diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h index c3eea310ff..7a93e513ed 100644 --- a/src/drivers/drv_pwm_output.h +++ b/src/drivers/drv_pwm_output.h @@ -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) diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index efcf4d12b9..7c7b3dcb7d 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -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; /// 3) pulses = atoi(argv[3]); diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index 1feb539b98..ed57e0d349 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -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> ¤t_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> ¤t_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), diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c index 62a340e905..0909135e15 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c @@ -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); - /** * * diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index b06655385a..b4bac53d66 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -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); diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index f59663ca00..7d122c26df 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -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 */ diff --git a/src/modules/px4iofirmware/dsm.c b/src/modules/px4iofirmware/dsm.c index 60eda23192..d3f3658228 100644 --- a/src/modules/px4iofirmware/dsm.c +++ b/src/modules/px4iofirmware/dsm.c @@ -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; diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index 1335f52e13..97d25bbfa8 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -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: