From f03f6ddd74b1aca710f4675bbee18608eeea1f08 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 24 Jul 2014 17:57:15 +0200 Subject: [PATCH 1/7] Improve user feedback on mission load fails --- src/modules/navigator/mission.cpp | 36 ++++++++++++++++++------------- 1 file changed, 21 insertions(+), 15 deletions(-) diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index ba766cd10f..12f6b9c211 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -314,30 +314,36 @@ Mission::set_mission_items() /* set previous position setpoint to current */ set_previous_pos_setpoint(); + /* get home distance state */ + bool home_dist_ok = check_dist_1wp(); + /* the home dist check provides user feedback, so we initialize it to this */ + bool user_feedback_done = !home_dist_ok; + /* try setting onboard mission item */ if (_param_onboard_enabled.get() && read_mission_item(true, true, &_mission_item)) { /* if mission type changed, notify */ if (_mission_type != MISSION_TYPE_ONBOARD) { - mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: onboard mission running"); + mavlink_log_critical(_navigator->get_mavlink_fd(), "onboard mission now running"); } _mission_type = MISSION_TYPE_ONBOARD; /* try setting offboard mission item */ - } else if (check_dist_1wp() && read_mission_item(false, true, &_mission_item)) { + } else if (home_dist_ok && read_mission_item(false, true, &_mission_item)) { /* if mission type changed, notify */ if (_mission_type != MISSION_TYPE_OFFBOARD) { - mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: offboard mission running"); + mavlink_log_critical(_navigator->get_mavlink_fd(), "offboard mission now running"); } _mission_type = MISSION_TYPE_OFFBOARD; } else { - /* no mission available, switch to loiter */ + /* no mission available or mission finished, switch to loiter */ if (_mission_type != MISSION_TYPE_NONE) { - mavlink_log_info(_navigator->get_mavlink_fd(), - "#audio: mission finished"); - } else { - mavlink_log_info(_navigator->get_mavlink_fd(), - "#audio: no mission available"); + mavlink_log_critical(_navigator->get_mavlink_fd(), "mission finished, loitering"); + } else if (!user_feedback_done) { + /* only tell users that we got no mission if there has not been any + * better, more specific feedback yet + */ + mavlink_log_critical(_navigator->get_mavlink_fd(), "no valid mission available"); } _mission_type = MISSION_TYPE_NONE; @@ -397,7 +403,7 @@ Mission::set_mission_items() takeoff_alt = fmaxf(takeoff_alt, _navigator->get_home_position()->alt + _param_takeoff_alt.get()); } - mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: takeoff to %.1fm above home", (double)(takeoff_alt - _navigator->get_home_position()->alt)); + mavlink_log_critical(_navigator->get_mavlink_fd(), "takeoff to %.1f meters above home", (double)(takeoff_alt - _navigator->get_home_position()->alt)); _mission_item.lat = _navigator->get_global_position()->lat; _mission_item.lon = _navigator->get_global_position()->lon; @@ -483,7 +489,7 @@ Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s if (dm_read(dm_item, *mission_index_ptr, &mission_item_tmp, len) != len) { /* not supposed to happen unless the datamanager can't access the SD card, etc. */ mavlink_log_critical(_navigator->get_mavlink_fd(), - "#audio: ERROR waypoint could not be read"); + "ERROR waypoint could not be read"); return false; } @@ -502,7 +508,7 @@ Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s /* not supposed to happen unless the datamanager can't access the * dataman */ mavlink_log_critical(_navigator->get_mavlink_fd(), - "#audio: ERROR DO JUMP waypoint could not be written"); + "ERROR DO JUMP waypoint could not be written"); return false; } } @@ -511,8 +517,8 @@ Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s *mission_index_ptr = mission_item_tmp.do_jump_mission_index; } else { - mavlink_log_info(_navigator->get_mavlink_fd(), - "#audio: DO JUMP repetitions completed"); + mavlink_log_critical(_navigator->get_mavlink_fd(), + "DO JUMP repetitions completed"); /* no more DO_JUMPS, therefore just try to continue with next mission item */ (*mission_index_ptr)++; } @@ -526,7 +532,7 @@ Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s /* we have given up, we don't want to cycle forever */ mavlink_log_critical(_navigator->get_mavlink_fd(), - "#audio: ERROR DO JUMP is cycling, giving up"); + "ERROR DO JUMP is cycling, giving up"); return false; } From b4e6f535ea15055f39b122eb87004c97796eb584 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Thu, 24 Jul 2014 17:57:30 +0200 Subject: [PATCH 2/7] mavlink: onboard links should only pass on messages from the same system ID --- src/modules/mavlink/mavlink_main.cpp | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 0c6f8c42f8..8cb0152fda 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -483,7 +483,12 @@ Mavlink::forward_message(const mavlink_message_t *msg, Mavlink *self) Mavlink *inst; LL_FOREACH(_mavlink_instances, inst) { if (inst != self) { - inst->pass_message(msg); + + /* if not in normal mode, we are an onboard link + * onboard links should only pass on messages from the same system ID */ + if(!(self->_mode != MAVLINK_MODE_NORMAL && msg->sysid != mavlink_system.sysid)) { + inst->pass_message(msg); + } } } } From 36d8d73aeb7ef214979a64960df727bf3bab048c Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Thu, 24 Jul 2014 17:58:17 +0200 Subject: [PATCH 3/7] mavlink: use correct component ID --- src/modules/mavlink/mavlink_messages.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 6885bebde5..92e469619d 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -1832,11 +1832,11 @@ protected: || status.arming_state == ARMING_STATE_ARMED_ERROR) { /* send camera capture on */ - mavlink_msg_command_long_send(_channel, mavlink_system.sysid, 0, MAV_CMD_DO_CONTROL_VIDEO, 0, 0, 0, 0, 1, 0, 0, 0); + mavlink_msg_command_long_send(_channel, mavlink_system.sysid, mavlink_system.compid, MAV_CMD_DO_CONTROL_VIDEO, 0, 0, 0, 0, 1, 0, 0, 0); } else { /* send camera capture off */ - mavlink_msg_command_long_send(_channel, mavlink_system.sysid, 0, MAV_CMD_DO_CONTROL_VIDEO, 0, 0, 0, 0, 0, 0, 0, 0); + mavlink_msg_command_long_send(_channel, mavlink_system.sysid, mavlink_system.compid, MAV_CMD_DO_CONTROL_VIDEO, 0, 0, 0, 0, 0, 0, 0, 0); } } }; From 58aa9f28f060f7adf7955b39d72ac972c03f1348 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Thu, 24 Jul 2014 17:59:02 +0200 Subject: [PATCH 4/7] mavlink: when detecting spoof, be more verbose --- src/modules/mavlink/mavlink_receiver.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 54c412ce7c..69e3ef31d7 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -241,7 +241,8 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg) } else { if (msg->sysid == mavlink_system.sysid && msg->compid == mavlink_system.compid) { - warnx("ignoring CMD spoofed with same SYS/COMP ID"); + warnx("ignoring CMD spoofed with same SYS/COMP (%d/%d) ID", + mavlink_system.sysid, mavlink_system.compid); return; } From 80a197f0fffb39037ce271bbc2e2107f2208eb01 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Fri, 25 Jul 2014 09:45:23 +0200 Subject: [PATCH 5/7] Revert "mavlink: use correct component ID" This reverts commit 36d8d73aeb7ef214979a64960df727bf3bab048c. --- src/modules/mavlink/mavlink_messages.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 92e469619d..6885bebde5 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -1832,11 +1832,11 @@ protected: || status.arming_state == ARMING_STATE_ARMED_ERROR) { /* send camera capture on */ - mavlink_msg_command_long_send(_channel, mavlink_system.sysid, mavlink_system.compid, MAV_CMD_DO_CONTROL_VIDEO, 0, 0, 0, 0, 1, 0, 0, 0); + mavlink_msg_command_long_send(_channel, mavlink_system.sysid, 0, MAV_CMD_DO_CONTROL_VIDEO, 0, 0, 0, 0, 1, 0, 0, 0); } else { /* send camera capture off */ - mavlink_msg_command_long_send(_channel, mavlink_system.sysid, mavlink_system.compid, MAV_CMD_DO_CONTROL_VIDEO, 0, 0, 0, 0, 0, 0, 0, 0); + mavlink_msg_command_long_send(_channel, mavlink_system.sysid, 0, MAV_CMD_DO_CONTROL_VIDEO, 0, 0, 0, 0, 0, 0, 0, 0); } } }; From 2de38d0628f3146caea28cd42b30840241269f41 Mon Sep 17 00:00:00 2001 From: Jean Cyr Date: Fri, 25 Jul 2014 23:30:37 -0400 Subject: [PATCH 6/7] Improve update performance and clean up compiler warnings in px4io driver - Fix compiler warnings in px4io_serial.cpp - Fix compiler warnings in px4io_uploader.cpp - Rename confusing overloaded send method with nearly identical parameters in px4io_uploader.cpp - Improve update performance by using maximum size programming buffer since we are no longer limited by stack size. --- src/drivers/px4io/px4io_serial.cpp | 8 ++++++- src/drivers/px4io/px4io_uploader.cpp | 32 +++++++++++++++------------- src/drivers/px4io/uploader.h | 8 +++---- 3 files changed, 28 insertions(+), 20 deletions(-) diff --git a/src/drivers/px4io/px4io_serial.cpp b/src/drivers/px4io/px4io_serial.cpp index c39494fb0d..d227e15d57 100644 --- a/src/drivers/px4io/px4io_serial.cpp +++ b/src/drivers/px4io/px4io_serial.cpp @@ -157,6 +157,10 @@ private: perf_counter_t _pc_idle; perf_counter_t _pc_badidle; + /* do not allow top copying this class */ + PX4IO_serial(PX4IO_serial &); + PX4IO_serial& operator = (const PX4IO_serial &); + }; IOPacket PX4IO_serial::_dma_buffer; @@ -173,7 +177,9 @@ PX4IO_serial::PX4IO_serial() : _tx_dma(nullptr), _rx_dma(nullptr), _rx_dma_status(_dma_status_inactive), - _pc_txns(perf_alloc(PC_ELAPSED, "io_txns ")), + _bus_semaphore(SEM_INITIALIZER(0)), + _completion_semaphore(SEM_INITIALIZER(0)), + _pc_txns(perf_alloc(PC_ELAPSED, "io_txns ")), _pc_dmasetup(perf_alloc(PC_ELAPSED, "io_dmasetup ")), _pc_retries(perf_alloc(PC_COUNT, "io_retries ")), _pc_timeouts(perf_alloc(PC_COUNT, "io_timeouts ")), diff --git a/src/drivers/px4io/px4io_uploader.cpp b/src/drivers/px4io/px4io_uploader.cpp index bf6893a7e5..986e39dc88 100644 --- a/src/drivers/px4io/px4io_uploader.cpp +++ b/src/drivers/px4io/px4io_uploader.cpp @@ -65,7 +65,8 @@ PX4IO_Uploader::PX4IO_Uploader() : _io_fd(-1), - _fw_fd(-1) + _fw_fd(-1), + bl_rev(0) { } @@ -245,7 +246,7 @@ PX4IO_Uploader::upload(const char *filenames[]) } int -PX4IO_Uploader::recv(uint8_t &c, unsigned timeout) +PX4IO_Uploader::recv_byte_with_timeout(uint8_t *c, unsigned timeout) { struct pollfd fds[1]; @@ -262,22 +263,23 @@ PX4IO_Uploader::recv(uint8_t &c, unsigned timeout) return -ETIMEDOUT; } - read(_io_fd, &c, 1); + read(_io_fd, c, 1); #ifdef UDEBUG - log("recv 0x%02x", c); + log("recv_bytes 0x%02x", c); #endif return OK; } int -PX4IO_Uploader::recv(uint8_t *p, unsigned count) +PX4IO_Uploader::recv_bytes(uint8_t *p, unsigned count) { - int ret; - while (count--) { - ret = recv(*p++, 5000); + int ret = OK; + while (count) { + ret = recv_byte_with_timeout(p++, 5000); if (ret != OK) break; + count--; } return ret; } @@ -289,10 +291,10 @@ PX4IO_Uploader::drain() int ret; do { - // the small recv timeout here is to allow for fast + // the small recv_bytes timeout here is to allow for fast // drain when rebooting the io board for a forced // update of the fw without using the safety switch - ret = recv(c, 40); + ret = recv_byte_with_timeout(&c, 40); #ifdef UDEBUG if (ret == OK) { @@ -331,12 +333,12 @@ PX4IO_Uploader::get_sync(unsigned timeout) uint8_t c[2]; int ret; - ret = recv(c[0], timeout); + ret = recv_byte_with_timeout(c, timeout); if (ret != OK) return ret; - ret = recv(c[1], timeout); + ret = recv_byte_with_timeout(c + 1, timeout); if (ret != OK) return ret; @@ -372,7 +374,7 @@ PX4IO_Uploader::get_info(int param, uint32_t &val) send(param); send(PROTO_EOC); - ret = recv((uint8_t *)&val, sizeof(val)); + ret = recv_bytes((uint8_t *)&val, sizeof(val)); if (ret != OK) return ret; @@ -513,7 +515,7 @@ PX4IO_Uploader::verify_rev2(size_t fw_size) for (ssize_t i = 0; i < count; i++) { uint8_t c; - ret = recv(c, 5000); + ret = recv_byte_with_timeout(&c, 5000); if (ret != OK) { log("%d: got %d waiting for bytes", sent + i, ret); @@ -600,7 +602,7 @@ PX4IO_Uploader::verify_rev3(size_t fw_size_local) send(PROTO_GET_CRC); send(PROTO_EOC); - ret = recv((uint8_t*)(&crc), sizeof(crc)); + ret = recv_bytes((uint8_t*)(&crc), sizeof(crc)); if (ret != OK) { log("did not receive CRC checksum"); diff --git a/src/drivers/px4io/uploader.h b/src/drivers/px4io/uploader.h index 3e2142cf28..e175234132 100644 --- a/src/drivers/px4io/uploader.h +++ b/src/drivers/px4io/uploader.h @@ -74,19 +74,19 @@ private: INFO_BOARD_REV = 3, /**< board revision */ INFO_FLASH_SIZE = 4, /**< max firmware size in bytes */ - PROG_MULTI_MAX = 60, /**< protocol max is 255, must be multiple of 4 */ + PROG_MULTI_MAX = 248, /**< protocol max is 255, must be multiple of 4 */ }; int _io_fd; int _fw_fd; - uint32_t bl_rev; /**< bootloader revision */ + uint32_t bl_rev; /**< bootloader revision */ void log(const char *fmt, ...); - int recv(uint8_t &c, unsigned timeout); - int recv(uint8_t *p, unsigned count); + int recv_byte_with_timeout(uint8_t *c, unsigned timeout); + int recv_bytes(uint8_t *p, unsigned count); void drain(); int send(uint8_t c); int send(uint8_t *p, unsigned count); From 3a4da7c5fa827970a86777ee6f4dc201246f0d0d Mon Sep 17 00:00:00 2001 From: Jean Cyr Date: Sat, 26 Jul 2014 09:05:44 -0400 Subject: [PATCH 7/7] Revert to original loop Original loop was correct, and slightly more efficient. Retain initialization of ret to handle the case where passed in count is 0. --- src/drivers/px4io/px4io_uploader.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/src/drivers/px4io/px4io_uploader.cpp b/src/drivers/px4io/px4io_uploader.cpp index 986e39dc88..fb16f891f6 100644 --- a/src/drivers/px4io/px4io_uploader.cpp +++ b/src/drivers/px4io/px4io_uploader.cpp @@ -274,12 +274,11 @@ int PX4IO_Uploader::recv_bytes(uint8_t *p, unsigned count) { int ret = OK; - while (count) { + while (count--) { ret = recv_byte_with_timeout(p++, 5000); if (ret != OK) break; - count--; } return ret; }