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GCS_MAVLink: rearrange code for clarity

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Peter Barker 2018-06-16 14:09:51 +10:00 committed by Peter Barker
parent e0eb3424ec
commit f7daf1c676
2 changed files with 50 additions and 39 deletions
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1
libraries/GCS_MAVLink/GCS.h
View File

@ -312,6 +312,7 @@ protected:
virtual bool should_disable_overrides_on_reboot() const { return true; }
virtual bool should_zero_rc_outputs_on_reboot() const { return false; }
MAV_RESULT handle_preflight_reboot(const mavlink_command_long_t &packet);
void disable_overrides();
MAV_RESULT handle_rc_bind(const mavlink_command_long_t &packet);
virtual MAV_RESULT handle_flight_termination(const mavlink_command_long_t &packet);

88
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -1781,6 +1781,25 @@ void GCS_MAVLINK::zero_rc_outputs()
SRV_Channels::push();
}
void GCS_MAVLINK::disable_overrides()
{
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
int px4io_fd = open("/dev/px4io", 0);
if (px4io_fd < 0) {
return;
}
// disable OVERRIDES so we don't run the mixer while
// rebooting
if (ioctl(px4io_fd, PWM_SERVO_SET_OVERRIDE_OK, 0) != 0) {
hal.console->printf("SET_OVERRIDE_OK failed\n");
}
if (ioctl(px4io_fd, PWM_SERVO_SET_OVERRIDE_IMMEDIATE, 0) != 0) {
hal.console->printf("SET_OVERRIDE_IMMEDIATE failed\n");
}
close(px4io_fd);
#endif
}
/*
handle a MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN command
@ -1791,46 +1810,37 @@ void GCS_MAVLINK::zero_rc_outputs()
*/
MAV_RESULT GCS_MAVLINK::handle_preflight_reboot(const mavlink_command_long_t &packet)
{
if (is_equal(packet.param1,1.0f) || is_equal(packet.param1,3.0f)) {
if (should_disable_overrides_on_reboot()) {
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
// disable overrides while rebooting
int px4io_fd = open("/dev/px4io", 0);
if (px4io_fd >= 0) {
// disable OVERRIDES so we don't run the mixer while
// rebooting
if (ioctl(px4io_fd, PWM_SERVO_SET_OVERRIDE_OK, 0) != 0) {
hal.console->printf("SET_OVERRIDE_OK failed\n");
}
if (ioctl(px4io_fd, PWM_SERVO_SET_OVERRIDE_IMMEDIATE, 0) != 0) {
hal.console->printf("SET_OVERRIDE_IMMEDIATE failed\n");
}
close(px4io_fd);
}
#endif
}
if (should_zero_rc_outputs_on_reboot()) {
reboot_zero_rc_outputs();
}
// send ack before we reboot
mavlink_msg_command_ack_send(chan, packet.command, MAV_RESULT_ACCEPTED);
// Notify might want to blink some LEDs:
AP_Notify *notify = AP_Notify::instance();
if (notify) {
AP_Notify::flags.firmware_update = 1;
notify->update();
}
// force safety on
hal.rcout->force_safety_on();
hal.rcout->force_safety_no_wait();
hal.scheduler->delay(200);
// when packet.param1 == 3 we reboot to hold in bootloader
bool hold_in_bootloader = is_equal(packet.param1,3.0f);
hal.scheduler->reboot(hold_in_bootloader);
return MAV_RESULT_FAILED;
if (!(is_equal(packet.param1, 1.0f) || is_equal(packet.param1, 3.0f))) {
// param1 must be 1 or 3 - 1 being reboot, 3 being reboot-to-bootloader
return MAV_RESULT_UNSUPPORTED;
}
return MAV_RESULT_UNSUPPORTED;
if (should_disable_overrides_on_reboot()) {
// disable overrides while rebooting
disable_overrides();
}
if (should_zero_rc_outputs_on_reboot()) {
zero_rc_outputs();
}
// send ack before we reboot
mavlink_msg_command_ack_send(chan, packet.command, MAV_RESULT_ACCEPTED);
// Notify might want to blink some LEDs:
AP_Notify *notify = AP_Notify::instance();
if (notify) {
AP_Notify::flags.firmware_update = 1;
notify->update();
}
// force safety on
hal.rcout->force_safety_on();
hal.rcout->force_safety_no_wait();
hal.scheduler->delay(200);
// when packet.param1 == 3 we reboot to hold in bootloader
const bool hold_in_bootloader = is_equal(packet.param1, 3.0f);
hal.scheduler->reboot(hold_in_bootloader);
return MAV_RESULT_FAILED;
}
/*