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-rw-r--r--ROMFS/px4fmu_common/init.d/3031_phantom4
-rw-r--r--src/drivers/px4io/px4io.cpp38
-rw-r--r--src/drivers/px4io/px4io_uploader.cpp6
-rw-r--r--src/modules/mavlink/mavlink_main.cpp36
-rw-r--r--src/modules/mavlink/mavlink_messages.cpp2
-rw-r--r--src/modules/mavlink/mavlink_orb_subscription.cpp26
-rw-r--r--src/modules/systemlib/perf_counter.c4
7 files changed, 66 insertions, 50 deletions
diff --git a/ROMFS/px4fmu_common/init.d/3031_phantom b/ROMFS/px4fmu_common/init.d/3031_phantom
index 24372bddc..d05c3174f 100644
--- a/ROMFS/px4fmu_common/init.d/3031_phantom
+++ b/ROMFS/px4fmu_common/init.d/3031_phantom
@@ -37,3 +37,7 @@ then
fi
set MIXER FMU_Q
+
+# Provide ESC a constant 1000 us pulse
+set PWM_OUTPUTS 4
+set PWM_DISARMED 1000
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 972f45148..992ab9623 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -197,8 +197,10 @@ public:
* Print IO status.
*
* Print all relevant IO status information
+ *
+ * @param extended_status Shows more verbose information (in particular RC config)
*/
- void print_status();
+ void print_status(bool extended_status);
/**
* Fetch and print debug console output.
@@ -1850,7 +1852,7 @@ PX4IO::mixer_send(const char *buf, unsigned buflen, unsigned retries)
}
void
-PX4IO::print_status()
+PX4IO::print_status(bool extended_status)
{
/* basic configuration */
printf("protocol %u hardware %u bootloader %u buffer %uB crc 0x%04x%04x\n",
@@ -2013,19 +2015,21 @@ PX4IO::print_status()
printf("\n");
}
- for (unsigned i = 0; i < _max_rc_input; i++) {
- unsigned base = PX4IO_P_RC_CONFIG_STRIDE * i;
- uint16_t options = io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_OPTIONS);
- printf("input %u min %u center %u max %u deadzone %u assigned %u options 0x%04x%s%s\n",
- i,
- io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_MIN),
- io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_CENTER),
- io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_MAX),
- io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_DEADZONE),
- io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_ASSIGNMENT),
- options,
- ((options & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) ? " ENABLED" : ""),
- ((options & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE) ? " REVERSED" : ""));
+ if (extended_status) {
+ for (unsigned i = 0; i < _max_rc_input; i++) {
+ unsigned base = PX4IO_P_RC_CONFIG_STRIDE * i;
+ uint16_t options = io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_OPTIONS);
+ printf("input %u min %u center %u max %u deadzone %u assigned %u options 0x%04x%s%s\n",
+ i,
+ io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_MIN),
+ io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_CENTER),
+ io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_MAX),
+ io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_DEADZONE),
+ io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_ASSIGNMENT),
+ options,
+ ((options & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) ? " ENABLED" : ""),
+ ((options & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE) ? " REVERSED" : ""));
+ }
}
printf("failsafe");
@@ -2853,7 +2857,7 @@ monitor(void)
if (g_dev != nullptr) {
printf("\033[2J\033[H"); /* move cursor home and clear screen */
- (void)g_dev->print_status();
+ (void)g_dev->print_status(false);
(void)g_dev->print_debug();
printf("\n\n\n[ Use 'px4io debug <N>' for more output. Hit <enter> three times to exit monitor mode ]\n");
@@ -3119,7 +3123,7 @@ px4io_main(int argc, char *argv[])
if (!strcmp(argv[1], "status")) {
printf("[px4io] loaded\n");
- g_dev->print_status();
+ g_dev->print_status(true);
exit(0);
}
diff --git a/src/drivers/px4io/px4io_uploader.cpp b/src/drivers/px4io/px4io_uploader.cpp
index 28ec62356..7b6361a7c 100644
--- a/src/drivers/px4io/px4io_uploader.cpp
+++ b/src/drivers/px4io/px4io_uploader.cpp
@@ -240,9 +240,9 @@ PX4IO_Uploader::upload(const char *filenames[])
close(_io_fd);
_io_fd = -1;
- // sleep for enough time for the IO chip to boot. This makes
- // forceupdate more reliably startup IO again after update
- up_udelay(100*1000);
+ // sleep for enough time for the IO chip to boot. This makes
+ // forceupdate more reliably startup IO again after update
+ up_udelay(100*1000);
return ret;
}
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index a182d940d..ee5e7aa3a 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -1576,32 +1576,36 @@ Mavlink::configure_stream(const char *stream_name, const float rate)
/* delete stream */
LL_DELETE(_streams, stream);
delete stream;
+ warnx("deleted stream %s", stream->get_name());
}
return OK;
}
}
- if (interval > 0) {
- /* search for stream with specified name in supported streams list */
- for (unsigned int i = 0; streams_list[i] != nullptr; i++) {
+ if (interval == 0) {
+ /* stream was not active and is requested to be disabled, do nothing */
+ return OK;
+ }
- if (strcmp(stream_name, streams_list[i]->get_name()) == 0) {
- /* create new instance */
- stream = streams_list[i]->new_instance();
- stream->set_channel(get_channel());
- stream->set_interval(interval);
- stream->subscribe(this);
- LL_APPEND(_streams, stream);
- return OK;
- }
- }
+ /* search for stream with specified name in supported streams list */
+ for (unsigned int i = 0; streams_list[i] != nullptr; i++) {
- } else {
- /* stream not found, nothing to disable */
- return OK;
+ if (strcmp(stream_name, streams_list[i]->get_name()) == 0) {
+ /* create new instance */
+ stream = streams_list[i]->new_instance();
+ stream->set_channel(get_channel());
+ stream->set_interval(interval);
+ stream->subscribe(this);
+ LL_APPEND(_streams, stream);
+
+ return OK;
+ }
}
+ /* if we reach here, the stream list does not contain the stream */
+ warnx("stream %s not found", stream_name);
+
return ERROR;
}
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 0017b4332..b443b8af8 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -1652,7 +1652,7 @@ StreamListItem *streams_list[] = {
new StreamListItem(&MavlinkStreamLocalPositionSetpoint::new_instance, &MavlinkStreamLocalPositionSetpoint::get_name_static),
new StreamListItem(&MavlinkStreamRollPitchYawThrustSetpoint::new_instance, &MavlinkStreamRollPitchYawThrustSetpoint::get_name_static),
new StreamListItem(&MavlinkStreamRollPitchYawRatesThrustSetpoint::new_instance, &MavlinkStreamRollPitchYawRatesThrustSetpoint::get_name_static),
- new StreamListItem(&MavlinkStreamRCChannelsRaw::new_instance, &MavlinkStreamGlobalPositionInt::get_name_static),
+ new StreamListItem(&MavlinkStreamRCChannelsRaw::new_instance, &MavlinkStreamRCChannelsRaw::get_name_static),
new StreamListItem(&MavlinkStreamManualControl::new_instance, &MavlinkStreamManualControl::get_name_static),
new StreamListItem(&MavlinkStreamOpticalFlow::new_instance, &MavlinkStreamOpticalFlow::get_name_static),
new StreamListItem(&MavlinkStreamAttitudeControls::new_instance, &MavlinkStreamAttitudeControls::get_name_static),
diff --git a/src/modules/mavlink/mavlink_orb_subscription.cpp b/src/modules/mavlink/mavlink_orb_subscription.cpp
index 901fa8f05..3807323c2 100644
--- a/src/modules/mavlink/mavlink_orb_subscription.cpp
+++ b/src/modules/mavlink/mavlink_orb_subscription.cpp
@@ -44,6 +44,8 @@
#include <uORB/uORB.h>
#include <stdio.h>
+#include <systemlib/err.h>
+
#include "mavlink_orb_subscription.h"
MavlinkOrbSubscription::MavlinkOrbSubscription(const orb_id_t topic) :
@@ -77,21 +79,23 @@ MavlinkOrbSubscription::update(uint64_t *time, void* data)
time_topic = 0;
}
- if (orb_copy(_topic, _fd, data)) {
- /* error copying topic data */
- memset(data, 0, _topic->o_size);
- return false;
+ if (time_topic != *time) {
- } else {
- /* data copied successfully */
- _published = true;
- if (time_topic != *time) {
- *time = time_topic;
- return true;
+ if (orb_copy(_topic, _fd, data)) {
+ /* error copying topic data */
+ memset(data, 0, _topic->o_size);
+ //warnx("err copy, fd: %d, obj: %s, size: %d", _fd, _topic->o_name, _topic->o_size);
+ return false;
} else {
- return false;
+ /* data copied successfully */
+ _published = true;
+ *time = time_topic;
+ return true;
}
+
+ } else {
+ return false;
}
}
diff --git a/src/modules/systemlib/perf_counter.c b/src/modules/systemlib/perf_counter.c
index 22182e39e..d6d8284d2 100644
--- a/src/modules/systemlib/perf_counter.c
+++ b/src/modules/systemlib/perf_counter.c
@@ -301,7 +301,7 @@ perf_print_counter_fd(int fd, perf_counter_t handle)
case PC_ELAPSED: {
struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle;
- dprintf(fd, "%s: %llu events, %lluus elapsed, %llu avg, min %lluus max %lluus\n",
+ dprintf(fd, "%s: %llu events, %lluus elapsed, %lluus avg, min %lluus max %lluus\n",
handle->name,
pce->event_count,
pce->time_total,
@@ -314,7 +314,7 @@ perf_print_counter_fd(int fd, perf_counter_t handle)
case PC_INTERVAL: {
struct perf_ctr_interval *pci = (struct perf_ctr_interval *)handle;
- dprintf(fd, "%s: %llu events, %llu avg, min %lluus max %lluus\n",
+ dprintf(fd, "%s: %llu events, %lluus avg, min %lluus max %lluus\n",
handle->name,
pci->event_count,
(pci->time_last - pci->time_first) / pci->event_count,
generated by cgit v1.2.3 (git 2.39.1) at 2024-08-25 12:58:42 +0000