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px4-firmware
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Merged

This commit is contained in:
Lorenz Meier 2013-06-07 10:48:24 +02:00
parent 34b6a91860 5c74809dac
commit 0bacb12dd8
8 changed files with 101 additions and 32 deletions
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38
ROMFS/px4fmu_common/mixers/IO_pass.mix Normal file
View File

@ -0,0 +1,38 @@
Passthrough mixer for PX4IO
============================
This file defines passthrough mixers suitable for testing.
Channel group 0, channels 0-7 are passed directly through to the outputs.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 0 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 1 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 2 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 4 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 5 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 6 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 7 10000 10000 0 -10000 10000

12
makefiles/firmware.mk
View File

@ -176,6 +176,12 @@ GLOBAL_DEPS += $(MAKEFILE_LIST)
#
EXTRA_CLEANS =
################################################################################
# NuttX libraries and paths
################################################################################
include $(PX4_MK_DIR)/nuttx.mk
################################################################################
# Modules
################################################################################
@ -296,12 +302,6 @@ $(LIBRARY_CLEANS):
LIBRARY_MK=$(mkfile) \
clean
################################################################################
# NuttX libraries and paths
################################################################################
include $(PX4_MK_DIR)/nuttx.mk
################################################################################
# ROMFS generation
################################################################################

6
makefiles/nuttx.mk
View File

@ -69,10 +69,14 @@ INCLUDE_DIRS += $(NUTTX_EXPORT_DIR)include \
LIB_DIRS += $(NUTTX_EXPORT_DIR)libs
LIBS += -lapps -lnuttx
LINK_DEPS += $(NUTTX_EXPORT_DIR)libs/libapps.a \
NUTTX_LIBS = $(NUTTX_EXPORT_DIR)libs/libapps.a \
$(NUTTX_EXPORT_DIR)libs/libnuttx.a
LINK_DEPS += $(NUTTX_LIBS)
$(NUTTX_CONFIG_HEADER): $(NUTTX_ARCHIVE)
@$(ECHO) %% Unpacking $(NUTTX_ARCHIVE)
$(Q) $(UNZIP_CMD) -q -o -d $(WORK_DIR) $(NUTTX_ARCHIVE)
$(Q) $(TOUCH) $@
$(LDSCRIPT): $(NUTTX_CONFIG_HEADER)
$(NUTTX_LIBS): $(NUTTX_CONFIG_HEADER)

21
src/drivers/px4io/px4io.cpp
View File

@ -1302,7 +1302,7 @@ PX4IO::print_status()
io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_VBATT),
io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_IBATT),
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE));
printf("amp_per_volt %.3f amp_offset %.3f mAhDischarged %.3f\n",
printf("amp_per_volt %.3f amp_offset %.3f mAh discharged %.3f\n",
(double)_battery_amp_per_volt,
(double)_battery_amp_bias,
(double)_battery_mamphour_total);
@ -1496,7 +1496,7 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
case MIXERIOCLOADBUF: {
const char *buf = (const char *)arg;
ret = mixer_send(buf, strnlen(buf, 1024));
ret = mixer_send(buf, strnlen(buf, 2048));
break;
}
@ -1637,6 +1637,13 @@ test(void)
if (ioctl(fd, PWM_SERVO_ARM, 0))
err(1, "failed to arm servos");
/* Open console directly to grab CTRL-C signal */
int console = open("/dev/console", O_NONBLOCK | O_RDONLY | O_NOCTTY);
if (!console)
err(1, "failed opening console");
warnx("Press CTRL-C or 'c' to abort.");
for (;;) {
/* sweep all servos between 1000..2000 */
@ -1671,6 +1678,16 @@ test(void)
if (value != servos[i])
errx(1, "servo %d readback error, got %u expected %u", i, value, servos[i]);
}
/* Check if user wants to quit */
char c;
if (read(console, &c, 1) == 1) {
if (c == 0x03 || c == 0x63) {
warnx("User abort\n");
close(console);
exit(0);
}
}
}
}

16
src/modules/att_pos_estimator_ekf/kalman_main.cpp
View File

@ -44,6 +44,7 @@
#include <string.h>
#include <systemlib/systemlib.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>
#include <math.h>
#include "KalmanNav.hpp"
@ -73,7 +74,7 @@ usage(const char *reason)
if (reason)
fprintf(stderr, "%s\n", reason);
fprintf(stderr, "usage: kalman_demo {start|stop|status} [-p <additional params>]\n\n");
warnx("usage: att_pos_estimator_ekf {start|stop|status} [-p <additional params>]");
exit(1);
}
@ -94,13 +95,14 @@ int att_pos_estimator_ekf_main(int argc, char *argv[])
if (!strcmp(argv[1], "start")) {
if (thread_running) {
printf("kalman_demo already running\n");
warnx("already running");
/* this is not an error */
exit(0);
}
thread_should_exit = false;
deamon_task = task_spawn_cmd("kalman_demo",
deamon_task = task_spawn_cmd("att_pos_estimator_ekf",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
4096,
@ -116,10 +118,10 @@ int att_pos_estimator_ekf_main(int argc, char *argv[])
if (!strcmp(argv[1], "status")) {
if (thread_running) {
printf("\tkalman_demo app is running\n");
warnx("is running\n");
} else {
printf("\tkalman_demo app not started\n");
warnx("not started\n");
}
exit(0);
@ -132,7 +134,7 @@ int att_pos_estimator_ekf_main(int argc, char *argv[])
int kalman_demo_thread_main(int argc, char *argv[])
{
printf("[kalman_demo] starting\n");
warnx("starting\n");
using namespace math;
@ -144,7 +146,7 @@ int kalman_demo_thread_main(int argc, char *argv[])
nav.update();
}
printf("[kalman_demo] exiting.\n");
printf("exiting.\n");
thread_running = false;

18
src/modules/fixedwing_backside/fixedwing_backside_main.cpp
View File

@ -47,6 +47,7 @@
#include <systemlib/systemlib.h>
#include <controllib/fixedwing.hpp>
#include <systemlib/param/param.h>
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>
#include <math.h>
@ -80,7 +81,7 @@ usage(const char *reason)
if (reason)
fprintf(stderr, "%s\n", reason);
fprintf(stderr, "usage: control_demo {start|stop|status} [-p <additional params>]\n\n");
fprintf(stderr, "usage: fixedwing_backside {start|stop|status} [-p <additional params>]\n\n");
exit(1);
}
@ -101,13 +102,14 @@ int fixedwing_backside_main(int argc, char *argv[])
if (!strcmp(argv[1], "start")) {
if (thread_running) {
printf("control_demo already running\n");
warnx("already running");
/* this is not an error */
exit(0);
}
thread_should_exit = false;
deamon_task = task_spawn_cmd("control_demo",
deamon_task = task_spawn_cmd("fixedwing_backside",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 10,
5120,
@ -128,10 +130,10 @@ int fixedwing_backside_main(int argc, char *argv[])
if (!strcmp(argv[1], "status")) {
if (thread_running) {
printf("\tcontrol_demo app is running\n");
warnx("is running");
} else {
printf("\tcontrol_demo app not started\n");
warnx("not started");
}
exit(0);
@ -144,7 +146,7 @@ int fixedwing_backside_main(int argc, char *argv[])
int control_demo_thread_main(int argc, char *argv[])
{
printf("[control_Demo] starting\n");
warnx("starting");
using namespace control;
@ -156,7 +158,7 @@ int control_demo_thread_main(int argc, char *argv[])
autopilot.update();
}
printf("[control_demo] exiting.\n");
warnx("exiting.");
thread_running = false;
@ -165,6 +167,6 @@ int control_demo_thread_main(int argc, char *argv[])
void test()
{
printf("beginning control lib test\n");
warnx("beginning control lib test");
control::basicBlocksTest();
}

18
src/modules/px4iofirmware/mixer.cpp
View File

@ -294,8 +294,7 @@ mixer_handle_text(const void *buffer, size_t length)
case F2I_MIXER_ACTION_APPEND:
isr_debug(2, "append %d", length);
/* check for overflow - this is really fatal */
/* XXX could add just what will fit & try to parse, then repeat... */
/* check for overflow - this would be really fatal */
if ((mixer_text_length + text_length + 1) > sizeof(mixer_text)) {
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK;
return;
@ -314,8 +313,13 @@ mixer_handle_text(const void *buffer, size_t length)
/* if anything was parsed */
if (resid != mixer_text_length) {
/* ideally, this should test resid == 0 ? */
r_status_flags |= PX4IO_P_STATUS_FLAGS_MIXER_OK;
/* only set mixer ok if no residual is left over */
if (resid == 0) {
r_status_flags |= PX4IO_P_STATUS_FLAGS_MIXER_OK;
} else {
/* not yet reached the end of the mixer, set as not ok */
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK;
}
isr_debug(2, "used %u", mixer_text_length - resid);
@ -338,11 +342,13 @@ mixer_set_failsafe()
{
/*
* Check if a custom failsafe value has been written,
* else use the opportunity to set decent defaults.
* or if the mixer is not ok and bail out.
*/
if (r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM)
if ((r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM) ||
!(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK))
return;
/* set failsafe defaults to the values for all inputs = 0 */
float outputs[IO_SERVO_COUNT];
unsigned mixed;

4
src/systemcmds/mixer/mixer.c
View File

@ -88,8 +88,8 @@ load(const char *devname, const char *fname)
{
int dev;
FILE *fp;
char line[80];
char buf[512];
char line[120];
char buf[2048];
/* open the device */
if ((dev = open(devname, 0)) < 0)