Mirrors_Framework/PX4-Autopilot
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Merge branch 'master' into px4dev_new_param

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Lorenz Meier
2012-08-20 13:16:09 +02:00
parent f20c61ccdf 78db6c990b
commit e3fffa23e0
3 changed files with 16 additions and 14 deletions
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apps/mavlink/mavlink.c
+8 -7
View File
@@ -474,7 +474,7 @@ static int set_mavlink_interval_limit(int mavlink_msg_id, int min_interval)
break;
case MAVLINK_MSG_ID_ATTITUDE:
/* attitude sub triggers attitude */
orb_set_interval(att_sub, 100);
orb_set_interval(att_sub, min_interval);
break;
default:
/* not found */
@@ -527,6 +527,7 @@ static void *uorb_receiveloop(void *arg)
/* --- ATTITUDE VALUE --- */
/* subscribe to ORB for attitude */
att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
orb_set_interval(att_sub, 100);
fds[fdsc_count].fd = att_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
@@ -1324,17 +1325,17 @@ int mavlink_thread_main(int argc, char *argv[])
/* all subscriptions are now active, set up initial guess about rate limits */
if (baudrate >= 921600) {
/* set no limit */
/* 500 Hz / 2 ms */
//set_mavlink_interval_limit(MAVLINK_MSG_ID_SCALED_IMU, 2);
set_mavlink_interval_limit(MAVLINK_MSG_ID_SCALED_IMU, 2);
set_mavlink_interval_limit(MAVLINK_MSG_ID_ATTITUDE, 2);
} else if (baudrate >= 460800) {
/* 250 Hz / 4 ms */
set_mavlink_interval_limit(MAVLINK_MSG_ID_SCALED_IMU, 4);
set_mavlink_interval_limit(MAVLINK_MSG_ID_ATTITUDE, 4);
set_mavlink_interval_limit(MAVLINK_MSG_ID_SCALED_IMU, 5);
set_mavlink_interval_limit(MAVLINK_MSG_ID_ATTITUDE, 5);
} else if (baudrate >= 115200) {
/* 50 Hz / 20 ms */
set_mavlink_interval_limit(MAVLINK_MSG_ID_SCALED_IMU, 20);
set_mavlink_interval_limit(MAVLINK_MSG_ID_ATTITUDE, 20);
set_mavlink_interval_limit(MAVLINK_MSG_ID_SCALED_IMU, 50);
set_mavlink_interval_limit(MAVLINK_MSG_ID_ATTITUDE, 50);
} else if (baudrate >= 57600) {
/* 10 Hz / 100 ms */
set_mavlink_interval_limit(MAVLINK_MSG_ID_SCALED_IMU, 100);
apps/px4/attitude_estimator_bm/attitude_estimator_bm.c
+6 -6
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@@ -87,14 +87,14 @@ int attitude_estimator_bm_update(struct sensor_combined_s *raw, float_vect3 *eul
gyro_values.z = raw->gyro_rad_s[2];
float_vect3 accel_values;
accel_values.x = raw->accelerometer_m_s2[0] * 9.81f;
accel_values.y = raw->accelerometer_m_s2[1] * 9.81f;
accel_values.z = raw->accelerometer_m_s2[2] * 9.81f;
accel_values.x = raw->accelerometer_m_s2[0] * 9.81f * 9.0f;
accel_values.y = raw->accelerometer_m_s2[1] * 9.81f * 9.0f;
accel_values.z = raw->accelerometer_m_s2[2] * 9.81f * 9.0f;
float_vect3 mag_values;
mag_values.x = raw->magnetometer_ga[0]*100.0f;
mag_values.y = raw->magnetometer_ga[1]*100.0f;
mag_values.z = raw->magnetometer_ga[2]*100.0f;
mag_values.x = raw->magnetometer_ga[0]*510.0f;
mag_values.y = raw->magnetometer_ga[1]*510.0f;
mag_values.z = raw->magnetometer_ga[2]*510.0f;
attitude_blackmagic(&accel_values, &mag_values, &gyro_values);
apps/sensors/Makefile
+2 -1
View File
@@ -37,6 +37,7 @@
APPNAME = sensors
PRIORITY = SCHED_PRIORITY_MAX-5
STACKSIZE = 4096
# Reduce to 4096 on next occasion
STACKSIZE = 8000
include $(APPDIR)/mk/app.mk