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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-02 22:28:22 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-02 22:28:22 +0200 |
| commit | b5d2ec3d92bc3d3e423225a394b6820a33d52651 (patch) | |
| tree | 1f8cbf34d581a006ccc06fd2562f04552b706dbd /apps/mavlink | |
| parent | 7ef4655b0e1a186f55c41375bd34133a6f8cde58 (diff) | |
| parent | 178462edcdb65d5144b5185551cdc642226be434 (diff) | |
| download | px4-firmware-b5d2ec3d92bc3d3e423225a394b6820a33d52651.tar.gz px4-firmware-b5d2ec3d92bc3d3e423225a394b6820a33d52651.tar.bz2 px4-firmware-b5d2ec3d92bc3d3e423225a394b6820a33d52651.zip | |
Merge branch 'master' of github.com:PX4/Firmware
Diffstat (limited to 'apps/mavlink')
| -rw-r--r-- | apps/mavlink/mavlink.c | 19 |
1 files changed, 13 insertions, 6 deletions
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c index cf6fb077f..b0cf01fd4 100644 --- a/apps/mavlink/mavlink.c +++ b/apps/mavlink/mavlink.c @@ -75,7 +75,9 @@ #include <uORB/topics/actuator_controls.h> #include <uORB/topics/manual_control_setpoint.h> #include <uORB/topics/debug_key_value.h> + #include <systemlib/param/param.h> +#include <systemlib/systemlib.h> #include "waypoints.h" #include "mavlink_log.h" @@ -203,7 +205,7 @@ int mavlink_missionlib_send_gcs_string(const char *string); uint64_t mavlink_missionlib_get_system_timestamp(void); void handleMessage(mavlink_message_t *msg); -static void mavlink_update_system(); +static void mavlink_update_system(void); /** * Enable / disable Hardware in the Loop simulation mode. @@ -1552,9 +1554,9 @@ int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_conf return uart; } -void mavlink_update_system() +void mavlink_update_system(void) { - static initialized = false; + static bool initialized = false; param_t param_system_id; param_t param_component_id; param_t param_system_type; @@ -1709,9 +1711,9 @@ int mavlink_thread_main(int argc, char *argv[]) set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 20); set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 20); /* 50 Hz / 20 ms */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 50); + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 30); /* 20 Hz / 50 ms */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 50); + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 10); set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 50); /* 2 Hz */ set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 100); @@ -1869,7 +1871,12 @@ int mavlink_main(int argc, char *argv[]) } thread_should_exit = false; - mavlink_task = task_create("mavlink", SCHED_PRIORITY_DEFAULT, 6000, mavlink_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL); + mavlink_task = task_spawn("mavlink", + SCHED_RR, + SCHED_PRIORITY_DEFAULT, + 6000, + mavlink_thread_main, + (argv) ? (const char **)&argv[2] : (const char **)NULL); exit(0); } |