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Fixed minor optical flow receive and retransmit issue, value was not re-transmitted

This commit is contained in:
Lorenz Meier 2012-11-19 13:37:38 +01:00
parent d006a3fe2d
commit 9c8e031f6b
3 changed files with 19 additions and 1 deletions
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17
apps/mavlink/orb_listener.c
View File

@ -113,6 +113,7 @@ static void l_actuator_armed(struct listener *l);
static void l_manual_control_setpoint(struct listener *l);
static void l_vehicle_attitude_controls(struct listener *l);
static void l_debug_key_value(struct listener *l);
static void l_optical_flow(struct listener *l);
struct listener listeners[] = {
{l_sensor_combined, &mavlink_subs.sensor_sub, 0},
@ -134,6 +135,7 @@ struct listener listeners[] = {
{l_manual_control_setpoint, &mavlink_subs.man_control_sp_sub, 0},
{l_vehicle_attitude_controls, &mavlink_subs.actuators_sub, 0},
{l_debug_key_value, &mavlink_subs.debug_key_value, 0},
{l_optical_flow, &mavlink_subs.optical_flow, 0},
};
static const unsigned n_listeners = sizeof(listeners) / sizeof(listeners[0]);
@ -586,6 +588,17 @@ l_debug_key_value(struct listener *l)
debug.value);
}
void
l_optical_flow(struct listener *l)
{
struct optical_flow_s flow;
orb_copy(ORB_ID(optical_flow), mavlink_subs.optical_flow, &flow);
mavlink_msg_optical_flow_send(MAVLINK_COMM_0, flow.timestamp, flow.sensor_id, flow.flow_raw_x, flow.flow_raw_y,
flow.flow_comp_x_m, flow.flow_comp_y_m, flow.quality, flow.ground_distance_m);
}
static void *
uorb_receive_thread(void *arg)
{
@ -710,6 +723,10 @@ uorb_receive_start(void)
mavlink_subs.debug_key_value = orb_subscribe(ORB_ID(debug_key_value));
orb_set_interval(mavlink_subs.debug_key_value, 100); /* 10Hz updates */
/* --- FLOW SENSOR --- */
mavlink_subs.optical_flow = orb_subscribe(ORB_ID(optical_flow));
orb_set_interval(mavlink_subs.optical_flow, 200); /* 5Hz updates */
/* start the listener loop */
pthread_attr_t uorb_attr;
pthread_attr_init(&uorb_attr);

1
apps/mavlink/orb_topics.h
View File

@ -77,6 +77,7 @@ struct mavlink_subscriptions {
int spg_sub;
int debug_key_value;
int input_rc_sub;
int optical_flow;
};
extern struct mavlink_subscriptions mavlink_subs;

2
apps/mavlink_onboard/mavlink_receiver.c
View File

@ -145,7 +145,7 @@ handle_message(mavlink_message_t *msg)
struct optical_flow_s f;
f.timestamp = flow.time_usec;
f.timestamp = hrt_absolute_time();
f.flow_raw_x = flow.flow_x;
f.flow_raw_y = flow.flow_y;
f.flow_comp_x_m = flow.flow_comp_m_x;