flashsettings and WDG for osd, revert the uavobjectmanager revert.

flight/Modules/Osd/osdgen/osdgen.c

@@ -2322,7 +2322,9 @@ int32_t osdgenStart(void)
     vSemaphoreCreateBinary(osdSemaphore);
     xTaskCreate(osdgenTask, (signed char *) "OSDGEN", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &osdgenTaskHandle);
     TaskMonitorAdd(TASKINFO_RUNNING_OSDGEN, osdgenTaskHandle);
-
+#ifdef PIOS_INCLUDE_WDG
+    PIOS_WDG_RegisterFlag(PIOS_WDG_OSDGEN);
+#endif
     return 0;
 }
 
@@ -2370,12 +2372,18 @@ static void osdgenTask(void *parameters)
     // intro
     for (int i = 0; i < 63; i++) {
         if (xSemaphoreTake(osdSemaphore, LONG_TIME) == pdTRUE) {
+#ifdef PIOS_INCLUDE_WDG
+            PIOS_WDG_UpdateFlag(PIOS_WDG_OSDGEN);
+#endif
             clearGraphics();
             introGraphics();
         }
     }
     for (int i = 0; i < 63; i++) {
         if (xSemaphoreTake(osdSemaphore, LONG_TIME) == pdTRUE) {
+#ifdef PIOS_INCLUDE_WDG
+            PIOS_WDG_UpdateFlag(PIOS_WDG_OSDGEN);
+#endif
             clearGraphics();
             introGraphics();
             introText();
@@ -2384,6 +2392,9 @@ static void osdgenTask(void *parameters)
 
     while (1) {
         if (xSemaphoreTake(osdSemaphore, LONG_TIME) == pdTRUE) {
+#ifdef PIOS_INCLUDE_WDG
+            PIOS_WDG_UpdateFlag(PIOS_WDG_OSDGEN);
+#endif
             updateOnceEveryFrame();
         }
         //xSemaphoreTake(osdSemaphore, portMAX_DELAY);

flight/Modules/Sensors/simulated/sensors.c

@@ -332,7 +332,7 @@ static void simulateModelQuadcopter()
 	static float baro_offset = 0.0f;
 	float Rbe[3][3];
 	
-	const float ACTUATOR_ALPHA = 0.99;
+	const float ACTUATOR_ALPHA = 0.8;
 	const float MAX_THRUST = GRAV * 2;
 	const float K_FRICTION = 1;
 	const float GPS_PERIOD = 0.1;
@@ -372,9 +372,9 @@ static void simulateModelQuadcopter()
 	RateDesiredData rateDesired;
 	RateDesiredGet(&rateDesired);
 	
-	rpy[0] = (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED) * actuatorDesired.Roll * 250 * (1 - ACTUATOR_ALPHA) + rpy[0] * ACTUATOR_ALPHA;
+	rpy[0] = (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED) * rateDesired.Roll * (1 - ACTUATOR_ALPHA) + rpy[0] * ACTUATOR_ALPHA;
-	rpy[1] = (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED) * actuatorDesired.Pitch * 250 * (1 - ACTUATOR_ALPHA) + rpy[1] * ACTUATOR_ALPHA;
+	rpy[1] = (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED) * rateDesired.Pitch * (1 - ACTUATOR_ALPHA) + rpy[1] * ACTUATOR_ALPHA;
-	rpy[2] = (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED) * actuatorDesired.Yaw * 250 *(1 - ACTUATOR_ALPHA) + rpy[2] * ACTUATOR_ALPHA;
+	rpy[2] = (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED) * rateDesired.Yaw * (1 - ACTUATOR_ALPHA) + rpy[2] * ACTUATOR_ALPHA;
 	
 	GyrosData gyrosData; // Skip get as we set all the fields
 	gyrosData.x = rpy[0] + rand_gauss();

flight/PiOS/Boards/STM32F4xx_OSD.h

@@ -124,6 +124,7 @@ TIM4  |                     STOPWATCH                    |
 #define PIOS_WDG_STABILIZATION   0x0002
 #define PIOS_WDG_ATTITUDE        0x0004
 #define PIOS_WDG_MANUAL          0x0008
+#define PIOS_WDG_OSDGEN          0x0010
 
 
 // *****************************************************************

flight/targets/OSD/Makefile

@@ -37,6 +37,9 @@ MODULES += Telemetry
 
 OPTMODULES =
 
+# Some diagnostics
+CDEFS += -DDIAG_TASKS
+
 # Misc options
 CFLAGS += -ffast-math
 

flight/targets/OSD/System/pios_board.c

@@ -177,6 +177,11 @@ PIOS_FLASHFS_Logfs_Init(&fs_id, &flashfs_internal_cfg, &pios_internal_flash_driv
 
 	HwSettingsInitialize();
 
+#ifdef PIOS_INCLUDE_WDG
+	/* Initialize watchdog as early as possible to catch faults during init */
+	PIOS_WDG_Init();
+#endif /* PIOS_INCLUDE_WDG */
+
 	/* Initialize the alarms library */
 	AlarmsInitialize();
 

flight/targets/UAVObjects/uavobjectmanager.c

@@ -41,6 +41,17 @@
 // Macros
 #define SET_BITS(var, shift, value, mask) var = (var & ~(mask << shift)) | (value << shift);
 
+/* Table of UAVO handles registered at compile time */
+extern struct UAVOData * __start__uavo_handles[] __attribute__((weak));
+extern struct UAVOData * __stop__uavo_handles[] __attribute__((weak));
+
+#define UAVO_LIST_ITERATE(_item) \
+for (struct UAVOData ** _uavo_slot = __start__uavo_handles; \
+     _uavo_slot && _uavo_slot < __stop__uavo_handles; \
+     _uavo_slot++) { \
+	struct UAVOData * _item = *_uavo_slot; \
+	if (_item == NULL) continue;
+
 /**
  * List of event queues and the eventmask associated with the queue.
  */
@@ -98,7 +109,6 @@ struct UAVOData {
 	 * inside the payload for this UAVO.
 	 */
 	struct UAVOMeta   metaObj;
-	struct UAVOData * next;
 	uint16_t          instance_size;
 } __attribute__((packed));
 
@@ -168,7 +178,6 @@ static void customSPrintf(uint8_t * buffer, uint8_t * format, ...);
 #endif
 
 // Private variables
-static struct UAVOData * uavo_list;
 static xSemaphoreHandle mutex;
 static const UAVObjMetadata defMetadata = {
 	.flags = (ACCESS_READWRITE << UAVOBJ_ACCESS_SHIFT |
@@ -192,9 +201,12 @@ static UAVObjStats stats;
 int32_t UAVObjInitialize()
 {
 	// Initialize variables
-	uavo_list = NULL;
 	memset(&stats, 0, sizeof(UAVObjStats));
 
+	// Initialize the uavo handle table
+	memset(__start__uavo_handles, 0,
+		(uintptr_t)__stop__uavo_handles - (uintptr_t)__start__uavo_handles);
+
 	// Create mutex
 	mutex = xSemaphoreCreateRecursiveMutex();
 	if (mutex == NULL)
@@ -342,9 +354,6 @@ UAVObjHandle UAVObjRegister(uint32_t id,
 	/* Initialize the embedded meta UAVO */
 	UAVObjInitMetaData (&uavo_data->metaObj);
 
-	/* Add the newly created object to the global list of objects */
-	LL_APPEND(uavo_list, uavo_data);
-
 	/* Initialize object fields and metadata to default values */
 	if (initCb)
 		initCb((UAVObjHandle) uavo_data, 0);
@@ -378,8 +387,7 @@ UAVObjHandle UAVObjGetByID(uint32_t id)
 	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
 	// Look for object
-	struct UAVOData * tmp_obj;
+	UAVO_LIST_ITERATE(tmp_obj)
-	LL_FOREACH(uavo_list, tmp_obj) {
 		if (tmp_obj->id == id) {
 			found_obj = (UAVObjHandle *)tmp_obj;
 			goto unlock_exit;
@@ -1023,15 +1031,13 @@ int32_t UAVObjDelete(UAVObjHandle obj_handle, uint16_t instId)
  */
 int32_t UAVObjSaveSettings()
 {
-	struct UAVOData *obj;
-
 	// Get lock
 	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
 	int32_t rc = -1;
 
 	// Save all settings objects
-	LL_FOREACH(uavo_list, obj) {
+	UAVO_LIST_ITERATE(obj)
 		// Check if this is a settings object
 		if (UAVObjIsSettings(obj)) {
 			// Save object
@@ -1055,15 +1061,13 @@ unlock_exit:
  */
 int32_t UAVObjLoadSettings()
 {
-	struct UAVOData *obj;
-
 	// Get lock
 	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
 	int32_t rc = -1;
 
 	// Load all settings objects
-	LL_FOREACH(uavo_list, obj) {
+	UAVO_LIST_ITERATE(obj)
 		// Check if this is a settings object
 		if (UAVObjIsSettings(obj)) {
 			// Load object
@@ -1087,15 +1091,13 @@ unlock_exit:
  */
 int32_t UAVObjDeleteSettings()
 {
-	struct UAVOData *obj;
-
 	// Get lock
 	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
 	int32_t rc = -1;
 
 	// Save all settings objects
-	LL_FOREACH(uavo_list, obj) {
+	UAVO_LIST_ITERATE(obj)
 		// Check if this is a settings object
 		if (UAVObjIsSettings(obj)) {
 			// Save object
@@ -1119,15 +1121,13 @@ unlock_exit:
  */
 int32_t UAVObjSaveMetaobjects()
 {
-	struct UAVOData *obj;
-
 	// Get lock
 	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
 	int32_t rc = -1;
 
 	// Save all settings objects
-	LL_FOREACH(uavo_list, obj) {
+	UAVO_LIST_ITERATE(obj)
 		// Save object
 		if (UAVObjSave( (UAVObjHandle) MetaObjectPtr(obj), 0) ==
 			-1) {
@@ -1148,15 +1148,13 @@ unlock_exit:
  */
 int32_t UAVObjLoadMetaobjects()
 {
-	struct UAVOData *obj;
-
 	// Get lock
 	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
 	int32_t rc = -1;
 
 	// Load all settings objects
-	LL_FOREACH(uavo_list, obj) {
+	UAVO_LIST_ITERATE(obj)
 		// Load object
 		if (UAVObjLoad((UAVObjHandle) MetaObjectPtr(obj), 0) ==
 			-1) {
@@ -1177,15 +1175,13 @@ unlock_exit:
  */
 int32_t UAVObjDeleteMetaobjects()
 {
-	struct UAVOData *obj;
-
 	// Get lock
 	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
 	int32_t rc = -1;
 
 	// Load all settings objects
-	LL_FOREACH(uavo_list, obj) {
+	UAVO_LIST_ITERATE(obj)
 		// Load object
 		if (UAVObjDelete((UAVObjHandle) MetaObjectPtr(obj), 0)
 			== -1) {
@@ -1791,8 +1787,7 @@ void UAVObjIterate(void (*iterator) (UAVObjHandle obj))
 	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
 	// Iterate through the list and invoke iterator for each object
-	struct UAVOData *obj;
+	UAVO_LIST_ITERATE(obj)
-	LL_FOREACH(uavo_list, obj) {
 		(*iterator) ((UAVObjHandle) obj);
 		(*iterator) ((UAVObjHandle) &obj->metaObj);
 	}

flight/targets/UAVObjects/uavobjecttemplate.c

@@ -40,7 +40,7 @@
 #include "$(NAMELC).h"
 
 // Private variables
-static UAVObjHandle handle = NULL;
+static UAVObjHandle handle __attribute__((section("_uavo_handles")));
 
 /**
  * Initialize object.