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commander: add support for Aerotenna OcPoC-Zynq hardware

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This commit is contained in:
davidaroyer
2017-03-27 17:40:50 -05:00
committed by Lorenz Meier
parent a236bd1015
commit dbbe3c0863
2 changed files with 29 additions and 0 deletions
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3
src/modules/commander/PreflightCheck.cpp
View File

@@ -571,6 +571,9 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, bool checkMag, bool checkAcc,
#elif defined(__PX4_POSIX_BEBOP)
PX4_WARN("Preflight checks always pass on Bebop.");
return true;
#elif defined(__PX4_POSIX_OCPOC)
PX4_WARN("Preflight checks always pass on OcPoC.");
return true;
#endif
bool failed = false;

26
src/modules/commander/esc_calibration.cpp
View File

@@ -77,7 +77,32 @@ int check_if_batt_disconnected(orb_advert_t *mavlink_log_pub) {
int do_esc_calibration(orb_advert_t *mavlink_log_pub, struct actuator_armed_s* armed)
{
int return_code = PX4_OK;
#if defined(__PX4_POSIX_OCPOC)
hrt_abstime timeout_start;
hrt_abstime timeout_wait = 60*1000*1000;
armed->in_esc_calibration_mode = true;
calibration_log_info(mavlink_log_pub, CAL_QGC_DONE_MSG, "begin esc");
timeout_start = hrt_absolute_time();
while (true) {
if (hrt_absolute_time() - timeout_start > timeout_wait) {
break;
}else{
usleep(50000);
}
}
armed->in_esc_calibration_mode = false;
calibration_log_info(mavlink_log_pub, CAL_QGC_DONE_MSG, "end esc");
if (return_code == OK) {
calibration_log_info(mavlink_log_pub, CAL_QGC_DONE_MSG, "esc");
}
return return_code;
#else
int fd = -1;
struct battery_status_s battery;
@@ -192,4 +217,5 @@ Out:
Error:
return_code = PX4_ERROR;
goto Out;
#endif
}