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Merge branch 'master' into mc_mixer_fix

This commit is contained in:
Anton Babushkin 2014-05-17 09:08:43 +02:00
parent d9a7e528b0 a72015c260
commit 68b1cdebd2
19 changed files with 94 additions and 35 deletions
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2
ROMFS/px4fmu_common/init.d/rc.logging
View File

@ -8,7 +8,7 @@ then
if ver hwcmp PX4FMU_V1
then
echo "Start sdlog2 at 50Hz"
sdlog2 start -r 50 -a -b 5 -t
sdlog2 start -r 50 -a -b 4 -t
else
echo "Start sdlog2 at 200Hz"
sdlog2 start -r 200 -a -b 16 -t

2
makefiles/config_aerocore_default.mk
View File

@ -53,7 +53,7 @@ MODULES += modules/mavlink
#
MODULES += modules/attitude_estimator_ekf
MODULES += modules/attitude_estimator_so3
MODULES += modules/fw_att_pos_estimator
MODULES += modules/ekf_att_pos_estimator
MODULES += modules/position_estimator_inav
#

2
nuttx-configs/px4fmu-v1/nsh/defconfig
View File

@ -418,7 +418,7 @@ CONFIG_PREALLOC_TIMERS=50
# Stack and heap information
#
CONFIG_IDLETHREAD_STACKSIZE=4096
CONFIG_USERMAIN_STACKSIZE=4096
CONFIG_USERMAIN_STACKSIZE=3500
CONFIG_PTHREAD_STACK_MIN=512
CONFIG_PTHREAD_STACK_DEFAULT=2048

2
src/drivers/frsky_telemetry/frsky_data.c
View File

@ -53,6 +53,8 @@
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_status.h>
#include <drivers/drv_hrt.h>
/* FrSky sensor hub data IDs */
#define FRSKY_ID_GPS_ALT_BP 0x01
#define FRSKY_ID_TEMP1 0x02

2
src/drivers/frsky_telemetry/frsky_telemetry.c
View File

@ -222,7 +222,7 @@ int frsky_telemetry_main(int argc, char *argv[])
frsky_task = task_spawn_cmd("frsky_telemetry",
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
2048,
2000,
frsky_telemetry_thread_main,
(const char **)argv);

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

@ -39,3 +39,5 @@ MODULE_COMMAND = frsky_telemetry
SRCS = frsky_data.c \
frsky_telemetry.c
MODULE_STACKSIZE = 1200

12
src/drivers/gps/gps.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
@ -56,6 +56,7 @@
#include <arch/board/board.h>
#include <drivers/drv_hrt.h>
#include <drivers/device/i2c.h>
#include <systemlib/systemlib.h>
#include <systemlib/perf_counter.h>
#include <systemlib/scheduling_priorities.h>
#include <systemlib/err.h>
@ -78,12 +79,6 @@
#endif
static const int ERROR = -1;
#ifndef CONFIG_SCHED_WORKQUEUE
# error This requires CONFIG_SCHED_WORKQUEUE.
#endif
class GPS : public device::CDev
{
public:
@ -211,7 +206,8 @@ GPS::init()
goto out;
/* start the GPS driver worker task */
_task = task_create("gps", SCHED_PRIORITY_SLOW_DRIVER, 2048, (main_t)&GPS::task_main_trampoline, nullptr);
_task = task_spawn_cmd("gps", SCHED_DEFAULT,
SCHED_PRIORITY_SLOW_DRIVER, 2000, (main_t)&GPS::task_main_trampoline, nullptr);
if (_task < 0) {
warnx("task start failed: %d", errno);

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

@ -41,3 +41,5 @@ SRCS = gps.cpp \
gps_helper.cpp \
mtk.cpp \
ubx.cpp
MODULE_STACKSIZE = 1200

21
src/drivers/px4io/px4io.cpp
View File

@ -794,7 +794,12 @@ PX4IO::init()
}
/* start the IO interface task */
_task = task_create("px4io", SCHED_PRIORITY_ACTUATOR_OUTPUTS, 2048, (main_t)&PX4IO::task_main_trampoline, nullptr);
_task = task_spawn_cmd("px4io",
SCHED_DEFAULT,
SCHED_PRIORITY_ACTUATOR_OUTPUTS,
2000,
(main_t)&PX4IO::task_main_trampoline,
nullptr);
if (_task < 0) {
debug("task start failed: %d", errno);
@ -989,13 +994,17 @@ PX4IO::task_main()
int32_t failsafe_param_val;
param_t failsafe_param = param_find("RC_FAILS_THR");
if (failsafe_param > 0) {
if (failsafe_param != PARAM_INVALID) {
param_get(failsafe_param, &failsafe_param_val);
uint16_t failsafe_thr = failsafe_param_val;
pret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RC_THR_FAILSAFE_US, &failsafe_thr, 1);
if (pret != OK) {
log("failsafe upload failed");
if (failsafe_param_val > 0) {
uint16_t failsafe_thr = failsafe_param_val;
pret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RC_THR_FAILSAFE_US, &failsafe_thr, 1);
if (pret != OK) {
log("failsafe upload failed, FS: %d us", (int)failsafe_thr);
}
}
}

5
src/examples/flow_position_estimator/flow_position_estimator_main.c
View File

@ -65,6 +65,7 @@
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/filtered_bottom_flow.h>
#include <systemlib/perf_counter.h>
#include <systemlib/systemlib.h>
#include <poll.h>
#include "flow_position_estimator_params.h"
@ -109,9 +110,9 @@ int flow_position_estimator_main(int argc, char *argv[])
thread_should_exit = false;
daemon_task = task_spawn_cmd("flow_position_estimator",
SCHED_RR,
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
4096,
4000,
flow_position_estimator_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
exit(0);

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

@ -2204,7 +2204,7 @@ Mavlink::start(int argc, char *argv[])
task_spawn_cmd(buf,
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
2000,
1950,
(main_t)&Mavlink::start_helper,
(const char **)argv);

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

@ -949,7 +949,7 @@ MavlinkReceiver::receive_start(Mavlink *parent)
param.sched_priority = SCHED_PRIORITY_MAX - 40;
(void)pthread_attr_setschedparam(&receiveloop_attr, &param);
pthread_attr_setstacksize(&receiveloop_attr, 3000);
pthread_attr_setstacksize(&receiveloop_attr, 2900);
pthread_t thread;
pthread_create(&thread, &receiveloop_attr, MavlinkReceiver::start_helper, (void *)parent);

2
src/modules/position_estimator_inav/module.mk
View File

@ -39,3 +39,5 @@ MODULE_COMMAND = position_estimator_inav
SRCS = position_estimator_inav_main.c \
position_estimator_inav_params.c \
inertial_filter.c
MODULE_STACKSIZE = 1200

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

@ -135,7 +135,7 @@ int position_estimator_inav_main(int argc, char *argv[])
thread_should_exit = false;
position_estimator_inav_task = task_spawn_cmd("position_estimator_inav",
SCHED_RR, SCHED_PRIORITY_MAX - 5, 4096,
SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 4000,
position_estimator_inav_thread_main,
(argv) ? (const char **) &argv[2] : (const char **) NULL);
exit(0);

13
src/modules/px4iofirmware/protocol.h
View File

@ -190,6 +190,8 @@
#define PX4IO_P_SETUP_RELAYS_POWER2 (1<<1) /* hardware rev [1] power relay 2 */
#define PX4IO_P_SETUP_RELAYS_ACC1 (1<<2) /* hardware rev [1] accessory power 1 */
#define PX4IO_P_SETUP_RELAYS_ACC2 (1<<3) /* hardware rev [1] accessory power 2 */
#else
#define PX4IO_P_SETUP_RELAYS_PAD 5
#endif
#define PX4IO_P_SETUP_VBATT_SCALE 6 /* hardware rev [1] battery voltage correction factor (float) */
@ -209,15 +211,16 @@ enum { /* DSM bind states */
#define PX4IO_REBOOT_BL_MAGIC 14662 /* required argument for reboot (random) */
#define PX4IO_P_SETUP_CRC 11 /* get CRC of IO firmware */
/* 12 occupied by CRC */
/* storage space of 12 occupied by CRC */
#define PX4IO_P_SETUP_FORCE_SAFETY_OFF 12 /* force safety switch into
'armed' (PWM enabled) state - this is a non-data write and
hence index 12 can safely be used. */
#define PX4IO_P_SETUP_RC_THR_FAILSAFE_US 13 /**< the throttle failsafe pulse length in microseconds */
#define PX4IO_P_SETUP_FORCE_SAFETY_OFF 12 /* force safety switch into
'armed' (PWM enabled) state */
#define PX4IO_FORCE_SAFETY_MAGIC 22027 /* required argument for force safety (random) */
#define PX4IO_FORCE_SAFETY_MAGIC 22027 /* required argument for force safety (random) */
/* autopilot control values, -10000..10000 */
#define PX4IO_PAGE_CONTROLS 51 /**< actuator control groups, one after the other, 8 wide */
#define PX4IO_PAGE_CONTROLS 51 /**< actuator control groups, one after the other, 8 wide */
#define PX4IO_P_CONTROLS_GROUP_0 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 0) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
#define PX4IO_P_CONTROLS_GROUP_1 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 1) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
#define PX4IO_P_CONTROLS_GROUP_2 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 2) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */

24
src/modules/px4iofirmware/registers.c
View File

@ -160,6 +160,9 @@ volatile uint16_t r_page_setup[] =
[PX4IO_P_SETUP_PWM_ALTRATE] = 200,
#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
[PX4IO_P_SETUP_RELAYS] = 0,
#else
/* this is unused, but we will pad it for readability (the compiler pads it automatically) */
[PX4IO_P_SETUP_RELAYS_PAD] = 0,
#endif
#ifdef ADC_VSERVO
[PX4IO_P_SETUP_VSERVO_SCALE] = 10000,
@ -523,18 +526,22 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
break;
case PX4IO_P_SETUP_PWM_DEFAULTRATE:
if (value < 50)
if (value < 50) {
value = 50;
if (value > 400)
}
if (value > 400) {
value = 400;
}
pwm_configure_rates(r_setup_pwm_rates, value, r_setup_pwm_altrate);
break;
case PX4IO_P_SETUP_PWM_ALTRATE:
if (value < 50)
if (value < 50) {
value = 50;
if (value > 400)
}
if (value > 400) {
value = 400;
}
pwm_configure_rates(r_setup_pwm_rates, r_setup_pwm_defaultrate, value);
break;
@ -566,8 +573,9 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
}
// check the magic value
if (value != PX4IO_REBOOT_BL_MAGIC)
if (value != PX4IO_REBOOT_BL_MAGIC) {
break;
}
// we schedule a reboot rather than rebooting
// immediately to allow the IO board to ACK
@ -585,6 +593,12 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
}
break;
case PX4IO_P_SETUP_RC_THR_FAILSAFE_US:
if (value > 650 && value < 2350) {
r_page_setup[PX4IO_P_SETUP_RC_THR_FAILSAFE_US] = value;
}
break;
default:
return -1;
}

16
src/modules/sdlog2/sdlog2.c
View File

@ -684,7 +684,7 @@ int sdlog2_thread_main(int argc, char *argv[])
case 'r': {
unsigned long r = strtoul(optarg, NULL, 10);
if (r <= 0) {
if (r == 0) {
r = 1;
}
@ -834,6 +834,8 @@ int sdlog2_thread_main(int argc, char *argv[])
struct log_ESTM_s log_ESTM;
struct log_PWR_s log_PWR;
struct log_VICN_s log_VICN;
struct log_GSN0_s log_GSN0;
struct log_GSN1_s log_GSN1;
} body;
} log_msg = {
LOG_PACKET_HEADER_INIT(0)
@ -982,6 +984,18 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_GPS.vel_d = buf_gps_pos.vel_d_m_s;
log_msg.body.log_GPS.cog = buf_gps_pos.cog_rad;
LOGBUFFER_WRITE_AND_COUNT(GPS);
/* log the SNR of each satellite for a detailed view of signal quality */
log_msg.msg_type = LOG_GSN0_MSG;
/* pick the smaller number so we do not overflow any of the arrays */
unsigned gps_msg_max_snr = sizeof(buf_gps_pos.satellite_snr) / sizeof(buf_gps_pos.satellite_snr[0]);
unsigned log_max_snr = sizeof(log_msg.body.log_GSN0.satellite_snr) / sizeof(log_msg.body.log_GSN0.satellite_snr[0]);
unsigned sat_max_snr = (gps_msg_max_snr < log_max_snr) ? gps_msg_max_snr : log_max_snr;
for (unsigned i = 0; i < sat_max_snr; i++) {
log_msg.body.log_GSN0.satellite_snr[i] = buf_gps_pos.satellite_snr[i];
}
LOGBUFFER_WRITE_AND_COUNT(GSN0);
}
/* --- SENSOR COMBINED --- */

14
src/modules/sdlog2/sdlog2_messages.h
View File

@ -317,6 +317,18 @@ struct log_VICN_s {
float yaw;
};
/* --- GSN0 - GPS SNR #0 --- */
#define LOG_GSN0_MSG 26
struct log_GSN0_s {
uint8_t satellite_snr[16]; /**< Signal to noise ratio of satellite. 0 for none, 255 for max. */
};
/* --- GSN1 - GPS SNR #1 --- */
#define LOG_GSN1_MSG 27
struct log_GSN1_s {
uint8_t satellite_snr[16]; /**< Signal to noise ratio of satellite. 0 for none, 255 for max. */
};
/********** SYSTEM MESSAGES, ID > 0x80 **********/
/* --- TIME - TIME STAMP --- */
@ -368,6 +380,8 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(ESTM, "ffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,nStat,statNaN,covNaN,kGainNaN"),
LOG_FORMAT(PWR, "fffBBBBB", "Periph5V,Servo5V,RSSI,UsbOk,BrickOk,ServoOk,PeriphOC,HipwrOC"),
LOG_FORMAT(VICN, "ffffff", "X,Y,Z,Roll,Pitch,Yaw"),
LOG_FORMAT(GSN0, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
LOG_FORMAT(GSN1, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
/* system-level messages, ID >= 0x80 */
/* FMT: don't write format of format message, it's useless */

2
src/systemcmds/nshterm/module.mk
View File

@ -38,4 +38,4 @@
MODULE_COMMAND = nshterm
SRCS = nshterm.c
MODULE_STACKSIZE = 1500
MODULE_STACKSIZE = 1200