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update according to pull request review comments

This commit is contained in:
Bob-F 2018-07-28 18:55:08 -07:00 committed by Beat Küng
parent 7c62fe885d
commit 627ea3b23e
8 changed files with 19 additions and 28 deletions
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15
platforms/posix/cmake/px4_impl_os.cmake
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@ -289,14 +289,19 @@ function(px4_os_add_flags)
list(APPEND added_c_flags ${BBBLUE_COMPILE_FLAGS}) list(APPEND added_c_flags ${BBBLUE_COMPILE_FLAGS})
list(APPEND added_cxx_flags ${BBBLUE_COMPILE_FLAGS}) list(APPEND added_cxx_flags ${BBBLUE_COMPILE_FLAGS})
set(LIBROBOTCONTROL_INSTALL_DIR $ENV{LIBROBOTCONTROL_INSTALL_DIR})
# TODO: Wmissing-field-initializers ignored on older toolchain, can be removed eventually # TODO: Wmissing-field-initializers ignored on older toolchain, can be removed eventually
#
# On cross compile host system and native build system: # On cross compile host system and native build system:
# a) install robotcontrol.h and rc/* into /usr/local/include # a) select and define LIBROBOTCONTROL_INSTALL_DIR environment variable so that
# b) install pre-built native (ARM) version of librobotcontrol.* into /usr/local/lib # other unwanted headers will not be included
list(APPEND added_cxx_flags -I/usr/local/include -Wno-missing-field-initializers) # b) install robotcontrol.h and rc/* into $LIBROBOTCONTROL_INSTALL_DIR/include
list(APPEND added_c_flags -I/usr/local/include) # c) install pre-built native (ARM) version of librobotcontrol.* into $LIBROBOTCONTROL_INSTALL_DIR/lib
list(APPEND added_cxx_flags -I${LIBROBOTCONTROL_INSTALL_DIR}/include -Wno-missing-field-initializers)
list(APPEND added_c_flags -I${LIBROBOTCONTROL_INSTALL_DIR}/include)
list(APPEND added_exe_linker_flags -L/usr/local/lib) list(APPEND added_exe_linker_flags -L${LIBROBOTCONTROL_INSTALL_DIR}/lib)
endif() endif()
# output # output

4
posix-configs/bbblue/px4.config
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@ -71,9 +71,9 @@ mc_att_control start
#fw_att_control start #fw_att_control start
#fw_pos_control_l1 start #fw_pos_control_l1 start
mavlink start -x -u 14556 -r 1000000 mavlink start -n SoftAp -x -u 14556 -r 1000000
# -n name of wifi interface: SoftAp, wlan or your custom interface, # -n name of wifi interface: SoftAp, wlan or your custom interface,
# e.g., -n wlan . The default on BBBlue is SoftAp # e.g., -n SoftAp . The default is wlan
sleep 1 sleep 1

4
src/drivers/linux_pwm_out/bbblue_pwm_rc.cpp
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@ -30,7 +30,7 @@
* POSSIBILITY OF SUCH DAMAGE. * POSSIBILITY OF SUCH DAMAGE.
* *
****************************************************************************/ ****************************************************************************/
#ifdef __DF_BBBLUE #ifdef __PX4_POSIX_BBBLUE
#include <fcntl.h> #include <fcntl.h>
#include <errno.h> #include <errno.h>
@ -79,4 +79,4 @@ int BBBlueRcPWMOut::send_output_pwm(const uint16_t *pwm, int num_outputs)
return ret; return ret;
} }
#endif // __DF_BBBLUE #endif // __PX4_POSIX_BBBLUE

3
src/drivers/linux_sbus/linux_sbus.cpp
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@ -42,8 +42,7 @@ int RcInput::init()
/** /**
* initialize the data of each channel * initialize the data of each channel
*/ */
for (i = 0; i < input_rc_s::RC_INPUT_MAX_CHANNELS && i < 16; ++i) { for (i = 0; i < input_rc_s::RC_INPUT_MAX_CHANNELS; ++i) {
//_data.values defined as int[16] and RC_INPUT_MAX_CHANNELS (=18) > 16
_data.values[i] = UINT16_MAX; _data.values[i] = UINT16_MAX;
} }

10
src/modules/mavlink/mavlink_main.cpp
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@ -1150,12 +1150,8 @@ Mavlink::find_broadcast_address()
const struct in_addr netmask_addr = query_netmask_addr(_socket_fd, *cur_ifreq); const struct in_addr netmask_addr = query_netmask_addr(_socket_fd, *cur_ifreq);
const struct in_addr broadcast_addr = compute_broadcast_addr(sin_addr, netmask_addr); const struct in_addr broadcast_addr = compute_broadcast_addr(sin_addr, netmask_addr);
#ifdef __PX4_POSIX_BBBLUE
if (strstr(cur_ifreq->ifr_name, _mavlink_wifi_name) == NULL) { continue; } if (strstr(cur_ifreq->ifr_name, _mavlink_wifi_name) == NULL) { continue; }
#endif
PX4_INFO("using network interface %s, IP: %s", cur_ifreq->ifr_name, inet_ntoa(sin_addr)); PX4_INFO("using network interface %s, IP: %s", cur_ifreq->ifr_name, inet_ntoa(sin_addr));
PX4_INFO("with netmask: %s", inet_ntoa(netmask_addr)); PX4_INFO("with netmask: %s", inet_ntoa(netmask_addr));
PX4_INFO("and broadcast IP: %s", inet_ntoa(broadcast_addr)); PX4_INFO("and broadcast IP: %s", inet_ntoa(broadcast_addr));
@ -1951,9 +1947,7 @@ Mavlink::task_main(int argc, char *argv[])
_mode = MAVLINK_MODE_NORMAL; _mode = MAVLINK_MODE_NORMAL;
bool _force_flow_control = false; bool _force_flow_control = false;
#ifdef __PX4_POSIX_BBBLUE _mavlink_wifi_name = __DEFAULT_MAVLINK_WIFI;
_mavlink_wifi_name = __PX4_BBBLUE_DEFAULT_MAVLINK_WIFI;
#endif
#ifdef __PX4_NUTTX #ifdef __PX4_NUTTX
/* the NuttX optarg handler does not /* the NuttX optarg handler does not
@ -2004,9 +1998,7 @@ Mavlink::task_main(int argc, char *argv[])
break; break;
case 'n': case 'n':
#ifdef __PX4_POSIX_BBBLUE
_mavlink_wifi_name = myoptarg; _mavlink_wifi_name = myoptarg;
#endif
break; break;
#ifdef __PX4_POSIX #ifdef __PX4_POSIX

8
src/modules/mavlink/mavlink_main.h
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@ -63,10 +63,8 @@
#include <net/if.h> #include <net/if.h>
#endif #endif
#ifdef __PX4_POSIX_BBBLUE #ifndef __DEFAULT_MAVLINK_WIFI
#ifndef __PX4_BBBLUE_DEFAULT_MAVLINK_WIFI #define __DEFAULT_MAVLINK_WIFI "wlan"
#define __PX4_BBBLUE_DEFAULT_MAVLINK_WIFI "SoftAp"
#endif
#endif #endif
#include <uORB/uORB.h> #include <uORB/uORB.h>
@ -608,9 +606,7 @@ private:
unsigned _network_buf_len; unsigned _network_buf_len;
#endif #endif
#ifdef __PX4_POSIX_BBBLUE
const char *_mavlink_wifi_name; const char *_mavlink_wifi_name;
#endif
int _socket_fd; int _socket_fd;
Protocol _protocol; Protocol _protocol;

2
src/modules/sensors/sensor_params_battery.c
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@ -98,7 +98,7 @@ PARAM_DEFINE_FLOAT(BAT_A_PER_V, -1.0);
* means that measurements are expected to come from a power module. If the value is set to * means that measurements are expected to come from a power module. If the value is set to
* 'External' then the system expects to receive mavlink battery status messages. * 'External' then the system expects to receive mavlink battery status messages.
* *
* @min -1 * @min 0
* @max 1 * @max 1
* @value 0 Power Module * @value 0 Power Module
* @value 1 External * @value 1 External

1
src/modules/sensors/voted_sensors_update.cpp
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@ -626,7 +626,6 @@ void VotedSensorsUpdate::accel_poll(struct sensor_combined_s &raw)
// write the best sensor data to the output variables // write the best sensor data to the output variables
if (best_index >= 0) { if (best_index >= 0) {
raw.timestamp = _last_sensor_data[best_index].timestamp;
raw.accelerometer_integral_dt = _last_sensor_data[best_index].accelerometer_integral_dt; raw.accelerometer_integral_dt = _last_sensor_data[best_index].accelerometer_integral_dt;
memcpy(&raw.accelerometer_m_s2, &_last_sensor_data[best_index].accelerometer_m_s2, sizeof(raw.accelerometer_m_s2)); memcpy(&raw.accelerometer_m_s2, &_last_sensor_data[best_index].accelerometer_m_s2, sizeof(raw.accelerometer_m_s2));