Changeset 186 in flair-src for trunk/lib/FlairMeta

Timestamp:

Jun 23, 2017, 5:33:03 PM (7 years ago)

Author:

Sanahuja Guillaume

Message:

maj imu

Location:

trunk/lib/FlairMeta/src

Files:

• HdsX8.cpp (modified) (3 diffs)
• SimuX4.cpp (modified) (2 diffs)
• SimuX8.cpp (modified) (2 diffs)
• Uav.cpp (modified) (1 diff)
• UavStateMachine.cpp (modified) (2 diffs)

trunk/lib/FlairMeta/src/HdsX8.cpp

@@ -49 +49 @@
                        "motors", GetUavMultiplex()->MotorsCount(), i2cport));
   SetUsRangeFinder(new Srf08("SRF08", i2cport, 0x70, 60));
-  SetAhrs(new Gx3_25_ahrs("imu", imu_port,
+  SetAhrs(new Gx3_25_ahrs("ahrs", imu_port,
                           Gx3_25_imu::AccelerationAngularRateAndOrientationMatrix, 70));
   SetBatteryMonitor(((BlCtrlV2 *)GetBldc())->GetBatteryMonitor());
@@ -57 +57 @@
   if(useGps=="true") {
     RTDM_SerialPort *gps_port = new RTDM_SerialPort(getFrameworkManager(), "gps_port", "rtser2");
-    SetGps(new Mb800("gps",gps_port,(NmeaGps::NMEAFlags_t)(NmeaGps::GGA|NmeaGps::VTG),40));
+    SetGps(new Mb800("gps",gps_port,(NmeaGps::NMEAFlags_t)(NmeaGps::GGA|NmeaGps::VTG|NmeaGps::GSA),40));
   } 
 }
@@ -67 +67 @@
   ((Srf08 *)GetUsRangeFinder())->Start();
   ((Ps3Eye *)GetVerticalCamera())->Start();
-  ((Mb800 *)GetGps())->Start();
+  if(GetGps()) ((Mb800 *)GetGps())->Start();
 }
 

trunk/lib/FlairMeta/src/SimuX4.cpp

@@ -49 +49 @@
                        "motors", GetUavMultiplex()->MotorsCount(), simu_id,0));
   SetUsRangeFinder(new SimuUs("us", simu_id,0, 60));
-  SetAhrs(new SimuAhrs("imu", simu_id, 0,70));
+  SetAhrs(new SimuAhrs("ahrs", simu_id, 0,70));
   Tab *bat_tab = new Tab(getFrameworkManager()->GetTabWidget(), "battery");
   SetBatteryMonitor(new BatteryMonitor(bat_tab->NewRow(), "battery"));
@@ -77 +77 @@
   ((SimuCamera *)GetVerticalCamera())->Start();
   ((SimuCamera *)GetHorizontalCamera())->Start();
-  ((SimuGps *)GetGps())->Start();
+  if(GetGps()) ((SimuGps *)GetGps())->Start();
 }
 

trunk/lib/FlairMeta/src/SimuX8.cpp

@@ -49 +49 @@
                        "motors", GetUavMultiplex()->MotorsCount(), simu_id,0));
   SetUsRangeFinder(new SimuUs("us", simu_id,0, 60));
-  SetAhrs(new SimuAhrs("imu", simu_id, 0,70));
+  SetAhrs(new SimuAhrs("ahrs", simu_id, 0,70));
   Tab *bat_tab = new Tab(getFrameworkManager()->GetTabWidget(), "battery");
   SetBatteryMonitor(new BatteryMonitor(bat_tab->NewRow(), "battery"));
@@ -77 +77 @@
   ((SimuCamera *)GetVerticalCamera())->Start();
   ((SimuCamera *)GetHorizontalCamera())->Start();
-  ((SimuGps *)GetGps())->Start();
+  if(GetGps()) ((SimuGps *)GetGps())->Start();
 }
 

trunk/lib/FlairMeta/src/Uav.cpp

@@ -73 +73 @@
   ahrs = (Ahrs *)inAhrs;
   imu = (Imu *)ahrs->GetImu();
+  //only add imu; as ahrs is son of imu, it will be logged together
   getFrameworkManager()->AddDeviceToLog(imu);
 }

trunk/lib/FlairMeta/src/UavStateMachine.cpp

@@ -460 +460 @@
   flagZTrajectoryFinished = false;
 
-  if((altitudeState==AltitudeState_t::Stopped) && safeToFly && uav->isReadyToFly()  && uav->GetBatteryMonitor()->IsBatteryLow()==false) {
+  if((altitudeState==AltitudeState_t::Stopped) && safeToFly && uav->isReadyToFly()  && uav->GetBatteryMonitor()->IsBatteryLow()==false && !flagConnectionLost) {
     //The uav always takes off in fail safe mode
     flagBatteryLow=false;
@@ -573 +573 @@
   if (getFrameworkManager()->ConnectionLost() && !flagConnectionLost) {
     flagConnectionLost = true;
-    Thread::Err("Connection lost\n");
+    
     EnterFailSafeMode();
     if (altitudeState == AltitudeState_t::Stopped) {
-      SafeStop();
+      Thread::Warn("Connection lost\n");
+      Thread::Warn("UAV won't take off\n");
     } else {
+      Thread::Err("Connection lost\n");
       Land();
     }