From c04064fd6a40bc8ac9f396d4d0ba565b26eda6db Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 13 May 2014 10:53:18 +0200 Subject: sdlog2: Log minimalistic GPS SNR for first 16 satellites --- src/modules/sdlog2/sdlog2.c | 14 ++++++++++++++ src/modules/sdlog2/sdlog2_messages.h | 14 ++++++++++++++ 2 files changed, 28 insertions(+) (limited to 'src/modules') diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index b74d4183b..d680833f8 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -834,6 +834,8 @@ int sdlog2_thread_main(int argc, char *argv[]) struct log_ESTM_s log_ESTM; struct log_PWR_s log_PWR; struct log_VICN_s log_VICN; + struct log_GSN0_s log_GSN0; + struct log_GSN1_s log_GSN1; } body; } log_msg = { LOG_PACKET_HEADER_INIT(0) @@ -982,6 +984,18 @@ int sdlog2_thread_main(int argc, char *argv[]) log_msg.body.log_GPS.vel_d = buf_gps_pos.vel_d_m_s; log_msg.body.log_GPS.cog = buf_gps_pos.cog_rad; LOGBUFFER_WRITE_AND_COUNT(GPS); + + /* log the SNR of each satellite for a detailed view of signal quality */ + log_msg.msg_type = LOG_GSN0_MSG; + /* pick the smaller number so we do not overflow any of the arrays */ + unsigned gps_msg_max_snr = sizeof(buf_gps_pos.satellite_snr) / sizeof(buf_gps_pos.satellite_snr[0]); + unsigned log_max_snr = sizeof(log_msg.body.log_GSN0.satellite_snr) / sizeof(log_msg.body.log_GSN0.satellite_snr[0]); + unsigned sat_max_snr = (gps_msg_max_snr < log_max_snr) ? gps_msg_max_snr : log_max_snr; + + for (unsigned i = 0; i < sat_max_snr; i++) { + log_msg.body.log_GSN0.satellite_snr[i] = buf_gps_pos.satellite_snr[i]; + } + LOGBUFFER_WRITE_AND_COUNT(GSN0); } /* --- SENSOR COMBINED --- */ diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index 595a787d6..0c6188657 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -317,6 +317,18 @@ struct log_VICN_s { float yaw; }; +/* --- GSN0 - GPS SNR #0 --- */ +#define LOG_GSN0_MSG 26 +struct log_GSN0_s { + uint8_t satellite_snr[16]; /**< Signal to noise ratio of satellite. 0 for none, 255 for max. */ +}; + +/* --- GSN1 - GPS SNR #1 --- */ +#define LOG_GSN1_MSG 27 +struct log_GSN1_s { + uint8_t satellite_snr[16]; /**< Signal to noise ratio of satellite. 0 for none, 255 for max. */ +}; + /********** SYSTEM MESSAGES, ID > 0x80 **********/ /* --- TIME - TIME STAMP --- */ @@ -368,6 +380,8 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(ESTM, "ffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,nStat,statNaN,covNaN,kGainNaN"), LOG_FORMAT(PWR, "fffBBBBB", "Periph5V,Servo5V,RSSI,UsbOk,BrickOk,ServoOk,PeriphOC,HipwrOC"), LOG_FORMAT(VICN, "ffffff", "X,Y,Z,Roll,Pitch,Yaw"), + LOG_FORMAT(GSN0, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"), + LOG_FORMAT(GSN1, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"), /* system-level messages, ID >= 0x80 */ /* FMT: don't write format of format message, it's useless */ -- cgit v1.2.3 From c9162f428ae9e355cf3ad800070e0977a78c35c6 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 13 May 2014 10:53:54 +0200 Subject: sdlog2: Remove an unreachable comparison --- src/modules/sdlog2/sdlog2.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'src/modules') diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index d680833f8..39f433eb5 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -684,7 +684,7 @@ int sdlog2_thread_main(int argc, char *argv[]) case 'r': { unsigned long r = strtoul(optarg, NULL, 10); - if (r <= 0) { + if (r == 0) { r = 1; } -- cgit v1.2.3 From b903fc1ed3966400b9a585fd155bf844557fc345 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 16 May 2014 09:50:10 +0200 Subject: px4io: Improve the documentation of the protocol header, NO FUNCTIONAL CHANGES --- src/modules/px4iofirmware/protocol.h | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) (limited to 'src/modules') diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h index 91975f2a0..313084fe9 100644 --- a/src/modules/px4iofirmware/protocol.h +++ b/src/modules/px4iofirmware/protocol.h @@ -209,15 +209,16 @@ enum { /* DSM bind states */ #define PX4IO_REBOOT_BL_MAGIC 14662 /* required argument for reboot (random) */ #define PX4IO_P_SETUP_CRC 11 /* get CRC of IO firmware */ - /* 12 occupied by CRC */ + /* storage space of 12 occupied by CRC */ +#define PX4IO_P_SETUP_FORCE_SAFETY_OFF 12 /* force safety switch into + 'armed' (PWM enabled) state - this is a non-data write and + hence index 12 can safely be used. */ #define PX4IO_P_SETUP_RC_THR_FAILSAFE_US 13 /**< the throttle failsafe pulse length in microseconds */ -#define PX4IO_P_SETUP_FORCE_SAFETY_OFF 12 /* force safety switch into - 'armed' (PWM enabled) state */ -#define PX4IO_FORCE_SAFETY_MAGIC 22027 /* required argument for force safety (random) */ +#define PX4IO_FORCE_SAFETY_MAGIC 22027 /* required argument for force safety (random) */ /* autopilot control values, -10000..10000 */ -#define PX4IO_PAGE_CONTROLS 51 /**< actuator control groups, one after the other, 8 wide */ +#define PX4IO_PAGE_CONTROLS 51 /**< actuator control groups, one after the other, 8 wide */ #define PX4IO_P_CONTROLS_GROUP_0 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 0) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */ #define PX4IO_P_CONTROLS_GROUP_1 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 1) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */ #define PX4IO_P_CONTROLS_GROUP_2 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 2) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */ -- cgit v1.2.3 From 5ca96631fc02d3826d2ef6274f9da7e12e9fb4a1 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 16 May 2014 09:52:46 +0200 Subject: px4io firmware: Actually accept failsafe values, check their range. Add an error return code for commands that were rejected on reboot and force safety instead of failing silently with an OK value --- src/modules/px4iofirmware/registers.c | 17 +++++++++++++++-- 1 file changed, 15 insertions(+), 2 deletions(-) (limited to 'src/modules') diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index fd7c6081f..a43bb65a4 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -160,6 +160,9 @@ volatile uint16_t r_page_setup[] = [PX4IO_P_SETUP_PWM_ALTRATE] = 200, #ifdef CONFIG_ARCH_BOARD_PX4IO_V1 [PX4IO_P_SETUP_RELAYS] = 0, +#else + /* this is unused, but we will pad it to be safe */ + [PX4IO_P_SETUP_RELAYS] = 0, #endif #ifdef ADC_VSERVO [PX4IO_P_SETUP_VSERVO_SCALE] = 10000, @@ -562,12 +565,12 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) || (r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) { // don't allow reboot while armed - break; + return -1; } // check the magic value if (value != PX4IO_REBOOT_BL_MAGIC) - break; + return -1; // we schedule a reboot rather than rebooting // immediately to allow the IO board to ACK @@ -582,6 +585,16 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) case PX4IO_P_SETUP_FORCE_SAFETY_OFF: if (value == PX4IO_FORCE_SAFETY_MAGIC) { r_status_flags |= PX4IO_P_STATUS_FLAGS_SAFETY_OFF; + } else { + return -1; + } + break; + + case PX4IO_P_SETUP_RC_THR_FAILSAFE_US: + if (value > 650 && value < 2350) { + r_page_setup[PX4IO_P_SETUP_RC_THR_FAILSAFE_US] = value; + } else { + return -1; } break; -- cgit v1.2.3 From 1b491005d1192bfee7cf25068195b5f5e3a604eb Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 16 May 2014 10:43:50 +0200 Subject: Minor cleanups on handling, make wrong reg accesses non-fatal for the transfer --- src/modules/px4iofirmware/protocol.h | 2 ++ src/modules/px4iofirmware/registers.c | 27 ++++++++++++++------------- 2 files changed, 16 insertions(+), 13 deletions(-) (limited to 'src/modules') diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h index 313084fe9..7471faec7 100644 --- a/src/modules/px4iofirmware/protocol.h +++ b/src/modules/px4iofirmware/protocol.h @@ -190,6 +190,8 @@ #define PX4IO_P_SETUP_RELAYS_POWER2 (1<<1) /* hardware rev [1] power relay 2 */ #define PX4IO_P_SETUP_RELAYS_ACC1 (1<<2) /* hardware rev [1] accessory power 1 */ #define PX4IO_P_SETUP_RELAYS_ACC2 (1<<3) /* hardware rev [1] accessory power 2 */ +#else +#define PX4IO_P_SETUP_RELAYS_PAD 5 #endif #define PX4IO_P_SETUP_VBATT_SCALE 6 /* hardware rev [1] battery voltage correction factor (float) */ diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index a43bb65a4..db1836f4a 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -161,8 +161,8 @@ volatile uint16_t r_page_setup[] = #ifdef CONFIG_ARCH_BOARD_PX4IO_V1 [PX4IO_P_SETUP_RELAYS] = 0, #else - /* this is unused, but we will pad it to be safe */ - [PX4IO_P_SETUP_RELAYS] = 0, + /* this is unused, but we will pad it for readability (the compiler pads it automatically) */ + [PX4IO_P_SETUP_RELAYS_PAD] = 0, #endif #ifdef ADC_VSERVO [PX4IO_P_SETUP_VSERVO_SCALE] = 10000, @@ -526,18 +526,22 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) break; case PX4IO_P_SETUP_PWM_DEFAULTRATE: - if (value < 50) + if (value < 50) { value = 50; - if (value > 400) + } + if (value > 400) { value = 400; + } pwm_configure_rates(r_setup_pwm_rates, value, r_setup_pwm_altrate); break; case PX4IO_P_SETUP_PWM_ALTRATE: - if (value < 50) + if (value < 50) { value = 50; - if (value > 400) + } + if (value > 400) { value = 400; + } pwm_configure_rates(r_setup_pwm_rates, r_setup_pwm_defaultrate, value); break; @@ -565,12 +569,13 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) || (r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) { // don't allow reboot while armed - return -1; + break; } // check the magic value - if (value != PX4IO_REBOOT_BL_MAGIC) - return -1; + if (value != PX4IO_REBOOT_BL_MAGIC) { + break; + } // we schedule a reboot rather than rebooting // immediately to allow the IO board to ACK @@ -585,16 +590,12 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) case PX4IO_P_SETUP_FORCE_SAFETY_OFF: if (value == PX4IO_FORCE_SAFETY_MAGIC) { r_status_flags |= PX4IO_P_STATUS_FLAGS_SAFETY_OFF; - } else { - return -1; } break; case PX4IO_P_SETUP_RC_THR_FAILSAFE_US: if (value > 650 && value < 2350) { r_page_setup[PX4IO_P_SETUP_RC_THR_FAILSAFE_US] = value; - } else { - return -1; } break; -- cgit v1.2.3 From cccd3e1dc47968cbe5d351bc327502196988215e Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 16 May 2014 10:47:18 +0200 Subject: mavlink app: Reduce stack sizes minimally after further inspection --- src/modules/mavlink/mavlink_main.cpp | 2 +- src/modules/mavlink/mavlink_receiver.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) (limited to 'src/modules') diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 199e85305..6c97bfca7 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -2204,7 +2204,7 @@ Mavlink::start(int argc, char *argv[]) task_spawn_cmd(buf, SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT, - 2000, + 1950, (main_t)&Mavlink::start_helper, (const char **)argv); diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index b03a68c07..72b9ee83a 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -949,7 +949,7 @@ MavlinkReceiver::receive_start(Mavlink *parent) param.sched_priority = SCHED_PRIORITY_MAX - 40; (void)pthread_attr_setschedparam(&receiveloop_attr, ¶m); - pthread_attr_setstacksize(&receiveloop_attr, 3000); + pthread_attr_setstacksize(&receiveloop_attr, 2900); pthread_t thread; pthread_create(&thread, &receiveloop_attr, MavlinkReceiver::start_helper, (void *)parent); -- cgit v1.2.3 From 834a230fcf5d24cacaa16b2a0bb3add2a56ebb46 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 16 May 2014 10:47:41 +0200 Subject: inav: Reduce stack size of start tool --- src/modules/position_estimator_inav/module.mk | 2 ++ 1 file changed, 2 insertions(+) (limited to 'src/modules') diff --git a/src/modules/position_estimator_inav/module.mk b/src/modules/position_estimator_inav/module.mk index 939d76849..0658d3f09 100644 --- a/src/modules/position_estimator_inav/module.mk +++ b/src/modules/position_estimator_inav/module.mk @@ -39,3 +39,5 @@ MODULE_COMMAND = position_estimator_inav SRCS = position_estimator_inav_main.c \ position_estimator_inav_params.c \ inertial_filter.c + +MODULE_STACKSIZE = 1200 -- cgit v1.2.3 From 30123c8f0bad29c53d1840458c90be35411237d9 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 16 May 2014 10:48:15 +0200 Subject: inav: Fix scheduling type, we want ALL processes to stick to DEFAULT --- src/modules/position_estimator_inav/position_estimator_inav_main.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'src/modules') diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c index 368424853..d8d0ff37d 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -135,7 +135,7 @@ int position_estimator_inav_main(int argc, char *argv[]) thread_should_exit = false; position_estimator_inav_task = task_spawn_cmd("position_estimator_inav", - SCHED_RR, SCHED_PRIORITY_MAX - 5, 4096, + SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 4000, position_estimator_inav_thread_main, (argv) ? (const char **) &argv[2] : (const char **) NULL); exit(0); -- cgit v1.2.3