Merge pull request #338 from PX4/autostart

Implemented new, simple system boot config and sane default value system

4 files changed, 61 insertions, 2 deletions

diff --git a/src/modules/mavlink/mavlink_log.c b/src/modules/mavlink/mavlink_log.c
index d9416a08b..192195856 100644
--- a/src/modules/mavlink/mavlink_log.c
+++ b/src/modules/mavlink/mavlink_log.c
@@ -41,16 +41,20 @@
 
 #include <string.h>
 #include <stdlib.h>
+#include <stdio.h>
 #include <stdarg.h>
 
 #include <mavlink/mavlink_log.h>
 
+static FILE* text_recorder_fd = NULL;
+
 void mavlink_logbuffer_init(struct mavlink_logbuffer *lb, int size)
 {
 	lb->size  = size;
 	lb->start = 0;
 	lb->count = 0;
 	lb->elems = (struct mavlink_logmessage *)calloc(lb->size, sizeof(struct mavlink_logmessage));
+	text_recorder_fd = fopen("/fs/microsd/text_recorder.txt", "w");
 }
 
 int mavlink_logbuffer_is_full(struct mavlink_logbuffer *lb)
@@ -82,6 +86,13 @@ int mavlink_logbuffer_read(struct mavlink_logbuffer *lb, struct mavlink_logmessa
 		memcpy(elem, &(lb->elems[lb->start]), sizeof(struct mavlink_logmessage));
 		lb->start = (lb->start + 1) % lb->size;
 		--lb->count;
+
+		if (text_recorder_fd) {
+			fwrite(elem->text, 1, strnlen(elem->text, 50), text_recorder_fd);
+			fputc("\n", text_recorder_fd);
+			fsync(text_recorder_fd);
+		}
+
 		return 0;
 
 	} else {
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index e4fb7416f..b2a6c6a79 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -1483,7 +1483,7 @@ int sensors_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "start")) {
 
 		if (sensors::g_sensors != nullptr)
-			errx(1, "sensors task already running");
+			errx(0, "sensors task already running");
 
 		sensors::g_sensors = new Sensors;
 
diff --git a/src/modules/systemlib/module.mk b/src/modules/systemlib/module.mk
index fd0289c9a..b470c1227 100644
--- a/src/modules/systemlib/module.mk
+++ b/src/modules/systemlib/module.mk
@@ -47,4 +47,5 @@ SRCS		 = err.c \
 		   pid/pid.c \
 		   geo/geo.c \
 		   systemlib.c \
-		   airspeed.c
+		   airspeed.c \
+		   system_params.c
diff --git a/src/modules/systemlib/system_params.c b/src/modules/systemlib/system_params.c
new file mode 100644
index 000000000..75be090f8
--- /dev/null
+++ b/src/modules/systemlib/system_params.c
@@ -0,0 +1,47 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 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 system_params.c
+ *
+ * System wide parameters
+ */
+
+#include <nuttx/config.h>
+#include <systemlib/param/param.h>
+
+// Auto-start script with index #n
+PARAM_DEFINE_INT32(SYS_AUTOSTART, 0);
+
+// Automatically configure default values
+PARAM_DEFINE_INT32(SYS_AUTOCONFIG, 0);