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Merge pull request #338 from PX4/autostart 

Implemented new, simple system boot config and sane default value system
This commit is contained in:
sjwilks 2013-07-19 03:42:51 -07:00
parent 7106565e94 4d88b56e38
commit a8ac56b9e5
15 changed files with 589 additions and 84 deletions
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107
ROMFS/px4fmu_common/init.d/01_fmu_quad_x Normal file
View File

@ -0,0 +1,107 @@
#!nsh
#
# Flight startup script for PX4FMU with PWM outputs.
#
# disable USB and autostart
set USB no
set MODE custom
echo "[init] doing PX4FMU Quad startup..."
#
# Start the ORB
#
uorb start
#
# Load microSD params
#
echo "[init] loading microSD params"
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
then
param load /fs/microsd/params
fi
#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
param set MC_ATTRATE_P 0.14
param set MC_ATTRATE_I 0
param set MC_ATTRATE_D 0.006
param set MC_ATT_P 5.5
param set MC_ATT_I 0
param set MC_ATT_D 0
param set MC_YAWPOS_D 0
param set MC_YAWPOS_I 0
param set MC_YAWPOS_P 0.6
param set MC_YAWRATE_D 0
param set MC_YAWRATE_I 0
param set MC_YAWRATE_P 0.08
param set RC_SCALE_PITCH 1
param set RC_SCALE_ROLL 1
param set RC_SCALE_YAW 3
param set SYS_AUTOCONFIG 0
param save /fs/microsd/params
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
#
param set MAV_TYPE 2
#
# Start MAVLink
#
mavlink start -d /dev/ttyS0 -b 57600
usleep 5000
#
# Start the sensors and test them.
#
sh /etc/init.d/rc.sensors
#
# Start the commander.
#
commander start
#
# Start GPS interface (depends on orb)
#
gps start
#
# Start the attitude estimator
#
attitude_estimator_ekf start
echo "[init] starting PWM output"
fmu mode_pwm
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
pwm -u 400 -m 0xff
#
# Start attitude control
#
multirotor_att_control start
#
# Start logging
#
sdlog2 start -r 50 -a -b 14
#
# Start system state
#
if blinkm start
then
blinkm systemstate
fi

32
ROMFS/px4fmu_common/init.d/rc.IO_QUAD → ROMFS/px4fmu_common/init.d/02_io_quad_x
View File

@ -1,8 +1,11 @@
#!nsh
#
# Flight startup script for PX4FMU+PX4IO
#
# Disable USB and autostart
# disable USB and autostart
set USB no
set MODE quad
set MODE custom
#
# Start the ORB (first app to start)
@ -18,6 +21,16 @@ if [ -f /fs/microsd/params ]
then
param load /fs/microsd/params
fi
#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
param set SYS_AUTOCONFIG 0
param save /fs/microsd/params
fi
#
# Force some key parameters to sane values
@ -68,6 +81,11 @@ px4io start
# Allow PX4IO to recover from midair restarts.
# this is very unlikely, but quite safe and robust.
px4io recovery
#
# Disable px4io topic limiting
#
px4io limit 200
#
# Start the sensors (depends on orb, px4io)
@ -87,21 +105,19 @@ attitude_estimator_ekf start
#
# Load mixer and start controllers (depends on px4io)
#
mixer load /dev/pwm_output /etc/mixers/FMU_quad_+.mix
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
pwm -u 400 -m 0xff
multirotor_att_control start
#
# Start logging
#
#sdlog start -s 4
sdlog2 start -r 50 -a -b 14
#
# Start system state
#
if blinkm start
then
echo "using BlinkM for state indication"
blinkm systemstate
else
echo "no BlinkM found, OK."
fi
fi

0
ROMFS/px4fmu_common/init.d/rc.PX4IOAR → ROMFS/px4fmu_common/init.d/08_ardrone
View File

0
ROMFS/px4fmu_common/init.d/rc.PX4IOAR_PX4FLOW_example → ROMFS/px4fmu_common/init.d/09_ardrone_flow
View File

139
ROMFS/px4fmu_common/init.d/10_io_f330 Normal file
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@ -0,0 +1,139 @@
#!nsh
#
# Flight startup script for PX4FMU+PX4IO
#
# disable USB and autostart
set USB no
set MODE custom
#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
param set SYS_AUTOCONFIG 0
param set MC_ATTRATE_D 0.007
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_P 0.13
param set MC_ATT_D 0.0
param set MC_ATT_I 0.0
param set MC_ATT_P 7.0
param set MC_POS_P 0.1
param set MC_RCLOSS_THR 0.0
param set MC_YAWPOS_D 0.0
param set MC_YAWPOS_I 0.5
param set MC_YAWPOS_P 1.0
param set MC_YAWRATE_D 0.0
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_P 0.2
param save /fs/microsd/params
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
#
param set MAV_TYPE 2
#
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
#
if [ -f /fs/microsd/px4io2.bin ]
then
echo "PX4IO Firmware found. Checking Upgrade.."
if cmp /fs/microsd/px4io2.bin /fs/microsd/px4io2.cur
then
echo "No newer version, skipping upgrade."
else
echo "Loading /fs/microsd/px4io2.bin"
if px4io update /fs/microsd/px4io2.bin > /fs/microsd/px4io2.log
then
cp /fs/microsd/px4io2.bin /fs/microsd/px4io2.cur
echo "Flashed /fs/microsd/px4io2.bin OK" >> /fs/microsd/px4io2.log
else
echo "Failed flashing /fs/microsd/px4io2.bin" >> /fs/microsd/px4io2.log
echo "Failed to upgrade PX4IO2 firmware - check if PX4IO2 is in bootloader mode"
fi
fi
fi
#
# Start MAVLink (depends on orb)
#
mavlink start
usleep 5000
#
# Start PX4IO interface (depends on orb, commander)
#
px4io start
pwm -u 400 -m 0xff
#
# Allow PX4IO to recover from midair restarts.
# this is very unlikely, but quite safe and robust.
px4io recovery
#
# Disable px4io topic limiting
#
px4io limit 200
#
# This sets a PWM right after startup (regardless of safety button)
#
px4io idle 900 900 900 900
#
# The values are for spinning motors when armed using DJI ESCs
#
px4io min 1200 1200 1200 1200
#
# Upper limits could be higher, this is on the safe side
#
px4io max 1800 1800 1800 1800
#
# Start the sensors (depends on orb, px4io)
#
sh /etc/init.d/rc.sensors
#
# Start the commander (depends on orb, mavlink)
#
commander start
#
# Start GPS interface (depends on orb)
#
gps start
#
# Start the attitude estimator (depends on orb)
#
attitude_estimator_ekf start
#
# Load mixer and start controllers (depends on px4io)
#
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
multirotor_att_control start
#
# Start logging
#
sdlog2 start -r 20 -a -b 14
#
# Start system state
#
if blinkm start
then
blinkm systemstate
fi

26
ROMFS/px4fmu_common/init.d/rc.PX4IO → ROMFS/px4fmu_common/init.d/30_io_camflyer
View File

@ -1,8 +1,11 @@
#!nsh
#
# Flight startup script for PX4FMU+PX4IO
#
# Disable USB and autostart
# disable USB and autostart
set USB no
set MODE camflyer
set MODE custom
#
# Start the ORB (first app to start)
@ -18,6 +21,16 @@ if [ -f /fs/microsd/params ]
then
param load /fs/microsd/params
fi
#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
param set SYS_AUTOCONFIG 0
param save /fs/microsd/params
fi
#
# Force some key parameters to sane values
@ -68,6 +81,10 @@ px4io start
# Allow PX4IO to recover from midair restarts.
# this is very unlikely, but quite safe and robust.
px4io recovery
#
# Set actuator limit to 100 Hz update (50 Hz PWM)
px4io limit 100
#
# Start the sensors (depends on orb, px4io)
@ -93,15 +110,12 @@ control_demo start
#
# Start logging
#
#sdlog start -s 4
sdlog2 start -r 50 -a -b 14
#
# Start system state
#
if blinkm start
then
echo "using BlinkM for state indication"
blinkm systemstate
else
echo "no BlinkM found, OK."
fi

121
ROMFS/px4fmu_common/init.d/31_io_phantom Normal file
View File

@ -0,0 +1,121 @@
#!nsh
#
# Flight startup script for PX4FMU+PX4IO
#
# disable USB and autostart
set USB no
set MODE custom
#
# Start the ORB (first app to start)
#
uorb start
#
# Load microSD params
#
echo "[init] loading microSD params"
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
then
param load /fs/microsd/params
fi
#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
param set SYS_AUTOCONFIG 0
param save /fs/microsd/params
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
#
param set MAV_TYPE 1
#
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
#
if [ -f /fs/microsd/px4io.bin ]
then
echo "PX4IO Firmware found. Checking Upgrade.."
if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
then
echo "No newer version, skipping upgrade."
else
echo "Loading /fs/microsd/px4io.bin"
if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log
then
cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log
else
echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log
echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode"
fi
fi
fi
#
# Start MAVLink (depends on orb)
#
mavlink start -d /dev/ttyS1 -b 57600
usleep 5000
#
# Start the commander (depends on orb, mavlink)
#
commander start
#
# Start PX4IO interface (depends on orb, commander)
#
px4io start
#
# Allow PX4IO to recover from midair restarts.
# this is very unlikely, but quite safe and robust.
px4io recovery
#
# Set actuator limit to 100 Hz update (50 Hz PWM)
px4io limit 100
#
# Start the sensors (depends on orb, px4io)
#
sh /etc/init.d/rc.sensors
#
# Start GPS interface (depends on orb)
#
gps start
#
# Start the attitude estimator (depends on orb)
#
kalman_demo start
#
# Load mixer and start controllers (depends on px4io)
#
mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
control_demo start
#
# Start logging
#
sdlog2 start -r 50 -a -b 14
#
# Start system state
#
if blinkm start
then
blinkm systemstate
fi

67
ROMFS/px4fmu_common/init.d/rc.FMU_quad_x
View File

@ -1,67 +0,0 @@
#!nsh
#
# Flight startup script for PX4FMU with PWM outputs.
#
# Disable the USB interface
set USB no
# Disable autostarting other apps
set MODE custom
echo "[init] doing PX4FMU Quad startup..."
#
# Start the ORB
#
uorb start
#
# Load microSD params
#
echo "[init] loading microSD params"
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
then
param load /fs/microsd/params
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
#
param set MAV_TYPE 2
#
# Start MAVLink
#
mavlink start -d /dev/ttyS0 -b 57600
usleep 5000
#
# Start the sensors and test them.
#
sh /etc/init.d/rc.sensors
#
# Start the commander.
#
commander start
#
# Start the attitude estimator
#
attitude_estimator_ekf start
echo "[init] starting PWM output"
fmu mode_pwm
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
#
# Start attitude control
#
multirotor_att_control start
echo "[init] startup done, exiting"
exit

39
ROMFS/px4fmu_common/init.d/rcS
View File

@ -82,3 +82,42 @@ else
fi
fi
#
# Check if auto-setup from one of the standard scripts is wanted
# SYS_AUTOSTART = 0 means no autostart (default)
#
if param compare SYS_AUTOSTART 1
then
sh /etc/init.d/01_fmu_quad_x
fi
if param compare SYS_AUTOSTART 2
then
sh /etc/init.d/02_io_quad_x
fi
if param compare SYS_AUTOSTART 8
then
sh /etc/init.d/08_ardrone
fi
if param compare SYS_AUTOSTART 9
then
sh /etc/init.d/09_ardrone_flow
fi
if param compare SYS_AUTOSTART 10
then
sh /etc/init.d/10_io_f330
fi
if param compare SYS_AUTOSTART 30
then
sh /etc/init.d/30_io_camflyer
fi
if param compare SYS_AUTOSTART 31
then
sh /etc/init.d/31_io_phantom
fi

11
src/modules/mavlink/mavlink_log.c
View File

@ -41,16 +41,20 @@
#include <string.h>
#include <stdlib.h>
#include <stdio.h>
#include <stdarg.h>
#include <mavlink/mavlink_log.h>
static FILE* text_recorder_fd = NULL;
void mavlink_logbuffer_init(struct mavlink_logbuffer *lb, int size)
{
lb->size = size;
lb->start = 0;
lb->count = 0;
lb->elems = (struct mavlink_logmessage *)calloc(lb->size, sizeof(struct mavlink_logmessage));
text_recorder_fd = fopen("/fs/microsd/text_recorder.txt", "w");
}
int mavlink_logbuffer_is_full(struct mavlink_logbuffer *lb)
@ -82,6 +86,13 @@ int mavlink_logbuffer_read(struct mavlink_logbuffer *lb, struct mavlink_logmessa
memcpy(elem, &(lb->elems[lb->start]), sizeof(struct mavlink_logmessage));
lb->start = (lb->start + 1) % lb->size;
--lb->count;
if (text_recorder_fd) {
fwrite(elem->text, 1, strnlen(elem->text, 50), text_recorder_fd);
fputc("\n", text_recorder_fd);
fsync(text_recorder_fd);
}
return 0;
} else {

2
src/modules/sensors/sensors.cpp
View File

@ -1483,7 +1483,7 @@ int sensors_main(int argc, char *argv[])
if (!strcmp(argv[1], "start")) {
if (sensors::g_sensors != nullptr)
errx(1, "sensors task already running");
errx(0, "sensors task already running");
sensors::g_sensors = new Sensors;

3
src/modules/systemlib/module.mk
View File

@ -47,4 +47,5 @@ SRCS = err.c \
pid/pid.c \
geo/geo.c \
systemlib.c \
airspeed.c
airspeed.c \
system_params.c

47
src/modules/systemlib/system_params.c Normal file
View File

@ -0,0 +1,47 @@
/****************************************************************************
*
* Copyright (c) 2013 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 system_params.c
*
* System wide parameters
*/
#include <nuttx/config.h>
#include <systemlib/param/param.h>
// Auto-start script with index #n
PARAM_DEFINE_INT32(SYS_AUTOSTART, 0);
// Automatically configure default values
PARAM_DEFINE_INT32(SYS_AUTOCONFIG, 0);

73
src/systemcmds/param/param.c
View File

@ -63,6 +63,7 @@ static void do_import(const char* param_file_name);
static void do_show(const char* search_string);
static void do_show_print(void *arg, param_t param);
static void do_set(const char* name, const char* val);
static void do_compare(const char* name, const char* val);
int
param_main(int argc, char *argv[])
@ -117,9 +118,17 @@ param_main(int argc, char *argv[])
errx(1, "not enough arguments.\nTry 'param set PARAM_NAME 3'");
}
}
if (!strcmp(argv[1], "compare")) {
if (argc >= 4) {
do_compare(argv[2], argv[3]);
} else {
errx(1, "not enough arguments.\nTry 'param compare PARAM_NAME 3'");
}
}
}
errx(1, "expected a command, try 'load', 'import', 'show', 'set', 'select' or 'save'");
errx(1, "expected a command, try 'load', 'import', 'show', 'set', 'compare', 'select' or 'save'");
}
static void
@ -295,3 +304,65 @@ do_set(const char* name, const char* val)
exit(0);
}
static void
do_compare(const char* name, const char* val)
{
int32_t i;
float f;
param_t param = param_find(name);
/* set nothing if parameter cannot be found */
if (param == PARAM_INVALID) {
/* param not found */
errx(1, "Error: Parameter %s not found.", name);
}
/*
* Set parameter if type is known and conversion from string to value turns out fine
*/
int ret = 1;
switch (param_type(param)) {
case PARAM_TYPE_INT32:
if (!param_get(param, &i)) {
/* convert string */
char* end;
int j = strtol(val,&end,10);
if (i == j) {
printf(" %d: ", i);
ret = 0;
}
}
break;
case PARAM_TYPE_FLOAT:
if (!param_get(param, &f)) {
/* convert string */
char* end;
float g = strtod(val, &end);
if (fabsf(f - g) < 1e-7f) {
printf(" %4.4f: ", (double)f);
ret = 0;
}
}
break;
default:
errx(1, "<unknown / unsupported type %d>\n", 0 + param_type(param));
}
if (ret == 0) {
printf("%c %s: equal\n",
param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'),
param_name(param));
}
exit(ret);
}

6
src/systemcmds/preflight_check/preflight_check.c
View File

@ -135,6 +135,7 @@ int preflight_check_main(int argc, char *argv[])
close(fd);
fd = open(BARO_DEVICE_PATH, 0);
close(fd);
/* ---- RC CALIBRATION ---- */
@ -251,6 +252,11 @@ system_eval:
int buzzer = open("/dev/tone_alarm", O_WRONLY);
int leds = open(LED_DEVICE_PATH, 0);
if (leds < 0) {
close(buzzer);
errx(1, "failed to open leds, aborting");
}
/* flip blue led into alternating amber */
led_off(leds, LED_BLUE);
led_off(leds, LED_AMBER);