diff options
Diffstat (limited to 'src/drivers')
| -rw-r--r-- | src/drivers/drv_gps.h | 3 | ||||
| -rw-r--r-- | src/drivers/drv_tone_alarm.h | 1 | ||||
| -rw-r--r-- | src/drivers/gps/gps.cpp | 15 | ||||
| -rw-r--r-- | src/drivers/gps/ubx.cpp | 1 | ||||
| -rw-r--r-- | src/drivers/px4fmu/fmu.cpp | 17 | ||||
| -rw-r--r-- | src/drivers/px4io/px4io.cpp | 18 | ||||
| -rw-r--r-- | src/drivers/stm32/tone_alarm/tone_alarm.cpp | 2 |
7 files changed, 25 insertions, 32 deletions
diff --git a/src/drivers/drv_gps.h b/src/drivers/drv_gps.h index 1dda8ef0b..398cf4870 100644 --- a/src/drivers/drv_gps.h +++ b/src/drivers/drv_gps.h @@ -51,8 +51,7 @@ typedef enum { GPS_DRIVER_MODE_NONE = 0, GPS_DRIVER_MODE_UBX, - GPS_DRIVER_MODE_MTK, - GPS_DRIVER_MODE_NMEA, + GPS_DRIVER_MODE_MTK } gps_driver_mode_t; diff --git a/src/drivers/drv_tone_alarm.h b/src/drivers/drv_tone_alarm.h index caf2b0f6e..2fab37dd2 100644 --- a/src/drivers/drv_tone_alarm.h +++ b/src/drivers/drv_tone_alarm.h @@ -144,6 +144,7 @@ enum { TONE_ARMING_WARNING_TUNE, TONE_BATTERY_WARNING_SLOW_TUNE, TONE_BATTERY_WARNING_FAST_TUNE, + TONE_GPS_WARNING_TUNE, TONE_NUMBER_OF_TUNES }; diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp index a84cb8e59..fc500a9ec 100644 --- a/src/drivers/gps/gps.cpp +++ b/src/drivers/gps/gps.cpp @@ -279,10 +279,6 @@ GPS::task_main() _Helper = new MTK(_serial_fd, &_report); break; - case GPS_DRIVER_MODE_NMEA: - //_Helper = new NMEA(); //TODO: add NMEA - break; - default: break; } @@ -328,10 +324,6 @@ GPS::task_main() mode_str = "MTK"; break; - case GPS_DRIVER_MODE_NMEA: - mode_str = "NMEA"; - break; - default: break; } @@ -362,9 +354,6 @@ GPS::task_main() _mode = GPS_DRIVER_MODE_UBX; break; - // case GPS_DRIVER_MODE_NMEA: - // _mode = GPS_DRIVER_MODE_UBX; - // break; default: break; } @@ -400,10 +389,6 @@ GPS::print_info() warnx("protocol: MTK"); break; - case GPS_DRIVER_MODE_NMEA: - warnx("protocol: NMEA"); - break; - default: break; } diff --git a/src/drivers/gps/ubx.cpp b/src/drivers/gps/ubx.cpp index 0b25b379f..86291901c 100644 --- a/src/drivers/gps/ubx.cpp +++ b/src/drivers/gps/ubx.cpp @@ -281,7 +281,6 @@ UBX::receive(unsigned timeout) return 1; } else { - warnx("ubx: timeout - no messages"); return -1; } diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp index 6d4019f24..b1dd55dd7 100644 --- a/src/drivers/px4fmu/fmu.cpp +++ b/src/drivers/px4fmu/fmu.cpp @@ -1096,10 +1096,11 @@ fmu_start(void) void test(void) { - int fd; + int fd; unsigned servo_count = 0; unsigned pwm_value = 1000; int direction = 1; + int ret; fd = open(PX4FMU_DEVICE_PATH, O_RDWR); @@ -1114,9 +1115,9 @@ test(void) warnx("Testing %u servos", (unsigned)servo_count); - int console = open("/dev/console", O_NONBLOCK | O_RDONLY | O_NOCTTY); - if (!console) - err(1, "failed opening console"); + struct pollfd fds; + fds.fd = 0; /* stdin */ + fds.events = POLLIN; warnx("Press CTRL-C or 'c' to abort."); @@ -1166,15 +1167,17 @@ test(void) /* Check if user wants to quit */ char c; - if (read(console, &c, 1) == 1) { - if (c == 0x03 || c == 0x63) { + ret = poll(&fds, 1, 0); + if (ret > 0) { + + read(0, &c, 1); + if (c == 0x03 || c == 0x63 || c == 'q') { warnx("User abort\n"); break; } } } - close(console); close(fd); exit(0); diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index b66d425dd..133646051 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -591,6 +591,9 @@ PX4IO::init() if ((reg & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) && (reg & PX4IO_P_SETUP_ARMING_FMU_ARMED)) { + /* get a status update from IO */ + io_get_status(); + mavlink_log_emergency(_mavlink_fd, "[IO] RECOVERING FROM FMU IN-AIR RESTART"); log("INAIR RESTART RECOVERY (needs commander app running)"); @@ -1509,7 +1512,7 @@ PX4IO::mixer_send(const char *buf, unsigned buflen, unsigned retries) * even. */ unsigned total_len = sizeof(px4io_mixdata) + count; - if (total_len % 1) { + if (total_len % 2) { msg->text[count] = '\0'; total_len++; } @@ -2128,10 +2131,9 @@ test(void) if (ioctl(fd, PWM_SERVO_ARM, 0)) err(1, "failed to arm servos"); - /* Open console directly to grab CTRL-C signal */ - int console = open("/dev/console", O_NONBLOCK | O_RDONLY | O_NOCTTY); - if (!console) - err(1, "failed opening console"); + struct pollfd fds; + fds.fd = 0; /* stdin */ + fds.events = POLLIN; warnx("Press CTRL-C or 'c' to abort."); @@ -2172,10 +2174,12 @@ test(void) /* Check if user wants to quit */ char c; - if (read(console, &c, 1) == 1) { + ret = poll(&fds, 1, 0); + if (ret > 0) { + + read(0, &c, 1); if (c == 0x03 || c == 0x63 || c == 'q') { warnx("User abort\n"); - close(console); exit(0); } } diff --git a/src/drivers/stm32/tone_alarm/tone_alarm.cpp b/src/drivers/stm32/tone_alarm/tone_alarm.cpp index 930809036..f36f2091e 100644 --- a/src/drivers/stm32/tone_alarm/tone_alarm.cpp +++ b/src/drivers/stm32/tone_alarm/tone_alarm.cpp @@ -333,6 +333,7 @@ ToneAlarm::ToneAlarm() : _default_tunes[TONE_ARMING_WARNING_TUNE] = "MNT75L1O2G"; //arming warning _default_tunes[TONE_BATTERY_WARNING_SLOW_TUNE] = "MBNT100a8"; //battery warning slow _default_tunes[TONE_BATTERY_WARNING_FAST_TUNE] = "MBNT255a8a8a8a8a8a8a8a8a8a8a8a8a8a8a8a8"; //battery warning fast + _default_tunes[TONE_GPS_WARNING_TUNE] = "MFT255L4AAAL1F#"; //gps warning slow _tune_names[TONE_STARTUP_TUNE] = "startup"; // startup tune _tune_names[TONE_ERROR_TUNE] = "error"; // ERROR tone @@ -342,6 +343,7 @@ ToneAlarm::ToneAlarm() : _tune_names[TONE_ARMING_WARNING_TUNE] = "arming"; // arming warning _tune_names[TONE_BATTERY_WARNING_SLOW_TUNE] = "slow_bat"; // battery warning slow _tune_names[TONE_BATTERY_WARNING_FAST_TUNE] = "fast_bat"; // battery warning fast + _tune_names[TONE_GPS_WARNING_TUNE] = "gps_warning"; // gps warning } ToneAlarm::~ToneAlarm() |