <math.h>/<cmath>
and [std::]isfinite stuff.
My main goal was to completely get rid of including math.h/cmath,
because that doesn't really belong in a header that is supposed to
define macro's and is included in almost every source file (if not
all).
I'm not sure what it did before ;) (pun intended), but now it does
the following:
PX4_ISFINITE is only used in C++ code (that was already the case,
but hereby is official; for C code just use 'isfinite()') and is
defined to be std::isfinite, except on __PX4_QURT because that uses
the HEXAGON toolset which (erroneously) defines isfinite as macro.
I would have liked to remove PX4_ISFINITE completely from the code
and just use std::isfinite whereever that is needed, but that would
have required changing the libecl submodule, and at the moment I'm
getting tired of changing submodules... so maybe something for the
future.
Also, all includes of <math.h> or <cmath> have been removed except
for __PX4_NUTTX. Like the HEXAGON toolset NuttX currently defines
isfinite as macro for C++. So, we could have solved this in the
same was as __P4_QURT; but since we can fix NuttX ourselves I chose
to add a kludge to px4_defines.h instead that fixes this problem,
until the time that NuttX can be fixed (again postponing changing
a submodule). The kludge still demands including <cmath>, thus.
After removal of the math header file, it needed to be included
in source files that actually need it, of course.
Finally, I had a look at the math macro's (like M_PI, M_PI_F,
M_DEG_TO_RAD etc). These are sometimes (erroneously) defined in
certain math.h header files (like both, hexagon and nuttx).
This is incorrect: neither the C nor the C++ standard defines
math constants (neither as macro nor otherwise). The "problem"
here was that px4_defines.h defined some of the M_*_F float
constants in terms of the M_* double constant, which are
sometimes not defined either thus. So, I cleaned this up by
defining the M_*_F math constants as float literals in px4_defines.h,
except when they are defined in math.h for that platform.
This means that math.h has to be always included when using those
constants, but well; not much difference there as those files
usually also need/use the macro NAN (which *is* a standard macro
defined by math.h).
Finally finally, DEFAULT_PARAM_FILE was removed as it isn't
used anymore.
All in all I think the resulting px4_defines.h is nice, giving me
much less the feeling of a nearly unmaintainable and over time
slowly growing collection of kludges and hacks.
It was found inconvenient that auto-disarm triggers too quickly right
after arming when the vehicle has not actually taken off yet.
Therefore, the auto-disarm takes now by a factor of 5 longer if the
vehicle has not taken off yet.
MavLink spec implementation
implemented vehicle_roi topic
rename old gimbal to rc_gimbal
little changes
corrected RC Gimbal group
Starting ROI implementation in commander
implementation done, needs to be tested
uhm..
add todo
Change to float32 for x,y and z
remove mission topic again, not needed
change roi coordinates to lat, lon and alt
adjust to float64
starting mount implementation
correcting small mistakes, compiles now
add todos
further progress
implementing parameters
adjust default parameters
started implementation of mavlink
fix typo
change to lat, lon and alt
fix typo :D
change to double (to represent float64)
add global_position_
add mount topic
commander mount implementation done
cleanup
almost finished
little fix
codestyle fixes
leave pitch at 0 degrees
added pitch calculation
codestyle changes
Undo vehicle_mount, react to updated parameters, parsing of CMD_DO_MOUNT_* in mount.cpp
start implementing mode override
forgot a semikolon.
add debug
Finish implementation of mount override and manual control.
fix codestyle
correct cleanup
rename to vmount
works now
fix rebase error
fix polling
refactoring and custom airframe for gimbal
couple changes
remove warnx
almost done
finally
What is going on?
change back to actuator_controls_2
working
bump parameter version number and some clarification
fix submodules
- voting is now at a central place instead of duplicated within the
estimators
-> this also means that estimators that did not do voting so far,
now have voting, like ekf2
- estimators requiring more than that can still subscribe to the raw
sensors
- allows sensors_combined to be 3 times smaller
- reduces logger, memcpy (cache) & RAM overhead
- all modules requiring only 1 or 2 sensor values now automatically get
the voted result
- this also adds voting to baro
