diff options
author | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-27 09:49:49 +0200 |
---|---|---|
committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-27 09:49:49 +0200 |
commit | a4ff5b5cdd9dff90d9dd849d73903b70c325de88 (patch) | |
tree | 10ea02746ee5a37eb66f3591ca49ebe23b45ec03 | |
parent | 47e39841df7f4dce7ea05644d3d069bb3e4c4a4c (diff) | |
parent | b928897ab525a79eb2fad202fc28ef0235adeb50 (diff) | |
download | px4-firmware-a4ff5b5cdd9dff90d9dd849d73903b70c325de88.tar.gz px4-firmware-a4ff5b5cdd9dff90d9dd849d73903b70c325de88.tar.bz2 px4-firmware-a4ff5b5cdd9dff90d9dd849d73903b70c325de88.zip |
Merge branch 'master' of github.com:PX4/Firmware into swissfang
-rw-r--r-- | src/drivers/drv_pwm_output.h | 5 | ||||
-rw-r--r-- | src/drivers/px4fmu/fmu.cpp | 4 | ||||
-rw-r--r-- | src/lib/launchdetection/CatapultLaunchMethod.cpp | 4 | ||||
-rw-r--r-- | src/modules/mavlink/mavlink_messages.cpp | 26 | ||||
-rw-r--r-- | src/modules/px4iofirmware/registers.c | 4 |
5 files changed, 26 insertions, 17 deletions
diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h index 84815fdfb..5aff6825b 100644 --- a/src/drivers/drv_pwm_output.h +++ b/src/drivers/drv_pwm_output.h @@ -95,6 +95,11 @@ __BEGIN_DECLS #define PWM_LOWEST_MAX 1700 /** + * Do not output a channel with this value + */ +#define PWM_IGNORE_THIS_CHANNEL UINT16_MAX + +/** * Servo output signal type, value is actual servo output pulse * width in microseconds. */ diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp index 82977a032..122a3cd17 100644 --- a/src/drivers/px4fmu/fmu.cpp +++ b/src/drivers/px4fmu/fmu.cpp @@ -1272,7 +1272,9 @@ PX4FMU::write(file *filp, const char *buffer, size_t len) memcpy(values, buffer, count * 2); for (uint8_t i = 0; i < count; i++) { - up_pwm_servo_set(i, values[i]); + if (values[i] != PWM_IGNORE_THIS_CHANNEL) { + up_pwm_servo_set(i, values[i]); + } } return count * 2; diff --git a/src/lib/launchdetection/CatapultLaunchMethod.cpp b/src/lib/launchdetection/CatapultLaunchMethod.cpp index c555a0a69..9d479832f 100644 --- a/src/lib/launchdetection/CatapultLaunchMethod.cpp +++ b/src/lib/launchdetection/CatapultLaunchMethod.cpp @@ -66,10 +66,10 @@ void CatapultLaunchMethod::update(float accel_x) last_timestamp = hrt_absolute_time(); if (accel_x > threshold_accel.get()) { - integrator += accel_x * dt; + integrator += dt; // warnx("*** integrator %.3f, threshold_accel %.3f, threshold_time %.3f, accel_x %.3f, dt %.3f", // (double)integrator, (double)threshold_accel.get(), (double)threshold_time.get(), (double)accel_x, (double)dt); - if (integrator > threshold_accel.get() * threshold_time.get()) { + if (integrator > threshold_time.get()) { launchDetected = true; } diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 5a92004a6..a2f3828ff 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -886,8 +886,8 @@ protected: msg.eph = cm_uint16_from_m_float(gps.eph); msg.epv = cm_uint16_from_m_float(gps.epv); msg.vel = cm_uint16_from_m_float(gps.vel_m_s), - msg.cog = _wrap_2pi(gps.cog_rad) * M_RAD_TO_DEG_F * 1e2f, - msg.satellites_visible = gps.satellites_used; + msg.cog = _wrap_2pi(gps.cog_rad) * M_RAD_TO_DEG_F * 1e2f, + msg.satellites_visible = gps.satellites_used; _mavlink->send_message(MAVLINK_MSG_ID_GPS_RAW_INT, &msg); } @@ -957,11 +957,11 @@ protected: msg.lat = pos.lat * 1e7; msg.lon = pos.lon * 1e7; msg.alt = pos.alt * 1000.0f; - msg.relative_alt = (pos.alt - home.alt) * 1000.0f; - msg.vx = pos.vel_n * 100.0f; - msg.vy = pos.vel_e * 100.0f; - msg.vz = pos.vel_d * 100.0f; - msg.hdg = _wrap_2pi(pos.yaw) * M_RAD_TO_DEG_F * 100.0f; + msg.relative_alt = (pos.alt - home.alt) * 1000.0f; + msg.vx = pos.vel_n * 100.0f; + msg.vy = pos.vel_e * 100.0f; + msg.vz = pos.vel_d * 100.0f; + msg.hdg = _wrap_2pi(pos.yaw) * M_RAD_TO_DEG_F * 100.0f; _mavlink->send_message(MAVLINK_MSG_ID_GLOBAL_POSITION_INT, &msg); } @@ -1022,9 +1022,9 @@ protected: msg.x = pos.x; msg.y = pos.y; msg.z = pos.z; - msg.vx = pos.vx; - msg.vy = pos.vy; - msg.vz = pos.vz; + msg.vx = pos.vx; + msg.vy = pos.vy; + msg.vz = pos.vz; _mavlink->send_message(MAVLINK_MSG_ID_LOCAL_POSITION_NED, &msg); } @@ -1085,9 +1085,9 @@ protected: msg.x = pos.x; msg.y = pos.y; msg.z = pos.z; - msg.roll = pos.roll; - msg.pitch = pos.pitch; - msg.yaw = pos.yaw; + msg.roll = pos.roll; + msg.pitch = pos.pitch; + msg.yaw = pos.yaw; _mavlink->send_message(MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE, &msg); } diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index 43161aa70..0da778b6f 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -285,7 +285,9 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num while ((offset < PX4IO_CONTROL_CHANNELS) && (num_values > 0)) { /* XXX range-check value? */ - r_page_servos[offset] = *values; + if (*values != PWM_IGNORE_THIS_CHANNEL) { + r_page_servos[offset] = *values; + } offset++; num_values--; |