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Merge branch 'beta' into ready_rtl_fix

This commit is contained in:
Anton Babushkin 2014-02-18 19:09:33 +04:00
parent 1d40582cc0 3508a42f6a
commit 1eecc73483
107 changed files with 2632 additions and 2205 deletions
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30
ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil
View File

@ -5,36 +5,10 @@
# Lorenz Meier <lm@inf.ethz.ch>
#
echo "HIL Rascal 110 starting.."
sh /etc/init.d/rc.fw_defaults
if [ $DO_AUTOCONFIG == yes ]
then
# Set all params here, then disable autoconfig
param set FW_P_D 0
param set FW_P_I 0
param set FW_P_IMAX 15
param set FW_P_LIM_MAX 50
param set FW_P_LIM_MIN -50
param set FW_P_P 60
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 1.1
param set FW_R_D 0
param set FW_R_I 5
param set FW_R_IMAX 20
param set FW_R_P 100
param set FW_R_RMAX 100
param set FW_THR_CRUISE 0.65
param set FW_T_SINK_MAX 5.0
param set FW_T_SINK_MIN 4.0
param set FW_Y_ROLLFF 1.1
param set FW_L1_PERIOD 16
param set RC_SCALE_ROLL 1.0
param set RC_SCALE_PITCH 1.0
fi
echo "HIL Rascal 110 starting.."
set HIL yes
set VEHICLE_TYPE fw
set MIXER FMU_AERT

48
ROMFS/px4fmu_common/init.d/10015_tbs_discovery
View File

@ -2,48 +2,28 @@
#
# Team Blacksheep Discovery Quadcopter
#
# Simon Wilks <sjwilks@gmail.com>
# Anton Babushkin <anton.babushkin@me.com>, Simon Wilks <sjwilks@gmail.com>, Thomas Gubler <thomasgubler@gmail.com>
#
sh /etc/init.d/rc.mc_defaults
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
param set MC_ROLL_P 5.0
param set MC_ROLLRATE_P 0.17
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.006
param set MC_PITCH_P 5.0
param set MC_PITCHRATE_P 0.17
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.006
param set MC_YAW_P 0.5
param set MC_YAWRATE_P 0.2
# TODO review MC_YAWRATE_I
param set MC_ROLL_P 8.0
param set MC_ROLLRATE_P 0.07
param set MC_ROLLRATE_I 0.05
param set MC_ROLLRATE_D 0.0017
param set MC_PITCH_P 8.0
param set MC_PITCHRATE_P 0.1
param set MC_PITCHRATE_I 0.1
param set MC_PITCHRATE_D 0.0025
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.28
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_D 0.0
param set MPC_THR_MAX 1.0
param set MPC_THR_MIN 0.1
param set MPC_XY_P 1.0
param set MPC_XY_VEL_P 0.1
param set MPC_XY_VEL_I 0.02
param set MPC_XY_VEL_D 0.01
param set MPC_XY_VEL_MAX 5
param set MPC_XY_FF 0.5
param set MPC_Z_P 1.0
param set MPC_Z_VEL_P 0.1
param set MPC_Z_VEL_I 0.02
param set MPC_Z_VEL_D 0.0
param set MPC_Z_VEL_MAX 3
param set MPC_Z_FF 0.5
param set MPC_TILT_MAX 1.0
param set MPC_LAND_SPEED 1.0
param set MPC_LAND_TILT 0.3
fi
set VEHICLE_TYPE mc
set MIXER FMU_quad_w
set PWM_OUTPUTS 1234
set PWM_RATE 400

29
ROMFS/px4fmu_common/init.d/10016_3dr_iris
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@ -5,11 +5,11 @@
# Anton Babushkin <anton.babushkin@me.com>
#
sh /etc/init.d/rc.mc_defaults
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
# TODO tune roll/pitch separately
param set MC_ROLL_P 9.0
param set MC_ROLLRATE_P 0.13
param set MC_ROLLRATE_I 0.0
@ -22,34 +22,11 @@ then
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_D 0.0
param set MPC_THR_MAX 1.0
param set MPC_THR_MIN 0.1
param set MPC_XY_P 1.0
param set MPC_XY_VEL_P 0.1
param set MPC_XY_VEL_I 0.02
param set MPC_XY_VEL_D 0.01
param set MPC_XY_VEL_MAX 5
param set MPC_XY_FF 0.5
param set MPC_Z_P 1.0
param set MPC_Z_VEL_P 0.1
param set MPC_Z_VEL_I 0.02
param set MPC_Z_VEL_D 0.0
param set MPC_Z_VEL_MAX 3
param set MPC_Z_FF 0.5
param set MPC_TILT_MAX 1.0
param set MPC_LAND_SPEED 1.0
param set MPC_LAND_TILT 0.3
param set BAT_V_SCALING 0.00989
param set BAT_C_SCALING 0.0124
fi
set VEHICLE_TYPE mc
set MIXER FMU_quad_w
set PWM_OUTPUTS 1234
set PWM_RATE 400
set PWM_DISARMED 900
set PWM_MIN 1000
set PWM_MAX 2000

4
ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil
View File

@ -5,6 +5,8 @@
# Anton Babushkin <anton.babushkin@me.com>
#
sh /etc/init.d/4001_quad_x
sh /etc/init.d/rc.mc_defaults
set MIXER FMU_quad_x
set HIL yes

4
ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil
View File

@ -5,6 +5,8 @@
# Anton Babushkin <anton.babushkin@me.com>
#
sh /etc/init.d/1001_rc_quad_x.hil
sh /etc/init.d/rc.mc_defaults
set MIXER FMU_quad_+
set HIL yes

32
ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil
View File

@ -5,38 +5,10 @@
# Thomas Gubler <thomasgubler@gmail.com>
#
echo "HIL Rascal 110 starting.."
sh /etc/init.d/rc.fw_defaults
if [ $DO_AUTOCONFIG == yes ]
then
# Set all params here, then disable autoconfig
param set FW_P_D 0
param set FW_P_I 0
param set FW_P_IMAX 15
param set FW_P_LIM_MAX 50
param set FW_P_LIM_MIN -50
param set FW_P_P 60
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 1.1
param set FW_R_D 0
param set FW_R_I 5
param set FW_R_IMAX 20
param set FW_R_P 100
param set FW_R_RMAX 100
param set FW_THR_CRUISE 0.65
param set FW_THR_MAX 1
param set FW_THR_MIN 0
param set FW_T_SINK_MAX 5.0
param set FW_T_SINK_MIN 4.0
param set FW_Y_ROLLFF 1.1
param set FW_L1_PERIOD 16
param set RC_SCALE_ROLL 1.0
param set RC_SCALE_PITCH 1.0
fi
echo "HIL Rascal 110 starting.."
set HIL yes
set VEHICLE_TYPE fw
set MIXER FMU_AERT

23
ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil
View File

@ -5,14 +5,13 @@
# Thomas Gubler <thomasgubler@gmail.com>
#
echo "HIL Malolo 1 starting.."
sh /etc/init.d/rc.fw_defaults
if [ $DO_AUTOCONFIG == yes ]
then
# Set all params here, then disable autoconfig
param set FW_AIRSPD_MIN 12
param set FW_AIRSPD_TRIM 25
param set FW_AIRSPD_MAX 40
param set FW_ATT_TC 0.3
param set FW_L1_DAMPING 0.74
param set FW_L1_PERIOD 15
@ -20,10 +19,6 @@ then
param set FW_PR_I 0.05
param set FW_PR_IMAX 0.2
param set FW_PR_P 0.1
param set FW_P_LIM_MAX 45
param set FW_P_LIM_MIN -45
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 0
param set FW_RR_FF 0.6
param set FW_RR_I 0.02
@ -31,9 +26,6 @@ then
param set FW_RR_P 0.1
param set FW_R_LIM 45
param set FW_R_RMAX 0
param set FW_THR_CRUISE 0.6
param set FW_THR_MAX 1
param set FW_THR_MIN 0
param set FW_T_CLMB_MAX 5
param set FW_T_HRATE_P 0.02
param set FW_T_PTCH_DAMP 0
@ -43,22 +35,13 @@ then
param set FW_T_SRATE_P 0.01
param set FW_T_TIME_CONST 3
param set FW_T_VERT_ACC 7
param set FW_YCO_VMIN 1000
param set FW_YR_FF 0.0
param set FW_YR_I 0
param set FW_YR_IMAX 0.2
param set FW_YR_P 0.0
param set FW_Y_RMAX 0
param set NAV_LAND_ALT 90
param set NAV_RTL_ALT 100
param set NAV_RTL_LAND_T -1
param set SYS_AUTOCONFIG 0
param save
param set FW_YR_P 0.0
fi
set HIL yes
set VEHICLE_TYPE fw
# Set the AERT mixer for HIL (even if the malolo is a flying wing)
set MIXER FMU_AERT

15
ROMFS/px4fmu_common/init.d/11001_hexa_cox Normal file
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@ -0,0 +1,15 @@
#!nsh
#
# UNTESTED UNTESTED!
#
# Generic 10” Hexa coaxial geometry
#
# Lorenz Meier <lm@inf.ethz.ch>
#
sh /etc/init.d/rc.mc_defaults
set MIXER hexa_cox
# We only can run one channel group with one rate, so set all 8 channels
set PWM_OUTPUTS 12345678

8
ROMFS/px4fmu_common/init.d/12001_octo_cox
View File

@ -2,9 +2,11 @@
#
# Generic 10” Octo coaxial geometry
#
# Lorenz Meier <lm@inf.ethz.ch>, Anton Babushkin <anton.babushkin@me.com>
# Lorenz Meier <lm@inf.ethz.ch>
#
sh /etc/init.d/8001_octo_x
sh /etc/init.d/rc.mc_defaults
set MIXER FMU_octo_cox
set MIXER octo_cox
set PWM_OUTPUTS 12345678

33
ROMFS/px4fmu_common/init.d/2100_mpx_easystar
View File

@ -2,38 +2,7 @@
#
# MPX EasyStar Plane
#
# Maintainers: ???
#
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
param set FW_P_D 0
param set FW_P_I 0
param set FW_P_IMAX 15
param set FW_P_LIM_MAX 50
param set FW_P_LIM_MIN -50
param set FW_P_P 60
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 1.1
param set FW_R_D 0
param set FW_R_I 5
param set FW_R_IMAX 20
param set FW_R_P 100
param set FW_R_RMAX 100
param set FW_THR_CRUISE 0.65
param set FW_THR_MAX 1
param set FW_THR_MIN 0
param set FW_T_SINK_MAX 5.0
param set FW_T_SINK_MIN 4.0
param set FW_Y_ROLLFF 1.1
param set FW_L1_PERIOD 16
param set RC_SCALE_ROLL 1.0
param set RC_SCALE_PITCH 1.0
fi
sh /etc/init.d/rc.fw_defaults
set VEHICLE_TYPE fw
set MIXER FMU_RET

32
ROMFS/px4fmu_common/init.d/2101_hk_bixler
View File

@ -1,35 +1,5 @@
#!nsh
if [ $DO_AUTOCONFIG == yes ]
then
# Set all params here, then disable autoconfig
param set FW_P_D 0
param set FW_P_I 0
param set FW_P_IMAX 15
param set FW_P_LIM_MAX 50
param set FW_P_LIM_MIN -50
param set FW_P_P 60
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 1.1
param set FW_R_D 0
param set FW_R_I 5
param set FW_R_IMAX 20
param set FW_R_P 100
param set FW_R_RMAX 100
param set FW_THR_CRUISE 0.65
param set FW_THR_MAX 1
param set FW_THR_MIN 0
param set FW_T_SINK_MAX 5.0
param set FW_T_SINK_MIN 4.0
param set FW_Y_ROLLFF 1.1
param set FW_L1_PERIOD 16
param set RC_SCALE_ROLL 1.0
param set RC_SCALE_PITCH 1.0
param set SYS_AUTOCONFIG 0
param save
fi
sh /etc/init.d/rc.fw_defaults
set VEHICLE_TYPE fw
set MIXER FMU_AERT

30
ROMFS/px4fmu_common/init.d/2102_3dr_skywalker
View File

@ -1,33 +1,5 @@
#!nsh
if [ $DO_AUTOCONFIG == yes ]
then
# Set all params here, then disable autoconfig
param set FW_P_D 0
param set FW_P_I 0
param set FW_P_IMAX 15
param set FW_P_LIM_MAX 50
param set FW_P_LIM_MIN -50
param set FW_P_P 60
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 1.1
param set FW_R_D 0
param set FW_R_I 5
param set FW_R_IMAX 20
param set FW_R_P 100
param set FW_R_RMAX 100
param set FW_THR_CRUISE 0.65
param set FW_T_SINK_MAX 5.0
param set FW_T_SINK_MIN 4.0
param set FW_Y_ROLLFF 1.1
param set FW_L1_PERIOD 16
param set RC_SCALE_ROLL 1.0
param set RC_SCALE_PITCH 1.0
param set SYS_AUTOCONFIG 0
param save
fi
sh /etc/init.d/rc.fw_defaults
set VEHICLE_TYPE fw
set MIXER FMU_AERT

35
ROMFS/px4fmu_common/init.d/3030_io_camflyer
View File

@ -1,38 +1,5 @@
#!nsh
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
param set FW_AIRSPD_MIN 7
param set FW_AIRSPD_TRIM 9
param set FW_AIRSPD_MAX 14
param set FW_L1_PERIOD 10
param set FW_P_D 0
param set FW_P_I 0
param set FW_P_IMAX 20
param set FW_P_LIM_MAX 30
param set FW_P_LIM_MIN -20
param set FW_P_P 30
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 2
param set FW_R_D 0
param set FW_R_I 5
param set FW_R_IMAX 20
param set FW_R_P 60
param set FW_R_RMAX 60
param set FW_THR_CRUISE 0.65
param set FW_THR_MAX 1.0
param set FW_THR_MIN 0
param set FW_T_SINK_MAX 5
param set FW_T_SINK_MIN 2
param set FW_T_TIME_CONST 9
param set FW_Y_ROLLFF 2.0
param set RC_SCALE_ROLL 1.0
param set RC_SCALE_PITCH 1.0
fi
sh /etc/init.d/rc.fw_defaults
set VEHICLE_TYPE fw
set MIXER FMU_Q

36
ROMFS/px4fmu_common/init.d/3031_phantom
View File

@ -5,40 +5,4 @@
# Simon Wilks <sjwilks@gmail.com>
#
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
param set FW_AIRSPD_MIN 11.4
param set FW_AIRSPD_TRIM 14
param set FW_AIRSPD_MAX 22
param set FW_L1_PERIOD 15
param set FW_P_D 0
param set FW_P_I 0
param set FW_P_IMAX 15
param set FW_P_LIM_MAX 45
param set FW_P_LIM_MIN -45
param set FW_P_P 60
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 2
param set FW_R_D 0
param set FW_R_I 5
param set FW_R_IMAX 15
param set FW_R_P 80
param set FW_R_RMAX 60
param set FW_THR_CRUISE 0.8
param set FW_THR_LND_MAX 0
param set FW_THR_MAX 1
param set FW_THR_MIN 0.5
param set FW_T_SINK_MAX 5.0
param set FW_T_SINK_MIN 2.0
param set FW_Y_ROLLFF 1.0
param set RC_SCALE_ROLL 0.6
param set RC_SCALE_PITCH 0.6
param set TRIM_PITCH 0.1
fi
set VEHICLE_TYPE fw
set MIXER FMU_Q

54
ROMFS/px4fmu_common/init.d/3032_skywalker_x5
View File

@ -5,39 +5,35 @@
# Thomas Gubler <thomasgubler@gmail.com>, Julian Oes <joes@student.ethz.ch>
#
sh /etc/init.d/rc.fw_defaults
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
param set FW_AIRSPD_MIN 7
param set FW_AIRSPD_TRIM 9
param set FW_AIRSPD_MAX 14
param set FW_L1_PERIOD 10
param set FW_P_D 0
param set FW_P_I 0
param set FW_P_IMAX 20
param set FW_P_LIM_MAX 30
param set FW_P_LIM_MIN -20
param set FW_P_P 30
param set FW_AIRSPD_MIN 15
param set FW_AIRSPD_TRIM 20
param set FW_AIRSPD_MAX 40
param set FW_ATT_TC 0.3
param set FW_L1_DAMPING 0.74
param set FW_L1_PERIOD 15
param set FW_PR_FF 0.3
param set FW_PR_I 0
param set FW_PR_IMAX 0.2
param set FW_PR_P 0.03
param set FW_P_LIM_MAX 45
param set FW_P_LIM_MIN -45
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 2
param set FW_R_D 0
param set FW_R_I 5
param set FW_R_IMAX 20
param set FW_R_P 60
param set FW_R_RMAX 60
param set FW_THR_CRUISE 0.65
param set FW_THR_MAX 0.7
param set FW_THR_MIN 0
param set FW_T_SINK_MAX 5
param set FW_T_SINK_MIN 2
param set FW_T_TIME_CONST 9
param set FW_Y_ROLLFF 2.0
param set RC_SCALE_ROLL 1.0
param set RC_SCALE_PITCH 1.0
param set FW_P_ROLLFF 0
param set FW_RR_FF 0.3
param set FW_RR_I 0
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.03
param set FW_R_LIM 60
param set FW_R_RMAX 0
param set FW_T_HRATE_P 0.01
param set FW_T_RLL2THR 15
param set FW_T_SRATE_P 0.01
param set FW_T_TIME_CONST 5
fi
set VEHICLE_TYPE fw
set MIXER FMU_X5

35
ROMFS/px4fmu_common/init.d/3033_wingwing
View File

@ -5,39 +5,6 @@
# Simon Wilks <sjwilks@gmail.com>
#
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
param set FW_AIRSPD_MIN 7
param set FW_AIRSPD_TRIM 9
param set FW_AIRSPD_MAX 14
param set FW_L1_PERIOD 10
param set FW_P_D 0
param set FW_P_I 0
param set FW_P_IMAX 20
param set FW_P_LIM_MAX 30
param set FW_P_LIM_MIN -20
param set FW_P_P 30
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 2
param set FW_R_D 0
param set FW_R_I 5
param set FW_R_IMAX 20
param set FW_R_P 60
param set FW_R_RMAX 60
param set FW_THR_CRUISE 0.65
param set FW_THR_MAX 0.7
param set FW_THR_MIN 0
param set FW_T_SINK_MAX 5
param set FW_T_SINK_MIN 2
param set FW_T_TIME_CONST 9
param set FW_Y_ROLLFF 2.0
param set RC_SCALE_ROLL 1.0
param set RC_SCALE_PITCH 1.0
fi
sh /etc/init.d/rc.fw_defaults
set VEHICLE_TYPE fw
set MIXER FMU_Q

35
ROMFS/px4fmu_common/init.d/3034_fx79
View File

@ -5,39 +5,6 @@
# Simon Wilks <sjwilks@gmail.com>
#
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
param set FW_AIRSPD_MAX 20
param set FW_AIRSPD_TRIM 12
param set FW_AIRSPD_MIN 15
param set FW_L1_PERIOD 12
param set FW_P_D 0
param set FW_P_I 0
param set FW_P_IMAX 15
param set FW_P_LIM_MAX 50
param set FW_P_LIM_MIN -50
param set FW_P_P 60
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 1.1
param set FW_R_D 0
param set FW_R_I 5
param set FW_R_IMAX 20
param set FW_R_P 80
param set FW_R_RMAX 100
param set FW_THR_CRUISE 0.75
param set FW_THR_MAX 1
param set FW_THR_MIN 0
param set FW_T_SINK_MAX 5.0
param set FW_T_SINK_MIN 4.0
param set FW_T_TIME_CONST 9
param set FW_Y_ROLLFF 1.1
param set RC_SCALE_ROLL 1.0
param set RC_SCALE_PITCH 1.0
fi
sh /etc/init.d/rc.fw_defaults
set VEHICLE_TYPE fw
set MIXER FMU_FX79

42
ROMFS/px4fmu_common/init.d/4001_quad_x
View File

@ -5,48 +5,8 @@
# Lorenz Meier <lm@inf.ethz.ch>
#
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.12
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.004
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.12
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.004
param set MC_YAW_P 2.0
param set MC_YAWRATE_P 0.3
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_D 0.005
param set MPC_THR_MAX 1.0
param set MPC_THR_MIN 0.1
param set MPC_XY_P 1.0
param set MPC_XY_VEL_P 0.1
param set MPC_XY_VEL_I 0.02
param set MPC_XY_VEL_D 0.01
param set MPC_XY_VEL_MAX 5
param set MPC_XY_FF 0.5
param set MPC_Z_P 1.0
param set MPC_Z_VEL_P 0.1
param set MPC_Z_VEL_I 0.02
param set MPC_Z_VEL_D 0.0
param set MPC_Z_VEL_MAX 3
param set MPC_Z_FF 0.5
param set MPC_TILT_MAX 1.0
param set MPC_LAND_SPEED 1.0
param set MPC_LAND_TILT 0.3
fi
sh /etc/init.d/rc.mc_defaults
set VEHICLE_TYPE mc
set MIXER FMU_quad_x
set PWM_OUTPUTS 1234
set PWM_RATE 400
set PWM_DISARMED 900
set PWM_MIN 1100
set PWM_MAX 2000

42
ROMFS/px4fmu_common/init.d/4010_dji_f330
View File

@ -5,49 +5,23 @@
# Anton Babushkin <anton.babushkin@me.com>
#
sh /etc/init.d/4001_quad_x
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.12
param set MC_ROLLRATE_P 0.1
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.004
param set MC_ROLLRATE_D 0.003
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.12
param set MC_PITCHRATE_P 0.1
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.004
param set MC_PITCHRATE_D 0.003
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.05
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_D 0.0
param set MPC_THR_MAX 1.0
param set MPC_THR_MIN 0.1
param set MPC_XY_P 1.0
param set MPC_XY_VEL_P 0.1
param set MPC_XY_VEL_I 0.02
param set MPC_XY_VEL_D 0.01
param set MPC_XY_VEL_MAX 5
param set MPC_XY_FF 0.5
param set MPC_Z_P 1.0
param set MPC_Z_VEL_P 0.1
param set MPC_Z_VEL_I 0.02
param set MPC_Z_VEL_D 0.0
param set MPC_Z_VEL_MAX 3
param set MPC_Z_FF 0.5
param set MPC_TILT_MAX 1.0
param set MPC_LAND_SPEED 1.0
param set MPC_LAND_TILT 0.3
fi
set VEHICLE_TYPE mc
set MIXER FMU_quad_x
set PWM_OUTPUTS 1234
set PWM_RATE 400
# DJI ESC range
set PWM_DISARMED 900
set PWM_MIN 1200
set PWM_MIN 1175
set PWM_MAX 1900

49
ROMFS/px4fmu_common/init.d/4011_dji_f450
View File

@ -5,49 +5,24 @@
# Lorenz Meier <lm@inf.ethz.ch>
#
sh /etc/init.d/4001_quad_x
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
# TODO REVIEW
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.12
param set MC_ROLLRATE_P 0.1
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.004
param set MC_ROLLRATE_D 0.003
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.12
param set MC_PITCHRATE_P 0.1
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.004
param set MC_YAW_P 2.0
param set MC_YAWRATE_P 0.3
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_D 0.005
param set MPC_THR_MAX 1.0
param set MPC_THR_MIN 0.1
param set MPC_XY_P 1.0
param set MPC_XY_VEL_P 0.1
param set MPC_XY_VEL_I 0.02
param set MPC_XY_VEL_D 0.01
param set MPC_XY_VEL_MAX 5
param set MPC_XY_FF 0.5
param set MPC_Z_P 1.0
param set MPC_Z_VEL_P 0.1
param set MPC_Z_VEL_I 0.02
param set MPC_Z_VEL_D 0.0
param set MPC_Z_VEL_MAX 3
param set MPC_Z_FF 0.5
param set MPC_TILT_MAX 1.0
param set MPC_LAND_SPEED 1.0
param set MPC_LAND_TILT 0.3
param set MC_PITCHRATE_D 0.003
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_D 0.0
fi
set VEHICLE_TYPE mc
set MIXER FMU_quad_x
set PWM_OUTPUTS 1234
set PWM_RATE 400
# DJI ESC range
set PWM_DISARMED 900
set PWM_MIN 1200
set PWM_MIN 1175
set PWM_MAX 1900

14
ROMFS/px4fmu_common/init.d/4012_hk_x550
View File

@ -1,14 +0,0 @@
#!nsh
#
# HobbyKing X550 Quadcopter
#
# Todd Stellanova <tstellanova@gmail.com>
#
sh /etc/init.d/4001_quad_x
set PWM_OUTPUTS 1234
set PWM_RATE 400
set PWM_DISARMED 900
set PWM_MIN 1000
set PWM_MAX 2000

4
ROMFS/px4fmu_common/init.d/5001_quad_+
View File

@ -5,6 +5,8 @@
# Anton Babushkin <anton.babushkin@me.com>
#
sh /etc/init.d/4001_quad_x
sh /etc/init.d/rc.mc_defaults
set MIXER FMU_quad_+
set PWM_OUTPUTS 1234

5
ROMFS/px4fmu_common/init.d/6001_hexa_x
View File

@ -5,10 +5,9 @@
# Anton Babushkin <anton.babushkin@me.com>
#
sh /etc/init.d/4001_quad_x
sh /etc/init.d/rc.mc_defaults
set MIXER FMU_hexa_x
# We only can run one channel group with one rate,
# so all 8 at 400 Hz
# We only can run one channel group with one rate, so set all 8 channels
set PWM_OUTPUTS 12345678

5
ROMFS/px4fmu_common/init.d/7001_hexa_+
View File

@ -5,6 +5,9 @@
# Anton Babushkin <anton.babushkin@me.com>
#
sh /etc/init.d/6001_hexa_x
sh /etc/init.d/rc.mc_defaults
set MIXER FMU_hexa_+
# We only can run one channel group with one rate, so set all 8 channels
set PWM_OUTPUTS 12345678

2
ROMFS/px4fmu_common/init.d/8001_octo_x
View File

@ -5,7 +5,7 @@
# Anton Babushkin <anton.babushkin@me.com>
#
sh /etc/init.d/4001_quad_x
sh /etc/init.d/rc.mc_defaults
set MIXER FMU_octo_x

4
ROMFS/px4fmu_common/init.d/9001_octo_+
View File

@ -5,6 +5,8 @@
# Anton Babushkin <anton.babushkin@me.com>
#
sh /etc/init.d/8001_octo_x
sh /etc/init.d/rc.mc_defaults
set MIXER FMU_octo_+
set PWM_OUTPUTS 12345678

14
ROMFS/px4fmu_common/init.d/rc.autostart
View File

@ -116,11 +116,6 @@ then
sh /etc/init.d/4011_dji_f450
fi
if param compare SYS_AUTOSTART 4012 12
then
sh /etc/init.d/4012_hk_x550
fi
#
# Quad +
#
@ -180,6 +175,15 @@ then
sh /etc/init.d/10016_3dr_iris
fi
#
# Hexa Coaxial
#
if param compare SYS_AUTOSTART 11001
then
sh /etc/init.d/11001_hexa_cox
fi
#
# Octo Coaxial
#

14
ROMFS/px4fmu_common/init.d/rc.fw_defaults Normal file
View File

@ -0,0 +1,14 @@
#!nsh
set VEHICLE_TYPE fw
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for FW
#
param set NAV_LAND_ALT 90
param set NAV_RTL_ALT 100
param set NAV_RTL_LAND_T -1
param set NAV_ACCEPT_RAD 50
fi

43
ROMFS/px4fmu_common/init.d/rc.mc_defaults Normal file
View File

@ -0,0 +1,43 @@
#!nsh
set VEHICLE_TYPE mc
if [ $DO_AUTOCONFIG == yes ]
then
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.1
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.003
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.1
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.003
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_D 0.0
param set MC_YAW_FF 0.5
param set MPC_THR_MAX 1.0
param set MPC_THR_MIN 0.1
param set MPC_XY_P 1.0
param set MPC_XY_VEL_P 0.1
param set MPC_XY_VEL_I 0.02
param set MPC_XY_VEL_D 0.01
param set MPC_XY_VEL_MAX 5
param set MPC_XY_FF 0.5
param set MPC_Z_P 1.0
param set MPC_Z_VEL_P 0.1
param set MPC_Z_VEL_I 0.02
param set MPC_Z_VEL_D 0.0
param set MPC_Z_VEL_MAX 3
param set MPC_Z_FF 0.5
param set MPC_TILT_MAX 1.0
param set MPC_LAND_SPEED 1.0
param set MPC_LAND_TILT 0.3
fi
set PWM_RATE 400
set PWM_DISARMED 900
set PWM_MIN 1075
set PWM_MAX 2000

32
ROMFS/px4fmu_common/init.d/rcS
View File

@ -464,20 +464,28 @@ then
if [ $MIXER == none ]
then
# Set default mixer for multicopter if not defined
set MIXER quad_x
echo "Default mixer for multicopter not defined"
fi
if [ $MAV_TYPE == none ]
then
# Use MAV_TYPE = 2 (quadcopter) if not defined
set MAV_TYPE 2
# Use mixer to detect vehicle type
if [ $MIXER == FMU_quad_x -o $MIXER == FMU_quad_+ ]
then
set MAV_TYPE 2
fi
if [ $MIXER == FMU_quad_w ]
then
set MAV_TYPE 2
fi
if [ $MIXER == FMU_hexa_x -o $MIXER == FMU_hexa_+ ]
then
set MAV_TYPE 13
fi
if [ $MIXER == hexa_cox ]
then
set MAV_TYPE 13
fi
if [ $MIXER == FMU_octo_x -o $MIXER == FMU_octo_+ ]
then
set MAV_TYPE 14
@ -487,8 +495,14 @@ then
set MAV_TYPE 14
fi
fi
param set MAV_TYPE $MAV_TYPE
# Still no MAV_TYPE found
if [ $MAV_TYPE == none ]
then
echo "Unknown MAV_TYPE"
else
param set MAV_TYPE $MAV_TYPE
fi
# Load mixer and configure outputs
sh /etc/init.d/rc.interface
@ -502,10 +516,8 @@ then
#
if [ $VEHICLE_TYPE == none ]
then
echo "[init] Vehicle type: GENERIC"
echo "[init] Vehicle type: No autostart ID found"
# Load mixer and configure outputs
sh /etc/init.d/rc.interface
fi
# Start any custom addons

BIN
ROMFS/px4fmu_common/logging/conv.zip
View File

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11
ROMFS/px4fmu_common/mixers/FMU_X5.mix
View File

@ -23,13 +23,13 @@ for the elevons.
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 -3000 -5000 0 -10000 10000
S: 0 1 -5000 -5000 0 -10000 10000
S: 0 0 -8000 -8000 0 -10000 10000
S: 0 1 6000 6000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 -5000 -3000 0 -10000 10000
S: 0 1 5000 5000 0 -10000 10000
S: 0 0 -8000 -8000 0 -10000 10000
S: 0 1 -6000 -6000 0 -10000 10000
Output 2
--------
@ -48,7 +48,7 @@ M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
Gimbal / payload mixer for last four channels
Gimbal / flaps / payload mixer for last four channels
-----------------------------------------------------
M: 1
@ -66,4 +66,3 @@ S: 0 6 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 7 10000 10000 0 -10000 10000

6
ROMFS/px4fmu_common/mixers/FMU_hexa_+.mix
View File

@ -1,7 +1,3 @@
Multirotor mixer for PX4FMU
===========================
This file defines a single mixer for a hexacopter in the + configuration. All controls
are mixed 100%.
# Hexa +
R: 6+ 10000 10000 10000 0

6
ROMFS/px4fmu_common/mixers/FMU_hexa_x.mix
View File

@ -1,7 +1,3 @@
Multirotor mixer for PX4FMU
===========================
This file defines a single mixer for a hexacopter in the X configuration. All controls
are mixed 100%.
# Hexa X
R: 6x 10000 10000 10000 0

6
ROMFS/px4fmu_common/mixers/FMU_octo_+.mix
View File

@ -1,7 +1,3 @@
Multirotor mixer for PX4FMU
===========================
This file defines a single mixer for a octocopter in the + configuration. All controls
are mixed 100%.
# Octo +
R: 8+ 10000 10000 10000 0

6
ROMFS/px4fmu_common/mixers/FMU_octo_cox.mix
View File

@ -1,7 +1,3 @@
Multirotor mixer for PX4FMU
===========================
This file defines a single mixer for a Coaxial Octocopter in the X configuration. All controls
are mixed 100%.
# Octo coaxial
R: 8c 10000 10000 10000 0

6
ROMFS/px4fmu_common/mixers/FMU_octo_x.mix
View File

@ -1,7 +1,3 @@
Multirotor mixer for PX4FMU
===========================
This file defines a single mixer for a octocopter in the X configuration. All controls
are mixed 100%.
# Octo X
R: 8x 10000 10000 10000 0

154
ROMFS/px4fmu_common/mixers/README
View File

@ -1,154 +0,0 @@
PX4 mixer definitions
=====================
Files in this directory implement example mixers that can be used as a basis
for customisation, or for general testing purposes.
Mixer basics
------------
Mixers combine control values from various sources (control tasks, user inputs,
etc.) and produce output values suitable for controlling actuators; servos,
motors, switches and so on.
An actuator derives its value from the combination of one or more control
values. Each of the control values is scaled according to the actuator's
configuration and then combined to produce the actuator value, which may then be
further scaled to suit the specific output type.
Internally, all scaling is performed using floating point values. Inputs and
outputs are clamped to the range -1.0 to 1.0.
control control control
| | |
v v v
scale scale scale
| | |
| v |
+-------> mix <------+
|
scale
|
v
out
Scaling
-------
Basic scalers provide linear scaling of the input to the output.
Each scaler allows the input value to be scaled independently for inputs
greater/less than zero. An offset can be applied to the output, and lower and
upper boundary constraints can be applied. Negative scaling factors cause the
output to be inverted (negative input produces positive output).
Scaler pseudocode:
if (input < 0)
output = (input * NEGATIVE_SCALE) + OFFSET
else
output = (input * POSITIVE_SCALE) + OFFSET
if (output < LOWER_LIMIT)
output = LOWER_LIMIT
if (output > UPPER_LIMIT)
output = UPPER_LIMIT
Syntax
------
Mixer definitions are text files; lines beginning with a single capital letter
followed by a colon are significant. All other lines are ignored, meaning that
explanatory text can be freely mixed with the definitions.
Each file may define more than one mixer; the allocation of mixers to actuators
is specific to the device reading the mixer definition, and the number of
actuator outputs generated by a mixer is specific to the mixer.
A mixer begins with a line of the form
<tag>: <mixer arguments>
The tag selects the mixer type; 'M' for a simple summing mixer, 'R' for a
multirotor mixer, etc.
Null Mixer
..........
A null mixer consumes no controls and generates a single actuator output whose
value is always zero. Typically a null mixer is used as a placeholder in a
collection of mixers in order to achieve a specific pattern of actuator outputs.
The null mixer definition has the form:
Z:
Simple Mixer
............
A simple mixer combines zero or more control inputs into a single actuator
output. Inputs are scaled, and the mixing function sums the result before
applying an output scaler.
A simple mixer definition begins with:
M: <control count>
O: <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
If <control count> is zero, the sum is effectively zero and the mixer will
output a fixed value that is <offset> constrained by <lower limit> and <upper
limit>.
The second line defines the output scaler with scaler parameters as discussed
above. Whilst the calculations are performed as floating-point operations, the
values stored in the definition file are scaled by a factor of 10000; i.e. an
offset of -0.5 is encoded as -5000.
The definition continues with <control count> entries describing the control
inputs and their scaling, in the form:
S: <group> <index> <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
The <group> value identifies the control group from which the scaler will read,
and the <index> value an offset within that group. These values are specific to
the device reading the mixer definition.
When used to mix vehicle controls, mixer group zero is the vehicle attitude
control group, and index values zero through three are normally roll, pitch,
yaw and thrust respectively.
The remaining fields on the line configure the control scaler with parameters as
discussed above. Whilst the calculations are performed as floating-point
operations, the values stored in the definition file are scaled by a factor of
10000; i.e. an offset of -0.5 is encoded as -5000.
Multirotor Mixer
................
The multirotor mixer combines four control inputs (roll, pitch, yaw, thrust)
into a set of actuator outputs intended to drive motor speed controllers.
The mixer definition is a single line of the form:
R: <geometry> <roll scale> <pitch scale> <yaw scale> <deadband>
The supported geometries include:
4x - quadrotor in X configuration
4+ - quadrotor in + configuration
6x - hexcopter in X configuration
6+ - hexcopter in + configuration
8x - octocopter in X configuration
8+ - octocopter in + configuration
Each of the roll, pitch and yaw scale values determine scaling of the roll,
pitch and yaw controls relative to the thrust control. Whilst the calculations
are performed as floating-point operations, the values stored in the definition
file are scaled by a factor of 10000; i.e. an factor of 0.5 is encoded as 5000.
Roll, pitch and yaw inputs are expected to range from -1.0 to 1.0, whilst the
thrust input ranges from 0.0 to 1.0. Output for each actuator is in the
range -1.0 to 1.0.
In the case where an actuator saturates, all actuator values are rescaled so that
the saturating actuator is limited to 1.0.

3
ROMFS/px4fmu_common/mixers/hexa_cox.mix Normal file
View File

@ -0,0 +1,3 @@
# Hexa coaxial
R: 6c 10000 10000 10000 0

88
ROMFS/px4fmu_logging/init.d/rcS
View File

@ -1,88 +0,0 @@
#!nsh
#
# PX4FMU startup script for logging purposes
#
#
# Try to mount the microSD card.
#
echo "[init] looking for microSD..."
if mount -t vfat /dev/mmcsd0 /fs/microsd
then
echo "[init] card mounted at /fs/microsd"
# Start playing the startup tune
tone_alarm start
else
echo "[init] no microSD card found"
# Play SOS
tone_alarm error
fi
uorb start
#
# Start sensor drivers here.
#
ms5611 start
adc start
# mag might be external
if hmc5883 start
then
echo "using HMC5883"
fi
if mpu6000 start
then
echo "using MPU6000"
fi
if l3gd20 start
then
echo "using L3GD20(H)"
fi
if lsm303d start
then
set BOARD fmuv2
else
set BOARD fmuv1
fi
# Start airspeed sensors
if meas_airspeed start
then
echo "using MEAS airspeed sensor"
else
if ets_airspeed start
then
echo "using ETS airspeed sensor (bus 3)"
else
if ets_airspeed start -b 1
then
echo "Using ETS airspeed sensor (bus 1)"
fi
fi
fi
#
# Start the sensor collection task.
# IMPORTANT: this also loads param offsets
# ALWAYS start this task before the
# preflight_check.
#
if sensors start
then
echo "SENSORS STARTED"
fi
sdlog2 start -r 250 -e -b 16
if sercon
then
echo "[init] USB interface connected"
# Try to get an USB console
nshterm /dev/ttyACM0 &
fi

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ROMFS/px4fmu_logging/logging/conv.zip
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1
Tools/px4params/.gitignore vendored
View File

@ -1,3 +1,4 @@
parameters.wiki
parameters.xml
parameters.wikirpc.xml
cookies.txt

62
Tools/px4params/dokuwikiout.py
View File

@ -1,62 +0,0 @@
import output
from xml.sax.saxutils import escape
class DokuWikiOutput(output.Output):
def Generate(self, groups):
pre_text = """<?xml version='1.0'?>
<methodCall>
<methodName>wiki.putPage</methodName>
<params>
<param>
<value>
<string>:firmware:parameters</string>
</value>
</param>
<param>
<value>
<string>"""
result = "====== Parameter Reference ======\nThis list is auto-generated every few minutes and contains the most recent parameter names and default values."
for group in groups:
result += "==== %s ====\n\n" % group.GetName()
result += "|< 100% 20% 20% 10% 10% 10% 30%>|\n"
result += "^ Name ^ Description ^ Min ^ Max ^ Default ^ Comment ^\n"
for param in group.GetParams():
code = param.GetFieldValue("code")
name = param.GetFieldValue("short_desc")
name = name.replace("\n", "")
result += "| %s | %s " % (code, name)
min_val = param.GetFieldValue("min")
if min_val is not None:
result += " | %s " % min_val
else:
result += " | "
max_val = param.GetFieldValue("max")
if max_val is not None:
result += " | %s " % max_val
else:
result += " | "
def_val = param.GetFieldValue("default")
if def_val is not None:
result += "| %s " % def_val
else:
result += " | "
long_desc = param.GetFieldValue("long_desc")
if long_desc is not None:
long_desc = long_desc.replace("\n", "")
result += "| %s " % long_desc
else:
result += " | "
result += " |\n"
result += "\n"
post_text = """</string>
</value>
</param>
<param>
<value>
<name>sum</name>
<string>Updated parameters automagically from code.</string>
</value>
</param>
</params>
</methodCall>"""
return pre_text + escape(result) + post_text

5
Tools/px4params/output.py
View File

@ -1,5 +0,0 @@
class Output(object):
def Save(self, groups, fn):
data = self.Generate(groups)
with open(fn, 'w') as f:
f.write(data)

12
Tools/px4params/dokuwikiout_listings.py → Tools/px4params/output_dokuwiki_listings.py
View File

@ -1,7 +1,7 @@
import output
import codecs
class DokuWikiOutput(output.Output):
def Generate(self, groups):
class DokuWikiListingsOutput():
def __init__(self, groups):
result = ""
for group in groups:
result += "==== %s ====\n\n" % group.GetName()
@ -24,4 +24,8 @@ class DokuWikiOutput(output.Output):
if def_val is not None:
result += "* Default value: %s\n" % def_val
result += "\n"
return result
self.output = result
def Save(self, filename):
with codecs.open(filename, 'w', 'utf-8') as f:
f.write(self.output)

76
Tools/px4params/output_dokuwiki_tables.py Normal file
View File

@ -0,0 +1,76 @@
from xml.sax.saxutils import escape
import codecs
class DokuWikiTablesOutput():
def __init__(self, groups):
result = "====== Parameter Reference ======\nThis list is auto-generated every few minutes and contains the most recent parameter names and default values.\n\n"
for group in groups:
result += "==== %s ====\n\n" % group.GetName()
result += "|< 100% 20% 20% 10% 10% 10% 30%>|\n"
result += "^ Name ^ Description ^ Min ^ Max ^ Default ^ Comment ^\n"
for param in group.GetParams():
code = param.GetFieldValue("code")
name = param.GetFieldValue("short_desc")
min_val = param.GetFieldValue("min")
max_val = param.GetFieldValue("max")
def_val = param.GetFieldValue("default")
long_desc = param.GetFieldValue("long_desc")
name = name.replace("\n", " ")
result += "| %s | %s |" % (code, name)
if min_val is not None:
result += " %s |" % min_val
else:
result += " |"
if max_val is not None:
result += " %s |" % max_val
else:
result += " |"
if def_val is not None:
result += " %s |" % def_val
else:
result += " |"
if long_desc is not None:
long_desc = long_desc.replace("\n", " ")
result += " %s |" % long_desc
else:
result += " |"
result += "\n"
result += "\n"
self.output = result;
def Save(self, filename):
with codecs.open(filename, 'w', 'utf-8') as f:
f.write(self.output)
def SaveRpc(self, filename):
with codecs.open(filename, 'w', 'utf-8') as f:
f.write("""<?xml version='1.0'?>
<methodCall>
<methodName>wiki.putPage</methodName>
<params>
<param>
<value>
<string>:firmware:parameters</string>
</value>
</param>
<param>
<value>
<string>""")
f.write(escape(self.output))
f.write("""</string>
</value>
</param>
<param>
<value>
<name>sum</name>
<string>Updated parameters automagically from code.</string>
</value>
</param>
</params>
</methodCall>""")

12
Tools/px4params/xmlout.py → Tools/px4params/output_xml.py
View File

@ -1,8 +1,8 @@
import output
from xml.dom.minidom import getDOMImplementation
import codecs
class XMLOutput(output.Output):
def Generate(self, groups):
class XMLOutput():
def __init__(self, groups):
impl = getDOMImplementation()
xml_document = impl.createDocument(None, "parameters", None)
xml_parameters = xml_document.documentElement
@ -19,4 +19,8 @@ class XMLOutput(output.Output):
xml_param.appendChild(xml_field)
xml_value = xml_document.createTextNode(value)
xml_field.appendChild(xml_value)
return xml_document.toprettyxml(indent=" ", newl="\n", encoding="utf-8")
self.xml_document = xml_document
def Save(self, filename):
with codecs.open(filename, 'w', 'utf-8') as f:
self.xml_document.writexml(f, indent=" ", addindent=" ", newl="\n")

26
Tools/px4params/px_process_params.py
View File

@ -40,22 +40,28 @@
#
import scanner
import parser
import xmlout
import dokuwikiout
import srcparser
import output_xml
import output_dokuwiki_tables
import output_dokuwiki_listings
# Initialize parser
prs = parser.Parser()
prs = srcparser.Parser()
# Scan directories, and parse the files
sc = scanner.Scanner()
sc.ScanDir("../../src", prs)
output = prs.GetParamGroups()
groups = prs.GetParamGroups()
# Output into XML
out = xmlout.XMLOutput()
out.Save(output, "parameters.xml")
out = output_xml.XMLOutput(groups)
out.Save("parameters.xml")
# Output into DokuWiki
out = dokuwikiout.DokuWikiOutput()
out.Save(output, "parameters.wiki")
# Output to DokuWiki listings
#out = output_dokuwiki_listings.DokuWikiListingsOutput(groups)
#out.Save("parameters.wiki")
# Output to DokuWiki tables
out = output_dokuwiki_tables.DokuWikiTablesOutput(groups)
out.Save("parameters.wiki")
out.SaveRpc("parameters.wikirpc.xml")

3
Tools/px4params/scanner.py
View File

@ -1,5 +1,6 @@
import os
import re
import codecs
class Scanner(object):
"""
@ -29,6 +30,6 @@ class Scanner(object):
Scans provided file and passes its contents to the parser using
parser.Parse method.
"""
with open(path, 'r') as f:
with codecs.open(path, 'r', 'utf-8') as f:
contents = f.read()
parser.Parse(contents)

20
Tools/px4params/parser.py → Tools/px4params/srcparser.py
View File

@ -28,8 +28,7 @@ class ParameterGroup(object):
state of the parser.
"""
return sorted(self.params,
cmp=lambda x, y: cmp(x.GetFieldValue("code"),
y.GetFieldValue("code")))
key=lambda x: x.GetFieldValue("code"))
class Parameter(object):
"""
@ -61,9 +60,10 @@ class Parameter(object):
"""
Return list of existing field codes in convenient order
"""
return sorted(self.fields.keys(),
cmp=lambda x, y: cmp(self.priority.get(y, 0),
self.priority.get(x, 0)) or cmp(x, y))
keys = self.fields.keys()
keys = sorted(keys)
keys = sorted(keys, key=lambda x: self.priority.get(x, 0), reverse=True)
return keys
def GetFieldValue(self, code):
"""
@ -197,7 +197,7 @@ class Parser(object):
if tag == "group":
group = tags[tag]
elif tag not in self.valid_tags:
sys.stderr.write("Skipping invalid"
sys.stderr.write("Skipping invalid "
"documentation tag: '%s'\n" % tag)
else:
param.SetField(tag, tags[tag])
@ -214,7 +214,7 @@ class Parser(object):
object. Note that returned object is not a copy. Modifications affect
state of the parser.
"""
return sorted(self.param_groups.values(),
cmp=lambda x, y: cmp(self.priority.get(y.GetName(), 0),
self.priority.get(x.GetName(), 0)) or cmp(x.GetName(),
y.GetName()))
groups = self.param_groups.values()
groups = sorted(groups, key=lambda x: x.GetName())
groups = sorted(groups, key=lambda x: self.priority.get(x.GetName(), 0), reverse=True)
return groups

2
Tools/px4params/xmlrpc.sh
View File

@ -2,4 +2,4 @@ python px_process_params.py
rm cookies.txt
curl --cookie cookies.txt --cookie-jar cookies.txt --user-agent Mozilla/4.0 --data "u=$XMLRPCUSER&p=$XMLRPCPASS" https://pixhawk.org/start?do=login
curl -k --cookie cookies.txt -H "Content-Type: application/xml" -X POST --data-binary @parameters.wiki "https://pixhawk.org/lib/exe/xmlrpc.php"
curl -k --cookie cookies.txt -H "Content-Type: application/xml" -X POST --data-binary @parameters.wikirpc.xml "https://pixhawk.org/lib/exe/xmlrpc.php"

48
Tools/px_uploader.py
View File

@ -50,6 +50,9 @@
# Currently only used for informational purposes.
#
# for python2.7 compatibility
from __future__ import print_function
import sys
import argparse
import binascii
@ -154,6 +157,8 @@ class uploader(object):
PROG_MULTI = b'\x27'
READ_MULTI = b'\x28' # rev2 only
GET_CRC = b'\x29' # rev3+
GET_OTP = b'\x2a' # rev4+ , get a word from OTP area
GET_SN = b'\x2b' # rev4+ , get a word from SN area
REBOOT = b'\x30'
INFO_BL_REV = b'\x01' # bootloader protocol revision
@ -175,6 +180,8 @@ class uploader(object):
def __init__(self, portname, baudrate):
# open the port, keep the default timeout short so we can poll quickly
self.port = serial.Serial(portname, baudrate, timeout=0.5)
self.otp = b''
self.sn = b''
def close(self):
if self.port is not None:
@ -237,6 +244,22 @@ class uploader(object):
self.__getSync()
return value
# send the GET_OTP command and wait for an info parameter
def __getOTP(self, param):
t = struct.pack("I", param) # int param as 32bit ( 4 byte ) char array.
self.__send(uploader.GET_OTP + t + uploader.EOC)
value = self.__recv(4)
self.__getSync()
return value
# send the GET_OTP command and wait for an info parameter
def __getSN(self, param):
t = struct.pack("I", param) # int param as 32bit ( 4 byte ) char array.
self.__send(uploader.GET_SN + t + uploader.EOC)
value = self.__recv(4)
self.__getSync()
return value
# send the CHIP_ERASE command and wait for the bootloader to become ready
def __erase(self):
self.__send(uploader.CHIP_ERASE
@ -353,6 +376,31 @@ class uploader(object):
if self.fw_maxsize < fw.property('image_size'):
raise RuntimeError("Firmware image is too large for this board")
# OTP added in v4:
if self.bl_rev > 3:
for byte in range(0,32*6,4):
x = self.__getOTP(byte)
self.otp = self.otp + x
print(binascii.hexlify(x).decode('Latin-1') + ' ', end='')
# see src/modules/systemlib/otp.h in px4 code:
self.otp_id = self.otp[0:4]
self.otp_idtype = self.otp[4:5]
self.otp_vid = self.otp[8:4:-1]
self.otp_pid = self.otp[12:8:-1]
self.otp_coa = self.otp[32:160]
# show user:
print("type: " + self.otp_id.decode('Latin-1'))
print("idtype: " + binascii.b2a_qp(self.otp_idtype).decode('Latin-1'))
print("vid: " + binascii.hexlify(self.otp_vid).decode('Latin-1'))
print("pid: "+ binascii.hexlify(self.otp_pid).decode('Latin-1'))
print("coa: "+ binascii.b2a_base64(self.otp_coa).decode('Latin-1'))
print("sn: ", end='')
for byte in range(0,12,4):
x = self.__getSN(byte)
x = x[::-1] # reverse the bytes
self.sn = self.sn + x
print(binascii.hexlify(x).decode('Latin-1'), end='') # show user
print('')
print("erase...")
self.__erase()

0
Tools/README.txt → Tools/sdlog2/README.txt
View File

1070
Tools/logconv.m → Tools/sdlog2/logconv.m
View File

File diff suppressed because it is too large Load Diff

0
Tools/sdlog2_dump.py → Tools/sdlog2/sdlog2_dump.py
View File

2
makefiles/config_px4fmu-v2_default.mk
View File

@ -38,6 +38,8 @@ MODULES += drivers/ets_airspeed
MODULES += drivers/meas_airspeed
MODULES += drivers/frsky_telemetry
MODULES += modules/sensors
MODULES += drivers/mkblctrl
# Needs to be burned to the ground and re-written; for now,
# just don't build it.

9
makefiles/config_px4fmu-v2_test.mk
View File

@ -18,6 +18,12 @@ MODULES += drivers/stm32/tone_alarm
MODULES += drivers/led
MODULES += drivers/boards/px4fmu-v2
MODULES += drivers/px4io
MODULES += drivers/rgbled
MODULES += drivers/mpu6000
MODULES += drivers/lsm303d
MODULES += drivers/l3gd20
MODULES += drivers/hmc5883
MODULES += drivers/ms5611
MODULES += systemcmds/perf
MODULES += systemcmds/reboot
MODULES += systemcmds/tests
@ -31,6 +37,9 @@ MODULES += systemcmds/hw_ver
MODULES += modules/systemlib
MODULES += modules/systemlib/mixer
MODULES += modules/uORB
LIBRARIES += lib/mathlib/CMSIS
MODULES += lib/mathlib
MODULES += lib/mathlib/math/filter
#
# Libraries

10
nuttx-configs/px4fmu-v2/include/board.h
View File

@ -141,9 +141,9 @@
#define STM32_APB2_TIM1_CLKIN (2*STM32_PCLK2_FREQUENCY)
#define STM32_APB2_TIM8_CLKIN (2*STM32_PCLK2_FREQUENCY)
#define STM32_APB2_TIM9_CLKIN (2*STM32_PCLK1_FREQUENCY)
#define STM32_APB2_TIM10_CLKIN (2*STM32_PCLK1_FREQUENCY)
#define STM32_APB2_TIM11_CLKIN (2*STM32_PCLK1_FREQUENCY)
#define STM32_APB2_TIM9_CLKIN (2*STM32_PCLK2_FREQUENCY)
#define STM32_APB2_TIM10_CLKIN (2*STM32_PCLK2_FREQUENCY)
#define STM32_APB2_TIM11_CLKIN (2*STM32_PCLK2_FREQUENCY)
/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
* otherwise frequency is 2xAPBx.
@ -209,8 +209,8 @@
#define GPIO_USART3_RX GPIO_USART3_RX_3
#define GPIO_USART3_TX GPIO_USART3_TX_3
#define GPIO_USART2_RTS GPIO_USART2_RTS_2
#define GPIO_USART2_CTS GPIO_USART2_CTS_2
#define GPIO_USART3_RTS GPIO_USART3_RTS_2
#define GPIO_USART3_CTS GPIO_USART3_CTS_2
#define GPIO_UART4_RX GPIO_UART4_RX_1
#define GPIO_UART4_TX GPIO_UART4_TX_1

32
src/drivers/airspeed/airspeed.cpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -76,8 +76,8 @@
#include <drivers/airspeed/airspeed.h>
Airspeed::Airspeed(int bus, int address, unsigned conversion_interval) :
I2C("Airspeed", AIRSPEED_DEVICE_PATH, bus, address, 100000),
Airspeed::Airspeed(int bus, int address, unsigned conversion_interval, const char* path) :
I2C("Airspeed", path, bus, address, 100000),
_reports(nullptr),
_buffer_overflows(perf_alloc(PC_COUNT, "airspeed_buffer_overflows")),
_max_differential_pressure_pa(0),
@ -86,6 +86,7 @@ Airspeed::Airspeed(int bus, int address, unsigned conversion_interval) :
_collect_phase(false),
_diff_pres_offset(0.0f),
_airspeed_pub(-1),
_class_instance(-1),
_conversion_interval(conversion_interval),
_sample_perf(perf_alloc(PC_ELAPSED, "airspeed_read")),
_comms_errors(perf_alloc(PC_COUNT, "airspeed_comms_errors"))
@ -102,6 +103,9 @@ Airspeed::~Airspeed()
/* make sure we are truly inactive */
stop();
if (_class_instance != -1)
unregister_class_devname(AIRSPEED_DEVICE_PATH, _class_instance);
/* free any existing reports */
if (_reports != nullptr)
delete _reports;
@ -126,13 +130,23 @@ Airspeed::init()
if (_reports == nullptr)
goto out;
/* get a publish handle on the airspeed topic */
differential_pressure_s zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &zero_report);
/* register alternate interfaces if we have to */
_class_instance = register_class_devname(AIRSPEED_DEVICE_PATH);
if (_airspeed_pub < 0)
warnx("failed to create airspeed sensor object. Did you start uOrb?");
/* publication init */
if (_class_instance == CLASS_DEVICE_PRIMARY) {
/* advertise sensor topic, measure manually to initialize valid report */
struct differential_pressure_s arp;
measure();
_reports->get(&arp);
/* measurement will have generated a report, publish */
_airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &arp);
if (_airspeed_pub < 0)
warnx("failed to create airspeed sensor object. uORB started?");
}
ret = OK;
/* sensor is ok, but we don't really know if it is within range */

6
src/drivers/airspeed/airspeed.h
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -90,7 +90,7 @@ static const int ERROR = -1;
class __EXPORT Airspeed : public device::I2C
{
public:
Airspeed(int bus, int address, unsigned conversion_interval);
Airspeed(int bus, int address, unsigned conversion_interval, const char* path);
virtual ~Airspeed();
virtual int init();
@ -127,6 +127,8 @@ protected:
orb_advert_t _airspeed_pub;
int _class_instance;
unsigned _conversion_interval;
perf_counter_t _sample_perf;

25
src/drivers/bma180/bma180.cpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -153,6 +153,7 @@ private:
float _accel_range_scale;
float _accel_range_m_s2;
orb_advert_t _accel_topic;
int _class_instance;
unsigned _current_lowpass;
unsigned _current_range;
@ -238,6 +239,7 @@ BMA180::BMA180(int bus, spi_dev_e device) :
_accel_range_scale(0.0f),
_accel_range_m_s2(0.0f),
_accel_topic(-1),
_class_instance(-1),
_current_lowpass(0),
_current_range(0),
_sample_perf(perf_alloc(PC_ELAPSED, "bma180_read"))
@ -282,11 +284,6 @@ BMA180::init()
if (_reports == nullptr)
goto out;
/* advertise sensor topic */
struct accel_report zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_accel_topic = orb_advertise(ORB_ID(sensor_accel), &zero_report);
/* perform soft reset (p48) */
write_reg(ADDR_RESET, SOFT_RESET);
@ -322,6 +319,19 @@ BMA180::init()
ret = ERROR;
}
_class_instance = register_class_devname(ACCEL_DEVICE_PATH);
/* advertise sensor topic, measure manually to initialize valid report */
measure();
if (_class_instance == CLASS_DEVICE_PRIMARY) {
struct accel_report arp;
_reports->get(&arp);
/* measurement will have generated a report, publish */
_accel_topic = orb_advertise(ORB_ID(sensor_accel), &arp);
}
out:
return ret;
}
@ -723,7 +733,8 @@ BMA180::measure()
poll_notify(POLLIN);
/* publish for subscribers */
orb_publish(ORB_ID(sensor_accel), _accel_topic, &report);
if (_accel_topic > 0 && !(_pub_blocked))
orb_publish(ORB_ID(sensor_accel), _accel_topic, &report);
/* stop the perf counter */
perf_end(_sample_perf);

12
src/drivers/device/cdev.cpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -38,6 +38,7 @@
*/
#include "device.h"
#include "drivers/drv_device.h"
#include <sys/ioctl.h>
#include <arch/irq.h>
@ -93,6 +94,7 @@ CDev::CDev(const char *name,
Device(name, irq),
// public
// protected
_pub_blocked(false),
// private
_devname(devname),
_registered(false),
@ -256,6 +258,14 @@ CDev::ioctl(struct file *filp, int cmd, unsigned long arg)
case DIOC_GETPRIV:
*(void **)(uintptr_t)arg = (void *)this;
return OK;
break;
case DEVIOCSPUBBLOCK:
_pub_blocked = (arg != 0);
return OK;
break;
case DEVIOCGPUBBLOCK:
return _pub_blocked;
break;
}
return -ENOTTY;

2
src/drivers/device/device.cpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions

4
src/drivers/device/device.h
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -415,6 +415,8 @@ protected:
*/
virtual int unregister_class_devname(const char *class_devname, unsigned class_instance);
bool _pub_blocked; /**< true if publishing should be blocked */
private:
static const unsigned _max_pollwaiters = 8;

62
src/drivers/drv_device.h Normal file
View File

@ -0,0 +1,62 @@
/****************************************************************************
*
* Copyright (c) 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file drv_device.h
*
* Generic device / sensor interface.
*/
#ifndef _DRV_DEVICE_H
#define _DRV_DEVICE_H
#include <stdint.h>
#include <sys/ioctl.h>
#include "drv_sensor.h"
#include "drv_orb_dev.h"
/*
* ioctl() definitions
*/
#define _DEVICEIOCBASE (0x100)
#define _DEVICEIOC(_n) (_IOC(_DEVICEIOCBASE, _n))
/** ask device to stop publishing */
#define DEVIOCSPUBBLOCK _DEVICEIOC(0)
/** check publication block status */
#define DEVIOCGPUBBLOCK _DEVICEIOC(1)
#endif /* _DRV_DEVICE_H */

15
src/drivers/ets_airspeed/ets_airspeed.cpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -77,6 +77,7 @@
/* I2C bus address */
#define I2C_ADDRESS 0x75 /* 7-bit address. 8-bit address is 0xEA */
#define ETS_PATH "/dev/ets_airspeed"
/* Register address */
#define READ_CMD 0x07 /* Read the data */
@ -93,7 +94,7 @@
class ETSAirspeed : public Airspeed
{
public:
ETSAirspeed(int bus, int address = I2C_ADDRESS);
ETSAirspeed(int bus, int address = I2C_ADDRESS, const char* path = ETS_PATH);
protected:
@ -112,8 +113,8 @@ protected:
*/
extern "C" __EXPORT int ets_airspeed_main(int argc, char *argv[]);
ETSAirspeed::ETSAirspeed(int bus, int address) : Airspeed(bus, address,
CONVERSION_INTERVAL)
ETSAirspeed::ETSAirspeed(int bus, int address, const char* path) : Airspeed(bus, address,
CONVERSION_INTERVAL, path)
{
}
@ -184,8 +185,10 @@ ETSAirspeed::collect()
report.voltage = 0;
report.max_differential_pressure_pa = _max_differential_pressure_pa;
/* announce the airspeed if needed, just publish else */
orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report);
if (_airspeed_pub > 0 && !(_pub_blocked)) {
/* publish it */
orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report);
}
new_report(report);

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

@ -289,11 +289,13 @@ GPS::task_main()
//no time and satellite information simulated
if (_report_pub > 0) {
orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report);
if (!(_pub_blocked)) {
if (_report_pub > 0) {
orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report);
} else {
_report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report);
} else {
_report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report);
}
}
usleep(2e5);
@ -330,11 +332,14 @@ GPS::task_main()
while (_Helper->receive(TIMEOUT_5HZ) > 0 && !_task_should_exit) {
// lock();
/* opportunistic publishing - else invalid data would end up on the bus */
if (_report_pub > 0) {
orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report);
} else {
_report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report);
if (!(_pub_blocked)) {
if (_report_pub > 0) {
orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report);
} else {
_report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report);
}
}
last_rate_count++;

7
src/drivers/gps/gps_helper.cpp
View File

@ -1,8 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012,2013 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -41,6 +39,9 @@
/**
* @file gps_helper.cpp
*
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
*/
float

6
src/drivers/gps/gps_helper.h
View File

@ -1,8 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -35,6 +33,8 @@
/**
* @file gps_helper.h
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
*/
#ifndef GPS_HELPER_H

2
src/drivers/gps/module.mk
View File

@ -1,6 +1,6 @@
############################################################################
#
# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
# Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions

11
src/drivers/gps/mtk.cpp
View File

@ -1,8 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -33,7 +31,12 @@
*
****************************************************************************/
/* @file mkt.cpp */
/**
* @file mtk.cpp
*
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
*/
#include <unistd.h>
#include <stdio.h>

11
src/drivers/gps/mtk.h
View File

@ -1,8 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -33,7 +31,12 @@
*
****************************************************************************/
/* @file mtk.h */
/**
* @file mtk.cpp
*
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
*/
#ifndef MTK_H_
#define MTK_H_

10
src/drivers/gps/ubx.cpp
View File

@ -1,9 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
* Anton Babushkin <anton.babushkin@me.com>
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -40,8 +37,13 @@
* U-Blox protocol implementation. Following u-blox 6/7 Receiver Description
* including Prototol Specification.
*
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*
* @see http://www.u-blox.com/images/downloads/Product_Docs/u-blox6_ReceiverDescriptionProtocolSpec_%28GPS.G6-SW-10018%29.pdf
*/
#include <assert.h>
#include <math.h>
#include <poll.h>

17
src/drivers/gps/ubx.h
View File

@ -1,9 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
* Anton Babushkin <anton.babushkin@me.com>
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -34,7 +31,17 @@
*
****************************************************************************/
/* @file U-Blox protocol definitions */
/**
* @file ubx.h
*
* U-Blox protocol definition. Following u-blox 6/7 Receiver Description
* including Prototol Specification.
*
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*
*/
#ifndef UBX_H_
#define UBX_H_

36
src/drivers/hmc5883/hmc5883.cpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -381,16 +381,6 @@ HMC5883::init()
reset();
_class_instance = register_class_devname(MAG_DEVICE_PATH);
if (_class_instance == CLASS_DEVICE_PRIMARY) {
/* get a publish handle on the mag topic if we are
* the primary mag */
struct mag_report zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_mag_topic = orb_advertise(ORB_ID(sensor_mag), &zero_report);
if (_mag_topic < 0)
debug("failed to create sensor_mag object");
}
ret = OK;
/* sensor is ok, but not calibrated */
@ -867,9 +857,17 @@ HMC5883::collect()
/* z remains z */
new_report.z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale;
if (_mag_topic != -1) {
/* publish it */
orb_publish(ORB_ID(sensor_mag), _mag_topic, &new_report);
if (_class_instance == CLASS_DEVICE_PRIMARY && !(_pub_blocked)) {
if (_mag_topic != -1) {
/* publish it */
orb_publish(ORB_ID(sensor_mag), _mag_topic, &new_report);
} else {
_mag_topic = orb_advertise(ORB_ID(sensor_mag), &new_report);
if (_mag_topic < 0)
debug("failed to create sensor_mag publication");
}
}
/* post a report to the ring */
@ -1140,10 +1138,12 @@ int HMC5883::check_calibration()
SUBSYSTEM_TYPE_MAG};
static orb_advert_t pub = -1;
if (pub > 0) {
orb_publish(ORB_ID(subsystem_info), pub, &info);
} else {
pub = orb_advertise(ORB_ID(subsystem_info), &info);
if (!(_pub_blocked)) {
if (pub > 0) {
orb_publish(ORB_ID(subsystem_info), pub, &info);
} else {
pub = orb_advertise(ORB_ID(subsystem_info), &info);
}
}
}

27
src/drivers/l3gd20/l3gd20.cpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -379,15 +379,24 @@ L3GD20::init()
goto out;
_class_instance = register_class_devname(GYRO_DEVICE_PATH);
if (_class_instance == CLASS_DEVICE_PRIMARY) {
/* advertise sensor topic */
struct gyro_report zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &zero_report);
}
reset();
measure();
if (_class_instance == CLASS_DEVICE_PRIMARY) {
/* advertise sensor topic, measure manually to initialize valid report */
struct gyro_report grp;
_reports->get(&grp);
_gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &grp);
if (_gyro_topic < 0)
debug("failed to create sensor_gyro publication");
}
ret = OK;
out:
return ret;
@ -894,8 +903,10 @@ L3GD20::measure()
poll_notify(POLLIN);
/* publish for subscribers */
if (_gyro_topic > 0)
if (_gyro_topic > 0 && !(_pub_blocked)) {
/* publish it */
orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &report);
}
_read++;

71
src/drivers/lsm303d/lsm303d.cpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -277,15 +277,15 @@ private:
unsigned _mag_samplerate;
orb_advert_t _accel_topic;
int _class_instance;
int _accel_class_instance;
unsigned _accel_read;
unsigned _mag_read;
perf_counter_t _accel_sample_perf;
perf_counter_t _mag_sample_perf;
perf_counter_t _reg7_resets;
perf_counter_t _reg1_resets;
perf_counter_t _reg7_resets;
perf_counter_t _extreme_values;
perf_counter_t _accel_reschedules;
@ -295,8 +295,8 @@ private:
// expceted values of reg1 and reg7 to catch in-flight
// brownouts of the sensor
uint8_t _reg7_expected;
uint8_t _reg1_expected;
uint8_t _reg7_expected;
// accel logging
int _accel_log_fd;
@ -500,7 +500,7 @@ LSM303D::LSM303D(int bus, const char* path, spi_dev_e device) :
_mag_range_scale(0.0f),
_mag_samplerate(0),
_accel_topic(-1),
_class_instance(-1),
_accel_class_instance(-1),
_accel_read(0),
_mag_read(0),
_accel_sample_perf(perf_alloc(PC_ELAPSED, "lsm303d_accel_read")),
@ -551,8 +551,8 @@ LSM303D::~LSM303D()
if (_mag_reports != nullptr)
delete _mag_reports;
if (_class_instance != -1)
unregister_class_devname(ACCEL_DEVICE_PATH, _class_instance);
if (_accel_class_instance != -1)
unregister_class_devname(ACCEL_DEVICE_PATH, _accel_class_instance);
delete _mag;
@ -562,13 +562,13 @@ LSM303D::~LSM303D()
perf_free(_reg1_resets);
perf_free(_reg7_resets);
perf_free(_extreme_values);
perf_free(_accel_reschedules);
}
int
LSM303D::init()
{
int ret = ERROR;
int mag_ret;
/* do SPI init (and probe) first */
if (SPI::init() != OK) {
@ -597,13 +597,37 @@ LSM303D::init()
goto out;
}
_class_instance = register_class_devname(ACCEL_DEVICE_PATH);
if (_class_instance == CLASS_DEVICE_PRIMARY) {
// we are the primary accel device, so advertise to
// the ORB
struct accel_report zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_accel_topic = orb_advertise(ORB_ID(sensor_accel), &zero_report);
/* fill report structures */
measure();
if (_mag->_mag_class_instance == CLASS_DEVICE_PRIMARY) {
/* advertise sensor topic, measure manually to initialize valid report */
struct mag_report mrp;
_mag_reports->get(&mrp);
/* measurement will have generated a report, publish */
_mag->_mag_topic = orb_advertise(ORB_ID(sensor_mag), &mrp);
if (_mag->_mag_topic < 0)
debug("failed to create sensor_mag publication");
}
_accel_class_instance = register_class_devname(ACCEL_DEVICE_PATH);
if (_accel_class_instance == CLASS_DEVICE_PRIMARY) {
/* advertise sensor topic, measure manually to initialize valid report */
struct accel_report arp;
_accel_reports->get(&arp);
/* measurement will have generated a report, publish */
_accel_topic = orb_advertise(ORB_ID(sensor_accel), &arp);
if (_accel_topic < 0)
debug("failed to create sensor_accel publication");
}
out:
@ -727,7 +751,7 @@ LSM303D::check_extremes(const accel_report *arb)
_last_log_us = now;
::dprintf(_accel_log_fd, "ARB %llu %.3f %.3f %.3f %d %d %d boot_ok=%u\r\n",
(unsigned long long)arb->timestamp,
arb->x, arb->y, arb->z,
(double)arb->x, (double)arb->y, (double)arb->z,
(int)arb->x_raw,
(int)arb->y_raw,
(int)arb->z_raw,
@ -1517,8 +1541,8 @@ LSM303D::measure()
/* notify anyone waiting for data */
poll_notify(POLLIN);
if (_accel_topic != -1) {
/* publish for subscribers */
if (_accel_topic > 0 && !(_pub_blocked)) {
/* publish it */
orb_publish(ORB_ID(sensor_accel), _accel_topic, &accel_report);
}
@ -1591,8 +1615,8 @@ LSM303D::mag_measure()
/* notify anyone waiting for data */
poll_notify(POLLIN);
if (_mag->_mag_topic != -1) {
/* publish for subscribers */
if (_mag->_mag_topic > 0 && !(_pub_blocked)) {
/* publish it */
orb_publish(ORB_ID(sensor_mag), _mag->_mag_topic, &mag_report);
}
@ -1707,13 +1731,6 @@ LSM303D_mag::init()
goto out;
_mag_class_instance = register_class_devname(MAG_DEVICE_PATH);
if (_mag_class_instance == CLASS_DEVICE_PRIMARY) {
// we are the primary mag device, so advertise to
// the ORB
struct mag_report zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_mag_topic = orb_advertise(ORB_ID(sensor_mag), &zero_report);
}
out:
return ret;

25
src/drivers/meas_airspeed/meas_airspeed.cpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -50,6 +50,7 @@
* - Interfacing to MEAS Digital Pressure Modules (http://www.meas-spec.com/downloads/Interfacing_to_MEAS_Digital_Pressure_Modules.pdf)
*/
#include <nuttx/config.h>
#include <drivers/device/i2c.h>
@ -89,8 +90,10 @@
/* I2C bus address is 1010001x */
#define I2C_ADDRESS_MS4525DO 0x28 //0x51 /* 7-bit address. */
#define PATH_MS4525 "/dev/ms4525"
/* The MS5525DSO address is 111011Cx, where C is the complementary value of the pin CSB */
#define I2C_ADDRESS_MS5525DSO 0x77 //0x77/* 7-bit address, addr. pin pulled low */
#define PATH_MS5525 "/dev/ms5525"
/* Register address */
#define ADDR_READ_MR 0x00 /* write to this address to start conversion */
@ -101,7 +104,7 @@
class MEASAirspeed : public Airspeed
{
public:
MEASAirspeed(int bus, int address = I2C_ADDRESS_MS4525DO);
MEASAirspeed(int bus, int address = I2C_ADDRESS_MS4525DO, const char* path = PATH_MS4525);
protected:
@ -120,8 +123,8 @@ protected:
*/
extern "C" __EXPORT int meas_airspeed_main(int argc, char *argv[]);
MEASAirspeed::MEASAirspeed(int bus, int address) : Airspeed(bus, address,
CONVERSION_INTERVAL)
MEASAirspeed::MEASAirspeed(int bus, int address, const char* path) : Airspeed(bus, address,
CONVERSION_INTERVAL, path)
{
}
@ -208,8 +211,10 @@ MEASAirspeed::collect()
report.voltage = 0;
report.max_differential_pressure_pa = _max_differential_pressure_pa;
/* announce the airspeed if needed, just publish else */
orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report);
if (_airspeed_pub > 0 && !(_pub_blocked)) {
/* publish it */
orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report);
}
new_report(report);
@ -302,7 +307,7 @@ start(int i2c_bus)
errx(1, "already started");
/* create the driver, try the MS4525DO first */
g_dev = new MEASAirspeed(i2c_bus, I2C_ADDRESS_MS4525DO);
g_dev = new MEASAirspeed(i2c_bus, I2C_ADDRESS_MS4525DO, PATH_MS4525);
/* check if the MS4525DO was instantiated */
if (g_dev == nullptr)
@ -311,7 +316,7 @@ start(int i2c_bus)
/* try the MS5525DSO next if init fails */
if (OK != g_dev->Airspeed::init()) {
delete g_dev;
g_dev = new MEASAirspeed(i2c_bus, I2C_ADDRESS_MS5525DSO);
g_dev = new MEASAirspeed(i2c_bus, I2C_ADDRESS_MS5525DSO, PATH_MS5525);
/* check if the MS5525DSO was instantiated */
if (g_dev == nullptr)
@ -384,7 +389,7 @@ test()
err(1, "immediate read failed");
warnx("single read");
warnx("diff pressure: %d pa", (double)report.differential_pressure_pa);
warnx("diff pressure: %8.4f pa", (double)report.differential_pressure_pa);
/* start the sensor polling at 2Hz */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2))
@ -409,7 +414,7 @@ test()
err(1, "periodic read failed");
warnx("periodic read %u", i);
warnx("diff pressure: %d pa", report.differential_pressure_pa);
warnx("diff pressure: %8.4f pa", (double)report.differential_pressure_pa);
warnx("temperature: %d C (0x%02x)", (int)report.temperature, (unsigned) report.temperature);
}

460
src/drivers/mkblctrl/mkblctrl.cpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012,2013 PX4 Development Team. All rights reserved.
* Copyright (C) 2012-2014 PX4 Development Team. All rights reserved.
* Author: Marco Bauer <marco@wtns.de>
*
* Redistribution and use in source and binary forms, with or without
@ -65,7 +65,6 @@
#include <drivers/device/device.h>
#include <drivers/drv_pwm_output.h>
#include <drivers/drv_gpio.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_rc_input.h>
@ -93,16 +92,12 @@
#define MOTOR_SPINUP_COUNTER 30
#define ESC_UORB_PUBLISH_DELAY 500000
class MK : public device::I2C
{
public:
enum Mode {
MODE_NONE,
MODE_2PWM,
MODE_4PWM,
MODE_6PWM,
};
enum MappingMode {
MAPPING_MK = 0,
MAPPING_PX4,
@ -120,8 +115,7 @@ public:
virtual int init(unsigned motors);
virtual ssize_t write(file *filp, const char *buffer, size_t len);
int set_mode(Mode mode);
int set_pwm_rate(unsigned rate);
int set_update_rate(unsigned rate);
int set_motor_count(unsigned count);
int set_motor_test(bool motortest);
int set_overrideSecurityChecks(bool overrideSecurityChecks);
@ -133,7 +127,6 @@ private:
static const unsigned _max_actuators = MAX_MOTORS;
static const bool showDebug = false;
Mode _mode;
int _update_rate;
int _current_update_rate;
int _task;
@ -180,33 +173,15 @@ private:
static const GPIOConfig _gpio_tab[];
static const unsigned _ngpio;
void gpio_reset(void);
void gpio_set_function(uint32_t gpios, int function);
void gpio_write(uint32_t gpios, int function);
uint32_t gpio_read(void);
int gpio_ioctl(file *filp, int cmd, unsigned long arg);
int mk_servo_arm(bool status);
int mk_servo_set(unsigned int chan, short val);
int mk_servo_set_value(unsigned int chan, short val);
int mk_servo_test(unsigned int chan);
short scaling(float val, float inMin, float inMax, float outMin, float outMax);
};
const MK::GPIOConfig MK::_gpio_tab[] = {
{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0},
{GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0},
{GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, GPIO_USART2_CTS_1},
{GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, GPIO_USART2_RTS_1},
{GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, GPIO_USART2_TX_1},
{GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, GPIO_USART2_RX_1},
{GPIO_GPIO6_INPUT, GPIO_GPIO6_OUTPUT, GPIO_CAN2_TX_2},
{GPIO_GPIO7_INPUT, GPIO_GPIO7_OUTPUT, GPIO_CAN2_RX_2},
};
const unsigned MK::_ngpio = sizeof(MK::_gpio_tab) / sizeof(MK::_gpio_tab[0]);
const int blctrlAddr_quad_plus[] = { 2, 2, -2, -2, 0, 0, 0, 0 }; // Addresstranslator for Quad + configuration
const int blctrlAddr_hexa_plus[] = { 0, 2, 2, -2, 1, -3, 0, 0 }; // Addresstranslator for Hexa + configuration
@ -247,8 +222,7 @@ MK *g_mk;
MK::MK(int bus, const char *_device_path) :
I2C("mkblctrl", "/dev/mkblctrl", bus, 0, I2C_BUS_SPEED),
_mode(MODE_NONE),
_update_rate(50),
_update_rate(400),
_task(-1),
_t_actuators(-1),
_t_actuator_armed(-1),
@ -317,26 +291,23 @@ MK::init(unsigned motors)
usleep(500000);
if (sizeof(_device) > 0) {
ret = register_driver(_device, &fops, 0666, (void *)this);
if (sizeof(_device) > 0) {
ret = register_driver(_device, &fops, 0666, (void *)this);
if (ret == OK) {
if (ret == OK) {
log("creating alternate output device");
_primary_pwm_device = true;
}
}
/* reset GPIOs */
gpio_reset();
}
/* start the IO interface task */
_task = task_spawn_cmd("mkblctrl",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 20,
2048,
(main_t)&MK::task_main_trampoline,
nullptr);
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 20,
2048,
(main_t)&MK::task_main_trampoline,
nullptr);
if (_task < 0) {
@ -354,43 +325,7 @@ MK::task_main_trampoline(int argc, char *argv[])
}
int
MK::set_mode(Mode mode)
{
/*
* Configure for PWM output.
*
* Note that regardless of the configured mode, the task is always
* listening and mixing; the mode just selects which of the channels
* are presented on the output pins.
*/
switch (mode) {
case MODE_2PWM:
up_pwm_servo_deinit();
_update_rate = UPDATE_RATE; /* default output rate */
break;
case MODE_4PWM:
up_pwm_servo_deinit();
_update_rate = UPDATE_RATE; /* default output rate */
break;
case MODE_NONE:
debug("MODE_NONE");
/* disable servo outputs and set a very low update rate */
up_pwm_servo_deinit();
_update_rate = UPDATE_RATE;
break;
default:
return -EINVAL;
}
_mode = mode;
return OK;
}
int
MK::set_pwm_rate(unsigned rate)
MK::set_update_rate(unsigned rate)
{
if ((rate > 500) || (rate < 10))
return -EINVAL;
@ -621,11 +556,13 @@ MK::task_main()
}
}
if(!_overrideSecurityChecks) {
if (!_overrideSecurityChecks) {
/* don't go under BLCTRL_MIN_VALUE */
if (outputs.output[i] < BLCTRL_MIN_VALUE) {
outputs.output[i] = BLCTRL_MIN_VALUE;
}
}
/* output to BLCtrl's */
@ -675,21 +612,24 @@ MK::task_main()
esc.esc[i].esc_current = (uint16_t) Motor[i].Current;
esc.esc[i].esc_rpm = (uint16_t) 0;
esc.esc[i].esc_setpoint = (float) Motor[i].SetPoint_PX4;
if (Motor[i].Version == 1) {
// BLCtrl 2.0 (11Bit)
esc.esc[i].esc_setpoint_raw = (uint16_t) (Motor[i].SetPoint<<3) | Motor[i].SetPointLowerBits;
esc.esc[i].esc_setpoint_raw = (uint16_t)(Motor[i].SetPoint << 3) | Motor[i].SetPointLowerBits;
} else {
// BLCtrl < 2.0 (8Bit)
esc.esc[i].esc_setpoint_raw = (uint16_t) Motor[i].SetPoint;
}
esc.esc[i].esc_temperature = (uint16_t) Motor[i].Temperature;
esc.esc[i].esc_state = (uint16_t) Motor[i].State;
esc.esc[i].esc_errorcount = (uint16_t) 0;
// if motortest is requested - do it...
if (_motortest == true) {
mk_servo_test(i);
}
// if motortest is requested - do it...
if (_motortest == true) {
mk_servo_test(i);
}
}
@ -728,7 +668,7 @@ MK::mk_servo_arm(bool status)
unsigned int
MK::mk_check_for_blctrl(unsigned int count, bool showOutput, bool initI2C)
{
if(initI2C) {
if (initI2C) {
I2C::init();
}
@ -765,7 +705,7 @@ MK::mk_check_for_blctrl(unsigned int count, bool showOutput, bool initI2C)
Motor[i].State |= MOTOR_STATE_PRESENT_MASK; // set present bit;
foundMotorCount++;
if (Motor[i].MaxPWM == 250) {
if ((Motor[i].MaxPWM & 252) == 248) {
Motor[i].Version = BLCTRL_NEW;
} else {
@ -781,8 +721,8 @@ MK::mk_check_for_blctrl(unsigned int count, bool showOutput, bool initI2C)
fprintf(stderr, "[mkblctrl] blctrl[%i] : found=%i\tversion=%i\tcurrent=%i\tmaxpwm=%i\ttemperature=%i\n", i, Motor[i].State, Motor[i].Version, Motor[i].Current, Motor[i].MaxPWM, Motor[i].Temperature);
}
if(!_overrideSecurityChecks) {
if (!_overrideSecurityChecks) {
if (foundMotorCount != 4 && foundMotorCount != 6 && foundMotorCount != 8) {
_task_should_exit = true;
}
@ -811,8 +751,8 @@ MK::mk_servo_set(unsigned int chan, short val)
tmpVal = 0;
}
Motor[chan].SetPoint = (uint8_t)(tmpVal>>3)&0xff;
Motor[chan].SetPointLowerBits = ((uint8_t)tmpVal%8)&0x07;
Motor[chan].SetPoint = (uint8_t)(tmpVal >> 3) & 0xff;
Motor[chan].SetPointLowerBits = ((uint8_t)tmpVal % 8) & 0x07;
if (_armed == false) {
Motor[chan].SetPoint = 0;
@ -1019,28 +959,6 @@ MK::ioctl(file *filp, int cmd, unsigned long arg)
{
int ret;
// XXX disabled, confusing users
/* try it as a GPIO ioctl first */
ret = gpio_ioctl(filp, cmd, arg);
if (ret != -ENOTTY)
return ret;
/* if we are in valid PWM mode, try it as a PWM ioctl as well */
/*
switch (_mode) {
case MODE_2PWM:
case MODE_4PWM:
case MODE_6PWM:
ret = pwm_ioctl(filp, cmd, arg);
break;
default:
debug("not in a PWM mode");
break;
}
*/
ret = pwm_ioctl(filp, cmd, arg);
/* if nobody wants it, let CDev have it */
@ -1075,6 +993,10 @@ MK::pwm_ioctl(file *filp, int cmd, unsigned long arg)
ret = OK;
break;
case PWM_SERVO_GET_UPDATE_RATE:
*(uint32_t *)arg = _update_rate;
break;
case PWM_SERVO_SET_SELECT_UPDATE_RATE:
ret = OK;
break;
@ -1084,6 +1006,7 @@ MK::pwm_ioctl(file *filp, int cmd, unsigned long arg)
if (arg < 2150) {
Motor[cmd - PWM_SERVO_SET(0)].RawPwmValue = (unsigned short)arg;
mk_servo_set(cmd - PWM_SERVO_SET(0), scaling(arg, 1010, 2100, 0, 2047));
} else {
ret = -EINVAL;
}
@ -1198,139 +1121,10 @@ MK::write(file *filp, const char *buffer, size_t len)
return count * 2;
}
void
MK::gpio_reset(void)
{
/*
* Setup default GPIO config - all pins as GPIOs, GPIO driver chip
* to input mode.
*/
for (unsigned i = 0; i < _ngpio; i++)
stm32_configgpio(_gpio_tab[i].input);
stm32_gpiowrite(GPIO_GPIO_DIR, 0);
stm32_configgpio(GPIO_GPIO_DIR);
}
void
MK::gpio_set_function(uint32_t gpios, int function)
{
/*
* GPIOs 0 and 1 must have the same direction as they are buffered
* by a shared 2-port driver. Any attempt to set either sets both.
*/
if (gpios & 3) {
gpios |= 3;
/* flip the buffer to output mode if required */
if (GPIO_SET_OUTPUT == function)
stm32_gpiowrite(GPIO_GPIO_DIR, 1);
}
/* configure selected GPIOs as required */
for (unsigned i = 0; i < _ngpio; i++) {
if (gpios & (1 << i)) {
switch (function) {
case GPIO_SET_INPUT:
stm32_configgpio(_gpio_tab[i].input);
break;
case GPIO_SET_OUTPUT:
stm32_configgpio(_gpio_tab[i].output);
break;
case GPIO_SET_ALT_1:
if (_gpio_tab[i].alt != 0)
stm32_configgpio(_gpio_tab[i].alt);
break;
}
}
}
/* flip buffer to input mode if required */
if ((GPIO_SET_INPUT == function) && (gpios & 3))
stm32_gpiowrite(GPIO_GPIO_DIR, 0);
}
void
MK::gpio_write(uint32_t gpios, int function)
{
int value = (function == GPIO_SET) ? 1 : 0;
for (unsigned i = 0; i < _ngpio; i++)
if (gpios & (1 << i))
stm32_gpiowrite(_gpio_tab[i].output, value);
}
uint32_t
MK::gpio_read(void)
{
uint32_t bits = 0;
for (unsigned i = 0; i < _ngpio; i++)
if (stm32_gpioread(_gpio_tab[i].input))
bits |= (1 << i);
return bits;
}
int
MK::gpio_ioctl(struct file *filp, int cmd, unsigned long arg)
{
int ret = OK;
lock();
switch (cmd) {
case GPIO_RESET:
gpio_reset();
break;
case GPIO_SET_OUTPUT:
case GPIO_SET_INPUT:
case GPIO_SET_ALT_1:
gpio_set_function(arg, cmd);
break;
case GPIO_SET_ALT_2:
case GPIO_SET_ALT_3:
case GPIO_SET_ALT_4:
ret = -EINVAL;
break;
case GPIO_SET:
case GPIO_CLEAR:
gpio_write(arg, cmd);
break;
case GPIO_GET:
*(uint32_t *)arg = gpio_read();
break;
default:
ret = -ENOTTY;
}
unlock();
return ret;
}
namespace
{
enum PortMode {
PORT_MODE_UNSET = 0,
PORT_FULL_GPIO,
PORT_FULL_SERIAL,
PORT_FULL_PWM,
PORT_GPIO_AND_SERIAL,
PORT_PWM_AND_SERIAL,
PORT_PWM_AND_GPIO,
};
enum MappingMode {
MAPPING_MK = 0,
MAPPING_PX4,
@ -1341,20 +1135,11 @@ enum FrameType {
FRAME_X,
};
PortMode g_port_mode;
int
mk_new_mode(PortMode new_mode, int update_rate, int motorcount, bool motortest, int px4mode, int frametype, bool overrideSecurityChecks)
mk_new_mode(int update_rate, int motorcount, bool motortest, int px4mode, int frametype, bool overrideSecurityChecks)
{
uint32_t gpio_bits;
int shouldStop = 0;
MK::Mode servo_mode;
/* reset to all-inputs */
g_mk->ioctl(0, GPIO_RESET, 0);
gpio_bits = 0;
servo_mode = MK::MODE_NONE;
/* native PX4 addressing) */
g_mk->set_px4mode(px4mode);
@ -1368,7 +1153,6 @@ mk_new_mode(PortMode new_mode, int update_rate, int motorcount, bool motortest,
/* ovveride security checks if enabled */
g_mk->set_overrideSecurityChecks(overrideSecurityChecks);
/* count used motors */
do {
if (g_mk->mk_check_for_blctrl(8, false, false) != 0) {
@ -1383,86 +1167,54 @@ mk_new_mode(PortMode new_mode, int update_rate, int motorcount, bool motortest,
g_mk->set_motor_count(g_mk->mk_check_for_blctrl(8, true, false));
/* (re)set the PWM output mode */
g_mk->set_mode(servo_mode);
if ((servo_mode != MK::MODE_NONE) && (update_rate != 0))
g_mk->set_pwm_rate(update_rate);
g_mk->set_update_rate(update_rate);
return OK;
}
int
mk_start(unsigned bus, unsigned motors, char *device_path)
{
int ret = OK;
if (g_mk == nullptr) {
g_mk = new MK(bus, device_path);
if (g_mk == nullptr) {
ret = -ENOMEM;
} else {
ret = g_mk->init(motors);
if (ret != OK) {
delete g_mk;
g_mk = nullptr;
}
}
}
return ret;
}
int
mk_check_for_i2c_esc_bus(char *device_path, int motors)
mk_start(unsigned motors, char *device_path)
{
int ret;
if (g_mk == nullptr) {
// try i2c3 first
g_mk = new MK(3, device_path);
g_mk = new MK(3, device_path);
if (!g_mk)
return -ENOMEM;
if (g_mk == nullptr) {
return -1;
} else {
ret = g_mk->mk_check_for_blctrl(8, false, true);
delete g_mk;
g_mk = nullptr;
if (ret > 0) {
return 3;
}
}
g_mk = new MK(1, device_path);
if (g_mk == nullptr) {
return -1;
} else {
ret = g_mk->mk_check_for_blctrl(8, false, true);
delete g_mk;
g_mk = nullptr;
if (ret > 0) {
return 1;
}
if (OK == g_mk->init(motors)) {
warnx("[mkblctrl] scanning i2c3...\n");
ret = g_mk->mk_check_for_blctrl(8, false, true);
if (ret > 0) {
return OK;
}
}
return -1;
}
delete g_mk;
g_mk = nullptr;
// fallback to bus 1
g_mk = new MK(1, device_path);
if (!g_mk)
return -ENOMEM;
if (OK == g_mk->init(motors)) {
warnx("[mkblctrl] scanning i2c1...\n");
ret = g_mk->mk_check_for_blctrl(8, false, true);
if (ret > 0) {
return OK;
}
}
delete g_mk;
g_mk = nullptr;
return -ENXIO;
}
} // namespace
@ -1472,10 +1224,8 @@ extern "C" __EXPORT int mkblctrl_main(int argc, char *argv[]);
int
mkblctrl_main(int argc, char *argv[])
{
PortMode port_mode = PORT_FULL_PWM;
int pwm_update_rate_in_hz = UPDATE_RATE;
int motorcount = 8;
int bus = -1;
int px4mode = MAPPING_PX4;
int frametype = FRAME_PLUS; // + plus is default
bool motortest = false;
@ -1489,18 +1239,6 @@ mkblctrl_main(int argc, char *argv[])
*/
for (int i = 1; i < argc; i++) {
/* look for the optional i2c bus parameter */
if (strcmp(argv[i], "-b") == 0 || strcmp(argv[i], "--bus") == 0) {
if (argc > i + 1) {
bus = atoi(argv[i + 1]);
newMode = true;
} else {
errx(1, "missing argument for i2c bus (-b)");
return 1;
}
}
/* look for the optional frame parameter */
if (strcmp(argv[i], "-mkmode") == 0 || strcmp(argv[i], "--mkmode") == 0) {
if (argc > i + 1) {
@ -1560,51 +1298,43 @@ mkblctrl_main(int argc, char *argv[])
fprintf(stderr, "mkblctrl: help:\n");
fprintf(stderr, " [-mkmode {+/x}] [-b i2c_bus_number] [-d devicename] [--override-security-checks] [-h / --help]\n\n");
fprintf(stderr, "\t -mkmode {+/x} \t\t Type of frame, if Mikrokopter motor order is used.\n");
fprintf(stderr, "\t -b {i2c_bus_number} \t\t Set the i2c bus where the ESCs are connected to (default autoscan).\n");
fprintf(stderr, "\t -d {devicepath & name}\t\t Create alternate pwm device.\n");
fprintf(stderr, "\t --override-security-checks \t\t Disable all security checks (arming and number of ESCs). Used to test single Motors etc. (DANGER !!!)\n");
fprintf(stderr, "\n");
fprintf(stderr, "Motortest:\n");
fprintf(stderr, "First you have to start mkblctrl, the you can enter Motortest Mode with:\n");
fprintf(stderr, "mkblctrl -t\n");
fprintf(stderr, "This will spin up once every motor in order of motoraddress. (DANGER !!!)\n");
fprintf(stderr, "This will spin up once every motor in order of motoraddress. (DANGER !!!)\n");
exit(1);
}
if (!motortest) {
if (g_mk == nullptr) {
if (bus == -1) {
bus = mk_check_for_i2c_esc_bus(devicepath, motorcount);
}
if (g_mk == nullptr) {
if (mk_start(motorcount, devicepath) != OK) {
errx(1, "failed to start the MK-BLCtrl driver");
}
if (bus != -1) {
if (mk_start(bus, motorcount, devicepath) != OK) {
errx(1, "failed to start the MK-BLCtrl driver");
}
} else {
errx(1, "failed to start the MK-BLCtrl driver (cannot find i2c esc's)");
}
/* parameter set ? */
if (newMode) {
/* switch parameter */
return mk_new_mode(pwm_update_rate_in_hz, motorcount, motortest, px4mode, frametype, overrideSecurityChecks);
}
/* parameter set ? */
if (newMode) {
/* switch parameter */
return mk_new_mode(port_mode, pwm_update_rate_in_hz, motorcount, motortest, px4mode, frametype, overrideSecurityChecks);
}
exit(0);
exit(0);
} else {
errx(1, "MK-BLCtrl driver already running");
}
} else {
errx(1, "MK-BLCtrl driver already running");
}
} else {
if (g_mk == nullptr) {
errx(1, "MK-BLCtrl driver not running. You have to start it first.");
} else {
if (g_mk == nullptr) {
errx(1, "MK-BLCtrl driver not running. You have to start it first.");
} else {
g_mk->set_motor_test(motortest);
exit(0);
} else {
g_mk->set_motor_test(motortest);
exit(0);
}
}
}
}
}

50
src/drivers/mpu6000/mpu6000.cpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -443,7 +443,6 @@ int
MPU6000::init()
{
int ret;
int gyro_ret;
/* do SPI init (and probe) first */
ret = SPI::init();
@ -488,16 +487,36 @@ MPU6000::init()
return ret;
}
/* fetch an initial set of measurements for advertisement */
_accel_class_instance = register_class_devname(ACCEL_DEVICE_PATH);
measure();
_accel_class_instance = register_class_devname(ACCEL_DEVICE_PATH);
if (_accel_class_instance == CLASS_DEVICE_PRIMARY) {
/* advertise accel topic */
accel_report ar;
_accel_reports->get(&ar);
_accel_topic = orb_advertise(ORB_ID(sensor_accel), &ar);
}
/* advertise sensor topic, measure manually to initialize valid report */
struct accel_report arp;
_accel_reports->get(&arp);
/* measurement will have generated a report, publish */
_accel_topic = orb_advertise(ORB_ID(sensor_accel), &arp);
if (_accel_topic < 0)
debug("failed to create sensor_accel publication");
}
if (_gyro->_gyro_class_instance == CLASS_DEVICE_PRIMARY) {
/* advertise sensor topic, measure manually to initialize valid report */
struct gyro_report grp;
_gyro_reports->get(&grp);
_gyro->_gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &grp);
if (_gyro->_gyro_topic < 0)
debug("failed to create sensor_gyro publication");
}
out:
return ret;
@ -1307,10 +1326,13 @@ MPU6000::measure()
poll_notify(POLLIN);
_gyro->parent_poll_notify();
if (_accel_topic != -1) {
if (_accel_topic > 0 && !(_pub_blocked)) {
/* publish it */
orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb);
}
if (_gyro->_gyro_topic != -1) {
if (_gyro->_gyro_topic > 0 && !(_pub_blocked)) {
/* publish it */
orb_publish(ORB_ID(sensor_gyro), _gyro->_gyro_topic, &grb);
}
@ -1331,6 +1353,7 @@ MPU6000::print_info()
MPU6000_gyro::MPU6000_gyro(MPU6000 *parent) :
CDev("MPU6000_gyro", MPU_DEVICE_PATH_GYRO),
_parent(parent),
_gyro_topic(-1),
_gyro_class_instance(-1)
{
}
@ -1356,11 +1379,6 @@ MPU6000_gyro::init()
}
_gyro_class_instance = register_class_devname(GYRO_DEVICE_PATH);
if (_gyro_class_instance == CLASS_DEVICE_PRIMARY) {
gyro_report gr;
memset(&gr, 0, sizeof(gr));
_gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &gr);
}
out:
return ret;

87
src/drivers/ms5611/ms5611.cpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -90,6 +90,7 @@ static const int ERROR = -1;
/* internal conversion time: 9.17 ms, so should not be read at rates higher than 100 Hz */
#define MS5611_CONVERSION_INTERVAL 10000 /* microseconds */
#define MS5611_MEASUREMENT_RATIO 3 /* pressure measurements per temperature measurement */
#define MS5611_BARO_DEVICE_PATH "/dev/ms5611"
class MS5611 : public device::CDev
{
@ -132,6 +133,8 @@ protected:
orb_advert_t _baro_topic;
int _class_instance;
perf_counter_t _sample_perf;
perf_counter_t _measure_perf;
perf_counter_t _comms_errors;
@ -192,7 +195,7 @@ protected:
extern "C" __EXPORT int ms5611_main(int argc, char *argv[]);
MS5611::MS5611(device::Device *interface, ms5611::prom_u &prom_buf) :
CDev("MS5611", BARO_DEVICE_PATH),
CDev("MS5611", MS5611_BARO_DEVICE_PATH),
_interface(interface),
_prom(prom_buf.s),
_measure_ticks(0),
@ -204,6 +207,7 @@ MS5611::MS5611(device::Device *interface, ms5611::prom_u &prom_buf) :
_SENS(0),
_msl_pressure(101325),
_baro_topic(-1),
_class_instance(-1),
_sample_perf(perf_alloc(PC_ELAPSED, "ms5611_read")),
_measure_perf(perf_alloc(PC_ELAPSED, "ms5611_measure")),
_comms_errors(perf_alloc(PC_COUNT, "ms5611_comms_errors")),
@ -218,6 +222,9 @@ MS5611::~MS5611()
/* make sure we are truly inactive */
stop_cycle();
if (_class_instance != -1)
unregister_class_devname(MS5611_BARO_DEVICE_PATH, _class_instance);
/* free any existing reports */
if (_reports != nullptr)
delete _reports;
@ -251,18 +258,57 @@ MS5611::init()
goto out;
}
/* get a publish handle on the baro topic */
struct baro_report zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_baro_topic = orb_advertise(ORB_ID(sensor_baro), &zero_report);
/* register alternate interfaces if we have to */
_class_instance = register_class_devname(BARO_DEVICE_PATH);
if (_baro_topic < 0) {
debug("failed to create sensor_baro object");
ret = -ENOSPC;
goto out;
}
struct baro_report brp;
/* do a first measurement cycle to populate reports with valid data */
_measure_phase = 0;
_reports->flush();
/* this do..while is goto without goto */
do {
/* do temperature first */
if (OK != measure()) {
ret = -EIO;
break;
}
usleep(MS5611_CONVERSION_INTERVAL);
if (OK != collect()) {
ret = -EIO;
break;
}
/* now do a pressure measurement */
if (OK != measure()) {
ret = -EIO;
break;
}
usleep(MS5611_CONVERSION_INTERVAL);
if (OK != collect()) {
ret = -EIO;
break;
}
/* state machine will have generated a report, copy it out */
_reports->get(&brp);
ret = OK;
if (_class_instance == CLASS_DEVICE_PRIMARY) {
_baro_topic = orb_advertise(ORB_ID(sensor_baro), &brp);
if (_baro_topic < 0)
debug("failed to create sensor_baro publication");
}
} while (0);
ret = OK;
out:
return ret;
}
@ -670,7 +716,10 @@ MS5611::collect()
report.altitude = (((pow((p / p1), (-(a * R) / g))) * T1) - T1) / a;
/* publish it */
orb_publish(ORB_ID(sensor_baro), _baro_topic, &report);
if (_baro_topic > 0 && !(_pub_blocked)) {
/* publish it */
orb_publish(ORB_ID(sensor_baro), _baro_topic, &report);
}
if (_reports->force(&report)) {
perf_count(_buffer_overflows);
@ -812,7 +861,7 @@ start()
goto fail;
/* set the poll rate to default, starts automatic data collection */
fd = open(BARO_DEVICE_PATH, O_RDONLY);
fd = open(MS5611_BARO_DEVICE_PATH, O_RDONLY);
if (fd < 0) {
warnx("can't open baro device");
goto fail;
@ -846,10 +895,10 @@ test()
ssize_t sz;
int ret;
int fd = open(BARO_DEVICE_PATH, O_RDONLY);
int fd = open(MS5611_BARO_DEVICE_PATH, O_RDONLY);
if (fd < 0)
err(1, "%s open failed (try 'ms5611 start' if the driver is not running)", BARO_DEVICE_PATH);
err(1, "%s open failed (try 'ms5611 start' if the driver is not running)", MS5611_BARO_DEVICE_PATH);
/* do a simple demand read */
sz = read(fd, &report, sizeof(report));
@ -905,7 +954,7 @@ test()
void
reset()
{
int fd = open(BARO_DEVICE_PATH, O_RDONLY);
int fd = open(MS5611_BARO_DEVICE_PATH, O_RDONLY);
if (fd < 0)
err(1, "failed ");
@ -944,10 +993,10 @@ calibrate(unsigned altitude)
float pressure;
float p1;
int fd = open(BARO_DEVICE_PATH, O_RDONLY);
int fd = open(MS5611_BARO_DEVICE_PATH, O_RDONLY);
if (fd < 0)
err(1, "%s open failed (try 'ms5611 start' if the driver is not running)", BARO_DEVICE_PATH);
err(1, "%s open failed (try 'ms5611 start' if the driver is not running)", MS5611_BARO_DEVICE_PATH);
/* start the sensor polling at max */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX))

48
src/lib/launchdetection/launchdetection_params.c
View File

@ -45,28 +45,46 @@
#include <systemlib/param/param.h>
/*
* Launch detection parameters, accessible via MAVLink
* Catapult launch detection parameters, accessible via MAVLink
*
*/
/* Catapult Launch detection */
// @DisplayName Switch to enable launchdetection
// @Description if set to 1 launchdetection is enabled
// @Range 0 or 1
/**
* Enable launch detection.
*
* @min 0
* @max 1
* @group Launch detection
*/
PARAM_DEFINE_INT32(LAUN_ALL_ON, 0);
// @DisplayName Catapult Accelerometer Threshold
// @Description LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection
// @Range > 0
/**
* Catapult accelerometer theshold.
*
* LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection.
*
* @min 0
* @group Launch detection
*/
PARAM_DEFINE_FLOAT(LAUN_CAT_A, 30.0f);
// @DisplayName Catapult Time Threshold
// @Description LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection
// @Range > 0, in seconds
/**
* Catapult time theshold.
*
* LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection.
*
* @min 0
* @group Launch detection
*/
PARAM_DEFINE_FLOAT(LAUN_CAT_T, 0.05f);
// @DisplayName Throttle setting while detecting the launch
// @Description The throttle is set to this value while the system is waiting for the takeoff
// @Range 0 to 1
/**
* Throttle setting while detecting launch.
*
* The throttle is set to this value while the system is waiting for the take-off.
*
* @min 0
* @max 1
* @group Launch detection
*/
PARAM_DEFINE_FLOAT(LAUN_THR_PRE, 0.0f);

20
src/modules/commander/commander.cpp
View File

@ -152,6 +152,7 @@ static uint64_t last_print_mode_reject_time = 0;
static bool on_usb_power = false;
static float takeoff_alt = 5.0f;
static int parachute_enabled = 0;
static struct vehicle_status_s status;
static struct actuator_armed_s armed;
@ -429,7 +430,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
arming_res = TRANSITION_NOT_CHANGED;
if (base_mode & MAV_MODE_FLAG_SAFETY_ARMED) {
if ((safety->safety_switch_available && !safety->safety_off) && status->hil_state == HIL_STATE_OFF) {
if (safety->safety_switch_available && !safety->safety_off && status->hil_state == HIL_STATE_OFF) {
print_reject_arm("NOT ARMING: Press safety switch first.");
arming_res = TRANSITION_DENIED;
@ -515,7 +516,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
transition_result_t arming_res = TRANSITION_NOT_CHANGED;
if (!armed->armed && ((int)(cmd->param1 + 0.5f)) == 1) {
if (safety->safety_switch_available && !safety->safety_off) {
if (safety->safety_switch_available && !safety->safety_off && status->hil_state == HIL_STATE_OFF) {
print_reject_arm("NOT ARMING: Press safety switch first.");
arming_res = TRANSITION_DENIED;
@ -563,7 +564,9 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
/* Flight termination */
case VEHICLE_CMD_DO_SET_SERVO: { //xxx: needs its own mavlink command
if (armed->armed && cmd->param3 > 0.5) { //xxx: for safety only for now, param3 is unused by VEHICLE_CMD_DO_SET_SERVO
//XXX: to enable the parachute, a param needs to be set
//xxx: for safety only for now, param3 is unused by VEHICLE_CMD_DO_SET_SERVO
if (armed->armed && cmd->param3 > 0.5 && parachute_enabled) {
transition_result_t failsafe_res = failsafe_state_transition(status, FAILSAFE_STATE_TERMINATION);
result = VEHICLE_CMD_RESULT_ACCEPTED;
ret = true;
@ -615,6 +618,7 @@ int commander_thread_main(int argc, char *argv[])
param_t _param_system_id = param_find("MAV_SYS_ID");
param_t _param_component_id = param_find("MAV_COMP_ID");
param_t _param_takeoff_alt = param_find("NAV_TAKEOFF_ALT");
param_t _param_enable_parachute = param_find("NAV_PARACHUTE_EN");
/* welcome user */
warnx("starting");
@ -860,10 +864,10 @@ int commander_thread_main(int argc, char *argv[])
/* re-check RC calibration */
rc_calibration_ok = (OK == rc_calibration_check(mavlink_fd));
/* navigation parameters */
param_get(_param_takeoff_alt, &takeoff_alt);
}
/* navigation parameters */
param_get(_param_takeoff_alt, &takeoff_alt);
param_get(_param_enable_parachute, &parachute_enabled);
}
orb_check(sp_man_sub, &updated);
@ -1152,7 +1156,7 @@ int commander_thread_main(int argc, char *argv[])
if (status.arming_state == ARMING_STATE_STANDBY &&
sp_man.yaw > STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.1f) {
if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) {
if (safety.safety_switch_available && !safety.safety_off) {
if (safety.safety_switch_available && !safety.safety_off && status.hil_state == HIL_STATE_OFF) {
print_reject_arm("NOT ARMING: Press safety switch first.");
} else if (status.main_state != MAIN_STATE_MANUAL) {
@ -1251,7 +1255,7 @@ int commander_thread_main(int argc, char *argv[])
// TODO remove this hack
/* flight termination in manual mode if assisted switch is on easy position */
if (!status.is_rotary_wing && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.assisted_switch > STICK_ON_OFF_LIMIT) {
if (!status.is_rotary_wing && parachute_enabled && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.assisted_switch > STICK_ON_OFF_LIMIT) {
if (TRANSITION_CHANGED == failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION)) {
tune_positive();
}

32
src/modules/commander/commander_params.c
View File

@ -48,7 +48,39 @@
PARAM_DEFINE_FLOAT(TRIM_ROLL, 0.0f);
PARAM_DEFINE_FLOAT(TRIM_PITCH, 0.0f);
PARAM_DEFINE_FLOAT(TRIM_YAW, 0.0f);
/**
* Empty cell voltage.
*
* Defines the voltage where a single cell of the battery is considered empty.
*
* @group Battery Calibration
*/
PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.4f);
/**
* Full cell voltage.
*
* Defines the voltage where a single cell of the battery is considered full.
*
* @group Battery Calibration
*/
PARAM_DEFINE_FLOAT(BAT_V_FULL, 3.9f);
/**
* Number of cells.
*
* Defines the number of cells the attached battery consists of.
*
* @group Battery Calibration
*/
PARAM_DEFINE_INT32(BAT_N_CELLS, 3);
/**
* Battery capacity.
*
* Defines the capacity of the attached battery.
*
* @group Battery Calibration
*/
PARAM_DEFINE_FLOAT(BAT_CAPACITY, -1.0f);

30
src/modules/commander/state_machine_helper.cpp
View File

@ -42,6 +42,8 @@
#include <unistd.h>
#include <stdint.h>
#include <stdbool.h>
#include <dirent.h>
#include <fcntl.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
@ -50,6 +52,7 @@
#include <systemlib/param/param.h>
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_device.h>
#include <mavlink/mavlink_log.h>
#include "state_machine_helper.h"
@ -332,6 +335,33 @@ int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_s
mavlink_log_critical(mavlink_fd, "Switched to ON hil state");
valid_transition = true;
// Disable publication of all attached sensors
/* list directory */
DIR *d;
struct dirent *direntry;
d = opendir("/dev");
if (d) {
while ((direntry = readdir(d)) != NULL) {
int sensfd = ::open(direntry->d_name, 0);
int block_ret = ::ioctl(sensfd, DEVIOCSPUBBLOCK, 0);
close(sensfd);
printf("Disabling %s\n: %s", direntry->d_name, (!block_ret) ? "OK" : "FAIL");
}
closedir(d);
warnx("directory listing ok (FS mounted and readable)");
} else {
/* failed opening dir */
warnx("FAILED LISTING DEVICE ROOT DIRECTORY");
return 1;
}
}
break;

25
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
View File

@ -236,7 +236,7 @@ private:
float land_slope_length;
float land_H1_virt;
float land_flare_alt_relative;
float land_thrust_lim_horizontal_distance;
float land_thrust_lim_alt_relative;
float land_heading_hold_horizontal_distance;
} _parameters; /**< local copies of interesting parameters */
@ -281,7 +281,7 @@ private:
param_t land_slope_length;
param_t land_H1_virt;
param_t land_flare_alt_relative;
param_t land_thrust_lim_horizontal_distance;
param_t land_thrust_lim_alt_relative;
param_t land_heading_hold_horizontal_distance;
} _parameter_handles; /**< handles for interesting parameters */
@ -434,7 +434,7 @@ FixedwingPositionControl::FixedwingPositionControl() :
_parameter_handles.land_slope_length = param_find("FW_LND_SLLR");
_parameter_handles.land_H1_virt = param_find("FW_LND_HVIRT");
_parameter_handles.land_flare_alt_relative = param_find("FW_LND_FLALT");
_parameter_handles.land_thrust_lim_horizontal_distance = param_find("FW_LND_TLDIST");
_parameter_handles.land_thrust_lim_alt_relative = param_find("FW_LND_TLALT");
_parameter_handles.land_heading_hold_horizontal_distance = param_find("FW_LND_HHDIST");
_parameter_handles.time_const = param_find("FW_T_TIME_CONST");
@ -523,7 +523,7 @@ FixedwingPositionControl::parameters_update()
param_get(_parameter_handles.land_slope_length, &(_parameters.land_slope_length));
param_get(_parameter_handles.land_H1_virt, &(_parameters.land_H1_virt));
param_get(_parameter_handles.land_flare_alt_relative, &(_parameters.land_flare_alt_relative));
param_get(_parameter_handles.land_thrust_lim_horizontal_distance, &(_parameters.land_thrust_lim_horizontal_distance));
param_get(_parameter_handles.land_thrust_lim_alt_relative, &(_parameters.land_thrust_lim_alt_relative));
param_get(_parameter_handles.land_heading_hold_horizontal_distance, &(_parameters.land_heading_hold_horizontal_distance));
_l1_control.set_l1_damping(_parameters.l1_damping);
@ -558,7 +558,7 @@ FixedwingPositionControl::parameters_update()
}
/* Update the landing slope */
landingslope.update(math::radians(_parameters.land_slope_angle), _parameters.land_flare_alt_relative, _parameters.land_thrust_lim_horizontal_distance, _parameters.land_H1_virt);
landingslope.update(math::radians(_parameters.land_slope_angle), _parameters.land_flare_alt_relative, _parameters.land_thrust_lim_alt_relative, _parameters.land_H1_virt);
/* Update and publish the navigation capabilities */
_nav_capabilities.landing_slope_angle_rad = landingslope.landing_slope_angle_rad();
@ -836,6 +836,8 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
} else if (pos_sp_triplet.current.type == SETPOINT_TYPE_LAND) {
float bearing_lastwp_currwp = get_bearing_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1));
/* Horizontal landing control */
/* switch to heading hold for the last meters, continue heading hold after */
float wp_distance = get_distance_to_next_waypoint(current_position(0), current_position(1), curr_wp(0), curr_wp(1));
@ -846,7 +848,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
if (!land_noreturn_horizontal) {//set target_bearing in first occurrence
if (pos_sp_triplet.previous.valid) {
target_bearing = get_bearing_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1));
target_bearing = bearing_lastwp_currwp;
} else {
target_bearing = _att.yaw;
}
@ -888,10 +890,9 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
float airspeed_approach = 1.3f * _parameters.airspeed_min;
float L_wp_distance = get_distance_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1)) * _parameters.land_slope_length;
float L_altitude = landingslope.getLandingSlopeAbsoluteAltitude(L_wp_distance, _pos_sp_triplet.current.alt);//getLandingSlopeAbsoluteAltitude(L_wp_distance, _pos_sp_triplet.current.alt, landing_slope_angle_rad, horizontal_slope_displacement);
float landing_slope_alt_desired = landingslope.getLandingSlopeAbsoluteAltitude(wp_distance, _pos_sp_triplet.current.alt);//getLandingSlopeAbsoluteAltitude(wp_distance, _pos_sp_triplet.current.alt, landing_slope_angle_rad, horizontal_slope_displacement);
float L_altitude = landingslope.getLandingSlopeAbsoluteAltitude(L_wp_distance, _pos_sp_triplet.current.alt);
float bearing_airplane_currwp = get_bearing_to_next_waypoint(current_position(0), current_position(1), curr_wp(0), curr_wp(1));
float landing_slope_alt_desired = landingslope.getLandingSlopeAbsoluteAltitudeSave(wp_distance, bearing_lastwp_currwp, bearing_airplane_currwp, _pos_sp_triplet.current.alt);
if ( (_global_pos.alt < _pos_sp_triplet.current.alt + landingslope.flare_relative_alt()) || land_noreturn_vertical) { //checking for land_noreturn to avoid unwanted climb out
@ -903,7 +904,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
/* kill the throttle if param requests it */
throttle_max = _parameters.throttle_max;
if (wp_distance < landingslope.motor_lim_horizontal_distance() || land_motor_lim) {
if (_global_pos.alt < _pos_sp_triplet.current.alt + landingslope.motor_lim_relative_alt() || land_motor_lim) {
throttle_max = math::min(throttle_max, _parameters.throttle_land_max);
if (!land_motor_lim) {
land_motor_lim = true;
@ -912,7 +913,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
}
float flare_curve_alt = landingslope.getFlareCurveAltitude(wp_distance, _pos_sp_triplet.current.alt);
float flare_curve_alt = landingslope.getFlareCurveAltitudeSave(wp_distance, bearing_lastwp_currwp, bearing_airplane_currwp, _pos_sp_triplet.current.alt);
/* avoid climbout */
if (flare_curve_alt_last < flare_curve_alt && land_noreturn_vertical || land_stayonground)

284
src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
View File

@ -40,12 +40,10 @@
*/
#include <nuttx/config.h>
#include <systemlib/param/param.h>
/*
* Controller parameters, accessible via MAVLink
*
*/
/**
@ -119,58 +117,268 @@ PARAM_DEFINE_FLOAT(FW_P_LIM_MIN, -45.0f);
*/
PARAM_DEFINE_FLOAT(FW_P_LIM_MAX, 45.0f);
/**
* Controller roll limit
*
* The maximum roll the controller will output.
*
* @unit degrees
* @min 0.0
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_R_LIM, 45.0f);
PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f);
/**
* Throttle limit max
*
* This is the maximum throttle % that can be used by the controller.
* For overpowered aircraft, this should be reduced to a value that
* provides sufficient thrust to climb at the maximum pitch angle PTCH_MAX.
*
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_THR_MAX, 1.0f);
/**
* Throttle limit min
*
* This is the minimum throttle % that can be used by the controller.
* For electric aircraft this will normally be set to zero, but can be set
* to a small non-zero value if a folding prop is fitted to prevent the
* prop from folding and unfolding repeatedly in-flight or to provide
* some aerodynamic drag from a turning prop to improve the descent rate.
*
* For aircraft with internal combustion engine this parameter should be set
* for desired idle rpm.
*
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f);
/**
* Throttle limit value before flare
*
* This throttle value will be set as throttle limit at FW_LND_TLALT,
* before arcraft will flare.
*
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_THR_LND_MAX, 1.0f);
/**
* Maximum climb rate
*
* This is the best climb rate that the aircraft can achieve with
* the throttle set to THR_MAX and the airspeed set to the
* default value. For electric aircraft make sure this number can be
* achieved towards the end of flight when the battery voltage has reduced.
* The setting of this parameter can be checked by commanding a positive
* altitude change of 100m in loiter, RTL or guided mode. If the throttle
* required to climb is close to THR_MAX and the aircraft is maintaining
* airspeed, then this parameter is set correctly. If the airspeed starts
* to reduce, then the parameter is set to high, and if the throttle
* demand required to climb and maintain speed is noticeably less than
* FW_THR_MAX, then either FW_T_CLMB_MAX should be increased or
* FW_THR_MAX reduced.
*
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_T_CLMB_MAX, 5.0f);
/**
* Minimum descent rate
*
* This is the sink rate of the aircraft with the throttle
* set to THR_MIN and flown at the same airspeed as used
* to measure FW_T_CLMB_MAX.
*
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_T_SINK_MIN, 2.0f);
PARAM_DEFINE_FLOAT(FW_T_TIME_CONST, 5.0f);
PARAM_DEFINE_FLOAT(FW_T_THR_DAMP, 0.5f);
PARAM_DEFINE_FLOAT(FW_T_INTEG_GAIN, 0.1f);
PARAM_DEFINE_FLOAT(FW_T_VERT_ACC, 7.0f);
PARAM_DEFINE_FLOAT(FW_T_HGT_OMEGA, 3.0f);
PARAM_DEFINE_FLOAT(FW_T_SPD_OMEGA, 2.0f);
PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 10.0f);
PARAM_DEFINE_FLOAT(FW_T_SPDWEIGHT, 1.0f);
PARAM_DEFINE_FLOAT(FW_T_PTCH_DAMP, 0.0f);
/**
* Maximum descent rate
*
* This sets the maximum descent rate that the controller will use.
* If this value is too large, the aircraft can over-speed on descent.
* This should be set to a value that can be achieved without
* exceeding the lower pitch angle limit and without over-speeding
* the aircraft.
*
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_T_SINK_MAX, 5.0f);
/**
* TECS time constant
*
* This is the time constant of the TECS control algorithm (in seconds).
* Smaller values make it faster to respond, larger values make it slower
* to respond.
*
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_T_TIME_CONST, 5.0f);
/**
* Throttle damping factor
*
* This is the damping gain for the throttle demand loop.
* Increase to add damping to correct for oscillations in speed and height.
*
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_T_THR_DAMP, 0.5f);
/**
* Integrator gain
*
* This is the integrator gain on the control loop.
* Increasing this gain increases the speed at which speed
* and height offsets are trimmed out, but reduces damping and
* increases overshoot.
*
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_T_INTEG_GAIN, 0.1f);
/**
* Maximum vertical acceleration
*
* This is the maximum vertical acceleration (in metres/second^2)
* either up or down that the controller will use to correct speed
* or height errors. The default value of 7 m/s/s (equivalent to +- 0.7 g)
* allows for reasonably aggressive pitch changes if required to recover
* from under-speed conditions.
*
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_T_VERT_ACC, 7.0f);
/**
* Complementary filter "omega" parameter for height
*
* This is the cross-over frequency (in radians/second) of the complementary
* filter used to fuse vertical acceleration and barometric height to obtain
* an estimate of height rate and height. Increasing this frequency weights
* the solution more towards use of the barometer, whilst reducing it weights
* the solution more towards use of the accelerometer data.
*
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_T_HGT_OMEGA, 3.0f);
/**
* Complementary filter "omega" parameter for speed
*
* This is the cross-over frequency (in radians/second) of the complementary
* filter used to fuse longitudinal acceleration and airspeed to obtain an
* improved airspeed estimate. Increasing this frequency weights the solution
* more towards use of the arispeed sensor, whilst reducing it weights the
* solution more towards use of the accelerometer data.
*
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_T_SPD_OMEGA, 2.0f);
/**
* Roll -> Throttle feedforward
*
* Increasing this gain turn increases the amount of throttle that will
* be used to compensate for the additional drag created by turning.
* Ideally this should be set to approximately 10 x the extra sink rate
* in m/s created by a 45 degree bank turn. Increase this gain if
* the aircraft initially loses energy in turns and reduce if the
* aircraft initially gains energy in turns. Efficient high aspect-ratio
* aircraft (eg powered sailplanes) can use a lower value, whereas
* inefficient low aspect-ratio models (eg delta wings) can use a higher value.
*
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 10.0f);
/**
* Speed <--> Altitude priority
*
* This parameter adjusts the amount of weighting that the pitch control
* applies to speed vs height errors. Setting it to 0.0 will cause the
* pitch control to control height and ignore speed errors. This will
* normally improve height accuracy but give larger airspeed errors.
* Setting it to 2.0 will cause the pitch control loop to control speed
* and ignore height errors. This will normally reduce airspeed errors,
* but give larger height errors. The default value of 1.0 allows the pitch
* control to simultaneously control height and speed.
* Note to Glider Pilots - set this parameter to 2.0 (The glider will
* adjust its pitch angle to maintain airspeed, ignoring changes in height).
*
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_T_SPDWEIGHT, 1.0f);
/**
* Pitch damping factor
*
* This is the damping gain for the pitch demand loop. Increase to add
* damping to correct for oscillations in height. The default value of 0.0
* will work well provided the pitch to servo controller has been tuned
* properly.
*
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_T_PTCH_DAMP, 0.0f);
/**
* Height rate P factor
*
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_T_HRATE_P, 0.05f);
/**
* Speed rate P factor
*
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_T_SRATE_P, 0.05f);
PARAM_DEFINE_FLOAT(FW_LND_ANG, 10.0f);
/**
* Landing slope angle
*
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_LND_ANG, 5.0f);
/**
* Landing slope length
*
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_LND_SLLR, 0.9f);
/**
*
*
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_LND_HVIRT, 10.0f);
/**
* Landing flare altitude (relative)
*
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_LND_FLALT, 15.0f);
PARAM_DEFINE_FLOAT(FW_LND_TLDIST, 30.0f);
/**
* Landing throttle limit altitude (relative)
*
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_LND_TLALT, 5.0f);
/**
* Landing heading hold horizontal distance
*
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_LND_HHDIST, 15.0f);

22
src/modules/fw_pos_control_l1/landingslope.cpp
View File

@ -48,13 +48,13 @@
void Landingslope::update(float landing_slope_angle_rad,
float flare_relative_alt,
float motor_lim_horizontal_distance,
float motor_lim_relative_alt,
float H1_virt)
{
_landing_slope_angle_rad = landing_slope_angle_rad;
_flare_relative_alt = flare_relative_alt;
_motor_lim_horizontal_distance = motor_lim_horizontal_distance;
_motor_lim_relative_alt = motor_lim_relative_alt;
_H1_virt = H1_virt;
calculateSlopeValues();
@ -74,9 +74,21 @@ float Landingslope::getLandingSlopeAbsoluteAltitude(float wp_distance, float wp_
return Landingslope::getLandingSlopeAbsoluteAltitude(wp_distance, wp_altitude, _horizontal_slope_displacement, _landing_slope_angle_rad);
}
float Landingslope::getFlareCurveAltitude(float wp_landing_distance, float wp_landing_altitude)
float Landingslope::getLandingSlopeAbsoluteAltitudeSave(float wp_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp, float wp_altitude)
{
return wp_landing_altitude + _H0 * expf(-math::max(0.0f, _flare_length - wp_landing_distance)/_flare_constant) - _H1_virt;
/* If airplane is in front of waypoint return slope altitude, else return waypoint altitude */
if (fabsf(bearing_airplane_currwp - bearing_lastwp_currwp) < math::radians(90.0f))
return getLandingSlopeAbsoluteAltitude(wp_distance, wp_altitude);
else
return wp_altitude;
}
float Landingslope::getFlareCurveAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp, float wp_landing_altitude)
{
/* If airplane is in front of waypoint return flare curve altitude, else return waypoint altitude */
if (fabsf(bearing_airplane_currwp - bearing_lastwp_currwp) < math::radians(90.0f))
return wp_landing_altitude + _H0 * expf(-math::max(0.0f, _flare_length - wp_landing_distance)/_flare_constant) - _H1_virt;
else
return wp_landing_altitude;
}

21
src/modules/fw_pos_control_l1/landingslope.h
View File

@ -49,7 +49,7 @@ private:
/* see Documentation/fw_landing.png for a plot of the landing slope */
float _landing_slope_angle_rad; /**< phi in the plot */
float _flare_relative_alt; /**< h_flare,rel in the plot */
float _motor_lim_horizontal_distance;
float _motor_lim_relative_alt;
float _H1_virt; /**< H1 in the plot */
float _H0; /**< h_flare,rel + H1 in the plot */
float _d1; /**< d1 in the plot */
@ -63,7 +63,18 @@ public:
Landingslope() {}
~Landingslope() {}
float getLandingSlopeAbsoluteAltitude(float wp_landing_distance, float wp_landing_altitude);
/**
*
* @return Absolute altitude of point on landing slope at distance to landing waypoint=wp_landing_distance
*/
float getLandingSlopeAbsoluteAltitude(float wp_distance, float wp_altitude);
/**
*
* @return Absolute altitude of point on landing slope at distance to landing waypoint=wp_landing_distance
* Performs check if aircraft is in front of waypoint to avoid climbout
*/
float getLandingSlopeAbsoluteAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp, float wp_landing_altitude);
/**
*
@ -85,17 +96,17 @@ public:
}
float getFlareCurveAltitude(float wp_distance, float wp_altitude);
float getFlareCurveAltitudeSave(float wp_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp, float wp_altitude);
void update(float landing_slope_angle_rad,
float flare_relative_alt,
float motor_lim_horizontal_distance,
float motor_lim_relative_alt,
float H1_virt);
inline float landing_slope_angle_rad() {return _landing_slope_angle_rad;}
inline float flare_relative_alt() {return _flare_relative_alt;}
inline float motor_lim_horizontal_distance() {return _motor_lim_horizontal_distance;}
inline float motor_lim_relative_alt() {return _motor_lim_relative_alt;}
inline float H1_virt() {return _H1_virt;}
inline float H0() {return _H0;}
inline float d1() {return _d1;}

12
src/modules/mavlink/mavlink.c
View File

@ -76,8 +76,20 @@
#include <uORB/topics/mission_result.h>
/* define MAVLink specific parameters */
/**
* MAVLink system ID
* @group MAVLink
*/
PARAM_DEFINE_INT32(MAV_SYS_ID, 1);
/**
* MAVLink component ID
* @group MAVLink
*/
PARAM_DEFINE_INT32(MAV_COMP_ID, 50);
/**
* MAVLink type
* @group MAVLink
*/
PARAM_DEFINE_INT32(MAV_TYPE, MAV_TYPE_FIXED_WING);
__EXPORT int mavlink_main(int argc, char *argv[]);

2
src/modules/mavlink/mavlink_receiver.cpp
View File

@ -351,7 +351,7 @@ handle_message(mavlink_message_t *msg)
tstatus.rxerrors = rstatus.rxerrors;
tstatus.fixed = rstatus.fixed;
if (telemetry_status_pub == 0) {
if (telemetry_status_pub <= 0) {
telemetry_status_pub = orb_advertise(ORB_ID(telemetry_status), &tstatus);
} else {

61
src/modules/mc_att_control/mc_att_control_main.cpp
View File

@ -53,11 +53,9 @@
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <math.h>
#include <poll.h>
#include <time.h>
#include <drivers/drv_hrt.h>
#include <arch/board/board.h>
#include <uORB/uORB.h>
@ -71,7 +69,6 @@
#include <uORB/topics/parameter_update.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>
#include <systemlib/pid/pid.h>
#include <systemlib/perf_counter.h>
#include <systemlib/systemlib.h>
#include <mathlib/mathlib.h>
@ -84,9 +81,9 @@
*/
extern "C" __EXPORT int mc_att_control_main(int argc, char *argv[]);
#define MIN_TAKEOFF_THROTTLE 0.3f
#define YAW_DEADZONE 0.05f
#define RATES_I_LIMIT 0.5f
#define MIN_TAKEOFF_THRUST 0.2f
#define RATES_I_LIMIT 0.3f
class MulticopterAttitudeControl
{
@ -135,15 +132,13 @@ private:
perf_counter_t _loop_perf; /**< loop performance counter */
math::Matrix<3, 3> _R_sp; /**< attitude setpoint rotation matrix */
math::Matrix<3, 3> _R; /**< rotation matrix for current state */
math::Vector<3> _rates_prev; /**< angular rates on previous step */
math::Vector<3> _rates_sp; /**< angular rates setpoint */
math::Vector<3> _rates_int; /**< angular rates integral error */
float _thrust_sp; /**< thrust setpoint */
math::Vector<3> _att_control; /**< attitude control vector */
math::Matrix<3, 3> I; /**< identity matrix */
math::Matrix<3, 3> _I; /**< identity matrix */
bool _reset_yaw_sp; /**< reset yaw setpoint flag */
@ -262,7 +257,7 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
_actuators_0_pub(-1),
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "fw att control"))
_loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control"))
{
memset(&_v_att, 0, sizeof(_v_att));
@ -276,15 +271,13 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
_params.rate_i.zero();
_params.rate_d.zero();
_R_sp.identity();
_R.identity();
_rates_prev.zero();
_rates_sp.zero();
_rates_int.zero();
_thrust_sp = 0.0f;
_att_control.zero();
I.identity();
_I.identity();
_params_handles.roll_p = param_find("MC_ROLL_P");
_params_handles.roll_rate_p = param_find("MC_ROLLRATE_P");
@ -535,16 +528,18 @@ MulticopterAttitudeControl::control_attitude(float dt)
_thrust_sp = _v_att_sp.thrust;
/* construct attitude setpoint rotation matrix */
math::Matrix<3, 3> R_sp;
if (_v_att_sp.R_valid) {
/* rotation matrix in _att_sp is valid, use it */
_R_sp.set(&_v_att_sp.R_body[0][0]);
R_sp.set(&_v_att_sp.R_body[0][0]);
} else {
/* rotation matrix in _att_sp is not valid, use euler angles instead */
_R_sp.from_euler(_v_att_sp.roll_body, _v_att_sp.pitch_body, _v_att_sp.yaw_body);
R_sp.from_euler(_v_att_sp.roll_body, _v_att_sp.pitch_body, _v_att_sp.yaw_body);
/* copy rotation matrix back to setpoint struct */
memcpy(&_v_att_sp.R_body[0][0], &_R_sp.data[0][0], sizeof(_v_att_sp.R_body));
memcpy(&_v_att_sp.R_body[0][0], &R_sp.data[0][0], sizeof(_v_att_sp.R_body));
_v_att_sp.R_valid = true;
}
@ -561,23 +556,24 @@ MulticopterAttitudeControl::control_attitude(float dt)
}
/* rotation matrix for current state */
_R.set(_v_att.R);
math::Matrix<3, 3> R;
R.set(_v_att.R);
/* all input data is ready, run controller itself */
/* try to move thrust vector shortest way, because yaw response is slower than roll/pitch */
math::Vector<3> R_z(_R(0, 2), _R(1, 2), _R(2, 2));
math::Vector<3> R_sp_z(_R_sp(0, 2), _R_sp(1, 2), _R_sp(2, 2));
math::Vector<3> R_z(R(0, 2), R(1, 2), R(2, 2));
math::Vector<3> R_sp_z(R_sp(0, 2), R_sp(1, 2), R_sp(2, 2));
/* axis and sin(angle) of desired rotation */
math::Vector<3> e_R = _R.transposed() * (R_z % R_sp_z);
math::Vector<3> e_R = R.transposed() * (R_z % R_sp_z);
/* calculate angle error */
float e_R_z_sin = e_R.length();
float e_R_z_cos = R_z * R_sp_z;
/* calculate weight for yaw control */
float yaw_w = _R_sp(2, 2) * _R_sp(2, 2);
float yaw_w = R_sp(2, 2) * R_sp(2, 2);
/* calculate rotation matrix after roll/pitch only rotation */
math::Matrix<3, 3> R_rp;
@ -600,15 +596,15 @@ MulticopterAttitudeControl::control_attitude(float dt)
e_R_cp(2, 1) = e_R_z_axis(0);
/* rotation matrix for roll/pitch only rotation */
R_rp = _R * (I + e_R_cp * e_R_z_sin + e_R_cp * e_R_cp * (1.0f - e_R_z_cos));
R_rp = R * (_I + e_R_cp * e_R_z_sin + e_R_cp * e_R_cp * (1.0f - e_R_z_cos));
} else {
/* zero roll/pitch rotation */
R_rp = _R;
R_rp = R;
}
/* R_rp and _R_sp has the same Z axis, calculate yaw error */
math::Vector<3> R_sp_x(_R_sp(0, 0), _R_sp(1, 0), _R_sp(2, 0));
/* R_rp and R_sp has the same Z axis, calculate yaw error */
math::Vector<3> R_sp_x(R_sp(0, 0), R_sp(1, 0), R_sp(2, 0));
math::Vector<3> R_rp_x(R_rp(0, 0), R_rp(1, 0), R_rp(2, 0));
e_R(2) = atan2f((R_rp_x % R_sp_x) * R_sp_z, R_rp_x * R_sp_x) * yaw_w;
@ -616,7 +612,7 @@ MulticopterAttitudeControl::control_attitude(float dt)
/* for large thrust vector rotations use another rotation method:
* calculate angle and axis for R -> R_sp rotation directly */
math::Quaternion q;
q.from_dcm(_R.transposed() * _R_sp);
q.from_dcm(R.transposed() * R_sp);
math::Vector<3> e_R_d = q.imag();
e_R_d.normalize();
e_R_d *= 2.0f * atan2f(e_R_d.length(), q(0));
@ -658,7 +654,7 @@ MulticopterAttitudeControl::control_attitude_rates(float dt)
_rates_prev = rates;
/* update integral only if not saturated on low limit */
if (_thrust_sp > 0.1f) {
if (_thrust_sp > MIN_TAKEOFF_THRUST) {
for (int i = 0; i < 3; i++) {
if (fabsf(_att_control(i)) < _thrust_sp) {
float rate_i = _rates_int(i) + _params.rate_i(i) * rates_err(i) * dt;
@ -695,9 +691,6 @@ MulticopterAttitudeControl::task_main()
_manual_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
/* rate limit attitude updates to 200Hz, failsafe against spam, normally runs at the same rate as attitude estimator */
orb_set_interval(_v_att_sub, 5);
/* initialize parameters cache */
parameters_update();
@ -767,10 +760,12 @@ MulticopterAttitudeControl::task_main()
}
} else {
/* attitude controller disabled */
// TODO poll 'attitude_rates_setpoint' topic
_rates_sp.zero();
_thrust_sp = 0.0f;
/* attitude controller disabled, poll rates setpoint topic */
vehicle_rates_setpoint_poll();
_rates_sp(0) = _v_rates_sp.roll;
_rates_sp(1) = _v_rates_sp.pitch;
_rates_sp(2) = _v_rates_sp.yaw;
_thrust_sp = _v_rates_sp.thrust;
}
if (_v_control_mode.flag_control_rates_enabled) {

119
src/modules/mc_att_control/mc_att_control_params.c
View File

@ -41,16 +41,135 @@
#include <systemlib/param/param.h>
/**
* Roll P gain
*
* Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad.
*
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ROLL_P, 6.0f);
/**
* Roll rate P gain
*
* Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s.
*
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ROLLRATE_P, 0.1f);
/**
* Roll rate I gain
*
* Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
*
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ROLLRATE_I, 0.0f);
/**
* Roll rate D gain
*
* Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
*
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ROLLRATE_D, 0.002f);
/**
* Pitch P gain
*
* Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad.
*
* @unit 1/s
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_PITCH_P, 6.0f);
/**
* Pitch rate P gain
*
* Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s.
*
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_PITCHRATE_P, 0.1f);
/**
* Pitch rate I gain
*
* Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
*
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_PITCHRATE_I, 0.0f);
/**
* Pitch rate D gain
*
* Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
*
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_PITCHRATE_D, 0.002f);
/**
* Yaw P gain
*
* Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad.
*
* @unit 1/s
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_YAW_P, 2.0f);
/**
* Yaw rate P gain
*
* Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s.
*
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.3f);
/**
* Yaw rate I gain
*
* Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
*
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f);
/**
* Yaw rate D gain
*
* Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
*
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
/**
* Yaw feed forward
*
* Feed forward weight for manual yaw control. 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
*
* @min 0.0
* @max 1.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_YAW_FF, 0.5f);

2
src/modules/mc_pos_control/mc_pos_control_main.cpp
View File

@ -51,7 +51,6 @@
#include <errno.h>
#include <math.h>
#include <poll.h>
#include <time.h>
#include <drivers/drv_hrt.h>
#include <arch/board/board.h>
#include <uORB/uORB.h>
@ -68,7 +67,6 @@
#include <uORB/topics/vehicle_global_velocity_setpoint.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>
#include <systemlib/pid/pid.h>
#include <systemlib/systemlib.h>
#include <mathlib/mathlib.h>
#include <lib/geo/geo.h>

146
src/modules/mc_pos_control/mc_pos_control_params.c
View File

@ -39,20 +39,164 @@
#include <systemlib/param/param.h>
PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.0f);
/**
* Minimum thrust
*
* Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust.
*
* @min 0.0
* @max 1.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.1f);
/**
* Maximum thrust
*
* Limit max allowed thrust.
*
* @min 0.0
* @max 1.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_THR_MAX, 1.0f);
/**
* Proportional gain for vertical position error
*
* @min 0.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_Z_P, 1.0f);
/**
* Proportional gain for vertical velocity error
*
* @min 0.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_Z_VEL_P, 0.1f);
/**
* Integral gain for vertical velocity error
*
* Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff.
*
* @min 0.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_Z_VEL_I, 0.02f);
/**
* Differential gain for vertical velocity error
*
* @min 0.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_Z_VEL_D, 0.0f);
/**
* Maximum vertical velocity
*
* Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (SEATBELT, EASY).
*
* @min 0.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX, 5.0f);
/**
* Vertical velocity feed forward
*
* Feed forward weight for altitude control in stabilized modes (SEATBELT, EASY). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
*
* @min 0.0
* @max 1.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_Z_FF, 0.5f);
/**
* Proportional gain for horizontal position error
*
* @min 0.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_XY_P, 1.0f);
/**
* Proportional gain for horizontal velocity error
*
* @min 0.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_XY_VEL_P, 0.1f);
/**
* Integral gain for horizontal velocity error
*
* Non-zero value allows to resist wind.
*
* @min 0.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_XY_VEL_I, 0.02f);
/**
* Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
*
* @min 0.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_XY_VEL_D, 0.01f);
/**
* Maximum horizontal velocity
*
* Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (EASY).
*
* @min 0.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 5.0f);
/**
* Horizontal velocity feed forward
*
* Feed forward weight for position control in position control mode (EASY). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
*
* @min 0.0
* @max 1.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_XY_FF, 0.5f);
/**
* Maximum tilt
*
* Limits maximum tilt in AUTO and EASY modes.
*
* @min 0.0
* @max 1.57
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_TILT_MAX, 1.0f);
/**
* Landing descend rate
*
* @min 0.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 1.0f);
/**
* Maximum landing tilt
*
* Limits maximum tilt on landing.
*
* @min 0.0
* @max 1.57
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_LAND_TILT, 0.3f);

16
src/modules/navigator/geofence_params.c
View File

@ -45,11 +45,17 @@
#include <systemlib/param/param.h>
/*
* geofence parameters, accessible via MAVLink
*
* Geofence parameters, accessible via MAVLink
*/
// @DisplayName Switch to enable geofence
// @Description if set to 1 geofence is enabled, defaults to 1 because geofence is only enabled when the geofence.txt file is present
// @Range 0 or 1
/**
* Enable geofence.
*
* Set to 1 to enable geofence.
* Defaults to 1 because geofence is only enabled when the geofence.txt file is present.
*
* @min 0
* @max 1
* @group Geofence
*/
PARAM_DEFINE_INT32(GF_ON, 1);

71
src/modules/navigator/navigator_main.cpp
View File

@ -305,6 +305,12 @@ private:
void start_land();
void start_land_home();
/**
* Fork for state transitions
*/
void request_loiter_or_ready();
void request_mission_if_available();
/**
* Guards offboard mission
*/
@ -699,24 +705,17 @@ Navigator::task_main()
} else {
/* MISSION switch */
if (_vstatus.mission_switch == MISSION_SWITCH_LOITER) {
dispatch(EVENT_LOITER_REQUESTED);
request_loiter_or_ready();
stick_mode = true;
} else if (_vstatus.mission_switch == MISSION_SWITCH_MISSION) {
/* switch to mission only if available */
if (_mission.current_mission_available()) {
dispatch(EVENT_MISSION_REQUESTED);
} else {
dispatch(EVENT_LOITER_REQUESTED);
}
request_mission_if_available();
stick_mode = true;
}
if (!stick_mode && _vstatus.return_switch == RETURN_SWITCH_NORMAL && myState == NAV_STATE_RTL) {
/* RETURN switch is in normal mode, no MISSION switch mapped, interrupt if in RTL state */
dispatch(EVENT_LOITER_REQUESTED);
request_mission_if_available();
stick_mode = true;
}
}
@ -733,17 +732,11 @@ Navigator::task_main()
break;
case NAV_STATE_LOITER:
dispatch(EVENT_LOITER_REQUESTED);
request_loiter_or_ready();
break;
case NAV_STATE_MISSION:
if (_mission.current_mission_available()) {
dispatch(EVENT_MISSION_REQUESTED);
} else {
dispatch(EVENT_LOITER_REQUESTED);
}
request_mission_if_available();
break;
case NAV_STATE_RTL:
@ -768,12 +761,7 @@ Navigator::task_main()
} else {
/* on first switch to AUTO try mission by default, if none is available fallback to loiter */
if (myState == NAV_STATE_NONE) {
if (_mission.current_mission_available()) {
dispatch(EVENT_MISSION_REQUESTED);
} else {
dispatch(EVENT_LOITER_REQUESTED);
}
request_mission_if_available();
}
}
}
@ -1069,7 +1057,7 @@ Navigator::start_loiter()
float min_alt_amsl = _parameters.min_altitude + _home_pos.alt;
/* use current altitude if above min altitude set by parameter */
if (_global_pos.alt < min_alt_amsl) {
if (_global_pos.alt < min_alt_amsl && !_vstatus.is_rotary_wing) {
_pos_sp_triplet.current.alt = min_alt_amsl;
mavlink_log_info(_mavlink_fd, "[navigator] loiter %.1fm higher", (double)(min_alt_amsl - _global_pos.alt));
@ -1078,9 +1066,8 @@ Navigator::start_loiter()
mavlink_log_info(_mavlink_fd, "[navigator] loiter at current altitude");
}
_pos_sp_triplet.current.type = SETPOINT_TYPE_LOITER;
}
_pos_sp_triplet.current.type = SETPOINT_TYPE_LOITER;
_pos_sp_triplet.current.loiter_radius = _parameters.loiter_radius;
_pos_sp_triplet.current.loiter_direction = 1;
_pos_sp_triplet.previous.valid = false;
@ -1396,6 +1383,28 @@ Navigator::set_rtl_item()
_pos_sp_triplet_updated = true;
}
void
Navigator::request_loiter_or_ready()
{
if (_vstatus.condition_landed) {
dispatch(EVENT_READY_REQUESTED);
} else {
dispatch(EVENT_LOITER_REQUESTED);
}
}
void
Navigator::request_mission_if_available()
{
if (_mission.current_mission_available()) {
dispatch(EVENT_MISSION_REQUESTED);
} else {
request_loiter_or_ready();
}
}
void
Navigator::position_setpoint_from_mission_item(position_setpoint_s *sp, mission_item_s *item)
{
@ -1554,13 +1563,7 @@ Navigator::on_mission_item_reached()
/* loiter at last waypoint */
_reset_loiter_pos = false;
mavlink_log_info(_mavlink_fd, "[navigator] mission completed");
if (_vstatus.condition_landed) {
dispatch(EVENT_READY_REQUESTED);
} else {
dispatch(EVENT_LOITER_REQUESTED);
}
request_loiter_or_ready();
}
} else if (myState == NAV_STATE_RTL) {

89
src/modules/navigator/navigator_params.c
View File

@ -50,14 +50,91 @@
/*
* Navigator parameters, accessible via MAVLink
*
*/
/**
* Minimum altitude (fixed wing only)
*
* Minimum altitude above home for LOITER.
*
* @unit meters
* @group Navigation
*/
PARAM_DEFINE_FLOAT(NAV_MIN_ALT, 50.0f);
/**
* Waypoint acceptance radius
*
* Default value of acceptance radius (if not specified in mission item).
*
* @unit meters
* @min 0.0
* @group Navigation
*/
PARAM_DEFINE_FLOAT(NAV_ACCEPT_RAD, 10.0f);
PARAM_DEFINE_FLOAT(NAV_LOITER_RAD, 100.0f);
/**
* Loiter radius (fixed wing only)
*
* Default value of loiter radius (if not specified in mission item).
*
* @unit meters
* @min 0.0
* @group Navigation
*/
PARAM_DEFINE_FLOAT(NAV_LOITER_RAD, 50.0f);
/**
* Enable onboard mission
*
* @group Navigation
*/
PARAM_DEFINE_INT32(NAV_ONB_MIS_EN, 0);
PARAM_DEFINE_FLOAT(NAV_TAKEOFF_ALT, 10.0f); // default TAKEOFF altitude
PARAM_DEFINE_FLOAT(NAV_LAND_ALT, 5.0f); // slow descend from this altitude when landing
PARAM_DEFINE_FLOAT(NAV_RTL_ALT, 30.0f); // min altitude for going home in RTL mode
PARAM_DEFINE_FLOAT(NAV_RTL_LAND_T, -1.0f); // delay after descend before landing, if set to -1 the system will not land but loiter at NAV_LAND_ALT
/**
* Take-off altitude
*
* Even if first waypoint has altitude less then NAV_TAKEOFF_ALT above home position, system will climb to NAV_TAKEOFF_ALT on takeoff, then go to waypoint.
*
* @unit meters
* @group Navigation
*/
PARAM_DEFINE_FLOAT(NAV_TAKEOFF_ALT, 10.0f);
/**
* Landing altitude
*
* Stay at this altitude above home position after RTL descending. Land (i.e. slowly descend) from this altitude if autolanding allowed.
*
* @unit meters
* @group Navigation
*/
PARAM_DEFINE_FLOAT(NAV_LAND_ALT, 5.0f);
/**
* Return-To-Launch altitude
*
* Minimum altitude above home position for going home in RTL mode.
*
* @unit meters
* @group Navigation
*/
PARAM_DEFINE_FLOAT(NAV_RTL_ALT, 30.0f);
/**
* Return-To-Launch delay
*
* Delay after descend before landing in RTL mode.
* If set to -1 the system will not land but loiter at NAV_LAND_ALT.
*
* @unit seconds
* @group Navigation
*/
PARAM_DEFINE_FLOAT(NAV_RTL_LAND_T, -1.0f);
/**
* Enable parachute deployment
*
* @group Navigation
*/
PARAM_DEFINE_INT32(NAV_PARACHUTE_EN, 0);

11
src/modules/position_estimator_inav/position_estimator_inav_main.c
View File

@ -42,14 +42,11 @@
#include <stdio.h>
#include <stdbool.h>
#include <fcntl.h>
#include <float.h>
#include <string.h>
#include <nuttx/config.h>
#include <nuttx/sched.h>
#include <sys/prctl.h>
#include <termios.h>
#include <errno.h>
#include <limits.h>
#include <math.h>
#include <uORB/uORB.h>
#include <uORB/topics/parameter_update.h>
@ -527,13 +524,13 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
if (gps.fix_type >= 3) {
/* hysteresis for GPS quality */
if (gps_valid) {
if (gps.eph_m > 10.0f || gps.epv_m > 10.0f) {
if (gps.eph_m > 10.0f || gps.epv_m > 20.0f) {
gps_valid = false;
mavlink_log_info(mavlink_fd, "[inav] GPS signal lost");
}
} else {
if (gps.eph_m < 5.0f && gps.epv_m < 5.0f) {
if (gps.eph_m < 5.0f && gps.epv_m < 10.0f) {
gps_valid = true;
mavlink_log_info(mavlink_fd, "[inav] GPS signal found");
}
@ -589,8 +586,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
corr_gps[2][1] = 0.0f;
}
w_gps_xy = 1.0f / fmaxf(1.0f, gps.eph_m);
w_gps_z = 1.0f / fmaxf(1.0f, gps.epv_m);
w_gps_xy = 2.0f / fmaxf(2.0f, gps.eph_m);
w_gps_z = 4.0f / fmaxf(4.0f, gps.epv_m);
}
} else {

2
src/modules/position_estimator_inav/position_estimator_inav_params.c
View File

@ -40,7 +40,7 @@
#include "position_estimator_inav_params.h"
PARAM_DEFINE_FLOAT(INAV_W_Z_BARO, 1.0f);
PARAM_DEFINE_FLOAT(INAV_W_Z_BARO, 0.5f);
PARAM_DEFINE_FLOAT(INAV_W_Z_GPS_P, 0.005f);
PARAM_DEFINE_FLOAT(INAV_W_Z_ACC, 20.0f);
PARAM_DEFINE_FLOAT(INAV_W_Z_SONAR, 3.0f);

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