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param load / store cleanup, storage location selection now exclusively through dedicated "param select <path>" command

sbg
Lorenz Meier 12 years ago
parent
55515f2e7e
commit
82c4dbaaa8
5 changed files with 136 additions and 81 deletions
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  1. 78
      apps/commander/commander.c
  2. 124
      apps/mavlink/mavlink_parameters.c
  3. 4
      apps/multirotor_att_control/multirotor_att_control_main.c
  4. 9
      apps/systemcmds/param/param.c
  5. 2
      apps/systemlib/param/param.c

78
apps/commander/commander.c
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@ -143,7 +143,7 @@ int commander_thread_main(int argc, char *argv[]); @@ -143,7 +143,7 @@ int commander_thread_main(int argc, char *argv[]);
static int buzzer_init(void);
static void buzzer_deinit(void);
static void tune_confirm();
static void tune_confirm(void);
static int led_init(void);
static void led_deinit(void);
static int led_toggle(int led);
@ -264,7 +264,7 @@ int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, u @@ -264,7 +264,7 @@ int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, u
return 0;
}
void tune_confirm() {
void tune_confirm(void) {
ioctl(buzzer, TONE_SET_ALARM, 3);
}
@ -914,17 +914,69 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta @@ -914,17 +914,69 @@ 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:
case MAV_CMD_PREFLIGHT_STORAGE: {
if (current_status.flag_system_armed) {
mavlink_log_info(mavlink_fd, "[cmd] REJECTING param command while armed");
} else {
// XXX move this to LOW PRIO THREAD of commander app
/* Read all parameters from EEPROM to RAM */
if (((int)(cmd->param1)) == 0) {
/* read all parameters from EEPROM to RAM */
int read_ret = param_load_default();
if (read_ret == OK) {
//printf("[mavlink pm] Loaded EEPROM params in RAM\n");
mavlink_log_info(mavlink_fd, "[cmd] OK loading params from");
mavlink_log_info(mavlink_fd, param_get_default_file());
result = MAV_RESULT_ACCEPTED;
} else if (read_ret == 1) {
mavlink_log_info(mavlink_fd, "[cmd] OK no changes in");
mavlink_log_info(mavlink_fd, param_get_default_file());
result = MAV_RESULT_ACCEPTED;
} else {
if (read_ret < -1) {
mavlink_log_info(mavlink_fd, "[cmd] ERR loading params from");
mavlink_log_info(mavlink_fd, param_get_default_file());
} else {
mavlink_log_info(mavlink_fd, "[cmd] ERR no param file named");
mavlink_log_info(mavlink_fd, param_get_default_file());
}
result = MAV_RESULT_FAILED;
}
} else if (((int)(cmd->param1)) == 1) {
/* write all parameters from RAM to EEPROM */
int write_ret = param_save_default();
if (write_ret == OK) {
mavlink_log_info(mavlink_fd, "[cmd] OK saved param file");
mavlink_log_info(mavlink_fd, param_get_default_file());
result = MAV_RESULT_ACCEPTED;
} else {
if (write_ret < -1) {
mavlink_log_info(mavlink_fd, "[cmd] ERR params file does not exit:");
mavlink_log_info(mavlink_fd, param_get_default_file());
} else {
mavlink_log_info(mavlink_fd, "[cmd] ERR writing params to");
mavlink_log_info(mavlink_fd, param_get_default_file());
}
result = MAV_RESULT_FAILED;
}
} else {
mavlink_log_info(mavlink_fd, "[pm] refusing unsupp. STOR request");
result = MAV_RESULT_UNSUPPORTED;
}
}
}
break;
default: {
mavlink_log_critical(mavlink_fd, "[commander] refusing unsupported command");
mavlink_log_critical(mavlink_fd, "[cmd] refusing unsupported command");
result = MAV_RESULT_UNSUPPORTED;
usleep(200000);
/* announce command rejection */
ioctl(buzzer, TONE_SET_ALARM, 4);
}
@ -932,7 +984,13 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta @@ -932,7 +984,13 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
}
/* supported command handling stop */
if (result == MAV_RESULT_FAILED ||
result == MAV_RESULT_DENIED ||
result == MAV_RESULT_UNSUPPORTED) {
ioctl(buzzer, TONE_SET_ALARM, 5);
} else if (result == MAV_RESULT_ACCEPTED) {
tune_confirm();
}
/* send any requested ACKs */
if (cmd->confirmation > 0) {

124
apps/mavlink/mavlink_parameters.c
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@ -233,66 +233,68 @@ void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_mess @@ -233,66 +233,68 @@ void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_mess
} break;
case MAVLINK_MSG_ID_COMMAND_LONG: {
mavlink_command_long_t cmd_mavlink;
mavlink_msg_command_long_decode(msg, &cmd_mavlink);
uint8_t result = MAV_RESULT_UNSUPPORTED;
if (cmd_mavlink.target_system == mavlink_system.sysid &&
((cmd_mavlink.target_component == mavlink_system.compid) ||(cmd_mavlink.target_component == MAV_COMP_ID_ALL))) {
/* preflight parameter load / store */
if (cmd_mavlink.command == MAV_CMD_PREFLIGHT_STORAGE) {
/* Read all parameters from EEPROM to RAM */
if (((int)(cmd_mavlink.param1)) == 0) {
/* read all parameters from EEPROM to RAM */
int read_ret = param_load_default();
if (read_ret == OK) {
//printf("[mavlink pm] Loaded EEPROM params in RAM\n");
mavlink_missionlib_send_gcs_string("[mavlink pm] OK loaded EEPROM params");
result = MAV_RESULT_ACCEPTED;
} else if (read_ret == 1) {
mavlink_missionlib_send_gcs_string("[mavlink pm] No stored parameters to load");
result = MAV_RESULT_ACCEPTED;
} else {
if (read_ret < -1) {
mavlink_missionlib_send_gcs_string("[mavlink pm] ERR loading params from EEPROM");
} else {
mavlink_missionlib_send_gcs_string("[mavlink pm] ERR loading params, no EEPROM found");
}
result = MAV_RESULT_FAILED;
}
} else if (((int)(cmd_mavlink.param1)) == 1) {
/* write all parameters from RAM to EEPROM */
int write_ret = param_save_default();
if (write_ret == OK) {
mavlink_missionlib_send_gcs_string("[mavlink pm] OK params written to EEPROM");
result = MAV_RESULT_ACCEPTED;
} else {
if (write_ret < -1) {
mavlink_missionlib_send_gcs_string("[mavlink pm] ERR writing params to EEPROM");
} else {
mavlink_missionlib_send_gcs_string("[mavlink pm] ERR writing params, no EEPROM found");
}
result = MAV_RESULT_FAILED;
}
} else {
//fprintf(stderr, "[mavlink pm] refusing unsupported storage request\n");
mavlink_missionlib_send_gcs_string("[mavlink pm] refusing unsupported STOR request");
result = MAV_RESULT_UNSUPPORTED;
}
}
}
/* send back command result */
//mavlink_msg_command_ack_send(chan, cmd.command, result);
} break;
// case MAVLINK_MSG_ID_COMMAND_LONG: {
// mavlink_command_long_t cmd_mavlink;
// mavlink_msg_command_long_decode(msg, &cmd_mavlink);
// uint8_t result = MAV_RESULT_UNSUPPORTED;
// if (cmd_mavlink.target_system == mavlink_system.sysid &&
// ((cmd_mavlink.target_component == mavlink_system.compid) ||(cmd_mavlink.target_component == MAV_COMP_ID_ALL))) {
// // XXX move this to LOW PRIO THREAD of commander app
// /* preflight parameter load / store */
// if (cmd_mavlink.command == MAV_CMD_PREFLIGHT_STORAGE) {
// /* Read all parameters from EEPROM to RAM */
// if (((int)(cmd_mavlink.param1)) == 0) {
// /* read all parameters from EEPROM to RAM */
// int read_ret = param_load_default();
// if (read_ret == OK) {
// //printf("[mavlink pm] Loaded EEPROM params in RAM\n");
// mavlink_missionlib_send_gcs_string("[pm] OK loading %s", param_get_default_file());
// result = MAV_RESULT_ACCEPTED;
// } else if (read_ret == 1) {
// mavlink_missionlib_send_gcs_string("[pm] OK no changes %s", param_get_default_file());
// result = MAV_RESULT_ACCEPTED;
// } else {
// if (read_ret < -1) {
// mavlink_missionlib_send_gcs_string("[pm] ERR loading %s", param_get_default_file());
// } else {
// mavlink_missionlib_send_gcs_string("[pm] ERR no file %s", param_get_default_file());
// }
// result = MAV_RESULT_FAILED;
// }
// } else if (((int)(cmd_mavlink.param1)) == 1) {
// /* write all parameters from RAM to EEPROM */
// int write_ret = param_save_default();
// if (write_ret == OK) {
// mavlink_missionlib_send_gcs_string("[pm] OK saved %s", param_get_default_file());
// result = MAV_RESULT_ACCEPTED;
// } else {
// if (write_ret < -1) {
// mavlink_missionlib_send_gcs_string("[pm] ERR writing %s", param_get_default_file());
// } else {
// mavlink_missionlib_send_gcs_string("[pm] ERR writing %s", param_get_default_file());
// }
// result = MAV_RESULT_FAILED;
// }
// } else {
// //fprintf(stderr, "[mavlink pm] refusing unsupported storage request\n");
// mavlink_missionlib_send_gcs_string("[pm] refusing unsupp. STOR request");
// result = MAV_RESULT_UNSUPPORTED;
// }
// }
// }
// /* send back command result */
// //mavlink_msg_command_ack_send(chan, cmd.command, result);
// } break;
}
}

4
apps/multirotor_att_control/multirotor_att_control_main.c
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@ -220,9 +220,9 @@ mc_thread_main(int argc, char *argv[]) @@ -220,9 +220,9 @@ mc_thread_main(int argc, char *argv[])
/* only move setpoint if manual input is != 0 */
// XXX turn into param
if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && manual.throttle > 0.25f) {
if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && manual.throttle > 0.3f) {
att_sp.yaw_body = att_sp.yaw_body + manual.yaw * 0.0025f;
} else if (manual.throttle <= 0.25f) {
} else if (manual.throttle <= 0.3f) {
att_sp.yaw_body = att.yaw;
}
att_sp.thrust = manual.throttle;

9
apps/systemcmds/param/param.c
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@ -96,7 +96,8 @@ param_main(int argc, char *argv[]) @@ -96,7 +96,8 @@ param_main(int argc, char *argv[])
} else {
param_set_default_file(NULL);
}
warnx("selected parameter file %s", param_get_default_file());
warnx("selected parameter default file %s", param_get_default_file());
exit(0);
}
if (!strcmp(argv[1], "show"))
@ -141,17 +142,11 @@ do_load(const char* param_file_name) @@ -141,17 +142,11 @@ do_load(const char* param_file_name)
if (fd < 0)
err(1, "open '%s'", param_file_name);
/* set new default file name */
param_set_default_file(param_file_name);
int result = param_load(fd);
close(fd);
if (result < 0) {
errx(1, "error importing from '%s'", param_file_name);
} else {
/* set default file name for next storage operation */
param_set_default_file(param_file_name);
}
exit(0);

2
apps/systemlib/param/param.c
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@ -482,7 +482,7 @@ param_reset_all(void) @@ -482,7 +482,7 @@ param_reset_all(void)
}
static const char *param_default_file = "/eeprom/parameters";
static char *param_user_file;
static char *param_user_file = NULL;
int
param_set_default_file(const char* filename)

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