diff options
Diffstat (limited to 'src')
-rw-r--r-- | src/drivers/px4io/px4io_serial.cpp | 8 | ||||
-rw-r--r-- | src/drivers/px4io/px4io_uploader.cpp | 29 | ||||
-rw-r--r-- | src/drivers/px4io/uploader.h | 8 | ||||
-rw-r--r-- | src/modules/mavlink/mavlink_main.cpp | 7 | ||||
-rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 3 | ||||
-rw-r--r-- | src/modules/navigator/mission.cpp | 36 | ||||
-rw-r--r-- | src/systemcmds/nshterm/module.mk | 2 |
7 files changed, 56 insertions, 37 deletions
diff --git a/src/drivers/px4io/px4io_serial.cpp b/src/drivers/px4io/px4io_serial.cpp index c39494fb0..d227e15d5 100644 --- a/src/drivers/px4io/px4io_serial.cpp +++ b/src/drivers/px4io/px4io_serial.cpp @@ -157,6 +157,10 @@ private: perf_counter_t _pc_idle; perf_counter_t _pc_badidle; + /* do not allow top copying this class */ + PX4IO_serial(PX4IO_serial &); + PX4IO_serial& operator = (const PX4IO_serial &); + }; IOPacket PX4IO_serial::_dma_buffer; @@ -173,7 +177,9 @@ PX4IO_serial::PX4IO_serial() : _tx_dma(nullptr), _rx_dma(nullptr), _rx_dma_status(_dma_status_inactive), - _pc_txns(perf_alloc(PC_ELAPSED, "io_txns ")), + _bus_semaphore(SEM_INITIALIZER(0)), + _completion_semaphore(SEM_INITIALIZER(0)), + _pc_txns(perf_alloc(PC_ELAPSED, "io_txns ")), _pc_dmasetup(perf_alloc(PC_ELAPSED, "io_dmasetup ")), _pc_retries(perf_alloc(PC_COUNT, "io_retries ")), _pc_timeouts(perf_alloc(PC_COUNT, "io_timeouts ")), diff --git a/src/drivers/px4io/px4io_uploader.cpp b/src/drivers/px4io/px4io_uploader.cpp index bf6893a7e..fb16f891f 100644 --- a/src/drivers/px4io/px4io_uploader.cpp +++ b/src/drivers/px4io/px4io_uploader.cpp @@ -65,7 +65,8 @@ PX4IO_Uploader::PX4IO_Uploader() : _io_fd(-1), - _fw_fd(-1) + _fw_fd(-1), + bl_rev(0) { } @@ -245,7 +246,7 @@ PX4IO_Uploader::upload(const char *filenames[]) } int -PX4IO_Uploader::recv(uint8_t &c, unsigned timeout) +PX4IO_Uploader::recv_byte_with_timeout(uint8_t *c, unsigned timeout) { struct pollfd fds[1]; @@ -262,19 +263,19 @@ PX4IO_Uploader::recv(uint8_t &c, unsigned timeout) return -ETIMEDOUT; } - read(_io_fd, &c, 1); + read(_io_fd, c, 1); #ifdef UDEBUG - log("recv 0x%02x", c); + log("recv_bytes 0x%02x", c); #endif return OK; } int -PX4IO_Uploader::recv(uint8_t *p, unsigned count) +PX4IO_Uploader::recv_bytes(uint8_t *p, unsigned count) { - int ret; + int ret = OK; while (count--) { - ret = recv(*p++, 5000); + ret = recv_byte_with_timeout(p++, 5000); if (ret != OK) break; @@ -289,10 +290,10 @@ PX4IO_Uploader::drain() int ret; do { - // the small recv timeout here is to allow for fast + // the small recv_bytes timeout here is to allow for fast // drain when rebooting the io board for a forced // update of the fw without using the safety switch - ret = recv(c, 40); + ret = recv_byte_with_timeout(&c, 40); #ifdef UDEBUG if (ret == OK) { @@ -331,12 +332,12 @@ PX4IO_Uploader::get_sync(unsigned timeout) uint8_t c[2]; int ret; - ret = recv(c[0], timeout); + ret = recv_byte_with_timeout(c, timeout); if (ret != OK) return ret; - ret = recv(c[1], timeout); + ret = recv_byte_with_timeout(c + 1, timeout); if (ret != OK) return ret; @@ -372,7 +373,7 @@ PX4IO_Uploader::get_info(int param, uint32_t &val) send(param); send(PROTO_EOC); - ret = recv((uint8_t *)&val, sizeof(val)); + ret = recv_bytes((uint8_t *)&val, sizeof(val)); if (ret != OK) return ret; @@ -513,7 +514,7 @@ PX4IO_Uploader::verify_rev2(size_t fw_size) for (ssize_t i = 0; i < count; i++) { uint8_t c; - ret = recv(c, 5000); + ret = recv_byte_with_timeout(&c, 5000); if (ret != OK) { log("%d: got %d waiting for bytes", sent + i, ret); @@ -600,7 +601,7 @@ PX4IO_Uploader::verify_rev3(size_t fw_size_local) send(PROTO_GET_CRC); send(PROTO_EOC); - ret = recv((uint8_t*)(&crc), sizeof(crc)); + ret = recv_bytes((uint8_t*)(&crc), sizeof(crc)); if (ret != OK) { log("did not receive CRC checksum"); diff --git a/src/drivers/px4io/uploader.h b/src/drivers/px4io/uploader.h index 3e2142cf2..e17523413 100644 --- a/src/drivers/px4io/uploader.h +++ b/src/drivers/px4io/uploader.h @@ -74,19 +74,19 @@ private: INFO_BOARD_REV = 3, /**< board revision */ INFO_FLASH_SIZE = 4, /**< max firmware size in bytes */ - PROG_MULTI_MAX = 60, /**< protocol max is 255, must be multiple of 4 */ + PROG_MULTI_MAX = 248, /**< protocol max is 255, must be multiple of 4 */ }; int _io_fd; int _fw_fd; - uint32_t bl_rev; /**< bootloader revision */ + uint32_t bl_rev; /**< bootloader revision */ void log(const char *fmt, ...); - int recv(uint8_t &c, unsigned timeout); - int recv(uint8_t *p, unsigned count); + int recv_byte_with_timeout(uint8_t *c, unsigned timeout); + int recv_bytes(uint8_t *p, unsigned count); void drain(); int send(uint8_t c); int send(uint8_t *p, unsigned count); diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 69beb9cc9..49781e8f8 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -383,7 +383,12 @@ Mavlink::forward_message(const mavlink_message_t *msg, Mavlink *self) Mavlink *inst; LL_FOREACH(_mavlink_instances, inst) { if (inst != self) { - inst->pass_message(msg); + + /* if not in normal mode, we are an onboard link + * onboard links should only pass on messages from the same system ID */ + if(!(self->_mode != MAVLINK_MODE_NORMAL && msg->sysid != mavlink_system.sysid)) { + inst->pass_message(msg); + } } } } diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 54c412ce7..69e3ef31d 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -241,7 +241,8 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg) } else { if (msg->sysid == mavlink_system.sysid && msg->compid == mavlink_system.compid) { - warnx("ignoring CMD spoofed with same SYS/COMP ID"); + warnx("ignoring CMD spoofed with same SYS/COMP (%d/%d) ID", + mavlink_system.sysid, mavlink_system.compid); return; } diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index ba766cd10..12f6b9c21 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -314,30 +314,36 @@ Mission::set_mission_items() /* set previous position setpoint to current */ set_previous_pos_setpoint(); + /* get home distance state */ + bool home_dist_ok = check_dist_1wp(); + /* the home dist check provides user feedback, so we initialize it to this */ + bool user_feedback_done = !home_dist_ok; + /* try setting onboard mission item */ if (_param_onboard_enabled.get() && read_mission_item(true, true, &_mission_item)) { /* if mission type changed, notify */ if (_mission_type != MISSION_TYPE_ONBOARD) { - mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: onboard mission running"); + mavlink_log_critical(_navigator->get_mavlink_fd(), "onboard mission now running"); } _mission_type = MISSION_TYPE_ONBOARD; /* try setting offboard mission item */ - } else if (check_dist_1wp() && read_mission_item(false, true, &_mission_item)) { + } else if (home_dist_ok && read_mission_item(false, true, &_mission_item)) { /* if mission type changed, notify */ if (_mission_type != MISSION_TYPE_OFFBOARD) { - mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: offboard mission running"); + mavlink_log_critical(_navigator->get_mavlink_fd(), "offboard mission now running"); } _mission_type = MISSION_TYPE_OFFBOARD; } else { - /* no mission available, switch to loiter */ + /* no mission available or mission finished, switch to loiter */ if (_mission_type != MISSION_TYPE_NONE) { - mavlink_log_info(_navigator->get_mavlink_fd(), - "#audio: mission finished"); - } else { - mavlink_log_info(_navigator->get_mavlink_fd(), - "#audio: no mission available"); + mavlink_log_critical(_navigator->get_mavlink_fd(), "mission finished, loitering"); + } else if (!user_feedback_done) { + /* only tell users that we got no mission if there has not been any + * better, more specific feedback yet + */ + mavlink_log_critical(_navigator->get_mavlink_fd(), "no valid mission available"); } _mission_type = MISSION_TYPE_NONE; @@ -397,7 +403,7 @@ Mission::set_mission_items() takeoff_alt = fmaxf(takeoff_alt, _navigator->get_home_position()->alt + _param_takeoff_alt.get()); } - mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: takeoff to %.1fm above home", (double)(takeoff_alt - _navigator->get_home_position()->alt)); + mavlink_log_critical(_navigator->get_mavlink_fd(), "takeoff to %.1f meters above home", (double)(takeoff_alt - _navigator->get_home_position()->alt)); _mission_item.lat = _navigator->get_global_position()->lat; _mission_item.lon = _navigator->get_global_position()->lon; @@ -483,7 +489,7 @@ Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s if (dm_read(dm_item, *mission_index_ptr, &mission_item_tmp, len) != len) { /* not supposed to happen unless the datamanager can't access the SD card, etc. */ mavlink_log_critical(_navigator->get_mavlink_fd(), - "#audio: ERROR waypoint could not be read"); + "ERROR waypoint could not be read"); return false; } @@ -502,7 +508,7 @@ Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s /* not supposed to happen unless the datamanager can't access the * dataman */ mavlink_log_critical(_navigator->get_mavlink_fd(), - "#audio: ERROR DO JUMP waypoint could not be written"); + "ERROR DO JUMP waypoint could not be written"); return false; } } @@ -511,8 +517,8 @@ Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s *mission_index_ptr = mission_item_tmp.do_jump_mission_index; } else { - mavlink_log_info(_navigator->get_mavlink_fd(), - "#audio: DO JUMP repetitions completed"); + mavlink_log_critical(_navigator->get_mavlink_fd(), + "DO JUMP repetitions completed"); /* no more DO_JUMPS, therefore just try to continue with next mission item */ (*mission_index_ptr)++; } @@ -526,7 +532,7 @@ Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s /* we have given up, we don't want to cycle forever */ mavlink_log_critical(_navigator->get_mavlink_fd(), - "#audio: ERROR DO JUMP is cycling, giving up"); + "ERROR DO JUMP is cycling, giving up"); return false; } diff --git a/src/systemcmds/nshterm/module.mk b/src/systemcmds/nshterm/module.mk index b22b446da..e2fa0ff80 100644 --- a/src/systemcmds/nshterm/module.mk +++ b/src/systemcmds/nshterm/module.mk @@ -38,4 +38,4 @@ MODULE_COMMAND = nshterm SRCS = nshterm.c -MODULE_STACKSIZE = 1200 +MODULE_STACKSIZE = 1400 |