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Converted commander to use px4_posix calls

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Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-04-15 19:38:59 -07:00
parent bba26c3430
commit 694427e4ba
7 changed files with 99 additions and 93 deletions
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src/modules/commander/accelerometer_calibration.cpp
+11 -10
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@@ -127,6 +127,7 @@
#include "calibration_routines.h"
#include "commander_helper.h"
#include <px4_posix.h>
#include <unistd.h>
#include <stdio.h>
#include <poll.h>
@@ -190,16 +191,16 @@ int do_accel_calibration(int mavlink_fd)
for (unsigned s = 0; s < max_accel_sens; s++) {
sprintf(str, "%s%u", ACCEL_BASE_DEVICE_PATH, s);
/* reset all offsets to zero and all scales to one */
fd = open(str, 0);
fd = px4_open(str, 0);
if (fd < 0) {
continue;
}
device_id[s] = ioctl(fd, DEVIOCGDEVICEID, 0);
device_id[s] = px4_ioctl(fd, DEVIOCGDEVICEID, 0);
res = ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&accel_scale);
close(fd);
res = px4_ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&accel_scale);
px4_close(fd);
if (res != OK) {
mavlink_and_console_log_critical(mavlink_fd, CAL_FAILED_RESET_CAL_MSG, s);
@@ -268,14 +269,14 @@ int do_accel_calibration(int mavlink_fd)
}
sprintf(str, "%s%u", ACCEL_BASE_DEVICE_PATH, i);
fd = open(str, 0);
fd = px4_open(str, 0);
if (fd < 0) {
mavlink_and_console_log_critical(mavlink_fd, "sensor does not exist");
res = ERROR;
} else {
res = ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&accel_scale);
close(fd);
res = px4_ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&accel_scale);
px4_close(fd);
}
if (res != OK) {
@@ -366,7 +367,7 @@ int do_accel_calibration_measurements(int mavlink_fd, float (&accel_offs)[max_ac
if (arp.timestamp != 0 && timestamps[i] != arp.timestamp) {
(*active_sensors)++;
}
close(worker_data.subs[i]);
px4_close(worker_data.subs[i]);
}
}
@@ -390,7 +391,7 @@ int do_accel_calibration_measurements(int mavlink_fd, float (&accel_offs)[max_ac
*/
int read_accelerometer_avg(int (&subs)[max_accel_sens], float (&accel_avg)[max_accel_sens][detect_orientation_side_count][3], unsigned orient, unsigned samples_num)
{
struct pollfd fds[max_accel_sens];
px4_pollfd_struct_t fds[max_accel_sens];
for (unsigned i = 0; i < max_accel_sens; i++) {
fds[i].fd = subs[i];
@@ -405,7 +406,7 @@ int read_accelerometer_avg(int (&subs)[max_accel_sens], float (&accel_avg)[max_a
/* use the first sensor to pace the readout, but do per-sensor counts */
while (counts[0] < samples_num) {
int poll_ret = poll(&fds[0], max_accel_sens, 1000);
int poll_ret = px4_poll(&fds[0], max_accel_sens, 1000);
if (poll_ret > 0) {