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Merge branch 'master' of github.com:PX4/Firmware

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Lorenz Meier
2012-11-13 10:58:24 +01:00
parent 050698bedc e52c7e3c4b
commit d15e6ae73a
3 changed files with 5 additions and 2 deletions
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2
apps/commander/state_machine_helper.c
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@@ -579,6 +579,8 @@ uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_
state_machine_publish(status_pub, current_status, mavlink_fd);
publish_armed_status(current_status);
printf("[commander] Enabling HIL, locking down all actuators for safety.\n\t(Arming the system will not activate them while in HIL mode)\n");
} else if (current_status->state_machine != SYSTEM_STATE_STANDBY) {
mavlink_log_critical(mavlink_fd, "[commander] REJECTING switch to HIL, not in standby.")
}
/* NEVER actually switch off HIL without reboot */

1
apps/drivers/hil/hil.cpp
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@@ -825,6 +825,7 @@ hil_main(int argc, char *argv[])
// XXX all modes have PWM settings
if (argc > i + 1) {
pwm_update_rate_in_hz = atoi(argv[i + 1]);
printf("pwm update rate: %d Hz\n", pwm_update_rate_in_hz);
} else {
fprintf(stderr, "missing argument for pwm update rate (-u)\n");
return 1;

4
apps/mavlink/mavlink.c
View File

@@ -163,8 +163,8 @@ set_hil_on_off(bool hil_enabled)
/* 20 Hz */
hil_rate_interval = 50;
} else {
/* 100 Hz */
hil_rate_interval = 10;
/* 200 Hz */
hil_rate_interval = 5;
}
orb_set_interval(mavlink_subs.spa_sub, hil_rate_interval);