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Final parameter interface cleanup - removed last bit of old cruft, fixed a bug on parameter update notification, cleaned up API slightly in naming

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This commit is contained in:
Lorenz Meier
2012-08-27 22:57:20 +02:00
parent 2a6a151342
commit 2d2548e714
15 changed files with 82 additions and 636 deletions
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apps/commander/commander.c
+9 -9
View File
@@ -125,8 +125,8 @@ static void led_deinit(void);
static int led_toggle(int led);
static int led_on(int led);
static int led_off(int led);
static void do_gyro_calibration(int status_pub, struct vehicle_status_s *current_status);
static void do_mag_calibration(int status_pub, struct vehicle_status_s *current_status);
static void do_gyro_calibration(int status_pub, struct vehicle_status_s *status);
static void do_mag_calibration(int status_pub, struct vehicle_status_s *status);
static void handle_command(int status_pub, struct vehicle_status_s *current_status, struct vehicle_command_s *cmd);
int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, uint8_t new_state);
@@ -444,7 +444,7 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
close(sub_sensor_combined);
}
void do_gyro_calibration(int status_pub, struct vehicle_status_s *current_status)
void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
{
const int calibration_count = 3000;
@@ -942,13 +942,13 @@ int commander_thread_main(int argc, char *argv[])
led_toggle(LED_AMBER);
} else {
/* Constant error indication in standby mode without GPS */
if (flight_env == PX4_FLIGHT_ENVIRONMENT_OUTDOOR && !current_status.gps_valid) {
led_on(LED_AMBER);
// /* Constant error indication in standby mode without GPS */
// if (!current_status.gps_valid) {
// led_on(LED_AMBER);
} else {
led_off(LED_AMBER);
}
// } else {
// led_off(LED_AMBER);
// }
}
if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {
apps/commander/state_machine_helper.c
+10 -7
View File
@@ -39,7 +39,7 @@
*/
#include <stdio.h>
#include "state_machine_helper.h"
#include <unistd.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
@@ -47,6 +47,8 @@
#include <arch/board/up_hrt.h>
#include <mavlink/mavlink_log.h>
#include "state_machine_helper.h"
static const char* system_state_txt[] = {
"SYSTEM_STATE_PREFLIGHT",
"SYSTEM_STATE_STANDBY",
@@ -75,14 +77,12 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
switch (new_state) {
case SYSTEM_STATE_MISSION_ABORT: {
/* Indoor or outdoor */
uint8_t flight_environment_parameter = (uint8_t)(global_data_parameter_storage->pm.param_values[PARAM_FLIGHT_ENV]);
if (flight_environment_parameter == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) {
// if (flight_environment_parameter == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) {
ret = do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_EMCY_LANDING);
} else {
ret = do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_EMCY_CUTOFF);
}
// } else {
// ret = do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_EMCY_CUTOFF);
// }
}
break;
@@ -198,10 +198,13 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
if (invalid_state == false || old_state != new_state) {
current_status->state_machine = new_state;
state_machine_publish(status_pub, current_status, mavlink_fd);
ret = OK;
}
if (invalid_state) {
mavlink_log_critical(mavlink_fd, "[commander] REJECTING invalid state transition");
ret = ERROR;
}
return ret;
}
void state_machine_publish(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) {