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px4-firmware
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Merge branch 'master' of https://github.com/julianoes/Firmware into io

This commit is contained in:
Lorenz Meier 2012-11-09 16:07:05 +01:00
parent b48fc5362c 9f45770dc2
commit 754572f25a
13 changed files with 90 additions and 12 deletions
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4
ROMFS/Makefile
View File

@ -29,6 +29,10 @@ ROMFS_FSSPEC := $(SRCROOT)/scripts/rcS~init.d/rcS \
$(SRCROOT)/mixers/FMU_RET.mix~mixers/FMU_ERT.mix \
$(SRCROOT)/mixers/FMU_quad_x.mix~mixers/FMU_quad_x.mix \
$(SRCROOT)/mixers/FMU_quad_+.mix~mixers/FMU_quad_+.mix \
$(SRCROOT)/mixers/FMU_hex_x.mix~mixers/FMU_hex_x.mix \
$(SRCROOT)/mixers/FMU_hex_+.mix~mixers/FMU_hex_+.mix \
$(SRCROOT)/mixers/FMU_octo_x.mix~mixers/FMU_octo_x.mix \
$(SRCROOT)/mixers/FMU_octo_+.mix~mixers/FMU_octo_+.mix \
$(SRCROOT)/logging/logconv.m~logging/logconv.m
#

7
ROMFS/mixers/FMU_hex_+.mix Normal file
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@ -0,0 +1,7 @@
Multirotor mixer for PX4FMU
===========================
This file defines a single mixer for a hexacopter in the + configuration. All controls
are mixed 100%.
R: 6+ 10000 10000 10000 0

7
ROMFS/mixers/FMU_hex_x.mix Normal file
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@ -0,0 +1,7 @@
Multirotor mixer for PX4FMU
===========================
This file defines a single mixer for a hexacopter in the X configuration. All controls
are mixed 100%.
R: 6x 10000 10000 10000 0

7
ROMFS/mixers/FMU_octo_+.mix Normal file
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@ -0,0 +1,7 @@
Multirotor mixer for PX4FMU
===========================
This file defines a single mixer for a octocopter in the + configuration. All controls
are mixed 100%.
R: 8+ 10000 10000 10000 0

7
ROMFS/mixers/FMU_octo_x.mix Normal file
View File

@ -0,0 +1,7 @@
Multirotor mixer for PX4FMU
===========================
This file defines a single mixer for a octocopter in the X configuration. All controls
are mixed 100%.
R: 8x 10000 10000 10000 0

5
apps/drivers/px4io/px4io.cpp
View File

@ -37,7 +37,6 @@
*
* PX4IO is connected via serial (or possibly some other interface at a later
* point).
*/
#include <nuttx/config.h>
@ -384,7 +383,7 @@ PX4IO::task_main()
if (fds[2].revents & POLLIN) {
orb_copy(ORB_ID(actuator_armed), _t_armed, &_controls);
orb_copy(ORB_ID(actuator_armed), _t_armed, &_armed);
_send_needed = true;
}
}
@ -538,7 +537,7 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
case PWM_SERVO_DISARM:
/* fake a disarmed transition */
_armed.armed = true;
_armed.armed = false;
_send_needed = true;
break;

18
apps/multirotor_att_control/multirotor_att_control_main.c
View File

@ -68,10 +68,13 @@
#include <systemlib/perf_counter.h>
#include <systemlib/systemlib.h>
#include <systemlib/param/param.h>
#include "multirotor_attitude_control.h"
#include "multirotor_rate_control.h"
PARAM_DEFINE_FLOAT(MC_RCLOSS_THR, 0.0f); // This defines the throttle when the RC signal is lost.
__EXPORT int multirotor_att_control_main(int argc, char *argv[]);
static bool thread_should_exit;
@ -142,6 +145,10 @@ mc_thread_main(int argc, char *argv[])
bool flag_system_armed = false;
bool man_yaw_zero_once = false;
/* prepare the handle for the failsafe throttle */
param_t failsafe_throttle_handle = param_find("MC_RCLOSS_THR");
float failsafe_throttle = 0.0f;
while (!thread_should_exit) {
/* wait for a sensor update, check for exit condition every 500 ms */
@ -226,6 +233,17 @@ mc_thread_main(int argc, char *argv[])
att_sp.yaw_body = att.yaw;
}
att_sp.thrust = manual.throttle;
/* if the RC signal is lost, try to stay level and go slowly back down to ground */
if(state.rc_signal_lost) {
/* the failsafe throttle is stored as a parameter, as it depends on the copter and the payload */
param_get(failsafe_throttle_handle, &failsafe_throttle);
att_sp.roll_body = 0.0f;
att_sp.pitch_body = 0.0f;
att_sp.yaw_body = 0.0f;
att_sp.thrust = failsafe_throttle;
}
att_sp.timestamp = hrt_absolute_time();
}
/* STEP 2: publish the result to the vehicle actuators */

10
apps/px4io/comms.c
View File

@ -239,13 +239,19 @@ comms_handle_command(const void *buffer, size_t length)
for (unsigned i = 0; i < PX4IO_OUTPUT_CHANNELS; i++)
system_state.fmu_channel_data[i] = cmd->servo_command[i];
/* if the IO is armed and the FMU gets disarmed, the IO must also disarm */
if(system_state.arm_ok && !cmd->arm_ok) {
system_state.armed = false;
}
system_state.arm_ok = cmd->arm_ok;
system_state.mixer_use_fmu = true;
system_state.fmu_data_received = true;
/* handle changes signalled by FMU */
if (!system_state.arm_ok && system_state.armed)
system_state.armed = false;
// if (!system_state.arm_ok && system_state.armed)
// system_state.armed = false;
/* XXX do relay changes here */
for (unsigned i = 0; i < PX4IO_RELAY_CHANNELS; i++)

6
apps/px4io/mixer.c
View File

@ -82,7 +82,7 @@ static void mixer_get_rc_input(void);
static void mixer_update(int mixer, uint16_t *inputs, int input_count);
/* current servo arm/disarm state */
bool mixer_servos_armed;
bool mixer_servos_armed = false;
/*
* Each mixer consumes a set of inputs and produces a single output.
@ -159,7 +159,7 @@ mixer_tick(void *arg)
/*
* If we are armed, update the servo output.
*/
if (system_state.armed)
if (system_state.armed && system_state.arm_ok)
up_pwm_servo_set(i, mixers[i].current_value);
}
}
@ -167,7 +167,7 @@ mixer_tick(void *arg)
/*
* Decide whether the servos should be armed right now.
*/
should_arm = system_state.armed && (control_count > 0);
should_arm = system_state.armed && system_state.arm_ok && (control_count > 0);
if (should_arm && !mixer_servos_armed) {
/* need to arm, but not armed */
up_pwm_servo_arm(true);

3
apps/px4io/px4io.c
View File

@ -133,8 +133,9 @@ int user_start(int argc, char *argv[])
/* print some simple status */
if (timers[TIMER_STATUS_PRINT] == 0) {
timers[TIMER_STATUS_PRINT] = 1000;
lib_lowprintf("%c %s | %s | %s | C=%d F=%d B=%d \r",
lib_lowprintf("%c %s | %s | %s | %s | C=%d F=%d B=%d \r",
cursor[cycle++ & 3],
(system_state.arm_ok ? "FMU_ARMED" : "FMU_SAFE"),
(system_state.armed ? "ARMED" : "SAFE"),
(system_state.rc_channels ? "RC OK" : "NO RC"),
(system_state.mixer_use_fmu ? "FMU OK" : "NO FMU"),

2
apps/px4io/px4io.h
View File

@ -68,7 +68,7 @@
struct sys_state_s
{
bool armed; /* actually armed */
bool armed; /* IO armed */
bool arm_ok; /* FMU says OK to arm */
/*

4
apps/px4io/safety.c
View File

@ -76,9 +76,9 @@ safety_check_button(void *arg)
/*
* Debounce the safety button, change state if it has been held for long enough.
*
* Ignore the button if FMU has not said it's OK to arm yet.
*/
if (BUTTON_SAFETY && system_state.arm_ok) {
if (BUTTON_SAFETY) {
if (arm_counter < ARM_COUNTER_THRESHOLD) {
arm_counter++;
} else if (arm_counter == ARM_COUNTER_THRESHOLD) {

22
apps/systemlib/mixer/mixer_multirotor.cpp
View File

@ -161,6 +161,28 @@ MultirotorMixer::mix(float *outputs, unsigned space)
float max = 0.0f;
float fixup_scale;
/* use an output factor to prevent too strong control signals at low throttle */
float min_thrust = 0.05f;
float max_thrust = 1.0f;
float startpoint_full_control = 0.20f;
float output_factor;
/* keep roll, pitch and yaw control to 0 below min thrust */
if (thrust <= min_thrust) {
output_factor = 0.0f;
/* linearly increase the output factor from 0 to 1 between min_thrust and startpoint_full_control */
} else if (thrust < startpoint_full_control && thrust > min_thrust) {
output_factor = (thrust/max_thrust)/(startpoint_full_control-min_thrust);
/* and then stay at full control */
} else {
output_factor = max_thrust;
}
roll *= output_factor;
pitch *= output_factor;
yaw *= output_factor;
/* perform initial mix pass yielding un-bounded outputs */
for (unsigned i = 0; i < _rotor_count; i++) {
float tmp = roll * _rotors[i].roll_scale +