dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

Rebase changes on upstream master 

This brings in many of the changes from the PX4 fork on ATLFLight.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois 2016-01-18 23:16:31 -08:00 committed by Julian Oes
parent 2938d23c6c
commit 014f15d8b0
28 changed files with 254 additions and 172 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
CMakeLists.txt
View File

@ -85,7 +85,7 @@
# * If a target from add_custom_* is set in a function, explicitly pass it
# as an output argument so that the target name is clear to the user.
#
# * Avoid use of global variables in functions. Functions in a nested
# * Avoid use of global variables in functions. Functions in a nested
# scope may use global variables, but this makes it difficult to
# resuse functions.
#
@ -335,7 +335,7 @@ foreach(module ${config_module_list})
STRING(REGEX REPLACE "//" "/" EXT_MODULE ${module})
STRING(REGEX REPLACE "/" "__" EXT_MODULE_PREFIX ${EXT_MODULE})
add_subdirectory(${module} ${CMAKE_BINARY_DIR}/${EXT_MODULE_PREFIX})
else()
else()
add_subdirectory(src/${module})
endif()
px4_mangle_name(${module} mangled_name)

5
Makefile
View File

@ -155,6 +155,9 @@ posix_sitl_ekf2:
ros_sitl_default:
@echo "This target is deprecated. Use make 'posix_sitl_default gazebo' instead."
ros_sitl_default:
$(call cmake-build,$@)
qurt_eagle_travis:
$(call cmake-build,$@)
@ -163,7 +166,7 @@ qurt_eagle_release:
posix_eagle_release:
$(call cmake-build,$@)
qurt_eagle_default:
$(call cmake-build,$@)

1
cmake/configs/nuttx_px4fmu-v2_default.cmake
View File

@ -83,6 +83,7 @@ set(config_module_list
modules/attitude_estimator_q
modules/ekf_att_pos_estimator
modules/position_estimator_inav
modules/ekf2
#
# Vehicle Control

27
cmake/configs/qurt_eagle_release.cmake
View File

@ -1,5 +1,11 @@
include(qurt/px4_impl_qurt)
if ("$ENV{EAGLE_ADDON_ROOT}" STREQUAL "")
message(FATAL_ERROR "Enviroment variable EAGLE_ADDON_ROOT must be set")
else()
set(EAGLE_ADDON_ROOT $ENV{EAGLE_ADDON_ROOT})
endif()
if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
else()
@ -15,11 +21,22 @@ endif()
STRING(REGEX REPLACE "//" "/" EAGLE_DRIVERS_SRC ${EAGLE_DRIVERS_SRC})
STRING(REGEX REPLACE "/" "__" EAGLE_DRIVERS_MODULE_PREFIX ${EAGLE_DRIVERS_SRC})
#include_directories(${EAGLE_ADDON_ROOT}/flight_controller/hexagon/inc)
include_directories(
${HEXAGON_SDK_ROOT}/inc
${HEXAGON_SDK_ROOT}/inc/stddef
${HEXAGON_SDK_ROOT}/lib/common/qurt/ADSPv5MP/include
include_directories(${EAGLE_ADDON_ROOT}/flight_controller/hexagon/inc)
include_directories(${HEXAGON_SDK_ROOT}/lib/common/qurt/ADSPv5MP/include)
message("hexagon_sdk_root is ${HEXAGON_SDK_ROOT}")
set(QURT_ENABLE_STUBS "0")
set(CONFIG_SHMEM "1")
# For Actual flight we need to link against the driver dynamic libraries
set(target_libraries
-L${EAGLE_ADDON_ROOT}/flight_controller/hexagon/libs
mpu9x50
uart_esc
csr_gps
rc_receiver
)
message("hexagon_sdk_root is ${HEXAGON_SDK_ROOT}")

9
cmake/posix/px4_impl_posix.cmake
View File

@ -87,7 +87,7 @@ function(px4_posix_generate_builtin_commands)
set(MAIN_DEFAULT MAIN-NOTFOUND)
set(STACK_DEFAULT 1024)
set(PRIORITY_DEFAULT SCHED_PRIORITY_DEFAULT)
foreach(property MAIN STACK PRIORITY)
foreach(property MAIN STACK PRIORITY)
get_target_property(${property} ${module} ${property})
if(NOT ${property})
set(${property} ${${property}_DEFAULT})
@ -182,10 +182,11 @@ if(UNIX AND APPLE)
else()
set(added_definitions
-D__PX4_POSIX
-D__PX4_LINUX
-D__DF_LINUX
-D__PX4_LINUX
-D__DF_LINUX
-DCLOCK_MONOTONIC=1
-Dnoreturn_function=__attribute__\(\(noreturn\)\)
-include ${PX4_INCLUDE_DIR}visibility.h
@ -204,7 +205,7 @@ if ("${BOARD}" STREQUAL "eagle")
else()
set(HEXAGON_ARM_SYSROOT $ENV{HEXAGON_ARM_SYSROOT})
endif()
# Add the toolchain specific flags
set(added_cflags ${POSIX_CMAKE_C_FLAGS} --sysroot=${HEXAGON_ARM_SYSROOT})
set(added_cxx_flags ${POSIX_CMAKE_CXX_FLAGS} --sysroot=${HEXAGON_ARM_SYSROOT})

21
cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake
View File

@ -36,13 +36,19 @@ set(CMAKE_SYSTEM_NAME Generic)
set(CMAKE_SYSTEM_VERSION 1)
# specify the cross compiler
find_program(C_COMPILER arm-linux-gnueabihf-gcc)
find_program(C_COMPILER arm-linux-gnueabihf-gcc
PATHS ${HEXAGON_SDK_ROOT}/gcc-linaro-arm-linux-gnueabihf-4.8-2013.08_linux/bin
NO_DEFAULT_PATH
)
if(NOT C_COMPILER)
message(FATAL_ERROR "could not find arm-linux-gnueabihf-gcc compiler")
endif()
cmake_force_c_compiler(${C_COMPILER} GNU)
find_program(CXX_COMPILER arm-linux-gnueabihf-g++)
find_program(CXX_COMPILER arm-linux-gnueabihf-g++
PATHS ${HEXAGON_SDK_ROOT}/gcc-linaro-arm-linux-gnueabihf-4.8-2013.08_linux/bin
NO_DEFAULT_PATH
)
if(NOT CXX_COMPILER)
message(FATAL_ERROR "could not find arm-linux-gnueabihf-g++ compiler")
endif()
@ -51,7 +57,10 @@ cmake_force_cxx_compiler(${CXX_COMPILER} GNU)
# compiler tools
foreach(tool objcopy nm ld)
string(TOUPPER ${tool} TOOL)
find_program(${TOOL} arm-linux-gnueabihf-${tool})
find_program(${TOOL} arm-linux-gnueabihf-${tool}
PATHS ${HEXAGON_SDK_ROOT}/gcc-linaro-arm-linux-gnueabihf-4.8-2013.08_linux/bin
NO_DEFAULT_PATH
)
if(NOT ${TOOL})
message(FATAL_ERROR "could not find arm-linux-gnueabihf-${tool}")
endif()
@ -66,13 +75,17 @@ foreach(tool echo patch grep rm mkdir nm genromfs cp touch make unzip)
endif()
endforeach()
<<<<<<< ce0aecb062077c0c99423a12eea9ccb36adbd065
set(C_FLAGS "--sysroot=${HEXAGON_ARM_SYSROOT}")
=======
set(C_FLAGS "--sysroot=${HEXAGON_SDK_ROOT}/sysroot")
>>>>>>> Rebase changes on upstream master
set(LINKER_FLAGS "-Wl,-gc-sections")
set(CMAKE_EXE_LINKER_FLAGS ${LINKER_FLAGS})
set(CMAKE_C_FLAGS ${C_FLAGS})
set(CMAKE_CXX_LINKER_FLAGS ${C_FLAGS})
# where is the target environment
# where is the target environment
set(CMAKE_FIND_ROOT_PATH get_file_component(${C_COMPILER} PATH))
# search for programs in the build host directories

41
src/drivers/device/device.h
View File

@ -1,41 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
#ifdef __PX4_NUTTX
#include "device_nuttx.h"
#elif defined (__PX4_POSIX)
#include "vdev.h"
#endif

65
src/drivers/device/vfile.cpp
View File

@ -1,65 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2015 Mark Charlebois. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file vdev_file.cpp
* Virtual file
*
* @author Mark Charlebois <charlebm@gmail.com>
*/
#include "vfile.h"
#include <stdio.h>
using namespace device;
VFile::VFile(const char *fname, mode_t mode) :
VDev("vfile", fname)
{
}
VFile *VFile::createFile(const char *fname, mode_t mode)
{
VFile *me = new VFile(fname, mode);
me->register_driver(fname, me);
return me;
}
ssize_t VFile::write(device::file_t *handlep, const char *buffer, size_t buflen)
{
// ignore what was written, but let pollers know something was written
poll_notify(POLLIN);
return buflen;
}

4
src/include/mavlink/mavlink_log.h
View File

@ -110,7 +110,7 @@ __EXPORT void mavlink_vasprintf(int _fd, int severity, const char *fmt, ...);
fprintf(stderr, "telem> "); \
fprintf(stderr, _text, ##__VA_ARGS__); \
fprintf(stderr, "\n"); } while(0);
/**
* Send a mavlink critical message and print to console.
*
@ -121,7 +121,7 @@ __EXPORT void mavlink_vasprintf(int _fd, int severity, const char *fmt, ...);
fprintf(stderr, "telem> "); \
fprintf(stderr, _text, ##__VA_ARGS__); \
fprintf(stderr, "\n"); } while(0);
/**
* Send a mavlink emergency message and print to console.
*

32
src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
View File

@ -400,6 +400,35 @@ void AttitudeEstimatorQ::task_main()
if (!_failsafe) {
uint32_t flags = DataValidator::ERROR_FLAG_NO_ERROR;
#ifdef __PX4_POSIX
perf_end(_perf_accel);
perf_end(_perf_mpu);
perf_end(_perf_mag);
#endif
if (_voter_gyro.failover_count() > 0) {
_failsafe = true;
flags = _voter_gyro.failover_state();
mavlink_and_console_log_emergency(_mavlink_fd, "Gyro #%i failure :%s%s%s%s%s!",
_voter_gyro.failover_index(),
((flags & DataValidator::ERROR_FLAG_NO_DATA) ? " No data" : ""),
((flags & DataValidator::ERROR_FLAG_STALE_DATA) ? " Stale data" : ""),
((flags & DataValidator::ERROR_FLAG_TIMEOUT) ? " Data timeout" : ""),
((flags & DataValidator::ERROR_FLAG_HIGH_ERRCOUNT) ? " High error count" : ""),
((flags & DataValidator::ERROR_FLAG_HIGH_ERRDENSITY) ? " High error density" : ""));
}
if (_voter_accel.failover_count() > 0) {
_failsafe = true;
flags = _voter_accel.failover_state();
mavlink_and_console_log_emergency(_mavlink_fd, "Accel #%i failure :%s%s%s%s%s!",
_voter_accel.failover_index(),
((flags & DataValidator::ERROR_FLAG_NO_DATA) ? " No data" : ""),
((flags & DataValidator::ERROR_FLAG_STALE_DATA) ? " Stale data" : ""),
((flags & DataValidator::ERROR_FLAG_TIMEOUT) ? " Data timeout" : ""),
((flags & DataValidator::ERROR_FLAG_HIGH_ERRCOUNT) ? " High error count" : ""),
((flags & DataValidator::ERROR_FLAG_HIGH_ERRDENSITY) ? " High error density" : ""));
}
#ifdef __PX4_POSIX
perf_end(_perf_accel);
@ -607,8 +636,11 @@ void AttitudeEstimatorQ::task_main()
/* attitude quaternions for control state */
ctrl_state.q[0] = _q(0);
ctrl_state.q[1] = _q(1);
ctrl_state.q[2] = _q(2);
ctrl_state.q[3] = _q(3);
/* attitude rates for control state */

7
src/modules/commander/commander.cpp
View File

@ -1610,6 +1610,11 @@ int commander_thread_main(int argc, char *argv[])
_usb_telemetry_active = true;
}
/* set (and don't reset) telemetry via USB as active once a MAVLink connection is up */
if (telemetry.type == telemetry_status_s::TELEMETRY_STATUS_RADIO_TYPE_USB) {
_usb_telemetry_active = true;
}
if (telemetry.heartbeat_time > 0) {
telemetry_last_heartbeat[i] = telemetry.heartbeat_time;
}
@ -2977,7 +2982,7 @@ set_control_mode()
/* set vehicle_control_mode according to set_navigation_state */
control_mode.flag_armed = armed.armed;
control_mode.flag_external_manual_override_ok = (!status.is_rotary_wing && !status.is_vtol);
control_mode.flag_system_hil_enabled = status.hil_state == vehicle_status_s::HIL_STATE_ON;
//control_mode.flag_system_hil_enabled = status.hil_state == vehicle_status_s::HIL_STATE_ON;
control_mode.flag_control_offboard_enabled = false;
switch (status.nav_state) {

11
src/modules/mc_pos_control/mc_pos_control_main.cpp
View File

@ -993,6 +993,10 @@ void MulticopterPositionControl::control_auto(float dt)
}
if (current_setpoint_valid) {
/* in case of interrupted mission don't go to waypoint but stay at current position */
_reset_pos_sp = true;
_reset_alt_sp = true;
/* scaled space: 1 == position error resulting max allowed speed */
math::Vector<3> scale = _params.pos_p.edivide(_params.vel_max); // TODO add mult param here
@ -1187,6 +1191,13 @@ MulticopterPositionControl::task_main()
poll_subscriptions();
/* get current rotation matrix and euler angles from control state quaternions */
math::Quaternion q_att(_ctrl_state.q[0], _ctrl_state.q[1], _ctrl_state.q[2], _ctrl_state.q[3]);
_R = q_att.to_dcm();
math::Vector<3> euler_angles;
euler_angles = _R.to_euler();
_yaw = euler_angles(2);
parameters_update(false);
hrt_abstime t = hrt_absolute_time();

4
src/modules/muorb/adsp/module.mk
View File

@ -42,6 +42,10 @@ SRCS = \
px4muorb.cpp \
uORBFastRpcChannel.cpp
endif
=======
SRCS = param/param.c
SRCS += perf_counter.c \
INCLUDE_DIRS += \
${PX4_BASE}/src/modules/uORB

2
src/modules/muorb/krait/CMakeLists.txt
View File

@ -46,4 +46,4 @@ px4_add_module(
DEPENDS
platforms__common
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
# vim: set noet ft=cmake fenc=utf-8 ff=unix :

26
src/modules/navigator/mission_block.cpp
View File

@ -417,6 +417,32 @@ MissionBlock::set_loiter_item(struct mission_item_s *item, float min_clearance)
}
}
void
MissionBlock::set_takeoff_item(struct mission_item_s *item, float min_clearance, float min_pitch)
{
item->nav_cmd = NAV_CMD_LOITER_UNLIMITED;
/* use current position and use return altitude as clearance */
item->lat = _navigator->get_global_position()->lat;
item->lon = _navigator->get_global_position()->lon;
item->altitude = _navigator->get_global_position()->alt;
if (min_clearance > 0.0f) {
item->altitude += min_clearance;
}
item->altitude_is_relative = false;
item->yaw = NAN;
item->loiter_radius = _navigator->get_loiter_radius();
item->loiter_direction = 1;
item->acceptance_radius = (_navigator->get_acceptance_radius() > min_clearance / 2.0f) ?
(min_clearance / 2) : _navigator->get_acceptance_radius();
item->time_inside = 0.0f;
item->pitch_min = min_pitch;
item->autocontinue = false;
item->origin = ORIGIN_ONBOARD;
}
void
MissionBlock::set_takeoff_item(struct mission_item_s *item, float min_clearance, float min_pitch)
{

15
src/modules/simulator/simulator_mavlink.cpp
View File

@ -530,8 +530,13 @@ void Simulator::pollForMAVLinkMessages(bool publish)
pthread_create(&sender_thread, &sender_thread_attr, Simulator::sending_trampoline, NULL);
pthread_attr_destroy(&sender_thread_attr);
mavlink_status_t udp_status = {};
mavlink_status_t serial_status = {};
// set the threads name
#ifdef __PX4_DARWIN
pthread_setname_np("sim_rcv");
#else
pthread_setname_np(pthread_self(), "sim_rcv");
#endif
bool sim_delay = false;
@ -575,9 +580,10 @@ void Simulator::pollForMAVLinkMessages(bool publish)
if (len > 0) {
mavlink_message_t msg;
mavlink_status_t status;
for (int i = 0; i < len; i++) {
if (mavlink_parse_char(MAVLINK_COMM_0, _buf[i], &msg, &udp_status)) {
if (mavlink_parse_char(MAVLINK_COMM_0, _buf[i], &msg, &status)) {
// have a message, handle it
handle_message(&msg, publish);
}
@ -591,9 +597,10 @@ void Simulator::pollForMAVLinkMessages(bool publish)
if (len > 0) {
mavlink_message_t msg;
mavlink_status_t status;
for (int i = 0; i < len; ++i) {
if (mavlink_parse_char(MAVLINK_COMM_1, serial_buf[i], &msg, &serial_status)) {
if (mavlink_parse_char(MAVLINK_COMM_0, serial_buf[i], &msg, &status)) {
// have a message, handle it
handle_message(&msg, true);
}

2
src/modules/systemlib/circuit_breaker_params.c
View File

@ -42,6 +42,8 @@
* parameter needs to set to the key (magic).
*/
#ifdef __PX4_QURT
/**
* Circuit breaker for power supply check
*

27
src/modules/systemlib/param/param_shmem.c
View File

@ -72,7 +72,11 @@
#include "shmem.h"
#define debug(fmt, args...) do { } while(0)
#if 0
# define debug(fmt, args...) do { warnx(fmt, ##args); } while(0)
#else
# define debug(fmt, args...) do { } while(0)
#endif
#define PARAM_OPEN open
#define PARAM_CLOSE close
@ -85,7 +89,7 @@ extern struct param_info_s param_array[];
extern struct param_info_s *param_info_base;
extern struct param_info_s *param_info_limit;
#else
// TODO: start and end are reversed
// FIXME - start and end are reversed
static struct param_info_s *param_info_base = (struct param_info_s *) &px4_parameters;
#endif
@ -110,7 +114,7 @@ const int bits_per_allocation_unit = (sizeof(*param_changed_storage) * 8);
extern int get_shmem_lock(void);
extern void release_shmem_lock(void);
struct param_wbuf_s *param_find_changed(param_t param);
struct param_wbuf_s * param_find_changed(param_t param);
void init_params(void);
extern void init_shared_memory(void);
@ -123,10 +127,9 @@ uint64_t sync_other_prev_time = 0, sync_other_current_time = 0;
extern void update_to_shmem(param_t param, union param_value_u value);
extern int update_from_shmem(param_t param, union param_value_u *value);
static int param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_changes);
unsigned char set_called_from_get = 0;
unsigned char set_called_from_get=0;
static int param_import_done =
0; /*at startup, params are loaded from file, if present. we dont want to send notifications that time since muorb is not ready*/
static int param_import_done=0; /*at startup, params are loaded from file, if present. we dont want to send notifications that time since muorb is not ready*/
static int param_load_default_no_notify(void);
@ -236,6 +239,11 @@ param_find_changed(param_t param)
param_assert_locked();
if (param_values != NULL) {
#if 0 /* utarray_find requires bsearch, not available */
struct param_wbuf_s key;
key.param = param;
s = utarray_find(param_values, &key, param_compare_values);
#else
while ((s = (struct param_wbuf_s *)utarray_next(param_values, s)) != NULL) {
if (s->param == param) {
break;
@ -501,10 +509,11 @@ param_get(param_t param, void *val)
union param_value_u value;
if (update_from_shmem(param, &value)) {
set_called_from_get = 1;
if(update_from_shmem(param, &value))
{
set_called_from_get=1;
param_set_internal(param, &value, true, false);
set_called_from_get = 0;
set_called_from_get=0;
}

4
src/modules/systemlib/system_params.c
View File

@ -37,6 +37,8 @@
* System wide parameters
*/
#ifdef __PX4_QURT
/**
* Auto-start script index.
*
@ -111,3 +113,5 @@ PARAM_DEFINE_INT32(SYS_COMPANION, 157600);
* @group System
*/
PARAM_DEFINE_INT32(SYS_PARAM_VER, 1);
#endif

1
src/modules/uORB/uORBDevices_posix.cpp
View File

@ -406,7 +406,6 @@ uORB::DeviceNode::appears_updated(SubscriberData *sd)
* don't match then we might have a visible update.
*/
while (sd->generation != _generation) {
/*
* Handle non-rate-limited subscribers.
*/

10
src/platforms/posix/px4_layer/px4_posix_impl.cpp
View File

@ -60,6 +60,11 @@ long PX4_TICKS_PER_SEC = sysconf(_SC_CLK_TCK);
#ifdef ENABLE_SHMEM
extern void init_params(void);
#ifdef ENABLE_SHMEM
extern void init_own_params(void);
extern unsigned int init_other_params(void);
extern unsigned int param_sync_done;
#endif
__END_DECLS
@ -78,8 +83,9 @@ void init_once(void)
hrt_init();
#ifdef ENABLE_SHMEM
PX4_INFO("Syncing params to shared memory\n");
init_params();
PX4_INFO("Starting shared memory param sync\n");
init_own_params();
param_sync_done=init_other_params();
#endif
}

9
src/platforms/posix/px4_layer/shmem_posix.c
View File

@ -1,6 +1,7 @@
/****************************************************************************
*
* Copyright (c) 2015 Vijay Venkatraman. All rights reserved.
* Copyright (c) 2015 Ramakrishna Kintada. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -31,6 +32,7 @@
*
****************************************************************************/
#include <px4_defines.h>
#include <px4_posix.h>
#include <string.h>
@ -56,8 +58,8 @@
int mem_fd;
unsigned char *map_base, *virt_addr;
struct shmem_info *shmem_info_p;
static void *map_memory(off_t target);
struct shmem_info* shmem_info_p;
static void* map_memory(off_t target);
int get_shmem_lock(void);
void release_shmem_lock(void);
@ -236,6 +238,7 @@ static void update_index_from_shmem(void)
release_shmem_lock();
}
static void update_value_from_shmem(param_t param, union param_value_u *value)
{
unsigned int byte_changed, bit_changed;

14
src/platforms/posix/tests/vcdev_test/vcdevtest_example.cpp
View File

@ -61,10 +61,12 @@ static int writer_main(int argc, char *argv[])
int fd = px4_open(TESTDEV, PX4_F_WRONLY);
int fd = px4_open(TESTDEV, PX4_F_WRONLY);
if (fd < 0) {
PX4_INFO("Writer: Open failed %d %d", fd, px4_errno);
return -px4_errno;
}
src/platforms/posix/tests/vcdev_test/vcdevtest_example.cpp
int ret;
int i = 0;
@ -92,6 +94,12 @@ static int writer_main(int argc, char *argv[])
class PrivData
{
PrivData() : _read_offset(0) {}
~PrivData() {}
size_t _read_offset;
};
public:
PrivData() : _read_offset(0) {}
~PrivData() {}
@ -321,12 +329,16 @@ int VCDevExample::main()
(char *const *)NULL);
ret = 0;
PX4_INFO("TEST: BLOCKING POLL ---------------");
if (do_poll(fd, -1, 3, 0)) {
ret = 1;
goto fail2;
PX4_INFO("TEST: ZERO TIMEOUT POLL -----------");
if(do_poll(fd, 0, 3, 0)) {
ret = 1;
goto fail2;
goto fail2;
}
PX4_INFO("TEST: ZERO TIMEOUT POLL -----------");

10
src/platforms/px4_posix.h
View File

@ -77,10 +77,20 @@ typedef sem_t px4_sem_t;
#define px4_sem_init sem_init
#define px4_sem_wait sem_wait
#define px4_sem_post sem_post
#define px4_sem_getvalue sem_getvalue
#define px4_sem_destroy sem_destroy
#if 0
// TODO: Implement this function or remove it from the implementation.
// #define px4_sem_timedwait sem_timedwait
inline int px4_sem_timedwait(px4_sem_t *sem, const struct timespec *abstime)
{
return -1;
}
#endif
#ifdef __PX4_QURT
__EXPORT int px4_sem_timedwait(px4_sem_t *sem, const struct timespec *abstime);
#else

43
src/platforms/qurt/px4_layer/main.cpp
View File

@ -73,30 +73,30 @@ static void run_cmd(map<string, px4_main_t> &apps, const vector<string> &appargs
string command = appargs[0];
//replaces app.find with iterator code to avoid null pointer exception
for (map<string, px4_main_t>::iterator it = apps.begin(); it != apps.end(); ++it)
if (it->first == command) {
const char *arg[2 + 1];
for (map<string,px4_main_t>::iterator it=apps.begin(); it!=apps.end(); ++it)
if (it->first == command) {
const char *arg[2 + 1];
unsigned int i = 0;
while (i < appargs.size() && appargs[i].c_str()[0] != '\0') {
arg[i] = (char *)appargs[i].c_str();
PX4_WARN(" arg%d = '%s'\n", i, arg[i]);
++i;
}
arg[i] = (char *)0;
//PX4_DEBUG_PRINTF(i);
if (apps[command] == NULL) {
PX4_ERR("Null function !!\n");
} else {
apps[command](i, (char **)arg);
break;
}
unsigned int i = 0;
while (i < appargs.size() && appargs[i].c_str()[0] != '\0') {
arg[i] = (char *)appargs[i].c_str();
PX4_WARN(" arg%d = '%s'\n", i, arg[i]);
++i;
}
arg[i] = (char *)0;
//PX4_DEBUG_PRINTF(i);
if (apps[command] == NULL) {
PX4_ERR("Null function !!\n");
} else {
apps[command](i, (char **)arg);
break;
}
}
}
void eat_whitespace(const char *&b, int &i)
@ -115,6 +115,7 @@ static void process_commands(map<string, px4_main_t> &apps, const char *cmds)
const char *b = cmds;
char arg[256];
// Eat leading whitespace
eat_whitespace(b, i);

9
src/platforms/qurt/px4_layer/px4_qurt_impl.cpp
View File

@ -71,7 +71,9 @@ unsigned int sleep(unsigned int sec)
}
extern void hrt_init(void);
extern void init_params();
extern void init_own_params();
extern unsigned int init_other_params();
extern unsigned int param_sync_done;
#if 0
void qurt_log(const char *fmt, ...)
@ -110,8 +112,9 @@ void init_once(void)
hrt_init();
PX4_WARN("after calling hrt_init");
/* Shared memory param sync*/
init_params();
/*Shared memory param sync*/
init_own_params();
param_sync_done=init_other_params();
}
void init(int argc, char *argv[], const char *app_name)

1
src/platforms/shmem.h
View File

@ -1,4 +1,3 @@
/****************************************************************************
*
* Copyright (c) 2015 Ramakrishna Kintada. All rights reserved.

22
src/systemcmds/mixer/mixer.cpp
View File

@ -108,7 +108,6 @@ load(const char *devname, const char *fname)
usleep(20000);
int dev;
char buf[2048];
/* open the device */
if ((dev = px4_open(devname, 0)) < 0) {
@ -122,6 +121,9 @@ load(const char *devname, const char *fname)
return 1;
}
#ifndef __PX4_QURT
char buf[2048];
if (load_mixer_file(fname, &buf[0], sizeof(buf)) < 0) {
warnx("can't load mixer: %s", fname);
return 1;
@ -129,6 +131,24 @@ load(const char *devname, const char *fname)
/* XXX pass the buffer to the device */
int ret = px4_ioctl(dev, MIXERIOCLOADBUF, (unsigned long)buf);
#else
char newbuf[] =
"R: 4x 10000 10000 10000 0\n"
"M: 1\n"
"O: 10000 10000 0 -10000 10000\n"
"S: 0 4 10000 10000 0 -10000 10000\n"
"M: 1\n"
"O: 10000 10000 0 -10000 10000\n"
"S: 0 5 10000 10000 0 -10000 10000\n"
"M: 1\n"
"O: 10000 10000 0 -10000 10000\n"
"S: 0 6 10000 10000 0 -10000 10000\n"
"M: 1\n"
"O: 10000 10000 0 -10000 10000\n"
"S: 0 7 10000 10000 0 -10000 10000\n";
/* XXX pass the buffer to the device */
int ret = px4_ioctl(dev, MIXERIOCLOADBUF, (unsigned long)newbuf);
#endif
if (ret < 0) {
warnx("error loading mixers from %s", fname);