forked from Archive/PX4-Autopilot
Useful bits for high-rate logging
This commit is contained in:
Lorenz Meier
parent
6dce57170e
commit
8c518aa237
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@ -0,0 +1,88 @@
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#!nsh
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#
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# PX4FMU startup script for logging purposes
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#
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#
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# Try to mount the microSD card.
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#
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echo "[init] looking for microSD..."
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if mount -t vfat /dev/mmcsd0 /fs/microsd
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then
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echo "[init] card mounted at /fs/microsd"
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# Start playing the startup tune
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tone_alarm start
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else
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echo "[init] no microSD card found"
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# Play SOS
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tone_alarm error
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fi
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uorb start
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#
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# Start sensor drivers here.
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#
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ms5611 start
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adc start
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# mag might be external
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if hmc5883 start
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then
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echo "using HMC5883"
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fi
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if mpu6000 start
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then
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echo "using MPU6000"
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fi
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if l3gd20 start
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then
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echo "using L3GD20(H)"
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fi
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if lsm303d start
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then
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set BOARD fmuv2
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else
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set BOARD fmuv1
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fi
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# Start airspeed sensors
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if meas_airspeed start
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then
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echo "using MEAS airspeed sensor"
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else
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if ets_airspeed start
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then
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echo "using ETS airspeed sensor (bus 3)"
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else
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if ets_airspeed start -b 1
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then
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echo "Using ETS airspeed sensor (bus 1)"
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fi
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fi
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fi
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#
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# Start the sensor collection task.
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# IMPORTANT: this also loads param offsets
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# ALWAYS start this task before the
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# preflight_check.
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#
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if sensors start
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then
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echo "SENSORS STARTED"
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fi
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sdlog2 start -r 250 -e -b 16
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if sercon
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then
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echo "[init] USB interface connected"
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# Try to get an USB console
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nshterm /dev/ttyACM0 &
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fi
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@ -2,3 +2,11 @@
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#
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# PX4FMU startup script for test hackery.
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#
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if sercon
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then
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echo "[init] USB interface connected"
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# Try to get an USB console
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nshterm /dev/ttyACM0 &
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fi
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@ -0,0 +1,157 @@
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#
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# Makefile for the px4fmu_default configuration
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#
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#
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# Use the configuration's ROMFS, copy the px4iov2 firmware into
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# the ROMFS if it's available
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#
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ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_logging
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ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v2_default.bin
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#
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# Board support modules
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#
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MODULES += drivers/device
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MODULES += drivers/stm32
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MODULES += drivers/stm32/adc
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MODULES += drivers/stm32/tone_alarm
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MODULES += drivers/led
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MODULES += drivers/px4fmu
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MODULES += drivers/px4io
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MODULES += drivers/boards/px4fmu-v2
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MODULES += drivers/rgbled
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MODULES += drivers/mpu6000
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MODULES += drivers/lsm303d
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MODULES += drivers/l3gd20
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MODULES += drivers/hmc5883
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MODULES += drivers/ms5611
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MODULES += drivers/mb12xx
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MODULES += drivers/gps
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MODULES += drivers/hil
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MODULES += drivers/hott/hott_telemetry
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MODULES += drivers/hott/hott_sensors
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MODULES += drivers/blinkm
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MODULES += drivers/roboclaw
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MODULES += drivers/airspeed
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MODULES += drivers/ets_airspeed
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MODULES += drivers/meas_airspeed
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MODULES += modules/sensors
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# Needs to be burned to the ground and re-written; for now,
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# just don't build it.
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#MODULES += drivers/mkblctrl
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#
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# System commands
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#
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MODULES += systemcmds/ramtron
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MODULES += systemcmds/bl_update
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MODULES += systemcmds/boardinfo
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MODULES += systemcmds/mixer
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MODULES += systemcmds/param
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MODULES += systemcmds/perf
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MODULES += systemcmds/preflight_check
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MODULES += systemcmds/pwm
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MODULES += systemcmds/esc_calib
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MODULES += systemcmds/reboot
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MODULES += systemcmds/top
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MODULES += systemcmds/tests
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MODULES += systemcmds/config
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MODULES += systemcmds/nshterm
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#
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# General system control
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#
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MODULES += modules/commander
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MODULES += modules/navigator
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MODULES += modules/mavlink
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MODULES += modules/mavlink_onboard
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#
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# Estimation modules (EKF/ SO3 / other filters)
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#
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MODULES += modules/attitude_estimator_ekf
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MODULES += modules/attitude_estimator_so3
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MODULES += modules/att_pos_estimator_ekf
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MODULES += modules/position_estimator_inav
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MODULES += examples/flow_position_estimator
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#
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# Vehicle Control
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#
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#MODULES += modules/segway # XXX Needs GCC 4.7 fix
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MODULES += modules/fw_pos_control_l1
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MODULES += modules/fw_att_control
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MODULES += modules/multirotor_att_control
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MODULES += modules/multirotor_pos_control
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#
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# Logging
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#
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MODULES += modules/sdlog2
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#
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# Unit tests
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#
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#MODULES += modules/unit_test
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#MODULES += modules/commander/commander_tests
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#
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# Library modules
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#
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MODULES += modules/systemlib
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MODULES += modules/systemlib/mixer
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MODULES += modules/controllib
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MODULES += modules/uORB
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#
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# Libraries
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#
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LIBRARIES += lib/mathlib/CMSIS
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MODULES += lib/mathlib
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MODULES += lib/mathlib/math/filter
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MODULES += lib/ecl
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MODULES += lib/external_lgpl
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MODULES += lib/geo
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MODULES += lib/conversion
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#
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# Demo apps
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#
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#MODULES += examples/math_demo
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# Tutorial code from
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# https://pixhawk.ethz.ch/px4/dev/hello_sky
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MODULES += examples/px4_simple_app
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# Tutorial code from
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# https://pixhawk.ethz.ch/px4/dev/daemon
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#MODULES += examples/px4_daemon_app
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# Tutorial code from
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# https://pixhawk.ethz.ch/px4/dev/debug_values
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#MODULES += examples/px4_mavlink_debug
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# Tutorial code from
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# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control
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#MODULES += examples/fixedwing_control
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# Hardware test
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#MODULES += examples/hwtest
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#
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# Transitional support - add commands from the NuttX export archive.
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#
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# In general, these should move to modules over time.
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#
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# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
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# to make the table a bit more readable.
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#
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define _B
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$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
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endef
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# command priority stack entrypoint
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BUILTIN_COMMANDS := \
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$(call _B, sercon, , 2048, sercon_main ) \
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$(call _B, serdis, , 2048, serdis_main )
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@ -78,7 +78,8 @@ static int accel(int argc, char *argv[]);
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static int gyro(int argc, char *argv[]);
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static int mag(int argc, char *argv[]);
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static int baro(int argc, char *argv[]);
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static int mpu6k(int argc, char *argv[]);
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static int accel1(int argc, char *argv[]);
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static int gyro1(int argc, char *argv[]);
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/****************************************************************************
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* Private Data
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@ -93,7 +94,8 @@ struct {
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{"gyro", "/dev/gyro", gyro},
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{"mag", "/dev/mag", mag},
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{"baro", "/dev/baro", baro},
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{"mpu6k", "/dev/mpu6k", mpu6k},
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{"accel1", "/dev/accel1", accel1},
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{"gyro1", "/dev/gyro1", gyro1},
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{NULL, NULL, NULL}
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};
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@ -137,7 +139,7 @@ accel(int argc, char *argv[])
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}
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if (fabsf(buf.x) > 30.0f || fabsf(buf.y) > 30.0f || fabsf(buf.z) > 30.0f) {
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warnx("MPU6K acceleration values out of range!");
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warnx("ACCEL1 acceleration values out of range!");
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return ERROR;
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}
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@ -149,20 +151,19 @@ accel(int argc, char *argv[])
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}
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static int
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mpu6k(int argc, char *argv[])
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accel1(int argc, char *argv[])
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{
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printf("\tMPU6K: test start\n");
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printf("\tACCEL1: test start\n");
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fflush(stdout);
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int fd;
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struct accel_report buf;
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struct gyro_report gyro_buf;
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int ret;
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fd = open("/dev/accel_mpu6k", O_RDONLY);
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fd = open("/dev/accel1", O_RDONLY);
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if (fd < 0) {
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printf("\tMPU6K: open fail, run <mpu6000 start> first.\n");
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printf("\tACCEL1: open fail, run <mpu6000 start> or <lsm303d start> first.\n");
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return ERROR;
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}
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@ -173,45 +174,21 @@ mpu6k(int argc, char *argv[])
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ret = read(fd, &buf, sizeof(buf));
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if (ret != sizeof(buf)) {
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printf("\tMPU6K: read1 fail (%d)\n", ret);
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printf("\tACCEL1: read1 fail (%d)\n", ret);
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return ERROR;
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} else {
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printf("\tMPU6K accel: x:%8.4f\ty:%8.4f\tz:%8.4f m/s^2\n", (double)buf.x, (double)buf.y, (double)buf.z);
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printf("\tACCEL1 accel: x:%8.4f\ty:%8.4f\tz:%8.4f m/s^2\n", (double)buf.x, (double)buf.y, (double)buf.z);
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}
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if (fabsf(buf.x) > 30.0f || fabsf(buf.y) > 30.0f || fabsf(buf.z) > 30.0f) {
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warnx("MPU6K acceleration values out of range!");
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warnx("ACCEL1 acceleration values out of range!");
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return ERROR;
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}
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/* Let user know everything is ok */
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printf("\tOK: MPU6K ACCEL passed all tests successfully\n");
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printf("\tOK: ACCEL1 passed all tests successfully\n");
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close(fd);
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fd = open("/dev/gyro_mpu6k", O_RDONLY);
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if (fd < 0) {
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printf("\tMPU6K GYRO: open fail, run <l3gd20 start> or <mpu6000 start> first.\n");
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return ERROR;
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}
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/* wait at least 5 ms, sensor should have data after that */
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usleep(5000);
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/* read data - expect samples */
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ret = read(fd, &gyro_buf, sizeof(gyro_buf));
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if (ret != sizeof(gyro_buf)) {
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printf("\tMPU6K GYRO: read fail (%d)\n", ret);
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return ERROR;
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} else {
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printf("\tMPU6K GYRO rates: x:%8.4f\ty:%8.4f\tz:%8.4f rad/s\n", (double)gyro_buf.x, (double)gyro_buf.y, (double)gyro_buf.z);
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}
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/* Let user know everything is ok */
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printf("\tOK: MPU6K GYRO passed all tests successfully\n");
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close(fd);
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return OK;
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@ -255,6 +232,44 @@ gyro(int argc, char *argv[])
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return OK;
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}
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static int
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gyro1(int argc, char *argv[])
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{
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printf("\tGYRO1: test start\n");
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fflush(stdout);
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int fd;
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struct gyro_report buf;
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int ret;
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fd = open("/dev/gyro1", O_RDONLY);
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if (fd < 0) {
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printf("\tGYRO1: open fail, run <l3gd20 start> or <mpu6000 start> first.\n");
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return ERROR;
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}
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/* wait at least 5 ms, sensor should have data after that */
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usleep(5000);
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/* read data - expect samples */
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ret = read(fd, &buf, sizeof(buf));
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if (ret != sizeof(buf)) {
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printf("\tGYRO1: read fail (%d)\n", ret);
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return ERROR;
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} else {
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printf("\tGYRO1 rates: x:%8.4f\ty:%8.4f\tz:%8.4f rad/s\n", (double)buf.x, (double)buf.y, (double)buf.z);
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}
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/* Let user know everything is ok */
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printf("\tOK: GYRO1 passed all tests successfully\n");
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close(fd);
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return OK;
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}
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static int
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mag(int argc, char *argv[])
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{
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