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-rw-r--r--ROMFS/px4fmu_common/init.d/01_fmu_quad_x107
-rw-r--r--ROMFS/px4fmu_common/init.d/02_io_quad_x (renamed from ROMFS/px4fmu_common/init.d/rc.IO_QUAD)32
-rw-r--r--ROMFS/px4fmu_common/init.d/08_ardrone (renamed from ROMFS/px4fmu_common/init.d/rc.PX4IOAR)0
-rw-r--r--ROMFS/px4fmu_common/init.d/09_ardrone_flow (renamed from ROMFS/px4fmu_common/init.d/rc.PX4IOAR_PX4FLOW_example)0
-rw-r--r--ROMFS/px4fmu_common/init.d/10_io_f330139
-rw-r--r--ROMFS/px4fmu_common/init.d/30_io_camflyer (renamed from ROMFS/px4fmu_common/init.d/rc.PX4IO)26
-rw-r--r--ROMFS/px4fmu_common/init.d/31_io_phantom121
-rw-r--r--ROMFS/px4fmu_common/init.d/rc.FMU_quad_x67
-rwxr-xr-xROMFS/px4fmu_common/init.d/rcS39
-rw-r--r--src/modules/mavlink/mavlink_log.c11
-rw-r--r--src/modules/sensors/sensors.cpp2
-rw-r--r--src/modules/systemlib/module.mk3
-rw-r--r--src/modules/systemlib/system_params.c47
-rw-r--r--src/systemcmds/param/param.c73
-rw-r--r--src/systemcmds/preflight_check/preflight_check.c6
15 files changed, 589 insertions, 84 deletions
diff --git a/ROMFS/px4fmu_common/init.d/01_fmu_quad_x b/ROMFS/px4fmu_common/init.d/01_fmu_quad_x
new file mode 100644
index 000000000..58a970eba
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/01_fmu_quad_x
@@ -0,0 +1,107 @@
+#!nsh
+#
+# Flight startup script for PX4FMU with PWM outputs.
+#
+
+# disable USB and autostart
+set USB no
+set MODE custom
+
+echo "[init] doing PX4FMU Quad startup..."
+
+#
+# Start the ORB
+#
+uorb start
+
+#
+# Load microSD params
+#
+echo "[init] loading microSD params"
+param select /fs/microsd/params
+if [ -f /fs/microsd/params ]
+then
+ param load /fs/microsd/params
+fi
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+ # Set all params here, then disable autoconfig
+ param set MC_ATTRATE_P 0.14
+ param set MC_ATTRATE_I 0
+ param set MC_ATTRATE_D 0.006
+ param set MC_ATT_P 5.5
+ param set MC_ATT_I 0
+ param set MC_ATT_D 0
+ param set MC_YAWPOS_D 0
+ param set MC_YAWPOS_I 0
+ param set MC_YAWPOS_P 0.6
+ param set MC_YAWRATE_D 0
+ param set MC_YAWRATE_I 0
+ param set MC_YAWRATE_P 0.08
+ param set RC_SCALE_PITCH 1
+ param set RC_SCALE_ROLL 1
+ param set RC_SCALE_YAW 3
+
+ param set SYS_AUTOCONFIG 0
+ param save /fs/microsd/params
+fi
+
+#
+# Force some key parameters to sane values
+# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
+# see https://pixhawk.ethz.ch/mavlink/
+#
+param set MAV_TYPE 2
+
+#
+# Start MAVLink
+#
+mavlink start -d /dev/ttyS0 -b 57600
+usleep 5000
+
+#
+# Start the sensors and test them.
+#
+sh /etc/init.d/rc.sensors
+
+#
+# Start the commander.
+#
+commander start
+
+#
+# Start GPS interface (depends on orb)
+#
+gps start
+
+#
+# Start the attitude estimator
+#
+attitude_estimator_ekf start
+
+echo "[init] starting PWM output"
+fmu mode_pwm
+mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
+pwm -u 400 -m 0xff
+
+#
+# Start attitude control
+#
+multirotor_att_control start
+
+#
+# Start logging
+#
+sdlog2 start -r 50 -a -b 14
+
+#
+# Start system state
+#
+if blinkm start
+then
+ blinkm systemstate
+fi
diff --git a/ROMFS/px4fmu_common/init.d/rc.IO_QUAD b/ROMFS/px4fmu_common/init.d/02_io_quad_x
index 5f2de0d7e..131abf8c4 100644
--- a/ROMFS/px4fmu_common/init.d/rc.IO_QUAD
+++ b/ROMFS/px4fmu_common/init.d/02_io_quad_x
@@ -1,8 +1,11 @@
#!nsh
+#
+# Flight startup script for PX4FMU+PX4IO
+#
-# Disable USB and autostart
+# disable USB and autostart
set USB no
-set MODE quad
+set MODE custom
#
# Start the ORB (first app to start)
@@ -18,6 +21,16 @@ if [ -f /fs/microsd/params ]
then
param load /fs/microsd/params
fi
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+ # Set all params here, then disable autoconfig
+ param set SYS_AUTOCONFIG 0
+ param save /fs/microsd/params
+fi
#
# Force some key parameters to sane values
@@ -68,6 +81,11 @@ px4io start
# Allow PX4IO to recover from midair restarts.
# this is very unlikely, but quite safe and robust.
px4io recovery
+
+#
+# Disable px4io topic limiting
+#
+px4io limit 200
#
# Start the sensors (depends on orb, px4io)
@@ -87,21 +105,19 @@ attitude_estimator_ekf start
#
# Load mixer and start controllers (depends on px4io)
#
-mixer load /dev/pwm_output /etc/mixers/FMU_quad_+.mix
+mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
+pwm -u 400 -m 0xff
multirotor_att_control start
#
# Start logging
#
-#sdlog start -s 4
+sdlog2 start -r 50 -a -b 14
#
# Start system state
#
if blinkm start
then
- echo "using BlinkM for state indication"
blinkm systemstate
-else
- echo "no BlinkM found, OK."
-fi \ No newline at end of file
+fi
diff --git a/ROMFS/px4fmu_common/init.d/rc.PX4IOAR b/ROMFS/px4fmu_common/init.d/08_ardrone
index f55ac2ae3..f55ac2ae3 100644
--- a/ROMFS/px4fmu_common/init.d/rc.PX4IOAR
+++ b/ROMFS/px4fmu_common/init.d/08_ardrone
diff --git a/ROMFS/px4fmu_common/init.d/rc.PX4IOAR_PX4FLOW_example b/ROMFS/px4fmu_common/init.d/09_ardrone_flow
index e7173f6e6..e7173f6e6 100644
--- a/ROMFS/px4fmu_common/init.d/rc.PX4IOAR_PX4FLOW_example
+++ b/ROMFS/px4fmu_common/init.d/09_ardrone_flow
diff --git a/ROMFS/px4fmu_common/init.d/10_io_f330 b/ROMFS/px4fmu_common/init.d/10_io_f330
new file mode 100644
index 000000000..4107fab4f
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/10_io_f330
@@ -0,0 +1,139 @@
+#!nsh
+#
+# Flight startup script for PX4FMU+PX4IO
+#
+
+# disable USB and autostart
+set USB no
+set MODE custom
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+ # Set all params here, then disable autoconfig
+ param set SYS_AUTOCONFIG 0
+
+ param set MC_ATTRATE_D 0.007
+ param set MC_ATTRATE_I 0.0
+ param set MC_ATTRATE_P 0.13
+ param set MC_ATT_D 0.0
+ param set MC_ATT_I 0.0
+ param set MC_ATT_P 7.0
+ param set MC_POS_P 0.1
+ param set MC_RCLOSS_THR 0.0
+ param set MC_YAWPOS_D 0.0
+ param set MC_YAWPOS_I 0.5
+ param set MC_YAWPOS_P 1.0
+ param set MC_YAWRATE_D 0.0
+ param set MC_YAWRATE_I 0.0
+ param set MC_YAWRATE_P 0.2
+
+ param save /fs/microsd/params
+fi
+
+#
+# Force some key parameters to sane values
+# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
+# see https://pixhawk.ethz.ch/mavlink/
+#
+param set MAV_TYPE 2
+
+#
+# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
+#
+if [ -f /fs/microsd/px4io2.bin ]
+then
+ echo "PX4IO Firmware found. Checking Upgrade.."
+ if cmp /fs/microsd/px4io2.bin /fs/microsd/px4io2.cur
+ then
+ echo "No newer version, skipping upgrade."
+ else
+ echo "Loading /fs/microsd/px4io2.bin"
+ if px4io update /fs/microsd/px4io2.bin > /fs/microsd/px4io2.log
+ then
+ cp /fs/microsd/px4io2.bin /fs/microsd/px4io2.cur
+ echo "Flashed /fs/microsd/px4io2.bin OK" >> /fs/microsd/px4io2.log
+ else
+ echo "Failed flashing /fs/microsd/px4io2.bin" >> /fs/microsd/px4io2.log
+ echo "Failed to upgrade PX4IO2 firmware - check if PX4IO2 is in bootloader mode"
+ fi
+ fi
+fi
+
+#
+# Start MAVLink (depends on orb)
+#
+mavlink start
+usleep 5000
+
+#
+# Start PX4IO interface (depends on orb, commander)
+#
+px4io start
+pwm -u 400 -m 0xff
+
+#
+# Allow PX4IO to recover from midair restarts.
+# this is very unlikely, but quite safe and robust.
+px4io recovery
+
+#
+# Disable px4io topic limiting
+#
+px4io limit 200
+
+#
+# This sets a PWM right after startup (regardless of safety button)
+#
+px4io idle 900 900 900 900
+
+#
+# The values are for spinning motors when armed using DJI ESCs
+#
+px4io min 1200 1200 1200 1200
+
+#
+# Upper limits could be higher, this is on the safe side
+#
+px4io max 1800 1800 1800 1800
+
+#
+# Start the sensors (depends on orb, px4io)
+#
+sh /etc/init.d/rc.sensors
+
+#
+# Start the commander (depends on orb, mavlink)
+#
+commander start
+
+#
+# Start GPS interface (depends on orb)
+#
+gps start
+
+#
+# Start the attitude estimator (depends on orb)
+#
+attitude_estimator_ekf start
+
+#
+# Load mixer and start controllers (depends on px4io)
+#
+mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
+multirotor_att_control start
+
+#
+# Start logging
+#
+sdlog2 start -r 20 -a -b 14
+
+#
+# Start system state
+#
+if blinkm start
+then
+ blinkm systemstate
+fi
diff --git a/ROMFS/px4fmu_common/init.d/rc.PX4IO b/ROMFS/px4fmu_common/init.d/30_io_camflyer
index 925a5703e..5090b98a4 100644
--- a/ROMFS/px4fmu_common/init.d/rc.PX4IO
+++ b/ROMFS/px4fmu_common/init.d/30_io_camflyer
@@ -1,8 +1,11 @@
#!nsh
+#
+# Flight startup script for PX4FMU+PX4IO
+#
-# Disable USB and autostart
+# disable USB and autostart
set USB no
-set MODE camflyer
+set MODE custom
#
# Start the ORB (first app to start)
@@ -18,6 +21,16 @@ if [ -f /fs/microsd/params ]
then
param load /fs/microsd/params
fi
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+ # Set all params here, then disable autoconfig
+ param set SYS_AUTOCONFIG 0
+ param save /fs/microsd/params
+fi
#
# Force some key parameters to sane values
@@ -68,6 +81,10 @@ px4io start
# Allow PX4IO to recover from midair restarts.
# this is very unlikely, but quite safe and robust.
px4io recovery
+
+#
+# Set actuator limit to 100 Hz update (50 Hz PWM)
+px4io limit 100
#
# Start the sensors (depends on orb, px4io)
@@ -93,15 +110,12 @@ control_demo start
#
# Start logging
#
-#sdlog start -s 4
+sdlog2 start -r 50 -a -b 14
#
# Start system state
#
if blinkm start
then
- echo "using BlinkM for state indication"
blinkm systemstate
-else
- echo "no BlinkM found, OK."
fi
diff --git a/ROMFS/px4fmu_common/init.d/31_io_phantom b/ROMFS/px4fmu_common/init.d/31_io_phantom
new file mode 100644
index 000000000..5090b98a4
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/31_io_phantom
@@ -0,0 +1,121 @@
+#!nsh
+#
+# Flight startup script for PX4FMU+PX4IO
+#
+
+# disable USB and autostart
+set USB no
+set MODE custom
+
+#
+# Start the ORB (first app to start)
+#
+uorb start
+
+#
+# Load microSD params
+#
+echo "[init] loading microSD params"
+param select /fs/microsd/params
+if [ -f /fs/microsd/params ]
+then
+ param load /fs/microsd/params
+fi
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+ # Set all params here, then disable autoconfig
+ param set SYS_AUTOCONFIG 0
+ param save /fs/microsd/params
+fi
+
+#
+# Force some key parameters to sane values
+# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
+# see https://pixhawk.ethz.ch/mavlink/
+#
+param set MAV_TYPE 1
+
+#
+# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
+#
+if [ -f /fs/microsd/px4io.bin ]
+then
+ echo "PX4IO Firmware found. Checking Upgrade.."
+ if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
+ then
+ echo "No newer version, skipping upgrade."
+ else
+ echo "Loading /fs/microsd/px4io.bin"
+ if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log
+ then
+ cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
+ echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log
+ else
+ echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log
+ echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode"
+ fi
+ fi
+fi
+
+#
+# Start MAVLink (depends on orb)
+#
+mavlink start -d /dev/ttyS1 -b 57600
+usleep 5000
+
+#
+# Start the commander (depends on orb, mavlink)
+#
+commander start
+
+#
+# Start PX4IO interface (depends on orb, commander)
+#
+px4io start
+
+#
+# Allow PX4IO to recover from midair restarts.
+# this is very unlikely, but quite safe and robust.
+px4io recovery
+
+#
+# Set actuator limit to 100 Hz update (50 Hz PWM)
+px4io limit 100
+
+#
+# Start the sensors (depends on orb, px4io)
+#
+sh /etc/init.d/rc.sensors
+
+#
+# Start GPS interface (depends on orb)
+#
+gps start
+
+#
+# Start the attitude estimator (depends on orb)
+#
+kalman_demo start
+
+#
+# Load mixer and start controllers (depends on px4io)
+#
+mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
+control_demo start
+
+#
+# Start logging
+#
+sdlog2 start -r 50 -a -b 14
+
+#
+# Start system state
+#
+if blinkm start
+then
+ blinkm systemstate
+fi
diff --git a/ROMFS/px4fmu_common/init.d/rc.FMU_quad_x b/ROMFS/px4fmu_common/init.d/rc.FMU_quad_x
deleted file mode 100644
index 980197d68..000000000
--- a/ROMFS/px4fmu_common/init.d/rc.FMU_quad_x
+++ /dev/null
@@ -1,67 +0,0 @@
-#!nsh
-#
-# Flight startup script for PX4FMU with PWM outputs.
-#
-
-# Disable the USB interface
-set USB no
-
-# Disable autostarting other apps
-set MODE custom
-
-echo "[init] doing PX4FMU Quad startup..."
-
-#
-# Start the ORB
-#
-uorb start
-
-#
-# Load microSD params
-#
-echo "[init] loading microSD params"
-param select /fs/microsd/params
-if [ -f /fs/microsd/params ]
-then
- param load /fs/microsd/params
-fi
-
-#
-# Force some key parameters to sane values
-# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
-# see https://pixhawk.ethz.ch/mavlink/
-#
-param set MAV_TYPE 2
-
-#
-# Start MAVLink
-#
-mavlink start -d /dev/ttyS0 -b 57600
-usleep 5000
-
-#
-# Start the sensors and test them.
-#
-sh /etc/init.d/rc.sensors
-
-#
-# Start the commander.
-#
-commander start
-
-#
-# Start the attitude estimator
-#
-attitude_estimator_ekf start
-
-echo "[init] starting PWM output"
-fmu mode_pwm
-mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
-
-#
-# Start attitude control
-#
-multirotor_att_control start
-
-echo "[init] startup done, exiting"
-exit \ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index bbd86a474..b22591f3c 100755
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -82,3 +82,42 @@ else
fi
fi
+
+#
+# Check if auto-setup from one of the standard scripts is wanted
+# SYS_AUTOSTART = 0 means no autostart (default)
+#
+if param compare SYS_AUTOSTART 1
+then
+ sh /etc/init.d/01_fmu_quad_x
+fi
+
+if param compare SYS_AUTOSTART 2
+then
+ sh /etc/init.d/02_io_quad_x
+fi
+
+if param compare SYS_AUTOSTART 8
+then
+ sh /etc/init.d/08_ardrone
+fi
+
+if param compare SYS_AUTOSTART 9
+then
+ sh /etc/init.d/09_ardrone_flow
+fi
+
+if param compare SYS_AUTOSTART 10
+then
+ sh /etc/init.d/10_io_f330
+fi
+
+if param compare SYS_AUTOSTART 30
+then
+ sh /etc/init.d/30_io_camflyer
+fi
+
+if param compare SYS_AUTOSTART 31
+then
+ sh /etc/init.d/31_io_phantom
+fi
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);
diff --git a/src/systemcmds/param/param.c b/src/systemcmds/param/param.c
index 60e61d07b..40a9297a7 100644
--- a/src/systemcmds/param/param.c
+++ b/src/systemcmds/param/param.c
@@ -63,6 +63,7 @@ static void do_import(const char* param_file_name);
static void do_show(const char* search_string);
static void do_show_print(void *arg, param_t param);
static void do_set(const char* name, const char* val);
+static void do_compare(const char* name, const char* val);
int
param_main(int argc, char *argv[])
@@ -117,9 +118,17 @@ param_main(int argc, char *argv[])
errx(1, "not enough arguments.\nTry 'param set PARAM_NAME 3'");
}
}
+
+ if (!strcmp(argv[1], "compare")) {
+ if (argc >= 4) {
+ do_compare(argv[2], argv[3]);
+ } else {
+ errx(1, "not enough arguments.\nTry 'param compare PARAM_NAME 3'");
+ }
+ }
}
- errx(1, "expected a command, try 'load', 'import', 'show', 'set', 'select' or 'save'");
+ errx(1, "expected a command, try 'load', 'import', 'show', 'set', 'compare', 'select' or 'save'");
}
static void
@@ -295,3 +304,65 @@ do_set(const char* name, const char* val)
exit(0);
}
+
+static void
+do_compare(const char* name, const char* val)
+{
+ int32_t i;
+ float f;
+ param_t param = param_find(name);
+
+ /* set nothing if parameter cannot be found */
+ if (param == PARAM_INVALID) {
+ /* param not found */
+ errx(1, "Error: Parameter %s not found.", name);
+ }
+
+ /*
+ * Set parameter if type is known and conversion from string to value turns out fine
+ */
+
+ int ret = 1;
+
+ switch (param_type(param)) {
+ case PARAM_TYPE_INT32:
+ if (!param_get(param, &i)) {
+
+ /* convert string */
+ char* end;
+ int j = strtol(val,&end,10);
+ if (i == j) {
+ printf(" %d: ", i);
+ ret = 0;
+ }
+
+ }
+
+ break;
+
+ case PARAM_TYPE_FLOAT:
+ if (!param_get(param, &f)) {
+
+ /* convert string */
+ char* end;
+ float g = strtod(val, &end);
+ if (fabsf(f - g) < 1e-7f) {
+ printf(" %4.4f: ", (double)f);
+ ret = 0;
+ }
+ }
+
+ break;
+
+ default:
+ errx(1, "<unknown / unsupported type %d>\n", 0 + param_type(param));
+ }
+
+ if (ret == 0) {
+ printf("%c %s: equal\n",
+ param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'),
+ param_name(param));
+ }
+
+ exit(ret);
+}
diff --git a/src/systemcmds/preflight_check/preflight_check.c b/src/systemcmds/preflight_check/preflight_check.c
index 7752ffe67..d1dd85d47 100644
--- a/src/systemcmds/preflight_check/preflight_check.c
+++ b/src/systemcmds/preflight_check/preflight_check.c
@@ -135,6 +135,7 @@ int preflight_check_main(int argc, char *argv[])
close(fd);
fd = open(BARO_DEVICE_PATH, 0);
+ close(fd);
/* ---- RC CALIBRATION ---- */
@@ -251,6 +252,11 @@ system_eval:
int buzzer = open("/dev/tone_alarm", O_WRONLY);
int leds = open(LED_DEVICE_PATH, 0);
+ if (leds < 0) {
+ close(buzzer);
+ errx(1, "failed to open leds, aborting");
+ }
+
/* flip blue led into alternating amber */
led_off(leds, LED_BLUE);
led_off(leds, LED_AMBER);
generated by cgit v1.2.3 (git 2.39.1) at 2024-09-08 03:59:24 +0000