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Merge pull request #1272 from PX4/mavlink_fixes

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Mavlink fixes
This commit is contained in:
Lorenz Meier
2014-08-13 21:10:51 +02:00
parent 54fc6aa678 73b4c6eba1
commit f48b4b0c84
3 changed files with 16 additions and 11 deletions
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ROMFS/px4fmu_common/init.d/rc.usb
+1 -1
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@@ -23,7 +23,7 @@ mavlink stream -d /dev/ttyACM0 -s RC_CHANNELS_RAW -r 5
usleep 100000
mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 20
usleep 100000
mavlink stream -d /dev/ttyACM0 -s GLOBAL_POSITION_SETPOINT_INT -r 20
mavlink stream -d /dev/ttyACM0 -s POSITION_TARGET_GLOBAL_INT -r 10
usleep 100000
# Exit shell to make it available to MAVLink
src/modules/mavlink/mavlink_main.cpp
+2 -2
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@@ -1388,8 +1388,8 @@ Mavlink::task_main(int argc, char *argv[])
configure_stream("GLOBAL_POSITION_INT", 3.0f);
configure_stream("LOCAL_POSITION_NED", 3.0f);
configure_stream("RC_CHANNELS_RAW", 1.0f);
configure_stream("GLOBAL_POSITION_SETPOINT_INT", 3.0f);
configure_stream("ROLL_PITCH_YAW_THRUST_SETPOINT", 3.0f);
configure_stream("POSITION_TARGET_GLOBAL_INT", 3.0f);
configure_stream("ATTITUDE_TARGET", 3.0f);
configure_stream("DISTANCE_SENSOR", 0.5f);
break;
src/modules/mavlink/mavlink_messages.cpp
+13 -8
View File
@@ -1333,7 +1333,7 @@ protected:
}
for (unsigned i = 0; i < 8; i++) {
if (mavlink_base_mode & MAV_MODE_FLAG_SAFETY_ARMED) {
if (act.output[i] > PWM_LOWEST_MIN / 2) {
if (i < n) {
/* scale PWM out 900..2100 us to 0..1 for rotors */
out[i] = (act.output[i] - PWM_LOWEST_MIN) / (PWM_HIGHEST_MAX - PWM_LOWEST_MIN);
@@ -1344,7 +1344,7 @@ protected:
}
} else {
/* send 0 when disarmed */
/* send 0 when disarmed and for disabled channels */
out[i] = 0.0f;
}
}
@@ -1353,15 +1353,20 @@ protected:
/* fixed wing: scale throttle to 0..1 and other channels to -1..1 */
for (unsigned i = 0; i < 8; i++) {
if (i != 3) {
/* scale PWM out 900..2100 us to -1..1 for normal channels */
out[i] = (act.output[i] - pwm_center) / ((PWM_HIGHEST_MAX - PWM_LOWEST_MIN) / 2);
if (act.output[i] > PWM_LOWEST_MIN / 2) {
if (i != 3) {
/* scale PWM out 900..2100 us to -1..1 for normal channels */
out[i] = (act.output[i] - pwm_center) / ((PWM_HIGHEST_MAX - PWM_LOWEST_MIN) / 2);
} else {
/* scale PWM out 900..2100 us to 0..1 for throttle */
out[i] = (act.output[i] - PWM_LOWEST_MIN) / (PWM_HIGHEST_MAX - PWM_LOWEST_MIN);
}
} else {
/* scale PWM out 900..2100 us to 0..1 for throttle */
out[i] = (act.output[i] - PWM_LOWEST_MIN) / (PWM_HIGHEST_MAX - PWM_LOWEST_MIN);
/* set 0 for disabled channels */
out[i] = 0.0f;
}
}
}