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OP-886 Fixes to styles: testing style settings for Eclipse
+review OPReview-430
This commit is contained in:
Alessio Morale
parent
23c0c3585c
commit
13dd1178a8
@ -47,11 +47,11 @@ int32_t AlarmsInitialize(void)
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{
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SystemAlarmsInitialize();
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lock = xSemaphoreCreateRecursiveMutex();
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//do not change the default states of the alarms, let the init code generated by the uavobjectgenerator handle that
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//AlarmsClearAll();
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//AlarmsDefaultAll();
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return 0;
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lock = xSemaphoreCreateRecursiveMutex();
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//do not change the default states of the alarms, let the init code generated by the uavobjectgenerator handle that
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//AlarmsClearAll();
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//AlarmsDefaultAll();
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return 0;
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}
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/**
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@ -62,26 +62,23 @@ int32_t AlarmsInitialize(void)
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*/
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int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity)
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{
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SystemAlarmsData alarms;
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SystemAlarmsData alarms;
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// Check that this is a valid alarm
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if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
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{
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return -1;
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}
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// Lock
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if(xSemaphoreTakeRecursive(lock, portMAX_DELAY) != 0){
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// Check that this is a valid alarm
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if (alarm >= SYSTEMALARMS_ALARM_NUMELEM) {
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return -1;
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}
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// Lock
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if (xSemaphoreTakeRecursive(lock, portMAX_DELAY) != 0) {
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return -1;
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}
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// Read alarm and update its severity only if it was changed
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SystemAlarmsGet(&alarms);
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if ( alarms.Alarm[alarm] != severity )
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{
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alarms.Alarm[alarm] = severity;
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SystemAlarmsSet(&alarms);
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if (alarms.Alarm[alarm] != severity) {
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alarms.Alarm[alarm] = severity;
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SystemAlarmsSet(&alarms);
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}
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// Release lock
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@ -103,20 +100,18 @@ int32_t ExtendedAlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions
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SystemAlarmsData alarms;
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// Check that this is a valid alarm
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if (alarm >= SYSTEMALARMS_EXTENDEDALARMSTATUS_NUMELEM)
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{
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if (alarm >= SYSTEMALARMS_EXTENDEDALARMSTATUS_NUMELEM) {
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return -1;
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}
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// Lock
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if(xSemaphoreTakeRecursive(lock, portMAX_DELAY) != 0){
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if (xSemaphoreTakeRecursive(lock, portMAX_DELAY) != 0) {
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return -1;
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}
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// Read alarm and update its severity only if it was changed
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SystemAlarmsGet(&alarms);
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if (alarms.Alarm[alarm] != severity)
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{
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if (alarms.Alarm[alarm] != severity) {
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alarms.ExtendedAlarmStatus[alarm] = status;
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alarms.ExtendedAlarmSubStatus[alarm] = subStatus;
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alarms.Alarm[alarm] = severity;
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@ -135,13 +130,12 @@ int32_t ExtendedAlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions
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*/
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SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm)
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{
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SystemAlarmsData alarms;
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SystemAlarmsData alarms;
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// Check that this is a valid alarm
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if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
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{
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return 0;
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}
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// Check that this is a valid alarm
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if (alarm >= SYSTEMALARMS_ALARM_NUMELEM) {
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return 0;
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}
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// Read alarm
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SystemAlarmsGet(&alarms);
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@ -155,7 +149,7 @@ SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm)
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*/
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int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm)
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{
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return AlarmsSet(alarm, SYSTEMALARMS_ALARM_DEFAULT);
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return AlarmsSet(alarm, SYSTEMALARMS_ALARM_DEFAULT);
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}
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/**
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@ -163,10 +157,9 @@ int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm)
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*/
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void AlarmsDefaultAll()
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{
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uint32_t n;
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for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
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{
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AlarmsDefault(n);
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uint32_t n;
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for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n) {
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AlarmsDefault(n);
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}
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}
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@ -177,7 +170,7 @@ void AlarmsDefaultAll()
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*/
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int32_t AlarmsClear(SystemAlarmsAlarmElem alarm)
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{
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if (alarm < SYSTEMALARMS_EXTENDEDALARMSTATUS_NUMELEM){
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if (alarm < SYSTEMALARMS_EXTENDEDALARMSTATUS_NUMELEM) {
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return ExtendedAlarmsSet(alarm, SYSTEMALARMS_ALARM_OK, 0, 0);
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} else {
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return AlarmsSet(alarm, SYSTEMALARMS_ALARM_OK);
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@ -189,10 +182,9 @@ int32_t AlarmsClear(SystemAlarmsAlarmElem alarm)
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*/
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void AlarmsClearAll()
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{
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uint32_t n;
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for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
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{
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AlarmsClear(n);
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uint32_t n;
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for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n) {
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AlarmsClear(n);
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}
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}
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@ -202,7 +194,7 @@ void AlarmsClearAll()
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*/
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int32_t AlarmsHasWarnings()
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{
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return hasSeverity(SYSTEMALARMS_ALARM_WARNING);
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return hasSeverity(SYSTEMALARMS_ALARM_WARNING);
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}
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/**
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@ -211,8 +203,9 @@ int32_t AlarmsHasWarnings()
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*/
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int32_t AlarmsHasErrors()
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{
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return hasSeverity(SYSTEMALARMS_ALARM_ERROR);
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};
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return hasSeverity(SYSTEMALARMS_ALARM_ERROR);
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}
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;
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/**
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* Check if there are any alarms with critical or higher severity
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@ -220,8 +213,9 @@ int32_t AlarmsHasErrors()
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*/
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int32_t AlarmsHasCritical()
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{
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return hasSeverity(SYSTEMALARMS_ALARM_CRITICAL);
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};
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return hasSeverity(SYSTEMALARMS_ALARM_CRITICAL);
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}
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;
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/**
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* Check if there are any alarms with the given or higher severity
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@ -229,23 +223,21 @@ int32_t AlarmsHasCritical()
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*/
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static int32_t hasSeverity(SystemAlarmsAlarmOptions severity)
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{
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SystemAlarmsData alarms;
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uint32_t n;
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SystemAlarmsData alarms;
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uint32_t n;
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// Lock
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// Lock
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xSemaphoreTakeRecursive(lock, portMAX_DELAY);
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// Read alarms
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SystemAlarmsGet(&alarms);
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// Go through alarms and check if any are of the given severity or higher
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for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
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{
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if ( alarms.Alarm[n] >= severity)
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{
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xSemaphoreGiveRecursive(lock);
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return 1;
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}
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for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n) {
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if (alarms.Alarm[n] >= severity) {
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xSemaphoreGiveRecursive(lock);
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return 1;
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}
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}
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// If this point is reached then no alarms found
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@ -53,102 +53,102 @@ static int32_t check_stabilization_settings(int index, bool multirotor);
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*/
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int32_t configuration_check()
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{
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int32_t severity = SYSTEMALARMS_ALARM_OK;
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uint8_t alarmstatus = SANITYCHECK_STATUS_ERROR_NONE;
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uint8_t alarmsubstatus = 0;
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// Get board type
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const struct pios_board_info * bdinfo = &pios_board_info_blob;
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bool coptercontrol = bdinfo->board_type == 0x04;
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int32_t severity = SYSTEMALARMS_ALARM_OK;
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uint8_t alarmstatus = SANITYCHECK_STATUS_ERROR_NONE;
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uint8_t alarmsubstatus = 0;
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// Get board type
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const struct pios_board_info * bdinfo = &pios_board_info_blob;
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bool coptercontrol = bdinfo->board_type == 0x04;
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// Classify airframe type
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bool multirotor = true;
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uint8_t airframe_type;
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SystemSettingsAirframeTypeGet(&airframe_type);
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switch(airframe_type) {
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case SYSTEMSETTINGS_AIRFRAMETYPE_QUADX:
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case SYSTEMSETTINGS_AIRFRAMETYPE_QUADP:
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case SYSTEMSETTINGS_AIRFRAMETYPE_HEXA:
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case SYSTEMSETTINGS_AIRFRAMETYPE_OCTO:
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case SYSTEMSETTINGS_AIRFRAMETYPE_HEXAX:
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case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOV:
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case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOCOAXP:
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case SYSTEMSETTINGS_AIRFRAMETYPE_HEXACOAX:
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case SYSTEMSETTINGS_AIRFRAMETYPE_TRI:
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multirotor = true;
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break;
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default:
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multirotor = false;
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}
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// Classify airframe type
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bool multirotor = true;
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uint8_t airframe_type;
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SystemSettingsAirframeTypeGet(&airframe_type);
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switch(airframe_type) {
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case SYSTEMSETTINGS_AIRFRAMETYPE_QUADX:
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case SYSTEMSETTINGS_AIRFRAMETYPE_QUADP:
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case SYSTEMSETTINGS_AIRFRAMETYPE_HEXA:
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case SYSTEMSETTINGS_AIRFRAMETYPE_OCTO:
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case SYSTEMSETTINGS_AIRFRAMETYPE_HEXAX:
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case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOV:
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case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOCOAXP:
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case SYSTEMSETTINGS_AIRFRAMETYPE_HEXACOAX:
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case SYSTEMSETTINGS_AIRFRAMETYPE_TRI:
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multirotor = true;
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break;
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default:
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multirotor = false;
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}
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// For each available flight mode position sanity check the available
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// modes
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uint8_t num_modes;
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uint8_t modes[MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_NUMELEM];
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ManualControlSettingsFlightModeNumberGet(&num_modes);
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ManualControlSettingsFlightModePositionGet(modes);
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// For each available flight mode position sanity check the available
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// modes
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uint8_t num_modes;
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uint8_t modes[MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_NUMELEM];
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ManualControlSettingsFlightModeNumberGet(&num_modes);
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ManualControlSettingsFlightModePositionGet(modes);
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for(uint32_t i = 0; i < num_modes; i++) {
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switch(modes[i]) {
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case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_MANUAL:
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if (multirotor) {
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severity = SYSTEMALARMS_ALARM_ERROR;
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}
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break;
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case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED1:
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severity = (severity == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(1, multirotor) : severity;
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break;
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case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED2:
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severity = (severity == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(2, multirotor) : severity;
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break;
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case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED3:
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severity = (severity == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(3, multirotor) : severity;
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break;
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case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_AUTOTUNE:
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if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_AUTOTUNE)) {
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severity = SYSTEMALARMS_ALARM_ERROR;
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}
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break;
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case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_ALTITUDEHOLD:
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if (coptercontrol) {
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severity = SYSTEMALARMS_ALARM_ERROR;
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} else if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_ALTITUDEHOLD)) { // Revo supports altitude hold
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severity = SYSTEMALARMS_ALARM_ERROR;
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}
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break;
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case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_VELOCITYCONTROL:
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if (coptercontrol) {
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severity = SYSTEMALARMS_ALARM_ERROR;
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} else if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_PATHFOLLOWER)) { // Revo supports altitude hold
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severity = SYSTEMALARMS_ALARM_ERROR;
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}
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break;
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case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD:
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if (coptercontrol){
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severity = SYSTEMALARMS_ALARM_ERROR;
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} else if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_PATHFOLLOWER)) { // Revo supports altitude hold
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severity = SYSTEMALARMS_ALARM_ERROR;
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}
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break;
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default:
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// Uncovered modes are automatically an error
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severity = SYSTEMALARMS_ALARM_ERROR;
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}
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// mark the first encountered erroneous setting in status and substatus
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if(severity != SYSTEMALARMS_ALARM_OK && alarmstatus == SANITYCHECK_STATUS_ERROR_NONE)
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{
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alarmstatus = SANITYCHECK_STATUS_ERROR_FLIGHTMODE;
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alarmsubstatus = i;
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}
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for(uint32_t i = 0; i < num_modes; i++) {
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switch(modes[i]) {
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case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_MANUAL:
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if (multirotor) {
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severity = SYSTEMALARMS_ALARM_ERROR;
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}
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break;
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case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED1:
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severity = (severity == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(1, multirotor) : severity;
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break;
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case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED2:
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severity = (severity == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(2, multirotor) : severity;
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break;
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case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED3:
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severity = (severity == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(3, multirotor) : severity;
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break;
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case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_AUTOTUNE:
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if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_AUTOTUNE)) {
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severity = SYSTEMALARMS_ALARM_ERROR;
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}
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break;
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case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_ALTITUDEHOLD:
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if (coptercontrol) {
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severity = SYSTEMALARMS_ALARM_ERROR;
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} else if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_ALTITUDEHOLD)) { // Revo supports altitude hold
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severity = SYSTEMALARMS_ALARM_ERROR;
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}
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break;
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case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_VELOCITYCONTROL:
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if (coptercontrol) {
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severity = SYSTEMALARMS_ALARM_ERROR;
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} else if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_PATHFOLLOWER)) { // Revo supports altitude hold
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severity = SYSTEMALARMS_ALARM_ERROR;
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}
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break;
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case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD:
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if (coptercontrol){
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severity = SYSTEMALARMS_ALARM_ERROR;
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} else if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_PATHFOLLOWER)) { // Revo supports altitude hold
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severity = SYSTEMALARMS_ALARM_ERROR;
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}
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break;
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default:
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// Uncovered modes are automatically an error
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severity = SYSTEMALARMS_ALARM_ERROR;
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}
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// mark the first encountered erroneous setting in status and substatus
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if(severity != SYSTEMALARMS_ALARM_OK && alarmstatus == SANITYCHECK_STATUS_ERROR_NONE)
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{
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alarmstatus = SANITYCHECK_STATUS_ERROR_FLIGHTMODE;
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alarmsubstatus = i;
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}
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}
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}
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// TODO: Check on a multirotor no axis supports "None"
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if(severity != SYSTEMALARMS_ALARM_OK)
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ExtendedAlarmsSet(SYSTEMALARMS_ALARM_SYSTEMCONFIGURATION, severity, alarmstatus, alarmsubstatus);
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else
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AlarmsClear(SYSTEMALARMS_ALARM_SYSTEMCONFIGURATION);
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// TODO: Check on a multirotor no axis supports "None"
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if(severity != SYSTEMALARMS_ALARM_OK)
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ExtendedAlarmsSet(SYSTEMALARMS_ALARM_SYSTEMCONFIGURATION, severity, alarmstatus, alarmsubstatus);
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else
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AlarmsClear(SYSTEMALARMS_ALARM_SYSTEMCONFIGURATION);
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return 0;
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return 0;
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}
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/**
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@ -159,39 +159,39 @@ int32_t configuration_check()
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*/
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static int32_t check_stabilization_settings(int index, bool multirotor)
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{
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// Make sure the modes have identical sizes
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if (MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NUMELEM != MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_NUMELEM ||
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MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NUMELEM != MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_NUMELEM)
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return SYSTEMALARMS_ALARM_ERROR;
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// Make sure the modes have identical sizes
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if (MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NUMELEM != MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_NUMELEM ||
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MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NUMELEM != MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_NUMELEM)
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return SYSTEMALARMS_ALARM_ERROR;
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uint8_t modes[MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NUMELEM];
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uint8_t modes[MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NUMELEM];
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// Get the different axis modes for this switch position
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switch(index) {
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case 1:
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ManualControlSettingsStabilization1SettingsGet(modes);
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break;
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case 2:
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ManualControlSettingsStabilization2SettingsGet(modes);
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break;
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case 3:
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ManualControlSettingsStabilization3SettingsGet(modes);
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break;
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default:
|
||||
return SYSTEMALARMS_ALARM_ERROR;
|
||||
}
|
||||
// Get the different axis modes for this switch position
|
||||
switch(index) {
|
||||
case 1:
|
||||
ManualControlSettingsStabilization1SettingsGet(modes);
|
||||
break;
|
||||
case 2:
|
||||
ManualControlSettingsStabilization2SettingsGet(modes);
|
||||
break;
|
||||
case 3:
|
||||
ManualControlSettingsStabilization3SettingsGet(modes);
|
||||
break;
|
||||
default:
|
||||
return SYSTEMALARMS_ALARM_ERROR;
|
||||
}
|
||||
|
||||
// For multirotors verify that nothing is set to "none"
|
||||
if (multirotor) {
|
||||
for(uint32_t i = 0; i < NELEMENTS(modes); i++) {
|
||||
if (modes[i] == MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NONE)
|
||||
return SYSTEMALARMS_ALARM_ERROR;
|
||||
}
|
||||
}
|
||||
// For multirotors verify that nothing is set to "none"
|
||||
if (multirotor) {
|
||||
for(uint32_t i = 0; i < NELEMENTS(modes); i++) {
|
||||
if (modes[i] == MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NONE)
|
||||
return SYSTEMALARMS_ALARM_ERROR;
|
||||
}
|
||||
}
|
||||
|
||||
// Warning: This assumes that certain conditions in the XML file are met. That
|
||||
// MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NONE has the same numeric value for each channel
|
||||
// and is the same for STABILIZATIONDESIRED_STABILIZATIONMODE_NONE
|
||||
// Warning: This assumes that certain conditions in the XML file are met. That
|
||||
// MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NONE has the same numeric value for each channel
|
||||
// and is the same for STABILIZATIONDESIRED_STABILIZATIONMODE_NONE
|
||||
|
||||
return SYSTEMALARMS_ALARM_OK;
|
||||
return SYSTEMALARMS_ALARM_OK;
|
||||
}
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user