From da525f29f13e5bdae717fbf189c5a3b4ab46794c Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 28 Apr 2014 19:25:13 +0200 Subject: Add missing header in mixer load command --- src/modules/systemlib/mixer/mixer_load.c | 1 + 1 file changed, 1 insertion(+) (limited to 'src/modules') diff --git a/src/modules/systemlib/mixer/mixer_load.c b/src/modules/systemlib/mixer/mixer_load.c index b05273c0d..bf3428a50 100644 --- a/src/modules/systemlib/mixer/mixer_load.c +++ b/src/modules/systemlib/mixer/mixer_load.c @@ -41,6 +41,7 @@ #include #include #include +#include #include "mixer_load.h" -- cgit v1.2.3 From 0c58588a87697a371249b7eb5ca9cdac7169c6e0 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Tue, 29 Apr 2014 19:51:05 +0200 Subject: mc_att_control: yaw feed-forward in manual control modes fixed --- src/modules/mc_att_control/mc_att_control_main.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) (limited to 'src/modules') diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp index 6b0c44fb3..36d95bf06 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -496,7 +496,8 @@ MulticopterAttitudeControl::control_attitude(float dt) //} } else { /* move yaw setpoint */ - _v_att_sp.yaw_body = _wrap_pi(_v_att_sp.yaw_body + _manual_control_sp.yaw * _params.man_yaw_max * dt); + yaw_sp_move_rate = _manual_control_sp.yaw * _params.man_yaw_max; + _v_att_sp.yaw_body = _wrap_pi(_v_att_sp.yaw_body + yaw_sp_move_rate * dt); _v_att_sp.R_valid = false; publish_att_sp = true; } -- cgit v1.2.3 From 1dfa2f100e37d9798fe50538ed442283dd075aac Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 30 Apr 2014 15:33:47 +0200 Subject: commander: Stop mixing board support and high level code - just accept that non-mandatory leds may or may not be there --- src/modules/commander/commander_helper.cpp | 16 +++------------- 1 file changed, 3 insertions(+), 13 deletions(-) (limited to 'src/modules') diff --git a/src/modules/commander/commander_helper.cpp b/src/modules/commander/commander_helper.cpp index fe6c9bfaa..0fd3c9e9e 100644 --- a/src/modules/commander/commander_helper.cpp +++ b/src/modules/commander/commander_helper.cpp @@ -199,15 +199,9 @@ int led_init() } /* the blue LED is only available on FMUv1 but not FMUv2 */ -#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 - - if (ioctl(leds, LED_ON, LED_BLUE)) { - warnx("Blue LED: ioctl fail\n"); - return ERROR; - } - -#endif + (void)ioctl(leds, LED_ON, LED_BLUE); + /* we consider the amber led mandatory */ if (ioctl(leds, LED_ON, LED_AMBER)) { warnx("Amber LED: ioctl fail\n"); return ERROR; @@ -217,11 +211,7 @@ int led_init() rgbleds = open(RGBLED_DEVICE_PATH, 0); if (rgbleds == -1) { -#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2 - errx(1, "Unable to open " RGBLED_DEVICE_PATH); -#else - warnx("No RGB LED found"); -#endif + warnx("No RGB LED found at " RGBLED_DEVICE_PATH); } return 0; -- cgit v1.2.3 From f6d61dfb4cac8e243b92e637d9d11a3a3970d336 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Thu, 1 May 2014 23:45:21 +0200 Subject: mavlink: swap x and y when handling MANUAL_CONTROL mavlink message --- src/modules/mavlink/mavlink_receiver.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'src/modules') diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 33a4fef12..7c93c1c00 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -432,8 +432,8 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg) memset(&manual, 0, sizeof(manual)); manual.timestamp = hrt_absolute_time(); - manual.roll = man.x / 1000.0f; - manual.pitch = man.y / 1000.0f; + manual.pitch = man.x / 1000.0f; + manual.roll = man.y / 1000.0f; manual.yaw = man.r / 1000.0f; manual.throttle = man.z / 1000.0f; -- cgit v1.2.3 From ee580206b4fd3e79f27db42717987dd414a2a215 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 4 May 2014 14:06:38 +0200 Subject: mavlink: Only sending HIL control commands if the system is actually armed --- src/modules/mavlink/mavlink_messages.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) (limited to 'src/modules') diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 678ce1645..b538aa28b 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -819,11 +819,11 @@ protected: void send(const hrt_abstime t) { - bool updated = status_sub->update(t); - updated |= pos_sp_triplet_sub->update(t); - updated |= act_sub->update(t); + bool updated = act_sub->update(t); + (void)pos_sp_triplet_sub->update(t); + (void)status_sub->update(t); - if (updated) { + if (updated && (status.arming_state == ARMING_STATE_ARMED)) { /* translate the current syste state to mavlink state and mode */ uint8_t mavlink_state; uint8_t mavlink_base_mode; -- cgit v1.2.3 From 0e31b5935ebefef3b95d7e39dbf5b1435a4942a1 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sun, 4 May 2014 15:01:07 +0200 Subject: remove trailing whitespace --- src/modules/mavlink/mavlink_messages.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'src/modules') diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index b538aa28b..ab733e442 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -1353,7 +1353,7 @@ protected: uint8_t orientation = 0; uint8_t covariance = 20; - mavlink_msg_distance_sensor_send(_channel, range->timestamp / 1000, type, id, orientation, + mavlink_msg_distance_sensor_send(_channel, range->timestamp / 1000, type, id, orientation, range->minimum_distance*100, range->maximum_distance*100, range->distance*100, covariance); } }; -- cgit v1.2.3 From 5f786af8fa428c8ab684251310de6c3fbe795e8f Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sun, 4 May 2014 15:02:00 +0200 Subject: mavlink: status is a pointer --- src/modules/mavlink/mavlink_messages.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'src/modules') diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index ab733e442..bef8a5a55 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -823,7 +823,7 @@ protected: (void)pos_sp_triplet_sub->update(t); (void)status_sub->update(t); - if (updated && (status.arming_state == ARMING_STATE_ARMED)) { + if (updated && (status->arming_state == ARMING_STATE_ARMED)) { /* translate the current syste state to mavlink state and mode */ uint8_t mavlink_state; uint8_t mavlink_base_mode; -- cgit v1.2.3