dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

BebopRangeFinder: Integration into build and starup

This commit is contained in:
Michael Schaeuble 2016-12-21 22:47:41 +01:00 committed by Lorenz Meier
parent 6cb659c8ef
commit 85aa710414
3 changed files with 6 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
cmake/configs/posix_bebop_default.cmake
View File

@ -26,6 +26,7 @@ set(config_module_list
platforms/posix/drivers/df_mpu6050_wrapper platforms/posix/drivers/df_mpu6050_wrapper
platforms/posix/drivers/df_ak8963_wrapper platforms/posix/drivers/df_ak8963_wrapper
platforms/posix/drivers/df_bebop_bus_wrapper platforms/posix/drivers/df_bebop_bus_wrapper
platforms/posix/drivers/df_bebop_rangefinder_wrapper
# #
# System commands # System commands
@ -105,4 +106,5 @@ set(config_df_driver_list
mpu6050 mpu6050
ak8963 ak8963
bebop_bus bebop_bus
bebop_rangefinder
) )

1
posix-configs/bebop/px4.config
View File

@ -30,6 +30,7 @@ param set SYS_MC_EST_GROUP 2
df_ms5607_wrapper start df_ms5607_wrapper start
df_mpu6050_wrapper start -R 8 df_mpu6050_wrapper start -R 8
df_ak8963_wrapper start -R 32 df_ak8963_wrapper start -R 32
df_bebop_rangefinder_wrapper start
gps start -d /dev/ttyPA1 gps start -d /dev/ttyPA1
sensors start sensors start
commander start commander start

6
src/platforms/posix/drivers/df_bebop_rangefinder_wrapper/df_bebop_rangefinder_wrapper.cpp
View File

@ -159,9 +159,9 @@ int DfBebopRangeFinderWrapper::_publish(struct bebop_range &data)
distance_data.id = 0; // TODO set proper ID distance_data.id = 0; // TODO set proper ID
distance_data.orientation = 25; // MAV_SENSOR_ROTATION_PITCH_270 TODO check if this is correct distance_data.orientation = 25; // MAV_SENSOR_ROTATION_PITCH_270
distance_data.covariance = 0.0f; distance_data.covariance = 1.0f; // TODO set correct value
if (_range_topic == nullptr) { if (_range_topic == nullptr) {
_range_topic = orb_advertise_multi(ORB_ID(distance_sensor), &distance_data, _range_topic = orb_advertise_multi(ORB_ID(distance_sensor), &distance_data,
@ -274,7 +274,7 @@ df_bebop_rangefinder_wrapper_main(int argc, char *argv[])
/* jump over start/off/etc and look at options first */ /* jump over start/off/etc and look at options first */
while ((ch = px4_getopt(argc, argv, "R:", &myoptind, &myoptarg)) != EOF) { while ((ch = px4_getopt(argc, argv, "R:", &myoptind, &myoptarg)) != EOF) {
switch (ch) { switch (ch) {
// Add rotation if necessary // Add rotation if necessary
default: default:
df_bebop_rangefinder_wrapper::usage(); df_bebop_rangefinder_wrapper::usage();
return 0; return 0;