From 1f2e972ea683a4d2f33af0e91308f6efed2465c9 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Mon, 21 Apr 2014 12:16:45 +0200 Subject: [PATCH 01/10] mavlink: remaining battery scaling fixed --- src/modules/mavlink/mavlink_messages.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 58af1fcb6f..678ce16455 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -271,7 +271,7 @@ protected: status->load * 1000.0f, status->battery_voltage * 1000.0f, status->battery_current * 1000.0f, - status->battery_remaining, + status->battery_remaining * 100.0f, status->drop_rate_comm, status->errors_comm, status->errors_count1, From 65e2062d7b19f5a95194b574b195efcc4817b388 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 21 Apr 2014 20:56:02 +0200 Subject: [PATCH 02/10] sdlog2: fix lpos labels string, shorten messages with excessive length --- src/modules/sdlog2/sdlog2_messages.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index 2538dcd2f3..affabe1256 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -346,7 +346,7 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"), LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"), LOG_FORMAT(SENS, "fffff", "BaroPres,BaroAlt,BaroTemp,DiffPres,DiffPresFilt"), - LOG_FORMAT(LPOS, "ffffffffLLfBBBB", "X,Y,Z,VX,VY,VZ,RefLat,RefLon,RefAlt,XYFlags,ZFlags,Landed"), + LOG_FORMAT(LPOS, "ffffffffLLfBBBB", "X,Y,Z,dist,distr,VX,VY,VZ,RLat,RLon,RAlt,XYFlag,ZFlag,LFlag"), LOG_FORMAT(LPSP, "ffff", "X,Y,Z,Yaw"), LOG_FORMAT(GPS, "QBffLLfffff", "GPSTime,FixType,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog"), LOG_FORMAT(ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"), @@ -363,8 +363,8 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(BATT, "ffff", "V,VFilt,C,Discharged"), LOG_FORMAT(DIST, "ffB", "Bottom,BottomRate,Flags"), LOG_FORMAT(TELE, "BBBBHHB", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf"), - LOG_FORMAT(ESTM, "ffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,n_states,states_nan,cov_nan,kgain_nan"), - LOG_FORMAT(PWR, "fffBBBBB", "Periph_5V,Servo_5V,RSSI,USB_OK,BRICK_OK,SRV_OK,PERIPH_OC,HIPWR_OC"), + LOG_FORMAT(ESTM, "ffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,n_stat,stat_nan,cov_nan,kgain_nan"), + LOG_FORMAT(PWR, "fffBBBBB", "Periph5V,Servo5V,RSSI,UsbOk,BrickOk,ServoOk,PeriphOC,HipwrOC"), LOG_FORMAT(VICN, "ffffff", "X,Y,Z,Roll,Pitch,Yaw"), /* system-level messages, ID >= 0x80 */ From 6297b451ba7dab299576f1d30c565e49b893ba5d Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 21 Apr 2014 21:00:24 +0200 Subject: [PATCH 03/10] sdlog2: Fix indendation to expose length better, cut string lengths for excessive strings --- src/modules/sdlog2/sdlog2_messages.h | 48 ++++++++++++++-------------- 1 file changed, 24 insertions(+), 24 deletions(-) diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index affabe1256..21d407d631 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -342,30 +342,30 @@ struct log_PARM_s { /* construct list of all message formats */ static const struct log_format_s log_formats[] = { /* business-level messages, ID < 0x80 */ - LOG_FORMAT(ATT, "fffffffff", "Roll,Pitch,Yaw,RollRate,PitchRate,YawRate,GX,GY,GZ"), - LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"), - LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"), - LOG_FORMAT(SENS, "fffff", "BaroPres,BaroAlt,BaroTemp,DiffPres,DiffPresFilt"), - LOG_FORMAT(LPOS, "ffffffffLLfBBBB", "X,Y,Z,dist,distr,VX,VY,VZ,RLat,RLon,RAlt,XYFlag,ZFlag,LFlag"), - LOG_FORMAT(LPSP, "ffff", "X,Y,Z,Yaw"), - LOG_FORMAT(GPS, "QBffLLfffff", "GPSTime,FixType,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog"), - LOG_FORMAT(ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"), - LOG_FORMAT(STAT, "BBfBB", "MainState,ArmState,BatRem,BatWarn,Landed"), - LOG_FORMAT(RC, "ffffffffB", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7,Count"), - LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"), - LOG_FORMAT(AIRS, "fff", "IndSpeed,TrueSpeed,AirTemp"), - LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"), - LOG_FORMAT(FLOW, "hhfffBB", "RawX,RawY,CompX,CompY,Dist,Q,SensID"), - LOG_FORMAT(GPOS, "LLfffffB", "Lat,Lon,Alt,VelN,VelE,VelD,BaroAlt,Flags"), - LOG_FORMAT(GPSP, "BLLffBfbf", "NavState,Lat,Lon,Alt,Yaw,Type,LoitR,LoitDir,PitMin"), - LOG_FORMAT(ESC, "HBBBHHHHHHfH", "Counter,NumESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"), - LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"), - LOG_FORMAT(BATT, "ffff", "V,VFilt,C,Discharged"), - LOG_FORMAT(DIST, "ffB", "Bottom,BottomRate,Flags"), - LOG_FORMAT(TELE, "BBBBHHB", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf"), - LOG_FORMAT(ESTM, "ffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,n_stat,stat_nan,cov_nan,kgain_nan"), - LOG_FORMAT(PWR, "fffBBBBB", "Periph5V,Servo5V,RSSI,UsbOk,BrickOk,ServoOk,PeriphOC,HipwrOC"), - LOG_FORMAT(VICN, "ffffff", "X,Y,Z,Roll,Pitch,Yaw"), + LOG_FORMAT(ATT, "fffffffff", "Roll,Pitch,Yaw,RollRate,PitchRate,YawRate,GX,GY,GZ"), + LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"), + LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"), + LOG_FORMAT(SENS, "fffff", "BaroPres,BaroAlt,BaroTemp,DiffPres,DiffPresFilt"), + LOG_FORMAT(LPOS, "ffffffffLLfBBBB", "X,Y,Z,dist,distr,VX,VY,VZ,RLat,RLon,RAlt,XYFlag,ZFlag,LFlag"), + LOG_FORMAT(LPSP, "ffff", "X,Y,Z,Yaw"), + LOG_FORMAT(GPS, "QBffLLfffff", "GPSTime,FixType,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog"), + LOG_FORMAT(ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"), + LOG_FORMAT(STAT, "BBfBB", "MainState,ArmState,BatRem,BatWarn,Landed"), + LOG_FORMAT(RC, "ffffffffB", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7,Count"), + LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"), + LOG_FORMAT(AIRS, "fff", "IndSpeed,TrueSpeed,AirTemp"), + LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"), + LOG_FORMAT(FLOW, "hhfffBB", "RawX,RawY,CompX,CompY,Dist,Q,SensID"), + LOG_FORMAT(GPOS, "LLfffffB", "Lat,Lon,Alt,VelN,VelE,VelD,BaroAlt,Flags"), + LOG_FORMAT(GPSP, "BLLffBfbf", "NavState,Lat,Lon,Alt,Yaw,Type,LoitR,LoitDir,PitMin"), + LOG_FORMAT(ESC, "HBBBHHHHHHfH", "count,nESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"), + LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"), + LOG_FORMAT(BATT, "ffff", "V,VFilt,C,Discharged"), + LOG_FORMAT(DIST, "ffB", "Bottom,BottomRate,Flags"), + LOG_FORMAT(TELE, "BBBBHHB", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf"), + LOG_FORMAT(ESTM, "ffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,nStat,statNaN,covNaN,kGainNaN"), + LOG_FORMAT(PWR, "fffBBBBB", "Periph5V,Servo5V,RSSI,UsbOk,BrickOk,ServoOk,PeriphOC,HipwrOC"), + LOG_FORMAT(VICN, "ffffff", "X,Y,Z,Roll,Pitch,Yaw"), /* system-level messages, ID >= 0x80 */ /* FMT: don't write format of format message, it's useless */ From 5e32ca29d553b5706bbc2eb2f8905d0992ad3570 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 21 Apr 2014 21:25:54 +0200 Subject: [PATCH 04/10] Fixed LPOS message in log, added ground flags field --- src/modules/sdlog2/sdlog2_messages.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index 21d407d631..28d0706fff 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -346,7 +346,7 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"), LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"), LOG_FORMAT(SENS, "fffff", "BaroPres,BaroAlt,BaroTemp,DiffPres,DiffPresFilt"), - LOG_FORMAT(LPOS, "ffffffffLLfBBBB", "X,Y,Z,dist,distr,VX,VY,VZ,RLat,RLon,RAlt,XYFlag,ZFlag,LFlag"), + LOG_FORMAT(LPOS, "ffffffffLLfBBBB", "X,Y,Z,dist,distR,VX,VY,VZ,RLat,RLon,RAlt,XYFlg,ZFlg,LFlg,GFlg"), LOG_FORMAT(LPSP, "ffff", "X,Y,Z,Yaw"), LOG_FORMAT(GPS, "QBffLLfffff", "GPSTime,FixType,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog"), LOG_FORMAT(ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"), From 815e221c1fcc4c67d0db1675ae1bdb39bad35ffd Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 22 Apr 2014 01:23:55 +0200 Subject: [PATCH 05/10] mavlink: Start the same in HIL mode as in normal mode. Requires all HIL tools to run sh /etc/init.d/rc.usb now. Improve UART error handling --- ROMFS/px4fmu_common/init.d/rcS | 50 ++++++++++++---------------- src/modules/mavlink/mavlink_main.cpp | 5 +++ 2 files changed, 26 insertions(+), 29 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 2ab1e2e96f..ea5cf8deb7 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -20,7 +20,7 @@ echo "[init] Looking for microSD..." if mount -t vfat /dev/mmcsd0 /fs/microsd then set LOG_FILE /fs/microsd/bootlog.txt - echo "[init] microSD card mounted at /fs/microsd" + echo "[init] microSD mounted: /fs/microsd" # Start playing the startup tune tone_alarm start else @@ -83,9 +83,9 @@ then param select $PARAM_FILE if param load then - echo "[init] Parameters loaded: $PARAM_FILE" + echo "[init] Params loaded: $PARAM_FILE" else - echo "[init] ERROR: Parameters loading failed: $PARAM_FILE" + echo "[init] ERROR: Params loading failed: $PARAM_FILE" fi # @@ -146,7 +146,7 @@ then # if param compare SYS_AUTOSTART 0 then - echo "[init] Don't try to find autostart script" + echo "[init] No autostart" else sh /etc/init.d/rc.autostart fi @@ -156,10 +156,10 @@ then # if [ -f $CONFIG_FILE ] then - echo "[init] Reading config: $CONFIG_FILE" + echo "[init] Config: $CONFIG_FILE" sh $CONFIG_FILE else - echo "[init] Config file not found: $CONFIG_FILE" + echo "[init] Config not found: $CONFIG_FILE" fi # @@ -264,10 +264,10 @@ then then set FMU_MODE serial fi - else - # Try to get an USB console if not in HIL mode - nshterm /dev/ttyACM0 & fi + + # Try to get an USB console + nshterm /dev/ttyACM0 & # # Start the Commander (needs to be this early for in-air-restarts) @@ -401,23 +401,17 @@ then # if [ $MAVLINK_FLAGS == default ] then - if [ $HIL == yes ] + # Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s + if [ $TTYS1_BUSY == yes ] then - sleep 1 - set MAVLINK_FLAGS "-r 10000 -d /dev/ttyACM0" + # Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else + set MAVLINK_FLAGS "-r 1000 -d /dev/ttyS0" + + # Exit from nsh to free port for mavlink + set EXIT_ON_END yes else - # Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s - if [ $TTYS1_BUSY == yes ] - then - # Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else - set MAVLINK_FLAGS "-r 1000 -d /dev/ttyS0" - - # Exit from nsh to free port for mavlink - set EXIT_ON_END yes - else - # Start MAVLink on default port: ttyS1 - set MAVLINK_FLAGS "-r 1000" - fi + # Start MAVLink on default port: ttyS1 + set MAVLINK_FLAGS "-r 1000" fi fi @@ -436,17 +430,15 @@ then # # Sensors, Logging, GPS # - echo "[init] Start sensors" sh /etc/init.d/rc.sensors if [ $HIL == no ] then echo "[init] Start logging" sh /etc/init.d/rc.logging - - echo "[init] Start GPS" - gps start fi + + gps start # # Start up ARDrone Motor interface @@ -561,7 +553,7 @@ then echo "[init] Starting addons script: $EXTRAS_FILE" sh $EXTRAS_FILE else - echo "[init] Addons script not found: $EXTRAS_FILE" + echo "[init] No addons script: $EXTRAS_FILE" fi if [ $EXIT_ON_END == yes ] diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index a9f5f4de76..227e99b48a 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -574,6 +574,11 @@ int Mavlink::mavlink_open_uart(int baud, const char *uart_name, struct termios * /* open uart */ _uart_fd = open(uart_name, O_RDWR | O_NOCTTY); + if (_uart_fd < 0) { + return _uart_fd; + } + + /* Try to set baud rate */ struct termios uart_config; int termios_state; From 78bf7ed969624eacea35ae2bf402596aecb3c5a6 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 22 Apr 2014 01:29:39 +0200 Subject: [PATCH 06/10] HIL: Increased MAVLink link wait time based on previous experience that this is timing sensitive. --- ROMFS/px4fmu_common/init.d/rcS | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 2ab1e2e96f..ccac0a2631 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -403,7 +403,8 @@ then then if [ $HIL == yes ] then - sleep 1 + # Sleep required to ensure the link is up + sleep 5 set MAVLINK_FLAGS "-r 10000 -d /dev/ttyACM0" else # Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s From a0c922704457b540b236f1c72ed5630662da9d9e Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 22 Apr 2014 01:38:15 +0200 Subject: [PATCH 07/10] commander: Also publish battery status in HIL, since we have a fake battery available and the system freaks out without knowing its main supply --- src/modules/commander/commander.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index ce6de88ef9..819dfbe83b 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -967,7 +967,7 @@ int commander_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(battery_status), battery_sub, &battery); /* only consider battery voltage if system has been running 2s and battery voltage is valid */ - if (status.hil_state == HIL_STATE_OFF && hrt_absolute_time() > start_time + 2000000 && battery.voltage_filtered_v > 0.0f) { + if (hrt_absolute_time() > start_time + 2000000 && battery.voltage_filtered_v > 0.0f) { status.battery_voltage = battery.voltage_filtered_v; status.battery_current = battery.current_a; status.condition_battery_voltage_valid = true; From bf4558c31b46bb5d7b30729dd23302048447a890 Mon Sep 17 00:00:00 2001 From: Jean Cyr Date: Tue, 22 Apr 2014 01:19:01 -0400 Subject: [PATCH 08/10] Reduce data manager SD card wear and tear When the data manager was first designed each file record contained a 2 byte header and an 126 byte data section, resulting in a record length of 128 bytes. Along the way it was decided to add 2 spare bytes to the record header, but regrettably the data section was not correspondingly reduced in size so we end up with a record length of 130 bytes. This is bad since it does not align with SD card flash sectors and results in more erase/write flash cycles than necessary thus reducing the SD cards life. This update reduced the data section of the data manager to 124, resulting in an optimal record length of 128 bytes. In order to avoid the reuse of data previously written data in the old format, which could result in catastrophic misinterpretation, the data manager file is checked at startup. If it is found to be in the old format, it is deleted and recreated with in the new record length. In this case previously stored data is lost, but that is far safer than the unpredictable result of using the old file. --- src/modules/dataman/dataman.c | 19 +++++++++++++++++-- src/modules/dataman/dataman.h | 2 +- 2 files changed, 18 insertions(+), 3 deletions(-) diff --git a/src/modules/dataman/dataman.c b/src/modules/dataman/dataman.c index 34d20e4851..c132b0040b 100644 --- a/src/modules/dataman/dataman.c +++ b/src/modules/dataman/dataman.c @@ -44,7 +44,9 @@ #include #include #include +#include #include +#include #include "dataman.h" @@ -594,6 +596,20 @@ task_main(int argc, char *argv[]) sem_init(&g_work_queued_sema, 1, 0); + /* See if the data manage file exists and is a multiple of the sector size */ + g_task_fd = open(k_data_manager_device_path, O_RDONLY | O_BINARY); + if (g_task_fd >= 0) { + /* File exists, check its size */ + int file_size = lseek(g_task_fd, 0, SEEK_END); + if ((file_size % k_sector_size) != 0) { + warnx("Incompatible data manager file %s, resetting it", k_data_manager_device_path); + close(g_task_fd); + unlink(k_data_manager_device_path); + } + else + close(g_task_fd); + } + /* Open or create the data manager file */ g_task_fd = open(k_data_manager_device_path, O_RDWR | O_CREAT | O_BINARY); @@ -603,7 +619,7 @@ task_main(int argc, char *argv[]) return -1; } - if (lseek(g_task_fd, max_offset, SEEK_SET) != max_offset) { + if ((unsigned)lseek(g_task_fd, max_offset, SEEK_SET) != max_offset) { close(g_task_fd); warnx("Could not seek data manager file %s", k_data_manager_device_path); sem_post(&g_init_sema); /* Don't want to hang startup */ @@ -776,4 +792,3 @@ dataman_main(int argc, char *argv[]) exit(1); } - diff --git a/src/modules/dataman/dataman.h b/src/modules/dataman/dataman.h index a70638cccc..33c9fcd157 100644 --- a/src/modules/dataman/dataman.h +++ b/src/modules/dataman/dataman.h @@ -79,7 +79,7 @@ extern "C" { } dm_reset_reason; /* Maximum size in bytes of a single item instance */ - #define DM_MAX_DATA_SIZE 126 + #define DM_MAX_DATA_SIZE 124 /* Retrieve from the data manager store */ __EXPORT ssize_t From f0e28a60ca216ec147b359eef5500f190f192c82 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 22 Apr 2014 09:56:38 +0200 Subject: [PATCH 09/10] Revert "HIL: Increased MAVLink link wait time based on previous experience that this is timing sensitive." This reverts commit 78bf7ed969624eacea35ae2bf402596aecb3c5a6. --- ROMFS/px4fmu_common/init.d/rcS | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index ccac0a2631..2ab1e2e96f 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -403,8 +403,7 @@ then then if [ $HIL == yes ] then - # Sleep required to ensure the link is up - sleep 5 + sleep 1 set MAVLINK_FLAGS "-r 10000 -d /dev/ttyACM0" else # Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s From 496cba08559900092f0c931338aa9bc0ec740512 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Thu, 24 Apr 2014 16:03:36 +0200 Subject: [PATCH 10/10] add tags file to .gitignore --- .gitignore | 1 + 1 file changed, 1 insertion(+) diff --git a/.gitignore b/.gitignore index 71326517f2..5b345b34a8 100644 --- a/.gitignore +++ b/.gitignore @@ -34,5 +34,6 @@ mavlink/include/mavlink/v0.9/ /Documentation/html/ /Documentation/doxygen*objdb*tmp .tags +tags .tags_sorted_by_file .pydevproject