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

Various fixes for params interface

This commit is contained in:
Lorenz Meier 2012-08-16 15:49:56 +02:00
parent e95662f505
commit 46c4b987cc
5 changed files with 53 additions and 35 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
apps/commander/Makefile
View File

@ -36,8 +36,8 @@
#
APPNAME = commander
PRIORITY = SCHED_PRIORITY_MAX - 10
STACKSIZE = 3072
PRIORITY = SCHED_PRIORITY_MAX - 30
STACKSIZE = 2048
INCLUDES = $(TOPDIR)/../mavlink/include/mavlink

47
apps/commander/commander.c
View File

@ -532,8 +532,9 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT);
if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) {
mavlink_log_info(mavlink_fd, "[commander] starting gyro calibration");
mavlink_log_info(mavlink_fd, "[commander] CMD starting gyro calibration");
do_gyro_calibration(status_pub, &current_status);
mavlink_log_info(mavlink_fd, "[commander] CMD finished gyro calibration");
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
result = MAV_RESULT_ACCEPTED;
} else {
@ -549,12 +550,13 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT);
if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) {
mavlink_log_info(mavlink_fd, "[commander] starting mag calibration");
mavlink_log_info(mavlink_fd, "[commander] CMD starting mag calibration");
do_mag_calibration(status_pub, &current_status);
mavlink_log_info(mavlink_fd, "[commander] CMD finished mag calibration");
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
result = MAV_RESULT_ACCEPTED;
} else {
mavlink_log_critical(mavlink_fd, "[commander] REJECTING mag calibration");
mavlink_log_critical(mavlink_fd, "[commander] CMD REJECTING mag calibration");
result = MAV_RESULT_DENIED;
}
handled = true;
@ -562,8 +564,8 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
/* none found */
if (!handled) {
fprintf(stderr, "[commander] refusing unsupported calibration request\n");
mavlink_log_critical(mavlink_fd, "[commander] refusing unsupported calibration request");
//fprintf(stderr, "[commander] refusing unsupported calibration request\n");
mavlink_log_critical(mavlink_fd, "[commander] CMD refusing unsupported calibration request");
result = MAV_RESULT_UNSUPPORTED;
}
}
@ -576,12 +578,12 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
if (((int)cmd->param1) == 0) {
if (OK == get_params_from_eeprom(global_data_parameter_storage)) {
printf("[commander] Loaded EEPROM params in RAM\n");
mavlink_log_info(mavlink_fd, "[commander] Loaded EEPROM params in RAM");
//printf("[commander] Loaded EEPROM params in RAM\n");
mavlink_log_info(mavlink_fd, "[commander] CMD Loaded EEPROM params in RAM");
result = MAV_RESULT_ACCEPTED;
} else {
fprintf(stderr, "[commander] ERROR loading EEPROM params in RAM\n");
//fprintf(stderr, "[commander] ERROR loading EEPROM params in RAM\n");
mavlink_log_critical(mavlink_fd, "[commander] ERROR loading EEPROM params in RAM");
result = MAV_RESULT_FAILED;
}
@ -591,18 +593,18 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
} else if (((int)cmd->param1) == 1) {
if (OK == store_params_in_eeprom(global_data_parameter_storage)) {
printf("[commander] RAM params written to EEPROM\n");
//printf("[commander] RAM params written to EEPROM\n");
mavlink_log_info(mavlink_fd, "[commander] RAM params written to EEPROM");
result = MAV_RESULT_ACCEPTED;
} else {
fprintf(stderr, "[commander] ERROR writing RAM params to EEPROM\n");
//fprintf(stderr, "[commander] ERROR writing RAM params to EEPROM\n");
mavlink_log_critical(mavlink_fd, "[commander] ERROR writing RAM params to EEPROM");
result = MAV_RESULT_FAILED;
}
} else {
fprintf(stderr, "[commander] refusing unsupported storage request\n");
//fprintf(stderr, "[commander] refusing unsupported storage request\n");
mavlink_log_critical(mavlink_fd, "[commander] refusing unsupported storage request");
result = MAV_RESULT_UNSUPPORTED;
}
@ -622,8 +624,6 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
/* send any requested ACKs */
if (cmd->confirmation > 0) {
/* send acknowledge command */
mavlink_message_t msg;
mavlink_msg_command_ack_pack(0, 0, &msg, cmd->command, result);
}
}
@ -788,6 +788,7 @@ int commander_main(int argc, char *argv[])
/* advertise to ORB */
stat_pub = orb_advertise(ORB_ID(vehicle_status), &current_status);
/* publish current state machine */
state_machine_publish(stat_pub, &current_status, mavlink_fd);
if (stat_pub < 0) {
@ -874,9 +875,9 @@ int commander_main(int argc, char *argv[])
battery_voltage_valid = sensors.battery_voltage_valid;
bat_remain = battery_remaining_estimate_voltage(3, BAT_CHEM_LITHIUM_POLYMERE, battery_voltage);
flight_env = (uint8_t)(global_data_parameter_storage->pm.param_values[PARAM_FLIGHT_ENV]);
// flight_env = (uint8_t)(global_data_parameter_storage->pm.param_values[PARAM_FLIGHT_ENV]);
/* Slow but important 5 Hz checks */
/* Slow but important 8 Hz checks */
if (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 8) == 0) {
/* toggle activity (blue) led at 1 Hz in standby, 10 Hz in armed mode */
if ((current_status.state_machine == SYSTEM_STATE_GROUND_READY ||
@ -994,14 +995,14 @@ int commander_main(int argc, char *argv[])
//
//
// if (flight_env == PX4_FLIGHT_ENVIRONMENT_TESTING) //simulate position fix for quick indoor tests
update_state_machine_got_position_fix(stat_pub, &current_status, mavlink_fd);
//update_state_machine_got_position_fix(stat_pub, &current_status, mavlink_fd);
/* end: check gps */
/* Check battery voltage */
/* write to sys_status */
current_status.voltage_battery = battery_voltage;
/* if battery voltage is getting lower, warn using buzzer, etc. */
/* if battery voltage is getting lower, warn using buzzer, etc. */
if (battery_voltage_valid && (battery_voltage < VOLTAGE_BATTERY_LOW_VOLTS && false == low_battery_voltage_actions_done)) { //TODO: add filter, or call emergency after n measurements < VOLTAGE_BATTERY_MINIMAL_MILLIVOLTS
if (low_voltage_counter > LOW_VOLTAGE_BATTERY_COUNTER_LIMIT) {
@ -1086,8 +1087,8 @@ int commander_main(int argc, char *argv[])
} else {
static uint64_t last_print_time = 0;
/* print error message for first RC glitch and then every 2 s / 2000 ms) */
if (!current_status.rc_signal_lost || ((hrt_absolute_time() - last_print_time) > 3000000)) {
/* print error message for first RC glitch and then every 5 s / 5000 ms) */
if (!current_status.rc_signal_lost || ((hrt_absolute_time() - last_print_time) > 5000000)) {
mavlink_log_critical(mavlink_fd, "[commander] CRITICAL - NO REMOTE SIGNAL!");
last_print_time = hrt_absolute_time();
}
@ -1105,7 +1106,7 @@ int commander_main(int argc, char *argv[])
current_status.counter++;
current_status.timestamp = hrt_absolute_time();
if (voltage_previous != current_status.voltage_battery) orb_publish(ORB_ID(vehicle_status), stat_pub, &current_status);
/* If full run came back clean, transition to standby */
if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT &&
@ -1115,8 +1116,12 @@ int commander_main(int argc, char *argv[])
do_state_update(stat_pub, &current_status, SYSTEM_STATE_STANDBY, mavlink_fd);
}
/* publish at least with 1 Hz */
if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {
orb_publish(ORB_ID(vehicle_status), stat_pub, &current_status);
}
/* Store old modes to detect and act on state transitions */
// vehicle_state_previous = current_status.state_machine;
voltage_previous = current_status.voltage_battery;
fflush(stdout);

6
apps/mavlink/mavlink.c
View File

@ -1270,13 +1270,13 @@ int mavlink_main(int argc, char *argv[])
pthread_attr_t receiveloop_attr;
pthread_attr_init(&receiveloop_attr);
pthread_attr_setstacksize(&receiveloop_attr, 2048);
pthread_attr_setstacksize(&receiveloop_attr, 4096);
pthread_create(&receive_thread, &receiveloop_attr, receiveloop, NULL);
pthread_attr_t uorb_attr;
pthread_attr_init(&uorb_attr);
/* Set stack size, needs more than 2048 bytes */
pthread_attr_setstacksize(&uorb_attr, 5096);
/* Set stack size, needs more than 5000 bytes */
pthread_attr_setstacksize(&uorb_attr, 7000);
pthread_create(&uorb_receive_thread, &uorb_attr, uorb_receiveloop, NULL);
/* initialize waypoint manager */

23
apps/systemlib/systemlib.c
View File

@ -123,6 +123,11 @@ void kill_task(FAR _TCB *tcb, FAR void *arg)
kill(tcb->pid, SIGUSR1);
}
union param_union {
float f;
char c[4];
};
int store_params_in_eeprom(struct global_data_parameter_storage_t *params)
{
int ret = ERROR;
@ -147,10 +152,13 @@ int store_params_in_eeprom(struct global_data_parameter_storage_t *params)
ret = ERROR;
} else {
for (int i = 0; i < params->pm.size; i++) {
write_res = write(fd, params->pm.param_values + i, sizeof(params->pm.param_values[i]));
for (int i = 0; i < PARAM_MAX_COUNT; i++) {
if (write_res != sizeof(params->pm.param_values[i])) return ERROR;
union param_union p;
p.f = params->pm.param_values[i];
write_res = write(fd, p.c, sizeof(p.f));
if (write_res != sizeof(p.f)) return ERROR;
}
/*Write end magic byte */
@ -221,10 +229,11 @@ int get_params_from_eeprom(struct global_data_parameter_storage_t *params)
/* read data */
if (lseek_res == OK) {
for (int i = 0; i < params->pm.size; i++) {
read_res = read(fd, params->pm.param_values + i, sizeof(params->pm.param_values[i]));
if (read_res != sizeof(params->pm.param_values[i])) return ERROR;
for (int i = 0; i < PARAM_MAX_COUNT; i++) {
union param_union p;
read_res = read(fd, p.c, sizeof(p.f));
params->pm.param_values[i] = p.f;
if (read_res != sizeof(p.f)) return ERROR;
}
ret = OK;

8
apps/uORB/parameter_storage.h
View File

@ -112,25 +112,28 @@ enum PARAM {
PARAM_MAX_COUNT ///< LEAVE THIS IN PLACE AS LAST ELEMENT!
};
#pragma pack(push, 1)
struct px4_parameter_storage_t {
float param_values[PARAM_MAX_COUNT]; ///< Parameter values
const char *param_names[PARAM_MAX_COUNT]; ///< Parameter names
bool param_needs_write[PARAM_MAX_COUNT];
const char *param_names[PARAM_MAX_COUNT]; ///< Parameter names
uint16_t next_param;
uint16_t size;
};
#pragma pack(pop)
#define PX4_FLIGHT_ENVIRONMENT_INDOOR 0
#define PX4_FLIGHT_ENVIRONMENT_OUTDOOR 1
#define PX4_FLIGHT_ENVIRONMENT_TESTING 2 //NO check for position fix in this environment
#pragma pack(push, 1)
struct global_data_parameter_storage_t {
/* use of a counter and timestamp recommended (but not necessary) */
// uint16_t counter; //incremented by the writing thread everytime new data is stored
// uint64_t timestamp; //in microseconds since system start, is set whenever the writing thread stores new data
uint64_t timestamp; //in microseconds since system start, is set whenever the writing thread stores new data
/* Actual data, this is specific to the type of data which is stored in this struct */
@ -142,6 +145,7 @@ struct global_data_parameter_storage_t {
//*****END: Add your variables here *****
};
#pragma pack(pop)
__attribute__ ((visibility ("default"))) extern struct global_data_parameter_storage_t *global_data_parameter_storage; //adjust this line!