diff options
Diffstat (limited to 'src/modules/sensors/sensors.cpp')
| -rw-r--r-- | src/modules/sensors/sensors.cpp | 48 |
1 files changed, 26 insertions, 22 deletions
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index ea864390d..b176d7417 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -1,7 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier <lm@inf.ethz.ch> + * Copyright (c) 2012-2014 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 @@ -636,41 +635,43 @@ Sensors::parameters_update() if (!rc_valid) warnx("WARNING WARNING WARNING\n\nRC CALIBRATION NOT SANE!\n\n"); + const char *paramerr = "FAIL PARM LOAD"; + /* channel mapping */ if (param_get(_parameter_handles.rc_map_roll, &(_parameters.rc_map_roll)) != OK) { - warnx("Failed getting roll chan index"); + warnx(paramerr); } if (param_get(_parameter_handles.rc_map_pitch, &(_parameters.rc_map_pitch)) != OK) { - warnx("Failed getting pitch chan index"); + warnx(paramerr); } if (param_get(_parameter_handles.rc_map_yaw, &(_parameters.rc_map_yaw)) != OK) { - warnx("Failed getting yaw chan index"); + warnx(paramerr); } if (param_get(_parameter_handles.rc_map_throttle, &(_parameters.rc_map_throttle)) != OK) { - warnx("Failed getting throttle chan index"); + warnx(paramerr); } if (param_get(_parameter_handles.rc_map_mode_sw, &(_parameters.rc_map_mode_sw)) != OK) { - warnx("Failed getting mode sw chan index"); + warnx(paramerr); } if (param_get(_parameter_handles.rc_map_return_sw, &(_parameters.rc_map_return_sw)) != OK) { - warnx("Failed getting return sw chan index"); + warnx(paramerr); } if (param_get(_parameter_handles.rc_map_assisted_sw, &(_parameters.rc_map_assisted_sw)) != OK) { - warnx("Failed getting assisted sw chan index"); + warnx(paramerr); } if (param_get(_parameter_handles.rc_map_mission_sw, &(_parameters.rc_map_mission_sw)) != OK) { - warnx("Failed getting mission sw chan index"); + warnx(paramerr); } if (param_get(_parameter_handles.rc_map_flaps, &(_parameters.rc_map_flaps)) != OK) { - warnx("Failed getting flaps chan index"); + warnx(paramerr); } // if (param_get(_parameter_handles.rc_map_offboard_ctrl_mode_sw, &(_parameters.rc_map_offboard_ctrl_mode_sw)) != OK) { @@ -742,12 +743,12 @@ Sensors::parameters_update() /* scaling of ADC ticks to battery voltage */ if (param_get(_parameter_handles.battery_voltage_scaling, &(_parameters.battery_voltage_scaling)) != OK) { - warnx("Failed updating voltage scaling param"); + warnx(paramerr); } /* scaling of ADC ticks to battery current */ if (param_get(_parameter_handles.battery_current_scaling, &(_parameters.battery_current_scaling)) != OK) { - warnx("Failed updating current scaling param"); + warnx(paramerr); } param_get(_parameter_handles.board_rotation, &(_parameters.board_rotation)); @@ -1274,6 +1275,9 @@ Sensors::rc_poll() orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input); + if (rc_input.rc_lost) + return; + struct manual_control_setpoint_s manual_control; struct actuator_controls_s actuator_group_3; @@ -1318,7 +1322,7 @@ Sensors::rc_poll() channel_limit = _rc_max_chan_count; /* we are accepting this message */ - _rc_last_valid = rc_input.timestamp; + _rc_last_valid = rc_input.timestamp_last_signal; /* Read out values from raw message */ for (unsigned int i = 0; i < channel_limit; i++) { @@ -1367,9 +1371,9 @@ Sensors::rc_poll() } _rc.chan_count = rc_input.channel_count; - _rc.timestamp = rc_input.timestamp; + _rc.timestamp = rc_input.timestamp_last_signal; - manual_control.timestamp = rc_input.timestamp; + manual_control.timestamp = rc_input.timestamp_last_signal; /* roll input - rolling right is stick-wise and rotation-wise positive */ manual_control.roll = limit_minus_one_to_one(_rc.chan[_rc.function[ROLL]].scaled); @@ -1647,17 +1651,17 @@ int sensors_main(int argc, char *argv[]) if (!strcmp(argv[1], "start")) { if (sensors::g_sensors != nullptr) - errx(0, "sensors task already running"); + errx(0, "already running"); sensors::g_sensors = new Sensors; if (sensors::g_sensors == nullptr) - errx(1, "sensors task alloc failed"); + errx(1, "alloc failed"); if (OK != sensors::g_sensors->start()) { delete sensors::g_sensors; sensors::g_sensors = nullptr; - err(1, "sensors task start failed"); + err(1, "start failed"); } exit(0); @@ -1665,7 +1669,7 @@ int sensors_main(int argc, char *argv[]) if (!strcmp(argv[1], "stop")) { if (sensors::g_sensors == nullptr) - errx(1, "sensors task not running"); + errx(1, "not running"); delete sensors::g_sensors; sensors::g_sensors = nullptr; @@ -1674,10 +1678,10 @@ int sensors_main(int argc, char *argv[]) if (!strcmp(argv[1], "status")) { if (sensors::g_sensors) { - errx(0, "task is running"); + errx(0, "is running"); } else { - errx(1, "task is not running"); + errx(1, "not running"); } } |