diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/mavlink/mavlink_main.cpp | 32 | ||||
| -rw-r--r-- | src/modules/navigator/navigator_main.cpp | 42 |
2 files changed, 41 insertions, 33 deletions
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 28cdf65a3..540b88657 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -105,7 +105,8 @@ static struct file_operations fops; */ extern "C" __EXPORT int mavlink_main(int argc, char *argv[]); -static uint64_t last_write_times[6] = {0}; +static uint64_t last_write_success_times[6] = {0}; +static uint64_t last_write_try_times[6] = {0}; /* * Internal function to send the bytes through the right serial port @@ -166,26 +167,25 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length if (instance->get_flow_control_enabled() && ioctl(uart, FIONWRITE, (unsigned long)&buf_free) == 0) { - if (buf_free == 0) { - - if (last_write_times[(unsigned)channel] != 0 && - hrt_elapsed_time(&last_write_times[(unsigned)channel]) > 500 * 1000UL) { - - warnx("DISABLING HARDWARE FLOW CONTROL"); - instance->enable_flow_control(false); - } - - } else { - - /* apparently there is space left, although we might be - * partially overflooding the buffer already */ - last_write_times[(unsigned)channel] = hrt_absolute_time(); + /* Disable hardware flow control: + * if no successful write since a defined time + * and if the last try was not the last successful write + */ + if (last_write_try_times[(unsigned)channel] != 0 && + hrt_elapsed_time(&last_write_success_times[(unsigned)channel]) > 500 * 1000UL && + last_write_success_times[(unsigned)channel] != + last_write_try_times[(unsigned)channel]) + { + warnx("DISABLING HARDWARE FLOW CONTROL"); + instance->enable_flow_control(false); } + } /* If the wait until transmit flag is on, only transmit after we've received messages. Otherwise, transmit all the time. */ if (instance->should_transmit()) { + last_write_try_times[(unsigned)channel] = hrt_absolute_time(); /* check if there is space in the buffer, let it overflow else */ if (!ioctl(uart, FIONWRITE, (unsigned long)&buf_free)) { @@ -199,6 +199,8 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length ssize_t ret = write(uart, ch, desired); if (ret != desired) { warnx("TX FAIL"); + } else { + last_write_success_times[(unsigned)channel] = last_write_try_times[(unsigned)channel]; } } diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 401d50f7e..06e0c5904 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -1458,7 +1458,6 @@ Navigator::check_mission_item_reached() /* XXX TODO count turns */ if ((_mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT || - _mission_item.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT || _mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED) && _mission_item.loiter_radius > 0.01f) { @@ -1477,27 +1476,27 @@ Navigator::check_mission_item_reached() acceptance_radius = _parameters.acceptance_radius; } - float dist = -1.0f; - float dist_xy = -1.0f; - float dist_z = -1.0f; - - /* calculate AMSL altitude for this waypoint */ - float wp_alt_amsl = _mission_item.altitude; - - if (_mission_item.altitude_is_relative) - wp_alt_amsl += _home_pos.alt; - - dist = get_distance_to_point_global_wgs84(_mission_item.lat, _mission_item.lon, wp_alt_amsl, - (double)_global_pos.lat, (double)_global_pos.lon, _global_pos.alt, - &dist_xy, &dist_z); - if (_do_takeoff) { - if (_global_pos.alt > wp_alt_amsl - acceptance_radius) { - /* require only altitude for takeoff */ + /* require only altitude for takeoff */ + if (_global_pos.alt > _pos_sp_triplet.current.alt - acceptance_radius) { _waypoint_position_reached = true; } } else { + float dist = -1.0f; + float dist_xy = -1.0f; + float dist_z = -1.0f; + + /* calculate AMSL altitude for this waypoint */ + float wp_alt_amsl = _mission_item.altitude; + + if (_mission_item.altitude_is_relative) + wp_alt_amsl += _home_pos.alt; + + dist = get_distance_to_point_global_wgs84(_mission_item.lat, _mission_item.lon, wp_alt_amsl, + (double)_global_pos.lat, (double)_global_pos.lon, _global_pos.alt, + &dist_xy, &dist_z); + if (dist >= 0.0f && dist <= acceptance_radius) { _waypoint_position_reached = true; } @@ -1567,7 +1566,14 @@ Navigator::on_mission_item_reached() } if (_mission.current_mission_available()) { - set_mission_item(); + if (_mission_item.autocontinue) { + /* continue mission */ + set_mission_item(); + + } else { + /* autocontinue disabled for this item */ + request_loiter_or_ready(); + } } else { /* if no more mission items available then finish mission */ |