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param load / store cleanup, storage location selection now exclusively through dedicated "param select <path>" command

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This commit is contained in:
Lorenz Meier
2012-11-02 15:21:37 +01:00
parent 55515f2e7e
commit 82c4dbaaa8
5 changed files with 126 additions and 71 deletions
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apps/commander/commander.c
+68 -10
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@@ -143,7 +143,7 @@ int commander_thread_main(int argc, char *argv[]);
static int buzzer_init(void);
static void buzzer_deinit(void);
static void tune_confirm();
static void tune_confirm(void);
static int led_init(void);
static void led_deinit(void);
static int led_toggle(int led);
@@ -264,7 +264,7 @@ int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, u
return 0;
}
void tune_confirm() {
void tune_confirm(void) {
ioctl(buzzer, TONE_SET_ALARM, 3);
}
@@ -914,17 +914,69 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
}
break;
/*
* do not report an error for commands that are
* handled directly by MAVLink.
*/
case MAV_CMD_PREFLIGHT_STORAGE:
case MAV_CMD_PREFLIGHT_STORAGE: {
if (current_status.flag_system_armed) {
mavlink_log_info(mavlink_fd, "[cmd] REJECTING param command while armed");
} else {
// XXX move this to LOW PRIO THREAD of commander app
/* Read all parameters from EEPROM to RAM */
if (((int)(cmd->param1)) == 0) {
/* read all parameters from EEPROM to RAM */
int read_ret = param_load_default();
if (read_ret == OK) {
//printf("[mavlink pm] Loaded EEPROM params in RAM\n");
mavlink_log_info(mavlink_fd, "[cmd] OK loading params from");
mavlink_log_info(mavlink_fd, param_get_default_file());
result = MAV_RESULT_ACCEPTED;
} else if (read_ret == 1) {
mavlink_log_info(mavlink_fd, "[cmd] OK no changes in");
mavlink_log_info(mavlink_fd, param_get_default_file());
result = MAV_RESULT_ACCEPTED;
} else {
if (read_ret < -1) {
mavlink_log_info(mavlink_fd, "[cmd] ERR loading params from");
mavlink_log_info(mavlink_fd, param_get_default_file());
} else {
mavlink_log_info(mavlink_fd, "[cmd] ERR no param file named");
mavlink_log_info(mavlink_fd, param_get_default_file());
}
result = MAV_RESULT_FAILED;
}
} else if (((int)(cmd->param1)) == 1) {
/* write all parameters from RAM to EEPROM */
int write_ret = param_save_default();
if (write_ret == OK) {
mavlink_log_info(mavlink_fd, "[cmd] OK saved param file");
mavlink_log_info(mavlink_fd, param_get_default_file());
result = MAV_RESULT_ACCEPTED;
} else {
if (write_ret < -1) {
mavlink_log_info(mavlink_fd, "[cmd] ERR params file does not exit:");
mavlink_log_info(mavlink_fd, param_get_default_file());
} else {
mavlink_log_info(mavlink_fd, "[cmd] ERR writing params to");
mavlink_log_info(mavlink_fd, param_get_default_file());
}
result = MAV_RESULT_FAILED;
}
} else {
mavlink_log_info(mavlink_fd, "[pm] refusing unsupp. STOR request");
result = MAV_RESULT_UNSUPPORTED;
}
}
}
break;
default: {
mavlink_log_critical(mavlink_fd, "[commander] refusing unsupported command");
mavlink_log_critical(mavlink_fd, "[cmd] refusing unsupported command");
result = MAV_RESULT_UNSUPPORTED;
usleep(200000);
/* announce command rejection */
ioctl(buzzer, TONE_SET_ALARM, 4);
}
@@ -932,7 +984,13 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
}
/* supported command handling stop */
if (result == MAV_RESULT_FAILED ||
result == MAV_RESULT_DENIED ||
result == MAV_RESULT_UNSUPPORTED) {
ioctl(buzzer, TONE_SET_ALARM, 5);
} else if (result == MAV_RESULT_ACCEPTED) {
tune_confirm();
}
/* send any requested ACKs */
if (cmd->confirmation > 0) {