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commander: Running a bit low on space

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This commit is contained in:
Lorenz Meier
2016-08-29 22:47:07 +02:00
parent 36acb90680
commit 2a90f7e9c0
1 changed files with 4 additions and 12 deletions
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src/modules/commander/commander.cpp
+4 -12
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@@ -299,7 +299,7 @@ int commander_main(int argc, char *argv[])
daemon_task = px4_task_spawn_cmd("commander", daemon_task = px4_task_spawn_cmd("commander",
SCHED_DEFAULT, SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT + 40, SCHED_PRIORITY_DEFAULT + 40,
3000, 3100,
commander_thread_main, commander_thread_main,
(char * const *)&argv[0]); (char * const *)&argv[0]);
@@ -1084,7 +1084,6 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
case vehicle_command_s::VEHICLE_CMD_DO_SET_CAM_TRIGG_DIST: case vehicle_command_s::VEHICLE_CMD_DO_SET_CAM_TRIGG_DIST:
case vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT: case vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT:
case vehicle_command_s::VEHICLE_CMD_DO_CHANGE_SPEED: case vehicle_command_s::VEHICLE_CMD_DO_CHANGE_SPEED:
case vehicle_command_s::VEHICLE_CMD_DO_GO_AROUND:
case vehicle_command_s::VEHICLE_CMD_START_RX_PAIR: case vehicle_command_s::VEHICLE_CMD_START_RX_PAIR:
/* ignore commands that handled in low prio loop */ /* ignore commands that handled in low prio loop */
break; break;
@@ -2929,20 +2928,13 @@ check_valid(hrt_abstime timestamp, hrt_abstime timeout, bool valid_in, bool *val
void void
control_status_leds(vehicle_status_s *status_local, const actuator_armed_s *actuator_armed, bool changed, battery_status_s *battery_local, const cpuload_s *cpuload_local) control_status_leds(vehicle_status_s *status_local, const actuator_armed_s *actuator_armed, bool changed, battery_status_s *battery_local, const cpuload_s *cpuload_local)
{ {
bool overload = (cpuload_local->load > 0.75f) || (cpuload_local->ram_usage > 0.98f);
/* driving rgbled */ /* driving rgbled */
if (changed) { if (changed) {
bool set_normal_color = false; bool set_normal_color = false;
bool hotplug_timeout = hrt_elapsed_time(&commander_boot_timestamp) > HOTPLUG_SENS_TIMEOUT; bool hotplug_timeout = hrt_elapsed_time(&commander_boot_timestamp) > HOTPLUG_SENS_TIMEOUT;
/* set mode */ /* set mode */
if (overload) { if (status_local->arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
rgbled_set_mode(RGBLED_MODE_BLINK_FAST);
rgbled_set_color(RGBLED_COLOR_PURPLE);
set_normal_color = false;
} else if (status_local->arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
rgbled_set_mode(RGBLED_MODE_ON); rgbled_set_mode(RGBLED_MODE_ON);
set_normal_color = true; set_normal_color = true;
@@ -3004,8 +2996,8 @@ control_status_leds(vehicle_status_s *status_local, const actuator_armed_s *actu
#endif #endif
/* give system warnings on error LED */ /* give system warnings on error LED, XXX maybe add memory usage warning too */
if (overload) { if (cpuload_local->load > 0.95f) {
if (leds_counter % 2 == 0) { if (leds_counter % 2 == 0) {
led_toggle(LED_AMBER); led_toggle(LED_AMBER);
} }