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px4-firmware
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Merge branch 'multirotor'

This commit is contained in:
Lorenz Meier 2013-08-29 08:10:41 +02:00
parent 1d1a80efd6 32193a26a7
commit 94d678098c
4 changed files with 28 additions and 14 deletions
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9
src/modules/sdlog2/sdlog2.c
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@ -890,13 +890,14 @@ int sdlog2_thread_main(int argc, char *argv[])
if (fds[ifds++].revents & POLLIN) {
// Don't orb_copy, it's already done few lines above
log_msg.msg_type = LOG_STAT_MSG;
log_msg.body.log_STAT.main_state = (unsigned char) buf_status.main_state;
log_msg.body.log_STAT.navigation_state = (unsigned char) buf_status.navigation_state;
log_msg.body.log_STAT.arming_state = (unsigned char) buf_status.arming_state;
log_msg.body.log_STAT.main_state = (uint8_t) buf_status.main_state;
log_msg.body.log_STAT.navigation_state = (uint8_t) buf_status.navigation_state;
log_msg.body.log_STAT.arming_state = (uint8_t) buf_status.arming_state;
log_msg.body.log_STAT.battery_voltage = buf_status.battery_voltage;
log_msg.body.log_STAT.battery_current = buf_status.battery_current;
log_msg.body.log_STAT.battery_remaining = buf_status.battery_remaining;
log_msg.body.log_STAT.battery_warning = (unsigned char) buf_status.battery_warning;
log_msg.body.log_STAT.battery_warning = (uint8_t) buf_status.battery_warning;
log_msg.body.log_STAT.landed = (uint8_t) buf_status.condition_landed;
LOGBUFFER_WRITE_AND_COUNT(STAT);
}

3
src/modules/sdlog2/sdlog2_messages.h
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@ -155,6 +155,7 @@ struct log_STAT_s {
float battery_current;
float battery_remaining;
uint8_t battery_warning;
uint8_t landed;
};
/* --- RC - RC INPUT CHANNELS --- */
@ -263,7 +264,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(LPSP, "ffff", "X,Y,Z,Yaw"),
LOG_FORMAT(GPS, "QBffLLfffff", "GPSTime,FixType,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog"),
LOG_FORMAT(ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"),
LOG_FORMAT(STAT, "BBBfffB", "MainState,NavState,ArmState,BatV,BatC,BatRem,BatWarn"),
LOG_FORMAT(STAT, "BBBfffBB", "MainState,NavState,ArmState,BatV,BatC,BatRem,BatWarn,Landed"),
LOG_FORMAT(RC, "ffffffff", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7"),
LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"),
LOG_FORMAT(AIRS, "ff", "IndSpeed,TrueSpeed"),

7
src/modules/sensors/sensor_params.c
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@ -158,6 +158,13 @@ PARAM_DEFINE_FLOAT(RC14_MAX, 2000);
PARAM_DEFINE_FLOAT(RC14_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC14_DZ, 0.0f);
PARAM_DEFINE_FLOAT(RC15_MIN, 1000);
PARAM_DEFINE_FLOAT(RC15_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC15_MAX, 2000);
PARAM_DEFINE_FLOAT(RC15_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC15_DZ, 0.0f);
PARAM_DEFINE_INT32(RC_RL1_DSM_VCC, 0); /* Relay 1 controls DSM VCC */
PARAM_DEFINE_INT32(RC_DSM_BIND, 0); /* 0 = Idle, 1 = Start DSM2 bind, 2 = Start DSMX bind */

19
src/modules/sensors/sensors.cpp
View File

@ -660,6 +660,8 @@ int
Sensors::parameters_update()
{
bool rc_valid = true;
float tmpScaleFactor = 0.0f;
float tmpRevFactor = 0.0f;
/* rc values */
for (unsigned int i = 0; i < RC_CHANNELS_MAX; i++) {
@ -670,18 +672,21 @@ Sensors::parameters_update()
param_get(_parameter_handles.rev[i], &(_parameters.rev[i]));
param_get(_parameter_handles.dz[i], &(_parameters.dz[i]));
_parameters.scaling_factor[i] = (1.0f / ((_parameters.max[i] - _parameters.min[i]) / 2.0f) * _parameters.rev[i]);
tmpScaleFactor = (1.0f / ((_parameters.max[i] - _parameters.min[i]) / 2.0f) * _parameters.rev[i]);
tmpRevFactor = tmpScaleFactor * _parameters.rev[i];
/* handle blowup in the scaling factor calculation */
if (!isfinite(_parameters.scaling_factor[i]) ||
_parameters.scaling_factor[i] * _parameters.rev[i] < 0.000001f ||
_parameters.scaling_factor[i] * _parameters.rev[i] > 0.2f) {
warnx("RC chan %u not sane, scaling: %8.6f, rev: %d", i, _parameters.scaling_factor[i], (int)(_parameters.rev[i]));
if (!isfinite(tmpScaleFactor) ||
(tmpRevFactor < 0.000001f) ||
(tmpRevFactor > 0.2f) ) {
warnx("RC chan %u not sane, scaling: %8.6f, rev: %d", i, tmpScaleFactor, (int)(_parameters.rev[i]));
/* scaling factors do not make sense, lock them down */
_parameters.scaling_factor[i] = 0;
_parameters.scaling_factor[i] = 0.0f;
rc_valid = false;
}
else {
_parameters.scaling_factor[i] = tmpScaleFactor;
}
}
/* handle wrong values */