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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-01-28 15:57:29 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-01-28 15:57:29 +0100 |
| commit | e28910127d710a909c30f9a7ef484a91868a563b (patch) | |
| tree | 4becebda59c856f01162814dc4c9f6e7708fbdb8 | |
| parent | 9c355d280eb379c72df636c1d47e5b14ae3e3e6e (diff) | |
| parent | e6f5bc64feea661c232fc116835be0b0202d9192 (diff) | |
| download | px4-firmware-e28910127d710a909c30f9a7ef484a91868a563b.tar.gz px4-firmware-e28910127d710a909c30f9a7ef484a91868a563b.tar.bz2 px4-firmware-e28910127d710a909c30f9a7ef484a91868a563b.zip | |
Merged origin/beta
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rcS | 18 | ||||
| -rw-r--r-- | src/modules/navigator/navigator_main.cpp | 22 |
2 files changed, 26 insertions, 14 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 6f4e1f3b5..88077c67f 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -326,7 +326,7 @@ then if [ $OUTPUT_MODE == hil ] then echo "[init] Use HIL as primary output" - if hil mode_pwm + if hil mode_port2_pwm8 then echo "[init] HIL output started" else @@ -404,6 +404,16 @@ then fi # + # Start the datamanager + # + dataman start + + # + # Start the navigator + # + navigator start + + # # Sensors, Logging, GPS # echo "[init] Start sensors" @@ -467,15 +477,15 @@ then # Use mixer to detect vehicle type if [ $MIXER == FMU_hex_x -o $MIXER == FMU_hex_+ ] then - param set MAV_TYPE 13 + set MAV_TYPE 13 fi if [ $MIXER == FMU_octo_x -o $MIXER == FMU_octo_+ ] then - param set MAV_TYPE 14 + set MAV_TYPE 14 fi if [ $MIXER == FMU_octo_cox ] then - param set MAV_TYPE 14 + set MAV_TYPE 14 fi fi diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 9c5e62be7..e6b7ef93d 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -1,6 +1,10 @@ /**************************************************************************** * * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved. + * Author: @author Lorenz Meier <lm@inf.ethz.ch> + * @author Jean Cyr <jean.m.cyr@gmail.com> + * @author Julian Oes <joes@student.ethz.ch> + * @author Anton Babushkin <anton.babushkin@me.com> * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -31,18 +35,16 @@ * ****************************************************************************/ /** - * @file navigator_main.cpp + * @file navigator_main.c * Implementation of the main navigation state machine. * * Handles missions, geo fencing and failsafe navigation behavior. * Published the mission item triplet for the position controller. * - * @author Julian Oes <joes@student.ethz.ch> + * @author Lorenz Meier <lm@inf.ethz.ch> * @author Jean Cyr <jean.m.cyr@gmail.com> + * @author Julian Oes <joes@student.ethz.ch> * @author Anton Babushkin <anton.babushkin@me.com> - * @author Thomas Gubler <thomasgubler@gmail.com> - * @author Lorenz Meier <lm@inf.ethz.ch> - * */ #include <nuttx/config.h> @@ -349,11 +351,11 @@ private: namespace navigator { -// /* oddly, ERROR is not defined for c++ */ -// #ifdef ERROR -// # undef ERROR -// #endif -// static const int ERROR = -1; +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; Navigator *g_navigator; } |