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px4-firmware
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Merge remote-tracking branch 'upstream/master' into dev_ros

This commit is contained in:
Thomas Gubler 2014-11-25 09:03:06 +01:00
parent e2f846ee2f 7cb613bb26
commit bb8375e1f6
7 changed files with 40 additions and 21 deletions
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5
src/drivers/px4io/px4io.cpp
View File

@ -817,6 +817,11 @@ PX4IO::init()
}
/* set safety to off if circuit breaker enabled */
if (circuit_breaker_enabled("CBRK_IO_SAFETY", CBRK_IO_SAFETY_KEY)) {
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, PX4IO_FORCE_SAFETY_MAGIC);
}
/* try to claim the generic PWM output device node as well - it's OK if we fail at this */
ret = register_driver(PWM_OUTPUT_DEVICE_PATH, &fops, 0666, (void *)this);

5
src/modules/commander/commander.cpp
View File

@ -1548,7 +1548,7 @@ int commander_thread_main(int argc, char *argv[])
} else {
if (status.rc_signal_lost) {
mavlink_log_critical(mavlink_fd, "RC signal regained");
mavlink_log_critical(mavlink_fd, "RC SIGNAL REGAINED after %llums",(hrt_absolute_time()-status.rc_signal_lost_timestamp)/1000);
status_changed = true;
}
}
@ -1649,8 +1649,9 @@ int commander_thread_main(int argc, char *argv[])
} else {
if (!status.rc_signal_lost) {
mavlink_log_critical(mavlink_fd, "RC SIGNAL LOST");
mavlink_log_critical(mavlink_fd, "RC SIGNAL LOST (at t=%llums)",hrt_absolute_time()/1000);
status.rc_signal_lost = true;
status.rc_signal_lost_timestamp=sp_man.timestamp;
status_changed = true;
}
}

2
src/modules/commander/state_machine_helper.cpp
View File

@ -706,7 +706,7 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
}
if (fabsf(airspeed.indicated_airspeed_m_s > 6.0f)) {
mavlink_log_critical(mavlink_fd, "AIRSPEED WARNING: WIND OR CALIBRATION MISSING");
mavlink_log_critical(mavlink_fd, "AIRSPEED WARNING: WIND OR CALIBRATION ISSUE");
// XXX do not make this fatal yet
}
}

20
src/modules/px4iofirmware/mixer.cpp
View File

@ -353,12 +353,16 @@ static unsigned mixer_text_length = 0;
int
mixer_handle_text(const void *buffer, size_t length)
{
/* do not allow a mixer change while safety off */
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)) {
/* do not allow a mixer change while safety off and FMU armed */
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) &&
(r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)) {
return 1;
}
/* abort if we're in the mixer */
/* disable mixing, will be enabled once load is complete */
r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_MIXER_OK);
/* abort if we're in the mixer - the caller is expected to retry */
if (in_mixer) {
return 1;
}
@ -367,17 +371,16 @@ mixer_handle_text(const void *buffer, size_t length)
isr_debug(2, "mix txt %u", length);
if (length < sizeof(px4io_mixdata))
if (length < sizeof(px4io_mixdata)) {
return 0;
}
unsigned text_length = length - sizeof(px4io_mixdata);
unsigned text_length = length - sizeof(px4io_mixdata);
switch (msg->action) {
case F2I_MIXER_ACTION_RESET:
isr_debug(2, "reset");
/* FIRST mark the mixer as invalid */
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK;
/* THEN actually delete it */
mixer_group.reset();
mixer_text_length = 0;
@ -386,9 +389,6 @@ mixer_handle_text(const void *buffer, size_t length)
case F2I_MIXER_ACTION_APPEND:
isr_debug(2, "append %d", length);
/* disable mixing during the update */
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK;
/* check for overflow - this would be really fatal */
if ((mixer_text_length + text_length + 1) > sizeof(mixer_text)) {
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK;

21
src/modules/px4iofirmware/registers.c
View File

@ -407,10 +407,11 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
/* handle text going to the mixer parser */
case PX4IO_PAGE_MIXERLOAD:
if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) ||
(r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) {
return mixer_handle_text(values, num_values * sizeof(*values));
}
/* do not change the mixer if FMU is armed and IO's safety is off
* this state defines an active system. This check is done in the
* text handling function.
*/
return mixer_handle_text(values, num_values * sizeof(*values));
break;
default:
@ -583,8 +584,10 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
break;
case PX4IO_P_SETUP_REBOOT_BL:
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) ||
(r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) {
// do not reboot if FMU is armed and IO's safety is off
// this state defines an active system.
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) &&
(r_status_flags & PX4IO_P_SETUP_ARMING_FMU_ARMED)) {
// don't allow reboot while armed
break;
}
@ -631,9 +634,11 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
/**
* do not allow a RC config change while outputs armed
* = FMU is armed and IO's safety is off
* this state defines an active system.
*/
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) ||
(r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) {
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) &&
(r_status_flags & PX4IO_P_SETUP_ARMING_FMU_ARMED)) {
break;
}

7
src/modules/sdlog2/sdlog2.c
View File

@ -496,6 +496,8 @@ static void *logwriter_thread(void *arg)
/* set name */
prctl(PR_SET_NAME, "sdlog2_writer", 0);
perf_counter_t perf_write = perf_alloc(PC_ELAPSED, "sd write");
int log_fd = open_log_file();
if (log_fd < 0) {
@ -553,7 +555,9 @@ static void *logwriter_thread(void *arg)
n = available;
}
perf_begin(perf_write);
n = write(log_fd, read_ptr, n);
perf_end(perf_write);
should_wait = (n == available) && !is_part;
@ -586,6 +590,9 @@ static void *logwriter_thread(void *arg)
fsync(log_fd);
close(log_fd);
/* free performance counter */
perf_free(perf_write);
return NULL;
}

1
src/modules/uORB/topics/vehicle_status.h
View File

@ -201,6 +201,7 @@ struct vehicle_status_s {
bool rc_signal_found_once;
bool rc_signal_lost; /**< true if RC reception lost */
uint64_t rc_signal_lost_timestamp; /**< Time at which the RC reception was lost */
bool rc_signal_lost_cmd; /**< true if RC lost mode is commanded */
bool rc_input_blocked; /**< set if RC input should be ignored */