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author | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-05 10:02:07 +0100 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-05 10:02:07 +0100 |
commit | 16b9f666e790a2b939f7890b39cc6e4cf2552165 (patch) | |
tree | ee936b06d15e75e12b175f6786772781aff32cd8 /src/systemcmds | |
parent | e16c4ff76e7eff2da88bcbef5d05dd4ba11e7203 (diff) | |
parent | c3ed35f5cc8e2617e61747e904dbaa652d1cc2c8 (diff) | |
download | px4-firmware-16b9f666e790a2b939f7890b39cc6e4cf2552165.tar.gz px4-firmware-16b9f666e790a2b939f7890b39cc6e4cf2552165.tar.bz2 px4-firmware-16b9f666e790a2b939f7890b39cc6e4cf2552165.zip |
Merge remote-tracking branch 'upstream/master' into dev_ros
Conflicts:
src/lib/mathlib/math/Matrix.hpp
src/modules/mc_att_control/mc_att_control_main.cpp
src/modules/uORB/topics/vehicle_status.h
src/platforms/px4_includes.h
Diffstat (limited to 'src/systemcmds')
-rw-r--r-- | src/systemcmds/nshterm/nshterm.c | 13 | ||||
-rw-r--r-- | src/systemcmds/tests/module.mk | 2 | ||||
-rw-r--r-- | src/systemcmds/tests/test_mathlib.cpp | 51 |
3 files changed, 57 insertions, 9 deletions
diff --git a/src/systemcmds/nshterm/nshterm.c b/src/systemcmds/nshterm/nshterm.c index edeb5c624..ceaea35b6 100644 --- a/src/systemcmds/nshterm/nshterm.c +++ b/src/systemcmds/nshterm/nshterm.c @@ -66,20 +66,18 @@ nshterm_main(int argc, char *argv[]) int fd = -1; int armed_fd = orb_subscribe(ORB_ID(actuator_armed)); struct actuator_armed_s armed; - /* we assume the system does not provide arming status feedback */ - bool armed_updated = false; - /* try the first 30 seconds or if arming system is ready */ - while ((retries < 300) || armed_updated) { + /* try to bring up the console - stop doing so if the system gets armed */ + while (true) { /* abort if an arming topic is published and system is armed */ bool updated = false; - if (orb_check(armed_fd, &updated)) { + orb_check(armed_fd, &updated); + if (updated) { /* the system is now providing arming status feedback. * instead of timing out, we resort to abort bringing * up the terminal. */ - armed_updated = true; orb_copy(ORB_ID(actuator_armed), armed_fd, &armed); if (armed.armed) { @@ -92,6 +90,7 @@ nshterm_main(int argc, char *argv[]) /* which may not be ready immediately. */ fd = open(argv[1], O_RDWR); if (fd != -1) { + close(armed_fd); break; } usleep(100000); @@ -116,7 +115,7 @@ nshterm_main(int argc, char *argv[]) } /* Set ONLCR flag (which appends a CR for every LF) */ - uart_config.c_oflag |= (ONLCR | OPOST/* | OCRNL*/); + uart_config.c_oflag |= (ONLCR | OPOST); if ((termios_state = tcsetattr(fd, TCSANOW, &uart_config)) < 0) { warnx("ERR set config %s\n", argv[1]); diff --git a/src/systemcmds/tests/module.mk b/src/systemcmds/tests/module.mk index 6eed3922c..0dc333f0a 100644 --- a/src/systemcmds/tests/module.mk +++ b/src/systemcmds/tests/module.mk @@ -35,5 +35,5 @@ SRCS = test_adc.c \ test_mount.c \ test_mtd.c -EXTRACXXFLAGS = -Wframe-larger-than=2500 +EXTRACXXFLAGS = -Wframe-larger-than=2500 -Wno-float-equal -Wno-double-promotion diff --git a/src/systemcmds/tests/test_mathlib.cpp b/src/systemcmds/tests/test_mathlib.cpp index 70d173fc9..9fa52aaaa 100644 --- a/src/systemcmds/tests/test_mathlib.cpp +++ b/src/systemcmds/tests/test_mathlib.cpp @@ -54,6 +54,7 @@ using namespace math; int test_mathlib(int argc, char *argv[]) { + int rc = 0; warnx("testing mathlib"); { @@ -156,5 +157,53 @@ int test_mathlib(int argc, char *argv[]) TEST_OP("Matrix<10, 10> * Matrix<10, 10>", m1 * m2); } - return 0; + { + // test nonsymmetric +, -, +=, -= + + float data1[2][3] = {{1,2,3},{4,5,6}}; + float data2[2][3] = {{2,4,6},{8,10,12}}; + float data3[2][3] = {{3,6,9},{12,15,18}}; + + Matrix<2, 3> m1(data1); + Matrix<2, 3> m2(data2); + Matrix<2, 3> m3(data3); + + if (m1 + m2 != m3) { + warnx("Matrix<2, 3> + Matrix<2, 3> failed!"); + (m1 + m2).print(); + printf("!=\n"); + m3.print(); + rc = 1; + } + + if (m3 - m2 != m1) { + warnx("Matrix<2, 3> - Matrix<2, 3> failed!"); + (m3 - m2).print(); + printf("!=\n"); + m1.print(); + rc = 1; + } + + m1 += m2; + if (m1 != m3) { + warnx("Matrix<2, 3> += Matrix<2, 3> failed!"); + m1.print(); + printf("!=\n"); + m3.print(); + rc = 1; + } + + m1 -= m2; + Matrix<2, 3> m1_orig(data1); + if (m1 != m1_orig) { + warnx("Matrix<2, 3> -= Matrix<2, 3> failed!"); + m1.print(); + printf("!=\n"); + m1_orig.print(); + rc = 1; + } + + } + + return rc; } |