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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/mavlink/mavlink_main.h
+21 -3
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@@ -125,6 +125,14 @@ public:
*/
static int start(int argc, char *argv[]);
bool running() const { return _task_running.load(); }
bool should_exit() const { return _task_should_exit.load(); }
void request_stop()
{
_task_should_exit.store(true);
_receiver.request_stop();
}
/**
* Display the mavlink status.
*/
@@ -135,6 +143,7 @@ public:
*/
void display_status_streams();
static int stop_command(int argc, char *argv[]);
static int stream_command(int argc, char *argv[]);
static int instance_count();
@@ -166,6 +175,10 @@ public:
static void forward_message(const mavlink_message_t *msg, Mavlink *self);
bool check_events() const { return _should_check_events.load(); }
void check_events_enable() { _should_check_events.store(true); }
void check_events_disable() { _should_check_events.store(false); }
int get_uart_fd() const { return _uart_fd; }
/**
@@ -455,8 +468,6 @@ public:
int get_socket_fd() { return _socket_fd; };
bool _task_should_exit{false}; /**< Mavlink task should exit iff true. */
#if defined(MAVLINK_UDP)
unsigned short get_network_port() { return _network_port; }
@@ -529,7 +540,12 @@ public:
private:
MavlinkReceiver _receiver;
int _instance_id{-1};
int _task_id{-1};
px4::atomic_bool _task_should_exit{false};
px4::atomic_bool _task_running{false};
bool _transmitting_enabled{true};
bool _transmitting_enabled_commanded{false};
@@ -540,12 +556,12 @@ private:
uORB::Publication<vehicle_command_ack_s> _vehicle_command_ack_pub{ORB_ID(vehicle_command_ack)};
uORB::PublicationMulti<telemetry_status_s> _telemetry_status_pub{ORB_ID(telemetry_status)};
uORB::Subscription _event_sub{ORB_ID(event)};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)};
uORB::Subscription _vehicle_command_ack_sub{ORB_ID(vehicle_command_ack)};
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
bool _task_running{true};
static bool _boot_complete;
static constexpr int MAVLINK_MIN_INTERVAL{1500};
@@ -562,6 +578,8 @@ private:
bool _wait_to_transmit{false}; /**< Wait to transmit until received messages. */
bool _received_messages{false}; /**< Whether we've received valid mavlink messages. */
px4::atomic_bool _should_check_events{false}; /**< Events subscription: only one MAVLink instance should check */
unsigned _main_loop_delay{1000}; /**< mainloop delay, depends on data rate */
List<MavlinkStream *> _streams;