Mirrors_Framework/PX4-Autopilot
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Merge branch 'master' into cmake-2

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This commit is contained in:
Lorenz Meier
2015-09-27 17:42:04 +02:00
parent a4e56abd71 5c52efece4
commit ec0f53f7c1
2 changed files with 36 additions and 24 deletions
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src/modules/mavlink/mavlink_main.cpp
+5 -1
View File
@@ -1715,6 +1715,10 @@ Mavlink::task_main(int argc, char *argv[])
case MAVLINK_MODE_CONFIG:
// Enable a number of interesting streams we want via USB
configure_stream("SYS_STATUS", 1.0f);
configure_stream("GPS_GLOBAL_ORIGIN", 0.5f);
configure_stream("GLOBAL_POSITION_INT", 10.0f);
configure_stream("ATTITUDE_TARGET", 8.0f);
configure_stream("PARAM_VALUE", 300.0f);
configure_stream("MISSION_ITEM", 50.0f);
configure_stream("NAMED_VALUE_FLOAT", 10.0f);
@@ -1729,7 +1733,7 @@ Mavlink::task_main(int argc, char *argv[])
configure_stream("POSITION_TARGET_GLOBAL_INT", 10.0f);
configure_stream("LOCAL_POSITION_NED", 30.0f);
configure_stream("MANUAL_CONTROL", 5.0f);
configure_stream("HIGHRES_IMU", 100.0f);
configure_stream("HIGHRES_IMU", 50.0f);
configure_stream("GPS_RAW_INT", 20.0f);
configure_stream("CAMERA_TRIGGER", 500.0f);
configure_stream("VTOL_STATE", 2.0f);
src/modules/sensors/sensors.cpp
+31 -23
View File
@@ -212,7 +212,7 @@ private:
unsigned _accel_count; /**< raw accel data count */
unsigned _mag_count; /**< raw mag data count */
unsigned _baro_count; /**< raw baro data count */
int _rc_sub; /**< raw rc channels data subscription */
int _diff_pres_sub; /**< raw differential pressure subscription */
int _vcontrol_mode_sub; /**< vehicle control mode subscription */
@@ -1988,7 +1988,7 @@ Sensors::task_main()
} while (0);
if (ret) {
warnx("Sensor initialization failed");
warnx("sensor initialization failed");
_sensors_task = -1;
if (_fd_adc >=0) {
px4_close(_fd_adc);
@@ -2068,6 +2068,8 @@ Sensors::task_main()
raw.timestamp = 0;
uint64_t _last_config_update = hrt_absolute_time();
while (!_task_should_exit) {
/* wait for up to 50ms for data */
@@ -2077,7 +2079,7 @@ Sensors::task_main()
/* this is undesirable but not much we can do - might want to flag unhappy status */
if (pret < 0) {
warn("poll error %d, %d", pret, errno);
warnx("poll error %d, %d", pret, errno);
continue;
}
@@ -2086,21 +2088,6 @@ Sensors::task_main()
/* check vehicle status for changes to publication state */
vehicle_control_mode_poll();
/* keep adding sensors as long as we are not armed */
if (!_armed) {
_gyro_count = init_sensor_class(ORB_ID(sensor_gyro), &_gyro_sub[0],
&raw.gyro_priority[0], &raw.gyro_errcount[0]);
_mag_count = init_sensor_class(ORB_ID(sensor_mag), &_mag_sub[0],
&raw.magnetometer_priority[0], &raw.magnetometer_errcount[0]);
_accel_count = init_sensor_class(ORB_ID(sensor_accel), &_accel_sub[0],
&raw.accelerometer_priority[0], &raw.accelerometer_errcount[0]);
_baro_count = init_sensor_class(ORB_ID(sensor_baro), &_baro_sub[0],
&raw.baro_priority[0], &raw.baro_errcount[0]);
}
/* the timestamp of the raw struct is updated by the gyro_poll() method */
/* copy most recent sensor data */
gyro_poll(raw);
@@ -2129,11 +2116,32 @@ Sensors::task_main()
orb_publish(ORB_ID(sensor_combined), _sensor_pub, &raw);
}
/* check parameters for updates */
parameter_update_poll();
/* keep adding sensors as long as we are not armed,
* when not adding sensors poll for param updates
*/
if (!_armed && hrt_elapsed_time(&_last_config_update) > 500 * 1000) {
_gyro_count = init_sensor_class(ORB_ID(sensor_gyro), &_gyro_sub[0],
&raw.gyro_priority[0], &raw.gyro_errcount[0]);
/* check rc parameter map for updates */
rc_parameter_map_poll();
_mag_count = init_sensor_class(ORB_ID(sensor_mag), &_mag_sub[0],
&raw.magnetometer_priority[0], &raw.magnetometer_errcount[0]);
_accel_count = init_sensor_class(ORB_ID(sensor_accel), &_accel_sub[0],
&raw.accelerometer_priority[0], &raw.accelerometer_errcount[0]);
_baro_count = init_sensor_class(ORB_ID(sensor_baro), &_baro_sub[0],
&raw.baro_priority[0], &raw.baro_errcount[0]);
_last_config_update = hrt_absolute_time();
} else {
/* check parameters for updates */
parameter_update_poll();
/* check rc parameter map for updates */
rc_parameter_map_poll();
}
/* Look for new r/c input data */
rc_poll();
@@ -2152,7 +2160,7 @@ Sensors::start()
ASSERT(_sensors_task == -1);
/* start the task */
_sensors_task = px4_task_spawn_cmd("sensors_task",
_sensors_task = px4_task_spawn_cmd("sensors",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
2000,