diff options
-rw-r--r-- | makefiles/config_px4fmu_default.mk | 4 | ||||
-rw-r--r-- | makefiles/config_px4fmuv2_default.mk | 4 | ||||
-rw-r--r-- | src/include/mavlink/mavlink_log.h (renamed from apps/mavlink/mavlink_log.h) | 0 | ||||
-rw-r--r-- | src/modules/mavlink/.context (renamed from apps/mavlink/.context) | 0 | ||||
-rw-r--r-- | src/modules/mavlink/.gitignore (renamed from apps/mavlink/.gitignore) | 0 | ||||
-rw-r--r-- | src/modules/mavlink/mavlink.c (renamed from apps/mavlink/mavlink.c) | 2 | ||||
-rw-r--r-- | src/modules/mavlink/mavlink_bridge_header.h (renamed from apps/mavlink/mavlink_bridge_header.h) | 2 | ||||
-rw-r--r-- | src/modules/mavlink/mavlink_hil.h (renamed from apps/mavlink/mavlink_hil.h) | 0 | ||||
-rw-r--r-- | src/modules/mavlink/mavlink_log.c (renamed from apps/mavlink/mavlink_log.c) | 2 | ||||
-rw-r--r-- | src/modules/mavlink/mavlink_parameters.c (renamed from apps/mavlink/mavlink_parameters.c) | 0 | ||||
-rw-r--r-- | src/modules/mavlink/mavlink_parameters.h (renamed from apps/mavlink/mavlink_parameters.h) | 0 | ||||
-rw-r--r-- | src/modules/mavlink/mavlink_receiver.c (renamed from apps/mavlink/mavlink_receiver.c) | 4 | ||||
-rw-r--r-- | src/modules/mavlink/missionlib.c (renamed from apps/mavlink/missionlib.c) | 2 | ||||
-rw-r--r-- | src/modules/mavlink/missionlib.h (renamed from apps/mavlink/missionlib.h) | 0 | ||||
-rw-r--r-- | src/modules/mavlink/module.mk (renamed from apps/mavlink_onboard/Makefile) | 19 | ||||
-rw-r--r-- | src/modules/mavlink/orb_listener.c (renamed from apps/mavlink/orb_listener.c) | 3 | ||||
-rw-r--r-- | src/modules/mavlink/orb_topics.h (renamed from apps/mavlink/orb_topics.h) | 0 | ||||
-rw-r--r-- | src/modules/mavlink/util.h (renamed from apps/mavlink/util.h) | 0 | ||||
-rw-r--r-- | src/modules/mavlink/waypoints.c (renamed from apps/mavlink/waypoints.c) | 0 | ||||
-rw-r--r-- | src/modules/mavlink/waypoints.h (renamed from apps/mavlink/waypoints.h) | 0 | ||||
-rw-r--r-- | src/modules/mavlink_onboard/mavlink.c (renamed from apps/mavlink_onboard/mavlink.c) | 0 | ||||
-rw-r--r-- | src/modules/mavlink_onboard/mavlink_bridge_header.h (renamed from apps/mavlink_onboard/mavlink_bridge_header.h) | 2 | ||||
-rw-r--r-- | src/modules/mavlink_onboard/mavlink_receiver.c (renamed from apps/mavlink_onboard/mavlink_receiver.c) | 0 | ||||
-rw-r--r-- | src/modules/mavlink_onboard/module.mk (renamed from apps/mavlink/Makefile) | 14 | ||||
-rw-r--r-- | src/modules/mavlink_onboard/orb_topics.h (renamed from apps/mavlink_onboard/orb_topics.h) | 0 | ||||
-rw-r--r-- | src/modules/mavlink_onboard/util.h (renamed from apps/mavlink_onboard/util.h) | 0 |
26 files changed, 30 insertions, 28 deletions
diff --git a/makefiles/config_px4fmu_default.mk b/makefiles/config_px4fmu_default.mk index 6c43377e3..ada6b7ab7 100644 --- a/makefiles/config_px4fmu_default.mk +++ b/makefiles/config_px4fmu_default.mk @@ -21,6 +21,8 @@ MODULES += systemcmds/eeprom # General system control # MODULES += modules/commander +MODULES += modules/mavlink +MODULES += modules/mavlink_onboard # # Estimation modules (EKF / other filters) @@ -56,8 +58,6 @@ BUILTIN_COMMANDS := \ $(call _B, hott_telemetry, , 2048, hott_telemetry_main ) \ $(call _B, kalman_demo, SCHED_PRIORITY_MAX-30, 2048, kalman_demo_main ) \ $(call _B, math_demo, , 8192, math_demo_main ) \ - $(call _B, mavlink, , 2048, mavlink_main ) \ - $(call _B, mavlink_onboard, , 2048, mavlink_onboard_main ) \ $(call _B, mixer, , 4096, mixer_main ) \ $(call _B, mpu6000, , 4096, mpu6000_main ) \ $(call _B, ms5611, , 2048, ms5611_main ) \ diff --git a/makefiles/config_px4fmuv2_default.mk b/makefiles/config_px4fmuv2_default.mk index fd69baa29..9aa4ec3da 100644 --- a/makefiles/config_px4fmuv2_default.mk +++ b/makefiles/config_px4fmuv2_default.mk @@ -21,6 +21,8 @@ MODULES += systemcmds/ramtron # General system control # MODULES += modules/commander +MODULES += modules/mavlink +MODULES += modules/mavlink_onboard # # Estimation modules (EKF / other filters) @@ -55,8 +57,6 @@ BUILTIN_COMMANDS := \ $(call _B, hott_telemetry, , 2048, hott_telemetry_main ) \ $(call _B, kalman_demo, SCHED_PRIORITY_MAX-30, 2048, kalman_demo_main ) \ $(call _B, math_demo, , 8192, math_demo_main ) \ - $(call _B, mavlink, , 2048, mavlink_main ) \ - $(call _B, mavlink_onboard, , 2048, mavlink_onboard_main ) \ $(call _B, mixer, , 4096, mixer_main ) \ $(call _B, multirotor_att_control, SCHED_PRIORITY_MAX-15, 2048, multirotor_att_control_main) \ $(call _B, multirotor_pos_control, SCHED_PRIORITY_MAX-25, 2048, multirotor_pos_control_main) \ diff --git a/apps/mavlink/mavlink_log.h b/src/include/mavlink/mavlink_log.h index 233a76cb3..233a76cb3 100644 --- a/apps/mavlink/mavlink_log.h +++ b/src/include/mavlink/mavlink_log.h diff --git a/apps/mavlink/.context b/src/modules/mavlink/.context index e69de29bb..e69de29bb 100644 --- a/apps/mavlink/.context +++ b/src/modules/mavlink/.context diff --git a/apps/mavlink/.gitignore b/src/modules/mavlink/.gitignore index a02827195..a02827195 100644 --- a/apps/mavlink/.gitignore +++ b/src/modules/mavlink/.gitignore diff --git a/apps/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c index 644b779af..de78cd139 100644 --- a/apps/mavlink/mavlink.c +++ b/src/modules/mavlink/mavlink.c @@ -64,9 +64,9 @@ #include <systemlib/param/param.h> #include <systemlib/systemlib.h> #include <systemlib/err.h> +#include <mavlink/mavlink_log.h> #include "waypoints.h" -#include "mavlink_log.h" #include "orb_topics.h" #include "missionlib.h" #include "mavlink_hil.h" diff --git a/apps/mavlink/mavlink_bridge_header.h b/src/modules/mavlink/mavlink_bridge_header.h index 270ec1727..0010bb341 100644 --- a/apps/mavlink/mavlink_bridge_header.h +++ b/src/modules/mavlink/mavlink_bridge_header.h @@ -51,7 +51,7 @@ #define MAVLINK_GET_CHANNEL_BUFFER mavlink_get_channel_buffer #define MAVLINK_GET_CHANNEL_STATUS mavlink_get_channel_status -#include "v1.0/mavlink_types.h" +#include <v1.0/mavlink_types.h> #include <unistd.h> diff --git a/apps/mavlink/mavlink_hil.h b/src/modules/mavlink/mavlink_hil.h index 8c7a5b514..8c7a5b514 100644 --- a/apps/mavlink/mavlink_hil.h +++ b/src/modules/mavlink/mavlink_hil.h diff --git a/apps/mavlink/mavlink_log.c b/src/modules/mavlink/mavlink_log.c index ed65fb883..fa974dc0b 100644 --- a/apps/mavlink/mavlink_log.c +++ b/src/modules/mavlink/mavlink_log.c @@ -42,7 +42,7 @@ #include <string.h> #include <stdlib.h> -#include "mavlink_log.h" +#include <mavlink/mavlink_log.h> void mavlink_logbuffer_init(struct mavlink_logbuffer *lb, int size) { diff --git a/apps/mavlink/mavlink_parameters.c b/src/modules/mavlink/mavlink_parameters.c index 819f3441b..819f3441b 100644 --- a/apps/mavlink/mavlink_parameters.c +++ b/src/modules/mavlink/mavlink_parameters.c diff --git a/apps/mavlink/mavlink_parameters.h b/src/modules/mavlink/mavlink_parameters.h index b1e38bcc8..b1e38bcc8 100644 --- a/apps/mavlink/mavlink_parameters.h +++ b/src/modules/mavlink/mavlink_parameters.h diff --git a/apps/mavlink/mavlink_receiver.c b/src/modules/mavlink/mavlink_receiver.c index 22c2fcdad..e62e4dcc4 100644 --- a/apps/mavlink/mavlink_receiver.c +++ b/src/modules/mavlink/mavlink_receiver.c @@ -64,9 +64,9 @@ #include <systemlib/param/param.h> #include <systemlib/systemlib.h> +#include <mavlink/mavlink_log.h> #include "waypoints.h" -#include "mavlink_log.h" #include "orb_topics.h" #include "missionlib.h" #include "mavlink_hil.h" @@ -312,7 +312,7 @@ handle_message(mavlink_message_t *msg) static const float ground_press = 1013.25f; // mbar static const float ground_tempC = 21.0f; static const float ground_alt = 0.0f; - static const float T0 = 273.15; + static const float T0 = 273.15f; static const float R = 287.05f; static const float g = 9.806f; diff --git a/apps/mavlink/missionlib.c b/src/modules/mavlink/missionlib.c index 8064febc4..d369e05ff 100644 --- a/apps/mavlink/missionlib.c +++ b/src/modules/mavlink/missionlib.c @@ -62,9 +62,9 @@ #include <systemlib/param/param.h> #include <systemlib/systemlib.h> +#include <mavlink/mavlink_log.h> #include "waypoints.h" -#include "mavlink_log.h" #include "orb_topics.h" #include "missionlib.h" #include "mavlink_hil.h" diff --git a/apps/mavlink/missionlib.h b/src/modules/mavlink/missionlib.h index c2ca735b3..c2ca735b3 100644 --- a/apps/mavlink/missionlib.h +++ b/src/modules/mavlink/missionlib.h diff --git a/apps/mavlink_onboard/Makefile b/src/modules/mavlink/module.mk index 8b1cb9b2c..cbf08aeb2 100644 --- a/apps/mavlink_onboard/Makefile +++ b/src/modules/mavlink/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (C) 2012-2013 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 @@ -32,13 +32,16 @@ ############################################################################ # -# Mavlink Application +# MAVLink protocol to uORB interface process # -APPNAME = mavlink_onboard -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 +MODULE_COMMAND = mavlink +SRCS += mavlink.c \ + missionlib.c \ + mavlink_parameters.c \ + mavlink_log.c \ + mavlink_receiver.c \ + orb_listener.c \ + waypoints.c -INCLUDES = $(TOPDIR)/../mavlink/include/mavlink - -include $(APPDIR)/mk/app.mk +INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink diff --git a/apps/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c index 5f15facf8..295cd5e28 100644 --- a/apps/mavlink/orb_listener.c +++ b/src/modules/mavlink/orb_listener.c @@ -56,8 +56,9 @@ #include <stdlib.h> #include <poll.h> +#include <mavlink/mavlink_log.h> + #include "waypoints.h" -#include "mavlink_log.h" #include "orb_topics.h" #include "missionlib.h" #include "mavlink_hil.h" diff --git a/apps/mavlink/orb_topics.h b/src/modules/mavlink/orb_topics.h index d61cd43dc..d61cd43dc 100644 --- a/apps/mavlink/orb_topics.h +++ b/src/modules/mavlink/orb_topics.h diff --git a/apps/mavlink/util.h b/src/modules/mavlink/util.h index a4ff06a88..a4ff06a88 100644 --- a/apps/mavlink/util.h +++ b/src/modules/mavlink/util.h diff --git a/apps/mavlink/waypoints.c b/src/modules/mavlink/waypoints.c index a131b143b..a131b143b 100644 --- a/apps/mavlink/waypoints.c +++ b/src/modules/mavlink/waypoints.c diff --git a/apps/mavlink/waypoints.h b/src/modules/mavlink/waypoints.h index c32ab32e5..c32ab32e5 100644 --- a/apps/mavlink/waypoints.h +++ b/src/modules/mavlink/waypoints.h diff --git a/apps/mavlink_onboard/mavlink.c b/src/modules/mavlink_onboard/mavlink.c index 5a2685560..5a2685560 100644 --- a/apps/mavlink_onboard/mavlink.c +++ b/src/modules/mavlink_onboard/mavlink.c diff --git a/apps/mavlink_onboard/mavlink_bridge_header.h b/src/modules/mavlink_onboard/mavlink_bridge_header.h index bf7c5354c..3ad3bb617 100644 --- a/apps/mavlink_onboard/mavlink_bridge_header.h +++ b/src/modules/mavlink_onboard/mavlink_bridge_header.h @@ -51,7 +51,7 @@ #define MAVLINK_GET_CHANNEL_BUFFER mavlink_get_channel_buffer #define MAVLINK_GET_CHANNEL_STATUS mavlink_get_channel_status -#include "v1.0/mavlink_types.h" +#include <v1.0/mavlink_types.h> #include <unistd.h> diff --git a/apps/mavlink_onboard/mavlink_receiver.c b/src/modules/mavlink_onboard/mavlink_receiver.c index 0acbea675..0acbea675 100644 --- a/apps/mavlink_onboard/mavlink_receiver.c +++ b/src/modules/mavlink_onboard/mavlink_receiver.c diff --git a/apps/mavlink/Makefile b/src/modules/mavlink_onboard/module.mk index 8ddb69b71..c40fa042e 100644 --- a/apps/mavlink/Makefile +++ b/src/modules/mavlink_onboard/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (C) 2012-2013 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 @@ -32,13 +32,11 @@ ############################################################################ # -# Mavlink Application +# MAVLink protocol to uORB interface process (XXX hack for onboard use) # -APPNAME = mavlink -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 +MODULE_COMMAND = mavlink_onboard +SRCS = mavlink.c \ + mavlink_receiver.c -INCLUDES = $(TOPDIR)/../mavlink/include/mavlink - -include $(APPDIR)/mk/app.mk +INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink diff --git a/apps/mavlink_onboard/orb_topics.h b/src/modules/mavlink_onboard/orb_topics.h index f18f56243..f18f56243 100644 --- a/apps/mavlink_onboard/orb_topics.h +++ b/src/modules/mavlink_onboard/orb_topics.h diff --git a/apps/mavlink_onboard/util.h b/src/modules/mavlink_onboard/util.h index 38a4db372..38a4db372 100644 --- a/apps/mavlink_onboard/util.h +++ b/src/modules/mavlink_onboard/util.h |