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parameter_update.msg: add basic status info

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This commit is contained in:
Daniel Agar 2021-02-08 20:50:13 -05:00
parent b8b13bb882
commit ce64951578
4 changed files with 20 additions and 6 deletions
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3
.ci/Jenkinsfile-hardware
View File

@ -1011,6 +1011,8 @@ void statusFTDI() {
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status_flags"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener logger_status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener parameter_update"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener px4io_status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel_fifo"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_baro"'
@ -1019,7 +1021,6 @@ void statusFTDI() {
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fifo"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_mag"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensors_status_imu"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener px4io_status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener system_power"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener telemetry_status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_air_data"'

9
msg/parameter_update.msg
View File

@ -3,3 +3,12 @@
uint64 timestamp # time since system start (microseconds)
uint32 instance # Instance count - constantly incrementing
uint32 get_count
uint32 set_count
uint32 find_count
uint32 export_count
uint16 active
uint16 changed
uint16 custom_default

13
src/lib/parameters/parameters.cpp
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@ -256,13 +256,16 @@ void
param_notify_changes()
{
parameter_update_s pup{};
pup.timestamp = hrt_absolute_time();
pup.instance = param_instance++;
pup.get_count = perf_event_count(param_get_perf);
pup.set_count = perf_event_count(param_set_perf);
pup.find_count = perf_event_count(param_find_perf);
pup.export_count = perf_event_count(param_export_perf);
pup.active = params_active.count();
pup.changed = params_changed.count();
pup.custom_default = params_custom_default.count();
pup.timestamp = hrt_absolute_time();
/*
* If we don't have a handle to our topic, create one now; otherwise
* just publish.
*/
if (param_topic == nullptr) {
param_topic = orb_advertise(ORB_ID(parameter_update), &pup);

1
src/modules/logger/logged_topics.cpp
View File

@ -73,6 +73,7 @@ void LoggedTopics::add_default_topics()
add_topic("navigator_mission_item");
add_topic("offboard_control_mode", 100);
add_topic("onboard_computer_status", 10);
add_topic("parameter_update");
add_topic("position_controller_status", 500);
add_topic("position_setpoint_triplet", 200);
add_topic("px4io_status");