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AP_OpticalFlow: fix optical flow initialization 

This fixes the initialization for Linux boards using the PX4Flow module.
The problem is that after the conversion to use I2CDevice we now need to
use I2CDeviceManager, which is statically constructed after the vehicle
object.

So, if we try to call hal.i2c_mgr->get_device(), it will call the
get_device() method before the constructor is called and receive a
SIGSEGV:

Program received signal SIGSEGV, Segmentation fault.
0x000b06c0 in OpticalFlow::OpticalFlow (this=0x140914 <copter+4980>, ahrs=...)
    at ../../libraries/AP_OpticalFlow/OpticalFlow.cpp:54
54      ../../libraries/AP_OpticalFlow/OpticalFlow.cpp: No such file or directory.
This commit is contained in:
Lucas De Marchi 2016-05-12 16:03:06 -03:00
parent 1ae85be918
commit 388a6683ad
1 changed files with 19 additions and 16 deletions
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35
libraries/AP_OpticalFlow/OpticalFlow.cpp
View File

@ -41,21 +41,8 @@ const AP_Param::GroupInfo OpticalFlow::var_info[] = {
};
// default constructor
OpticalFlow::OpticalFlow(AP_AHRS_NavEKF& ahrs) :
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
backend(new AP_OpticalFlow_PX4(*this)),
#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL
backend(new AP_OpticalFlow_HIL(*this)),
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP ||\
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE ||\
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
backend(new AP_OpticalFlow_Onboard(*this, ahrs)),
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
backend(new AP_OpticalFlow_Linux(*this, hal.i2c_mgr->get_device(HAL_OPTFLOW_PX4FLOW_I2C_BUS, HAL_OPTFLOW_PX4FLOW_I2C_ADDRESS))),
#else
backend(NULL),
#endif
_last_update_ms(0)
OpticalFlow::OpticalFlow(AP_AHRS_NavEKF &ahrs)
: _last_update_ms(0)
{
AP_Param::setup_object_defaults(this, var_info);
@ -63,10 +50,26 @@ OpticalFlow::OpticalFlow(AP_AHRS_NavEKF& ahrs) :
// healthy flag will be overwritten on update
_flags.healthy = false;
};
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP ||\
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE ||\
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
backend = new AP_OpticalFlow_Onboard(*this, ahrs);
#endif
}
void OpticalFlow::init(void)
{
if (!backend) {
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
backend = new AP_OpticalFlow_PX4(*this);
#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL
backend = new AP_OpticalFlow_HIL(*this);
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
backend = new AP_OpticalFlow_Linux(*this, hal.i2c_mgr->get_device(HAL_OPTFLOW_PX4FLOW_I2C_BUS, HAL_OPTFLOW_PX4FLOW_I2C_ADDRESS));
#endif
}
if (backend != NULL) {
backend->init();
} else {