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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-12 10:34:49 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-12 10:34:49 +0200 |
| commit | cb57fdb28c35f6c472a6b21bc66e96cbf5d45c82 (patch) | |
| tree | 4f431ffe6b7b33b43bfbafa34ce2f96189627658 /apps/mavlink | |
| parent | b7c8b7d9f1423e8f5465035a083bde58400fdb3b (diff) | |
| download | px4-firmware-cb57fdb28c35f6c472a6b21bc66e96cbf5d45c82.tar.gz px4-firmware-cb57fdb28c35f6c472a6b21bc66e96cbf5d45c82.tar.bz2 px4-firmware-cb57fdb28c35f6c472a6b21bc66e96cbf5d45c82.zip | |
Added ground estimator, fixed RC calibration
Diffstat (limited to 'apps/mavlink')
| -rw-r--r-- | apps/mavlink/mavlink.c | 14 |
1 files changed, 4 insertions, 10 deletions
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c index 232103121..b65e701db 100644 --- a/apps/mavlink/mavlink.c +++ b/apps/mavlink/mavlink.c @@ -754,9 +754,9 @@ static void *uorb_receiveloop(void *arg) /* handle the poll result */ if (poll_ret == 0) { - /* XXX this means none of our providers is giving us data - might be an error? */ + mavlink_missionlib_send_gcs_string("[mavlink] No telemetry data for 1 s"); } else if (poll_ret < 0) { - /* XXX this is seriously bad - should be an emergency */ + mavlink_missionlib_send_gcs_string("[mavlink] ERROR reading uORB data"); } else { int ifds = 0; @@ -867,7 +867,8 @@ static void *uorb_receiveloop(void *arg) /* copy rc channels into local buffer */ orb_copy(ORB_ID(rc_channels), rc_sub, &rc); /* Channels are sent in MAVLink main loop at a fixed interval */ - // TODO decide where to send channels + mavlink_msg_rc_channels_raw_send(chan, rc.timestamp / 1000, 0, rc.chan[0].raw, rc.chan[1].raw, rc.chan[2].raw, rc.chan[3].raw, + rc.chan[4].raw, rc.chan[5].raw, rc.chan[6].raw, rc.chan[7].raw, rc.rssi); } /* --- VEHICLE GLOBAL POSITION --- */ @@ -1617,13 +1618,6 @@ int mavlink_thread_main(int argc, char *argv[]) v_status.onboard_control_sensors_health, v_status.load, v_status.voltage_battery * 1000.f, v_status.current_battery * 1000.f, v_status.battery_remaining, v_status.drop_rate_comm, v_status.errors_comm, v_status.errors_count1, v_status.errors_count2, v_status.errors_count3, v_status.errors_count4); - - /* send over MAVLink */ - if ((hrt_absolute_time() - rc.timestamp) < 200000) { - mavlink_msg_rc_channels_raw_send(chan, rc.timestamp / 1000, 0, rc.chan[0].raw, rc.chan[1].raw, rc.chan[2].raw, rc.chan[3].raw, - rc.chan[4].raw, rc.chan[5].raw, rc.chan[6].raw, rc.chan[7].raw, rc.rssi); - } - lowspeed_counter = 0; } lowspeed_counter++; |