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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-11-13 22:30:39 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-11-13 22:30:39 +0400 |
| commit | 185bdb05a69aad9d809e068ea2168df5f7eb0a44 (patch) | |
| tree | 2d5727538ffe50dfde100b114e72af7537544beb /src/modules | |
| parent | c9fcdb3c31c5557bca281954a67d0c3f9ad3b4ec (diff) | |
| download | px4-firmware-185bdb05a69aad9d809e068ea2168df5f7eb0a44.tar.gz px4-firmware-185bdb05a69aad9d809e068ea2168df5f7eb0a44.tar.bz2 px4-firmware-185bdb05a69aad9d809e068ea2168df5f7eb0a44.zip | |
Mavlink VFR message publication fix
Diffstat (limited to 'src/modules')
| -rw-r--r-- | src/modules/mavlink/orb_listener.c | 28 |
1 files changed, 16 insertions, 12 deletions
diff --git a/src/modules/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c index f6860930c..abc91d34f 100644 --- a/src/modules/mavlink/orb_listener.c +++ b/src/modules/mavlink/orb_listener.c @@ -75,6 +75,7 @@ struct actuator_armed_s armed; struct actuator_controls_effective_s actuators_effective_0; struct actuator_controls_s actuators_0; struct vehicle_attitude_s att; +struct airspeed_s airspeed; struct mavlink_subscriptions mavlink_subs; @@ -92,6 +93,8 @@ static unsigned int gps_counter; */ static uint64_t last_sensor_timestamp; +static hrt_abstime last_sent_vfr = 0; + static void *uorb_receive_thread(void *arg); struct listener { @@ -229,7 +232,7 @@ l_vehicle_attitude(const struct listener *l) /* copy attitude data into local buffer */ orb_copy(ORB_ID(vehicle_attitude), mavlink_subs.att_sub, &att); - if (gcs_link) + if (gcs_link) { /* send sensor values */ mavlink_msg_attitude_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000, @@ -240,6 +243,17 @@ l_vehicle_attitude(const struct listener *l) att.pitchspeed, att.yawspeed); + /* limit VFR message rate to 10Hz */ + hrt_abstime t = hrt_absolute_time(); + if (t >= last_sent_vfr + 100000) { + last_sent_vfr = t; + float groundspeed = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy); + uint16_t heading = (att.yaw + M_PI_F) / M_PI_F * 180.0f; + float throttle = actuators_effective_0.control_effective[3] * (UINT16_MAX - 1); + mavlink_msg_vfr_hud_send(MAVLINK_COMM_0, airspeed.true_airspeed_m_s, groundspeed, heading, throttle, global_pos.alt, -global_pos.vz); + } + } + attitude_counter++; } @@ -681,17 +695,7 @@ l_home(const struct listener *l) void l_airspeed(const struct listener *l) { - struct airspeed_s airspeed; - orb_copy(ORB_ID(airspeed), mavlink_subs.airspeed_sub, &airspeed); - - float groundspeed = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy); - uint16_t heading = (att.yaw + M_PI_F) / M_PI_F * 180.0f; - float throttle = actuators_effective_0.control_effective[3] * (UINT16_MAX - 1); - float alt = global_pos.relative_alt; - float climb = -global_pos.vz; - - mavlink_msg_vfr_hud_send(MAVLINK_COMM_0, airspeed.true_airspeed_m_s, groundspeed, heading, throttle, alt, climb); } void @@ -849,7 +853,7 @@ uorb_receive_start(void) mavlink_subs.optical_flow = orb_subscribe(ORB_ID(optical_flow)); orb_set_interval(mavlink_subs.optical_flow, 200); /* 5Hz updates */ - /* --- AIRSPEED / VFR / HUD --- */ + /* --- AIRSPEED --- */ mavlink_subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed)); orb_set_interval(mavlink_subs.airspeed_sub, 200); /* 5Hz updates */ |