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Minor tweaks to offboard control reception

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Lorenz Meier
2012-11-01 10:51:55 +01:00
parent 3c987d6368
commit 6af2ea9fbc
2 changed files with 12 additions and 9 deletions
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apps/commander/commander.c
+7 -4
View File
@@ -1523,12 +1523,14 @@ int commander_thread_main(int argc, char *argv[])
current_status.flag_control_manual_enabled = false;
current_status.flag_control_offboard_enabled = true;
state_changed = true;
tune_confirm();
mavlink_log_critical(mavlink_fd, "[commander] DETECTED OFFBOARD CONTROL SIGNAL FIRST TIME.");
mavlink_log_critical(mavlink_fd, "[commander] DETECTED OFFBOARD CONTROL SIGNAL FIRST");
} else {
if (current_status.offboard_control_signal_lost) {
mavlink_log_critical(mavlink_fd, "[commander] RECOVERY - OFFBOARD CONTROL SIGNAL GAINED!");
mavlink_log_critical(mavlink_fd, "[commander] OK:RECOVERY OFFBOARD CONTROL");
state_changed = true;
tune_confirm();
}
}
@@ -1550,7 +1552,7 @@ int commander_thread_main(int argc, char *argv[])
/* print error message for first RC glitch and then every 5 s / 5000 ms) */
if (!current_status.offboard_control_signal_weak || ((hrt_absolute_time() - last_print_time) > 5000000)) {
current_status.offboard_control_signal_weak = true;
mavlink_log_critical(mavlink_fd, "[commander] CRITICAL - NO OFFBOARD CONTROL SIGNAL!");
mavlink_log_critical(mavlink_fd, "[commander] CRIT:NO OFFBOARD CONTROL!");
last_print_time = hrt_absolute_time();
}
/* flag as lost and update interval since when the signal was lost (to initiate RTL after some time) */
@@ -1560,10 +1562,11 @@ int commander_thread_main(int argc, char *argv[])
if (current_status.offboard_control_signal_lost_interval > 100000) {
current_status.offboard_control_signal_lost = true;
current_status.failsave_lowlevel_start_time = hrt_absolute_time();
current_status.failsave_lowlevel = true;
tune_confirm();
/* kill motors after timeout */
if (hrt_absolute_time() - current_status.failsave_lowlevel_start_time > failsafe_lowlevel_timeout_ms*1000) {
current_status.failsave_lowlevel = true;
state_changed = true;
}
}
apps/mavlink/mavlink_receiver.c
+5 -5
View File
@@ -253,12 +253,12 @@ handle_message(mavlink_message_t *msg)
break;
}
offboard_control_sp.p1 = (float)quad_motors_setpoint.roll[mavlink_system.sysid] / (float)INT16_MAX;
offboard_control_sp.p2 = (float)quad_motors_setpoint.pitch[mavlink_system.sysid] / (float)INT16_MAX;
offboard_control_sp.p3= (float)quad_motors_setpoint.yaw[mavlink_system.sysid] / (float)INT16_MAX;
offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid]/(float)UINT16_MAX;
offboard_control_sp.p1 = (float)quad_motors_setpoint.roll[mavlink_system.sysid-1] / (float)INT16_MAX;
offboard_control_sp.p2 = (float)quad_motors_setpoint.pitch[mavlink_system.sysid-1] / (float)INT16_MAX;
offboard_control_sp.p3= (float)quad_motors_setpoint.yaw[mavlink_system.sysid-1] / (float)INT16_MAX;
offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid-1]/(float)UINT16_MAX;
if (quad_motors_setpoint.thrust[mavlink_system.sysid] == 0) {
if (quad_motors_setpoint.thrust[mavlink_system.sysid-1] == 0) {
ml_armed = false;
}