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-rw-r--r--src/modules/commander/commander.cpp2
-rw-r--r--src/modules/dataman/dataman.c19
-rw-r--r--src/modules/dataman/dataman.h2
-rw-r--r--src/modules/sdlog2/sdlog2_messages.h48
4 files changed, 43 insertions, 28 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index ce6de88ef..819dfbe83 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -967,7 +967,7 @@ int commander_thread_main(int argc, char *argv[])
orb_copy(ORB_ID(battery_status), battery_sub, &battery);
/* only consider battery voltage if system has been running 2s and battery voltage is valid */
- if (status.hil_state == HIL_STATE_OFF && hrt_absolute_time() > start_time + 2000000 && battery.voltage_filtered_v > 0.0f) {
+ if (hrt_absolute_time() > start_time + 2000000 && battery.voltage_filtered_v > 0.0f) {
status.battery_voltage = battery.voltage_filtered_v;
status.battery_current = battery.current_a;
status.condition_battery_voltage_valid = true;
diff --git a/src/modules/dataman/dataman.c b/src/modules/dataman/dataman.c
index 34d20e485..c132b0040 100644
--- a/src/modules/dataman/dataman.c
+++ b/src/modules/dataman/dataman.c
@@ -44,7 +44,9 @@
#include <stdlib.h>
#include <fcntl.h>
#include <systemlib/systemlib.h>
+#include <systemlib/err.h>
#include <queue.h>
+#include <string.h>
#include "dataman.h"
@@ -594,6 +596,20 @@ task_main(int argc, char *argv[])
sem_init(&g_work_queued_sema, 1, 0);
+ /* See if the data manage file exists and is a multiple of the sector size */
+ g_task_fd = open(k_data_manager_device_path, O_RDONLY | O_BINARY);
+ if (g_task_fd >= 0) {
+ /* File exists, check its size */
+ int file_size = lseek(g_task_fd, 0, SEEK_END);
+ if ((file_size % k_sector_size) != 0) {
+ warnx("Incompatible data manager file %s, resetting it", k_data_manager_device_path);
+ close(g_task_fd);
+ unlink(k_data_manager_device_path);
+ }
+ else
+ close(g_task_fd);
+ }
+
/* Open or create the data manager file */
g_task_fd = open(k_data_manager_device_path, O_RDWR | O_CREAT | O_BINARY);
@@ -603,7 +619,7 @@ task_main(int argc, char *argv[])
return -1;
}
- if (lseek(g_task_fd, max_offset, SEEK_SET) != max_offset) {
+ if ((unsigned)lseek(g_task_fd, max_offset, SEEK_SET) != max_offset) {
close(g_task_fd);
warnx("Could not seek data manager file %s", k_data_manager_device_path);
sem_post(&g_init_sema); /* Don't want to hang startup */
@@ -776,4 +792,3 @@ dataman_main(int argc, char *argv[])
exit(1);
}
-
diff --git a/src/modules/dataman/dataman.h b/src/modules/dataman/dataman.h
index a70638ccc..33c9fcd15 100644
--- a/src/modules/dataman/dataman.h
+++ b/src/modules/dataman/dataman.h
@@ -79,7 +79,7 @@ extern "C" {
} dm_reset_reason;
/* Maximum size in bytes of a single item instance */
- #define DM_MAX_DATA_SIZE 126
+ #define DM_MAX_DATA_SIZE 124
/* Retrieve from the data manager store */
__EXPORT ssize_t
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h
index 2538dcd2f..28d0706ff 100644
--- a/src/modules/sdlog2/sdlog2_messages.h
+++ b/src/modules/sdlog2/sdlog2_messages.h
@@ -342,30 +342,30 @@ struct log_PARM_s {
/* construct list of all message formats */
static const struct log_format_s log_formats[] = {
/* business-level messages, ID < 0x80 */
- LOG_FORMAT(ATT, "fffffffff", "Roll,Pitch,Yaw,RollRate,PitchRate,YawRate,GX,GY,GZ"),
- LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"),
- LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"),
- LOG_FORMAT(SENS, "fffff", "BaroPres,BaroAlt,BaroTemp,DiffPres,DiffPresFilt"),
- LOG_FORMAT(LPOS, "ffffffffLLfBBBB", "X,Y,Z,VX,VY,VZ,RefLat,RefLon,RefAlt,XYFlags,ZFlags,Landed"),
- LOG_FORMAT(LPSP, "ffff", "X,Y,Z,Yaw"),
- LOG_FORMAT(GPS, "QBffLLfffff", "GPSTime,FixType,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog"),
- LOG_FORMAT(ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"),
- LOG_FORMAT(STAT, "BBfBB", "MainState,ArmState,BatRem,BatWarn,Landed"),
- LOG_FORMAT(RC, "ffffffffB", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7,Count"),
- LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"),
- LOG_FORMAT(AIRS, "fff", "IndSpeed,TrueSpeed,AirTemp"),
- LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"),
- LOG_FORMAT(FLOW, "hhfffBB", "RawX,RawY,CompX,CompY,Dist,Q,SensID"),
- LOG_FORMAT(GPOS, "LLfffffB", "Lat,Lon,Alt,VelN,VelE,VelD,BaroAlt,Flags"),
- LOG_FORMAT(GPSP, "BLLffBfbf", "NavState,Lat,Lon,Alt,Yaw,Type,LoitR,LoitDir,PitMin"),
- LOG_FORMAT(ESC, "HBBBHHHHHHfH", "Counter,NumESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
- LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"),
- LOG_FORMAT(BATT, "ffff", "V,VFilt,C,Discharged"),
- LOG_FORMAT(DIST, "ffB", "Bottom,BottomRate,Flags"),
- LOG_FORMAT(TELE, "BBBBHHB", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf"),
- LOG_FORMAT(ESTM, "ffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,n_states,states_nan,cov_nan,kgain_nan"),
- LOG_FORMAT(PWR, "fffBBBBB", "Periph_5V,Servo_5V,RSSI,USB_OK,BRICK_OK,SRV_OK,PERIPH_OC,HIPWR_OC"),
- LOG_FORMAT(VICN, "ffffff", "X,Y,Z,Roll,Pitch,Yaw"),
+ LOG_FORMAT(ATT, "fffffffff", "Roll,Pitch,Yaw,RollRate,PitchRate,YawRate,GX,GY,GZ"),
+ LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"),
+ LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"),
+ LOG_FORMAT(SENS, "fffff", "BaroPres,BaroAlt,BaroTemp,DiffPres,DiffPresFilt"),
+ LOG_FORMAT(LPOS, "ffffffffLLfBBBB", "X,Y,Z,dist,distR,VX,VY,VZ,RLat,RLon,RAlt,XYFlg,ZFlg,LFlg,GFlg"),
+ LOG_FORMAT(LPSP, "ffff", "X,Y,Z,Yaw"),
+ LOG_FORMAT(GPS, "QBffLLfffff", "GPSTime,FixType,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog"),
+ LOG_FORMAT(ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"),
+ LOG_FORMAT(STAT, "BBfBB", "MainState,ArmState,BatRem,BatWarn,Landed"),
+ LOG_FORMAT(RC, "ffffffffB", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7,Count"),
+ LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"),
+ LOG_FORMAT(AIRS, "fff", "IndSpeed,TrueSpeed,AirTemp"),
+ LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"),
+ LOG_FORMAT(FLOW, "hhfffBB", "RawX,RawY,CompX,CompY,Dist,Q,SensID"),
+ LOG_FORMAT(GPOS, "LLfffffB", "Lat,Lon,Alt,VelN,VelE,VelD,BaroAlt,Flags"),
+ LOG_FORMAT(GPSP, "BLLffBfbf", "NavState,Lat,Lon,Alt,Yaw,Type,LoitR,LoitDir,PitMin"),
+ LOG_FORMAT(ESC, "HBBBHHHHHHfH", "count,nESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
+ LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"),
+ LOG_FORMAT(BATT, "ffff", "V,VFilt,C,Discharged"),
+ LOG_FORMAT(DIST, "ffB", "Bottom,BottomRate,Flags"),
+ LOG_FORMAT(TELE, "BBBBHHB", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf"),
+ LOG_FORMAT(ESTM, "ffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,nStat,statNaN,covNaN,kGainNaN"),
+ LOG_FORMAT(PWR, "fffBBBBB", "Periph5V,Servo5V,RSSI,UsbOk,BrickOk,ServoOk,PeriphOC,HipwrOC"),
+ LOG_FORMAT(VICN, "ffffff", "X,Y,Z,Roll,Pitch,Yaw"),
/* system-level messages, ID >= 0x80 */
/* FMT: don't write format of format message, it's useless */
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-12 12:28:54 +0000