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Merge remote-tracking branch 'PX4/master' into logHandler

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* PX4/master: (45 commits)
  don't use default source address for onboard udp link, wait on remote
  Configure Easystar HIL setup to do Runway takeoff
  ROMFS: Set 3DR quad tuning to more realistic default values
  Fix incomplete boot on new EKF config
  Fix px4fmu-v2_ekf2 config
  Updated MAVLink protocol version
  MAVLink: Start slightly differently on USB
  Start shell only if SD card not present
  Update ECL
  NuttX configs: added px4fmu-v2_ekf2 target for EKF2 development on Pixhawk
  Get QuRT drivers out of the way, as we are using our own
  Fix POSIX eagle config
  Remove unmaintained NuttX config
  VDev: fix code style
  Add new posix_eagle_default and qurt_eagle_default targets
  Fix QuRT build error
  Fix FMUv4 USB PID
  Speed up Vagrant
  VTOL: Fix motor index use in VT_FW_MOT_OFF. Create new param to re-default all deployed vehicles to not shut down motors.
  VTOL: Fix MOT_OFF bug
  ...
This commit is contained in:
dogmaphobic
2016-01-05 01:03:11 -05:00
parent c0773c0157 11ed5169cc
commit bd6e4b9d9d
42 changed files with 687 additions and 253 deletions
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82
src/modules/mavlink/mavlink_main.cpp
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@@ -662,9 +662,48 @@ int Mavlink::mavlink_open_uart(int baud, const char *uart_name, struct termios *
return -EINVAL;
}
/* back off 1800 ms to avoid running into the USB setup timing */
while (_mode == MAVLINK_MODE_CONFIG &&
hrt_absolute_time() < 1800U * 1000U) {
usleep(50000);
}
/* open uart */
_uart_fd = ::open(uart_name, O_RDWR | O_NOCTTY);
/* if this is a config link, stay here and wait for it to open */
if (_uart_fd < 0 && _mode == MAVLINK_MODE_CONFIG) {
int armed_fd = orb_subscribe(ORB_ID(actuator_armed));
struct actuator_armed_s armed;
/* get the system arming state and abort on arming */
while (_uart_fd < 0) {
/* abort if an arming topic is published and system is armed */
bool updated = false;
orb_check(armed_fd, &updated);
if (updated) {
/* the system is now providing arming status feedback.
* instead of timing out, we resort to abort bringing
* up the terminal.
*/
orb_copy(ORB_ID(actuator_armed), armed_fd, &armed);
if (armed.armed) {
/* this is not an error, but we are done */
return -1;
}
}
usleep(100000);
_uart_fd = ::open(uart_name, O_RDWR | O_NOCTTY);
};
close(armed_fd);
}
if (_uart_fd < 0) {
return _uart_fd;
}
@@ -892,14 +931,17 @@ Mavlink::send_message(const uint8_t msgid, const void *msg, uint8_t component_ID
}
#else
if (get_protocol() == UDP) {
ret = sendto(_socket_fd, buf, packet_len, 0, (struct sockaddr *)&_src_addr, sizeof(_src_addr));
if (get_client_source_initialized()) {
ret = sendto(_socket_fd, buf, packet_len, 0, (struct sockaddr *)&_src_addr, sizeof(_src_addr));
}
struct telemetry_status_s &tstatus = get_rx_status();
/* resend heartbeat via broadcast */
if (((hrt_elapsed_time(&tstatus.heartbeat_time) > 3 * 1000 * 1000) ||
if ((_mode != MAVLINK_MODE_ONBOARD)
&& (((hrt_elapsed_time(&tstatus.heartbeat_time) > 3 * 1000 * 1000) ||
(tstatus.heartbeat_time == 0)) &&
msgid == MAVLINK_MSG_ID_HEARTBEAT) {
msgid == MAVLINK_MSG_ID_HEARTBEAT)) {
int bret = sendto(_socket_fd, buf, packet_len, 0, (struct sockaddr *)&_bcast_addr, sizeof(_bcast_addr));
@@ -1006,11 +1048,14 @@ Mavlink::init_udp()
return;
}
/* set default target address */
/* set default target address, but not for onboard mode (will be set on first recieved packet) */
memset((char *)&_src_addr, 0, sizeof(_src_addr));
_src_addr.sin_family = AF_INET;
inet_aton("127.0.0.1", &_src_addr.sin_addr);
_src_addr.sin_port = htons(DEFAULT_REMOTE_PORT_UDP);
if (_mode != MAVLINK_MODE_ONBOARD) {
set_client_source_initialized();
_src_addr.sin_family = AF_INET;
inet_aton("127.0.0.1", &_src_addr.sin_addr);
_src_addr.sin_port = htons(DEFAULT_REMOTE_PORT_UDP);
}
/* default broadcast address */
memset((char *)&_bcast_addr, 0, sizeof(_bcast_addr));
@@ -1573,14 +1618,20 @@ Mavlink::task_main(int argc, char *argv[])
_datarate = MAX_DATA_RATE;
}
if (Mavlink::instance_exists(_device_name, this)) {
warnx("%s already running", _device_name);
return ERROR;
}
if (get_protocol() == SERIAL) {
warnx("mode: %u, data rate: %d B/s on %s @ %dB", _mode, _datarate, _device_name, _baudrate);
if (Mavlink::instance_exists(_device_name, this)) {
warnx("%s already running", _device_name);
return ERROR;
}
warnx("mode: %u, data rate: %d B/s on %s @ %dB", _mode, _datarate, _device_name, _baudrate);
} else if (get_protocol() == UDP) {
if (Mavlink::get_instance_for_network_port(_network_port) != nullptr) {
warnx("port %d already occupied", _network_port);
return ERROR;
}
warnx("mode: %u, data rate: %d B/s on udp port %hu", _mode, _datarate, _network_port);
}
/* flush stdout in case MAVLink is about to take it over */
@@ -1592,9 +1643,12 @@ Mavlink::task_main(int argc, char *argv[])
/* default values for arguments */
_uart_fd = mavlink_open_uart(_baudrate, _device_name, &uart_config_original);
if (_uart_fd < 0) {
if (_uart_fd < 0 && _mode != MAVLINK_MODE_CONFIG) {
warn("could not open %s", _device_name);
return ERROR;
} else if (_uart_fd < 0 && _mode == MAVLINK_MODE_CONFIG) {
/* the config link is optional */
return OK;
}
#endif