diff options
Diffstat (limited to 'apps/mavlink/mavlink_parameters.c')
-rw-r--r-- | apps/mavlink/mavlink_parameters.c | 50 |
1 files changed, 31 insertions, 19 deletions
diff --git a/apps/mavlink/mavlink_parameters.c b/apps/mavlink/mavlink_parameters.c index bc13f0540..99df42738 100644 --- a/apps/mavlink/mavlink_parameters.c +++ b/apps/mavlink/mavlink_parameters.c @@ -147,7 +147,9 @@ int mavlink_pm_send_param(param_t param) } static const char *mavlink_parameter_file = "/eeprom/parameters"; - +/** + * @return 0 on success, -1 if device open failed, -2 if writing parameters failed + */ static int mavlink_pm_save_eeprom() { @@ -156,7 +158,7 @@ mavlink_pm_save_eeprom() int fd = open(mavlink_parameter_file, O_WRONLY | O_CREAT | O_EXCL); if (fd < 0) { - warn(1, "opening '%s' failed", mavlink_parameter_file); + warn("opening '%s' failed", mavlink_parameter_file); return -1; } @@ -165,20 +167,23 @@ mavlink_pm_save_eeprom() if (result < 0) { unlink(mavlink_parameter_file); - warn(1, "error exporting to '%s'", mavlink_parameter_file); - return -1; + warn("error exporting to '%s'", mavlink_parameter_file); + return -2; } return 0; } +/** + * @return 0 on success, -1 if device open failed, -2 if writing parameters failed + */ static int mavlink_pm_load_eeprom() { int fd = open(mavlink_parameter_file, O_RDONLY); if (fd < 0) { - warn(1, "open '%s' failed", mavlink_parameter_file); + warn("open '%s' failed", mavlink_parameter_file); return -1; } @@ -186,8 +191,8 @@ mavlink_pm_load_eeprom() close(fd); if (result < 0) { - warn(1, "error importing from '%s'", mavlink_parameter_file); - return -1; + warn("error importing from '%s'", mavlink_parameter_file); + return -2; } return 0; @@ -269,35 +274,42 @@ void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_mess if (((int)(cmd_mavlink.param1)) == 0) { - if (OK == mavlink_pm_load_eeprom()) { + /* read all parameters from EEPROM to RAM */ + int read_ret = mavlink_pm_load_eeprom(); + if (read_ret == OK) { //printf("[mavlink pm] Loaded EEPROM params in RAM\n"); - mavlink_missionlib_send_gcs_string("[mavlink pm] CMD Loaded EEPROM params in RAM"); + mavlink_missionlib_send_gcs_string("[mavlink pm] OK loaded EEPROM params"); result = MAV_RESULT_ACCEPTED; } else { - //fprintf(stderr, "[mavlink pm] ERROR loading EEPROM params in RAM\n"); - mavlink_missionlib_send_gcs_string("[mavlink pm] ERROR loading EEPROM params in RAM"); + if (read_ret < -1) { + mavlink_missionlib_send_gcs_string("[mavlink pm] ERR loading params from EEPROM"); + } else { + mavlink_missionlib_send_gcs_string("[mavlink pm] ERR loading params, no EEPROM found"); + } result = MAV_RESULT_FAILED; } - /* Write all parameters from RAM to EEPROM */ - } else if (((int)(cmd_mavlink.param1)) == 1) { - if (OK == mavlink_pm_save_eeprom()) { - //printf("[mavlink pm] RAM params written to EEPROM\n"); - mavlink_missionlib_send_gcs_string("[mavlink pm] RAM params written to EEPROM"); + /* write all parameters from RAM to EEPROM */ + int write_ret = mavlink_pm_save_eeprom(); + if (write_ret == OK) { + mavlink_missionlib_send_gcs_string("[mavlink pm] OK params written to EEPROM"); result = MAV_RESULT_ACCEPTED; } else { - //fprintf(stderr, "[mavlink pm] ERROR writing RAM params to EEPROM\n"); - mavlink_missionlib_send_gcs_string("[mavlink pm] ERROR writing RAM params to EEPROM"); + if (write_ret < -1) { + mavlink_missionlib_send_gcs_string("[mavlink pm] ERR writing params to EEPROM"); + } else { + mavlink_missionlib_send_gcs_string("[mavlink pm] ERR writing params, no EEPROM found"); + } result = MAV_RESULT_FAILED; } } else { //fprintf(stderr, "[mavlink pm] refusing unsupported storage request\n"); - mavlink_missionlib_send_gcs_string("[mavlink pm] refusing unsupported storage request"); + mavlink_missionlib_send_gcs_string("[mavlink pm] refusing unsupported STOR request"); result = MAV_RESULT_UNSUPPORTED; } } |