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-rw-r--r--makefiles/config_px4fmu-v1_default.mk5
-rw-r--r--src/drivers/airspeed/airspeed.cpp7
-rw-r--r--src/drivers/px4io/px4io.cpp2
-rw-r--r--src/modules/commander/commander.cpp2
-rw-r--r--src/modules/mavlink/mavlink_main.cpp78
-rw-r--r--src/modules/mavlink/mavlink_receiver.cpp30
-rw-r--r--src/modules/mavlink/mavlink_receiver.h1
-rw-r--r--src/systemcmds/tests/test_sensors.c2
8 files changed, 58 insertions, 69 deletions
diff --git a/makefiles/config_px4fmu-v1_default.mk b/makefiles/config_px4fmu-v1_default.mk
index a7c10f52f..97eddfdd2 100644
--- a/makefiles/config_px4fmu-v1_default.mk
+++ b/makefiles/config_px4fmu-v1_default.mk
@@ -25,7 +25,6 @@ MODULES += drivers/mpu6000
MODULES += drivers/hmc5883
MODULES += drivers/ms5611
MODULES += drivers/mb12xx
-MODULES += drivers/ll40ls
MODULES += drivers/gps
MODULES += drivers/hil
MODULES += drivers/hott/hott_telemetry
@@ -44,7 +43,6 @@ MODULES += modules/sensors
#
MODULES += systemcmds/mtd
MODULES += systemcmds/bl_update
-MODULES += systemcmds/i2c
MODULES += systemcmds/mixer
MODULES += systemcmds/param
MODULES += systemcmds/perf
@@ -152,5 +150,4 @@ endef
# command priority stack entrypoint
BUILTIN_COMMANDS := \
$(call _B, sercon, , 2048, sercon_main ) \
- $(call _B, serdis, , 2048, serdis_main ) \
- $(call _B, sysinfo, , 2048, sysinfo_main )
+ $(call _B, serdis, , 2048, serdis_main )
diff --git a/src/drivers/airspeed/airspeed.cpp b/src/drivers/airspeed/airspeed.cpp
index 41942aacd..293690d27 100644
--- a/src/drivers/airspeed/airspeed.cpp
+++ b/src/drivers/airspeed/airspeed.cpp
@@ -165,7 +165,7 @@ Airspeed::probe()
*/
_retries = 4;
int ret = measure();
- _retries = 2;
+ _retries = 0;
return ret;
}
@@ -381,7 +381,10 @@ Airspeed::cycle_trampoline(void *arg)
Airspeed *dev = (Airspeed *)arg;
dev->cycle();
- dev->update_status();
+ // XXX we do not know if this is
+ // really helping - do not update the
+ // subsys state right now
+ //dev->update_status();
}
void
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 32069cf09..97919538f 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -1968,7 +1968,7 @@ PX4IO::print_status(bool extended_status)
printf("actuators");
for (unsigned i = 0; i < _max_actuators; i++)
- printf(" %u", io_reg_get(PX4IO_PAGE_ACTUATORS, i));
+ printf(" %hi", int16_t(io_reg_get(PX4IO_PAGE_ACTUATORS, i)));
printf("\n");
printf("servos");
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 6c2c03070..74deda8cc 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -129,7 +129,7 @@ extern struct system_load_s system_load;
#define POSITION_TIMEOUT (2 * 1000 * 1000) /**< consider the local or global position estimate invalid after 600ms */
#define FAILSAFE_DEFAULT_TIMEOUT (3 * 1000 * 1000) /**< hysteresis time - the failsafe will trigger after 3 seconds in this state */
#define RC_TIMEOUT 500000
-#define DL_TIMEOUT 5 * 1000* 1000
+#define DL_TIMEOUT (10 * 1000 * 1000)
#define OFFBOARD_TIMEOUT 500000
#define DIFFPRESS_TIMEOUT 2000000
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 408605939..c27716f74 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -134,44 +134,44 @@ Mavlink::Mavlink() :
_mode(MAVLINK_MODE_NORMAL),
_channel(MAVLINK_COMM_0),
_logbuffer {},
- _total_counter(0),
- _receive_thread {},
- _verbose(false),
- _forwarding_on(false),
- _passing_on(false),
- _ftp_on(false),
- _uart_fd(-1),
- _baudrate(57600),
- _datarate(1000),
- _datarate_events(500),
- _rate_mult(1.0f),
- _mavlink_param_queue_index(0),
- mavlink_link_termination_allowed(false),
- _subscribe_to_stream(nullptr),
- _subscribe_to_stream_rate(0.0f),
- _flow_control_enabled(true),
- _last_write_success_time(0),
- _last_write_try_time(0),
- _bytes_tx(0),
- _bytes_txerr(0),
- _bytes_rx(0),
- _bytes_timestamp(0),
- _rate_tx(0.0f),
- _rate_txerr(0.0f),
- _rate_rx(0.0f),
- _rstatus {},
- _message_buffer {},
- _message_buffer_mutex {},
- _send_mutex {},
- _param_initialized(false),
- _param_system_id(0),
- _param_component_id(0),
- _param_system_type(0),
- _param_use_hil_gps(0),
-
- /* performance counters */
- _loop_perf(perf_alloc(PC_ELAPSED, "mavlink_el")),
- _txerr_perf(perf_alloc(PC_COUNT, "mavlink_txe"))
+ _total_counter(0),
+ _receive_thread {},
+ _verbose(false),
+ _forwarding_on(false),
+ _passing_on(false),
+ _ftp_on(false),
+ _uart_fd(-1),
+ _baudrate(57600),
+ _datarate(1000),
+ _datarate_events(500),
+ _rate_mult(1.0f),
+ _mavlink_param_queue_index(0),
+ mavlink_link_termination_allowed(false),
+ _subscribe_to_stream(nullptr),
+ _subscribe_to_stream_rate(0.0f),
+ _flow_control_enabled(true),
+ _last_write_success_time(0),
+ _last_write_try_time(0),
+ _bytes_tx(0),
+ _bytes_txerr(0),
+ _bytes_rx(0),
+ _bytes_timestamp(0),
+ _rate_tx(0.0f),
+ _rate_txerr(0.0f),
+ _rate_rx(0.0f),
+ _rstatus {},
+ _message_buffer {},
+ _message_buffer_mutex {},
+ _send_mutex {},
+ _param_initialized(false),
+ _param_system_id(0),
+ _param_component_id(0),
+ _param_system_type(0),
+ _param_use_hil_gps(0),
+
+ /* performance counters */
+ _loop_perf(perf_alloc(PC_ELAPSED, "mavlink_el")),
+ _txerr_perf(perf_alloc(PC_COUNT, "mavlink_txe"))
{
fops.ioctl = (int (*)(file *, int, long unsigned int))&mavlink_dev_ioctl;
@@ -217,6 +217,8 @@ Mavlink::Mavlink() :
errx(1, "instance ID is out of range");
break;
}
+
+ _rstatus.type = TELEMETRY_STATUS_RADIO_TYPE_GENERIC;
}
Mavlink::~Mavlink()
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index c0fae0a2f..e9a9ff133 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -112,7 +112,6 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_telemetry_status_pub(-1),
_rc_pub(-1),
_manual_pub(-1),
- _radio_status_available(false),
_control_mode_sub(orb_subscribe(ORB_ID(vehicle_control_mode))),
_hil_frames(0),
_old_timestamp(0),
@@ -430,9 +429,6 @@ MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg)
} else {
orb_publish(telemetry_status_orb_id[_mavlink->get_channel()], _telemetry_status_pub, &tstatus);
}
-
- /* this means that heartbeats alone won't be published to the radio status no more */
- _radio_status_available = true;
}
}
@@ -474,25 +470,17 @@ MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg)
struct telemetry_status_s &tstatus = _mavlink->get_rx_status();
- hrt_abstime tnow = hrt_absolute_time();
-
- /* always set heartbeat, publish only if telemetry link not up */
- tstatus.heartbeat_time = tnow;
-
- /* if no radio status messages arrive, lets at least publish that heartbeats were received */
- if (!_radio_status_available) {
+ /* set heartbeat time and topic time and publish -
+ * the telem status also gets updated on telemetry events
+ */
+ tstatus.timestamp = hrt_absolute_time();
+ tstatus.heartbeat_time = tstatus.timestamp;
- tstatus.timestamp = tnow;
- /* telem_time indicates the timestamp of a telemetry status packet and we got none */
- tstatus.telem_time = 0;
- tstatus.type = TELEMETRY_STATUS_RADIO_TYPE_GENERIC;
+ if (_telemetry_status_pub < 0) {
+ _telemetry_status_pub = orb_advertise(telemetry_status_orb_id[_mavlink->get_channel()], &tstatus);
- if (_telemetry_status_pub < 0) {
- _telemetry_status_pub = orb_advertise(telemetry_status_orb_id[_mavlink->get_channel()], &tstatus);
-
- } else {
- orb_publish(telemetry_status_orb_id[_mavlink->get_channel()], _telemetry_status_pub, &tstatus);
- }
+ } else {
+ orb_publish(telemetry_status_orb_id[_mavlink->get_channel()], _telemetry_status_pub, &tstatus);
}
}
}
diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h
index 014193100..3999b8b01 100644
--- a/src/modules/mavlink/mavlink_receiver.h
+++ b/src/modules/mavlink/mavlink_receiver.h
@@ -151,7 +151,6 @@ private:
orb_advert_t _telemetry_status_pub;
orb_advert_t _rc_pub;
orb_advert_t _manual_pub;
- bool _radio_status_available;
int _control_mode_sub;
int _hil_frames;
uint64_t _old_timestamp;
diff --git a/src/systemcmds/tests/test_sensors.c b/src/systemcmds/tests/test_sensors.c
index a4f17eebd..e005bf9c1 100644
--- a/src/systemcmds/tests/test_sensors.c
+++ b/src/systemcmds/tests/test_sensors.c
@@ -331,7 +331,7 @@ mag(int argc, char *argv[])
float len = sqrtf(buf.x * buf.x + buf.y * buf.y + buf.z * buf.z);
- if (len < 1.0f || len > 3.0f) {
+ if (len < 0.25f || len > 3.0f) {
warnx("MAG scale error!");
return ERROR;
}
generated by cgit v1.2.3 (git 2.39.1) at 2024-09-12 16:00:04 +0000