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Merged parameter changes

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Lorenz Meier
2012-08-22 09:19:43 +02:00
parent 72979032e9 c8645a7e53
commit d2e757aa3c
15 changed files with 375 additions and 72 deletions
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106
apps/commander/commander.c
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@@ -69,7 +69,8 @@
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vehicle_command.h>
#include <mavlink/mavlink_log.h>
#include <systemlib/param/param.h>
#include <systemlib/systemlib.h>
#include <arch/board/up_cpuload.h>
@@ -101,9 +102,9 @@ static orb_advert_t stat_pub;
static uint16_t nofix_counter = 0;
static uint16_t gotfix_counter = 0;
static void do_gyro_calibration(int status_pub, struct vehicle_status_s *current_status);
static void do_mag_calibration(int status_pub, struct vehicle_status_s *current_status);
static void handle_command(int status_pub, struct vehicle_status_s *current_status, struct vehicle_command_s *cmd);
static bool thread_should_exit = false; /**< Deamon exit flag */
static bool thread_running = false; /**< Deamon status flag */
static int deamon_task; /**< Handle of deamon task / thread */
/* pthread loops */
static void *command_handling_loop(void *arg);
@@ -111,9 +112,30 @@ static void *command_handling_loop(void *arg);
__EXPORT int commander_main(int argc, char *argv[]);
#ifdef CONFIG_TONE_ALARM
/**
* Mainloop of commander.
*/
int commander_thread_main(int argc, char *argv[]);
static int buzzer_init(void);
static void buzzer_deinit(void);
static int led_init(void);
static void led_deinit(void);
static int led_toggle(int led);
static int led_on(int led);
static int led_off(int led);
static void do_gyro_calibration(int status_pub, struct vehicle_status_s *current_status);
static void do_mag_calibration(int status_pub, struct vehicle_status_s *current_status);
static void handle_command(int status_pub, struct vehicle_status_s *current_status, struct vehicle_command_s *cmd);
int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, uint8_t new_state);
/**
* Print the correct usage.
*/
static void usage(const char *reason);
static int buzzer_init()
{
@@ -131,13 +153,7 @@ static void buzzer_deinit()
{
close(buzzer);
}
#endif
static int led_init(void);
static void led_deinit(void);
static int led_toggle(int led);
static int led_on(int led);
static int led_off(int led);
static int led_init()
{
@@ -581,6 +597,13 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
}
break;
/*
* do not report an error for commands that are
* handled directly by MAVLink.
*/
case MAV_CMD_PREFLIGHT_STORAGE:
break;
default: {
mavlink_log_critical(mavlink_fd, "[commander] refusing unsupported command");
result = MAV_RESULT_UNSUPPORTED;
@@ -705,6 +728,9 @@ enum BAT_CHEM {
*/
float battery_remaining_estimate_voltage(int cells, int chemistry, float voltage);
PARAM_DEFINE_FLOAT(BAT_VOLT_EMPTY, 3.2f);
PARAM_DEFINE_FLOAT(BAT_VOLT_FULL, 4.05f);
float battery_remaining_estimate_voltage(int cells, int chemistry, float voltage)
{
float ret = 0;
@@ -721,11 +747,61 @@ float battery_remaining_estimate_voltage(int cells, int chemistry, float voltage
return ret;
}
/****************************************************************************
* Name: commander
****************************************************************************/
static void
usage(const char *reason)
{
if (reason)
fprintf(stderr, "%s\n", reason);
fprintf(stderr, "usage: deamon {start|stop|status} [-p <additional params>]\n\n");
exit(1);
}
/**
* The deamon app only briefly exists to start
* the background job. The stack size assigned in the
* Makefile does only apply to this management task.
*
* The actual stack size should be set in the call
* to task_create().
*/
int commander_main(int argc, char *argv[])
{
if (argc < 1)
usage("missing command");
if (!strcmp(argv[1], "start")) {
if (thread_running) {
printf("commander already running\n");
/* this is not an error */
exit(0);
}
thread_should_exit = false;
deamon_task = task_create("commander", SCHED_PRIORITY_MAX - 50, 4096, commander_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL);
thread_running = true;
exit(0);
}
if (!strcmp(argv[1], "stop")) {
thread_should_exit = true;
exit(0);
}
if (!strcmp(argv[1], "status")) {
if (thread_running) {
printf("\tcommander is running\n");
} else {
printf("\tcommander not started\n");
}
exit(0);
}
usage("unrecognized command");
exit(1);
}
int commander_thread_main(int argc, char *argv[])
{
/* not yet initialized */
commander_initialized = false;
@@ -1108,6 +1184,8 @@ int commander_main(int argc, char *argv[])
led_deinit();
buzzer_deinit();
thread_running = false;
return 0;
}