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Fix a corner case that prevented mavlink config streams from being indexed appropriately when USB is not connected at boot.

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Break out Mavlink class constructor logic into set_instance() and set_channel() methods. and add const specifiers and default arguments to Mavlink::mavlink_open_uart().
This commit is contained in:
mcsauder
2019-07-06 12:53:32 -06:00
committed by Julian Oes
parent 3d993773ae
commit 2e3926b577
2 changed files with 69 additions and 48 deletions
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src/modules/mavlink/mavlink_main.cpp
+60 -46
View File
@@ -164,50 +164,6 @@ bool Mavlink::_boot_complete = false;
Mavlink::Mavlink() :
ModuleParams(nullptr)
{
_instance_id = Mavlink::instance_count();
/* set channel according to instance id */
switch (_instance_id) {
case 0:
_channel = MAVLINK_COMM_0;
break;
case 1:
_channel = MAVLINK_COMM_1;
break;
case 2:
_channel = MAVLINK_COMM_2;
break;
case 3:
_channel = MAVLINK_COMM_3;
break;
#ifdef MAVLINK_COMM_4
case 4:
_channel = MAVLINK_COMM_4;
break;
#endif
#ifdef MAVLINK_COMM_5
case 5:
_channel = MAVLINK_COMM_5;
break;
#endif
#ifdef MAVLINK_COMM_6
case 6:
_channel = MAVLINK_COMM_6;
break;
#endif
default:
PX4_WARN("instance ID is out of range");
px4_task_exit(1);
break;
}
// initialise parameter cache
mavlink_update_parameters();
@@ -270,6 +226,58 @@ Mavlink::mavlink_update_parameters()
}
}
void
Mavlink::set_channel()
{
/* set channel according to instance id */
switch (_instance_id) {
case 0:
_channel = MAVLINK_COMM_0;
break;
case 1:
_channel = MAVLINK_COMM_1;
break;
case 2:
_channel = MAVLINK_COMM_2;
break;
case 3:
_channel = MAVLINK_COMM_3;
break;
#ifdef MAVLINK_COMM_4
case 4:
_channel = MAVLINK_COMM_4;
break;
#endif
#ifdef MAVLINK_COMM_5
case 5:
_channel = MAVLINK_COMM_5;
break;
#endif
#ifdef MAVLINK_COMM_6
case 6:
_channel = MAVLINK_COMM_6;
break;
#endif
default:
PX4_WARN("instance ID is out of range");
px4_task_exit(1);
break;
}
}
void
Mavlink::set_instance_id()
{
_instance_id = Mavlink::instance_count();
}
void
Mavlink::set_proto_version(unsigned version)
{
@@ -486,7 +494,7 @@ Mavlink::get_uart_fd(unsigned index)
}
int
Mavlink::mavlink_open_uart(int baud, const char *uart_name, bool force_flow_control)
Mavlink::mavlink_open_uart(const int baud, const char *uart_name, const bool force_flow_control)
{
#ifndef B460800
#define B460800 460800
@@ -604,7 +612,9 @@ Mavlink::mavlink_open_uart(int baud, const char *uart_name, bool force_flow_cont
return -1;
}
px4_usleep(100000);
int errcode = errno;
/* ENOTCONN means that the USB device is not yet connected */
px4_usleep(errcode == ENOTCONN ? 1000000 : 100000);
_uart_fd = ::open(uart_name, O_RDWR | O_NOCTTY);
}
}
@@ -2173,6 +2183,10 @@ Mavlink::task_main(int argc, char *argv[])
_main_loop_delay = MAVLINK_MAX_INTERVAL;
}
set_instance_id();
set_channel();
/* now the instance is fully initialized and we can bump the instance count */
LL_APPEND(_mavlink_instances, this);
src/modules/mavlink/mavlink_main.h
+9 -2
View File
@@ -83,6 +83,7 @@
#include "mavlink_shell.h"
#include "mavlink_ulog.h"
#define DEFAULT_BAUD_RATE 57600
#define DEFAULT_REMOTE_PORT_UDP 14550 ///< GCS port per MAVLink spec
#define DEFAULT_DEVICE_NAME "/dev/ttyS1"
#define HASH_PARAM "_HASH_CHECK"
@@ -676,7 +677,9 @@ private:
void mavlink_update_parameters();
int mavlink_open_uart(int baudrate, const char *uart_name, bool force_flow_control);
int mavlink_open_uart(const int baudrate = DEFAULT_BAUD_RATE,
const char *uart_name = DEFAULT_DEVICE_NAME,
const bool force_flow_control = false);
static constexpr unsigned RADIO_BUFFER_CRITICAL_LOW_PERCENTAGE = 25;
static constexpr unsigned RADIO_BUFFER_LOW_PERCENTAGE = 35;
@@ -731,10 +734,14 @@ private:
void init_udp();
void set_channel();
void set_instance_id();
/**
* Main mavlink task.
*/
int task_main(int argc, char *argv[]);
int task_main(int argc, char *argv[]);
// Disallow copy construction and move assignment.
Mavlink(const Mavlink &) = delete;