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author | Thomas Gubler <thomasgubler@gmail.com> | 2014-07-27 00:40:01 +0200 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-07-27 00:40:01 +0200 |
commit | c5b97fdb1f1add64b4b83623a790e1a83baffcd4 (patch) | |
tree | 89cf60e672dba396eb2fb4f2d55c886d115d6416 /src/modules | |
parent | 351598626054e5d853e8768d2f5d04226510c12a (diff) | |
parent | 5bf7d5774c07ed7e9d2e83d623abc7bab6422348 (diff) | |
download | px4-firmware-c5b97fdb1f1add64b4b83623a790e1a83baffcd4.tar.gz px4-firmware-c5b97fdb1f1add64b4b83623a790e1a83baffcd4.tar.bz2 px4-firmware-c5b97fdb1f1add64b4b83623a790e1a83baffcd4.zip |
Merge remote-tracking branch 'upstream/master' into obcfailsafe
Diffstat (limited to 'src/modules')
-rw-r--r-- | src/modules/ekf_att_pos_estimator/estimator_23states.cpp | 2 | ||||
-rw-r--r-- | src/modules/mavlink/mavlink_main.cpp | 31 | ||||
-rw-r--r-- | src/modules/uORB/topics/vehicle_status.h | 2 |
3 files changed, 26 insertions, 9 deletions
diff --git a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp index 768e0be35..3d504d395 100644 --- a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp +++ b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp @@ -2773,7 +2773,7 @@ int AttPosEKF::CheckAndBound(struct ekf_status_report *last_error) ResetHeight(); ResetStoredStates(); - ret = 3; + ret = 0; } // Reset the filter if gyro offsets are excessive diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 0c6f8c42f..fbe09564b 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -559,22 +559,39 @@ void Mavlink::mavlink_update_system(void) _param_component_id = param_find("MAV_COMP_ID"); _param_system_type = param_find("MAV_TYPE"); _param_use_hil_gps = param_find("MAV_USEHILGPS"); - _param_initialized = true; } /* update system and component id */ int32_t system_id; param_get(_param_system_id, &system_id); - if (system_id > 0 && system_id < 255) { - mavlink_system.sysid = system_id; - } - int32_t component_id; param_get(_param_component_id, &component_id); - if (component_id > 0 && component_id < 255) { - mavlink_system.compid = component_id; + + /* only allow system ID and component ID updates + * after reboot - not during operation */ + if (!_param_initialized) { + if (system_id > 0 && system_id < 255) { + mavlink_system.sysid = system_id; + } + + if (component_id > 0 && component_id < 255) { + mavlink_system.compid = component_id; + } + + _param_initialized = true; + } + + /* warn users that they need to reboot to take this + * into effect + */ + if (system_id != mavlink_system.sysid) { + send_statustext_critical("Save params and reboot to change SYSID"); + } + + if (component_id != mavlink_system.compid) { + send_statustext_critical("Save params and reboot to change COMPID"); } int32_t system_type; diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index e0072b52d..707abb545 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h @@ -188,7 +188,7 @@ struct vehicle_status_s { bool condition_system_sensors_initialized; bool condition_system_returned_to_home; bool condition_auto_mission_available; - bool condition_global_position_valid; /**< set to true by the commander app if the quality of the gps signal is good enough to use it in the position estimator */ + bool condition_global_position_valid; /**< set to true by the commander app if the quality of the position estimate is good enough to use it for navigation */ bool condition_launch_position_valid; /**< indicates a valid launch position */ bool condition_home_position_valid; /**< indicates a valid home position (a valid home position is not always a valid launch) */ bool condition_local_position_valid; |