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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/preflight_check
MODULES += systemcmds/pwm
MODULES += systemcmds/esc_calib
MODULES += systemcmds/reboot
MODULES += systemcmds/top
MODULES += systemcmds/tests

54
src/systemcmds/esc_calib/esc_calib.c
View File

@ -1,6 +1,7 @@
/****************************************************************************
*
* 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
* modification, are permitted provided that the following conditions
@ -63,7 +64,7 @@
static void usage(const char *reason);
__EXPORT int esc_calib_main(int argc, char *argv[]);
#define MAX_CHANNELS 8
#define MAX_CHANNELS 14
static void
usage(const char *reason)
@ -97,7 +98,7 @@ esc_calib_main(int argc, char *argv[])
case 'd':
dev = optarg;
argc--;
argc=-2;
break;
default:
@ -124,15 +125,18 @@ esc_calib_main(int argc, char *argv[])
}
/* 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)
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"
"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"
"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 */
while (1) {
@ -142,15 +146,15 @@ esc_calib_main(int argc, char *argv[])
break;
} else if (c == 0x03 || c == 0x63 || c == 'q') {
warnx("ESC calibration exited");
printf("ESC calibration exited\n");
close(console);
exit(0);
} else if (c == 'n' || c == 'N') {
warnx("ESC calibration aborted");
printf("ESC calibration aborted\n");
close(console);
exit(0);
} else {
warnx("Unknown input, ESC calibration aborted");
printf("Unknown input, ESC calibration aborted\n");
close(console);
exit(0);
}
@ -164,22 +168,13 @@ esc_calib_main(int argc, char *argv[])
if (fd < 0)
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 */
warnx("Set high PWM\n"
"Connect battery now and hit ENTER after the ESCs confirm the first calibration step");
printf("\nHigh PWM set\n"
"\n"
"Connect battery now and hit ENTER after the ESCs confirm the first calibration step\n"
"\n");
fflush(stdout);
while (1) {
@ -209,7 +204,8 @@ esc_calib_main(int argc, char *argv[])
/* 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) {
@ -227,7 +223,7 @@ esc_calib_main(int argc, char *argv[])
break;
} else if (c == 0x03 || c == 0x63 || c == 'q') {
warnx("ESC calibration exited");
printf("ESC calibration exited\n");
close(console);
exit(0);
}
@ -237,14 +233,8 @@ esc_calib_main(int argc, char *argv[])
}
warnx("ESC calibration finished");
printf("ESC calibration finished\n");
close(console);
// XXX disarming not necessaire at the moment
/* Now disarm again */
// ret = ioctl(fd, PWM_SERVO_DISARM, 0);
exit(0);
}