There were unintialized variables.

(control mode was not updated)

Also, new flags (xy_valid etc) were considered.

1 files changed, 26 insertions, 6 deletions

diff --git a/src/examples/flow_speed_control/flow_speed_control_main.c b/src/examples/flow_speed_control/flow_speed_control_main.c
index 6af955cd7..feed0d23c 100644
--- a/src/examples/flow_speed_control/flow_speed_control_main.c
+++ b/src/examples/flow_speed_control/flow_speed_control_main.c
@@ -65,6 +65,7 @@
 #include <systemlib/perf_counter.h>
 #include <systemlib/err.h>
 #include <poll.h>
+#include <mavlink/mavlink_log.h>
 
 #include "flow_speed_control_params.h"
 
@@ -151,17 +152,23 @@ flow_speed_control_thread_main(int argc, char *argv[])
 {
 	/* welcome user */
 	thread_running = true;
-	printf("[flow speed control] starting\n");
+	static int mavlink_fd;
+	mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
+	mavlink_log_info(mavlink_fd,"[fsc] started");
 
 	uint32_t counter = 0;
 
 	/* structures */
 	struct actuator_armed_s armed;
+	memset(&armed, 0, sizeof(armed));
 	struct vehicle_control_mode_s control_mode;
+	memset(&control_mode, 0, sizeof(control_mode));
 	struct filtered_bottom_flow_s filtered_flow;
+	memset(&filtered_flow, 0, sizeof(filtered_flow));
 	struct vehicle_bodyframe_speed_setpoint_s speed_sp;
-
+	memset(&speed_sp, 0, sizeof(speed_sp));
 	struct vehicle_attitude_setpoint_s att_sp;
+	memset(&att_sp, 0, sizeof(att_sp));
 
 	/* subscribe to attitude, motor setpoints and system state */
 	int parameter_update_sub = orb_subscribe(ORB_ID(parameter_update));
@@ -186,6 +193,7 @@ flow_speed_control_thread_main(int argc, char *argv[])
 	perf_counter_t mc_err_perf = perf_alloc(PC_COUNT, "flow_speed_control_err");
 
 	static bool sensors_ready = false;
+	static bool status_changed = false;
 
 	while (!thread_should_exit)
 	{
@@ -221,7 +229,7 @@ flow_speed_control_thread_main(int argc, char *argv[])
 					orb_copy(ORB_ID(parameter_update), parameter_update_sub, &update);
 
 					parameters_update(&param_handles, &params);
-					printf("[flow speed control] parameters updated.\n");
+					mavlink_log_info(mavlink_fd,"[fsp] parameters updated.");
 				}
 
 				/* only run controller if position/speed changed */
@@ -237,6 +245,8 @@ flow_speed_control_thread_main(int argc, char *argv[])
 					orb_copy(ORB_ID(filtered_bottom_flow), filtered_bottom_flow_sub, &filtered_flow);
 					/* get a local copy of bodyframe speed setpoint */
 					orb_copy(ORB_ID(vehicle_bodyframe_speed_setpoint), vehicle_bodyframe_speed_setpoint_sub, &speed_sp);
+					/* get a local copy of control mode */
+					orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode);
 
 					if (control_mode.flag_control_velocity_enabled)
 					{
@@ -244,6 +254,11 @@ flow_speed_control_thread_main(int argc, char *argv[])
 						float pitch_body = -(speed_sp.vx - filtered_flow.vx) * params.speed_p;
 						float roll_body  =  (speed_sp.vy - filtered_flow.vy) * params.speed_p;
 
+						if(status_changed == false)
+							mavlink_log_info(mavlink_fd,"[fsc] flow SPEED control engaged");
+
+						status_changed = true;
+
 						/* limit roll and pitch corrections */
 						if((pitch_body <= params.limit_pitch) && (pitch_body >= -params.limit_pitch))
 						{
@@ -299,6 +314,11 @@ flow_speed_control_thread_main(int argc, char *argv[])
 					}
 					else
 					{
+						if(status_changed == true)
+							mavlink_log_info(mavlink_fd,"[fsc] flow SPEED controller disengaged.");
+
+						status_changed = false;
+
 						/* reset attitude setpoint */
 						att_sp.roll_body = 0.0f;
 						att_sp.pitch_body = 0.0f;
@@ -334,20 +354,20 @@ flow_speed_control_thread_main(int argc, char *argv[])
 			else if (ret == 0)
 			{
 				/* no return value, ignore */
-				printf("[flow speed control] no attitude received.\n");
+				mavlink_log_info(mavlink_fd,"[fsc] no attitude received.");
 			}
 			else
 			{
 				if (fds[0].revents & POLLIN)
 				{
 					sensors_ready = true;
-					printf("[flow speed control] initialized.\n");
+					mavlink_log_info(mavlink_fd,"[fsp] initialized.");
 				}
 			}
 		}
 	}
 
-	printf("[flow speed control] ending now...\n");
+	mavlink_log_info(mavlink_fd,"[fsc] ending now...");
 
 	thread_running = false;