forked from Archive/PX4-Autopilot
Merge branch 'beta_mavlink' into beta_mavlink2
This commit is contained in:
Anton Babushkin
commit
9ffc70de40
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@ -160,7 +160,7 @@ ORB_DECLARE(output_pwm);
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#define DSM2_BIND_PULSES 3 /* DSM_BIND_START ioctl parameter, pulses required to start dsm2 pairing */
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#define DSMX_BIND_PULSES 7 /* DSM_BIND_START ioctl parameter, pulses required to start dsmx pairing */
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#define DSMX8_BIND_PULSES 10 /* DSM_BIND_START ioctl parameter, pulses required to start 8 or more channel dsmx pairing */
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#define DSMX8_BIND_PULSES 10 /* DSM_BIND_START ioctl parameter, pulses required to start 8 or more channel dsmx pairing */
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/** power up DSM receiver */
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#define DSM_BIND_POWER_UP _IOC(_PWM_SERVO_BASE, 11)
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@ -244,8 +244,7 @@ private:
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volatile int _task; ///< worker task id
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volatile bool _task_should_exit; ///< worker terminate flag
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int _mavlink_fd; ///< mavlink file descriptor. This is opened by class instantiation and Doesn't appear to be usable in main thread.
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int _thread_mavlink_fd; ///< mavlink file descriptor for thread.
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int _mavlink_fd; ///< mavlink file descriptor.
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perf_counter_t _perf_update; ///<local performance counter for status updates
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perf_counter_t _perf_write; ///<local performance counter for PWM control writes
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@ -474,7 +473,6 @@ PX4IO::PX4IO(device::Device *interface) :
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_task(-1),
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_task_should_exit(false),
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_mavlink_fd(-1),
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_thread_mavlink_fd(-1),
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_perf_update(perf_alloc(PC_ELAPSED, "io update")),
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_perf_write(perf_alloc(PC_ELAPSED, "io write")),
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_perf_chan_count(perf_alloc(PC_COUNT, "io rc #")),
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@ -507,9 +505,6 @@ PX4IO::PX4IO(device::Device *interface) :
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/* we need this potentially before it could be set in task_main */
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g_dev = this;
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/* open MAVLink text channel */
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_mavlink_fd = ::open(MAVLINK_LOG_DEVICE, 0);
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_debug_enabled = false;
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_servorail_status.rssi_v = 0;
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}
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@ -785,7 +780,7 @@ PX4IO::task_main()
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hrt_abstime poll_last = 0;
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hrt_abstime orb_check_last = 0;
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_thread_mavlink_fd = ::open(MAVLINK_LOG_DEVICE, 0);
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_mavlink_fd = ::open(MAVLINK_LOG_DEVICE, 0);
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/*
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* Subscribe to the appropriate PWM output topic based on whether we are the
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@ -880,6 +875,10 @@ PX4IO::task_main()
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/* run at 5Hz */
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orb_check_last = now;
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/* try to claim the MAVLink log FD */
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if (_mavlink_fd < 0)
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_mavlink_fd = ::open(MAVLINK_LOG_DEVICE, 0);
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/* check updates on uORB topics and handle it */
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bool updated = false;
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@ -1275,16 +1274,14 @@ void
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PX4IO::dsm_bind_ioctl(int dsmMode)
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{
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if (!(_status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)) {
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/* 0: dsm2, 1:dsmx */
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if ((dsmMode == 0) || (dsmMode == 1)) {
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mavlink_log_info(_thread_mavlink_fd, "[IO] binding dsm%s rx", (dsmMode == 0) ? "2" : ((dsmMode == 1) ? "x" : "x8"));
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ioctl(nullptr, DSM_BIND_START, (dsmMode == 0) ? DSM2_BIND_PULSES : ((dsmMode == 1) ? DSMX_BIND_PULSES : DSMX8_BIND_PULSES));
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} else {
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mavlink_log_info(_thread_mavlink_fd, "[IO] invalid dsm bind mode, bind request rejected");
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}
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mavlink_log_info(_mavlink_fd, "[IO] binding DSM%s RX", (dsmMode == 0) ? "2" : ((dsmMode == 1) ? "-X" : "-X8"));
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int ret = ioctl(nullptr, DSM_BIND_START, (dsmMode == 0) ? DSM2_BIND_PULSES : ((dsmMode == 1) ? DSMX_BIND_PULSES : DSMX8_BIND_PULSES));
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if (ret)
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mavlink_log_critical(_mavlink_fd, "binding failed.");
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} else {
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mavlink_log_info(_thread_mavlink_fd, "[IO] system armed, bind request rejected");
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mavlink_log_info(_mavlink_fd, "[IO] system armed, bind request rejected");
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}
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}
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@ -2115,14 +2112,24 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg)
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break;
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case DSM_BIND_START:
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io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_down);
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usleep(500000);
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io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_set_rx_out);
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io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_up);
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usleep(72000);
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io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_send_pulses | (arg << 4));
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usleep(50000);
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io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_reinit_uart);
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/* only allow DSM2, DSM-X and DSM-X with more than 7 channels */
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if (arg == DSM2_BIND_PULSES ||
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arg == DSMX_BIND_PULSES ||
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arg == DSMX8_BIND_PULSES) {
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io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_down);
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usleep(500000);
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io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_set_rx_out);
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io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_up);
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usleep(72000);
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io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_send_pulses | (arg << 4));
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usleep(50000);
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io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_reinit_uart);
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ret = OK;
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} else {
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ret = -EINVAL;
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}
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break;
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case DSM_BIND_POWER_UP:
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@ -2615,7 +2622,7 @@ bind(int argc, char *argv[])
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#endif
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if (argc < 3)
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errx(0, "needs argument, use dsm2 or dsmx");
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errx(0, "needs argument, use dsm2, dsmx or dsmx8");
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if (!strcmp(argv[2], "dsm2"))
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pulses = DSM2_BIND_PULSES;
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@ -2624,7 +2631,7 @@ bind(int argc, char *argv[])
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else if (!strcmp(argv[2], "dsmx8"))
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pulses = DSMX8_BIND_PULSES;
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else
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errx(1, "unknown parameter %s, use dsm2 or dsmx", argv[2]);
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errx(1, "unknown parameter %s, use dsm2, dsmx or dsmx8", argv[2]);
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// Test for custom pulse parameter
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if (argc > 3)
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pulses = atoi(argv[3]);
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@ -38,7 +38,6 @@
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*/
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#include <drivers/drv_hrt.h>
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#include <geo/geo.h>
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#define ecl_absolute_time hrt_absolute_time
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#define ecl_elapsed_time hrt_elapsed_time
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#define ecl_elapsed_time hrt_elapsed_time
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@ -38,6 +38,8 @@
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*
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*/
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#include <float.h>
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#include "ecl_l1_pos_controller.h"
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float ECL_L1_Pos_Controller::nav_roll()
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@ -231,8 +233,15 @@ void ECL_L1_Pos_Controller::navigate_loiter(const math::Vector<2> &vector_A, con
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/* calculate the vector from waypoint A to current position */
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math::Vector<2> vector_A_to_airplane = get_local_planar_vector(vector_A, vector_curr_position);
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/* store the normalized vector from waypoint A to current position */
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math::Vector<2> vector_A_to_airplane_unit = (vector_A_to_airplane).normalized();
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math::Vector<2> vector_A_to_airplane_unit;
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/* prevent NaN when normalizing */
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if (vector_A_to_airplane.length() > FLT_EPSILON) {
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/* store the normalized vector from waypoint A to current position */
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vector_A_to_airplane_unit = vector_A_to_airplane.normalized();
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} else {
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vector_A_to_airplane_unit = vector_A_to_airplane;
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}
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/* calculate eta angle towards the loiter center */
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@ -3,13 +3,10 @@
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#include "tecs.h"
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#include <ecl/ecl.h>
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#include <systemlib/err.h>
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#include <geo/geo.h>
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using namespace math;
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#ifndef CONSTANTS_ONE_G
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#define CONSTANTS_ONE_G GRAVITY
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#endif
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/**
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* @file tecs.cpp
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*
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@ -28,16 +28,7 @@ class __EXPORT TECS
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{
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public:
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TECS() :
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_airspeed_enabled(false),
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_throttle_slewrate(0.0f),
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_climbOutDem(false),
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_hgt_dem_prev(0.0f),
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_hgt_dem_adj_last(0.0f),
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_hgt_dem_in_old(0.0f),
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_TAS_dem_last(0.0f),
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_TAS_dem_adj(0.0f),
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_TAS_dem(0.0f),
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_pitch_dem(0.0f),
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_integ1_state(0.0f),
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_integ2_state(0.0f),
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_integ3_state(0.0f),
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@ -45,8 +36,16 @@ public:
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_integ5_state(0.0f),
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_integ6_state(0.0f),
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_integ7_state(0.0f),
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_pitch_dem(0.0f),
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_last_pitch_dem(0.0f),
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_vel_dot(0.0f),
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_TAS_dem(0.0f),
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_TAS_dem_last(0.0f),
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_hgt_dem_in_old(0.0f),
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_hgt_dem_adj_last(0.0f),
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_hgt_dem_prev(0.0f),
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_TAS_dem_adj(0.0f),
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_STEdotErrLast(0.0f),
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_climbOutDem(false),
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_SPE_dem(0.0f),
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_SKE_dem(0.0f),
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_SPEdot_dem(0.0f),
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@ -55,9 +54,9 @@ public:
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_SKE_est(0.0f),
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_SPEdot(0.0f),
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_SKEdot(0.0f),
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_vel_dot(0.0f),
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_STEdotErrLast(0.0f) {
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_airspeed_enabled(false),
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_throttle_slewrate(0.0f)
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{
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}
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bool airspeed_sensor_enabled() {
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@ -130,23 +130,23 @@ private:
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int _att_sub; /**< vehicle attitude subscription */
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int _attitude_sub; /**< raw rc channels data subscription */
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int _airspeed_sub; /**< airspeed subscription */
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int _control_mode_sub; /**< vehicle status subscription */
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int _control_mode_sub; /**< vehicle status subscription */
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int _params_sub; /**< notification of parameter updates */
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int _manual_control_sub; /**< notification of manual control updates */
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int _sensor_combined_sub; /**< for body frame accelerations */
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int _sensor_combined_sub; /**< for body frame accelerations */
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orb_advert_t _attitude_sp_pub; /**< attitude setpoint */
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orb_advert_t _nav_capabilities_pub; /**< navigation capabilities publication */
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struct vehicle_attitude_s _att; /**< vehicle attitude */
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struct vehicle_attitude_setpoint_s _att_sp; /**< vehicle attitude setpoint */
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struct navigation_capabilities_s _nav_capabilities; /**< navigation capabilities */
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struct manual_control_setpoint_s _manual; /**< r/c channel data */
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struct airspeed_s _airspeed; /**< airspeed */
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struct vehicle_control_mode_s _control_mode; /**< vehicle status */
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struct vehicle_global_position_s _global_pos; /**< global vehicle position */
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struct position_setpoint_triplet_s _pos_sp_triplet; /**< triplet of mission items */
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struct sensor_combined_s _sensor_combined; /**< for body frame accelerations */
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struct vehicle_attitude_s _att; /**< vehicle attitude */
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struct vehicle_attitude_setpoint_s _att_sp; /**< vehicle attitude setpoint */
|
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struct navigation_capabilities_s _nav_capabilities; /**< navigation capabilities */
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struct manual_control_setpoint_s _manual; /**< r/c channel data */
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struct airspeed_s _airspeed; /**< airspeed */
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struct vehicle_control_mode_s _control_mode; /**< vehicle status */
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struct vehicle_global_position_s _global_pos; /**< global vehicle position */
|
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struct position_setpoint_triplet_s _pos_sp_triplet; /**< triplet of mission items */
|
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struct sensor_combined_s _sensor_combined; /**< for body frame accelerations */
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|
||||
perf_counter_t _loop_perf; /**< loop performance counter */
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||||
|
||||
|
|
@ -154,13 +154,13 @@ private:
|
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|
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/** manual control states */
|
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float _seatbelt_hold_heading; /**< heading the system should hold in seatbelt mode */
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float _loiter_hold_lat;
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float _loiter_hold_lon;
|
||||
double _loiter_hold_lat;
|
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double _loiter_hold_lon;
|
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float _loiter_hold_alt;
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||||
bool _loiter_hold;
|
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|
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float _launch_lat;
|
||||
float _launch_lon;
|
||||
double _launch_lat;
|
||||
double _launch_lon;
|
||||
float _launch_alt;
|
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bool _launch_valid;
|
||||
|
||||
|
|
@ -192,7 +192,7 @@ private:
|
|||
uint64_t _airspeed_last_valid; ///< last time airspeed was valid. Used to detect sensor failures
|
||||
float _groundspeed_undershoot; ///< ground speed error to min. speed in m/s
|
||||
bool _global_pos_valid; ///< global position is valid
|
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math::Matrix<3, 3> _R_nb; ///< current attitude
|
||||
math::Matrix<3, 3> _R_nb; ///< current attitude
|
||||
|
||||
ECL_L1_Pos_Controller _l1_control;
|
||||
TECS _tecs;
|
||||
|
|
@ -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;
|
||||
|
|
@ -362,6 +360,7 @@ FixedwingPositionControl *g_control;
|
|||
|
||||
FixedwingPositionControl::FixedwingPositionControl() :
|
||||
|
||||
_mavlink_fd(-1),
|
||||
_task_should_exit(false),
|
||||
_control_task(-1),
|
||||
|
||||
|
|
@ -380,38 +379,33 @@ FixedwingPositionControl::FixedwingPositionControl() :
|
|||
|
||||
/* performance counters */
|
||||
_loop_perf(perf_alloc(PC_ELAPSED, "fw l1 control")),
|
||||
|
||||
/* states */
|
||||
_setpoint_valid(false),
|
||||
_loiter_hold(false),
|
||||
_airspeed_error(0.0f),
|
||||
_airspeed_valid(false),
|
||||
_groundspeed_undershoot(0.0f),
|
||||
_global_pos_valid(false),
|
||||
land_noreturn_horizontal(false),
|
||||
land_noreturn_vertical(false),
|
||||
land_stayonground(false),
|
||||
land_motor_lim(false),
|
||||
land_onslope(false),
|
||||
flare_curve_alt_last(0.0f),
|
||||
_mavlink_fd(-1),
|
||||
launchDetector(),
|
||||
launch_detected(false),
|
||||
usePreTakeoffThrust(false)
|
||||
usePreTakeoffThrust(false),
|
||||
flare_curve_alt_last(0.0f),
|
||||
launchDetector(),
|
||||
_airspeed_error(0.0f),
|
||||
_airspeed_valid(false),
|
||||
_groundspeed_undershoot(0.0f),
|
||||
_global_pos_valid(false),
|
||||
_att(),
|
||||
_att_sp(),
|
||||
_nav_capabilities(),
|
||||
_manual(),
|
||||
_airspeed(),
|
||||
_control_mode(),
|
||||
_global_pos(),
|
||||
_pos_sp_triplet(),
|
||||
_sensor_combined()
|
||||
{
|
||||
/* safely initialize structs */
|
||||
vehicle_attitude_s _att = {0};
|
||||
vehicle_attitude_setpoint_s _att_sp = {0};
|
||||
navigation_capabilities_s _nav_capabilities = {0};
|
||||
manual_control_setpoint_s _manual = {0};
|
||||
airspeed_s _airspeed = {0};
|
||||
vehicle_control_mode_s _control_mode = {0};
|
||||
vehicle_global_position_s _global_pos = {0};
|
||||
position_setpoint_triplet_s _pos_sp_triplet = {0};
|
||||
sensor_combined_s _sensor_combined = {0};
|
||||
|
||||
|
||||
|
||||
|
||||
_nav_capabilities.turn_distance = 0.0f;
|
||||
|
||||
_parameter_handles.l1_period = param_find("FW_L1_PERIOD");
|
||||
|
|
@ -431,7 +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");
|
||||
|
|
@ -520,7 +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));
|
||||
|
|
@ -587,8 +579,8 @@ FixedwingPositionControl::vehicle_control_mode_poll()
|
|||
orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode);
|
||||
|
||||
if (!was_armed && _control_mode.flag_armed) {
|
||||
_launch_lat = _global_pos.lat / 1e7f;
|
||||
_launch_lon = _global_pos.lon / 1e7f;
|
||||
_launch_lat = _global_pos.lat;
|
||||
_launch_lon = _global_pos.lon;
|
||||
_launch_alt = _global_pos.alt;
|
||||
_launch_valid = true;
|
||||
}
|
||||
|
|
@ -703,7 +695,7 @@ void
|
|||
FixedwingPositionControl::calculate_gndspeed_undershoot(const math::Vector<2> ¤t_position, const math::Vector<2> &ground_speed, const struct position_setpoint_triplet_s &pos_sp_triplet)
|
||||
{
|
||||
|
||||
if (_global_pos_valid) {
|
||||
if (_global_pos_valid && !(pos_sp_triplet.current.type == SETPOINT_TYPE_LOITER)) {
|
||||
|
||||
/* rotate ground speed vector with current attitude */
|
||||
math::Vector<2> yaw_vector(_R_nb(0, 0), _R_nb(1, 0));
|
||||
|
|
@ -889,8 +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);
|
||||
|
||||
|
|
@ -916,7 +910,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi
|
|||
float flare_curve_alt = landingslope.getFlareCurveAltitudeSave(wp_distance, bearing_lastwp_currwp, bearing_airplane_currwp, _pos_sp_triplet.current.alt);
|
||||
|
||||
/* avoid climbout */
|
||||
if (flare_curve_alt_last < flare_curve_alt && land_noreturn_vertical || land_stayonground)
|
||||
if ((flare_curve_alt_last < flare_curve_alt && land_noreturn_vertical) || land_stayonground)
|
||||
{
|
||||
flare_curve_alt = pos_sp_triplet.current.alt;
|
||||
land_stayonground = true;
|
||||
|
|
@ -935,38 +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),
|
||||
|
|
@ -1074,13 +1054,15 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi
|
|||
_seatbelt_hold_heading = _att.yaw + _manual.yaw;
|
||||
}
|
||||
|
||||
/* climb out control */
|
||||
bool climb_out = false;
|
||||
//XXX not used
|
||||
|
||||
/* user wants to climb out */
|
||||
if (_manual.pitch > 0.3f && _manual.throttle > 0.8f) {
|
||||
climb_out = true;
|
||||
}
|
||||
/* climb out control */
|
||||
// bool climb_out = false;
|
||||
//
|
||||
// /* user wants to climb out */
|
||||
// if (_manual.pitch > 0.3f && _manual.throttle > 0.8f) {
|
||||
// climb_out = true;
|
||||
// }
|
||||
|
||||
/* if in seatbelt mode, set airspeed based on manual control */
|
||||
|
||||
|
|
@ -1287,7 +1269,7 @@ FixedwingPositionControl::task_main()
|
|||
float turn_distance = _l1_control.switch_distance(100.0f);
|
||||
|
||||
/* lazily publish navigation capabilities */
|
||||
if (turn_distance != _nav_capabilities.turn_distance && turn_distance > 0) {
|
||||
if (fabsf(turn_distance - _nav_capabilities.turn_distance) > FLT_EPSILON && turn_distance > 0) {
|
||||
|
||||
/* set new turn distance */
|
||||
_nav_capabilities.turn_distance = turn_distance;
|
||||
|
|
|
|||
|
|
@ -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);
|
||||
|
||||
/**
|
||||
*
|
||||
*
|
||||
|
|
|
|||
|
|
@ -169,8 +169,10 @@ Mavlink::Mavlink() :
|
|||
|
||||
/* performance counters */
|
||||
_loop_perf(perf_alloc(PC_ELAPSED, "mavlink")),
|
||||
_mavlink_hil_enabled(false)
|
||||
_mavlink_hil_enabled(false),
|
||||
// _params_sub(-1)
|
||||
|
||||
mission_pub(-1)
|
||||
{
|
||||
wpm = &wpm_s;
|
||||
fops.ioctl = (int (*)(file*, int, long unsigned int))&mavlink_dev_ioctl;
|
||||
|
|
@ -985,7 +987,9 @@ void Mavlink::mavlink_wpm_send_waypoint_current(uint16_t seq)
|
|||
mavlink_msg_mission_current_encode(mavlink_system.sysid, _mavlink_wpm_comp_id, &msg, &wpc);
|
||||
mavlink_missionlib_send_message(&msg);
|
||||
|
||||
if (_verbose) warnx("Broadcasted new current waypoint %u", wpc.seq);
|
||||
} else if (seq == 0 && wpm->size == 0) {
|
||||
|
||||
/* don't broadcast if no WPs */
|
||||
|
||||
} else {
|
||||
mavlink_missionlib_send_gcs_string("ERROR: wp index out of bounds");
|
||||
|
|
@ -1139,7 +1143,8 @@ void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg)
|
|||
mission.current_index = wpc.seq;
|
||||
publish_mission();
|
||||
|
||||
mavlink_wpm_send_waypoint_current(wpc.seq);
|
||||
/* don't answer yet, wait for the navigator to respond, then publish the mission_result */
|
||||
// mavlink_wpm_send_waypoint_current(wpc.seq);
|
||||
|
||||
} else {
|
||||
mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Not in list");
|
||||
|
|
@ -1534,7 +1539,7 @@ Mavlink::task_main(int argc, char *argv[])
|
|||
argc -= 2;
|
||||
argv += 2;
|
||||
|
||||
while ((ch = getopt(argc, argv, "b:d:eo")) != EOF) {
|
||||
while ((ch = getopt(argc, argv, "b:d:eov")) != EOF) {
|
||||
switch (ch) {
|
||||
case 'b':
|
||||
_baudrate = strtoul(optarg, NULL, 10);
|
||||
|
|
@ -1558,6 +1563,7 @@ Mavlink::task_main(int argc, char *argv[])
|
|||
|
||||
case 'v':
|
||||
_verbose = true;
|
||||
break;
|
||||
|
||||
default:
|
||||
usage();
|
||||
|
|
@ -1701,8 +1707,7 @@ Mavlink::task_main(int argc, char *argv[])
|
|||
|
||||
thread_running = true;
|
||||
|
||||
/* arm counter to go off immediately */
|
||||
unsigned lowspeed_counter = 10;
|
||||
unsigned lowspeed_counter = 0;
|
||||
|
||||
/* wakeup source(s) */
|
||||
struct pollfd fds[1];
|
||||
|
|
@ -1732,7 +1737,7 @@ Mavlink::task_main(int argc, char *argv[])
|
|||
}
|
||||
|
||||
/* 1 Hz */
|
||||
if (lowspeed_counter == 10) {
|
||||
if (lowspeed_counter % 10 == 0) {
|
||||
mavlink_update_system();
|
||||
|
||||
/* translate the current system state to mavlink state and mode */
|
||||
|
|
@ -1765,7 +1770,12 @@ Mavlink::task_main(int argc, char *argv[])
|
|||
v_status.errors_count2,
|
||||
v_status.errors_count3,
|
||||
v_status.errors_count4);
|
||||
lowspeed_counter = 0;
|
||||
}
|
||||
|
||||
/* 0.5 Hz */
|
||||
if (lowspeed_counter % 20 == 0) {
|
||||
|
||||
mavlink_wpm_send_waypoint_current((uint16_t)mission_result.index_current_mission);
|
||||
}
|
||||
|
||||
lowspeed_counter++;
|
||||
|
|
@ -1776,10 +1786,11 @@ Mavlink::task_main(int argc, char *argv[])
|
|||
if (updated) {
|
||||
orb_copy(ORB_ID(mission_result), mission_result_sub, &mission_result);
|
||||
|
||||
if (_verbose) warnx("Got mission result");
|
||||
if (_verbose) warnx("Got mission result: new current: %d", mission_result.index_current_mission);
|
||||
|
||||
if (mission_result.mission_reached)
|
||||
if (mission_result.mission_reached) {
|
||||
mavlink_wpm_send_waypoint_reached((uint16_t)mission_result.mission_index_reached);
|
||||
}
|
||||
|
||||
mavlink_wpm_send_waypoint_current((uint16_t)mission_result.index_current_mission);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -153,17 +153,16 @@ private:
|
|||
int _capabilities_sub; /**< notification of vehicle capabilities updates */
|
||||
int _control_mode_sub; /**< vehicle control mode subscription */
|
||||
|
||||
orb_advert_t _pos_sp_triplet_pub; /**< publish position setpoint triplet */
|
||||
orb_advert_t _pos_sp_triplet_pub; /**< publish position setpoint triplet */
|
||||
orb_advert_t _mission_result_pub; /**< publish mission result topic */
|
||||
|
||||
struct vehicle_status_s _vstatus; /**< vehicle status */
|
||||
struct vehicle_control_mode_s _control_mode; /**< vehicle control mode */
|
||||
struct vehicle_control_mode_s _control_mode; /**< vehicle control mode */
|
||||
struct vehicle_global_position_s _global_pos; /**< global vehicle position */
|
||||
struct home_position_s _home_pos; /**< home position for RTL */
|
||||
struct position_setpoint_triplet_s _pos_sp_triplet; /**< triplet of position setpoints */
|
||||
struct position_setpoint_triplet_s _pos_sp_triplet; /**< triplet of position setpoints */
|
||||
struct mission_result_s _mission_result; /**< mission result for commander/mavlink */
|
||||
struct mission_item_s _mission_item; /**< current mission item */
|
||||
bool _mission_item_valid; /**< current mission item valid */
|
||||
struct mission_item_s _mission_item; /**< current mission item */
|
||||
|
||||
perf_counter_t _loop_perf; /**< loop performance counter */
|
||||
|
||||
|
|
@ -177,21 +176,22 @@ private:
|
|||
|
||||
class Mission _mission;
|
||||
|
||||
bool _global_pos_valid; /**< track changes of global_position.global_valid flag */
|
||||
bool _reset_loiter_pos; /**< if true then loiter position should be set to current position */
|
||||
bool _mission_item_valid; /**< current mission item valid */
|
||||
bool _global_pos_valid; /**< track changes of global_position.global_valid flag */
|
||||
bool _reset_loiter_pos; /**< if true then loiter position should be set to current position */
|
||||
bool _waypoint_position_reached;
|
||||
bool _waypoint_yaw_reached;
|
||||
uint64_t _time_first_inside_orbit;
|
||||
bool _need_takeoff; /**< if need to perform vertical takeoff before going to waypoint (only for MISSION mode and VTOL vehicles) */
|
||||
bool _do_takeoff; /**< vertical takeoff state, current mission item is generated by navigator (only for MISSION mode and VTOL vehicles) */
|
||||
bool _need_takeoff; /**< if need to perform vertical takeoff before going to waypoint (only for MISSION mode and VTOL vehicles) */
|
||||
bool _do_takeoff; /**< vertical takeoff state, current mission item is generated by navigator (only for MISSION mode and VTOL vehicles) */
|
||||
|
||||
MissionFeasibilityChecker missionFeasiblityChecker;
|
||||
|
||||
uint64_t _set_nav_state_timestamp; /**< timestamp of last handled navigation state request */
|
||||
uint64_t _set_nav_state_timestamp; /**< timestamp of last handled navigation state request */
|
||||
|
||||
bool _pos_sp_triplet_updated;
|
||||
|
||||
char *nav_states_str[NAV_STATE_MAX];
|
||||
const char *nav_states_str[NAV_STATE_MAX];
|
||||
|
||||
struct {
|
||||
float min_altitude;
|
||||
|
|
@ -381,11 +381,11 @@ Navigator::Navigator() :
|
|||
_global_pos_sub(-1),
|
||||
_home_pos_sub(-1),
|
||||
_vstatus_sub(-1),
|
||||
_control_mode_sub(-1),
|
||||
_params_sub(-1),
|
||||
_offboard_mission_sub(-1),
|
||||
_onboard_mission_sub(-1),
|
||||
_capabilities_sub(-1),
|
||||
_control_mode_sub(-1),
|
||||
|
||||
/* publications */
|
||||
_pos_sp_triplet_pub(-1),
|
||||
|
|
@ -393,22 +393,22 @@ Navigator::Navigator() :
|
|||
/* performance counters */
|
||||
_loop_perf(perf_alloc(PC_ELAPSED, "navigator")),
|
||||
|
||||
/* states */
|
||||
_rtl_state(RTL_STATE_NONE),
|
||||
_geofence_violation_warning_sent(false),
|
||||
_fence_valid(false),
|
||||
_inside_fence(true),
|
||||
_mission(),
|
||||
_mission_item_valid(false),
|
||||
_global_pos_valid(false),
|
||||
_reset_loiter_pos(true),
|
||||
_waypoint_position_reached(false),
|
||||
_waypoint_yaw_reached(false),
|
||||
_time_first_inside_orbit(0),
|
||||
_set_nav_state_timestamp(0),
|
||||
_mission_item_valid(false),
|
||||
_need_takeoff(true),
|
||||
_do_takeoff(false),
|
||||
_set_nav_state_timestamp(0),
|
||||
_pos_sp_triplet_updated(false),
|
||||
_geofence_violation_warning_sent(false)
|
||||
/* states */
|
||||
_rtl_state(RTL_STATE_NONE)
|
||||
{
|
||||
_parameter_handles.min_altitude = param_find("NAV_MIN_ALT");
|
||||
_parameter_handles.acceptance_radius = param_find("NAV_ACCEPT_RAD");
|
||||
|
|
@ -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");
|
||||
}
|
||||
|
||||
}
|
||||
|
|
@ -1105,7 +1105,7 @@ Navigator::set_mission_item()
|
|||
|
||||
if (ret == OK) {
|
||||
|
||||
_mission.report_current_mission_item();
|
||||
_mission.report_current_offboard_mission_item();
|
||||
|
||||
/* reset time counter for new item */
|
||||
_time_first_inside_orbit = 0;
|
||||
|
|
@ -1165,14 +1165,14 @@ Navigator::set_mission_item()
|
|||
}
|
||||
|
||||
if (_do_takeoff) {
|
||||
mavlink_log_info(_mavlink_fd, "[navigator] takeoff to %.1fm above home", _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);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -1321,7 +1321,7 @@ Navigator::set_rtl_item()
|
|||
|
||||
_pos_sp_triplet.next.valid = false;
|
||||
|
||||
mavlink_log_info(_mavlink_fd, "[navigator] RTL: climb to %.1fm above home", climb_alt - _home_pos.alt);
|
||||
mavlink_log_info(_mavlink_fd, "#audio: RTL: climb to %.1fm above home", (double)(climb_alt - _home_pos.alt));
|
||||
break;
|
||||
}
|
||||
|
||||
|
|
@ -1347,7 +1347,7 @@ Navigator::set_rtl_item()
|
|||
|
||||
_pos_sp_triplet.next.valid = false;
|
||||
|
||||
mavlink_log_info(_mavlink_fd, "[navigator] RTL: return at %.1fm above home", _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;
|
||||
}
|
||||
|
||||
|
|
@ -1365,7 +1365,7 @@ Navigator::set_rtl_item()
|
|||
_mission_item.loiter_direction = 1;
|
||||
_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
|
||||
_mission_item.acceptance_radius = _parameters.acceptance_radius;
|
||||
_mission_item.time_inside = _parameters.rtl_land_delay < 0.0 ? 0.0f : _parameters.rtl_land_delay;
|
||||
_mission_item.time_inside = _parameters.rtl_land_delay < 0.0f ? 0.0f : _parameters.rtl_land_delay;
|
||||
_mission_item.pitch_min = 0.0f;
|
||||
_mission_item.autocontinue = _parameters.rtl_land_delay > -0.001f;
|
||||
_mission_item.origin = ORIGIN_ONBOARD;
|
||||
|
|
@ -1374,12 +1374,12 @@ Navigator::set_rtl_item()
|
|||
|
||||
_pos_sp_triplet.next.valid = false;
|
||||
|
||||
mavlink_log_info(_mavlink_fd, "[navigator] RTL: descend to %.1fm above home", _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;
|
||||
}
|
||||
|
|
@ -1528,7 +1528,7 @@ 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", _mission_item.time_inside);
|
||||
mavlink_log_info(_mavlink_fd, "#audio: waypoint reached, wait for %.1fs", (double)_mission_item.time_inside);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -1556,7 +1556,7 @@ 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 */
|
||||
|
|
|
|||
|
|
@ -89,7 +89,7 @@ Mission::set_current_offboard_mission_index(int new_index)
|
|||
_current_offboard_mission_index = 0;
|
||||
}
|
||||
}
|
||||
report_current_mission_item();
|
||||
report_current_offboard_mission_item();
|
||||
}
|
||||
|
||||
void
|
||||
|
|
@ -296,11 +296,9 @@ Mission::report_mission_item_reached()
|
|||
}
|
||||
|
||||
void
|
||||
Mission::report_current_mission_item()
|
||||
Mission::report_current_offboard_mission_item()
|
||||
{
|
||||
if (_current_mission_type == MISSION_TYPE_OFFBOARD) {
|
||||
_mission_result.index_current_mission = _current_offboard_mission_index;
|
||||
}
|
||||
_mission_result.index_current_mission = _current_offboard_mission_index;
|
||||
}
|
||||
|
||||
void
|
||||
|
|
|
|||
|
|
@ -73,7 +73,7 @@ public:
|
|||
void move_to_next();
|
||||
|
||||
void report_mission_item_reached();
|
||||
void report_current_mission_item();
|
||||
void report_current_offboard_mission_item();
|
||||
void publish_mission_result();
|
||||
|
||||
private:
|
||||
|
|
|
|||
|
|
@ -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;
|
||||
|
|
|
|||
|
|
@ -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:
|
||||
|
|
|
|||
Loading…
Reference in New Issue