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

This commit is contained in:
Lorenz Meier 2013-09-13 00:36:08 +02:00
parent 45cf5080b0 3796235967
commit 6dd4069561
7 changed files with 33 additions and 202 deletions
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13
ROMFS/px4fmu_common/init.d/08_ardrone
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@ -8,7 +8,18 @@ echo "[init] 08_ardrone: PX4FMU on PX4IOAR carrier board"
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
# TODO
param set MC_ATTRATE_D 0
param set MC_ATTRATE_I 0
param set MC_ATTRATE_P 0.13
param set MC_ATT_D 0
param set MC_ATT_I 0.3
param set MC_ATT_P 5
param set MC_YAWPOS_D 0.1
param set MC_YAWPOS_I 0.15
param set MC_YAWPOS_P 1
param set MC_YAWRATE_D 0
param set MC_YAWRATE_I 0
param set MC_YAWRATE_P 0.15
param set SYS_AUTOCONFIG 0
param save

13
ROMFS/px4fmu_common/init.d/09_ardrone_flow
View File

@ -8,7 +8,18 @@ echo "[init] 09_ardrone_flow: PX4FMU on PX4IOAR carrier board with PX4FLOW"
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
# TODO
param set MC_ATTRATE_D 0
param set MC_ATTRATE_I 0
param set MC_ATTRATE_P 0.13
param set MC_ATT_D 0
param set MC_ATT_I 0.3
param set MC_ATT_P 5
param set MC_YAWPOS_D 0.1
param set MC_YAWPOS_I 0.15
param set MC_YAWPOS_P 1
param set MC_YAWRATE_D 0
param set MC_YAWRATE_I 0
param set MC_YAWRATE_P 0.15
param set SYS_AUTOCONFIG 0
param save

BIN
Tools/com
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Binary file not shown.

191
Tools/com.c
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@ -1,191 +0,0 @@
/*
* Building: cc -o com com.c
* Usage : ./com /dev/device [speed]
* Example : ./com /dev/ttyS0 [115200]
* Keys : Ctrl-A - exit, Ctrl-X - display control lines status
* Darcs : darcs get http://tinyserial.sf.net/
* Homepage: http://tinyserial.sourceforge.net
* Version : 2009-03-05
*
* Ivan Tikhonov, http://www.brokestream.com, kefeer@brokestream.com
* Patches by Jim Kou, Henry Nestler, Jon Miner, Alan Horstmann
*
*/
/* Copyright (C) 2007 Ivan Tikhonov
This software is provided 'as-is', without any express or implied
warranty. In no event will the authors be held liable for any damages
arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it
freely, subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not
claim that you wrote the original software. If you use this software
in a product, an acknowledgment in the product documentation would be
appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be
misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
Ivan Tikhonov, kefeer@brokestream.com
*/
#include <termios.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <sys/signal.h>
#include <sys/types.h>
#include <sys/ioctl.h>
#include <fcntl.h>
#include <errno.h>
int transfer_byte(int from, int to, int is_control);
typedef struct {char *name; int flag; } speed_spec;
void print_status(int fd) {
int status;
unsigned int arg;
status = ioctl(fd, TIOCMGET, &arg);
fprintf(stderr, "[STATUS]: ");
if(arg & TIOCM_RTS) fprintf(stderr, "RTS ");
if(arg & TIOCM_CTS) fprintf(stderr, "CTS ");
if(arg & TIOCM_DSR) fprintf(stderr, "DSR ");
if(arg & TIOCM_CAR) fprintf(stderr, "DCD ");
if(arg & TIOCM_DTR) fprintf(stderr, "DTR ");
if(arg & TIOCM_RNG) fprintf(stderr, "RI ");
fprintf(stderr, "\r\n");
}
int main(int argc, char *argv[])
{
int comfd;
struct termios oldtio, newtio; //place for old and new port settings for serial port
struct termios oldkey, newkey; //place tor old and new port settings for keyboard teletype
char *devicename = argv[1];
int need_exit = 0;
speed_spec speeds[] =
{
{"1200", B1200},
{"2400", B2400},
{"4800", B4800},
{"9600", B9600},
{"19200", B19200},
{"38400", B38400},
{"57600", B57600},
{"115200", B115200},
{NULL, 0}
};
int speed = B9600;
if(argc < 2) {
fprintf(stderr, "example: %s /dev/ttyS0 [115200]\n", argv[0]);
exit(1);
}
comfd = open(devicename, O_RDWR | O_NOCTTY | O_NONBLOCK);
if (comfd < 0)
{
perror(devicename);
exit(-1);
}
if(argc > 2) {
speed_spec *s;
for(s = speeds; s->name; s++) {
if(strcmp(s->name, argv[2]) == 0) {
speed = s->flag;
fprintf(stderr, "setting speed %s\n", s->name);
break;
}
}
}
fprintf(stderr, "C-a exit, C-x modem lines status\n");
tcgetattr(STDIN_FILENO,&oldkey);
newkey.c_cflag = B9600 | CRTSCTS | CS8 | CLOCAL | CREAD;
newkey.c_iflag = IGNPAR;
newkey.c_oflag = 0;
newkey.c_lflag = 0;
newkey.c_cc[VMIN]=1;
newkey.c_cc[VTIME]=0;
tcflush(STDIN_FILENO, TCIFLUSH);
tcsetattr(STDIN_FILENO,TCSANOW,&newkey);
tcgetattr(comfd,&oldtio); // save current port settings
newtio.c_cflag = speed | CS8 | CLOCAL | CREAD;
newtio.c_iflag = IGNPAR;
newtio.c_oflag = 0;
newtio.c_lflag = 0;
newtio.c_cc[VMIN]=1;
newtio.c_cc[VTIME]=0;
tcflush(comfd, TCIFLUSH);
tcsetattr(comfd,TCSANOW,&newtio);
print_status(comfd);
while(!need_exit) {
fd_set fds;
int ret;
FD_ZERO(&fds);
FD_SET(STDIN_FILENO, &fds);
FD_SET(comfd, &fds);
ret = select(comfd+1, &fds, NULL, NULL, NULL);
if(ret == -1) {
perror("select");
} else if (ret > 0) {
if(FD_ISSET(STDIN_FILENO, &fds)) {
need_exit = transfer_byte(STDIN_FILENO, comfd, 1);
}
if(FD_ISSET(comfd, &fds)) {
need_exit = transfer_byte(comfd, STDIN_FILENO, 0);
}
}
}
tcsetattr(comfd,TCSANOW,&oldtio);
tcsetattr(STDIN_FILENO,TCSANOW,&oldkey);
close(comfd);
return 0;
}
int transfer_byte(int from, int to, int is_control) {
char c;
int ret;
do {
ret = read(from, &c, 1);
} while (ret < 0 && errno == EINTR);
if(ret == 1) {
if(is_control) {
if(c == '\x01') { // C-a
return -1;
} else if(c == '\x18') { // C-x
print_status(to);
return 0;
}
}
while(write(to, &c, 1) == -1) {
if(errno!=EAGAIN && errno!=EINTR) { perror("write failed"); break; }
}
} else {
fprintf(stderr, "\nnothing to read. probably port disconnected.\n");
return -2;
}
return 0;
}

6
src/modules/multirotor_att_control/multirotor_attitude_control.c
View File

@ -62,15 +62,15 @@
#include <systemlib/param/param.h>
#include <drivers/drv_hrt.h>
PARAM_DEFINE_FLOAT(MC_YAWPOS_P, 0.3f);
PARAM_DEFINE_FLOAT(MC_YAWPOS_P, 2.0f);
PARAM_DEFINE_FLOAT(MC_YAWPOS_I, 0.15f);
PARAM_DEFINE_FLOAT(MC_YAWPOS_D, 0.0f);
//PARAM_DEFINE_FLOAT(MC_YAWPOS_AWU, 1.0f);
//PARAM_DEFINE_FLOAT(MC_YAWPOS_LIM, 3.0f);
PARAM_DEFINE_FLOAT(MC_ATT_P, 0.2f);
PARAM_DEFINE_FLOAT(MC_ATT_P, 6.8f);
PARAM_DEFINE_FLOAT(MC_ATT_I, 0.0f);
PARAM_DEFINE_FLOAT(MC_ATT_D, 0.05f);
PARAM_DEFINE_FLOAT(MC_ATT_D, 0.0f);
//PARAM_DEFINE_FLOAT(MC_ATT_AWU, 0.05f);
//PARAM_DEFINE_FLOAT(MC_ATT_LIM, 0.4f);

10
src/modules/multirotor_att_control/multirotor_rate_control.c
View File

@ -59,14 +59,14 @@
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>
PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.0f); /* same on Flamewheel */
PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.3f); /* same on Flamewheel */
PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.005f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.2f);
//PARAM_DEFINE_FLOAT(MC_YAWRATE_AWU, 0.0f);
//PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 1.0f);
PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.0f); /* 0.15 F405 Flamewheel */
PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.0f);
PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.09f); /* 0.15 F405 Flamewheel */
PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.002f);
PARAM_DEFINE_FLOAT(MC_ATTRATE_I, 0.0f);
//PARAM_DEFINE_FLOAT(MC_ATTRATE_AWU, 0.05f);
//PARAM_DEFINE_FLOAT(MC_ATTRATE_LIM, 1.0f); /**< roughly < 500 deg/s limit */

2
src/modules/multirotor_pos_control/multirotor_pos_control_params.c
View File

@ -54,7 +54,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_D, 0.0f);
PARAM_DEFINE_FLOAT(MPC_XY_VEL_P, 0.2f);
PARAM_DEFINE_FLOAT(MPC_XY_VEL_I, 0.0f);
PARAM_DEFINE_FLOAT(MPC_XY_VEL_D, 0.0f);
PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 10.0f);
PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 5.0f);
PARAM_DEFINE_FLOAT(MPC_TILT_MAX, 0.5f);
int parameters_init(struct multirotor_position_control_param_handles *h)