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Merge branch 'master' into master

This commit is contained in:
lcago 2024-12-14 08:33:24 +08:00 committed by GitHub
parent 0351464cc5 eedb8ae617
commit d349c17501
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GPG Key ID: B5690EEEBB952194
48 changed files with 324 additions and 143 deletions
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8
Tools/CPUInfo/CPUInfo.cpp
View File

@ -212,13 +212,13 @@ static void test_div1000(void)
for (uint32_t i=0; i<2000000; i++) {
uint64_t v = 0;
if (!hal.util->get_random_vals((uint8_t*)&v, sizeof(v))) {
AP_HAL::panic("ERROR: div1000 no random\n");
AP_HAL::panic("ERROR: div1000 no random");
break;
}
uint64_t v1 = v / 1000ULL;
uint64_t v2 = uint64_div1000(v);
if (v1 != v2) {
AP_HAL::panic("ERROR: 0x%llx v1=0x%llx v2=0x%llx\n",
AP_HAL::panic("ERROR: 0x%llx v1=0x%llx v2=0x%llx",
(unsigned long long)v, (unsigned long long)v1, (unsigned long long)v2);
return;
}
@ -228,7 +228,7 @@ static void test_div1000(void)
for (uint32_t i=0; i<2000000; i++) {
uint64_t v = 0;
if (!hal.util->get_random_vals((uint8_t*)&v, sizeof(v))) {
AP_HAL::panic("ERROR: div1000 no random\n");
AP_HAL::panic("ERROR: div1000 no random");
break;
}
chSysLock();
@ -236,7 +236,7 @@ static void test_div1000(void)
uint64_t v2 = uint64_div1000(v);
chSysUnlock();
if (v1 != v2) {
AP_HAL::panic("ERROR: 0x%llx v1=0x%llx v2=0x%llx\n",
AP_HAL::panic("ERROR: 0x%llx v1=0x%llx v2=0x%llx",
(unsigned long long)v, (unsigned long long)v1, (unsigned long long)v2);
return;
}

2
Tools/scripts/build_options.py
View File

@ -146,7 +146,7 @@ BUILD_OPTIONS = [
Feature('Camera', 'Camera_ThermalRange', 'AP_CAMERA_SEND_THERMAL_RANGE_ENABLED', 'Enable GCS camera thermal range', 0, 'Camera,MOUNT'), # noqa: E501
Feature('Camera', 'Camera_Info_From_Script', 'AP_CAMERA_INFO_FROM_SCRIPT_ENABLED', 'Enable Camera information messages via Lua script', 0, 'Camera,SCRIPTING'), # noqa
Feature('Camera', 'RUNCAM', 'HAL_RUNCAM_ENABLED', 'Enable RunCam control', 0, None),
Feature('Camera', 'RUNCAM', 'AP_CAMERA_RUNCAM_ENABLED', 'Enable RunCam control', 0, None),
Feature('Copter', 'MODE_ZIGZAG', 'MODE_ZIGZAG_ENABLED', 'Enable Mode ZigZag', 0, None),
Feature('Copter', 'MODE_SYSTEMID', 'MODE_SYSTEMID_ENABLED', 'Enable Mode SystemID', 0, 'Logging'),

2
Tools/scripts/extract_features.py
View File

@ -138,7 +138,7 @@ class ExtractFeatures(object):
('AP_CAMERA_SEND_FOV_STATUS_ENABLED', 'AP_Camera::send_camera_fov_status'),
('AP_CAMERA_SEND_THERMAL_RANGE_ENABLED', 'AP_Camera::send_camera_thermal_range'),
('AP_CAMERA_INFO_FROM_SCRIPT_ENABLED', 'AP_Camera_Backend::set_camera_information'),
('HAL_RUNCAM_ENABLED', 'AP_RunCam::AP_RunCam',),
('AP_CAMERA_RUNCAM_ENABLED', 'AP_RunCam::AP_RunCam',),
('HAL_PROXIMITY_ENABLED', 'AP_Proximity::AP_Proximity',),
('AP_PROXIMITY_{type}_ENABLED', 'AP_Proximity_(?P<type>.*)::update',),

2
libraries/AP_AHRS/AP_AHRS_View.cpp
View File

@ -36,7 +36,7 @@ AP_AHRS_View::AP_AHRS_View(AP_AHRS &_ahrs, enum Rotation _rotation, float pitch_
y_angle = 270;
break;
default:
AP_HAL::panic("Unsupported AHRS view %u\n", (unsigned)rotation);
AP_HAL::panic("Unsupported AHRS view %u", (unsigned)rotation);
}
_pitch_trim_deg = pitch_trim_deg;

6
libraries/AP_Arming/AP_Arming.cpp
View File

@ -1291,7 +1291,7 @@ bool AP_Arming::fence_checks(bool display_failure)
}
#endif // AP_FENCE_ENABLED
#if HAL_RUNCAM_ENABLED
#if AP_CAMERA_RUNCAM_ENABLED
bool AP_Arming::camera_checks(bool display_failure)
{
if (check_enabled(ARMING_CHECK_CAMERA)) {
@ -1309,7 +1309,7 @@ bool AP_Arming::camera_checks(bool display_failure)
}
return true;
}
#endif // HAL_RUNCAM_ENABLED
#endif // AP_CAMERA_RUNCAM_ENABLED
#if OSD_ENABLED
bool AP_Arming::osd_checks(bool display_failure) const
@ -1603,7 +1603,7 @@ bool AP_Arming::pre_arm_checks(bool report)
#if HAL_PROXIMITY_ENABLED
& proximity_checks(report)
#endif
#if HAL_RUNCAM_ENABLED
#if AP_CAMERA_RUNCAM_ENABLED
& camera_checks(report)
#endif
#if OSD_ENABLED

69
libraries/AP_Camera/AP_Camera.cpp
View File

@ -6,6 +6,7 @@
#include <AP_Math/AP_Math.h>
#include <AP_HAL/AP_HAL.h>
#include <SRV_Channel/SRV_Channel.h>
#include <AP_Vehicle/AP_Vehicle.h>
#include "AP_Camera_Backend.h"
#include "AP_Camera_Servo.h"
#include "AP_Camera_Relay.h"
@ -14,6 +15,7 @@
#include "AP_Camera_MAVLink.h"
#include "AP_Camera_MAVLinkCamV2.h"
#include "AP_Camera_Scripting.h"
#include "AP_RunCam.h"
const AP_Param::GroupInfo AP_Camera::var_info[] = {
@ -41,10 +43,24 @@ const AP_Param::GroupInfo AP_Camera::var_info[] = {
// @Path: AP_Camera_Params.cpp
AP_SUBGROUPINFO(_params[1], "2", 13, AP_Camera, AP_Camera_Params),
#endif
#if AP_CAMERA_RUNCAM_ENABLED
// @Group: 1_RC_
// @Path: AP_RunCam.cpp
AP_SUBGROUPVARPTR(_backends[0], "1_RC_", 14, AP_Camera, _backend_var_info[0]),
#if AP_CAMERA_MAX_INSTANCES > 1
// @Group: 2_RC_
// @Path: AP_RunCam.cpp
AP_SUBGROUPVARPTR(_backends[1], "2_RC_", 15, AP_Camera, _backend_var_info[1]),
#endif
#endif
AP_GROUPEND
};
#if AP_CAMERA_RUNCAM_ENABLED
const AP_Param::GroupInfo *AP_Camera::_backend_var_info[AP_CAMERA_MAX_INSTANCES];
#endif
extern const AP_HAL::HAL& hal;
AP_Camera::AP_Camera(uint32_t _log_camera_bit) :
@ -238,6 +254,17 @@ void AP_Camera::init()
case CameraType::SCRIPTING:
_backends[instance] = NEW_NOTHROW AP_Camera_Scripting(*this, _params[instance], instance);
break;
#endif
#if AP_CAMERA_RUNCAM_ENABLED
// check for RunCam driver
case CameraType::RUNCAM:
if (_backends[instance] == nullptr) { // may have already been created by the conversion code
_backends[instance] = NEW_NOTHROW AP_RunCam(*this, _params[instance], instance, _runcam_instances);
_backend_var_info[instance] = AP_RunCam::var_info;
AP_Param::load_object_from_eeprom(_backends[instance], _backend_var_info[instance]);
_runcam_instances++;
}
break;
#endif
case CameraType::NONE:
break;
@ -899,7 +926,11 @@ AP_Camera_Backend *AP_Camera::get_instance(uint8_t instance) const
void AP_Camera::convert_params()
{
// exit immediately if CAM1_TYPE has already been configured
if (_params[0].type.configured()) {
if (_params[0].type.configured()
#if AP_CAMERA_RUNCAM_ENABLED
&& _params[1].type.configured()
#endif
) {
return;
}
@ -919,6 +950,42 @@ void AP_Camera::convert_params()
}
_params[0].type.set_and_save(cam1_type);
#if AP_CAMERA_RUNCAM_ENABLED
// RunCam PARAMETER_CONVERSION - Added: Nov-2024 ahead of 4.7 release
// Since slot 1 is essentially used by the trigger type, we will use slot 2 for runcam
int8_t rc_type = 0;
// find vehicle's top level key
uint16_t k_param_vehicle_key;
if (!AP_Param::find_top_level_key_by_pointer(AP::vehicle(), k_param_vehicle_key)) {
return;
}
// RunCam protocol configured so set cam type to RunCam
bool rc_protocol_configured = false;
AP_SerialManager *serial_manager = AP_SerialManager::get_singleton();
if (serial_manager && serial_manager->find_serial(AP_SerialManager::SerialProtocol_RunCam, 0)) {
rc_protocol_configured = true;
}
const AP_Param::ConversionInfo rc_type_info = {
k_param_vehicle_key, AP_GROUP_ELEM_IDX(1, 1), AP_PARAM_INT8, "CAM_RC_TYPE"
};
AP_Int8 rc_type_old;
const bool found_rc_type = AP_Param::find_old_parameter(&rc_type_info, &rc_type_old);
if (rc_protocol_configured || (found_rc_type && rc_type_old.get() > 0)) {
rc_type = int8_t(CameraType::RUNCAM);
_backends[1] = NEW_NOTHROW AP_RunCam(*this, _params[1], 1, _runcam_instances);
_backend_var_info[1] = AP_RunCam::var_info;
AP_Param::convert_class(k_param_vehicle_key, &_backends[1], _backend_var_info[1], 1, false);
AP_Param::invalidate_count();
_runcam_instances++;
}
_params[1].type.set_and_save(rc_type);
#endif // AP_CAMERA_RUNCAM_ENABLED
// convert CAM_DURATION (in deci-seconds) to CAM1_DURATION (in seconds)
int8_t cam_duration = 0;
if (AP_Param::get_param_by_index(this, 1, AP_PARAM_INT8, &cam_duration) && (cam_duration > 0)) {

10
libraries/AP_Camera/AP_Camera.h
View File

@ -23,6 +23,7 @@ class AP_Camera_Mount;
class AP_Camera_MAVLink;
class AP_Camera_MAVLinkCamV2;
class AP_Camera_Scripting;
class AP_RunCam;
/// @class Camera
/// @brief Object managing a Photo or video camera
@ -37,6 +38,7 @@ class AP_Camera {
friend class AP_Camera_MAVLink;
friend class AP_Camera_MAVLinkCamV2;
friend class AP_Camera_Scripting;
friend class AP_RunCam;
public:
@ -72,6 +74,9 @@ public:
#endif
#if AP_CAMERA_SCRIPTING_ENABLED
SCRIPTING = 7, // Scripting backend
#endif
#if AP_CAMERA_RUNCAM_ENABLED
RUNCAM = 8, // RunCam backend
#endif
};
@ -216,6 +221,11 @@ protected:
// parameters for backends
AP_Camera_Params _params[AP_CAMERA_MAX_INSTANCES];
#if AP_CAMERA_RUNCAM_ENABLED
// var info pointer for RunCam
static const struct AP_Param::GroupInfo *_backend_var_info[AP_CAMERA_MAX_INSTANCES];
uint8_t _runcam_instances;
#endif
private:

2
libraries/AP_Camera/AP_Camera_Params.cpp
View File

@ -8,7 +8,7 @@ const AP_Param::GroupInfo AP_Camera_Params::var_info[] = {
// @Param: _TYPE
// @DisplayName: Camera shutter (trigger) type
// @Description: how to trigger the camera to take a picture
// @Values: 0:None, 1:Servo, 2:Relay, 3:GoPro in Solo Gimbal, 4:Mount (Siyi/Topotek/Viewpro/Xacti), 5:MAVLink, 6:MAVLinkCamV2, 7:Scripting
// @Values: 0:None, 1:Servo, 2:Relay, 3:GoPro in Solo Gimbal, 4:Mount (Siyi/Topotek/Viewpro/Xacti), 5:MAVLink, 6:MAVLinkCamV2, 7:Scripting, 8:RunCam
// @User: Standard
AP_GROUPINFO_FLAGS("_TYPE", 1, AP_Camera_Params, type, 0, AP_PARAM_FLAG_ENABLE),

4
libraries/AP_Camera/AP_Camera_config.h
View File

@ -62,3 +62,7 @@
#ifndef AP_CAMERA_INFO_FROM_SCRIPT_ENABLED
#define AP_CAMERA_INFO_FROM_SCRIPT_ENABLED AP_CAMERA_SCRIPTING_ENABLED
#endif
#ifndef AP_CAMERA_RUNCAM_ENABLED
#define AP_CAMERA_RUNCAM_ENABLED AP_CAMERA_BACKEND_DEFAULT_ENABLED && HAL_RUNCAM_ENABLED
#endif

127
libraries/AP_Camera/AP_RunCam.cpp
View File

@ -23,7 +23,7 @@
*/
#include "AP_RunCam.h"
#if HAL_RUNCAM_ENABLED
#if AP_CAMERA_RUNCAM_ENABLED
#include <AP_Math/AP_Math.h>
#include <AP_Math/crc.h>
@ -36,7 +36,7 @@ const AP_Param::GroupInfo AP_RunCam::var_info[] = {
// @DisplayName: RunCam device type
// @Description: RunCam device type used to determine OSD menu structure and shutter options.
// @Values: 0:Disabled, 1:RunCam Split Micro/RunCam with UART, 2:RunCam Split, 3:RunCam Split4 4k, 4:RunCam Hybrid/RunCam Thumb Pro, 5:Runcam 2 4k
AP_GROUPINFO_FLAGS("TYPE", 1, AP_RunCam, _cam_type, int(DeviceType::Disabled), AP_PARAM_FLAG_ENABLE),
AP_GROUPINFO_FLAGS("TYPE", 1, AP_RunCam, _cam_type, int(DeviceModel::SplitMicro), AP_PARAM_FLAG_ENABLE),
// @Param: FEATURES
// @DisplayName: RunCam features available
@ -55,13 +55,13 @@ const AP_Param::GroupInfo AP_RunCam::var_info[] = {
// @DisplayName: RunCam button delay before allowing further button presses
// @Description: Time it takes for the a RunCam button press to be actived in ms. If this is too short then commands can get out of sync.
// @User: Advanced
AP_GROUPINFO("BTN_DELAY", 4, AP_RunCam, _button_delay_ms, RUNCAM_DEFAULT_BUTTON_PRESS_DELAY),
AP_GROUPINFO("BTN_DELY", 4, AP_RunCam, _button_delay_ms, RUNCAM_DEFAULT_BUTTON_PRESS_DELAY),
// @Param: MDE_DELAY
// @DisplayName: RunCam mode delay before allowing further button presses
// @Description: Time it takes for the a RunCam mode button press to be actived in ms. If a mode change first requires a video recording change then double this value is used. If this is too short then commands can get out of sync.
// @User: Advanced
AP_GROUPINFO("MDE_DELAY", 5, AP_RunCam, _mode_delay_ms, 800),
AP_GROUPINFO("MDE_DELY", 5, AP_RunCam, _mode_delay_ms, 800),
// @Param: CONTROL
// @DisplayName: RunCam control option
@ -118,13 +118,24 @@ AP_RunCam::Menu AP_RunCam::_menus[RUNCAM_MAX_DEVICE_TYPES] = {
{ 6, { 3, 10, 2, 2, 8 }}, // Runcam 2 4K
};
AP_RunCam::AP_RunCam()
const char* AP_RunCam::_models[RUNCAM_MAX_DEVICE_TYPES] = {
"SplitMicro",
"Split",
"Split4k",
"Hybrid",
"Run24k"
};
AP_RunCam::AP_RunCam(AP_Camera &frontend, AP_Camera_Params &params, uint8_t instance, uint8_t runcam_instance)
: AP_Camera_Backend(frontend, params, instance), _runcam_instance(runcam_instance)
{
AP_Param::setup_object_defaults(this, var_info);
if (_singleton != nullptr) {
AP_HAL::panic("AP_RunCam must be singleton");
if (_singleton != nullptr && _singleton->_instance == instance) {
AP_HAL::panic("AP_RunCam instance must be a singleton %u", instance);
}
if (_singleton == nullptr) {
_singleton = this;
}
_cam_type.set(constrain_int16(_cam_type, 0, RUNCAM_MAX_DEVICE_TYPES));
_video_recording = VideoOption(_cam_control_option & uint8_t(ControlOption::VIDEO_RECORDING_AT_BOOT));
}
@ -134,19 +145,19 @@ void AP_RunCam::init()
{
AP_SerialManager *serial_manager = AP_SerialManager::get_singleton();
if (serial_manager) {
uart = serial_manager->find_serial(AP_SerialManager::SerialProtocol_RunCam, 0);
uart = serial_manager->find_serial(AP_SerialManager::SerialProtocol_RunCam, _runcam_instance);
}
if (uart != nullptr) {
/*
if the user has setup a serial port as a runcam then default
type to the split micro (Andy's development platform!). This makes setup a bit easier for most
users while still enabling parameters to be hidden for users
without a runcam
without a RunCam
*/
_cam_type.set_default(int8_t(DeviceType::SplitMicro));
_cam_type.set_default(int8_t(DeviceModel::SplitMicro));
AP_Param::invalidate_count();
}
if (_cam_type.get() == int8_t(DeviceType::Disabled)) {
if (_cam_type.get() == int8_t(DeviceModel::Disabled)) {
uart = nullptr;
return;
}
@ -156,7 +167,7 @@ void AP_RunCam::init()
}
// Split and Runcam 2 4k requires two mode presses to get into the menu
if (_cam_type.get() == int8_t(DeviceType::Split) || _cam_type.get() == int8_t(DeviceType::Run24k)) {
if (_cam_type.get() == int8_t(DeviceModel::Split) || _cam_type.get() == int8_t(DeviceModel::Run24k)) {
_menu_enter_level = -1;
_in_menu = -1;
}
@ -221,7 +232,7 @@ void AP_RunCam::osd_option() {
// input update loop
void AP_RunCam::update()
{
if (uart == nullptr || _cam_type.get() == int8_t(DeviceType::Disabled)) {
if (uart == nullptr || _cam_type.get() == int8_t(DeviceModel::Disabled)) {
return;
}
@ -551,12 +562,12 @@ void AP_RunCam::handle_2_key_simulation_process(Event ev)
case Event::IN_MENU_ENTER:
// in a sub-menu and save-and-exit was selected
if (_in_menu > 1 && get_top_menu_length() > 0 && _sub_menu_pos == (get_sub_menu_length(_top_menu_pos) - 1) && DeviceType(_cam_type.get()) != DeviceType::Run24k) {
if (_in_menu > 1 && get_top_menu_length() > 0 && _sub_menu_pos == (get_sub_menu_length(_top_menu_pos) - 1) && DeviceModel(_cam_type.get()) != DeviceModel::Run24k) {
simulate_camera_button(ControlOperation::RCDEVICE_PROTOCOL_SIMULATE_WIFI_BTN, _button_delay_ms);
_sub_menu_pos = 0;
_in_menu--;
// in the top-menu and save-and-exit was selected
} else if (_in_menu == 1 && get_top_menu_length() > 0 && _top_menu_pos == (get_top_menu_length() - 1) && DeviceType(_cam_type.get()) != DeviceType::Run24k) {
} else if (_in_menu == 1 && get_top_menu_length() > 0 && _top_menu_pos == (get_top_menu_length() - 1) && DeviceModel(_cam_type.get()) != DeviceModel::Run24k) {
simulate_camera_button(ControlOperation::RCDEVICE_PROTOCOL_SIMULATE_WIFI_BTN, _mode_delay_ms);
_in_menu--;
_state = State::EXITING_MENU;
@ -712,7 +723,7 @@ void AP_RunCam::handle_5_key_simulation_response(const Request& request)
// command to start recording
AP_RunCam::ControlOperation AP_RunCam::start_recording_command() const {
if (DeviceType(_cam_type.get()) == DeviceType::Split4k || DeviceType(_cam_type.get()) == DeviceType::Hybrid || DeviceType(_cam_type.get()) == DeviceType::Run24k) {
if (DeviceModel(_cam_type.get()) == DeviceModel::Split4k || DeviceModel(_cam_type.get()) == DeviceModel::Hybrid || DeviceModel(_cam_type.get()) == DeviceModel::Run24k) {
return ControlOperation::RCDEVICE_PROTOCOL_SIMULATE_POWER_BTN;
} else {
return ControlOperation::RCDEVICE_PROTOCOL_CHANGE_START_RECORDING;
@ -721,7 +732,7 @@ AP_RunCam::ControlOperation AP_RunCam::start_recording_command() const {
// command to stop recording
AP_RunCam::ControlOperation AP_RunCam::stop_recording_command() const {
if (DeviceType(_cam_type.get()) == DeviceType::Split4k || DeviceType(_cam_type.get()) == DeviceType::Hybrid || DeviceType(_cam_type.get()) == DeviceType::Run24k) {
if (DeviceModel(_cam_type.get()) == DeviceModel::Split4k || DeviceModel(_cam_type.get()) == DeviceModel::Hybrid || DeviceModel(_cam_type.get()) == DeviceModel::Run24k) {
return ControlOperation::RCDEVICE_PROTOCOL_SIMULATE_POWER_BTN;
} else {
return ControlOperation::RCDEVICE_PROTOCOL_CHANGE_STOP_RECORDING;
@ -1058,8 +1069,88 @@ uint8_t AP_RunCam::Request::get_expected_response_length(const Command command)
return 0;
}
// AP_Camera API
// return true if healthy
bool AP_RunCam::healthy() const
{
return camera_ready();
}
// momentary switch to change camera between picture and video modes
void AP_RunCam::cam_mode_toggle()
{
}
// entry point to actually take a picture. returns true on success
bool AP_RunCam::trigger_pic()
{
return false;
}
// send camera information message to GCS
void AP_RunCam::send_camera_information(mavlink_channel_t chan) const
{
// exit immediately if not initialised
if (!camera_ready() || _cam_type.get() <= 0 || _cam_type.get() > int8_t(ARRAY_SIZE(_models))) {
return;
}
static const uint8_t vendor_name[32] = "RunCam";
uint8_t model_name[32] {};
strncpy((char *)model_name, _models[_cam_type.get()-1], MIN(sizeof(model_name), sizeof(_models[_cam_type.get()-1])));
const char cam_definition_uri[140] {};
// capability flags
uint32_t flags = 0;
if (has_feature(Feature::RCDEVICE_PROTOCOL_FEATURE_START_RECORDING)) {
flags = CAMERA_CAP_FLAGS_CAPTURE_VIDEO;
}
if (has_feature(Feature::RCDEVICE_PROTOCOL_FEATURE_CHANGE_MODE)) {
flags |= CAMERA_CAP_FLAGS_CAPTURE_IMAGE;
}
// send CAMERA_INFORMATION message
mavlink_msg_camera_information_send(
chan,
AP_HAL::millis(), // time_boot_ms
vendor_name, // vendor_name uint8_t[32]
model_name, // model_name uint8_t[32]
0, // firmware version uint32_t
NaNf, // focal_length float (mm)
NaNf, // sensor_size_h float (mm)
NaNf, // sensor_size_v float (mm)
0, // resolution_h uint16_t (pix)
0, // resolution_v uint16_t (pix)
0, // lens_id uint8_t
flags, // flags uint32_t (CAMERA_CAP_FLAGS)
0, // cam_definition_version uint16_t
cam_definition_uri, // cam_definition_uri char[140]
_instance + 1); // gimbal_device_id uint8_t
}
// send camera settings message to GCS
void AP_RunCam::send_camera_settings(mavlink_channel_t chan) const
{
// exit immediately if not initialised
if (!camera_ready()) {
return;
}
// send CAMERA_SETTINGS message
mavlink_msg_camera_settings_send(
chan,
AP_HAL::millis(), // time_boot_ms
_video_recording == VideoOption::RECORDING ? CAMERA_MODE_VIDEO : CAMERA_MODE_IMAGE, // camera mode (0:image, 1:video, 2:image survey)
NaNf, // zoomLevel float, percentage from 0 to 100, NaN if unknown
NaNf); // focusLevel float, percentage from 0 to 100, NaN if unknown
}
AP_RunCam *AP::runcam() {
return AP_RunCam::get_singleton();
}
#endif // HAL_RUNCAM_ENABLED
#endif // AP_CAMERA_RUNCAM_ENABLED

49
libraries/AP_Camera/AP_RunCam.h
View File

@ -23,7 +23,9 @@
#include "AP_Camera_config.h"
#if HAL_RUNCAM_ENABLED
#include "AP_Camera_Backend.h"
#if AP_CAMERA_RUNCAM_ENABLED
#include <AP_Param/AP_Param.h>
#include <RC_Channel/RC_Channel.h>
@ -38,10 +40,10 @@
/// @class AP_RunCam
/// @brief Object managing a RunCam device
class AP_RunCam
class AP_RunCam : public AP_Camera_Backend
{
public:
AP_RunCam();
AP_RunCam(AP_Camera &frontend, AP_Camera_Params &params, uint8_t instance, uint8_t runcam_instance);
// do not allow copies
CLASS_NO_COPY(AP_RunCam);
@ -51,7 +53,7 @@ public:
return _singleton;
}
enum class DeviceType {
enum class DeviceModel {
Disabled = 0,
SplitMicro = 1, // video support only
Split = 2, // camera and video support
@ -79,22 +81,49 @@ public:
VIDEO_RECORDING_AT_BOOT = (1 << 4)
};
// return true if healthy
bool healthy() const override;
// momentary switch to change camera between picture and video modes
void cam_mode_toggle() override;
// entry point to actually take a picture. returns true on success
bool trigger_pic() override;
// send camera information message to GCS
void send_camera_information(mavlink_channel_t chan) const override;
// send camera settings message to GCS
void send_camera_settings(mavlink_channel_t chan) const override;
// initialize the RunCam driver
void init();
void init() override;
// camera button simulation
bool simulate_camera_button(const ControlOperation operation, const uint32_t transition_timeout = RUNCAM_DEFAULT_BUTTON_PRESS_DELAY);
// start the video
void start_recording();
// stop the video
void stop_recording();
// start or stop video recording. returns true on success
// set start_recording = true to start record, false to stop recording
bool record_video(bool _start_recording) override {
if (_start_recording) {
start_recording();
} else {
stop_recording();
}
return true;
}
// enter the OSD menu
void enter_osd();
// exit the OSD menu
void exit_osd();
// OSD control determined by camera options
void osd_option();
// update loop
void update();
// update - should be called at 50hz
void update() override;
// Check whether arming is allowed
bool pre_arm_check(char *failure_msg, const uint8_t failure_msg_len) const;
@ -265,6 +294,10 @@ private:
static uint8_t _sub_menu_lengths[RUNCAM_NUM_SUB_MENUS];
// shared inbound scratch space
uint8_t _recv_buf[RUNCAM_MAX_PACKET_SIZE]; // all the response contexts use same recv buffer
// the runcam instance
uint8_t _runcam_instance;
static const char* _models[RUNCAM_MAX_DEVICE_TYPES];
class Request;
@ -435,4 +468,4 @@ namespace AP
AP_RunCam *runcam();
};
#endif // HAL_RUNCAM_ENABLED
#endif // AP_CAMERA_RUNCAM_ENABLED

26
libraries/AP_DDS/AP_DDS_Client.cpp
View File

@ -1452,7 +1452,7 @@ void AP_DDS_Client::write_time_topic()
const bool success = builtin_interfaces_msg_Time_serialize_topic(&ub, &time_topic);
if (!success) {
// TODO sometimes serialization fails on bootup. Determine why.
// AP_HAL::panic("FATAL: XRCE_Client failed to serialize\n");
// AP_HAL::panic("FATAL: XRCE_Client failed to serialize");
}
}
}
@ -1468,7 +1468,7 @@ void AP_DDS_Client::write_nav_sat_fix_topic()
const bool success = sensor_msgs_msg_NavSatFix_serialize_topic(&ub, &nav_sat_fix_topic);
if (!success) {
// TODO sometimes serialization fails on bootup. Determine why.
// AP_HAL::panic("FATAL: DDS_Client failed to serialize\n");
// AP_HAL::panic("FATAL: DDS_Client failed to serialize");
}
}
}
@ -1485,7 +1485,7 @@ void AP_DDS_Client::write_static_transforms()
const bool success = tf2_msgs_msg_TFMessage_serialize_topic(&ub, &tx_static_transforms_topic);
if (!success) {
// TODO sometimes serialization fails on bootup. Determine why.
// AP_HAL::panic("FATAL: DDS_Client failed to serialize\n");
// AP_HAL::panic("FATAL: DDS_Client failed to serialize");
}
}
}
@ -1502,7 +1502,7 @@ void AP_DDS_Client::write_battery_state_topic()
const bool success = sensor_msgs_msg_BatteryState_serialize_topic(&ub, &battery_state_topic);
if (!success) {
// TODO sometimes serialization fails on bootup. Determine why.
// AP_HAL::panic("FATAL: DDS_Client failed to serialize\n");
// AP_HAL::panic("FATAL: DDS_Client failed to serialize");
}
}
}
@ -1519,7 +1519,7 @@ void AP_DDS_Client::write_local_pose_topic()
const bool success = geometry_msgs_msg_PoseStamped_serialize_topic(&ub, &local_pose_topic);
if (!success) {
// TODO sometimes serialization fails on bootup. Determine why.
// AP_HAL::panic("FATAL: DDS_Client failed to serialize\n");
// AP_HAL::panic("FATAL: DDS_Client failed to serialize");
}
}
}
@ -1536,7 +1536,7 @@ void AP_DDS_Client::write_tx_local_velocity_topic()
const bool success = geometry_msgs_msg_TwistStamped_serialize_topic(&ub, &tx_local_velocity_topic);
if (!success) {
// TODO sometimes serialization fails on bootup. Determine why.
// AP_HAL::panic("FATAL: DDS_Client failed to serialize\n");
// AP_HAL::panic("FATAL: DDS_Client failed to serialize");
}
}
}
@ -1552,7 +1552,7 @@ void AP_DDS_Client::write_tx_local_airspeed_topic()
const bool success = geometry_msgs_msg_Vector3Stamped_serialize_topic(&ub, &tx_local_airspeed_topic);
if (!success) {
// TODO sometimes serialization fails on bootup. Determine why.
// AP_HAL::panic("FATAL: DDS_Client failed to serialize\n");
// AP_HAL::panic("FATAL: DDS_Client failed to serialize");
}
}
}
@ -1568,7 +1568,7 @@ void AP_DDS_Client::write_imu_topic()
const bool success = sensor_msgs_msg_Imu_serialize_topic(&ub, &imu_topic);
if (!success) {
// TODO sometimes serialization fails on bootup. Determine why.
// AP_HAL::panic("FATAL: DDS_Client failed to serialize\n");
// AP_HAL::panic("FATAL: DDS_Client failed to serialize");
}
}
}
@ -1585,7 +1585,7 @@ void AP_DDS_Client::write_geo_pose_topic()
const bool success = geographic_msgs_msg_GeoPoseStamped_serialize_topic(&ub, &geo_pose_topic);
if (!success) {
// TODO sometimes serialization fails on bootup. Determine why.
// AP_HAL::panic("FATAL: DDS_Client failed to serialize\n");
// AP_HAL::panic("FATAL: DDS_Client failed to serialize");
}
}
}
@ -1602,7 +1602,7 @@ void AP_DDS_Client::write_clock_topic()
const bool success = rosgraph_msgs_msg_Clock_serialize_topic(&ub, &clock_topic);
if (!success) {
// TODO sometimes serialization fails on bootup. Determine why.
// AP_HAL::panic("FATAL: DDS_Client failed to serialize\n");
// AP_HAL::panic("FATAL: DDS_Client failed to serialize");
}
}
}
@ -1618,7 +1618,7 @@ void AP_DDS_Client::write_gps_global_origin_topic()
uxr_prepare_output_stream(&session, reliable_out, topics[to_underlying(TopicIndex::GPS_GLOBAL_ORIGIN_PUB)].dw_id, &ub, topic_size);
const bool success = geographic_msgs_msg_GeoPointStamped_serialize_topic(&ub, &gps_global_origin_topic);
if (!success) {
// AP_HAL::panic("FATAL: DDS_Client failed to serialize\n");
// AP_HAL::panic("FATAL: DDS_Client failed to serialize");
}
}
}
@ -1634,7 +1634,7 @@ void AP_DDS_Client::write_goal_topic()
uxr_prepare_output_stream(&session, reliable_out, topics[to_underlying(TopicIndex::GOAL_PUB)].dw_id, &ub, topic_size);
const bool success = geographic_msgs_msg_GeoPointStamped_serialize_topic(&ub, &goal_topic);
if (!success) {
// AP_HAL::panic("FATAL: DDS_Client failed to serialize\n");
// AP_HAL::panic("FATAL: DDS_Client failed to serialize");
}
}
}
@ -1651,7 +1651,7 @@ void AP_DDS_Client::write_status_topic()
const bool success = ardupilot_msgs_msg_Status_serialize_topic(&ub, &status_topic);
if (!success) {
// TODO sometimes serialization fails on bootup. Determine why.
// AP_HAL::panic("FATAL: DDS_Client failed to serialize\n");
// AP_HAL::panic("FATAL: DDS_Client failed to serialize");
}
}
}

16
libraries/AP_FlashStorage/examples/FlashTest/FlashTest.cpp
View File

@ -46,17 +46,17 @@ private:
bool FlashTest::flash_write(uint8_t sector, uint32_t offset, const uint8_t *data, uint16_t length)
{
if (sector > 1) {
AP_HAL::panic("FATAL: write to sector %u\n", (unsigned)sector);
AP_HAL::panic("FATAL: write to sector %u", (unsigned)sector);
}
if (offset + length > flash_sector_size) {
AP_HAL::panic("FATAL: write to sector %u at offset %u length %u\n",
AP_HAL::panic("FATAL: write to sector %u at offset %u length %u",
(unsigned)sector,
(unsigned)offset,
(unsigned)length);
}
uint8_t *b = &flash[sector][offset];
if ((offset & 1) || (length & 1)) {
AP_HAL::panic("FATAL: invalid write at %u:%u len=%u\n",
AP_HAL::panic("FATAL: invalid write at %u:%u len=%u",
(unsigned)sector,
(unsigned)offset,
(unsigned)length);
@ -66,7 +66,7 @@ bool FlashTest::flash_write(uint8_t sector, uint32_t offset, const uint8_t *data
const uint16_t v = le16toh_ptr(&data[i*2]);
uint16_t v2 = le16toh_ptr(&b[i*2]);
if (v & !v2) {
AP_HAL::panic("FATAL: invalid write16 at %u:%u 0x%04x 0x%04x\n",
AP_HAL::panic("FATAL: invalid write16 at %u:%u 0x%04x 0x%04x",
(unsigned)sector,
unsigned(offset+i),
b[i],
@ -74,7 +74,7 @@ bool FlashTest::flash_write(uint8_t sector, uint32_t offset, const uint8_t *data
}
#ifndef AP_FLASHSTORAGE_MULTI_WRITE
if (v != v2 && v != 0xFFFF && v2 != 0xFFFF) {
AP_HAL::panic("FATAL: invalid write16 at %u:%u 0x%04x 0x%04x\n",
AP_HAL::panic("FATAL: invalid write16 at %u:%u 0x%04x 0x%04x",
(unsigned)sector,
unsigned(offset+i),
b[i],
@ -90,10 +90,10 @@ bool FlashTest::flash_write(uint8_t sector, uint32_t offset, const uint8_t *data
bool FlashTest::flash_read(uint8_t sector, uint32_t offset, uint8_t *data, uint16_t length)
{
if (sector > 1) {
AP_HAL::panic("FATAL: read from sector %u\n", (unsigned)sector);
AP_HAL::panic("FATAL: read from sector %u", (unsigned)sector);
}
if (offset + length > flash_sector_size) {
AP_HAL::panic("FATAL: read from sector %u at offset %u length %u\n",
AP_HAL::panic("FATAL: read from sector %u at offset %u length %u",
(unsigned)sector,
(unsigned)offset,
(unsigned)length);
@ -105,7 +105,7 @@ bool FlashTest::flash_read(uint8_t sector, uint32_t offset, uint8_t *data, uint1
bool FlashTest::flash_erase(uint8_t sector)
{
if (sector > 1) {
AP_HAL::panic("FATAL: erase sector %u\n", (unsigned)sector);
AP_HAL::panic("FATAL: erase sector %u", (unsigned)sector);
}
memset(&flash[sector][0], 0xFF, flash_sector_size);
return true;

4
libraries/AP_HAL_ChibiOS/UARTDriver.cpp
View File

@ -191,7 +191,7 @@ void UARTDriver::thread_rx_init(void)
uart_rx_thread,
nullptr);
if (uart_rx_thread_ctx == nullptr) {
AP_HAL::panic("Could not create UART RX thread\n");
AP_HAL::panic("Could not create UART RX thread");
}
}
}
@ -209,7 +209,7 @@ void UARTDriver::thread_init(void)
uart_thread_trampoline,
this);
if (uart_thread_ctx == nullptr) {
AP_HAL::panic("Could not create UART TX thread\n");
AP_HAL::panic("Could not create UART TX thread");
}
}
}

3
libraries/AP_HAL_ChibiOS/hwdef/Sierra-F405/hwdef.dat
View File

@ -19,9 +19,6 @@ env AP_PERIPH 1
define STM32_ST_USE_TIMER 5
define CH_CFG_ST_RESOLUTION 32
# enable watchdog
define HAL_WATCHDOG_ENABLED_DEFAULT true
# crystal frequency
OSCILLATOR_HZ 16000000

3
libraries/AP_HAL_ChibiOS/hwdef/Sierra-F412/hwdef.dat
View File

@ -20,9 +20,6 @@ env AP_PERIPH 1
STM32_ST_USE_TIMER 5
# enable watchdog
define HAL_WATCHDOG_ENABLED_DEFAULT true
# crystal frequency
OSCILLATOR_HZ 16000000

3
libraries/AP_HAL_ChibiOS/hwdef/Sierra-F9P/hwdef.dat
View File

@ -20,9 +20,6 @@ env AP_PERIPH 1
STM32_ST_USE_TIMER 5
# enable watchdog
define HAL_WATCHDOG_ENABLED_DEFAULT true
# crystal frequency
OSCILLATOR_HZ 16000000

1
libraries/AP_HAL_ChibiOS/hwdef/include/minimize_common.inc
View File

@ -48,6 +48,7 @@ define AP_WINCH_ENABLED 0
define AP_CAMERA_BACKEND_DEFAULT_ENABLED 0
define AP_CAMERA_RELAY_ENABLED AP_CAMERA_ENABLED
define AP_CAMERA_SERVO_ENABLED AP_CAMERA_ENABLED
define AP_CAMERA_RUNCAM_ENABLED AP_CAMERA_ENABLED
# no SLCAN on these boards (use can-over-mavlink if required)
define AP_CAN_SLCAN_ENABLED 0

3
libraries/AP_HAL_ChibiOS/hwdef/mRo-M10095/hwdef.dat
View File

@ -18,9 +18,6 @@ define HAL_STORAGE_SIZE 800
# setup build for a peripheral firmware
env AP_PERIPH 1
# enable watchdog
define HAL_WATCHDOG_ENABLED_DEFAULT true
# crystal frequency
OSCILLATOR_HZ 8000000

2
libraries/AP_HAL_Linux/AnalogIn_Navio2.cpp
View File

@ -20,7 +20,7 @@ void AnalogSource_Navio2::set_channel(uint8_t pin)
}
if (asprintf(&channel_path, "%s/ch%d", ADC_BASE_PATH, pin) == -1) {
AP_HAL::panic("asprintf failed\n");
AP_HAL::panic("asprintf failed");
}
if (_fd >= 0) {

4
libraries/AP_HAL_Linux/CameraSensor_Mt9v117.cpp
View File

@ -126,7 +126,7 @@ CameraSensor_Mt9v117::CameraSensor_Mt9v117(const char *device_path,
_configure_sensor_qvga();
break;
default:
AP_HAL::panic("mt9v117: unsupported resolution\n");
AP_HAL::panic("mt9v117: unsupported resolution");
break;
}
@ -409,7 +409,7 @@ void CameraSensor_Mt9v117::_init_sensor()
id = _read_reg16(CHIP_ID);
if (id != MT9V117_CHIP_ID) {
AP_HAL::panic("Mt9v117: bad chip id 0x%04x\n", id);
AP_HAL::panic("Mt9v117: bad chip id 0x%04x", id);
}
_soft_reset();
_apply_patch();

10
libraries/AP_HAL_Linux/OpticalFlow_Onboard.cpp
View File

@ -88,7 +88,7 @@ void OpticalFlow_Onboard::init()
if (!_camerasensor->set_format(HAL_OPTFLOW_ONBOARD_SENSOR_WIDTH,
HAL_OPTFLOW_ONBOARD_SENSOR_HEIGHT,
V4L2_MBUS_FMT_UYVY8_2X8)) {
AP_HAL::panic("OpticalFlow_Onboard: couldn't set subdev fmt\n");
AP_HAL::panic("OpticalFlow_Onboard: couldn't set subdev fmt");
}
_format = V4L2_PIX_FMT_NV12;
#endif
@ -100,7 +100,7 @@ void OpticalFlow_Onboard::init()
if (_format != V4L2_PIX_FMT_NV12 && _format != V4L2_PIX_FMT_GREY &&
_format != V4L2_PIX_FMT_YUYV) {
AP_HAL::panic("OpticalFlow_Onboard: format not supported\n");
AP_HAL::panic("OpticalFlow_Onboard: format not supported");
}
if (_width == HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH &&
@ -272,7 +272,7 @@ void OpticalFlow_Onboard::_run_optflow()
convert_buffer = (uint8_t *)calloc(1, convert_buffer_size);
if (!convert_buffer) {
AP_HAL::panic("OpticalFlow_Onboard: couldn't allocate conversion buffer\n");
AP_HAL::panic("OpticalFlow_Onboard: couldn't allocate conversion buffer");
}
}
@ -286,7 +286,7 @@ void OpticalFlow_Onboard::_run_optflow()
free(convert_buffer);
}
AP_HAL::panic("OpticalFlow_Onboard: couldn't allocate crop buffer\n");
AP_HAL::panic("OpticalFlow_Onboard: couldn't allocate crop buffer");
}
}
@ -322,7 +322,7 @@ void OpticalFlow_Onboard::_run_optflow()
free(output_buffer);
}
AP_HAL::panic("OpticalFlow_Onboard: couldn't get frame\n");
AP_HAL::panic("OpticalFlow_Onboard: couldn't get frame");
}
if (_format == V4L2_PIX_FMT_YUYV) {

4
libraries/AP_HAL_Linux/RCInput_Navio2.cpp
View File

@ -23,7 +23,7 @@ void RCInput_Navio2::init()
for (size_t i = 0; i < ARRAY_SIZE(channels); i++) {
channels[i] = open_channel(i);
if (channels[i] < 0) {
AP_HAL::panic("[RCInput_Navio2]: failed to open channels\n");
AP_HAL::panic("[RCInput_Navio2]: failed to open channels");
}
}
}
@ -64,7 +64,7 @@ int RCInput_Navio2::open_channel(int channel)
{
char *channel_path;
if (asprintf(&channel_path, "%s/ch%d", RCIN_SYSFS_PATH, channel) == -1) {
AP_HAL::panic("[RCInput_Navio2]: not enough memory\n");
AP_HAL::panic("[RCInput_Navio2]: not enough memory");
}
int fd = ::open(channel_path, O_RDONLY|O_CLOEXEC);

2
libraries/AP_HAL_Linux/RCOutput_AioPRU.cpp
View File

@ -32,7 +32,7 @@ using namespace Linux;
static void catch_sigbus(int sig)
{
AP_HAL::panic("RCOutputAioPRU.cpp:SIGBUS error generated\n");
AP_HAL::panic("RCOutputAioPRU.cpp:SIGBUS error generated");
}
void RCOutput_AioPRU::init()
{

2
libraries/AP_HAL_Linux/RCOutput_PRU.cpp
View File

@ -23,7 +23,7 @@ static const uint8_t chan_pru_map[]= {10,8,11,9,7,6,5,4,3,2,1,0};
static void catch_sigbus(int sig)
{
AP_HAL::panic("RCOutput.cpp:SIGBUS error generated\n");
AP_HAL::panic("RCOutput.cpp:SIGBUS error generated");
}
void RCOutput_PRU::init()
{

2
libraries/AP_HAL_Linux/RCOutput_ZYNQ.cpp
View File

@ -31,7 +31,7 @@ using namespace Linux;
static void catch_sigbus(int sig)
{
AP_HAL::panic("RCOutput.cpp:SIGBUS error generated\n");
AP_HAL::panic("RCOutput.cpp:SIGBUS error generated");
}
void RCOutput_ZYNQ::init()
{

2
libraries/AP_HAL_Linux/SPIUARTDriver.cpp
View File

@ -57,7 +57,7 @@ void SPIUARTDriver::_begin(uint32_t b, uint16_t rxS, uint16_t txS)
_buffer = NEW_NOTHROW uint8_t[rxS];
if (_buffer == nullptr) {
hal.console->printf("Not enough memory\n");
AP_HAL::panic("Not enough memory\n");
AP_HAL::panic("Not enough memory");
}
}

2
libraries/AP_HAL_Linux/VideoIn.cpp
View File

@ -45,7 +45,7 @@ bool VideoIn::get_frame(Frame &frame)
{
if (!_streaming) {
if (!_set_streaming(true)) {
AP_HAL::panic("couldn't start streaming\n");
AP_HAL::panic("couldn't start streaming");
return false;
}
_streaming = true;

2
libraries/AP_HAL_SITL/Scheduler.cpp
View File

@ -414,7 +414,7 @@ void Scheduler::check_thread_stacks(void)
const uint8_t ncheck = 8;
for (uint8_t i=0; i<ncheck; i++) {
if (p->stack_min[i] != stackfill) {
AP_HAL::panic("stack overflow in thread %s\n", p->name);
AP_HAL::panic("stack overflow in thread %s", p->name);
}
}
}

8
libraries/AP_HAL_SITL/Storage.cpp
View File

@ -279,7 +279,7 @@ static bool sitl_flash_write(uint32_t addr, const uint8_t *data, uint32_t length
}
#if defined(HAL_FLASH_MIN_WRITE_SIZE) && HAL_FLASH_MIN_WRITE_SIZE == 32
if ((length % HAL_FLASH_MIN_WRITE_SIZE) != 0 || (addr % HAL_FLASH_MIN_WRITE_SIZE) != 0) {
AP_HAL::panic("Attempt to write flash at %u length %u\n", addr, length);
AP_HAL::panic("Attempt to write flash at %u length %u", addr, length);
}
// emulate H7 requirement that writes be to untouched bytes
for (uint32_t i=0; i<length; i+= 32) {
@ -288,7 +288,7 @@ static bool sitl_flash_write(uint32_t addr, const uint8_t *data, uint32_t length
}
for (uint32_t j=0; j<32; j++) {
if (old[i+j] != 0xFF) {
AP_HAL::panic("Attempt to write modified flash at %u length %u\n", addr+i+j, length);
AP_HAL::panic("Attempt to write modified flash at %u length %u", addr+i+j, length);
}
}
}
@ -299,12 +299,12 @@ static bool sitl_flash_write(uint32_t addr, const uint8_t *data, uint32_t length
#if HAL_FLASH_ALLOW_UPDATE
// emulating flash that allows setting any bit from 1 to 0
if (data[i] & ~old[i]) {
AP_HAL::panic("Attempt to set flash byte 0x%02x from 0x%02x at %u\n", data[i], old[i], addr+i);
AP_HAL::panic("Attempt to set flash byte 0x%02x from 0x%02x at %u", data[i], old[i], addr+i);
}
#else
// emulating flash that only allows update if whole byte is 0xFF
if (data[i] != old[i] && old[i] != 0xFF) {
AP_HAL::panic("Attempt to set flash byte 0x%02x from 0x%02x at %u\n", data[i], old[i], addr+i);
AP_HAL::panic("Attempt to set flash byte 0x%02x from 0x%02x at %u", data[i], old[i], addr+i);
}
#endif
}

4
libraries/AP_InertialSensor/AP_InertialSensor_BMI160.cpp
View File

@ -226,10 +226,10 @@ void AP_InertialSensor_BMI160::_check_err_reg()
r = _dev->read_registers(BMI160_REG_ERR_REG, &v, 1);
if (!r) {
AP_HAL::panic("BMI160: couldn't read ERR_REG\n");
AP_HAL::panic("BMI160: couldn't read ERR_REG");
}
if (v) {
AP_HAL::panic("BMI160: error detected on ERR_REG\n");
AP_HAL::panic("BMI160: error detected on ERR_REG");
}
#endif
}

4
libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp
View File

@ -424,7 +424,7 @@ bool AP_InertialSensor_LSM9DS0::_init_sensor()
if (_drdy_pin_num_a >= 0) {
_drdy_pin_a = hal.gpio->channel(_drdy_pin_num_a);
if (_drdy_pin_a == nullptr) {
AP_HAL::panic("LSM9DS0: null accel data-ready GPIO channel\n");
AP_HAL::panic("LSM9DS0: null accel data-ready GPIO channel");
}
_drdy_pin_a->mode(HAL_GPIO_INPUT);
@ -433,7 +433,7 @@ bool AP_InertialSensor_LSM9DS0::_init_sensor()
if (_drdy_pin_num_g >= 0) {
_drdy_pin_g = hal.gpio->channel(_drdy_pin_num_g);
if (_drdy_pin_g == nullptr) {
AP_HAL::panic("LSM9DS0: null gyro data-ready GPIO channel\n");
AP_HAL::panic("LSM9DS0: null gyro data-ready GPIO channel");
}
_drdy_pin_g->mode(HAL_GPIO_INPUT);

2
libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS1.cpp
View File

@ -231,7 +231,7 @@ bool AP_InertialSensor_LSM9DS1::_init_sensor()
if (_drdy_pin_num_xg >= 0) {
_drdy_pin_xg = hal.gpio->channel(_drdy_pin_num_xg);
if (_drdy_pin_xg == nullptr) {
AP_HAL::panic("LSM9DS1: null accel data-ready GPIO channel\n");
AP_HAL::panic("LSM9DS1: null accel data-ready GPIO channel");
}
_drdy_pin_xg->mode(HAL_GPIO_INPUT);
}

4
libraries/AP_InternalError/AP_InternalError.cpp
View File

@ -127,7 +127,7 @@ void AP_stack_overflow(const char *thread_name)
}
hal.util->persistent_data.fault_type = 42; // magic value
if (!hal.util->get_soft_armed()) {
AP_HAL::panic("stack overflow %s\n", thread_name);
AP_HAL::panic("stack overflow %s", thread_name);
}
}
@ -137,7 +137,7 @@ void AP_memory_guard_error(uint32_t size)
INTERNAL_ERROR(AP_InternalError::error_t::mem_guard);
if (!hal.util->get_soft_armed()) {
::printf("memory guard error size=%u\n", unsigned(size));
AP_HAL::panic("memory guard size=%u\n", unsigned(size));
AP_HAL::panic("memory guard size=%u", unsigned(size));
}
}

2
libraries/AP_Logger/AP_Logger_Backend.cpp
View File

@ -403,7 +403,7 @@ void AP_Logger_Backend::validate_WritePrioritisedBlock(const void *pBuffer,
} else {
strncpy(name, "?NM?", ARRAY_SIZE(name));
}
AP_HAL::panic("Size mismatch for %u (%s) (expected=%u got=%u)\n",
AP_HAL::panic("Size mismatch for %u (%s) (expected=%u got=%u)",
type, name, type_len, size);
}
}

2
libraries/AP_Param/AP_Param.cpp
View File

@ -1616,7 +1616,7 @@ void AP_Param::load_defaults_file_from_filesystem(const char *default_file, bool
#endif
} else {
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
AP_HAL::panic("Failed to load defaults from %s\n", default_file);
AP_HAL::panic("Failed to load defaults from %s", default_file);
#else
printf("Failed to load defaults from %s\n", default_file);
#endif

2
libraries/AP_Param/AP_Param.h
View File

@ -173,7 +173,7 @@
#define GOBJECTN(v, pname, name, class) { name, (const void *)&AP_PARAM_VEHICLE_NAME.v, {group_info : class::var_info}, 0, Parameters::k_param_ ## pname, AP_PARAM_GROUP }
#define PARAM_VEHICLE_INFO { "", (const void *)&AP_PARAM_VEHICLE_NAME, {group_info : AP_Vehicle::var_info}, 0, Parameters::k_param_vehicle, AP_PARAM_GROUP }
#define AP_VAREND { "", nullptr, {group_info : nullptr }, 0, 0, AP_PARAM_NONE }
#define AP_GROUP_ELEM_IDX(subgrp_idx, grp_idx) (grp_idx << 6 | subgrp_idx)
enum ap_var_type {
AP_PARAM_NONE = 0,

6
libraries/AP_RCProtocol/AP_RCProtocol_SRXL2.cpp
View File

@ -45,7 +45,7 @@ AP_RCProtocol_SRXL2::AP_RCProtocol_SRXL2(AP_RCProtocol &_frontend) : AP_RCProtoc
{
#if !APM_BUILD_TYPE(APM_BUILD_UNKNOWN)
if (_singleton != nullptr) {
AP_HAL::panic("Duplicate SRXL2 handler\n");
AP_HAL::panic("Duplicate SRXL2 handler");
}
_singleton = this;
@ -64,12 +64,12 @@ void AP_RCProtocol_SRXL2::_bootstrap(uint8_t device_id)
// Init the local SRXL device
if (!srxlInitDevice(device_id, SRXL_DEVICE_PRIORITY, SRXL_DEVICE_INFO, device_id)) {
AP_HAL::panic("Failed to initialize SRXL2 device\n");
AP_HAL::panic("Failed to initialize SRXL2 device");
}
// Init the SRXL bus: The bus index must always be < SRXL_NUM_OF_BUSES -- in this case, it can only be 0
if (!srxlInitBus(0, 0, SRXL_SUPPORTED_BAUD_RATES)) {
AP_HAL::panic("Failed to initialize SRXL2 bus\n");
AP_HAL::panic("Failed to initialize SRXL2 bus");
}
_device_id = device_id;

2
libraries/AP_Radio/AP_Radio_bk2425.cpp
View File

@ -140,7 +140,7 @@ AP_Radio_beken::AP_Radio_beken(AP_Radio &_radio) :
bool AP_Radio_beken::init(void)
{
if (_irq_handler_ctx != nullptr) {
AP_HAL::panic("AP_Radio_beken: double instantiation of irq_handler\n");
AP_HAL::panic("AP_Radio_beken: double instantiation of irq_handler");
}
chVTObjectInit(&timeout_vt);
_irq_handler_ctx = chThdCreateFromHeap(NULL,

2
libraries/AP_Radio/AP_Radio_cc2500.cpp
View File

@ -85,7 +85,7 @@ bool AP_Radio_cc2500::init(void)
{
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
if (_irq_handler_ctx != nullptr) {
AP_HAL::panic("AP_Radio_cc2500: double instantiation of irq_handler\n");
AP_HAL::panic("AP_Radio_cc2500: double instantiation of irq_handler");
}
chVTObjectInit(&timeout_vt);
_irq_handler_ctx = chThdCreateFromHeap(NULL,

2
libraries/AP_Radio/AP_Radio_cypress.cpp
View File

@ -264,7 +264,7 @@ bool AP_Radio_cypress::init(void)
dev = hal.spi->get_device(CYRF_SPI_DEVICE);
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
if (_irq_handler_ctx != nullptr) {
AP_HAL::panic("AP_Radio_cypress: double instantiation of irq_handler\n");
AP_HAL::panic("AP_Radio_cypress: double instantiation of irq_handler");
}
chVTObjectInit(&timeout_vt);
_irq_handler_ctx = chThdCreateFromHeap(NULL,

12
libraries/AP_TECS/AP_TECS.cpp
View File

@ -751,10 +751,10 @@ void AP_TECS::_update_throttle_with_airspeed(void)
const float nomThr = aparm.throttle_cruise * 0.01f;
const Matrix3f &rotMat = _ahrs.get_rotation_body_to_ned();
// Use the demanded rate of change of total energy as the feed-forward demand, but add
// additional component which scales with (1/cos(bank angle) - 1) to compensate for induced
// additional component which scales with (1/(cos(bank angle)**2) - 1) to compensate for induced
// drag increase during turns.
const float cosPhi = sqrtf((rotMat.a.y*rotMat.a.y) + (rotMat.b.y*rotMat.b.y));
STEdot_dem = STEdot_dem + _rollComp * (1.0f/constrain_float(cosPhi * cosPhi, 0.1f, 1.0f) - 1.0f);
const float cosPhi_squared = (rotMat.a.y*rotMat.a.y) + (rotMat.b.y*rotMat.b.y);
STEdot_dem = STEdot_dem + _rollComp * (1.0f/constrain_float(cosPhi_squared, 0.1f, 1.0f) - 1.0f);
const float ff_throttle = nomThr + STEdot_dem / K_thr2STE;
// Calculate PD + FF throttle
@ -905,10 +905,10 @@ void AP_TECS::_update_throttle_without_airspeed(int16_t throttle_nudge, float pi
// Calculate additional throttle for turn drag compensation including throttle nudging
const Matrix3f &rotMat = _ahrs.get_rotation_body_to_ned();
// Use the demanded rate of change of total energy as the feed-forward demand, but add
// additional component which scales with (1/cos(bank angle) - 1) to compensate for induced
// additional component which scales with (1/(cos(bank angle)**2) - 1) to compensate for induced
// drag increase during turns.
float cosPhi = sqrtf((rotMat.a.y*rotMat.a.y) + (rotMat.b.y*rotMat.b.y));
float STEdot_dem = _rollComp * (1.0f/constrain_float(cosPhi * cosPhi, 0.1f, 1.0f) - 1.0f);
const float cosPhi_squared = (rotMat.a.y*rotMat.a.y) + (rotMat.b.y*rotMat.b.y);
float STEdot_dem = _rollComp * (1.0f/constrain_float(cosPhi_squared, 0.1f, 1.0f) - 1.0f);
_throttle_dem = _throttle_dem + STEdot_dem / (_STEdot_max - _STEdot_min) * (_THRmaxf - _THRminf);
constrain_throttle();

13
libraries/AP_Vehicle/AP_Vehicle.cpp
View File

@ -35,11 +35,8 @@ extern AP_IOMCU iomcu;
2nd group of parameters
*/
const AP_Param::GroupInfo AP_Vehicle::var_info[] = {
#if HAL_RUNCAM_ENABLED
// @Group: CAM_RC_
// @Path: ../AP_Camera/AP_RunCam.cpp
AP_SUBGROUPINFO(runcam, "CAM_RC_", 1, AP_Vehicle, AP_RunCam),
#endif
// 1: RunCam
#if HAL_GYROFFT_ENABLED
// @Group: FFT_
@ -450,9 +447,6 @@ void AP_Vehicle::setup()
gyro_fft.init(1000);
#endif
#endif
#if HAL_RUNCAM_ENABLED
runcam.init();
#endif
#if HAL_HOTT_TELEM_ENABLED
hott_telem.init();
#endif
@ -615,9 +609,6 @@ const AP_Scheduler::Task AP_Vehicle::scheduler_tasks[] = {
#if HAL_NMEA_OUTPUT_ENABLED
SCHED_TASK_CLASS(AP_NMEA_Output, &vehicle.nmea, update, 50, 50, 180),
#endif
#if HAL_RUNCAM_ENABLED
SCHED_TASK_CLASS(AP_RunCam, &vehicle.runcam, update, 50, 50, 200),
#endif
#if HAL_GYROFFT_ENABLED
SCHED_TASK_CLASS(AP_GyroFFT, &vehicle.gyro_fft, update, 400, 50, 205),
SCHED_TASK_CLASS(AP_GyroFFT, &vehicle.gyro_fft, update_parameters, 1, 50, 210),

4
libraries/AP_Vehicle/AP_Vehicle.h
View File

@ -47,7 +47,6 @@
#include <AP_Scheduler/AP_Scheduler.h>
#include <AP_SerialManager/AP_SerialManager.h> // Serial manager library
#include <AP_ServoRelayEvents/AP_ServoRelayEvents.h>
#include <AP_Camera/AP_RunCam.h>
#include <AP_OpenDroneID/AP_OpenDroneID.h>
#include <AP_Hott_Telem/AP_Hott_Telem.h>
#include <AP_ESC_Telem/AP_ESC_Telem.h>
@ -373,9 +372,6 @@ protected:
AP_RSSI rssi;
#endif
#if HAL_RUNCAM_ENABLED
AP_RunCam runcam;
#endif
#if HAL_GYROFFT_ENABLED
AP_GyroFFT gyro_fft;
#endif

8
libraries/RC_Channel/RC_Channel.cpp
View File

@ -742,7 +742,7 @@ void RC_Channel::init_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos
#endif
case AUX_FUNC::MOTOR_ESTOP:
case AUX_FUNC::RC_OVERRIDE_ENABLE:
#if HAL_RUNCAM_ENABLED
#if AP_CAMERA_RUNCAM_ENABLED
case AUX_FUNC::RUNCAM_CONTROL:
case AUX_FUNC::RUNCAM_OSD_CONTROL:
#endif
@ -849,7 +849,7 @@ const RC_Channel::LookupTable RC_Channel::lookuptable[] = {
#endif
{ AUX_FUNC::SAILBOAT_MOTOR_3POS,"SailboatMotor"},
{ AUX_FUNC::SURFACE_TRACKING,"SurfaceTracking"},
#if HAL_RUNCAM_ENABLED
#if AP_CAMERA_RUNCAM_ENABLED
{ AUX_FUNC::RUNCAM_CONTROL,"RunCamControl"},
{ AUX_FUNC::RUNCAM_OSD_CONTROL,"RunCamOSDControl"},
#endif
@ -1169,7 +1169,7 @@ bool RC_Channel::do_aux_function_camera_lens(const AuxSwitchPos ch_flag)
}
#endif // AP_CAMERA_ENABLED
#if HAL_RUNCAM_ENABLED
#if AP_CAMERA_RUNCAM_ENABLED
void RC_Channel::do_aux_function_runcam_control(const AuxSwitchPos ch_flag)
{
AP_RunCam *runcam = AP::runcam();
@ -1474,7 +1474,7 @@ bool RC_Channel::do_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch
break;
#endif // AP_SERVORELAYEVENTS_ENABLED && AP_RELAY_ENABLED
#if HAL_RUNCAM_ENABLED
#if AP_CAMERA_RUNCAM_ENABLED
case AUX_FUNC::RUNCAM_CONTROL:
do_aux_function_runcam_control(ch_flag);
break;

6
libraries/SITL/SIM_Frame.cpp
View File

@ -338,15 +338,15 @@ void Frame::load_frame_params(const char *model_json)
} else {
IGNORE_RETURN(asprintf(&fname, "@ROMFS/models/%s", model_json));
if (AP::FS().stat(model_json, &st) != 0) {
AP_HAL::panic("%s failed to load\n", model_json);
AP_HAL::panic("%s failed to load", model_json);
}
}
if (fname == nullptr) {
AP_HAL::panic("%s failed to load\n", model_json);
AP_HAL::panic("%s failed to load", model_json);
}
AP_JSON::value *obj = AP_JSON::load_json(model_json);
if (obj == nullptr) {
AP_HAL::panic("%s failed to load\n", model_json);
AP_HAL::panic("%s failed to load", model_json);
}
enum class VarType {

6
libraries/SITL/SIM_JSON_Master.cpp
View File

@ -37,15 +37,15 @@ void JSON_Master::init(const int32_t num_slaves)
uint16_t port = 9002 + 10 * i;
if (!list->sock_in.reuseaddress()) {
AP_HAL::panic("JSON master: socket reuseaddress failed on port: %d - %s\n", port, strerror(errno));
AP_HAL::panic("JSON master: socket reuseaddress failed on port: %d - %s", port, strerror(errno));
}
if (!list->sock_in.bind("127.0.0.1", port)) {
AP_HAL::panic("JSON master: socket reuseaddress failed on port: %d - %s\n", port, strerror(errno));
AP_HAL::panic("JSON master: socket reuseaddress failed on port: %d - %s", port, strerror(errno));
}
if (!list->sock_in.set_blocking(false)) {
AP_HAL::panic( "JSON master: socket set_blocking(false) failed on port: %d - %s\n", port, strerror(errno));
AP_HAL::panic( "JSON master: socket set_blocking(false) failed on port: %d - %s", port, strerror(errno));
}
printf("Slave %u: listening on %u\n", list->instance, port);

2
libraries/SITL/SIM_XPlane.cpp
View File

@ -116,7 +116,7 @@ XPlane::XPlane(const char *frame_str) :
#endif
if (!load_dref_map(XPLANE_JSON)) {
AP_HAL::panic("%s failed to load\n", XPLANE_JSON);
AP_HAL::panic("%s failed to load", XPLANE_JSON);
}
}