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Re-send the RC config warnings once the GCS is connected, fixed compile warnings

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This commit is contained in:
Lorenz Meier
2014-06-30 12:19:08 +02:00
parent 8e41cbfdfa
commit 3f6851b987
3 changed files with 27 additions and 9 deletions
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src/modules/commander/accelerometer_calibration.cpp
+2 -1
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@@ -131,6 +131,7 @@
#include <fcntl.h>
#include <sys/prctl.h>
#include <math.h>
#include <float.h>
#include <mathlib/mathlib.h>
#include <string.h>
#include <drivers/drv_hrt.h>
@@ -526,7 +527,7 @@ int mat_invert3(float src[3][3], float dst[3][3])
src[0][1] * (src[1][0] * src[2][2] - src[1][2] * src[2][0]) +
src[0][2] * (src[1][0] * src[2][1] - src[1][1] * src[2][0]);
if (det == 0.0f) {
if (fabsf(det) < FLT_EPSILON) {
return ERROR; // Singular matrix
}
src/modules/commander/calibration_routines.cpp
+4 -3
View File
@@ -40,6 +40,7 @@
*/
#include <math.h>
#include <float.h>
#include "calibration_routines.h"
@@ -179,9 +180,9 @@ int sphere_fit_least_squares(const float x[], const float y[], const float z[],
aA = Q2 + 16.0f * (A2 - 2.0f * A * x_sum + x_sum2);
aB = Q2 + 16.0f * (B2 - 2.0f * B * y_sum + y_sum2);
aC = Q2 + 16.0f * (C2 - 2.0f * C * z_sum + z_sum2);
aA = (aA == 0.0f) ? 1.0f : aA;
aB = (aB == 0.0f) ? 1.0f : aB;
aC = (aC == 0.0f) ? 1.0f : aC;
aA = (fabsf(aA) < FLT_EPSILON) ? 1.0f : aA;
aB = (fabsf(aB) < FLT_EPSILON) ? 1.0f : aB;
aC = (fabsf(aC) < FLT_EPSILON) ? 1.0f : aC;
//Compute next iteration
nA = A - ((F2 + 16.0f * (B * XY + C * XZ + x_sum * (-A2 - Q0) + A * (x_sum2 + Q1 - C * z_sum - B * y_sum))) / aA);
src/modules/commander/commander.cpp
+21 -5
View File
@@ -371,16 +371,16 @@ void print_status()
static orb_advert_t status_pub;
transition_result_t arm_disarm(bool arm, const int mavlink_fd, const char *armedBy)
transition_result_t arm_disarm(bool arm, const int mavlink_fd_local, const char *armedBy)
{
transition_result_t arming_res = TRANSITION_NOT_CHANGED;
// Transition the armed state. By passing mavlink_fd to arming_state_transition it will
// output appropriate error messages if the state cannot transition.
arming_res = arming_state_transition(&status, &safety, arm ? ARMING_STATE_ARMED : ARMING_STATE_STANDBY, &armed, mavlink_fd);
arming_res = arming_state_transition(&status, &safety, arm ? ARMING_STATE_ARMED : ARMING_STATE_STANDBY, &armed, mavlink_fd_local);
if (arming_res == TRANSITION_CHANGED && mavlink_fd) {
mavlink_log_info(mavlink_fd, "[cmd] %s by %s", arm ? "ARMED" : "DISARMED", armedBy);
mavlink_log_info(mavlink_fd_local, "[cmd] %s by %s", arm ? "ARMED" : "DISARMED", armedBy);
} else if (arming_res == TRANSITION_DENIED) {
tune_negative(true);
@@ -507,7 +507,14 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
cmd_result = VEHICLE_CMD_RESULT_ACCEPTED;
} else {
mavlink_log_info(mavlink_fd, "Unsupported OVERRIDE_GOTO: %f %f %f %f %f %f %f %f", cmd->param1, cmd->param2, cmd->param3, cmd->param4, cmd->param5, cmd->param6, cmd->param7);
mavlink_log_info(mavlink_fd, "Unsupported OVERRIDE_GOTO: %f %f %f %f %f %f %f %f",
(double)cmd->param1,
(double)cmd->param2,
(double)cmd->param3,
(double)cmd->param4,
(double)cmd->param5,
(double)cmd->param6,
(double)cmd->param7);
}
}
break;
@@ -752,7 +759,6 @@ int commander_thread_main(int argc, char *argv[])
hrt_abstime last_idle_time = 0;
hrt_abstime start_time = 0;
hrt_abstime last_auto_state_valid = 0;
bool status_changed = true;
bool param_init_forced = true;
@@ -862,6 +868,7 @@ int commander_thread_main(int argc, char *argv[])
bool arming_state_changed = false;
bool main_state_changed = false;
bool failsafe_old = false;
bool system_checked = false;
while (!thread_should_exit) {
@@ -915,6 +922,15 @@ int commander_thread_main(int argc, char *argv[])
param_get(_param_enable_datalink_loss, &datalink_loss_enabled);
}
/* Perform system checks (again) once params are loaded and MAVLink is up. */
if (!system_checked && mavlink_fd &&
(telemetry.heartbeat_time > 0) &&
(hrt_elapsed_time(&telemetry.heartbeat_time) < 1 * 1000 * 1000)) {
(void)rc_calibration_check(mavlink_fd);
system_checked = true;
}
orb_check(sp_man_sub, &updated);
if (updated) {