forked from Archive/PX4-Autopilot
vehicle_command topic: use uorb queuing with length 3
Just to make sure we don't lose any messages.
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c1b73a068e
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@ -83,6 +83,8 @@ uint32 VEHICLE_ROI_LOCATION = 3 # Point toward fixed locatio
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uint32 VEHICLE_ROI_TARGET = 4 # Point toward target
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uint32 VEHICLE_ROI_ENUM_END = 5
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uint32 ORB_QUEUE_LENGTH = 3
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float32 param1 # Parameter 1, as defined by MAVLink uint32 VEHICLE_CMD enum.
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float32 param2 # Parameter 2, as defined by MAVLink uint32 VEHICLE_CMD enum.
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float32 param3 # Parameter 3, as defined by MAVLink uint32 VEHICLE_CMD enum.
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@ -4,5 +4,7 @@ uint8 VEHICLE_RESULT_DENIED = 2
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uint8 VEHICLE_RESULT_UNSUPPORTED = 3
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uint8 VEHICLE_RESULT_FAILED = 4
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uint32 ORB_QUEUE_LENGTH = 3
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uint16 command
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uint8 result
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@ -395,7 +395,7 @@ CameraTrigger::test()
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cmd.param5 = 1.0f;
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orb_advert_t pub;
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pub = orb_advertise(ORB_ID(vehicle_command), &cmd);
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pub = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
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(void)orb_unadvertise(pub);
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}
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@ -825,7 +825,7 @@ PX4IO::init()
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cmd.confirmation = 1;
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/* send command once */
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orb_advert_t pub = orb_advertise(ORB_ID(vehicle_command), &cmd);
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orb_advert_t pub = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
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/* spin here until IO's state has propagated into the system */
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do {
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@ -302,9 +302,14 @@ void InputMavlinkCmdMount::_ack_vehicle_command(uint16_t command)
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vehicle_command_ack.command = command;
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vehicle_command_ack.result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
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int instance;
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orb_publish_auto(ORB_ID(vehicle_command_ack), &_vehicle_command_ack_pub, &vehicle_command_ack,
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&instance, ORB_PRIO_DEFAULT);
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if (_vehicle_command_ack_pub == nullptr) {
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_vehicle_command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &vehicle_command_ack,
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vehicle_command_ack_s::ORB_QUEUE_LENGTH);
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} else {
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orb_publish(ORB_ID(vehicle_command_ack), _vehicle_command_ack_pub, &vehicle_command_ack);
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}
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}
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void InputMavlinkCmdMount::print_status()
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@ -75,7 +75,8 @@ int OutputMavlink::update(const ControlData *control_data)
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orb_publish(ORB_ID(vehicle_command), _vehicle_command_pub, &vehicle_command);
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} else {
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_vehicle_command_pub = orb_advertise_queue(ORB_ID(vehicle_command), &vehicle_command, 3);
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_vehicle_command_pub = orb_advertise_queue(ORB_ID(vehicle_command), &vehicle_command,
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vehicle_command_s::ORB_QUEUE_LENGTH);
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}
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}
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@ -424,7 +424,7 @@ int commander_main(int argc, char *argv[])
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cmd.param6 = NAN;
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cmd.param7 = NAN;
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orb_advert_t h = orb_advertise(ORB_ID(vehicle_command), &cmd);
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orb_advert_t h = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
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(void)orb_unadvertise(h);
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} else {
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@ -453,7 +453,7 @@ int commander_main(int argc, char *argv[])
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cmd.param6 = NAN;
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cmd.param7 = NAN;
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orb_advert_t h = orb_advertise(ORB_ID(vehicle_command), &cmd);
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orb_advert_t h = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
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(void)orb_unadvertise(h);
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return 0;
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@ -476,7 +476,7 @@ int commander_main(int argc, char *argv[])
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cmd.param6 = NAN;
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cmd.param7 = NAN;
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orb_advert_t h = orb_advertise(ORB_ID(vehicle_command), &cmd);
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orb_advert_t h = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
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(void)orb_unadvertise(h);
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return 0;
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@ -538,8 +538,8 @@ int commander_main(int argc, char *argv[])
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/* if the comparison matches for off (== 0) set 0.0f, 2.0f (on) else */
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cmd.param1 = strcmp(argv[2], "off") ? 2.0f : 0.0f; /* lockdown */
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// XXX inspect use of publication handle
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(void)orb_advertise(ORB_ID(vehicle_command), &cmd);
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orb_advert_t h = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
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(void)orb_unadvertise(h);
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return 0;
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}
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@ -3665,7 +3665,7 @@ void answer_command(struct vehicle_command_s &cmd, unsigned result,
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orb_publish(ORB_ID(vehicle_command_ack), command_ack_pub, &command_ack);
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} else {
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command_ack_pub = orb_advertise(ORB_ID(vehicle_command_ack), &command_ack);
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command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack, vehicle_command_ack_s::ORB_QUEUE_LENGTH);
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}
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}
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@ -412,7 +412,7 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
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vcmd.confirmation = cmd_mavlink.confirmation;
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if (_cmd_pub == nullptr) {
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_cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
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_cmd_pub = orb_advertise_queue(ORB_ID(vehicle_command), &vcmd, vehicle_command_s::ORB_QUEUE_LENGTH);
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} else {
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orb_publish(ORB_ID(vehicle_command), _cmd_pub, &vcmd);
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@ -488,7 +488,7 @@ MavlinkReceiver::handle_message_command_int(mavlink_message_t *msg)
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vcmd.source_component = msg->compid;
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if (_cmd_pub == nullptr) {
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_cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
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_cmd_pub = orb_advertise_queue(ORB_ID(vehicle_command), &vcmd, vehicle_command_s::ORB_QUEUE_LENGTH);
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} else {
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orb_publish(ORB_ID(vehicle_command), _cmd_pub, &vcmd);
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@ -636,7 +636,7 @@ MavlinkReceiver::handle_message_set_mode(mavlink_message_t *msg)
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vcmd.confirmation = 1;
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if (_cmd_pub == nullptr) {
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_cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
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_cmd_pub = orb_advertise_queue(ORB_ID(vehicle_command), &vcmd, vehicle_command_s::ORB_QUEUE_LENGTH);
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} else {
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orb_publish(ORB_ID(vehicle_command), _cmd_pub, &vcmd);
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@ -364,7 +364,7 @@ MissionBlock::issue_command(const struct mission_item_s *item)
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}
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if (item->nav_cmd == NAV_CMD_DO_SET_SERVO) {
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PX4_WARN("do_set_servo command");
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PX4_INFO("do_set_servo command");
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// XXX: we should issue a vehicle command and handle this somewhere else
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memset(&actuators, 0, sizeof(actuators));
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// params[0] actuator number to be set 0..5 (corresponds to AUX outputs 1..6)
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@ -380,7 +380,7 @@ MissionBlock::issue_command(const struct mission_item_s *item)
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}
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} else {
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PX4_WARN("forwarding command %d\n", item->nav_cmd);
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PX4_INFO("forwarding command %d", item->nav_cmd);
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struct vehicle_command_s cmd = {};
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mission_item_to_vehicle_command(item, &cmd);
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_action_start = hrt_absolute_time();
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@ -389,7 +389,7 @@ MissionBlock::issue_command(const struct mission_item_s *item)
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orb_publish(ORB_ID(vehicle_command), _cmd_pub, &cmd);
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} else {
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_cmd_pub = orb_advertise(ORB_ID(vehicle_command), &cmd);
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_cmd_pub = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
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}
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}
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}
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@ -616,7 +616,7 @@ MissionBlock::set_land_item(struct mission_item_s *item, bool at_current_locatio
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if (_cmd_pub != nullptr) {
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orb_publish(ORB_ID(vehicle_command), _cmd_pub, &cmd);
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} else {
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_cmd_pub = orb_advertise(ORB_ID(vehicle_command), &cmd);
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_cmd_pub = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
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}
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}
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