mirror of https://github.com/ArduPilot/ardupilot
fix for Logging, motors_out buffer overrun, formatting.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1769 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort
parent
f52f27ef67
commit
90aa2d6d83
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@ -205,7 +205,7 @@ const char* flight_mode_strings[] = {
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// Radio
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// -----
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int motor_out[4];
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int motor_out[8];
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Vector3f omega;
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// Failsafe
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@ -52,19 +52,13 @@ GCS_MAVLINK::update(void)
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_queued_send();
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// stop waypoint sending if timeout
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if (global_data.waypoint_sending &&
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millis() - global_data.waypoint_timelast_send >
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global_data.waypoint_send_timeout)
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{
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if (global_data.waypoint_sending && (millis() - global_data.waypoint_timelast_send) > global_data.waypoint_send_timeout){
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send_text(SEVERITY_LOW,"waypoint send timeout");
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global_data.waypoint_sending = false;
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}
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// stop waypoint receiving if timeout
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if (global_data.waypoint_receiving &&
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millis() - global_data.waypoint_timelast_receive >
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global_data.waypoint_receive_timeout)
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{
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if (global_data.waypoint_receiving && (millis() - global_data.waypoint_timelast_receive) > global_data.waypoint_receive_timeout){
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send_text(SEVERITY_LOW,"waypoint receive timeout");
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global_data.waypoint_receiving = false;
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}
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@ -74,7 +68,7 @@ void
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GCS_MAVLINK::data_stream_send(uint16_t freqMin, uint16_t freqMax)
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{
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if (freqLoopMatch(global_data.streamRateRawSensors,freqMin,freqMax))
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send_message(MSG_RAW_IMU);
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send_message(MSG_RAW_IMU);
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if (freqLoopMatch(global_data.streamRateExtendedStatus,freqMin,freqMax)) {
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send_message(MSG_EXTENDED_STATUS);
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@ -84,7 +78,7 @@ GCS_MAVLINK::data_stream_send(uint16_t freqMin, uint16_t freqMax)
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}
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if (freqLoopMatch(global_data.streamRatePosition,freqMin,freqMax))
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send_message(MSG_LOCATION);
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send_message(MSG_LOCATION);
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if (freqLoopMatch(global_data.streamRateRawController,freqMin,freqMax)) {
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// This is used for HIL. Do not change without discussing with HIL maintainers
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@ -100,10 +94,9 @@ GCS_MAVLINK::data_stream_send(uint16_t freqMin, uint16_t freqMax)
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send_message(MSG_ATTITUDE);
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if (freqLoopMatch(global_data.streamRateExtra2,freqMin,freqMax)) // Use Extra 3 for additional HIL info
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send_message(MSG_VFR_HUD);
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send_message(MSG_VFR_HUD);
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if (freqLoopMatch(global_data.streamRateExtra3,freqMin,freqMax))
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{
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if (freqLoopMatch(global_data.streamRateExtra3,freqMin,freqMax)){
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// Available datastream
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}
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}
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@ -146,14 +139,14 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
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switch(packet.req_stream_id)
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{
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case MAV_DATA_STREAM_ALL:
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global_data.streamRateRawSensors = freq;
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global_data.streamRateExtendedStatus = freq;
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global_data.streamRateRCChannels = freq;
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global_data.streamRateRawController = freq;
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global_data.streamRatePosition = freq;
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global_data.streamRateExtra1 = freq;
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global_data.streamRateExtra2 = freq;
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global_data.streamRateExtra3 = freq;
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global_data.streamRateRawSensors = freq;
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global_data.streamRateExtendedStatus = freq;
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global_data.streamRateRCChannels = freq;
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global_data.streamRateRawController = freq;
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global_data.streamRatePosition = freq;
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global_data.streamRateExtra1 = freq;
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global_data.streamRateExtra2 = freq;
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global_data.streamRateExtra3 = freq;
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break;
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case MAV_DATA_STREAM_RAW_SENSORS:
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global_data.streamRateRawSensors = freq;
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@ -197,89 +190,88 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
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// do action
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send_text(SEVERITY_LOW,"action received");
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switch(packet.action)
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{
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switch(packet.action){
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case MAV_ACTION_LAUNCH:
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//set_mode(TAKEOFF);
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break;
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case MAV_ACTION_LAUNCH:
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//set_mode(TAKEOFF);
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break;
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case MAV_ACTION_RETURN:
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set_mode(RTL);
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break;
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case MAV_ACTION_RETURN:
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set_mode(RTL);
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break;
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case MAV_ACTION_EMCY_LAND:
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//set_mode(LAND);
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break;
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case MAV_ACTION_EMCY_LAND:
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//set_mode(LAND);
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break;
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case MAV_ACTION_HALT:
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do_hold_position();
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break;
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case MAV_ACTION_HALT:
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do_hold_position();
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break;
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// can't implement due to APM configuration
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// just setting to manual to be safe
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case MAV_ACTION_MOTORS_START:
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case MAV_ACTION_CONFIRM_KILL:
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case MAV_ACTION_EMCY_KILL:
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case MAV_ACTION_MOTORS_STOP:
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case MAV_ACTION_SHUTDOWN:
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set_mode(ACRO);
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break;
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// can't implement due to APM configuration
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// just setting to manual to be safe
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case MAV_ACTION_MOTORS_START:
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case MAV_ACTION_CONFIRM_KILL:
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case MAV_ACTION_EMCY_KILL:
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case MAV_ACTION_MOTORS_STOP:
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case MAV_ACTION_SHUTDOWN:
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set_mode(ACRO);
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break;
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case MAV_ACTION_CONTINUE:
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process_next_command();
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break;
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case MAV_ACTION_CONTINUE:
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process_next_command();
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break;
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case MAV_ACTION_SET_MANUAL:
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set_mode(ACRO);
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break;
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case MAV_ACTION_SET_MANUAL:
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set_mode(ACRO);
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break;
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case MAV_ACTION_SET_AUTO:
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set_mode(AUTO);
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break;
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case MAV_ACTION_SET_AUTO:
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set_mode(AUTO);
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break;
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case MAV_ACTION_STORAGE_READ:
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AP_Var::load_all();
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break;
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case MAV_ACTION_STORAGE_READ:
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AP_Var::load_all();
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break;
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case MAV_ACTION_STORAGE_WRITE:
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AP_Var::save_all();
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break;
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case MAV_ACTION_STORAGE_WRITE:
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AP_Var::save_all();
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break;
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case MAV_ACTION_CALIBRATE_RC: break;
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trim_radio();
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break;
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case MAV_ACTION_CALIBRATE_RC: break;
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trim_radio();
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break;
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case MAV_ACTION_CALIBRATE_GYRO:
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case MAV_ACTION_CALIBRATE_MAG:
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case MAV_ACTION_CALIBRATE_ACC:
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case MAV_ACTION_CALIBRATE_PRESSURE:
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case MAV_ACTION_REBOOT: // this is a rough interpretation
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startup_ground();
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break;
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case MAV_ACTION_CALIBRATE_GYRO:
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case MAV_ACTION_CALIBRATE_MAG:
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case MAV_ACTION_CALIBRATE_ACC:
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case MAV_ACTION_CALIBRATE_PRESSURE:
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case MAV_ACTION_REBOOT: // this is a rough interpretation
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startup_ground();
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break;
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case MAV_ACTION_REC_START: break;
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case MAV_ACTION_REC_PAUSE: break;
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case MAV_ACTION_REC_STOP: break;
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case MAV_ACTION_REC_START: break;
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case MAV_ACTION_REC_PAUSE: break;
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case MAV_ACTION_REC_STOP: break;
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case MAV_ACTION_TAKEOFF:
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//set_mode(TAKEOFF);
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break;
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case MAV_ACTION_TAKEOFF:
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//set_mode(TAKEOFF);
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break;
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case MAV_ACTION_NAVIGATE:
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set_mode(AUTO);
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break;
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case MAV_ACTION_NAVIGATE:
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set_mode(AUTO);
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break;
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case MAV_ACTION_LAND:
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//set_mode(LAND);
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break;
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case MAV_ACTION_LAND:
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//set_mode(LAND);
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break;
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case MAV_ACTION_LOITER:
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//set_mode(LOITER);
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break;
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case MAV_ACTION_LOITER:
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//set_mode(LOITER);
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break;
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default: break;
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}
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default: break;
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}
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break;
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}
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@ -290,17 +282,22 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
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// decode
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mavlink_waypoint_request_list_t packet;
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mavlink_msg_waypoint_request_list_decode(msg, &packet);
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if (mavlink_check_target(packet.target_system,packet.target_component)) break;
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if (mavlink_check_target(packet.target_system,packet.target_component))
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break;
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// Start sending waypoints
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mavlink_msg_waypoint_count_send(chan,msg->sysid,
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msg->compid,g.waypoint_total + 1); // + home
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global_data.waypoint_timelast_send = millis();
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global_data.waypoint_sending = true;
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global_data.waypoint_receiving = false;
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global_data.waypoint_dest_sysid = msg->sysid;
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global_data.waypoint_dest_compid = msg->compid;
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global_data.requested_interface = chan;
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mavlink_msg_waypoint_count_send(
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chan,msg->sysid,
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msg->compid,
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g.waypoint_total + 1); // + home
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global_data.waypoint_timelast_send = millis();
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global_data.waypoint_sending = true;
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global_data.waypoint_receiving = false;
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global_data.waypoint_dest_sysid = msg->sysid;
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global_data.waypoint_dest_compid = msg->compid;
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global_data.requested_interface = chan;
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break;
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}
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@ -444,9 +441,9 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
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}
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g.waypoint_total.set_and_save(packet.count - 1);
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global_data.waypoint_timelast_receive = millis();
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global_data.waypoint_receiving = true;
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global_data.waypoint_sending = false;
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global_data.waypoint_request_i = 0;
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global_data.waypoint_receiving = true;
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global_data.waypoint_sending = false;
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global_data.waypoint_request_i = 0;
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break;
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}
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@ -520,7 +517,13 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
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if (global_data.waypoint_request_i > g.waypoint_total)
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{
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uint8_t type = 0; // ok (0), error(1)
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mavlink_msg_waypoint_ack_send(chan,msg->sysid,msg->compid,type);
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mavlink_msg_waypoint_ack_send(
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chan,
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msg->sysid,
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msg->compid,
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type);
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send_text(SEVERITY_LOW,"flight plan received");
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global_data.waypoint_receiving = false;
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// XXX ignores waypoint radius for individual waypoints, can
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@ -574,9 +577,12 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
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}
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// Report back new value
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mavlink_msg_param_value_send(chan, (int8_t *)key, packet.param_value,
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_count_parameters(),
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-1); // XXX we don't actually know what its index is...
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mavlink_msg_param_value_send(
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chan,
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(int8_t *)key,
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packet.param_value,
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_count_parameters(),
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-1); // XXX we don't actually know what its index is...
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break;
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} // end case
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@ -748,14 +754,10 @@ GCS_MAVLINK::_queued_send()
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AP_Var *vp;
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float value;
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// copy the current parameter and prepare to move to the next
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vp = _queued_parameter;
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_queued_parameter = _queued_parameter->next();
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// if the parameter can be cast to float, report it here and break out of the loop
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value = vp->cast_to_float();
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if (!isnan(value)) {
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@ -763,11 +765,12 @@ GCS_MAVLINK::_queued_send()
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char param_name[ONBOARD_PARAM_NAME_LENGTH]; /// XXX HACK
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vp->copy_name(param_name, sizeof(param_name));
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mavlink_msg_param_value_send(chan,
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(int8_t*)param_name,
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value,
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_count_parameters(),
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_queued_parameter_index);
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mavlink_msg_param_value_send(
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chan,
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(int8_t*)param_name,
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value,
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_count_parameters(),
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_queued_parameter_index);
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_queued_parameter_index++;
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break;
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@ -783,12 +786,16 @@ GCS_MAVLINK::_queued_send()
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// request waypoints one by one
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// XXX note that this is pan-interface
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if (global_data.waypoint_receiving && global_data.requested_interface == chan &&
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global_data.waypoint_request_i <= g.waypoint_total && mavdelay > 15) // limits to 3.33 hz
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if (global_data.waypoint_receiving &&
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(global_data.requested_interface == chan) &&
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global_data.waypoint_request_i <= (g.waypoint_total && mavdelay > 15)) // limits to 3.33 hz
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{
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mavlink_msg_waypoint_request_send(chan,
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global_data.waypoint_dest_sysid,
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global_data.waypoint_dest_compid ,global_data.waypoint_request_i);
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mavlink_msg_waypoint_request_send(
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chan,
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global_data.waypoint_dest_sysid,
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global_data.waypoint_dest_compid,
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global_data.waypoint_request_i);
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mavdelay = 0;
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}
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}
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@ -239,12 +239,12 @@ public:
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throttle_fs_value (THROTTLE_FS_VALUE, k_param_throttle_fs_value, PSTR("THR_FS_VALUE")),
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throttle_cruise (THROTTLE_CRUISE, k_param_throttle_cruise, PSTR("TRIM_THROTTLE")),
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flight_mode_channel (FLIGHT_MODE_CHANNEL+1, k_param_flight_mode_channel, PSTR("FLT_MODE_CH")),
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flight_mode_channel (FLIGHT_MODE_CHANNEL+1, k_param_flight_mode_channel, PSTR("FLT_MODE_CH")),
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flight_modes (k_param_flight_modes, PSTR("FLIGHT_MODES")),
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pitch_max (PITCH_MAX * 100, k_param_pitch_max, PSTR("PITCH_MAX")),
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log_bitmask (0, k_param_log_bitmask, PSTR("LOG_BITMASK")),
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log_bitmask (MASK_LOG_SET_DEFAULTS, k_param_log_bitmask, PSTR("LOG_BITMASK")),
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ground_temperature (0, k_param_ground_temperature, PSTR("GND_TEMP")),
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ground_pressure (0, k_param_ground_pressure, PSTR("GND_ABS_PRESS")),
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RTL_altitude (ALT_HOLD_HOME * 100, k_param_RTL_altitude, PSTR("ALT_HOLD_RTL")),
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@ -204,6 +204,7 @@
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#define MASK_LOG_RAW (1<<7)
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#define MASK_LOG_CMD (1<<8)
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#define MASK_LOG_CUR (1<<9)
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#define MASK_LOG_SET_DEFAULTS (1<<15)
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// Waypoint Modes
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// ----------------
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@ -279,20 +279,21 @@ set_servos_4()
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motor_auto_safe = true;
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}
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// Send commands to motors
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APM_RC.OutputCh(CH_1, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_2, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_3, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_4, g.rc_3.radio_min);
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// fill the motor_out[] array for HIL use
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for (unsigned char i=0; i<8; i++) {
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motor_out[i] = 0;
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for (unsigned char i = 0; i < 8; i++) {
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motor_out[i] = g.rc_3.radio_min;
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}
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// Send commands to motors
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APM_RC.OutputCh(CH_1, motor_out[CH_1]);
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APM_RC.OutputCh(CH_2, motor_out[CH_2]);
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APM_RC.OutputCh(CH_3, motor_out[CH_3]);
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APM_RC.OutputCh(CH_4, motor_out[CH_4]);
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if (g.frame_type == HEXA_FRAME) {
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APM_RC.OutputCh(CH_7, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_8, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_7, motor_out[CH_7]);
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APM_RC.OutputCh(CH_8, motor_out[CH_8]);
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}
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// reset I terms of PID controls
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@ -99,6 +99,7 @@ setup_factory(uint8_t argc, const Menu::arg *argv)
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AP_Var::erase_all();
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Serial.printf_P(PSTR("\nFACTORY RESET complete - please reset APM to continue"));
|
||||
|
||||
delay(1000);
|
||||
default_log_bitmask();
|
||||
default_gains();
|
||||
|
||||
|
|
|
|||
|
|
@ -141,7 +141,8 @@ void init_ardupilot()
|
|||
#endif
|
||||
|
||||
|
||||
|
||||
if (g.log_bitmask & MASK_LOG_MODE)
|
||||
Log_Write_Mode(control_mode);
|
||||
|
||||
if(g.compass_enabled)
|
||||
init_compass();
|
||||
|
|
@ -199,6 +200,10 @@ void init_ardupilot()
|
|||
if (g.log_bitmask & MASK_LOG_CMD)
|
||||
Log_Write_Startup(TYPE_GROUNDSTART_MSG);
|
||||
|
||||
if (g.log_bitmask & MASK_LOG_SET_DEFAULTS) {
|
||||
default_log_bitmask();
|
||||
}
|
||||
|
||||
// set the correct flight mode
|
||||
// ---------------------------
|
||||
reset_control_switch();
|
||||
|
|
@ -212,7 +217,7 @@ void startup_ground(void)
|
|||
gcs.send_text(SEVERITY_LOW,"<startup_ground> GROUND START");
|
||||
|
||||
#if(GROUND_START_DELAY > 0)
|
||||
gcs.send_text(SEVERITY_LOW,"<startup_ground> With Delay");
|
||||
//gcs.send_text(SEVERITY_LOW," With Delay");
|
||||
delay(GROUND_START_DELAY * 1000);
|
||||
#endif
|
||||
|
||||
|
|
@ -302,9 +307,6 @@ void set_mode(byte mode)
|
|||
// output control mode to the ground station
|
||||
gcs.send_message(MSG_MODE_CHANGE);
|
||||
|
||||
if (g.log_bitmask & MASK_LOG_MODE)
|
||||
Log_Write_Mode(control_mode);
|
||||
|
||||
}
|
||||
|
||||
void set_failsafe(boolean mode)
|
||||
|
|
|
|||
|
|
@ -20,7 +20,7 @@ static int8_t test_pressure(uint8_t argc, const Menu::arg *argv);
|
|||
static int8_t test_mag(uint8_t argc, const Menu::arg *argv);
|
||||
static int8_t test_xbee(uint8_t argc, const Menu::arg *argv);
|
||||
static int8_t test_eedump(uint8_t argc, const Menu::arg *argv);
|
||||
static int8_t test_rawgps(uint8_t argc, const Menu::arg *argv);
|
||||
static int8_t test_rawgps(uint8_t argc, const Menu::arg *argv);
|
||||
|
||||
// This is the help function
|
||||
// PSTR is an AVR macro to read strings from flash memory
|
||||
|
|
@ -64,7 +64,7 @@ const struct Menu::command test_menu_commands[] PROGMEM = {
|
|||
{"compass", test_mag},
|
||||
{"xbee", test_xbee},
|
||||
{"eedump", test_eedump},
|
||||
{"rawgps", test_rawgps},
|
||||
{"rawgps", test_rawgps},
|
||||
};
|
||||
|
||||
// A Macro to create the Menu
|
||||
|
|
@ -768,20 +768,20 @@ test_wp_print(struct Location *cmd, byte index)
|
|||
static int8_t
|
||||
test_rawgps(uint8_t argc, const Menu::arg *argv)
|
||||
{
|
||||
print_hit_enter();
|
||||
delay(1000);
|
||||
print_hit_enter();
|
||||
delay(1000);
|
||||
|
||||
while(1){
|
||||
if (Serial3.available())
|
||||
Serial1.write(Serial3.read());
|
||||
while(1){
|
||||
if (Serial3.available())
|
||||
Serial1.write(Serial3.read());
|
||||
|
||||
if (Serial1.available())
|
||||
Serial3.write(Serial1.read());
|
||||
if (Serial1.available())
|
||||
Serial3.write(Serial1.read());
|
||||
|
||||
if(Serial.available() > 0){
|
||||
if(Serial.available() > 0){
|
||||
return (0);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
static int8_t
|
||||
|
|
@ -835,8 +835,9 @@ test_pressure(uint8_t argc, const Menu::arg *argv)
|
|||
update_alt();
|
||||
output_auto_throttle();
|
||||
|
||||
Serial.printf_P(PSTR("Alt: %ld, \tnext_alt: %ld \terror: %ld, \tcruise: %d, \tint: %6.2f \tout:%d\n"),
|
||||
Serial.printf_P(PSTR("B_alt: %ld, S_alt: %ld, \tnext_alt: %ld \terror: %ld, \tcruise: %d, \tint: %6.2f \tout:%d\n"),
|
||||
baro_alt,
|
||||
sonar_alt,
|
||||
next_WP.alt,
|
||||
altitude_error,
|
||||
(int)g.throttle_cruise,
|
||||
|
|
|
|||
Loading…
Reference in New Issue