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

This commit is contained in:
Lorenz Meier 2014-04-20 01:45:00 +02:00
parent ce56d75bc6 0b85c41cd1
commit 479fddff88
3 changed files with 103 additions and 49 deletions
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141
src/drivers/blinkm/blinkm.cpp
View File

@ -48,11 +48,14 @@
* The recognized number off cells, will be blinked 5 times in purple color.
* 2 Cells = 2 blinks
* ...
* 5 Cells = 5 blinks
* 6 Cells = 6 blinks
* Now the Application will show the actual selected Flightmode, GPS-Fix and Battery Warnings and Alerts.
*
* System disarmed:
* The BlinkM should lit solid red.
* System disarmed and safe:
* The BlinkM should light solid cyan.
*
* System safety off but not armed:
* The BlinkM should light flashing orange
*
* System armed:
* One message is made of 4 Blinks and a pause in the same length as the 4 blinks.
@ -67,10 +70,10 @@
* (X = on, _=off)
*
* The first 3 blinks indicates the status of the GPS-Signal (red):
* 0-4 satellites = X-X-X-X-_-_-_-_-_-_-
* 5 satellites = X-X-_-X-_-_-_-_-_-_-
* 6 satellites = X-_-_-X-_-_-_-_-_-_-
* >=7 satellites = _-_-_-X-_-_-_-_-_-_-
* 0-4 satellites = X-X-X-X-X-_-_-_-_-_-
* 5 satellites = X-X-_-X-X-_-_-_-_-_-
* 6 satellites = X-_-_-X-X-_-_-_-_-_-
* >=7 satellites = _-_-_-X-X-_-_-_-_-_-
* If no GPS is found the first 3 blinks are white
*
* The fourth Blink indicates the Flightmode:
@ -119,6 +122,7 @@
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/safety.h>
static const float MAX_CELL_VOLTAGE = 4.3f;
static const int LED_ONTIME = 120;
@ -166,10 +170,12 @@ private:
enum ledColors {
LED_OFF,
LED_RED,
LED_ORANGE,
LED_YELLOW,
LED_PURPLE,
LED_GREEN,
LED_BLUE,
LED_CYAN,
LED_WHITE,
LED_AMBER
};
@ -380,6 +386,7 @@ BlinkM::led()
static int vehicle_control_mode_sub_fd;
static int vehicle_gps_position_sub_fd;
static int actuator_armed_sub_fd;
static int safety_sub_fd;
static int num_of_cells = 0;
static int detected_cells_runcount = 0;
@ -402,16 +409,20 @@ BlinkM::led()
if(!topic_initialized) {
vehicle_status_sub_fd = orb_subscribe(ORB_ID(vehicle_status));
orb_set_interval(vehicle_status_sub_fd, 1000);
orb_set_interval(vehicle_status_sub_fd, 250);
vehicle_control_mode_sub_fd = orb_subscribe(ORB_ID(vehicle_control_mode));
orb_set_interval(vehicle_control_mode_sub_fd, 1000);
orb_set_interval(vehicle_control_mode_sub_fd, 250);
actuator_armed_sub_fd = orb_subscribe(ORB_ID(actuator_armed));
orb_set_interval(actuator_armed_sub_fd, 1000);
orb_set_interval(actuator_armed_sub_fd, 250);
vehicle_gps_position_sub_fd = orb_subscribe(ORB_ID(vehicle_gps_position));
orb_set_interval(vehicle_gps_position_sub_fd, 1000);
orb_set_interval(vehicle_gps_position_sub_fd, 250);
/* Subscribe to safety topic */
safety_sub_fd = orb_subscribe(ORB_ID(safety));
orb_set_interval(safety_sub_fd, 250);
topic_initialized = true;
}
@ -433,7 +444,9 @@ BlinkM::led()
if(num_of_cells > 4) {
t_led_color[4] = LED_PURPLE;
}
t_led_color[5] = LED_OFF;
if(num_of_cells > 5) {
t_led_color[5] = LED_PURPLE;
}
t_led_color[6] = LED_OFF;
t_led_color[7] = LED_OFF;
t_led_blink = LED_BLINK;
@ -467,14 +480,17 @@ BlinkM::led()
struct vehicle_control_mode_s vehicle_control_mode;
struct actuator_armed_s actuator_armed;
struct vehicle_gps_position_s vehicle_gps_position_raw;
struct safety_s safety;
memset(&vehicle_status_raw, 0, sizeof(vehicle_status_raw));
memset(&vehicle_gps_position_raw, 0, sizeof(vehicle_gps_position_raw));
memset(&safety, 0, sizeof(safety));
bool new_data_vehicle_status;
bool new_data_vehicle_control_mode;
bool new_data_actuator_armed;
bool new_data_vehicle_gps_position;
bool new_data_safety;
orb_check(vehicle_status_sub_fd, &new_data_vehicle_status);
@ -520,7 +536,12 @@ BlinkM::led()
no_data_vehicle_gps_position = 3;
}
/* update safety topic */
orb_check(safety_sub_fd, &new_data_safety);
if (new_data_safety) {
orb_copy(ORB_ID(safety), safety_sub_fd, &safety);
}
/* get number of used satellites in navigation */
num_of_used_sats = 0;
@ -541,19 +562,7 @@ BlinkM::led()
printf("<blinkm> cells found:%d\n", num_of_cells);
} else {
if(vehicle_status_raw.battery_warning == VEHICLE_BATTERY_WARNING_LOW) {
/* LED Pattern for battery low warning */
led_color_1 = LED_YELLOW;
led_color_2 = LED_YELLOW;
led_color_3 = LED_YELLOW;
led_color_4 = LED_YELLOW;
led_color_5 = LED_YELLOW;
led_color_6 = LED_YELLOW;
led_color_7 = LED_YELLOW;
led_color_8 = LED_YELLOW;
led_blink = LED_BLINK;
} else if(vehicle_status_raw.battery_warning == VEHICLE_BATTERY_WARNING_CRITICAL) {
if(vehicle_status_raw.battery_warning == VEHICLE_BATTERY_WARNING_CRITICAL) {
/* LED Pattern for battery critical alerting */
led_color_1 = LED_RED;
led_color_2 = LED_RED;
@ -565,21 +574,56 @@ BlinkM::led()
led_color_8 = LED_RED;
led_blink = LED_BLINK;
} else if(vehicle_status_raw.rc_signal_lost) {
/* LED Pattern for FAILSAFE */
led_color_1 = LED_BLUE;
led_color_2 = LED_BLUE;
led_color_3 = LED_BLUE;
led_color_4 = LED_BLUE;
led_color_5 = LED_BLUE;
led_color_6 = LED_BLUE;
led_color_7 = LED_BLUE;
led_color_8 = LED_BLUE;
led_blink = LED_BLINK;
} else if(vehicle_status_raw.battery_warning == VEHICLE_BATTERY_WARNING_LOW) {
/* LED Pattern for battery low warning */
led_color_1 = LED_YELLOW;
led_color_2 = LED_YELLOW;
led_color_3 = LED_YELLOW;
led_color_4 = LED_YELLOW;
led_color_5 = LED_YELLOW;
led_color_6 = LED_YELLOW;
led_color_7 = LED_YELLOW;
led_color_8 = LED_YELLOW;
led_blink = LED_BLINK;
} else {
/* no battery warnings here */
if(actuator_armed.armed == false) {
/* system not armed */
led_color_1 = LED_RED;
led_color_2 = LED_RED;
led_color_3 = LED_RED;
led_color_4 = LED_RED;
led_color_5 = LED_RED;
led_color_6 = LED_RED;
led_color_7 = LED_RED;
led_color_8 = LED_RED;
led_blink = LED_NOBLINK;
if(safety.safety_off){
led_color_1 = LED_ORANGE;
led_color_2 = LED_ORANGE;
led_color_3 = LED_ORANGE;
led_color_4 = LED_ORANGE;
led_color_5 = LED_ORANGE;
led_color_6 = LED_ORANGE;
led_color_7 = LED_ORANGE;
led_color_8 = LED_ORANGE;
led_blink = LED_BLINK;
}else{
led_color_1 = LED_CYAN;
led_color_2 = LED_CYAN;
led_color_3 = LED_CYAN;
led_color_4 = LED_CYAN;
led_color_5 = LED_CYAN;
led_color_6 = LED_CYAN;
led_color_7 = LED_CYAN;
led_color_8 = LED_CYAN;
led_blink = LED_NOBLINK;
}
} else {
/* armed system - initial led pattern */
led_color_1 = LED_RED;
@ -593,23 +637,22 @@ BlinkM::led()
led_blink = LED_BLINK;
if(new_data_vehicle_control_mode || no_data_vehicle_control_mode < 3) {
//XXX please check
if (vehicle_control_mode.flag_control_position_enabled)
/* indicate main control state */
if (vehicle_status_raw.main_state == MAIN_STATE_EASY)
led_color_4 = LED_GREEN;
else if (vehicle_control_mode.flag_control_velocity_enabled)
else if (vehicle_status_raw.main_state == MAIN_STATE_AUTO)
led_color_4 = LED_BLUE;
else if (vehicle_control_mode.flag_control_attitude_enabled)
else if (vehicle_status_raw.main_state == MAIN_STATE_SEATBELT)
led_color_4 = LED_YELLOW;
else if (vehicle_control_mode.flag_control_manual_enabled)
led_color_4 = LED_AMBER;
else if (vehicle_status_raw.main_state == MAIN_STATE_MANUAL)
led_color_4 = LED_WHITE;
else
led_color_4 = LED_OFF;
led_color_5 = led_color_4;
}
if(new_data_vehicle_gps_position || no_data_vehicle_gps_position < 3) {
/* handling used sat<EFBFBD>s */
/* handling used satus */
if(num_of_used_sats >= 7) {
led_color_1 = LED_OFF;
led_color_2 = LED_OFF;
@ -690,8 +733,11 @@ void BlinkM::setLEDColor(int ledcolor) {
case LED_RED: // red
set_rgb(255,0,0);
break;
case LED_ORANGE: // orange
set_rgb(255,150,0);
break;
case LED_YELLOW: // yellow
set_rgb(255,70,0);
set_rgb(200,200,0);
break;
case LED_PURPLE: // purple
set_rgb(255,0,255);
@ -702,11 +748,14 @@ void BlinkM::setLEDColor(int ledcolor) {
case LED_BLUE: // blue
set_rgb(0,0,255);
break;
case LED_CYAN: // cyan
set_rgb(0,128,128);
break;
case LED_WHITE: // white
set_rgb(255,255,255);
break;
case LED_AMBER: // amber
set_rgb(255,20,0);
set_rgb(255,65,0);
break;
}
}

9
src/drivers/px4io/px4io_uploader.cpp
View File

@ -201,9 +201,14 @@ PX4IO_Uploader::upload(const char *filenames[])
continue;
}
if (bl_rev <= 2)
if (bl_rev <= 2) {
ret = verify_rev2(fw_size);
else if(bl_rev == 3) {
} else if(bl_rev == 3) {
ret = verify_rev3(fw_size);
} else {
/* verify rev 4 and higher still uses the same approach and
* every version *needs* to be verified.
*/
ret = verify_rev3(fw_size);
}

2
src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp
View File

@ -1026,7 +1026,7 @@ FixedwingEstimator::task_main()
}
// Publish results
if (_initialized) {
if (_initialized && (check == OK)) {