forked from Archive/PX4-Autopilot
Merge commit 'dc5bcdda761e5f8f4f7f26a600f02df007ab1df6' into seatbelt_multirotor
This commit is contained in:
commit
57837eb0b9
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@ -0,0 +1,107 @@
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||||||
|
#!nsh
|
||||||
|
#
|
||||||
|
# Flight startup script for PX4FMU with PWM outputs.
|
||||||
|
#
|
||||||
|
|
||||||
|
# disable USB and autostart
|
||||||
|
set USB no
|
||||||
|
set MODE custom
|
||||||
|
|
||||||
|
echo "[init] doing PX4FMU Quad startup..."
|
||||||
|
|
||||||
|
#
|
||||||
|
# Start the ORB
|
||||||
|
#
|
||||||
|
uorb start
|
||||||
|
|
||||||
|
#
|
||||||
|
# Load microSD params
|
||||||
|
#
|
||||||
|
echo "[init] loading microSD params"
|
||||||
|
param select /fs/microsd/params
|
||||||
|
if [ -f /fs/microsd/params ]
|
||||||
|
then
|
||||||
|
param load /fs/microsd/params
|
||||||
|
fi
|
||||||
|
|
||||||
|
#
|
||||||
|
# Load default params for this platform
|
||||||
|
#
|
||||||
|
if param compare SYS_AUTOCONFIG 1
|
||||||
|
then
|
||||||
|
# Set all params here, then disable autoconfig
|
||||||
|
param set MC_ATTRATE_P 0.14
|
||||||
|
param set MC_ATTRATE_I 0
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||||||
|
param set MC_ATTRATE_D 0.006
|
||||||
|
param set MC_ATT_P 5.5
|
||||||
|
param set MC_ATT_I 0
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||||||
|
param set MC_ATT_D 0
|
||||||
|
param set MC_YAWPOS_D 0
|
||||||
|
param set MC_YAWPOS_I 0
|
||||||
|
param set MC_YAWPOS_P 0.6
|
||||||
|
param set MC_YAWRATE_D 0
|
||||||
|
param set MC_YAWRATE_I 0
|
||||||
|
param set MC_YAWRATE_P 0.08
|
||||||
|
param set RC_SCALE_PITCH 1
|
||||||
|
param set RC_SCALE_ROLL 1
|
||||||
|
param set RC_SCALE_YAW 3
|
||||||
|
|
||||||
|
param set SYS_AUTOCONFIG 0
|
||||||
|
param save /fs/microsd/params
|
||||||
|
fi
|
||||||
|
|
||||||
|
#
|
||||||
|
# Force some key parameters to sane values
|
||||||
|
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
|
||||||
|
# see https://pixhawk.ethz.ch/mavlink/
|
||||||
|
#
|
||||||
|
param set MAV_TYPE 2
|
||||||
|
|
||||||
|
#
|
||||||
|
# Start MAVLink
|
||||||
|
#
|
||||||
|
mavlink start -d /dev/ttyS0 -b 57600
|
||||||
|
usleep 5000
|
||||||
|
|
||||||
|
#
|
||||||
|
# Start the sensors and test them.
|
||||||
|
#
|
||||||
|
sh /etc/init.d/rc.sensors
|
||||||
|
|
||||||
|
#
|
||||||
|
# Start the commander.
|
||||||
|
#
|
||||||
|
commander start
|
||||||
|
|
||||||
|
#
|
||||||
|
# Start GPS interface (depends on orb)
|
||||||
|
#
|
||||||
|
gps start
|
||||||
|
|
||||||
|
#
|
||||||
|
# Start the attitude estimator
|
||||||
|
#
|
||||||
|
attitude_estimator_ekf start
|
||||||
|
|
||||||
|
echo "[init] starting PWM output"
|
||||||
|
fmu mode_pwm
|
||||||
|
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
|
||||||
|
pwm -u 400 -m 0xff
|
||||||
|
|
||||||
|
#
|
||||||
|
# Start attitude control
|
||||||
|
#
|
||||||
|
multirotor_att_control start
|
||||||
|
|
||||||
|
#
|
||||||
|
# Start logging
|
||||||
|
#
|
||||||
|
sdlog2 start -r 50 -a -b 14
|
||||||
|
|
||||||
|
#
|
||||||
|
# Start system state
|
||||||
|
#
|
||||||
|
if blinkm start
|
||||||
|
then
|
||||||
|
blinkm systemstate
|
||||||
|
fi
|
|
@ -1,8 +1,11 @@
|
||||||
#!nsh
|
#!nsh
|
||||||
|
#
|
||||||
|
# Flight startup script for PX4FMU+PX4IO
|
||||||
|
#
|
||||||
|
|
||||||
# Disable USB and autostart
|
# disable USB and autostart
|
||||||
set USB no
|
set USB no
|
||||||
set MODE quad
|
set MODE custom
|
||||||
|
|
||||||
#
|
#
|
||||||
# Start the ORB (first app to start)
|
# Start the ORB (first app to start)
|
||||||
|
@ -19,6 +22,16 @@ then
|
||||||
param load /fs/microsd/params
|
param load /fs/microsd/params
|
||||||
fi
|
fi
|
||||||
|
|
||||||
|
#
|
||||||
|
# Load default params for this platform
|
||||||
|
#
|
||||||
|
if param compare SYS_AUTOCONFIG 1
|
||||||
|
then
|
||||||
|
# Set all params here, then disable autoconfig
|
||||||
|
param set SYS_AUTOCONFIG 0
|
||||||
|
param save /fs/microsd/params
|
||||||
|
fi
|
||||||
|
|
||||||
#
|
#
|
||||||
# Force some key parameters to sane values
|
# Force some key parameters to sane values
|
||||||
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
|
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
|
||||||
|
@ -69,6 +82,11 @@ px4io start
|
||||||
# this is very unlikely, but quite safe and robust.
|
# this is very unlikely, but quite safe and robust.
|
||||||
px4io recovery
|
px4io recovery
|
||||||
|
|
||||||
|
#
|
||||||
|
# Disable px4io topic limiting
|
||||||
|
#
|
||||||
|
px4io limit 200
|
||||||
|
|
||||||
#
|
#
|
||||||
# Start the sensors (depends on orb, px4io)
|
# Start the sensors (depends on orb, px4io)
|
||||||
#
|
#
|
||||||
|
@ -87,21 +105,19 @@ attitude_estimator_ekf start
|
||||||
#
|
#
|
||||||
# Load mixer and start controllers (depends on px4io)
|
# Load mixer and start controllers (depends on px4io)
|
||||||
#
|
#
|
||||||
mixer load /dev/pwm_output /etc/mixers/FMU_quad_+.mix
|
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
|
||||||
|
pwm -u 400 -m 0xff
|
||||||
multirotor_att_control start
|
multirotor_att_control start
|
||||||
|
|
||||||
#
|
#
|
||||||
# Start logging
|
# Start logging
|
||||||
#
|
#
|
||||||
#sdlog start -s 4
|
sdlog2 start -r 50 -a -b 14
|
||||||
|
|
||||||
#
|
#
|
||||||
# Start system state
|
# Start system state
|
||||||
#
|
#
|
||||||
if blinkm start
|
if blinkm start
|
||||||
then
|
then
|
||||||
echo "using BlinkM for state indication"
|
|
||||||
blinkm systemstate
|
blinkm systemstate
|
||||||
else
|
|
||||||
echo "no BlinkM found, OK."
|
|
||||||
fi
|
fi
|
|
@ -0,0 +1,139 @@
|
||||||
|
#!nsh
|
||||||
|
#
|
||||||
|
# Flight startup script for PX4FMU+PX4IO
|
||||||
|
#
|
||||||
|
|
||||||
|
# disable USB and autostart
|
||||||
|
set USB no
|
||||||
|
set MODE custom
|
||||||
|
|
||||||
|
#
|
||||||
|
# Load default params for this platform
|
||||||
|
#
|
||||||
|
if param compare SYS_AUTOCONFIG 1
|
||||||
|
then
|
||||||
|
# Set all params here, then disable autoconfig
|
||||||
|
param set SYS_AUTOCONFIG 0
|
||||||
|
|
||||||
|
param set MC_ATTRATE_D 0.007
|
||||||
|
param set MC_ATTRATE_I 0.0
|
||||||
|
param set MC_ATTRATE_P 0.13
|
||||||
|
param set MC_ATT_D 0.0
|
||||||
|
param set MC_ATT_I 0.0
|
||||||
|
param set MC_ATT_P 7.0
|
||||||
|
param set MC_POS_P 0.1
|
||||||
|
param set MC_RCLOSS_THR 0.0
|
||||||
|
param set MC_YAWPOS_D 0.0
|
||||||
|
param set MC_YAWPOS_I 0.5
|
||||||
|
param set MC_YAWPOS_P 1.0
|
||||||
|
param set MC_YAWRATE_D 0.0
|
||||||
|
param set MC_YAWRATE_I 0.0
|
||||||
|
param set MC_YAWRATE_P 0.2
|
||||||
|
|
||||||
|
param save /fs/microsd/params
|
||||||
|
fi
|
||||||
|
|
||||||
|
#
|
||||||
|
# Force some key parameters to sane values
|
||||||
|
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
|
||||||
|
# see https://pixhawk.ethz.ch/mavlink/
|
||||||
|
#
|
||||||
|
param set MAV_TYPE 2
|
||||||
|
|
||||||
|
#
|
||||||
|
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
|
||||||
|
#
|
||||||
|
if [ -f /fs/microsd/px4io2.bin ]
|
||||||
|
then
|
||||||
|
echo "PX4IO Firmware found. Checking Upgrade.."
|
||||||
|
if cmp /fs/microsd/px4io2.bin /fs/microsd/px4io2.cur
|
||||||
|
then
|
||||||
|
echo "No newer version, skipping upgrade."
|
||||||
|
else
|
||||||
|
echo "Loading /fs/microsd/px4io2.bin"
|
||||||
|
if px4io update /fs/microsd/px4io2.bin > /fs/microsd/px4io2.log
|
||||||
|
then
|
||||||
|
cp /fs/microsd/px4io2.bin /fs/microsd/px4io2.cur
|
||||||
|
echo "Flashed /fs/microsd/px4io2.bin OK" >> /fs/microsd/px4io2.log
|
||||||
|
else
|
||||||
|
echo "Failed flashing /fs/microsd/px4io2.bin" >> /fs/microsd/px4io2.log
|
||||||
|
echo "Failed to upgrade PX4IO2 firmware - check if PX4IO2 is in bootloader mode"
|
||||||
|
fi
|
||||||
|
fi
|
||||||
|
fi
|
||||||
|
|
||||||
|
#
|
||||||
|
# Start MAVLink (depends on orb)
|
||||||
|
#
|
||||||
|
mavlink start
|
||||||
|
usleep 5000
|
||||||
|
|
||||||
|
#
|
||||||
|
# Start PX4IO interface (depends on orb, commander)
|
||||||
|
#
|
||||||
|
px4io start
|
||||||
|
pwm -u 400 -m 0xff
|
||||||
|
|
||||||
|
#
|
||||||
|
# Allow PX4IO to recover from midair restarts.
|
||||||
|
# this is very unlikely, but quite safe and robust.
|
||||||
|
px4io recovery
|
||||||
|
|
||||||
|
#
|
||||||
|
# Disable px4io topic limiting
|
||||||
|
#
|
||||||
|
px4io limit 200
|
||||||
|
|
||||||
|
#
|
||||||
|
# This sets a PWM right after startup (regardless of safety button)
|
||||||
|
#
|
||||||
|
px4io idle 900 900 900 900
|
||||||
|
|
||||||
|
#
|
||||||
|
# The values are for spinning motors when armed using DJI ESCs
|
||||||
|
#
|
||||||
|
px4io min 1200 1200 1200 1200
|
||||||
|
|
||||||
|
#
|
||||||
|
# Upper limits could be higher, this is on the safe side
|
||||||
|
#
|
||||||
|
px4io max 1800 1800 1800 1800
|
||||||
|
|
||||||
|
#
|
||||||
|
# Start the sensors (depends on orb, px4io)
|
||||||
|
#
|
||||||
|
sh /etc/init.d/rc.sensors
|
||||||
|
|
||||||
|
#
|
||||||
|
# Start the commander (depends on orb, mavlink)
|
||||||
|
#
|
||||||
|
commander start
|
||||||
|
|
||||||
|
#
|
||||||
|
# Start GPS interface (depends on orb)
|
||||||
|
#
|
||||||
|
gps start
|
||||||
|
|
||||||
|
#
|
||||||
|
# Start the attitude estimator (depends on orb)
|
||||||
|
#
|
||||||
|
attitude_estimator_ekf start
|
||||||
|
|
||||||
|
#
|
||||||
|
# Load mixer and start controllers (depends on px4io)
|
||||||
|
#
|
||||||
|
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
|
||||||
|
multirotor_att_control start
|
||||||
|
|
||||||
|
#
|
||||||
|
# Start logging
|
||||||
|
#
|
||||||
|
sdlog2 start -r 20 -a -b 14
|
||||||
|
|
||||||
|
#
|
||||||
|
# Start system state
|
||||||
|
#
|
||||||
|
if blinkm start
|
||||||
|
then
|
||||||
|
blinkm systemstate
|
||||||
|
fi
|
|
@ -1,8 +1,11 @@
|
||||||
#!nsh
|
#!nsh
|
||||||
|
#
|
||||||
|
# Flight startup script for PX4FMU+PX4IO
|
||||||
|
#
|
||||||
|
|
||||||
# Disable USB and autostart
|
# disable USB and autostart
|
||||||
set USB no
|
set USB no
|
||||||
set MODE camflyer
|
set MODE custom
|
||||||
|
|
||||||
#
|
#
|
||||||
# Start the ORB (first app to start)
|
# Start the ORB (first app to start)
|
||||||
|
@ -19,6 +22,16 @@ then
|
||||||
param load /fs/microsd/params
|
param load /fs/microsd/params
|
||||||
fi
|
fi
|
||||||
|
|
||||||
|
#
|
||||||
|
# Load default params for this platform
|
||||||
|
#
|
||||||
|
if param compare SYS_AUTOCONFIG 1
|
||||||
|
then
|
||||||
|
# Set all params here, then disable autoconfig
|
||||||
|
param set SYS_AUTOCONFIG 0
|
||||||
|
param save /fs/microsd/params
|
||||||
|
fi
|
||||||
|
|
||||||
#
|
#
|
||||||
# Force some key parameters to sane values
|
# Force some key parameters to sane values
|
||||||
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
|
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
|
||||||
|
@ -69,6 +82,10 @@ px4io start
|
||||||
# this is very unlikely, but quite safe and robust.
|
# this is very unlikely, but quite safe and robust.
|
||||||
px4io recovery
|
px4io recovery
|
||||||
|
|
||||||
|
#
|
||||||
|
# Set actuator limit to 100 Hz update (50 Hz PWM)
|
||||||
|
px4io limit 100
|
||||||
|
|
||||||
#
|
#
|
||||||
# Start the sensors (depends on orb, px4io)
|
# Start the sensors (depends on orb, px4io)
|
||||||
#
|
#
|
||||||
|
@ -93,15 +110,12 @@ control_demo start
|
||||||
#
|
#
|
||||||
# Start logging
|
# Start logging
|
||||||
#
|
#
|
||||||
#sdlog start -s 4
|
sdlog2 start -r 50 -a -b 14
|
||||||
|
|
||||||
#
|
#
|
||||||
# Start system state
|
# Start system state
|
||||||
#
|
#
|
||||||
if blinkm start
|
if blinkm start
|
||||||
then
|
then
|
||||||
echo "using BlinkM for state indication"
|
|
||||||
blinkm systemstate
|
blinkm systemstate
|
||||||
else
|
|
||||||
echo "no BlinkM found, OK."
|
|
||||||
fi
|
fi
|
|
@ -0,0 +1,121 @@
|
||||||
|
#!nsh
|
||||||
|
#
|
||||||
|
# Flight startup script for PX4FMU+PX4IO
|
||||||
|
#
|
||||||
|
|
||||||
|
# disable USB and autostart
|
||||||
|
set USB no
|
||||||
|
set MODE custom
|
||||||
|
|
||||||
|
#
|
||||||
|
# Start the ORB (first app to start)
|
||||||
|
#
|
||||||
|
uorb start
|
||||||
|
|
||||||
|
#
|
||||||
|
# Load microSD params
|
||||||
|
#
|
||||||
|
echo "[init] loading microSD params"
|
||||||
|
param select /fs/microsd/params
|
||||||
|
if [ -f /fs/microsd/params ]
|
||||||
|
then
|
||||||
|
param load /fs/microsd/params
|
||||||
|
fi
|
||||||
|
|
||||||
|
#
|
||||||
|
# Load default params for this platform
|
||||||
|
#
|
||||||
|
if param compare SYS_AUTOCONFIG 1
|
||||||
|
then
|
||||||
|
# Set all params here, then disable autoconfig
|
||||||
|
param set SYS_AUTOCONFIG 0
|
||||||
|
param save /fs/microsd/params
|
||||||
|
fi
|
||||||
|
|
||||||
|
#
|
||||||
|
# Force some key parameters to sane values
|
||||||
|
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
|
||||||
|
# see https://pixhawk.ethz.ch/mavlink/
|
||||||
|
#
|
||||||
|
param set MAV_TYPE 1
|
||||||
|
|
||||||
|
#
|
||||||
|
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
|
||||||
|
#
|
||||||
|
if [ -f /fs/microsd/px4io.bin ]
|
||||||
|
then
|
||||||
|
echo "PX4IO Firmware found. Checking Upgrade.."
|
||||||
|
if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
|
||||||
|
then
|
||||||
|
echo "No newer version, skipping upgrade."
|
||||||
|
else
|
||||||
|
echo "Loading /fs/microsd/px4io.bin"
|
||||||
|
if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log
|
||||||
|
then
|
||||||
|
cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
|
||||||
|
echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log
|
||||||
|
else
|
||||||
|
echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log
|
||||||
|
echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode"
|
||||||
|
fi
|
||||||
|
fi
|
||||||
|
fi
|
||||||
|
|
||||||
|
#
|
||||||
|
# Start MAVLink (depends on orb)
|
||||||
|
#
|
||||||
|
mavlink start -d /dev/ttyS1 -b 57600
|
||||||
|
usleep 5000
|
||||||
|
|
||||||
|
#
|
||||||
|
# Start the commander (depends on orb, mavlink)
|
||||||
|
#
|
||||||
|
commander start
|
||||||
|
|
||||||
|
#
|
||||||
|
# Start PX4IO interface (depends on orb, commander)
|
||||||
|
#
|
||||||
|
px4io start
|
||||||
|
|
||||||
|
#
|
||||||
|
# Allow PX4IO to recover from midair restarts.
|
||||||
|
# this is very unlikely, but quite safe and robust.
|
||||||
|
px4io recovery
|
||||||
|
|
||||||
|
#
|
||||||
|
# Set actuator limit to 100 Hz update (50 Hz PWM)
|
||||||
|
px4io limit 100
|
||||||
|
|
||||||
|
#
|
||||||
|
# Start the sensors (depends on orb, px4io)
|
||||||
|
#
|
||||||
|
sh /etc/init.d/rc.sensors
|
||||||
|
|
||||||
|
#
|
||||||
|
# Start GPS interface (depends on orb)
|
||||||
|
#
|
||||||
|
gps start
|
||||||
|
|
||||||
|
#
|
||||||
|
# Start the attitude estimator (depends on orb)
|
||||||
|
#
|
||||||
|
kalman_demo start
|
||||||
|
|
||||||
|
#
|
||||||
|
# Load mixer and start controllers (depends on px4io)
|
||||||
|
#
|
||||||
|
mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
|
||||||
|
control_demo start
|
||||||
|
|
||||||
|
#
|
||||||
|
# Start logging
|
||||||
|
#
|
||||||
|
sdlog2 start -r 50 -a -b 14
|
||||||
|
|
||||||
|
#
|
||||||
|
# Start system state
|
||||||
|
#
|
||||||
|
if blinkm start
|
||||||
|
then
|
||||||
|
blinkm systemstate
|
||||||
|
fi
|
|
@ -1,67 +0,0 @@
|
||||||
#!nsh
|
|
||||||
#
|
|
||||||
# Flight startup script for PX4FMU with PWM outputs.
|
|
||||||
#
|
|
||||||
|
|
||||||
# Disable the USB interface
|
|
||||||
set USB no
|
|
||||||
|
|
||||||
# Disable autostarting other apps
|
|
||||||
set MODE custom
|
|
||||||
|
|
||||||
echo "[init] doing PX4FMU Quad startup..."
|
|
||||||
|
|
||||||
#
|
|
||||||
# Start the ORB
|
|
||||||
#
|
|
||||||
uorb start
|
|
||||||
|
|
||||||
#
|
|
||||||
# Load microSD params
|
|
||||||
#
|
|
||||||
echo "[init] loading microSD params"
|
|
||||||
param select /fs/microsd/params
|
|
||||||
if [ -f /fs/microsd/params ]
|
|
||||||
then
|
|
||||||
param load /fs/microsd/params
|
|
||||||
fi
|
|
||||||
|
|
||||||
#
|
|
||||||
# Force some key parameters to sane values
|
|
||||||
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
|
|
||||||
# see https://pixhawk.ethz.ch/mavlink/
|
|
||||||
#
|
|
||||||
param set MAV_TYPE 2
|
|
||||||
|
|
||||||
#
|
|
||||||
# Start MAVLink
|
|
||||||
#
|
|
||||||
mavlink start -d /dev/ttyS0 -b 57600
|
|
||||||
usleep 5000
|
|
||||||
|
|
||||||
#
|
|
||||||
# Start the sensors and test them.
|
|
||||||
#
|
|
||||||
sh /etc/init.d/rc.sensors
|
|
||||||
|
|
||||||
#
|
|
||||||
# Start the commander.
|
|
||||||
#
|
|
||||||
commander start
|
|
||||||
|
|
||||||
#
|
|
||||||
# Start the attitude estimator
|
|
||||||
#
|
|
||||||
attitude_estimator_ekf start
|
|
||||||
|
|
||||||
echo "[init] starting PWM output"
|
|
||||||
fmu mode_pwm
|
|
||||||
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
|
|
||||||
|
|
||||||
#
|
|
||||||
# Start attitude control
|
|
||||||
#
|
|
||||||
multirotor_att_control start
|
|
||||||
|
|
||||||
echo "[init] startup done, exiting"
|
|
||||||
exit
|
|
|
@ -34,9 +34,10 @@ fi
|
||||||
# ALWAYS start this task before the
|
# ALWAYS start this task before the
|
||||||
# preflight_check.
|
# preflight_check.
|
||||||
#
|
#
|
||||||
sensors start
|
if sensors start
|
||||||
|
then
|
||||||
#
|
#
|
||||||
# Check sensors - run AFTER 'sensors start'
|
# Check sensors - run AFTER 'sensors start'
|
||||||
#
|
#
|
||||||
preflight_check
|
preflight_check &
|
||||||
|
fi
|
|
@ -5,8 +5,44 @@
|
||||||
|
|
||||||
echo "Starting MAVLink on this USB console"
|
echo "Starting MAVLink on this USB console"
|
||||||
|
|
||||||
|
# Stop tone alarm
|
||||||
|
tone_alarm stop
|
||||||
|
|
||||||
# Tell MAVLink that this link is "fast"
|
# Tell MAVLink that this link is "fast"
|
||||||
mavlink start -b 230400 -d /dev/console
|
if mavlink stop
|
||||||
|
then
|
||||||
|
echo "stopped other MAVLink instance"
|
||||||
|
fi
|
||||||
|
mavlink start -b 230400 -d /dev/ttyACM0
|
||||||
|
|
||||||
|
if [ $MODE == autostart ]
|
||||||
|
then
|
||||||
|
|
||||||
|
# Start the commander
|
||||||
|
commander start
|
||||||
|
|
||||||
|
# Start sensors
|
||||||
|
sh /etc/init.d/rc.sensors
|
||||||
|
|
||||||
|
# Start one of the estimators
|
||||||
|
if attitude_estimator_ekf status
|
||||||
|
then
|
||||||
|
echo "multicopter att filter running"
|
||||||
|
else
|
||||||
|
if att_pos_estimator_ekf status
|
||||||
|
then
|
||||||
|
echo "fixedwing att filter running"
|
||||||
|
else
|
||||||
|
attitude_estimator_ekf start
|
||||||
|
fi
|
||||||
|
fi
|
||||||
|
|
||||||
|
# Start GPS
|
||||||
|
if gps start
|
||||||
|
then
|
||||||
|
echo "GPS started"
|
||||||
|
fi
|
||||||
|
fi
|
||||||
|
|
||||||
echo "MAVLink started, exiting shell.."
|
echo "MAVLink started, exiting shell.."
|
||||||
|
|
||||||
|
|
|
@ -7,7 +7,6 @@
|
||||||
# can change this to prevent automatic startup of the flight script.
|
# can change this to prevent automatic startup of the flight script.
|
||||||
#
|
#
|
||||||
set MODE autostart
|
set MODE autostart
|
||||||
set USB autoconnect
|
|
||||||
|
|
||||||
#
|
#
|
||||||
# Try to mount the microSD card.
|
# Try to mount the microSD card.
|
||||||
|
@ -42,31 +41,83 @@ then
|
||||||
sh /fs/microsd/etc/rc.txt
|
sh /fs/microsd/etc/rc.txt
|
||||||
fi
|
fi
|
||||||
|
|
||||||
#
|
|
||||||
# Check for USB host
|
|
||||||
#
|
|
||||||
if [ $USB != autoconnect ]
|
|
||||||
then
|
|
||||||
echo "[init] not connecting USB"
|
|
||||||
else
|
|
||||||
if sercon
|
|
||||||
then
|
|
||||||
echo "[init] USB interface connected"
|
|
||||||
else
|
|
||||||
if [ -f /dev/ttyACM0 ]
|
|
||||||
echo "[init] NSH via USB"
|
|
||||||
then
|
|
||||||
else
|
|
||||||
echo "[init] No USB connected"
|
|
||||||
fi
|
|
||||||
fi
|
|
||||||
fi
|
|
||||||
|
|
||||||
# if this is an APM build then there will be a rc.APM script
|
# if this is an APM build then there will be a rc.APM script
|
||||||
# from an EXTERNAL_SCRIPTS build option
|
# from an EXTERNAL_SCRIPTS build option
|
||||||
if [ -f /etc/init.d/rc.APM ]
|
if [ -f /etc/init.d/rc.APM ]
|
||||||
then
|
then
|
||||||
echo Running rc.APM
|
if sercon
|
||||||
|
then
|
||||||
|
echo "[init] USB interface connected"
|
||||||
|
fi
|
||||||
|
|
||||||
|
echo "Running rc.APM"
|
||||||
# if APM startup is successful then nsh will exit
|
# if APM startup is successful then nsh will exit
|
||||||
sh /etc/init.d/rc.APM
|
sh /etc/init.d/rc.APM
|
||||||
fi
|
fi
|
||||||
|
|
||||||
|
if [ $MODE == autostart ]
|
||||||
|
then
|
||||||
|
|
||||||
|
#
|
||||||
|
# Start the ORB (first app to start)
|
||||||
|
#
|
||||||
|
uorb start
|
||||||
|
|
||||||
|
#
|
||||||
|
# Load microSD params
|
||||||
|
#
|
||||||
|
if ramtron start
|
||||||
|
then
|
||||||
|
param select /ramtron/params
|
||||||
|
if [ -f /ramtron/params ]
|
||||||
|
then
|
||||||
|
param load /ramtron/params
|
||||||
|
fi
|
||||||
|
else
|
||||||
|
param select /fs/microsd/params
|
||||||
|
if [ -f /fs/microsd/params ]
|
||||||
|
then
|
||||||
|
param load /fs/microsd/params
|
||||||
|
fi
|
||||||
|
fi
|
||||||
|
|
||||||
|
fi
|
||||||
|
|
||||||
|
#
|
||||||
|
# Check if auto-setup from one of the standard scripts is wanted
|
||||||
|
# SYS_AUTOSTART = 0 means no autostart (default)
|
||||||
|
#
|
||||||
|
if param compare SYS_AUTOSTART 1
|
||||||
|
then
|
||||||
|
sh /etc/init.d/01_fmu_quad_x
|
||||||
|
fi
|
||||||
|
|
||||||
|
if param compare SYS_AUTOSTART 2
|
||||||
|
then
|
||||||
|
sh /etc/init.d/02_io_quad_x
|
||||||
|
fi
|
||||||
|
|
||||||
|
if param compare SYS_AUTOSTART 8
|
||||||
|
then
|
||||||
|
sh /etc/init.d/08_ardrone
|
||||||
|
fi
|
||||||
|
|
||||||
|
if param compare SYS_AUTOSTART 9
|
||||||
|
then
|
||||||
|
sh /etc/init.d/09_ardrone_flow
|
||||||
|
fi
|
||||||
|
|
||||||
|
if param compare SYS_AUTOSTART 10
|
||||||
|
then
|
||||||
|
sh /etc/init.d/10_io_f330
|
||||||
|
fi
|
||||||
|
|
||||||
|
if param compare SYS_AUTOSTART 30
|
||||||
|
then
|
||||||
|
sh /etc/init.d/30_io_camflyer
|
||||||
|
fi
|
||||||
|
|
||||||
|
if param compare SYS_AUTOSTART 31
|
||||||
|
then
|
||||||
|
sh /etc/init.d/31_io_phantom
|
||||||
|
fi
|
||||||
|
|
|
@ -194,7 +194,7 @@ __EXPORT int nsh_archinitialize(void)
|
||||||
/* initial LED state */
|
/* initial LED state */
|
||||||
drv_led_start();
|
drv_led_start();
|
||||||
led_off(LED_AMBER);
|
led_off(LED_AMBER);
|
||||||
led_on(LED_BLUE);
|
led_off(LED_BLUE);
|
||||||
|
|
||||||
|
|
||||||
/* Configure SPI-based devices */
|
/* Configure SPI-based devices */
|
||||||
|
|
|
@ -1221,7 +1221,8 @@ start()
|
||||||
int fd;
|
int fd;
|
||||||
|
|
||||||
if (g_dev != nullptr)
|
if (g_dev != nullptr)
|
||||||
errx(1, "already started");
|
/* if already started, the still command succeeded */
|
||||||
|
errx(0, "already started");
|
||||||
|
|
||||||
/* create the driver, attempt expansion bus first */
|
/* create the driver, attempt expansion bus first */
|
||||||
g_dev = new HMC5883(PX4_I2C_BUS_EXPANSION);
|
g_dev = new HMC5883(PX4_I2C_BUS_EXPANSION);
|
||||||
|
|
|
@ -1063,7 +1063,8 @@ start()
|
||||||
int fd;
|
int fd;
|
||||||
|
|
||||||
if (g_dev != nullptr)
|
if (g_dev != nullptr)
|
||||||
errx(1, "already started");
|
/* if already started, the still command succeeded */
|
||||||
|
errx(0, "already started");
|
||||||
|
|
||||||
/* create the driver */
|
/* create the driver */
|
||||||
g_dev = new MPU6000(1 /* XXX magic number */, (spi_dev_e)PX4_SPIDEV_MPU);
|
g_dev = new MPU6000(1 /* XXX magic number */, (spi_dev_e)PX4_SPIDEV_MPU);
|
||||||
|
|
|
@ -969,7 +969,8 @@ start()
|
||||||
int fd;
|
int fd;
|
||||||
|
|
||||||
if (g_dev != nullptr)
|
if (g_dev != nullptr)
|
||||||
errx(1, "already started");
|
/* if already started, the still command succeeded */
|
||||||
|
errx(0, "already started");
|
||||||
|
|
||||||
/* create the driver */
|
/* create the driver */
|
||||||
g_dev = new MS5611(MS5611_BUS);
|
g_dev = new MS5611(MS5611_BUS);
|
||||||
|
|
|
@ -121,12 +121,13 @@ int att_pos_estimator_ekf_main(int argc, char *argv[])
|
||||||
if (!strcmp(argv[1], "status")) {
|
if (!strcmp(argv[1], "status")) {
|
||||||
if (thread_running) {
|
if (thread_running) {
|
||||||
warnx("is running\n");
|
warnx("is running\n");
|
||||||
|
exit(0);
|
||||||
|
|
||||||
} else {
|
} else {
|
||||||
warnx("not started\n");
|
warnx("not started\n");
|
||||||
|
exit(1);
|
||||||
}
|
}
|
||||||
|
|
||||||
exit(0);
|
|
||||||
}
|
}
|
||||||
|
|
||||||
usage("unrecognized command");
|
usage("unrecognized command");
|
||||||
|
|
|
@ -139,10 +139,12 @@ int attitude_estimator_ekf_main(int argc, char *argv[])
|
||||||
|
|
||||||
if (!strcmp(argv[1], "status")) {
|
if (!strcmp(argv[1], "status")) {
|
||||||
if (thread_running) {
|
if (thread_running) {
|
||||||
printf("\tattitude_estimator_ekf app is running\n");
|
warnx("running");
|
||||||
|
exit(0);
|
||||||
|
|
||||||
} else {
|
} else {
|
||||||
printf("\tattitude_estimator_ekf app not started\n");
|
warnx("not started");
|
||||||
|
exit(1);
|
||||||
}
|
}
|
||||||
|
|
||||||
exit(0);
|
exit(0);
|
||||||
|
|
|
@ -139,10 +139,12 @@ int attitude_estimator_so3_comp_main(int argc, char *argv[])
|
||||||
|
|
||||||
if (!strcmp(argv[1], "status")) {
|
if (!strcmp(argv[1], "status")) {
|
||||||
if (thread_running) {
|
if (thread_running) {
|
||||||
printf("\tattitude_estimator_so3_comp app is running\n");
|
warnx("running");
|
||||||
|
exit(0);
|
||||||
|
|
||||||
} else {
|
} else {
|
||||||
printf("\tattitude_estimator_so3_comp app not started\n");
|
warnx("not started");
|
||||||
|
exit(1);
|
||||||
}
|
}
|
||||||
|
|
||||||
exit(0);
|
exit(0);
|
||||||
|
|
|
@ -268,8 +268,8 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) {
|
||||||
float accel_disp[3] = { 0.0f, 0.0f, 0.0f };
|
float accel_disp[3] = { 0.0f, 0.0f, 0.0f };
|
||||||
/* EMA time constant in seconds*/
|
/* EMA time constant in seconds*/
|
||||||
float ema_len = 0.2f;
|
float ema_len = 0.2f;
|
||||||
/* set "still" threshold to 0.1 m/s^2 */
|
/* set "still" threshold to 0.25 m/s^2 */
|
||||||
float still_thr2 = pow(0.1f, 2);
|
float still_thr2 = pow(0.25f, 2);
|
||||||
/* set accel error threshold to 5m/s^2 */
|
/* set accel error threshold to 5m/s^2 */
|
||||||
float accel_err_thr = 5.0f;
|
float accel_err_thr = 5.0f;
|
||||||
/* still time required in us */
|
/* still time required in us */
|
||||||
|
@ -283,6 +283,9 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) {
|
||||||
hrt_abstime t = t_start;
|
hrt_abstime t = t_start;
|
||||||
hrt_abstime t_prev = t_start;
|
hrt_abstime t_prev = t_start;
|
||||||
hrt_abstime t_still = 0;
|
hrt_abstime t_still = 0;
|
||||||
|
|
||||||
|
unsigned poll_errcount = 0;
|
||||||
|
|
||||||
while (true) {
|
while (true) {
|
||||||
/* wait blocking for new data */
|
/* wait blocking for new data */
|
||||||
int poll_ret = poll(fds, 1, 1000);
|
int poll_ret = poll(fds, 1, 1000);
|
||||||
|
@ -327,12 +330,14 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) {
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
} else if (poll_ret == 0) {
|
} else if (poll_ret == 0) {
|
||||||
/* any poll failure for 1s is a reason to abort */
|
poll_errcount++;
|
||||||
mavlink_log_info(mavlink_fd, "ERROR: poll failure");
|
|
||||||
return -3;
|
|
||||||
}
|
}
|
||||||
if (t > t_timeout) {
|
if (t > t_timeout) {
|
||||||
mavlink_log_info(mavlink_fd, "ERROR: timeout");
|
poll_errcount++;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (poll_errcount > 1000) {
|
||||||
|
mavlink_log_info(mavlink_fd, "ERROR: failed reading accel");
|
||||||
return -1;
|
return -1;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
|
@ -420,12 +420,12 @@ int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_conf
|
||||||
case 921600: speed = B921600; break;
|
case 921600: speed = B921600; break;
|
||||||
|
|
||||||
default:
|
default:
|
||||||
fprintf(stderr, "[mavlink] ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\n\t9600\n19200\n38400\n57600\n115200\n230400\n460800\n921600\n\n", baud);
|
warnx("ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\n\t9600\n19200\n38400\n57600\n115200\n230400\n460800\n921600\n\n", baud);
|
||||||
return -EINVAL;
|
return -EINVAL;
|
||||||
}
|
}
|
||||||
|
|
||||||
/* open uart */
|
/* open uart */
|
||||||
printf("[mavlink] UART is %s, baudrate is %d\n", uart_name, baud);
|
warnx("UART is %s, baudrate is %d\n", uart_name, baud);
|
||||||
uart = open(uart_name, O_RDWR | O_NOCTTY);
|
uart = open(uart_name, O_RDWR | O_NOCTTY);
|
||||||
|
|
||||||
/* Try to set baud rate */
|
/* Try to set baud rate */
|
||||||
|
@ -433,37 +433,35 @@ int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_conf
|
||||||
int termios_state;
|
int termios_state;
|
||||||
*is_usb = false;
|
*is_usb = false;
|
||||||
|
|
||||||
/* make some wild guesses including that USB serial is indicated by either /dev/ttyACM0 or /dev/console */
|
/* Back up the original uart configuration to restore it after exit */
|
||||||
if (strcmp(uart_name, "/dev/ttyACM0") != OK && strcmp(uart_name, "/dev/console") != OK) {
|
if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
|
||||||
/* Back up the original uart configuration to restore it after exit */
|
warnx("ERROR get termios config %s: %d\n", uart_name, termios_state);
|
||||||
if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
|
close(uart);
|
||||||
fprintf(stderr, "[mavlink] ERROR getting baudrate / termios config for %s: %d\n", uart_name, termios_state);
|
return -1;
|
||||||
close(uart);
|
}
|
||||||
return -1;
|
|
||||||
}
|
|
||||||
|
|
||||||
/* Fill the struct for the new configuration */
|
/* Fill the struct for the new configuration */
|
||||||
tcgetattr(uart, &uart_config);
|
tcgetattr(uart, &uart_config);
|
||||||
|
|
||||||
/* Clear ONLCR flag (which appends a CR for every LF) */
|
/* Clear ONLCR flag (which appends a CR for every LF) */
|
||||||
uart_config.c_oflag &= ~ONLCR;
|
uart_config.c_oflag &= ~ONLCR;
|
||||||
|
|
||||||
|
/* USB serial is indicated by /dev/ttyACM0*/
|
||||||
|
if (strcmp(uart_name, "/dev/ttyACM0") != OK && strcmp(uart_name, "/dev/ttyACM1") != OK) {
|
||||||
|
|
||||||
/* Set baud rate */
|
/* Set baud rate */
|
||||||
if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
|
if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
|
||||||
fprintf(stderr, "[mavlink] ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
|
warnx("ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
|
||||||
close(uart);
|
close(uart);
|
||||||
return -1;
|
return -1;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
|
if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
|
||||||
fprintf(stderr, "[mavlink] ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name);
|
warnx("ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name);
|
||||||
close(uart);
|
close(uart);
|
||||||
return -1;
|
return -1;
|
||||||
}
|
|
||||||
|
|
||||||
} else {
|
|
||||||
*is_usb = true;
|
|
||||||
}
|
}
|
||||||
|
|
||||||
return uart;
|
return uart;
|
||||||
|
@ -751,8 +749,7 @@ int mavlink_thread_main(int argc, char *argv[])
|
||||||
pthread_join(uorb_receive_thread, NULL);
|
pthread_join(uorb_receive_thread, NULL);
|
||||||
|
|
||||||
/* Reset the UART flags to original state */
|
/* Reset the UART flags to original state */
|
||||||
if (!usb_uart)
|
tcsetattr(uart, TCSANOW, &uart_config_original);
|
||||||
tcsetattr(uart, TCSANOW, &uart_config_original);
|
|
||||||
|
|
||||||
thread_running = false;
|
thread_running = false;
|
||||||
|
|
||||||
|
|
|
@ -41,16 +41,20 @@
|
||||||
|
|
||||||
#include <string.h>
|
#include <string.h>
|
||||||
#include <stdlib.h>
|
#include <stdlib.h>
|
||||||
|
#include <stdio.h>
|
||||||
#include <stdarg.h>
|
#include <stdarg.h>
|
||||||
|
|
||||||
#include <mavlink/mavlink_log.h>
|
#include <mavlink/mavlink_log.h>
|
||||||
|
|
||||||
|
static FILE* text_recorder_fd = NULL;
|
||||||
|
|
||||||
void mavlink_logbuffer_init(struct mavlink_logbuffer *lb, int size)
|
void mavlink_logbuffer_init(struct mavlink_logbuffer *lb, int size)
|
||||||
{
|
{
|
||||||
lb->size = size;
|
lb->size = size;
|
||||||
lb->start = 0;
|
lb->start = 0;
|
||||||
lb->count = 0;
|
lb->count = 0;
|
||||||
lb->elems = (struct mavlink_logmessage *)calloc(lb->size, sizeof(struct mavlink_logmessage));
|
lb->elems = (struct mavlink_logmessage *)calloc(lb->size, sizeof(struct mavlink_logmessage));
|
||||||
|
text_recorder_fd = fopen("/fs/microsd/text_recorder.txt", "w");
|
||||||
}
|
}
|
||||||
|
|
||||||
int mavlink_logbuffer_is_full(struct mavlink_logbuffer *lb)
|
int mavlink_logbuffer_is_full(struct mavlink_logbuffer *lb)
|
||||||
|
@ -82,6 +86,13 @@ int mavlink_logbuffer_read(struct mavlink_logbuffer *lb, struct mavlink_logmessa
|
||||||
memcpy(elem, &(lb->elems[lb->start]), sizeof(struct mavlink_logmessage));
|
memcpy(elem, &(lb->elems[lb->start]), sizeof(struct mavlink_logmessage));
|
||||||
lb->start = (lb->start + 1) % lb->size;
|
lb->start = (lb->start + 1) % lb->size;
|
||||||
--lb->count;
|
--lb->count;
|
||||||
|
|
||||||
|
if (text_recorder_fd) {
|
||||||
|
fwrite(elem->text, 1, strnlen(elem->text, 50), text_recorder_fd);
|
||||||
|
fputc("\n", text_recorder_fd);
|
||||||
|
fsync(text_recorder_fd);
|
||||||
|
}
|
||||||
|
|
||||||
return 0;
|
return 0;
|
||||||
|
|
||||||
} else {
|
} else {
|
||||||
|
|
|
@ -139,14 +139,12 @@ public:
|
||||||
private:
|
private:
|
||||||
static const unsigned _rc_max_chan_count = RC_CHANNELS_MAX; /**< maximum number of r/c channels we handle */
|
static const unsigned _rc_max_chan_count = RC_CHANNELS_MAX; /**< maximum number of r/c channels we handle */
|
||||||
|
|
||||||
#if CONFIG_HRT_PPM
|
|
||||||
hrt_abstime _ppm_last_valid; /**< last time we got a valid ppm signal */
|
hrt_abstime _ppm_last_valid; /**< last time we got a valid ppm signal */
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* Gather and publish PPM input data.
|
* Gather and publish PPM input data.
|
||||||
*/
|
*/
|
||||||
void ppm_poll();
|
void ppm_poll();
|
||||||
#endif
|
|
||||||
|
|
||||||
/* XXX should not be here - should be own driver */
|
/* XXX should not be here - should be own driver */
|
||||||
int _fd_adc; /**< ADC driver handle */
|
int _fd_adc; /**< ADC driver handle */
|
||||||
|
@ -393,13 +391,11 @@ namespace sensors
|
||||||
#endif
|
#endif
|
||||||
static const int ERROR = -1;
|
static const int ERROR = -1;
|
||||||
|
|
||||||
Sensors *g_sensors;
|
Sensors *g_sensors = nullptr;
|
||||||
}
|
}
|
||||||
|
|
||||||
Sensors::Sensors() :
|
Sensors::Sensors() :
|
||||||
#ifdef CONFIG_HRT_PPM
|
|
||||||
_ppm_last_valid(0),
|
_ppm_last_valid(0),
|
||||||
#endif
|
|
||||||
|
|
||||||
_fd_adc(-1),
|
_fd_adc(-1),
|
||||||
_last_adc(0),
|
_last_adc(0),
|
||||||
|
@ -1135,16 +1131,18 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
#if CONFIG_HRT_PPM
|
|
||||||
void
|
void
|
||||||
Sensors::ppm_poll()
|
Sensors::ppm_poll()
|
||||||
{
|
{
|
||||||
|
|
||||||
/* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */
|
/* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */
|
||||||
bool rc_updated;
|
struct pollfd fds[1];
|
||||||
orb_check(_rc_sub, &rc_updated);
|
fds[0].fd = _rc_sub;
|
||||||
|
fds[0].events = POLLIN;
|
||||||
|
/* check non-blocking for new data */
|
||||||
|
int poll_ret = poll(fds, 1, 0);
|
||||||
|
|
||||||
if (rc_updated) {
|
if (poll_ret > 0) {
|
||||||
struct rc_input_values rc_input;
|
struct rc_input_values rc_input;
|
||||||
|
|
||||||
orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input);
|
orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input);
|
||||||
|
@ -1332,7 +1330,6 @@ Sensors::ppm_poll()
|
||||||
}
|
}
|
||||||
|
|
||||||
}
|
}
|
||||||
#endif
|
|
||||||
|
|
||||||
void
|
void
|
||||||
Sensors::task_main_trampoline(int argc, char *argv[])
|
Sensors::task_main_trampoline(int argc, char *argv[])
|
||||||
|
@ -1445,10 +1442,8 @@ Sensors::task_main()
|
||||||
if (_publishing)
|
if (_publishing)
|
||||||
orb_publish(ORB_ID(sensor_combined), _sensor_pub, &raw);
|
orb_publish(ORB_ID(sensor_combined), _sensor_pub, &raw);
|
||||||
|
|
||||||
#ifdef CONFIG_HRT_PPM
|
|
||||||
/* Look for new r/c input data */
|
/* Look for new r/c input data */
|
||||||
ppm_poll();
|
ppm_poll();
|
||||||
#endif
|
|
||||||
|
|
||||||
perf_end(_loop_perf);
|
perf_end(_loop_perf);
|
||||||
}
|
}
|
||||||
|
@ -1488,7 +1483,7 @@ int sensors_main(int argc, char *argv[])
|
||||||
if (!strcmp(argv[1], "start")) {
|
if (!strcmp(argv[1], "start")) {
|
||||||
|
|
||||||
if (sensors::g_sensors != nullptr)
|
if (sensors::g_sensors != nullptr)
|
||||||
errx(1, "sensors task already running");
|
errx(0, "sensors task already running");
|
||||||
|
|
||||||
sensors::g_sensors = new Sensors;
|
sensors::g_sensors = new Sensors;
|
||||||
|
|
||||||
|
|
|
@ -47,4 +47,5 @@ SRCS = err.c \
|
||||||
pid/pid.c \
|
pid/pid.c \
|
||||||
geo/geo.c \
|
geo/geo.c \
|
||||||
systemlib.c \
|
systemlib.c \
|
||||||
airspeed.c
|
airspeed.c \
|
||||||
|
system_params.c
|
||||||
|
|
|
@ -0,0 +1,47 @@
|
||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* Copyright (c) 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
|
||||||
|
* 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 system_params.c
|
||||||
|
*
|
||||||
|
* System wide parameters
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include <nuttx/config.h>
|
||||||
|
#include <systemlib/param/param.h>
|
||||||
|
|
||||||
|
// Auto-start script with index #n
|
||||||
|
PARAM_DEFINE_INT32(SYS_AUTOSTART, 0);
|
||||||
|
|
||||||
|
// Automatically configure default values
|
||||||
|
PARAM_DEFINE_INT32(SYS_AUTOCONFIG, 0);
|
|
@ -63,6 +63,7 @@ static void do_import(const char* param_file_name);
|
||||||
static void do_show(const char* search_string);
|
static void do_show(const char* search_string);
|
||||||
static void do_show_print(void *arg, param_t param);
|
static void do_show_print(void *arg, param_t param);
|
||||||
static void do_set(const char* name, const char* val);
|
static void do_set(const char* name, const char* val);
|
||||||
|
static void do_compare(const char* name, const char* val);
|
||||||
|
|
||||||
int
|
int
|
||||||
param_main(int argc, char *argv[])
|
param_main(int argc, char *argv[])
|
||||||
|
@ -117,9 +118,17 @@ param_main(int argc, char *argv[])
|
||||||
errx(1, "not enough arguments.\nTry 'param set PARAM_NAME 3'");
|
errx(1, "not enough arguments.\nTry 'param set PARAM_NAME 3'");
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
if (!strcmp(argv[1], "compare")) {
|
||||||
|
if (argc >= 4) {
|
||||||
|
do_compare(argv[2], argv[3]);
|
||||||
|
} else {
|
||||||
|
errx(1, "not enough arguments.\nTry 'param compare PARAM_NAME 3'");
|
||||||
|
}
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
errx(1, "expected a command, try 'load', 'import', 'show', 'set', 'select' or 'save'");
|
errx(1, "expected a command, try 'load', 'import', 'show', 'set', 'compare', 'select' or 'save'");
|
||||||
}
|
}
|
||||||
|
|
||||||
static void
|
static void
|
||||||
|
@ -295,3 +304,65 @@ do_set(const char* name, const char* val)
|
||||||
|
|
||||||
exit(0);
|
exit(0);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
static void
|
||||||
|
do_compare(const char* name, const char* val)
|
||||||
|
{
|
||||||
|
int32_t i;
|
||||||
|
float f;
|
||||||
|
param_t param = param_find(name);
|
||||||
|
|
||||||
|
/* set nothing if parameter cannot be found */
|
||||||
|
if (param == PARAM_INVALID) {
|
||||||
|
/* param not found */
|
||||||
|
errx(1, "Error: Parameter %s not found.", name);
|
||||||
|
}
|
||||||
|
|
||||||
|
/*
|
||||||
|
* Set parameter if type is known and conversion from string to value turns out fine
|
||||||
|
*/
|
||||||
|
|
||||||
|
int ret = 1;
|
||||||
|
|
||||||
|
switch (param_type(param)) {
|
||||||
|
case PARAM_TYPE_INT32:
|
||||||
|
if (!param_get(param, &i)) {
|
||||||
|
|
||||||
|
/* convert string */
|
||||||
|
char* end;
|
||||||
|
int j = strtol(val,&end,10);
|
||||||
|
if (i == j) {
|
||||||
|
printf(" %d: ", i);
|
||||||
|
ret = 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
break;
|
||||||
|
|
||||||
|
case PARAM_TYPE_FLOAT:
|
||||||
|
if (!param_get(param, &f)) {
|
||||||
|
|
||||||
|
/* convert string */
|
||||||
|
char* end;
|
||||||
|
float g = strtod(val, &end);
|
||||||
|
if (fabsf(f - g) < 1e-7f) {
|
||||||
|
printf(" %4.4f: ", (double)f);
|
||||||
|
ret = 0;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
break;
|
||||||
|
|
||||||
|
default:
|
||||||
|
errx(1, "<unknown / unsupported type %d>\n", 0 + param_type(param));
|
||||||
|
}
|
||||||
|
|
||||||
|
if (ret == 0) {
|
||||||
|
printf("%c %s: equal\n",
|
||||||
|
param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'),
|
||||||
|
param_name(param));
|
||||||
|
}
|
||||||
|
|
||||||
|
exit(ret);
|
||||||
|
}
|
||||||
|
|
|
@ -135,6 +135,7 @@ int preflight_check_main(int argc, char *argv[])
|
||||||
|
|
||||||
close(fd);
|
close(fd);
|
||||||
fd = open(BARO_DEVICE_PATH, 0);
|
fd = open(BARO_DEVICE_PATH, 0);
|
||||||
|
close(fd);
|
||||||
|
|
||||||
/* ---- RC CALIBRATION ---- */
|
/* ---- RC CALIBRATION ---- */
|
||||||
|
|
||||||
|
@ -251,6 +252,11 @@ system_eval:
|
||||||
int buzzer = open("/dev/tone_alarm", O_WRONLY);
|
int buzzer = open("/dev/tone_alarm", O_WRONLY);
|
||||||
int leds = open(LED_DEVICE_PATH, 0);
|
int leds = open(LED_DEVICE_PATH, 0);
|
||||||
|
|
||||||
|
if (leds < 0) {
|
||||||
|
close(buzzer);
|
||||||
|
errx(1, "failed to open leds, aborting");
|
||||||
|
}
|
||||||
|
|
||||||
/* flip blue led into alternating amber */
|
/* flip blue led into alternating amber */
|
||||||
led_off(leds, LED_BLUE);
|
led_off(leds, LED_BLUE);
|
||||||
led_off(leds, LED_AMBER);
|
led_off(leds, LED_AMBER);
|
||||||
|
|
Loading…
Reference in New Issue