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Code cleanup and ifdefs required for qurt build

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Code that was previously out of tree that was #if 0, is now #ifdef __PX4_QURT.
These changes were required for flight using the qurt build.

Changes include code cleanup for shmem_posix.c.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2016-01-21 20:41:42 -08:00
committed by Julian Oes
parent 8634452d6d
commit fea910d45a
5 changed files with 87 additions and 44 deletions
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src/modules/commander/gyro_calibration.cpp
+14 -1
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@@ -173,7 +173,7 @@ int do_gyro_calibration(int mavlink_fd)
for (unsigned s = 0; s < max_gyros; s++) {
char str[30];
#ifndef __PX4_QURT
// Reset gyro ids to unavailable
worker_data.device_id[s] = 0;
(void)sprintf(str, "CAL_GYRO%u_ID", s);
@@ -182,9 +182,18 @@ int do_gyro_calibration(int mavlink_fd)
mavlink_and_console_log_critical(mavlink_fd, "[cal] Unable to reset CAL_GYRO%u_ID", s);
return ERROR;
}
#else
(void)sprintf(str, "CAL_GYRO%u_ID", s);
res = param_get(param_find(str), &(worker_data.device_id[s]));
if (res != OK) {
mavlink_log_critical(mavlink_fd, "[cal] Unable to get CAL_GYRO%u_ID", s);
return ERROR;
}
#endif
// Reset all offsets to 0 and scales to 1
(void)memcpy(&worker_data.gyro_scale[s], &gyro_scale_zero, sizeof(gyro_scale));
#ifndef __PX4_QURT
sprintf(str, "%s%u", GYRO_BASE_DEVICE_PATH, s);
int fd = px4_open(str, 0);
if (fd >= 0) {
@@ -197,6 +206,7 @@ int do_gyro_calibration(int mavlink_fd)
return ERROR;
}
}
#endif
}
@@ -286,6 +296,8 @@ int do_gyro_calibration(int mavlink_fd)
failed |= (OK != param_set_no_notification(param_find(str), &(worker_data.gyro_scale[s].y_offset)));
(void)sprintf(str, "CAL_GYRO%u_ZOFF", s);
failed |= (OK != param_set_no_notification(param_find(str), &(worker_data.gyro_scale[s].z_offset)));
#ifndef __PX4_QURT
(void)sprintf(str, "CAL_GYRO%u_ID", s);
failed |= (OK != param_set_no_notification(param_find(str), &(worker_data.device_id[s])));
@@ -304,6 +316,7 @@ int do_gyro_calibration(int mavlink_fd)
if (res != OK) {
mavlink_and_console_log_critical(mavlink_fd, CAL_ERROR_APPLY_CAL_MSG, 1);
}
#endif
}
}