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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-05-14 21:56:37 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-05-14 21:56:37 +0200 |
| commit | 844df29f71d90d46015b08a9a75e88e1b121c24c (patch) | |
| tree | 4f019aeb9e4b78ac3606025b6055f3c05109208f /src/modules | |
| parent | 5d04bb74cbee6e57db4e9b09c02139e1df6954d1 (diff) | |
| parent | d3398270e101359de9687c2d077d991c9892f573 (diff) | |
| download | px4-firmware-844df29f71d90d46015b08a9a75e88e1b121c24c.tar.gz px4-firmware-844df29f71d90d46015b08a9a75e88e1b121c24c.tar.bz2 px4-firmware-844df29f71d90d46015b08a9a75e88e1b121c24c.zip | |
Merge remote-tracking branch 'upstream/master' into mtecs
Diffstat (limited to 'src/modules')
| -rw-r--r-- | src/modules/commander/module.mk | 4 | ||||
| -rw-r--r-- | src/modules/px4iofirmware/controls.c | 7 | ||||
| -rw-r--r-- | src/modules/px4iofirmware/protocol.h | 1 | ||||
| -rw-r--r-- | src/modules/systemlib/pid/pid.c | 2 |
4 files changed, 12 insertions, 2 deletions
diff --git a/src/modules/commander/module.mk b/src/modules/commander/module.mk index 554dfcb08..27ca5c182 100644 --- a/src/modules/commander/module.mk +++ b/src/modules/commander/module.mk @@ -47,3 +47,7 @@ SRCS = commander.cpp \ baro_calibration.cpp \ rc_calibration.cpp \ airspeed_calibration.cpp + +MODULE_STACKSIZE = 1200 + +MAXOPTIMIZATION = -Os diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c index 56c5aa005..62e6b12cb 100644 --- a/src/modules/px4iofirmware/controls.c +++ b/src/modules/px4iofirmware/controls.c @@ -291,6 +291,7 @@ controls_tick() { /* set RC OK flag, as we got an update */ r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_OK; + r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_RC_OK; /* if we have enough channels (5) to control the vehicle, the mapping is ok */ if (assigned_channels > 4) { @@ -336,6 +337,9 @@ controls_tick() { PX4IO_P_STATUS_FLAGS_OVERRIDE | PX4IO_P_STATUS_FLAGS_RC_OK); + /* flag raw RC as lost */ + r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_RC_OK); + /* Mark all channels as invalid, as we just lost the RX */ r_rc_valid = 0; @@ -405,8 +409,9 @@ ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len) if (*num_values > PX4IO_RC_INPUT_CHANNELS) *num_values = PX4IO_RC_INPUT_CHANNELS; - for (unsigned i = 0; i < *num_values; i++) + for (unsigned i = 0; i < *num_values; i++) { values[i] = ppm_buffer[i]; + } /* clear validity */ ppm_last_valid_decode = 0; diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h index 6c20d6006..91975f2a0 100644 --- a/src/modules/px4iofirmware/protocol.h +++ b/src/modules/px4iofirmware/protocol.h @@ -142,6 +142,7 @@ #define PX4IO_P_RAW_RC_FLAGS_FAILSAFE (1 << 1) /* receiver is in failsafe mode */ #define PX4IO_P_RAW_RC_FLAGS_RC_DSM11 (1 << 2) /* DSM decoding is 11 bit mode */ #define PX4IO_P_RAW_RC_FLAGS_MAPPING_OK (1 << 3) /* Channel mapping is ok */ +#define PX4IO_P_RAW_RC_FLAGS_RC_OK (1 << 4) /* RC reception ok */ #define PX4IO_P_RAW_RC_NRSSI 2 /* [2] Normalized RSSI value, 0: no reception, 255: perfect reception */ #define PX4IO_P_RAW_RC_DATA 3 /* [1] + [2] Details about the RC source (PPM frame length, Spektrum protocol type) */ diff --git a/src/modules/systemlib/pid/pid.c b/src/modules/systemlib/pid/pid.c index 6a4e9392a..45f218a5b 100644 --- a/src/modules/systemlib/pid/pid.c +++ b/src/modules/systemlib/pid/pid.c @@ -53,7 +53,7 @@ #define SIGMA 0.000001f -__EXPORT void pid_init(PID_t *pid, uint8_t mode, float dt_min) +__EXPORT void pid_init(PID_t *pid, pid_mode_t mode, float dt_min) { pid->mode = mode; pid->dt_min = dt_min; |