本文整理汇总了C++中orb_subscribe函数的典型用法代码示例。如果您正苦于以下问题:C++ orb_subscribe函数的具体用法?C++ orb_subscribe怎么用?C++ orb_subscribe使用的例子?那么恭喜您, 这里精选的函数代码示例或许可以为您提供帮助。
在下文中一共展示了orb_subscribe函数的15个代码示例,这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞,您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: do_airspeed_calibration
int do_airspeed_calibration(int mavlink_fd)
{
/* give directions */
mavlink_log_info(mavlink_fd, CAL_STARTED_MSG, sensor_name);
const unsigned calibration_count = 2000;
int diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure));
struct differential_pressure_s diff_pres;
float diff_pres_offset = 0.0f;
/* Reset sensor parameters */
struct airspeed_scale airscale = {
diff_pres_offset,
1.0f,
};
bool paramreset_successful = false;
int fd = open(AIRSPEED_DEVICE_PATH, 0);
if (fd > 0) {
if (OK == ioctl(fd, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale)) {
paramreset_successful = true;
} else {
mavlink_log_critical(mavlink_fd, "airspeed offset zero failed");
}
close(fd);
}
if (!paramreset_successful) {
/* only warn if analog scaling is zero */
float analog_scaling = 0.0f;
param_get(param_find("SENS_DPRES_ANSC"), &(analog_scaling));
if (fabsf(analog_scaling) < 0.1f) {
mavlink_log_critical(mavlink_fd, "If analog sens, retry with [SENS_DPRES_ANSC=1000]");
close(diff_pres_sub);
return ERROR;
}
/* set scaling offset parameter */
if (param_set(param_find("SENS_DPRES_OFF"), &(diff_pres_offset))) {
mavlink_log_critical(mavlink_fd, CAL_FAILED_SET_PARAMS_MSG);
close(diff_pres_sub);
return ERROR;
}
}
unsigned calibration_counter = 0;
mavlink_log_critical(mavlink_fd, "Ensure sensor is not measuring wind");
usleep(500 * 1000);
while (calibration_counter < calibration_count) {
/* wait blocking for new data */
struct pollfd fds[1];
fds[0].fd = diff_pres_sub;
fds[0].events = POLLIN;
int poll_ret = poll(fds, 1, 1000);
if (poll_ret) {
orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres);
diff_pres_offset += diff_pres.differential_pressure_raw_pa;
calibration_counter++;
if (calibration_counter % (calibration_count / 20) == 0) {
mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, (calibration_counter * 80) / calibration_count);
}
} else if (poll_ret == 0) {
/* any poll failure for 1s is a reason to abort */
mavlink_log_critical(mavlink_fd, CAL_FAILED_MSG, sensor_name);
close(diff_pres_sub);
return ERROR;
}
}
diff_pres_offset = diff_pres_offset / calibration_count;
if (isfinite(diff_pres_offset)) {
int fd_scale = open(AIRSPEED_DEVICE_PATH, 0);
airscale.offset_pa = diff_pres_offset;
if (fd_scale > 0) {
if (OK != ioctl(fd_scale, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale)) {
mavlink_log_critical(mavlink_fd, "airspeed offset update failed");
}
close(fd_scale);
}
if (param_set(param_find("SENS_DPRES_OFF"), &(diff_pres_offset))) {
mavlink_log_critical(mavlink_fd, CAL_FAILED_SET_PARAMS_MSG);
close(diff_pres_sub);
//.........这里部分代码省略.........
示例2: open
void AttitudePositionEstimatorEKF::task_main()
{
_mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
_ekf = new AttPosEKF();
_filter_start_time = hrt_absolute_time();
if (!_ekf) {
warnx("OUT OF MEM!");
return;
}
/*
* do subscriptions
*/
_distance_sub = orb_subscribe(ORB_ID(distance_sensor));
_baro_sub = orb_subscribe_multi(ORB_ID(sensor_baro), 0);
_airspeed_sub = orb_subscribe(ORB_ID(airspeed));
_gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
_vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
_params_sub = orb_subscribe(ORB_ID(parameter_update));
_home_sub = orb_subscribe(ORB_ID(home_position));
_landDetectorSub = orb_subscribe(ORB_ID(vehicle_land_detected));
_armedSub = orb_subscribe(ORB_ID(actuator_armed));
/* rate limit vehicle status updates to 5Hz */
orb_set_interval(_vstatus_sub, 200);
_sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined));
/* XXX remove this!, BUT increase the data buffer size! */
orb_set_interval(_sensor_combined_sub, 9);
/* sets also parameters in the EKF object */
parameters_update();
/* wakeup source(s) */
px4_pollfd_struct_t fds[2];
/* Setup of loop */
fds[0].fd = _params_sub;
fds[0].events = POLLIN;
fds[1].fd = _sensor_combined_sub;
fds[1].events = POLLIN;
_gps.vel_n_m_s = 0.0f;
_gps.vel_e_m_s = 0.0f;
_gps.vel_d_m_s = 0.0f;
_task_running = true;
while (!_task_should_exit) {
/* wait for up to 100ms for data */
int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
/* timed out - periodic check for _task_should_exit, etc. */
if (pret == 0) {
continue;
}
/* this is undesirable but not much we can do - might want to flag unhappy status */
if (pret < 0) {
warn("POLL ERR %d, %d", pret, errno);
continue;
}
perf_begin(_loop_perf);
perf_count(_loop_intvl);
/* only update parameters if they changed */
if (fds[0].revents & POLLIN) {
/* read from param to clear updated flag */
struct parameter_update_s update;
orb_copy(ORB_ID(parameter_update), _params_sub, &update);
/* update parameters from storage */
parameters_update();
}
/* only run estimator if gyro updated */
if (fds[1].revents & POLLIN) {
/* check vehicle status for changes to publication state */
bool prev_hil = (_vstatus.hil_state == vehicle_status_s::HIL_STATE_ON);
vehicle_status_poll();
perf_count(_perf_gyro);
/* Reset baro reference if switching to HIL, reset sensor states */
if (!prev_hil && (_vstatus.hil_state == vehicle_status_s::HIL_STATE_ON)) {
/* system is in HIL now, wait for measurements to come in one last round */
usleep(60000);
/* now read all sensor publications to ensure all real sensor data is purged */
orb_copy(ORB_ID(sensor_combined), _sensor_combined_sub, &_sensor_combined);
/* set sensors to de-initialized state */
_gyro_valid = false;
//.........这里部分代码省略.........
示例3: do_airspeed_calibration
int do_airspeed_calibration(int mavlink_fd)
{
int result = OK;
unsigned calibration_counter = 0;
const unsigned maxcount = 3000;
/* give directions */
mavlink_log_info(mavlink_fd, CAL_QGC_STARTED_MSG, sensor_name);
const unsigned calibration_count = 2000;
int diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure));
struct differential_pressure_s diff_pres;
float diff_pres_offset = 0.0f;
/* Reset sensor parameters */
struct airspeed_scale airscale = {
diff_pres_offset,
1.0f,
};
bool paramreset_successful = false;
int fd = px4_open(AIRSPEED0_DEVICE_PATH, 0);
if (fd > 0) {
if (OK == px4_ioctl(fd, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale)) {
paramreset_successful = true;
} else {
mavlink_log_critical(mavlink_fd, "[cal] airspeed offset zero failed");
}
px4_close(fd);
}
int cancel_sub = calibrate_cancel_subscribe();
if (!paramreset_successful) {
/* only warn if analog scaling is zero */
float analog_scaling = 0.0f;
param_get(param_find("SENS_DPRES_ANSC"), &(analog_scaling));
if (fabsf(analog_scaling) < 0.1f) {
mavlink_log_critical(mavlink_fd, "[cal] No airspeed sensor, see http://px4.io/help/aspd");
goto error_return;
}
/* set scaling offset parameter */
if (param_set(param_find("SENS_DPRES_OFF"), &(diff_pres_offset))) {
mavlink_log_critical(mavlink_fd, CAL_ERROR_SET_PARAMS_MSG);
goto error_return;
}
}
mavlink_log_critical(mavlink_fd, "[cal] Ensure sensor is not measuring wind");
usleep(500 * 1000);
while (calibration_counter < calibration_count) {
if (calibrate_cancel_check(mavlink_fd, cancel_sub)) {
goto error_return;
}
/* wait blocking for new data */
px4_pollfd_struct_t fds[1];
fds[0].fd = diff_pres_sub;
fds[0].events = POLLIN;
int poll_ret = px4_poll(fds, 1, 1000);
if (poll_ret) {
orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres);
diff_pres_offset += diff_pres.differential_pressure_raw_pa;
calibration_counter++;
if (calibration_counter % (calibration_count / 20) == 0) {
mavlink_log_info(mavlink_fd, CAL_QGC_PROGRESS_MSG, (calibration_counter * 80) / calibration_count);
}
} else if (poll_ret == 0) {
/* any poll failure for 1s is a reason to abort */
feedback_calibration_failed(mavlink_fd);
goto error_return;
}
}
diff_pres_offset = diff_pres_offset / calibration_count;
if (PX4_ISFINITE(diff_pres_offset)) {
int fd_scale = px4_open(AIRSPEED0_DEVICE_PATH, 0);
airscale.offset_pa = diff_pres_offset;
if (fd_scale > 0) {
if (OK != px4_ioctl(fd_scale, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale)) {
mavlink_log_critical(mavlink_fd, "[cal] airspeed offset update failed");
}
px4_close(fd_scale);
//.........这里部分代码省略.........
示例4: do_level_calibration
int do_level_calibration(orb_advert_t *mavlink_log_pub) {
const unsigned cal_time = 5;
const unsigned cal_hz = 100;
unsigned settle_time = 30;
bool success = false;
int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
struct vehicle_attitude_s att;
memset(&att, 0, sizeof(att));
calibration_log_info(mavlink_log_pub, CAL_QGC_STARTED_MSG, "level");
param_t roll_offset_handle = param_find("SENS_BOARD_X_OFF");
param_t pitch_offset_handle = param_find("SENS_BOARD_Y_OFF");
param_t board_rot_handle = param_find("SENS_BOARD_ROT");
// save old values if calibration fails
float roll_offset_current;
float pitch_offset_current;
int32_t board_rot_current = 0;
param_get(roll_offset_handle, &roll_offset_current);
param_get(pitch_offset_handle, &pitch_offset_current);
param_get(board_rot_handle, &board_rot_current);
// give attitude some time to settle if there have been changes to the board rotation parameters
if (board_rot_current == 0 && fabsf(roll_offset_current) < FLT_EPSILON && fabsf(pitch_offset_current) < FLT_EPSILON ) {
settle_time = 0;
}
float zero = 0.0f;
param_set_no_notification(roll_offset_handle, &zero);
param_set_no_notification(pitch_offset_handle, &zero);
param_notify_changes();
px4_pollfd_struct_t fds[1];
fds[0].fd = att_sub;
fds[0].events = POLLIN;
float roll_mean = 0.0f;
float pitch_mean = 0.0f;
unsigned counter = 0;
// sleep for some time
hrt_abstime start = hrt_absolute_time();
while(hrt_elapsed_time(&start) < settle_time * 1000000) {
calibration_log_info(mavlink_log_pub, CAL_QGC_PROGRESS_MSG, (int)(90*hrt_elapsed_time(&start)/1e6f/(float)settle_time));
sleep(settle_time / 10);
}
start = hrt_absolute_time();
// average attitude for 5 seconds
while(hrt_elapsed_time(&start) < cal_time * 1000000) {
int pollret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
if (pollret <= 0) {
// attitude estimator is not running
calibration_log_critical(mavlink_log_pub, "attitude estimator not running - check system boot");
calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "level");
goto out;
}
orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
matrix::Eulerf euler = matrix::Quatf(att.q);
roll_mean += euler.phi();
pitch_mean += euler.theta();
counter++;
}
calibration_log_info(mavlink_log_pub, CAL_QGC_PROGRESS_MSG, 100);
if (counter > (cal_time * cal_hz / 2 )) {
roll_mean /= counter;
pitch_mean /= counter;
} else {
calibration_log_info(mavlink_log_pub, "not enough measurements taken");
success = false;
goto out;
}
if (fabsf(roll_mean) > 0.8f ) {
calibration_log_critical(mavlink_log_pub, "excess roll angle");
} else if (fabsf(pitch_mean) > 0.8f ) {
calibration_log_critical(mavlink_log_pub, "excess pitch angle");
} else {
roll_mean *= (float)M_RAD_TO_DEG;
pitch_mean *= (float)M_RAD_TO_DEG;
param_set_no_notification(roll_offset_handle, &roll_mean);
param_set_no_notification(pitch_offset_handle, &pitch_mean);
param_notify_changes();
success = true;
}
out:
if (success) {
calibration_log_info(mavlink_log_pub, CAL_QGC_DONE_MSG, "level");
return 0;
} else {
// set old parameters
param_set_no_notification(roll_offset_handle, &roll_offset_current);
//.........这里部分代码省略.........
示例5: orb_subscribe
void
PX4FMU::cycle()
{
if (!_initialized) {
/* force a reset of the update rate */
_current_update_rate = 0;
_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
//_param_sub = orb_subscribe(ORB_ID(parameter_update));
/* initialize PWM limit lib */
pwm_limit_init(&_pwm_limit);
update_pwm_rev_mask();
#ifdef RC_SERIAL_PORT
_sbus_fd = sbus_init(RC_SERIAL_PORT, true);
#endif
_initialized = true;
}
if (_groups_subscribed != _groups_required) {
subscribe();
_groups_subscribed = _groups_required;
/* force setting update rate */
_current_update_rate = 0;
}
/*
* Adjust actuator topic update rate to keep up with
* the highest servo update rate configured.
*
* We always mix at max rate; some channels may update slower.
*/
unsigned max_rate = (_pwm_default_rate > _pwm_alt_rate) ? _pwm_default_rate : _pwm_alt_rate;
if (_current_update_rate != max_rate) {
_current_update_rate = max_rate;
int update_rate_in_ms = int(1000 / _current_update_rate);
/* reject faster than 500 Hz updates */
if (update_rate_in_ms < 2) {
update_rate_in_ms = 2;
}
/* reject slower than 10 Hz updates */
if (update_rate_in_ms > 100) {
update_rate_in_ms = 100;
}
//DEVICE_DEBUG("adjusted actuator update interval to %ums\n", update_rate_in_ms);
for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_control_subs[i] > 0) {
orb_set_interval(_control_subs[i], update_rate_in_ms);
}
}
// set to current max rate, even if we are actually checking slower/faster
_current_update_rate = max_rate;
}
/* check if anything updated */
//从mkblctrl-blctrl电子模块驱动拿数据,貌似没用到,而且poll里面也在等待定时器导致定时器卡死
int ret = 0;//::poll(_poll_fds, _poll_fds_num, 0);
/* this would be bad... */
if (ret < 0) {
DEVICE_LOG("poll error %d\n", ret);
} else if (ret == 0) {
/* timeout: no control data, switch to failsafe values */
// warnx("no PWM: failsafe\n");
} else {
/* get controls for required topics */
unsigned poll_id = 0;
for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_control_subs[i] > 0) {
if (_poll_fds[poll_id].revents & POLLIN) {
orb_copy(_control_topics[i], _control_subs[i], &_controls[i]);
}
poll_id++;
}
}
/* can we mix? */
if (_mixers != NULL) {
size_t num_outputs;
switch (_mode) {
case MODE_2PWM:
num_outputs = 2;
break;
//.........这里部分代码省略.........
示例6: orb_subscribe
void
MulticopterAttitudeControl::task_main()
{
/*
* do subscriptions
*/
_v_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
_v_rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
_v_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
_v_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
_params_sub = orb_subscribe(ORB_ID(parameter_update));
_manual_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
_vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
_motor_limits_sub = orb_subscribe(ORB_ID(multirotor_motor_limits));
/* initialize parameters cache */
parameters_update();
/* wakeup source: vehicle attitude */
struct pollfd fds[1];
fds[0].fd = _v_att_sub;
fds[0].events = POLLIN;
while (!_task_should_exit) {
/* wait for up to 100ms for data */
int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
/* timed out - periodic check for _task_should_exit */
if (pret == 0)
continue;
/* this is undesirable but not much we can do - might want to flag unhappy status */
if (pret < 0) {
warn("poll error %d, %d", pret, errno);
/* sleep a bit before next try */
usleep(100000);
continue;
}
perf_begin(_loop_perf);
/* run controller on attitude changes */
if (fds[0].revents & POLLIN) {
static uint64_t last_run = 0;
float dt = (hrt_absolute_time() - last_run) / 1000000.0f;
last_run = hrt_absolute_time();
/* guard against too small (< 2ms) and too large (> 20ms) dt's */
if (dt < 0.002f) {
dt = 0.002f;
} else if (dt > 0.02f) {
dt = 0.02f;
}
/* copy attitude topic */
orb_copy(ORB_ID(vehicle_attitude), _v_att_sub, &_v_att);
/* check for updates in other topics */
parameter_update_poll();
vehicle_control_mode_poll();
arming_status_poll();
vehicle_manual_poll();
vehicle_status_poll();
vehicle_motor_limits_poll();
if (_v_control_mode.flag_control_attitude_enabled) {
control_attitude(dt);
/* publish attitude rates setpoint */
_v_rates_sp.roll = _rates_sp(0);
_v_rates_sp.pitch = _rates_sp(1);
_v_rates_sp.yaw = _rates_sp(2);
_v_rates_sp.thrust = _thrust_sp;
_v_rates_sp.timestamp = hrt_absolute_time();
if (_v_rates_sp_pub > 0) {
orb_publish(_rates_sp_id, _v_rates_sp_pub, &_v_rates_sp);
} else if (_rates_sp_id) {
_v_rates_sp_pub = orb_advertise(_rates_sp_id, &_v_rates_sp);
}
} else {
/* attitude controller disabled, poll rates setpoint topic */
if (_v_control_mode.flag_control_manual_enabled) {
/* manual rates control - ACRO mode */
_rates_sp = math::Vector<3>(_manual_control_sp.y, -_manual_control_sp.x, _manual_control_sp.r).emult(_params.acro_rate_max);
_thrust_sp = math::min(_manual_control_sp.z, MANUAL_THROTTLE_MAX_MULTICOPTER);
/* publish attitude rates setpoint */
_v_rates_sp.roll = _rates_sp(0);
_v_rates_sp.pitch = _rates_sp(1);
_v_rates_sp.yaw = _rates_sp(2);
_v_rates_sp.thrust = _thrust_sp;
_v_rates_sp.timestamp = hrt_absolute_time();
//.........这里部分代码省略.........
示例7: do_accel_calibration
//.........这里部分代码省略.........
matrix::Vector3f accel_offs_vec(accel_offs[uorb_index]);
matrix::Vector3f accel_offs_rotated = board_rotation_t * accel_offs_vec;
matrix::Matrix3f accel_T_mat(accel_T[uorb_index]);
matrix::Matrix3f accel_T_rotated = board_rotation_t * accel_T_mat * board_rotation;
accel_scale.x_offset = accel_offs_rotated(0);
accel_scale.x_scale = accel_T_rotated(0, 0);
accel_scale.y_offset = accel_offs_rotated(1);
accel_scale.y_scale = accel_T_rotated(1, 1);
accel_scale.z_offset = accel_offs_rotated(2);
accel_scale.z_scale = accel_T_rotated(2, 2);
bool failed = false;
failed = failed || (PX4_OK != param_set_no_notification(param_find("CAL_ACC_PRIME"), &(device_id_primary)));
PX4_INFO("found offset %d: x: %.6f, y: %.6f, z: %.6f", uorb_index,
(double)accel_scale.x_offset,
(double)accel_scale.y_offset,
(double)accel_scale.z_offset);
PX4_INFO("found scale %d: x: %.6f, y: %.6f, z: %.6f", uorb_index,
(double)accel_scale.x_scale,
(double)accel_scale.y_scale,
(double)accel_scale.z_scale);
/* check if thermal compensation is enabled */
int32_t tc_enabled_int;
param_get(param_find("TC_A_ENABLE"), &(tc_enabled_int));
if (tc_enabled_int == 1) {
/* Get struct containing sensor thermal compensation data */
struct sensor_correction_s sensor_correction; /**< sensor thermal corrections */
memset(&sensor_correction, 0, sizeof(sensor_correction));
int sensor_correction_sub = orb_subscribe(ORB_ID(sensor_correction));
orb_copy(ORB_ID(sensor_correction), sensor_correction_sub, &sensor_correction);
orb_unsubscribe(sensor_correction_sub);
/* don't allow a parameter instance to be calibrated more than once by another uORB instance */
if (!tc_locked[sensor_correction.accel_mapping[uorb_index]]) {
tc_locked[sensor_correction.accel_mapping[uorb_index]] = true;
/* update the _X0_ terms to include the additional offset */
int32_t handle;
float val;
for (unsigned axis_index = 0; axis_index < 3; axis_index++) {
val = 0.0f;
(void)sprintf(str, "TC_A%u_X0_%u", sensor_correction.accel_mapping[uorb_index], axis_index);
handle = param_find(str);
param_get(handle, &val);
if (axis_index == 0) {
val += accel_scale.x_offset;
} else if (axis_index == 1) {
val += accel_scale.y_offset;
} else if (axis_index == 2) {
val += accel_scale.z_offset;
}
failed |= (PX4_OK != param_set_no_notification(handle, &val));
}
/* update the _SCL_ terms to include the scale factor */
for (unsigned axis_index = 0; axis_index < 3; axis_index++) {
val = 1.0f;
(void)sprintf(str, "TC_A%u_SCL_%u", sensor_correction.accel_mapping[uorb_index], axis_index);
handle = param_find(str);
if (axis_index == 0) {
val = accel_scale.x_scale;
示例8: open
void
FixedwingEstimator::task_main()
{
_mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
_ekf = new AttPosEKF();
float dt = 0.0f; // time lapsed since last covariance prediction
_filter_start_time = hrt_absolute_time();
if (!_ekf) {
errx(1, "OUT OF MEM!");
}
/*
* do subscriptions
*/
_baro_sub = orb_subscribe(ORB_ID(sensor_baro));
_airspeed_sub = orb_subscribe(ORB_ID(airspeed));
_gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
_vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
_params_sub = orb_subscribe(ORB_ID(parameter_update));
_home_sub = orb_subscribe(ORB_ID(home_position));
/* rate limit vehicle status updates to 5Hz */
orb_set_interval(_vstatus_sub, 200);
#ifndef SENSOR_COMBINED_SUB
_gyro_sub = orb_subscribe(ORB_ID(sensor_gyro));
_accel_sub = orb_subscribe(ORB_ID(sensor_accel));
_mag_sub = orb_subscribe(ORB_ID(sensor_mag));
/* rate limit gyro updates to 50 Hz */
/* XXX remove this!, BUT increase the data buffer size! */
orb_set_interval(_gyro_sub, 4);
#else
_sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined));
/* XXX remove this!, BUT increase the data buffer size! */
orb_set_interval(_sensor_combined_sub, 9);
#endif
/* sets also parameters in the EKF object */
parameters_update();
Vector3f lastAngRate;
Vector3f lastAccel;
/* wakeup source(s) */
struct pollfd fds[2];
/* Setup of loop */
fds[0].fd = _params_sub;
fds[0].events = POLLIN;
#ifndef SENSOR_COMBINED_SUB
fds[1].fd = _gyro_sub;
fds[1].events = POLLIN;
#else
fds[1].fd = _sensor_combined_sub;
fds[1].events = POLLIN;
#endif
bool newDataGps = false;
bool newHgtData = false;
bool newAdsData = false;
bool newDataMag = false;
float posNED[3] = {0.0f, 0.0f, 0.0f}; // North, East Down position (m)
uint64_t last_gps = 0;
_gps.vel_n_m_s = 0.0f;
_gps.vel_e_m_s = 0.0f;
_gps.vel_d_m_s = 0.0f;
while (!_task_should_exit) {
/* wait for up to 500ms for data */
int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
/* timed out - periodic check for _task_should_exit, etc. */
if (pret == 0)
continue;
/* this is undesirable but not much we can do - might want to flag unhappy status */
if (pret < 0) {
warn("POLL ERR %d, %d", pret, errno);
continue;
}
perf_begin(_loop_perf);
/* only update parameters if they changed */
if (fds[0].revents & POLLIN) {
/* read from param to clear updated flag */
struct parameter_update_s update;
orb_copy(ORB_ID(parameter_update), _params_sub, &update);
/* update parameters from storage */
parameters_update();
}
//.........这里部分代码省略.........
示例9: position_estimator_inav_thread_main
/****************************************************************************
* main
****************************************************************************/
int position_estimator_inav_thread_main(int argc, char *argv[])
{
warnx("started");
int mavlink_fd;
mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
mavlink_log_info(mavlink_fd, "[inav] started");
float x_est[3] = { 0.0f, 0.0f, 0.0f };
float y_est[3] = { 0.0f, 0.0f, 0.0f };
float z_est[3] = { 0.0f, 0.0f, 0.0f };
int baro_init_cnt = 0;
int baro_init_num = 200;
float baro_offset = 0.0f; // baro offset for reference altitude, initialized on start, then adjusted
float surface_offset = 0.0f; // ground level offset from reference altitude
float surface_offset_rate = 0.0f; // surface offset change rate
float alt_avg = 0.0f;
bool landed = true;
hrt_abstime landed_time = 0;
hrt_abstime accel_timestamp = 0;
hrt_abstime baro_timestamp = 0;
bool ref_inited = false;
hrt_abstime ref_init_start = 0;
const hrt_abstime ref_init_delay = 1000000; // wait for 1s after 3D fix
uint16_t accel_updates = 0;
uint16_t baro_updates = 0;
uint16_t gps_updates = 0;
uint16_t attitude_updates = 0;
uint16_t flow_updates = 0;
hrt_abstime updates_counter_start = hrt_absolute_time();
hrt_abstime pub_last = hrt_absolute_time();
hrt_abstime t_prev = 0;
/* acceleration in NED frame */
float accel_NED[3] = { 0.0f, 0.0f, -CONSTANTS_ONE_G };
/* store error when sensor updates, but correct on each time step to avoid jumps in estimated value */
float corr_acc[] = { 0.0f, 0.0f, 0.0f }; // N E D
float acc_bias[] = { 0.0f, 0.0f, 0.0f }; // body frame
float corr_baro = 0.0f; // D
float corr_gps[3][2] = {
{ 0.0f, 0.0f }, // N (pos, vel)
{ 0.0f, 0.0f }, // E (pos, vel)
{ 0.0f, 0.0f }, // D (pos, vel)
};
float w_gps_xy = 1.0f;
float w_gps_z = 1.0f;
float corr_sonar = 0.0f;
float corr_sonar_filtered = 0.0f;
float corr_flow[] = { 0.0f, 0.0f }; // N E
float w_flow = 0.0f;
float sonar_prev = 0.0f;
hrt_abstime sonar_time = 0; // time of last sonar measurement (not filtered)
hrt_abstime sonar_valid_time = 0; // time of last sonar measurement used for correction (filtered)
hrt_abstime xy_src_time = 0; // time of last available position data
bool gps_valid = false; // GPS is valid
bool sonar_valid = false; // sonar is valid
bool flow_valid = false; // flow is valid
bool flow_accurate = false; // flow should be accurate (this flag not updated if flow_valid == false)
/* declare and safely initialize all structs */
struct actuator_controls_s actuator;
memset(&actuator, 0, sizeof(actuator));
struct actuator_armed_s armed;
memset(&armed, 0, sizeof(armed));
struct sensor_combined_s sensor;
memset(&sensor, 0, sizeof(sensor));
struct vehicle_gps_position_s gps;
memset(&gps, 0, sizeof(gps));
struct vehicle_attitude_s att;
memset(&att, 0, sizeof(att));
struct vehicle_local_position_s local_pos;
memset(&local_pos, 0, sizeof(local_pos));
struct optical_flow_s flow;
memset(&flow, 0, sizeof(flow));
struct vehicle_global_position_s global_pos;
memset(&global_pos, 0, sizeof(global_pos));
/* subscribe */
int parameter_update_sub = orb_subscribe(ORB_ID(parameter_update));
int actuator_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
int armed_sub = orb_subscribe(ORB_ID(actuator_armed));
int sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined));
int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude));
int optical_flow_sub = orb_subscribe(ORB_ID(optical_flow));
int vehicle_gps_position_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
/* advertise */
orb_advert_t vehicle_local_position_pub = orb_advertise(ORB_ID(vehicle_local_position), &local_pos);
//.........这里部分代码省略.........
示例10: prctl
pthread_addr_t UavcanServers::run(pthread_addr_t)
{
prctl(PR_SET_NAME, "uavcan fw srv", 0);
Lock lock(_subnode_mutex);
/*
Copy any firmware bundled in the ROMFS to the appropriate location on the
SD card, unless the user has copied other firmware for that device.
*/
unpackFwFromROMFS(UAVCAN_FIRMWARE_PATH, UAVCAN_ROMFS_FW_PATH);
/* the subscribe call needs to happen in the same thread,
* so not in the constructor */
int cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
int param_request_sub = orb_subscribe(ORB_ID(uavcan_parameter_request));
int armed_sub = orb_subscribe(ORB_ID(actuator_armed));
/* Set up shared service clients */
_param_getset_client.setCallback(GetSetCallback(this, &UavcanServers::cb_getset));
_param_opcode_client.setCallback(ExecuteOpcodeCallback(this, &UavcanServers::cb_opcode));
_param_restartnode_client.setCallback(RestartNodeCallback(this, &UavcanServers::cb_restart));
_enumeration_client.setCallback(EnumerationBeginCallback(this, &UavcanServers::cb_enumeration_begin));
_enumeration_indication_sub.start(EnumerationIndicationCallback(this, &UavcanServers::cb_enumeration_indication));
_enumeration_getset_client.setCallback(GetSetCallback(this, &UavcanServers::cb_enumeration_getset));
_enumeration_save_client.setCallback(ExecuteOpcodeCallback(this, &UavcanServers::cb_enumeration_save));
_count_in_progress = _param_in_progress = _param_list_in_progress = _cmd_in_progress = _param_list_all_nodes = false;
memset(_param_counts, 0, sizeof(_param_counts));
_esc_enumeration_active = false;
memset(_esc_enumeration_ids, 0, sizeof(_esc_enumeration_ids));
_esc_enumeration_index = 0;
while (!_subnode_thread_should_exit) {
if (_check_fw == true) {
_check_fw = false;
_node_info_retriever.invalidateAll();
}
const int spin_res = _subnode.spin(uavcan::MonotonicDuration::fromMSec(10));
if (spin_res < 0) {
warnx("node spin error %i", spin_res);
}
// Check for parameter requests (get/set/list)
bool param_request_ready;
orb_check(param_request_sub, ¶m_request_ready);
if (param_request_ready && !_param_list_in_progress && !_param_in_progress && !_count_in_progress) {
struct uavcan_parameter_request_s request;
orb_copy(ORB_ID(uavcan_parameter_request), param_request_sub, &request);
if (_param_counts[request.node_id]) {
/*
* We know how many parameters are exposed by this node, so
* process the request.
*/
if (request.message_type == MAVLINK_MSG_ID_PARAM_REQUEST_READ) {
uavcan::protocol::param::GetSet::Request req;
if (request.param_index >= 0) {
req.index = request.param_index;
} else {
req.name = (char*)request.param_id;
}
int call_res = _param_getset_client.call(request.node_id, req);
if (call_res < 0) {
warnx("UAVCAN command bridge: couldn't send GetSet: %d", call_res);
} else {
_param_in_progress = true;
_param_index = request.param_index;
}
} else if (request.message_type == MAVLINK_MSG_ID_PARAM_SET) {
uavcan::protocol::param::GetSet::Request req;
if (request.param_index >= 0) {
req.index = request.param_index;
} else {
req.name = (char*)request.param_id;
}
if (request.param_type == MAV_PARAM_TYPE_REAL32) {
req.value.to<uavcan::protocol::param::Value::Tag::real_value>() = request.real_value;
} else if (request.param_type == MAV_PARAM_TYPE_UINT8) {
req.value.to<uavcan::protocol::param::Value::Tag::boolean_value>() = request.int_value;
} else {
req.value.to<uavcan::protocol::param::Value::Tag::integer_value>() = request.int_value;
}
// Set the dirty bit for this node
set_node_params_dirty(request.node_id);
int call_res = _param_getset_client.call(request.node_id, req);
if (call_res < 0) {
warnx("UAVCAN command bridge: couldn't send GetSet: %d", call_res);
} else {
_param_in_progress = true;
_param_index = request.param_index;
}
//.........这里部分代码省略.........
示例11: orb_subscribe
void
PX4FMU::task_main()
{
/* force a reset of the update rate */
_current_update_rate = 0;
_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
/* advertise the mixed control outputs */
actuator_outputs_s outputs;
memset(&outputs, 0, sizeof(outputs));
#ifdef HRT_PPM_CHANNEL
// rc input, published to ORB
struct rc_input_values rc_in;
orb_advert_t to_input_rc = 0;
memset(&rc_in, 0, sizeof(rc_in));
rc_in.input_source = RC_INPUT_SOURCE_PX4FMU_PPM;
#endif
/* initialize PWM limit lib */
pwm_limit_init(&_pwm_limit);
log("starting");
/* loop until killed */
while (!_task_should_exit) {
if (_groups_subscribed != _groups_required) {
subscribe();
_groups_subscribed = _groups_required;
/* force setting update rate */
_current_update_rate = 0;
}
/*
* Adjust actuator topic update rate to keep up with
* the highest servo update rate configured.
*
* We always mix at max rate; some channels may update slower.
*/
unsigned max_rate = (_pwm_default_rate > _pwm_alt_rate) ? _pwm_default_rate : _pwm_alt_rate;
if (_current_update_rate != max_rate) {
_current_update_rate = max_rate;
int update_rate_in_ms = int(1000 / _current_update_rate);
/* reject faster than 500 Hz updates */
if (update_rate_in_ms < 2) {
update_rate_in_ms = 2;
}
/* reject slower than 10 Hz updates */
if (update_rate_in_ms > 100) {
update_rate_in_ms = 100;
}
debug("adjusted actuator update interval to %ums", update_rate_in_ms);
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_control_subs[i] > 0) {
orb_set_interval(_control_subs[i], update_rate_in_ms);
}
}
// set to current max rate, even if we are actually checking slower/faster
_current_update_rate = max_rate;
}
/* sleep waiting for data, stopping to check for PPM
* input at 50Hz */
int ret = ::poll(_poll_fds, _poll_fds_num, CONTROL_INPUT_DROP_LIMIT_MS);
/* this would be bad... */
if (ret < 0) {
log("poll error %d", errno);
continue;
} else if (ret == 0) {
/* timeout: no control data, switch to failsafe values */
// warnx("no PWM: failsafe");
} else {
/* get controls for required topics */
unsigned poll_id = 0;
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_control_subs[i] > 0) {
if (_poll_fds[poll_id].revents & POLLIN) {
orb_copy(_control_topics[i], _control_subs[i], &_controls[i]);
}
poll_id++;
}
}
/* can we mix? */
if (_mixers != nullptr) {
unsigned num_outputs;
switch (_mode) {
//.........这里部分代码省略.........
示例12: do_mag_calibration
int do_mag_calibration(int mavlink_fd)
{
mavlink_log_info(mavlink_fd, CAL_STARTED_MSG, sensor_name);
mavlink_log_info(mavlink_fd, "don't move system");
/* 45 seconds */
uint64_t calibration_interval = 45 * 1000 * 1000;
/* maximum 500 values */
const unsigned int calibration_maxcount = 500;
unsigned int calibration_counter;
struct mag_scale mscale_null = {
0.0f,
1.0f,
0.0f,
1.0f,
0.0f,
1.0f,
};
int res = OK;
/* erase old calibration */
int fd = open(MAG_DEVICE_PATH, O_RDONLY);
res = ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale_null);
if (res != OK) {
mavlink_log_critical(mavlink_fd, CAL_FAILED_RESET_CAL_MSG);
}
if (res == OK) {
/* calibrate range */
res = ioctl(fd, MAGIOCCALIBRATE, fd);
if (res != OK) {
mavlink_log_critical(mavlink_fd, "Skipped scale calibration");
/* this is non-fatal - mark it accordingly */
res = OK;
}
}
close(fd);
float *x = NULL;
float *y = NULL;
float *z = NULL;
if (res == OK) {
/* allocate memory */
mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 20);
x = reinterpret_cast<float *>(malloc(sizeof(float) * calibration_maxcount));
y = reinterpret_cast<float *>(malloc(sizeof(float) * calibration_maxcount));
z = reinterpret_cast<float *>(malloc(sizeof(float) * calibration_maxcount));
if (x == NULL || y == NULL || z == NULL) {
mavlink_log_critical(mavlink_fd, "ERROR: out of memory");
res = ERROR;
return res;
}
} else {
/* exit */
return ERROR;
}
if (res == OK) {
int sub_mag = orb_subscribe(ORB_ID(sensor_mag));
struct mag_report mag;
/* limit update rate to get equally spaced measurements over time (in ms) */
orb_set_interval(sub_mag, (calibration_interval / 1000) / calibration_maxcount);
/* calibrate offsets */
uint64_t calibration_deadline = hrt_absolute_time() + calibration_interval;
unsigned poll_errcount = 0;
mavlink_log_info(mavlink_fd, "rotate in a figure 8 around all axis");
calibration_counter = 0;
while (hrt_absolute_time() < calibration_deadline &&
calibration_counter < calibration_maxcount) {
/* wait blocking for new data */
struct pollfd fds[1];
fds[0].fd = sub_mag;
fds[0].events = POLLIN;
int poll_ret = poll(fds, 1, 1000);
if (poll_ret > 0) {
orb_copy(ORB_ID(sensor_mag), sub_mag, &mag);
x[calibration_counter] = mag.x;
y[calibration_counter] = mag.y;
z[calibration_counter] = mag.z;
calibration_counter++;
//.........这里部分代码省略.........
示例13: orb_subscribe
void
Gimbal::cycle()
{
if (!_initialized) {
/* get a subscription handle on the vehicle command topic */
_vehicle_command_sub = orb_subscribe(ORB_ID(vehicle_command));
/* get a publication handle on actuator output topic */
struct actuator_controls_s zero_report;
memset(&zero_report, 0, sizeof(zero_report));
zero_report.timestamp = hrt_absolute_time();
_actuator_controls_2_topic = orb_advertise(ORB_ID(actuator_controls_2), &zero_report);
if (_actuator_controls_2_topic == nullptr) {
warnx("advert err");
}
_initialized = true;
}
bool updated = false;
perf_begin(_sample_perf);
float roll = 0.0f;
float pitch = 0.0f;
float yaw = 0.0f;
if (_att_sub < 0) {
_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
}
vehicle_attitude_s att;
orb_copy(ORB_ID(vehicle_attitude), _att_sub, &att);
if (_attitude_compensation_roll) {
roll = 1.0f / M_PI_F * -att.roll;
updated = true;
}
if (_attitude_compensation_pitch) {
pitch = 1.0f / M_PI_F * -att.pitch;
updated = true;
}
if (_attitude_compensation_yaw) {
yaw = 1.0f / M_PI_F * att.yaw;
updated = true;
}
struct vehicle_command_s cmd;
bool cmd_updated;
orb_check(_vehicle_command_sub, &cmd_updated);
if (cmd_updated) {
orb_copy(ORB_ID(vehicle_command), _vehicle_command_sub, &cmd);
if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONTROL
|| cmd.command == vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT) {
_control_cmd = cmd;
_control_cmd_set = true;
} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONFIGURE) {
_config_cmd = cmd;
_config_cmd_set = true;
}
}
if (_config_cmd_set) {
_config_cmd_set = false;
_attitude_compensation_roll = (int)_config_cmd.param2 == 1;
_attitude_compensation_pitch = (int)_config_cmd.param3 == 1;
_attitude_compensation_yaw = (int)_config_cmd.param4 == 1;
}
if (_control_cmd_set) {
unsigned mountMode = _control_cmd.param7;
DEVICE_DEBUG("control_cmd: %d, mountMode %d | param1: %8.4f param2: %8.4f", _control_cmd.command, mountMode, (double)_control_cmd.param1, (double)_control_cmd.param2);
if (_control_cmd.command == vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONTROL &&
mountMode == vehicle_command_s::VEHICLE_MOUNT_MODE_MAVLINK_TARGETING) {
/* Convert to range -1 ... 1, which corresponds to -180deg ... 180deg */
roll += 1.0f / M_PI_F * M_DEG_TO_RAD_F * _control_cmd.param1;
pitch += 1.0f / M_PI_F * M_DEG_TO_RAD_F * _control_cmd.param2;
yaw += 1.0f / M_PI_F * M_DEG_TO_RAD_F * _control_cmd.param3;
//.........这里部分代码省略.........
示例14: ardrone_interface_thread_main
int ardrone_interface_thread_main(int argc, char *argv[])
{
thread_running = true;
char *device = "/dev/ttyS1";
/* File descriptors */
int gpios;
char *commandline_usage = "\tusage: ardrone_interface start|status|stop [-t for motor test (10%% thrust)]\n";
bool motor_test_mode = false;
int test_motor = -1;
/* read commandline arguments */
for (int i = 0; i < argc && argv[i]; i++) {
if (strcmp(argv[i], "-t") == 0 || strcmp(argv[i], "--test") == 0) {
motor_test_mode = true;
}
if (strcmp(argv[i], "-m") == 0 || strcmp(argv[i], "--motor") == 0) {
if (i + 1 < argc) {
int motor = atoi(argv[i + 1]);
if (motor > 0 && motor < 5) {
test_motor = motor;
} else {
thread_running = false;
errx(1, "supply a motor # between 1 and 4. Example: -m 1\n %s", commandline_usage);
}
} else {
thread_running = false;
errx(1, "missing parameter to -m 1..4\n %s", commandline_usage);
}
}
if (strcmp(argv[i], "-d") == 0 || strcmp(argv[i], "--device") == 0) { //device set
if (argc > i + 1) {
device = argv[i + 1];
} else {
thread_running = false;
errx(1, "missing parameter to -m 1..4\n %s", commandline_usage);
}
}
}
struct termios uart_config_original;
if (motor_test_mode) {
warnx("setting 10 %% thrust.\n");
}
/* Led animation */
int counter = 0;
int led_counter = 0;
/* declare and safely initialize all structs */
struct actuator_controls_s actuator_controls;
memset(&actuator_controls, 0, sizeof(actuator_controls));
struct actuator_armed_s armed;
//XXX is this necessairy?
armed.armed = false;
/* subscribe to attitude, motor setpoints and system state */
int actuator_controls_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
int armed_sub = orb_subscribe(ORB_ID(actuator_armed));
/* enable UART, writes potentially an empty buffer, but multiplexing is disabled */
ardrone_write = ardrone_open_uart(device, &uart_config_original);
/* initialize multiplexing, deactivate all outputs - must happen after UART open to claim GPIOs on PX4FMU */
gpios = ar_multiplexing_init();
if (ardrone_write < 0) {
warnx("No UART, exiting.");
thread_running = false;
exit(ERROR);
}
/* initialize motors */
if (OK != ar_init_motors(ardrone_write, gpios)) {
close(ardrone_write);
warnx("motor init fail");
thread_running = false;
exit(ERROR);
}
ardrone_write_motor_commands(ardrone_write, 0, 0, 0, 0);
// XXX Re-done initialization to make sure it is accepted by the motors
// XXX should be removed after more testing, but no harm
/* close uarts */
close(ardrone_write);
/* enable UART, writes potentially an empty buffer, but multiplexing is disabled */
//.........这里部分代码省略.........
示例15: orb_subscribe
void
BlinkM::led()
{
if(!topic_initialized) {
vehicle_status_sub_fd = orb_subscribe(ORB_ID(vehicle_status));
orb_set_interval(vehicle_status_sub_fd, 250);
vehicle_control_mode_sub_fd = orb_subscribe(ORB_ID(vehicle_control_mode));
orb_set_interval(vehicle_control_mode_sub_fd, 250);
actuator_armed_sub_fd = orb_subscribe(ORB_ID(actuator_armed));
orb_set_interval(actuator_armed_sub_fd, 250);
vehicle_gps_position_sub_fd = orb_subscribe(ORB_ID(vehicle_gps_position));
orb_set_interval(vehicle_gps_position_sub_fd, 250);
/* Subscribe to safety topic */
safety_sub_fd = orb_subscribe(ORB_ID(safety));
orb_set_interval(safety_sub_fd, 250);
topic_initialized = true;
}
if(led_thread_ready == true) {
if(!detected_cells_blinked) {
if(num_of_cells > 0) {
t_led_color[0] = LED_PURPLE;
}
if(num_of_cells > 1) {
t_led_color[1] = LED_PURPLE;
}
if(num_of_cells > 2) {
t_led_color[2] = LED_PURPLE;
}
if(num_of_cells > 3) {
t_led_color[3] = LED_PURPLE;
}
if(num_of_cells > 4) {
t_led_color[4] = LED_PURPLE;
}
if(num_of_cells > 5) {
t_led_color[5] = LED_PURPLE;
}
t_led_color[6] = LED_OFF;
t_led_color[7] = LED_OFF;
t_led_blink = LED_BLINK;
} else {
t_led_color[0] = led_color_1;
t_led_color[1] = led_color_2;
t_led_color[2] = led_color_3;
t_led_color[3] = led_color_4;
t_led_color[4] = led_color_5;
t_led_color[5] = led_color_6;
t_led_color[6] = led_color_7;
t_led_color[7] = led_color_8;
t_led_blink = led_blink;
}
led_thread_ready = false;
}
if (led_thread_runcount & 1) {
if (t_led_blink)
setLEDColor(LED_OFF);
led_interval = LED_OFFTIME;
} else {
setLEDColor(t_led_color[(led_thread_runcount / 2) % 8]);
//led_interval = (led_thread_runcount & 1) : LED_ONTIME;
led_interval = LED_ONTIME;
}
if (led_thread_runcount == 15) {
/* obtained data for the first file descriptor */
struct vehicle_status_s vehicle_status_raw;
struct vehicle_control_mode_s vehicle_control_mode;
struct actuator_armed_s actuator_armed;
struct vehicle_gps_position_s vehicle_gps_position_raw;
struct safety_s safety;
memset(&vehicle_status_raw, 0, sizeof(vehicle_status_raw));
memset(&vehicle_gps_position_raw, 0, sizeof(vehicle_gps_position_raw));
memset(&safety, 0, sizeof(safety));
bool new_data_vehicle_status;
bool new_data_vehicle_control_mode;
bool new_data_actuator_armed;
bool new_data_vehicle_gps_position;
bool new_data_safety;
orb_check(vehicle_status_sub_fd, &new_data_vehicle_status);
int no_data_vehicle_status = 0;
int no_data_vehicle_control_mode = 0;
int no_data_actuator_armed = 0;
int no_data_vehicle_gps_position = 0;
if (new_data_vehicle_status) {
orb_copy(ORB_ID(vehicle_status), vehicle_status_sub_fd, &vehicle_status_raw);
no_data_vehicle_status = 0;
} else {
//.........这里部分代码省略.........