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Various fixes for params interface

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This commit is contained in:
Lorenz Meier
2012-08-16 15:49:56 +02:00
parent e95662f505
commit 46c4b987cc
5 changed files with 53 additions and 35 deletions
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apps/commander/Makefile
+2 -2
View File
@@ -36,8 +36,8 @@
#
APPNAME = commander
PRIORITY = SCHED_PRIORITY_MAX - 10
STACKSIZE = 3072
PRIORITY = SCHED_PRIORITY_MAX - 30
STACKSIZE = 2048
INCLUDES = $(TOPDIR)/../mavlink/include/mavlink
apps/commander/commander.c
+26 -21
View File
@@ -532,8 +532,9 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT);
if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) {
mavlink_log_info(mavlink_fd, "[commander] starting gyro calibration");
mavlink_log_info(mavlink_fd, "[commander] CMD starting gyro calibration");
do_gyro_calibration(status_pub, &current_status);
mavlink_log_info(mavlink_fd, "[commander] CMD finished gyro calibration");
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
result = MAV_RESULT_ACCEPTED;
} else {
@@ -549,12 +550,13 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT);
if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) {
mavlink_log_info(mavlink_fd, "[commander] starting mag calibration");
mavlink_log_info(mavlink_fd, "[commander] CMD starting mag calibration");
do_mag_calibration(status_pub, &current_status);
mavlink_log_info(mavlink_fd, "[commander] CMD finished mag calibration");
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
result = MAV_RESULT_ACCEPTED;
} else {
mavlink_log_critical(mavlink_fd, "[commander] REJECTING mag calibration");
mavlink_log_critical(mavlink_fd, "[commander] CMD REJECTING mag calibration");
result = MAV_RESULT_DENIED;
}
handled = true;
@@ -562,8 +564,8 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
/* none found */
if (!handled) {
fprintf(stderr, "[commander] refusing unsupported calibration request\n");
mavlink_log_critical(mavlink_fd, "[commander] refusing unsupported calibration request");
//fprintf(stderr, "[commander] refusing unsupported calibration request\n");
mavlink_log_critical(mavlink_fd, "[commander] CMD refusing unsupported calibration request");
result = MAV_RESULT_UNSUPPORTED;
}
}
@@ -576,12 +578,12 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
if (((int)cmd->param1) == 0) {
if (OK == get_params_from_eeprom(global_data_parameter_storage)) {
printf("[commander] Loaded EEPROM params in RAM\n");
mavlink_log_info(mavlink_fd, "[commander] Loaded EEPROM params in RAM");
//printf("[commander] Loaded EEPROM params in RAM\n");
mavlink_log_info(mavlink_fd, "[commander] CMD Loaded EEPROM params in RAM");
result = MAV_RESULT_ACCEPTED;
} else {
fprintf(stderr, "[commander] ERROR loading EEPROM params in RAM\n");
//fprintf(stderr, "[commander] ERROR loading EEPROM params in RAM\n");
mavlink_log_critical(mavlink_fd, "[commander] ERROR loading EEPROM params in RAM");
result = MAV_RESULT_FAILED;
}
@@ -591,18 +593,18 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
} else if (((int)cmd->param1) == 1) {
if (OK == store_params_in_eeprom(global_data_parameter_storage)) {
printf("[commander] RAM params written to EEPROM\n");
//printf("[commander] RAM params written to EEPROM\n");
mavlink_log_info(mavlink_fd, "[commander] RAM params written to EEPROM");
result = MAV_RESULT_ACCEPTED;
} else {
fprintf(stderr, "[commander] ERROR writing RAM params to EEPROM\n");
//fprintf(stderr, "[commander] ERROR writing RAM params to EEPROM\n");
mavlink_log_critical(mavlink_fd, "[commander] ERROR writing RAM params to EEPROM");
result = MAV_RESULT_FAILED;
}
} else {
fprintf(stderr, "[commander] refusing unsupported storage request\n");
//fprintf(stderr, "[commander] refusing unsupported storage request\n");
mavlink_log_critical(mavlink_fd, "[commander] refusing unsupported storage request");
result = MAV_RESULT_UNSUPPORTED;
}
@@ -622,8 +624,6 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
/* send any requested ACKs */
if (cmd->confirmation > 0) {
/* send acknowledge command */
mavlink_message_t msg;
mavlink_msg_command_ack_pack(0, 0, &msg, cmd->command, result);
}
}
@@ -788,6 +788,7 @@ int commander_main(int argc, char *argv[])
/* advertise to ORB */
stat_pub = orb_advertise(ORB_ID(vehicle_status), &current_status);
/* publish current state machine */
state_machine_publish(stat_pub, &current_status, mavlink_fd);
if (stat_pub < 0) {
@@ -874,9 +875,9 @@ int commander_main(int argc, char *argv[])
battery_voltage_valid = sensors.battery_voltage_valid;
bat_remain = battery_remaining_estimate_voltage(3, BAT_CHEM_LITHIUM_POLYMERE, battery_voltage);
flight_env = (uint8_t)(global_data_parameter_storage->pm.param_values[PARAM_FLIGHT_ENV]);
// flight_env = (uint8_t)(global_data_parameter_storage->pm.param_values[PARAM_FLIGHT_ENV]);
/* Slow but important 5 Hz checks */
/* Slow but important 8 Hz checks */
if (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 8) == 0) {
/* toggle activity (blue) led at 1 Hz in standby, 10 Hz in armed mode */
if ((current_status.state_machine == SYSTEM_STATE_GROUND_READY ||
@@ -994,14 +995,14 @@ int commander_main(int argc, char *argv[])
//
//
// if (flight_env == PX4_FLIGHT_ENVIRONMENT_TESTING) //simulate position fix for quick indoor tests
update_state_machine_got_position_fix(stat_pub, &current_status, mavlink_fd);
//update_state_machine_got_position_fix(stat_pub, &current_status, mavlink_fd);
/* end: check gps */
/* Check battery voltage */
/* write to sys_status */
current_status.voltage_battery = battery_voltage;
/* if battery voltage is getting lower, warn using buzzer, etc. */
/* if battery voltage is getting lower, warn using buzzer, etc. */
if (battery_voltage_valid && (battery_voltage < VOLTAGE_BATTERY_LOW_VOLTS && false == low_battery_voltage_actions_done)) { //TODO: add filter, or call emergency after n measurements < VOLTAGE_BATTERY_MINIMAL_MILLIVOLTS
if (low_voltage_counter > LOW_VOLTAGE_BATTERY_COUNTER_LIMIT) {
@@ -1086,8 +1087,8 @@ int commander_main(int argc, char *argv[])
} else {
static uint64_t last_print_time = 0;
/* print error message for first RC glitch and then every 2 s / 2000 ms) */
if (!current_status.rc_signal_lost || ((hrt_absolute_time() - last_print_time) > 3000000)) {
/* print error message for first RC glitch and then every 5 s / 5000 ms) */
if (!current_status.rc_signal_lost || ((hrt_absolute_time() - last_print_time) > 5000000)) {
mavlink_log_critical(mavlink_fd, "[commander] CRITICAL - NO REMOTE SIGNAL!");
last_print_time = hrt_absolute_time();
}
@@ -1105,7 +1106,7 @@ int commander_main(int argc, char *argv[])
current_status.counter++;
current_status.timestamp = hrt_absolute_time();
if (voltage_previous != current_status.voltage_battery) orb_publish(ORB_ID(vehicle_status), stat_pub, &current_status);
/* If full run came back clean, transition to standby */
if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT &&
@@ -1115,8 +1116,12 @@ int commander_main(int argc, char *argv[])
do_state_update(stat_pub, &current_status, SYSTEM_STATE_STANDBY, mavlink_fd);
}
/* publish at least with 1 Hz */
if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {
orb_publish(ORB_ID(vehicle_status), stat_pub, &current_status);
}
/* Store old modes to detect and act on state transitions */
// vehicle_state_previous = current_status.state_machine;
voltage_previous = current_status.voltage_battery;
fflush(stdout);