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astyle shift module documentation to bottom of files

Browse Source 
- Astyle chokes on the module description strings, so for now we can keep them near the bottom of each file.
This commit is contained in:
Daniel Agar
2019-11-02 10:58:47 -04:00
committed by GitHub
parent f0ac270174
commit a475d71ca9
16 changed files with 451 additions and 460 deletions
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src/drivers/dshot/dshot.cpp
+60 -62
View File
@@ -1531,6 +1531,65 @@ int DShotOutput::custom_command(int argc, char *argv[])
return print_usage("unknown command");
}
int DShotOutput::print_status()
{
const char *mode_str = nullptr;
switch (_mode) {
case MODE_NONE: mode_str = "no outputs"; break;
case MODE_1PWM: mode_str = "outputs1"; break;
case MODE_2PWM: mode_str = "outputs2"; break;
case MODE_2PWM2CAP: mode_str = "outputs2cap2"; break;
case MODE_3PWM: mode_str = "outputs3"; break;
case MODE_3PWM1CAP: mode_str = "outputs3cap1"; break;
case MODE_4PWM: mode_str = "outputs4"; break;
case MODE_4PWM1CAP: mode_str = "outputs4cap1"; break;
case MODE_4PWM2CAP: mode_str = "outputs4cap2"; break;
case MODE_5PWM: mode_str = "outputs5"; break;
case MODE_5PWM1CAP: mode_str = "outputs5cap1"; break;
case MODE_6PWM: mode_str = "outputs6"; break;
case MODE_8PWM: mode_str = "outputs8"; break;
case MODE_4CAP: mode_str = "cap4"; break;
case MODE_5CAP: mode_str = "cap5"; break;
case MODE_6CAP: mode_str = "cap6"; break;
default:
break;
}
if (mode_str) {
PX4_INFO("Mode: %s", mode_str);
}
PX4_INFO("Outputs initialized: %s", _outputs_initialized ? "yes" : "no");
PX4_INFO("Outputs on: %s", _outputs_on ? "yes" : "no");
perf_print_counter(_cycle_perf);
_mixing_output.printStatus();
if (_telemetry) {
PX4_INFO("telemetry on: %s", _telemetry_device);
_telemetry->handler.printStatus();
}
return 0;
}
int DShotOutput::print_usage(const char *reason)
{
if (reason) {
@@ -1614,68 +1673,7 @@ After saving, the reversed direction will be regarded as the normal one. So to r
return 0;
}
int DShotOutput::print_status()
{
const char *mode_str = nullptr;
switch (_mode) {
case MODE_NONE: mode_str = "no outputs"; break;
case MODE_1PWM: mode_str = "outputs1"; break;
case MODE_2PWM: mode_str = "outputs2"; break;
case MODE_2PWM2CAP: mode_str = "outputs2cap2"; break;
case MODE_3PWM: mode_str = "outputs3"; break;
case MODE_3PWM1CAP: mode_str = "outputs3cap1"; break;
case MODE_4PWM: mode_str = "outputs4"; break;
case MODE_4PWM1CAP: mode_str = "outputs4cap1"; break;
case MODE_4PWM2CAP: mode_str = "outputs4cap2"; break;
case MODE_5PWM: mode_str = "outputs5"; break;
case MODE_5PWM1CAP: mode_str = "outputs5cap1"; break;
case MODE_6PWM: mode_str = "outputs6"; break;
case MODE_8PWM: mode_str = "outputs8"; break;
case MODE_4CAP: mode_str = "cap4"; break;
case MODE_5CAP: mode_str = "cap5"; break;
case MODE_6CAP: mode_str = "cap6"; break;
default:
break;
}
if (mode_str) {
PX4_INFO("Mode: %s", mode_str);
}
PX4_INFO("Outputs initialized: %s", _outputs_initialized ? "yes" : "no");
PX4_INFO("Outputs on: %s", _outputs_on ? "yes" : "no");
perf_print_counter(_cycle_perf);
_mixing_output.printStatus();
if (_telemetry) {
PX4_INFO("telemetry on: %s", _telemetry_device);
_telemetry->handler.printStatus();
}
return 0;
}
extern "C" __EXPORT int dshot_main(int argc, char *argv[]);
int
dshot_main(int argc, char *argv[])
extern "C" __EXPORT int dshot_main(int argc, char *argv[])
{
return DShotOutput::main(argc, argv);
}
src/drivers/pwm_out_sim/PWMSim.cpp
+7 -10
View File
@@ -39,8 +39,6 @@
#include <uORB/Subscription.hpp>
#include <uORB/topics/parameter_update.h>
extern "C" __EXPORT int pwm_out_sim_main(int argc, char *argv[]);
PWMSim::PWMSim(bool hil_mode_enabled) :
CDev(PWM_OUTPUT0_DEVICE_PATH),
OutputModuleInterface(MODULE_NAME, px4::wq_configurations::hp_default)
@@ -273,6 +271,12 @@ int PWMSim::custom_command(int argc, char *argv[])
return print_usage("unknown command");
}
int PWMSim::print_status()
{
_mixing_output.printStatus();
return 0;
}
int PWMSim::print_usage(const char *reason)
{
if (reason) {
@@ -300,14 +304,7 @@ It is used in SITL and HITL.
return 0;
}
int PWMSim::print_status()
{
_mixing_output.printStatus();
return 0;
}
int
pwm_out_sim_main(int argc, char *argv[])
extern "C" __EXPORT int pwm_out_sim_main(int argc, char *argv[])
{
return PWMSim::main(argc, argv);
}
src/drivers/px4fmu/fmu.cpp
+54 -58
View File
@@ -2173,6 +2173,59 @@ int PX4FMU::custom_command(int argc, char *argv[])
return print_usage("unknown command");
}
int PX4FMU::print_status()
{
PX4_INFO("Max update rate: %i Hz", _current_update_rate);
const char *mode_str = nullptr;
switch (_mode) {
case MODE_NONE: mode_str = "no pwm"; break;
case MODE_1PWM: mode_str = "pwm1"; break;
case MODE_2PWM: mode_str = "pwm2"; break;
case MODE_2PWM2CAP: mode_str = "pwm2cap2"; break;
case MODE_3PWM: mode_str = "pwm3"; break;
case MODE_3PWM1CAP: mode_str = "pwm3cap1"; break;
case MODE_4PWM: mode_str = "pwm4"; break;
case MODE_4PWM1CAP: mode_str = "pwm4cap1"; break;
case MODE_4PWM2CAP: mode_str = "pwm4cap2"; break;
case MODE_5PWM: mode_str = "pwm5"; break;
case MODE_5PWM1CAP: mode_str = "pwm5cap1"; break;
case MODE_6PWM: mode_str = "pwm6"; break;
case MODE_8PWM: mode_str = "pwm8"; break;
case MODE_4CAP: mode_str = "cap4"; break;
case MODE_5CAP: mode_str = "cap5"; break;
case MODE_6CAP: mode_str = "cap6"; break;
default:
break;
}
if (mode_str) {
PX4_INFO("PWM Mode: %s", mode_str);
}
perf_print_counter(_cycle_perf);
_mixing_output.printStatus();
return 0;
}
int PX4FMU::print_usage(const char *reason)
{
if (reason) {
@@ -2252,64 +2305,7 @@ mixer files.
return 0;
}
int PX4FMU::print_status()
{
PX4_INFO("Max update rate: %i Hz", _current_update_rate);
const char *mode_str = nullptr;
switch (_mode) {
case MODE_NONE: mode_str = "no pwm"; break;
case MODE_1PWM: mode_str = "pwm1"; break;
case MODE_2PWM: mode_str = "pwm2"; break;
case MODE_2PWM2CAP: mode_str = "pwm2cap2"; break;
case MODE_3PWM: mode_str = "pwm3"; break;
case MODE_3PWM1CAP: mode_str = "pwm3cap1"; break;
case MODE_4PWM: mode_str = "pwm4"; break;
case MODE_4PWM1CAP: mode_str = "pwm4cap1"; break;
case MODE_4PWM2CAP: mode_str = "pwm4cap2"; break;
case MODE_5PWM: mode_str = "pwm5"; break;
case MODE_5PWM1CAP: mode_str = "pwm5cap1"; break;
case MODE_6PWM: mode_str = "pwm6"; break;
case MODE_8PWM: mode_str = "pwm8"; break;
case MODE_4CAP: mode_str = "cap4"; break;
case MODE_5CAP: mode_str = "cap5"; break;
case MODE_6CAP: mode_str = "cap6"; break;
default:
break;
}
if (mode_str) {
PX4_INFO("PWM Mode: %s", mode_str);
}
perf_print_counter(_cycle_perf);
_mixing_output.printStatus();
return 0;
}
extern "C" __EXPORT int fmu_main(int argc, char *argv[]);
int
fmu_main(int argc, char *argv[])
extern "C" __EXPORT int fmu_main(int argc, char *argv[])
{
return PX4FMU::main(argc, argv);
}
src/drivers/rc_input/RCInput.cpp
+33 -34
View File
@@ -768,7 +768,38 @@ int RCInput::custom_command(int argc, char *argv[])
return print_usage("unknown command");
}
int RCInput::print_usage(const char *reason)
int RCInput::print_status()
{
PX4_INFO("Running %s", (_run_as_task ? "as task" : "on work queue"));
if (!_run_as_task) {
PX4_INFO("Max update rate: %i Hz", 1000000 / _current_update_interval);
}
if (_device[0] != '\0') {
PX4_INFO("Serial device: %s", _device);
}
PX4_INFO("RC scan state: %s, locked: %s", RC_SCAN_STRING[_rc_scan_state], _rc_scan_locked ? "yes" : "no");
PX4_INFO("CRSF Telemetry: %s", _crsf_telemetry ? "yes" : "no");
PX4_INFO("SBUS frame drops: %u", sbus_dropped_frames());
#if ADC_RC_RSSI_CHANNEL
PX4_INFO("vrssi: %dmV", (int)(_analog_rc_rssi_volt * 1000.0f));
#endif
perf_print_counter(_cycle_perf);
perf_print_counter(_publish_interval_perf);
if (hrt_elapsed_time(&_rc_in.timestamp) < 1_s) {
print_message(_rc_in);
}
return 0;
}
int
RCInput::print_usage(const char *reason)
{
if (reason) {
PX4_WARN("%s\n", reason);
@@ -805,39 +836,7 @@ When running on the work queue, it schedules at a fixed frequency.
return 0;
}
int RCInput::print_status()
{
PX4_INFO("Running %s", (_run_as_task ? "as task" : "on work queue"));
if (!_run_as_task) {
PX4_INFO("Max update rate: %i Hz", 1000000 / _current_update_interval);
}
if (_device[0] != '\0') {
PX4_INFO("Serial device: %s", _device);
}
PX4_INFO("RC scan state: %s, locked: %s", RC_SCAN_STRING[_rc_scan_state], _rc_scan_locked ? "yes" : "no");
PX4_INFO("CRSF Telemetry: %s", _crsf_telemetry ? "yes" : "no");
PX4_INFO("SBUS frame drops: %u", sbus_dropped_frames());
#if ADC_RC_RSSI_CHANNEL
PX4_INFO("vrssi: %dmV", (int)(_analog_rc_rssi_volt * 1000.0f));
#endif
perf_print_counter(_cycle_perf);
perf_print_counter(_publish_interval_perf);
if (hrt_elapsed_time(&_rc_in.timestamp) < 1_s) {
print_message(_rc_in);
}
return 0;
}
extern "C" __EXPORT int rc_input_main(int argc, char *argv[]);
int
rc_input_main(int argc, char *argv[])
extern "C" __EXPORT int rc_input_main(int argc, char *argv[])
{
return RCInput::main(argc, argv);
}
src/drivers/safety_button/SafetyButton.cpp
+9 -12
View File
@@ -199,6 +199,14 @@ SafetyButton::custom_command(int argc, char *argv[])
return print_usage("unknown command");
}
int
SafetyButton::print_status()
{
PX4_INFO("Safety State (from button): %s", _safety_btn_off ? "off" : "on");
return 0;
}
int
SafetyButton::print_usage(const char *reason)
{
@@ -219,18 +227,7 @@ This module is responsible for the safety button.
return 0;
}
int
SafetyButton::print_status()
{
PX4_INFO("Safety State (from button): %s", _safety_btn_off ? "off" : "on");
return 0;
}
extern "C" __EXPORT int safety_button_main(int argc, char *argv[]);
int
safety_button_main(int argc, char *argv[])
extern "C" __EXPORT int safety_button_main(int argc, char *argv[])
{
return SafetyButton::main(argc, argv);
}
src/drivers/tap_esc/tap_esc.cpp
+1 -3
View File
@@ -778,9 +778,7 @@ tap_esc start -d /dev/ttyS2 -n <1-8>
return PX4_OK;
}
extern "C" __EXPORT int tap_esc_main(int argc, char *argv[]);
int tap_esc_main(int argc, char *argv[])
extern "C" __EXPORT int tap_esc_main(int argc, char *argv[])
{
return TAP_ESC::main(argc, argv);
}
src/drivers/telemetry/frsky_telemetry/frsky_telemetry.cpp
+17 -17
View File
@@ -207,23 +207,6 @@ static void set_uart_single_wire(int uart, bool single_wire)
}
}
/**
* Print command usage information
*/
static void usage()
{
PRINT_MODULE_DESCRIPTION("FrSky Telemetry support. Auto-detects D or S.PORT protocol.");
PRINT_MODULE_USAGE_NAME("frsky_telemetry", "communication");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyS6", "<file:dev>", "Select Serial Device", true);
PRINT_MODULE_USAGE_PARAM_INT('t', 0, 0, 60, "Scanning timeout [s] (default: no timeout)", true);
PRINT_MODULE_USAGE_PARAM_STRING('m', "auto", "sport|sport_single|dtype", "Select protocol (default: auto-detect)",
true);
PRINT_MODULE_USAGE_COMMAND("stop");
PRINT_MODULE_USAGE_COMMAND("status");
}
/**
* The daemon thread.
*/
@@ -806,3 +789,20 @@ int frsky_telemetry_main(int argc, char *argv[])
usage();
return 0;
}
/**
* Print command usage information
*/
static void usage()
{
PRINT_MODULE_DESCRIPTION("FrSky Telemetry support. Auto-detects D or S.PORT protocol.");
PRINT_MODULE_USAGE_NAME("frsky_telemetry", "communication");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyS6", "<file:dev>", "Select Serial Device", true);
PRINT_MODULE_USAGE_PARAM_INT('t', 0, 0, 60, "Scanning timeout [s] (default: no timeout)", true);
PRINT_MODULE_USAGE_PARAM_STRING('m', "auto", "sport|sport_single|dtype", "Select protocol (default: auto-detect)",
true);
PRINT_MODULE_USAGE_COMMAND("stop");
PRINT_MODULE_USAGE_COMMAND("status");
}
src/modules/airspeed_selector/airspeed_selector_main.cpp
+14 -17
View File
@@ -536,6 +536,19 @@ int AirspeedModule::custom_command(int argc, char *argv[])
return print_usage("unknown command");
}
int AirspeedModule::print_status()
{
perf_print_counter(_perf_elapsed);
int instance = 0;
uORB::SubscriptionData<airspeed_validated_s> est{ORB_ID(airspeed_validated), (uint8_t)instance};
est.update();
PX4_INFO("Number of airspeed sensors: %i", _number_of_airspeed_sensors);
print_message(est.get());
return 0;
}
int AirspeedModule::print_usage(const char *reason)
{
if (reason) {
@@ -562,23 +575,7 @@ and also publishes those.
return 0;
}
int AirspeedModule::print_status()
{
perf_print_counter(_perf_elapsed);
int instance = 0;
uORB::SubscriptionData<airspeed_validated_s> est{ORB_ID(airspeed_validated), (uint8_t)instance};
est.update();
PX4_INFO("Number of airspeed sensors: %i", _number_of_airspeed_sensors);
print_message(est.get());
return 0;
}
extern "C" __EXPORT int airspeed_selector_main(int argc, char *argv[]);
int
airspeed_selector_main(int argc, char *argv[])
extern "C" __EXPORT int airspeed_selector_main(int argc, char *argv[])
{
return AirspeedModule::main(argc, argv);
}
src/modules/commander/Commander.cpp
+72 -49
View File
@@ -514,38 +514,6 @@ int commander_main(int argc, char *argv[])
return 1;
}
void usage(const char *reason)
{
if (reason) {
PX4_INFO("%s", reason);
}
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
### Description
The commander module contains the state machine for mode switching and failsafe behavior.
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("commander", "system");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAM_FLAG('h', "Enable HIL mode", true);
PRINT_MODULE_USAGE_COMMAND_DESCR("calibrate", "Run sensor calibration");
PRINT_MODULE_USAGE_ARG("mag|accel|gyro|level|esc|airspeed", "Calibration type", false);
PRINT_MODULE_USAGE_COMMAND_DESCR("check", "Run preflight checks");
PRINT_MODULE_USAGE_COMMAND("arm");
PRINT_MODULE_USAGE_PARAM_FLAG('f', "Force arming (do not run preflight checks)", true);
PRINT_MODULE_USAGE_COMMAND("disarm");
PRINT_MODULE_USAGE_COMMAND("takeoff");
PRINT_MODULE_USAGE_COMMAND("land");
PRINT_MODULE_USAGE_COMMAND_DESCR("transition", "VTOL transition");
PRINT_MODULE_USAGE_COMMAND_DESCR("mode", "Change flight mode");
PRINT_MODULE_USAGE_ARG("manual|acro|offboard|stabilized|rattitude|altctl|posctl|auto:mission|auto:loiter|auto:rtl|auto:takeoff|auto:land|auto:precland",
"Flight mode", false);
PRINT_MODULE_USAGE_COMMAND("lockdown");
PRINT_MODULE_USAGE_ARG("off", "Turn lockdown off", true);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
void print_status()
{
PX4_INFO("arming: %s", arming_state_names[status.arming_state]);
@@ -812,6 +780,7 @@ Commander::handle_command(vehicle_status_s *status_local, const vehicle_command_
if (cmd_arms) {
if (armed_local->armed) {
mavlink_log_warning(&mavlink_log_pub, "Arming denied! Already armed");
} else {
mavlink_log_critical(&mavlink_log_pub, "Arming denied! Not landed");
}
@@ -841,18 +810,18 @@ Commander::handle_command(vehicle_status_s *status_local, const vehicle_command_
const bool throttle_above_center = (sp_man.z > 0.6f);
if (cmd_arms && throttle_above_center &&
(status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_POSCTL ||
status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_ALTCTL)) {
(status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_POSCTL ||
status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_ALTCTL)) {
mavlink_log_critical(&mavlink_log_pub, "Arming denied! Throttle not centered");
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_DENIED;
break;
}
if (cmd_arms && throttle_above_low &&
(status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_MANUAL ||
status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_ACRO ||
status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_STAB ||
status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_RATTITUDE)) {
(status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_MANUAL ||
status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_ACRO ||
status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_STAB ||
status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_RATTITUDE)) {
mavlink_log_critical(&mavlink_log_pub, "Arming denied! Throttle not zero");
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_DENIED;
break;
@@ -1090,12 +1059,16 @@ Commander::handle_command(vehicle_status_s *status_local, const vehicle_command_
break;
case vehicle_command_s::VEHICLE_CMD_DO_ORBIT:
// Switch to orbit state and let the orbit task handle the command further
if (TRANSITION_DENIED != main_state_transition(*status_local, commander_state_s::MAIN_STATE_ORBIT, status_flags, &internal_state)) {
if (TRANSITION_DENIED != main_state_transition(*status_local, commander_state_s::MAIN_STATE_ORBIT, status_flags,
&internal_state)) {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
}
break;
case vehicle_command_s::VEHICLE_CMD_DO_MOTOR_TEST:
@@ -1166,24 +1139,32 @@ Commander::handle_command_motor_test(const vehicle_command_s &cmd)
test_motor.timestamp = hrt_absolute_time();
test_motor.motor_number = (int)(cmd.param1 + 0.5f) - 1;
int throttle_type = (int)(cmd.param2 + 0.5f);
if (throttle_type != 0) { // 0: MOTOR_TEST_THROTTLE_PERCENT
return vehicle_command_s::VEHICLE_CMD_RESULT_UNSUPPORTED;
}
int motor_count = (int) (cmd.param5 + 0.5);
int motor_count = (int)(cmd.param5 + 0.5);
if (motor_count > 1) {
return vehicle_command_s::VEHICLE_CMD_RESULT_UNSUPPORTED;
}
test_motor.action = test_motor_s::ACTION_RUN;
test_motor.value = math::constrain(cmd.param3 / 100.f, 0.f, 1.f);
if (test_motor.value < FLT_EPSILON) {
// the message spec is not clear on whether 0 means stop, but it should be closer to what a user expects
test_motor.value = -1.f;
}
test_motor.timeout_ms = (int)(cmd.param4 * 1000.f + 0.5f);
// enforce a timeout and a maximum limit
if (test_motor.timeout_ms == 0 || test_motor.timeout_ms > 3000) {
test_motor.timeout_ms = 3000;
}
test_motor.driver_instance = 0; // the mavlink command does not allow to specify the instance, so set to 0 for now
_test_motor_pub.publish(test_motor);
@@ -1799,6 +1780,7 @@ Commander::run()
/* update subsystem info which arrives from outside of commander*/
subsystem_info_s info;
while (subsys_sub.update(&info)) {
set_health_flags(info.subsystem_type, info.present, info.enabled, info.ok, status);
status_changed = true;
@@ -2411,6 +2393,7 @@ Commander::run()
/* safety switch is not present, do not go into prearmed */
armed.prearmed = false;
}
break;
default:
@@ -2526,13 +2509,20 @@ Commander::run()
void
Commander::get_circuit_breaker_params()
{
status_flags.circuit_breaker_engaged_power_check = circuit_breaker_enabled_by_val(_param_cbrk_supply_chk.get(), CBRK_SUPPLY_CHK_KEY);
status_flags.circuit_breaker_engaged_usb_check = circuit_breaker_enabled_by_val(_param_cbrk_usb_chk.get(), CBRK_USB_CHK_KEY);
status_flags.circuit_breaker_engaged_airspd_check = circuit_breaker_enabled_by_val(_param_cbrk_airspd_chk.get(), CBRK_AIRSPD_CHK_KEY);
status_flags.circuit_breaker_engaged_enginefailure_check = circuit_breaker_enabled_by_val(_param_cbrk_enginefail.get(), CBRK_ENGINEFAIL_KEY);
status_flags.circuit_breaker_engaged_gpsfailure_check = circuit_breaker_enabled_by_val(_param_cbrk_gpsfail.get(), CBRK_GPSFAIL_KEY);
status_flags.circuit_breaker_flight_termination_disabled = circuit_breaker_enabled_by_val(_param_cbrk_flightterm.get(), CBRK_FLIGHTTERM_KEY);
status_flags.circuit_breaker_engaged_posfailure_check = circuit_breaker_enabled_by_val(_param_cbrk_velposerr.get(), CBRK_VELPOSERR_KEY);
status_flags.circuit_breaker_engaged_power_check = circuit_breaker_enabled_by_val(_param_cbrk_supply_chk.get(),
CBRK_SUPPLY_CHK_KEY);
status_flags.circuit_breaker_engaged_usb_check = circuit_breaker_enabled_by_val(_param_cbrk_usb_chk.get(),
CBRK_USB_CHK_KEY);
status_flags.circuit_breaker_engaged_airspd_check = circuit_breaker_enabled_by_val(_param_cbrk_airspd_chk.get(),
CBRK_AIRSPD_CHK_KEY);
status_flags.circuit_breaker_engaged_enginefailure_check = circuit_breaker_enabled_by_val(_param_cbrk_enginefail.get(),
CBRK_ENGINEFAIL_KEY);
status_flags.circuit_breaker_engaged_gpsfailure_check = circuit_breaker_enabled_by_val(_param_cbrk_gpsfail.get(),
CBRK_GPSFAIL_KEY);
status_flags.circuit_breaker_flight_termination_disabled = circuit_breaker_enabled_by_val(_param_cbrk_flightterm.get(),
CBRK_FLIGHTTERM_KEY);
status_flags.circuit_breaker_engaged_posfailure_check = circuit_breaker_enabled_by_val(_param_cbrk_velposerr.get(),
CBRK_VELPOSERR_KEY);
}
void
@@ -2697,7 +2687,8 @@ Commander::set_main_state(const vehicle_status_s &status_local, bool *changed)
transition_result_t
Commander::set_main_state_override_on(const vehicle_status_s &status_local, bool *changed)
{
const transition_result_t res = main_state_transition(status_local, commander_state_s::MAIN_STATE_MANUAL, status_flags, &internal_state);
const transition_result_t res = main_state_transition(status_local, commander_state_s::MAIN_STATE_MANUAL, status_flags,
&internal_state);
*changed = (res == TRANSITION_CHANGED);
return res;
@@ -3767,7 +3758,7 @@ bool Commander::preflight_check(bool report)
const bool checkGNSS = (arm_requirements & ARM_REQ_GPS_BIT);
const bool success = Preflight::preflightCheck(&mavlink_log_pub, status, status_flags, checkGNSS, report, false,
hrt_elapsed_time(&commander_boot_timestamp));
hrt_elapsed_time(&commander_boot_timestamp));
if (success) {
status_flags.condition_system_sensors_initialized = true;
@@ -4497,3 +4488,35 @@ void Commander::esc_status_check(const esc_status_s &esc_status)
status_flags.condition_escs_error = true;
}
}
void usage(const char *reason)
{
if (reason) {
PX4_INFO("%s", reason);
}
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
### Description
The commander module contains the state machine for mode switching and failsafe behavior.
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("commander", "system");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAM_FLAG('h', "Enable HIL mode", true);
PRINT_MODULE_USAGE_COMMAND_DESCR("calibrate", "Run sensor calibration");
PRINT_MODULE_USAGE_ARG("mag|accel|gyro|level|esc|airspeed", "Calibration type", false);
PRINT_MODULE_USAGE_COMMAND_DESCR("check", "Run preflight checks");
PRINT_MODULE_USAGE_COMMAND("arm");
PRINT_MODULE_USAGE_PARAM_FLAG('f', "Force arming (do not run preflight checks)", true);
PRINT_MODULE_USAGE_COMMAND("disarm");
PRINT_MODULE_USAGE_COMMAND("takeoff");
PRINT_MODULE_USAGE_COMMAND("land");
PRINT_MODULE_USAGE_COMMAND_DESCR("transition", "VTOL transition");
PRINT_MODULE_USAGE_COMMAND_DESCR("mode", "Change flight mode");
PRINT_MODULE_USAGE_ARG("manual|acro|offboard|stabilized|rattitude|altctl|posctl|auto:mission|auto:loiter|auto:rtl|auto:takeoff|auto:land|auto:precland",
"Flight mode", false);
PRINT_MODULE_USAGE_COMMAND("lockdown");
PRINT_MODULE_USAGE_ARG("off", "Turn lockdown off", true);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
src/modules/ekf2/ekf2_main.cpp
+28 -29
View File
@@ -92,8 +92,6 @@
using math::constrain;
using namespace time_literals;
extern "C" __EXPORT int ekf2_main(int argc, char *argv[]);
class Ekf2 final : public ModuleBase<Ekf2>, public ModuleParams, public px4::WorkItem
{
public:
@@ -2368,35 +2366,10 @@ int Ekf2::custom_command(int argc, char *argv[])
return print_usage("unknown command");
}
int Ekf2::print_usage(const char *reason)
{
if (reason) {
PX4_WARN("%s\n", reason);
}
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
### Description
Attitude and position estimator using an Extended Kalman Filter. It is used for Multirotors and Fixed-Wing.
The documentation can be found on the [ECL/EKF Overview & Tuning](https://docs.px4.io/en/advanced_config/tuning_the_ecl_ekf.html) page.
ekf2 can be started in replay mode (`-r`): in this mode it does not access the system time, but only uses the
timestamps from the sensor topics.
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("ekf2", "estimator");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAM_FLAG('r', "Enable replay mode", true);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
return 0;
}
int Ekf2::task_spawn(int argc, char *argv[])
{
bool replay_mode = false;
if (argc > 1 && !strcmp(argv[1], "-r")) {
PX4_INFO("replay mode enabled");
replay_mode = true;
@@ -2423,7 +2396,33 @@ int Ekf2::task_spawn(int argc, char *argv[])
return PX4_ERROR;
}
int ekf2_main(int argc, char *argv[])
int Ekf2::print_usage(const char *reason)
{
if (reason) {
PX4_WARN("%s\n", reason);
}
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
### Description
Attitude and position estimator using an Extended Kalman Filter. It is used for Multirotors and Fixed-Wing.
The documentation can be found on the [ECL/EKF Overview & Tuning](https://docs.px4.io/en/advanced_config/tuning_the_ecl_ekf.html) page.
ekf2 can be started in replay mode (`-r`): in this mode it does not access the system time, but only uses the
timestamps from the sensor topics.
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("ekf2", "estimator");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAM_FLAG('r', "Enable replay mode", true);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
return 0;
}
extern "C" __EXPORT int ekf2_main(int argc, char *argv[])
{
return Ekf2::main(argc, argv);
}
src/modules/events/send_event.cpp
+32 -29
View File
@@ -201,32 +201,6 @@ void SendEvent::answer_command(const vehicle_command_s &cmd, unsigned result)
command_ack_pub.publish(command_ack);
}
int SendEvent::print_usage(const char *reason)
{
if (reason) {
printf("%s\n\n", reason);
}
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
### Description
Background process running periodically on the LP work queue to perform housekeeping tasks.
It is currently only responsible for temperature calibration and tone alarm on RC Loss.
The tasks can be started via CLI or uORB topics (vehicle_command from MAVLink, etc.).
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("send_event", "system");
PRINT_MODULE_USAGE_COMMAND_DESCR("start", "Start the background task");
PRINT_MODULE_USAGE_COMMAND_DESCR("temperature_calibration", "Run temperature calibration process");
PRINT_MODULE_USAGE_PARAM_FLAG('g', "calibrate the gyro", true);
PRINT_MODULE_USAGE_PARAM_FLAG('a', "calibrate the accel", true);
PRINT_MODULE_USAGE_PARAM_FLAG('b', "calibrate the baro (if none of these is given, all will be calibrated)", true);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
return 0;
}
int SendEvent::custom_command(int argc, char *argv[])
{
if (!strcmp(argv[0], "temperature_calibration")) {
@@ -267,13 +241,16 @@ int SendEvent::custom_command(int argc, char *argv[])
vehicle_command_s vcmd{};
vcmd.timestamp = hrt_absolute_time();
vcmd.param1 = (float)((gyro_calib || calib_all) ? vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION : NAN);
vcmd.param1 = (float)((gyro_calib
|| calib_all) ? vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION : NAN);
vcmd.param2 = NAN;
vcmd.param3 = NAN;
vcmd.param4 = NAN;
vcmd.param5 = ((accel_calib || calib_all) ? vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION : (double)NAN);
vcmd.param5 = ((accel_calib
|| calib_all) ? vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION : (double)NAN);
vcmd.param6 = (double)NAN;
vcmd.param7 = (float)((baro_calib || calib_all) ? vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION : NAN);
vcmd.param7 = (float)((baro_calib
|| calib_all) ? vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION : NAN);
vcmd.command = vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION;
uORB::PublicationQueued<vehicle_command_s> vcmd_pub{ORB_ID(vehicle_command)};
@@ -286,6 +263,32 @@ int SendEvent::custom_command(int argc, char *argv[])
return 0;
}
int SendEvent::print_usage(const char *reason)
{
if (reason) {
printf("%s\n\n", reason);
}
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
### Description
Background process running periodically on the LP work queue to perform housekeeping tasks.
It is currently only responsible for temperature calibration and tone alarm on RC Loss.
The tasks can be started via CLI or uORB topics (vehicle_command from MAVLink, etc.).
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("send_event", "system");
PRINT_MODULE_USAGE_COMMAND_DESCR("start", "Start the background task");
PRINT_MODULE_USAGE_COMMAND_DESCR("temperature_calibration", "Run temperature calibration process");
PRINT_MODULE_USAGE_PARAM_FLAG('g', "calibrate the gyro", true);
PRINT_MODULE_USAGE_PARAM_FLAG('a', "calibrate the accel", true);
PRINT_MODULE_USAGE_PARAM_FLAG('b', "calibrate the baro (if none of these is given, all will be calibrated)", true);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
return 0;
}
int send_event_main(int argc, char *argv[])
{
return SendEvent::main(argc, argv);
src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+8 -19
View File
@@ -40,13 +40,6 @@ using math::constrain;
using math::gradual;
using math::radians;
/**
* Fixedwing attitude control app start / stop handling function
*
* @ingroup apps
*/
extern "C" __EXPORT int fw_att_control_main(int argc, char *argv[]);
FixedwingAttitudeControl::FixedwingAttitudeControl() :
ModuleParams(nullptr),
WorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl),
@@ -762,6 +755,13 @@ int FixedwingAttitudeControl::custom_command(int argc, char *argv[])
return print_usage("unknown command");
}
int FixedwingAttitudeControl::print_status()
{
PX4_INFO("Running");
perf_print_counter(_loop_perf);
return 0;
}
int FixedwingAttitudeControl::print_usage(const char *reason)
{
if (reason) {
@@ -776,24 +776,13 @@ fw_att_control is the fixed wing attitude controller.
)DESCR_STR");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_NAME("fw_att_control", "controller");
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
return 0;
}
int FixedwingAttitudeControl::print_status()
{
PX4_INFO("Running");
perf_print_counter(_loop_perf);
return 0;
}
int fw_att_control_main(int argc, char *argv[])
extern "C" __EXPORT int fw_att_control_main(int argc, char *argv[])
{
return FixedwingAttitudeControl::main(argc, argv);
}
src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+8 -12
View File
@@ -33,8 +33,6 @@
#include "FixedwingPositionControl.hpp"
extern "C" __EXPORT int fw_pos_control_l1_main(int argc, char *argv[]);
FixedwingPositionControl::FixedwingPositionControl() :
ModuleParams(nullptr),
WorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl),
@@ -1972,6 +1970,13 @@ int FixedwingPositionControl::custom_command(int argc, char *argv[])
return print_usage("unknown command");
}
int FixedwingPositionControl::print_status()
{
PX4_INFO("Running");
perf_print_counter(_loop_perf);
return 0;
}
int FixedwingPositionControl::print_usage(const char *reason)
{
if (reason) {
@@ -1993,16 +1998,7 @@ fw_pos_control_l1 is the fixed wing position controller.
return 0;
}
int FixedwingPositionControl::print_status()
{
PX4_INFO("Running");
perf_print_counter(_loop_perf);
return 0;
}
int fw_pos_control_l1_main(int argc, char *argv[])
extern "C" __EXPORT int fw_pos_control_l1_main(int argc, char *argv[])
{
return FixedwingPositionControl::main(argc, argv);
}
src/modules/replay/Replay.cpp
+78 -75
View File
@@ -953,6 +953,84 @@ Replay::custom_command(int argc, char *argv[])
return print_usage("unknown command");
}
int
Replay::task_spawn(int argc, char *argv[])
{
// check if a log file was found
if (!isSetup()) {
if (argc > 0 && strncmp(argv[0], "try", 3) == 0) {
return 0;
}
PX4_ERR("no log file given (via env variable %s)", replay::ENV_FILENAME);
return -1;
}
_task_id = px4_task_spawn_cmd("replay",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
4000,
(px4_main_t)&run_trampoline,
(char *const *)argv);
if (_task_id < 0) {
_task_id = -1;
return -errno;
}
return 0;
}
int
Replay::applyParams(bool quiet)
{
if (!isSetup()) {
if (quiet) {
return 0;
}
PX4_ERR("no log file given (via env variable %s)", replay::ENV_FILENAME);
return -1;
}
int ret = 0;
Replay *r = new Replay();
if (r == nullptr) {
PX4_ERR("alloc failed");
return -ENOMEM;
}
ifstream replay_file(_replay_file, ios::in | ios::binary);
if (!r->readDefinitionsAndApplyParams(replay_file)) {
ret = -1;
}
delete r;
return ret;
}
Replay *
Replay::instantiate(int argc, char *argv[])
{
// check the replay mode
const char *replay_mode = getenv(replay::ENV_MODE);
Replay *instance = nullptr;
if (replay_mode && strcmp(replay_mode, "ekf2") == 0) {
PX4_INFO("Ekf2 replay mode");
instance = new ReplayEkf2();
} else {
instance = new Replay();
}
return instance;
}
int
Replay::print_usage(const char *reason)
{
@@ -989,79 +1067,4 @@ page.
return 0;
}
int
Replay::task_spawn(int argc, char *argv[])
{
// check if a log file was found
if (!isSetup()) {
if (argc > 0 && strncmp(argv[0], "try", 3)==0) {
return 0;
}
PX4_ERR("no log file given (via env variable %s)", replay::ENV_FILENAME);
return -1;
}
_task_id = px4_task_spawn_cmd("replay",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
4000,
(px4_main_t)&run_trampoline,
(char *const *)argv);
if (_task_id < 0) {
_task_id = -1;
return -errno;
}
return 0;
}
int
Replay::applyParams(bool quiet)
{
if (!isSetup()) {
if (quiet) {
return 0;
}
PX4_ERR("no log file given (via env variable %s)", replay::ENV_FILENAME);
return -1;
}
int ret = 0;
Replay *r = new Replay();
if (r == nullptr) {
PX4_ERR("alloc failed");
return -ENOMEM;
}
ifstream replay_file(_replay_file, ios::in | ios::binary);
if (!r->readDefinitionsAndApplyParams(replay_file)) {
ret = -1;
}
delete r;
return ret;
}
Replay *
Replay::instantiate(int argc, char *argv[])
{
// check the replay mode
const char *replay_mode = getenv(replay::ENV_MODE);
Replay *instance = nullptr;
if (replay_mode && strcmp(replay_mode, "ekf2") == 0) {
PX4_INFO("Ekf2 replay mode");
instance = new ReplayEkf2();
} else {
instance = new Replay();
}
return instance;
}
} //namespace px4
src/modules/vtol_att_control/vtol_att_control_main.cpp
+8 -12
View File
@@ -477,6 +477,14 @@ VtolAttitudeControl::custom_command(int argc, char *argv[])
return print_usage("unknown command");
}
int
VtolAttitudeControl::print_status()
{
PX4_INFO("Running");
perf_print_counter(_loop_perf);
return PX4_OK;
}
int
VtolAttitudeControl::print_usage(const char *reason)
{
@@ -491,24 +499,12 @@ fw_att_control is the fixed wing attitude controller.
)DESCR_STR");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_NAME("vtol_att_control", "controller");
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
return 0;
}
int
VtolAttitudeControl::print_status()
{
PX4_INFO("Running");
perf_print_counter(_loop_perf);
return PX4_OK;
}
int vtol_att_control_main(int argc, char *argv[])
{
return VtolAttitudeControl::main(argc, argv);
src/systemcmds/dmesg/dmesg.cpp
+22 -22
View File
@@ -46,28 +46,6 @@ extern "C" {
__EXPORT int dmesg_main(int argc, char *argv[]);
}
static void
usage()
{
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
### Description
Command-line tool to show bootup console messages.
Note that output from NuttX's work queues and syslog are not captured.
### Examples
Keep printing all messages in the background:
$ dmesg -f &
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("dmesg", "system");
PRINT_MODULE_USAGE_PARAM_FLAG('f', "Follow: wait for new messages", true);
}
int
dmesg_main(int argc, char *argv[])
{
@@ -93,3 +71,25 @@ dmesg_main(int argc, char *argv[])
return 0;
}
static void
usage()
{
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
### Description
Command-line tool to show bootup console messages.
Note that output from NuttX's work queues and syslog are not captured.
### Examples
Keep printing all messages in the background:
$ dmesg -f &
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("dmesg", "system");
PRINT_MODULE_USAGE_PARAM_FLAG('f', "Follow: wait for new messages", true);
}