From b3b91921ec45a756edb1f5a263cf37fcf1976d0b Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 8 Sep 2015 11:51:33 +0200 Subject: [PATCH 1/4] UART1 is only used for debug, save unnecessary RAM used in its buffering --- nuttx-configs/px4fmu-v2/nsh/defconfig | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/nuttx-configs/px4fmu-v2/nsh/defconfig b/nuttx-configs/px4fmu-v2/nsh/defconfig index 59abc22fb6..8f6af5d6b4 100644 --- a/nuttx-configs/px4fmu-v2/nsh/defconfig +++ b/nuttx-configs/px4fmu-v2/nsh/defconfig @@ -551,8 +551,8 @@ CONFIG_UART7_SERIAL_CONSOLE=y # # USART1 Configuration # -CONFIG_USART1_RXBUFSIZE=600 -CONFIG_USART1_TXBUFSIZE=600 +CONFIG_USART1_RXBUFSIZE=128 +CONFIG_USART1_TXBUFSIZE=32 CONFIG_USART1_BAUD=115200 CONFIG_USART1_BITS=8 CONFIG_USART1_PARITY=0 From a470e03cf0dc50665b1327479ed74d89722f4f32 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 8 Sep 2015 18:19:29 +0200 Subject: [PATCH 2/4] Rearrange default stream rates for MAVLink --- src/modules/mavlink/mavlink_main.cpp | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index dee3fc7e35..ea810c8233 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -1642,7 +1642,8 @@ Mavlink::task_main(int argc, char *argv[]) configure_stream("GPS_RAW_INT", 1.0f); configure_stream("GLOBAL_POSITION_INT", 3.0f); configure_stream("LOCAL_POSITION_NED", 3.0f); - configure_stream("RC_CHANNELS", 4.0f); + configure_stream("RC_CHANNELS", 1.0f); + configure_stream("SERVO_OUTPUT_RAW_0", 1.0f); configure_stream("POSITION_TARGET_GLOBAL_INT", 3.0f); configure_stream("ATTITUDE_TARGET", 8.0f); configure_stream("DISTANCE_SENSOR", 0.5f); @@ -1664,6 +1665,7 @@ Mavlink::task_main(int argc, char *argv[]) configure_stream("DISTANCE_SENSOR", 10.0f); configure_stream("OPTICAL_FLOW_RAD", 10.0f); configure_stream("RC_CHANNELS", 20.0f); + configure_stream("SERVO_OUTPUT_RAW_0", 10.0f); configure_stream("VFR_HUD", 10.0f); configure_stream("SYSTEM_TIME", 1.0f); configure_stream("TIMESYNC", 10.0f); @@ -1683,6 +1685,7 @@ Mavlink::task_main(int argc, char *argv[]) configure_stream("BATTERY_STATUS", 1.0f); configure_stream("SYSTEM_TIME", 1.0f); configure_stream("RC_CHANNELS", 5.0f); + configure_stream("SERVO_OUTPUT_RAW_0", 1.0f); configure_stream("VTOL_STATE", 0.5f); break; @@ -1696,7 +1699,7 @@ Mavlink::task_main(int argc, char *argv[]) configure_stream("VFR_HUD", 20.0f); configure_stream("ATTITUDE", 100.0f); configure_stream("ACTUATOR_CONTROL_TARGET0", 30.0f); - configure_stream("RC_CHANNELS_RAW", 5.0f); + configure_stream("RC_CHANNELS", 5.0f); configure_stream("SERVO_OUTPUT_RAW_0", 20.0f); configure_stream("SERVO_OUTPUT_RAW_1", 20.0f); configure_stream("POSITION_TARGET_GLOBAL_INT", 10.0f); From c815ddb661a006d3fb675bb68baca54e485159f7 Mon Sep 17 00:00:00 2001 From: Mark Charlebois Date: Tue, 8 Sep 2015 19:45:48 -0700 Subject: [PATCH 3/4] qurt: Updated dspal version Added missing extern "C" blocks Signed-off-by: Mark Charlebois --- src/lib/dspal | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/lib/dspal b/src/lib/dspal index 1741154446..e691659c00 160000 --- a/src/lib/dspal +++ b/src/lib/dspal @@ -1 +1 @@ -Subproject commit 1741154446c7c92c6e632d7ee1619c6d4174bf2d +Subproject commit e691659c000a63be6f6db0d9a367ed5a705fbdee From 10171df59a016418279569a15ca0e1ae3e2b0bc7 Mon Sep 17 00:00:00 2001 From: tumbili Date: Wed, 9 Sep 2015 22:57:21 +0200 Subject: [PATCH 4/4] ll40ls: do not start driver if already started --- src/drivers/ll40ls/ll40ls.cpp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/src/drivers/ll40ls/ll40ls.cpp b/src/drivers/ll40ls/ll40ls.cpp index 71f4134790..a4c8720dbc 100644 --- a/src/drivers/ll40ls/ll40ls.cpp +++ b/src/drivers/ll40ls/ll40ls.cpp @@ -113,6 +113,10 @@ LidarLite * get_dev(const bool use_i2c, const int bus) { */ void start(const bool use_i2c, const int bus) { + if (g_dev_int != nullptr || g_dev_ext != nullptr || g_dev_pwm != nullptr) { + errx(1,"driver already started"); + } + if (use_i2c) { /* create the driver, attempt expansion bus first */ if (bus == -1 || bus == PX4_I2C_BUS_EXPANSION) { @@ -464,7 +468,6 @@ ll40ls_main(int argc, char *argv[]) /* Start/load the driver. */ if (!strcmp(verb, "start")) { - ll40ls::start(use_i2c, bus); }