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Code Issues Releases Activity

uavobjects thing that fixes sdcard settings save on osd. Can be reverted when fix found.

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This commit is contained in:
sambas 2013-03-28 18:35:42 +02:00
parent 4f7e37651c
commit 2557600257
3 changed files with 33 additions and 28 deletions
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8
flight/Modules/Sensors/simulated/sensors.c
View File

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

51
flight/targets/UAVObjects/uavobjectmanager.c
View File

@ -41,17 +41,6 @@
// 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.
*/
@ -109,6 +98,7 @@ struct UAVOData {
* inside the payload for this UAVO.
*/
struct UAVOMeta metaObj;
struct UAVOData * next;
uint16_t instance_size;
} __attribute__((packed));
@ -174,6 +164,7 @@ 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 |
@ -197,12 +188,9 @@ 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)
@ -350,6 +338,9 @@ 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);
@ -383,7 +374,8 @@ UAVObjHandle UAVObjGetByID(uint32_t id)
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Look for object
UAVO_LIST_ITERATE(tmp_obj)
struct UAVOData * tmp_obj;
LL_FOREACH(uavo_list, tmp_obj) {
if (tmp_obj->id == id) {
found_obj = (UAVObjHandle *)tmp_obj;
goto unlock_exit;
@ -1027,13 +1019,15 @@ 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
UAVO_LIST_ITERATE(obj)
LL_FOREACH(uavo_list, obj) {
// Check if this is a settings object
if (UAVObjIsSettings(obj)) {
// Save object
@ -1057,13 +1051,15 @@ unlock_exit:
*/
int32_t UAVObjLoadSettings()
{
struct UAVOData *obj;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
int32_t rc = -1;
// Load all settings objects
UAVO_LIST_ITERATE(obj)
LL_FOREACH(uavo_list, obj) {
// Check if this is a settings object
if (UAVObjIsSettings(obj)) {
// Load object
@ -1087,13 +1083,15 @@ unlock_exit:
*/
int32_t UAVObjDeleteSettings()
{
struct UAVOData *obj;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
int32_t rc = -1;
// Save all settings objects
UAVO_LIST_ITERATE(obj)
LL_FOREACH(uavo_list, obj) {
// Check if this is a settings object
if (UAVObjIsSettings(obj)) {
// Save object
@ -1117,13 +1115,15 @@ unlock_exit:
*/
int32_t UAVObjSaveMetaobjects()
{
struct UAVOData *obj;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
int32_t rc = -1;
// Save all settings objects
UAVO_LIST_ITERATE(obj)
LL_FOREACH(uavo_list, obj) {
// Save object
if (UAVObjSave( (UAVObjHandle) MetaObjectPtr(obj), 0) ==
-1) {
@ -1144,13 +1144,15 @@ unlock_exit:
*/
int32_t UAVObjLoadMetaobjects()
{
struct UAVOData *obj;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
int32_t rc = -1;
// Load all settings objects
UAVO_LIST_ITERATE(obj)
LL_FOREACH(uavo_list, obj) {
// Load object
if (UAVObjLoad((UAVObjHandle) MetaObjectPtr(obj), 0) ==
-1) {
@ -1171,13 +1173,15 @@ unlock_exit:
*/
int32_t UAVObjDeleteMetaobjects()
{
struct UAVOData *obj;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
int32_t rc = -1;
// Load all settings objects
UAVO_LIST_ITERATE(obj)
LL_FOREACH(uavo_list, obj) {
// Load object
if (UAVObjDelete((UAVObjHandle) MetaObjectPtr(obj), 0)
== -1) {
@ -1783,7 +1787,8 @@ void UAVObjIterate(void (*iterator) (UAVObjHandle obj))
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Iterate through the list and invoke iterator for each object
UAVO_LIST_ITERATE(obj)
struct UAVOData *obj;
LL_FOREACH(uavo_list, obj) {
(*iterator) ((UAVObjHandle) obj);
(*iterator) ((UAVObjHandle) &obj->metaObj);
}

2
flight/targets/UAVObjects/uavobjecttemplate.c
View File

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