Add a receive error counter for debugging purposes.

1 files changed, 6 insertions, 3 deletions

diff --git a/apps/px4io/comms.c b/apps/px4io/comms.c
index b87f21dba..843d0978a 100644
--- a/apps/px4io/comms.c
+++ b/apps/px4io/comms.c
@@ -70,6 +70,8 @@ static struct px4io_report	report;
 
 static void			comms_handle_frame(void *arg, const void *buffer, size_t length);
 
+perf_counter_t			comms_rx_errors;
+
 static void
 comms_init(void)
 {
@@ -77,6 +79,9 @@ comms_init(void)
 	fmu_fd = open("/dev/ttyS1", O_RDWR);
 	stream = hx_stream_init(fmu_fd, comms_handle_frame, NULL);
 
+	comms_rx_errors = perf_alloc(PC_COUNT, "rx_err");
+	hx_stream_set_counters(stream, 0, 0, comms_rx_errors);
+
 	/* default state in the report to FMU */
 	report.i2f_magic = I2F_MAGIC;
 
@@ -175,15 +180,13 @@ comms_handle_command(const void *buffer, size_t length)
 		system_state.fmu_channel_data[i] = cmd->output_control[i];
 
 	/* if the IO is armed and the FMU gets disarmed, the IO must also disarm */
-	if (system_state.arm_ok && !cmd->arm_ok) {
+	if (system_state.arm_ok && !cmd->arm_ok)
 		system_state.armed = false;
-	}
 
 	system_state.arm_ok = cmd->arm_ok;
 	system_state.mixer_use_fmu = true;
 	system_state.fmu_data_received = true;
 
-
 	/* handle changes signalled by FMU */
 //	if (!system_state.arm_ok && system_state.armed)
 //		system_state.armed = false;