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author | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-19 15:52:59 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-19 15:52:59 +0200 |
commit | dae0b922f166b1c6af79ecce85b3eb00dde22654 (patch) | |
tree | 2021b1a59a3e1276190ca76f9b9095d160cafa49 /apps/mavlink/mavlink.c | |
parent | 85bc4f683a4a88cc19a35e1147d19ac5b1106019 (diff) | |
download | px4-firmware-dae0b922f166b1c6af79ecce85b3eb00dde22654.tar.gz px4-firmware-dae0b922f166b1c6af79ecce85b3eb00dde22654.tar.bz2 px4-firmware-dae0b922f166b1c6af79ecce85b3eb00dde22654.zip |
Added deamon example, reworked / merged multirotor attitude control. Ready for AR.Drone interface changes and integration tests
Diffstat (limited to 'apps/mavlink/mavlink.c')
-rw-r--r-- | apps/mavlink/mavlink.c | 59 |
1 files changed, 38 insertions, 21 deletions
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c index b6fdc1a3e..47eab6be8 100644 --- a/apps/mavlink/mavlink.c +++ b/apps/mavlink/mavlink.c @@ -130,6 +130,7 @@ static int pub_hil_global_pos = -1; static int ardrone_motors_pub = -1; static int cmd_pub = -1; static int sensor_sub = -1; +static int att_sub = -1; static int global_pos_sub = -1; static int local_pos_sub = -1; static int flow_pub = -1; @@ -412,31 +413,40 @@ void get_mavlink_mode_and_state(const struct vehicle_status_s *c_status, uint8_t */ static void *receiveloop(void *arg) { + int uart_fd = *((int*)arg); + + const int timeout = 1000; uint8_t ch; mavlink_message_t msg; prctl(PR_SET_NAME, "mavlink uart rcv", getpid()); - while (1) { + while (!thread_should_exit) { if (mavlink_exit_requested) break; - /* blocking read on next byte */ - int nread = read(uart, &ch, 1); + struct pollfd fds[] = { { .fd = uart_fd, .events = POLLIN } }; + if (poll(fds, 1, timeout) > 0) { + /* non-blocking read until buffer is empty */ + int nread = 0; - if (nread > 0 && mavlink_parse_char(chan, ch, &msg, &status)) { //parse the char - /* handle generic messages and commands */ - handleMessage(&msg); + do { + nread = read(uart_fd, &ch, 1); - /* Handle packet with waypoint component */ - mavlink_wpm_message_handler(&msg, &global_pos, &local_pos); + if (mavlink_parse_char(chan, ch, &msg, &status)) { //parse the char + /* handle generic messages and commands */ + handleMessage(&msg); - /* Handle packet with parameter component */ - mavlink_pm_message_handler(MAVLINK_COMM_0, &msg); - } + /* Handle packet with waypoint component */ + mavlink_wpm_message_handler(&msg, &global_pos, &local_pos); + /* Handle packet with parameter component */ + mavlink_pm_message_handler(MAVLINK_COMM_0, &msg); + } + } while (nread > 0); + } } return NULL; @@ -455,6 +465,10 @@ static int set_mavlink_interval_limit(int mavlink_msg_id, int min_interval) /* senser sub triggers RAW IMU */ orb_set_interval(sensor_sub, min_interval); break; + case MAVLINK_MSG_ID_ATTITUDE: + /* attitude sub triggers attitude */ + orb_set_interval(att_sub, 100); + break; default: /* not found */ ret = ERROR; @@ -499,15 +513,13 @@ static void *uorb_receiveloop(void *arg) /* --- SENSORS RAW VALUE --- */ /* subscribe to ORB for sensors raw */ sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); - orb_set_interval(sensor_sub, 100); /* 10Hz updates */ fds[fdsc_count].fd = sensor_sub; fds[fdsc_count].events = POLLIN; fdsc_count++; /* --- ATTITUDE VALUE --- */ /* subscribe to ORB for attitude */ - int att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); - orb_set_interval(att_sub, 100); /* 10Hz updates */ + att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); fds[fdsc_count].fd = att_sub; fds[fdsc_count].events = POLLIN; fdsc_count++; @@ -611,9 +623,9 @@ static void *uorb_receiveloop(void *arg) * set up poll to block for new data, * wait for a maximum of 1000 ms (1 second) */ - const int timeout = 5000; + const int timeout = 1000; - while (1) { + while (!thread_should_exit) { if (mavlink_exit_requested) break; int poll_ret = poll(fds, fdsc_count, timeout); @@ -1271,7 +1283,7 @@ int mavlink_thread_main(int argc, char *argv[]) if (uart < 0) { printf("[mavlink] FAILED to open %s, terminating.\n", uart_name); - return -1; + return ERROR; } /* Flush UART */ @@ -1289,7 +1301,7 @@ int mavlink_thread_main(int argc, char *argv[]) pthread_attr_t receiveloop_attr; pthread_attr_init(&receiveloop_attr); pthread_attr_setstacksize(&receiveloop_attr, 2048); - pthread_create(&receive_thread, &receiveloop_attr, receiveloop, NULL); + pthread_create(&receive_thread, &receiveloop_attr, receiveloop, &uart); pthread_attr_t uorb_attr; pthread_attr_init(&uorb_attr); @@ -1305,23 +1317,28 @@ int mavlink_thread_main(int argc, char *argv[]) /* all subscriptions are now active, set up initial guess about rate limits */ if (baudrate >= 921600) { - /* 1000 Hz / 1 ms */ - set_mavlink_interval_limit(MAVLINK_MSG_ID_SCALED_IMU, 1); + /* set no limit */ + /* 500 Hz / 2 ms */ + //set_mavlink_interval_limit(MAVLINK_MSG_ID_SCALED_IMU, 2); } else if (baudrate >= 460800) { /* 250 Hz / 4 ms */ set_mavlink_interval_limit(MAVLINK_MSG_ID_SCALED_IMU, 4); + set_mavlink_interval_limit(MAVLINK_MSG_ID_ATTITUDE, 4); } else if (baudrate >= 115200) { /* 50 Hz / 20 ms */ set_mavlink_interval_limit(MAVLINK_MSG_ID_SCALED_IMU, 20); + set_mavlink_interval_limit(MAVLINK_MSG_ID_ATTITUDE, 20); } else if (baudrate >= 57600) { /* 10 Hz / 100 ms */ set_mavlink_interval_limit(MAVLINK_MSG_ID_SCALED_IMU, 100); + set_mavlink_interval_limit(MAVLINK_MSG_ID_ATTITUDE, 100); } else { /* very low baud rate, limit to 1 Hz / 1000 ms */ set_mavlink_interval_limit(MAVLINK_MSG_ID_SCALED_IMU, 1000); + set_mavlink_interval_limit(MAVLINK_MSG_ID_ATTITUDE, 1000); } - while (1) { + while (!thread_should_exit) { if (mavlink_exit_requested) break; |