Removed the re-definitions of the usage method in the posix/main.cpp file.
Added qurt_external_hook interface to call externally linked module.
Fixed code format to comply with PX4 style.
Added usage information to main app and handled cases for unknown arguments.
Fixed the orb_priority interface to use int32_t instead of int.
Fixes to get hil working with led changes.
Added the config_eagle_adsp.mk file and update the make files to to use new
include/lib paths
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
Ifdefed out deadcode in position_estimator_inav_main.c as the
deadcode does not compile for qurt.
Added fixes to get a successful build for posix-arm and qurt targets.
Removed CLOCK_REALTIME def from px4_time.h for qurt and removed unused
variables in att_est_q and mc_att_control.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
The simulator was changed to publish the sensor data that is read
by the sensors module when the -p flag is passed.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
Since the PX4 code uses both px4_task and pthread APIs,
px4_getpid() must be save to call from either context.
On posix, this means we have to always return the pthread ID.
Reverted simulator change of pthread to px4_task
There may have been side effects if this was build for a target that
has process/task scoped file descriptors. It is now safe to call
px4_getpid() from this pthread context with this change for the
posix build for px4_getpid().
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
The simulator was using pthread APIs directly so calls to px4_getpid()
would fail since the task ID was not known. Changed simulator to use
px4_task_spawn_cmd.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
- wait for first message from jMAVSim
before sending data
- publish raw rc data coming from PIXHAWK (temporary)
- send some interesting messages to jMAVSim
- prepare sensor data for sim drivers to read
The use of a non-static function without a declaration generates a
warning for gcc 4.8.
Clang-3.4 does not work when compiling for gprof. The executable always
generates a segv.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
Gyrosim would call measure continuously because the write_checked_reg
was failing. There is no need to check faked reg writes in the
simulator so that code was removed.
The delay that was added to the simulator to pace the gyrosim reads
was also removed now that the source of the problem was determined.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
The existing orb_advert_t use thoughout the code sometimes tries
to treat it as a file descriptor and there are checks for < 0
and ::close calls on orb_advert_t types which is an invalid use
of an object pointer, which is what orb_advert_t really is.
Initially I had changed the -1 initializations to 0 but it was
suggested that this should be nullptr. That was a good recommendation
but the definition of orb_advert_t had to change to void * because
you cannot initialize a uintptr_t as nullptr.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
The calls to orb_advertise were being mishandled throughout the code.
There were ::close() calls on memory pointers, there were checks
against < 0 when it is a pointer to a object and values larger than
0x7ffffffff are valid. Some places orb_advert_t variables were
being initialized as 0 other places as -1.
The orb_advert_t type was changed to uintptr_t so the pointer value
would not be wrapped as a negative number. This was causing a failure
on ARM.
Tests for < 0 were changed to == 0 since a null pointer is the valid
representation for error, or uninitialized.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
There were an insufficient number of devmap entries allocated and
when they ran out, new orb_advertise requests would fail.
Also added a new logging macro for the Linux build to show the
calling pthread if enabled.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
The warnx and warn calls map to PX4_WARN.
Calls to errx or err genrtate a compile error.
The px4_log.h file implements a new log format:
For DEBUG and INFO:
<level> <msg>
For ERROR and WARN:
<level> <msg> (file filepath line linenum)
The verbosity can be changed by setting the macro to use
either linux_log or linux_log_verbose in px4_log.h
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
QuRT does not support UDP so moved the mavlink specific code
to a new file that is not built for the qurt target
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
