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| author | Julian Oes <julian@oes.ch> | 2013-11-26 15:55:09 +0100 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-11-26 15:55:09 +0100 |
| commit | 972ca7db8a17feb7735700dbdd61e6f6a0dec4b6 (patch) | |
| tree | 25ed63af2604c5e95b95738c804b77b1a49b9fdc | |
| parent | 8e1af68bfd5db6a97289f4406beed7854b56d5bc (diff) | |
| parent | 254777d38ae0ab30d7f8f75e49a3619aae592460 (diff) | |
| download | px4-firmware-972ca7db8a17feb7735700dbdd61e6f6a0dec4b6.tar.gz px4-firmware-972ca7db8a17feb7735700dbdd61e6f6a0dec4b6.tar.bz2 px4-firmware-972ca7db8a17feb7735700dbdd61e6f6a0dec4b6.zip | |
Merge branch 'fw_autoland_att_tecs_navigator' of https://github.com/thomasgubler/Firmware_Private into fw_autoland_att_tecs_navigator
| -rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 20 | ||||
| -rw-r--r-- | src/modules/navigator/navigator_main.cpp | 5 |
2 files changed, 14 insertions, 11 deletions
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index 7da28cbfa..d60983bce 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -95,8 +95,6 @@ */ extern "C" __EXPORT int fw_pos_control_l1_main(int argc, char *argv[]); -static int mavlink_fd; - class FixedwingPositionControl { public: @@ -118,6 +116,7 @@ public: int start(); private: + int _mavlink_fd; bool _task_should_exit; /**< if true, sensor task should exit */ int _control_task; /**< task handle for sensor task */ @@ -377,11 +376,9 @@ FixedwingPositionControl::FixedwingPositionControl() : land_stayonground(false), land_motor_lim(false), land_onslope(false), - flare_curve_alt_last(0.0f) + flare_curve_alt_last(0.0f), + _mavlink_fd(-1) { - - mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); - /* safely initialize structs */ vehicle_attitude_s _att = {0}; vehicle_attitude_setpoint_s _att_sp = {0}; @@ -884,7 +881,7 @@ FixedwingPositionControl::control_position(const math::Vector2f ¤t_positio throttle_max = math::min(throttle_max, _parameters.throttle_land_max); if (!land_motor_lim) { land_motor_lim = true; - mavlink_log_info(mavlink_fd, "[POSCTRL] Landing, limit throttle"); + mavlink_log_info(_mavlink_fd, "[POSCTRL] Landing, limit throttle"); } } @@ -905,7 +902,7 @@ FixedwingPositionControl::control_position(const math::Vector2f ¤t_positio flare_angle_rad, math::radians(15.0f)); if (!land_noreturn_vertical) { - mavlink_log_info(mavlink_fd, "[POSCTRL] Landing, flare"); + mavlink_log_info(_mavlink_fd, "[POSCTRL] Landing, flare"); land_noreturn_vertical = true; } //warnx("Landing: flare, _global_pos.alt %.1f, flare_curve_alt %.1f, flare_curve_alt_last %.1f, flare_length %.1f, wp_distance %.1f", _global_pos.alt, flare_curve_alt, flare_curve_alt_last, flare_length, wp_distance); @@ -924,7 +921,7 @@ FixedwingPositionControl::control_position(const math::Vector2f ¤t_positio if (!land_onslope) { - mavlink_log_info(mavlink_fd, "[POSCTRL] Landing, on slope"); + mavlink_log_info(_mavlink_fd, "[POSCTRL] Landing, on slope"); land_onslope = true; } @@ -1173,6 +1170,11 @@ FixedwingPositionControl::task_main() /* only run controller if position changed */ if (fds[1].revents & POLLIN) { + /* XXX Hack to get mavlink output going */ + if (_mavlink_fd < 0) { + /* try to open the mavlink log device every once in a while */ + _mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); + } static uint64_t last_run = 0; float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f; diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 45bb832ea..b85c4bef9 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -963,13 +963,14 @@ Navigator::check_mission_item_reached() uint64_t now = hrt_absolute_time(); float orbit; - if (_mission_item_triplet.current.nav_cmd == NAV_CMD_WAYPOINT) { + if (_mission_item_triplet.current.nav_cmd == NAV_CMD_WAYPOINT && _mission_item_triplet.current.radius > 0.01f) { orbit = _mission_item_triplet.current.radius; } else if (_mission_item_triplet.current.nav_cmd == NAV_CMD_LOITER_TURN_COUNT || _mission_item_triplet.current.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT || - _mission_item_triplet.current.nav_cmd == NAV_CMD_LOITER_UNLIMITED) { + _mission_item_triplet.current.nav_cmd == NAV_CMD_LOITER_UNLIMITED && + _mission_item_triplet.current.loiter_radius > 0.01f) { orbit = _mission_item_triplet.current.loiter_radius; } else { |