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Code Issues Releases Activity

OP-4 Flight/Telemetry Create new objects to report statistics of the telemetry link (plus a few bug fixes, heap size was also increased)

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@515 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
vassilis 2010-04-17 22:16:20 +00:00 committed by vassilis
parent 6c4cd936e5
commit 89a6dd30d1
10 changed files with 449 additions and 25 deletions
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2
flight/OpenPilot/Makefile
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@ -135,6 +135,8 @@ SRC += $(OPUAVOBJ)/exampleobject2.c
SRC += $(OPUAVOBJ)/examplesettings.c
SRC += $(OPUAVOBJ)/settingspersistence.c
SRC += $(OPUAVOBJ)/gpsobject.c
SRC += $(OPUAVOBJ)/gcstelemetrystats.c
SRC += $(OPUAVOBJ)/flighttelemetrystats.c
## PIOS Hardware (STM32F10x)
SRC += $(PIOSSTM32F10X)/pios_sys.c

100
flight/OpenPilot/Modules/Telemetry/telemetry.c
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@ -24,6 +24,7 @@
*/
#include "openpilot.h"
#include "flighttelemetrystats.h"
// Private constants
#define MAX_QUEUE_SIZE 20
@ -31,6 +32,7 @@
#define TASK_PRIORITY (tskIDLE_PRIORITY + 1)
#define REQ_TIMEOUT_MS 250
#define MAX_RETRIES 3
#define STATS_UPDATE_PERIOD_MS 5000
// Private types
@ -39,6 +41,8 @@ static COMPortTypeDef telemetryPort;
static xQueueHandle queue;
static xTaskHandle telemetryTxTaskHandle;
static xTaskHandle telemetryRxTaskHandle;
static uint32_t txErrors;
static uint32_t txRetries;
// Private functions
static void telemetryTxTask(void* parameters);
@ -56,6 +60,8 @@ static int32_t setUpdatePeriod(UAVObjHandle obj, int32_t updatePeriodMs);
*/
int32_t TelemetryInitialize(void)
{
UAVObjEvent ev;
// Create object queue
queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
@ -68,6 +74,12 @@ int32_t TelemetryInitialize(void)
// Process all registered objects and connect queue for updates
UAVObjIterate(&registerObject);
// Create periodic event that will be used to update the telemetry stats
txErrors = 0;
txRetries = 0;
memset(&ev, 0, sizeof(UAVObjEvent));
EventPeriodicQueueCreate(&ev, queue, STATS_UPDATE_PERIOD_MS);
// Start telemetry tasks
xTaskCreate(telemetryTxTask, (signed char*)"TelemetryTx", STACK_SIZE, NULL, TASK_PRIORITY, &telemetryTxTaskHandle);
xTaskCreate(telemetryRxTask, (signed char*)"TelemetryRx", STACK_SIZE, NULL, TASK_PRIORITY, &telemetryRxTaskHandle);
@ -156,6 +168,8 @@ static void telemetryTxTask(void* parameters)
UAVObjMetadata metadata;
int32_t retries;
int32_t success;
UAVTalkStats utalkStats;
FlightTelemetryStatsData stats;
// Loop forever
while(1)
@ -163,33 +177,75 @@ static void telemetryTxTask(void* parameters)
// Wait for queue message
if(xQueueReceive(queue, &ev, portMAX_DELAY) == pdTRUE)
{
// Get object metadata
UAVObjGetMetadata(ev.obj, &metadata);
// Act on event
retries = 0;
success = -1;
if(ev.event == EV_UPDATED || ev.event == EV_UPDATED_MANUAL)
// Check if this is a periodic timer event (used to update stats)
if (ev.obj == 0)
{
// Send update to GCS (with retries)
while(retries < MAX_RETRIES && success == -1)
{
success = UAVTalkSendObject(ev.obj, ev.instId, metadata.telemetryAcked, REQ_TIMEOUT_MS); // call blocks until ack is received or timeout
++retries;
}
// Get stats
UAVTalkGetStats(&utalkStats);
UAVTalkResetStats();
// Update stats object
FlightTelemetryStatsGet(&stats);
if (utalkStats.rxBytes > 0)
{
stats.Connected = FLIGHTTELEMETRYSTATS_CONNECTED_TRUE;
}
else
{
stats.Connected = FLIGHTTELEMETRYSTATS_CONNECTED_FALSE;
}
stats.RxDataRate = (float)utalkStats.rxBytes / ((float)STATS_UPDATE_PERIOD_MS/1000.0);
stats.TxDataRate = (float)utalkStats.txBytes / ((float)STATS_UPDATE_PERIOD_MS/1000.0);
stats.RxFailures += utalkStats.rxErrors;
stats.TxFailures += txErrors;
stats.TxRetries += txRetries;
txErrors = 0;
txRetries = 0;
FlightTelemetryStatsSet(&stats);
}
else if(ev.event == EV_UPDATE_REQ)
// This is an object update, handle based on event type
else
{
// Request object update from GCS (with retries)
while(retries < MAX_RETRIES && success == -1)
// Get object metadata
UAVObjGetMetadata(ev.obj, &metadata);
// Act on event
retries = 0;
success = -1;
if(ev.event == EV_UPDATED || ev.event == EV_UPDATED_MANUAL)
{
success = UAVTalkSendObjectRequest(ev.obj, ev.instId, REQ_TIMEOUT_MS); // call blocks until update is received or timeout
++retries;
// Send update to GCS (with retries)
while(retries < MAX_RETRIES && success == -1)
{
success = UAVTalkSendObject(ev.obj, ev.instId, metadata.telemetryAcked, REQ_TIMEOUT_MS); // call blocks until ack is received or timeout
++retries;
}
// Update stats
txRetries += (retries-1);
if ( success == -1 )
{
++txErrors;
}
}
else if(ev.event == EV_UPDATE_REQ)
{
// Request object update from GCS (with retries)
while(retries < MAX_RETRIES && success == -1)
{
success = UAVTalkSendObjectRequest(ev.obj, ev.instId, REQ_TIMEOUT_MS); // call blocks until update is received or timeout
++retries;
}
// Update stats
txRetries += (retries-1);
if ( success == -1 )
{
++txErrors;
}
}
// If this is a metaobject then make necessary telemetry updates
if(UAVObjIsMetaobject(ev.obj))
{
updateObject(UAVObjGetLinkedObj(ev.obj)); // linked object will be the actual object the metadata are for
}
}
// If this is a metaobject then make necessary telemetry updates
if(UAVObjIsMetaobject(ev.obj))
{
updateObject(UAVObjGetLinkedObj(ev.obj)); // linked object will be the actual object the metadata are for
}
}
}

73
flight/OpenPilot/UAVObjects/flighttelemetrystats.c Normal file
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@ -0,0 +1,73 @@
/**
******************************************************************************
*
* @file flighttelemetrystats.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the FlightTelemetryStats object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: flighttelemetrystats.xml.
* This is an automatically generated file.
* DO NOT modify manually.
*
* @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 "flighttelemetrystats.h"
// Private variables
static UAVObjHandle handle;
/**
* Initialize object.
* \return 0 Success
* \return -1 Failure
*/
int32_t FlightTelemetryStatsInitialize()
{
UAVObjMetadata metadata;
// Register object with the object manager
handle = UAVObjRegister(FLIGHTTELEMETRYSTATS_OBJID, FLIGHTTELEMETRYSTATS_NAME, 0, FLIGHTTELEMETRYSTATS_ISSINGLEINST, FLIGHTTELEMETRYSTATS_ISSETTINGS, FLIGHTTELEMETRYSTATS_NUMBYTES);
if (handle == 0) return -1;
// Initialize metadata
metadata.telemetryAcked = 1;
metadata.telemetryUpdateMode = UPDATEMODE_PERIODIC;
metadata.telemetryUpdatePeriod = 5000;
metadata.gcsTelemetryAcked = 1;
metadata.gcsTelemetryUpdateMode = UPDATEMODE_NEVER;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.loggingUpdateMode = UPDATEMODE_PERIODIC;
metadata.loggingUpdatePeriod = 5000;
UAVObjSetMetadata(handle, &metadata);
// Done
return 0;
}
/**
* Get object handle
*/
UAVObjHandle FlightTelemetryStatsHandle()
{
return handle;
}

73
flight/OpenPilot/UAVObjects/gcstelemetrystats.c Normal file
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@ -0,0 +1,73 @@
/**
******************************************************************************
*
* @file gcstelemetrystats.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the GCSTelemetryStats object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: gcstelemetrystats.xml.
* This is an automatically generated file.
* DO NOT modify manually.
*
* @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 "gcstelemetrystats.h"
// Private variables
static UAVObjHandle handle;
/**
* Initialize object.
* \return 0 Success
* \return -1 Failure
*/
int32_t GCSTelemetryStatsInitialize()
{
UAVObjMetadata metadata;
// Register object with the object manager
handle = UAVObjRegister(GCSTELEMETRYSTATS_OBJID, GCSTELEMETRYSTATS_NAME, 0, GCSTELEMETRYSTATS_ISSINGLEINST, GCSTELEMETRYSTATS_ISSETTINGS, GCSTELEMETRYSTATS_NUMBYTES);
if (handle == 0) return -1;
// Initialize metadata
metadata.telemetryAcked = 1;
metadata.telemetryUpdateMode = UPDATEMODE_NEVER;
metadata.telemetryUpdatePeriod = 0;
metadata.gcsTelemetryAcked = 1;
metadata.gcsTelemetryUpdateMode = UPDATEMODE_NEVER;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.loggingUpdateMode = UPDATEMODE_NEVER;
metadata.loggingUpdatePeriod = 0;
UAVObjSetMetadata(handle, &metadata);
// Done
return 0;
}
/**
* Get object handle
*/
UAVObjHandle GCSTelemetryStatsHandle()
{
return handle;
}

78
flight/OpenPilot/UAVObjects/inc/flighttelemetrystats.h Normal file
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@ -0,0 +1,78 @@
/**
******************************************************************************
*
* @file flighttelemetrystats.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the FlightTelemetryStats object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: flighttelemetrystats.xml.
* This is an automatically generated file.
* DO NOT modify manually.
*
* @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 FLIGHTTELEMETRYSTATS_H
#define FLIGHTTELEMETRYSTATS_H
#include "openpilot.h"
// Object constants
#define FLIGHTTELEMETRYSTATS_OBJID 766280320U
#define FLIGHTTELEMETRYSTATS_NAME "FlightTelemetryStats"
#define FLIGHTTELEMETRYSTATS_ISSINGLEINST 1
#define FLIGHTTELEMETRYSTATS_ISSETTINGS 0
#define FLIGHTTELEMETRYSTATS_NUMBYTES sizeof(FlightTelemetryStatsData)
// Object access macros
#define FlightTelemetryStatsGet(dataOut) UAVObjGetData(FlightTelemetryStatsHandle(), dataOut)
#define FlightTelemetryStatsSet(dataIn) UAVObjSetData(FlightTelemetryStatsHandle(), dataIn)
#define FlightTelemetryStatsInstGet(instId, dataOut) UAVObjGetInstanceData(FlightTelemetryStatsHandle(), instId, dataOut)
#define FlightTelemetryStatsInstSet(instId, dataIn) UAVObjSetInstanceData(FlightTelemetryStatsHandle(), instId, dataIn)
#define FlightTelemetryStatsConnectQueue(queue) UAVObjConnectQueue(FlightTelemetryStatsHandle(), queue, EV_MASK_ALL_UPDATES)
#define FlightTelemetryStatsConnectCallback(cb) UAVObjConnectCallback(FlightTelemetryStatsHandle(), cb, EV_MASK_ALL_UPDATES)
#define FlightTelemetryStatsCreateInstance() UAVObjCreateInstance(FlightTelemetryStatsHandle())
#define FlightTelemetryStatsRequestUpdate() UAVObjRequestUpdate(FlightTelemetryStatsHandle())
#define FlightTelemetryStatsRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(FlightTelemetryStatsHandle(), instId)
#define FlightTelemetryStatsUpdated() UAVObjUpdated(FlightTelemetryStatsHandle())
#define FlightTelemetryStatsInstUpdated(instId) UAVObjUpdated(FlightTelemetryStatsHandle(), instId)
#define FlightTelemetryStatsGetMetadata(dataOut) UAVObjGetMetadata(FlightTelemetryStatsHandle(), dataOut)
#define FlightTelemetryStatsSetMetadata(dataIn) UAVObjSetMetadata(FlightTelemetryStatsHandle(), dataIn)
// Object data
typedef struct {
uint8_t Connected;
float TxDataRate;
float RxDataRate;
uint32_t TxFailures;
uint32_t RxFailures;
uint32_t TxRetries;
} __attribute__((packed)) FlightTelemetryStatsData;
// Enumeration types
typedef enum { FLIGHTTELEMETRYSTATS_CONNECTED_TRUE=0, FLIGHTTELEMETRYSTATS_CONNECTED_FALSE=1, } FLIGHTTELEMETRYSTATSCONNECTEDEnum;
// Generic interface functions
int32_t FlightTelemetryStatsInitialize();
UAVObjHandle FlightTelemetryStatsHandle();
#endif // FLIGHTTELEMETRYSTATS_H

78
flight/OpenPilot/UAVObjects/inc/gcstelemetrystats.h Normal file
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@ -0,0 +1,78 @@
/**
******************************************************************************
*
* @file gcstelemetrystats.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the GCSTelemetryStats object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: gcstelemetrystats.xml.
* This is an automatically generated file.
* DO NOT modify manually.
*
* @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 GCSTELEMETRYSTATS_H
#define GCSTELEMETRYSTATS_H
#include "openpilot.h"
// Object constants
#define GCSTELEMETRYSTATS_OBJID 607270704U
#define GCSTELEMETRYSTATS_NAME "GCSTelemetryStats"
#define GCSTELEMETRYSTATS_ISSINGLEINST 1
#define GCSTELEMETRYSTATS_ISSETTINGS 0
#define GCSTELEMETRYSTATS_NUMBYTES sizeof(GCSTelemetryStatsData)
// Object access macros
#define GCSTelemetryStatsGet(dataOut) UAVObjGetData(GCSTelemetryStatsHandle(), dataOut)
#define GCSTelemetryStatsSet(dataIn) UAVObjSetData(GCSTelemetryStatsHandle(), dataIn)
#define GCSTelemetryStatsInstGet(instId, dataOut) UAVObjGetInstanceData(GCSTelemetryStatsHandle(), instId, dataOut)
#define GCSTelemetryStatsInstSet(instId, dataIn) UAVObjSetInstanceData(GCSTelemetryStatsHandle(), instId, dataIn)
#define GCSTelemetryStatsConnectQueue(queue) UAVObjConnectQueue(GCSTelemetryStatsHandle(), queue, EV_MASK_ALL_UPDATES)
#define GCSTelemetryStatsConnectCallback(cb) UAVObjConnectCallback(GCSTelemetryStatsHandle(), cb, EV_MASK_ALL_UPDATES)
#define GCSTelemetryStatsCreateInstance() UAVObjCreateInstance(GCSTelemetryStatsHandle())
#define GCSTelemetryStatsRequestUpdate() UAVObjRequestUpdate(GCSTelemetryStatsHandle())
#define GCSTelemetryStatsRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(GCSTelemetryStatsHandle(), instId)
#define GCSTelemetryStatsUpdated() UAVObjUpdated(GCSTelemetryStatsHandle())
#define GCSTelemetryStatsInstUpdated(instId) UAVObjUpdated(GCSTelemetryStatsHandle(), instId)
#define GCSTelemetryStatsGetMetadata(dataOut) UAVObjGetMetadata(GCSTelemetryStatsHandle(), dataOut)
#define GCSTelemetryStatsSetMetadata(dataIn) UAVObjSetMetadata(GCSTelemetryStatsHandle(), dataIn)
// Object data
typedef struct {
uint8_t Connected;
float TxDataRate;
float RxDataRate;
uint32_t TxFailures;
uint32_t RxFailures;
uint32_t TxRetries;
} __attribute__((packed)) GCSTelemetryStatsData;
// Enumeration types
typedef enum { GCSTELEMETRYSTATS_CONNECTED_TRUE=0, GCSTELEMETRYSTATS_CONNECTED_FALSE=1, } GCSTELEMETRYSTATSCONNECTEDEnum;
// Generic interface functions
int32_t GCSTelemetryStatsInitialize();
UAVObjHandle GCSTelemetryStatsHandle();
#endif // GCSTELEMETRYSTATS_H

4
flight/OpenPilot/UAVObjects/uavobjectsinit.c
View File

@ -31,6 +31,8 @@
#include "exampleobject1.h"
#include "exampleobject2.h"
#include "examplesettings.h"
#include "flighttelemetrystats.h"
#include "gcstelemetrystats.h"
#include "gpsobject.h"
#include "settingspersistence.h"
@ -44,6 +46,8 @@ void UAVObjectsInitializeAll()
ExampleObject1Initialize();
ExampleObject2Initialize();
ExampleSettingsInitialize();
FlightTelemetryStatsInitialize();
GCSTelemetryStatsInitialize();
GpsObjectInitialize();
SettingsPersistenceInitialize();

13
flight/OpenPilot/UAVTalk/inc/uavtalk.h
View File

@ -33,11 +33,24 @@
// Public types
typedef int32_t (*UAVTalkOutputStream)(uint8_t* data, int32_t length);
typedef struct {
uint32_t txBytes;
uint32_t rxBytes;
uint32_t txObjectBytes;
uint32_t rxObjectBytes;
uint32_t rxObjects;
uint32_t txObjects;
uint32_t txErrors;
uint32_t rxErrors;
} UAVTalkStats;
// Public functions
int32_t UAVTalkInitialize(UAVTalkOutputStream outputStream);
int32_t UAVTalkSetOutputStream(UAVTalkOutputStream outputStream);
int32_t UAVTalkSendObject(UAVObjHandle obj, uint16_t instId, uint8_t acked, int32_t timeoutMs);
int32_t UAVTalkSendObjectRequest(UAVObjHandle obj, uint16_t instId, int32_t timeoutMs);
int32_t UAVTalkProcessInputStream(uint8_t rxbyte);
void UAVTalkGetStats(UAVTalkStats* stats);
void UAVTalkResetStats();
#endif // UAVTALK_H

51
flight/OpenPilot/UAVTalk/uavtalk.c
View File

@ -51,6 +51,7 @@ static UAVObjHandle respObj;
static uint16_t respInstId;
static uint8_t rxBuffer[MAX_PACKET_LENGTH];
static uint8_t txBuffer[MAX_PACKET_LENGTH];
static UAVTalkStats stats;
// Private functions
static uint16_t updateChecksum(uint16_t cs, uint8_t* data, int32_t length);
@ -72,9 +73,41 @@ int32_t UAVTalkInitialize(UAVTalkOutputStream outputStream)
lock = xSemaphoreCreateRecursiveMutex();
vSemaphoreCreateBinary(respSema);
xSemaphoreTake(respSema, 0); // reset to zero
UAVTalkResetStats();
return 0;
}
/**
* Get communication statistics counters
* @param[out] statsOut Statistics counters
*/
void UAVTalkGetStats(UAVTalkStats* statsOut)
{
// Lock
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
// Copy stats
memcpy(statsOut, &stats, sizeof(UAVTalkStats));
// Release lock
xSemaphoreGiveRecursive(lock);
}
/**
* Reset the statistics counters.
*/
void UAVTalkResetStats()
{
// Lock
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
// Clear stats
memset(&stats, 0, sizeof(UAVTalkStats));
// Release lock
xSemaphoreGiveRecursive(lock);
}
/**
* Request an update for the specified object, on success the object data would have been
* updated by the GCS.
@ -180,6 +213,7 @@ int32_t UAVTalkProcessInputStream(uint8_t rxbyte)
static RxState state = STATE_SYNC;
// Receive state machine
++stats.rxBytes;
switch (state) {
case STATE_SYNC:
if ((rxbyte & TYPE_MASK) == TYPE_VER )
@ -200,6 +234,7 @@ int32_t UAVTalkProcessInputStream(uint8_t rxbyte)
if (obj == 0)
{
state = STATE_SYNC;
++stats.rxErrors;
}
else
{
@ -218,6 +253,7 @@ int32_t UAVTalkProcessInputStream(uint8_t rxbyte)
if (length >= MAX_PAYLOAD_LENGTH)
{
state = STATE_SYNC;
++stats.rxErrors;
}
else
{
@ -281,8 +317,14 @@ int32_t UAVTalkProcessInputStream(uint8_t rxbyte)
{
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
receiveObject(type, obj, instId, rxBuffer, length);
++stats.rxObjects;
stats.rxObjectBytes += length;
xSemaphoreGiveRecursive(lock);
}
else
{
++stats.rxErrors;
}
state = STATE_SYNC;
}
break;
@ -392,10 +434,10 @@ static int32_t sendObject(UAVObjHandle obj, uint16_t instId, uint8_t type)
uint32_t numInst;
uint32_t n;
// If all instances are requested on a single instance object it is an error
// If all instances are requested and this is a single instance object, force instance ID to zero
if ( instId == UAVOBJ_ALL_INSTANCES && UAVObjIsSingleInstance(obj) )
{
return -1;
instId = 0;
}
// Process message type
@ -507,6 +549,11 @@ static int32_t sendSingleObject(UAVObjHandle obj, uint16_t instId, uint8_t type)
// Send buffer
if (outStream!=NULL) (*outStream)(txBuffer, dataOffset+length+CHECKSUM_LENGTH);
// Update stats
++stats.txObjects;
stats.txBytes += dataOffset+length+CHECKSUM_LENGTH;
stats.txObjectBytes += length;
// Done
return 0;
}

2
flight/PiOS/inc/FreeRTOSConfig.h
View File

@ -23,7 +23,7 @@
#define configTICK_RATE_HZ ( ( portTickType ) 1000 )
#define configMAX_PRIORITIES ( ( unsigned portBASE_TYPE ) 5 )
#define configMINIMAL_STACK_SIZE ( ( unsigned short ) 256 )
#define configTOTAL_HEAP_SIZE ( ( size_t ) ( 10 * 1024 ) )
#define configTOTAL_HEAP_SIZE ( ( size_t ) ( 20 * 1024 ) )
#define configMAX_TASK_NAME_LEN ( 16 )
#define configUSE_TRACE_FACILITY 0
#define configUSE_16_BIT_TICKS 0