lib/rc: don't share decode buffer between protocols

14 was not available for me, 16 would have been.

.vscode/settings.json

@@ -31,7 +31,6 @@
                 "esc"
         ],
         "debug.toolBarLocation": "docked",
-        "editor.acceptSuggestionOnEnter": "off",
         "editor.defaultFormatter": "chiehyu.vscode-astyle",
         "editor.dragAndDrop": false,
         "editor.insertSpaces": false,

Tools/setup/ubuntu.sh

@@ -1,5 +1,7 @@
 #! /usr/bin/env bash
 
+set -e
+
 ## Bash script to setup PX4 development environment on Ubuntu LTS (20.04, 18.04, 16.04).
 ## Can also be used in docker.
 ##
@@ -193,7 +195,7 @@ if [[ $INSTALL_SIM == "true" ]]; then
 		java_version=11
 		gazebo_version=9
 	elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
-		java_version=14
+		java_version=13
 		gazebo_version=11
 	else
 		java_version=14

src/lib/rc/common_rc.cpp

@@ -1,8 +1,6 @@
 
 #include "common_rc.h"
 
-__EXPORT rc_decode_buf_t rc_decode_buf;
-
 uint8_t crc8_dvb_s2(uint8_t crc, uint8_t a)
 {
 	crc ^= a;

src/lib/rc/common_rc.h

@@ -3,27 +3,5 @@
 
 #include <stdint.h>
 
-#include "crsf.h"
-#include "dsm.h"
-#include "ghst.hpp"
-#include "sbus.h"
-#include "st24.h"
-#include "sumd.h"
-
-#pragma pack(push, 1)
-typedef  struct rc_decode_buf_ {
-	union {
-		crsf_frame_t crsf_frame;
-		ghst_frame_t ghst_frame;
-		dsm_decode_t dsm;
-		sbus_frame_t sbus_frame;
-		ReceiverFcPacket _strxpacket;
-		ReceiverFcPacketHoTT _hottrxpacket;
-	};
-} rc_decode_buf_t;
-#pragma pack(pop)
-
-extern rc_decode_buf_t rc_decode_buf;
-
 uint8_t crc8_dvb_s2(uint8_t crc, uint8_t a);
 uint8_t crc8_dvb_s2_buf(uint8_t *buf, int len);

src/lib/rc/crsf.cpp

@@ -129,7 +129,7 @@ enum class crsf_parser_state_t : uint8_t {
 	synced
 };
 
-static crsf_frame_t	 &crsf_frame = rc_decode_buf.crsf_frame;
+static crsf_frame_t crsf_frame;
 static unsigned current_frame_position = 0;
 static crsf_parser_state_t parser_state = crsf_parser_state_t::unsynced;
 

src/lib/rc/dsm.cpp

@@ -73,8 +73,8 @@ static enum DSM_DECODE_STATE {
 static int dsm_fd = -1;						/**< File handle to the DSM UART */
 static hrt_abstime dsm_last_rx_time;            /**< Timestamp when we last received data */
 static hrt_abstime dsm_last_frame_time;		/**< Timestamp for start of last valid dsm frame */
-static dsm_frame_t &dsm_frame = rc_decode_buf.dsm.frame;	/**< DSM_BUFFER_SIZE DSM dsm frame receive buffer */
-static dsm_buf_t &dsm_buf = rc_decode_buf.dsm.buf;	/**< DSM_BUFFER_SIZE DSM dsm frame receive buffer */
+static dsm_frame_t dsm_frame;	/**< DSM_BUFFER_SIZE DSM dsm frame receive buffer */
+static dsm_buf_t dsm_buf;	/**< DSM_BUFFER_SIZE DSM dsm frame receive buffer */
 
 static uint16_t dsm_chan_buf[DSM_MAX_CHANNEL_COUNT];
 static unsigned dsm_partial_frame_count;	/**< Count of bytes received for current dsm frame */

src/lib/rc/ghst.cpp

@@ -79,7 +79,7 @@ enum class ghst_parser_state_t : uint8_t {
 // only RSSI frame contains value of RSSI, if it is not received, send last received RSSI
 static int8_t ghst_rssi = -1;
 
-static ghst_frame_t &ghst_frame = rc_decode_buf.ghst_frame;
+static ghst_frame_t ghst_frame;
 static uint32_t current_frame_position = 0U;
 static ghst_parser_state_t parser_state = ghst_parser_state_t::unsynced;
 

src/lib/rc/sbus.cpp

@@ -118,7 +118,7 @@ static enum SBUS2_DECODE_STATE {
 	SBUS2_DECODE_STATE_SBUS2_DATA2 = 0x34
 } sbus_decode_state = SBUS2_DECODE_STATE_DESYNC;
 
-static sbus_frame_t	 &sbus_frame = rc_decode_buf.sbus_frame;
+static sbus_frame_t sbus_frame;
 
 static unsigned partial_frame_count;
 static unsigned sbus1_frame_delay = (1000U * 1000U) / SBUS1_DEFAULT_RATE_HZ;

src/lib/rc/st24.cpp

@@ -66,7 +66,7 @@ const char *decode_states[] = {"UNSYNCED",
 static enum ST24_DECODE_STATE _decode_state = ST24_DECODE_STATE_UNSYNCED;
 static uint8_t _rxlen;
 
-static ReceiverFcPacket &_rxpacket = rc_decode_buf._strxpacket;
+static ReceiverFcPacket _rxpacket;
 
 uint8_t st24_common_crc8(uint8_t *ptr, uint8_t len)
 {

src/lib/rc/sumd.cpp

@@ -88,7 +88,7 @@ bool		_debug		= false;
 static enum SUMD_DECODE_STATE _decode_state = SUMD_DECODE_STATE_UNSYNCED;
 static uint8_t _rxlen;
 
-static ReceiverFcPacketHoTT &_rxpacket = rc_decode_buf._hottrxpacket;
+static ReceiverFcPacketHoTT _rxpacket;
 
 uint16_t sumd_crc16(uint16_t crc, uint8_t value)
 {

src/modules/commander/Commander.cpp

@@ -2842,7 +2842,7 @@ Commander::run()
 			/* play tune on battery warning */
 			set_tune(tune_control_s::TUNE_ID_BATTERY_WARNING_SLOW);
 
-		} else if (_status.failsafe) {
+		} else if (_status.failsafe && _armed.armed) {
 			tune_failsafe(true);
 
 		} else {