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update msgs fields from camelCase to snake_case so rosidl_generate_interfaces() is able to generate code for ROS IDL files

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This commit is contained in:
TSC21
2018-07-29 21:28:59 +01:00
committed by Lorenz Meier
parent 553d68b80f
commit ca42483794
14 changed files with 58 additions and 52 deletions
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msg/system_power.msg
+4 -5
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@@ -1,12 +1,12 @@
float32 voltage5V_v # peripheral 5V rail voltage
float32 voltage3V3_v # Sensor 3V3 rail voltage
float32 voltage5v_v # peripheral 5V rail voltage
float32 voltage3v3_v # Sensor 3V3 rail voltage
uint8 v3v3_valid # Sensor 3V3 rail voltage was read.
uint8 usb_connected # USB is connected when 1
uint8 brick_valid # brick bits power is good when bit 1
uint8 usb_valid # USB is valid when 1
uint8 servo_valid # servo power is good when 1
uint8 periph_5V_OC # peripheral overcurrent when 1
uint8 hipower_5V_OC # hi power peripheral overcurrent when 1
uint8 periph_5v_oc # peripheral overcurrent when 1
uint8 hipower_5v_oc # hi power peripheral overcurrent when 1
uint8 BRICK1_VALID_SHIFTS=0
uint8 BRICK1_VALID_MASK=1
@@ -16,4 +16,3 @@ uint8 BRICK3_VALID_SHIFTS=2
uint8 BRICK3_VALID_MASK=4
uint8 BRICK4_VALID_SHIFTS=3
uint8 BRICK4_VALID_MASK=8
msg/tecs_status.msg
+10 -10
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@@ -7,19 +7,19 @@ uint8 TECS_MODE_BAD_DESCENT = 5
uint8 TECS_MODE_CLIMBOUT = 6
float32 altitudeSp
float32 altitude_sp
float32 altitude_filtered
float32 flightPathAngleSp
float32 flightPathAngle
float32 airspeedSp
float32 flight_path_angle_sp
float32 flight_path_angle
float32 airspeed_sp
float32 airspeed_filtered
float32 airspeedDerivativeSp
float32 airspeedDerivative
float32 airspeed_derivative_sp
float32 airspeed_derivative
float32 totalEnergyError
float32 energyDistributionError
float32 totalEnergyRateError
float32 energyDistributionRateError
float32 total_energy_error
float32 energy_distribution_error
float32 total_energy_rate_error
float32 energy_distribution_rate_error
float32 throttle_integ
float32 pitch_integ
msg/tools/px_generate_uorb_topic_helper.py
+8 -1
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@@ -107,7 +107,7 @@ def sizeof_field_type(field):
def get_children_fields(base_type, search_path):
(package, name) = genmsg.names.package_resource_name(base_type)
tmp_msg_context = genmsg.msg_loader.MsgContext.create_default()
spec_temp = genmsg.msg_loader.load_msg_by_type(tmp_msg_context, '%s/%s' %(package, name), search_path)
spec_temp = genmsg.msg_loader.load_msg_by_type(tmp_msg_context, '%s/%s' %(package, name), search_path)
sorted_fields = sorted(spec_temp.parsed_fields(), key=sizeof_field_type, reverse=True)
return sorted_fields
@@ -184,6 +184,9 @@ def print_field(field):
Echo printf line
"""
# check if there are any upper case letters in the field name
assert not any(a.isupper() for a in field.name), "%r field contains uppercase letters" % field.name
# skip padding
if field.name.startswith('_padding'):
return
@@ -250,6 +253,10 @@ def print_field_def(field):
"""
Print the C type from a field
"""
# check if there are any upper case letters in the field name
assert not any(a.isupper() for a in field.name), "%r field contains uppercase letters" % field.name
type_name = field.type
# detect embedded types
sl_pos = type_name.find('/')
msg/transponder_report.msg
+1 -1
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@@ -1,4 +1,4 @@
uint32 ICAO_address # ICAO address
uint32 icao_address # ICAO address
float64 lat # Latitude, expressed as degrees
float64 lon # Longitude, expressed as degrees
uint8 altitude_type # Type from ADSB_ALTITUDE_TYPE enum
src/drivers/differential_pressure/ms4525/ms4525_airspeed.cpp
+3 -3
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@@ -322,7 +322,7 @@ MEASAirspeed::voltage_correction(float &diff_press_pa, float &temperature)
orb_copy(ORB_ID(system_power), _t_system_power, &system_power);
}
if (system_power.voltage5V_v < 3.0f || system_power.voltage5V_v > 6.0f) {
if (system_power.voltage5v_v < 3.0f || system_power.voltage5v_v > 6.0f) {
// not valid, skip correction
return;
}
@@ -331,7 +331,7 @@ MEASAirspeed::voltage_correction(float &diff_press_pa, float &temperature)
/*
apply a piecewise linear correction, flattening at 0.5V from 5V
*/
float voltage_diff = system_power.voltage5V_v - 5.0f;
float voltage_diff = system_power.voltage5v_v - 5.0f;
if (voltage_diff > 0.5f) {
voltage_diff = 0.5f;
@@ -347,7 +347,7 @@ MEASAirspeed::voltage_correction(float &diff_press_pa, float &temperature)
the temperature masurement varies as well
*/
const float temp_slope = 0.887f;
voltage_diff = system_power.voltage5V_v - 5.0f;
voltage_diff = system_power.voltage5v_v - 5.0f;
if (voltage_diff > 0.5f) {
voltage_diff = 0.5f;
src/drivers/kinetis/adc/adc.cpp
+4 -4
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@@ -368,7 +368,7 @@ ADC::update_system_power(hrt_abstime now)
system_power_s system_power = {};
system_power.timestamp = now;
system_power.voltage5V_v = 0;
system_power.voltage5v_v = 0;
#if defined(ADC_5V_RAIL_SENSE)
@@ -376,7 +376,7 @@ ADC::update_system_power(hrt_abstime now)
if (_samples[i].am_channel == ADC_5V_RAIL_SENSE) {
// it is 2:1 scaled
system_power.voltage5V_v = _samples[i].am_data * (6.6f / 4096.0f);
system_power.voltage5v_v = _samples[i].am_data * (6.6f / 4096.0f);
}
}
@@ -402,8 +402,8 @@ ADC::update_system_power(hrt_abstime now)
system_power.servo_valid = BOARD_ADC_SERVO_VALID;
// OC pins are active low
system_power.periph_5V_OC = BOARD_ADC_PERIPH_5V_OC;
system_power.hipower_5V_OC = BOARD_ADC_HIPOWER_5V_OC;
system_power.periph_5v_oc = BOARD_ADC_PERIPH_5V_OC;
system_power.hipower_5v_oc = BOARD_ADC_HIPOWER_5V_OC;
/* lazily publish */
if (_to_system_power != nullptr) {
src/drivers/stm32/adc/adc.cpp
+6 -6
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@@ -386,8 +386,8 @@ ADC::update_system_power(hrt_abstime now)
system_power_s system_power = {};
system_power.timestamp = now;
system_power.voltage5V_v = 0;
system_power.voltage3V3_v = 0;
system_power.voltage5v_v = 0;
system_power.voltage3v3_v = 0;
system_power.v3v3_valid = 0;
/* Assume HW provides only ADC_SCALED_V5_SENSE */
@@ -402,7 +402,7 @@ ADC::update_system_power(hrt_abstime now)
if (_samples[i].am_channel == ADC_SCALED_V5_SENSE) {
// it is 2:1 scaled
system_power.voltage5V_v = _samples[i].am_data * (ADC_V5_V_FULL_SCALE / 4096.0f);
system_power.voltage5v_v = _samples[i].am_data * (ADC_V5_V_FULL_SCALE / 4096.0f);
cnt--;
} else
@@ -411,7 +411,7 @@ ADC::update_system_power(hrt_abstime now)
{
if (_samples[i].am_channel == ADC_SCALED_V3V3_SENSORS_SENSE) {
// it is 2:1 scaled
system_power.voltage3V3_v = _samples[i].am_data * (ADC_3V3_SCALE * (3.3f / 4096.0f));
system_power.voltage3v3_v = _samples[i].am_data * (ADC_3V3_SCALE * (3.3f / 4096.0f));
system_power.v3v3_valid = 1;
cnt--;
}
@@ -451,8 +451,8 @@ ADC::update_system_power(hrt_abstime now)
system_power.servo_valid = BOARD_ADC_SERVO_VALID;
// OC pins are active low
system_power.periph_5V_OC = BOARD_ADC_PERIPH_5V_OC;
system_power.hipower_5V_OC = BOARD_ADC_HIPOWER_5V_OC;
system_power.periph_5v_oc = BOARD_ADC_PERIPH_5V_OC;
system_power.hipower_5v_oc = BOARD_ADC_HIPOWER_5V_OC;
/* lazily publish */
if (_to_system_power != nullptr) {
src/modules/commander/PreflightCheck.cpp
+1 -1
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@@ -507,7 +507,7 @@ static bool powerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status,
if (hrt_elapsed_time(&system_power.timestamp) < 200000) {
/* copy avionics voltage */
float avionics_power_rail_voltage = system_power.voltage5V_v;
float avionics_power_rail_voltage = system_power.voltage5v_v;
// avionics rail
// Check avionics rail voltages
src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+11 -11
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@@ -1956,21 +1956,21 @@ FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float airspee
break;
}
t.altitudeSp = _tecs.hgt_setpoint_adj();
t.altitude_sp = _tecs.hgt_setpoint_adj();
t.altitude_filtered = _tecs.vert_pos_state();
t.airspeedSp = _tecs.TAS_setpoint_adj();
t.airspeed_filtered = _tecs.tas_state();
t.airspeed_sp = _tecs.TAS_setpoint_adj();
t.airspeed_filtered = _tecs.tas_state();
t.flightPathAngleSp = _tecs.hgt_rate_setpoint();
t.flightPathAngle = _tecs.vert_vel_state();
t.flight_path_angle_sp = _tecs.hgt_rate_setpoint();
t.flight_path_angle = _tecs.vert_vel_state();
t.airspeedDerivativeSp = _tecs.TAS_rate_setpoint();
t.airspeedDerivative = _tecs.speed_derivative();
t.airspeed_derivative_sp = _tecs.TAS_rate_setpoint();
t.airspeed_derivative = _tecs.speed_derivative();
t.totalEnergyError = _tecs.STE_error();
t.totalEnergyRateError = _tecs.STE_rate_error();
t.energyDistributionError = _tecs.SEB_error();
t.energyDistributionRateError = _tecs.SEB_rate_error();
t.total_energy_error = _tecs.STE_error();
t.total_energy_rate_error = _tecs.STE_rate_error();
t.energy_distribution_error = _tecs.SEB_error();
t.energy_distribution_rate_error = _tecs.SEB_rate_error();
t.throttle_integ = _tecs.throttle_integ_state();
t.pitch_integ = _tecs.pitch_integ_state();
src/modules/mavlink/mavlink_high_latency2.cpp
+2 -2
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@@ -362,7 +362,7 @@ bool MavlinkStreamHighLatency2::write_tecs_status(mavlink_high_latency2_t *msg)
if (_tecs_time > 0) {
int16_t target_altitude;
convert_limit_safe(tecs_status.altitudeSp, target_altitude);
convert_limit_safe(tecs_status.altitude_sp, target_altitude);
msg->target_altitude = target_altitude;
}
@@ -502,7 +502,7 @@ void MavlinkStreamHighLatency2::update_tecs_status()
tecs_status_s tecs_status;
if (_tecs_status_sub->update(&tecs_status)) {
_airspeed_sp.add_value(tecs_status.airspeedSp, _update_rate_filtered);
_airspeed_sp.add_value(tecs_status.airspeed_sp, _update_rate_filtered);
}
}
src/modules/mavlink/mavlink_messages.cpp
+3 -3
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@@ -1378,7 +1378,7 @@ protected:
if (!(pos.flags & transponder_report_s::PX4_ADSB_FLAGS_RETRANSLATE)) { continue; }
msg.ICAO_address = pos.ICAO_address;
msg.ICAO_address = pos.icao_address;
msg.lat = pos.lat * 1e7;
msg.lon = pos.lon * 1e7;
msg.altitude_type = pos.altitude_type;
@@ -3517,8 +3517,8 @@ protected:
msg.target_bearing = (int16_t)math::degrees(_fw_pos_ctrl_status.target_bearing);
msg.wp_dist = (uint16_t)_fw_pos_ctrl_status.wp_dist;
msg.xtrack_error = _fw_pos_ctrl_status.xtrack_error;
msg.alt_error = _tecs_status.altitude_filtered - _tecs_status.altitudeSp;
msg.aspd_error = _tecs_status.airspeed_filtered - _tecs_status.airspeedSp;
msg.alt_error = _tecs_status.altitude_filtered - _tecs_status.altitude_sp;
msg.aspd_error = _tecs_status.airspeed_filtered - _tecs_status.airspeed_sp;
mavlink_msg_nav_controller_output_send_struct(_mavlink->get_channel(), &msg);
src/modules/mavlink/mavlink_receiver.cpp
+1 -1
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@@ -2167,7 +2167,7 @@ void MavlinkReceiver::handle_message_adsb_vehicle(mavlink_message_t *msg)
t.timestamp = hrt_absolute_time();
t.ICAO_address = adsb.ICAO_address;
t.icao_address = adsb.ICAO_address;
t.lat = adsb.lat * 1e-7;
t.lon = adsb.lon * 1e-7;
t.altitude_type = adsb.altitude_type;
src/modules/navigator/navigator_main.cpp
+1 -1
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@@ -967,7 +967,7 @@ void Navigator::fake_traffic(const char *callsign, float distance, float directi
transponder_report_s tr = {};
tr.timestamp = hrt_absolute_time();
tr.ICAO_address = 1234;
tr.icao_address = 1234;
tr.lat = lat; // Latitude, expressed as degrees
tr.lon = lon; // Longitude, expressed as degrees
tr.altitude_type = 0;
src/modules/vtol_att_control/vtol_type.cpp
+3 -3
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@@ -210,11 +210,11 @@ void VtolType::check_quadchute_condition()
// We use tecs for tracking in FW and local_pos_sp during transitions
if (_tecs_running) {
// 1 second rolling average
_ra_hrate = (49 * _ra_hrate + _tecs_status->flightPathAngle) / 50;
_ra_hrate_sp = (49 * _ra_hrate_sp + _tecs_status->flightPathAngleSp) / 50;
_ra_hrate = (49 * _ra_hrate + _tecs_status->flight_path_angle) / 50;
_ra_hrate_sp = (49 * _ra_hrate_sp + _tecs_status->flight_path_angle_sp) / 50;
// are we dropping while requesting significant ascend?
if (((_tecs_status->altitudeSp - _tecs_status->altitude_filtered) > _params->fw_alt_err) &&
if (((_tecs_status->altitude_sp - _tecs_status->altitude_filtered) > _params->fw_alt_err) &&
(_ra_hrate < -1.0f) &&
(_ra_hrate_sp > 1.0f)) {