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Merge branch 'master' into fw_control

This commit is contained in:
Thomas Gubler 2012-10-22 18:11:47 +02:00
parent ab447ac713 e6bab270c3
commit 836c55e122
101 changed files with 5447 additions and 2711 deletions
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3
.gitignore vendored
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@ -1,5 +1,5 @@
.built
.context
*.context
.depend
.config
.version
@ -10,6 +10,7 @@ apps/namedapp/namedapp_proto.h
Make.dep
*.o
*.a
*~
Images/*.bin
Images/*.px4
nuttx/Make.defs

8
ROMFS/scripts/rcS
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@ -20,6 +20,11 @@
set MODE autostart
set USB autoconnect
#
# Start playing the startup tune
#
tone_alarm start
#
# Try to mount the microSD card.
#
@ -31,9 +36,6 @@ else
echo "[init] no microSD card found"
fi
usleep 500
#
# Look for an init script on the microSD card.
#

1
apps/ardrone_interface/ardrone_interface.c
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@ -286,7 +286,6 @@ int ardrone_interface_thread_main(int argc, char *argv[])
/* close uarts */
close(ardrone_write);
//ar_multiplexing_deinit(gpios);
/* enable UART, writes potentially an empty buffer, but multiplexing is disabled */
ardrone_write = ardrone_open_uart(device, &uart_config_original);

0
apps/attitude_estimator_ekf/.context
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6
apps/attitude_estimator_ekf/Makefile
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@ -40,6 +40,7 @@ CSRCS = attitude_estimator_ekf_main.c \
codegen/eye.c \
codegen/attitudeKalmanfilter.c \
codegen/mrdivide.c \
codegen/rdivide.c \
codegen/attitudeKalmanfilter_initialize.c \
codegen/attitudeKalmanfilter_terminate.c \
codegen/rt_nonfinite.c \
@ -47,8 +48,9 @@ CSRCS = attitude_estimator_ekf_main.c \
codegen/rtGetNaN.c \
codegen/norm.c \
codegen/diag.c \
codegen/cross.c \
codegen/power.c
codegen/power.c \
codegen/cross.c
# XXX this is *horribly* broken
INCLUDES += $(TOPDIR)/../mavlink/include/mavlink

0
apps/attitude_estimator_ekf/attitudeKalmanfilter.m Executable file → Normal file
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0
apps/attitude_estimator_ekf/attitudeKalmanfilter.prj Executable file → Normal file
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380
apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
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@ -71,46 +71,34 @@ __EXPORT int attitude_estimator_ekf_main(int argc, char *argv[]);
static unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
static float dt = 1.0f;
static float dt = 0.005f;
/* state vector x has the following entries [ax,ay,az||mx,my,mz||wox,woy,woz||wx,wy,wz]' */
static float z_k[9]; /**< Measurement vector */
static float x_aposteriori_k[12]; /**< */
static float x_aposteriori[12];
static float z_k[9] = {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 9.81f, 0.2f, -0.2f, 0.2f}; /**< Measurement vector */
static float x_aposteriori_k[12]; /**< states */
static float P_aposteriori_k[144] = {100.f, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 100.f, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 100.f, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 100.f, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 100.f, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0.0f, 100.0f, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0.0f, 0, 100.0f, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0.0f, 0, 0, 100.0f,
};
0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 100.f, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 100.f, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 100.f, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 100.f, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0.0f, 100.0f, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0.0f, 0, 100.0f, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0.0f, 0, 0, 100.0f,
}; /**< init: diagonal matrix with big values */
static float P_aposteriori[144] = {100.f, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 100.f, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 100.f, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 100.f, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 100.f, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0.0f, 100.0f, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0.0f, 0, 100.0f, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0.0f, 0, 0, 100.0f,
}; /**< init: diagonal matrix with big values */
static float x_aposteriori[12];
static float P_aposteriori[144];
/* output euler angles */
static float euler[3] = {0.0f, 0.0f, 0.0f};
static float Rot_matrix[9] = {1.f, 0, 0,
0, 1.f, 0,
0, 0, 1.f
}; /**< init: identity matrix */
0, 1.f, 0,
0, 0, 1.f
}; /**< init: identity matrix */
static bool thread_should_exit = false; /**< Deamon exit flag */
@ -159,11 +147,11 @@ int attitude_estimator_ekf_main(int argc, char *argv[])
thread_should_exit = false;
attitude_estimator_ekf_task = task_spawn("attitude_estimator_ekf",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
20000,
attitude_estimator_ekf_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
20000,
attitude_estimator_ekf_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
exit(0);
}
@ -236,7 +224,7 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
/* advertise debug value */
struct debug_key_value_s dbg = { .key = "", .value = 0.0f };
orb_advert_t pub_dbg = orb_advertise(ORB_ID(debug_key_value), &dbg);
orb_advert_t pub_dbg = -1;
/* keep track of sensor updates */
uint32_t sensor_last_count[3] = {0, 0, 0};
@ -250,12 +238,18 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
/* initialize parameter handles */
parameters_init(&ekf_param_handles);
uint64_t start_time = hrt_absolute_time();
bool initialized = false;
float gyro_offsets[3] = { 0.0f, 0.0f, 0.0f };
unsigned offset_count = 0;
/* Main loop*/
while (!thread_should_exit) {
struct pollfd fds[2] = {
{ .fd = sub_raw, .events = POLLIN },
{ .fd = sub_params, .events = POLLIN }
{ .fd = sub_raw, .events = POLLIN },
{ .fd = sub_params, .events = POLLIN }
};
int ret = poll(fds, 2, 1000);
@ -265,7 +259,7 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
/* XXX this means no sensor data - should be critical or emergency */
printf("[attitude estimator ekf] WARNING: Not getting sensor data - sensor app running?\n");
} else {
/* only update parameters if they changed */
if (fds[1].revents & POLLIN) {
/* read from param to clear updated flag */
@ -282,156 +276,178 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
/* get latest measurements */
orb_copy(ORB_ID(sensor_combined), sub_raw, &raw);
/* Calculate data time difference in seconds */
dt = (raw.timestamp - last_measurement) / 1000000.0f;
last_measurement = raw.timestamp;
uint8_t update_vect[3] = {0, 0, 0};
if (!initialized) {
/* Fill in gyro measurements */
if (sensor_last_count[0] != raw.gyro_counter) {
update_vect[0] = 1;
sensor_last_count[0] = raw.gyro_counter;
sensor_update_hz[0] = 1e6f / (raw.timestamp - sensor_last_timestamp[0]);
sensor_last_timestamp[0] = raw.timestamp;
}
gyro_offsets[0] += raw.gyro_rad_s[0];
gyro_offsets[1] += raw.gyro_rad_s[1];
gyro_offsets[2] += raw.gyro_rad_s[2];
offset_count++;
z_k[0] = raw.gyro_rad_s[0];
z_k[1] = raw.gyro_rad_s[1];
z_k[2] = raw.gyro_rad_s[2];
if (hrt_absolute_time() - start_time > 3000000LL) {
initialized = true;
gyro_offsets[0] /= offset_count;
gyro_offsets[1] /= offset_count;
gyro_offsets[2] /= offset_count;
}
} else {
/* update accelerometer measurements */
if (sensor_last_count[1] != raw.accelerometer_counter) {
update_vect[1] = 1;
sensor_last_count[1] = raw.accelerometer_counter;
sensor_update_hz[1] = 1e6f / (raw.timestamp - sensor_last_timestamp[1]);
sensor_last_timestamp[1] = raw.timestamp;
}
z_k[3] = raw.accelerometer_m_s2[0];
z_k[4] = raw.accelerometer_m_s2[1];
z_k[5] = raw.accelerometer_m_s2[2];
/* Calculate data time difference in seconds */
dt = (raw.timestamp - last_measurement) / 1000000.0f;
last_measurement = raw.timestamp;
uint8_t update_vect[3] = {0, 0, 0};
/* update magnetometer measurements */
if (sensor_last_count[2] != raw.magnetometer_counter) {
update_vect[2] = 1;
sensor_last_count[2] = raw.magnetometer_counter;
sensor_update_hz[2] = 1e6f / (raw.timestamp - sensor_last_timestamp[2]);
sensor_last_timestamp[2] = raw.timestamp;
}
z_k[6] = raw.magnetometer_ga[0];
z_k[7] = raw.magnetometer_ga[1];
z_k[8] = raw.magnetometer_ga[2];
/* Fill in gyro measurements */
if (sensor_last_count[0] != raw.gyro_counter) {
update_vect[0] = 1;
sensor_last_count[0] = raw.gyro_counter;
sensor_update_hz[0] = 1e6f / (raw.timestamp - sensor_last_timestamp[0]);
sensor_last_timestamp[0] = raw.timestamp;
}
uint64_t now = hrt_absolute_time();
unsigned int time_elapsed = now - last_run;
last_run = now;
z_k[0] = raw.gyro_rad_s[0] - gyro_offsets[0];
z_k[1] = raw.gyro_rad_s[1] - gyro_offsets[1];
z_k[2] = raw.gyro_rad_s[2] - gyro_offsets[2];
if (time_elapsed > loop_interval_alarm) {
//TODO: add warning, cpu overload here
// if (overloadcounter == 20) {
// printf("CPU OVERLOAD DETECTED IN ATTITUDE ESTIMATOR EKF (%lu > %lu)\n", time_elapsed, loop_interval_alarm);
// overloadcounter = 0;
/* update accelerometer measurements */
if (sensor_last_count[1] != raw.accelerometer_counter) {
update_vect[1] = 1;
sensor_last_count[1] = raw.accelerometer_counter;
sensor_update_hz[1] = 1e6f / (raw.timestamp - sensor_last_timestamp[1]);
sensor_last_timestamp[1] = raw.timestamp;
}
z_k[3] = raw.accelerometer_m_s2[0];
z_k[4] = raw.accelerometer_m_s2[1];
z_k[5] = raw.accelerometer_m_s2[2];
/* update magnetometer measurements */
if (sensor_last_count[2] != raw.magnetometer_counter) {
update_vect[2] = 1;
sensor_last_count[2] = raw.magnetometer_counter;
sensor_update_hz[2] = 1e6f / (raw.timestamp - sensor_last_timestamp[2]);
sensor_last_timestamp[2] = raw.timestamp;
}
z_k[6] = raw.magnetometer_ga[0];
z_k[7] = raw.magnetometer_ga[1];
z_k[8] = raw.magnetometer_ga[2];
uint64_t now = hrt_absolute_time();
unsigned int time_elapsed = now - last_run;
last_run = now;
if (time_elapsed > loop_interval_alarm) {
//TODO: add warning, cpu overload here
// if (overloadcounter == 20) {
// printf("CPU OVERLOAD DETECTED IN ATTITUDE ESTIMATOR EKF (%lu > %lu)\n", time_elapsed, loop_interval_alarm);
// overloadcounter = 0;
// }
overloadcounter++;
}
int32_t z_k_sizes = 9;
// float u[4] = {0.0f, 0.0f, 0.0f, 0.0f};
static bool const_initialized = false;
/* initialize with good values once we have a reasonable dt estimate */
if (!const_initialized && dt < 0.05 && dt > 0.005)
{
dt = 0.005f;
parameters_update(&ekf_param_handles, &ekf_params);
x_aposteriori_k[0] = z_k[0];
x_aposteriori_k[1] = z_k[1];
x_aposteriori_k[2] = z_k[2];
x_aposteriori_k[3] = 0.0f;
x_aposteriori_k[4] = 0.0f;
x_aposteriori_k[5] = 0.0f;
x_aposteriori_k[6] = z_k[3];
x_aposteriori_k[7] = z_k[4];
x_aposteriori_k[8] = z_k[5];
x_aposteriori_k[9] = z_k[6];
x_aposteriori_k[10] = z_k[7];
x_aposteriori_k[11] = z_k[8];
const_initialized = true;
}
/* do not execute the filter if not initialized */
if (!const_initialized) {
continue;
}
uint64_t timing_start = hrt_absolute_time();
attitudeKalmanfilter(update_vect, dt, z_k, x_aposteriori_k, P_aposteriori_k, ekf_params.q, ekf_params.r,
euler, Rot_matrix, x_aposteriori, P_aposteriori);
/* swap values for next iteration, check for fatal inputs */
if (isfinite(euler[0]) && isfinite(euler[1]) && isfinite(euler[2])) {
memcpy(P_aposteriori_k, P_aposteriori, sizeof(P_aposteriori_k));
memcpy(x_aposteriori_k, x_aposteriori, sizeof(x_aposteriori_k));
} else {
/* due to inputs or numerical failure the output is invalid, skip it */
continue;
}
uint64_t timing_diff = hrt_absolute_time() - timing_start;
// /* print rotation matrix every 200th time */
if (printcounter % 200 == 0) {
// printf("x apo:\n%8.4f\t%8.4f\t%8.4f\n%8.4f\t%8.4f\t%8.4f\n%8.4f\t%8.4f\t%8.4f\n",
// x_aposteriori[0], x_aposteriori[1], x_aposteriori[2],
// x_aposteriori[3], x_aposteriori[4], x_aposteriori[5],
// x_aposteriori[6], x_aposteriori[7], x_aposteriori[8]);
// }
//printf("EKF attitude iteration: %d, runtime: %d us, dt: %d us (%d Hz)\n", loopcounter, (int)timing_diff, (int)(dt * 1000000.0f), (int)(1.0f / dt));
//printf("roll: %8.4f\tpitch: %8.4f\tyaw:%8.4f\n", (double)euler[0], (double)euler[1], (double)euler[2]);
//printf("update rates gyro: %8.4f\taccel: %8.4f\tmag:%8.4f\n", (double)sensor_update_hz[0], (double)sensor_update_hz[1], (double)sensor_update_hz[2]);
// printf("\n%d\t%d\t%d\n%d\t%d\t%d\n%d\t%d\t%d\n", (int)(Rot_matrix[0] * 100), (int)(Rot_matrix[1] * 100), (int)(Rot_matrix[2] * 100),
// (int)(Rot_matrix[3] * 100), (int)(Rot_matrix[4] * 100), (int)(Rot_matrix[5] * 100),
// (int)(Rot_matrix[6] * 100), (int)(Rot_matrix[7] * 100), (int)(Rot_matrix[8] * 100));
}
// int i = printcounter % 9;
// // for (int i = 0; i < 9; i++) {
// char name[10];
// sprintf(name, "xapo #%d", i);
// memcpy(dbg.key, name, sizeof(dbg.key));
// dbg.value = x_aposteriori[i];
// if (pub_dbg < 0) {
// pub_dbg = orb_advertise(ORB_ID(debug_key_value), &dbg);
// } else {
// orb_publish(ORB_ID(debug_key_value), pub_dbg, &dbg);
// }
overloadcounter++;
printcounter++;
if (last_data > 0 && raw.timestamp - last_data > 12000) printf("[attitude estimator ekf] sensor data missed! (%llu)\n", raw.timestamp - last_data);
last_data = raw.timestamp;
/* send out */
att.timestamp = raw.timestamp;
att.roll = euler[0];
att.pitch = euler[1];
att.yaw = euler[2];
att.rollspeed = x_aposteriori[0];
att.pitchspeed = x_aposteriori[1];
att.yawspeed = x_aposteriori[2];
//att.yawspeed =z_k[2] ;
/* copy offsets */
memcpy(&att.rate_offsets, &(x_aposteriori[3]), sizeof(att.rate_offsets));
/* copy rotation matrix */
memcpy(&att.R, Rot_matrix, sizeof(Rot_matrix));
att.R_valid = true;
// Broadcast
orb_publish(ORB_ID(vehicle_attitude), pub_att, &att);
}
int32_t z_k_sizes = 9;
// float u[4] = {0.0f, 0.0f, 0.0f, 0.0f};
static bool const_initialized = false;
/* initialize with good values once we have a reasonable dt estimate */
if (!const_initialized /*&& dt < 0.05 && dt > 0.005*/)
{
dt = 0.005f;
parameters_update(&ekf_param_handles, &ekf_params);
x_aposteriori_k[0] = z_k[0];
x_aposteriori_k[1] = z_k[1];
x_aposteriori_k[2] = z_k[2];
x_aposteriori_k[3] = 0.0f;
x_aposteriori_k[4] = 0.0f;
x_aposteriori_k[5] = 0.0f;
x_aposteriori_k[6] = z_k[3];
x_aposteriori_k[7] = z_k[4];
x_aposteriori_k[8] = z_k[5];
x_aposteriori_k[9] = z_k[6];
x_aposteriori_k[10] = z_k[7];
x_aposteriori_k[11] = z_k[8];
const_initialized = true;
}
/* do not execute the filter if not initialized */
if (!const_initialized) {
continue;
}
dt = 0.004f;
uint64_t timing_start = hrt_absolute_time();
// attitudeKalmanfilter(dt, update_vect, z_k, &z_k_sizes, u, x_aposteriori_k, P_aposteriori_k, knownConst, euler,
// Rot_matrix, x_aposteriori, P_aposteriori);
attitudeKalmanfilter(update_vect, dt, z_k, x_aposteriori_k, P_aposteriori_k, ekf_params.q, ekf_params.r,
euler, Rot_matrix, x_aposteriori, P_aposteriori);
/* swap values for next iteration */
memcpy(P_aposteriori_k, P_aposteriori, sizeof(P_aposteriori_k));
memcpy(x_aposteriori_k, x_aposteriori, sizeof(x_aposteriori_k));
uint64_t timing_diff = hrt_absolute_time() - timing_start;
// /* print rotation matrix every 200th time */
if (printcounter % 200 == 0) {
// printf("x apo:\n%8.4f\t%8.4f\t%8.4f\n%8.4f\t%8.4f\t%8.4f\n%8.4f\t%8.4f\t%8.4f\n",
// x_aposteriori[0], x_aposteriori[1], x_aposteriori[2],
// x_aposteriori[3], x_aposteriori[4], x_aposteriori[5],
// x_aposteriori[6], x_aposteriori[7], x_aposteriori[8]);
// }
//printf("EKF attitude iteration: %d, runtime: %d us, dt: %d us (%d Hz)\n", loopcounter, (int)timing_diff, (int)(dt * 1000000.0f), (int)(1.0f / dt));
//printf("roll: %8.4f\tpitch: %8.4f\tyaw:%8.4f\n", (double)euler[0], (double)euler[1], (double)euler[2]);
//printf("update rates gyro: %8.4f\taccel: %8.4f\tmag:%8.4f\n", (double)sensor_update_hz[0], (double)sensor_update_hz[1], (double)sensor_update_hz[2]);
// printf("\n%d\t%d\t%d\n%d\t%d\t%d\n%d\t%d\t%d\n", (int)(Rot_matrix[0] * 100), (int)(Rot_matrix[1] * 100), (int)(Rot_matrix[2] * 100),
// (int)(Rot_matrix[3] * 100), (int)(Rot_matrix[4] * 100), (int)(Rot_matrix[5] * 100),
// (int)(Rot_matrix[6] * 100), (int)(Rot_matrix[7] * 100), (int)(Rot_matrix[8] * 100));
}
// int i = printcounter % 9;
// // for (int i = 0; i < 9; i++) {
// char name[10];
// sprintf(name, "xapo #%d", i);
// memcpy(dbg.key, name, sizeof(dbg.key));
// dbg.value = x_aposteriori[i];
// orb_publish(ORB_ID(debug_key_value), pub_dbg, &dbg);
printcounter++;
if (last_data > 0 && raw.timestamp - last_data > 12000) printf("[attitude estimator ekf] sensor data missed! (%llu)\n", raw.timestamp - last_data);
last_data = raw.timestamp;
/* send out */
att.timestamp = raw.timestamp;
att.roll = euler[0];
att.pitch = euler[1];
att.yaw = euler[2];
// XXX replace with x_apo after fix to filter
att.rollspeed = raw.gyro_rad_s[0]; //x_aposteriori[0];
att.pitchspeed = raw.gyro_rad_s[1]; //x_aposteriori[1];
att.yawspeed = raw.gyro_rad_s[2]; //x_aposteriori[2];
/* copy offsets */
memcpy(&att.rate_offsets, &(x_aposteriori[3]), sizeof(att.rate_offsets));
/* copy rotation matrix */
memcpy(&att.R, Rot_matrix, sizeof(Rot_matrix));
att.R_valid = true;
// Broadcast
orb_publish(ORB_ID(vehicle_attitude), pub_att, &att);
}
}

12
apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c
View File

@ -61,13 +61,13 @@ PARAM_DEFINE_FLOAT(EKF_ATT_Q10, 1e-1f);
PARAM_DEFINE_FLOAT(EKF_ATT_Q11, 1e-1f);
/* gyro measurement noise */
PARAM_DEFINE_FLOAT(EKF_ATT_R0, 1e-2f);
PARAM_DEFINE_FLOAT(EKF_ATT_R1, 1e-2f);
PARAM_DEFINE_FLOAT(EKF_ATT_R2, 1e-2f);
PARAM_DEFINE_FLOAT(EKF_ATT_R0, 0.01f);
PARAM_DEFINE_FLOAT(EKF_ATT_R1, 0.01f);
PARAM_DEFINE_FLOAT(EKF_ATT_R2, 0.01f);
/* accelerometer measurement noise */
PARAM_DEFINE_FLOAT(EKF_ATT_R3, 1e-1f);
PARAM_DEFINE_FLOAT(EKF_ATT_R4, 1e-1f);
PARAM_DEFINE_FLOAT(EKF_ATT_R5, 1e-1f);
PARAM_DEFINE_FLOAT(EKF_ATT_R3, 1e1f);
PARAM_DEFINE_FLOAT(EKF_ATT_R4, 1e1f);
PARAM_DEFINE_FLOAT(EKF_ATT_R5, 1e1f);
/* magnetometer measurement noise */
PARAM_DEFINE_FLOAT(EKF_ATT_R6, 1e-1f);
PARAM_DEFINE_FLOAT(EKF_ATT_R7, 1e-1f);

400
apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c Executable file → Normal file
View File

@ -3,13 +3,14 @@
*
* Code generation for function 'attitudeKalmanfilter'
*
* C source code generated on: Mon Oct 01 19:38:49 2012
* C source code generated on: Tue Oct 16 15:27:58 2012
*
*/
/* Include files */
#include "rt_nonfinite.h"
#include "attitudeKalmanfilter.h"
#include "rdivide.h"
#include "norm.h"
#include "cross.h"
#include "eye.h"
@ -32,10 +33,24 @@ static real32_T rt_atan2f_snf(real32_T u0, real32_T u1);
static real32_T rt_atan2f_snf(real32_T u0, real32_T u1)
{
real32_T y;
int32_T b_u0;
int32_T b_u1;
if (rtIsNaNF(u0) || rtIsNaNF(u1)) {
y = ((real32_T)rtNaN);
} else if (rtIsInfF(u0) && rtIsInfF(u1)) {
y = (real32_T)atan2f(u0 > 0.0F ? 1.0F : -1.0F, u1 > 0.0F ? 1.0F : -1.0F);
if (u0 > 0.0F) {
b_u0 = 1;
} else {
b_u0 = -1;
}
if (u1 > 0.0F) {
b_u1 = 1;
} else {
b_u1 = -1;
}
y = (real32_T)atan2f((real32_T)b_u0, (real32_T)b_u1);
} else if (u1 == 0.0F) {
if (u0 > 0.0F) {
y = RT_PIF / 2.0F;
@ -61,76 +76,75 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const
P_aposteriori[144])
{
real32_T a[12];
int32_T i;
real32_T b_a[12];
int32_T i;
real32_T Q[144];
real32_T O[9];
real_T dv0[9];
real32_T c_a[9];
real32_T d_a[9];
real32_T x_n_b[3];
real32_T b_x_aposteriori_k[3];
real32_T m_n_b[3];
real32_T z_n_b[3];
real32_T x_apriori[12];
real32_T y_n_b[3];
int32_T i0;
real32_T e_a[3];
real_T dv1[144];
real32_T A_lin[144];
real32_T b_A_lin[144];
int32_T i1;
real32_T y;
real32_T P_apriori[144];
real32_T f0;
real32_T R[81];
real32_T b_P_apriori[108];
static const int8_T iv0[108] = { 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0,
0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
static const int8_T iv0[108] = { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1 };
real32_T K_k[108];
static const int8_T iv1[108] = { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0,
0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0,
0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0,
1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0,
0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1 };
real32_T fv0[81];
real32_T c_P_apriori[36];
static const int8_T iv2[36] = { 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0,
1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0 };
static const int8_T iv2[36] = { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
real32_T fv1[36];
static const int8_T iv3[36] = { 1, 0, 0, 0, 1, 0, 0, 0, 1, 1, 0, 0, 0, 1, 0, 0,
0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
static const int8_T iv3[36] = { 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
real32_T S_k[36];
real32_T d_P_apriori[72];
static const int8_T iv4[72] = { 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0,
1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
static const int8_T iv4[72] = { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
1, 0, 0, 0 };
real32_T b_K_k[72];
static const int8_T iv5[72] = { 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0,
0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0,
0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0 };
real32_T b_r[6];
static const int8_T iv6[72] = { 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0,
0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0,
0, 0, 0, 1 };
static const int8_T iv7[72] = { 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0,
1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
static const int8_T iv7[72] = { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 1 };
real32_T fv2[6];
real32_T b_z[6];
real32_T b_y;
/* Extended Attitude Kalmanfilter */
/* */
@ -147,31 +161,43 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const
/* udpIndVect=find(updVect); */
/* process and measurement noise covariance matrix */
/* 'attitudeKalmanfilter:27' Q = diag(q.^2*dt); */
power(q, 2.0, a);
power(q, a);
for (i = 0; i < 12; i++) {
b_a[i] = a[i] * dt;
}
diag(b_a, Q);
/* Q=[1e-1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0; */
/* 0, 1e-1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0; */
/* 0, 0, 1e-1, 0, 0, 0, 0, 0, 0, 0, 0, 0; */
/* 0, 0, 0, 1e-10, 0, 0, 1e-4, 1e-4, 0, 1e-4, 1e-4, 0; */
/* 0, 0, 0, 0, 1e-10, 0, 1e-4, 1e-4, 0, 1e-4, 1e-4, 0; */
/* 0, 0, 0, 0, 0, 1e-10, 0, 0, 0, 0, 0, 0; */
/* 0, 0, 0, 0, 0, 0, 1e-1, 0, 0, 0, 0, 0; */
/* 0, 0, 0, 0, 0, 0, 0, 1e-1, 0, 0, 0, 0; */
/* 0, 0, 0, 0, 0, 0, 0, 0, 1e-1, 0, 0, 0; */
/* 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-1, 0, 0; */
/* 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-1, 0; */
/* 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-1]; */
/* observation matrix */
/* 'attitudeKalmanfilter:37' wx= x_aposteriori_k(1); */
/* 'attitudeKalmanfilter:38' wy= x_aposteriori_k(2); */
/* 'attitudeKalmanfilter:39' wz= x_aposteriori_k(3); */
/* 'attitudeKalmanfilter:41' wox= x_aposteriori_k(4); */
/* 'attitudeKalmanfilter:42' woy= x_aposteriori_k(5); */
/* 'attitudeKalmanfilter:43' woz= x_aposteriori_k(6); */
/* 'attitudeKalmanfilter:45' zex= x_aposteriori_k(7); */
/* 'attitudeKalmanfilter:46' zey= x_aposteriori_k(8); */
/* 'attitudeKalmanfilter:47' zez= x_aposteriori_k(9); */
/* 'attitudeKalmanfilter:49' mux= x_aposteriori_k(10); */
/* 'attitudeKalmanfilter:50' muy= x_aposteriori_k(11); */
/* 'attitudeKalmanfilter:51' muz= x_aposteriori_k(12); */
/* 'attitudeKalmanfilter:54' wk =[wx; */
/* 'attitudeKalmanfilter:55' wy; */
/* 'attitudeKalmanfilter:56' wz]; */
/* 'attitudeKalmanfilter:58' wok =[wox;woy;woz]; */
/* 'attitudeKalmanfilter:59' O=[0,-wz,wy;wz,0,-wx;-wy,wx,0]'; */
/* 'attitudeKalmanfilter:44' wx= x_aposteriori_k(1); */
/* 'attitudeKalmanfilter:45' wy= x_aposteriori_k(2); */
/* 'attitudeKalmanfilter:46' wz= x_aposteriori_k(3); */
/* 'attitudeKalmanfilter:48' wox= x_aposteriori_k(4); */
/* 'attitudeKalmanfilter:49' woy= x_aposteriori_k(5); */
/* 'attitudeKalmanfilter:50' woz= x_aposteriori_k(6); */
/* 'attitudeKalmanfilter:52' zex= x_aposteriori_k(7); */
/* 'attitudeKalmanfilter:53' zey= x_aposteriori_k(8); */
/* 'attitudeKalmanfilter:54' zez= x_aposteriori_k(9); */
/* 'attitudeKalmanfilter:56' mux= x_aposteriori_k(10); */
/* 'attitudeKalmanfilter:57' muy= x_aposteriori_k(11); */
/* 'attitudeKalmanfilter:58' muz= x_aposteriori_k(12); */
/* 'attitudeKalmanfilter:61' wk =[wx; */
/* 'attitudeKalmanfilter:62' wy; */
/* 'attitudeKalmanfilter:63' wz]; */
/* 'attitudeKalmanfilter:65' wok =[wox;woy;woz]; */
/* 'attitudeKalmanfilter:66' O=[0,-wz,wy;wz,0,-wx;-wy,wx,0]'; */
O[0] = 0.0F;
O[1] = -x_aposteriori_k[2];
O[2] = x_aposteriori_k[1];
@ -182,33 +208,36 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const
O[7] = x_aposteriori_k[0];
O[8] = 0.0F;
/* 'attitudeKalmanfilter:60' zek =(eye(3)+O*dt)*[zex;zey;zez]; */
/* 'attitudeKalmanfilter:67' zek =(eye(3)+O*dt)*[zex;zey;zez]; */
eye(dv0);
for (i = 0; i < 9; i++) {
c_a[i] = (real32_T)dv0[i] + O[i] * dt;
}
/* 'attitudeKalmanfilter:61' muk =(eye(3)+O*dt)*[mux;muy;muz]; */
/* 'attitudeKalmanfilter:68' muk =(eye(3)+O*dt)*[mux;muy;muz]; */
eye(dv0);
for (i = 0; i < 9; i++) {
d_a[i] = (real32_T)dv0[i] + O[i] * dt;
}
/* 'attitudeKalmanfilter:63' EZ=[0,zez,-zey; */
/* 'attitudeKalmanfilter:64' -zez,0,zex; */
/* 'attitudeKalmanfilter:65' zey,-zex,0]'; */
/* 'attitudeKalmanfilter:66' MA=[0,muz,-muy; */
/* 'attitudeKalmanfilter:67' -muz,0,mux; */
/* 'attitudeKalmanfilter:68' zey,-mux,0]'; */
/* 'attitudeKalmanfilter:72' E=eye(3); */
/* 'attitudeKalmanfilter:73' Z=zeros(3); */
/* 'attitudeKalmanfilter:74' x_apriori=[wk;wok;zek;muk]; */
/* 'attitudeKalmanfilter:70' EZ=[0,zez,-zey; */
/* 'attitudeKalmanfilter:71' -zez,0,zex; */
/* 'attitudeKalmanfilter:72' zey,-zex,0]'; */
/* 'attitudeKalmanfilter:73' MA=[0,muz,-muy; */
/* 'attitudeKalmanfilter:74' -muz,0,mux; */
/* 'attitudeKalmanfilter:75' zey,-mux,0]'; */
/* 'attitudeKalmanfilter:79' E=eye(3); */
/* 'attitudeKalmanfilter:80' Es=[1,0,0; */
/* 'attitudeKalmanfilter:81' 0,1,0; */
/* 'attitudeKalmanfilter:82' 0,0,0]; */
/* 'attitudeKalmanfilter:83' Z=zeros(3); */
/* 'attitudeKalmanfilter:84' x_apriori=[wk;wok;zek;muk]; */
x_n_b[0] = x_aposteriori_k[6];
x_n_b[1] = x_aposteriori_k[7];
x_n_b[2] = x_aposteriori_k[8];
z_n_b[0] = x_aposteriori_k[9];
z_n_b[1] = x_aposteriori_k[10];
z_n_b[2] = x_aposteriori_k[11];
b_x_aposteriori_k[0] = x_aposteriori_k[9];
b_x_aposteriori_k[1] = x_aposteriori_k[10];
b_x_aposteriori_k[2] = x_aposteriori_k[11];
x_apriori[0] = x_aposteriori_k[0];
x_apriori[1] = x_aposteriori_k[1];
x_apriori[2] = x_aposteriori_k[2];
@ -216,28 +245,28 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const
x_apriori[4] = x_aposteriori_k[4];
x_apriori[5] = x_aposteriori_k[5];
for (i = 0; i < 3; i++) {
y_n_b[i] = 0.0F;
m_n_b[i] = 0.0F;
for (i0 = 0; i0 < 3; i0++) {
y_n_b[i] += c_a[i + 3 * i0] * x_n_b[i0];
m_n_b[i] += c_a[i + 3 * i0] * x_n_b[i0];
}
e_a[i] = 0.0F;
z_n_b[i] = 0.0F;
for (i0 = 0; i0 < 3; i0++) {
e_a[i] += d_a[i + 3 * i0] * z_n_b[i0];
z_n_b[i] += d_a[i + 3 * i0] * b_x_aposteriori_k[i0];
}
x_apriori[i + 6] = y_n_b[i];
x_apriori[i + 6] = m_n_b[i];
}
for (i = 0; i < 3; i++) {
x_apriori[i + 9] = e_a[i];
x_apriori[i + 9] = z_n_b[i];
}
/* 'attitudeKalmanfilter:76' A_lin=[ Z, Z, Z, Z */
/* 'attitudeKalmanfilter:77' Z, Z, Z, Z */
/* 'attitudeKalmanfilter:78' EZ, Z, O, Z */
/* 'attitudeKalmanfilter:79' MA, Z, Z, O]; */
/* 'attitudeKalmanfilter:82' A_lin=eye(12)+A_lin*dt; */
/* 'attitudeKalmanfilter:86' A_lin=[ Z, Z, Z, Z */
/* 'attitudeKalmanfilter:87' Z, Z, Z, Z */
/* 'attitudeKalmanfilter:88' EZ, Z, O, Z */
/* 'attitudeKalmanfilter:89' MA, Z, Z, O]; */
/* 'attitudeKalmanfilter:92' A_lin=eye(12)+A_lin*dt; */
b_eye(dv1);
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 3; i0++) {
@ -310,7 +339,7 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const
}
}
/* 'attitudeKalmanfilter:88' P_apriori=A_lin*P_aposteriori_k*A_lin'+Q; */
/* 'attitudeKalmanfilter:98' P_apriori=A_lin*P_aposteriori_k*A_lin'+Q; */
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 12; i0++) {
A_lin[i + 12 * i0] = 0.0F;
@ -323,28 +352,28 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 12; i0++) {
y = 0.0F;
f0 = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
y += A_lin[i + 12 * i1] * b_A_lin[i0 + 12 * i1];
f0 += A_lin[i + 12 * i1] * b_A_lin[i0 + 12 * i1];
}
P_apriori[i + 12 * i0] = y + Q[i + 12 * i0];
P_apriori[i + 12 * i0] = f0 + Q[i + 12 * i0];
}
}
/* %update */
/* 'attitudeKalmanfilter:92' if updateVect(1)==1&&updateVect(2)==1&&updateVect(3)==1 */
/* 'attitudeKalmanfilter:102' if updateVect(1)==1&&updateVect(2)==1&&updateVect(3)==1 */
if ((updateVect[0] == 1) && (updateVect[1] == 1) && (updateVect[2] == 1)) {
/* 'attitudeKalmanfilter:93' R=diag(r); */
/* 'attitudeKalmanfilter:103' R=diag(r); */
b_diag(r, R);
/* observation matrix */
/* 'attitudeKalmanfilter:96' H_k=[ E, E, Z, Z; */
/* 'attitudeKalmanfilter:97' Z, Z, E, Z; */
/* 'attitudeKalmanfilter:98' Z, Z, Z, E]; */
/* 'attitudeKalmanfilter:100' y_k=z(1:9)-H_k*x_apriori; */
/* 'attitudeKalmanfilter:102' S_k=H_k*P_apriori*H_k'+R; */
/* 'attitudeKalmanfilter:103' K_k=(P_apriori*H_k'/(S_k)); */
/* 'attitudeKalmanfilter:106' H_k=[ E, Z, Z, Z; */
/* 'attitudeKalmanfilter:107' Z, Z, E, Z; */
/* 'attitudeKalmanfilter:108' Z, Z, Z, E]; */
/* 'attitudeKalmanfilter:110' y_k=z(1:9)-H_k*x_apriori; */
/* 'attitudeKalmanfilter:112' S_k=H_k*P_apriori*H_k'+R; */
/* 'attitudeKalmanfilter:113' K_k=(P_apriori*H_k'/(S_k)); */
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 9; i0++) {
b_P_apriori[i + 12 * i0] = 0.0F;
@ -366,46 +395,46 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const
for (i = 0; i < 9; i++) {
for (i0 = 0; i0 < 9; i0++) {
y = 0.0F;
f0 = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
y += K_k[i + 9 * i1] * (real32_T)iv0[i1 + 12 * i0];
f0 += K_k[i + 9 * i1] * (real32_T)iv0[i1 + 12 * i0];
}
fv0[i + 9 * i0] = y + R[i + 9 * i0];
fv0[i + 9 * i0] = f0 + R[i + 9 * i0];
}
}
mrdivide(b_P_apriori, fv0, K_k);
/* 'attitudeKalmanfilter:106' x_aposteriori=x_apriori+K_k*y_k; */
/* 'attitudeKalmanfilter:116' x_aposteriori=x_apriori+K_k*y_k; */
for (i = 0; i < 9; i++) {
y = 0.0F;
f0 = 0.0F;
for (i0 = 0; i0 < 12; i0++) {
y += (real32_T)iv1[i + 9 * i0] * x_apriori[i0];
f0 += (real32_T)iv1[i + 9 * i0] * x_apriori[i0];
}
c_a[i] = z[i] - y;
c_a[i] = z[i] - f0;
}
for (i = 0; i < 12; i++) {
y = 0.0F;
f0 = 0.0F;
for (i0 = 0; i0 < 9; i0++) {
y += K_k[i + 12 * i0] * c_a[i0];
f0 += K_k[i + 12 * i0] * c_a[i0];
}
x_aposteriori[i] = x_apriori[i] + y;
x_aposteriori[i] = x_apriori[i] + f0;
}
/* 'attitudeKalmanfilter:107' P_aposteriori=(eye(12)-K_k*H_k)*P_apriori; */
/* 'attitudeKalmanfilter:117' P_aposteriori=(eye(12)-K_k*H_k)*P_apriori; */
b_eye(dv1);
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 12; i0++) {
y = 0.0F;
f0 = 0.0F;
for (i1 = 0; i1 < 9; i1++) {
y += K_k[i + 12 * i1] * (real32_T)iv1[i1 + 9 * i0];
f0 += K_k[i + 12 * i1] * (real32_T)iv1[i1 + 9 * i0];
}
Q[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - y;
Q[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0;
}
}
@ -418,17 +447,17 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const
}
}
} else {
/* 'attitudeKalmanfilter:108' else */
/* 'attitudeKalmanfilter:109' if updateVect(1)==1&&updateVect(2)==0&&updateVect(3)==0 */
/* 'attitudeKalmanfilter:118' else */
/* 'attitudeKalmanfilter:119' if updateVect(1)==1&&updateVect(2)==0&&updateVect(3)==0 */
if ((updateVect[0] == 1) && (updateVect[1] == 0) && (updateVect[2] == 0)) {
/* 'attitudeKalmanfilter:110' R=diag(r(1:3)); */
/* 'attitudeKalmanfilter:120' R=diag(r(1:3)); */
c_diag(*(real32_T (*)[3])&r[0], O);
/* observation matrix */
/* 'attitudeKalmanfilter:113' H_k=[ E, E, Z, Z]; */
/* 'attitudeKalmanfilter:115' y_k=z(1:3)-H_k(1:3,1:12)*x_apriori; */
/* 'attitudeKalmanfilter:117' S_k=H_k(1:3,1:12)*P_apriori*H_k(1:3,1:12)'+R(1:3,1:3); */
/* 'attitudeKalmanfilter:118' K_k=(P_apriori*H_k(1:3,1:12)'/(S_k)); */
/* 'attitudeKalmanfilter:123' H_k=[ E, Z, Z, Z]; */
/* 'attitudeKalmanfilter:125' y_k=z(1:3)-H_k(1:3,1:12)*x_apriori; */
/* 'attitudeKalmanfilter:127' S_k=H_k(1:3,1:12)*P_apriori*H_k(1:3,1:12)'+R(1:3,1:3); */
/* 'attitudeKalmanfilter:128' K_k=(P_apriori*H_k(1:3,1:12)'/(S_k)); */
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 3; i0++) {
c_P_apriori[i + 12 * i0] = 0.0F;
@ -451,46 +480,46 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const
for (i = 0; i < 3; i++) {
for (i0 = 0; i0 < 3; i0++) {
y = 0.0F;
f0 = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
y += fv1[i + 3 * i1] * (real32_T)iv2[i1 + 12 * i0];
f0 += fv1[i + 3 * i1] * (real32_T)iv2[i1 + 12 * i0];
}
c_a[i + 3 * i0] = y + O[i + 3 * i0];
c_a[i + 3 * i0] = f0 + O[i + 3 * i0];
}
}
b_mrdivide(c_P_apriori, c_a, S_k);
/* 'attitudeKalmanfilter:121' x_aposteriori=x_apriori+K_k*y_k; */
/* 'attitudeKalmanfilter:131' x_aposteriori=x_apriori+K_k*y_k; */
for (i = 0; i < 3; i++) {
y = 0.0F;
f0 = 0.0F;
for (i0 = 0; i0 < 12; i0++) {
y += (real32_T)iv3[i + 3 * i0] * x_apriori[i0];
f0 += (real32_T)iv3[i + 3 * i0] * x_apriori[i0];
}
x_n_b[i] = z[i] - y;
x_n_b[i] = z[i] - f0;
}
for (i = 0; i < 12; i++) {
y = 0.0F;
f0 = 0.0F;
for (i0 = 0; i0 < 3; i0++) {
y += S_k[i + 12 * i0] * x_n_b[i0];
f0 += S_k[i + 12 * i0] * x_n_b[i0];
}
x_aposteriori[i] = x_apriori[i] + y;
x_aposteriori[i] = x_apriori[i] + f0;
}
/* 'attitudeKalmanfilter:122' P_aposteriori=(eye(12)-K_k*H_k(1:3,1:12))*P_apriori; */
/* 'attitudeKalmanfilter:132' P_aposteriori=(eye(12)-K_k*H_k(1:3,1:12))*P_apriori; */
b_eye(dv1);
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 12; i0++) {
y = 0.0F;
f0 = 0.0F;
for (i1 = 0; i1 < 3; i1++) {
y += S_k[i + 12 * i1] * (real32_T)iv3[i1 + 3 * i0];
f0 += S_k[i + 12 * i1] * (real32_T)iv3[i1 + 3 * i0];
}
Q[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - y;
Q[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0;
}
}
@ -504,19 +533,19 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const
}
}
} else {
/* 'attitudeKalmanfilter:123' else */
/* 'attitudeKalmanfilter:124' if updateVect(1)==1&&updateVect(2)==1&&updateVect(3)==0 */
/* 'attitudeKalmanfilter:133' else */
/* 'attitudeKalmanfilter:134' if updateVect(1)==1&&updateVect(2)==1&&updateVect(3)==0 */
if ((updateVect[0] == 1) && (updateVect[1] == 1) && (updateVect[2] == 0))
{
/* 'attitudeKalmanfilter:125' R=diag(r(1:6)); */
/* 'attitudeKalmanfilter:135' R=diag(r(1:6)); */
d_diag(*(real32_T (*)[6])&r[0], S_k);
/* observation matrix */
/* 'attitudeKalmanfilter:128' H_k=[ E, E, Z, Z; */
/* 'attitudeKalmanfilter:129' Z, Z, E, Z]; */
/* 'attitudeKalmanfilter:131' y_k=z(1:6)-H_k(1:6,1:12)*x_apriori; */
/* 'attitudeKalmanfilter:133' S_k=H_k(1:6,1:12)*P_apriori*H_k(1:6,1:12)'+R(1:6,1:6); */
/* 'attitudeKalmanfilter:134' K_k=(P_apriori*H_k(1:6,1:12)'/(S_k)); */
/* 'attitudeKalmanfilter:138' H_k=[ E, Z, Z, Z; */
/* 'attitudeKalmanfilter:139' Z, Z, E, Z]; */
/* 'attitudeKalmanfilter:141' y_k=z(1:6)-H_k(1:6,1:12)*x_apriori; */
/* 'attitudeKalmanfilter:143' S_k=H_k(1:6,1:12)*P_apriori*H_k(1:6,1:12)'+R(1:6,1:6); */
/* 'attitudeKalmanfilter:144' K_k=(P_apriori*H_k(1:6,1:12)'/(S_k)); */
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 6; i0++) {
d_P_apriori[i + 12 * i0] = 0.0F;
@ -539,46 +568,46 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const
for (i = 0; i < 6; i++) {
for (i0 = 0; i0 < 6; i0++) {
y = 0.0F;
f0 = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
y += b_K_k[i + 6 * i1] * (real32_T)iv4[i1 + 12 * i0];
f0 += b_K_k[i + 6 * i1] * (real32_T)iv4[i1 + 12 * i0];
}
fv1[i + 6 * i0] = y + S_k[i + 6 * i0];
fv1[i + 6 * i0] = f0 + S_k[i + 6 * i0];
}
}
c_mrdivide(d_P_apriori, fv1, b_K_k);
/* 'attitudeKalmanfilter:137' x_aposteriori=x_apriori+K_k*y_k; */
/* 'attitudeKalmanfilter:147' x_aposteriori=x_apriori+K_k*y_k; */
for (i = 0; i < 6; i++) {
y = 0.0F;
f0 = 0.0F;
for (i0 = 0; i0 < 12; i0++) {
y += (real32_T)iv5[i + 6 * i0] * x_apriori[i0];
f0 += (real32_T)iv5[i + 6 * i0] * x_apriori[i0];
}
b_r[i] = z[i] - y;
b_r[i] = z[i] - f0;
}
for (i = 0; i < 12; i++) {
y = 0.0F;
f0 = 0.0F;
for (i0 = 0; i0 < 6; i0++) {
y += b_K_k[i + 12 * i0] * b_r[i0];
f0 += b_K_k[i + 12 * i0] * b_r[i0];
}
x_aposteriori[i] = x_apriori[i] + y;
x_aposteriori[i] = x_apriori[i] + f0;
}
/* 'attitudeKalmanfilter:138' P_aposteriori=(eye(12)-K_k*H_k(1:6,1:12))*P_apriori; */
/* 'attitudeKalmanfilter:148' P_aposteriori=(eye(12)-K_k*H_k(1:6,1:12))*P_apriori; */
b_eye(dv1);
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 12; i0++) {
y = 0.0F;
f0 = 0.0F;
for (i1 = 0; i1 < 6; i1++) {
y += b_K_k[i + 12 * i1] * (real32_T)iv5[i1 + 6 * i0];
f0 += b_K_k[i + 12 * i1] * (real32_T)iv5[i1 + 6 * i0];
}
Q[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - y;
Q[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0;
}
}
@ -592,16 +621,16 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const
}
}
} else {
/* 'attitudeKalmanfilter:139' else */
/* 'attitudeKalmanfilter:140' if updateVect(1)==1&&updateVect(2)==0&&updateVect(3)==1 */
/* 'attitudeKalmanfilter:149' else */
/* 'attitudeKalmanfilter:150' if updateVect(1)==1&&updateVect(2)==0&&updateVect(3)==1 */
if ((updateVect[0] == 1) && (updateVect[1] == 0) && (updateVect[2] == 1))
{
/* 'attitudeKalmanfilter:141' R=diag([r(1:3);r(7:9)]); */
/* 'attitudeKalmanfilter:151' R=diag([r(1:3);r(7:9)]); */
/* observation matrix */
/* 'attitudeKalmanfilter:144' H_k=[ E, E, Z, Z; */
/* 'attitudeKalmanfilter:145' Z, Z, Z, E]; */
/* 'attitudeKalmanfilter:147' y_k=[z(1:3);z(7:9)]-H_k(1:6,1:12)*x_apriori; */
/* 'attitudeKalmanfilter:149' S_k=H_k(1:6,1:12)*P_apriori*H_k(1:6,1:12)'+R(1:6,1:6); */
/* 'attitudeKalmanfilter:154' H_k=[ E, Z, Z, Z; */
/* 'attitudeKalmanfilter:155' Z, Z, Z, E]; */
/* 'attitudeKalmanfilter:157' y_k=[z(1:3);z(7:9)]-H_k(1:6,1:12)*x_apriori; */
/* 'attitudeKalmanfilter:159' S_k=H_k(1:6,1:12)*P_apriori*H_k(1:6,1:12)'+R(1:6,1:6); */
for (i = 0; i < 6; i++) {
for (i0 = 0; i0 < 12; i0++) {
b_K_k[i + 6 * i0] = 0.0F;
@ -619,16 +648,16 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const
for (i = 0; i < 6; i++) {
for (i0 = 0; i0 < 6; i0++) {
y = 0.0F;
f0 = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
y += b_K_k[i + 6 * i1] * (real32_T)iv7[i1 + 12 * i0];
f0 += b_K_k[i + 6 * i1] * (real32_T)iv7[i1 + 12 * i0];
}
S_k[i + 6 * i0] = y + b_r[3 * (i + i0)];
S_k[i + 6 * i0] = f0 + b_r[3 * (i + i0)];
}
}
/* 'attitudeKalmanfilter:150' K_k=(P_apriori*H_k(1:6,1:12)'/(S_k)); */
/* 'attitudeKalmanfilter:160' K_k=(P_apriori*H_k(1:6,1:12)'/(S_k)); */
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 6; i0++) {
d_P_apriori[i + 12 * i0] = 0.0F;
@ -641,7 +670,7 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const
c_mrdivide(d_P_apriori, S_k, b_K_k);
/* 'attitudeKalmanfilter:153' x_aposteriori=x_apriori+K_k*y_k; */
/* 'attitudeKalmanfilter:163' x_aposteriori=x_apriori+K_k*y_k; */
for (i = 0; i < 3; i++) {
b_r[i] = z[i];
}
@ -660,24 +689,24 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const
}
for (i = 0; i < 12; i++) {
y = 0.0F;
f0 = 0.0F;
for (i0 = 0; i0 < 6; i0++) {
y += b_K_k[i + 12 * i0] * b_z[i0];
f0 += b_K_k[i + 12 * i0] * b_z[i0];
}
x_aposteriori[i] = x_apriori[i] + y;
x_aposteriori[i] = x_apriori[i] + f0;
}
/* 'attitudeKalmanfilter:154' P_aposteriori=(eye(12)-K_k*H_k(1:6,1:12))*P_apriori; */
/* 'attitudeKalmanfilter:164' P_aposteriori=(eye(12)-K_k*H_k(1:6,1:12))*P_apriori; */
b_eye(dv1);
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 12; i0++) {
y = 0.0F;
f0 = 0.0F;
for (i1 = 0; i1 < 6; i1++) {
y += b_K_k[i + 12 * i1] * (real32_T)iv6[i1 + 6 * i0];
f0 += b_K_k[i + 12 * i1] * (real32_T)iv6[i1 + 6 * i0];
}
Q[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - y;
Q[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0;
}
}
@ -691,57 +720,66 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const
}
}
} else {
/* 'attitudeKalmanfilter:155' else */
/* 'attitudeKalmanfilter:156' x_aposteriori=x_apriori; */
/* 'attitudeKalmanfilter:165' else */
/* 'attitudeKalmanfilter:166' x_aposteriori=x_apriori; */
for (i = 0; i < 12; i++) {
x_aposteriori[i] = x_apriori[i];
}
/* 'attitudeKalmanfilter:157' P_aposteriori=P_apriori; */
memcpy((void *)&P_aposteriori[0], (void *)&P_apriori[0], 144U * sizeof
(real32_T));
/* 'attitudeKalmanfilter:167' P_aposteriori=P_apriori; */
memcpy(&P_aposteriori[0], &P_apriori[0], 144U * sizeof(real32_T));
}
}
}
}
/* % euler anglels extraction */
/* 'attitudeKalmanfilter:166' z_n_b = -x_aposteriori(7:9)./norm(x_aposteriori(7:9)); */
y = norm(*(real32_T (*)[3])&x_aposteriori[6]);
/* 'attitudeKalmanfilter:167' m_n_b = x_aposteriori(10:12)./norm(x_aposteriori(10:12)); */
b_y = norm(*(real32_T (*)[3])&x_aposteriori[9]);
/* 'attitudeKalmanfilter:169' y_n_b=cross(z_n_b,m_n_b); */
/* 'attitudeKalmanfilter:176' z_n_b = -x_aposteriori(7:9)./norm(x_aposteriori(7:9)); */
for (i = 0; i < 3; i++) {
z_n_b[i] = -x_aposteriori[i + 6] / y;
x_n_b[i] = x_aposteriori[i + 9] / b_y;
x_n_b[i] = -x_aposteriori[i + 6];
}
cross(z_n_b, x_n_b, y_n_b);
rdivide(x_n_b, norm(*(real32_T (*)[3])&x_aposteriori[6]), z_n_b);
/* 'attitudeKalmanfilter:170' y_n_b=y_n_b./norm(y_n_b); */
y = norm(y_n_b);
/* 'attitudeKalmanfilter:177' m_n_b = x_aposteriori(10:12)./norm(x_aposteriori(10:12)); */
rdivide(*(real32_T (*)[3])&x_aposteriori[9], norm(*(real32_T (*)[3])&
x_aposteriori[9]), m_n_b);
/* 'attitudeKalmanfilter:179' y_n_b=cross(z_n_b,m_n_b); */
for (i = 0; i < 3; i++) {
y_n_b[i] /= y;
x_n_b[i] = m_n_b[i];
}
/* 'attitudeKalmanfilter:172' x_n_b=(cross(y_n_b,z_n_b)); */
cross(y_n_b, z_n_b, x_n_b);
cross(z_n_b, x_n_b, m_n_b);
/* 'attitudeKalmanfilter:173' x_n_b=x_n_b./norm(x_n_b); */
y = norm(x_n_b);
/* 'attitudeKalmanfilter:180' y_n_b=y_n_b./norm(y_n_b); */
for (i = 0; i < 3; i++) {
/* 'attitudeKalmanfilter:179' Rot_matrix=[x_n_b,y_n_b,z_n_b]; */
Rot_matrix[i] = x_n_b[i] / y;
Rot_matrix[3 + i] = y_n_b[i];
x_n_b[i] = m_n_b[i];
}
rdivide(x_n_b, norm(m_n_b), m_n_b);
/* 'attitudeKalmanfilter:182' x_n_b=(cross(y_n_b,z_n_b)); */
cross(m_n_b, z_n_b, x_n_b);
/* 'attitudeKalmanfilter:183' x_n_b=x_n_b./norm(x_n_b); */
for (i = 0; i < 3; i++) {
b_x_aposteriori_k[i] = x_n_b[i];
}
rdivide(b_x_aposteriori_k, norm(x_n_b), x_n_b);
/* 'attitudeKalmanfilter:189' Rot_matrix=[x_n_b,y_n_b,z_n_b]; */
for (i = 0; i < 3; i++) {
Rot_matrix[i] = x_n_b[i];
Rot_matrix[3 + i] = m_n_b[i];
Rot_matrix[6 + i] = z_n_b[i];
}
/* 'attitudeKalmanfilter:183' phi=atan2(Rot_matrix(2,3),Rot_matrix(3,3)); */
/* 'attitudeKalmanfilter:184' theta=-asin(Rot_matrix(1,3)); */
/* 'attitudeKalmanfilter:185' psi=atan2(Rot_matrix(1,2),Rot_matrix(1,1)); */
/* 'attitudeKalmanfilter:186' eulerAngles=[phi;theta;psi]; */
/* 'attitudeKalmanfilter:193' phi=atan2f(Rot_matrix(2,3),Rot_matrix(3,3)); */
/* 'attitudeKalmanfilter:194' theta=-asinf(Rot_matrix(1,3)); */
/* 'attitudeKalmanfilter:195' psi=atan2f(Rot_matrix(1,2),Rot_matrix(1,1)); */
/* 'attitudeKalmanfilter:196' eulerAngles=[phi;theta;psi]; */
eulerAngles[0] = rt_atan2f_snf(Rot_matrix[7], Rot_matrix[8]);
eulerAngles[1] = -(real32_T)asinf(Rot_matrix[6]);
eulerAngles[2] = rt_atan2f_snf(Rot_matrix[3], Rot_matrix[0]);

4
apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h Executable file → Normal file
View File

@ -3,7 +3,7 @@
*
* Code generation for function 'attitudeKalmanfilter'
*
* C source code generated on: Mon Oct 01 19:38:49 2012
* C source code generated on: Tue Oct 16 15:27:58 2012
*
*/
@ -11,7 +11,7 @@
#define __ATTITUDEKALMANFILTER_H__
/* Include files */
#include <math.h>
#include <stdio.h>
#include <stddef.h>
#include <stdlib.h>
#include <string.h>
#include "rt_defines.h"

2
apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.c Executable file → Normal file
View File

@ -3,7 +3,7 @@
*
* Code generation for function 'attitudeKalmanfilter_initialize'
*
* C source code generated on: Mon Oct 01 19:38:49 2012
* C source code generated on: Tue Oct 16 15:27:58 2012
*
*/

4
apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.h Executable file → Normal file
View File

@ -3,7 +3,7 @@
*
* Code generation for function 'attitudeKalmanfilter_initialize'
*
* C source code generated on: Mon Oct 01 19:38:49 2012
* C source code generated on: Tue Oct 16 15:27:58 2012
*
*/
@ -11,7 +11,7 @@
#define __ATTITUDEKALMANFILTER_INITIALIZE_H__
/* Include files */
#include <math.h>
#include <stdio.h>
#include <stddef.h>
#include <stdlib.h>
#include <string.h>
#include "rt_defines.h"

2
apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.c Executable file → Normal file
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@ -3,7 +3,7 @@
*
* Code generation for function 'attitudeKalmanfilter_terminate'
*
* C source code generated on: Mon Oct 01 19:38:49 2012
* C source code generated on: Tue Oct 16 15:27:58 2012
*
*/

4
apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.h Executable file → Normal file
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@ -3,7 +3,7 @@
*
* Code generation for function 'attitudeKalmanfilter_terminate'
*
* C source code generated on: Mon Oct 01 19:38:49 2012
* C source code generated on: Tue Oct 16 15:27:58 2012
*
*/
@ -11,7 +11,7 @@
#define __ATTITUDEKALMANFILTER_TERMINATE_H__
/* Include files */
#include <math.h>
#include <stdio.h>
#include <stddef.h>
#include <stdlib.h>
#include <string.h>
#include "rt_defines.h"

2
apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_types.h Executable file → Normal file
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@ -3,7 +3,7 @@
*
* Code generation for function 'attitudeKalmanfilter'
*
* C source code generated on: Mon Oct 01 19:38:49 2012
* C source code generated on: Tue Oct 16 15:27:58 2012
*
*/

2
apps/attitude_estimator_ekf/codegen/cross.c Executable file → Normal file
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@ -3,7 +3,7 @@
*
* Code generation for function 'cross'
*
* C source code generated on: Mon Oct 01 19:38:49 2012
* C source code generated on: Tue Oct 16 15:27:58 2012
*
*/

4
apps/attitude_estimator_ekf/codegen/cross.h Executable file → Normal file
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@ -3,7 +3,7 @@
*
* Code generation for function 'cross'
*
* C source code generated on: Mon Oct 01 19:38:49 2012
* C source code generated on: Tue Oct 16 15:27:58 2012
*
*/
@ -11,7 +11,7 @@
#define __CROSS_H__
/* Include files */
#include <math.h>
#include <stdio.h>
#include <stddef.h>
#include <stdlib.h>
#include <string.h>
#include "rt_defines.h"

8
apps/attitude_estimator_ekf/codegen/diag.c Executable file → Normal file
View File

@ -3,7 +3,7 @@
*
* Code generation for function 'diag'
*
* C source code generated on: Mon Oct 01 19:38:49 2012
* C source code generated on: Tue Oct 16 15:27:58 2012
*
*/
@ -30,7 +30,7 @@
void b_diag(const real32_T v[9], real32_T d[81])
{
int32_T j;
memset((void *)&d[0], 0, 81U * sizeof(real32_T));
memset(&d[0], 0, 81U * sizeof(real32_T));
for (j = 0; j < 9; j++) {
d[j + 9 * j] = v[j];
}
@ -57,7 +57,7 @@ void c_diag(const real32_T v[3], real32_T d[9])
void d_diag(const real32_T v[6], real32_T d[36])
{
int32_T j;
memset((void *)&d[0], 0, 36U * sizeof(real32_T));
memset(&d[0], 0, 36U * sizeof(real32_T));
for (j = 0; j < 6; j++) {
d[j + 6 * j] = v[j];
}
@ -69,7 +69,7 @@ void d_diag(const real32_T v[6], real32_T d[36])
void diag(const real32_T v[12], real32_T d[144])
{
int32_T j;
memset((void *)&d[0], 0, 144U * sizeof(real32_T));
memset(&d[0], 0, 144U * sizeof(real32_T));
for (j = 0; j < 12; j++) {
d[j + 12 * j] = v[j];
}

4
apps/attitude_estimator_ekf/codegen/diag.h Executable file → Normal file
View File

@ -3,7 +3,7 @@
*
* Code generation for function 'diag'
*
* C source code generated on: Mon Oct 01 19:38:49 2012
* C source code generated on: Tue Oct 16 15:27:58 2012
*
*/
@ -11,7 +11,7 @@
#define __DIAG_H__
/* Include files */
#include <math.h>
#include <stdio.h>
#include <stddef.h>
#include <stdlib.h>
#include <string.h>
#include "rt_defines.h"

6
apps/attitude_estimator_ekf/codegen/eye.c Executable file → Normal file
View File

@ -3,7 +3,7 @@
*
* Code generation for function 'eye'
*
* C source code generated on: Mon Oct 01 19:38:49 2012
* C source code generated on: Tue Oct 16 15:27:58 2012
*
*/
@ -30,7 +30,7 @@
void b_eye(real_T I[144])
{
int32_T i;
memset((void *)&I[0], 0, 144U * sizeof(real_T));
memset(&I[0], 0, 144U * sizeof(real_T));
for (i = 0; i < 12; i++) {
I[i + 12 * i] = 1.0;
}
@ -42,7 +42,7 @@ void b_eye(real_T I[144])
void eye(real_T I[9])
{
int32_T i;
memset((void *)&I[0], 0, 9U * sizeof(real_T));
memset(&I[0], 0, 9U * sizeof(real_T));
for (i = 0; i < 3; i++) {
I[i + 3 * i] = 1.0;
}

4
apps/attitude_estimator_ekf/codegen/eye.h Executable file → Normal file
View File

@ -3,7 +3,7 @@
*
* Code generation for function 'eye'
*
* C source code generated on: Mon Oct 01 19:38:49 2012
* C source code generated on: Tue Oct 16 15:27:58 2012
*
*/
@ -11,7 +11,7 @@
#define __EYE_H__
/* Include files */
#include <math.h>
#include <stdio.h>
#include <stddef.h>
#include <stdlib.h>
#include <string.h>
#include "rt_defines.h"

218
apps/attitude_estimator_ekf/codegen/mrdivide.c Executable file → Normal file
View File

@ -3,7 +3,7 @@
*
* Code generation for function 'mrdivide'
*
* C source code generated on: Mon Oct 01 19:38:49 2012
* C source code generated on: Tue Oct 16 15:27:58 2012
*
*/
@ -29,9 +29,9 @@
*/
void b_mrdivide(const real32_T A[36], const real32_T B[9], real32_T y[36])
{
real32_T b_A[9];
int32_T rtemp;
int32_T k;
real32_T b_A[9];
real32_T b_B[36];
int32_T r1;
int32_T r2;
@ -54,15 +54,15 @@ void b_mrdivide(const real32_T A[36], const real32_T B[9], real32_T y[36])
r1 = 0;
r2 = 1;
r3 = 2;
maxval = (real32_T)fabsf(b_A[0]);
a21 = (real32_T)fabsf(b_A[1]);
maxval = (real32_T)fabs(b_A[0]);
a21 = (real32_T)fabs(b_A[1]);
if (a21 > maxval) {
maxval = a21;
r1 = 1;
r2 = 0;
}
if ((real32_T)fabsf(b_A[2]) > maxval) {
if ((real32_T)fabs(b_A[2]) > maxval) {
r1 = 2;
r2 = 1;
r3 = 0;
@ -74,7 +74,7 @@ void b_mrdivide(const real32_T A[36], const real32_T B[9], real32_T y[36])
b_A[3 + r3] -= b_A[r3] * b_A[3 + r1];
b_A[6 + r2] -= b_A[r2] * b_A[6 + r1];
b_A[6 + r3] -= b_A[r3] * b_A[6 + r1];
if ((real32_T)fabsf(b_A[3 + r3]) > (real32_T)fabsf(b_A[3 + r2])) {
if ((real32_T)fabs(b_A[3 + r3]) > (real32_T)fabs(b_A[3 + r2])) {
rtemp = r2;
r2 = r3;
r3 = rtemp;
@ -107,51 +107,46 @@ void b_mrdivide(const real32_T A[36], const real32_T B[9], real32_T y[36])
*/
void c_mrdivide(const real32_T A[72], const real32_T B[36], real32_T y[72])
{
int32_T jy;
int32_T iy;
real32_T b_A[36];
int8_T ipiv[6];
int32_T i3;
int32_T iy;
int32_T j;
int32_T mmj;
int32_T jj;
int32_T jp1j;
int32_T c;
int32_T ix;
real32_T temp;
int32_T k;
real32_T s;
int32_T loop_ub;
int32_T jy;
int32_T ijA;
real32_T Y[72];
for (jy = 0; jy < 6; jy++) {
for (i3 = 0; i3 < 6; i3++) {
for (iy = 0; iy < 6; iy++) {
b_A[iy + 6 * jy] = B[jy + 6 * iy];
b_A[iy + 6 * i3] = B[i3 + 6 * iy];
}
ipiv[jy] = (int8_T)(1 + jy);
ipiv[i3] = (int8_T)(1 + i3);
}
for (j = 0; j < 5; j++) {
mmj = -j;
jj = j * 7;
jp1j = jj + 1;
c = mmj + 6;
jy = 0;
ix = jj;
temp = (real32_T)fabsf(b_A[jj]);
for (k = 2; k <= c; k++) {
c = j * 7;
iy = 0;
ix = c;
temp = (real32_T)fabs(b_A[c]);
for (k = 2; k <= 6 - j; k++) {
ix++;
s = (real32_T)fabsf(b_A[ix]);
s = (real32_T)fabs(b_A[ix]);
if (s > temp) {
jy = k - 1;
iy = k - 1;
temp = s;
}
}
if ((real_T)b_A[jj + jy] != 0.0) {
if (jy != 0) {
ipiv[j] = (int8_T)((j + jy) + 1);
if (b_A[c + iy] != 0.0F) {
if (iy != 0) {
ipiv[j] = (int8_T)((j + iy) + 1);
ix = j;
iy = j + jy;
iy += j;
for (k = 0; k < 6; k++) {
temp = b_A[ix];
b_A[ix] = b_A[iy];
@ -161,42 +156,42 @@ void c_mrdivide(const real32_T A[72], const real32_T B[36], real32_T y[72])
}
}
loop_ub = (jp1j + mmj) + 5;
for (iy = jp1j; iy + 1 <= loop_ub; iy++) {
b_A[iy] /= b_A[jj];
i3 = (c - j) + 6;
for (jy = c + 1; jy + 1 <= i3; jy++) {
b_A[jy] /= b_A[c];
}
}
c = 5 - j;
jy = jj + 6;
for (iy = 1; iy <= c; iy++) {
if ((real_T)b_A[jy] != 0.0) {
temp = b_A[jy] * -1.0F;
ix = jp1j;
loop_ub = (mmj + jj) + 12;
for (k = 7 + jj; k + 1 <= loop_ub; k++) {
b_A[k] += b_A[ix] * temp;
iy = c;
jy = c + 6;
for (k = 1; k <= 5 - j; k++) {
temp = b_A[jy];
if (b_A[jy] != 0.0F) {
ix = c + 1;
i3 = (iy - j) + 12;
for (ijA = 7 + iy; ijA + 1 <= i3; ijA++) {
b_A[ijA] += b_A[ix] * -temp;
ix++;
}
}
jy += 6;
jj += 6;
iy += 6;
}
}
for (jy = 0; jy < 12; jy++) {
for (i3 = 0; i3 < 12; i3++) {
for (iy = 0; iy < 6; iy++) {
Y[iy + 6 * jy] = A[jy + 12 * iy];
Y[iy + 6 * i3] = A[i3 + 12 * iy];
}
}
for (iy = 0; iy < 6; iy++) {
if (ipiv[iy] != iy + 1) {
for (jy = 0; jy < 6; jy++) {
if (ipiv[jy] != jy + 1) {
for (j = 0; j < 12; j++) {
temp = Y[iy + 6 * j];
Y[iy + 6 * j] = Y[(ipiv[iy] + 6 * j) - 1];
Y[(ipiv[iy] + 6 * j) - 1] = temp;
temp = Y[jy + 6 * j];
Y[jy + 6 * j] = Y[(ipiv[jy] + 6 * j) - 1];
Y[(ipiv[jy] + 6 * j) - 1] = temp;
}
}
}
@ -204,10 +199,10 @@ void c_mrdivide(const real32_T A[72], const real32_T B[36], real32_T y[72])
for (j = 0; j < 12; j++) {
c = 6 * j;
for (k = 0; k < 6; k++) {
jy = 6 * k;
if ((real_T)Y[k + c] != 0.0) {
for (iy = k + 2; iy < 7; iy++) {
Y[(iy + c) - 1] -= Y[k + c] * b_A[(iy + jy) - 1];
iy = 6 * k;
if (Y[k + c] != 0.0F) {
for (jy = k + 2; jy < 7; jy++) {
Y[(jy + c) - 1] -= Y[k + c] * b_A[(jy + iy) - 1];
}
}
}
@ -216,19 +211,19 @@ void c_mrdivide(const real32_T A[72], const real32_T B[36], real32_T y[72])
for (j = 0; j < 12; j++) {
c = 6 * j;
for (k = 5; k > -1; k += -1) {
jy = 6 * k;
if ((real_T)Y[k + c] != 0.0) {
Y[k + c] /= b_A[k + jy];
for (iy = 0; iy + 1 <= k; iy++) {
Y[iy + c] -= Y[k + c] * b_A[iy + jy];
iy = 6 * k;
if (Y[k + c] != 0.0F) {
Y[k + c] /= b_A[k + iy];
for (jy = 0; jy + 1 <= k; jy++) {
Y[jy + c] -= Y[k + c] * b_A[jy + iy];
}
}
}
}
for (jy = 0; jy < 6; jy++) {
for (i3 = 0; i3 < 6; i3++) {
for (iy = 0; iy < 12; iy++) {
y[iy + 12 * jy] = Y[jy + 6 * iy];
y[iy + 12 * i3] = Y[i3 + 6 * iy];
}
}
}
@ -238,51 +233,46 @@ void c_mrdivide(const real32_T A[72], const real32_T B[36], real32_T y[72])
*/
void mrdivide(const real32_T A[108], const real32_T B[81], real32_T y[108])
{
int32_T jy;
int32_T iy;
real32_T b_A[81];
int8_T ipiv[9];
int32_T i2;
int32_T iy;
int32_T j;
int32_T mmj;
int32_T jj;
int32_T jp1j;
int32_T c;
int32_T ix;
real32_T temp;
int32_T k;
real32_T s;
int32_T loop_ub;
int32_T jy;
int32_T ijA;
real32_T Y[108];
for (jy = 0; jy < 9; jy++) {
for (i2 = 0; i2 < 9; i2++) {
for (iy = 0; iy < 9; iy++) {
b_A[iy + 9 * jy] = B[jy + 9 * iy];
b_A[iy + 9 * i2] = B[i2 + 9 * iy];
}
ipiv[jy] = (int8_T)(1 + jy);
ipiv[i2] = (int8_T)(1 + i2);
}
for (j = 0; j < 8; j++) {
mmj = -j;
jj = j * 10;
jp1j = jj + 1;
c = mmj + 9;
jy = 0;
ix = jj;
temp = (real32_T)fabsf(b_A[jj]);
for (k = 2; k <= c; k++) {
c = j * 10;
iy = 0;
ix = c;
temp = (real32_T)fabs(b_A[c]);
for (k = 2; k <= 9 - j; k++) {
ix++;
s = (real32_T)fabsf(b_A[ix]);
s = (real32_T)fabs(b_A[ix]);
if (s > temp) {
jy = k - 1;
iy = k - 1;
temp = s;
}
}
if ((real_T)b_A[jj + jy] != 0.0) {
if (jy != 0) {
ipiv[j] = (int8_T)((j + jy) + 1);
if (b_A[c + iy] != 0.0F) {
if (iy != 0) {
ipiv[j] = (int8_T)((j + iy) + 1);
ix = j;
iy = j + jy;
iy += j;
for (k = 0; k < 9; k++) {
temp = b_A[ix];
b_A[ix] = b_A[iy];
@ -292,42 +282,42 @@ void mrdivide(const real32_T A[108], const real32_T B[81], real32_T y[108])
}
}
loop_ub = (jp1j + mmj) + 8;
for (iy = jp1j; iy + 1 <= loop_ub; iy++) {
b_A[iy] /= b_A[jj];
i2 = (c - j) + 9;
for (jy = c + 1; jy + 1 <= i2; jy++) {
b_A[jy] /= b_A[c];
}
}
c = 8 - j;
jy = jj + 9;
for (iy = 1; iy <= c; iy++) {
if ((real_T)b_A[jy] != 0.0) {
temp = b_A[jy] * -1.0F;
ix = jp1j;
loop_ub = (mmj + jj) + 18;
for (k = 10 + jj; k + 1 <= loop_ub; k++) {
b_A[k] += b_A[ix] * temp;
iy = c;
jy = c + 9;
for (k = 1; k <= 8 - j; k++) {
temp = b_A[jy];
if (b_A[jy] != 0.0F) {
ix = c + 1;
i2 = (iy - j) + 18;
for (ijA = 10 + iy; ijA + 1 <= i2; ijA++) {
b_A[ijA] += b_A[ix] * -temp;
ix++;
}
}
jy += 9;
jj += 9;
iy += 9;
}
}
for (jy = 0; jy < 12; jy++) {
for (i2 = 0; i2 < 12; i2++) {
for (iy = 0; iy < 9; iy++) {
Y[iy + 9 * jy] = A[jy + 12 * iy];
Y[iy + 9 * i2] = A[i2 + 12 * iy];
}
}
for (iy = 0; iy < 9; iy++) {
if (ipiv[iy] != iy + 1) {
for (jy = 0; jy < 9; jy++) {
if (ipiv[jy] != jy + 1) {
for (j = 0; j < 12; j++) {
temp = Y[iy + 9 * j];
Y[iy + 9 * j] = Y[(ipiv[iy] + 9 * j) - 1];
Y[(ipiv[iy] + 9 * j) - 1] = temp;
temp = Y[jy + 9 * j];
Y[jy + 9 * j] = Y[(ipiv[jy] + 9 * j) - 1];
Y[(ipiv[jy] + 9 * j) - 1] = temp;
}
}
}
@ -335,10 +325,10 @@ void mrdivide(const real32_T A[108], const real32_T B[81], real32_T y[108])
for (j = 0; j < 12; j++) {
c = 9 * j;
for (k = 0; k < 9; k++) {
jy = 9 * k;
if ((real_T)Y[k + c] != 0.0) {
for (iy = k + 2; iy < 10; iy++) {
Y[(iy + c) - 1] -= Y[k + c] * b_A[(iy + jy) - 1];
iy = 9 * k;
if (Y[k + c] != 0.0F) {
for (jy = k + 2; jy < 10; jy++) {
Y[(jy + c) - 1] -= Y[k + c] * b_A[(jy + iy) - 1];
}
}
}
@ -347,19 +337,19 @@ void mrdivide(const real32_T A[108], const real32_T B[81], real32_T y[108])
for (j = 0; j < 12; j++) {
c = 9 * j;
for (k = 8; k > -1; k += -1) {
jy = 9 * k;
if ((real_T)Y[k + c] != 0.0) {
Y[k + c] /= b_A[k + jy];
for (iy = 0; iy + 1 <= k; iy++) {
Y[iy + c] -= Y[k + c] * b_A[iy + jy];
iy = 9 * k;
if (Y[k + c] != 0.0F) {
Y[k + c] /= b_A[k + iy];
for (jy = 0; jy + 1 <= k; jy++) {
Y[jy + c] -= Y[k + c] * b_A[jy + iy];
}
}
}
}
for (jy = 0; jy < 9; jy++) {
for (i2 = 0; i2 < 9; i2++) {
for (iy = 0; iy < 12; iy++) {
y[iy + 12 * jy] = Y[jy + 9 * iy];
y[iy + 12 * i2] = Y[i2 + 9 * iy];
}
}
}

4
apps/attitude_estimator_ekf/codegen/mrdivide.h Executable file → Normal file
View File

@ -3,7 +3,7 @@
*
* Code generation for function 'mrdivide'
*
* C source code generated on: Mon Oct 01 19:38:49 2012
* C source code generated on: Tue Oct 16 15:27:58 2012
*
*/
@ -11,7 +11,7 @@
#define __MRDIVIDE_H__
/* Include files */
#include <math.h>
#include <stdio.h>
#include <stddef.h>
#include <stdlib.h>
#include <string.h>
#include "rt_defines.h"

30
apps/attitude_estimator_ekf/codegen/norm.c Executable file → Normal file
View File

@ -3,7 +3,7 @@
*
* Code generation for function 'norm'
*
* C source code generated on: Mon Oct 01 19:38:49 2012
* C source code generated on: Tue Oct 16 15:27:58 2012
*
*/
@ -31,32 +31,24 @@ real32_T norm(const real32_T x[3])
{
real32_T y;
real32_T scale;
boolean_T firstNonZero;
int32_T k;
real32_T absxk;
real32_T t;
y = 0.0F;
scale = 0.0F;
firstNonZero = TRUE;
scale = 1.17549435E-38F;
for (k = 0; k < 3; k++) {
if (x[k] != 0.0F) {
absxk = (real32_T)fabsf(x[k]);
if (firstNonZero) {
scale = absxk;
y = 1.0F;
firstNonZero = FALSE;
} else if (scale < absxk) {
t = scale / absxk;
y = 1.0F + y * t * t;
scale = absxk;
} else {
t = absxk / scale;
y += t * t;
}
absxk = (real32_T)fabs(x[k]);
if (absxk > scale) {
t = scale / absxk;
y = 1.0F + y * t * t;
scale = absxk;
} else {
t = absxk / scale;
y += t * t;
}
}
return scale * (real32_T)sqrtf(y);
return scale * (real32_T)sqrt(y);
}
/* End of code generation (norm.c) */

4
apps/attitude_estimator_ekf/codegen/norm.h Executable file → Normal file
View File

@ -3,7 +3,7 @@
*
* Code generation for function 'norm'
*
* C source code generated on: Mon Oct 01 19:38:49 2012
* C source code generated on: Tue Oct 16 15:27:58 2012
*
*/
@ -11,7 +11,7 @@
#define __NORM_H__
/* Include files */
#include <math.h>
#include <stdio.h>
#include <stddef.h>
#include <stdlib.h>
#include <string.h>
#include "rt_defines.h"

26
apps/attitude_estimator_ekf/codegen/power.c Executable file → Normal file
View File

@ -3,7 +3,7 @@
*
* Code generation for function 'power'
*
* C source code generated on: Mon Oct 01 19:38:49 2012
* C source code generated on: Tue Oct 16 15:27:58 2012
*
*/
@ -27,17 +27,17 @@ static real32_T rt_powf_snf(real32_T u0, real32_T u1);
static real32_T rt_powf_snf(real32_T u0, real32_T u1)
{
real32_T y;
real32_T f0;
real32_T f1;
real32_T f2;
if (rtIsNaNF(u0) || rtIsNaNF(u1)) {
y = ((real32_T)rtNaN);
} else {
f0 = (real32_T)fabsf(u0);
f1 = (real32_T)fabsf(u1);
f1 = (real32_T)fabs(u0);
f2 = (real32_T)fabs(u1);
if (rtIsInfF(u1)) {
if (f0 == 1.0F) {
if (f1 == 1.0F) {
y = ((real32_T)rtNaN);
} else if (f0 > 1.0F) {
} else if (f1 > 1.0F) {
if (u1 > 0.0F) {
y = ((real32_T)rtInf);
} else {
@ -48,9 +48,9 @@ static real32_T rt_powf_snf(real32_T u0, real32_T u1)
} else {
y = ((real32_T)rtInf);
}
} else if (f1 == 0.0F) {
} else if (f2 == 0.0F) {
y = 1.0F;
} else if (f1 == 1.0F) {
} else if (f2 == 1.0F) {
if (u1 > 0.0F) {
y = u0;
} else {
@ -59,11 +59,11 @@ static real32_T rt_powf_snf(real32_T u0, real32_T u1)
} else if (u1 == 2.0F) {
y = u0 * u0;
} else if ((u1 == 0.5F) && (u0 >= 0.0F)) {
y = (real32_T)sqrtf(u0);
} else if ((u0 < 0.0F) && (u1 > (real32_T)floorf(u1))) {
y = (real32_T)sqrt(u0);
} else if ((u0 < 0.0F) && (u1 > (real32_T)floor(u1))) {
y = ((real32_T)rtNaN);
} else {
y = (real32_T)powf(u0, u1);
y = (real32_T)pow(u0, u1);
}
}
@ -73,11 +73,11 @@ static real32_T rt_powf_snf(real32_T u0, real32_T u1)
/*
*
*/
void power(const real32_T a[12], real_T b, real32_T y[12])
void power(const real32_T a[12], real32_T y[12])
{
int32_T k;
for (k = 0; k < 12; k++) {
y[k] = rt_powf_snf(a[k], (real32_T)b);
y[k] = rt_powf_snf(a[k], 2.0F);
}
}

6
apps/attitude_estimator_ekf/codegen/power.h Executable file → Normal file
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@ -3,7 +3,7 @@
*
* Code generation for function 'power'
*
* C source code generated on: Mon Oct 01 19:38:49 2012
* C source code generated on: Tue Oct 16 15:27:58 2012
*
*/
@ -11,7 +11,7 @@
#define __POWER_H__
/* Include files */
#include <math.h>
#include <stdio.h>
#include <stddef.h>
#include <stdlib.h>
#include <string.h>
#include "rt_defines.h"
@ -29,6 +29,6 @@
/* Variable Definitions */
/* Function Declarations */
extern void power(const real32_T a[12], real_T b, real32_T y[12]);
extern void power(const real32_T a[12], real32_T y[12]);
#endif
/* End of code generation (power.h) */

38
apps/attitude_estimator_ekf/codegen/rdivide.c Normal file
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@ -0,0 +1,38 @@
/*
* rdivide.c
*
* Code generation for function 'rdivide'
*
* C source code generated on: Tue Oct 16 15:27:58 2012
*
*/
/* Include files */
#include "rt_nonfinite.h"
#include "attitudeKalmanfilter.h"
#include "rdivide.h"
/* Type Definitions */
/* Named Constants */
/* Variable Declarations */
/* Variable Definitions */
/* Function Declarations */
/* Function Definitions */
/*
*
*/
void rdivide(const real32_T x[3], real32_T y, real32_T z[3])
{
int32_T i;
for (i = 0; i < 3; i++) {
z[i] = x[i] / y;
}
}
/* End of code generation (rdivide.c) */

34
apps/attitude_estimator_ekf/codegen/rdivide.h Normal file
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@ -0,0 +1,34 @@
/*
* rdivide.h
*
* Code generation for function 'rdivide'
*
* C source code generated on: Tue Oct 16 15:27:58 2012
*
*/
#ifndef __RDIVIDE_H__
#define __RDIVIDE_H__
/* Include files */
#include <math.h>
#include <stddef.h>
#include <stdlib.h>
#include <string.h>
#include "rt_defines.h"
#include "rt_nonfinite.h"
#include "rtwtypes.h"
#include "attitudeKalmanfilter_types.h"
/* Type Definitions */
/* Named Constants */
/* Variable Declarations */
/* Variable Definitions */
/* Function Declarations */
extern void rdivide(const real32_T x[3], real32_T y, real32_T z[3]);
#endif
/* End of code generation (rdivide.h) */

2
apps/attitude_estimator_ekf/codegen/rtGetInf.c Executable file → Normal file
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@ -3,7 +3,7 @@
*
* Code generation for function 'attitudeKalmanfilter'
*
* C source code generated on: Mon Oct 01 19:38:49 2012
* C source code generated on: Tue Oct 16 15:27:58 2012
*
*/

2
apps/attitude_estimator_ekf/codegen/rtGetInf.h Executable file → Normal file
View File

@ -3,7 +3,7 @@
*
* Code generation for function 'attitudeKalmanfilter'
*
* C source code generated on: Mon Oct 01 19:38:49 2012
* C source code generated on: Tue Oct 16 15:27:58 2012
*
*/

2
apps/attitude_estimator_ekf/codegen/rtGetNaN.c Executable file → Normal file
View File

@ -3,7 +3,7 @@
*
* Code generation for function 'attitudeKalmanfilter'
*
* C source code generated on: Mon Oct 01 19:38:49 2012
* C source code generated on: Tue Oct 16 15:27:58 2012
*
*/

2
apps/attitude_estimator_ekf/codegen/rtGetNaN.h Executable file → Normal file
View File

@ -3,7 +3,7 @@
*
* Code generation for function 'attitudeKalmanfilter'
*
* C source code generated on: Mon Oct 01 19:38:49 2012
* C source code generated on: Tue Oct 16 15:27:58 2012
*
*/

2
apps/attitude_estimator_ekf/codegen/rt_defines.h Executable file → Normal file
View File

@ -3,7 +3,7 @@
*
* Code generation for function 'attitudeKalmanfilter'
*
* C source code generated on: Mon Oct 01 19:38:49 2012
* C source code generated on: Tue Oct 16 15:27:58 2012
*
*/

2
apps/attitude_estimator_ekf/codegen/rt_nonfinite.c Executable file → Normal file
View File

@ -3,7 +3,7 @@
*
* Code generation for function 'attitudeKalmanfilter'
*
* C source code generated on: Mon Oct 01 19:38:49 2012
* C source code generated on: Tue Oct 16 15:27:58 2012
*
*/

2
apps/attitude_estimator_ekf/codegen/rt_nonfinite.h Executable file → Normal file
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@ -3,7 +3,7 @@
*
* Code generation for function 'attitudeKalmanfilter'
*
* C source code generated on: Mon Oct 01 19:38:49 2012
* C source code generated on: Tue Oct 16 15:27:58 2012
*
*/

6
apps/attitude_estimator_ekf/codegen/rtwtypes.h Executable file → Normal file
View File

@ -3,7 +3,7 @@
*
* Code generation for function 'attitudeKalmanfilter'
*
* C source code generated on: Mon Oct 01 19:38:49 2012
* C source code generated on: Tue Oct 16 15:27:58 2012
*
*/
@ -26,8 +26,8 @@
* Number of bits: char: 8 short: 16 int: 32
* long: 32 native word size: 32
* Byte ordering: LittleEndian
* Signed integer division rounds to: Zero
* Shift right on a signed integer as arithmetic shift: on
* Signed integer division rounds to: Undefined
* Shift right on a signed integer as arithmetic shift: off
*=======================================================================*/
/*=======================================================================*

175
apps/commander/calibration_routines.c Normal file
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@ -0,0 +1,175 @@
#include <math.h>
#include "calibration_routines.h"
int sphere_fit_least_squares(const float x[], const float y[], const float z[],
unsigned int size, unsigned int max_iterations, float delta, float *sphere_x, float *sphere_y, float *sphere_z, float *sphere_radius) {
float x_sumplain = 0.0f;
float x_sumsq = 0.0f;
float x_sumcube = 0.0f;
float y_sumplain = 0.0f;
float y_sumsq = 0.0f;
float y_sumcube = 0.0f;
float z_sumplain = 0.0f;
float z_sumsq = 0.0f;
float z_sumcube = 0.0f;
float xy_sum = 0.0f;
float xz_sum = 0.0f;
float yz_sum = 0.0f;
float x2y_sum = 0.0f;
float x2z_sum = 0.0f;
float y2x_sum = 0.0f;
float y2z_sum = 0.0f;
float z2x_sum = 0.0f;
float z2y_sum = 0.0f;
for (unsigned int i = 0; i < size; i++) {
float x2 = x[i] * x[i];
float y2 = y[i] * y[i];
float z2 = z[i] * z[i];
x_sumplain += x[i];
x_sumsq += x2;
x_sumcube += x2 * x[i];
y_sumplain += y[i];
y_sumsq += y2;
y_sumcube += y2 * y[i];
z_sumplain += z[i];
z_sumsq += z2;
z_sumcube += z2 * z[i];
xy_sum += x[i] * y[i];
xz_sum += x[i] * z[i];
yz_sum += y[i] * z[i];
x2y_sum += x2 * y[i];
x2z_sum += x2 * z[i];
y2x_sum += y2 * x[i];
y2z_sum += y2 * z[i];
z2x_sum += z2 * x[i];
z2y_sum += z2 * y[i];
}
//
//Least Squares Fit a sphere A,B,C with radius squared Rsq to 3D data
//
// P is a structure that has been computed with the data earlier.
// P.npoints is the number of elements; the length of X,Y,Z are identical.
// P's members are logically named.
//
// X[n] is the x component of point n
// Y[n] is the y component of point n
// Z[n] is the z component of point n
//
// A is the x coordiante of the sphere
// B is the y coordiante of the sphere
// C is the z coordiante of the sphere
// Rsq is the radius squared of the sphere.
//
//This method should converge; maybe 5-100 iterations or more.
//
float x_sum = x_sumplain / size; //sum( X[n] )
float x_sum2 = x_sumsq / size; //sum( X[n]^2 )
float x_sum3 = x_sumcube / size; //sum( X[n]^3 )
float y_sum = y_sumplain / size; //sum( Y[n] )
float y_sum2 = y_sumsq / size; //sum( Y[n]^2 )
float y_sum3 = y_sumcube / size; //sum( Y[n]^3 )
float z_sum = z_sumplain / size; //sum( Z[n] )
float z_sum2 = z_sumsq / size; //sum( Z[n]^2 )
float z_sum3 = z_sumcube / size; //sum( Z[n]^3 )
float XY = xy_sum / size; //sum( X[n] * Y[n] )
float XZ = xz_sum / size; //sum( X[n] * Z[n] )
float YZ = yz_sum / size; //sum( Y[n] * Z[n] )
float X2Y = x2y_sum / size; //sum( X[n]^2 * Y[n] )
float X2Z = x2z_sum / size; //sum( X[n]^2 * Z[n] )
float Y2X = y2x_sum / size; //sum( Y[n]^2 * X[n] )
float Y2Z = y2z_sum / size; //sum( Y[n]^2 * Z[n] )
float Z2X = z2x_sum / size; //sum( Z[n]^2 * X[n] )
float Z2Y = z2y_sum / size; //sum( Z[n]^2 * Y[n] )
//Reduction of multiplications
float F0 = x_sum2 + y_sum2 + z_sum2;
float F1 = 0.5f * F0;
float F2 = -8.0f * (x_sum3 + Y2X + Z2X);
float F3 = -8.0f * (X2Y + y_sum3 + Z2Y);
float F4 = -8.0f * (X2Z + Y2Z + z_sum3);
//Set initial conditions:
float A = x_sum;
float B = y_sum;
float C = z_sum;
//First iteration computation:
float A2 = A*A;
float B2 = B*B;
float C2 = C*C;
float QS = A2 + B2 + C2;
float QB = -2.0f * (A*x_sum + B*y_sum + C*z_sum);
//Set initial conditions:
float Rsq = F0 + QB + QS;
//First iteration computation:
float Q0 = 0.5f * (QS - Rsq);
float Q1 = F1 + Q0;
float Q2 = 8.0f * ( QS - Rsq + QB + F0 );
float aA,aB,aC,nA,nB,nC,dA,dB,dC;
//Iterate N times, ignore stop condition.
int n = 0;
while( n < max_iterations ){
n++;
//Compute denominator:
aA = Q2 + 16.0f * (A2 - 2.0f * A*x_sum + x_sum2);
aB = Q2 + 16.0f *(B2 - 2.0f * B*y_sum + y_sum2);
aC = Q2 + 16.0f *(C2 - 2.0f * C*z_sum + z_sum2);
aA = (aA == 0.0f) ? 1.0f : aA;
aB = (aB == 0.0f) ? 1.0f : aB;
aC = (aC == 0.0f) ? 1.0f : aC;
//Compute next iteration
nA = A - ((F2 + 16.0f * ( B*XY + C*XZ + x_sum*(-A2 - Q0) + A*(x_sum2 + Q1 - C*z_sum - B*y_sum) ) )/aA);
nB = B - ((F3 + 16.0f * ( A*XY + C*YZ + y_sum*(-B2 - Q0) + B*(y_sum2 + Q1 - A*x_sum - C*z_sum) ) )/aB);
nC = C - ((F4 + 16.0f * ( A*XZ + B*YZ + z_sum*(-C2 - Q0) + C*(z_sum2 + Q1 - A*x_sum - B*y_sum) ) )/aC);
//Check for stop condition
dA = (nA - A);
dB = (nB - B);
dC = (nC - C);
if( (dA*dA + dB*dB + dC*dC) <= delta ){ break; }
//Compute next iteration's values
A = nA;
B = nB;
C = nC;
A2 = A*A;
B2 = B*B;
C2 = C*C;
QS = A2 + B2 + C2;
QB = -2.0f * (A*x_sum + B*y_sum + C*z_sum);
Rsq = F0 + QB + QS;
Q0 = 0.5f * (QS - Rsq);
Q1 = F1 + Q0;
Q2 = 8.0f * ( QS - Rsq + QB + F0 );
}
*sphere_x = A;
*sphere_y = B;
*sphere_z = C;
*sphere_radius = sqrtf(Rsq);
return 0;
}

21
apps/commander/calibration_routines.h Normal file
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@ -0,0 +1,21 @@
/**
* Least-squares fit of a sphere to a set of points.
*
* Fits a sphere to a set of points on the sphere surface.
*
* @param x point coordinates on the X axis
* @param y point coordinates on the Y axis
* @param z point coordinates on the Z axis
* @param size number of points
* @param max_iterations abort if maximum number of iterations have been reached. If unsure, set to 100.
* @param delta abort if error is below delta. If unsure, set to 0 to run max_iterations times.
* @param sphere_x coordinate of the sphere center on the X axis
* @param sphere_y coordinate of the sphere center on the Y axis
* @param sphere_z coordinate of the sphere center on the Z axis
* @param sphere_radius sphere radius
*
* @return 0 on success, 1 on failure
*/
int sphere_fit_least_squares(const float x[], const float y[], const float z[],
unsigned int size, unsigned int max_iterations, float delta, float *sphere_x, float *sphere_y, float *sphere_z, float *sphere_radius);

535
apps/commander/commander.c
View File

@ -57,8 +57,8 @@
#include <string.h>
#include <arch/board/drv_led.h>
#include <arch/board/up_hrt.h>
#include <arch/board/drv_tone_alarm.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_tone_alarm.h>
#include "state_machine_helper.h"
#include "systemlib/systemlib.h"
#include <math.h>
@ -83,6 +83,8 @@
#include <drivers/drv_mag.h>
#include <drivers/drv_baro.h>
#include "calibration_routines.h"
PARAM_DEFINE_INT32(SYS_FAILSAVE_LL, 0); /**< Go into low-level failsafe after 0 ms */
//PARAM_DEFINE_INT32(SYS_FAILSAVE_HL, 0); /**< Go into high-level failsafe after 0 ms */
@ -114,8 +116,8 @@ static bool commander_initialized = false;
static struct vehicle_status_s current_status; /**< Main state machine */
static orb_advert_t stat_pub;
static uint16_t nofix_counter = 0;
static uint16_t gotfix_counter = 0;
// static uint16_t nofix_counter = 0;
// static uint16_t gotfix_counter = 0;
static unsigned int failsafe_lowlevel_timeout_ms;
@ -124,7 +126,6 @@ static bool thread_running = false; /**< Deamon status flag */
static int deamon_task; /**< Handle of deamon task / thread */
/* pthread loops */
static void *command_handling_loop(void *arg);
static void *orb_receive_loop(void *arg);
__EXPORT int commander_main(int argc, char *argv[]);
@ -136,6 +137,7 @@ int commander_thread_main(int argc, char *argv[]);
static int buzzer_init(void);
static void buzzer_deinit(void);
static void tune_confirm();
static int led_init(void);
static void led_deinit(void);
static int led_toggle(int led);
@ -164,7 +166,7 @@ static void usage(const char *reason);
* @param a The array to sort
* @param n The number of entries in the array
*/
static void cal_bsort(float a[], int n);
// static void cal_bsort(float a[], int n);
static int buzzer_init()
{
@ -256,6 +258,10 @@ int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, u
return 0;
}
void tune_confirm() {
ioctl(buzzer, TONE_SET_ALARM, 3);
}
static const char *parameter_file = "/eeprom/parameters";
static int pm_save_eeprom(bool only_unsaved)
@ -289,17 +295,31 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
status->flag_preflight_mag_calibration = true;
state_machine_publish(status_pub, status, mavlink_fd);
int sub_sensor_combined = orb_subscribe(ORB_ID(sensor_combined));
struct sensor_combined_s raw;
int sub_mag = orb_subscribe(ORB_ID(sensor_mag));
struct mag_report mag;
/* 30 seconds */
int calibration_interval_ms = 30 * 1000;
/* 45 seconds */
uint64_t calibration_interval = 45 * 1000 * 1000;
/* maximum 2000 values */
const unsigned int calibration_maxcount = 2000;
unsigned int calibration_counter = 0;
float mag_max[3] = {-FLT_MAX, -FLT_MAX, -FLT_MAX};
float mag_min[3] = {FLT_MAX, FLT_MAX, FLT_MAX};
/* limit update rate to get equally spaced measurements over time (in ms) */
orb_set_interval(sub_mag, (calibration_interval / 1000) / calibration_maxcount);
int fd = open(MAG_DEVICE_PATH, 0);
// XXX old cal
// * FLT_MIN is not the most negative float number,
// * but the smallest number by magnitude float can
// * represent. Use -FLT_MAX to initialize the most
// * negative number
// float mag_max[3] = {-FLT_MAX, -FLT_MAX, -FLT_MAX};
// float mag_min[3] = {FLT_MAX, FLT_MAX, FLT_MAX};
int fd = open(MAG_DEVICE_PATH, O_RDONLY);
/* erase old calibration */
struct mag_scale mscale_null = {
0.0f,
1.0f,
@ -308,42 +328,93 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
0.0f,
1.0f,
};
if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale_null))
if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale_null)) {
warn("WARNING: failed to set scale / offsets for mag");
mavlink_log_info(mavlink_fd, "[commander] failed to set scale / offsets for mag");
}
/* calibrate range */
if (OK != ioctl(fd, MAGIOCCALIBRATE, fd)) {
warnx("failed to calibrate scale");
}
close(fd);
mavlink_log_info(mavlink_fd, "[commander] Please rotate around X");
uint64_t calibration_start = hrt_absolute_time();
while ((hrt_absolute_time() - calibration_start)/1000 < calibration_interval_ms) {
/* calibrate offsets */
// uint64_t calibration_start = hrt_absolute_time();
uint64_t axis_deadline = hrt_absolute_time();
uint64_t calibration_deadline = hrt_absolute_time() + calibration_interval;
const char axislabels[3] = { 'Z', 'X', 'Y'};
int axis_index = -1;
float *x = malloc(sizeof(float) * calibration_maxcount);
float *y = malloc(sizeof(float) * calibration_maxcount);
float *z = malloc(sizeof(float) * calibration_maxcount);
while (hrt_absolute_time() < calibration_deadline &&
calibration_counter < calibration_maxcount) {
/* wait blocking for new data */
struct pollfd fds[1] = { { .fd = sub_sensor_combined, .events = POLLIN } };
struct pollfd fds[1] = { { .fd = sub_mag, .events = POLLIN } };
/* user guidance */
if (hrt_absolute_time() >= axis_deadline &&
axis_index < 3) {
axis_index++;
char buf[50];
sprintf(buf, "[commander] Please rotate around %c", axislabels[axis_index]);
mavlink_log_info(mavlink_fd, buf);
tune_confirm();
axis_deadline += calibration_interval / 3;
}
if (!(axis_index < 3)) {
break;
}
// int axis_left = (int64_t)axis_deadline - (int64_t)hrt_absolute_time();
// if ((axis_left / 1000) == 0 && axis_left > 0) {
// char buf[50];
// sprintf(buf, "[commander] %d seconds left for axis %c", axis_left, axislabels[axis_index]);
// mavlink_log_info(mavlink_fd, buf);
// }
if (poll(fds, 1, 1000)) {
orb_copy(ORB_ID(sensor_combined), sub_sensor_combined, &raw);
orb_copy(ORB_ID(sensor_mag), sub_mag, &mag);
x[calibration_counter] = mag.x;
y[calibration_counter] = mag.y;
z[calibration_counter] = mag.z;
/* get min/max values */
if (raw.magnetometer_ga[0] < mag_min[0]) {
mag_min[0] = raw.magnetometer_ga[0];
}
else if (raw.magnetometer_ga[0] > mag_max[0]) {
mag_max[0] = raw.magnetometer_ga[0];
}
// if (mag.x < mag_min[0]) {
// mag_min[0] = mag.x;
// }
// else if (mag.x > mag_max[0]) {
// mag_max[0] = mag.x;
// }
if (raw.magnetometer_ga[1] < mag_min[1]) {
mag_min[1] = raw.magnetometer_ga[1];
}
else if (raw.magnetometer_ga[1] > mag_max[1]) {
mag_max[1] = raw.magnetometer_ga[1];
}
// if (raw.magnetometer_ga[1] < mag_min[1]) {
// mag_min[1] = raw.magnetometer_ga[1];
// }
// else if (raw.magnetometer_ga[1] > mag_max[1]) {
// mag_max[1] = raw.magnetometer_ga[1];
// }
if (raw.magnetometer_ga[2] < mag_min[2]) {
mag_min[2] = raw.magnetometer_ga[2];
}
else if (raw.magnetometer_ga[2] > mag_max[2]) {
mag_max[2] = raw.magnetometer_ga[2];
}
// if (raw.magnetometer_ga[2] < mag_min[2]) {
// mag_min[2] = raw.magnetometer_ga[2];
// }
// else if (raw.magnetometer_ga[2] > mag_max[2]) {
// mag_max[2] = raw.magnetometer_ga[2];
// }
calibration_counter++;
} else {
@ -353,68 +424,89 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
}
}
mavlink_log_info(mavlink_fd, "[commander] mag calibration done");
float sphere_x;
float sphere_y;
float sphere_z;
float sphere_radius;
sphere_fit_least_squares(x, y, z, calibration_counter, 100, 0.0f, &sphere_x, &sphere_y, &sphere_z, &sphere_radius);
free(x);
free(y);
free(z);
if (isfinite(sphere_x) && isfinite(sphere_y) && isfinite(sphere_z)) {
fd = open(MAG_DEVICE_PATH, 0);
struct mag_scale mscale;
if (OK != ioctl(fd, MAGIOCGSCALE, (long unsigned int)&mscale))
warn("WARNING: failed to get scale / offsets for mag");
mscale.x_offset = sphere_x;
mscale.y_offset = sphere_y;
mscale.z_offset = sphere_z;
if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale))
warn("WARNING: failed to set scale / offsets for mag");
close(fd);
/* announce and set new offset */
if (param_set(param_find("SENS_MAG_XOFF"), &(mscale.x_offset))) {
fprintf(stderr, "[commander] Setting X mag offset failed!\n");
}
if (param_set(param_find("SENS_MAG_YOFF"), &(mscale.y_offset))) {
fprintf(stderr, "[commander] Setting Y mag offset failed!\n");
}
if (param_set(param_find("SENS_MAG_ZOFF"), &(mscale.z_offset))) {
fprintf(stderr, "[commander] Setting Z mag offset failed!\n");
}
if (param_set(param_find("SENS_MAG_XSCALE"), &(mscale.x_scale))) {
fprintf(stderr, "[commander] Setting X mag scale failed!\n");
}
if (param_set(param_find("SENS_MAG_YSCALE"), &(mscale.y_scale))) {
fprintf(stderr, "[commander] Setting Y mag scale failed!\n");
}
if (param_set(param_find("SENS_MAG_ZSCALE"), &(mscale.z_scale))) {
fprintf(stderr, "[commander] Setting Z mag scale failed!\n");
}
/* auto-save to EEPROM */
int save_ret = pm_save_eeprom(false);
if(save_ret != 0) {
warn("WARNING: auto-save of params to EEPROM failed");
}
printf("[mag cal]\tscale: %.6f %.6f %.6f\n \toffset: %.6f %.6f %.6f\nradius: %.6f GA\n",
(double)mscale.x_scale, (double)mscale.y_scale, (double)mscale.z_scale,
(double)mscale.x_offset, (double)mscale.y_offset, (double)mscale.z_offset, (double)sphere_radius);
char buf[52];
sprintf(buf, "mag off: x:%.2f y:%.2f z:%.2f Ga", (double)mscale.x_offset,
(double)mscale.y_offset, (double)mscale.z_offset);
mavlink_log_info(mavlink_fd, buf);
sprintf(buf, "mag scale: x:%.2f y:%.2f z:%.2f", (double)mscale.x_scale,
(double)mscale.y_scale, (double)mscale.z_scale);
mavlink_log_info(mavlink_fd, buf);
mavlink_log_info(mavlink_fd, "[commander] mag calibration done");
} else {
mavlink_log_info(mavlink_fd, "[commander] mag calibration FAILED (NaN)");
}
/* disable calibration mode */
status->flag_preflight_mag_calibration = false;
state_machine_publish(status_pub, status, mavlink_fd);
float mag_offset[3];
/**
* The offset is subtracted from the sensor values, so the result is the
* POSITIVE number that has to be subtracted from the sensor data
* to shift the center to zero
*
* offset = max - ((max - min) / 2.0f)
*
* which reduces to
*
* offset = (max + min) / 2.0f
*/
mag_offset[0] = (mag_max[0] + mag_min[0]) / 2.0f;
mag_offset[1] = (mag_max[1] + mag_min[1]) / 2.0f;
mag_offset[2] = (mag_max[2] + mag_min[2]) / 2.0f;
printf("mag off x: %4.4f, y: %4.4f, z: %4.4f\n",(double)mag_offset[0],(double)mag_offset[0],(double)mag_offset[2]);
/* announce and set new offset */
if (param_set(param_find("SENS_MAG_XOFF"), &(mag_offset[0]))) {
fprintf(stderr, "[commander] Setting X mag offset failed!\n");
}
if (param_set(param_find("SENS_MAG_YOFF"), &(mag_offset[1]))) {
fprintf(stderr, "[commander] Setting Y mag offset failed!\n");
}
if (param_set(param_find("SENS_MAG_ZOFF"), &(mag_offset[2]))) {
fprintf(stderr, "[commander] Setting Z mag offset failed!\n");
}
fd = open(MAG_DEVICE_PATH, 0);
struct mag_scale mscale = {
mag_offset[0],
1.0f,
mag_offset[1],
1.0f,
mag_offset[2],
1.0f,
};
if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale))
warn("WARNING: failed to set scale / offsets for mag");
close(fd);
/* auto-save to EEPROM */
int save_ret = pm_save_eeprom(false);
if(save_ret != 0) {
warn("WARNING: auto-save of params to EEPROM failed");
}
mavlink_log_info(mavlink_fd, "[commander] magnetometer calibration finished");
close(sub_sensor_combined);
close(sub_mag);
}
void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
@ -467,45 +559,51 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
gyro_offset[1] = gyro_offset[1] / calibration_count;
gyro_offset[2] = gyro_offset[2] / calibration_count;
if (param_set(param_find("SENS_GYRO_XOFF"), &(gyro_offset[0]))) {
mavlink_log_critical(mavlink_fd, "[commander] Setting X gyro offset failed!");
}
if (param_set(param_find("SENS_GYRO_YOFF"), &(gyro_offset[1]))) {
mavlink_log_critical(mavlink_fd, "[commander] Setting Y gyro offset failed!");
}
if (param_set(param_find("SENS_GYRO_ZOFF"), &(gyro_offset[2]))) {
mavlink_log_critical(mavlink_fd, "[commander] Setting Z gyro offset failed!");
}
/* set offsets to actual value */
fd = open(GYRO_DEVICE_PATH, 0);
struct gyro_scale gscale = {
gyro_offset[0],
1.0f,
gyro_offset[1],
1.0f,
gyro_offset[2],
1.0f,
};
if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale))
warn("WARNING: failed to set scale / offsets for gyro");
close(fd);
/* auto-save to EEPROM */
int save_ret = pm_save_eeprom(false);
if(save_ret != 0) {
warn("WARNING: auto-save of params to EEPROM failed");
}
/* exit to gyro calibration mode */
/* exit gyro calibration mode */
status->flag_preflight_gyro_calibration = false;
state_machine_publish(status_pub, status, mavlink_fd);
mavlink_log_info(mavlink_fd, "[commander] gyro calibration finished");
if (isfinite(gyro_offset[0]) && isfinite(gyro_offset[1]) && isfinite(gyro_offset[2])) {
printf("[commander] gyro cal: x:%8.4f y:%8.4f z:%8.4f\n", (double)gyro_offset[0], (double)gyro_offset[1], (double)gyro_offset[2]);
if (param_set(param_find("SENS_GYRO_XOFF"), &(gyro_offset[0]))) {
mavlink_log_critical(mavlink_fd, "[commander] Setting X gyro offset failed!");
}
if (param_set(param_find("SENS_GYRO_YOFF"), &(gyro_offset[1]))) {
mavlink_log_critical(mavlink_fd, "[commander] Setting Y gyro offset failed!");
}
if (param_set(param_find("SENS_GYRO_ZOFF"), &(gyro_offset[2]))) {
mavlink_log_critical(mavlink_fd, "[commander] Setting Z gyro offset failed!");
}
/* set offsets to actual value */
fd = open(GYRO_DEVICE_PATH, 0);
struct gyro_scale gscale = {
gyro_offset[0],
1.0f,
gyro_offset[1],
1.0f,
gyro_offset[2],
1.0f,
};
if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale))
warn("WARNING: failed to set scale / offsets for gyro");
close(fd);
/* auto-save to EEPROM */
int save_ret = pm_save_eeprom(false);
if(save_ret != 0) {
warn("WARNING: auto-save of params to EEPROM failed");
}
// char buf[50];
// sprintf(buf, "cal: x:%8.4f y:%8.4f z:%8.4f", (double)gyro_offset[0], (double)gyro_offset[1], (double)gyro_offset[2]);
// mavlink_log_info(mavlink_fd, buf);
mavlink_log_info(mavlink_fd, "[commander] gyro calibration done");
} else {
mavlink_log_info(mavlink_fd, "[commander] gyro calibration FAILED (NaN)");
}
close(sub_sensor_combined);
}
@ -519,7 +617,7 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status)
status->flag_preflight_accel_calibration = true;
state_machine_publish(status_pub, status, mavlink_fd);
const int calibration_count = 5000;
const int calibration_count = 2500;
int sub_sensor_combined = orb_subscribe(ORB_ID(sensor_combined));
struct sensor_combined_s raw;
@ -560,61 +658,71 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status)
accel_offset[1] = accel_offset[1] / calibration_count;
accel_offset[2] = accel_offset[2] / calibration_count;
/* add the removed length from x / y to z, since we induce a scaling issue else */
float total_len = sqrtf(accel_offset[0]*accel_offset[0] + accel_offset[1]*accel_offset[1] + accel_offset[2]*accel_offset[2]);
if (isfinite(accel_offset[0]) && isfinite(accel_offset[1]) && isfinite(accel_offset[2])) {
/* add the removed length from x / y to z, since we induce a scaling issue else */
float total_len = sqrtf(accel_offset[0]*accel_offset[0] + accel_offset[1]*accel_offset[1] + accel_offset[2]*accel_offset[2]);
/* if length is correct, zero results here */
accel_offset[2] = accel_offset[2] + total_len;
/* if length is correct, zero results here */
accel_offset[2] = accel_offset[2] + total_len;
float scale = 9.80665f / total_len;
float scale = 9.80665f / total_len;
if (param_set(param_find("SENS_ACC_XOFF"), &(accel_offset[0]))) {
mavlink_log_critical(mavlink_fd, "[commander] Setting X accel offset failed!");
}
if (param_set(param_find("SENS_ACC_YOFF"), &(accel_offset[1]))) {
mavlink_log_critical(mavlink_fd, "[commander] Setting Y accel offset failed!");
if (param_set(param_find("SENS_ACC_XOFF"), &(accel_offset[0]))) {
mavlink_log_critical(mavlink_fd, "[commander] Setting X accel offset failed!");
}
if (param_set(param_find("SENS_ACC_YOFF"), &(accel_offset[1]))) {
mavlink_log_critical(mavlink_fd, "[commander] Setting Y accel offset failed!");
}
if (param_set(param_find("SENS_ACC_ZOFF"), &(accel_offset[2]))) {
mavlink_log_critical(mavlink_fd, "[commander] Setting Z accel offset failed!");
}
if (param_set(param_find("SENS_ACC_XSCALE"), &(scale))) {
mavlink_log_critical(mavlink_fd, "[commander] Setting X accel offset failed!");
}
if (param_set(param_find("SENS_ACC_YSCALE"), &(scale))) {
mavlink_log_critical(mavlink_fd, "[commander] Setting Y accel offset failed!");
}
if (param_set(param_find("SENS_ACC_ZSCALE"), &(scale))) {
mavlink_log_critical(mavlink_fd, "[commander] Setting Z accel offset failed!");
}
fd = open(ACCEL_DEVICE_PATH, 0);
struct accel_scale ascale = {
accel_offset[0],
scale,
accel_offset[1],
scale,
accel_offset[2],
scale,
};
if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale))
warn("WARNING: failed to set scale / offsets for accel");
close(fd);
/* auto-save to EEPROM */
int save_ret = pm_save_eeprom(false);
if(save_ret != 0) {
warn("WARNING: auto-save of params to EEPROM failed");
}
//char buf[50];
//sprintf(buf, "[commander] accel cal: x:%8.4f y:%8.4f z:%8.4f\n", (double)accel_offset[0], (double)accel_offset[1], (double)accel_offset[2]);
//mavlink_log_info(mavlink_fd, buf);
mavlink_log_info(mavlink_fd, "[commander] accel calibration done");
} else {
mavlink_log_info(mavlink_fd, "[commander] accel calibration FAILED (NaN)");
}
if (param_set(param_find("SENS_ACC_ZOFF"), &(accel_offset[2]))) {
mavlink_log_critical(mavlink_fd, "[commander] Setting Z accel offset failed!");
}
if (param_set(param_find("SENS_ACC_XSCALE"), &(scale))) {
mavlink_log_critical(mavlink_fd, "[commander] Setting X accel offset failed!");
}
if (param_set(param_find("SENS_ACC_YSCALE"), &(scale))) {
mavlink_log_critical(mavlink_fd, "[commander] Setting Y accel offset failed!");
}
if (param_set(param_find("SENS_ACC_ZSCALE"), &(scale))) {
mavlink_log_critical(mavlink_fd, "[commander] Setting Z accel offset failed!");
}
fd = open(ACCEL_DEVICE_PATH, 0);
struct accel_scale ascale = {
accel_offset[0],
scale,
accel_offset[1],
scale,
accel_offset[2],
scale,
};
if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale))
warn("WARNING: failed to set scale / offsets for accel");
close(fd);
/* auto-save to EEPROM */
int save_ret = pm_save_eeprom(false);
if(save_ret != 0) {
warn("WARNING: auto-save of params to EEPROM failed");
}
/* exit to gyro calibration mode */
/* exit accel calibration mode */
status->flag_preflight_accel_calibration = false;
state_machine_publish(status_pub, status, mavlink_fd);
mavlink_log_info(mavlink_fd, "[commander] acceleration calibration finished");
printf("[commander] accel calibration: x:%8.4f y:%8.4f z:%8.4f\n", (double)accel_offset[0],(double)accel_offset[1], (double)accel_offset[2]);
close(sub_sensor_combined);
}
@ -625,6 +733,9 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
/* result of the command */
uint8_t result = MAV_RESULT_UNSUPPORTED;
/* announce command handling */
ioctl(buzzer, TONE_SET_ALARM, 1);
/* supported command handling start */
@ -732,8 +843,10 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) {
mavlink_log_info(mavlink_fd, "[commander] CMD starting gyro calibration");
tune_confirm();
do_gyro_calibration(status_pub, &current_status);
mavlink_log_info(mavlink_fd, "[commander] CMD finished gyro calibration");
tune_confirm();
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
result = MAV_RESULT_ACCEPTED;
} else {
@ -750,8 +863,10 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) {
mavlink_log_info(mavlink_fd, "[commander] CMD starting mag calibration");
tune_confirm();
do_mag_calibration(status_pub, &current_status);
mavlink_log_info(mavlink_fd, "[commander] CMD finished mag calibration");
tune_confirm();
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
result = MAV_RESULT_ACCEPTED;
} else {
@ -768,7 +883,9 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) {
mavlink_log_info(mavlink_fd, "[commander] CMD starting accel calibration");
tune_confirm();
do_accel_calibration(status_pub, &current_status);
tune_confirm();
mavlink_log_info(mavlink_fd, "[commander] CMD finished accel calibration");
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
result = MAV_RESULT_ACCEPTED;
@ -798,6 +915,9 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
default: {
mavlink_log_critical(mavlink_fd, "[commander] refusing unsupported command");
result = MAV_RESULT_UNSUPPORTED;
usleep(200000);
/* announce command rejection */
ioctl(buzzer, TONE_SET_ALARM, 4);
}
break;
}
@ -813,37 +933,6 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
}
/**
* Handle commands sent by the ground control station via MAVLink.
*/
static void *command_handling_loop(void *arg)
{
/* Set thread name */
prctl(PR_SET_NAME, "commander cmd handler", getpid());
/* Subscribe to command topic */
int cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
struct vehicle_command_s cmd;
while (!thread_should_exit) {
struct pollfd fds[1] = { { .fd = cmd_sub, .events = POLLIN } };
if (poll(fds, 1, 5000) == 0) {
/* timeout, but this is no problem, silently ignore */
} else {
/* got command */
orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd);
/* handle it */
handle_command(stat_pub, &current_status, &cmd);
}
}
close(cmd_sub);
return NULL;
}
static void *orb_receive_loop(void *arg) //handles status information coming from subsystems (present, enabled, health), these values do not indicate the quality (variance) of the signal
{
/* Set thread name */
@ -954,7 +1043,7 @@ int commander_main(int argc, char *argv[])
deamon_task = task_spawn("commander",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 50,
4096,
8000,
commander_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
thread_running = true;
@ -992,7 +1081,7 @@ int commander_thread_main(int argc, char *argv[])
printf("[commander] I am in command now!\n");
/* pthreads for command and subsystem info handling */
pthread_t command_handling_thread;
// pthread_t command_handling_thread;
pthread_t subsystem_info_thread;
/* initialize */
@ -1034,11 +1123,6 @@ int commander_thread_main(int argc, char *argv[])
mavlink_log_info(mavlink_fd, "[commander] system is running");
/* create pthreads */
pthread_attr_t command_handling_attr;
pthread_attr_init(&command_handling_attr);
pthread_attr_setstacksize(&command_handling_attr, 6000);
pthread_create(&command_handling_thread, &command_handling_attr, command_handling_loop, NULL);
pthread_attr_t subsystem_info_attr;
pthread_attr_init(&subsystem_info_attr);
pthread_attr_setstacksize(&subsystem_info_attr, 2048);
@ -1083,6 +1167,11 @@ int commander_thread_main(int argc, char *argv[])
struct sensor_combined_s sensors;
memset(&sensors, 0, sizeof(sensors));
/* Subscribe to command topic */
int cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
struct vehicle_command_s cmd;
memset(&cmd, 0, sizeof(cmd));
// uint8_t vehicle_state_previous = current_status.state_machine;
float voltage_previous = 0.0f;
@ -1112,6 +1201,15 @@ int commander_thread_main(int argc, char *argv[])
orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps);
orb_copy(ORB_ID(sensor_combined), sensor_sub, &sensors);
orb_check(cmd_sub, &new_data);
if (new_data) {
/* got command */
orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd);
/* handle it */
handle_command(stat_pub, &current_status, &cmd);
}
battery_voltage = sensors.battery_voltage_v;
battery_voltage_valid = sensors.battery_voltage_valid;
@ -1180,7 +1278,7 @@ int commander_thread_main(int argc, char *argv[])
} else if (bat_remain < 0.2f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 2) == 0)) {
/* For less than 20%, start be slightly annoying at 1 Hz */
ioctl(buzzer, TONE_SET_ALARM, 0);
ioctl(buzzer, TONE_SET_ALARM, 2);
tune_confirm();
} else if (bat_remain < 0.2f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 2) == 2)) {
ioctl(buzzer, TONE_SET_ALARM, 0);
@ -1470,7 +1568,7 @@ int commander_thread_main(int argc, char *argv[])
}
/* wait for threads to complete */
pthread_join(command_handling_thread, NULL);
// pthread_join(command_handling_thread, NULL);
pthread_join(subsystem_info_thread, NULL);
/* close fds */
@ -1480,6 +1578,7 @@ int commander_thread_main(int argc, char *argv[])
close(sp_offboard_sub);
close(gps_sub);
close(sensor_sub);
close(cmd_sub);
printf("[commander] exiting..\n");
fflush(stdout);

6
apps/commander/state_machine_helper.c
View File

@ -504,7 +504,7 @@ void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *c
current_status->flag_control_manual_enabled = true;
/* enable attitude control per default */
current_status->flag_control_attitude_enabled = true;
current_status->flag_control_rates_enabled = false; // XXX
current_status->flag_control_rates_enabled = true;
if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_STABILIZED || current_status->state_machine == SYSTEM_STATE_AUTO) {
@ -519,7 +519,7 @@ void update_state_machine_mode_stabilized(int status_pub, struct vehicle_status_
current_status->flight_mode = VEHICLE_FLIGHT_MODE_STABILIZED;
current_status->flag_control_manual_enabled = true;
current_status->flag_control_attitude_enabled = true;
current_status->flag_control_rates_enabled = false; // XXX
current_status->flag_control_rates_enabled = true;
if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_AUTO) {
@ -534,7 +534,7 @@ void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *cur
current_status->flight_mode = VEHICLE_FLIGHT_MODE_AUTO;
current_status->flag_control_manual_enabled = true;
current_status->flag_control_attitude_enabled = true;
current_status->flag_control_rates_enabled = false; // XXX
current_status->flag_control_rates_enabled = true;
if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_STABILIZED) {

8
apps/drivers/drv_mag.h
View File

@ -99,7 +99,13 @@ ORB_DECLARE(sensor_mag);
/** copy the mag scaling constants to the structure pointed to by (arg) */
#define MAGIOCGSCALE _MAGIOC(3)
/** set the measurement range to handle (at least) arg Gauss */
#define MAGIOCSRANGE _MAGIOC(4)
/** perform self-calibration, update scale factors to canonical units */
#define MAGIOCCALIBRATE _MAGIOC(4)
#define MAGIOCCALIBRATE _MAGIOC(5)
/** excite strap */
#define MAGIOCEXSTRAP _MAGIOC(6)
#endif /* _DRV_MAG_H */

4
nuttx/configs/px4fmu/include/drv_tone_alarm.h → apps/drivers/drv_tone_alarm.h
View File

@ -63,8 +63,6 @@
#define _TONE_ALARM_BASE 0x7400
#define TONE_SET_ALARM _IOC(_TONE_ALARM_BASE, 1)
extern int tone_alarm_init(void);
/* structure describing one note in a tone pattern */
struct tone_note {
uint8_t pitch;
@ -127,4 +125,4 @@ enum tone_pitch {
TONE_NOTE_MAX
};
#endif /* DRV_TONE_ALARM_H_ */
#endif /* DRV_TONE_ALARM_H_ */

2
apps/drivers/hmc5883/Makefile
View File

@ -37,6 +37,6 @@
APPNAME = hmc5883
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 2048
STACKSIZE = 4096
include $(APPDIR)/mk/app.mk

370
apps/drivers/hmc5883/hmc5883.cpp
View File

@ -175,6 +175,36 @@ private:
*/
void stop();
/**
* Perform the on-sensor scale calibration routine.
*
* @note The sensor will continue to provide measurements, these
* will however reflect the uncalibrated sensor state until
* the calibration routine has been completed.
*
* @param enable set to 1 to enable self-test strap, 0 to disable
*/
int calibrate(struct file *filp, unsigned enable);
/**
* Perform the on-sensor scale calibration routine.
*
* @note The sensor will continue to provide measurements, these
* will however reflect the uncalibrated sensor state until
* the calibration routine has been completed.
*
* @param enable set to 1 to enable self-test positive strap, -1 to enable
* negative strap, 0 to set to normal mode
*/
int set_excitement(unsigned enable);
/**
* Set the sensor range.
*
* Sets the internal range to handle at least the argument in Gauss.
*/
int set_range(unsigned range);
/**
* Perform a poll cycle; collect from the previous measurement
* and start a new one.
@ -254,9 +284,9 @@ HMC5883::HMC5883(int bus) :
_next_report(0),
_oldest_report(0),
_reports(nullptr),
_range_scale(0), /* default range scale from counts to gauss */
_range_ga(1.3f),
_mag_topic(-1),
_range_scale(1.0f / 1090.0f), /* default range scale from counts to gauss */
_range_ga(0.88f),
_sample_perf(perf_alloc(PC_ELAPSED, "hmc5883_read")),
_comms_errors(perf_alloc(PC_COUNT, "hmc5883_comms_errors")),
_buffer_overflows(perf_alloc(PC_COUNT, "hmc5883_buffer_overflows"))
@ -308,11 +338,71 @@ HMC5883::init()
if (_mag_topic < 0)
debug("failed to create sensor_mag object");
/* set range */
set_range(_range_ga);
ret = OK;
out:
return ret;
}
int HMC5883::set_range(unsigned range)
{
uint8_t range_bits;
if (range < 1) {
range_bits = 0x00;
_range_scale = 1.0f / 1370.0f;
_range_ga = 0.88f;
} else if (range <= 1) {
range_bits = 0x01;
_range_scale = 1.0f / 1090.0f;
_range_ga = 1.3f;
} else if (range <= 2) {
range_bits = 0x02;
_range_scale = 1.0f / 820.0f;
_range_ga = 1.9f;
} else if (range <= 3) {
range_bits = 0x03;
_range_scale = 1.0f / 660.0f;
_range_ga = 2.5f;
} else if (range <= 4) {
range_bits = 0x04;
_range_scale = 1.0f / 440.0f;
_range_ga = 4.0f;
} else if (range <= 4.7f) {
range_bits = 0x05;
_range_scale = 1.0f / 390.0f;
_range_ga = 4.7f;
} else if (range <= 5.6f) {
range_bits = 0x06;
_range_scale = 1.0f / 330.0f;
_range_ga = 5.6f;
} else {
range_bits = 0x07;
_range_scale = 1.0f / 230.0f;
_range_ga = 8.1f;
}
int ret;
/*
* Send the command to set the range
*/
ret = write_reg(ADDR_CONF_B, (range_bits << 5));
if (OK != ret)
perf_count(_comms_errors);
uint8_t range_bits_in;
ret = read_reg(ADDR_CONF_B, range_bits_in);
if (OK != ret)
perf_count(_comms_errors);
return !(range_bits_in == (range_bits << 5));
}
int
HMC5883::probe()
{
@ -495,6 +585,9 @@ HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg)
/* not supported, always 1 sample per poll */
return -EINVAL;
case MAGIOCSRANGE:
return set_range(arg);
case MAGIOCSLOWPASS:
/* not supported, no internal filtering */
return -EINVAL;
@ -510,8 +603,10 @@ HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg)
return 0;
case MAGIOCCALIBRATE:
/* XXX perform auto-calibration */
return -EINVAL;
return calibrate(filp, arg);
case MAGIOCEXSTRAP:
return set_excitement(arg);
default:
/* give it to the superclass */
@ -718,6 +813,194 @@ out:
return ret;
}
int HMC5883::calibrate(struct file *filp, unsigned enable)
{
struct mag_report report;
ssize_t sz;
int ret = 1;
// XXX do something smarter here
int fd = (int)enable;
struct mag_scale mscale_previous = {
0.0f,
1.0f,
0.0f,
1.0f,
0.0f,
1.0f,
};
struct mag_scale mscale_null = {
0.0f,
1.0f,
0.0f,
1.0f,
0.0f,
1.0f,
};
float avg_excited[3] = {0.0f, 0.0f, 0.0f};
unsigned i;
warnx("starting mag scale calibration");
/* do a simple demand read */
sz = read(filp, (char*)&report, sizeof(report));
if (sz != sizeof(report)) {
warn("immediate read failed");
ret = 1;
goto out;
}
warnx("current measurement: %.6f %.6f %.6f", (double)report.x, (double)report.y, (double)report.z);
warnx("time: %lld", report.timestamp);
warnx("sampling 500 samples for scaling offset");
/* set the queue depth to 10 */
if (OK != ioctl(filp, SENSORIOCSQUEUEDEPTH, 10)) {
warn("failed to set queue depth");
ret = 1;
goto out;
}
/* start the sensor polling at 50 Hz */
if (OK != ioctl(filp, SENSORIOCSPOLLRATE, 50)) {
warn("failed to set 2Hz poll rate");
ret = 1;
goto out;
}
/* Set to 2.5 Gauss */
if (OK != ioctl(filp, MAGIOCSRANGE, 2)) {
warnx("failed to set 2.5 Ga range");
ret = 1;
goto out;
}
if (OK != ioctl(filp, MAGIOCEXSTRAP, 1)) {
warnx("failed to enable sensor calibration mode");
ret = 1;
goto out;
}
if (OK != ioctl(filp, MAGIOCGSCALE, (long unsigned int)&mscale_previous)) {
warn("WARNING: failed to get scale / offsets for mag");
ret = 1;
goto out;
}
if (OK != ioctl(filp, MAGIOCSSCALE, (long unsigned int)&mscale_null)) {
warn("WARNING: failed to set null scale / offsets for mag");
ret = 1;
goto out;
}
/* read the sensor 10x and report each value */
for (i = 0; i < 500; i++) {
struct pollfd fds;
/* wait for data to be ready */
fds.fd = fd;
fds.events = POLLIN;
ret = ::poll(&fds, 1, 2000);
if (ret != 1) {
warn("timed out waiting for sensor data");
goto out;
}
/* now go get it */
sz = ::read(fd, &report, sizeof(report));
if (sz != sizeof(report)) {
warn("periodic read failed");
goto out;
} else {
avg_excited[0] += report.x;
avg_excited[1] += report.y;
avg_excited[2] += report.z;
}
//warnx("periodic read %u", i);
//warnx("measurement: %.6f %.6f %.6f", (double)report.x, (double)report.y, (double)report.z);
}
avg_excited[0] /= i;
avg_excited[1] /= i;
avg_excited[2] /= i;
warnx("done. Performed %u reads", i);
warnx("measurement avg: %.6f %.6f %.6f", (double)avg_excited[0], (double)avg_excited[1], (double)avg_excited[2]);
float scaling[3];
/* calculate axis scaling */
scaling[0] = fabsf(1.16f / avg_excited[0]);
/* second axis inverted */
scaling[1] = fabsf(1.16f / -avg_excited[1]);
scaling[2] = fabsf(1.08f / avg_excited[2]);
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 (ret == OK) {
warnx("mag scale calibration successfully finished.");
} else {
warnx("mag scale calibration failed.");
}
return ret;
}
int HMC5883::set_excitement(unsigned enable)
{
int ret;
/* arm the excitement strap */
uint8_t conf_reg;
ret = read_reg(ADDR_CONF_A, conf_reg);
if (OK != ret)
perf_count(_comms_errors);
if (((int)enable) < 0) {
conf_reg |= 0x01;
} else if (enable > 0) {
conf_reg |= 0x02;
} else {
conf_reg &= ~0x03;
}
ret = write_reg(ADDR_CONF_A, conf_reg);
if (OK != ret)
perf_count(_comms_errors);
uint8_t conf_reg_ret;
read_reg(ADDR_CONF_A, conf_reg_ret);
return !(conf_reg == conf_reg_ret);
}
int
HMC5883::write_reg(uint8_t reg, uint8_t val)
{
@ -775,6 +1058,7 @@ void start();
void test();
void reset();
void info();
int calibrate();
/**
* Start the driver.
@ -872,6 +1156,69 @@ test()
errx(0, "PASS");
}
/**
* Automatic scale calibration.
*
* Basic idea:
*
* output = (ext field +- 1.1 Ga self-test) * scale factor
*
* and consequently:
*
* 1.1 Ga = (excited - normal) * scale factor
* scale factor = (excited - normal) / 1.1 Ga
*
* sxy = (excited - normal) / 766 | for conf reg. B set to 0x60 / Gain = 3
* sz = (excited - normal) / 713 | for conf reg. B set to 0x60 / Gain = 3
*
* By subtracting the non-excited measurement the pure 1.1 Ga reading
* can be extracted and the sensitivity of all axes can be matched.
*
* SELF TEST OPERATION
* To check the HMC5883L for proper operation, a self test feature in incorporated
* in which the sensor offset straps are excited to create a nominal field strength
* (bias field) to be measured. To implement self test, the least significant bits
* (MS1 and MS0) of configuration register A are changed from 00 to 01 (positive bias)
* or 10 (negetive bias), e.g. 0x11 or 0x12.
* Then, by placing the mode register into single-measurement mode (0x01),
* two data acquisition cycles will be made on each magnetic vector.
* The first acquisition will be a set pulse followed shortly by measurement
* data of the external field. The second acquisition will have the offset strap
* excited (about 10 mA) in the positive bias mode for X, Y, and Z axes to create
* about a ±1.1 gauss self test field plus the external field. The first acquisition
* values will be subtracted from the second acquisition, and the net measurement
* will be placed into the data output registers.
* Since self test adds ~1.1 Gauss additional field to the existing field strength,
* using a reduced gain setting prevents sensor from being saturated and data registers
* overflowed. For example, if the configuration register B is set to 0x60 (Gain=3),
* values around +766 LSB (1.16 Ga * 660 LSB/Ga) will be placed in the X and Y data
* output registers and around +713 (1.08 Ga * 660 LSB/Ga) will be placed in Z data
* output register. To leave the self test mode, change MS1 and MS0 bit of the
* configuration register A back to 00 (Normal Measurement Mode), e.g. 0x10.
* Using the self test method described above, the user can scale sensor
*/
int calibrate()
{
int ret;
int fd = open(MAG_DEVICE_PATH, O_RDONLY);
if (fd < 0)
err(1, "%s open failed (try 'hmc5883 start' if the driver is not running", MAG_DEVICE_PATH);
if (OK != (ret = ioctl(fd, MAGIOCCALIBRATE, fd))) {
warnx("failed to enable sensor calibration mode");
}
close(fd);
if (ret == OK) {
errx(0, "PASS");
} else {
errx(1, "FAIL");
}
}
/**
* Reset the driver.
*/
@ -930,8 +1277,19 @@ hmc5883_main(int argc, char *argv[])
/*
* Print driver information.
*/
if (!strcmp(argv[1], "info"))
if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status"))
hmc5883::info();
errx(1, "unrecognised command, try 'start', 'test', 'reset' or 'info'");
/*
* Autocalibrate the scaling
*/
if (!strcmp(argv[1], "calibrate")) {
if (hmc5883::calibrate() == 0) {
errx(0, "calibration successful");
} else {
errx(1, "calibration failed");
}
}
errx(1, "unrecognized command, try 'start', 'test', 'reset' 'calibrate' or 'info'");
}

2
apps/drivers/l3gd20/l3gd20.cpp
View File

@ -864,5 +864,5 @@ l3gd20_main(int argc, char *argv[])
if (!strcmp(argv[1], "info"))
l3gd20::info();
errx(1, "unrecognised command, try 'start', 'test', 'reset' or 'info'");
errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
}

43
apps/drivers/stm32/tone_alarm/Makefile Normal file
View File

@ -0,0 +1,43 @@
############################################################################
#
# Copyright (C) 2012 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
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
#
# Tone alarm driver
#
APPNAME = tone_alarm
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 2048
INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
include $(APPDIR)/mk/app.mk

365
nuttx/configs/px4fmu/src/drv_tone_alarm.c → apps/drivers/stm32/tone_alarm/tone_alarm.cpp
View File

@ -31,46 +31,61 @@
*
****************************************************************************/
/*
* Speaker driver supporting alarm sequences.
/**
* Driver for the PX4 audio alarm port, /dev/tone_alarm.
*
* Works with any of the 'generic' STM32 timers that has an output
* pin, does not require an interrupt.
* The tone_alarm driver supports a set of predefined "alarm"
* patterns and one user-supplied pattern. Patterns are ordered by
* priority, with a higher-priority pattern interrupting any
* lower-priority pattern that might be playing.
*
* Depends on the HRT timer.
* The TONE_SET_ALARM ioctl can be used to select a predefined
* alarm pattern, from 1 - <TBD>. Selecting pattern zero silences
* the alarm.
*
* To supply a custom pattern, write an array of 1 - <TBD> tone_note
* structures to /dev/tone_alarm. The custom pattern has a priority
* of zero.
*
* Patterns will normally play once and then silence (if a pattern
* was overridden it will not resume). A pattern may be made to
* repeat by inserting a note with the duration set to
* DURATION_REPEAT. This pattern will loop until either a
* higher-priority pattern is started or pattern zero is requested
* via the ioctl.
*/
#include <nuttx/config.h>
#include <nuttx/arch.h>
#include <nuttx/irq.h>
#include <drivers/device/device.h>
#include <drivers/drv_tone_alarm.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <assert.h>
#include <debug.h>
#include <time.h>
#include <queue.h>
#include <errno.h>
#include <stdlib.h>
#include <string.h>
#include <fcntl.h>
#include <errno.h>
#include <stdio.h>
#include <unistd.h>
#include <arch/board/board.h>
#include <arch/board/drv_tone_alarm.h>
#include <arch/board/up_hrt.h>
#include "chip.h"
#include "up_internal.h"
#include "up_arch.h"
#include <arch/stm32/chip.h>
#include <up_internal.h>
#include <up_arch.h>
#include "stm32_internal.h"
#include "stm32_gpio.h"
#include "stm32_tim.h"
#include <stm32_internal.h>
#include <stm32_gpio.h>
#include <stm32_tim.h>
#ifdef CONFIG_TONE_ALARM
# ifndef CONFIG_HRT_TIMER
# error CONFIG_TONE_ALARM requires CONFIG_HRT_TIMER
# endif
#include <systemlib/err.h>
#ifndef CONFIG_HRT_TIMER
# error CONFIG_TONE_ALARM requires CONFIG_HRT_TIMER
#endif
/* Tone alarm configuration */
#if TONE_ALARM_TIMER == 2
@ -123,7 +138,7 @@
# error Must not set CONFIG_STM32_TIM11 when TONE_ALARM_TIMER is 11
# endif
#else
# error Must set TONE_ALARM_TIMER to a generic timer if CONFIG_TONE_ALARM is set
# error Must set TONE_ALARM_TIMER to a generic timer in order to use this driver.
#endif
#if TONE_ALARM_CHANNEL == 1
@ -147,9 +162,10 @@
# define TONE_CCER (1 << 12)
# define TONE_rCCR rCCR4
#else
# error Must set TONE_ALARM_CHANNEL to a value between 1 and 4
# error Must set TONE_ALARM_CHANNEL to a value between 1 and 4 to use this driver.
#endif
/*
* Timer register accessors
*/
@ -174,11 +190,42 @@
#define rDCR REG(STM32_GTIM_DCR_OFFSET)
#define rDMAR REG(STM32_GTIM_DMAR_OFFSET)
#define TONE_MAX_PATTERN 6
#define TONE_MAX_PATTERN_LEN 40
class ToneAlarm : public device::CDev
{
public:
ToneAlarm();
~ToneAlarm();
/* predefined patterns for alarms 1-TONE_MAX_PATTERN */
const struct tone_note patterns[TONE_MAX_PATTERN][TONE_MAX_PATTERN_LEN] = {
virtual int init();
virtual int ioctl(file *filp, int cmd, unsigned long arg);
virtual ssize_t write(file *filp, const char *buffer, size_t len);
private:
static const unsigned _max_pattern = 6;
static const unsigned _pattern_none = _max_pattern + 1;
static const unsigned _pattern_user = 0;
static const unsigned _max_pattern_len = 40;
static const unsigned _note_max = TONE_NOTE_MAX;
static const tone_note _patterns[_max_pattern][_max_pattern_len];
static const uint16_t _notes[_note_max];
unsigned _current_pattern;
unsigned _next_note;
hrt_call _note_end;
tone_note _user_pattern[_max_pattern_len];
static void next_trampoline(void *arg);
void next();
bool check(tone_note *pattern);
void stop();
};
/* predefined patterns for alarms 1-_max_pattern */
const tone_note ToneAlarm::_patterns[_max_pattern][_max_pattern_len] = {
{
{TONE_NOTE_A7, 12},
{TONE_NOTE_D8, 12},
@ -193,7 +240,7 @@ const struct tone_note patterns[TONE_MAX_PATTERN][TONE_MAX_PATTERN_LEN] = {
{TONE_NOTE_D8, 4},
{TONE_NOTE_C8, 4},
},
{{TONE_NOTE_B6, 100}},
{{TONE_NOTE_B6, 100}, {TONE_NOTE_B6, DURATION_REPEAT}},
{{TONE_NOTE_C7, 100}},
{{TONE_NOTE_D7, 100}},
{{TONE_NOTE_E7, 100}},
@ -217,7 +264,6 @@ const struct tone_note patterns[TONE_MAX_PATTERN][TONE_MAX_PATTERN_LEN] = {
{TONE_NOTE_G5S, 40},
{TONE_NOTE_F5, 40},
{TONE_NOTE_F5, 60},
{TONE_NOTE_A5S, 40},
{TONE_NOTE_C6S, 20},
{TONE_NOTE_F6, 40},
@ -239,7 +285,7 @@ const struct tone_note patterns[TONE_MAX_PATTERN][TONE_MAX_PATTERN_LEN] = {
}
};
static uint16_t notes[TONE_NOTE_MAX] = {
const uint16_t ToneAlarm::_notes[_note_max] = {
63707, /* E4 */
60132, /* F4 */
56758, /* F#4/Gb4 */
@ -290,46 +336,46 @@ static uint16_t notes[TONE_NOTE_MAX] = {
4218 /* D#8/Eb8 */
};
/* current state of the tone driver */
struct state {
int pattern; /* current pattern */
#define PATTERN_NONE -1
#define PATTERN_USER 0
int note; /* next note to play */
struct hrt_call note_end;
struct tone_note user_pattern[TONE_MAX_PATTERN_LEN]; /* user-supplied pattern (plays at pattern 0) */
};
/*
* Driver 'main' command.
*/
extern "C" __EXPORT int tone_alarm_main(int argc, char *argv[]);
static struct state tone_state;
static int tone_write(struct file *filp, const char *buffer, size_t len);
static int tone_ioctl(struct file *filep, int cmd, unsigned long arg);
static const struct file_operations tone_fops = {
.write = tone_write,
.ioctl = tone_ioctl
};
static void tone_next(void);
static bool tone_ok(struct tone_note *pattern);
int
tone_alarm_init(void)
ToneAlarm::ToneAlarm() :
CDev("tone_alarm", "/dev/tone_alarm"),
_current_pattern(_pattern_none),
_next_note(0)
{
/* configure the GPIO */
// enable debug() calls
//_debug_enabled = true;
}
ToneAlarm::~ToneAlarm()
{
}
int
ToneAlarm::init()
{
int ret;
ret = CDev::init();
if (ret != OK)
return ret;
/* configure the GPIO to the idle state */
stm32_configgpio(GPIO_TONE_ALARM);
/* clock/power on our timer */
modifyreg32(STM32_RCC_APB1ENR, 0, TONE_ALARM_CLOCK_ENABLE);
/* default the state */
tone_state.pattern = -1;
/* initialise the timer */
rCR1 = 0;
rCR2 = 0;
rSMCR = 0;
rDIER = 0;
rCCER = 0; /* unlock CCMR* registers */
rCCER &= TONE_CCER; /* unlock CCMR* registers */
rCCMR1 = TONE_CCMR1;
rCCMR2 = TONE_CCMR2;
rCCER = TONE_CCER;
@ -346,153 +392,163 @@ tone_alarm_init(void)
*/
rPSC = 1;
tone_state.pattern = PATTERN_NONE;
tone_state.note = 0;
/* make sure the timer is running */
rCR1 = GTIM_CR1_CEN;
/* play the startup tune */
tone_ioctl(NULL, TONE_SET_ALARM, 1);
/* register the device */
return register_driver("/dev/tone_alarm", &tone_fops, 0666, NULL);
debug("ready");
return OK;
}
static int
tone_ioctl(struct file *filep, int cmd, unsigned long arg)
int
ToneAlarm::ioctl(file *filp, int cmd, unsigned long arg)
{
int result = 0;
int new = (int)arg;
unsigned new_pattern = arg;
irqstate_t flags = irqsave();
debug("ioctl %i %u", cmd, new_pattern);
// irqstate_t flags = irqsave();
/* decide whether to increase the alarm level to cmd or leave it alone */
switch (cmd) {
case TONE_SET_ALARM:
if (new == 0) {
debug("TONE_SET_ALARM %u", arg);
if (new_pattern == 0) {
/* cancel any current alarm */
tone_state.pattern = PATTERN_NONE;
tone_next();
_current_pattern = _pattern_none;
next();
} else if (new > TONE_MAX_PATTERN) {
} else if (new_pattern > _max_pattern) {
/* not a legal alarm value */
result = -ERANGE;
} else if (new > tone_state.pattern) {
} else if ((_current_pattern == _pattern_none) || (new_pattern > _current_pattern)) {
/* higher priority than the current alarm */
tone_state.pattern = new;
tone_state.note = 0;
_current_pattern = new_pattern;
_next_note = 0;
/* and start playing it */
tone_next();
next();
} else {
/* current pattern is higher priority than the new pattern, ignore */
}
break;
default:
result = -EINVAL;
result = -ENOTTY;
break;
}
irqrestore(flags);
// irqrestore(flags);
/* give it to the superclass if we didn't like it */
if (result == -ENOTTY)
result = CDev::ioctl(filp, cmd, arg);
return result;
}
static int
tone_write(struct file *filp, const char *buffer, size_t len)
int
ToneAlarm::write(file *filp, const char *buffer, size_t len)
{
irqstate_t flags;
/* sanity-check the size of the write */
if (len > (TONE_MAX_PATTERN_LEN * sizeof(struct tone_note)))
if (len > (_max_pattern_len * sizeof(tone_note)))
return -EFBIG;
if ((len % sizeof(struct tone_note)) || (len == 0))
if ((len % sizeof(tone_note)) || (len == 0))
return -EIO;
if (!tone_ok((struct tone_note *)buffer))
if (!check((tone_note *)buffer))
return -EIO;
flags = irqsave();
/* if we aren't playing an alarm tone */
if (tone_state.pattern <= PATTERN_USER) {
if (_current_pattern <= _pattern_user) {
/* reset the tone state to play the new user pattern */
tone_state.pattern = PATTERN_USER;
tone_state.note = 0;
_current_pattern = _pattern_user;
_next_note = 0;
/* copy in the new pattern */
memset(tone_state.user_pattern, 0, sizeof(tone_state.user_pattern));
memcpy(tone_state.user_pattern, buffer, len);
memset(_user_pattern, 0, sizeof(_user_pattern));
memcpy(_user_pattern, buffer, len);
/* and start it */
tone_next();
debug("starting user pattern");
next();
}
irqrestore(flags);
return len;
}
static void
tone_next(void)
void
ToneAlarm::next_trampoline(void *arg)
{
const struct tone_note *np;
ToneAlarm *ta = (ToneAlarm *)arg;
ta->next();
}
void
ToneAlarm::next(void)
{
const tone_note *np;
/* stop the current note */
rCR1 = 0;
rCCER &= ~TONE_CCER;
/* if we are no longer playing a pattern, we have nothing else to do here */
if (tone_state.pattern == PATTERN_NONE) {
if (_current_pattern == _pattern_none) {
stop();
return;
}
/* if the current pattern has ended, clear the pattern and stop */
if (tone_state.note == TONE_NOTE_MAX) {
tone_state.pattern = PATTERN_NONE;
return;
}
ASSERT(_next_note < _note_max);
/* find the note to play */
if (tone_state.pattern == PATTERN_USER) {
np = &tone_state.user_pattern[tone_state.note];
if (_current_pattern == _pattern_user) {
np = &_user_pattern[_next_note];
} else {
np = &patterns[tone_state.pattern - 1][tone_state.note];
np = &_patterns[_current_pattern - 1][_next_note];
}
/* work out which note is next */
tone_state.note++;
if (tone_state.note >= TONE_NOTE_MAX) {
_next_note++;
if (_next_note >= _note_max) {
/* hit the end of the pattern, stop */
tone_state.pattern = PATTERN_NONE;
_current_pattern = _pattern_none;
} else if (np[1].duration == DURATION_END) {
/* hit the end of the pattern, stop */
tone_state.pattern = PATTERN_NONE;
_current_pattern = _pattern_none;
} else if (np[1].duration == DURATION_REPEAT) {
/* next note is a repeat, rewind in preparation */
tone_state.note = 0;
_next_note = 0;
}
/* set the timer to play the note, if required */
if (np->pitch <= TONE_NOTE_SILENCE) {
/* set reload based on the pitch */
rARR = notes[np->pitch];
rARR = _notes[np->pitch];
/* force an update, reloads the counter and all registers */
rEGR = GTIM_EGR_UG;
/* start the timer */
rCR1 = GTIM_CR1_CEN;
/* enable the output */
rCCER |= TONE_CCER;
}
/* arrange a callback when the note/rest is done */
hrt_call_after(&tone_state.note_end, (hrt_abstime)10000 * np->duration, (hrt_callout)tone_next, NULL);
hrt_call_after(&_note_end, (hrt_abstime)10000 * np->duration, (hrt_callout)next_trampoline, this);
}
static bool
tone_ok(struct tone_note *pattern)
bool
ToneAlarm::check(tone_note *pattern)
{
int i;
for (i = 0; i < TONE_NOTE_MAX; i++) {
for (unsigned i = 0; i < _note_max; i++) {
/* first note must not be repeat or end */
if ((i == 0) &&
@ -502,10 +558,75 @@ tone_ok(struct tone_note *pattern)
break;
/* pitch must be legal */
if (pattern[i].pitch >= TONE_NOTE_MAX)
if (pattern[i].pitch >= _note_max)
return false;
}
return true;
}
#endif /* CONFIG_TONE_ALARM */
void
ToneAlarm::stop()
{
/* stop the current note */
rCCER &= ~TONE_CCER;
/*
* Make sure the GPIO is not driving the speaker.
*
* XXX this presumes PX4FMU and the onboard speaker driver FET.
*/
stm32_gpiowrite(GPIO_TONE_ALARM, 0);
}
/**
* Local functions in support of the shell command.
*/
namespace
{
ToneAlarm *g_dev;
int
play_pattern(unsigned pattern)
{
int fd, ret;
fd = open("/dev/tone_alarm", 0);
if (fd < 0)
err(1, "/dev/tone_alarm");
warnx("playing pattern %u", pattern);
ret = ioctl(fd, TONE_SET_ALARM, pattern);
if (ret != 0)
err(1, "TONE_SET_ALARM");
exit(0);
}
} // namespace
int
tone_alarm_main(int argc, char *argv[])
{
unsigned pattern;
/* start the driver lazily */
if (g_dev == nullptr) {
g_dev = new ToneAlarm;
if (g_dev == nullptr)
errx(1, "couldn't allocate the ToneAlarm driver");
if (g_dev->init() != OK) {
delete g_dev;
errx(1, "ToneAlarm init failed");
}
}
if ((argc > 1) && !strcmp(argv[1], "start"))
play_pattern(1);
if ((argc > 1) && !strcmp(argv[1], "stop"))
play_pattern(0);
if ((pattern = strtol(argv[1], nullptr, 10)) != 0)
play_pattern(pattern);
errx(1, "unrecognised command, try 'start', 'stop' or an alarm number");
}

164
apps/fixedwing_control/fixedwing_control.c
View File

@ -2,6 +2,7 @@
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Ivan Ovinnikov <oivan@ethz.ch>
* Modifications: Doug Weibel <douglas.weibel@colorado.edu>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -31,7 +32,7 @@
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
// Workflow test comment - DEW
/**
* @file fixedwing_control.c
* Implementation of a fixed wing attitude and position controller.
@ -86,27 +87,61 @@ static void usage(const char *reason);
* Controller parameters, accessible via MAVLink
*
*/
PARAM_DEFINE_FLOAT(FW_ROLL_POS_P, 0.3f);
PARAM_DEFINE_FLOAT(FW_ROLL_POS_I, 0.002f);
PARAM_DEFINE_FLOAT(FW_ROLL_POS_AWU, 0.2f);
PARAM_DEFINE_FLOAT(FW_ROLL_POS_LIM, 0.6f);
// Roll control parameters
PARAM_DEFINE_FLOAT(FW_ROLLRATE_P, 0.3f);
// Need to add functionality to suppress integrator windup while on the ground
// Suggested value of FW_ROLLRATE_I is 0.0 till this is in place
PARAM_DEFINE_FLOAT(FW_ROLLRATE_I, 0.0f);
PARAM_DEFINE_FLOAT(FW_ROLLRATE_AWU, 0.0f);
PARAM_DEFINE_FLOAT(FW_ROLLRATE_LIM, 0.7f); // Roll rate limit in radians/sec
PARAM_DEFINE_FLOAT(FW_ROLL_P, 0.3f);
PARAM_DEFINE_FLOAT(FW_ROLL_LIM, 0.7f); // Roll angle limit in radians
//Pitch control parameters
PARAM_DEFINE_FLOAT(FW_PITCHRATE_P, 0.3f);
// Need to add functionality to suppress integrator windup while on the ground
// Suggested value of FW_PITCHRATE_I is 0.0 till this is in place
PARAM_DEFINE_FLOAT(FW_PITCHRATE_I, 0.0f);
PARAM_DEFINE_FLOAT(FW_PITCHRATE_AWU, 0.0f);
PARAM_DEFINE_FLOAT(FW_PITCHRATE_LIM, 0.35f); // Pitch rate limit in radians/sec
PARAM_DEFINE_FLOAT(FW_PITCH_P, 0.3f);
PARAM_DEFINE_FLOAT(FW_PITCH_LIM, 0.35f); // Pitch angle limit in radians
struct fw_att_control_params {
float roll_pos_p;
float roll_pos_i;
float roll_pos_awu;
float roll_pos_lim;
float rollrate_p;
float rollrate_i;
float rollrate_awu;
float rollrate_lim;
float roll_p;
float roll_lim;
float pitchrate_p;
float pitchrate_i;
float pitchrate_awu;
float pitchrate_lim;
float pitch_p;
float pitch_lim;
};
struct fw_att_control_param_handles {
param_t roll_pos_p;
param_t roll_pos_i;
param_t roll_pos_awu;
param_t roll_pos_lim;
param_t rollrate_p;
param_t rollrate_i;
param_t rollrate_awu;
param_t rollrate_lim;
param_t roll_p;
param_t roll_lim;
param_t pitchrate_p;
param_t pitchrate_i;
param_t pitchrate_awu;
param_t pitchrate_lim;
param_t pitch_p;
param_t pitch_lim;
};
// XXX outsource position control to a separate app some time
// TO_DO - Navigation control will be moved to a separate app
// Attitude control will just handle the inner angle and rate loops
// to control pitch and roll, and turn coordination via rudder and
// possibly throttle compensation for battery voltage sag.
PARAM_DEFINE_FLOAT(FW_HEADING_P, 0.1f);
PARAM_DEFINE_FLOAT(FW_HEADING_LIM, 0.15f);
@ -147,9 +182,9 @@ static int pos_parameters_update(const struct fw_pos_control_param_handles *h, s
/**
* The fixed wing control main loop.
* The fixed wing control main thread.
*
* This loop executes continously and calculates the control
* The main loop executes continously and calculates the control
* response.
*
* @param argc number of arguments
@ -223,19 +258,31 @@ int fixedwing_control_thread_main(int argc, char *argv[])
pos_parameters_init(&hpos);
pos_parameters_update(&hpos, &ppos);
PID_t roll_pos_controller;
pid_init(&roll_pos_controller, p.roll_pos_p, p.roll_pos_i, 0.0f, p.roll_pos_awu,
PID_MODE_DERIVATIV_SET);
// TO_DO Fix output limit functionallity of PID controller or add that function elsewhere
PID_t roll_rate_controller;
pid_init(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0.0f, p.rollrate_awu,
p.rollrate_lim,PID_MODE_DERIVATIV_NONE);
PID_t roll_angle_controller;
pid_init(&roll_angle_controller, p.roll_p, 0.0f, 0.0f, 0.0f,
p.roll_lim,PID_MODE_DERIVATIV_NONE);
PID_t pitch_rate_controller;
pid_init(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0.0f, p.pitchrate_awu,
p.pitchrate_lim,PID_MODE_DERIVATIV_NONE);
PID_t pitch_angle_controller;
pid_init(&pitch_angle_controller, p.pitch_p, 0.0f, 0.0f, 0.0f,
p.pitch_lim,PID_MODE_DERIVATIV_NONE);
PID_t heading_controller;
pid_init(&heading_controller, ppos.heading_p, 0.0f, 0.0f, 0.0f,
PID_MODE_DERIVATIV_SET);
100.0f,PID_MODE_DERIVATIV_SET); // Temporary arbitrarily large limit
// XXX remove in production
/* advertise debug value */
struct debug_key_value_s dbg = { .key = "", .value = 0.0f };
orb_advert_t pub_dbg = orb_advertise(ORB_ID(debug_key_value), &dbg);
// This is the top of the main loop
while(!thread_should_exit) {
struct pollfd fds[1] = {
@ -251,11 +298,20 @@ int fixedwing_control_thread_main(int argc, char *argv[])
} else {
// FIXME SUBSCRIBE
if (loopcounter % 20 == 0) {
if (loopcounter % 100 == 0) {
att_parameters_update(&h, &p);
pos_parameters_update(&hpos, &ppos);
pid_set_parameters(&roll_pos_controller, p.roll_pos_p, p.roll_pos_i, 0.0f, p.roll_pos_awu);
pid_set_parameters(&heading_controller, ppos.heading_p, 0.0f, 0.0f, 0.0f);
pid_set_parameters(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0.0f,
p.rollrate_awu, p.rollrate_lim);
pid_set_parameters(&roll_angle_controller, p.roll_p, 0.0f, 0.0f,
0.0f, p.roll_lim);
pid_set_parameters(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0.0f,
p.pitchrate_awu, p.pitchrate_lim);
pid_set_parameters(&pitch_angle_controller, p.pitch_p, 0.0f, 0.0f,
0.0f, p.pitch_lim);
pid_set_parameters(&heading_controller, ppos.heading_p, 0.0f, 0.0f, 0.0f, 90.0f);
//printf("[fixedwing control debug] p: %8.4f, i: %8.4f, limit: %8.4f \n",
//p.rollrate_p, p.rollrate_i, p.rollrate_lim);
}
/* if position updated, run position control loop */
@ -359,14 +415,25 @@ int fixedwing_control_thread_main(int argc, char *argv[])
printf("[fixedwing control] roll sp: %8.4f, \n", att_sp.roll_body);
}
// actuators.control[0] = pid_calculate(&roll_pos_controller, att_sp.roll_body,
// att.roll, att.rollspeed, deltaTpos);
actuators.control[0] = pid_calculate(&roll_pos_controller, att_sp.roll_body,
att.roll, att.rollspeed, deltaTpos);
actuators.control[1] = 0;
actuators.control[2] = 0;
// actuator control[0] is aileron (or elevon roll control)
// Commanded roll rate from P controller on roll angle
float roll_rate_command = pid_calculate(&roll_angle_controller, att_sp.roll_body,
att.roll, 0.0f, deltaTpos);
// actuator control from PI controller on roll rate
actuators.control[0] = pid_calculate(&roll_rate_controller, roll_rate_command,
att.rollspeed, 0.0f, deltaTpos);
// actuator control[1] is elevator (or elevon pitch control)
// Commanded pitch rate from P controller on pitch angle
float pitch_rate_command = pid_calculate(&pitch_angle_controller, att_sp.pitch_body,
att.pitch, 0.0f, deltaTpos);
// actuator control from PI controller on pitch rate
actuators.control[1] = pid_calculate(&pitch_rate_controller, pitch_rate_command,
att.pitchspeed, 0.0f, deltaTpos);
// actuator control[3] is throttle
actuators.control[3] = att_sp.thrust;
/* publish attitude setpoint (for MAVLink) */
orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
@ -446,21 +513,38 @@ int fixedwing_control_main(int argc, char *argv[])
static int att_parameters_init(struct fw_att_control_param_handles *h)
{
/* PID parameters */
h->roll_pos_p = param_find("FW_ROLL_POS_P");
h->roll_pos_i = param_find("FW_ROLL_POS_I");
h->roll_pos_lim = param_find("FW_ROLL_POS_LIM");
h->roll_pos_awu = param_find("FW_ROLL_POS_AWU");
h->rollrate_p = param_find("FW_ROLLRATE_P");
h->rollrate_i = param_find("FW_ROLLRATE_I");
h->rollrate_awu = param_find("FW_ROLLRATE_AWU");
h->rollrate_lim = param_find("FW_ROLLRATE_LIM");
h->roll_p = param_find("FW_ROLL_P");
h->roll_lim = param_find("FW_ROLL_LIM");
h->pitchrate_p = param_find("FW_PITCHRATE_P");
h->pitchrate_i = param_find("FW_PITCHRATE_I");
h->pitchrate_awu = param_find("FW_PITCHRATE_AWU");
h->pitchrate_lim = param_find("FW_PITCHRATE_LIM");
h->pitch_p = param_find("FW_PITCH_P");
h->pitch_lim = param_find("FW_PITCH_LIM");
return OK;
}
static int att_parameters_update(const struct fw_att_control_param_handles *h, struct fw_att_control_params *p)
{
param_get(h->roll_pos_p, &(p->roll_pos_p));
param_get(h->roll_pos_i, &(p->roll_pos_i));
param_get(h->roll_pos_lim, &(p->roll_pos_lim));
param_get(h->roll_pos_awu, &(p->roll_pos_awu));
param_get(h->rollrate_p, &(p->rollrate_p));
param_get(h->rollrate_i, &(p->rollrate_i));
param_get(h->rollrate_awu, &(p->rollrate_awu));
param_get(h->rollrate_lim, &(p->rollrate_lim));
param_get(h->roll_p, &(p->roll_p));
param_get(h->roll_lim, &(p->roll_lim));
param_get(h->pitchrate_p, &(p->pitchrate_p));
param_get(h->pitchrate_i, &(p->pitchrate_i));
param_get(h->pitchrate_awu, &(p->pitchrate_awu));
param_get(h->pitchrate_lim, &(p->pitchrate_lim));
param_get(h->pitch_p, &(p->pitch_p));
param_get(h->pitch_lim, &(p->pitch_lim));
return OK;
}

1537
apps/mavlink/mavlink.c
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File diff suppressed because it is too large Load Diff

24
apps/mavlink/mavlink_bridge_header.h
View File

@ -43,9 +43,12 @@
#define MAVLINK_USE_CONVENIENCE_FUNCTIONS
//use efficient approach, see mavlink_helpers.h
/* use efficient approach, see mavlink_helpers.h */
#define MAVLINK_SEND_UART_BYTES mavlink_send_uart_bytes
#define MAVLINK_GET_CHANNEL_BUFFER mavlink_get_channel_buffer
#define MAVLINK_GET_CHANNEL_STATUS mavlink_get_channel_status
#include "v1.0/mavlink_types.h"
#include <unistd.h>
@ -62,28 +65,15 @@
*/
extern mavlink_system_t mavlink_system;
mqd_t gps_queue;
int uart;
/**
* @brief Send multiple chars (uint8_t) over a comm channel
*
* @param chan MAVLink channel to use, usually MAVLINK_COMM_0 = UART0
* @param ch Character to send
*/
static inline void mavlink_send_uart_bytes(mavlink_channel_t chan, uint8_t *ch, uint16_t length)
{
ssize_t ret;
extern void mavlink_send_uart_bytes(mavlink_channel_t chan, uint8_t *ch, int length);
if (chan == MAVLINK_COMM_0) {
ret = write(uart, ch, (size_t)(sizeof(uint8_t) * length));
if (ret != length) {
printf("[mavlink] Error: Written %u instead of %u\n", ret, length);
}
}
}
mavlink_status_t* mavlink_get_channel_status(uint8_t chan);
mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan);
#endif /* MAVLINK_BRIDGE_HEADER_H */

57
apps/mavlink/mavlink_hil.h Normal file
View File

@ -0,0 +1,57 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file mavlink_hil.h
* Hardware-in-the-loop simulation support.
*/
#pragma once
extern bool mavlink_hil_enabled;
extern struct vehicle_global_position_s hil_global_pos;
extern struct vehicle_attitude_s hil_attitude;
extern orb_advert_t pub_hil_global_pos;
extern orb_advert_t pub_hil_attitude;
/**
* Enable / disable Hardware in the Loop simulation mode.
*
* @param hil_enabled The new HIL enable/disable state.
* @return OK if the HIL state changed, ERROR if the
* requested change could not be made or was
* redundant.
*/
extern int set_hil_on_off(bool hil_enabled);

80
apps/mavlink/mavlink_log.c Normal file
View File

@ -0,0 +1,80 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file mavlink_log.c
* MAVLink text logging.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#include <string.h>
#include "mavlink_log.h"
void mavlink_logbuffer_init(struct mavlink_logbuffer *lb, int size) {
lb->size = size;
lb->start = 0;
lb->count = 0;
lb->elems = (struct mavlink_logmessage *)calloc(lb->size, sizeof(struct mavlink_logmessage));
}
int mavlink_logbuffer_is_full(struct mavlink_logbuffer *lb) {
return lb->count == lb->size;
}
int mavlink_logbuffer_is_empty(struct mavlink_logbuffer *lb) {
return lb->count == 0;
}
void mavlink_logbuffer_write(struct mavlink_logbuffer *lb, const struct mavlink_logmessage *elem) {
int end = (lb->start + lb->count) % lb->size;
memcpy(&(lb->elems[end]), elem, sizeof(struct mavlink_logmessage));
if (mavlink_logbuffer_is_full(lb)) {
lb->start = (lb->start + 1) % lb->size; /* full, overwrite */
} else {
++lb->count;
}
}
int mavlink_logbuffer_read(struct mavlink_logbuffer *lb, struct mavlink_logmessage *elem) {
if (!mavlink_logbuffer_is_empty(lb)) {
memcpy(elem, &(lb->elems[lb->start]), sizeof(struct mavlink_logmessage));
lb->start = (lb->start + 1) % lb->size;
--lb->count;
return 0;
} else {
return 1;
}
}

29
apps/mavlink/mavlink_log.h
View File

@ -1,7 +1,7 @@
/****************************************************************************
*
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -35,6 +35,8 @@
/**
* @file mavlink_log.h
* MAVLink text logging.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#ifndef MAVLINK_LOG
@ -79,5 +81,28 @@
*/
#define mavlink_log_info(_fd, _text) ioctl(_fd, MAVLINK_IOC_SEND_TEXT_INFO, (unsigned long)_text);
struct mavlink_logmessage {
char text[51];
unsigned char severity;
};
struct mavlink_logbuffer {
unsigned int start;
// unsigned int end;
unsigned int size;
int count;
struct mavlink_logmessage *elems;
};
void mavlink_logbuffer_init(struct mavlink_logbuffer *lb, int size);
int mavlink_logbuffer_is_full(struct mavlink_logbuffer *lb);
int mavlink_logbuffer_is_empty(struct mavlink_logbuffer *lb);
void mavlink_logbuffer_write(struct mavlink_logbuffer *lb, const struct mavlink_logmessage *elem);
int mavlink_logbuffer_read(struct mavlink_logbuffer *lb, struct mavlink_logmessage *elem);
#endif

6
apps/mavlink/mavlink_parameters.c
View File

@ -1,7 +1,7 @@
/****************************************************************************
*
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -35,6 +35,8 @@
/**
* @file mavlink_parameters.c
* MAVLink parameter protocol implementation (BSD-relicensed).
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#include "mavlink_parameters.h"

4
apps/mavlink/mavlink_parameters.h
View File

@ -1,7 +1,7 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
* Author: Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -35,6 +35,8 @@
/**
* @file mavlink_parameters.h
* MAVLink parameter protocol definitions (BSD-relicensed).
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
/* This assumes you have the mavlink headers on your include path

497
apps/mavlink/mavlink_receiver.c Normal file
View File

@ -0,0 +1,497 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file mavlink_receiver.c
* MAVLink protocol message receive and dispatch
*/
/* XXX trim includes */
#include <nuttx/config.h>
#include <unistd.h>
#include <pthread.h>
#include <stdio.h>
#include <math.h>
#include <stdbool.h>
#include <fcntl.h>
#include <mqueue.h>
#include <string.h>
#include "mavlink_bridge_header.h"
#include <v1.0/common/mavlink.h>
#include <arch/board/up_hrt.h>
#include <time.h>
#include <float.h>
#include <unistd.h>
#include <nuttx/sched.h>
#include <sys/prctl.h>
#include <termios.h>
#include <errno.h>
#include <stdlib.h>
#include <poll.h>
#include <systemlib/param/param.h>
#include <systemlib/systemlib.h>
#include "waypoints.h"
#include "mavlink_log.h"
#include "orb_topics.h"
#include "missionlib.h"
#include "mavlink_hil.h"
#include "mavlink_parameters.h"
#include "util.h"
/* XXX should be in a header somewhere */
pthread_t receive_start(int uart);
static void handle_message(mavlink_message_t *msg);
static void *receive_thread(void *arg);
static mavlink_status_t status;
static struct vehicle_vicon_position_s vicon_position;
static struct vehicle_command_s vcmd;
static struct offboard_control_setpoint_s offboard_control_sp;
struct vehicle_global_position_s hil_global_pos;
struct vehicle_attitude_s hil_attitude;
orb_advert_t pub_hil_global_pos = -1;
orb_advert_t pub_hil_attitude = -1;
static orb_advert_t cmd_pub = -1;
static orb_advert_t flow_pub = -1;
static orb_advert_t offboard_control_sp_pub = -1;
static orb_advert_t vicon_position_pub = -1;
extern bool gcs_link;
static void
handle_message(mavlink_message_t *msg)
{
if (msg->msgid == MAVLINK_MSG_ID_COMMAND_LONG) {
mavlink_command_long_t cmd_mavlink;
mavlink_msg_command_long_decode(msg, &cmd_mavlink);
if (cmd_mavlink.target_system == mavlink_system.sysid && ((cmd_mavlink.target_component == mavlink_system.compid)
|| (cmd_mavlink.target_component == MAV_COMP_ID_ALL))) {
//check for MAVLINK terminate command
if (cmd_mavlink.command == MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN && ((int)cmd_mavlink.param1) == 3) {
/* This is the link shutdown command, terminate mavlink */
printf("[mavlink] Terminating .. \n");
fflush(stdout);
usleep(50000);
/* terminate other threads and this thread */
thread_should_exit = true;
} else {
/* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */
vcmd.param1 = cmd_mavlink.param1;
vcmd.param2 = cmd_mavlink.param2;
vcmd.param3 = cmd_mavlink.param3;
vcmd.param4 = cmd_mavlink.param4;
vcmd.param5 = cmd_mavlink.param5;
vcmd.param6 = cmd_mavlink.param6;
vcmd.param7 = cmd_mavlink.param7;
vcmd.command = cmd_mavlink.command;
vcmd.target_system = cmd_mavlink.target_system;
vcmd.target_component = cmd_mavlink.target_component;
vcmd.source_system = msg->sysid;
vcmd.source_component = msg->compid;
vcmd.confirmation = cmd_mavlink.confirmation;
/* check if topic is advertised */
if (cmd_pub <= 0) {
cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
}
/* publish */
orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
}
}
}
if (msg->msgid == MAVLINK_MSG_ID_OPTICAL_FLOW) {
mavlink_optical_flow_t flow;
mavlink_msg_optical_flow_decode(msg, &flow);
struct optical_flow_s f;
f.timestamp = flow.time_usec;
f.flow_raw_x = flow.flow_x;
f.flow_raw_y = flow.flow_y;
f.flow_comp_x_m = flow.flow_comp_m_x;
f.flow_comp_y_m = flow.flow_comp_m_y;
f.ground_distance_m = flow.ground_distance;
f.quality = flow.quality;
f.sensor_id = flow.sensor_id;
/* check if topic is advertised */
if (flow_pub <= 0) {
flow_pub = orb_advertise(ORB_ID(optical_flow), &f);
} else {
/* publish */
orb_publish(ORB_ID(optical_flow), flow_pub, &f);
}
}
if (msg->msgid == MAVLINK_MSG_ID_SET_MODE) {
/* Set mode on request */
mavlink_set_mode_t new_mode;
mavlink_msg_set_mode_decode(msg, &new_mode);
/* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */
vcmd.param1 = new_mode.base_mode;
vcmd.param2 = new_mode.custom_mode;
vcmd.param3 = 0;
vcmd.param4 = 0;
vcmd.param5 = 0;
vcmd.param6 = 0;
vcmd.param7 = 0;
vcmd.command = MAV_CMD_DO_SET_MODE;
vcmd.target_system = new_mode.target_system;
vcmd.target_component = MAV_COMP_ID_ALL;
vcmd.source_system = msg->sysid;
vcmd.source_component = msg->compid;
vcmd.confirmation = 1;
/* check if topic is advertised */
if (cmd_pub <= 0) {
cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
} else {
/* create command */
orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
}
}
/* Handle Vicon position estimates */
if (msg->msgid == MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE) {
mavlink_vicon_position_estimate_t pos;
mavlink_msg_vicon_position_estimate_decode(msg, &pos);
vicon_position.x = pos.x;
vicon_position.y = pos.y;
vicon_position.z = pos.z;
if (vicon_position_pub <= 0) {
vicon_position_pub = orb_advertise(ORB_ID(vehicle_vicon_position), &vicon_position);
} else {
orb_publish(ORB_ID(vehicle_vicon_position), vicon_position_pub, &vicon_position);
}
}
/* Handle quadrotor motor setpoints */
if (msg->msgid == MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST) {
mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t quad_motors_setpoint;
mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_decode(msg, &quad_motors_setpoint);
//printf("got message\n");
//printf("got MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT target_system=%u, sysid = %u\n", mavlink_system.sysid, quad_motors_setpoint.mode);
if (mavlink_system.sysid < 4) {
/* switch to a receiving link mode */
gcs_link = false;
/*
* rate control mode - defined by MAVLink
*/
uint8_t ml_mode = 0;
bool ml_armed = false;
switch (quad_motors_setpoint.mode) {
case 0:
ml_armed = false;
break;
case 1:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_RATES;
ml_armed = true;
break;
case 2:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE;
ml_armed = true;
break;
case 3:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY;
break;
case 4:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_POSITION;
break;
}
offboard_control_sp.p1 = quad_motors_setpoint.roll[mavlink_system.sysid] / (float)INT16_MAX;
offboard_control_sp.p2 = quad_motors_setpoint.pitch[mavlink_system.sysid] / (float)INT16_MAX;
offboard_control_sp.p3= quad_motors_setpoint.yaw[mavlink_system.sysid] / (float)INT16_MAX;
offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid]/(float)UINT16_MAX;
if (quad_motors_setpoint.thrust[mavlink_system.sysid] ==0){
ml_armed = false;
}
offboard_control_sp.armed = ml_armed;
offboard_control_sp.mode = ml_mode;
offboard_control_sp.timestamp = hrt_absolute_time();
/* check if topic has to be advertised */
if (offboard_control_sp_pub <= 0) {
offboard_control_sp_pub = orb_advertise(ORB_ID(offboard_control_setpoint), &offboard_control_sp);
} else {
/* Publish */
orb_publish(ORB_ID(offboard_control_setpoint), offboard_control_sp_pub, &offboard_control_sp);
}
// /* change armed status if required */
// bool cmd_armed = (quad_motors_setpoint.mode & MAVLINK_OFFBOARD_CONTROL_FLAG_ARMED);
// bool cmd_generated = false;
// if (v_status.flag_control_offboard_enabled != cmd_armed) {
// vcmd.param1 = cmd_armed;
// vcmd.param2 = 0;
// vcmd.param3 = 0;
// vcmd.param4 = 0;
// vcmd.param5 = 0;
// vcmd.param6 = 0;
// vcmd.param7 = 0;
// vcmd.command = MAV_CMD_COMPONENT_ARM_DISARM;
// vcmd.target_system = mavlink_system.sysid;
// vcmd.target_component = MAV_COMP_ID_ALL;
// vcmd.source_system = msg->sysid;
// vcmd.source_component = msg->compid;
// vcmd.confirmation = 1;
// cmd_generated = true;
// }
// /* check if input has to be enabled */
// if ((v_status.flag_control_rates_enabled != (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_RATES)) ||
// (v_status.flag_control_attitude_enabled != (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_ATTITUDE)) ||
// (v_status.flag_control_velocity_enabled != (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_VELOCITY)) ||
// (v_status.flag_control_position_enabled != (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_POSITION))) {
// vcmd.param1 = (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_RATES);
// vcmd.param2 = (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_ATTITUDE);
// vcmd.param3 = (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_VELOCITY);
// vcmd.param4 = (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_POSITION);
// vcmd.param5 = 0;
// vcmd.param6 = 0;
// vcmd.param7 = 0;
// vcmd.command = PX4_CMD_CONTROLLER_SELECTION;
// vcmd.target_system = mavlink_system.sysid;
// vcmd.target_component = MAV_COMP_ID_ALL;
// vcmd.source_system = msg->sysid;
// vcmd.source_component = msg->compid;
// vcmd.confirmation = 1;
// cmd_generated = true;
// }
// if (cmd_generated) {
// /* check if topic is advertised */
// if (cmd_pub <= 0) {
// cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
// } else {
// /* create command */
// orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
// }
// }
}
}
/*
* Only decode hil messages in HIL mode.
*
* The HIL mode is enabled by the HIL bit flag
* in the system mode. Either send a set mode
* COMMAND_LONG message or a SET_MODE message
*/
// printf("\n HIL ENABLED?: %s \n",(mavlink_hil_enabled)?"true":"false");
if (mavlink_hil_enabled) {
if (msg->msgid == MAVLINK_MSG_ID_HIL_STATE) {
mavlink_hil_state_t hil_state;
mavlink_msg_hil_state_decode(msg, &hil_state);
// printf("\n HILSTATE : \n LAT: %i \n LON: %i \n ALT: %i \n "
// "ROLL %i \n PITCH %i \n YAW %i \n"
// "ROLLSPEED: %i \n PITCHSPEED: %i \n, YAWSPEED: %i \n",
// hil_state.lat/1000000, // 1e7
// hil_state.lon/1000000, // 1e7
// hil_state.alt/1000, // mm
// hil_state.roll, // float rad
// hil_state.pitch, // float rad
// hil_state.yaw, // float rad
// hil_state.rollspeed, // float rad/s
// hil_state.pitchspeed, // float rad/s
// hil_state.yawspeed); // float rad/s
hil_global_pos.lat = hil_state.lat;
hil_global_pos.lon = hil_state.lon;
hil_global_pos.alt = hil_state.alt / 1000.0f;
hil_global_pos.vx = hil_state.vx / 100.0f;
hil_global_pos.vy = hil_state.vy / 100.0f;
hil_global_pos.vz = hil_state.vz / 100.0f;
/* set timestamp and notify processes (broadcast) */
hil_global_pos.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(vehicle_global_position), pub_hil_global_pos, &hil_global_pos);
hil_attitude.roll = hil_state.roll;
hil_attitude.pitch = hil_state.pitch;
hil_attitude.yaw = hil_state.yaw;
hil_attitude.rollspeed = hil_state.rollspeed;
hil_attitude.pitchspeed = hil_state.pitchspeed;
hil_attitude.yawspeed = hil_state.yawspeed;
/* set timestamp and notify processes (broadcast) */
hil_attitude.counter++;
hil_attitude.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(vehicle_attitude), pub_hil_attitude, &hil_attitude);
}
if (msg->msgid == MAVLINK_MSG_ID_MANUAL_CONTROL) {
mavlink_manual_control_t man;
mavlink_msg_manual_control_decode(msg, &man);
struct rc_channels_s rc_hil;
memset(&rc_hil, 0, sizeof(rc_hil));
static orb_advert_t rc_pub = 0;
rc_hil.timestamp = hrt_absolute_time();
rc_hil.chan_count = 4;
rc_hil.chan[0].raw = 1500 + man.x / 2;
rc_hil.chan[1].raw = 1500 + man.y / 2;
rc_hil.chan[2].raw = 1500 + man.r / 2;
rc_hil.chan[3].raw = 1500 + man.z / 2;
rc_hil.chan[0].scaled = man.x / 1000.0f;
rc_hil.chan[1].scaled = man.y / 1000.0f;
rc_hil.chan[2].scaled = man.r / 1000.0f;
rc_hil.chan[3].scaled = man.z / 1000.0f;
struct manual_control_setpoint_s mc;
static orb_advert_t mc_pub = 0;
mc.timestamp = rc_hil.timestamp;
mc.roll = man.x / 1000.0f;
mc.pitch = man.y / 1000.0f;
mc.yaw = man.r / 1000.0f;
mc.throttle = man.z / 1000.0f;
/* fake RC channels with manual control input from simulator */
if (rc_pub == 0) {
rc_pub = orb_advertise(ORB_ID(rc_channels), &rc_hil);
} else {
orb_publish(ORB_ID(rc_channels), rc_pub, &rc_hil);
}
if (mc_pub == 0) {
mc_pub = orb_advertise(ORB_ID(manual_control_setpoint), &mc);
} else {
orb_publish(ORB_ID(manual_control_setpoint), mc_pub, &mc);
}
}
}
}
/**
* Receive data from UART.
*/
static void *
receive_thread(void *arg)
{
int uart_fd = *((int*)arg);
const int timeout = 1000;
uint8_t ch;
mavlink_message_t msg;
prctl(PR_SET_NAME, "mavlink uart rcv", getpid());
while (!thread_should_exit) {
struct pollfd fds[] = { { .fd = uart_fd, .events = POLLIN } };
if (poll(fds, 1, timeout) > 0) {
/* non-blocking read until buffer is empty */
int nread = 0;
do {
nread = read(uart_fd, &ch, 1);
if (mavlink_parse_char(chan, ch, &msg, &status)) { //parse the char
/* handle generic messages and commands */
handle_message(&msg);
/* Handle packet with waypoint component */
mavlink_wpm_message_handler(&msg, &global_pos, &local_pos);
/* Handle packet with parameter component */
mavlink_pm_message_handler(MAVLINK_COMM_0, &msg);
}
} while (nread > 0);
}
}
return NULL;
}
pthread_t
receive_start(int uart)
{
pthread_attr_t receiveloop_attr;
pthread_attr_init(&receiveloop_attr);
struct sched_param param;
param.sched_priority = SCHED_PRIORITY_MAX - 40;
(void)pthread_attr_setschedparam(&receiveloop_attr, &param);
pthread_attr_setstacksize(&receiveloop_attr, 2048);
pthread_t thread;
pthread_create(&thread, &receiveloop_attr, receive_thread, &uart);
return thread;
}

190
apps/mavlink/missionlib.c Normal file
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@ -0,0 +1,190 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file missionlib.h
* MAVLink missionlib components
*/
// XXX trim includes
#include <nuttx/config.h>
#include <unistd.h>
#include <pthread.h>
#include <stdio.h>
#include <math.h>
#include <stdbool.h>
#include <fcntl.h>
#include <mqueue.h>
#include <string.h>
#include "mavlink_bridge_header.h"
#include <v1.0/common/mavlink.h>
#include <arch/board/up_hrt.h>
#include <time.h>
#include <float.h>
#include <unistd.h>
#include <nuttx/sched.h>
#include <sys/prctl.h>
#include <termios.h>
#include <errno.h>
#include <stdlib.h>
#include <poll.h>
#include <systemlib/param/param.h>
#include <systemlib/systemlib.h>
#include "waypoints.h"
#include "mavlink_log.h"
#include "orb_topics.h"
#include "missionlib.h"
#include "mavlink_hil.h"
#include "util.h"
#include "waypoints.h"
#include "mavlink_parameters.h"
static uint8_t missionlib_msg_buf[MAVLINK_MAX_PACKET_LEN];
int
mavlink_missionlib_send_message(mavlink_message_t *msg)
{
uint16_t len = mavlink_msg_to_send_buffer(missionlib_msg_buf, msg);
mavlink_send_uart_bytes(chan, missionlib_msg_buf, len);
return 0;
}
int
mavlink_missionlib_send_gcs_string(const char *string)
{
const int len = MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN;
mavlink_statustext_t statustext;
int i = 0;
while (i < len - 1) {
statustext.text[i] = string[i];
if (string[i] == '\0')
break;
i++;
}
if (i > 1) {
/* Enforce null termination */
statustext.text[i] = '\0';
mavlink_message_t msg;
mavlink_msg_statustext_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &statustext);
return mavlink_missionlib_send_message(&msg);
} else {
return 1;
}
}
/**
* Get system time since boot in microseconds
*
* @return the system time since boot in microseconds
*/
uint64_t mavlink_missionlib_get_system_timestamp()
{
return hrt_absolute_time();
}
/**
* This callback is executed each time a waypoint changes.
*
* It publishes the vehicle_global_position_setpoint_s or the
* vehicle_local_position_setpoint_s topic, depending on the type of waypoint
*/
void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
float param2, float param3, float param4, float param5_lat_x,
float param6_lon_y, float param7_alt_z, uint8_t frame, uint16_t command)
{
static orb_advert_t global_position_setpoint_pub = -1;
static orb_advert_t local_position_setpoint_pub = -1;
char buf[50] = {0};
/* Update controller setpoints */
if (frame == (int)MAV_FRAME_GLOBAL) {
/* global, absolute waypoint */
struct vehicle_global_position_setpoint_s sp;
sp.lat = param5_lat_x * 1e7f;
sp.lon = param6_lon_y * 1e7f;
sp.altitude = param7_alt_z;
sp.altitude_is_relative = false;
sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F;
/* Initialize publication if necessary */
if (global_position_setpoint_pub < 0) {
global_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_global_position_setpoint), &sp);
} else {
orb_publish(ORB_ID(vehicle_global_position_setpoint), global_position_setpoint_pub, &sp);
}
sprintf(buf, "[mp] WP#%i lat: % 3.6f/lon % 3.6f/alt % 4.6f/hdg %3.4f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4);
} else if (frame == (int)MAV_FRAME_GLOBAL_RELATIVE_ALT) {
/* global, relative alt (in relation to HOME) waypoint */
struct vehicle_global_position_setpoint_s sp;
sp.lat = param5_lat_x * 1e7f;
sp.lon = param6_lon_y * 1e7f;
sp.altitude = param7_alt_z;
sp.altitude_is_relative = true;
sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F;
/* Initialize publication if necessary */
if (global_position_setpoint_pub < 0) {
global_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_global_position_setpoint), &sp);
} else {
orb_publish(ORB_ID(vehicle_global_position_setpoint), global_position_setpoint_pub, &sp);
}
sprintf(buf, "[mp] WP#%i (lat: %f/lon %f/rel alt %f/hdg %f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4);
} else if (frame == (int)MAV_FRAME_LOCAL_ENU || frame == (int)MAV_FRAME_LOCAL_NED) {
/* local, absolute waypoint */
struct vehicle_local_position_setpoint_s sp;
sp.x = param5_lat_x;
sp.y = param6_lon_y;
sp.z = param7_alt_z;
sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F;
/* Initialize publication if necessary */
if (local_position_setpoint_pub < 0) {
local_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_local_position_setpoint), &sp);
} else {
orb_publish(ORB_ID(vehicle_local_position_setpoint), local_position_setpoint_pub, &sp);
}
sprintf(buf, "[mp] WP#%i (x: %f/y %f/z %f/hdg %f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4);
}
mavlink_missionlib_send_gcs_string(buf);
printf("%s\n", buf);
//printf("[mavlink mp] new setpoint\n");//: frame: %d, lat: %d, lon: %d, alt: %d, yaw: %d\n", frame, param5_lat_x*1000, param6_lon_y*1000, param7_alt_z*1000, param4*1000);
}

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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file missionlib.h
* MAVLink mission helper library
*/
#pragma once
#include <v1.0/common/mavlink.h>
//extern void mavlink_wpm_send_message(mavlink_message_t *msg);
//extern void mavlink_wpm_send_gcs_string(const char *string);
//extern uint64_t mavlink_wpm_get_system_timestamp(void);
extern int mavlink_missionlib_send_message(mavlink_message_t *msg);
extern int mavlink_missionlib_send_gcs_string(const char *string);
extern uint64_t mavlink_missionlib_get_system_timestamp(void);
extern void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
float param2, float param3, float param4, float param5_lat_x,
float param6_lon_y, float param7_alt_z, uint8_t frame, uint16_t command);

644
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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file orb_listener.c
* Monitors ORB topics and sends update messages as appropriate.
*/
// XXX trim includes
#include <nuttx/config.h>
#include <stdio.h>
#include <math.h>
#include <stdbool.h>
#include <fcntl.h>
#include <string.h>
#include "mavlink_bridge_header.h"
#include <v1.0/common/mavlink.h>
#include <arch/board/up_hrt.h>
#include <time.h>
#include <float.h>
#include <unistd.h>
#include <sys/prctl.h>
#include <stdlib.h>
#include <poll.h>
#include "waypoints.h"
#include "mavlink_log.h"
#include "orb_topics.h"
#include "missionlib.h"
#include "mavlink_hil.h"
#include "util.h"
extern bool gcs_link;
struct vehicle_global_position_s global_pos;
struct vehicle_local_position_s local_pos;
struct vehicle_status_s v_status;
struct rc_channels_s rc;
struct actuator_armed_s armed;
struct mavlink_subscriptions mavlink_subs;
static int status_sub;
static int rc_sub;
static unsigned int sensors_raw_counter;
static unsigned int attitude_counter;
static unsigned int gps_counter;
/*
* Last sensor loop time
* some outputs are better timestamped
* with this "global" reference.
*/
static uint64_t last_sensor_timestamp;
static void *uorb_receive_thread(void *arg);
struct listener
{
void (*callback)(struct listener *l);
int *subp;
uintptr_t arg;
};
static void l_sensor_combined(struct listener *l);
static void l_vehicle_attitude(struct listener *l);
static void l_vehicle_gps_position(struct listener *l);
static void l_vehicle_status(struct listener *l);
static void l_rc_channels(struct listener *l);
static void l_global_position(struct listener *l);
static void l_local_position(struct listener *l);
static void l_global_position_setpoint(struct listener *l);
static void l_local_position_setpoint(struct listener *l);
static void l_attitude_setpoint(struct listener *l);
static void l_actuator_outputs(struct listener *l);
static void l_actuator_armed(struct listener *l);
static void l_manual_control_setpoint(struct listener *l);
static void l_vehicle_attitude_controls(struct listener *l);
static void l_debug_key_value(struct listener *l);
struct listener listeners[] = {
{l_sensor_combined, &mavlink_subs.sensor_sub, 0},
{l_vehicle_attitude, &mavlink_subs.att_sub, 0},
{l_vehicle_gps_position, &mavlink_subs.gps_sub, 0},
{l_vehicle_status, &status_sub, 0},
{l_rc_channels, &rc_sub, 0},
{l_global_position, &mavlink_subs.global_pos_sub, 0},
{l_local_position, &mavlink_subs.local_pos_sub, 0},
{l_global_position_setpoint, &mavlink_subs.spg_sub, 0},
{l_local_position_setpoint, &mavlink_subs.spl_sub, 0},
{l_attitude_setpoint, &mavlink_subs.spa_sub, 0},
{l_actuator_outputs, &mavlink_subs.act_0_sub, 0},
{l_actuator_outputs, &mavlink_subs.act_1_sub, 1},
{l_actuator_outputs, &mavlink_subs.act_2_sub, 2},
{l_actuator_outputs, &mavlink_subs.act_3_sub, 3},
{l_actuator_armed, &mavlink_subs.armed_sub, 0},
{l_manual_control_setpoint, &mavlink_subs.man_control_sp_sub, 0},
{l_vehicle_attitude_controls, &mavlink_subs.actuators_sub, 0},
{l_debug_key_value, &mavlink_subs.debug_key_value, 0},
};
static const unsigned n_listeners = sizeof(listeners) / sizeof(listeners[0]);
void
l_sensor_combined(struct listener *l)
{
struct sensor_combined_s raw;
/* copy sensors raw data into local buffer */
orb_copy(ORB_ID(sensor_combined), mavlink_subs.sensor_sub, &raw);
last_sensor_timestamp = raw.timestamp;
/* mark individual fields as changed */
uint16_t fields_updated = 0;
static unsigned accel_counter = 0;
static unsigned gyro_counter = 0;
static unsigned mag_counter = 0;
static unsigned baro_counter = 0;
if (accel_counter != raw.accelerometer_counter) {
/* mark first three dimensions as changed */
fields_updated |= (1 << 0) | (1 << 1) | (1 << 2);
accel_counter = raw.accelerometer_counter;
}
if (gyro_counter != raw.gyro_counter) {
/* mark second group dimensions as changed */
fields_updated |= (1 << 3) | (1 << 4) | (1 << 5);
gyro_counter = raw.gyro_counter;
}
if (mag_counter != raw.magnetometer_counter) {
/* mark third group dimensions as changed */
fields_updated |= (1 << 6) | (1 << 7) | (1 << 8);
mag_counter = raw.magnetometer_counter;
}
if (baro_counter != raw.baro_counter) {
/* mark last group dimensions as changed */
fields_updated |= (1 << 9) | (1 << 11) | (1 << 12);
baro_counter = raw.baro_counter;
}
if (gcs_link)
mavlink_msg_highres_imu_send(MAVLINK_COMM_0, last_sensor_timestamp,
raw.accelerometer_m_s2[0], raw.accelerometer_m_s2[1],
raw.accelerometer_m_s2[2], raw.gyro_rad_s[0],
raw.gyro_rad_s[1], raw.gyro_rad_s[2],
raw.magnetometer_ga[0],
raw.magnetometer_ga[1],raw.magnetometer_ga[2],
raw.baro_pres_mbar, 0 /* no diff pressure yet */,
raw.baro_alt_meter, raw.baro_temp_celcius,
fields_updated);
sensors_raw_counter++;
}
void
l_vehicle_attitude(struct listener *l)
{
struct vehicle_attitude_s att;
/* copy attitude data into local buffer */
orb_copy(ORB_ID(vehicle_attitude), mavlink_subs.att_sub, &att);
if (gcs_link)
/* send sensor values */
mavlink_msg_attitude_send(MAVLINK_COMM_0,
last_sensor_timestamp / 1000,
att.roll,
att.pitch,
att.yaw,
att.rollspeed,
att.pitchspeed,
att.yawspeed);
attitude_counter++;
}
void
l_vehicle_gps_position(struct listener *l)
{
struct vehicle_gps_position_s gps;
/* copy gps data into local buffer */
orb_copy(ORB_ID(vehicle_gps_position), mavlink_subs.gps_sub, &gps);
/* GPS position */
mavlink_msg_gps_raw_int_send(MAVLINK_COMM_0,
gps.timestamp,
gps.fix_type,
gps.lat,
gps.lon,
gps.alt,
gps.eph,
gps.epv,
gps.vel,
gps.cog,
gps.satellites_visible);
if (gps.satellite_info_available && (gps_counter % 4 == 0)) {
mavlink_msg_gps_status_send(MAVLINK_COMM_0,
gps.satellites_visible,
gps.satellite_prn,
gps.satellite_used,
gps.satellite_elevation,
gps.satellite_azimuth,
gps.satellite_snr);
}
gps_counter++;
}
void
l_vehicle_status(struct listener *l)
{
/* immediately communicate state changes back to user */
orb_copy(ORB_ID(vehicle_status), status_sub, &v_status);
orb_copy(ORB_ID(actuator_armed), mavlink_subs.armed_sub, &armed);
/* enable or disable HIL */
set_hil_on_off(v_status.flag_hil_enabled);
/* translate the current syste state to mavlink state and mode */
uint8_t mavlink_state = 0;
uint8_t mavlink_mode = 0;
get_mavlink_mode_and_state(&mavlink_state, &mavlink_mode);
/* send heartbeat */
mavlink_msg_heartbeat_send(chan,
mavlink_system.type,
MAV_AUTOPILOT_PX4,
mavlink_mode,
v_status.state_machine,
mavlink_state);
}
void
l_rc_channels(struct listener *l)
{
/* copy rc channels into local buffer */
orb_copy(ORB_ID(rc_channels), rc_sub, &rc);
if (gcs_link)
/* Channels are sent in MAVLink main loop at a fixed interval */
mavlink_msg_rc_channels_raw_send(chan,
rc.timestamp / 1000,
0,
rc.chan[0].raw,
rc.chan[1].raw,
rc.chan[2].raw,
rc.chan[3].raw,
rc.chan[4].raw,
rc.chan[5].raw,
rc.chan[6].raw,
rc.chan[7].raw,
rc.rssi);
}
void
l_global_position(struct listener *l)
{
/* copy global position data into local buffer */
orb_copy(ORB_ID(vehicle_global_position), mavlink_subs.global_pos_sub, &global_pos);
uint64_t timestamp = global_pos.timestamp;
int32_t lat = global_pos.lat;
int32_t lon = global_pos.lon;
int32_t alt = (int32_t)(global_pos.alt*1000);
int32_t relative_alt = (int32_t)(global_pos.relative_alt * 1000.0f);
int16_t vx = (int16_t)(global_pos.vx * 100.0f);
int16_t vy = (int16_t)(global_pos.vy * 100.0f);
int16_t vz = (int16_t)(global_pos.vz * 100.0f);
/* heading in degrees * 10, from 0 to 36.000) */
uint16_t hdg = (global_pos.hdg / M_PI_F) * (180.0f * 10.0f) + (180.0f * 10.0f);
mavlink_msg_global_position_int_send(MAVLINK_COMM_0,
timestamp / 1000,
lat,
lon,
alt,
relative_alt,
vx,
vy,
vz,
hdg);
}
void
l_local_position(struct listener *l)
{
/* copy local position data into local buffer */
orb_copy(ORB_ID(vehicle_local_position), mavlink_subs.local_pos_sub, &local_pos);
if (gcs_link)
mavlink_msg_local_position_ned_send(MAVLINK_COMM_0,
local_pos.timestamp / 1000,
local_pos.x,
local_pos.y,
local_pos.z,
local_pos.vx,
local_pos.vy,
local_pos.vz);
}
void
l_global_position_setpoint(struct listener *l)
{
struct vehicle_global_position_setpoint_s global_sp;
/* copy local position data into local buffer */
orb_copy(ORB_ID(vehicle_global_position_setpoint), mavlink_subs.spg_sub, &global_sp);
uint8_t coordinate_frame = MAV_FRAME_GLOBAL;
if (global_sp.altitude_is_relative)
coordinate_frame = MAV_FRAME_GLOBAL_RELATIVE_ALT;
if (gcs_link)
mavlink_msg_global_position_setpoint_int_send(MAVLINK_COMM_0,
coordinate_frame,
global_sp.lat,
global_sp.lon,
global_sp.altitude,
global_sp.yaw);
}
void
l_local_position_setpoint(struct listener *l)
{
struct vehicle_local_position_setpoint_s local_sp;
/* copy local position data into local buffer */
orb_copy(ORB_ID(vehicle_local_position_setpoint), mavlink_subs.spl_sub, &local_sp);
if (gcs_link)
mavlink_msg_local_position_setpoint_send(MAVLINK_COMM_0,
MAV_FRAME_LOCAL_NED,
local_sp.x,
local_sp.y,
local_sp.z,
local_sp.yaw);
}
void
l_attitude_setpoint(struct listener *l)
{
struct vehicle_attitude_setpoint_s att_sp;
/* copy local position data into local buffer */
orb_copy(ORB_ID(vehicle_attitude_setpoint), mavlink_subs.spa_sub, &att_sp);
if (gcs_link)
mavlink_msg_roll_pitch_yaw_thrust_setpoint_send(MAVLINK_COMM_0,
att_sp.timestamp/1000,
att_sp.roll_body,
att_sp.pitch_body,
att_sp.yaw_body,
att_sp.thrust);
}
void
l_actuator_outputs(struct listener *l)
{
struct actuator_outputs_s act_outputs;
orb_id_t ids[] = {
ORB_ID(actuator_outputs_0),
ORB_ID(actuator_outputs_1),
ORB_ID(actuator_outputs_2),
ORB_ID(actuator_outputs_3)
};
/* copy actuator data into local buffer */
orb_copy(ids[l->arg], *l->subp, &act_outputs);
if (gcs_link)
mavlink_msg_servo_output_raw_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000,
l->arg /* port number */,
act_outputs.output[0],
act_outputs.output[1],
act_outputs.output[2],
act_outputs.output[3],
act_outputs.output[4],
act_outputs.output[5],
act_outputs.output[6],
act_outputs.output[7]);
}
void
l_actuator_armed(struct listener *l)
{
orb_copy(ORB_ID(actuator_armed), mavlink_subs.armed_sub, &armed);
}
void
l_manual_control_setpoint(struct listener *l)
{
struct manual_control_setpoint_s man_control;
/* copy manual control data into local buffer */
orb_copy(ORB_ID(manual_control_setpoint), mavlink_subs.man_control_sp_sub, &man_control);
if (gcs_link)
mavlink_msg_manual_control_send(MAVLINK_COMM_0,
mavlink_system.sysid,
man_control.roll * 1000,
man_control.pitch * 1000,
man_control.yaw * 1000,
man_control.throttle * 1000,
0);
}
void
l_vehicle_attitude_controls(struct listener *l)
{
struct actuator_controls_s actuators;
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, mavlink_subs.actuators_sub, &actuators);
if (gcs_link) {
/* send, add spaces so that string buffer is at least 10 chars long */
mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
last_sensor_timestamp / 1000,
"ctrl0 ",
actuators.control[0]);
mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
last_sensor_timestamp / 1000,
"ctrl1 ",
actuators.control[1]);
mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
last_sensor_timestamp / 1000,
"ctrl2 ",
actuators.control[2]);
mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
last_sensor_timestamp / 1000,
"ctrl3 ",
actuators.control[3]);
}
/* Only send in HIL mode */
if (mavlink_hil_enabled) {
/* translate the current syste state to mavlink state and mode */
uint8_t mavlink_state = 0;
uint8_t mavlink_mode = 0;
get_mavlink_mode_and_state(&mavlink_state, &mavlink_mode);
/* HIL message as per MAVLink spec */
mavlink_msg_hil_controls_send(chan,
hrt_absolute_time(),
actuators.control[0],
actuators.control[1],
actuators.control[2],
actuators.control[3],
0,
0,
0,
0,
mavlink_mode,
0);
}
}
void
l_debug_key_value(struct listener *l)
{
struct debug_key_value_s debug;
orb_copy(ORB_ID(debug_key_value), mavlink_subs.debug_key_value, &debug);
/* Enforce null termination */
debug.key[sizeof(debug.key) - 1] = '\0';
mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
last_sensor_timestamp / 1000,
debug.key,
debug.value);
}
static void *
uorb_receive_thread(void *arg)
{
/* Set thread name */
prctl(PR_SET_NAME, "mavlink orb rcv", getpid());
/*
* set up poll to block for new data,
* wait for a maximum of 1000 ms (1 second)
*/
const int timeout = 1000;
/*
* Initialise listener array.
*
* Might want to invoke each listener once to set initial state.
*/
struct pollfd fds[n_listeners];
for (unsigned i = 0; i < n_listeners; i++) {
fds[i].fd = *listeners[i].subp;
/* Invoke callback to set initial state */
//listeners[i].callback(&listener[i]);
}
while (!thread_should_exit) {
int poll_ret = poll(fds, n_listeners, timeout);
/* handle the poll result */
if (poll_ret == 0) {
mavlink_missionlib_send_gcs_string("[mavlink] No telemetry data for 1 s");
} else if (poll_ret < 0) {
mavlink_missionlib_send_gcs_string("[mavlink] ERROR reading uORB data");
} else {
for (unsigned i = 0; i < n_listeners; i++) {
if (fds[i].revents & POLLIN)
listeners[i].callback(&listeners[i]);
}
}
}
return NULL;
}
pthread_t
uorb_receive_start(void)
{
/* --- SENSORS RAW VALUE --- */
mavlink_subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
/* rate limit set externally based on interface speed, set a basic default here */
orb_set_interval(mavlink_subs.sensor_sub, 200); /* 5Hz updates */
/* --- ATTITUDE VALUE --- */
mavlink_subs.att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
/* rate limit set externally based on interface speed, set a basic default here */
orb_set_interval(mavlink_subs.att_sub, 200); /* 5Hz updates */
/* --- GPS VALUE --- */
mavlink_subs.gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
orb_set_interval(mavlink_subs.gps_sub, 1000); /* 1Hz updates */
/* --- SYSTEM STATE --- */
status_sub = orb_subscribe(ORB_ID(vehicle_status));
orb_set_interval(status_sub, 300); /* max 3.33 Hz updates */
/* --- RC CHANNELS VALUE --- */
rc_sub = orb_subscribe(ORB_ID(rc_channels));
orb_set_interval(rc_sub, 100); /* 10Hz updates */
/* --- GLOBAL POS VALUE --- */
mavlink_subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
orb_set_interval(mavlink_subs.global_pos_sub, 1000); /* 1Hz active updates */
/* --- LOCAL POS VALUE --- */
mavlink_subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
orb_set_interval(mavlink_subs.local_pos_sub, 1000); /* 1Hz active updates */
/* --- GLOBAL SETPOINT VALUE --- */
mavlink_subs.spg_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint));
orb_set_interval(mavlink_subs.spg_sub, 2000); /* 0.5 Hz updates */
/* --- LOCAL SETPOINT VALUE --- */
mavlink_subs.spl_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint));
orb_set_interval(mavlink_subs.spl_sub, 2000); /* 0.5 Hz updates */
/* --- ATTITUDE SETPOINT VALUE --- */
mavlink_subs.spa_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
orb_set_interval(mavlink_subs.spa_sub, 2000); /* 0.5 Hz updates */
/* --- ACTUATOR OUTPUTS --- */
mavlink_subs.act_0_sub = orb_subscribe(ORB_ID(actuator_outputs_0));
mavlink_subs.act_1_sub = orb_subscribe(ORB_ID(actuator_outputs_1));
mavlink_subs.act_2_sub = orb_subscribe(ORB_ID(actuator_outputs_2));
mavlink_subs.act_3_sub = orb_subscribe(ORB_ID(actuator_outputs_3));
/* rate limits set externally based on interface speed, set a basic default here */
orb_set_interval(mavlink_subs.act_0_sub, 100); /* 10Hz updates */
orb_set_interval(mavlink_subs.act_1_sub, 100); /* 10Hz updates */
orb_set_interval(mavlink_subs.act_2_sub, 100); /* 10Hz updates */
orb_set_interval(mavlink_subs.act_3_sub, 100); /* 10Hz updates */
/* --- ACTUATOR ARMED VALUE --- */
mavlink_subs.armed_sub = orb_subscribe(ORB_ID(actuator_armed));
orb_set_interval(mavlink_subs.armed_sub, 100); /* 10Hz updates */
/* --- MAPPED MANUAL CONTROL INPUTS --- */
mavlink_subs.man_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
/* rate limits set externally based on interface speed, set a basic default here */
orb_set_interval(mavlink_subs.man_control_sp_sub, 100); /* 10Hz updates */
/* --- ACTUATOR CONTROL VALUE --- */
mavlink_subs.actuators_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
orb_set_interval(mavlink_subs.actuators_sub, 100); /* 10Hz updates */
/* --- DEBUG VALUE OUTPUT --- */
mavlink_subs.debug_key_value = orb_subscribe(ORB_ID(debug_key_value));
orb_set_interval(mavlink_subs.debug_key_value, 100); /* 10Hz updates */
/* start the listener loop */
pthread_attr_t uorb_attr;
pthread_attr_init(&uorb_attr);
/* Set stack size, needs more than 8000 bytes */
pthread_attr_setstacksize(&uorb_attr, 4096);
pthread_t thread;
pthread_create(&thread, &uorb_attr, uorb_receive_thread, NULL);
return thread;
}

98
apps/mavlink/orb_topics.h Normal file
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@ -0,0 +1,98 @@
/****************************************************************************
*
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file orb_topics.h
* Common sets of topics subscribed to or published by the MAVLink driver,
* and structures maintained by those subscriptions.
*/
#pragma once
#include <uORB/uORB.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/rc_channels.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/offboard_control_setpoint.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
#include <uORB/topics/vehicle_vicon_position.h>
#include <uORB/topics/vehicle_global_position_setpoint.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/debug_key_value.h>
struct mavlink_subscriptions {
int sensor_sub;
int att_sub;
int global_pos_sub;
int act_0_sub;
int act_1_sub;
int act_2_sub;
int act_3_sub;
int gps_sub;
int man_control_sp_sub;
int armed_sub;
int actuators_sub;
int local_pos_sub;
int spa_sub;
int spl_sub;
int spg_sub;
int debug_key_value;
};
extern struct mavlink_subscriptions mavlink_subs;
/** Global position */
extern struct vehicle_global_position_s global_pos;
/** Local position */
extern struct vehicle_local_position_s local_pos;
/** Vehicle status */
extern struct vehicle_status_s v_status;
/** RC channels */
extern struct rc_channels_s rc;
/** Actuator armed state */
extern struct actuator_armed_s armed;
/** Worker thread starter */
extern pthread_t uorb_receive_start(void);

54
apps/mavlink/util.h Normal file
View File

@ -0,0 +1,54 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file util.h
* Utility and helper functions and data.
*/
#pragma once
/** MAVLink communications channel */
extern uint8_t chan;
/** Shutdown marker */
extern volatile bool thread_should_exit;
/** Waypoint storage */
extern mavlink_wpm_storage *wpm;
/**
* Translate the custom state into standard mavlink modes and state.
*/
extern void get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_mode);

14
apps/mavlink/waypoints.c
View File

@ -40,12 +40,15 @@
* MAVLink waypoint protocol implementation (BSD-relicensed).
*/
#include "waypoints.h"
#include <math.h>
#include <sys/prctl.h>
#include <unistd.h>
#include <stdio.h>
#include "missionlib.h"
#include "waypoints.h"
#include "util.h"
#ifndef FM_PI
#define FM_PI 3.1415926535897932384626433832795f
#endif
@ -53,15 +56,6 @@
bool debug = false;
bool verbose = false;
extern mavlink_wpm_storage *wpm;
extern void mavlink_missionlib_send_message(mavlink_message_t *msg);
extern void mavlink_missionlib_send_gcs_string(const char *string);
extern uint64_t mavlink_missionlib_get_system_timestamp(void);
extern void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
float param2, float param3, float param4, float param5_lat_x,
float param6_lon_y, float param7_alt_z, uint8_t frame, uint16_t command);
#define MAVLINK_WPM_NO_PRINTF

1
apps/mavlink/waypoints.h
View File

@ -46,7 +46,6 @@
or in the same folder as this source file */
#include <v1.0/mavlink_types.h>
extern void mavlink_send_uart_bytes(mavlink_channel_t chan, uint8_t *buffer, uint16_t len);
#ifndef MAVLINK_SEND_UART_BYTES
#define MAVLINK_SEND_UART_BYTES(chan, buffer, len) mavlink_send_uart_bytes(chan, buffer, len)

0
apps/multirotor_att_control/Makefile Normal file → Executable file
View File

23
apps/multirotor_att_control/multirotor_att_control_main.c
View File

@ -172,7 +172,7 @@ mc_thread_main(int argc, char *argv[])
rates_sp.pitch = offboard_sp.p2;
rates_sp.yaw = offboard_sp.p3;
rates_sp.thrust = offboard_sp.p4;
printf("thrust_rate=%8.4f\n",offboard_sp.p4);
// printf("thrust_rate=%8.4f\n",offboard_sp.p4);
rates_sp.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
} else if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE) {
@ -180,7 +180,7 @@ mc_thread_main(int argc, char *argv[])
att_sp.pitch_body = offboard_sp.p2;
att_sp.yaw_body = offboard_sp.p3;
att_sp.thrust = offboard_sp.p4;
printf("thrust_att=%8.4f\n",offboard_sp.p4);
// printf("thrust_att=%8.4f\n",offboard_sp.p4);
att_sp.timestamp = hrt_absolute_time();
/* STEP 2: publish the result to the vehicle actuators */
orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
@ -193,18 +193,18 @@ mc_thread_main(int argc, char *argv[])
if (state.flag_control_rates_enabled && !state.flag_control_attitude_enabled) {
rates_sp.roll = manual.roll;
rates_sp.pitch = manual.pitch;
rates_sp.yaw = manual.yaw;
rates_sp.thrust = manual.throttle;
//printf("rates\n");
rates_sp.timestamp = hrt_absolute_time();
}
if (state.flag_control_attitude_enabled) {
att_sp.roll_body = manual.roll;
att_sp.pitch_body = manual.pitch;
att_sp.yaw_body = manual.yaw; // XXX Hack, remove, switch to yaw rate controller
/* set yaw rate */
rates_sp.yaw = manual.yaw;
att_sp.yaw_body = att.yaw + manual.yaw * -2.0f;
att_sp.thrust = manual.throttle;
att_sp.timestamp = hrt_absolute_time();
}
@ -212,6 +212,7 @@ mc_thread_main(int argc, char *argv[])
orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
if (motor_test_mode) {
printf("testmode");
att_sp.roll_body = 0.0f;
att_sp.pitch_body = 0.0f;
att_sp.yaw_body = 0.0f;
@ -224,21 +225,15 @@ mc_thread_main(int argc, char *argv[])
}
/** STEP 3: Identify the controller setup to run and set up the inputs correctly */
/* run attitude controller */
if (state.flag_control_attitude_enabled && !state.flag_control_rates_enabled) {
multirotor_control_attitude(&att_sp, &att, NULL, &actuators);
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
} else if (state.flag_control_attitude_enabled && state.flag_control_rates_enabled) {
if (state.flag_control_attitude_enabled) {
multirotor_control_attitude(&att_sp, &att, &rates_sp, NULL);
orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
}
}
if (state.flag_control_rates_enabled) {
float gyro[3] = {0.0f, 0.0f, 0.0f};
float gyro[3];
/* get current rate setpoint */
bool rates_sp_valid = false;

205
apps/multirotor_att_control/multirotor_attitude_control.c
View File

@ -54,21 +54,15 @@
#include <systemlib/param/param.h>
#include <arch/board/up_hrt.h>
// PARAM_DEFINE_FLOAT(MC_YAWPOS_P, 0.3f);
// 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_YAWPOS_P, 0.3f);
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_YAWRATE_P, 0.08f); /* same on Flamewheel */
PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.02f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_AWU, 0.02f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 0.1f);
PARAM_DEFINE_FLOAT(MC_ATT_P, 0.2f); /* 0.15 F405 Flamewheel */
PARAM_DEFINE_FLOAT(MC_ATT_P, 0.2f);
PARAM_DEFINE_FLOAT(MC_ATT_I, 0.0f);
PARAM_DEFINE_FLOAT(MC_ATT_D, 0.05f); /* 0.025 F405 Flamewheel */
PARAM_DEFINE_FLOAT(MC_ATT_D, 0.05f);
PARAM_DEFINE_FLOAT(MC_ATT_AWU, 0.05f);
PARAM_DEFINE_FLOAT(MC_ATT_LIM, 0.4f);
@ -76,17 +70,11 @@ PARAM_DEFINE_FLOAT(MC_ATT_XOFF, 0.0f);
PARAM_DEFINE_FLOAT(MC_ATT_YOFF, 0.0f);
struct mc_att_control_params {
// float yaw_p;
// float yaw_i;
// float yaw_d;
// float yaw_awu;
// float yaw_lim;
float yawrate_p;
float yawrate_i;
float yawrate_d;
float yawrate_awu;
float yawrate_lim;
float yaw_p;
float yaw_i;
float yaw_d;
float yaw_awu;
float yaw_lim;
float att_p;
float att_i;
@ -99,17 +87,11 @@ struct mc_att_control_params {
};
struct mc_att_control_param_handles {
// param_t yaw_p;
// param_t yaw_i;
// param_t yaw_d;
// param_t yaw_awu;
// param_t yaw_lim;
param_t yawrate_p;
param_t yawrate_i;
param_t yawrate_d;
param_t yawrate_awu;
param_t yawrate_lim;
param_t yaw_p;
param_t yaw_i;
param_t yaw_d;
param_t yaw_awu;
param_t yaw_lim;
param_t att_p;
param_t att_i;
@ -137,17 +119,11 @@ static int parameters_update(const struct mc_att_control_param_handles *h, struc
static int parameters_init(struct mc_att_control_param_handles *h)
{
/* PID parameters */
// h->yaw_p = param_find("MC_YAWPOS_P");
// h->yaw_i = param_find("MC_YAWPOS_I");
// h->yaw_d = param_find("MC_YAWPOS_D");
// h->yaw_awu = param_find("MC_YAWPOS_AWU");
// h->yaw_lim = param_find("MC_YAWPOS_LIM");
h->yawrate_p = param_find("MC_YAWRATE_P");
h->yawrate_i = param_find("MC_YAWRATE_I");
h->yawrate_d = param_find("MC_YAWRATE_D");
h->yawrate_awu = param_find("MC_YAWRATE_AWU");
h->yawrate_lim = param_find("MC_YAWRATE_LIM");
h->yaw_p = param_find("MC_YAWPOS_P");
h->yaw_i = param_find("MC_YAWPOS_I");
h->yaw_d = param_find("MC_YAWPOS_D");
h->yaw_awu = param_find("MC_YAWPOS_AWU");
h->yaw_lim = param_find("MC_YAWPOS_LIM");
h->att_p = param_find("MC_ATT_P");
h->att_i = param_find("MC_ATT_I");
@ -163,17 +139,11 @@ static int parameters_init(struct mc_att_control_param_handles *h)
static int parameters_update(const struct mc_att_control_param_handles *h, struct mc_att_control_params *p)
{
// param_get(h->yaw_p, &(p->yaw_p));
// param_get(h->yaw_i, &(p->yaw_i));
// param_get(h->yaw_d, &(p->yaw_d));
// param_get(h->yaw_awu, &(p->yaw_awu));
// param_get(h->yaw_lim, &(p->yaw_lim));
param_get(h->yawrate_p, &(p->yawrate_p));
param_get(h->yawrate_i, &(p->yawrate_i));
param_get(h->yawrate_d, &(p->yawrate_d));
param_get(h->yawrate_awu, &(p->yawrate_awu));
param_get(h->yawrate_lim, &(p->yawrate_lim));
param_get(h->yaw_p, &(p->yaw_p));
param_get(h->yaw_i, &(p->yaw_i));
param_get(h->yaw_d, &(p->yaw_d));
param_get(h->yaw_awu, &(p->yaw_awu));
param_get(h->yaw_lim, &(p->yaw_lim));
param_get(h->att_p, &(p->att_p));
param_get(h->att_i, &(p->att_i));
@ -188,16 +158,21 @@ static int parameters_update(const struct mc_att_control_param_handles *h, struc
}
void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, struct actuator_controls_s *actuators)
const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, struct actuator_controls_s *actuators)
{
static uint64_t last_run = 0;
const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
static uint64_t last_input = 0;
float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
float dT_input = (hrt_absolute_time() - last_input) / 1000000.0f;
last_run = hrt_absolute_time();
if (last_input != att_sp->timestamp) {
last_input = att_sp->timestamp;
}
static int sensor_delay;
sensor_delay = hrt_absolute_time() - att->timestamp;
static int motor_skip_counter = 0;
// static PID_t yaw_pos_controller;
static PID_t yaw_speed_controller;
static PID_t pitch_controller;
static PID_t roll_controller;
@ -211,114 +186,40 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
parameters_init(&h);
parameters_update(&h, &p);
// pid_init(&yaw_pos_controller, p.yaw_p, p.yaw_i, p.yaw_d, p.yaw_awu,
// PID_MODE_DERIVATIV_SET, 154);
pid_init(&yaw_speed_controller, p.yawrate_p, p.yawrate_i, p.yawrate_d, p.yawrate_awu,
PID_MODE_DERIVATIV_SET);
pid_init(&pitch_controller, p.att_p, p.att_i, p.att_d, p.att_awu,
PID_MODE_DERIVATIV_SET);
p.att_lim, PID_MODE_DERIVATIV_SET);
pid_init(&roll_controller, p.att_p, p.att_i, p.att_d, p.att_awu,
PID_MODE_DERIVATIV_SET);
p.att_lim, PID_MODE_DERIVATIV_SET);
initialized = true;
}
/* load new parameters with lower rate */
if (motor_skip_counter % 50 == 0) {
if (motor_skip_counter % 1000 == 0) {
/* update parameters from storage */
parameters_update(&h, &p);
/* apply parameters */
// pid_set_parameters(&yaw_pos_controller, p.yaw_p, p.yaw_i, p.yaw_d, p.yaw_awu);
pid_set_parameters(&yaw_speed_controller, p.yawrate_p, p.yawrate_i, p.yawrate_d, p.yawrate_awu);
pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, p.att_awu);
pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, p.att_awu);
printf("att ctrl: delays: %d us sens->ctrl, rate: %d Hz, input: %d Hz\n", sensor_delay, (int)(1.0f/deltaT), (int)(1.0f/dT_input));
pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, p.att_awu, p.att_lim);
pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, p.att_awu, p.att_lim);
}
/* calculate current control outputs */
/* control pitch (forward) output */
float pitch_control = pid_calculate(&pitch_controller, att_sp->pitch_body + p.att_xoff,
att->pitch, att->pitchspeed, deltaT);
rates_sp->pitch = pid_calculate(&pitch_controller, att_sp->pitch_body + p.att_xoff,
att->pitch, att->pitchspeed, deltaT);
/* control roll (left/right) output */
float roll_control = pid_calculate(&roll_controller, att_sp->roll_body + p.att_yoff,
att->roll, att->rollspeed, deltaT);
rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body + p.att_yoff,
att->roll, att->rollspeed, deltaT);
/* control yaw rate */
float yaw_rate_control = pid_calculate(&yaw_speed_controller, att_sp->yaw_body, att->yawspeed, 0.0f, deltaT);
rates_sp->yaw = p.yaw_p * atan2f(sinf(att->yaw - att_sp->yaw_body), cosf(att->yaw - att_sp->yaw_body));
/*
* compensate the vertical loss of thrust
* when thrust plane has an angle.
* start with a factor of 1.0 (no change)
*/
float zcompensation = 1.0f;
if (fabsf(att->roll) > 0.3f) {
zcompensation *= 1.04675160154f;
} else {
zcompensation *= 1.0f / cosf(att->roll);
}
if (fabsf(att->pitch) > 0.3f) {
zcompensation *= 1.04675160154f;
} else {
zcompensation *= 1.0f / cosf(att->pitch);
}
float motor_thrust = 0.0f;
motor_thrust = att_sp->thrust;
/* compensate thrust vector for roll / pitch contributions */
motor_thrust *= zcompensation;
/* limit yaw rate output */
if (yaw_rate_control > p.yawrate_lim) {
yaw_rate_control = p.yawrate_lim;
yaw_speed_controller.saturated = 1;
}
if (yaw_rate_control < -p.yawrate_lim) {
yaw_rate_control = -p.yawrate_lim;
yaw_speed_controller.saturated = 1;
}
if (pitch_control > p.att_lim) {
pitch_control = p.att_lim;
pitch_controller.saturated = 1;
}
if (pitch_control < -p.att_lim) {
pitch_control = -p.att_lim;
pitch_controller.saturated = 1;
}
if (roll_control > p.att_lim) {
roll_control = p.att_lim;
roll_controller.saturated = 1;
}
if (roll_control < -p.att_lim) {
roll_control = -p.att_lim;
roll_controller.saturated = 1;
}
if (actuators) {
actuators->control[0] = roll_control;
actuators->control[1] = pitch_control;
actuators->control[2] = yaw_rate_control;
actuators->control[3] = motor_thrust;
}
// XXX change yaw rate to yaw pos controller
if (rates_sp) {
rates_sp->roll = roll_control;
rates_sp->pitch = pitch_control;
rates_sp->yaw = yaw_rate_control;
rates_sp->thrust = motor_thrust;
}
rates_sp->thrust = att_sp->thrust;
motor_skip_counter++;
}

62
apps/multirotor_att_control/multirotor_rate_control.c
View File

@ -1,8 +1,8 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Tobias Naegeli <naegelit@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* Author: Tobias Naegeli <naegelit@student.ethz.ch>
* Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -35,7 +35,11 @@
/**
* @file multirotor_rate_control.c
*
* Implementation of rate controller
*
* @author Tobias Naegeli <naegelit@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#include "multirotor_rate_control.h"
@ -48,18 +52,20 @@
#include <math.h>
#include <systemlib/pid/pid.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>
#include <arch/board/up_hrt.h>
// PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.08f); /* same on Flamewheel */
// PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.02f);
// PARAM_DEFINE_FLOAT(MC_YAWRATE_AWU, 0.02f);
// PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 0.1f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.1f); /* same on Flamewheel */
PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_AWU, 0.0f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 1.0f);
PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.2f); /* 0.15 F405 Flamewheel */
PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.0f);
//PARAM_DEFINE_FLOAT(MC_ATTRATE_I, 0.0f);
//PARAM_DEFINE_FLOAT(MC_ATTRATE_AWU, 0.05f);
PARAM_DEFINE_FLOAT(MC_ATTRATE_LIM, 8.0f); /**< roughly < 500 deg/s limit */
PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.05f);
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 */
struct mc_rate_control_params {
@ -144,10 +150,17 @@ static int parameters_update(const struct mc_rate_control_param_handles *h, stru
void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
const float rates[], struct actuator_controls_s *actuators)
{
static float roll_control_last=0;
static float pitch_control_last=0;
static float roll_control_last = 0;
static float pitch_control_last = 0;
static uint64_t last_run = 0;
const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
static uint64_t last_input = 0;
float dT_input = (hrt_absolute_time() - last_input) / 1000000.0f;
if (last_input != rate_sp->timestamp) {
last_input = rate_sp->timestamp;
}
last_run = hrt_absolute_time();
static int motor_skip_counter = 0;
@ -168,21 +181,34 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
if (motor_skip_counter % 2500 == 0) {
/* update parameters from storage */
parameters_update(&h, &p);
printf("p.yawrate_p: %8.4f\n", (double)p.yawrate_p);
// warnx("rate ctrl: p.yawrate_p: %8.4f, loop: %d Hz, input: %d Hz",
// (double)p.yawrate_p, (int)(1.0f/deltaT), (int)(1.0f/dT_input));
}
/* calculate current control outputs */
/* control pitch (forward) output */
float pitch_control = p.attrate_p * (rate_sp->pitch - rates[1]) - (p.attrate_d * pitch_control_last);
/* increase resilience to faulty control inputs */
if (isfinite(pitch_control)) {
pitch_control_last = pitch_control;
} else {
pitch_control = 0.0f;
warnx("rej. NaN ctrl pitch");
}
float pitch_control = p.attrate_p * deltaT *(rate_sp->pitch-rates[1])-p.attrate_d*(pitch_control_last);
pitch_control_last=pitch_control;
/* control roll (left/right) output */
float roll_control = p.attrate_p * (rate_sp->roll - rates[0]) - (p.attrate_d * roll_control_last);
/* increase resilience to faulty control inputs */
if (isfinite(roll_control)) {
roll_control_last = roll_control;
} else {
roll_control = 0.0f;
warnx("rej. NaN ctrl roll");
}
float roll_control = p.attrate_p * deltaT * (rate_sp->roll-rates[0])-p.attrate_d*(roll_control_last);
roll_control_last=roll_control;
/* control yaw rate */
float yaw_rate_control = p.yawrate_p * deltaT * (rate_sp->yaw-rates[2] );
float yaw_rate_control = p.yawrate_p * (rate_sp->yaw - rates[2]);
actuators->control[0] = roll_control;
actuators->control[1] = pitch_control;

2
apps/px4/tests/test_hrt.c
View File

@ -51,7 +51,7 @@
#include <arch/board/board.h>
#include <arch/board/up_hrt.h>
#include <arch/board/drv_tone_alarm.h>
#include <drivers/drv_tone_alarm.h>
#include <nuttx/spi.h>

54
apps/sdlog/sdlog.c
View File

@ -90,6 +90,11 @@ static void usage(const char *reason);
static int file_exist(const char *filename);
/**
* Print the current status.
*/
static void print_sdlog_status();
/**
* Create folder for current logging session.
*/
@ -103,6 +108,14 @@ usage(const char *reason)
errx(1, "usage: sdlog {start|stop|status} [-p <additional params>]\n\n");
}
// XXX turn this into a C++ class
unsigned sensor_combined_bytes = 0;
unsigned actuator_outputs_bytes = 0;
unsigned actuator_controls_bytes = 0;
unsigned sysvector_bytes = 0;
unsigned blackbox_file_bytes = 0;
uint64_t starttime = 0;
/**
* The sd log deamon app only briefly exists to start
* the background job. The stack size assigned in the
@ -131,7 +144,6 @@ int sdlog_main(int argc, char *argv[])
4096,
sdlog_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
thread_running = true;
exit(0);
}
@ -145,7 +157,7 @@ int sdlog_main(int argc, char *argv[])
if (!strcmp(argv[1], "status")) {
if (thread_running) {
printf("\tsdlog is running\n");
print_sdlog_status();
} else {
printf("\tsdlog not started\n");
}
@ -194,7 +206,7 @@ int create_logfolder(char* folder_path) {
int sdlog_thread_main(int argc, char *argv[]) {
printf("[sdlog] starting\n");
warnx("starting\n");
if (file_exist(mountpoint) != OK) {
errx(1, "logging mount point %s not present, exiting.", mountpoint);
@ -202,25 +214,20 @@ int sdlog_thread_main(int argc, char *argv[]) {
char folder_path[64];
if (create_logfolder(folder_path))
errx(1, "unable to create logging folder, exiting");
errx(1, "unable to create logging folder, exiting.");
/* create sensorfile */
int sensorfile = -1;
unsigned sensor_combined_bytes = 0;
int actuator_outputs_file = -1;
unsigned actuator_outputs_bytes = 0;
int actuator_controls_file = -1;
unsigned actuator_controls_bytes = 0;
int sysvector_file = -1;
unsigned sysvector_bytes = 0;
FILE *gpsfile;
unsigned blackbox_file_bytes = 0;
FILE *blackbox_file;
// FILE *vehiclefile;
char path_buf[64] = ""; // string to hold the path to the sensorfile
printf("[sdlog] logging to directory %s\n", folder_path);
warnx("logging to directory %s\n", folder_path);
/* set up file path: e.g. /mnt/sdcard/session0001/sensor_combined.bin */
sprintf(path_buf, "%s/%s.bin", folder_path, "sensor_combined");
@ -347,14 +354,14 @@ int sdlog_thread_main(int argc, char *argv[]) {
/* --- GLOBAL POSITION --- */
/* subscribe to ORB for global position */
subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
fds[fdsc_count].fd = subs.global_pos_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- GPS POSITION --- */
/* subscribe to ORB for global position */
subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
subs.gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
fds[fdsc_count].fd = subs.gps_pos_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
@ -378,7 +385,7 @@ int sdlog_thread_main(int argc, char *argv[]) {
int poll_count = 0;
uint64_t starttime = hrt_absolute_time();
starttime = hrt_absolute_time();
while (!thread_should_exit) {
@ -484,6 +491,7 @@ int sdlog_thread_main(int argc, char *argv[]) {
float vbat;
float adc[3];
float local_pos[3];
int32_t gps_pos[3];
} sysvector = {
.timestamp = buf.raw.timestamp,
.gyro = {buf.raw.gyro_rad_s[0], buf.raw.gyro_rad_s[1], buf.raw.gyro_rad_s[2]},
@ -497,7 +505,8 @@ int sdlog_thread_main(int argc, char *argv[]) {
buf.act_outputs.output[4], buf.act_outputs.output[5], buf.act_outputs.output[6], buf.act_outputs.output[7]},
.vbat = buf.raw.battery_voltage_v,
.adc = {buf.raw.adc_voltage_v[0], buf.raw.adc_voltage_v[1], buf.raw.adc_voltage_v[2]},
.local_pos = {buf.local_pos.x, buf.local_pos.y, buf.local_pos.z}
.local_pos = {buf.local_pos.x, buf.local_pos.y, buf.local_pos.z},
.gps_pos = {buf.gps_pos.lat, buf.gps_pos.lon, buf.gps_pos.alt}
};
#pragma pack(pop)
@ -506,13 +515,11 @@ int sdlog_thread_main(int argc, char *argv[]) {
usleep(10000);
}
unsigned bytes = sensor_combined_bytes + actuator_outputs_bytes + blackbox_file_bytes + actuator_controls_bytes;
float mebibytes = bytes / 1024.0f / 1024.0f;
float seconds = ((float)(hrt_absolute_time() - starttime)) / 1000000.0f;
fsync(sysvector_file);
printf("[sdlog] wrote %4.2f MiB (average %5.3f MiB/s).\n", (double)mebibytes, (double)(mebibytes / seconds));
print_sdlog_status();
printf("[sdlog] exiting.\n");
warnx("exiting.\n");
close(sensorfile);
close(actuator_outputs_file);
@ -525,6 +532,15 @@ int sdlog_thread_main(int argc, char *argv[]) {
return 0;
}
void print_sdlog_status()
{
unsigned bytes = sysvector_bytes + sensor_combined_bytes + actuator_outputs_bytes + blackbox_file_bytes + actuator_controls_bytes;
float mebibytes = bytes / 1024.0f / 1024.0f;
float seconds = ((float)(hrt_absolute_time() - starttime)) / 1000000.0f;
warnx("wrote %4.2f MiB (average %5.3f MiB/s).\n", (double)mebibytes, (double)(mebibytes / seconds));
}
/**
* @return 0 if file exists
*/

4
apps/sensors/sensor_params.c
View File

@ -52,6 +52,10 @@ PARAM_DEFINE_FLOAT(SENS_MAG_XOFF, 0.0f);
PARAM_DEFINE_FLOAT(SENS_MAG_YOFF, 0.0f);
PARAM_DEFINE_FLOAT(SENS_MAG_ZOFF, 0.0f);
PARAM_DEFINE_FLOAT(SENS_MAG_XSCALE, 0.0f);
PARAM_DEFINE_FLOAT(SENS_MAG_YSCALE, 0.0f);
PARAM_DEFINE_FLOAT(SENS_MAG_ZSCALE, 0.0f);
PARAM_DEFINE_FLOAT(SENS_ACC_XOFF, 0.0f);
PARAM_DEFINE_FLOAT(SENS_ACC_YOFF, 0.0f);
PARAM_DEFINE_FLOAT(SENS_ACC_ZOFF, 0.0f);

20
apps/sensors/sensors.cpp
View File

@ -1,7 +1,7 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
* Author: Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -34,6 +34,7 @@
/**
* @file sensors.cpp
* @author Lorenz Meier <lm@inf.ethz.ch>
*
* Sensor readout process.
*/
@ -178,6 +179,7 @@ private:
float gyro_offset[3];
float mag_offset[3];
float mag_scale[3];
float accel_offset[3];
float accel_scale[3];
@ -209,6 +211,7 @@ private:
param_t accel_offset[3];
param_t accel_scale[3];
param_t mag_offset[3];
param_t mag_scale[3];
param_t rc_map_roll;
param_t rc_map_pitch;
@ -414,6 +417,10 @@ Sensors::Sensors() :
_parameter_handles.mag_offset[1] = param_find("SENS_MAG_YOFF");
_parameter_handles.mag_offset[2] = param_find("SENS_MAG_ZOFF");
_parameter_handles.mag_scale[0] = param_find("SENS_MAG_XSCALE");
_parameter_handles.mag_scale[1] = param_find("SENS_MAG_YSCALE");
_parameter_handles.mag_scale[2] = param_find("SENS_MAG_ZSCALE");
_parameter_handles.battery_voltage_scaling = param_find("BAT_V_SCALING");
/* fetch initial parameter values */
@ -537,6 +544,10 @@ Sensors::parameters_update()
param_get(_parameter_handles.mag_offset[0], &(_parameters.mag_offset[0]));
param_get(_parameter_handles.mag_offset[1], &(_parameters.mag_offset[1]));
param_get(_parameter_handles.mag_offset[2], &(_parameters.mag_offset[2]));
/* mag scaling */
param_get(_parameter_handles.mag_offset[0], &(_parameters.mag_scale[0]));
param_get(_parameter_handles.mag_offset[1], &(_parameters.mag_scale[1]));
param_get(_parameter_handles.mag_offset[2], &(_parameters.mag_scale[2]));
/* scaling of ADC ticks to battery voltage */
if (param_get(_parameter_handles.battery_voltage_scaling, &(_parameters.battery_voltage_scaling)) != OK) {
@ -798,11 +809,11 @@ Sensors::parameter_update_poll(bool forced)
fd = open(MAG_DEVICE_PATH, 0);
struct mag_scale mscale = {
_parameters.mag_offset[0],
1.0f,
_parameters.mag_scale[0],
_parameters.mag_offset[1],
1.0f,
_parameters.mag_scale[1],
_parameters.mag_offset[2],
1.0f,
_parameters.mag_scale[2],
};
if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale))
warn("WARNING: failed to set scale / offsets for mag");
@ -993,6 +1004,7 @@ Sensors::task_main()
* do advertisements
*/
struct sensor_combined_s raw;
memset(&raw, 0, sizeof(raw));
raw.timestamp = hrt_absolute_time();
raw.battery_voltage_v = BAT_VOL_INITIAL;
raw.adc_voltage_v[0] = 0.9f;

206
apps/systemlib/geo/geo.c
View File

@ -68,10 +68,10 @@ __EXPORT float get_distance_to_next_waypoint(double lat_now, double lon_now, dou
__EXPORT float get_bearing_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next)
{
double lat_now_rad = lat_now / 180.0 * M_PI;
double lon_now_rad = lon_now / 180.0 * M_PI;
double lat_next_rad = lat_next / 180.0 * M_PI;
double lon_next_rad = lon_next / 180.0 * M_PI;
double lat_now_rad = lat_now * M_DEG_TO_RAD;
double lon_now_rad = lon_now * M_DEG_TO_RAD;
double lat_next_rad = lat_next * M_DEG_TO_RAD;
double lon_next_rad = lon_next * M_DEG_TO_RAD;
double d_lat = lat_next_rad - lat_now_rad;
double d_lon = lon_next_rad - lon_now_rad;
@ -79,13 +79,195 @@ __EXPORT float get_bearing_to_next_waypoint(double lat_now, double lon_now, doub
/* conscious mix of double and float trig function to maximize speed and efficiency */
float theta = atan2f(sin(d_lon) * cos(lat_next_rad) , cos(lat_now_rad) * sin(lat_next_rad) - sin(lat_now_rad) * cos(lat_next_rad) * cos(d_lon));
if (theta < M_PI_F) {
theta += 2.0f * M_PI_F;
}
if (theta > M_PI_F) {
theta -= 2.0f * M_PI_F;
}
theta = _wrapPI(theta);
return theta;
}
}
// Additional functions - @author Doug Weibel <douglas.weibel@colorado.edu>
__EXPORT crosstrack_error_s get_distance_to_line(double lat_now, double lon_now, double lat_start, double lon_start, double lat_end, double lon_end)
{
// This function returns the distance to the nearest point on the track line. Distance is positive if current
// position is right of the track and negative if left of the track as seen from a point on the track line
// headed towards the end point.
crosstrack_error_s return_var;
float dist_to_end;
float bearing_end;
float bearing_track;
float bearing_diff;
return_var.error = true; // Set error flag, cleared when valid result calculated.
return_var.past_end = false;
return_var.distance = 0.0f;
return_var.bearing = 0.0f;
// Return error if arguments are bad
if(lat_now == 0.0d || lon_now == 0.0d || lat_start == 0.0d || lon_start == 0.0d || lat_end == 0.0d || lon_end == 0.0d) return return_var;
bearing_end = get_bearing_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
bearing_track = get_bearing_to_next_waypoint(lat_start, lon_start, lat_end, lon_end);
bearing_diff = bearing_track - bearing_end;
bearing_diff = _wrapPI(bearing_diff);
// Return past_end = true if past end point of line
if(bearing_diff > M_PI_2_F || bearing_diff < -M_PI_2_F) {
return_var.past_end = true;
return_var.error = false;
return return_var;
}
dist_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
return_var.distance = (dist_to_end)*sin(bearing_diff);
if(sin(bearing_diff) >=0 ) {
return_var.bearing = _wrapPI(bearing_track - M_PI_2_F);
} else {
return_var.bearing = _wrapPI(bearing_track + M_PI_2_F);
}
return_var.error = false;
return return_var;
}
__EXPORT crosstrack_error_s get_distance_to_arc(double lat_now, double lon_now, double lat_center, double lon_center,
float radius, float arc_start_bearing, float arc_sweep)
{
// This function returns the distance to the nearest point on the track arc. Distance is positive if current
// position is right of the arc and negative if left of the arc as seen from the closest point on the arc and
// headed towards the end point.
crosstrack_error_s return_var;
// Determine if the current position is inside or outside the sector between the line from the center
// to the arc start and the line from the center to the arc end
float bearing_sector_start;
float bearing_sector_end;
float bearing_now = get_bearing_to_next_waypoint(lat_now, lon_now, lat_center, lon_center);
bool in_sector;
return_var.error = true; // Set error flag, cleared when valid result calculated.
return_var.past_end = false;
return_var.distance = 0.0f;
return_var.bearing = 0.0f;
// Return error if arguments are bad
if(lat_now == 0.0d || lon_now == 0.0d || lat_center == 0.0d || lon_center == 0.0d || radius == 0.0d) return return_var;
if(arc_sweep >= 0) {
bearing_sector_start = arc_start_bearing;
bearing_sector_end = arc_start_bearing + arc_sweep;
if(bearing_sector_end > 2.0f*M_PI_F) bearing_sector_end -= M_TWOPI_F;
} else {
bearing_sector_end = arc_start_bearing;
bearing_sector_start = arc_start_bearing - arc_sweep;
if(bearing_sector_start < 0.0) bearing_sector_start += M_TWOPI_F;
}
in_sector = false;
// Case where sector does not span zero
if(bearing_sector_end >= bearing_sector_start && bearing_now >= bearing_sector_start && bearing_now <= bearing_sector_end) in_sector = true;
// Case where sector does span zero
if(bearing_sector_end < bearing_sector_start && ( bearing_now > bearing_sector_start || bearing_now < bearing_sector_end ) ) in_sector = true;
// If in the sector then calculate distance and bearing to closest point
if(in_sector) {
return_var.past_end = false;
float dist_to_center = get_distance_to_next_waypoint(lat_now, lon_now, lat_center, lon_center);
if(dist_to_center <= radius) {
return_var.distance = radius - dist_to_center;
return_var.bearing = bearing_now + M_PI_F;
} else {
return_var.distance = dist_to_center - radius;
return_var.bearing = bearing_now;
}
// If out of the sector then calculate dist and bearing to start or end point
} else {
// Use the approximation that 111,111 meters in the y direction is 1 degree (of latitude)
// and 111,111 * cos(latitude) meters in the x direction is 1 degree (of longitude) to
// calculate the position of the start and end points. We should not be doing this often
// as this function generally will not be called repeatedly when we are out of the sector.
// TO DO - this is messed up and won't compile
float start_disp_x = radius * sin(arc_start_bearing);
float start_disp_y = radius * cos(arc_start_bearing);
float end_disp_x = radius * sin(_wrapPI(arc_start_bearing+arc_sweep));
float end_disp_y = radius * cos(_wrapPI(arc_start_bearing+arc_sweep));
float lon_start = lon_now + start_disp_x/111111.0d;
float lat_start = lat_now + start_disp_y*cos(lat_now)/111111.0d;
float lon_end = lon_now + end_disp_x/111111.0d;
float lat_end = lat_now + end_disp_y*cos(lat_now)/111111.0d;
float dist_to_start = get_distance_to_next_waypoint(lat_now, lon_now, lat_start, lon_start);
float dist_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
if(dist_to_start < dist_to_end) {
return_var.distance = dist_to_start;
return_var.bearing = get_bearing_to_next_waypoint(lat_now, lon_now, lat_start, lon_start);
} else {
return_var.past_end = true;
return_var.distance = dist_to_end;
return_var.bearing = get_bearing_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
}
}
return_var.bearing = _wrapPI(return_var.bearing);
return_var.error = false;
return return_var;
}
float _wrapPI(float bearing)
{
while (bearing > M_PI_F) {
bearing = bearing - M_TWOPI_F;
}
while (bearing <= -M_PI_F) {
bearing = bearing + M_TWOPI_F;
}
return bearing;
}
float _wrap2PI(float bearing)
{
while (bearing >= M_TWOPI_F) {
bearing = bearing - M_TWOPI_F;
}
while (bearing < 0.0f) {
bearing = bearing + M_TWOPI_F;
}
return bearing;
}
float _wrap180(float bearing)
{
while (bearing > 180.0f) {
bearing = bearing - 360.0f;
}
while (bearing <= -180.0f) {
bearing = bearing + 360.0f;
}
return bearing;
}
float _wrap360(float bearing)
{
while (bearing >= 360.0f) {
bearing = bearing - 360.0f;
}
while (bearing < 0.0f) {
bearing = bearing + 360.0f;
}
return bearing;
}

23
apps/systemlib/geo/geo.h
View File

@ -42,8 +42,31 @@
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* Additional functions - @author Doug Weibel <douglas.weibel@colorado.edu>
*/
#include <stdbool.h>
typedef struct {
bool error; // Flag that the calculation failed
bool past_end; // Flag indicating we are past the end of the line/arc segment
float distance; // Distance in meters to closest point on line/arc
float bearing; // Bearing in radians to closest point on line/arc
} crosstrack_error_s;
__EXPORT float get_distance_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next);
__EXPORT float get_bearing_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next);
//
__EXPORT crosstrack_error_s get_distance_to_line(double lat_now, double lon_now, double lat_start, double lon_start, double lat_end, double lon_end);
__EXPORT crosstrack_error_s get_distance_to_arc(double lat_now, double lon_now, double lat_center, double lon_center,
float radius, float arc_start_bearing, float arc_sweep);
float _wrap180(float bearing);
float _wrap360(float bearing);
float _wrapPI(float bearing);
float _wrap2PI(float bearing);

4
apps/systemlib/getopt_long.h
View File

@ -124,9 +124,9 @@ extern "C"
#if 0
int getopt (int argc, char **argv, char *optstring);
#endif
int getopt_long (int argc, char **argv, const char *shortopts,
__EXPORT int getopt_long (int argc, char **argv, const char *shortopts,
const GETOPT_LONG_OPTION_T * longopts, int *longind);
int getopt_long_only (int argc, char **argv, const char *shortopts,
__EXPORT int getopt_long_only (int argc, char **argv, const char *shortopts,
const GETOPT_LONG_OPTION_T * longopts, int *longind);
#ifdef __cplusplus

100
apps/systemlib/pid/pid.c
View File

@ -43,12 +43,13 @@
#include <math.h>
__EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax,
uint8_t mode)
float limit, uint8_t mode)
{
pid->kp = kp;
pid->ki = ki;
pid->kd = kd;
pid->intmax = intmax;
pid->limit = limit;
pid->mode = mode;
pid->count = 0;
pid->saturated = 0;
@ -58,7 +59,7 @@ __EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax,
pid->error_previous = 0;
pid->integral = 0;
}
__EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax)
__EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax, float limit)
{
int ret = 0;
@ -85,8 +86,13 @@ __EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float
} else {
ret = 1;
}
if (isfinite(limit)) {
pid->limit = limit;
} else {
ret = 1;
}
// pid->limit = limit;
return ret;
}
@ -122,72 +128,48 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo
float i, d;
pid->sp = sp;
// Calculated current error value
float error = pid->sp - val;
if (pid->saturated && (pid->integral * error > 0)) {
//Output is saturated and the integral would get bigger (positive or negative)
i = pid->integral;
//Reset saturation. If we are still saturated this will be set again at output limit check.
pid->saturated = 0;
} else {
i = pid->integral + (error * dt);
}
// Anti-Windup. Needed if we don't use the saturation above.
if (pid->intmax != 0.0f) {
if (i > pid->intmax) {
pid->integral = pid->intmax;
} else if (i < -pid->intmax) {
pid->integral = -pid->intmax;
} else {
pid->integral = i;
}
}
if (pid->mode == PID_MODE_DERIVATIV_CALC) {
d = (error - pid->error_previous) / dt;
} else if (pid->mode == PID_MODE_DERIVATIV_SET) {
d = -val_dot;
} else {
d = 0.0f;
}
if (pid->kd == 0.0f) {
d = 0.0f;
}
if (pid->ki == 0.0f) {
i = 0;
}
float p;
if (pid->kp == 0.0f) {
p = 0.0f;
} else {
p = error;
}
if (isfinite(error)) {
if (isfinite(error)) { // Why is this necessary? DEW
pid->error_previous = error;
}
// Calculate or measured current error derivative
if (pid->mode == PID_MODE_DERIVATIV_CALC) {
d = (error - pid->error_previous) / dt;
} else if (pid->mode == PID_MODE_DERIVATIV_SET) {
d = -val_dot;
} else {
d = 0.0f;
}
// Calculate the error integral and check for saturation
i = pid->integral + (error * dt);
if( fabs((error * pid->kp) + (i * pid->ki) + (d * pid->kd)) > pid->limit ||
fabs(i) > pid->intmax )
{
i = pid->integral; // If saturated then do not update integral value
pid->saturated = 1;
} else {
if (!isfinite(i)) {
i = 0;
}
pid->integral = i;
pid->saturated = 0;
}
// Calculate the output. Limit output magnitude to pid->limit
float output = (pid->error_previous * pid->kp) + (i * pid->ki) + (d * pid->kd);
if (output > pid->limit) output = pid->limit;
if (output < -pid->limit) output = -pid->limit;
if (isfinite(output)) {
pid->last_output = output;
}
if (!isfinite(pid->integral)) {
pid->integral = 0;
}
return pid->last_output;
}

6
apps/systemlib/pid/pid.h
View File

@ -49,6 +49,8 @@
#define PID_MODE_DERIVATIV_CALC 0
/* Use PID_MODE_DERIVATIV_SET if you have the derivative already (Gyros, Kalman) */
#define PID_MODE_DERIVATIV_SET 1
// Use PID_MODE_DERIVATIV_NONE for a PI controller (vs PID)
#define PID_MODE_DERIVATIV_NONE 9
typedef struct {
float kp;
@ -65,8 +67,8 @@ typedef struct {
uint8_t saturated;
} PID_t;
__EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax, uint8_t mode);
__EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax);
__EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax, float limit, uint8_t mode);
__EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax, float limit);
//void pid_set(PID_t *pid, float sp);
__EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt);

36
apps/uORB/topics/sensor_combined.h
View File

@ -77,33 +77,33 @@ struct sensor_combined_s {
/* NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes Change with consideration only */
uint64_t timestamp; /**< Timestamp in microseconds since boot LOGME */
uint64_t timestamp; /**< Timestamp in microseconds since boot */
int16_t gyro_raw[3]; /**< Raw sensor values of angular velocity LOGME */
uint16_t gyro_counter; /**< Number of raw measurments taken LOGME */
float gyro_rad_s[3]; /**< Angular velocity in radian per seconds LOGME */
int16_t gyro_raw[3]; /**< Raw sensor values of angular velocity */
uint16_t gyro_counter; /**< Number of raw measurments taken */
float gyro_rad_s[3]; /**< Angular velocity in radian per seconds */
int16_t accelerometer_raw[3]; /**< Raw acceleration in NED body frame LOGME */
uint32_t accelerometer_counter; /**< Number of raw acc measurements taken LOGME */
float accelerometer_m_s2[3]; /**< Acceleration in NED body frame, in m/s^2 LOGME */
int16_t accelerometer_raw[3]; /**< Raw acceleration in NED body frame */
uint32_t accelerometer_counter; /**< Number of raw acc measurements taken */
float accelerometer_m_s2[3]; /**< Acceleration in NED body frame, in m/s^2 */
int accelerometer_mode; /**< Accelerometer measurement mode */
float accelerometer_range_m_s2; /**< Accelerometer measurement range in m/s^2 */
int16_t magnetometer_raw[3]; /**< Raw magnetic field in NED body frame LOGME */
float magnetometer_ga[3]; /**< Magnetic field in NED body frame, in Gauss LOGME */
int16_t magnetometer_raw[3]; /**< Raw magnetic field in NED body frame */
float magnetometer_ga[3]; /**< Magnetic field in NED body frame, in Gauss */
int magnetometer_mode; /**< Magnetometer measurement mode */
float magnetometer_range_ga; /**< ± measurement range in Gauss */
float magnetometer_cuttoff_freq_hz; /**< Internal analog low pass frequency of sensor */
uint32_t magnetometer_counter; /**< Number of raw mag measurements taken LOGME */
uint32_t magnetometer_counter; /**< Number of raw mag measurements taken */
float baro_pres_mbar; /**< Barometric pressure, already temp. comp. LOGME */
float baro_alt_meter; /**< Altitude, already temp. comp. LOGME */
float baro_temp_celcius; /**< Temperature in degrees celsius LOGME */
float battery_voltage_v; /**< Battery voltage in volts, filtered LOGME */
float adc_voltage_v[3]; /**< ADC voltages of ADC Chan 11/12/13 or -1 LOGME */
uint32_t baro_counter; /**< Number of raw baro measurements taken LOGME */
uint32_t battery_voltage_counter; /**< Number of voltage measurements taken LOGME */
bool battery_voltage_valid; /**< True if battery voltage can be measured LOGME */
float baro_pres_mbar; /**< Barometric pressure, already temp. comp. */
float baro_alt_meter; /**< Altitude, already temp. comp. */
float baro_temp_celcius; /**< Temperature in degrees celsius */
float battery_voltage_v; /**< Battery voltage in volts, filtered */
float adc_voltage_v[3]; /**< ADC voltages of ADC Chan 11/12/13 or -1 */
uint32_t baro_counter; /**< Number of raw baro measurements taken */
uint32_t battery_voltage_counter; /**< Number of voltage measurements taken */
bool battery_voltage_valid; /**< True if battery voltage can be measured */
};

2
apps/uORB/uORB.h
View File

@ -54,6 +54,8 @@ struct orb_metadata {
const size_t o_size; /**< object size */
};
typedef const struct orb_metadata *orb_id_t;
/**
* Generates a pointer to the uORB metadata structure for
* a given topic.

6
mavlink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h
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File diff suppressed because one or more lines are too long

2
mavlink/include/mavlink/v1.0/ardupilotmega/version.h
View File

@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Fri Sep 14 11:04:09 2012"
#define MAVLINK_BUILD_DATE "Thu Oct 18 13:36:48 2012"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101

9
mavlink/include/mavlink/v1.0/common/common.h
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File diff suppressed because one or more lines are too long

320
mavlink/include/mavlink/v1.0/common/mavlink_msg_battery_status.h Normal file
View File

@ -0,0 +1,320 @@
// MESSAGE BATTERY_STATUS PACKING
#define MAVLINK_MSG_ID_BATTERY_STATUS 147
typedef struct __mavlink_battery_status_t
{
uint16_t voltage_cell_1; ///< Battery voltage of cell 1, in millivolts (1 = 1 millivolt)
uint16_t voltage_cell_2; ///< Battery voltage of cell 2, in millivolts (1 = 1 millivolt), -1: no cell
uint16_t voltage_cell_3; ///< Battery voltage of cell 3, in millivolts (1 = 1 millivolt), -1: no cell
uint16_t voltage_cell_4; ///< Battery voltage of cell 4, in millivolts (1 = 1 millivolt), -1: no cell
uint16_t voltage_cell_5; ///< Battery voltage of cell 5, in millivolts (1 = 1 millivolt), -1: no cell
uint16_t voltage_cell_6; ///< Battery voltage of cell 6, in millivolts (1 = 1 millivolt), -1: no cell
int16_t current_battery; ///< Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
uint8_t accu_id; ///< Accupack ID
int8_t battery_remaining; ///< Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery
} mavlink_battery_status_t;
#define MAVLINK_MSG_ID_BATTERY_STATUS_LEN 16
#define MAVLINK_MSG_ID_147_LEN 16
#define MAVLINK_MESSAGE_INFO_BATTERY_STATUS { \
"BATTERY_STATUS", \
9, \
{ { "voltage_cell_1", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_battery_status_t, voltage_cell_1) }, \
{ "voltage_cell_2", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_battery_status_t, voltage_cell_2) }, \
{ "voltage_cell_3", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_battery_status_t, voltage_cell_3) }, \
{ "voltage_cell_4", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_battery_status_t, voltage_cell_4) }, \
{ "voltage_cell_5", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_battery_status_t, voltage_cell_5) }, \
{ "voltage_cell_6", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_battery_status_t, voltage_cell_6) }, \
{ "current_battery", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_battery_status_t, current_battery) }, \
{ "accu_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 14, offsetof(mavlink_battery_status_t, accu_id) }, \
{ "battery_remaining", NULL, MAVLINK_TYPE_INT8_T, 0, 15, offsetof(mavlink_battery_status_t, battery_remaining) }, \
} \
}
/**
* @brief Pack a battery_status message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param accu_id Accupack ID
* @param voltage_cell_1 Battery voltage of cell 1, in millivolts (1 = 1 millivolt)
* @param voltage_cell_2 Battery voltage of cell 2, in millivolts (1 = 1 millivolt), -1: no cell
* @param voltage_cell_3 Battery voltage of cell 3, in millivolts (1 = 1 millivolt), -1: no cell
* @param voltage_cell_4 Battery voltage of cell 4, in millivolts (1 = 1 millivolt), -1: no cell
* @param voltage_cell_5 Battery voltage of cell 5, in millivolts (1 = 1 millivolt), -1: no cell
* @param voltage_cell_6 Battery voltage of cell 6, in millivolts (1 = 1 millivolt), -1: no cell
* @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
* @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_battery_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t accu_id, uint16_t voltage_cell_1, uint16_t voltage_cell_2, uint16_t voltage_cell_3, uint16_t voltage_cell_4, uint16_t voltage_cell_5, uint16_t voltage_cell_6, int16_t current_battery, int8_t battery_remaining)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[16];
_mav_put_uint16_t(buf, 0, voltage_cell_1);
_mav_put_uint16_t(buf, 2, voltage_cell_2);
_mav_put_uint16_t(buf, 4, voltage_cell_3);
_mav_put_uint16_t(buf, 6, voltage_cell_4);
_mav_put_uint16_t(buf, 8, voltage_cell_5);
_mav_put_uint16_t(buf, 10, voltage_cell_6);
_mav_put_int16_t(buf, 12, current_battery);
_mav_put_uint8_t(buf, 14, accu_id);
_mav_put_int8_t(buf, 15, battery_remaining);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 16);
#else
mavlink_battery_status_t packet;
packet.voltage_cell_1 = voltage_cell_1;
packet.voltage_cell_2 = voltage_cell_2;
packet.voltage_cell_3 = voltage_cell_3;
packet.voltage_cell_4 = voltage_cell_4;
packet.voltage_cell_5 = voltage_cell_5;
packet.voltage_cell_6 = voltage_cell_6;
packet.current_battery = current_battery;
packet.accu_id = accu_id;
packet.battery_remaining = battery_remaining;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 16);
#endif
msg->msgid = MAVLINK_MSG_ID_BATTERY_STATUS;
return mavlink_finalize_message(msg, system_id, component_id, 16, 42);
}
/**
* @brief Pack a battery_status message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param accu_id Accupack ID
* @param voltage_cell_1 Battery voltage of cell 1, in millivolts (1 = 1 millivolt)
* @param voltage_cell_2 Battery voltage of cell 2, in millivolts (1 = 1 millivolt), -1: no cell
* @param voltage_cell_3 Battery voltage of cell 3, in millivolts (1 = 1 millivolt), -1: no cell
* @param voltage_cell_4 Battery voltage of cell 4, in millivolts (1 = 1 millivolt), -1: no cell
* @param voltage_cell_5 Battery voltage of cell 5, in millivolts (1 = 1 millivolt), -1: no cell
* @param voltage_cell_6 Battery voltage of cell 6, in millivolts (1 = 1 millivolt), -1: no cell
* @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
* @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_battery_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t accu_id,uint16_t voltage_cell_1,uint16_t voltage_cell_2,uint16_t voltage_cell_3,uint16_t voltage_cell_4,uint16_t voltage_cell_5,uint16_t voltage_cell_6,int16_t current_battery,int8_t battery_remaining)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[16];
_mav_put_uint16_t(buf, 0, voltage_cell_1);
_mav_put_uint16_t(buf, 2, voltage_cell_2);
_mav_put_uint16_t(buf, 4, voltage_cell_3);
_mav_put_uint16_t(buf, 6, voltage_cell_4);
_mav_put_uint16_t(buf, 8, voltage_cell_5);
_mav_put_uint16_t(buf, 10, voltage_cell_6);
_mav_put_int16_t(buf, 12, current_battery);
_mav_put_uint8_t(buf, 14, accu_id);
_mav_put_int8_t(buf, 15, battery_remaining);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 16);
#else
mavlink_battery_status_t packet;
packet.voltage_cell_1 = voltage_cell_1;
packet.voltage_cell_2 = voltage_cell_2;
packet.voltage_cell_3 = voltage_cell_3;
packet.voltage_cell_4 = voltage_cell_4;
packet.voltage_cell_5 = voltage_cell_5;
packet.voltage_cell_6 = voltage_cell_6;
packet.current_battery = current_battery;
packet.accu_id = accu_id;
packet.battery_remaining = battery_remaining;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 16);
#endif
msg->msgid = MAVLINK_MSG_ID_BATTERY_STATUS;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 16, 42);
}
/**
* @brief Encode a battery_status struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param battery_status C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_battery_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_battery_status_t* battery_status)
{
return mavlink_msg_battery_status_pack(system_id, component_id, msg, battery_status->accu_id, battery_status->voltage_cell_1, battery_status->voltage_cell_2, battery_status->voltage_cell_3, battery_status->voltage_cell_4, battery_status->voltage_cell_5, battery_status->voltage_cell_6, battery_status->current_battery, battery_status->battery_remaining);
}
/**
* @brief Send a battery_status message
* @param chan MAVLink channel to send the message
*
* @param accu_id Accupack ID
* @param voltage_cell_1 Battery voltage of cell 1, in millivolts (1 = 1 millivolt)
* @param voltage_cell_2 Battery voltage of cell 2, in millivolts (1 = 1 millivolt), -1: no cell
* @param voltage_cell_3 Battery voltage of cell 3, in millivolts (1 = 1 millivolt), -1: no cell
* @param voltage_cell_4 Battery voltage of cell 4, in millivolts (1 = 1 millivolt), -1: no cell
* @param voltage_cell_5 Battery voltage of cell 5, in millivolts (1 = 1 millivolt), -1: no cell
* @param voltage_cell_6 Battery voltage of cell 6, in millivolts (1 = 1 millivolt), -1: no cell
* @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
* @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_battery_status_send(mavlink_channel_t chan, uint8_t accu_id, uint16_t voltage_cell_1, uint16_t voltage_cell_2, uint16_t voltage_cell_3, uint16_t voltage_cell_4, uint16_t voltage_cell_5, uint16_t voltage_cell_6, int16_t current_battery, int8_t battery_remaining)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[16];
_mav_put_uint16_t(buf, 0, voltage_cell_1);
_mav_put_uint16_t(buf, 2, voltage_cell_2);
_mav_put_uint16_t(buf, 4, voltage_cell_3);
_mav_put_uint16_t(buf, 6, voltage_cell_4);
_mav_put_uint16_t(buf, 8, voltage_cell_5);
_mav_put_uint16_t(buf, 10, voltage_cell_6);
_mav_put_int16_t(buf, 12, current_battery);
_mav_put_uint8_t(buf, 14, accu_id);
_mav_put_int8_t(buf, 15, battery_remaining);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY_STATUS, buf, 16, 42);
#else
mavlink_battery_status_t packet;
packet.voltage_cell_1 = voltage_cell_1;
packet.voltage_cell_2 = voltage_cell_2;
packet.voltage_cell_3 = voltage_cell_3;
packet.voltage_cell_4 = voltage_cell_4;
packet.voltage_cell_5 = voltage_cell_5;
packet.voltage_cell_6 = voltage_cell_6;
packet.current_battery = current_battery;
packet.accu_id = accu_id;
packet.battery_remaining = battery_remaining;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY_STATUS, (const char *)&packet, 16, 42);
#endif
}
#endif
// MESSAGE BATTERY_STATUS UNPACKING
/**
* @brief Get field accu_id from battery_status message
*
* @return Accupack ID
*/
static inline uint8_t mavlink_msg_battery_status_get_accu_id(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 14);
}
/**
* @brief Get field voltage_cell_1 from battery_status message
*
* @return Battery voltage of cell 1, in millivolts (1 = 1 millivolt)
*/
static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_1(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 0);
}
/**
* @brief Get field voltage_cell_2 from battery_status message
*
* @return Battery voltage of cell 2, in millivolts (1 = 1 millivolt), -1: no cell
*/
static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_2(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 2);
}
/**
* @brief Get field voltage_cell_3 from battery_status message
*
* @return Battery voltage of cell 3, in millivolts (1 = 1 millivolt), -1: no cell
*/
static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_3(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 4);
}
/**
* @brief Get field voltage_cell_4 from battery_status message
*
* @return Battery voltage of cell 4, in millivolts (1 = 1 millivolt), -1: no cell
*/
static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_4(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 6);
}
/**
* @brief Get field voltage_cell_5 from battery_status message
*
* @return Battery voltage of cell 5, in millivolts (1 = 1 millivolt), -1: no cell
*/
static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_5(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 8);
}
/**
* @brief Get field voltage_cell_6 from battery_status message
*
* @return Battery voltage of cell 6, in millivolts (1 = 1 millivolt), -1: no cell
*/
static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_6(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 10);
}
/**
* @brief Get field current_battery from battery_status message
*
* @return Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
*/
static inline int16_t mavlink_msg_battery_status_get_current_battery(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 12);
}
/**
* @brief Get field battery_remaining from battery_status message
*
* @return Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery
*/
static inline int8_t mavlink_msg_battery_status_get_battery_remaining(const mavlink_message_t* msg)
{
return _MAV_RETURN_int8_t(msg, 15);
}
/**
* @brief Decode a battery_status message into a struct
*
* @param msg The message to decode
* @param battery_status C-struct to decode the message contents into
*/
static inline void mavlink_msg_battery_status_decode(const mavlink_message_t* msg, mavlink_battery_status_t* battery_status)
{
#if MAVLINK_NEED_BYTE_SWAP
battery_status->voltage_cell_1 = mavlink_msg_battery_status_get_voltage_cell_1(msg);
battery_status->voltage_cell_2 = mavlink_msg_battery_status_get_voltage_cell_2(msg);
battery_status->voltage_cell_3 = mavlink_msg_battery_status_get_voltage_cell_3(msg);
battery_status->voltage_cell_4 = mavlink_msg_battery_status_get_voltage_cell_4(msg);
battery_status->voltage_cell_5 = mavlink_msg_battery_status_get_voltage_cell_5(msg);
battery_status->voltage_cell_6 = mavlink_msg_battery_status_get_voltage_cell_6(msg);
battery_status->current_battery = mavlink_msg_battery_status_get_current_battery(msg);
battery_status->accu_id = mavlink_msg_battery_status_get_accu_id(msg);
battery_status->battery_remaining = mavlink_msg_battery_status_get_battery_remaining(msg);
#else
memcpy(battery_status, _MAV_PAYLOAD(msg), 16);
#endif
}

276
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// MESSAGE SETPOINT_6DOF PACKING
#define MAVLINK_MSG_ID_SETPOINT_6DOF 149
typedef struct __mavlink_setpoint_6dof_t
{
float trans_x; ///< Translational Component in x
float trans_y; ///< Translational Component in y
float trans_z; ///< Translational Component in z
float rot_x; ///< Rotational Component in x
float rot_y; ///< Rotational Component in y
float rot_z; ///< Rotational Component in z
uint8_t target_system; ///< System ID
} mavlink_setpoint_6dof_t;
#define MAVLINK_MSG_ID_SETPOINT_6DOF_LEN 25
#define MAVLINK_MSG_ID_149_LEN 25
#define MAVLINK_MESSAGE_INFO_SETPOINT_6DOF { \
"SETPOINT_6DOF", \
7, \
{ { "trans_x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_setpoint_6dof_t, trans_x) }, \
{ "trans_y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_setpoint_6dof_t, trans_y) }, \
{ "trans_z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_setpoint_6dof_t, trans_z) }, \
{ "rot_x", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_setpoint_6dof_t, rot_x) }, \
{ "rot_y", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_setpoint_6dof_t, rot_y) }, \
{ "rot_z", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_setpoint_6dof_t, rot_z) }, \
{ "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_setpoint_6dof_t, target_system) }, \
} \
}
/**
* @brief Pack a setpoint_6dof message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param target_system System ID
* @param trans_x Translational Component in x
* @param trans_y Translational Component in y
* @param trans_z Translational Component in z
* @param rot_x Rotational Component in x
* @param rot_y Rotational Component in y
* @param rot_z Rotational Component in z
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_setpoint_6dof_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target_system, float trans_x, float trans_y, float trans_z, float rot_x, float rot_y, float rot_z)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[25];
_mav_put_float(buf, 0, trans_x);
_mav_put_float(buf, 4, trans_y);
_mav_put_float(buf, 8, trans_z);
_mav_put_float(buf, 12, rot_x);
_mav_put_float(buf, 16, rot_y);
_mav_put_float(buf, 20, rot_z);
_mav_put_uint8_t(buf, 24, target_system);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 25);
#else
mavlink_setpoint_6dof_t packet;
packet.trans_x = trans_x;
packet.trans_y = trans_y;
packet.trans_z = trans_z;
packet.rot_x = rot_x;
packet.rot_y = rot_y;
packet.rot_z = rot_z;
packet.target_system = target_system;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 25);
#endif
msg->msgid = MAVLINK_MSG_ID_SETPOINT_6DOF;
return mavlink_finalize_message(msg, system_id, component_id, 25, 15);
}
/**
* @brief Pack a setpoint_6dof message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param target_system System ID
* @param trans_x Translational Component in x
* @param trans_y Translational Component in y
* @param trans_z Translational Component in z
* @param rot_x Rotational Component in x
* @param rot_y Rotational Component in y
* @param rot_z Rotational Component in z
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_setpoint_6dof_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t target_system,float trans_x,float trans_y,float trans_z,float rot_x,float rot_y,float rot_z)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[25];
_mav_put_float(buf, 0, trans_x);
_mav_put_float(buf, 4, trans_y);
_mav_put_float(buf, 8, trans_z);
_mav_put_float(buf, 12, rot_x);
_mav_put_float(buf, 16, rot_y);
_mav_put_float(buf, 20, rot_z);
_mav_put_uint8_t(buf, 24, target_system);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 25);
#else
mavlink_setpoint_6dof_t packet;
packet.trans_x = trans_x;
packet.trans_y = trans_y;
packet.trans_z = trans_z;
packet.rot_x = rot_x;
packet.rot_y = rot_y;
packet.rot_z = rot_z;
packet.target_system = target_system;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 25);
#endif
msg->msgid = MAVLINK_MSG_ID_SETPOINT_6DOF;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 25, 15);
}
/**
* @brief Encode a setpoint_6dof struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param setpoint_6dof C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_setpoint_6dof_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_setpoint_6dof_t* setpoint_6dof)
{
return mavlink_msg_setpoint_6dof_pack(system_id, component_id, msg, setpoint_6dof->target_system, setpoint_6dof->trans_x, setpoint_6dof->trans_y, setpoint_6dof->trans_z, setpoint_6dof->rot_x, setpoint_6dof->rot_y, setpoint_6dof->rot_z);
}
/**
* @brief Send a setpoint_6dof message
* @param chan MAVLink channel to send the message
*
* @param target_system System ID
* @param trans_x Translational Component in x
* @param trans_y Translational Component in y
* @param trans_z Translational Component in z
* @param rot_x Rotational Component in x
* @param rot_y Rotational Component in y
* @param rot_z Rotational Component in z
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_setpoint_6dof_send(mavlink_channel_t chan, uint8_t target_system, float trans_x, float trans_y, float trans_z, float rot_x, float rot_y, float rot_z)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[25];
_mav_put_float(buf, 0, trans_x);
_mav_put_float(buf, 4, trans_y);
_mav_put_float(buf, 8, trans_z);
_mav_put_float(buf, 12, rot_x);
_mav_put_float(buf, 16, rot_y);
_mav_put_float(buf, 20, rot_z);
_mav_put_uint8_t(buf, 24, target_system);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SETPOINT_6DOF, buf, 25, 15);
#else
mavlink_setpoint_6dof_t packet;
packet.trans_x = trans_x;
packet.trans_y = trans_y;
packet.trans_z = trans_z;
packet.rot_x = rot_x;
packet.rot_y = rot_y;
packet.rot_z = rot_z;
packet.target_system = target_system;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SETPOINT_6DOF, (const char *)&packet, 25, 15);
#endif
}
#endif
// MESSAGE SETPOINT_6DOF UNPACKING
/**
* @brief Get field target_system from setpoint_6dof message
*
* @return System ID
*/
static inline uint8_t mavlink_msg_setpoint_6dof_get_target_system(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 24);
}
/**
* @brief Get field trans_x from setpoint_6dof message
*
* @return Translational Component in x
*/
static inline float mavlink_msg_setpoint_6dof_get_trans_x(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 0);
}
/**
* @brief Get field trans_y from setpoint_6dof message
*
* @return Translational Component in y
*/
static inline float mavlink_msg_setpoint_6dof_get_trans_y(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 4);
}
/**
* @brief Get field trans_z from setpoint_6dof message
*
* @return Translational Component in z
*/
static inline float mavlink_msg_setpoint_6dof_get_trans_z(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
}
/**
* @brief Get field rot_x from setpoint_6dof message
*
* @return Rotational Component in x
*/
static inline float mavlink_msg_setpoint_6dof_get_rot_x(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 12);
}
/**
* @brief Get field rot_y from setpoint_6dof message
*
* @return Rotational Component in y
*/
static inline float mavlink_msg_setpoint_6dof_get_rot_y(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 16);
}
/**
* @brief Get field rot_z from setpoint_6dof message
*
* @return Rotational Component in z
*/
static inline float mavlink_msg_setpoint_6dof_get_rot_z(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 20);
}
/**
* @brief Decode a setpoint_6dof message into a struct
*
* @param msg The message to decode
* @param setpoint_6dof C-struct to decode the message contents into
*/
static inline void mavlink_msg_setpoint_6dof_decode(const mavlink_message_t* msg, mavlink_setpoint_6dof_t* setpoint_6dof)
{
#if MAVLINK_NEED_BYTE_SWAP
setpoint_6dof->trans_x = mavlink_msg_setpoint_6dof_get_trans_x(msg);
setpoint_6dof->trans_y = mavlink_msg_setpoint_6dof_get_trans_y(msg);
setpoint_6dof->trans_z = mavlink_msg_setpoint_6dof_get_trans_z(msg);
setpoint_6dof->rot_x = mavlink_msg_setpoint_6dof_get_rot_x(msg);
setpoint_6dof->rot_y = mavlink_msg_setpoint_6dof_get_rot_y(msg);
setpoint_6dof->rot_z = mavlink_msg_setpoint_6dof_get_rot_z(msg);
setpoint_6dof->target_system = mavlink_msg_setpoint_6dof_get_target_system(msg);
#else
memcpy(setpoint_6dof, _MAV_PAYLOAD(msg), 25);
#endif
}

320
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// MESSAGE SETPOINT_8DOF PACKING
#define MAVLINK_MSG_ID_SETPOINT_8DOF 148
typedef struct __mavlink_setpoint_8dof_t
{
float val1; ///< Value 1
float val2; ///< Value 2
float val3; ///< Value 3
float val4; ///< Value 4
float val5; ///< Value 5
float val6; ///< Value 6
float val7; ///< Value 7
float val8; ///< Value 8
uint8_t target_system; ///< System ID
} mavlink_setpoint_8dof_t;
#define MAVLINK_MSG_ID_SETPOINT_8DOF_LEN 33
#define MAVLINK_MSG_ID_148_LEN 33
#define MAVLINK_MESSAGE_INFO_SETPOINT_8DOF { \
"SETPOINT_8DOF", \
9, \
{ { "val1", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_setpoint_8dof_t, val1) }, \
{ "val2", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_setpoint_8dof_t, val2) }, \
{ "val3", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_setpoint_8dof_t, val3) }, \
{ "val4", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_setpoint_8dof_t, val4) }, \
{ "val5", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_setpoint_8dof_t, val5) }, \
{ "val6", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_setpoint_8dof_t, val6) }, \
{ "val7", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_setpoint_8dof_t, val7) }, \
{ "val8", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_setpoint_8dof_t, val8) }, \
{ "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_setpoint_8dof_t, target_system) }, \
} \
}
/**
* @brief Pack a setpoint_8dof message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param target_system System ID
* @param val1 Value 1
* @param val2 Value 2
* @param val3 Value 3
* @param val4 Value 4
* @param val5 Value 5
* @param val6 Value 6
* @param val7 Value 7
* @param val8 Value 8
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_setpoint_8dof_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target_system, float val1, float val2, float val3, float val4, float val5, float val6, float val7, float val8)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[33];
_mav_put_float(buf, 0, val1);
_mav_put_float(buf, 4, val2);
_mav_put_float(buf, 8, val3);
_mav_put_float(buf, 12, val4);
_mav_put_float(buf, 16, val5);
_mav_put_float(buf, 20, val6);
_mav_put_float(buf, 24, val7);
_mav_put_float(buf, 28, val8);
_mav_put_uint8_t(buf, 32, target_system);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 33);
#else
mavlink_setpoint_8dof_t packet;
packet.val1 = val1;
packet.val2 = val2;
packet.val3 = val3;
packet.val4 = val4;
packet.val5 = val5;
packet.val6 = val6;
packet.val7 = val7;
packet.val8 = val8;
packet.target_system = target_system;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 33);
#endif
msg->msgid = MAVLINK_MSG_ID_SETPOINT_8DOF;
return mavlink_finalize_message(msg, system_id, component_id, 33, 241);
}
/**
* @brief Pack a setpoint_8dof message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param target_system System ID
* @param val1 Value 1
* @param val2 Value 2
* @param val3 Value 3
* @param val4 Value 4
* @param val5 Value 5
* @param val6 Value 6
* @param val7 Value 7
* @param val8 Value 8
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_setpoint_8dof_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t target_system,float val1,float val2,float val3,float val4,float val5,float val6,float val7,float val8)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[33];
_mav_put_float(buf, 0, val1);
_mav_put_float(buf, 4, val2);
_mav_put_float(buf, 8, val3);
_mav_put_float(buf, 12, val4);
_mav_put_float(buf, 16, val5);
_mav_put_float(buf, 20, val6);
_mav_put_float(buf, 24, val7);
_mav_put_float(buf, 28, val8);
_mav_put_uint8_t(buf, 32, target_system);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 33);
#else
mavlink_setpoint_8dof_t packet;
packet.val1 = val1;
packet.val2 = val2;
packet.val3 = val3;
packet.val4 = val4;
packet.val5 = val5;
packet.val6 = val6;
packet.val7 = val7;
packet.val8 = val8;
packet.target_system = target_system;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 33);
#endif
msg->msgid = MAVLINK_MSG_ID_SETPOINT_8DOF;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 33, 241);
}
/**
* @brief Encode a setpoint_8dof struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param setpoint_8dof C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_setpoint_8dof_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_setpoint_8dof_t* setpoint_8dof)
{
return mavlink_msg_setpoint_8dof_pack(system_id, component_id, msg, setpoint_8dof->target_system, setpoint_8dof->val1, setpoint_8dof->val2, setpoint_8dof->val3, setpoint_8dof->val4, setpoint_8dof->val5, setpoint_8dof->val6, setpoint_8dof->val7, setpoint_8dof->val8);
}
/**
* @brief Send a setpoint_8dof message
* @param chan MAVLink channel to send the message
*
* @param target_system System ID
* @param val1 Value 1
* @param val2 Value 2
* @param val3 Value 3
* @param val4 Value 4
* @param val5 Value 5
* @param val6 Value 6
* @param val7 Value 7
* @param val8 Value 8
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_setpoint_8dof_send(mavlink_channel_t chan, uint8_t target_system, float val1, float val2, float val3, float val4, float val5, float val6, float val7, float val8)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[33];
_mav_put_float(buf, 0, val1);
_mav_put_float(buf, 4, val2);
_mav_put_float(buf, 8, val3);
_mav_put_float(buf, 12, val4);
_mav_put_float(buf, 16, val5);
_mav_put_float(buf, 20, val6);
_mav_put_float(buf, 24, val7);
_mav_put_float(buf, 28, val8);
_mav_put_uint8_t(buf, 32, target_system);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SETPOINT_8DOF, buf, 33, 241);
#else
mavlink_setpoint_8dof_t packet;
packet.val1 = val1;
packet.val2 = val2;
packet.val3 = val3;
packet.val4 = val4;
packet.val5 = val5;
packet.val6 = val6;
packet.val7 = val7;
packet.val8 = val8;
packet.target_system = target_system;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SETPOINT_8DOF, (const char *)&packet, 33, 241);
#endif
}
#endif
// MESSAGE SETPOINT_8DOF UNPACKING
/**
* @brief Get field target_system from setpoint_8dof message
*
* @return System ID
*/
static inline uint8_t mavlink_msg_setpoint_8dof_get_target_system(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 32);
}
/**
* @brief Get field val1 from setpoint_8dof message
*
* @return Value 1
*/
static inline float mavlink_msg_setpoint_8dof_get_val1(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 0);
}
/**
* @brief Get field val2 from setpoint_8dof message
*
* @return Value 2
*/
static inline float mavlink_msg_setpoint_8dof_get_val2(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 4);
}
/**
* @brief Get field val3 from setpoint_8dof message
*
* @return Value 3
*/
static inline float mavlink_msg_setpoint_8dof_get_val3(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
}
/**
* @brief Get field val4 from setpoint_8dof message
*
* @return Value 4
*/
static inline float mavlink_msg_setpoint_8dof_get_val4(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 12);
}
/**
* @brief Get field val5 from setpoint_8dof message
*
* @return Value 5
*/
static inline float mavlink_msg_setpoint_8dof_get_val5(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 16);
}
/**
* @brief Get field val6 from setpoint_8dof message
*
* @return Value 6
*/
static inline float mavlink_msg_setpoint_8dof_get_val6(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 20);
}
/**
* @brief Get field val7 from setpoint_8dof message
*
* @return Value 7
*/
static inline float mavlink_msg_setpoint_8dof_get_val7(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 24);
}
/**
* @brief Get field val8 from setpoint_8dof message
*
* @return Value 8
*/
static inline float mavlink_msg_setpoint_8dof_get_val8(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 28);
}
/**
* @brief Decode a setpoint_8dof message into a struct
*
* @param msg The message to decode
* @param setpoint_8dof C-struct to decode the message contents into
*/
static inline void mavlink_msg_setpoint_8dof_decode(const mavlink_message_t* msg, mavlink_setpoint_8dof_t* setpoint_8dof)
{
#if MAVLINK_NEED_BYTE_SWAP
setpoint_8dof->val1 = mavlink_msg_setpoint_8dof_get_val1(msg);
setpoint_8dof->val2 = mavlink_msg_setpoint_8dof_get_val2(msg);
setpoint_8dof->val3 = mavlink_msg_setpoint_8dof_get_val3(msg);
setpoint_8dof->val4 = mavlink_msg_setpoint_8dof_get_val4(msg);
setpoint_8dof->val5 = mavlink_msg_setpoint_8dof_get_val5(msg);
setpoint_8dof->val6 = mavlink_msg_setpoint_8dof_get_val6(msg);
setpoint_8dof->val7 = mavlink_msg_setpoint_8dof_get_val7(msg);
setpoint_8dof->val8 = mavlink_msg_setpoint_8dof_get_val8(msg);
setpoint_8dof->target_system = mavlink_msg_setpoint_8dof_get_target_system(msg);
#else
memcpy(setpoint_8dof, _MAV_PAYLOAD(msg), 33);
#endif
}

176
mavlink/include/mavlink/v1.0/common/testsuite.h
View File

@ -3780,6 +3780,179 @@ static void mavlink_test_highres_imu(uint8_t system_id, uint8_t component_id, ma
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_battery_status(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
mavlink_message_t msg;
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
uint16_t i;
mavlink_battery_status_t packet_in = {
17235,
17339,
17443,
17547,
17651,
17755,
17859,
175,
242,
};
mavlink_battery_status_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
packet1.voltage_cell_1 = packet_in.voltage_cell_1;
packet1.voltage_cell_2 = packet_in.voltage_cell_2;
packet1.voltage_cell_3 = packet_in.voltage_cell_3;
packet1.voltage_cell_4 = packet_in.voltage_cell_4;
packet1.voltage_cell_5 = packet_in.voltage_cell_5;
packet1.voltage_cell_6 = packet_in.voltage_cell_6;
packet1.current_battery = packet_in.current_battery;
packet1.accu_id = packet_in.accu_id;
packet1.battery_remaining = packet_in.battery_remaining;
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_battery_status_encode(system_id, component_id, &msg, &packet1);
mavlink_msg_battery_status_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_battery_status_pack(system_id, component_id, &msg , packet1.accu_id , packet1.voltage_cell_1 , packet1.voltage_cell_2 , packet1.voltage_cell_3 , packet1.voltage_cell_4 , packet1.voltage_cell_5 , packet1.voltage_cell_6 , packet1.current_battery , packet1.battery_remaining );
mavlink_msg_battery_status_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_battery_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.accu_id , packet1.voltage_cell_1 , packet1.voltage_cell_2 , packet1.voltage_cell_3 , packet1.voltage_cell_4 , packet1.voltage_cell_5 , packet1.voltage_cell_6 , packet1.current_battery , packet1.battery_remaining );
mavlink_msg_battery_status_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_to_send_buffer(buffer, &msg);
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
}
mavlink_msg_battery_status_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_battery_status_send(MAVLINK_COMM_1 , packet1.accu_id , packet1.voltage_cell_1 , packet1.voltage_cell_2 , packet1.voltage_cell_3 , packet1.voltage_cell_4 , packet1.voltage_cell_5 , packet1.voltage_cell_6 , packet1.current_battery , packet1.battery_remaining );
mavlink_msg_battery_status_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_setpoint_8dof(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
mavlink_message_t msg;
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
uint16_t i;
mavlink_setpoint_8dof_t packet_in = {
17.0,
45.0,
73.0,
101.0,
129.0,
157.0,
185.0,
213.0,
101,
};
mavlink_setpoint_8dof_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
packet1.val1 = packet_in.val1;
packet1.val2 = packet_in.val2;
packet1.val3 = packet_in.val3;
packet1.val4 = packet_in.val4;
packet1.val5 = packet_in.val5;
packet1.val6 = packet_in.val6;
packet1.val7 = packet_in.val7;
packet1.val8 = packet_in.val8;
packet1.target_system = packet_in.target_system;
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_setpoint_8dof_encode(system_id, component_id, &msg, &packet1);
mavlink_msg_setpoint_8dof_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_setpoint_8dof_pack(system_id, component_id, &msg , packet1.target_system , packet1.val1 , packet1.val2 , packet1.val3 , packet1.val4 , packet1.val5 , packet1.val6 , packet1.val7 , packet1.val8 );
mavlink_msg_setpoint_8dof_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_setpoint_8dof_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.val1 , packet1.val2 , packet1.val3 , packet1.val4 , packet1.val5 , packet1.val6 , packet1.val7 , packet1.val8 );
mavlink_msg_setpoint_8dof_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_to_send_buffer(buffer, &msg);
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
}
mavlink_msg_setpoint_8dof_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_setpoint_8dof_send(MAVLINK_COMM_1 , packet1.target_system , packet1.val1 , packet1.val2 , packet1.val3 , packet1.val4 , packet1.val5 , packet1.val6 , packet1.val7 , packet1.val8 );
mavlink_msg_setpoint_8dof_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_setpoint_6dof(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
mavlink_message_t msg;
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
uint16_t i;
mavlink_setpoint_6dof_t packet_in = {
17.0,
45.0,
73.0,
101.0,
129.0,
157.0,
77,
};
mavlink_setpoint_6dof_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
packet1.trans_x = packet_in.trans_x;
packet1.trans_y = packet_in.trans_y;
packet1.trans_z = packet_in.trans_z;
packet1.rot_x = packet_in.rot_x;
packet1.rot_y = packet_in.rot_y;
packet1.rot_z = packet_in.rot_z;
packet1.target_system = packet_in.target_system;
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_setpoint_6dof_encode(system_id, component_id, &msg, &packet1);
mavlink_msg_setpoint_6dof_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_setpoint_6dof_pack(system_id, component_id, &msg , packet1.target_system , packet1.trans_x , packet1.trans_y , packet1.trans_z , packet1.rot_x , packet1.rot_y , packet1.rot_z );
mavlink_msg_setpoint_6dof_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_setpoint_6dof_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.trans_x , packet1.trans_y , packet1.trans_z , packet1.rot_x , packet1.rot_y , packet1.rot_z );
mavlink_msg_setpoint_6dof_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_to_send_buffer(buffer, &msg);
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
}
mavlink_msg_setpoint_6dof_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_setpoint_6dof_send(MAVLINK_COMM_1 , packet1.target_system , packet1.trans_x , packet1.trans_y , packet1.trans_z , packet1.rot_x , packet1.rot_y , packet1.rot_z );
mavlink_msg_setpoint_6dof_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_memory_vect(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
mavlink_message_t msg;
@ -4138,6 +4311,9 @@ static void mavlink_test_common(uint8_t system_id, uint8_t component_id, mavlink
mavlink_test_vision_speed_estimate(system_id, component_id, last_msg);
mavlink_test_vicon_position_estimate(system_id, component_id, last_msg);
mavlink_test_highres_imu(system_id, component_id, last_msg);
mavlink_test_battery_status(system_id, component_id, last_msg);
mavlink_test_setpoint_8dof(system_id, component_id, last_msg);
mavlink_test_setpoint_6dof(system_id, component_id, last_msg);
mavlink_test_memory_vect(system_id, component_id, last_msg);
mavlink_test_debug_vect(system_id, component_id, last_msg);
mavlink_test_named_value_float(system_id, component_id, last_msg);

2
mavlink/include/mavlink/v1.0/common/version.h
View File

@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Fri Sep 14 11:05:17 2012"
#define MAVLINK_BUILD_DATE "Thu Oct 18 13:37:22 2012"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101

6
mavlink/include/mavlink/v1.0/matrixpilot/matrixpilot.h
View File

File diff suppressed because one or more lines are too long

2
mavlink/include/mavlink/v1.0/matrixpilot/version.h
View File

@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Fri Sep 14 10:42:05 2012"
#define MAVLINK_BUILD_DATE "Thu Oct 18 13:37:22 2012"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101

4
mavlink/include/mavlink/v1.0/mavlink_helpers.h
View File

@ -12,15 +12,18 @@
/*
* Internal function to give access to the channel status for each channel
*/
#ifndef MAVLINK_GET_CHANNEL_STATUS
MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan)
{
static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS];
return &m_mavlink_status[chan];
}
#endif
/*
* Internal function to give access to the channel buffer for each channel
*/
#ifndef MAVLINK_GET_CHANNEL_BUFFER
MAVLINK_HELPER mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan)
{
@ -35,6 +38,7 @@ MAVLINK_HELPER mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan)
#endif
return &m_mavlink_buffer[chan];
}
#endif
/**
* @brief Reset the status of a channel.

6
mavlink/include/mavlink/v1.0/pixhawk/pixhawk.h
View File

File diff suppressed because one or more lines are too long

2
mavlink/include/mavlink/v1.0/pixhawk/version.h
View File

@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Fri Sep 14 10:41:07 2012"
#define MAVLINK_BUILD_DATE "Thu Oct 18 13:37:02 2012"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255

2
mavlink/include/mavlink/v1.0/protocol.h
View File

@ -42,7 +42,9 @@
#endif // MAVLINK_SEPARATE_HELPERS
/* always include the prototypes to ensure we don't get out of sync */
#ifndef MAVLINK_GET_CHANNEL_STATUS
MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan);
#endif
MAVLINK_HELPER void mavlink_reset_channel_status(uint8_t chan);
#if MAVLINK_CRC_EXTRA
MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,

6
mavlink/include/mavlink/v1.0/sensesoar/sensesoar.h
View File

File diff suppressed because one or more lines are too long

2
mavlink/include/mavlink/v1.0/sensesoar/version.h
View File

@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Fri Sep 14 10:41:18 2012"
#define MAVLINK_BUILD_DATE "Thu Oct 18 13:37:13 2012"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101

4
nuttx/arch/arm/include/math.h
View File

@ -544,6 +544,8 @@ extern int matherr _PARAMS((struct exception *e));
#define M_1_PI 0.31830988618379067154
#define M_2_PI 0.63661977236758134308
#define M_2_SQRTPI 1.12837916709551257390
#define M_DEG_TO_RAD 0.01745329251994
#define M_RAD_TO_DEG 57.2957795130823
#define M_SQRT2 1.41421356237309504880
#define M_SQRT1_2 0.70710678118654752440
#define M_LN2LO 1.9082149292705877000E-10
@ -568,6 +570,8 @@ extern int matherr _PARAMS((struct exception *e));
#define M_1_PI_F 0.31830988618379067154f
#define M_2_PI_F 0.63661977236758134308f
#define M_2_SQRTPI_F 1.12837916709551257390f
#define M_DEG_TO_RAD_F 0.01745329251994f
#define M_RAD_TO_DEG_F 57.2957795130823f
#define M_SQRT2_F 1.41421356237309504880f
#define M_SQRT1_2_F 0.70710678118654752440f
#define M_LN2LO_F 1.9082149292705877000E-10f

39
nuttx/configs/px4fmu/include/rcS.template
View File

@ -1,39 +0,0 @@
#echo "---------------------------"
# Start apps
echo "init: Starting applications.."
echo "---------------------------"
# WARNING:
# ttyS0 is ALWAYS the NSH UART
# ttyS1..SN are enumerated according to HW
# uart indices (ttyS1 is the first UART NOT
# configured for NSH, e.g. UART2)
# ttyS0: UART1
# ttyS1: UART2
# ttyS2: UART5
# ttyS3: UART6
uorb start
mavlink -d /dev/ttyS0 -b 57600 &
echo "Trying to mount microSD card to /fs/microsd.."
if mount -t vfat /dev/mmcsd0 /fs/microsd
then
echo "Successfully mounted SD card."
else
echo "FAILED mounting SD card."
fi
commander &
sensors &
attitude_estimator_bm &
#position_estimator &
ardrone_control -d /dev/ttyS1 -m attitude &
gps -d /dev/ttyS3 -m all &
#sdlog &
#fixedwing_control &
echo "---------------------------"
echo "init: All applications started"
echo "INIT DONE, RUNNING SYSTEM.."
# WARNING! USE EXIT ONLY ON AR.DRONE
# NO NSH COMMANDS CAN BE USED AFTER
exit

1
nuttx/configs/px4fmu/nsh/appconfig
View File

@ -95,6 +95,7 @@ CONFIGURED_APPS += drivers/hmc5883
CONFIGURED_APPS += drivers/mpu6000
CONFIGURED_APPS += drivers/bma180
CONFIGURED_APPS += drivers/l3gd20
CONFIGURED_APPS += drivers/stm32/tone_alarm
CONFIGURED_APPS += px4/px4io/driver
CONFIGURED_APPS += px4/fmu

2
nuttx/configs/px4fmu/src/Makefile
View File

@ -43,7 +43,7 @@ AOBJS = $(ASRCS:.S=$(OBJEXT))
CSRCS = up_boot.c up_leds.c up_spi.c up_hrt.c \
drv_gpio.c \
drv_led.c drv_eeprom.c \
drv_tone_alarm.c up_pwm_servo.c up_usbdev.c \
up_pwm_servo.c up_usbdev.c \
up_cpuload.c
ifeq ($(CONFIG_NSH_ARCHINIT),y)

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