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Code Issues Releases Activity

ported latest changes by Vassilis and Stac to Posix version

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1064 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
corvus 2010-07-11 12:13:43 +00:00 committed by corvus
parent c6b495cdcc
commit ece979a4e1
5 changed files with 27 additions and 16 deletions
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4
flight/OpenPilot.posix/Modules/Actuator/actuator.c
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@ -147,7 +147,7 @@ static void actuatorTask(void* parameters)
// Update servo outputs
for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n)
{
PIOS_Servo_Set( n+1, cmd.Channel[n] );
PIOS_Servo_Set( n, cmd.Channel[n] );
}
// Update output object
@ -269,7 +269,7 @@ static void setFailsafe()
// Update servo outputs
for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n)
{
PIOS_Servo_Set( n+1, cmd.Channel[n] );
PIOS_Servo_Set( n, cmd.Channel[n] );
}
// Update output object

17
flight/OpenPilot.posix/Modules/GPS/GPS.c
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@ -425,16 +425,25 @@ void nmeaProcessGPGGA(char* packet)
// get altitude (in meters mm.m)
tokens = strsep(&packet, delimiter);
//reuse variables for alt
deg=strtol (tokens,&pEnd,10); // always 0.1m resolution?
deg=strtol (tokens,&pEnd,10); // always 0.1m resolution? No
desim=strtol (pEnd+1,NULL,10);
if(1) // OPGPS 3 desimal
if(1) // OPGPS 3 decimal
GpsData.Altitude=deg+desim/1000.0;
else
GpsData.Altitude=deg+desim/10.0;
// next field: altitude units, always 'M'
// next field: geoid seperation
// next field: seperation units
tokens = strsep(&packet, delimiter);
// next field: geoid separation
tokens = strsep(&packet, delimiter);
//reuse variables for geoid separation
deg=strtol (tokens,&pEnd,10); // always 0.1m resolution? No
desim=strtol (pEnd+1,NULL,10);
if(1) // OPGPS 3 decimal
GpsData.GeoidSeparation=deg+desim/1000.0;
else
GpsData.GeoidSeparation=deg+desim/10.0;
// next field: separation units
// next field: DGPS age
// next field: DGPS station ID
// next field: checksum

6
flight/OpenPilot.posix/Modules/Telemetry/telemetry.c
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@ -308,7 +308,7 @@ static void telemetryRxTask(void* parameters)
{
#if ALLOW_HID_TELEMETRY
// Determine input port (USB takes priority over telemetry port)
if(PIOS_USB_HID_CheckAvailable())
if(PIOS_USB_HID_CheckAvailable(0))
{
inputPort = PIOS_COM_TELEM_USB;
}
@ -343,9 +343,9 @@ static int32_t transmitData(uint8_t* data, int32_t length)
// Determine input port (USB takes priority over telemetry port)
#if ALLOW_HID_TELEMETRY
if(PIOS_USB_HID_CheckAvailable())
if(PIOS_USB_HID_CheckAvailable(0))
{
outputPort = COM_USB_HID;
outputPort = PIOS_COM_TELEM_USB;
}
else
#endif /* ALLOW_HID_TELEMETRY */

12
flight/OpenPilot.posix/System/openpilot.c
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@ -221,6 +221,8 @@ static void TaskServos(void *pvParameters)
/* Used to test servos, cycles all servos from one side to the other */
for(;;) {
/*xDelay = 250 / portTICK_RATE_MS;
PIOS_Servo_Set(0, 2000);
vTaskDelay(xDelay);
PIOS_Servo_Set(1, 2000);
vTaskDelay(xDelay);
PIOS_Servo_Set(2, 2000);
@ -235,11 +237,7 @@ static void TaskServos(void *pvParameters)
vTaskDelay(xDelay);
PIOS_Servo_Set(7, 2000);
vTaskDelay(xDelay);
PIOS_Servo_Set(8, 2000);
vTaskDelay(xDelay);
PIOS_Servo_Set(8, 1000);
vTaskDelay(xDelay);
PIOS_Servo_Set(7, 1000);
vTaskDelay(xDelay);
PIOS_Servo_Set(6, 1000);
@ -253,10 +251,13 @@ static void TaskServos(void *pvParameters)
PIOS_Servo_Set(2, 1000);
vTaskDelay(xDelay);
PIOS_Servo_Set(1, 1000);
vTaskDelay(xDelay);
PIOS_Servo_Set(0, 1000);
vTaskDelay(xDelay);*/
xDelay = 1 / portTICK_RATE_MS;
for(int i = 1000; i < 2000; i++) {
PIOS_Servo_Set(0, i);
PIOS_Servo_Set(1, i);
PIOS_Servo_Set(2, i);
PIOS_Servo_Set(3, i);
@ -264,10 +265,10 @@ static void TaskServos(void *pvParameters)
PIOS_Servo_Set(5, i);
PIOS_Servo_Set(6, i);
PIOS_Servo_Set(7, i);
PIOS_Servo_Set(8, i);
vTaskDelay(xDelay);
}
for(int i = 2000; i > 1000; i--) {
PIOS_Servo_Set(0, i);
PIOS_Servo_Set(1, i);
PIOS_Servo_Set(2, i);
PIOS_Servo_Set(3, i);
@ -275,7 +276,6 @@ static void TaskServos(void *pvParameters)
PIOS_Servo_Set(5, i);
PIOS_Servo_Set(6, i);
PIOS_Servo_Set(7, i);
PIOS_Servo_Set(8, i);
vTaskDelay(xDelay);
}
}

4
flight/OpenPilot.posix/UAVObjects/inc/positionactual.h
View File

@ -33,7 +33,7 @@
#define POSITIONACTUAL_H
// Object constants
#define POSITIONACTUAL_OBJID 981132812U
#define POSITIONACTUAL_OBJID 1265479538U
#define POSITIONACTUAL_NAME "PositionActual"
#define POSITIONACTUAL_METANAME "PositionActualMeta"
#define POSITIONACTUAL_ISSINGLEINST 1
@ -61,6 +61,7 @@ typedef struct {
float Latitude;
float Longitude;
float Altitude;
float GeoidSeparation;
float Heading;
float Groundspeed;
int8_t Satellites;
@ -77,6 +78,7 @@ typedef enum { POSITIONACTUAL_STATUS_NOGPS=0, POSITIONACTUAL_STATUS_NOFIX=1, POS
// Field Latitude information
// Field Longitude information
// Field Altitude information
// Field GeoidSeparation information
// Field Heading information
// Field Groundspeed information
// Field Satellites information