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Keep track of new radio control messages and create new bitfield in the AutopilotMessageUp to indicate when IMU, RC, pressure, or vane fields contain new measurement (as opposed to old one)

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This commit is contained in:
Allen Ibara
2010-07-16 03:41:27 +00:00
parent 60a32e97c6
commit 7f538b7ec4
3 changed files with 35 additions and 9 deletions
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sw/airborne/fms/fms_autopilot_msg.h
+11
View File
@@ -55,6 +55,16 @@ struct __attribute__ ((packed)) AutopilotMessageTWDown
/*
* Passthrough, aka biplan
*/
/* used to indicate parts of the message which actually represent a new measurement */
struct PTUpValidFlags
{
unsigned rc:1;
unsigned pressure:1;
unsigned vane:1;
unsigned imu:1;
};
struct __attribute__ ((packed)) AutopilotMessagePTUp
{
struct Int32Rates gyro;
@@ -70,6 +80,7 @@ struct __attribute__ ((packed)) AutopilotMessagePTUp
int16_t rc_aux3;
int16_t rc_aux4;
uint8_t rc_status;
struct PTUpValidFlags valid;
};
struct __attribute__ ((packed)) AutopilotMessagePTDown
sw/airborne/fms/fms_spi_autopilot_msg.c
+10 -8
View File
@@ -97,11 +97,12 @@ int spi_ap_link_init()
static void passthrough_up_parse(struct AutopilotMessagePTUp *msg_up)
{
// FIXME: Should only callback when there is something new
// FIXME: placeholders since the vane and pressure data fields don't exist yet
if (vane_callback)
if (msg_up->valid.vane && vane_callback)
// FIXME: placeholders since the vane and pressure data fields don't exist yet
vane_callback(0, 0., 0.);
if (pressure_callback)
if (msg_up->valid.pressure && pressure_callback)
pressure_callback(0, 0, 0);
// Fill radio data
@@ -116,7 +117,7 @@ static void passthrough_up_parse(struct AutopilotMessagePTUp *msg_up)
radio_control.values[RADIO_CONTROL_AUX4] = msg_up->rc_aux4;
radio_control.status = msg_up->rc_status;
if (radio_control_callback)
if (msg_up->valid.rc && radio_control_callback)
radio_control_callback();
// Fill IMU data
@@ -132,7 +133,8 @@ static void passthrough_up_parse(struct AutopilotMessagePTUp *msg_up)
imu.mag.y = MAG_FLOAT_OF_BFP(msg_up->mag.y);
imu.mag.z = MAG_FLOAT_OF_BFP(msg_up->mag.z);
rdyb_booz_imu_update(&imu);
if (msg_up->valid.imu)
rdyb_booz_imu_update(&imu);
}
static void passthrough_down_fill(struct AutopilotMessagePTDown *msg_out)
@@ -144,8 +146,8 @@ static void passthrough_down_fill(struct AutopilotMessagePTDown *msg_out)
void spi_ap_link_periodic()
{
struct AutopilotMessagePTUp msg_in;
struct AutopilotMessagePTDown msg_out;
static struct AutopilotMessagePTUp msg_in;
static struct AutopilotMessagePTDown msg_out;
passthrough_down_fill(&msg_out);
sw/airborne/lisa/lisa_stm_passthrough_main.c
+14 -1
View File
@@ -41,6 +41,8 @@ static inline void on_mag_event(void);
static inline void main_on_overo_msg_received(void);
static inline void main_on_overo_link_lost(void);
static bool_t new_radio_msg;
int main(void) {
main_init();
@@ -54,6 +56,10 @@ int main(void) {
return 0;
}
static void on_rc_message(void) {
new_radio_msg = TRUE;
}
static inline void main_init(void) {
hw_init();
@@ -75,10 +81,17 @@ static inline void main_event(void) {
BoozImuEvent(on_gyro_accel_event, on_mag_event);
OveroLinkEvent(main_on_overo_msg_received);
RadioControlEvent(NULL);
RadioControlEvent(on_rc_message);
}
static inline void main_on_overo_msg_received(void) {
if (new_radio_msg) overo_link.up.msg.valid.rc = 1;
else overo_link.up.msg.valid.rc = 0;
new_radio_msg = FALSE;
overo_link.up.msg.valid.imu = 1;
RATES_COPY(overo_link.up.msg.gyro, booz_imu.gyro);
VECT3_COPY(overo_link.up.msg.accel, booz_imu.accel);