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Merge branch 'master' into offboard2_merge

Browse Source 
Conflicts:
	src/modules/commander/commander.cpp
This commit is contained in:
Julian Oes
2014-07-07 14:49:58 +02:00
parent 57f707af56 509180abf6
commit 79cbf15d26
33 changed files with 420 additions and 172 deletions
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83
src/modules/commander/commander.cpp
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@@ -478,7 +478,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
// Follow exactly what the mavlink spec says for values: 0.0f for disarm, 1.0f for arm.
// We use an float epsilon delta to test float equality.
if (cmd->param1 != 0.0f && (fabsf(cmd->param1 - 1.0f) > 2.0f * FLT_EPSILON)) {
mavlink_log_info(mavlink_fd, "Unsupported ARM_DISARM parameter: %.6f", cmd->param1);
mavlink_log_info(mavlink_fd, "Unsupported ARM_DISARM parameter: %.6f", (double)cmd->param1);
} else {
@@ -640,7 +640,7 @@ int commander_thread_main(int argc, char *argv[])
/* welcome user */
warnx("starting");
char *main_states_str[MAIN_STATE_MAX];
const char *main_states_str[MAIN_STATE_MAX];
main_states_str[MAIN_STATE_MANUAL] = "MANUAL";
main_states_str[MAIN_STATE_ALTCTL] = "ALTCTL";
main_states_str[MAIN_STATE_POSCTL] = "POSCTL";
@@ -650,7 +650,7 @@ int commander_thread_main(int argc, char *argv[])
main_states_str[MAIN_STATE_ACRO] = "ACRO";
main_states_str[MAIN_STATE_OFFBOARD] = "OFFBOARD";
char *arming_states_str[ARMING_STATE_MAX];
const char *arming_states_str[ARMING_STATE_MAX];
arming_states_str[ARMING_STATE_INIT] = "INIT";
arming_states_str[ARMING_STATE_STANDBY] = "STANDBY";
arming_states_str[ARMING_STATE_ARMED] = "ARMED";
@@ -659,7 +659,7 @@ int commander_thread_main(int argc, char *argv[])
arming_states_str[ARMING_STATE_REBOOT] = "REBOOT";
arming_states_str[ARMING_STATE_IN_AIR_RESTORE] = "IN_AIR_RESTORE";
char *nav_states_str[NAVIGATION_STATE_MAX];
const char *nav_states_str[NAVIGATION_STATE_MAX];
nav_states_str[NAVIGATION_STATE_MANUAL] = "MANUAL";
nav_states_str[NAVIGATION_STATE_ALTCTL] = "ALTCTL";
nav_states_str[NAVIGATION_STATE_POSCTL] = "POSCTL";
@@ -781,7 +781,7 @@ int commander_thread_main(int argc, char *argv[])
bool updated = false;
bool rc_calibration_ok = (OK == rc_calibration_check(mavlink_fd));
rc_calibration_check(mavlink_fd);
/* Subscribe to safety topic */
int safety_sub = orb_subscribe(ORB_ID(safety));
@@ -803,10 +803,16 @@ int commander_thread_main(int argc, char *argv[])
int sp_offboard_sub = orb_subscribe(ORB_ID(offboard_control_setpoint));
memset(&sp_offboard, 0, sizeof(sp_offboard));
/* Subscribe to telemetry status */
int telemetry_sub = orb_subscribe(ORB_ID(telemetry_status));
struct telemetry_status_s telemetry;
memset(&telemetry, 0, sizeof(telemetry));
/* Subscribe to telemetry status topics */
int telemetry_subs[TELEMETRY_STATUS_ORB_ID_NUM];
uint64_t telemetry_last_heartbeat[TELEMETRY_STATUS_ORB_ID_NUM];
bool telemetry_lost[TELEMETRY_STATUS_ORB_ID_NUM];
for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
telemetry_subs[i] = orb_subscribe(telemetry_status_orb_id[i]);
telemetry_last_heartbeat[i] = 0;
telemetry_lost[i] = true;
}
/* Subscribe to global position */
int global_position_sub = orb_subscribe(ORB_ID(vehicle_global_position));
@@ -888,7 +894,6 @@ int commander_thread_main(int argc, char *argv[])
bool arming_state_changed = false;
bool main_state_changed = false;
bool failsafe_old = false;
bool system_checked = false;
while (!thread_should_exit) {
@@ -936,7 +941,7 @@ int commander_thread_main(int argc, char *argv[])
status_changed = true;
/* re-check RC calibration */
rc_calibration_ok = (OK == rc_calibration_check(mavlink_fd));
rc_calibration_check(mavlink_fd);
}
/* navigation parameters */
@@ -945,15 +950,6 @@ int commander_thread_main(int argc, char *argv[])
param_get(_param_enable_datalink_loss, &datalink_loss_enabled);
}
/* Perform system checks (again) once params are loaded and MAVLink is up. */
if (!system_checked && mavlink_fd &&
(telemetry.heartbeat_time > 0) &&
(hrt_elapsed_time(&telemetry.heartbeat_time) < 1 * 1000 * 1000)) {
(void)rc_calibration_check(mavlink_fd);
system_checked = true;
}
orb_check(sp_man_sub, &updated);
if (updated) {
@@ -979,10 +975,26 @@ int commander_thread_main(int argc, char *argv[])
}
}
orb_check(telemetry_sub, &updated);
for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
orb_check(telemetry_subs[i], &updated);
if (updated) {
orb_copy(ORB_ID(telemetry_status), telemetry_sub, &telemetry);
if (updated) {
struct telemetry_status_s telemetry;
memset(&telemetry, 0, sizeof(telemetry));
orb_copy(telemetry_status_orb_id[i], telemetry_subs[i], &telemetry);
/* perform system checks when new telemetry link connected */
if (mavlink_fd &&
telemetry_last_heartbeat[i] == 0 &&
telemetry.heartbeat_time > 0 &&
hrt_elapsed_time(&telemetry.heartbeat_time) < DL_TIMEOUT) {
(void)rc_calibration_check(mavlink_fd);
}
telemetry_last_heartbeat[i] = telemetry.heartbeat_time;
}
}
orb_check(sensor_sub, &updated);
@@ -1386,18 +1398,35 @@ int commander_thread_main(int argc, char *argv[])
}
}
/* data link check */
if (hrt_absolute_time() < telemetry.heartbeat_time + DL_TIMEOUT) {
/* data links check */
bool have_link = false;
for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
if (hrt_elapsed_time(&telemetry_last_heartbeat[i]) < DL_TIMEOUT) {
/* handle the case where data link was regained */
if (telemetry_lost[i]) {
mavlink_log_critical(mavlink_fd, "#audio: data link %i regained", i);
telemetry_lost[i] = false;
}
have_link = true;
} else {
if (!telemetry_lost[i]) {
mavlink_log_critical(mavlink_fd, "#audio: data link %i lost", i);
telemetry_lost[i] = true;
}
}
}
if (have_link) {
/* handle the case where data link was regained */
if (status.data_link_lost) {
mavlink_log_critical(mavlink_fd, "#audio: data link regained");
status.data_link_lost = false;
status_changed = true;
}
} else {
if (!status.data_link_lost) {
mavlink_log_critical(mavlink_fd, "#audio: CRITICAL: DATA LINK LOST");
mavlink_log_critical(mavlink_fd, "#audio: CRITICAL: ALL DATA LINKS LOST");
status.data_link_lost = true;
status_changed = true;
}