diff options
-rw-r--r-- | CMakeLists.txt | 2 | ||||
-rw-r--r-- | src/modules/systemlib/circuit_breaker.cpp (renamed from src/platforms/ros/circuit_breaker.cpp) | 4 | ||||
-rw-r--r-- | src/modules/systemlib/circuit_breaker.h | 10 | ||||
-rw-r--r-- | src/modules/systemlib/circuit_breaker_params.c (renamed from src/modules/systemlib/circuit_breaker.c) | 24 | ||||
-rw-r--r-- | src/modules/systemlib/module.mk | 3 |
5 files changed, 7 insertions, 36 deletions
diff --git a/CMakeLists.txt b/CMakeLists.txt index 19a14f62a..3184bb2ac 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -122,7 +122,7 @@ add_library(px4 src/platforms/ros/perf_counter.cpp src/platforms/ros/geo.cpp src/lib/mathlib/math/Limits.cpp - src/platforms/ros/circuit_breaker.cpp + src/modules/systemlib/circuit_breaker.cpp ) target_link_libraries(px4 diff --git a/src/platforms/ros/circuit_breaker.cpp b/src/modules/systemlib/circuit_breaker.cpp index 1e912d3ac..2df13ebff 100644 --- a/src/platforms/ros/circuit_breaker.cpp +++ b/src/modules/systemlib/circuit_breaker.cpp @@ -43,13 +43,13 @@ */ #include <px4.h> -#include <systemlib/circuit_breaker_params.h> #include <systemlib/circuit_breaker.h> bool circuit_breaker_enabled(const char* breaker, int32_t magic) { int32_t val; - (void)PX4_PARAM_GET(breaker, &val); + /* (void)param_get(param_find(breaker), &val); */ + (void)PX4_PARAM_GET_NAME(breaker, &val); return (val == magic); } diff --git a/src/modules/systemlib/circuit_breaker.h b/src/modules/systemlib/circuit_breaker.h index 012d8cb61..c97dbc26f 100644 --- a/src/modules/systemlib/circuit_breaker.h +++ b/src/modules/systemlib/circuit_breaker.h @@ -61,14 +61,8 @@ __BEGIN_DECLS -#ifdef __cplusplus -extern "C" { -#endif -__EXPORT bool circuit_breaker_enabled(const char* breaker, int32_t magic); -#ifdef __cplusplus -} -#endif -__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 #endif /* CIRCUIT_BREAKER_H_ */ diff --git a/src/modules/systemlib/circuit_breaker.c b/src/modules/systemlib/circuit_breaker_params.c index 1b3ffd59f..e499ae27a 100644 --- a/src/modules/systemlib/circuit_breaker.c +++ b/src/modules/systemlib/circuit_breaker_params.c @@ -44,7 +44,6 @@ #include <px4.h> #include <systemlib/circuit_breaker_params.h> -#include <systemlib/circuit_breaker.h> /** * Circuit breaker for power supply check @@ -122,26 +121,3 @@ PX4_PARAM_DEFINE_INT32(CBRK_FLIGHTTERM); * @group Circuit Breaker */ PX4_PARAM_DEFINE_INT32(CBRK_ENGINEFAIL); - -/** - * 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 - */ -PX4_PARAM_DEFINE_INT32(CBRK_GPSFAIL); - -bool circuit_breaker_enabled(const char* breaker, int32_t magic) -{ - int32_t val; - (void)param_get(param_find(breaker), &val); - - return (val == magic); -} - diff --git a/src/modules/systemlib/module.mk b/src/modules/systemlib/module.mk index fe8b7e75a..1e0a9c007 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 |