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px4-firmware
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Merge branch 'master' of github.com:PX4/Firmware

This commit is contained in:
Lorenz Meier 2013-09-22 17:08:42 +02:00
parent ad4c28507f cd4edf9e2e
commit 07f82efe9b
2 changed files with 24 additions and 33 deletions
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1
makefiles/config_px4fmu-v2_default.mk
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@ -51,6 +51,7 @@ MODULES += systemcmds/param
MODULES += systemcmds/perf MODULES += systemcmds/perf
MODULES += systemcmds/preflight_check MODULES += systemcmds/preflight_check
MODULES += systemcmds/pwm MODULES += systemcmds/pwm
MODULES += systemcmds/esc_calib
MODULES += systemcmds/reboot MODULES += systemcmds/reboot
MODULES += systemcmds/top MODULES += systemcmds/top
MODULES += systemcmds/tests MODULES += systemcmds/tests

56
src/systemcmds/esc_calib/esc_calib.c
View File

@ -1,6 +1,7 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (C) 2013 PX4 Development Team. All rights reserved. * Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Author: Julian Oes <joes@student.ethz.ch>
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
@ -63,7 +64,7 @@
static void usage(const char *reason); static void usage(const char *reason);
__EXPORT int esc_calib_main(int argc, char *argv[]); __EXPORT int esc_calib_main(int argc, char *argv[]);
#define MAX_CHANNELS 8 #define MAX_CHANNELS 14
static void static void
usage(const char *reason) usage(const char *reason)
@ -97,7 +98,7 @@ esc_calib_main(int argc, char *argv[])
case 'd': case 'd':
dev = optarg; dev = optarg;
argc--; argc=-2;
break; break;
default: default:
@ -124,15 +125,18 @@ esc_calib_main(int argc, char *argv[])
} }
/* Wait for confirmation */ /* Wait for confirmation */
int console = open("/dev/console", O_NONBLOCK | O_RDONLY | O_NOCTTY); int console = open("/dev/ttyACM0", O_NONBLOCK | O_RDONLY | O_NOCTTY);
if (!console) if (!console)
err(1, "failed opening console"); err(1, "failed opening console");
warnx("ATTENTION, please remove or fix props before starting calibration!\n" printf("\nATTENTION, please remove or fix propellers before starting calibration!\n"
"\n" "\n"
"Also press the arming switch first for safety off\n" "Make sure\n"
"\t - that the ESCs are not powered\n"
"\t - that safety is off (two short blinks)\n"
"\t - that the controllers are stopped\n"
"\n" "\n"
"Do you really want to start calibration: y or n?\n"); "Do you want to start calibration now: y or n?\n");
/* wait for user input */ /* wait for user input */
while (1) { while (1) {
@ -142,15 +146,15 @@ esc_calib_main(int argc, char *argv[])
break; break;
} else if (c == 0x03 || c == 0x63 || c == 'q') { } else if (c == 0x03 || c == 0x63 || c == 'q') {
warnx("ESC calibration exited"); printf("ESC calibration exited\n");
close(console); close(console);
exit(0); exit(0);
} else if (c == 'n' || c == 'N') { } else if (c == 'n' || c == 'N') {
warnx("ESC calibration aborted"); printf("ESC calibration aborted\n");
close(console); close(console);
exit(0); exit(0);
} else { } else {
warnx("Unknown input, ESC calibration aborted"); printf("Unknown input, ESC calibration aborted\n");
close(console); close(console);
exit(0); exit(0);
} }
@ -163,23 +167,14 @@ esc_calib_main(int argc, char *argv[])
int fd = open(dev, 0); int fd = open(dev, 0);
if (fd < 0) if (fd < 0)
err(1, "can't open %s", dev); err(1, "can't open %s", dev);
// XXX arming not necessaire at the moment
// /* Then arm */
// ret = ioctl(fd, PWM_SERVO_SET_ARM_OK, 0);
// if (ret != OK)
// err(1, "PWM_SERVO_SET_ARM_OK");
// ret = ioctl(fd, PWM_SERVO_ARM, 0);
// if (ret != OK)
// err(1, "PWM_SERVO_ARM");
/* Wait for user confirmation */ /* Wait for user confirmation */
warnx("Set high PWM\n" printf("\nHigh PWM set\n"
"Connect battery now and hit ENTER after the ESCs confirm the first calibration step"); "\n"
"Connect battery now and hit ENTER after the ESCs confirm the first calibration step\n"
"\n");
fflush(stdout);
while (1) { while (1) {
@ -209,7 +204,8 @@ esc_calib_main(int argc, char *argv[])
/* we don't need any more user input */ /* we don't need any more user input */
warnx("Set low PWM, hit ENTER when finished"); printf("Low PWM set, hit ENTER when finished\n"
"\n");
while (1) { while (1) {
@ -227,7 +223,7 @@ esc_calib_main(int argc, char *argv[])
break; break;
} else if (c == 0x03 || c == 0x63 || c == 'q') { } else if (c == 0x03 || c == 0x63 || c == 'q') {
warnx("ESC calibration exited"); printf("ESC calibration exited\n");
close(console); close(console);
exit(0); exit(0);
} }
@ -237,14 +233,8 @@ esc_calib_main(int argc, char *argv[])
} }
warnx("ESC calibration finished"); printf("ESC calibration finished\n");
close(console); close(console);
// XXX disarming not necessaire at the moment
/* Now disarm again */
// ret = ioctl(fd, PWM_SERVO_DISARM, 0);
exit(0); exit(0);
} }