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px4-firmware
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Merge branch 'master' of github.com:PX4/Firmware into paul_estimator_numeric

This commit is contained in:
Lorenz Meier 2014-03-29 12:21:34 +01:00
parent 60728bb6a6 9b1de5004c
commit 35b81c2f74
2 changed files with 73 additions and 31 deletions
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11
src/modules/commander/commander.cpp
View File

@ -119,6 +119,7 @@ extern struct system_load_s system_load;
#define POSITION_TIMEOUT 1000000 /**< consider the local or global position estimate invalid after 1s */
#define RC_TIMEOUT 100000
#define RC_TIMEOUT_HIL 500000
#define DIFFPRESS_TIMEOUT 2000000
#define PRINT_INTERVAL 5000000
@ -1108,8 +1109,16 @@ int commander_thread_main(int argc, char *argv[])
}
}
/*
* XXX workaround:
* Prevent RC loss in HIL when sensors.cpp is only publishing sp_man at a low rate (e.g. 30Hz)
* which can trigger RC loss if the computer/simulator lags.
*/
uint64_t rc_timeout = status.hil_state == HIL_STATE_ON ? RC_TIMEOUT_HIL : RC_TIMEOUT;
/* start RC input check */
if (!status.rc_input_blocked && sp_man.timestamp != 0 && hrt_absolute_time() < sp_man.timestamp + RC_TIMEOUT) {
if (!status.rc_input_blocked && sp_man.timestamp != 0 && hrt_absolute_time() < sp_man.timestamp + rc_timeout) {
/* handle the case where RC signal was regained */
if (!status.rc_signal_found_once) {
status.rc_signal_found_once = true;

93
src/modules/mavlink/mavlink_messages.cpp
View File

@ -71,6 +71,7 @@
#include <uORB/topics/battery_status.h>
#include <uORB/topics/navigation_capabilities.h>
#include <drivers/drv_rc_input.h>
#include <drivers/drv_pwm_output.h>
#include "mavlink_messages.h"
@ -788,47 +789,79 @@ protected:
uint32_t mavlink_custom_mode;
get_mavlink_mode_state(status, pos_sp_triplet, &mavlink_state, &mavlink_base_mode, &mavlink_custom_mode);
/* set number of valid outputs depending on vehicle type */
unsigned n;
if (mavlink_system.type == MAV_TYPE_QUADROTOR ||
mavlink_system.type == MAV_TYPE_HEXAROTOR ||
mavlink_system.type == MAV_TYPE_OCTOROTOR) {
/* set number of valid outputs depending on vehicle type */
unsigned n;
switch (mavlink_system.type) {
case MAV_TYPE_QUADROTOR:
n = 4;
break;
switch (mavlink_system.type) {
case MAV_TYPE_QUADROTOR:
n = 4;
break;
case MAV_TYPE_HEXAROTOR:
n = 6;
break;
case MAV_TYPE_HEXAROTOR:
n = 6;
break;
default:
n = 8;
break;
}
default:
n = 8;
break;
}
/* scale / assign outputs depending on system type */
float out[8];
/* scale / assign outputs depending on system type */
float out[8];
for (unsigned i = 0; i < 8; i++) {
if (i < n) {
if (mavlink_base_mode & MAV_MODE_FLAG_SAFETY_ARMED) {
/* scale fake PWM out 900..2100 us to -1..1*/
out[i] = (act->output[i] - 1500.0f) / 600.0f;
for (unsigned i = 0; i < 8; i++) {
if (i < n) {
if (mavlink_base_mode & MAV_MODE_FLAG_SAFETY_ARMED) {
/* scale fake PWM out 900..2100 us to 0..1 for normal multirotors */
out[i] = (act->output[i] - PWM_LOWEST_MIN) / (PWM_HIGHEST_MAX - PWM_LOWEST_MIN);
} else {
/* send 0 when disarmed */
out[i] = 0.0f;
}
} else {
/* send 0 when disarmed */
out[i] = 0.0f;
out[i] = -1.0f;
}
}
mavlink_msg_hil_controls_send(_channel,
hrt_absolute_time(),
out[0], out[1], out[2], out[3], out[4], out[5], out[6], out[7],
mavlink_base_mode,
0);
} else {
/* fixed wing: scale all channels except throttle -1 .. 1
* because we know that we set the mixers up this way
*/
float out[8];
const float pwm_center = (PWM_HIGHEST_MAX + PWM_LOWEST_MIN) / 2;
for (unsigned i = 0; i < 8; i++) {
if (i != 3) {
/* scale fake PWM out 900..2100 us to -1..+1 for normal channels */
out[i] = (act->output[i] - pwm_center) / ((PWM_HIGHEST_MAX - PWM_LOWEST_MIN) / 2);
} else {
/* scale fake PWM out 900..2100 us to 0..1 for throttle */
out[i] = (act->output[i] - PWM_LOWEST_MIN) / (PWM_HIGHEST_MAX - PWM_LOWEST_MIN);
}
} else {
out[i] = -1.0f;
}
}
mavlink_msg_hil_controls_send(_channel,
hrt_absolute_time(),
out[0], out[1], out[2], out[3], out[4], out[5], out[6], out[7],
mavlink_base_mode,
0);
mavlink_msg_hil_controls_send(_channel,
hrt_absolute_time(),
out[0], out[1], out[2], out[3], out[4], out[5], out[6], out[7],
mavlink_base_mode,
0);
}
}
}
};