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px4-firmware
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Merge remote-tracking branch 'px4/beta' into fix_mission_dive 

Conflicts:
	src/modules/navigator/navigator_main.cpp
This commit is contained in:
Julian Oes 2014-02-24 10:24:08 +01:00
parent ae3e625ce8 17ec859758
commit 9bed1677bd
8 changed files with 86 additions and 79 deletions
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2
src/drivers/drv_pwm_output.h
View File

@ -160,7 +160,7 @@ ORB_DECLARE(output_pwm);
#define DSM2_BIND_PULSES 3 /* DSM_BIND_START ioctl parameter, pulses required to start dsm2 pairing */
#define DSMX_BIND_PULSES 7 /* DSM_BIND_START ioctl parameter, pulses required to start dsmx pairing */
#define DSMX8_BIND_PULSES 10 /* DSM_BIND_START ioctl parameter, pulses required to start 8 or more channel dsmx pairing */
#define DSMX8_BIND_PULSES 10 /* DSM_BIND_START ioctl parameter, pulses required to start 8 or more channel dsmx pairing */
/** power up DSM receiver */
#define DSM_BIND_POWER_UP _IOC(_PWM_SERVO_BASE, 11)

57
src/drivers/px4io/px4io.cpp
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@ -244,8 +244,7 @@ private:
volatile int _task; ///< worker task id
volatile bool _task_should_exit; ///< worker terminate flag
int _mavlink_fd; ///< mavlink file descriptor. This is opened by class instantiation and Doesn't appear to be usable in main thread.
int _thread_mavlink_fd; ///< mavlink file descriptor for thread.
int _mavlink_fd; ///< mavlink file descriptor.
perf_counter_t _perf_update; ///<local performance counter for status updates
perf_counter_t _perf_write; ///<local performance counter for PWM control writes
@ -474,7 +473,6 @@ PX4IO::PX4IO(device::Device *interface) :
_task(-1),
_task_should_exit(false),
_mavlink_fd(-1),
_thread_mavlink_fd(-1),
_perf_update(perf_alloc(PC_ELAPSED, "io update")),
_perf_write(perf_alloc(PC_ELAPSED, "io write")),
_perf_chan_count(perf_alloc(PC_COUNT, "io rc #")),
@ -507,9 +505,6 @@ PX4IO::PX4IO(device::Device *interface) :
/* we need this potentially before it could be set in task_main */
g_dev = this;
/* open MAVLink text channel */
_mavlink_fd = ::open(MAVLINK_LOG_DEVICE, 0);
_debug_enabled = false;
_servorail_status.rssi_v = 0;
}
@ -785,7 +780,7 @@ PX4IO::task_main()
hrt_abstime poll_last = 0;
hrt_abstime orb_check_last = 0;
_thread_mavlink_fd = ::open(MAVLINK_LOG_DEVICE, 0);
_mavlink_fd = ::open(MAVLINK_LOG_DEVICE, 0);
/*
* Subscribe to the appropriate PWM output topic based on whether we are the
@ -880,6 +875,10 @@ PX4IO::task_main()
/* run at 5Hz */
orb_check_last = now;
/* try to claim the MAVLink log FD */
if (_mavlink_fd < 0)
_mavlink_fd = ::open(MAVLINK_LOG_DEVICE, 0);
/* check updates on uORB topics and handle it */
bool updated = false;
@ -1275,16 +1274,14 @@ void
PX4IO::dsm_bind_ioctl(int dsmMode)
{
if (!(_status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)) {
/* 0: dsm2, 1:dsmx */
if ((dsmMode == 0) || (dsmMode == 1)) {
mavlink_log_info(_thread_mavlink_fd, "[IO] binding dsm%s rx", (dsmMode == 0) ? "2" : ((dsmMode == 1) ? "x" : "x8"));
ioctl(nullptr, DSM_BIND_START, (dsmMode == 0) ? DSM2_BIND_PULSES : ((dsmMode == 1) ? DSMX_BIND_PULSES : DSMX8_BIND_PULSES));
} else {
mavlink_log_info(_thread_mavlink_fd, "[IO] invalid dsm bind mode, bind request rejected");
}
mavlink_log_info(_mavlink_fd, "[IO] binding DSM%s RX", (dsmMode == 0) ? "2" : ((dsmMode == 1) ? "-X" : "-X8"));
int ret = ioctl(nullptr, DSM_BIND_START, (dsmMode == 0) ? DSM2_BIND_PULSES : ((dsmMode == 1) ? DSMX_BIND_PULSES : DSMX8_BIND_PULSES));
if (ret)
mavlink_log_critical(_mavlink_fd, "binding failed.");
} else {
mavlink_log_info(_thread_mavlink_fd, "[IO] system armed, bind request rejected");
mavlink_log_info(_mavlink_fd, "[IO] system armed, bind request rejected");
}
}
@ -2115,14 +2112,24 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg)
break;
case DSM_BIND_START:
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_down);
usleep(500000);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_set_rx_out);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_up);
usleep(72000);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_send_pulses | (arg << 4));
usleep(50000);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_reinit_uart);
/* only allow DSM2, DSM-X and DSM-X with more than 7 channels */
if (arg == DSM2_BIND_PULSES ||
arg == DSMX_BIND_PULSES ||
arg == DSMX8_BIND_PULSES) {
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_down);
usleep(500000);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_set_rx_out);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_up);
usleep(72000);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_send_pulses | (arg << 4));
usleep(50000);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_reinit_uart);
ret = OK;
} else {
ret = -EINVAL;
}
break;
case DSM_BIND_POWER_UP:
@ -2615,7 +2622,7 @@ bind(int argc, char *argv[])
#endif
if (argc < 3)
errx(0, "needs argument, use dsm2 or dsmx");
errx(0, "needs argument, use dsm2, dsmx or dsmx8");
if (!strcmp(argv[2], "dsm2"))
pulses = DSM2_BIND_PULSES;
@ -2624,7 +2631,7 @@ bind(int argc, char *argv[])
else if (!strcmp(argv[2], "dsmx8"))
pulses = DSMX8_BIND_PULSES;
else
errx(1, "unknown parameter %s, use dsm2 or dsmx", argv[2]);
errx(1, "unknown parameter %s, use dsm2, dsmx or dsmx8", argv[2]);
// Test for custom pulse parameter
if (argc > 3)
pulses = atoi(argv[3]);

38
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
View File

@ -233,7 +233,6 @@ private:
float speedrate_p;
float land_slope_angle;
float land_slope_length;
float land_H1_virt;
float land_flare_alt_relative;
float land_thrust_lim_alt_relative;
@ -278,7 +277,6 @@ private:
param_t speedrate_p;
param_t land_slope_angle;
param_t land_slope_length;
param_t land_H1_virt;
param_t land_flare_alt_relative;
param_t land_thrust_lim_alt_relative;
@ -427,7 +425,6 @@ FixedwingPositionControl::FixedwingPositionControl() :
_parameter_handles.throttle_land_max = param_find("FW_THR_LND_MAX");
_parameter_handles.land_slope_angle = param_find("FW_LND_ANG");
_parameter_handles.land_slope_length = param_find("FW_LND_SLLR");
_parameter_handles.land_H1_virt = param_find("FW_LND_HVIRT");
_parameter_handles.land_flare_alt_relative = param_find("FW_LND_FLALT");
_parameter_handles.land_thrust_lim_alt_relative = param_find("FW_LND_TLALT");
@ -516,7 +513,6 @@ FixedwingPositionControl::parameters_update()
param_get(_parameter_handles.speedrate_p, &(_parameters.speedrate_p));
param_get(_parameter_handles.land_slope_angle, &(_parameters.land_slope_angle));
param_get(_parameter_handles.land_slope_length, &(_parameters.land_slope_length));
param_get(_parameter_handles.land_H1_virt, &(_parameters.land_H1_virt));
param_get(_parameter_handles.land_flare_alt_relative, &(_parameters.land_flare_alt_relative));
param_get(_parameter_handles.land_thrust_lim_alt_relative, &(_parameters.land_thrust_lim_alt_relative));
@ -885,8 +881,10 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
float airspeed_land = 1.3f * _parameters.airspeed_min;
float airspeed_approach = 1.3f * _parameters.airspeed_min;
float L_wp_distance = get_distance_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1)) * _parameters.land_slope_length;
/* Calculate distance (to landing waypoint) and altitude of last ordinary waypoint L */
float L_wp_distance = get_distance_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1));
float L_altitude = landingslope.getLandingSlopeAbsoluteAltitude(L_wp_distance, _pos_sp_triplet.current.alt);
float bearing_airplane_currwp = get_bearing_to_next_waypoint(current_position(0), current_position(1), curr_wp(0), curr_wp(1));
float landing_slope_alt_desired = landingslope.getLandingSlopeAbsoluteAltitudeSave(wp_distance, bearing_lastwp_currwp, bearing_airplane_currwp, _pos_sp_triplet.current.alt);
@ -931,38 +929,24 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
//warnx("Landing: flare, _global_pos.alt %.1f, flare_curve_alt %.1f, flare_curve_alt_last %.1f, flare_length %.1f, wp_distance %.1f", _global_pos.alt, flare_curve_alt, flare_curve_alt_last, flare_length, wp_distance);
flare_curve_alt_last = flare_curve_alt;
} else if (wp_distance < L_wp_distance) {
/* minimize speed to approach speed, stay on landing slope */
_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, landing_slope_alt_desired, calculate_target_airspeed(airspeed_approach),
_airspeed.indicated_airspeed_m_s, eas2tas,
false, flare_pitch_angle_rad,
_parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max));
//warnx("Landing: stay on slope, alt_desired: %.1f (wp_distance: %.1f), calculate_target_airspeed(airspeed_land) %.1f, horizontal_slope_displacement %.1f, d1 %.1f, flare_length %.1f", landing_slope_alt_desired, wp_distance, calculate_target_airspeed(airspeed_land), horizontal_slope_displacement, d1, flare_length);
if (!land_onslope) {
mavlink_log_info(_mavlink_fd, "#audio: Landing, on slope");
land_onslope = true;
}
} else {
/* intersect glide slope:
* if current position is higher or within 10m of slope follow the glide slope
* if current position is below slope -10m continue on maximum of previous wp altitude or L_altitude until the intersection with the slope
* */
* minimize speed to approach speed
* if current position is higher or within 10m of slope follow the glide slope
* if current position is below slope -10m continue on maximum of previous wp altitude or L_altitude until the intersection with the slope
* */
float altitude_desired = _global_pos.alt;
if (_global_pos.alt > landing_slope_alt_desired - 10.0f) {
/* stay on slope */
altitude_desired = landing_slope_alt_desired;
//warnx("Landing: before L, stay on landing slope, alt_desired: %.1f (wp_distance: %.1f, L_wp_distance %.1f), calculate_target_airspeed(airspeed_land) %.1f, horizontal_slope_displacement %.1f", altitude_desired, wp_distance, L_wp_distance, calculate_target_airspeed(airspeed_land), horizontal_slope_displacement);
if (!land_onslope) {
mavlink_log_info(_mavlink_fd, "#audio: Landing, on slope");
land_onslope = true;
}
} else {
/* continue horizontally */
altitude_desired = math::max(_global_pos.alt, L_altitude);
//warnx("Landing: before L,continue at: %.4f, (landing_slope_alt_desired %.4f, wp_distance: %.4f, L_altitude: %.4f L_wp_distance: %.4f)", altitude_desired, landing_slope_alt_desired, wp_distance, L_altitude, L_wp_distance);
}
_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, altitude_desired, calculate_target_airspeed(airspeed_approach),

7
src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
View File

@ -348,13 +348,6 @@ PARAM_DEFINE_FLOAT(FW_T_SRATE_P, 0.05f);
*/
PARAM_DEFINE_FLOAT(FW_LND_ANG, 5.0f);
/**
* Landing slope length
*
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_LND_SLLR, 0.9f);
/**
*
*

1
src/modules/mc_pos_control/mc_pos_control_main.cpp
View File

@ -730,7 +730,6 @@ MulticopterPositionControl::task_main()
} else {
/* run position & altitude controllers, calculate velocity setpoint */
math::Vector<3> pos_err;
float err_x, err_y;
get_vector_to_next_waypoint_fast(_global_pos.lat, _global_pos.lon, _lat_sp, _lon_sp, &pos_err.data[0], &pos_err.data[1]);
pos_err(2) = -(_alt_sp - alt);

24
src/modules/navigator/navigator_main.cpp
View File

@ -853,7 +853,7 @@ Navigator::task_main()
/* notify user about state changes */
if (myState != prevState) {
mavlink_log_info(_mavlink_fd, "[navigator] nav state: %s", nav_states_str[myState]);
mavlink_log_info(_mavlink_fd, "#audio: navigation state: %s", nav_states_str[myState]);
prevState = myState;
/* reset time counter on state changes */
@ -1061,11 +1061,11 @@ Navigator::start_loiter()
/* use current altitude if above min altitude set by parameter */
if (_global_pos.alt < min_alt_amsl && !_vstatus.is_rotary_wing) {
_pos_sp_triplet.current.alt = min_alt_amsl;
mavlink_log_info(_mavlink_fd, "[navigator] loiter %.1fm higher", (double)(min_alt_amsl - _global_pos.alt));
mavlink_log_info(_mavlink_fd, "#audio: loiter %.1fm higher", (double)(min_alt_amsl - _global_pos.alt));
} else {
_pos_sp_triplet.current.alt = _global_pos.alt;
mavlink_log_info(_mavlink_fd, "[navigator] loiter at current altitude");
mavlink_log_info(_mavlink_fd, "#audio: loiter at current altitude");
}
}
@ -1162,14 +1162,14 @@ Navigator::set_mission_item()
}
if (_do_takeoff) {
mavlink_log_info(_mavlink_fd, "[navigator] takeoff to %.1fm above home", (double)(_pos_sp_triplet.current.alt - _home_pos.alt));
mavlink_log_info(_mavlink_fd, "#audio: takeoff to %.1fm above home", (double)(_pos_sp_triplet.current.alt - _home_pos.alt));
} else {
if (onboard) {
mavlink_log_info(_mavlink_fd, "[navigator] heading to onboard WP %d", index);
mavlink_log_info(_mavlink_fd, "#audio: heading to onboard WP %d", index);
} else {
mavlink_log_info(_mavlink_fd, "[navigator] heading to offboard WP %d", index);
mavlink_log_info(_mavlink_fd, "#audio: heading to offboard WP %d", index);
}
}
@ -1318,7 +1318,7 @@ Navigator::set_rtl_item()
_pos_sp_triplet.next.valid = false;
mavlink_log_info(_mavlink_fd, "[navigator] RTL: climb to %.1fm above home", (double)(climb_alt - _home_pos.alt));
mavlink_log_info(_mavlink_fd, "#audio: RTL: climb to %.1fm above home", (double)(climb_alt - _home_pos.alt));
break;
}
@ -1344,7 +1344,7 @@ Navigator::set_rtl_item()
_pos_sp_triplet.next.valid = false;
mavlink_log_info(_mavlink_fd, "[navigator] RTL: return at %.1fm above home", (double)(_mission_item.altitude - _home_pos.alt));
mavlink_log_info(_mavlink_fd, "#audio: RTL: return at %.1fm above home", (double)(_mission_item.altitude - _home_pos.alt));
break;
}
@ -1371,12 +1371,12 @@ Navigator::set_rtl_item()
_pos_sp_triplet.next.valid = false;
mavlink_log_info(_mavlink_fd, "[navigator] RTL: descend to %.1fm above home", (double)(_mission_item.altitude - _home_pos.alt));
mavlink_log_info(_mavlink_fd, "#audio: RTL: descend to %.1fm above home", (double)(_mission_item.altitude - _home_pos.alt));
break;
}
default: {
mavlink_log_critical(_mavlink_fd, "[navigator] error: unknown RTL state: %d", _rtl_state);
mavlink_log_critical(_mavlink_fd, "#audio: [navigator] error: unknown RTL state: %d", _rtl_state);
start_loiter();
break;
}
@ -1525,7 +1525,7 @@ Navigator::check_mission_item_reached()
_time_first_inside_orbit = now;
if (_mission_item.time_inside > 0.01f) {
mavlink_log_info(_mavlink_fd, "[navigator] waypoint reached, wait for %.1fs", (double)_mission_item.time_inside);
mavlink_log_info(_mavlink_fd, "#audio: waypoint reached, wait for %.1fs", (double)_mission_item.time_inside);
}
}
@ -1550,7 +1550,7 @@ Navigator::on_mission_item_reached()
if (_do_takeoff) {
/* takeoff completed */
_do_takeoff = false;
mavlink_log_info(_mavlink_fd, "[navigator] takeoff completed");
mavlink_log_info(_mavlink_fd, "#audio: takeoff completed");
} else {
/* advance by one mission item */

34
src/modules/px4iofirmware/dsm.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
@ -162,6 +162,7 @@ dsm_guess_format(bool reset)
0xff, /* 8 channels (DX8) */
0x1ff, /* 9 channels (DX9, etc.) */
0x3ff, /* 10 channels (DX10) */
0x1fff, /* 13 channels (DX10t) */
0x3fff /* 18 channels (DX10) */
};
unsigned votes10 = 0;
@ -368,11 +369,25 @@ dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values)
if (channel >= *num_values)
*num_values = channel + 1;
/* convert 0-1024 / 0-2048 values to 1000-2000 ppm encoding in a very sloppy fashion */
if (dsm_channel_shift == 11)
value /= 2;
/* convert 0-1024 / 0-2048 values to 1000-2000 ppm encoding. */
if (dsm_channel_shift == 10)
value *= 2;
value += 998;
/*
* Spektrum scaling is special. There are these basic considerations
*
* * Midpoint is 1520 us
* * 100% travel channels are +- 400 us
*
* We obey the original Spektrum scaling (so a default setup will scale from
* 1100 - 1900 us), but we do not obey the weird 1520 us center point
* and instead (correctly) center the center around 1500 us. This is in order
* to get something useful without requiring the user to calibrate on a digital
* link for no reason.
*/
/* scaled integer for decent accuracy while staying efficient */
value = ((((int)value - 1024) * 1000) / 1700) + 1500;
/*
* Store the decoded channel into the R/C input buffer, taking into
@ -400,6 +415,15 @@ dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values)
values[channel] = value;
}
/*
* Spektrum likes to send junk in higher channel numbers to fill
* their packets. We don't know about a 13 channel model in their TX
* lines, so if we get a channel count of 13, we'll return 12 (the last
* data index that is stable).
*/
if (*num_values == 13)
*num_values = 12;
if (dsm_channel_shift == 11) {
/* Set the 11-bit data indicator */
*num_values |= 0x8000;

2
src/modules/px4iofirmware/registers.c
View File

@ -566,7 +566,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
break;
case PX4IO_P_SETUP_DSM:
dsm_bind(value & 0x0f, (value >> 4) & 7);
dsm_bind(value & 0x0f, (value >> 4) & 0xF);
break;
default: