fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-27 20:44:07 +08:00
Code Issues Packages Projects Releases Wiki Activity

MAVLink: Start slightly differently on USB

Browse Source
This commit is contained in:
Lorenz Meier 2016-01-03 15:28:04 +01:00
parent 2794ff2dda
commit a8a9c9b8ec
2 changed files with 45 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

44
src/modules/mavlink/mavlink_main.cpp
View File

@ -661,9 +661,48 @@ int Mavlink::mavlink_open_uart(int baud, const char *uart_name, struct termios *
return -EINVAL;
}
/* back off 1800 ms to avoid running into the USB setup timing */
while (_mode == MAVLINK_MODE_CONFIG &&
hrt_absolute_time() < 1800U * 1000U) {
usleep(50000);
}
/* open uart */
_uart_fd = ::open(uart_name, O_RDWR | O_NOCTTY);
/* if this is a config link, stay here and wait for it to open */
if (_uart_fd < 0 && _mode == MAVLINK_MODE_CONFIG) {
int armed_fd = orb_subscribe(ORB_ID(actuator_armed));
struct actuator_armed_s armed;
/* get the system arming state and abort on arming */
while (_uart_fd < 0) {
/* abort if an arming topic is published and system is armed */
bool updated = false;
orb_check(armed_fd, &updated);
if (updated) {
/* the system is now providing arming status feedback.
* instead of timing out, we resort to abort bringing
* up the terminal.
*/
orb_copy(ORB_ID(actuator_armed), armed_fd, &armed);
if (armed.armed) {
/* this is not an error, but we are done */
return -1;
}
}
usleep(100000);
_uart_fd = ::open(uart_name, O_RDWR | O_NOCTTY);
};
close(armed_fd);
}
if (_uart_fd < 0) {
return _uart_fd;
}
@ -1595,9 +1634,12 @@ Mavlink::task_main(int argc, char *argv[])
/* default values for arguments */
_uart_fd = mavlink_open_uart(_baudrate, _device_name, &uart_config_original);
if (_uart_fd < 0) {
if (_uart_fd < 0 && _mode != MAVLINK_MODE_CONFIG) {
warn("could not open %s", _device_name);
return ERROR;
} else if (_uart_fd < 0 && _mode == MAVLINK_MODE_CONFIG) {
/* the config link is optional */
return OK;
}
#endif

2
src/modules/mavlink/mavlink_main.h
View File

@ -342,6 +342,8 @@ public:
#endif
static bool boot_complete() { return _boot_complete; }
bool is_usb_uart() { return _is_usb_uart; }
protected:
Mavlink *next;