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px4-firmware
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Add a receive error counter for debugging purposes.

This commit is contained in:
px4dev 2012-12-30 01:16:54 -08:00
parent b14abad3a0
commit c740e9c616
1 changed files with 6 additions and 3 deletions
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9
apps/px4io/comms.c
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@ -70,6 +70,8 @@ static struct px4io_report report;
static void comms_handle_frame(void *arg, const void *buffer, size_t length);
perf_counter_t comms_rx_errors;
static void
comms_init(void)
{
@ -77,6 +79,9 @@ comms_init(void)
fmu_fd = open("/dev/ttyS1", O_RDWR);
stream = hx_stream_init(fmu_fd, comms_handle_frame, NULL);
comms_rx_errors = perf_alloc(PC_COUNT, "rx_err");
hx_stream_set_counters(stream, 0, 0, comms_rx_errors);
/* default state in the report to FMU */
report.i2f_magic = I2F_MAGIC;
@ -175,15 +180,13 @@ comms_handle_command(const void *buffer, size_t length)
system_state.fmu_channel_data[i] = cmd->output_control[i];
/* if the IO is armed and the FMU gets disarmed, the IO must also disarm */
if (system_state.arm_ok && !cmd->arm_ok) {
if (system_state.arm_ok && !cmd->arm_ok)
system_state.armed = false;
}
system_state.arm_ok = cmd->arm_ok;
system_state.mixer_use_fmu = true;
system_state.fmu_data_received = true;
/* handle changes signalled by FMU */
// if (!system_state.arm_ok && system_state.armed)
// system_state.armed = false;