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px4-firmware
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Merge branch 'master' into navigator_new_vector

This commit is contained in:
Anton Babushkin 2014-01-14 15:45:49 +01:00
parent 7bcddd192f b529e112b8
commit 97e4522c76
28 changed files with 984 additions and 273 deletions
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19
ROMFS/px4fmu_common/init.d/rcS
View File

@ -75,14 +75,15 @@ then
#
# Load microSD params
#
#if ramtron start
#then
# param select /ramtron/params
# if [ -f /ramtron/params ]
# then
# param load /ramtron/params
# fi
#else
if mtd start
then
param select /fs/mtd_params
if param load /fs/mtd_params
then
else
echo "FAILED LOADING PARAMS"
fi
else
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
then
@ -93,7 +94,7 @@ then
echo "Parameter file corrupt - ignoring"
fi
fi
#fi
fi
#
# Start system state indicator

30
Tools/px4params/dokuwikiout.py
View File

@ -5,23 +5,33 @@ class DokuWikiOutput(output.Output):
result = ""
for group in groups:
result += "==== %s ====\n\n" % group.GetName()
result += "^ Name ^ Description ^ Min ^ Max ^ Default ^ Comment ^\n"
for param in group.GetParams():
code = param.GetFieldValue("code")
name = param.GetFieldValue("short_desc")
if code != name:
name = "%s (%s)" % (name, code)
result += "=== %s ===\n\n" % name
long_desc = param.GetFieldValue("long_desc")
if long_desc is not None:
result += "%s\n\n" % long_desc
name = name.replace("\n", "")
result += "| %s | %s " % (code, name)
min_val = param.GetFieldValue("min")
if min_val is not None:
result += "* Minimal value: %s\n" % min_val
result += "| %s " % min_val
else:
result += "|"
max_val = param.GetFieldValue("max")
if max_val is not None:
result += "* Maximal value: %s\n" % max_val
result += "| %s " % max_val
else:
result += "|"
def_val = param.GetFieldValue("default")
if def_val is not None:
result += "* Default value: %s\n" % def_val
result += "\n"
result += "| %s " % def_val
else:
result += "|"
long_desc = param.GetFieldValue("long_desc")
if long_desc is not None:
long_desc = long_desc.replace("\n", "")
result += "| %s " % long_desc
else:
result += "|"
result += "|\n"
result += "\n"
return result

27
Tools/px4params/dokuwikiout_listings.py Normal file
View File

@ -0,0 +1,27 @@
import output
class DokuWikiOutput(output.Output):
def Generate(self, groups):
result = ""
for group in groups:
result += "==== %s ====\n\n" % group.GetName()
for param in group.GetParams():
code = param.GetFieldValue("code")
name = param.GetFieldValue("short_desc")
if code != name:
name = "%s (%s)" % (name, code)
result += "=== %s ===\n\n" % name
long_desc = param.GetFieldValue("long_desc")
if long_desc is not None:
result += "%s\n\n" % long_desc
min_val = param.GetFieldValue("min")
if min_val is not None:
result += "* Minimal value: %s\n" % min_val
max_val = param.GetFieldValue("max")
if max_val is not None:
result += "* Maximal value: %s\n" % max_val
def_val = param.GetFieldValue("default")
if def_val is not None:
result += "* Default value: %s\n" % def_val
result += "\n"
return result

1
makefiles/config_px4fmu-v2_default.mk
View File

@ -60,6 +60,7 @@ MODULES += systemcmds/top
MODULES += systemcmds/tests
MODULES += systemcmds/config
MODULES += systemcmds/nshterm
MODULES += systemcmds/mtd
#
# General system control

1
makefiles/config_px4fmu-v2_test.mk
View File

@ -22,6 +22,7 @@ MODULES += systemcmds/perf
MODULES += systemcmds/reboot
MODULES += systemcmds/tests
MODULES += systemcmds/nshterm
MODULES += systemcmds/mtd
#
# Library modules

21
nuttx-configs/px4fmu-v1/nsh/defconfig
View File

@ -460,7 +460,7 @@ CONFIG_MMCSD_NSLOTS=1
CONFIG_MMCSD_SPI=y
CONFIG_MMCSD_SPICLOCK=24000000
# CONFIG_MMCSD_SDIO is not set
# CONFIG_MTD is not set
CONFIG_MTD=y
CONFIG_PIPES=y
# CONFIG_PM is not set
# CONFIG_POWER is not set
@ -482,6 +482,25 @@ CONFIG_USART1_SERIAL_CONSOLE=y
# CONFIG_USART6_SERIAL_CONSOLE is not set
# CONFIG_NO_SERIAL_CONSOLE is not set
#
# MTD Configuration
#
CONFIG_MTD_PARTITION=y
CONFIG_MTD_BYTE_WRITE=y
#
# MTD Device Drivers
#
# CONFIG_RAMMTD is not set
# CONFIG_MTD_AT24XX is not set
# CONFIG_MTD_AT45DB is not set
# CONFIG_MTD_M25P is not set
# CONFIG_MTD_SMART is not set
# CONFIG_MTD_RAMTRON is not set
# CONFIG_MTD_SST25 is not set
# CONFIG_MTD_SST39FV is not set
# CONFIG_MTD_W25 is not set
#
# USART1 Configuration
#

4
nuttx-configs/px4fmu-v2/nsh/defconfig
View File

@ -500,8 +500,8 @@ CONFIG_MTD=y
#
# MTD Configuration
#
# CONFIG_MTD_PARTITION is not set
# CONFIG_MTD_BYTE_WRITE is not set
CONFIG_MTD_PARTITION=y
CONFIG_MTD_BYTE_WRITE=y
#
# MTD Device Drivers

220
src/drivers/gps/gps.cpp
View File

@ -85,7 +85,7 @@ static const int ERROR = -1;
class GPS : public device::CDev
{
public:
GPS(const char *uart_path);
GPS(const char *uart_path, bool fake_gps);
virtual ~GPS();
virtual int init();
@ -112,6 +112,7 @@ private:
struct vehicle_gps_position_s _report; ///< uORB topic for gps position
orb_advert_t _report_pub; ///< uORB pub for gps position
float _rate; ///< position update rate
bool _fake_gps; ///< fake gps output
/**
@ -156,7 +157,7 @@ GPS *g_dev;
}
GPS::GPS(const char *uart_path) :
GPS::GPS(const char *uart_path, bool fake_gps) :
CDev("gps", GPS_DEVICE_PATH),
_task_should_exit(false),
_healthy(false),
@ -164,7 +165,8 @@ GPS::GPS(const char *uart_path) :
_mode(GPS_DRIVER_MODE_UBX),
_Helper(nullptr),
_report_pub(-1),
_rate(0.0f)
_rate(0.0f),
_fake_gps(fake_gps)
{
/* store port name */
strncpy(_port, uart_path, sizeof(_port));
@ -264,98 +266,133 @@ GPS::task_main()
/* loop handling received serial bytes and also configuring in between */
while (!_task_should_exit) {
if (_Helper != nullptr) {
delete(_Helper);
/* set to zero to ensure parser is not used while not instantiated */
_Helper = nullptr;
}
if (_fake_gps) {
switch (_mode) {
case GPS_DRIVER_MODE_UBX:
_Helper = new UBX(_serial_fd, &_report);
break;
_report.timestamp_position = hrt_absolute_time();
_report.lat = (int32_t)47.378301e7f;
_report.lon = (int32_t)8.538777e7f;
_report.alt = (int32_t)400e3f;
_report.timestamp_variance = hrt_absolute_time();
_report.s_variance_m_s = 10.0f;
_report.p_variance_m = 10.0f;
_report.c_variance_rad = 0.1f;
_report.fix_type = 3;
_report.eph_m = 10.0f;
_report.epv_m = 10.0f;
_report.timestamp_velocity = hrt_absolute_time();
_report.vel_n_m_s = 0.0f;
_report.vel_e_m_s = 0.0f;
_report.vel_d_m_s = 0.0f;
_report.vel_m_s = sqrtf(_report.vel_n_m_s * _report.vel_n_m_s + _report.vel_e_m_s * _report.vel_e_m_s + _report.vel_d_m_s * _report.vel_d_m_s);
_report.cog_rad = 0.0f;
_report.vel_ned_valid = true;
case GPS_DRIVER_MODE_MTK:
_Helper = new MTK(_serial_fd, &_report);
break;
//no time and satellite information simulated
default:
break;
}
if (_report_pub > 0) {
orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report);
unlock();
if (_Helper->configure(_baudrate) == 0) {
unlock();
// GPS is obviously detected successfully, reset statistics
_Helper->reset_update_rates();
while (_Helper->receive(TIMEOUT_5HZ) > 0 && !_task_should_exit) {
// lock();
/* opportunistic publishing - else invalid data would end up on the bus */
if (_report_pub > 0) {
orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report);
} else {
_report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report);
}
last_rate_count++;
/* measure update rate every 5 seconds */
if (hrt_absolute_time() - last_rate_measurement > RATE_MEASUREMENT_PERIOD) {
_rate = last_rate_count / ((float)((hrt_absolute_time() - last_rate_measurement)) / 1000000.0f);
last_rate_measurement = hrt_absolute_time();
last_rate_count = 0;
_Helper->store_update_rates();
_Helper->reset_update_rates();
}
if (!_healthy) {
char *mode_str = "unknown";
switch (_mode) {
case GPS_DRIVER_MODE_UBX:
mode_str = "UBX";
break;
case GPS_DRIVER_MODE_MTK:
mode_str = "MTK";
break;
default:
break;
}
warnx("module found: %s", mode_str);
_healthy = true;
}
} else {
_report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report);
}
if (_healthy) {
warnx("module lost");
_healthy = false;
_rate = 0.0f;
usleep(2e5);
} else {
if (_Helper != nullptr) {
delete(_Helper);
/* set to zero to ensure parser is not used while not instantiated */
_Helper = nullptr;
}
switch (_mode) {
case GPS_DRIVER_MODE_UBX:
_Helper = new UBX(_serial_fd, &_report);
break;
case GPS_DRIVER_MODE_MTK:
_Helper = new MTK(_serial_fd, &_report);
break;
default:
break;
}
unlock();
if (_Helper->configure(_baudrate) == 0) {
unlock();
// GPS is obviously detected successfully, reset statistics
_Helper->reset_update_rates();
while (_Helper->receive(TIMEOUT_5HZ) > 0 && !_task_should_exit) {
// lock();
/* opportunistic publishing - else invalid data would end up on the bus */
if (_report_pub > 0) {
orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report);
} else {
_report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report);
}
last_rate_count++;
/* measure update rate every 5 seconds */
if (hrt_absolute_time() - last_rate_measurement > RATE_MEASUREMENT_PERIOD) {
_rate = last_rate_count / ((float)((hrt_absolute_time() - last_rate_measurement)) / 1000000.0f);
last_rate_measurement = hrt_absolute_time();
last_rate_count = 0;
_Helper->store_update_rates();
_Helper->reset_update_rates();
}
if (!_healthy) {
char *mode_str = "unknown";
switch (_mode) {
case GPS_DRIVER_MODE_UBX:
mode_str = "UBX";
break;
case GPS_DRIVER_MODE_MTK:
mode_str = "MTK";
break;
default:
break;
}
warnx("module found: %s", mode_str);
_healthy = true;
}
}
if (_healthy) {
warnx("module lost");
_healthy = false;
_rate = 0.0f;
}
lock();
}
lock();
}
lock();
/* select next mode */
switch (_mode) {
case GPS_DRIVER_MODE_UBX:
_mode = GPS_DRIVER_MODE_MTK;
break;
/* select next mode */
switch (_mode) {
case GPS_DRIVER_MODE_UBX:
_mode = GPS_DRIVER_MODE_MTK;
break;
case GPS_DRIVER_MODE_MTK:
_mode = GPS_DRIVER_MODE_UBX;
break;
case GPS_DRIVER_MODE_MTK:
_mode = GPS_DRIVER_MODE_UBX;
break;
default:
break;
default:
break;
}
}
}
@ -417,7 +454,7 @@ namespace gps
GPS *g_dev;
void start(const char *uart_path);
void start(const char *uart_path, bool fake_gps);
void stop();
void test();
void reset();
@ -427,7 +464,7 @@ void info();
* Start the driver.
*/
void
start(const char *uart_path)
start(const char *uart_path, bool fake_gps)
{
int fd;
@ -435,7 +472,7 @@ start(const char *uart_path)
errx(1, "already started");
/* create the driver */
g_dev = new GPS(uart_path);
g_dev = new GPS(uart_path, fake_gps);
if (g_dev == nullptr)
goto fail;
@ -527,6 +564,7 @@ gps_main(int argc, char *argv[])
/* set to default */
char *device_name = GPS_DEFAULT_UART_PORT;
bool fake_gps = false;
/*
* Start/load the driver.
@ -542,7 +580,13 @@ gps_main(int argc, char *argv[])
}
}
gps::start(device_name);
/* Detect fake gps option */
for (int i = 2; i < argc; i++) {
if (!strcmp(argv[i], "-f"))
fake_gps = true;
}
gps::start(device_name, fake_gps);
}
if (!strcmp(argv[1], "stop"))
@ -567,5 +611,5 @@ gps_main(int argc, char *argv[])
gps::info();
out:
errx(1, "unrecognized command, try 'start', 'stop', 'test', 'reset' or 'status' [-d /dev/ttyS0-n]");
errx(1, "unrecognized command, try 'start', 'stop', 'test', 'reset' or 'status' [-d /dev/ttyS0-n][-f]");
}

9
src/drivers/hil/hil.cpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2014 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
@ -193,9 +193,10 @@ HIL::~HIL()
} while (_task != -1);
}
/* clean up the alternate device node */
if (_primary_pwm_device)
unregister_driver(PWM_OUTPUT_DEVICE_PATH);
// XXX already claimed with CDEV
// /* clean up the alternate device node */
// if (_primary_pwm_device)
// unregister_driver(PWM_OUTPUT_DEVICE_PATH);
g_hil = nullptr;
}

12
src/drivers/rgbled/rgbled.cpp
View File

@ -559,7 +559,7 @@ RGBLED::get(bool &on, bool &powersave, uint8_t &r, uint8_t &g, uint8_t &b)
void
rgbled_usage()
{
warnx("missing command: try 'start', 'test', 'info', 'off', 'rgb 30 40 50'");
warnx("missing command: try 'start', 'test', 'info', 'off', 'stop', 'rgb 30 40 50'");
warnx("options:");
warnx(" -b i2cbus (%d)", PX4_I2C_BUS_LED);
warnx(" -a addr (0x%x)", ADDR);
@ -643,7 +643,7 @@ rgbled_main(int argc, char *argv[])
if (g_rgbled == nullptr) {
warnx("not started");
rgbled_usage();
exit(0);
exit(1);
}
if (!strcmp(verb, "test")) {
@ -669,7 +669,7 @@ rgbled_main(int argc, char *argv[])
exit(0);
}
if (!strcmp(verb, "off")) {
if (!strcmp(verb, "off") || !strcmp(verb, "stop")) {
fd = open(RGBLED_DEVICE_PATH, 0);
if (fd == -1) {
@ -681,6 +681,12 @@ rgbled_main(int argc, char *argv[])
exit(ret);
}
if (!strcmp(verb, "stop")) {
delete g_rgbled;
g_rgbled = nullptr;
exit(0);
}
if (!strcmp(verb, "rgb")) {
if (argc < 5) {
errx(1, "Usage: rgbled rgb <red> <green> <blue>");

65
src/modules/commander/commander.cpp
View File

@ -106,14 +106,9 @@ static const int ERROR = -1;
extern struct system_load_s system_load;
#define LOW_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS 1000.0f
#define CRITICAL_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS 100.0f
/* Decouple update interval and hysteris counters, all depends on intervals */
#define COMMANDER_MONITORING_INTERVAL 50000
#define COMMANDER_MONITORING_LOOPSPERMSEC (1/(COMMANDER_MONITORING_INTERVAL/1000.0f))
#define LOW_VOLTAGE_BATTERY_COUNTER_LIMIT (LOW_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC)
#define CRITICAL_VOLTAGE_BATTERY_COUNTER_LIMIT (CRITICAL_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC)
#define MAVLINK_OPEN_INTERVAL 50000
@ -666,8 +661,6 @@ int commander_thread_main(int argc, char *argv[])
/* Start monitoring loop */
unsigned counter = 0;
unsigned low_voltage_counter = 0;
unsigned critical_voltage_counter = 0;
unsigned stick_off_counter = 0;
unsigned stick_on_counter = 0;
@ -745,7 +738,6 @@ int commander_thread_main(int argc, char *argv[])
int battery_sub = orb_subscribe(ORB_ID(battery_status));
struct battery_status_s battery;
memset(&battery, 0, sizeof(battery));
battery.voltage_v = 0.0f;
/* Subscribe to subsystem info topic */
int subsys_sub = orb_subscribe(ORB_ID(subsystem_info));
@ -888,14 +880,12 @@ int commander_thread_main(int argc, char *argv[])
if (updated) {
orb_copy(ORB_ID(battery_status), battery_sub, &battery);
// warnx("bat v: %2.2f", battery.voltage_v);
/* only consider battery voltage if system has been running 2s and battery voltage is higher than 4V */
if (hrt_absolute_time() > start_time + 2000000 && battery.voltage_v > 4.0f) {
status.battery_voltage = battery.voltage_v;
/* only consider battery voltage if system has been running 2s and battery voltage is valid */
if (hrt_absolute_time() > start_time + 2000000 && battery.voltage_filtered_v > 0.0f) {
status.battery_voltage = battery.voltage_filtered_v;
status.battery_current = battery.current_a;
status.condition_battery_voltage_valid = true;
status.battery_remaining = battery_remaining_estimate_voltage(status.battery_voltage);
status.battery_remaining = battery_remaining_estimate_voltage(battery.voltage_filtered_v, battery.discharged_mah);
}
}
@ -948,46 +938,29 @@ int commander_thread_main(int argc, char *argv[])
//on_usb_power = (stat("/dev/ttyACM0", &statbuf) == 0);
}
// XXX remove later
//warnx("bat remaining: %2.2f", status.battery_remaining);
/* if battery voltage is getting lower, warn using buzzer, etc. */
if (status.condition_battery_voltage_valid && status.battery_remaining < 0.25f && !low_battery_voltage_actions_done) {
//TODO: add filter, or call emergency after n measurements < VOLTAGE_BATTERY_MINIMAL_MILLIVOLTS
if (low_voltage_counter > LOW_VOLTAGE_BATTERY_COUNTER_LIMIT) {
low_battery_voltage_actions_done = true;
mavlink_log_critical(mavlink_fd, "#audio: WARNING: LOW BATTERY");
status.battery_warning = VEHICLE_BATTERY_WARNING_LOW;
status_changed = true;
battery_tune_played = false;
}
low_voltage_counter++;
low_battery_voltage_actions_done = true;
mavlink_log_critical(mavlink_fd, "#audio: WARNING: LOW BATTERY");
status.battery_warning = VEHICLE_BATTERY_WARNING_LOW;
status_changed = true;
battery_tune_played = false;
} else if (status.condition_battery_voltage_valid && status.battery_remaining < 0.1f && !critical_battery_voltage_actions_done && low_battery_voltage_actions_done) {
/* critical battery voltage, this is rather an emergency, change state machine */
if (critical_voltage_counter > CRITICAL_VOLTAGE_BATTERY_COUNTER_LIMIT) {
critical_battery_voltage_actions_done = true;
mavlink_log_critical(mavlink_fd, "#audio: EMERGENCY: CRITICAL BATTERY");
status.battery_warning = VEHICLE_BATTERY_WARNING_CRITICAL;
battery_tune_played = false;
critical_battery_voltage_actions_done = true;
mavlink_log_critical(mavlink_fd, "#audio: EMERGENCY: CRITICAL BATTERY");
status.battery_warning = VEHICLE_BATTERY_WARNING_CRITICAL;
battery_tune_played = false;
if (armed.armed) {
arming_state_transition(&status, &safety, ARMING_STATE_ARMED_ERROR, &armed);
if (armed.armed) {
arming_state_transition(&status, &safety, ARMING_STATE_ARMED_ERROR, &armed);
} else {
arming_state_transition(&status, &safety, ARMING_STATE_STANDBY_ERROR, &armed);
}
status_changed = true;
} else {
arming_state_transition(&status, &safety, ARMING_STATE_STANDBY_ERROR, &armed);
}
critical_voltage_counter++;
} else {
low_voltage_counter = 0;
critical_voltage_counter = 0;
status_changed = true;
}
/* End battery voltage check */

44
src/modules/commander/commander_helper.cpp
View File

@ -44,6 +44,7 @@
#include <stdint.h>
#include <stdbool.h>
#include <fcntl.h>
#include <math.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
@ -251,36 +252,47 @@ void rgbled_set_pattern(rgbled_pattern_t *pattern)
ioctl(rgbleds, RGBLED_SET_PATTERN, (unsigned long)pattern);
}
float battery_remaining_estimate_voltage(float voltage)
float battery_remaining_estimate_voltage(float voltage, float discharged)
{
float ret = 0;
static param_t bat_volt_empty;
static param_t bat_volt_full;
static param_t bat_n_cells;
static param_t bat_v_empty_h;
static param_t bat_v_full_h;
static param_t bat_n_cells_h;
static param_t bat_capacity_h;
static float bat_v_empty = 3.2f;
static float bat_v_full = 4.0f;
static int bat_n_cells = 3;
static float bat_capacity = -1.0f;
static bool initialized = false;
static unsigned int counter = 0;
static float ncells = 3;
// XXX change cells to int (and param to INT32)
if (!initialized) {
bat_volt_empty = param_find("BAT_V_EMPTY");
bat_volt_full = param_find("BAT_V_FULL");
bat_n_cells = param_find("BAT_N_CELLS");
bat_v_empty_h = param_find("BAT_V_EMPTY");
bat_v_full_h = param_find("BAT_V_FULL");
bat_n_cells_h = param_find("BAT_N_CELLS");
bat_capacity_h = param_find("BAT_CAPACITY");
initialized = true;
}
static float chemistry_voltage_empty = 3.2f;
static float chemistry_voltage_full = 4.05f;
if (counter % 100 == 0) {
param_get(bat_volt_empty, &chemistry_voltage_empty);
param_get(bat_volt_full, &chemistry_voltage_full);
param_get(bat_n_cells, &ncells);
param_get(bat_v_empty_h, &bat_v_empty);
param_get(bat_v_full_h, &bat_v_full);
param_get(bat_n_cells_h, &bat_n_cells);
param_get(bat_capacity_h, &bat_capacity);
}
counter++;
ret = (voltage - ncells * chemistry_voltage_empty) / (ncells * (chemistry_voltage_full - chemistry_voltage_empty));
/* remaining charge estimate based on voltage */
float remaining_voltage = (voltage - bat_n_cells * bat_v_empty) / (bat_n_cells * (bat_v_full - bat_v_empty));
if (bat_capacity > 0.0f) {
/* if battery capacity is known, use discharged current for estimate, but don't show more than voltage estimate */
ret = fminf(remaining_voltage, 1.0f - discharged / bat_capacity);
} else {
/* else use voltage */
ret = remaining_voltage;
}
/* limit to sane values */
ret = (ret < 0.0f) ? 0.0f : ret;

7
src/modules/commander/commander_helper.h
View File

@ -75,12 +75,13 @@ void rgbled_set_mode(rgbled_mode_t mode);
void rgbled_set_pattern(rgbled_pattern_t *pattern);
/**
* Provides a coarse estimate of remaining battery power.
* Estimate remaining battery charge.
*
* The estimate is very basic and based on decharging voltage curves.
* Use integral of current if battery capacity known (BAT_CAPACITY parameter set),
* else use simple estimate based on voltage.
*
* @return the estimated remaining capacity in 0..1
*/
float battery_remaining_estimate_voltage(float voltage);
float battery_remaining_estimate_voltage(float voltage, float discharged);
#endif /* COMMANDER_HELPER_H_ */

7
src/modules/commander/commander_params.c
View File

@ -48,6 +48,7 @@
PARAM_DEFINE_FLOAT(TRIM_ROLL, 0.0f);
PARAM_DEFINE_FLOAT(TRIM_PITCH, 0.0f);
PARAM_DEFINE_FLOAT(TRIM_YAW, 0.0f);
PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.2f);
PARAM_DEFINE_FLOAT(BAT_V_FULL, 4.05f);
PARAM_DEFINE_FLOAT(BAT_N_CELLS, 3);
PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.4f);
PARAM_DEFINE_FLOAT(BAT_V_FULL, 3.9f);
PARAM_DEFINE_INT32(BAT_N_CELLS, 3);
PARAM_DEFINE_FLOAT(BAT_CAPACITY, -1.0f);

67
src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
View File

@ -1,7 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
* Copyright (c) 2013, 2014 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
@ -49,21 +48,75 @@
*
*/
/**
* L1 period
*
* This is the L1 distance and defines the tracking
* point ahead of the aircraft its following.
* A value of 25 meters works for most aircraft. Shorten
* slowly during tuning until response is sharp without oscillation.
*
* @min 1.0
* @max 100.0
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_L1_PERIOD, 25.0f);
/**
* L1 damping
*
* Damping factor for L1 control.
*
* @min 0.6
* @max 0.9
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_L1_DAMPING, 0.75f);
/**
* Default Loiter Radius
*
* This radius is used when no other loiter radius is set.
*
* @min 10.0
* @max 100.0
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_LOITER_R, 50.0f);
/**
* Cruise throttle
*
* This is the throttle setting required to achieve the desired cruise speed. Most airframes have a value of 0.5-0.7.
*
* @min 0.0
* @max 1.0
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_THR_CRUISE, 0.7f);
/**
* Negative pitch limit
*
* The minimum negative pitch the controller will output.
*
* @unit degrees
* @min -60.0
* @max 0.0
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_P_LIM_MIN, -45.0f);
/**
* Positive pitch limit
*
* The maximum positive pitch the controller will output.
*
* @unit degrees
* @min 0.0
* @max 60.0
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_P_LIM_MAX, 45.0f);

4
src/modules/mavlink/mavlink.c
View File

@ -680,8 +680,8 @@ int mavlink_thread_main(int argc, char *argv[])
v_status.onboard_control_sensors_health,
v_status.load * 1000.0f,
v_status.battery_voltage * 1000.0f,
v_status.battery_current * 1000.0f,
v_status.battery_remaining,
v_status.battery_current * 100.0f,
v_status.battery_remaining * 100.0f,
v_status.drop_rate_comm,
v_status.errors_comm,
v_status.errors_count1,

30
src/modules/sdlog2/sdlog2.c
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
* Anton Babushkin <anton.babushkin@me.com>
*
@ -704,6 +704,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct airspeed_s airspeed;
struct esc_status_s esc;
struct vehicle_global_velocity_setpoint_s global_vel_sp;
struct battery_status_s battery;
} buf;
memset(&buf, 0, sizeof(buf));
@ -729,6 +730,7 @@ int sdlog2_thread_main(int argc, char *argv[])
int airspeed_sub;
int esc_sub;
int global_vel_sp_sub;
int battery_sub;
} subs;
/* log message buffer: header + body */
@ -755,6 +757,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct log_GPSP_s log_GPSP;
struct log_ESC_s log_ESC;
struct log_GVSP_s log_GVSP;
struct log_BATT_s log_BATT;
struct log_DIST_s log_DIST;
} body;
} log_msg = {
@ -764,9 +767,9 @@ int sdlog2_thread_main(int argc, char *argv[])
memset(&log_msg.body, 0, sizeof(log_msg.body));
/* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */
/* number of subscriptions */
const ssize_t fdsc = 20;
/* sanity check variable and index */
/* number of messages */
const ssize_t fdsc = 25;
/* Sanity check variable and index */
ssize_t fdsc_count = 0;
/* file descriptors to wait for */
struct pollfd fds[fdsc];
@ -891,6 +894,12 @@ int sdlog2_thread_main(int argc, char *argv[])
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- BATTERY --- */
subs.battery_sub = orb_subscribe(ORB_ID(battery_status));
fds[fdsc_count].fd = subs.battery_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* WARNING: If you get the error message below,
* then the number of registered messages (fdsc)
* differs from the number of messages in the above list.
@ -986,8 +995,6 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_STAT.main_state = (uint8_t) buf.control_mode.main_state;
log_msg.body.log_STAT.navigation_state = (uint8_t) buf.control_mode.nav_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 = (uint8_t) buf_status.battery_warning;
log_msg.body.log_STAT.landed = (uint8_t) buf_status.condition_landed;
@ -1264,6 +1271,17 @@ int sdlog2_thread_main(int argc, char *argv[])
LOGBUFFER_WRITE_AND_COUNT(GVSP);
}
/* --- BATTERY --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(battery_status), subs.battery_sub, &buf.battery);
log_msg.msg_type = LOG_BATT_MSG;
log_msg.body.log_BATT.voltage = buf.battery.voltage_v;
log_msg.body.log_BATT.voltage_filtered = buf.battery.voltage_filtered_v;
log_msg.body.log_BATT.current = buf.battery.current_a;
log_msg.body.log_BATT.discharged = buf.battery.discharged_mah;
LOGBUFFER_WRITE_AND_COUNT(BATT);
}
/* signal the other thread new data, but not yet unlock */
if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) {
/* only request write if several packets can be written at once */

16
src/modules/sdlog2/sdlog2_messages.h
View File

@ -148,8 +148,6 @@ struct log_STAT_s {
uint8_t main_state;
uint8_t navigation_state;
uint8_t arming_state;
float battery_voltage;
float battery_current;
float battery_remaining;
uint8_t battery_warning;
uint8_t landed;
@ -247,8 +245,17 @@ struct log_GVSP_s {
float vz;
};
/* --- BATT - BATTERY --- */
#define LOG_BATT_MSG 20
struct log_BATT_s {
float voltage;
float voltage_filtered;
float current;
float discharged;
};
/* --- DIST - DISTANCE TO SURFACE --- */
#define LOG_DIST_MSG 20
#define LOG_DIST_MSG 21
struct log_DIST_s {
float bottom;
float bottom_rate;
@ -290,7 +297,7 @@ 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, "BBBfffBB", "MainState,NavState,ArmState,BatV,BatC,BatRem,BatWarn,Landed"),
LOG_FORMAT(STAT, "BBBfBB", "MainState,NavState,ArmState,BatRem,BatWarn,Landed"),
LOG_FORMAT(RC, "ffffffffB", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7,Count"),
LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"),
LOG_FORMAT(AIRS, "ff", "IndSpeed,TrueSpeed"),
@ -300,6 +307,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(GPSP, "BLLffBfbfff", "AltRel,Lat,Lon,Alt,Yaw,NavCmd,LoitR,LoitDir,AccR,TimeIn,PitMin"),
LOG_FORMAT(ESC, "HBBBHHHHHHfH", "Counter,NumESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"),
LOG_FORMAT(BATT, "ffff", "V,VFilt,C,Discharged"),
LOG_FORMAT(DIST, "ffB", "Bottom,BottomRate,Flags"),
/* system-level messages, ID >= 0x80 */
// FMT: don't write format of format message, it's useless

2
src/modules/sensors/module.mk
View File

@ -1,6 +1,6 @@
############################################################################
#
# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
# Copyright (c) 2012-2014 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

187
src/modules/sensors/sensor_params.c
View File

@ -1,9 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* Copyright (c) 2012-2014 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
@ -38,6 +35,10 @@
* @file sensor_params.c
*
* Parameters defined by the sensors task.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
*/
#include <nuttx/config.h>
@ -45,41 +46,98 @@
#include <systemlib/param/param.h>
/**
* Gyro X offset FIXME
* Gyro X offset
*
* This is an X-axis offset for the gyro.
* Adjust it according to the calibration data.
* This is an X-axis offset for the gyro. Adjust it according to the calibration data.
*
* @min -10.0
* @max 10.0
* @group Gyro Config
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_GYRO_XOFF, 0.0f);
/**
* Gyro Y offset FIXME with dot.
* Gyro Y offset
*
* @min -10.0
* @max 10.0
* @group Gyro Config
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_GYRO_YOFF, 0.0f);
/**
* Gyro Z offset FIXME
* Gyro Z offset
*
* @min -5.0
* @max 5.0
* @group Gyro Config
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_GYRO_ZOFF, 0.0f);
/**
* Gyro X scaling
*
* X-axis scaling.
*
* @min -1.5
* @max 1.5
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_GYRO_XSCALE, 1.0f);
/**
* Gyro Y scaling
*
* Y-axis scaling.
*
* @min -1.5
* @max 1.5
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_GYRO_YSCALE, 1.0f);
/**
* Gyro Z scaling
*
* Z-axis scaling.
*
* @min -1.5
* @max 1.5
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_GYRO_ZSCALE, 1.0f);
/**
* Magnetometer X offset
*
* This is an X-axis offset for the magnetometer.
*
* @min -500.0
* @max 500.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_MAG_XOFF, 0.0f);
/**
* Magnetometer Y offset
*
* This is an Y-axis offset for the magnetometer.
*
* @min -500.0
* @max 500.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_MAG_YOFF, 0.0f);
/**
* Magnetometer Z offset
*
* This is an Z-axis offset for the magnetometer.
*
* @min -500.0
* @max 500.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_MAG_ZOFF, 0.0f);
PARAM_DEFINE_FLOAT(SENS_MAG_XSCALE, 1.0f);
@ -100,16 +158,114 @@ PARAM_DEFINE_INT32(SENS_DPRES_ANA, 0);
PARAM_DEFINE_INT32(SENS_BOARD_ROT, 0);
PARAM_DEFINE_INT32(SENS_EXT_MAG_ROT, 0);
/**
* RC Channel 1 Minimum
*
* Minimum value for RC channel 1
*
* @min 800.0
* @max 1500.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC1_MIN, 1000.0f);
/**
* RC Channel 1 Trim
*
* Mid point value (same as min for throttle)
*
* @min 800.0
* @max 2200.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC1_TRIM, 1500.0f);
/**
* RC Channel 1 Maximum
*
* Maximum value for RC channel 1
*
* @min 1500.0
* @max 2200.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC1_MAX, 2000.0f);
/**
* RC Channel 1 Reverse
*
* Set to -1 to reverse channel.
*
* @min -1.0
* @max 1.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC1_REV, 1.0f);
/**
* RC Channel 1 dead zone
*
* The +- range of this value around the trim value will be considered as zero.
*
* @min 0.0
* @max 100.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC1_DZ, 10.0f);
PARAM_DEFINE_FLOAT(RC2_MIN, 1000);
PARAM_DEFINE_FLOAT(RC2_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC2_MAX, 2000);
/**
* RC Channel 2 Minimum
*
* Minimum value for RC channel 2
*
* @min 800.0
* @max 1500.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC2_MIN, 1000.0f);
/**
* RC Channel 2 Trim
*
* Mid point value (same as min for throttle)
*
* @min 800.0
* @max 2200.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC2_TRIM, 1500.0f);
/**
* RC Channel 2 Maximum
*
* Maximum value for RC channel 2
*
* @min 1500.0
* @max 2200.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC2_MAX, 2000.0f);
/**
* RC Channel 2 Reverse
*
* Set to -1 to reverse channel.
*
* @min -1.0
* @max 1.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC2_REV, 1.0f);
/**
* RC Channel 2 dead zone
*
* The +- range of this value around the trim value will be considered as zero.
*
* @min 0.0
* @max 100.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC2_DZ, 10.0f);
PARAM_DEFINE_FLOAT(RC3_MIN, 1000);
@ -223,6 +379,7 @@ PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.0082f);
/* FMU with PX4IOAR: (3.3f * 52.0f / 5.0f / 4095.0f) */
PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.00459340659f);
#endif
PARAM_DEFINE_FLOAT(BAT_C_SCALING, 0.0124); /* scaling for 3DR power brick */
PARAM_DEFINE_INT32(RC_MAP_ROLL, 1);
PARAM_DEFINE_INT32(RC_MAP_PITCH, 2);

89
src/modules/sensors/sensors.cpp
View File

@ -114,6 +114,7 @@
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
#define ADC_BATTERY_VOLTAGE_CHANNEL 10
#define ADC_BATTERY_CURRENT_CHANNEL -1
#define ADC_AIRSPEED_VOLTAGE_CHANNEL 11
#endif
@ -124,10 +125,8 @@
#define ADC_AIRSPEED_VOLTAGE_CHANNEL 15
#endif
#define BAT_VOL_INITIAL 0.f
#define BAT_VOL_LOWPASS_1 0.99f
#define BAT_VOL_LOWPASS_2 0.01f
#define VOLTAGE_BATTERY_IGNORE_THRESHOLD_VOLTS 3.5f
#define BATT_V_LOWPASS 0.001f
#define BATT_V_IGNORE_THRESHOLD 3.5f
/**
* HACK - true temperature is much less than indicated temperature in baro,
@ -215,6 +214,9 @@ private:
math::Matrix<3,3> _external_mag_rotation; /**< rotation matrix for the orientation that an external mag is mounted */
bool _mag_is_external; /**< true if the active mag is on an external board */
uint64_t _battery_discharged; /**< battery discharged current in mA*ms */
hrt_abstime _battery_current_timestamp; /**< timestamp of last battery current reading */
struct {
float min[_rc_max_chan_count];
float trim[_rc_max_chan_count];
@ -265,6 +267,7 @@ private:
float rc_fs_thr;
float battery_voltage_scaling;
float battery_current_scaling;
} _parameters; /**< local copies of interesting parameters */
@ -314,6 +317,7 @@ private:
param_t rc_fs_thr;
param_t battery_voltage_scaling;
param_t battery_current_scaling;
param_t board_rotation;
param_t external_mag_rotation;
@ -465,7 +469,9 @@ Sensors::Sensors() :
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "sensor task update")),
_mag_is_external(false)
_mag_is_external(false),
_battery_discharged(0),
_battery_current_timestamp(0)
{
/* basic r/c parameters */
@ -558,6 +564,7 @@ Sensors::Sensors() :
_parameter_handles.diff_pres_analog_enabled = param_find("SENS_DPRES_ANA");
_parameter_handles.battery_voltage_scaling = param_find("BAT_V_SCALING");
_parameter_handles.battery_current_scaling = param_find("BAT_C_SCALING");
/* rotations */
_parameter_handles.board_rotation = param_find("SENS_BOARD_ROT");
@ -738,6 +745,11 @@ Sensors::parameters_update()
warnx("Failed updating voltage scaling param");
}
/* scaling of ADC ticks to battery current */
if (param_get(_parameter_handles.battery_current_scaling, &(_parameters.battery_current_scaling)) != OK) {
warnx("Failed updating current scaling param");
}
param_get(_parameter_handles.board_rotation, &(_parameters.board_rotation));
param_get(_parameter_handles.external_mag_rotation, &(_parameters.external_mag_rotation));
@ -1155,17 +1167,16 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
if (!_publishing)
return;
hrt_abstime t = hrt_absolute_time();
/* rate limit to 100 Hz */
if (hrt_absolute_time() - _last_adc >= 10000) {
if (t - _last_adc >= 10000) {
/* make space for a maximum of eight channels */
struct adc_msg_s buf_adc[8];
/* read all channels available */
int ret = read(_fd_adc, &buf_adc, sizeof(buf_adc));
for (unsigned i = 0; i < sizeof(buf_adc) / sizeof(buf_adc[0]); i++) {
if (ret >= (int)sizeof(buf_adc[0])) {
if (ret >= (int)sizeof(buf_adc[0])) {
for (unsigned i = 0; i < sizeof(buf_adc) / sizeof(buf_adc[0]); i++) {
/* Save raw voltage values */
if (i < (sizeof(raw.adc_voltage_v)) / sizeof(raw.adc_voltage_v[0])) {
raw.adc_voltage_v[i] = buf_adc[i].am_data / (4096.0f / 3.3f);
@ -1176,27 +1187,40 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
/* Voltage in volts */
float voltage = (buf_adc[i].am_data * _parameters.battery_voltage_scaling);
if (voltage > VOLTAGE_BATTERY_IGNORE_THRESHOLD_VOLTS) {
if (voltage > BATT_V_IGNORE_THRESHOLD) {
_battery_status.voltage_v = voltage;
/* one-time initialization of low-pass value to avoid long init delays */
if (_battery_status.voltage_v < 3.0f) {
_battery_status.voltage_v = voltage;
if (_battery_status.voltage_filtered_v < BATT_V_IGNORE_THRESHOLD) {
_battery_status.voltage_filtered_v = voltage;
}
_battery_status.timestamp = hrt_absolute_time();
_battery_status.voltage_v = (BAT_VOL_LOWPASS_1 * (_battery_status.voltage_v + BAT_VOL_LOWPASS_2 * voltage));;
/* current and discharge are unknown */
_battery_status.current_a = -1.0f;
_battery_status.discharged_mah = -1.0f;
_battery_status.timestamp = t;
_battery_status.voltage_filtered_v += (voltage - _battery_status.voltage_filtered_v) * BATT_V_LOWPASS;
/* announce the battery voltage if needed, just publish else */
if (_battery_pub > 0) {
orb_publish(ORB_ID(battery_status), _battery_pub, &_battery_status);
} else {
/* mark status as invalid */
_battery_status.voltage_v = -1.0f;
_battery_status.voltage_filtered_v = -1.0f;
}
} else {
_battery_pub = orb_advertise(ORB_ID(battery_status), &_battery_status);
} else if (ADC_BATTERY_CURRENT_CHANNEL == buf_adc[i].am_channel) {
/* handle current only if voltage is valid */
if (_battery_status.voltage_v > 0.0f) {
float current = (buf_adc[i].am_data * _parameters.battery_current_scaling);
/* check measured current value */
if (current >= 0.0f) {
_battery_status.timestamp = t;
_battery_status.current_a = current;
if (_battery_current_timestamp != 0) {
/* initialize discharged value */
if (_battery_status.discharged_mah < 0.0f)
_battery_status.discharged_mah = 0.0f;
_battery_discharged += current * (t - _battery_current_timestamp);
_battery_status.discharged_mah = ((float) _battery_discharged) / 3600000.0f;
}
}
}
_battery_current_timestamp = t;
} else if (ADC_AIRSPEED_VOLTAGE_CHANNEL == buf_adc[i].am_channel) {
@ -1212,7 +1236,7 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
float diff_pres_pa = voltage * 1000.0f - _parameters.diff_pres_offset_pa; //for MPXV7002DP sensor
_diff_pres.timestamp = hrt_absolute_time();
_diff_pres.timestamp = t;
_diff_pres.differential_pressure_pa = diff_pres_pa;
_diff_pres.voltage = voltage;
@ -1225,8 +1249,16 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
}
}
}
}
_last_adc = t;
if (_battery_status.voltage_v > 0.0f) {
/* announce the battery status if needed, just publish else */
if (_battery_pub > 0) {
orb_publish(ORB_ID(battery_status), _battery_pub, &_battery_status);
_last_adc = hrt_absolute_time();
} else {
_battery_pub = orb_advertise(ORB_ID(battery_status), &_battery_status);
}
}
}
}
@ -1514,7 +1546,10 @@ Sensors::task_main()
raw.adc_voltage_v[3] = 0.0f;
memset(&_battery_status, 0, sizeof(_battery_status));
_battery_status.voltage_v = BAT_VOL_INITIAL;
_battery_status.voltage_v = 0.0f;
_battery_status.voltage_filtered_v = 0.0f;
_battery_status.current_a = -1.0f;
_battery_status.discharged_mah = -1.0f;
/* get a set of initial values */
accel_poll(raw);

3
src/modules/systemlib/bson/tinybson.c
View File

@ -407,6 +407,9 @@ bson_encoder_fini(bson_encoder_t encoder)
memcpy(encoder->buf, &len, sizeof(len));
}
/* sync file */
fsync(encoder->fd);
return 0;
}

35
src/modules/systemlib/param/param.c
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2014 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
@ -61,7 +61,7 @@
#include "uORB/uORB.h"
#include "uORB/topics/parameter_update.h"
#if 1
#if 0
# define debug(fmt, args...) do { warnx(fmt, ##args); } while(0)
#else
# define debug(fmt, args...) do { } while(0)
@ -512,6 +512,28 @@ param_save_default(void)
int fd;
const char *filename = param_get_default_file();
/* write parameters to temp file */
fd = open(filename, O_WRONLY | O_CREAT);
if (fd < 0) {
warn("failed to open param file: %s", filename);
return ERROR;
}
if (res == OK) {
res = param_export(fd, false);
if (res != OK) {
warnx("failed to write parameters to file: %s", filename);
}
}
close(fd);
return res;
#if 0
const char *filename_tmp = malloc(strlen(filename) + 5);
sprintf(filename_tmp, "%s.tmp", filename);
@ -565,6 +587,7 @@ param_save_default(void)
free(filename_tmp);
return res;
#endif
}
/**
@ -573,9 +596,9 @@ param_save_default(void)
int
param_load_default(void)
{
int fd = open(param_get_default_file(), O_RDONLY);
int fd_load = open(param_get_default_file(), O_RDONLY);
if (fd < 0) {
if (fd_load < 0) {
/* no parameter file is OK, otherwise this is an error */
if (errno != ENOENT) {
warn("open '%s' for reading failed", param_get_default_file());
@ -584,8 +607,8 @@ param_load_default(void)
return 1;
}
int result = param_load(fd);
close(fd);
int result = param_load(fd_load);
close(fd_load);
if (result != 0) {
warn("error reading parameters from '%s'", param_get_default_file());

9
src/modules/uORB/topics/battery_status.h
View File

@ -53,9 +53,10 @@
*/
struct battery_status_s {
uint64_t timestamp; /**< microseconds since system boot, needed to integrate */
float voltage_v; /**< Battery voltage in volts, filtered */
float current_a; /**< Battery current in amperes, filtered, -1 if unknown */
float discharged_mah; /**< Discharged amount in mAh, filtered, -1 if unknown */
float voltage_v; /**< Battery voltage in volts, 0 if unknown */
float voltage_filtered_v; /**< Battery voltage in volts, filtered, 0 if unknown */
float current_a; /**< Battery current in amperes, -1 if unknown */
float discharged_mah; /**< Discharged amount in mAh, -1 if unknown */
};
/**
@ -65,4 +66,4 @@ struct battery_status_s {
/* register this as object request broker structure */
ORB_DECLARE(battery_status);
#endif
#endif

6
src/systemcmds/mtd/module.mk Normal file
View File

@ -0,0 +1,6 @@
#
# RAMTRON file system driver
#
MODULE_COMMAND = mtd
SRCS = mtd.c

279
src/systemcmds/mtd/mtd.c Normal file
View File

@ -0,0 +1,279 @@
/****************************************************************************
*
* Copyright (c) 2013-2014 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.
*
****************************************************************************/
/**
* @file mtd.c
*
* mtd service and utility app.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdbool.h>
#include <unistd.h>
#include <fcntl.h>
#include <sys/mount.h>
#include <sys/ioctl.h>
#include <sys/stat.h>
#include <nuttx/spi.h>
#include <nuttx/mtd.h>
#include <nuttx/fs/nxffs.h>
#include <nuttx/fs/ioctl.h>
#include <arch/board/board.h>
#include "systemlib/systemlib.h"
#include "systemlib/param/param.h"
#include "systemlib/err.h"
__EXPORT int mtd_main(int argc, char *argv[]);
#ifndef CONFIG_MTD_RAMTRON
/* create a fake command with decent warnx to not confuse users */
int mtd_main(int argc, char *argv[])
{
errx(1, "RAMTRON not enabled, skipping.");
}
#else
static void mtd_attach(void);
static void mtd_start(char *partition_names[], unsigned n_partitions);
static void mtd_test(void);
static void mtd_erase(char *partition_names[], unsigned n_partitions);
static bool attached = false;
static bool started = false;
static struct mtd_dev_s *mtd_dev;
/* note, these will be equally sized */
static char *partition_names_default[] = {"/fs/mtd_params", "/fs/mtd_waypoints"};
static const int n_partitions_default = sizeof(partition_names_default) / sizeof(partition_names_default[0]);
int mtd_main(int argc, char *argv[])
{
if (argc >= 2) {
if (!strcmp(argv[1], "start")) {
/* start mapping according to user request */
if (argc > 3) {
mtd_start(argv + 2, argc - 2);
} else {
mtd_start(partition_names_default, n_partitions_default);
}
}
if (!strcmp(argv[1], "test"))
mtd_test();
if (!strcmp(argv[1], "erase")) {
if (argc < 3) {
errx(1, "usage: mtd erase <PARTITION_PATH..>");
}
mtd_erase(argv + 2, argc - 2);
}
}
errx(1, "expected a command, try 'start', 'erase' or 'test'");
}
struct mtd_dev_s *ramtron_initialize(FAR struct spi_dev_s *dev);
struct mtd_dev_s *mtd_partition(FAR struct mtd_dev_s *mtd,
off_t firstblock, off_t nblocks);
static void
mtd_attach(void)
{
/* find the right spi */
struct spi_dev_s *spi = up_spiinitialize(2);
/* this resets the spi bus, set correct bus speed again */
SPI_SETFREQUENCY(spi, 40 * 1000 * 1000);
SPI_SETBITS(spi, 8);
SPI_SETMODE(spi, SPIDEV_MODE3);
SPI_SELECT(spi, SPIDEV_FLASH, false);
if (spi == NULL)
errx(1, "failed to locate spi bus");
/* start the MTD driver, attempt 5 times */
for (int i = 0; i < 5; i++) {
mtd_dev = ramtron_initialize(spi);
if (mtd_dev) {
/* abort on first valid result */
if (i > 0) {
warnx("warning: mtd needed %d attempts to attach", i + 1);
}
break;
}
}
/* if last attempt is still unsuccessful, abort */
if (mtd_dev == NULL)
errx(1, "failed to initialize mtd driver");
attached = true;
}
static void
mtd_start(char *partition_names[], unsigned n_partitions)
{
int ret;
if (started)
errx(1, "mtd already mounted");
if (!attached)
mtd_attach();
if (!mtd_dev) {
warnx("ERROR: Failed to create RAMTRON FRAM MTD instance");
exit(1);
}
/* Get the geometry of the FLASH device */
FAR struct mtd_geometry_s geo;
ret = mtd_dev->ioctl(mtd_dev, MTDIOC_GEOMETRY, (unsigned long)((uintptr_t)&geo));
if (ret < 0) {
warnx("ERROR: mtd->ioctl failed: %d", ret);
exit(3);
}
warnx("Flash Geometry:");
warnx(" blocksize: %lu", (unsigned long)geo.blocksize);
warnx(" erasesize: %lu", (unsigned long)geo.erasesize);
warnx(" neraseblocks: %lu", (unsigned long)geo.neraseblocks);
/* Determine the size of each partition. Make each partition an even
* multiple of the erase block size (perhaps not using some space at the
* end of the FLASH).
*/
unsigned blkpererase = geo.erasesize / geo.blocksize;
unsigned nblocks = (geo.neraseblocks / n_partitions) * blkpererase;
unsigned partsize = nblocks * geo.blocksize;
warnx(" No. partitions: %u", n_partitions);
warnx(" Partition size: %lu Blocks (%lu bytes)", (unsigned long)nblocks, (unsigned long)partsize);
/* Now create MTD FLASH partitions */
warnx("Creating partitions");
FAR struct mtd_dev_s *part[n_partitions];
char blockname[32];
unsigned offset;
unsigned i;
for (offset = 0, i = 0; i < n_partitions; offset += nblocks, i++) {
warnx(" Partition %d. Block offset=%lu, size=%lu",
i, (unsigned long)offset, (unsigned long)nblocks);
/* Create the partition */
part[i] = mtd_partition(mtd_dev, offset, nblocks);
if (!part[i]) {
warnx("ERROR: mtd_partition failed. offset=%lu nblocks=%lu",
(unsigned long)offset, (unsigned long)nblocks);
exit(4);
}
/* Initialize to provide an FTL block driver on the MTD FLASH interface */
snprintf(blockname, sizeof(blockname), "/dev/mtdblock%d", i);
ret = ftl_initialize(i, part[i]);
if (ret < 0) {
warnx("ERROR: ftl_initialize %s failed: %d", blockname, ret);
exit(5);
}
/* Now create a character device on the block device */
ret = bchdev_register(blockname, partition_names[i], false);
if (ret < 0) {
warnx("ERROR: bchdev_register %s failed: %d", partition_names[i], ret);
exit(6);
}
}
started = true;
exit(0);
}
static void
mtd_test(void)
{
warnx("This test routine does not test anything yet!");
exit(1);
}
static void
mtd_erase(char *partition_names[], unsigned n_partitions)
{
uint8_t v[64];
memset(v, 0xFF, sizeof(v));
for (uint8_t i = 0; i < n_partitions; i++) {
uint32_t count = 0;
printf("Erasing %s\n", partition_names[i]);
int fd = open(partition_names[i], O_WRONLY);
if (fd == -1) {
errx(1, "Failed to open partition");
}
while (write(fd, &v, sizeof(v)) == sizeof(v)) {
count += sizeof(v);
}
printf("Erased %lu bytes\n", (unsigned long)count);
close(fd);
}
exit(0);
}
#endif

47
src/systemcmds/param/param.c
View File

@ -72,7 +72,12 @@ param_main(int argc, char *argv[])
if (argc >= 3) {
do_save(argv[2]);
} else {
do_save(param_get_default_file());
if (param_save_default()) {
warnx("Param export failed.");
exit(1);
} else {
exit(0);
}
}
}
@ -133,11 +138,8 @@ param_main(int argc, char *argv[])
static void
do_save(const char* param_file_name)
{
/* delete the parameter file in case it exists */
unlink(param_file_name);
/* create the file */
int fd = open(param_file_name, O_WRONLY | O_CREAT | O_EXCL);
int fd = open(param_file_name, O_WRONLY | O_CREAT);
if (fd < 0)
err(1, "opening '%s' failed", param_file_name);
@ -146,7 +148,7 @@ do_save(const char* param_file_name)
close(fd);
if (result < 0) {
unlink(param_file_name);
(void)unlink(param_file_name);
errx(1, "error exporting to '%s'", param_file_name);
}
@ -203,11 +205,38 @@ do_show_print(void *arg, param_t param)
int32_t i;
float f;
const char *search_string = (const char*)arg;
const char *p_name = (const char*)param_name(param);
/* print nothing if search string is invalid and not matching */
if (!(arg == NULL || (!strcmp(search_string, param_name(param))))) {
/* param not found */
return;
if (!(arg == NULL)) {
/* start search */
char *ss = search_string;
char *pp = p_name;
bool mismatch = false;
/* XXX this comparison is only ok for trailing wildcards */
while (*ss != '\0' && *pp != '\0') {
if (*ss == *pp) {
ss++;
pp++;
} else if (*ss == '*') {
if (*(ss + 1) != '\0') {
warnx("* symbol only allowed at end of search string.");
exit(1);
}
pp++;
} else {
/* param not found */
return;
}
}
/* the search string must have been consumed */
if (!(*ss == '\0' || *ss == '*'))
return;
}
printf("%c %s: ",

16
src/systemcmds/tests/test_file.c
View File

@ -54,9 +54,9 @@
#include "tests.h"
int check_user_abort();
int check_user_abort(int fd);
int check_user_abort() {
int check_user_abort(int fd) {
/* check if user wants to abort */
char c;
@ -77,6 +77,8 @@ int check_user_abort() {
case 'q':
{
warnx("Test aborted.");
fsync(fd);
close(fd);
return OK;
/* not reached */
}
@ -141,7 +143,7 @@ test_file(int argc, char *argv[])
fsync(fd);
if (!check_user_abort())
if (!check_user_abort(fd))
return OK;
}
@ -175,7 +177,7 @@ test_file(int argc, char *argv[])
return 1;
}
if (!check_user_abort())
if (!check_user_abort(fd))
return OK;
}
@ -199,7 +201,7 @@ test_file(int argc, char *argv[])
return 1;
}
if (!check_user_abort())
if (!check_user_abort(fd))
return OK;
}
@ -232,7 +234,7 @@ test_file(int argc, char *argv[])
break;
}
if (!check_user_abort())
if (!check_user_abort(fd))
return OK;
}
@ -275,7 +277,7 @@ test_file(int argc, char *argv[])
break;
}
if (!check_user_abort())
if (!check_user_abort(fd))
return OK;
}