Merge branch 'master' into mpc_local_pos

2 files changed, 16 insertions, 9 deletions

diff --git a/src/modules/commander/airspeed_calibration.cpp b/src/modules/commander/airspeed_calibration.cpp
index 6039d92a7..c8c7a42e7 100644
--- a/src/modules/commander/airspeed_calibration.cpp
+++ b/src/modules/commander/airspeed_calibration.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -64,9 +64,9 @@ int do_airspeed_calibration(int mavlink_fd)
 {
 	/* give directions */
 	mavlink_log_info(mavlink_fd, CAL_STARTED_MSG, sensor_name);
-	mavlink_log_info(mavlink_fd, "don't move system");
+	mavlink_log_info(mavlink_fd, "ensure airspeed sensor is not registering wind");
 
-	const int calibration_count = 2500;
+	const int calibration_count = 2000;
 
 	int diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure));
 	struct differential_pressure_s diff_pres;
@@ -85,13 +85,15 @@ int do_airspeed_calibration(int mavlink_fd)
 	if (fd > 0) {
 		if (OK == ioctl(fd, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale)) {
 			paramreset_successful = true;
+		} else {
+			mavlink_log_critical(mavlink_fd, "airspeed offset zero failed");
 		}
 		close(fd);
 	}
 
 	if (!paramreset_successful) {
-		warn("WARNING: failed to set scale / offsets for airspeed sensor");
-		mavlink_log_critical(mavlink_fd, "could not reset dpress sensor");
+		warn("FAILED to set scale / offsets for airspeed");
+		mavlink_log_critical(mavlink_fd, "dpress reset failed");
 		mavlink_log_info(mavlink_fd, CAL_FAILED_MSG, sensor_name);
 		return ERROR;
 	}
@@ -107,7 +109,7 @@ int do_airspeed_calibration(int mavlink_fd)
 
 		if (poll_ret) {
 			orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres);
-			diff_pres_offset += diff_pres.differential_pressure_pa;
+			diff_pres_offset += diff_pres.differential_pressure_raw_pa;
 			calibration_counter++;
 
 			if (calibration_counter % (calibration_count / 20) == 0)
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 531d17145..b90fa4762 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -396,6 +396,11 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
 	enum VEHICLE_CMD_RESULT result = VEHICLE_CMD_RESULT_UNSUPPORTED;
 	bool ret = false;
 
+	/* only handle commands that are meant to be handled by this system and component */
+	if (cmd->target_system != status->system_id || ((cmd->target_component != status->component_id) && (cmd->target_component != 0))) { // component_id 0: valid for all components
+		return false;
+	}
+
 	/* only handle high-priority commands here */
 
 	/* request to set different system mode */
@@ -633,11 +638,11 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
 		break;
 
 	default:
-		/* warn about unsupported commands */
+		/* Warn about unsupported commands, this makes sense because only commands
+		 * to this component ID (or all) are passed by mavlink. */
 		answer_command(*cmd, VEHICLE_CMD_RESULT_UNSUPPORTED);
 		break;
 	}
-
 	if (result != VEHICLE_CMD_RESULT_UNSUPPORTED) {
 		/* already warned about unsupported commands in "default" case */
 		answer_command(*cmd, result);
@@ -1047,7 +1052,7 @@ int commander_thread_main(int argc, char *argv[])
 			orb_copy(ORB_ID(battery_status), battery_sub, &battery);
 
 			/* only consider battery voltage if system has been running 2s and battery voltage is valid */
-			if (status.hil_state == HIL_STATE_OFF && hrt_absolute_time() > start_time + 2000000 && battery.voltage_filtered_v > 0.0f) {
+			if (hrt_absolute_time() > start_time + 2000000 && battery.voltage_filtered_v > 0.0f) {
 				status.battery_voltage = battery.voltage_filtered_v;
 				status.battery_current = battery.current_a;
 				status.condition_battery_voltage_valid = true;