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-rw-r--r--src/drivers/ets_airspeed/ets_airspeed.cpp10
-rw-r--r--src/drivers/px4fmu/fmu.cpp9
-rw-r--r--src/drivers/px4io/px4io.cpp6
-rw-r--r--src/modules/px4iofirmware/mixer.cpp1
-rw-r--r--src/modules/systemlib/mixer/mixer_multirotor.cpp4
-rw-r--r--src/modules/systemlib/pwm_limit/pwm_limit.c14
-rw-r--r--src/systemcmds/config/config.c43
-rw-r--r--src/systemcmds/tests/test_mtd.c17
8 files changed, 72 insertions, 32 deletions
diff --git a/src/drivers/ets_airspeed/ets_airspeed.cpp b/src/drivers/ets_airspeed/ets_airspeed.cpp
index 146a06e7c..2de7063ea 100644
--- a/src/drivers/ets_airspeed/ets_airspeed.cpp
+++ b/src/drivers/ets_airspeed/ets_airspeed.cpp
@@ -154,8 +154,9 @@ ETSAirspeed::collect()
return ret;
}
- uint16_t diff_pres_pa = val[1] << 8 | val[0];
- if (diff_pres_pa == 0) {
+ uint16_t diff_pres_pa_raw = val[1] << 8 | val[0];
+ uint16_t diff_pres_pa;
+ if (diff_pres_pa_raw == 0) {
// a zero value means the pressure sensor cannot give us a
// value. We need to return, and not report a value or the
// caller could end up using this value as part of an
@@ -165,10 +166,10 @@ ETSAirspeed::collect()
return -1;
}
- if (diff_pres_pa < _diff_pres_offset + MIN_ACCURATE_DIFF_PRES_PA) {
+ if (diff_pres_pa_raw < _diff_pres_offset + MIN_ACCURATE_DIFF_PRES_PA) {
diff_pres_pa = 0;
} else {
- diff_pres_pa -= _diff_pres_offset;
+ diff_pres_pa = diff_pres_pa_raw - _diff_pres_offset;
}
// Track maximum differential pressure measured (so we can work out top speed).
@@ -183,6 +184,7 @@ ETSAirspeed::collect()
// XXX we may want to smooth out the readings to remove noise.
report.differential_pressure_filtered_pa = (float)diff_pres_pa;
+ report.differential_pressure_raw_pa = (float)diff_pres_pa_raw;
report.temperature = -1000.0f;
report.voltage = 0;
report.max_differential_pressure_pa = _max_differential_pressure_pa;
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index fd69cf795..8a4bfa18c 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -648,11 +648,9 @@ PX4FMU::task_main()
/* iterate actuators */
for (unsigned i = 0; i < num_outputs; i++) {
- /* last resort: catch NaN, INF and out-of-band errors */
- if (i >= outputs.noutputs ||
- !isfinite(outputs.output[i]) ||
- outputs.output[i] < -1.0f ||
- outputs.output[i] > 1.0f) {
+ /* last resort: catch NaN and INF */
+ if ((i >= outputs.noutputs) ||
+ !isfinite(outputs.output[i])) {
/*
* Value is NaN, INF or out of band - set to the minimum value.
* This will be clearly visible on the servo status and will limit the risk of accidentally
@@ -664,6 +662,7 @@ PX4FMU::task_main()
uint16_t pwm_limited[num_outputs];
+ /* the PWM limit call takes care of out of band errors and constrains */
pwm_limit_calc(_servo_armed, num_outputs, _disarmed_pwm, _min_pwm, _max_pwm, outputs.output, pwm_limited, &_pwm_limit);
/* output to the servos */
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 4099e5522..972f45148 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -581,8 +581,10 @@ PX4IO::init()
ASSERT(_task == -1);
sys_restart_param = param_find("SYS_RESTART_TYPE");
- /* Indicate restart type is unknown */
- param_set(sys_restart_param, &sys_restart_val);
+ if (sys_restart_param != PARAM_INVALID) {
+ /* Indicate restart type is unknown */
+ param_set(sys_restart_param, &sys_restart_val);
+ }
/* do regular cdev init */
ret = CDev::init();
diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp
index ebf4f3e8e..2f721bf1e 100644
--- a/src/modules/px4iofirmware/mixer.cpp
+++ b/src/modules/px4iofirmware/mixer.cpp
@@ -213,6 +213,7 @@ mixer_tick(void)
mixed = mixer_group.mix(&outputs[0], PX4IO_SERVO_COUNT);
in_mixer = false;
+ /* the pwm limit call takes care of out of band errors */
pwm_limit_calc(should_arm, mixed, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
for (unsigned i = mixed; i < PX4IO_SERVO_COUNT; i++)
diff --git a/src/modules/systemlib/mixer/mixer_multirotor.cpp b/src/modules/systemlib/mixer/mixer_multirotor.cpp
index 4ad21d818..092c0e2b0 100644
--- a/src/modules/systemlib/mixer/mixer_multirotor.cpp
+++ b/src/modules/systemlib/mixer/mixer_multirotor.cpp
@@ -351,9 +351,9 @@ MultirotorMixer::mix(float *outputs, unsigned space)
scale_out = 1.0f;
}
- /* scale outputs to range _idle_speed..1 */
+ /* scale outputs to range _idle_speed..1, and do final limiting */
for (unsigned i = 0; i < _rotor_count; i++) {
- outputs[i] = _idle_speed + (outputs[i] * (1.0f - _idle_speed) * scale_out);
+ outputs[i] = constrain(_idle_speed + (outputs[i] * (1.0f - _idle_speed) * scale_out), _idle_speed, 1.0f);
}
return _rotor_count;
diff --git a/src/modules/systemlib/pwm_limit/pwm_limit.c b/src/modules/systemlib/pwm_limit/pwm_limit.c
index 190b315f1..ea5ba9e52 100644
--- a/src/modules/systemlib/pwm_limit/pwm_limit.c
+++ b/src/modules/systemlib/pwm_limit/pwm_limit.c
@@ -136,12 +136,26 @@ void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_
}
effective_pwm[i] = output[i] * (max_pwm[i] - ramp_min_pwm)/2 + (max_pwm[i] + ramp_min_pwm)/2;
+
+ /* last line of defense against invalid inputs */
+ if (effective_pwm[i] < ramp_min_pwm) {
+ effective_pwm[i] = ramp_min_pwm;
+ } else if (effective_pwm[i] > max_pwm[i]) {
+ effective_pwm[i] = max_pwm[i];
+ }
}
}
break;
case PWM_LIMIT_STATE_ON:
for (unsigned i=0; i<num_channels; i++) {
effective_pwm[i] = output[i] * (max_pwm[i] - min_pwm[i])/2 + (max_pwm[i] + min_pwm[i])/2;
+
+ /* last line of defense against invalid inputs */
+ if (effective_pwm[i] < min_pwm[i]) {
+ effective_pwm[i] = min_pwm[i];
+ } else if (effective_pwm[i] > max_pwm[i]) {
+ effective_pwm[i] = max_pwm[i];
+ }
}
break;
default:
diff --git a/src/systemcmds/config/config.c b/src/systemcmds/config/config.c
index e6d4b763b..4a97d328c 100644
--- a/src/systemcmds/config/config.c
+++ b/src/systemcmds/config/config.c
@@ -1,8 +1,6 @@
/****************************************************************************
*
- * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
- * Author: Lorenz Meier <lm@inf.ethz.ch>
- * Author: Julian Oes <joes@student.ethz.ch>
+ * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -94,7 +92,6 @@ do_device(int argc, char *argv[])
}
int fd;
- int ret;
fd = open(argv[0], 0);
@@ -104,6 +101,8 @@ do_device(int argc, char *argv[])
} else {
+ int ret;
+
if (argc == 2 && !strcmp(argv[1], "block")) {
/* disable the device publications */
@@ -132,7 +131,6 @@ static void
do_gyro(int argc, char *argv[])
{
int fd;
- int ret;
fd = open(GYRO_DEVICE_PATH, 0);
@@ -142,6 +140,8 @@ do_gyro(int argc, char *argv[])
} else {
+ int ret;
+
if (argc == 2 && !strcmp(argv[0], "sampling")) {
/* set the gyro internal sampling rate up to at least i Hz */
@@ -173,8 +173,13 @@ do_gyro(int argc, char *argv[])
warnx("gyro self test FAILED! Check calibration:");
struct gyro_scale scale;
ret = ioctl(fd, GYROIOCGSCALE, (long unsigned int)&scale);
- warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_offset, scale.y_offset, scale.z_offset);
- warnx("scale: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_scale, scale.y_scale, scale.z_scale);
+
+ if (ret) {
+ err(1, "failed getting gyro scale");
+ }
+
+ warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", (double)scale.x_offset, (double)scale.y_offset, (double)scale.z_offset);
+ warnx("scale: X: % 9.6f Y: % 9.6f Z: % 9.6f", (double)scale.x_scale, (double)scale.y_scale, (double)scale.z_scale);
} else {
warnx("gyro calibration and self test OK");
}
@@ -199,7 +204,6 @@ static void
do_mag(int argc, char *argv[])
{
int fd;
- int ret;
fd = open(MAG_DEVICE_PATH, 0);
@@ -209,6 +213,8 @@ do_mag(int argc, char *argv[])
} else {
+ int ret;
+
if (argc == 2 && !strcmp(argv[0], "sampling")) {
/* set the mag internal sampling rate up to at least i Hz */
@@ -240,8 +246,13 @@ do_mag(int argc, char *argv[])
warnx("mag self test FAILED! Check calibration:");
struct mag_scale scale;
ret = ioctl(fd, MAGIOCGSCALE, (long unsigned int)&scale);
- warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_offset, scale.y_offset, scale.z_offset);
- warnx("scale: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_scale, scale.y_scale, scale.z_scale);
+
+ if (ret) {
+ err(ret, "failed getting mag scale");
+ }
+
+ warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", (double)scale.x_offset, (double)scale.y_offset, (double)scale.z_offset);
+ warnx("scale: X: % 9.6f Y: % 9.6f Z: % 9.6f", (double)scale.x_scale, (double)scale.y_scale, (double)scale.z_scale);
} else {
warnx("mag calibration and self test OK");
}
@@ -266,7 +277,6 @@ static void
do_accel(int argc, char *argv[])
{
int fd;
- int ret;
fd = open(ACCEL_DEVICE_PATH, 0);
@@ -276,6 +286,8 @@ do_accel(int argc, char *argv[])
} else {
+ int ret;
+
if (argc == 2 && !strcmp(argv[0], "sampling")) {
/* set the accel internal sampling rate up to at least i Hz */
@@ -307,8 +319,13 @@ do_accel(int argc, char *argv[])
warnx("accel self test FAILED! Check calibration:");
struct accel_scale scale;
ret = ioctl(fd, ACCELIOCGSCALE, (long unsigned int)&scale);
- warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_offset, scale.y_offset, scale.z_offset);
- warnx("scale: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_scale, scale.y_scale, scale.z_scale);
+
+ if (ret) {
+ err(ret, "failed getting accel scale");
+ }
+
+ warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", (double)scale.x_offset, (double)scale.y_offset, (double)scale.z_offset);
+ warnx("scale: X: % 9.6f Y: % 9.6f Z: % 9.6f", (double)scale.x_scale, (double)scale.y_scale, (double)scale.z_scale);
} else {
warnx("accel calibration and self test OK");
}
diff --git a/src/systemcmds/tests/test_mtd.c b/src/systemcmds/tests/test_mtd.c
index bac9efbdb..cdb4362ba 100644
--- a/src/systemcmds/tests/test_mtd.c
+++ b/src/systemcmds/tests/test_mtd.c
@@ -57,6 +57,8 @@
#define PARAM_FILE_NAME "/fs/mtd_params"
static int check_user_abort(int fd);
+static void print_fail(void);
+static void print_success(void);
int check_user_abort(int fd) {
/* check if user wants to abort */
@@ -126,7 +128,7 @@ test_mtd(int argc, char *argv[])
uint8_t write_buf[chunk_sizes[c]] __attribute__((aligned(64)));
/* fill write buffer with known values */
- for (int i = 0; i < sizeof(write_buf); i++) {
+ for (unsigned i = 0; i < sizeof(write_buf); i++) {
/* this will wrap, but we just need a known value with spacing */
write_buf[i] = i+11;
}
@@ -137,11 +139,14 @@ test_mtd(int argc, char *argv[])
int fd = open(PARAM_FILE_NAME, O_RDONLY);
int rret = read(fd, read_buf, chunk_sizes[c]);
close(fd);
+ if (rret <= 0) {
+ err(1, "read error");
+ }
fd = open(PARAM_FILE_NAME, O_WRONLY);
printf("printing 2 percent of the first chunk:\n");
- for (int i = 0; i < sizeof(read_buf) / 50; i++) {
+ for (unsigned i = 0; i < sizeof(read_buf) / 50; i++) {
printf("%02X", read_buf[i]);
}
printf("\n");
@@ -171,9 +176,9 @@ test_mtd(int argc, char *argv[])
/* read back data for validation */
for (unsigned i = 0; i < iterations; i++) {
- int rret = read(fd, read_buf, chunk_sizes[c]);
+ int rret2 = read(fd, read_buf, chunk_sizes[c]);
- if (rret != chunk_sizes[c]) {
+ if (rret2 != (int)chunk_sizes[c]) {
warnx("READ ERROR!");
print_fail();
return 1;
@@ -182,7 +187,7 @@ test_mtd(int argc, char *argv[])
/* compare value */
bool compare_ok = true;
- for (int j = 0; j < chunk_sizes[c]; j++) {
+ for (unsigned j = 0; j < chunk_sizes[c]; j++) {
if (read_buf[j] != write_buf[j]) {
warnx("COMPARISON ERROR: byte %d", j);
print_fail();
@@ -211,7 +216,7 @@ test_mtd(int argc, char *argv[])
char ffbuf[64];
memset(ffbuf, 0xFF, sizeof(ffbuf));
int fd = open(PARAM_FILE_NAME, O_WRONLY);
- for (int i = 0; i < file_size / sizeof(ffbuf); i++) {
+ for (unsigned i = 0; i < file_size / sizeof(ffbuf); i++) {
int ret = write(fd, ffbuf, sizeof(ffbuf));
if (ret != sizeof(ffbuf)) {
generated by cgit v1.2.3 (git 2.39.1) at 2024-08-19 10:27:16 +0000