Mirrors_Framework/PX4-Autopilot
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Merge branch 'fixedwing' of github.com:PX4/Firmware into fixedwing

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This commit is contained in:
Lorenz Meier
2013-01-09 16:52:45 +01:00
parent 4435befefd 6c93cbfa5e
commit 447bcb990d
5 changed files with 46 additions and 16 deletions
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apps/commander/commander.c
+4
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@@ -1253,6 +1253,8 @@ int commander_thread_main(int argc, char *argv[])
current_status.flag_external_manual_override_ok = true;
/* flag position info as bad, do not allow auto mode */
current_status.flag_vector_flight_mode_ok = false;
/* set battery warning flag */
current_status.battery_warning = VEHICLE_BATTERY_WARNING_NONE;
/* advertise to ORB */
stat_pub = orb_advertise(ORB_ID(vehicle_status), &current_status);
@@ -1510,6 +1512,7 @@ int commander_thread_main(int argc, char *argv[])
if (low_voltage_counter > LOW_VOLTAGE_BATTERY_COUNTER_LIMIT) {
low_battery_voltage_actions_done = true;
mavlink_log_critical(mavlink_fd, "[cmd] WARNING! LOW BATTERY!");
current_status.battery_warning = VEHICLE_BATTERY_WARNING_WARNING;
}
low_voltage_counter++;
@@ -1520,6 +1523,7 @@ int commander_thread_main(int argc, char *argv[])
if (critical_voltage_counter > CRITICAL_VOLTAGE_BATTERY_COUNTER_LIMIT) {
critical_battery_voltage_actions_done = true;
mavlink_log_critical(mavlink_fd, "[cmd] EMERGENCY! CRITICAL BATTERY!");
current_status.battery_warning = VEHICLE_BATTERY_WARNING_ALERT;
state_machine_emergency(stat_pub, &current_status, mavlink_fd);
}
apps/controllib/fixedwing.cpp
+30 -14
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@@ -293,17 +293,20 @@ void BlockMultiModeBacksideAutopilot::update()
for (unsigned i = 4; i < NUM_ACTUATOR_CONTROLS; i++)
_actuators.control[i] = 0.0f;
// handle autopilot modes
if (_status.state_machine == SYSTEM_STATE_STABILIZED) {
_stabilization.update(
_ratesCmd.roll, _ratesCmd.pitch, _ratesCmd.yaw,
_att.rollspeed, _att.pitchspeed, _att.yawspeed);
_actuators.control[CH_AIL] = _stabilization.getAileron();
_actuators.control[CH_ELV] = _stabilization.getElevator();
_actuators.control[CH_RDR] = _stabilization.getRudder();
_actuators.control[CH_THR] = _manual.throttle;
// only update guidance in auto mode
if (_status.state_machine == SYSTEM_STATE_AUTO) {
// update guidance
_guide.update(_pos, _att, _posCmd, _lastPosCmd);
}
// XXX handle STABILIZED (loiter on spot) as well
// once the system switches from manual or auto to stabilized
// the setpoint should update to loitering around this position
// handle autopilot modes
if (_status.state_machine == SYSTEM_STATE_AUTO ||
_status.state_machine == SYSTEM_STATE_STABILIZED) {
} else if (_status.state_machine == SYSTEM_STATE_AUTO) {
// update guidance
_guide.update(_pos, _att, _posCmd, _lastPosCmd);
@@ -325,10 +328,23 @@ void BlockMultiModeBacksideAutopilot::update()
_actuators.control[CH_THR] = _backsideAutopilot.getThrottle();
} else if (_status.state_machine == SYSTEM_STATE_MANUAL) {
_actuators.control[CH_AIL] = _manual.roll;
_actuators.control[CH_ELV] = _manual.pitch;
_actuators.control[CH_RDR] = _manual.yaw;
_actuators.control[CH_THR] = _manual.throttle;
if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) {
_actuators.control[CH_AIL] = _manual.roll;
_actuators.control[CH_ELV] = _manual.pitch;
_actuators.control[CH_RDR] = _manual.yaw;
_actuators.control[CH_THR] = _manual.throttle;
} else if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) {
_stabilization.update(
_ratesCmd.roll, _ratesCmd.pitch, _ratesCmd.yaw,
_att.rollspeed, _att.pitchspeed, _att.yawspeed);
_actuators.control[CH_AIL] = _stabilization.getAileron();
_actuators.control[CH_ELV] = _stabilization.getElevator();
_actuators.control[CH_RDR] = _stabilization.getRudder();
_actuators.control[CH_THR] = _manual.throttle;
}
}
// update all publications
apps/mathlib/CMSIS/Makefile
+1 -1
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@@ -38,7 +38,7 @@
#
# Find sources
#
DSPLIB_SRCDIR = $(dir $(lastword $(MAKEFILE_LIST)))
DSPLIB_SRCDIR := $(dir $(lastword $(MAKEFILE_LIST)))
CSRCS := $(wildcard $(DSPLIB_SRCDIR)/DSP_Lib/Source/*/*.c)
INCLUDES += $(DSPLIB_SRCDIR)/Include \
apps/mavlink/mavlink_parameters.c
+3 -1
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@@ -143,7 +143,9 @@ int mavlink_pm_send_param(param_t param)
*/
int ret;
if ((ret = param_get(param, &val_buf)) != OK) return ret;
if ((ret = param_get(param, &val_buf)) != OK) {
return ret;
}
mavlink_msg_param_value_pack_chan(mavlink_system.sysid,
mavlink_system.compid,
apps/uORB/topics/vehicle_status.h
+8
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@@ -131,6 +131,13 @@ enum VEHICLE_TYPE {
VEHICLE_TYPE_ENUM_END=18, /* | */
};
enum VEHICLE_BATTERY_WARNING {
VEHICLE_BATTERY_WARNING_NONE = 0, /**< no battery low voltage warning active */
VEHICLE_BATTERY_WARNING_WARNING, /**< warning of low voltage 1. stage */
VEHICLE_BATTERY_WARNING_ALERT /**< aleting of low voltage 2. stage */
};
/**
* state machine / state of vehicle.
*
@@ -188,6 +195,7 @@ struct vehicle_status_s
float voltage_battery;
float current_battery;
float battery_remaining;
enum VEHICLE_BATTERY_WARNING battery_warning; /**< current battery warning mode, as defined by VEHICLE_BATTERY_WARNING enum */
uint16_t drop_rate_comm;
uint16_t errors_comm;
uint16_t errors_count1;