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Code Issues Releases Activity

OP-1275 - split persistence handling out of UavobjectManager. stubs are used if target deos not support persistency

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This commit is contained in:
Alessio Morale 2014-09-20 21:02:51 +02:00
parent cedb4f127d
commit 7a9a0868c9
10 changed files with 318 additions and 255 deletions
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1
flight/targets/boards/coptercontrol/firmware/Makefile
View File

@ -75,6 +75,7 @@ ifndef TESTAPP
SRC += $(FLIGHTLIB)/instrumentation.c
SRC += $(OPUAVTALK)/uavtalk.c
SRC += $(OPUAVOBJ)/uavobjectmanager.c
SRC += $(OPUAVOBJ)/uavobjectpersistence.c
SRC += $(OPUAVOBJ)/eventdispatcher.c
SRC += $(FLIGHTLIB)/auxmagsupport.c

1
flight/targets/boards/discoveryf4bare/firmware/Makefile
View File

@ -73,6 +73,7 @@ ifndef TESTAPP
SRC += $(FLIGHTLIB)/alarms.c
SRC += $(OPUAVTALK)/uavtalk.c
SRC += $(OPUAVOBJ)/uavobjectmanager.c
SRC += $(OPUAVOBJ)/uavobjectpersistence.c
SRC += $(OPUAVOBJ)/eventdispatcher.c
#ifeq ($(DEBUG), YES)

1
flight/targets/boards/oplinkmini/firmware/Makefile
View File

@ -45,6 +45,7 @@ ifndef TESTAPP
SRC += $(OPSYSTEM)/pios_board.c
SRC += $(OPUAVTALK)/uavtalk.c
SRC += $(OPUAVOBJ)/uavobjectmanager.c
SRC += $(OPUAVOBJ)/uavobjectpersistence.c
SRC += $(OPUAVOBJ)/eventdispatcher.c
## UAVObjects

1
flight/targets/boards/osd/firmware/Makefile
View File

@ -56,6 +56,7 @@ ifndef TESTAPP
SRC += $(FLIGHTLIB)/alarms.c
SRC += $(OPUAVTALK)/uavtalk.c
SRC += $(OPUAVOBJ)/uavobjectmanager.c
SRC += $(OPUAVOBJ)/uavobjectpersistence.c
SRC += $(OPUAVOBJ)/eventdispatcher.c
## OSD fonts

1
flight/targets/boards/revolution/firmware/Makefile
View File

@ -75,6 +75,7 @@ ifndef TESTAPP
SRC += $(FLIGHTLIB)/instrumentation.c
SRC += $(OPUAVTALK)/uavtalk.c
SRC += $(OPUAVOBJ)/uavobjectmanager.c
SRC += $(OPUAVOBJ)/uavobjectpersistence.c
SRC += $(OPUAVOBJ)/eventdispatcher.c
#ifeq ($(DEBUG), YES)

1
flight/targets/boards/revoproto/firmware/Makefile
View File

@ -73,6 +73,7 @@ ifndef TESTAPP
SRC += $(FLIGHTLIB)/alarms.c
SRC += $(OPUAVTALK)/uavtalk.c
SRC += $(OPUAVOBJ)/uavobjectmanager.c
SRC += $(OPUAVOBJ)/uavobjectpersistence.c
SRC += $(OPUAVOBJ)/eventdispatcher.c
#ifeq ($(DEBUG), YES)

1
flight/targets/boards/simposix/firmware/Makefile
View File

@ -85,6 +85,7 @@ SRC += $(OPSYSTEM)/pios_board.c
SRC += $(FLIGHTLIB)/alarms.c
SRC += $(OPUAVTALK)/uavtalk.c
SRC += $(OPUAVOBJ)/uavobjectmanager.c
SRC += $(OPUAVOBJ)/uavobjectpersistence.c
SRC += $(OPUAVOBJ)/eventdispatcher.c
SRC += $(UAVOBJSYNTHDIR)/uavobjectsinit.c

172
flight/uavobjects/inc/uavobjectprivate.h Normal file
View File

@ -0,0 +1,172 @@
/**
******************************************************************************
*
* @file uavobjectprivate.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
* @brief Private declarations for uavobject manager and persistence handler.
* --
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef UAVOBJECTPRIVATE_H_
#define UAVOBJECTPRIVATE_H_
#if (defined(__MACH__) && defined(__APPLE__))
#include <mach-o/getsect.h>
#endif
// Constants
// Private types
// Macros
#define SET_BITS(var, shift, value, mask) var = (var & ~(mask << shift)) | (value << shift);
// Mach-o: dummy segment to calculate ASLR offset in sim_osx
#if (defined(__MACH__) && defined(__APPLE__))
static long _aslr_offset __attribute__((section("__DATA,_aslr")));
#endif
/* Table of UAVO handles */
#if (defined(__MACH__) && defined(__APPLE__))
/* Mach-o format */
static struct UAVOData * *__start__uavo_handles;
static struct UAVOData * *__stop__uavo_handles;
#else
/* ELF format: automagically defined at compile time */
extern struct UAVOData *__start__uavo_handles[] __attribute__((weak));
extern struct UAVOData *__stop__uavo_handles[] __attribute__((weak));
#endif
#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.
*/
/** opaque type for instances **/
typedef void *InstanceHandle;
struct ObjectEventEntry {
struct ObjectEventEntry *next;
xQueueHandle queue;
UAVObjEventCallback cb;
uint8_t eventMask;
};
/*
MetaInstance == [UAVOBase [UAVObjMetadata]]
SingleInstance == [UAVOBase [UAVOData [InstanceData]]]
MultiInstance == [UAVOBase [UAVOData [NumInstances [InstanceData0 [next]]]]
____________________/
\-->[InstanceData1 [next]]
_________...________/
\-->[InstanceDataN [next]]
*/
/*
* UAVO Base Type
* - All Types of UAVObjects are of this base type
* - The flags determine what type(s) this object
*/
struct UAVOBase {
/* Let these objects be added to an event queue */
struct ObjectEventEntry *next_event;
/* Describe the type of object that follows this header */
struct UAVOInfo {
bool isMeta : 1;
bool isSingle : 1;
bool isSettings : 1;
bool isPriority : 1;
} flags;
} __attribute__((packed));
/* Augmented type for Meta UAVO */
struct UAVOMeta {
struct UAVOBase base;
UAVObjMetadata instance0;
} __attribute__((packed));
/* Shared data structure for all data-carrying UAVObjects (UAVOSingle and UAVOMulti) */
struct UAVOData {
struct UAVOBase base;
uint32_t id;
/*
* Embed the Meta object as another complete UAVO
* inside the payload for this UAVO.
*/
struct UAVOMeta metaObj;
uint16_t instance_size;
} __attribute__((packed, aligned(4)));
/* Augmented type for Single Instance Data UAVO */
struct UAVOSingle {
struct UAVOData uavo;
uint8_t instance0[];
/*
* Additional space will be malloc'd here to hold the
* the data for this instance.
*/
} __attribute__((packed));
/* Part of a linked list of instances chained off of a multi instance UAVO. */
struct UAVOMultiInst {
struct UAVOMultiInst *next;
uint8_t instance[];
/*
* Additional space will be malloc'd here to hold the
* the data for this instance.
*/
} __attribute__((packed));
/* Augmented type for Multi Instance Data UAVO */
struct UAVOMulti {
struct UAVOData uavo;
uint16_t num_instances;
struct UAVOMultiInst instance0 __attribute__((aligned(4)));
/*
* Additional space will be malloc'd here to hold the
* the data for instance 0.
*/
} __attribute__((packed));
/** all information about a metaobject are hardcoded constants **/
#define MetaNumBytes sizeof(UAVObjMetadata)
#define MetaBaseObjectPtr(obj) ((struct UAVOData *)((obj) - offsetof(struct UAVOData, metaObj)))
#define MetaObjectPtr(obj) ((struct UAVODataMeta *)&((obj)->metaObj))
#define MetaDataPtr(obj) ((UAVObjMetadata *)&((obj)->instance0))
#define LinkedMetaDataPtr(obj) ((UAVObjMetadata *)&((obj)->metaObj.instance0))
/** all information about instances are dependant on object type **/
#define ObjSingleInstanceDataOffset(obj) ((void *)(&(((struct UAVOSingle *)obj)->instance0)))
#define InstanceDataOffset(inst) ((void *)&(((struct UAVOMultiInst *)inst)->instance))
#define InstanceData(instance) ((void *)instance)
// Private functions
int32_t sendEvent(struct UAVOBase *obj, uint16_t instId, UAVObjEventType event);
InstanceHandle getInstance(struct UAVOData *obj, uint16_t instId);
#endif /* UAVOBJECTPRIVATE_H_ */

268
flight/uavobjects/uavobjectmanager.c
View File

@ -33,155 +33,24 @@
#include "openpilot.h"
#include "pios_struct_helper.h"
extern uintptr_t pios_uavo_settings_fs_id;
#if (defined(__MACH__) && defined(__APPLE__))
#include <mach-o/getsect.h>
#endif
// Constants
// Private types
// Macros
#define SET_BITS(var, shift, value, mask) var = (var & ~(mask << shift)) | (value << shift);
// Mach-o: dummy segment to calculate ASLR offset in sim_osx
#if (defined(__MACH__) && defined(__APPLE__))
static long _aslr_offset __attribute__((section("__DATA,_aslr")));
#endif
/* Table of UAVO handles */
#if (defined(__MACH__) && defined(__APPLE__))
/* Mach-o format */
static struct UAVOData * *__start__uavo_handles;
static struct UAVOData * *__stop__uavo_handles;
#else
/* ELF format: automagically defined at compile time */
extern struct UAVOData *__start__uavo_handles[] __attribute__((weak));
extern struct UAVOData *__stop__uavo_handles[] __attribute__((weak));
#endif
#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.
*/
/** opaque type for instances **/
typedef void *InstanceHandle;
struct ObjectEventEntry {
struct ObjectEventEntry *next;
xQueueHandle queue;
UAVObjEventCallback cb;
uint8_t eventMask;
};
/*
MetaInstance == [UAVOBase [UAVObjMetadata]]
SingleInstance == [UAVOBase [UAVOData [InstanceData]]]
MultiInstance == [UAVOBase [UAVOData [NumInstances [InstanceData0 [next]]]]
____________________/
\-->[InstanceData1 [next]]
_________...________/
\-->[InstanceDataN [next]]
*/
/*
* UAVO Base Type
* - All Types of UAVObjects are of this base type
* - The flags determine what type(s) this object
*/
struct UAVOBase {
/* Let these objects be added to an event queue */
struct ObjectEventEntry *next_event;
/* Describe the type of object that follows this header */
struct UAVOInfo {
bool isMeta : 1;
bool isSingle : 1;
bool isSettings : 1;
bool isPriority : 1;
} flags;
} __attribute__((packed));
/* Augmented type for Meta UAVO */
struct UAVOMeta {
struct UAVOBase base;
UAVObjMetadata instance0;
} __attribute__((packed));
/* Shared data structure for all data-carrying UAVObjects (UAVOSingle and UAVOMulti) */
struct UAVOData {
struct UAVOBase base;
uint32_t id;
/*
* Embed the Meta object as another complete UAVO
* inside the payload for this UAVO.
*/
struct UAVOMeta metaObj;
uint16_t instance_size;
} __attribute__((packed, aligned(4)));
/* Augmented type for Single Instance Data UAVO */
struct UAVOSingle {
struct UAVOData uavo;
uint8_t instance0[];
/*
* Additional space will be malloc'd here to hold the
* the data for this instance.
*/
} __attribute__((packed));
/* Part of a linked list of instances chained off of a multi instance UAVO. */
struct UAVOMultiInst {
struct UAVOMultiInst *next;
uint8_t instance[];
/*
* Additional space will be malloc'd here to hold the
* the data for this instance.
*/
} __attribute__((packed));
/* Augmented type for Multi Instance Data UAVO */
struct UAVOMulti {
struct UAVOData uavo;
uint16_t num_instances;
struct UAVOMultiInst instance0 __attribute__((aligned(4)));
/*
* Additional space will be malloc'd here to hold the
* the data for instance 0.
*/
} __attribute__((packed));
/** all information about a metaobject are hardcoded constants **/
#define MetaNumBytes sizeof(UAVObjMetadata)
#define MetaBaseObjectPtr(obj) ((struct UAVOData *)((obj) - offsetof(struct UAVOData, metaObj)))
#define MetaObjectPtr(obj) ((struct UAVODataMeta *)&((obj)->metaObj))
#define MetaDataPtr(obj) ((UAVObjMetadata *)&((obj)->instance0))
#define LinkedMetaDataPtr(obj) ((UAVObjMetadata *)&((obj)->metaObj.instance0))
/** all information about instances are dependant on object type **/
#define ObjSingleInstanceDataOffset(obj) ((void *)(&(((struct UAVOSingle *)obj)->instance0)))
#define InstanceDataOffset(inst) ((void *)&(((struct UAVOMultiInst *)inst)->instance))
#define InstanceData(instance) ((void *)instance)
#include "inc/uavobjectprivate.h"
// Private functions
static int32_t sendEvent(struct UAVOBase *obj, uint16_t instId, UAVObjEventType event);
static InstanceHandle createInstance(struct UAVOData *obj, uint16_t instId);
static InstanceHandle getInstance(struct UAVOData *obj, uint16_t instId);
static int32_t connectObj(UAVObjHandle obj_handle, xQueueHandle queue, UAVObjEventCallback cb, uint8_t eventMask);
static int32_t disconnectObj(UAVObjHandle obj_handle, xQueueHandle queue, UAVObjEventCallback cb);
static void instanceAutoUpdated(UAVObjHandle obj_handle, uint16_t instId);
int32_t UAVObjPers_stub(__attribute__((unused)) UAVObjHandle obj_handle, __attribute__((unused)) uint16_t instId)
{
return 0;
}
int32_t UAVObjSave(UAVObjHandle obj_handle, uint16_t instId) __attribute__((weak, alias("UAVObjPers_stub")));;
int32_t UAVObjLoad(UAVObjHandle obj_handle, uint16_t instId) __attribute__((weak, alias("UAVObjPers_stub")));
int32_t UAVObjDelete(UAVObjHandle obj_handle, uint16_t instId) __attribute__((weak, alias("UAVObjPers_stub")));
// Private variables
static xSemaphoreHandle mutex;
static const UAVObjMetadata defMetadata = {
@ -796,118 +665,7 @@ void UAVObjInstanceWriteToLog(UAVObjHandle obj_handle, uint16_t instId)
unlock_exit:
xSemaphoreGiveRecursive(mutex);
}
#ifdef PIOS_INCLUDE_FLASH
/**
* Save the data of the specified object to the file system (SD card).
* If the object contains multiple instances, all of them will be saved.
* A new file with the name of the object will be created.
* The object data can be restored using the UAVObjLoad function.
* @param[in] obj The object handle.
* @param[in] instId The instance ID
* @return 0 if success or -1 if failure
*/
int32_t UAVObjSave(UAVObjHandle obj_handle, uint16_t instId)
{
PIOS_Assert(obj_handle);
if (UAVObjIsMetaobject(obj_handle)) {
if (instId != 0) {
return -1;
}
if (PIOS_FLASHFS_ObjSave(pios_uavo_settings_fs_id, UAVObjGetID(obj_handle), instId, (uint8_t *)MetaDataPtr((struct UAVOMeta *)obj_handle), UAVObjGetNumBytes(obj_handle)) != 0) {
return -1;
}
} else {
InstanceHandle instEntry = getInstance((struct UAVOData *)obj_handle, instId);
if (instEntry == NULL) {
return -1;
}
if (InstanceData(instEntry) == NULL) {
return -1;
}
if (PIOS_FLASHFS_ObjSave(pios_uavo_settings_fs_id, UAVObjGetID(obj_handle), instId, InstanceData(instEntry), UAVObjGetNumBytes(obj_handle)) != 0) {
return -1;
}
}
return 0;
}
/**
* Load an object from the file system (SD card).
* A file with the name of the object will be opened.
* The object data can be saved using the UAVObjSave function.
* @param[in] obj The object handle.
* @param[in] instId The object instance
* @return 0 if success or -1 if failure
*/
int32_t UAVObjLoad(UAVObjHandle obj_handle, uint16_t instId)
{
PIOS_Assert(obj_handle);
if (UAVObjIsMetaobject(obj_handle)) {
if (instId != 0) {
return -1;
}
// Fire event on success
if (PIOS_FLASHFS_ObjLoad(pios_uavo_settings_fs_id, UAVObjGetID(obj_handle), instId, (uint8_t *)MetaDataPtr((struct UAVOMeta *)obj_handle), UAVObjGetNumBytes(obj_handle)) == 0) {
sendEvent((struct UAVOBase *)obj_handle, instId, EV_UNPACKED);
} else {
return -1;
}
} else {
InstanceHandle instEntry = getInstance((struct UAVOData *)obj_handle, instId);
if (instEntry == NULL) {
return -1;
}
// Fire event on success
if (PIOS_FLASHFS_ObjLoad(pios_uavo_settings_fs_id, UAVObjGetID(obj_handle), instId, InstanceData(instEntry), UAVObjGetNumBytes(obj_handle)) == 0) {
sendEvent((struct UAVOBase *)obj_handle, instId, EV_UNPACKED);
} else {
return -1;
}
}
return 0;
}
/**
* Delete an object from the file system (SD card).
* @param[in] obj The object handle.
* @param[in] instId The object instance
* @return 0 if success or -1 if failure
*/
int32_t UAVObjDelete(UAVObjHandle obj_handle, uint16_t instId)
{
PIOS_Assert(obj_handle);
PIOS_FLASHFS_ObjDelete(pios_uavo_settings_fs_id, UAVObjGetID(obj_handle), instId);
return 0;
}
#else // PIOS_INCLUDE_FLASH
int32_t UAVObjSave(__attribute__((unused)) UAVObjHandle obj_handle, __attribute__((unused)) uint16_t instId)
{
return 0;
}
int32_t UAVObjLoad(__attribute__((unused)) UAVObjHandle obj_handle, __attribute__((unused)) uint16_t instId)
{
return 0;
}
int32_t UAVObjDelete(__attribute__((unused)) UAVObjHandle obj_handle, __attribute__((unused)) uint16_t instId)
{
return 0;
}
#endif // PIOS_INCLUDE_FLASH
/**
* Save all settings objects to the SD card.
* @return 0 if success or -1 if failure
@ -1748,7 +1506,7 @@ xSemaphoreGiveRecursive(mutex);
/**
* Send a triggered event to all event queues registered on the object.
*/
static int32_t sendEvent(struct UAVOBase *obj, uint16_t instId, UAVObjEventType triggered_event)
int32_t sendEvent(struct UAVOBase *obj, uint16_t instId, UAVObjEventType triggered_event)
{
/* Set up the message that will be sent to all registered listeners */
UAVObjEvent msg = {
@ -1837,7 +1595,7 @@ static InstanceHandle createInstance(struct UAVOData *obj, uint16_t instId)
/**
* Get the instance information or NULL if the instance does not exist
*/
static InstanceHandle getInstance(struct UAVOData *obj, uint16_t instId)
InstanceHandle getInstance(struct UAVOData *obj, uint16_t instId)
{
if (UAVObjIsMetaobject(&obj->base)) {
/* Metadata Instance */

126
flight/uavobjects/uavobjectpersistence.c Normal file
View File

@ -0,0 +1,126 @@
/**
******************************************************************************
*
* @file uavobjectpersistence.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
* @brief handles uavo persistence
* --
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "openpilot.h"
#include "pios_struct_helper.h"
#include "inc/uavobjectprivate.h"
extern uintptr_t pios_uavo_settings_fs_id;
/**
* Save the data of the specified object to the file system (SD card).
* If the object contains multiple instances, all of them will be saved.
* A new file with the name of the object will be created.
* The object data can be restored using the UAVObjLoad function.
* @param[in] obj The object handle.
* @param[in] instId The instance ID
* @return 0 if success or -1 if failure
*/
int32_t UAVObjSave(UAVObjHandle obj_handle, uint16_t instId)
{
PIOS_Assert(obj_handle);
if (UAVObjIsMetaobject(obj_handle)) {
if (instId != 0) {
return -1;
}
if (PIOS_FLASHFS_ObjSave(pios_uavo_settings_fs_id, UAVObjGetID(obj_handle), instId, (uint8_t *)MetaDataPtr((struct UAVOMeta *)obj_handle), UAVObjGetNumBytes(obj_handle)) != 0) {
return -1;
}
} else {
InstanceHandle instEntry = getInstance((struct UAVOData *)obj_handle, instId);
if (instEntry == NULL) {
return -1;
}
if (InstanceData(instEntry) == NULL) {
return -1;
}
if (PIOS_FLASHFS_ObjSave(pios_uavo_settings_fs_id, UAVObjGetID(obj_handle), instId, InstanceData(instEntry), UAVObjGetNumBytes(obj_handle)) != 0) {
return -1;
}
}
return 0;
}
/**
* Load an object from the file system (SD card).
* A file with the name of the object will be opened.
* The object data can be saved using the UAVObjSave function.
* @param[in] obj The object handle.
* @param[in] instId The object instance
* @return 0 if success or -1 if failure
*/
int32_t UAVObjLoad(UAVObjHandle obj_handle, uint16_t instId)
{
PIOS_Assert(obj_handle);
if (UAVObjIsMetaobject(obj_handle)) {
if (instId != 0) {
return -1;
}
// Fire event on success
if (PIOS_FLASHFS_ObjLoad(pios_uavo_settings_fs_id, UAVObjGetID(obj_handle), instId, (uint8_t *)MetaDataPtr((struct UAVOMeta *)obj_handle), UAVObjGetNumBytes(obj_handle)) == 0) {
sendEvent((struct UAVOBase *)obj_handle, instId, EV_UNPACKED);
} else {
return -1;
}
} else {
InstanceHandle instEntry = getInstance((struct UAVOData *)obj_handle, instId);
if (instEntry == NULL) {
return -1;
}
// Fire event on success
if (PIOS_FLASHFS_ObjLoad(pios_uavo_settings_fs_id, UAVObjGetID(obj_handle), instId, InstanceData(instEntry), UAVObjGetNumBytes(obj_handle)) == 0) {
sendEvent((struct UAVOBase *)obj_handle, instId, EV_UNPACKED);
} else {
return -1;
}
}
return 0;
}
/**
* Delete an object from the file system (SD card).
* @param[in] obj The object handle.
* @param[in] instId The object instance
* @return 0 if success or -1 if failure
*/
int32_t UAVObjDelete(UAVObjHandle obj_handle, uint16_t instId)
{
PIOS_Assert(obj_handle);
PIOS_FLASHFS_ObjDelete(pios_uavo_settings_fs_id, UAVObjGetID(obj_handle), instId);
return 0;
}