forked from Archive/PX4-Autopilot
Changes to allow the commander module to be built and run on Qurt (#21186)
* Changed exclusion to rely on the definition of PX4_STORAGEDIR
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@ -12,6 +12,7 @@ CONFIG_MODULES_MC_POS_CONTROL=y
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CONFIG_MODULES_MC_RATE_CONTROL=y
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CONFIG_MODULES_MUORB_SLPI=y
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CONFIG_MODULES_SENSORS=y
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CONFIG_MODULES_COMMANDER=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_UORB=y
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CONFIG_ORB_COMMUNICATOR=y
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@ -99,7 +99,10 @@ __END_DECLS
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#define PX4_ROOTFSDIR CONFIG_BOARD_ROOTFSDIR
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// Qurt doesn't have an SD card for storage
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#ifndef __PX4_QURT
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#define PX4_STORAGEDIR PX4_ROOTFSDIR
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#endif
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/****************************************************************************
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* Defines for POSIX and ROS
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@ -166,11 +166,12 @@ static px4_task_t px4_task_spawn_internal(const char *name, int priority, px4_ma
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return -1;
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} else {
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//px4_clock_gettimemap[task_index].argv_storage[i], argv[i]);
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strcpy(taskmap[task_index].argv_storage[i], argv[i]);
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taskmap[task_index].argv[i] = taskmap[task_index].argv_storage[i];
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}
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} else {
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// Must add NULL at end of argv
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taskmap[task_index].argv[i] = nullptr;
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break;
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}
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@ -420,13 +421,13 @@ int px4_sem_timedwait(px4_sem_t *sem, const struct timespec *ts)
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return 0;
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}
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int px4_prctl(int option, const char *arg2, pthread_t pid)
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int px4_prctl(int option, const char *arg2, px4_task_t pid)
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{
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int rv = -1;
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pthread_mutex_lock(&task_mutex);
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for (int i = 0; i < PX4_MAX_TASKS; i++) {
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if (taskmap[i].isused && taskmap[i].tid == pid) {
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if (taskmap[i].isused && taskmap[i].tid == (pthread_t) pid) {
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rv = pthread_attr_setthreadname(&taskmap[i].attr, arg2);
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return rv;
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}
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@ -50,7 +50,7 @@
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#include <uORB/topics/qshell_retval.h>
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#include <drivers/drv_hrt.h>
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#define MAX_ARGS 8 // max number of whitespace separated args after app name
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#define MAX_ARGS 16 // max number of whitespace separated args after app name
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px4::AppState QShell::appState;
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@ -231,8 +231,10 @@ private:
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hrt_abstime _last_disarmed_timestamp{0};
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hrt_abstime _overload_start{0}; ///< time when CPU overload started
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hrt_abstime _led_armed_state_toggle{0};
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hrt_abstime _led_overload_toggle{0};
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#if !defined(CONFIG_ARCH_LEDS) && defined(BOARD_HAS_CONTROL_STATUS_LEDS)
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hrt_abstime _led_armed_state_toggle {0};
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#endif
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hrt_abstime _led_overload_toggle {0};
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hrt_abstime _last_health_and_arming_check{0};
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@ -40,6 +40,7 @@
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#include <uORB/topics/vehicle_status.h>
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#include <uORB/topics/failsafe_flags.h>
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#include <systemlib/mavlink_log.h>
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#include <drivers/drv_hrt.h>
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#include <stdint.h>
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#include <limits.h>
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@ -68,7 +68,6 @@
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#include "checks/vtolCheck.hpp"
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#include "checks/offboardCheck.hpp"
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class HealthAndArmingChecks : public ModuleParams
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{
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public:
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@ -38,12 +38,14 @@
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#ifdef __PX4_DARWIN
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#include <sys/param.h>
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#include <sys/mount.h>
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#else
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#elif defined(PX4_STORAGEDIR)
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#include <sys/statfs.h>
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#endif
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void SdCardChecks::checkAndReport(const Context &context, Report &reporter)
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{
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#ifdef PX4_STORAGEDIR
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if (_param_com_arm_sdcard.get() > 0) {
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struct statfs statfs_buf;
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@ -125,4 +127,5 @@ void SdCardChecks::checkAndReport(const Context &context, Report &reporter)
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}
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#endif /* __PX4_NUTTX */
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#endif /* PX4_STORAGEDIR */
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}
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@ -44,11 +44,13 @@ public:
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void checkAndReport(const Context &context, Report &reporter) override;
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private:
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bool _sdcard_detected{false};
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#ifdef PX4_STORAGEDIR
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bool _sdcard_detected {false};
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#ifdef __PX4_NUTTX
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bool _hardfault_checked_once {false};
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bool _hardfault_file_present{false};
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bool _hardfault_file_present {false};
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#endif
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#endif
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DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase,
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