forked from Archive/PX4-Autopilot
Merged master into ekf_params
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commit
5ad3ff95bf
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@ -1,5 +1,5 @@
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#
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# Copyright (C) 2012 PX4 Development Team. All rights reserved.
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# Copyright (C) 2012-2014 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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@ -125,7 +125,11 @@ ARCHWARNINGS = -Wall \
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-Wlogical-op \
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-Wmissing-declarations \
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-Wpacked \
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-Wno-unused-parameter
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-Wno-unused-parameter \
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-Werror=format-security \
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-Werror=array-bounds \
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-Wfatal-errors \
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-Wformat=1
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# -Wcast-qual - generates spurious noreturn attribute warnings, try again later
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# -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
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# -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
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@ -142,7 +146,8 @@ ARCHCWARNINGS = $(ARCHWARNINGS) \
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# C++-specific warnings
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#
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ARCHWARNINGSXX = $(ARCHWARNINGS)
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ARCHWARNINGSXX = $(ARCHWARNINGS) \
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-Wno-missing-field-initializers
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# pull in *just* libm from the toolchain ... this is grody
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LIBM := $(shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a)
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@ -1015,7 +1015,7 @@ MK::pwm_ioctl(file *filp, int cmd, unsigned long arg)
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case PWM_SERVO_GET(0) ... PWM_SERVO_GET(_max_actuators - 1):
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/* copy the current output value from the channel */
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*(servo_position_t *)arg = Motor[cmd - PWM_SERVO_SET(0)].RawPwmValue;
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*(servo_position_t *)arg = Motor[cmd - PWM_SERVO_GET(0)].RawPwmValue;
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break;
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@ -40,6 +40,7 @@
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*/
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#include "attitude_estimator_ekf_params.h"
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#include <math.h>
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/* Extended Kalman Filter covariances */
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@ -113,6 +114,7 @@ int parameters_update(const struct attitude_estimator_ekf_param_handles *h, stru
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param_get(h->yaw_off, &(p->yaw_off));
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param_get(h->mag_decl, &(p->mag_decl));
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p->mag_decl *= M_PI / 180.0f;
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param_get(h->acc_comp, &(p->acc_comp));
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@ -837,21 +837,21 @@ FixedwingEstimator::task_main()
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case 1:
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{
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const char* str = "NaN in states, resetting";
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warnx("%s%s", ekfname, str);
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warnx("%s", str);
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mavlink_log_critical(_mavlink_fd, "%s%s", ekfname, str);
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break;
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}
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case 2:
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{
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const char* str = "stale IMU data, resetting";
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warnx("%s%s", ekfname, str);
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warnx("%s", str);
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mavlink_log_critical(_mavlink_fd, "%s%s", ekfname, str);
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break;
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}
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case 3:
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{
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const char* str = "switching to dynamic state";
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warnx("%s%s", ekfname, str);
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warnx("%s", str);
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mavlink_log_critical(_mavlink_fd, "%s%s", ekfname, str);
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break;
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}
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@ -859,7 +859,7 @@ FixedwingEstimator::task_main()
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default:
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{
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const char* str = "unknown reset condition";
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warnx("%s%s", ekfname, str);
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warnx("%s", str);
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mavlink_log_critical(_mavlink_fd, "%s%s", ekfname, str);
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}
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}
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@ -627,31 +627,31 @@ Sensors::parameters_update()
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/* channel mapping */
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if (param_get(_parameter_handles.rc_map_roll, &(_parameters.rc_map_roll)) != OK) {
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warnx(paramerr);
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warnx("%s", paramerr);
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}
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if (param_get(_parameter_handles.rc_map_pitch, &(_parameters.rc_map_pitch)) != OK) {
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warnx(paramerr);
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warnx("%s", paramerr);
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}
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if (param_get(_parameter_handles.rc_map_yaw, &(_parameters.rc_map_yaw)) != OK) {
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warnx(paramerr);
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warnx("%s", paramerr);
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}
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if (param_get(_parameter_handles.rc_map_throttle, &(_parameters.rc_map_throttle)) != OK) {
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warnx(paramerr);
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warnx("%s", paramerr);
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}
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if (param_get(_parameter_handles.rc_map_mode_sw, &(_parameters.rc_map_mode_sw)) != OK) {
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warnx(paramerr);
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warnx("%s", paramerr);
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}
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if (param_get(_parameter_handles.rc_map_return_sw, &(_parameters.rc_map_return_sw)) != OK) {
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warnx(paramerr);
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warnx("%s", paramerr);
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}
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if (param_get(_parameter_handles.rc_map_assisted_sw, &(_parameters.rc_map_assisted_sw)) != OK) {
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warnx(paramerr);
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warnx("%s", paramerr);
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}
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if (param_get(_parameter_handles.rc_map_loiter_sw, &(_parameters.rc_map_loiter_sw)) != OK) {
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@ -659,7 +659,7 @@ Sensors::parameters_update()
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}
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if (param_get(_parameter_handles.rc_map_flaps, &(_parameters.rc_map_flaps)) != OK) {
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warnx(paramerr);
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warnx("%s", paramerr);
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}
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// if (param_get(_parameter_handles.rc_map_offboard_ctrl_mode_sw, &(_parameters.rc_map_offboard_ctrl_mode_sw)) != OK) {
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@ -725,12 +725,12 @@ Sensors::parameters_update()
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/* scaling of ADC ticks to battery voltage */
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if (param_get(_parameter_handles.battery_voltage_scaling, &(_parameters.battery_voltage_scaling)) != OK) {
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warnx(paramerr);
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warnx("%s", paramerr);
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}
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/* scaling of ADC ticks to battery current */
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if (param_get(_parameter_handles.battery_current_scaling, &(_parameters.battery_current_scaling)) != OK) {
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warnx(paramerr);
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warnx("%s", paramerr);
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}
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param_get(_parameter_handles.board_rotation, &(_parameters.board_rotation));
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@ -121,7 +121,7 @@ do_device(int argc, char *argv[])
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errx(ret,"uORB publications could not be unblocked");
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} else {
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errx("no valid command: %s", argv[1]);
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errx(1, "no valid command: %s", argv[1]);
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}
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}
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