diff --git a/makefiles/config_px4fmu_default.mk b/makefiles/config_px4fmu_default.mk index 6c43377e39..ada6b7ab7d 100644 --- a/makefiles/config_px4fmu_default.mk +++ b/makefiles/config_px4fmu_default.mk @@ -21,6 +21,8 @@ MODULES += systemcmds/eeprom # General system control # MODULES += modules/commander +MODULES += modules/mavlink +MODULES += modules/mavlink_onboard # # Estimation modules (EKF / other filters) @@ -56,8 +58,6 @@ BUILTIN_COMMANDS := \ $(call _B, hott_telemetry, , 2048, hott_telemetry_main ) \ $(call _B, kalman_demo, SCHED_PRIORITY_MAX-30, 2048, kalman_demo_main ) \ $(call _B, math_demo, , 8192, math_demo_main ) \ - $(call _B, mavlink, , 2048, mavlink_main ) \ - $(call _B, mavlink_onboard, , 2048, mavlink_onboard_main ) \ $(call _B, mixer, , 4096, mixer_main ) \ $(call _B, mpu6000, , 4096, mpu6000_main ) \ $(call _B, ms5611, , 2048, ms5611_main ) \ diff --git a/makefiles/config_px4fmuv2_default.mk b/makefiles/config_px4fmuv2_default.mk index fd69baa29a..9aa4ec3daf 100644 --- a/makefiles/config_px4fmuv2_default.mk +++ b/makefiles/config_px4fmuv2_default.mk @@ -21,6 +21,8 @@ MODULES += systemcmds/ramtron # General system control # MODULES += modules/commander +MODULES += modules/mavlink +MODULES += modules/mavlink_onboard # # Estimation modules (EKF / other filters) @@ -55,8 +57,6 @@ BUILTIN_COMMANDS := \ $(call _B, hott_telemetry, , 2048, hott_telemetry_main ) \ $(call _B, kalman_demo, SCHED_PRIORITY_MAX-30, 2048, kalman_demo_main ) \ $(call _B, math_demo, , 8192, math_demo_main ) \ - $(call _B, mavlink, , 2048, mavlink_main ) \ - $(call _B, mavlink_onboard, , 2048, mavlink_onboard_main ) \ $(call _B, mixer, , 4096, mixer_main ) \ $(call _B, multirotor_att_control, SCHED_PRIORITY_MAX-15, 2048, multirotor_att_control_main) \ $(call _B, multirotor_pos_control, SCHED_PRIORITY_MAX-25, 2048, multirotor_pos_control_main) \ diff --git a/apps/mavlink/mavlink_log.h b/src/include/mavlink/mavlink_log.h similarity index 100% rename from apps/mavlink/mavlink_log.h rename to src/include/mavlink/mavlink_log.h diff --git a/apps/mavlink/.context b/src/modules/mavlink/.context similarity index 100% rename from apps/mavlink/.context rename to src/modules/mavlink/.context diff --git a/apps/mavlink/.gitignore b/src/modules/mavlink/.gitignore similarity index 100% rename from apps/mavlink/.gitignore rename to src/modules/mavlink/.gitignore diff --git a/apps/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c similarity index 99% rename from apps/mavlink/mavlink.c rename to src/modules/mavlink/mavlink.c index 644b779af2..de78cd1399 100644 --- a/apps/mavlink/mavlink.c +++ b/src/modules/mavlink/mavlink.c @@ -64,9 +64,9 @@ #include #include #include +#include #include "waypoints.h" -#include "mavlink_log.h" #include "orb_topics.h" #include "missionlib.h" #include "mavlink_hil.h" diff --git a/apps/mavlink/mavlink_bridge_header.h b/src/modules/mavlink/mavlink_bridge_header.h similarity index 98% rename from apps/mavlink/mavlink_bridge_header.h rename to src/modules/mavlink/mavlink_bridge_header.h index 270ec17274..0010bb341e 100644 --- a/apps/mavlink/mavlink_bridge_header.h +++ b/src/modules/mavlink/mavlink_bridge_header.h @@ -51,7 +51,7 @@ #define MAVLINK_GET_CHANNEL_BUFFER mavlink_get_channel_buffer #define MAVLINK_GET_CHANNEL_STATUS mavlink_get_channel_status -#include "v1.0/mavlink_types.h" +#include #include diff --git a/apps/mavlink/mavlink_hil.h b/src/modules/mavlink/mavlink_hil.h similarity index 100% rename from apps/mavlink/mavlink_hil.h rename to src/modules/mavlink/mavlink_hil.h diff --git a/apps/mavlink/mavlink_log.c b/src/modules/mavlink/mavlink_log.c similarity index 98% rename from apps/mavlink/mavlink_log.c rename to src/modules/mavlink/mavlink_log.c index ed65fb883c..fa974dc0b6 100644 --- a/apps/mavlink/mavlink_log.c +++ b/src/modules/mavlink/mavlink_log.c @@ -42,7 +42,7 @@ #include #include -#include "mavlink_log.h" +#include void mavlink_logbuffer_init(struct mavlink_logbuffer *lb, int size) { diff --git a/apps/mavlink/mavlink_parameters.c b/src/modules/mavlink/mavlink_parameters.c similarity index 100% rename from apps/mavlink/mavlink_parameters.c rename to src/modules/mavlink/mavlink_parameters.c diff --git a/apps/mavlink/mavlink_parameters.h b/src/modules/mavlink/mavlink_parameters.h similarity index 100% rename from apps/mavlink/mavlink_parameters.h rename to src/modules/mavlink/mavlink_parameters.h diff --git a/apps/mavlink/mavlink_receiver.c b/src/modules/mavlink/mavlink_receiver.c similarity index 99% rename from apps/mavlink/mavlink_receiver.c rename to src/modules/mavlink/mavlink_receiver.c index 22c2fcdade..e62e4dcc4c 100644 --- a/apps/mavlink/mavlink_receiver.c +++ b/src/modules/mavlink/mavlink_receiver.c @@ -64,9 +64,9 @@ #include #include +#include #include "waypoints.h" -#include "mavlink_log.h" #include "orb_topics.h" #include "missionlib.h" #include "mavlink_hil.h" @@ -312,7 +312,7 @@ handle_message(mavlink_message_t *msg) static const float ground_press = 1013.25f; // mbar static const float ground_tempC = 21.0f; static const float ground_alt = 0.0f; - static const float T0 = 273.15; + static const float T0 = 273.15f; static const float R = 287.05f; static const float g = 9.806f; diff --git a/apps/mavlink/missionlib.c b/src/modules/mavlink/missionlib.c similarity index 99% rename from apps/mavlink/missionlib.c rename to src/modules/mavlink/missionlib.c index 8064febc47..d369e05ffa 100644 --- a/apps/mavlink/missionlib.c +++ b/src/modules/mavlink/missionlib.c @@ -62,9 +62,9 @@ #include #include +#include #include "waypoints.h" -#include "mavlink_log.h" #include "orb_topics.h" #include "missionlib.h" #include "mavlink_hil.h" diff --git a/apps/mavlink/missionlib.h b/src/modules/mavlink/missionlib.h similarity index 100% rename from apps/mavlink/missionlib.h rename to src/modules/mavlink/missionlib.h diff --git a/apps/mavlink_onboard/Makefile b/src/modules/mavlink/module.mk similarity index 82% rename from apps/mavlink_onboard/Makefile rename to src/modules/mavlink/module.mk index 8b1cb9b2c7..cbf08aeb20 100644 --- a/apps/mavlink_onboard/Makefile +++ b/src/modules/mavlink/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (C) 2012-2013 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -32,13 +32,16 @@ ############################################################################ # -# Mavlink Application +# MAVLink protocol to uORB interface process # -APPNAME = mavlink_onboard -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 +MODULE_COMMAND = mavlink +SRCS += mavlink.c \ + missionlib.c \ + mavlink_parameters.c \ + mavlink_log.c \ + mavlink_receiver.c \ + orb_listener.c \ + waypoints.c -INCLUDES = $(TOPDIR)/../mavlink/include/mavlink - -include $(APPDIR)/mk/app.mk +INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink diff --git a/apps/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c similarity index 99% rename from apps/mavlink/orb_listener.c rename to src/modules/mavlink/orb_listener.c index 5f15facf87..295cd5e28c 100644 --- a/apps/mavlink/orb_listener.c +++ b/src/modules/mavlink/orb_listener.c @@ -56,8 +56,9 @@ #include #include +#include + #include "waypoints.h" -#include "mavlink_log.h" #include "orb_topics.h" #include "missionlib.h" #include "mavlink_hil.h" diff --git a/apps/mavlink/orb_topics.h b/src/modules/mavlink/orb_topics.h similarity index 100% rename from apps/mavlink/orb_topics.h rename to src/modules/mavlink/orb_topics.h diff --git a/apps/mavlink/util.h b/src/modules/mavlink/util.h similarity index 100% rename from apps/mavlink/util.h rename to src/modules/mavlink/util.h diff --git a/apps/mavlink/waypoints.c b/src/modules/mavlink/waypoints.c similarity index 100% rename from apps/mavlink/waypoints.c rename to src/modules/mavlink/waypoints.c diff --git a/apps/mavlink/waypoints.h b/src/modules/mavlink/waypoints.h similarity index 100% rename from apps/mavlink/waypoints.h rename to src/modules/mavlink/waypoints.h diff --git a/apps/mavlink_onboard/mavlink.c b/src/modules/mavlink_onboard/mavlink.c similarity index 100% rename from apps/mavlink_onboard/mavlink.c rename to src/modules/mavlink_onboard/mavlink.c diff --git a/apps/mavlink_onboard/mavlink_bridge_header.h b/src/modules/mavlink_onboard/mavlink_bridge_header.h similarity index 98% rename from apps/mavlink_onboard/mavlink_bridge_header.h rename to src/modules/mavlink_onboard/mavlink_bridge_header.h index bf7c5354cc..3ad3bb6175 100644 --- a/apps/mavlink_onboard/mavlink_bridge_header.h +++ b/src/modules/mavlink_onboard/mavlink_bridge_header.h @@ -51,7 +51,7 @@ #define MAVLINK_GET_CHANNEL_BUFFER mavlink_get_channel_buffer #define MAVLINK_GET_CHANNEL_STATUS mavlink_get_channel_status -#include "v1.0/mavlink_types.h" +#include #include diff --git a/apps/mavlink_onboard/mavlink_receiver.c b/src/modules/mavlink_onboard/mavlink_receiver.c similarity index 100% rename from apps/mavlink_onboard/mavlink_receiver.c rename to src/modules/mavlink_onboard/mavlink_receiver.c diff --git a/apps/mavlink/Makefile b/src/modules/mavlink_onboard/module.mk similarity index 85% rename from apps/mavlink/Makefile rename to src/modules/mavlink_onboard/module.mk index 8ddb69b71d..c40fa042e8 100644 --- a/apps/mavlink/Makefile +++ b/src/modules/mavlink_onboard/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (C) 2012-2013 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -32,13 +32,11 @@ ############################################################################ # -# Mavlink Application +# MAVLink protocol to uORB interface process (XXX hack for onboard use) # -APPNAME = mavlink -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 +MODULE_COMMAND = mavlink_onboard +SRCS = mavlink.c \ + mavlink_receiver.c -INCLUDES = $(TOPDIR)/../mavlink/include/mavlink - -include $(APPDIR)/mk/app.mk +INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink diff --git a/apps/mavlink_onboard/orb_topics.h b/src/modules/mavlink_onboard/orb_topics.h similarity index 100% rename from apps/mavlink_onboard/orb_topics.h rename to src/modules/mavlink_onboard/orb_topics.h diff --git a/apps/mavlink_onboard/util.h b/src/modules/mavlink_onboard/util.h similarity index 100% rename from apps/mavlink_onboard/util.h rename to src/modules/mavlink_onboard/util.h