Merge ROS into master

6 files changed, 74 insertions, 33 deletions

diff --git a/src/modules/systemlib/circuit_breaker.cpp b/src/modules/systemlib/circuit_breaker.cpp
new file mode 100644
index 000000000..ea478a60f
--- /dev/null
+++ b/src/modules/systemlib/circuit_breaker.cpp
@@ -0,0 +1,55 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/*
+ * @file circuit_breaker.c
+ *
+ * Circuit breaker parameters.
+ * Analog to real aviation circuit breakers these parameters
+ * allow to disable subsystems. They are not supported as standard
+ * operation procedure and are only provided for development purposes.
+ * To ensure they are not activated accidentally, the associated
+ * parameter needs to set to the key (magic).
+ */
+
+#include <px4.h>
+#include <systemlib/circuit_breaker.h>
+
+bool circuit_breaker_enabled(const char* breaker, int32_t magic)
+{
+	int32_t val;
+	(void)PX4_PARAM_GET_BYNAME(breaker, &val);
+
+	return (val == magic);
+}
+
diff --git a/src/modules/systemlib/circuit_breaker.h b/src/modules/systemlib/circuit_breaker.h
index b3431722f..c97dbc26f 100644
--- a/src/modules/systemlib/circuit_breaker.h
+++ b/src/modules/systemlib/circuit_breaker.h
@@ -61,7 +61,7 @@
 
 __BEGIN_DECLS
 
-__EXPORT bool circuit_breaker_enabled(const char* breaker, int32_t magic);
+extern "C" __EXPORT bool circuit_breaker_enabled(const char* breaker, int32_t magic);
 
 __END_DECLS
 
diff --git a/src/modules/systemlib/circuit_breaker.c b/src/modules/systemlib/circuit_breaker_params.c
index 12187d70e..e499ae27a 100644
--- a/src/modules/systemlib/circuit_breaker.c
+++ b/src/modules/systemlib/circuit_breaker_params.c
@@ -42,8 +42,8 @@
  * parameter needs to set to the key (magic).
  */
 
-#include <systemlib/param/param.h>
-#include <systemlib/circuit_breaker.h>
+#include <px4.h>
+#include <systemlib/circuit_breaker_params.h>
 
 /**
  * Circuit breaker for power supply check
@@ -56,7 +56,7 @@
  * @max 894281
  * @group Circuit Breaker
  */
-PARAM_DEFINE_INT32(CBRK_SUPPLY_CHK, 0);
+PX4_PARAM_DEFINE_INT32(CBRK_SUPPLY_CHK);
 
 /**
  * Circuit breaker for rate controller output
@@ -69,7 +69,7 @@ PARAM_DEFINE_INT32(CBRK_SUPPLY_CHK, 0);
  * @max 140253
  * @group Circuit Breaker
  */
-PARAM_DEFINE_INT32(CBRK_RATE_CTRL, 0);
+PX4_PARAM_DEFINE_INT32(CBRK_RATE_CTRL);
 
 /**
  * Circuit breaker for IO safety
@@ -81,7 +81,7 @@ PARAM_DEFINE_INT32(CBRK_RATE_CTRL, 0);
  * @max 22027
  * @group Circuit Breaker
  */
-PARAM_DEFINE_INT32(CBRK_IO_SAFETY, 0);
+PX4_PARAM_DEFINE_INT32(CBRK_IO_SAFETY);
 
 /**
  * Circuit breaker for airspeed sensor
@@ -93,7 +93,7 @@ PARAM_DEFINE_INT32(CBRK_IO_SAFETY, 0);
  * @max 162128
  * @group Circuit Breaker
  */
-PARAM_DEFINE_INT32(CBRK_AIRSPD_CHK, 0);
+PX4_PARAM_DEFINE_INT32(CBRK_AIRSPD_CHK);
 
 /**
  * Circuit breaker for flight termination
@@ -106,7 +106,7 @@ PARAM_DEFINE_INT32(CBRK_AIRSPD_CHK, 0);
  * @max 121212
  * @group Circuit Breaker
  */
-PARAM_DEFINE_INT32(CBRK_FLIGHTTERM, 121212);
+PX4_PARAM_DEFINE_INT32(CBRK_FLIGHTTERM);
 
 /**
  * Circuit breaker for engine failure detection
@@ -120,27 +120,4 @@ PARAM_DEFINE_INT32(CBRK_FLIGHTTERM, 121212);
  * @max 284953
  * @group Circuit Breaker
  */
-PARAM_DEFINE_INT32(CBRK_ENGINEFAIL, 284953);
-
-/**
- * Circuit breaker for gps failure detection
- *
- * Setting this parameter to 240024 will disable the gps failure detection.
- * If the aircraft is in gps failure mode the gps failure flag will be
- * set to healthy
- * WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
- *
- * @min 0
- * @max 240024
- * @group Circuit Breaker
- */
-PARAM_DEFINE_INT32(CBRK_GPSFAIL, 240024);
-
-bool circuit_breaker_enabled(const char* breaker, int32_t magic)
-{
-	int32_t val;
-	(void)param_get(param_find(breaker), &val);
-
-	return (val == magic);
-}
-
+PX4_PARAM_DEFINE_INT32(CBRK_ENGINEFAIL);
diff --git a/src/modules/systemlib/circuit_breaker_params.h b/src/modules/systemlib/circuit_breaker_params.h
new file mode 100644
index 000000000..768bf7f53
--- /dev/null
+++ b/src/modules/systemlib/circuit_breaker_params.h
@@ -0,0 +1,7 @@
+#define PARAM_CBRK_SUPPLY_CHK_DEFAULT 0
+#define PARAM_CBRK_RATE_CTRL_DEFAULT 0
+#define PARAM_CBRK_IO_SAFETY_DEFAULT 0
+#define PARAM_CBRK_AIRSPD_CHK_DEFAULT 0
+#define PARAM_CBRK_FLIGHTTERM_DEFAULT 121212
+#define PARAM_CBRK_ENGINEFAIL_DEFAULT 284953
+#define PARAM_CBRK_GPSFAIL_DEFAULT 240024
diff --git a/src/modules/systemlib/module.mk b/src/modules/systemlib/module.mk
index f4dff2838..f2499bbb1 100644
--- a/src/modules/systemlib/module.mk
+++ b/src/modules/systemlib/module.mk
@@ -53,7 +53,8 @@ SRCS		 = err.c \
 		   otp.c \
 		   board_serial.c \
 		   pwm_limit/pwm_limit.c \
-		   circuit_breaker.c \
+		   circuit_breaker.cpp \
+		   circuit_breaker_params.c \
 		   mcu_version.c
 
 MAXOPTIMIZATION	 = -Os
diff --git a/src/modules/systemlib/perf_counter.h b/src/modules/systemlib/perf_counter.h
index 0c1243de3..8543ba7bb 100644
--- a/src/modules/systemlib/perf_counter.h
+++ b/src/modules/systemlib/perf_counter.h
@@ -40,6 +40,7 @@
 #define _SYSTEMLIB_PERF_COUNTER_H value
 
 #include <stdint.h>
+#include <platforms/px4_defines.h>
 
 /**
  * Counter types.