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mavlink USB auto start/stop on boards with VBUS

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- no longer start sercon or mavlink usb by default
 - on USB connection (VBUS) monitor serial USB at low rate and start Mavlink if there's a HEARTBEAT or nshterm on 3 consecutive carriage returns
 - the mavlink USB instance is automatically stopped and serdis executed if USB is disconnected
 - skipping Mavlink USB (and sercon) saves a considerable amount of memory on older boards
This commit is contained in:
Daniel Agar
2021-10-03 15:32:54 -04:00
committed by GitHub
parent 07e307b074
commit 6d78054f50
46 changed files with 447 additions and 453 deletions
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src/modules/commander/Commander.cpp
-25
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@@ -1911,31 +1911,6 @@ Commander::run()
_status_flags.condition_power_input_valid = true;
}
#if defined(CONFIG_BOARDCTL_RESET)
if (!_status_flags.circuit_breaker_engaged_usb_check && _status_flags.usb_connected) {
/* if the USB hardware connection went away, reboot */
if (_system_power_usb_connected && !system_power.usb_connected) {
/*
* Apparently the USB cable went away but we are still powered,
* so we bring the system back to a nominal state for flight.
* This is important to unload the USB stack of the OS which is
* a relatively complex piece of software that is non-essential
* for flight and continuing to run it would add a software risk
* without a need. The clean approach to unload it is to reboot.
*/
if (shutdown_if_allowed() && (px4_reboot_request(false, 400_ms) == 0)) {
mavlink_log_critical(&_mavlink_log_pub, "USB disconnected, rebooting for flight safety\t");
events::send(events::ID("commander_reboot_usb_disconnect"), {events::Log::Critical, events::LogInternal::Info},
"USB disconnected, rebooting for flight safety");
while (1) { px4_usleep(1); }
}
}
}
#endif // CONFIG_BOARDCTL_RESET
_system_power_usb_connected = system_power.usb_connected;
}
}