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-rw-r--r--src/drivers/blinkm/blinkm.cpp5
-rw-r--r--src/drivers/gps/gps.cpp6
-rw-r--r--src/drivers/gps/mtk.cpp8
-rw-r--r--src/drivers/gps/ubx.cpp4
-rw-r--r--src/drivers/mkblctrl/mkblctrl.cpp8
-rw-r--r--src/drivers/mpu6000/mpu6000.cpp2
-rw-r--r--src/drivers/px4fmu/fmu.cpp2
-rw-r--r--src/drivers/px4io/px4io.cpp38
-rw-r--r--src/drivers/px4io/px4io_uploader.cpp6
-rw-r--r--src/drivers/roboclaw/RoboClaw.cpp10
10 files changed, 50 insertions, 39 deletions
diff --git a/src/drivers/blinkm/blinkm.cpp b/src/drivers/blinkm/blinkm.cpp
index 39bf1fcfc..92e089217 100644
--- a/src/drivers/blinkm/blinkm.cpp
+++ b/src/drivers/blinkm/blinkm.cpp
@@ -649,13 +649,14 @@ BlinkM::led()
/* indicate main control state */
if (vehicle_status_raw.main_state == MAIN_STATE_POSCTL)
led_color_4 = LED_GREEN;
- else if (vehicle_status_raw.main_state == MAIN_STATE_AUTO)
+ /* TODO: add other Auto modes */
+ else if (vehicle_status_raw.main_state == MAIN_STATE_AUTO_MISSION)
led_color_4 = LED_BLUE;
else if (vehicle_status_raw.main_state == MAIN_STATE_ALTCTL)
led_color_4 = LED_YELLOW;
else if (vehicle_status_raw.main_state == MAIN_STATE_MANUAL)
led_color_4 = LED_WHITE;
- else
+ else
led_color_4 = LED_OFF;
led_color_5 = led_color_4;
}
diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp
index 6ae325297..1d8ef1b99 100644
--- a/src/drivers/gps/gps.cpp
+++ b/src/drivers/gps/gps.cpp
@@ -302,8 +302,8 @@ GPS::task_main()
_report_gps_pos.p_variance_m = 10.0f;
_report_gps_pos.c_variance_rad = 0.1f;
_report_gps_pos.fix_type = 3;
- _report_gps_pos.eph_m = 0.9f;
- _report_gps_pos.epv_m = 1.8f;
+ _report_gps_pos.eph = 0.9f;
+ _report_gps_pos.epv = 1.8f;
_report_gps_pos.timestamp_velocity = hrt_absolute_time();
_report_gps_pos.vel_n_m_s = 0.0f;
_report_gps_pos.vel_e_m_s = 0.0f;
@@ -487,7 +487,7 @@ GPS::print_info()
warnx("position lock: %dD, satellites: %d, last update: %8.4fms ago", (int)_report_gps_pos.fix_type,
_report_gps_pos.satellites_used, (double)(hrt_absolute_time() - _report_gps_pos.timestamp_position) / 1000.0);
warnx("lat: %d, lon: %d, alt: %d", _report_gps_pos.lat, _report_gps_pos.lon, _report_gps_pos.alt);
- warnx("eph: %.2fm, epv: %.2fm", (double)_report_gps_pos.eph_m, (double)_report_gps_pos.epv_m);
+ warnx("eph: %.2fm, epv: %.2fm", (double)_report_gps_pos.eph, (double)_report_gps_pos.epv);
warnx("rate position: \t%6.2f Hz", (double)_Helper->get_position_update_rate());
warnx("rate velocity: \t%6.2f Hz", (double)_Helper->get_velocity_update_rate());
warnx("rate publication:\t%6.2f Hz", (double)_rate);
diff --git a/src/drivers/gps/mtk.cpp b/src/drivers/gps/mtk.cpp
index 7b957e55d..c4f4f7bec 100644
--- a/src/drivers/gps/mtk.cpp
+++ b/src/drivers/gps/mtk.cpp
@@ -251,16 +251,16 @@ MTK::handle_message(gps_mtk_packet_t &packet)
_gps_position->lon = 0;
// Indicate this data is not usable and bail out
- _gps_position->eph_m = 1000.0f;
- _gps_position->epv_m = 1000.0f;
+ _gps_position->eph = 1000.0f;
+ _gps_position->epv = 1000.0f;
_gps_position->fix_type = 0;
return;
}
_gps_position->alt = (int32_t)(packet.msl_altitude * 10); // from cm to mm
_gps_position->fix_type = packet.fix_type;
- _gps_position->eph_m = packet.hdop / 100.0f; // from cm to m
- _gps_position->epv_m = _gps_position->eph_m; // unknown in mtk custom mode, so we cheat with eph
+ _gps_position->eph = packet.hdop / 100.0f; // from cm to m
+ _gps_position->epv = _gps_position->eph; // unknown in mtk custom mode, so we cheat with eph
_gps_position->vel_m_s = ((float)packet.ground_speed) * 1e-2f; // from cm/s to m/s
_gps_position->cog_rad = ((float)packet.heading) * M_DEG_TO_RAD_F * 1e-2f; //from deg *100 to rad
_gps_position->satellites_used = packet.satellites;
diff --git a/src/drivers/gps/ubx.cpp b/src/drivers/gps/ubx.cpp
index adc7130dd..44434a1df 100644
--- a/src/drivers/gps/ubx.cpp
+++ b/src/drivers/gps/ubx.cpp
@@ -681,8 +681,8 @@ UBX::payload_rx_done(void)
_gps_position->lat = _buf.payload_rx_nav_posllh.lat;
_gps_position->lon = _buf.payload_rx_nav_posllh.lon;
_gps_position->alt = _buf.payload_rx_nav_posllh.hMSL;
- _gps_position->eph_m = (float)_buf.payload_rx_nav_posllh.hAcc * 1e-3f; // from mm to m
- _gps_position->epv_m = (float)_buf.payload_rx_nav_posllh.vAcc * 1e-3f; // from mm to m
+ _gps_position->eph = (float)_buf.payload_rx_nav_posllh.hAcc * 1e-3f; // from mm to m
+ _gps_position->epv = (float)_buf.payload_rx_nav_posllh.vAcc * 1e-3f; // from mm to m
_gps_position->timestamp_position = hrt_absolute_time();
diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp
index 5954c40da..1c81910f6 100644
--- a/src/drivers/mkblctrl/mkblctrl.cpp
+++ b/src/drivers/mkblctrl/mkblctrl.cpp
@@ -131,8 +131,8 @@ public:
int set_motor_count(unsigned count);
int set_motor_test(bool motortest);
int set_overrideSecurityChecks(bool overrideSecurityChecks);
- int set_px4mode(int px4mode);
- int set_frametype(int frametype);
+ void set_px4mode(int px4mode);
+ void set_frametype(int frametype);
unsigned int mk_check_for_blctrl(unsigned int count, bool showOutput, bool initI2C);
private:
@@ -330,13 +330,13 @@ MK::set_update_rate(unsigned rate)
return OK;
}
-int
+void
MK::set_px4mode(int px4mode)
{
_px4mode = px4mode;
}
-int
+void
MK::set_frametype(int frametype)
{
_frametype = frametype;
diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp
index 321fdd173..0edec3d0e 100644
--- a/src/drivers/mpu6000/mpu6000.cpp
+++ b/src/drivers/mpu6000/mpu6000.cpp
@@ -544,7 +544,7 @@ void MPU6000::reset()
write_reg(MPUREG_USER_CTRL, BIT_I2C_IF_DIS);
irqrestore(state);
- up_udelay(1000);
+ usleep(1000);
// SAMPLE RATE
_set_sample_rate(_sample_rate);
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index 8a4bfa18c..84ea9a3bc 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -741,7 +741,7 @@ PX4FMU::task_main()
}
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) {
- if (_control_subs > 0) {
+ if (_control_subs[i] > 0) {
::close(_control_subs[i]);
_control_subs[i] = -1;
}
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/drivers/roboclaw/RoboClaw.cpp b/src/drivers/roboclaw/RoboClaw.cpp
index dd5e4d3e0..fdaa7f27b 100644
--- a/src/drivers/roboclaw/RoboClaw.cpp
+++ b/src/drivers/roboclaw/RoboClaw.cpp
@@ -182,7 +182,10 @@ float RoboClaw::getMotorPosition(e_motor motor)
return _motor1Position;
} else if (motor == MOTOR_2) {
return _motor2Position;
- }
+ } else {
+ warnx("Unknown motor value passed to RoboClaw::getMotorPosition");
+ return NAN;
+ }
}
float RoboClaw::getMotorSpeed(e_motor motor)
@@ -191,7 +194,10 @@ float RoboClaw::getMotorSpeed(e_motor motor)
return _motor1Speed;
} else if (motor == MOTOR_2) {
return _motor2Speed;
- }
+ } else {
+ warnx("Unknown motor value passed to RoboClaw::getMotorPosition");
+ return NAN;
+ }
}
int RoboClaw::setMotorSpeed(e_motor motor, float value)
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-30 19:04:50 +0000