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

BAROSIM: Fixed error in transfer function 

The transfer function would previously return error if the receive
buffer length was 0. This appears to be a valid condition for
requesting a measurmement be taken but no data returned.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois 2015-05-18 13:29:20 -07:00
parent 466db74d29
commit 791d780bb8
2 changed files with 13 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
src/platforms/posix/drivers/barosim/baro.cpp
View File

@ -280,7 +280,7 @@ BAROSIM::init()
/* do temperature first */ /* do temperature first */
if (OK != measure()) { if (OK != measure()) {
ret = -EIO; ret = -EIO;
PX4_WARN("temp measure failed"); PX4_ERR("temp measure failed");
break; break;
} }
@ -288,14 +288,14 @@ BAROSIM::init()
if (OK != collect()) { if (OK != collect()) {
ret = -EIO; ret = -EIO;
PX4_WARN("temp collect failed"); PX4_ERR("temp collect failed");
break; break;
} }
/* now do a pressure measurement */ /* now do a pressure measurement */
if (OK != measure()) { if (OK != measure()) {
ret = -EIO; ret = -EIO;
PX4_WARN("pressure collect failed"); PX4_ERR("pressure collect failed");
break; break;
} }
@ -303,7 +303,7 @@ BAROSIM::init()
if (OK != collect()) { if (OK != collect()) {
ret = -EIO; ret = -EIO;
PX4_WARN("pressure collect failed"); PX4_ERR("pressure collect failed");
break; break;
} }
@ -316,7 +316,7 @@ BAROSIM::init()
&_orb_class_instance, (is_external()) ? ORB_PRIO_HIGH : ORB_PRIO_DEFAULT); &_orb_class_instance, (is_external()) ? ORB_PRIO_HIGH : ORB_PRIO_DEFAULT);
if (_baro_topic == (orb_advert_t)(-1)) { if (_baro_topic == (orb_advert_t)(-1)) {
PX4_WARN("failed to create sensor_baro publication"); PX4_ERR("failed to create sensor_baro publication");
} }
//PX4_WARN("sensor_baro publication %ld", _baro_topic); //PX4_WARN("sensor_baro publication %ld", _baro_topic);
@ -728,7 +728,7 @@ BAROSIM::collect()
orb_publish(ORB_ID(sensor_baro), _baro_topic, &report); orb_publish(ORB_ID(sensor_baro), _baro_topic, &report);
} }
else { else {
PX4_ERR("BAROSIM::collect _baro_topic not initialized"); PX4_WARN("BAROSIM::collect _baro_topic not initialized");
} }
} }

9
src/platforms/posix/drivers/barosim/baro_sim.cpp
View File

@ -201,15 +201,20 @@ BARO_SIM::transfer(const uint8_t *send, unsigned send_len,
{ {
// TODO add Simulation data connection so calls retrieve // TODO add Simulation data connection so calls retrieve
// data from the simulator // data from the simulator
if (recv_len == 0) {
if (send_len != 1 || send[0] != 0 || recv_len != 3) { PX4_DEBUG("BARO_SIM measurement requested");
}
else if (send_len != 1 || send[0] != 0 || recv_len != 3) {
PX4_WARN("BARO_SIM::transfer invalid param %u %u %u\n", send_len, send[0], recv_len);
return 1; return 1;
} }
else { else {
Simulator *sim = Simulator::getInstance(); Simulator *sim = Simulator::getInstance();
if (sim == NULL) { if (sim == NULL) {
PX4_ERR("Error BARO_SIM::transfer no simulator \n");
return -ENODEV; return -ENODEV;
} }
PX4_DEBUG("BARO_SIM::transfer getting sample\n");
sim->getBaroSample(recv, recv_len); sim->getBaroSample(recv, recv_len);
} }
return 0; return 0;