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vehicle_command topic: use uorb queuing with length 3

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Just to make sure we don't lose any messages.
This commit is contained in:
Beat Küng
2016-09-07 14:24:09 +02:00
parent c1b73a068e
commit be4db3c5df
9 changed files with 29 additions and 19 deletions
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8
src/modules/navigator/mission_block.cpp
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@@ -364,7 +364,7 @@ MissionBlock::issue_command(const struct mission_item_s *item)
}
if (item->nav_cmd == NAV_CMD_DO_SET_SERVO) {
PX4_WARN("do_set_servo command");
PX4_INFO("do_set_servo command");
// XXX: we should issue a vehicle command and handle this somewhere else
memset(&actuators, 0, sizeof(actuators));
// params[0] actuator number to be set 0..5 (corresponds to AUX outputs 1..6)
@@ -380,7 +380,7 @@ MissionBlock::issue_command(const struct mission_item_s *item)
}
} else {
PX4_WARN("forwarding command %d\n", item->nav_cmd);
PX4_INFO("forwarding command %d", item->nav_cmd);
struct vehicle_command_s cmd = {};
mission_item_to_vehicle_command(item, &cmd);
_action_start = hrt_absolute_time();
@@ -389,7 +389,7 @@ MissionBlock::issue_command(const struct mission_item_s *item)
orb_publish(ORB_ID(vehicle_command), _cmd_pub, &cmd);
} else {
_cmd_pub = orb_advertise(ORB_ID(vehicle_command), &cmd);
_cmd_pub = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
}
}
}
@@ -616,7 +616,7 @@ MissionBlock::set_land_item(struct mission_item_s *item, bool at_current_locatio
if (_cmd_pub != nullptr) {
orb_publish(ORB_ID(vehicle_command), _cmd_pub, &cmd);
} else {
_cmd_pub = orb_advertise(ORB_ID(vehicle_command), &cmd);
_cmd_pub = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
}
}