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

Datamanager: Rename mavlink/offboard key

This commit is contained in:
Julian Oes 2013-12-14 20:54:25 +01:00
parent bed40c962e
commit 6a624abd7c
4 changed files with 10 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
src/modules/dataman/dataman.c
View File

@ -111,7 +111,7 @@ static unsigned g_func_counts[dm_number_of_funcs];
static const unsigned g_per_item_max_index[DM_KEY_NUM_KEYS] = {
DM_KEY_SAFE_POINTS_MAX,
DM_KEY_FENCE_POINTS_MAX,
DM_KEY_WAYPOINTS_MAX,
DM_KEY_WAYPOINTS_OFFBOARD_MAX,
DM_KEY_WAYPOINTS_ONBOARD_MAX
};

4
src/modules/dataman/dataman.h
View File

@ -50,7 +50,7 @@ extern "C" {
typedef enum {
DM_KEY_SAFE_POINTS = 0, /* Safe points coordinates, safe point 0 is home point */
DM_KEY_FENCE_POINTS, /* Fence vertex coordinates */
DM_KEY_WAYPOINTS, /* Mission way point coordinates sent over mavlink */
DM_KEY_WAYPOINTS_OFFBOARD, /* Mission way point coordinates sent over mavlink */
DM_KEY_WAYPOINTS_ONBOARD, /* Mission way point coordinates generated onboard */
DM_KEY_NUM_KEYS /* Total number of item types defined */
} dm_item_t;
@ -59,7 +59,7 @@ extern "C" {
enum {
DM_KEY_SAFE_POINTS_MAX = 8,
DM_KEY_FENCE_POINTS_MAX = GEOFENCE_MAX_VERTICES,
DM_KEY_WAYPOINTS_MAX = NUM_MISSIONS_SUPPORTED,
DM_KEY_WAYPOINTS_OFFBOARD_MAX = NUM_MISSIONS_SUPPORTED,
DM_KEY_WAYPOINTS_ONBOARD_MAX = NUM_MISSIONS_SUPPORTED
};

6
src/modules/mavlink/waypoints.c
View File

@ -701,7 +701,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t *msg, const struct vehi
struct mission_item_s mission_item;
ssize_t len = sizeof(struct mission_item_s);
if (dm_read(DM_KEY_WAYPOINTS, wpr.seq, &mission_item, len) == len) {
if (dm_read(DM_KEY_WAYPOINTS_OFFBOARD, wpr.seq, &mission_item, len) == len) {
if (mission.current_index == wpr.seq) {
wp.current = true;
@ -975,7 +975,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t *msg, const struct vehi
size_t len = sizeof(struct mission_item_s);
if (dm_write(DM_KEY_WAYPOINTS, wp.seq, DM_PERSIST_IN_FLIGHT_RESET, &mission_item, len) != len) {
if (dm_write(DM_KEY_WAYPOINTS_OFFBOARD, wp.seq, DM_PERSIST_IN_FLIGHT_RESET, &mission_item, len) != len) {
mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ERROR);
wpm->current_state = MAVLINK_WPM_STATE_IDLE;
break;
@ -1117,7 +1117,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t *msg, const struct vehi
/* prepare mission topic */
mission.count = 0;
if (dm_clear(DM_KEY_WAYPOINTS) == OK) {
if (dm_clear(DM_KEY_WAYPOINTS_OFFBOARD) == OK) {
mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ACCEPTED);
} else {
mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ERROR);

8
src/systemcmds/tests/test_dataman.c
View File

@ -89,7 +89,7 @@ task_main(int argc, char *argv[])
unsigned hash = i ^ my_id;
unsigned len = (hash & 63) + 2;
int ret = dm_write(DM_KEY_WAYPOINTS, hash, DM_PERSIST_IN_FLIGHT_RESET, buffer, len);
int ret = dm_write(DM_KEY_WAYPOINTS_OFFBOARD, hash, DM_PERSIST_IN_FLIGHT_RESET, buffer, len);
warnx("ret: %d", ret);
if (ret != len) {
warnx("%d write failed, index %d, length %d", my_id, hash, len);
@ -103,7 +103,7 @@ task_main(int argc, char *argv[])
for (unsigned i = 0; i < NUM_MISSIONS_SUPPORTED; i++) {
unsigned hash = i ^ my_id;
unsigned len2, len = (hash & 63) + 2;
if ((len2 = dm_read(DM_KEY_WAYPOINTS, hash, buffer, sizeof(buffer))) < 2) {
if ((len2 = dm_read(DM_KEY_WAYPOINTS_OFFBOARD, hash, buffer, sizeof(buffer))) < 2) {
warnx("%d read failed length test, index %d", my_id, hash);
goto fail;
}
@ -163,7 +163,7 @@ int test_dataman(int argc, char *argv[])
free(sems);
dm_restart(DM_INIT_REASON_IN_FLIGHT);
for (i = 0; i < NUM_MISSIONS_SUPPORTED; i++) {
if (dm_read(DM_KEY_WAYPOINTS, i, buffer, sizeof(buffer)) != 0)
if (dm_read(DM_KEY_WAYPOINTS_OFFBOARD, i, buffer, sizeof(buffer)) != 0)
break;
}
if (i >= NUM_MISSIONS_SUPPORTED) {
@ -173,7 +173,7 @@ int test_dataman(int argc, char *argv[])
}
dm_restart(DM_INIT_REASON_POWER_ON);
for (i = 0; i < NUM_MISSIONS_SUPPORTED; i++) {
if (dm_read(DM_KEY_WAYPOINTS, i, buffer, sizeof(buffer)) != 0) {
if (dm_read(DM_KEY_WAYPOINTS_OFFBOARD, i, buffer, sizeof(buffer)) != 0) {
warnx("Restart power-on failed");
return -1;
}