mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-12 19:43:34 +08:00
223 lines
7.3 KiB
C++
223 lines
7.3 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "sdcardCheck.hpp"
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#include <dirent.h>
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#include <string.h>
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#ifdef __PX4_DARWIN
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#include <sys/param.h>
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#include <sys/mount.h>
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#elif defined(PX4_STORAGEDIR)
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#include <sys/statfs.h>
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#endif
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void SdCardChecks::checkAndReport(const Context &context, Report &reporter)
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{
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#ifdef PX4_STORAGEDIR
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if (_param_com_arm_sdcard.get() > 0) {
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struct statfs statfs_buf;
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if (!_sdcard_detected && statfs(PX4_STORAGEDIR, &statfs_buf) == 0) {
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// on NuttX we get a data block count f_blocks and byte count per block f_bsize if an SD card is inserted
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_sdcard_detected = (statfs_buf.f_blocks > 0) && (statfs_buf.f_bsize > 0);
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}
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if (!_sdcard_detected) {
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NavModes affected_modes{NavModes::None};
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if (_param_com_arm_sdcard.get() == 2) {
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// disallow arming without sd card
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affected_modes = NavModes::All;
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}
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/* EVENT
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* @description
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* Insert an SD Card to the autopilot and reboot the system.
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*
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* <profile name="dev">
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* This check can be configured via <param>COM_ARM_SDCARD</param> parameter.
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* </profile>
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*/
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reporter.armingCheckFailure(affected_modes, health_component_t::system,
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events::ID("check_missing_fmu_sdcard"),
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events::Log::Error, "Missing FMU SD Card");
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if (reporter.mavlink_log_pub()) {
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mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Missing FMU SD Card");
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}
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}
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}
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#ifdef __PX4_NUTTX
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// Check for hardfault files
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if (!_hardfault_checked_once && _param_com_arm_hardfault_check.get()) {
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_hardfault_checked_once = true;
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DIR *dp = opendir(PX4_STORAGEDIR);
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if (dp != nullptr) {
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struct dirent *result;
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while ((result = readdir(dp)) && !_hardfault_file_present) {
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// Check for pattern fault_*.log
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if (strncmp("fault_", result->d_name, 6) == 0 && strcmp(result->d_name + strlen(result->d_name) - 4, ".log") == 0) {
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_hardfault_file_present = true;
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}
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}
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closedir(dp);
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}
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}
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if (_hardfault_file_present && _param_com_arm_hardfault_check.get()) {
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/* EVENT
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* @description
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* The SD card contains crash dump files, service the vehicle before continuing to fly.
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*
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* <profile name="dev">
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* Check how to debug hardfaults on <a>https://docs.px4.io/main/en/debug/gdb_debugging.html#hard-fault-debugging</a>.
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* When completed, remove the files 'fault_*.log' on the SD card.
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*
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* This check can be configured via <param>COM_ARM_HFLT_CHK</param> parameter.
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* </profile>
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*/
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reporter.healthFailure(NavModes::All, health_component_t::system,
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events::ID("check_hardfault_present"),
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events::Log::Error, "Crash dumps present on SD card");
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if (reporter.mavlink_log_pub()) {
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mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Crash dumps present on SD");
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}
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}
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#if CONFIG_MODULES_TASK_WATCHDOG
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// Check for task watchdog dump files
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if (!_watchdog_checked_once && _param_com_arm_hardfault_check.get()) {
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_watchdog_checked_once = true;
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DIR *wdp = opendir(PX4_STORAGEDIR "/task_watchdog");
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if (wdp != nullptr) {
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struct dirent *wresult;
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while ((wresult = readdir(wdp)) && !_watchdog_file_present) {
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// Check for pattern wdg_*.log or load_*.log
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const size_t len = strlen(wresult->d_name);
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if (len > 5 && strcmp(wresult->d_name + len - 4, ".log") == 0) {
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if (strncmp("wdg_", wresult->d_name, 4) == 0
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|| strncmp("load_", wresult->d_name, 5) == 0) {
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_watchdog_file_present = true;
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}
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}
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}
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closedir(wdp);
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}
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}
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if (_watchdog_file_present && _param_com_arm_hardfault_check.get()) {
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/* EVENT
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* @description
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* The SD card contains task watchdog dump files from a previous task starvation event.
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*
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* <profile name="dev">
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* Remove the files in the 'task_watchdog' directory on the SD card after analysis.
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*
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* This check can be configured via <param>COM_ARM_HFLT_CHK</param> parameter.
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* </profile>
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*/
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reporter.healthFailure(NavModes::All, health_component_t::system,
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events::ID("check_task_watchdog_present"),
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events::Log::Error, "Task watchdog dumps present on SD card");
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if (reporter.mavlink_log_pub()) {
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mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Task watchdog dumps present on SD");
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}
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}
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#endif /* CONFIG_MODULES_TASK_WATCHDOG */
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#endif /* __PX4_NUTTX */
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// Check if SDLOG parameters are set to non-default values while SD card logging is disabled
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int32_t sdlog_backend = 0;
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param_get(_param_sdlog_backend, &sdlog_backend);
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const bool sdcard_logging_enabled = (sdlog_backend & 1) != 0;
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if (!sdcard_logging_enabled) {
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// Check if any SDLOG parameter differs from its default
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const param_t sdlog_params[] = {_param_sdlog_mode, _param_sdlog_profile, _param_sdlog_mission, _param_sdlog_dirs_max};
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bool sdlog_params_changed = false;
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for (auto p : sdlog_params) {
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int32_t val, def;
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if (param_get(p, &val) == 0 && param_get_default_value(p, &def) == 0 && val != def) {
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sdlog_params_changed = true;
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break;
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}
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}
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if (sdlog_params_changed) {
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/* EVENT
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* @description
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* SD logging parameters (SDLOG_*) have been modified, but SD card logging
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* is not enabled in <param>SDLOG_BACKEND</param>.
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*
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* <profile name="dev">
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* These parameters will have no effect.
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* </profile>
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*/
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reporter.healthFailure(NavModes::None, health_component_t::logging,
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events::ID("check_sdlog_params_no_sdcard"),
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events::Log::Warning, "SDLOG parameters ineffective without SD card logging");
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if (reporter.mavlink_log_pub()) {
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mavlink_log_warning(reporter.mavlink_log_pub(), "SDLOG parameters set but SD card logging disabled");
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}
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}
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}
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#endif /* PX4_STORAGEDIR */
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}
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