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author | px4dev <px4@purgatory.org> | 2013-01-14 01:11:29 -0800 |
---|---|---|
committer | px4dev <px4@purgatory.org> | 2013-01-14 01:11:29 -0800 |
commit | 5c60ed9a9457e3ab0c51584e7e0db59bdbe4fd87 (patch) | |
tree | cc3582793d06504470412e076708ef914e50ff8a | |
parent | 06b66ad065f096060bfdd2e1f18cdc6704c70d2c (diff) | |
download | px4-firmware-5c60ed9a9457e3ab0c51584e7e0db59bdbe4fd87.tar.gz px4-firmware-5c60ed9a9457e3ab0c51584e7e0db59bdbe4fd87.tar.bz2 px4-firmware-5c60ed9a9457e3ab0c51584e7e0db59bdbe4fd87.zip |
Fix up FMU input timeout handling.
Fix the FMU auto OK LED status.
Strip out unused fields from the system state structure.
-rw-r--r-- | apps/px4io/mixer.cpp | 4 | ||||
-rw-r--r-- | apps/px4io/protocol.h | 2 | ||||
-rw-r--r-- | apps/px4io/px4io.h | 91 | ||||
-rw-r--r-- | apps/px4io/registers.c | 5 | ||||
-rw-r--r-- | apps/px4io/safety.c | 2 |
5 files changed, 8 insertions, 96 deletions
diff --git a/apps/px4io/mixer.cpp b/apps/px4io/mixer.cpp index 7ccf915b0..f394233f4 100644 --- a/apps/px4io/mixer.cpp +++ b/apps/px4io/mixer.cpp @@ -66,7 +66,7 @@ extern "C" { #define OVERRIDE 4 /* current servo arm/disarm state */ -bool mixer_servos_armed = false; +static bool mixer_servos_armed = false; /* selected control values and count for mixing */ enum mixer_source { @@ -89,7 +89,7 @@ mixer_tick(void) /* check that we are receiving fresh data from the FMU */ if ((hrt_absolute_time() - system_state.fmu_data_received_time) > FMU_INPUT_DROP_LIMIT_US) { - /* too many frames without FMU input, time to go to failsafe */ + /* too long without FMU input, time to go to failsafe */ r_status_flags |= PX4IO_P_STATUS_FLAGS_OVERRIDE; r_status_flags &= ~PX4IO_P_STATUS_FLAGS_FMU_OK; r_status_alarms |= PX4IO_P_STATUS_ALARMS_FMU_LOST; diff --git a/apps/px4io/protocol.h b/apps/px4io/protocol.h index 682348a60..501691cd2 100644 --- a/apps/px4io/protocol.h +++ b/apps/px4io/protocol.h @@ -185,5 +185,3 @@ struct px4io_mixdata { /* maximum size is limited by the link frame size XXX use config values to set this */ #define F2I_MIXER_MAX_TEXT (64 - sizeof(struct px4io_mixdata)) - -#pragma pack(pop)
\ No newline at end of file diff --git a/apps/px4io/px4io.h b/apps/px4io/px4io.h index 2e2c50a3a..d8cdafb4b 100644 --- a/apps/px4io/px4io.h +++ b/apps/px4io/px4io.h @@ -101,107 +101,16 @@ extern uint16_t r_page_rc_input_config[]; /* PX4IO_PAGE_RC_INPUT_CONFIG */ /* * System state structure. - * - * XXX note that many fields here are deprecated and replaced by - * registers. */ struct sys_state_s { -// bool armed; /* IO armed */ -// bool arm_ok; /* FMU says OK to arm */ -// uint16_t servo_rate; /* output rate of servos in Hz */ - - /** - * Remote control input(s) channel mappings - */ - uint8_t rc_map[4]; - - /** - * Remote control channel attributes - */ - uint16_t rc_min[4]; - uint16_t rc_trim[4]; - uint16_t rc_max[4]; - int16_t rc_rev[4]; - uint16_t rc_dz[4]; - - /** - * Data from the remote control input(s) - */ -// unsigned rc_channels; -// uint16_t rc_channel_data[PX4IO_INPUT_CHANNELS]; uint64_t rc_channels_timestamp; /** - * Control signals from FMU. - */ -// uint16_t fmu_channel_data[PX4IO_CONTROL_CHANNELS]; - - /** - * Mixed servo outputs - */ -// uint16_t servos[IO_SERVO_COUNT]; - - /** - * Relay controls - */ -// bool relays[PX4IO_RELAY_CHANNELS]; - - /** - * If true, we are using the FMU controls, else RC input if available. - */ -// bool mixer_manual_override; - - /** - * If true, FMU input is available. - */ -// bool mixer_fmu_available; - - /** - * If true, state that should be reported to FMU has been updated. - */ -// bool fmu_report_due; - - /** * Last FMU receive time, in microseconds since system boot */ uint64_t fmu_data_received_time; - /** - * If true, the RC signal has been lost for more than a timeout interval - */ -// bool rc_lost; - - /** - * If true, the connection to FMU has been lost for more than a timeout interval - */ -// bool fmu_lost; - - /** - * If true, FMU is ready for autonomous position control. Only used for LED indication - */ - bool vector_flight_mode_ok; - - /** - * If true, IO performs an on-board manual override with the RC channel values - */ -// bool manual_override_ok; - - /* - * Measured battery voltage in mV - */ -// uint16_t battery_mv; - - /* - * ADC IN5 measurement - */ -// uint16_t adc_in5; - - /* - * Power supply overcurrent status bits. - */ -// uint8_t overcurrent; - }; extern struct sys_state_s system_state; diff --git a/apps/px4io/registers.c b/apps/px4io/registers.c index 59684f1ee..0dd8fe28d 100644 --- a/apps/px4io/registers.c +++ b/apps/px4io/registers.c @@ -42,6 +42,8 @@ #include <stdbool.h> #include <stdlib.h> +#include <drivers/drv_hrt.h> + #include "px4io.h" #include "protocol.h" @@ -140,6 +142,8 @@ uint16_t r_page_rc_input_config[MAX_CONTROL_CHANNELS * PX4IO_P_RC_CONFIG_STRIDE void registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values) { + system_state.fmu_data_received_time = hrt_absolute_time(); + switch (page) { /* handle bulk controls input */ @@ -157,6 +161,7 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num } /* XXX we should cause a mixer tick ASAP */ + system_state.fmu_data_received_time = hrt_absolute_time(); r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK; break; diff --git a/apps/px4io/safety.c b/apps/px4io/safety.c index a14051f76..540636e19 100644 --- a/apps/px4io/safety.c +++ b/apps/px4io/safety.c @@ -151,7 +151,7 @@ safety_check_button(void *arg) } else if (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) { pattern = LED_PATTERN_FMU_ARMED; - } else if (system_state.vector_flight_mode_ok) { + } else if (r_setup_arming & PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK) { pattern = LED_PATTERN_VECTOR_FLIGHT_MODE_OK; } |