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px4-firmware
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Merge branch 'master' into rc_timeout

This commit is contained in:
Anton Babushkin 2014-04-05 15:59:47 +04:00
parent 77190f5052 fa63609da3
commit 605d7277d8
6 changed files with 69 additions and 45 deletions
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28
Tools/px_uploader.py
View File

@ -389,18 +389,22 @@ class uploader(object):
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('')
try:
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('')
except Exception:
# ignore bad character encodings
pass
print("erase...")
self.__erase()

1
src/drivers/drv_tone_alarm.h
View File

@ -147,6 +147,7 @@ enum {
TONE_BATTERY_WARNING_SLOW_TUNE,
TONE_BATTERY_WARNING_FAST_TUNE,
TONE_GPS_WARNING_TUNE,
TONE_ARMING_FAILURE_TUNE,
TONE_NUMBER_OF_TUNES
};

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

@ -169,6 +169,8 @@ private:
int _bus; /**< the bus the device is connected to */
struct mag_report _last_report; /**< used for info() */
/**
* Test whether the device supported by the driver is present at a
* specific address.
@ -870,6 +872,8 @@ HMC5883::collect()
}
}
_last_report = new_report;
/* post a report to the ring */
if (_reports->force(&new_report)) {
perf_count(_buffer_overflows);
@ -1042,32 +1046,29 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
warnx("axes scaling: %.6f %.6f %.6f", (double)scaling[0], (double)scaling[1], (double)scaling[2]);
/* set back to normal mode */
/* Set to 1.1 Gauss */
if (OK != ::ioctl(fd, MAGIOCSRANGE, 1)) {
warnx("failed to set 1.1 Ga range");
goto out;
}
if (OK != ::ioctl(fd, MAGIOCEXSTRAP, 0)) {
warnx("failed to disable sensor calibration mode");
goto out;
}
/* set scaling in device */
mscale_previous.x_scale = scaling[0];
mscale_previous.y_scale = scaling[1];
mscale_previous.z_scale = scaling[2];
if (OK != ioctl(filp, MAGIOCSSCALE, (long unsigned int)&mscale_previous)) {
warn("WARNING: failed to set new scale / offsets for mag");
goto out;
}
ret = OK;
out:
if (OK != ioctl(filp, MAGIOCSSCALE, (long unsigned int)&mscale_previous)) {
warn("WARNING: failed to set new scale / offsets for mag");
}
/* set back to normal mode */
/* Set to 1.1 Gauss */
if (OK != ::ioctl(fd, MAGIOCSRANGE, 1)) {
warnx("failed to set 1.1 Ga range");
}
if (OK != ::ioctl(fd, MAGIOCEXSTRAP, 0)) {
warnx("failed to disable sensor calibration mode");
}
if (ret == OK) {
if (!check_scale()) {
warnx("mag scale calibration successfully finished.");
@ -1221,6 +1222,7 @@ HMC5883::print_info()
perf_print_counter(_comms_errors);
perf_print_counter(_buffer_overflows);
printf("poll interval: %u ticks\n", _measure_ticks);
printf("output (%.2f %.2f %.2f)\n", (double)_last_report.x, (double)_last_report.y, (double)_last_report.z);
printf("offsets (%.2f %.2f %.2f)\n", (double)_scale.x_offset, (double)_scale.y_offset, (double)_scale.z_offset);
printf("scaling (%.2f %.2f %.2f) 1/range_scale %.2f range_ga %.2f\n",
(double)_scale.x_scale, (double)_scale.y_scale, (double)_scale.z_scale,

2
src/drivers/stm32/tone_alarm/tone_alarm.cpp
View File

@ -334,6 +334,7 @@ ToneAlarm::ToneAlarm() :
_default_tunes[TONE_BATTERY_WARNING_SLOW_TUNE] = "MBNT100a8"; //battery warning slow
_default_tunes[TONE_BATTERY_WARNING_FAST_TUNE] = "MBNT255a8a8a8a8a8a8a8a8a8a8a8a8a8a8a8a8"; //battery warning fast
_default_tunes[TONE_GPS_WARNING_TUNE] = "MFT255L4AAAL1F#"; //gps warning slow
_default_tunes[TONE_ARMING_FAILURE_TUNE] = "MFT255L4<<<BAP";
_tune_names[TONE_STARTUP_TUNE] = "startup"; // startup tune
_tune_names[TONE_ERROR_TUNE] = "error"; // ERROR tone
@ -344,6 +345,7 @@ ToneAlarm::ToneAlarm() :
_tune_names[TONE_BATTERY_WARNING_SLOW_TUNE] = "slow_bat"; // battery warning slow
_tune_names[TONE_BATTERY_WARNING_FAST_TUNE] = "fast_bat"; // battery warning fast
_tune_names[TONE_GPS_WARNING_TUNE] = "gps_warning"; // gps warning
_tune_names[TONE_ARMING_FAILURE_TUNE] = "arming_failure"; //fail to arm
}
ToneAlarm::~ToneAlarm()

17
src/modules/fw_att_pos_estimator/estimator.cpp
View File

@ -106,7 +106,22 @@ void swap_var(float &d1, float &d2)
d2 = tmp;
}
AttPosEKF::AttPosEKF()
AttPosEKF::AttPosEKF() :
fusionModeGPS(0),
covSkipCount(0),
EAS2TAS(1.0f),
statesInitialised(false),
fuseVelData(false),
fusePosData(false),
fuseHgtData(false),
fuseMagData(false),
fuseVtasData(false),
onGround(true),
staticMode(true),
useAirspeed(true),
useCompass(true),
numericalProtection(true),
storeIndex(0)
{
}

30
src/modules/fw_att_pos_estimator/estimator.h
View File

@ -108,7 +108,7 @@ public:
Vector3f dVelIMU;
Vector3f dAngIMU;
float dtIMU; // time lapsed since the last IMU measurement or covariance update (sec)
uint8_t fusionModeGPS = 0; // 0 = GPS outputs 3D velocity, 1 = GPS outputs 2D velocity, 2 = GPS outputs no velocity
uint8_t fusionModeGPS; // 0 = GPS outputs 3D velocity, 1 = GPS outputs 2D velocity, 2 = GPS outputs no velocity
float innovVelPos[6]; // innovation output
float varInnovVelPos[6]; // innovation variance output
@ -127,8 +127,8 @@ public:
float lonRef; // WGS-84 longitude of reference point (rad)
float hgtRef; // WGS-84 height of reference point (m)
Vector3f magBias; // states representing magnetometer bias vector in XYZ body axes
uint8_t covSkipCount = 0; // Number of state prediction frames (IMU daya updates to skip before doing the covariance prediction
float EAS2TAS = 1.0f; // ratio f true to equivalent airspeed
uint8_t covSkipCount; // Number of state prediction frames (IMU daya updates to skip before doing the covariance prediction
float EAS2TAS; // ratio f true to equivalent airspeed
// GPS input data variables
float gpsCourse;
@ -141,25 +141,25 @@ public:
// Baro input
float baroHgt;
bool statesInitialised = false;
bool statesInitialised;
bool fuseVelData = false; // this boolean causes the posNE and velNED obs to be fused
bool fusePosData = false; // this boolean causes the posNE and velNED obs to be fused
bool fuseHgtData = false; // this boolean causes the hgtMea obs to be fused
bool fuseMagData = false; // boolean true when magnetometer data is to be fused
bool fuseVtasData = false; // boolean true when airspeed data is to be fused
bool fuseVelData; // this boolean causes the posNE and velNED obs to be fused
bool fusePosData; // this boolean causes the posNE and velNED obs to be fused
bool fuseHgtData; // this boolean causes the hgtMea obs to be fused
bool fuseMagData; // boolean true when magnetometer data is to be fused
bool fuseVtasData; // boolean true when airspeed data is to be fused
bool onGround = true; ///< boolean true when the flight vehicle is on the ground (not flying)
bool staticMode = true; ///< boolean true if no position feedback is fused
bool useAirspeed = true; ///< boolean true if airspeed data is being used
bool useCompass = true; ///< boolean true if magnetometer data is being used
bool onGround; ///< boolean true when the flight vehicle is on the ground (not flying)
bool staticMode; ///< boolean true if no position feedback is fused
bool useAirspeed; ///< boolean true if airspeed data is being used
bool useCompass; ///< boolean true if magnetometer data is being used
struct ekf_status_report current_ekf_state;
struct ekf_status_report last_ekf_error;
bool numericalProtection = true;
bool numericalProtection;
unsigned storeIndex = 0;
unsigned storeIndex;
void UpdateStrapdownEquationsNED();