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px4-firmware
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Merge branch 'master' of github.com:PX4/Firmware into mixer_testing

This commit is contained in:
Lorenz Meier 2013-10-13 14:56:13 +02:00
parent 5671df0af4 0cadc5d14a
commit b3fb2bf850
18 changed files with 940 additions and 725 deletions
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4
Tools/px_uploader.py
View File

@ -430,7 +430,7 @@ while True:
# Windows, don't open POSIX ports
if not "/" in port:
up = uploader(port, args.baud)
except:
except Exception:
# open failed, rate-limit our attempts
time.sleep(0.05)
@ -443,7 +443,7 @@ while True:
up.identify()
print("Found board %x,%x bootloader rev %x on %s" % (up.board_type, up.board_rev, up.bl_rev, port))
except:
except Exception:
# most probably a timeout talking to the port, no bootloader, try to reboot the board
print("attempting reboot on %s..." % port)
up.send_reboot()

5
makefiles/config_px4fmu-v1_default.mk
View File

@ -134,7 +134,10 @@ MODULES += lib/geo
# Tutorial code from
# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control
MODULES += examples/fixedwing_control
#MODULES += examples/fixedwing_control
# Hardware test
#MODULES += examples/hwtest
#
# Transitional support - add commands from the NuttX export archive.

6
makefiles/config_px4fmu-v2_default.mk
View File

@ -128,8 +128,12 @@ MODULES += lib/geo
# https://pixhawk.ethz.ch/px4/dev/debug_values
#MODULES += examples/px4_mavlink_debug
# Tutorial code from
# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control
#MODULES += examples/fixedwing_control
# Hardware test
MODULES += examples/hwtest
#MODULES += examples/hwtest
#
# Transitional support - add commands from the NuttX export archive.

1
src/drivers/drv_pwm_output.h
View File

@ -120,6 +120,7 @@ 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 */
/** Power up DSM receiver */
#define DSM_BIND_POWER_UP _IOC(_PWM_SERVO_BASE, 8)

670
src/drivers/px4io/px4io.cpp
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File diff suppressed because it is too large Load Diff

26
src/modules/att_pos_estimator_ekf/KalmanNav.hpp
View File

@ -166,19 +166,19 @@ protected:
double lat, lon; /**< lat, lon radians */
float alt; /**< altitude, meters */
// parameters
control::BlockParam<float> _vGyro; /**< gyro process noise */
control::BlockParam<float> _vAccel; /**< accelerometer process noise */
control::BlockParam<float> _rMag; /**< magnetometer measurement noise */
control::BlockParam<float> _rGpsVel; /**< gps velocity measurement noise */
control::BlockParam<float> _rGpsPos; /**< gps position measurement noise */
control::BlockParam<float> _rGpsAlt; /**< gps altitude measurement noise */
control::BlockParam<float> _rPressAlt; /**< press altitude measurement noise */
control::BlockParam<float> _rAccel; /**< accelerometer measurement noise */
control::BlockParam<float> _magDip; /**< magnetic inclination with level */
control::BlockParam<float> _magDec; /**< magnetic declination, clockwise rotation */
control::BlockParam<float> _g; /**< gravitational constant */
control::BlockParam<float> _faultPos; /**< fault detection threshold for position */
control::BlockParam<float> _faultAtt; /**< fault detection threshold for attitude */
control::BlockParamFloat _vGyro; /**< gyro process noise */
control::BlockParamFloat _vAccel; /**< accelerometer process noise */
control::BlockParamFloat _rMag; /**< magnetometer measurement noise */
control::BlockParamFloat _rGpsVel; /**< gps velocity measurement noise */
control::BlockParamFloat _rGpsPos; /**< gps position measurement noise */
control::BlockParamFloat _rGpsAlt; /**< gps altitude measurement noise */
control::BlockParamFloat _rPressAlt; /**< press altitude measurement noise */
control::BlockParamFloat _rAccel; /**< accelerometer measurement noise */
control::BlockParamFloat _magDip; /**< magnetic inclination with level */
control::BlockParamFloat _magDec; /**< magnetic declination, clockwise rotation */
control::BlockParamFloat _g; /**< gravitational constant */
control::BlockParamFloat _faultPos; /**< fault detection threshold for position */
control::BlockParamFloat _faultAtt; /**< fault detection threshold for attitude */
// status
bool _attitudeInitialized;
bool _positionInitialized;

24
src/modules/commander/commander.cpp
View File

@ -1193,31 +1193,19 @@ int commander_thread_main(int argc, char *argv[])
bool main_state_changed = check_main_state_changed();
bool navigation_state_changed = check_navigation_state_changed();
hrt_abstime t1 = hrt_absolute_time();
if (navigation_state_changed || arming_state_changed) {
control_mode.flag_armed = armed.armed; // copy armed state to vehicle_control_mode topic
}
if (arming_state_changed || main_state_changed || navigation_state_changed) {
mavlink_log_info(mavlink_fd, "[cmd] state: arm %d, main %d, nav %d", status.arming_state, status.main_state, status.navigation_state);
status_changed = true;
}
hrt_abstime t1 = hrt_absolute_time();
/* publish arming state */
if (arming_state_changed) {
armed.timestamp = t1;
orb_publish(ORB_ID(actuator_armed), armed_pub, &armed);
}
/* publish control mode */
if (navigation_state_changed || arming_state_changed) {
/* publish new navigation state */
control_mode.flag_armed = armed.armed; // copy armed state to vehicle_control_mode topic
control_mode.counter++;
control_mode.timestamp = t1;
orb_publish(ORB_ID(vehicle_control_mode), control_mode_pub, &control_mode);
}
/* publish states (armed, control mode, vehicle status) at least with 5 Hz */
if (counter % (200000 / COMMANDER_MONITORING_INTERVAL) == 0 || status_changed) {
status.counter++;
status.timestamp = t1;
orb_publish(ORB_ID(vehicle_status), status_pub, &status);
control_mode.timestamp = t1;

1
src/modules/commander/state_machine_helper.cpp
View File

@ -504,7 +504,6 @@ int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_s
if (valid_transition) {
current_status->hil_state = new_state;
current_status->counter++;
current_status->timestamp = hrt_absolute_time();
orb_publish(ORB_ID(vehicle_status), status_pub, current_status);

29
src/modules/controllib/block/BlockParam.hpp
View File

@ -69,22 +69,39 @@ protected:
/**
* Parameters that are tied to blocks for updating and nameing.
*/
template<class T>
class __EXPORT BlockParam : public BlockParamBase
class __EXPORT BlockParamFloat : public BlockParamBase
{
public:
BlockParam(Block *block, const char *name, bool parent_prefix=true) :
BlockParamFloat(Block *block, const char *name, bool parent_prefix=true) :
BlockParamBase(block, name, parent_prefix),
_val() {
update();
}
T get() { return _val; }
void set(T val) { _val = val; }
float get() { return _val; }
void set(float val) { _val = val; }
void update() {
if (_handle != PARAM_INVALID) param_get(_handle, &_val);
}
protected:
T _val;
float _val;
};
class __EXPORT BlockParamInt : public BlockParamBase
{
public:
BlockParamInt(Block *block, const char *name, bool parent_prefix=true) :
BlockParamBase(block, name, parent_prefix),
_val() {
update();
}
int get() { return _val; }
void set(int val) { _val = val; }
void update() {
if (_handle != PARAM_INVALID) param_get(_handle, &_val);
}
protected:
int _val;
};
} // namespace control

36
src/modules/controllib/blocks.hpp
View File

@ -74,8 +74,8 @@ public:
float getMax() { return _max.get(); }
protected:
// attributes
BlockParam<float> _min;
BlockParam<float> _max;
control::BlockParamFloat _min;
control::BlockParamFloat _max;
};
int __EXPORT blockLimitTest();
@ -99,7 +99,7 @@ public:
float getMax() { return _max.get(); }
protected:
// attributes
BlockParam<float> _max;
control::BlockParamFloat _max;
};
int __EXPORT blockLimitSymTest();
@ -126,7 +126,7 @@ public:
protected:
// attributes
float _state;
BlockParam<float> _fCut;
control::BlockParamFloat _fCut;
};
int __EXPORT blockLowPassTest();
@ -157,7 +157,7 @@ protected:
// attributes
float _u; /**< previous input */
float _y; /**< previous output */
BlockParam<float> _fCut; /**< cut-off frequency, Hz */
control::BlockParamFloat _fCut; /**< cut-off frequency, Hz */
};
int __EXPORT blockHighPassTest();
@ -273,7 +273,7 @@ public:
// accessors
float getKP() { return _kP.get(); }
protected:
BlockParam<float> _kP;
control::BlockParamFloat _kP;
};
int __EXPORT blockPTest();
@ -303,8 +303,8 @@ public:
BlockIntegral &getIntegral() { return _integral; }
private:
BlockIntegral _integral;
BlockParam<float> _kP;
BlockParam<float> _kI;
control::BlockParamFloat _kP;
control::BlockParamFloat _kI;
};
int __EXPORT blockPITest();
@ -334,8 +334,8 @@ public:
BlockDerivative &getDerivative() { return _derivative; }
private:
BlockDerivative _derivative;
BlockParam<float> _kP;
BlockParam<float> _kD;
control::BlockParamFloat _kP;
control::BlockParamFloat _kD;
};
int __EXPORT blockPDTest();
@ -372,9 +372,9 @@ private:
// attributes
BlockIntegral _integral;
BlockDerivative _derivative;
BlockParam<float> _kP;
BlockParam<float> _kI;
BlockParam<float> _kD;
control::BlockParamFloat _kP;
control::BlockParamFloat _kI;
control::BlockParamFloat _kD;
};
int __EXPORT blockPIDTest();
@ -404,7 +404,7 @@ public:
float get() { return _val; }
private:
// attributes
BlockParam<float> _trim;
control::BlockParamFloat _trim;
BlockLimit _limit;
float _val;
};
@ -439,8 +439,8 @@ public:
float getMax() { return _max.get(); }
private:
// attributes
BlockParam<float> _min;
BlockParam<float> _max;
control::BlockParamFloat _min;
control::BlockParamFloat _max;
};
int __EXPORT blockRandUniformTest();
@ -486,8 +486,8 @@ public:
float getStdDev() { return _stdDev.get(); }
private:
// attributes
BlockParam<float> _mean;
BlockParam<float> _stdDev;
control::BlockParamFloat _mean;
control::BlockParamFloat _stdDev;
};
int __EXPORT blockRandGaussTest();

74
src/modules/mavlink/mavlink_receiver.cpp
View File

@ -167,6 +167,7 @@ handle_message(mavlink_message_t *msg)
/* check if topic is advertised */
if (cmd_pub <= 0) {
cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
} else {
/* publish */
orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
@ -437,9 +438,11 @@ handle_message(mavlink_message_t *msg)
if (pub_hil_airspeed < 0) {
pub_hil_airspeed = orb_advertise(ORB_ID(airspeed), &airspeed);
} else {
orb_publish(ORB_ID(airspeed), pub_hil_airspeed, &airspeed);
}
//warnx("SENSOR: IAS: %6.2f TAS: %6.2f", airspeed.indicated_airspeed_m_s, airspeed.true_airspeed_m_s);
/* individual sensor publications */
@ -455,49 +458,72 @@ handle_message(mavlink_message_t *msg)
if (pub_hil_gyro < 0) {
pub_hil_gyro = orb_advertise(ORB_ID(sensor_gyro), &gyro);
} else {
orb_publish(ORB_ID(sensor_gyro), pub_hil_gyro, &gyro);
}
struct accel_report accel;
accel.x_raw = imu.xacc / mg2ms2;
accel.y_raw = imu.yacc / mg2ms2;
accel.z_raw = imu.zacc / mg2ms2;
accel.x = imu.xacc;
accel.y = imu.yacc;
accel.z = imu.zacc;
accel.temperature = imu.temperature;
accel.timestamp = hrt_absolute_time();
if (pub_hil_accel < 0) {
pub_hil_accel = orb_advertise(ORB_ID(sensor_accel), &accel);
} else {
orb_publish(ORB_ID(sensor_accel), pub_hil_accel, &accel);
}
struct mag_report mag;
mag.x_raw = imu.xmag / mga2ga;
mag.y_raw = imu.ymag / mga2ga;
mag.z_raw = imu.zmag / mga2ga;
mag.x = imu.xmag;
mag.y = imu.ymag;
mag.z = imu.zmag;
mag.timestamp = hrt_absolute_time();
if (pub_hil_mag < 0) {
pub_hil_mag = orb_advertise(ORB_ID(sensor_mag), &mag);
} else {
orb_publish(ORB_ID(sensor_mag), pub_hil_mag, &mag);
}
struct baro_report baro;
baro.pressure = imu.abs_pressure;
baro.altitude = imu.pressure_alt;
baro.temperature = imu.temperature;
baro.timestamp = hrt_absolute_time();
if (pub_hil_baro < 0) {
pub_hil_baro = orb_advertise(ORB_ID(sensor_baro), &baro);
} else {
orb_publish(ORB_ID(sensor_baro), pub_hil_baro, &baro);
}
@ -505,6 +531,7 @@ handle_message(mavlink_message_t *msg)
/* publish combined sensor topic */
if (pub_hil_sensors > 0) {
orb_publish(ORB_ID(sensor_combined), pub_hil_sensors, &hil_sensors);
} else {
pub_hil_sensors = orb_advertise(ORB_ID(sensor_combined), &hil_sensors);
}
@ -517,6 +544,7 @@ handle_message(mavlink_message_t *msg)
/* lazily publish the battery voltage */
if (pub_hil_battery > 0) {
orb_publish(ORB_ID(battery_status), pub_hil_battery, &hil_battery_status);
} else {
pub_hil_battery = orb_advertise(ORB_ID(battery_status), &hil_battery_status);
}
@ -527,7 +555,7 @@ handle_message(mavlink_message_t *msg)
// output
if ((timestamp - old_timestamp) > 10000000) {
printf("receiving hil sensor at %d hz\n", hil_frames/10);
printf("receiving hil sensor at %d hz\n", hil_frames / 10);
old_timestamp = timestamp;
hil_frames = 0;
}
@ -552,9 +580,11 @@ handle_message(mavlink_message_t *msg)
/* gps.cog is in degrees 0..360 * 100, heading is -PI..+PI */
float heading_rad = gps.cog * M_DEG_TO_RAD_F * 1e-2f;
/* go back to -PI..PI */
if (heading_rad > M_PI_F)
heading_rad -= 2.0f * M_PI_F;
hil_gps.vel_n_m_s = gps.vn * 1e-2f; // from cm to m
hil_gps.vel_e_m_s = gps.ve * 1e-2f; // from cm to m
hil_gps.vel_d_m_s = gps.vd * 1e-2f; // from cm to m
@ -567,6 +597,7 @@ handle_message(mavlink_message_t *msg)
/* publish GPS measurement data */
if (pub_hil_gps > 0) {
orb_publish(ORB_ID(vehicle_gps_position), pub_hil_gps, &hil_gps);
} else {
pub_hil_gps = orb_advertise(ORB_ID(vehicle_gps_position), &hil_gps);
}
@ -585,6 +616,7 @@ handle_message(mavlink_message_t *msg)
if (pub_hil_airspeed < 0) {
pub_hil_airspeed = orb_advertise(ORB_ID(airspeed), &airspeed);
} else {
orb_publish(ORB_ID(airspeed), pub_hil_airspeed, &airspeed);
}
@ -602,6 +634,7 @@ handle_message(mavlink_message_t *msg)
if (pub_hil_global_pos > 0) {
orb_publish(ORB_ID(vehicle_global_position), pub_hil_global_pos, &hil_global_pos);
} else {
pub_hil_global_pos = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos);
}
@ -613,8 +646,8 @@ handle_message(mavlink_message_t *msg)
/* set rotation matrix */
for (int i = 0; i < 3; i++) for (int j = 0; j < 3; j++)
hil_attitude.R[i][j] = C_nb(i, j);
hil_attitude.R[i][j] = C_nb(i, j);
hil_attitude.R_valid = true;
/* set quaternion */
@ -636,22 +669,32 @@ handle_message(mavlink_message_t *msg)
if (pub_hil_attitude > 0) {
orb_publish(ORB_ID(vehicle_attitude), pub_hil_attitude, &hil_attitude);
} else {
pub_hil_attitude = orb_advertise(ORB_ID(vehicle_attitude), &hil_attitude);
}
struct accel_report accel;
accel.x_raw = hil_state.xacc / 9.81f * 1e3f;
accel.y_raw = hil_state.yacc / 9.81f * 1e3f;
accel.z_raw = hil_state.zacc / 9.81f * 1e3f;
accel.x = hil_state.xacc;
accel.y = hil_state.yacc;
accel.z = hil_state.zacc;
accel.temperature = 25.0f;
accel.timestamp = hrt_absolute_time();
if (pub_hil_accel < 0) {
pub_hil_accel = orb_advertise(ORB_ID(sensor_accel), &accel);
} else {
orb_publish(ORB_ID(sensor_accel), pub_hil_accel, &accel);
}
@ -664,6 +707,7 @@ handle_message(mavlink_message_t *msg)
/* lazily publish the battery voltage */
if (pub_hil_battery > 0) {
orb_publish(ORB_ID(battery_status), pub_hil_battery, &hil_battery_status);
} else {
pub_hil_battery = orb_advertise(ORB_ID(battery_status), &hil_battery_status);
}
@ -733,17 +777,23 @@ receive_thread(void *arg)
mavlink_message_t msg;
prctl(PR_SET_NAME, "mavlink uart rcv", getpid());
prctl(PR_SET_NAME, "mavlink_uart_rcv", getpid());
struct pollfd fds[1];
fds[0].fd = uart_fd;
fds[0].events = POLLIN;
ssize_t nread = 0;
while (!thread_should_exit) {
struct pollfd fds[1];
fds[0].fd = uart_fd;
fds[0].events = POLLIN;
if (poll(fds, 1, timeout) > 0) {
if (nread < sizeof(buf)) {
/* to avoid reading very small chunks wait for data before reading */
usleep(1000);
}
/* non-blocking read. read may return negative values */
ssize_t nread = read(uart_fd, buf, sizeof(buf));
nread = read(uart_fd, buf, sizeof(buf));
/* if read failed, this loop won't execute */
for (ssize_t i = 0; i < nread; i++) {
@ -751,10 +801,10 @@ receive_thread(void *arg)
/* handle generic messages and commands */
handle_message(&msg);
/* Handle packet with waypoint component */
/* handle packet with waypoint component */
mavlink_wpm_message_handler(&msg, &global_pos, &local_pos);
/* Handle packet with parameter component */
/* handle packet with parameter component */
mavlink_pm_message_handler(MAVLINK_COMM_0, &msg);
}
}

2
src/modules/mavlink/orb_listener.c
View File

@ -711,7 +711,7 @@ static void *
uorb_receive_thread(void *arg)
{
/* Set thread name */
prctl(PR_SET_NAME, "mavlink orb rcv", getpid());
prctl(PR_SET_NAME, "mavlink_orb_rcv", getpid());
/*
* set up poll to block for new data,

20
src/modules/mavlink_onboard/mavlink.c
View File

@ -167,12 +167,12 @@ int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_conf
case 921600: speed = B921600; break;
default:
fprintf(stderr, "[mavlink] ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\n\t9600\n19200\n38400\n57600\n115200\n230400\n460800\n921600\n\n", baud);
warnx("ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\n\t9600\n19200\n38400\n57600\n115200\n230400\n460800\n921600", baud);
return -EINVAL;
}
/* open uart */
printf("[mavlink] UART is %s, baudrate is %d\n", uart_name, baud);
warnx("UART is %s, baudrate is %d", uart_name, baud);
uart = open(uart_name, O_RDWR | O_NOCTTY);
/* Try to set baud rate */
@ -183,7 +183,7 @@ int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_conf
if (strcmp(uart_name, "/dev/ttyACM0") != OK) {
/* Back up the original uart configuration to restore it after exit */
if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
fprintf(stderr, "[mavlink] ERROR getting baudrate / termios config for %s: %d\n", uart_name, termios_state);
warnx("ERROR getting baudrate / termios config for %s: %d", uart_name, termios_state);
close(uart);
return -1;
}
@ -196,14 +196,14 @@ int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_conf
/* Set baud rate */
if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
fprintf(stderr, "[mavlink] ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
warnx("ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)", uart_name, termios_state);
close(uart);
return -1;
}
if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
fprintf(stderr, "[mavlink] ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name);
warnx("ERROR setting baudrate / termios config for %s (tcsetattr)", uart_name);
close(uart);
return -1;
}
@ -481,9 +481,9 @@ int mavlink_thread_main(int argc, char *argv[])
static void
usage()
{
fprintf(stderr, "usage: mavlink start [-d <devicename>] [-b <baud rate>]\n"
" mavlink stop\n"
" mavlink status\n");
fprintf(stderr, "usage: mavlink_onboard start [-d <devicename>] [-b <baud rate>]\n"
" mavlink_onboard stop\n"
" mavlink_onboard status\n");
exit(1);
}
@ -499,7 +499,7 @@ int mavlink_onboard_main(int argc, char *argv[])
/* this is not an error */
if (thread_running)
errx(0, "mavlink already running\n");
errx(0, "already running");
thread_should_exit = false;
mavlink_task = task_spawn_cmd("mavlink_onboard",
@ -516,7 +516,7 @@ int mavlink_onboard_main(int argc, char *argv[])
while (thread_running) {
usleep(200000);
}
warnx("terminated.");
warnx("terminated");
exit(0);
}

92
src/modules/mavlink_onboard/mavlink_receiver.c
View File

@ -100,11 +100,11 @@ handle_message(mavlink_message_t *msg)
mavlink_msg_command_long_decode(msg, &cmd_mavlink);
if (cmd_mavlink.target_system == mavlink_system.sysid && ((cmd_mavlink.target_component == mavlink_system.compid)
|| (cmd_mavlink.target_component == MAV_COMP_ID_ALL))) {
|| (cmd_mavlink.target_component == MAV_COMP_ID_ALL))) {
//check for MAVLINK terminate command
if (cmd_mavlink.command == MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN && ((int)cmd_mavlink.param1) == 3) {
/* This is the link shutdown command, terminate mavlink */
printf("[mavlink] Terminating .. \n");
warnx("terminating...");
fflush(stdout);
usleep(50000);
@ -132,6 +132,7 @@ handle_message(mavlink_message_t *msg)
if (cmd_pub <= 0) {
cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
}
/* publish */
orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
}
@ -156,6 +157,7 @@ handle_message(mavlink_message_t *msg)
/* check if topic is advertised */
if (flow_pub <= 0) {
flow_pub = orb_advertise(ORB_ID(optical_flow), &f);
} else {
/* publish */
orb_publish(ORB_ID(optical_flow), flow_pub, &f);
@ -186,6 +188,7 @@ handle_message(mavlink_message_t *msg)
/* check if topic is advertised */
if (cmd_pub <= 0) {
cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
} else {
/* create command */
orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
@ -203,6 +206,7 @@ handle_message(mavlink_message_t *msg)
if (vicon_position_pub <= 0) {
vicon_position_pub = orb_advertise(ORB_ID(vehicle_vicon_position), &vicon_position);
} else {
orb_publish(ORB_ID(vehicle_vicon_position), vicon_position_pub, &vicon_position);
}
@ -219,7 +223,7 @@ handle_message(mavlink_message_t *msg)
/* switch to a receiving link mode */
gcs_link = false;
/*
/*
* rate control mode - defined by MAVLink
*/
@ -227,33 +231,37 @@ handle_message(mavlink_message_t *msg)
bool ml_armed = false;
switch (quad_motors_setpoint.mode) {
case 0:
ml_armed = false;
break;
case 1:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_RATES;
ml_armed = true;
case 0:
ml_armed = false;
break;
break;
case 2:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE;
ml_armed = true;
case 1:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_RATES;
ml_armed = true;
break;
case 3:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY;
break;
case 4:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_POSITION;
break;
break;
case 2:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE;
ml_armed = true;
break;
case 3:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY;
break;
case 4:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_POSITION;
break;
}
offboard_control_sp.p1 = (float)quad_motors_setpoint.roll[mavlink_system.sysid-1] / (float)INT16_MAX;
offboard_control_sp.p2 = (float)quad_motors_setpoint.pitch[mavlink_system.sysid-1] / (float)INT16_MAX;
offboard_control_sp.p3= (float)quad_motors_setpoint.yaw[mavlink_system.sysid-1] / (float)INT16_MAX;
offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid-1]/(float)UINT16_MAX;
offboard_control_sp.p1 = (float)quad_motors_setpoint.roll[mavlink_system.sysid - 1] / (float)INT16_MAX;
offboard_control_sp.p2 = (float)quad_motors_setpoint.pitch[mavlink_system.sysid - 1] / (float)INT16_MAX;
offboard_control_sp.p3 = (float)quad_motors_setpoint.yaw[mavlink_system.sysid - 1] / (float)INT16_MAX;
offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid - 1] / (float)UINT16_MAX;
if (quad_motors_setpoint.thrust[mavlink_system.sysid-1] == 0) {
if (quad_motors_setpoint.thrust[mavlink_system.sysid - 1] == 0) {
ml_armed = false;
}
@ -265,6 +273,7 @@ handle_message(mavlink_message_t *msg)
/* check if topic has to be advertised */
if (offboard_control_sp_pub <= 0) {
offboard_control_sp_pub = orb_advertise(ORB_ID(offboard_control_setpoint), &offboard_control_sp);
} else {
/* Publish */
orb_publish(ORB_ID(offboard_control_setpoint), offboard_control_sp_pub, &offboard_control_sp);
@ -281,31 +290,36 @@ handle_message(mavlink_message_t *msg)
static void *
receive_thread(void *arg)
{
int uart_fd = *((int*)arg);
int uart_fd = *((int *)arg);
const int timeout = 1000;
uint8_t ch;
uint8_t buf[32];
mavlink_message_t msg;
prctl(PR_SET_NAME, "mavlink offb rcv", getpid());
prctl(PR_SET_NAME, "mavlink_onboard_rcv", getpid());
struct pollfd fds[] = { { .fd = uart_fd, .events = POLLIN } };
ssize_t nread = 0;
while (!thread_should_exit) {
struct pollfd fds[] = { { .fd = uart_fd, .events = POLLIN } };
if (poll(fds, 1, timeout) > 0) {
/* non-blocking read until buffer is empty */
int nread = 0;
if (nread < sizeof(buf)) {
/* to avoid reading very small chunks wait for data before reading */
usleep(1000);
}
do {
nread = read(uart_fd, &ch, 1);
/* non-blocking read. read may return negative values */
nread = read(uart_fd, buf, sizeof(buf));
if (mavlink_parse_char(chan, ch, &msg, &status)) { //parse the char
/* if read failed, this loop won't execute */
for (ssize_t i = 0; i < nread; i++) {
if (mavlink_parse_char(chan, buf[i], &msg, &status)) {
/* handle generic messages and commands */
handle_message(&msg);
}
} while (nread > 0);
}
}
}
@ -319,8 +333,8 @@ receive_start(int uart)
pthread_attr_init(&receiveloop_attr);
struct sched_param param;
param.sched_priority = SCHED_PRIORITY_MAX - 40;
(void)pthread_attr_setschedparam(&receiveloop_attr, &param);
param.sched_priority = SCHED_PRIORITY_MAX - 40;
(void)pthread_attr_setschedparam(&receiveloop_attr, &param);
pthread_attr_setstacksize(&receiveloop_attr, 2048);

433
src/modules/multirotor_att_control/multirotor_att_control_main.c
View File

@ -89,18 +89,18 @@ static int
mc_thread_main(int argc, char *argv[])
{
/* declare and safely initialize all structs */
struct vehicle_control_mode_s control_mode;
memset(&control_mode, 0, sizeof(control_mode));
struct vehicle_attitude_s att;
memset(&att, 0, sizeof(att));
struct vehicle_attitude_setpoint_s att_sp;
memset(&att_sp, 0, sizeof(att_sp));
struct manual_control_setpoint_s manual;
memset(&manual, 0, sizeof(manual));
struct sensor_combined_s raw;
memset(&raw, 0, sizeof(raw));
struct offboard_control_setpoint_s offboard_sp;
memset(&offboard_sp, 0, sizeof(offboard_sp));
struct vehicle_control_mode_s control_mode;
memset(&control_mode, 0, sizeof(control_mode));
struct manual_control_setpoint_s manual;
memset(&manual, 0, sizeof(manual));
struct sensor_combined_s sensor;
memset(&sensor, 0, sizeof(sensor));
struct vehicle_rates_setpoint_s rates_sp;
memset(&rates_sp, 0, sizeof(rates_sp));
struct vehicle_status_s status;
@ -108,29 +108,16 @@ mc_thread_main(int argc, char *argv[])
struct actuator_controls_s actuators;
memset(&actuators, 0, sizeof(actuators));
/* subscribe to attitude, motor setpoints and system state */
int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
int param_sub = orb_subscribe(ORB_ID(parameter_update));
int att_setpoint_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
int setpoint_sub = orb_subscribe(ORB_ID(offboard_control_setpoint));
int control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
int rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
int status_sub = orb_subscribe(ORB_ID(vehicle_status));
/*
* Do not rate-limit the loop to prevent aliasing
* if rate-limiting would be desired later, the line below would
* enable it.
*
* rate-limit the attitude subscription to 200Hz to pace our loop
* orb_set_interval(att_sub, 5);
*/
struct pollfd fds[2] = {
{ .fd = att_sub, .events = POLLIN },
{ .fd = param_sub, .events = POLLIN }
};
/* subscribe */
int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude));
int parameter_update_sub = orb_subscribe(ORB_ID(parameter_update));
int vehicle_attitude_setpoint_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
int offboard_control_setpoint_sub = orb_subscribe(ORB_ID(offboard_control_setpoint));
int vehicle_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
int manual_control_setpoint_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
int sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined));
int vehicle_rates_setpoint_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
/* publish actuator controls */
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) {
@ -146,233 +133,246 @@ mc_thread_main(int argc, char *argv[])
perf_counter_t mc_interval_perf = perf_alloc(PC_INTERVAL, "multirotor_att_control_interval");
perf_counter_t mc_err_perf = perf_alloc(PC_COUNT, "multirotor_att_control_err");
/* welcome user */
warnx("starting");
/* store last control mode to detect mode switches */
bool control_yaw_position = true;
bool reset_yaw_sp = true;
struct pollfd fds[1] = {
{ .fd = vehicle_attitude_sub, .events = POLLIN },
};
while (!thread_should_exit) {
/* wait for a sensor update, check for exit condition every 500 ms */
int ret = poll(fds, 2, 500);
int ret = poll(fds, 1, 500);
if (ret < 0) {
/* poll error, count it in perf */
perf_count(mc_err_perf);
} else if (ret == 0) {
/* no return value, ignore */
} else {
} else if (ret > 0) {
/* only run controller if attitude changed */
perf_begin(mc_loop_perf);
/* only update parameters if they changed */
if (fds[1].revents & POLLIN) {
/* read from param to clear updated flag */
/* attitude */
orb_copy(ORB_ID(vehicle_attitude), vehicle_attitude_sub, &att);
bool updated;
/* parameters */
orb_check(parameter_update_sub, &updated);
if (updated) {
struct parameter_update_s update;
orb_copy(ORB_ID(parameter_update), param_sub, &update);
orb_copy(ORB_ID(parameter_update), parameter_update_sub, &update);
/* update parameters */
}
/* only run controller if attitude changed */
if (fds[0].revents & POLLIN) {
/* control mode */
orb_check(vehicle_control_mode_sub, &updated);
perf_begin(mc_loop_perf);
if (updated) {
orb_copy(ORB_ID(vehicle_control_mode), vehicle_control_mode_sub, &control_mode);
}
/* get a local copy of system state */
bool updated;
orb_check(control_mode_sub, &updated);
/* manual control setpoint */
orb_check(manual_control_setpoint_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode);
if (updated) {
orb_copy(ORB_ID(manual_control_setpoint), manual_control_setpoint_sub, &manual);
}
/* attitude setpoint */
orb_check(vehicle_attitude_setpoint_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_attitude_setpoint), vehicle_attitude_setpoint_sub, &att_sp);
}
/* offboard control setpoint */
orb_check(offboard_control_setpoint_sub, &updated);
if (updated) {
orb_copy(ORB_ID(offboard_control_setpoint), offboard_control_setpoint_sub, &offboard_sp);
}
/* vehicle status */
orb_check(vehicle_status_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &status);
}
/* sensors */
orb_check(sensor_combined_sub, &updated);
if (updated) {
orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor);
}
/* set flag to safe value */
control_yaw_position = true;
/* reset yaw setpoint if not armed */
if (!control_mode.flag_armed) {
reset_yaw_sp = true;
}
/* define which input is the dominating control input */
if (control_mode.flag_control_offboard_enabled) {
/* offboard inputs */
if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_RATES) {
rates_sp.roll = offboard_sp.p1;
rates_sp.pitch = offboard_sp.p2;
rates_sp.yaw = offboard_sp.p3;
rates_sp.thrust = offboard_sp.p4;
rates_sp.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
} else if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE) {
att_sp.roll_body = offboard_sp.p1;
att_sp.pitch_body = offboard_sp.p2;
att_sp.yaw_body = offboard_sp.p3;
att_sp.thrust = offboard_sp.p4;
att_sp.timestamp = hrt_absolute_time();
/* publish the result to the vehicle actuators */
orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
}
/* get a local copy of manual setpoint */
orb_copy(ORB_ID(manual_control_setpoint), manual_sub, &manual);
/* get a local copy of attitude */
orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
/* get a local copy of attitude setpoint */
orb_copy(ORB_ID(vehicle_attitude_setpoint), att_setpoint_sub, &att_sp);
/* get a local copy of rates setpoint */
orb_check(setpoint_sub, &updated);
/* reset yaw setpoint after offboard control */
reset_yaw_sp = true;
if (updated) {
orb_copy(ORB_ID(offboard_control_setpoint), setpoint_sub, &offboard_sp);
}
} else if (control_mode.flag_control_manual_enabled) {
/* manual input */
if (control_mode.flag_control_attitude_enabled) {
/* control attitude, update attitude setpoint depending on mode */
if (att_sp.thrust < 0.1f) {
/* no thrust, don't try to control yaw */
rates_sp.yaw = 0.0f;
control_yaw_position = false;
/* get a local copy of status */
orb_check(status_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_status), status_sub, &status);
}
/* get a local copy of the current sensor values */
orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw);
/* set flag to safe value */
control_yaw_position = true;
/* reset yaw setpoint if not armed */
if (!control_mode.flag_armed) {
reset_yaw_sp = true;
}
/* define which input is the dominating control input */
if (control_mode.flag_control_offboard_enabled) {
/* offboard inputs */
if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_RATES) {
rates_sp.roll = offboard_sp.p1;
rates_sp.pitch = offboard_sp.p2;
rates_sp.yaw = offboard_sp.p3;
rates_sp.thrust = offboard_sp.p4;
rates_sp.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
} else if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE) {
att_sp.roll_body = offboard_sp.p1;
att_sp.pitch_body = offboard_sp.p2;
att_sp.yaw_body = offboard_sp.p3;
att_sp.thrust = offboard_sp.p4;
att_sp.timestamp = hrt_absolute_time();
/* publish the result to the vehicle actuators */
orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
}
/* reset yaw setpoint after offboard control */
reset_yaw_sp = true;
} else if (control_mode.flag_control_manual_enabled) {
/* manual input */
if (control_mode.flag_control_attitude_enabled) {
/* control attitude, update attitude setpoint depending on mode */
if (att_sp.thrust < 0.1f) {
/* no thrust, don't try to control yaw */
rates_sp.yaw = 0.0f;
control_yaw_position = false;
if (status.condition_landed) {
/* reset yaw setpoint if on ground */
reset_yaw_sp = true;
}
} else {
/* only move yaw setpoint if manual input is != 0 */
if (manual.yaw < -yaw_deadzone || yaw_deadzone < manual.yaw) {
/* control yaw rate */
control_yaw_position = false;
rates_sp.yaw = manual.yaw;
reset_yaw_sp = true; // has no effect on control, just for beautiful log
} else {
control_yaw_position = true;
}
if (status.condition_landed) {
/* reset yaw setpoint if on ground */
reset_yaw_sp = true;
}
if (!control_mode.flag_control_velocity_enabled) {
/* update attitude setpoint if not in position control mode */
att_sp.roll_body = manual.roll;
att_sp.pitch_body = manual.pitch;
if (!control_mode.flag_control_climb_rate_enabled) {
/* pass throttle directly if not in altitude control mode */
att_sp.thrust = manual.throttle;
}
}
/* reset yaw setpint to current position if needed */
if (reset_yaw_sp) {
att_sp.yaw_body = att.yaw;
reset_yaw_sp = false;
}
if (motor_test_mode) {
printf("testmode");
att_sp.roll_body = 0.0f;
att_sp.pitch_body = 0.0f;
att_sp.yaw_body = 0.0f;
att_sp.thrust = 0.1f;
}
att_sp.timestamp = hrt_absolute_time();
/* publish the attitude setpoint */
orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
} else {
/* manual rate inputs (ACRO), from RC control or joystick */
if (control_mode.flag_control_rates_enabled) {
rates_sp.roll = manual.roll;
rates_sp.pitch = manual.pitch;
/* only move yaw setpoint if manual input is != 0 */
if (manual.yaw < -yaw_deadzone || yaw_deadzone < manual.yaw) {
/* control yaw rate */
control_yaw_position = false;
rates_sp.yaw = manual.yaw;
rates_sp.thrust = manual.throttle;
rates_sp.timestamp = hrt_absolute_time();
}
reset_yaw_sp = true; // has no effect on control, just for beautiful log
/* reset yaw setpoint after ACRO */
reset_yaw_sp = true;
} else {
control_yaw_position = true;
}
}
if (!control_mode.flag_control_velocity_enabled) {
/* update attitude setpoint if not in position control mode */
att_sp.roll_body = manual.roll;
att_sp.pitch_body = manual.pitch;
if (!control_mode.flag_control_climb_rate_enabled) {
/* pass throttle directly if not in altitude control mode */
att_sp.thrust = manual.throttle;
}
}
/* reset yaw setpint to current position if needed */
if (reset_yaw_sp) {
att_sp.yaw_body = att.yaw;
reset_yaw_sp = false;
}
if (motor_test_mode) {
printf("testmode");
att_sp.roll_body = 0.0f;
att_sp.pitch_body = 0.0f;
att_sp.yaw_body = 0.0f;
att_sp.thrust = 0.1f;
}
att_sp.timestamp = hrt_absolute_time();
/* publish the attitude setpoint */
orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
} else {
if (!control_mode.flag_control_auto_enabled) {
/* no control, try to stay on place */
if (!control_mode.flag_control_velocity_enabled) {
/* no velocity control, reset attitude setpoint */
att_sp.roll_body = 0.0f;
att_sp.pitch_body = 0.0f;
att_sp.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
}
/* manual rate inputs (ACRO), from RC control or joystick */
if (control_mode.flag_control_rates_enabled) {
rates_sp.roll = manual.roll;
rates_sp.pitch = manual.pitch;
rates_sp.yaw = manual.yaw;
rates_sp.thrust = manual.throttle;
rates_sp.timestamp = hrt_absolute_time();
}
/* reset yaw setpoint after non-manual control */
/* reset yaw setpoint after ACRO */
reset_yaw_sp = true;
}
/* check if we should we reset integrals */
bool reset_integral = !control_mode.flag_armed || att_sp.thrust < 0.1f; // TODO use landed status instead of throttle
/* run attitude controller if needed */
if (control_mode.flag_control_attitude_enabled) {
multirotor_control_attitude(&att_sp, &att, &rates_sp, control_yaw_position, reset_integral);
orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
}
/* measure in what intervals the controller runs */
perf_count(mc_interval_perf);
/* run rates controller if needed */
if (control_mode.flag_control_rates_enabled) {
/* get current rate setpoint */
bool rates_sp_updated = false;
orb_check(rates_sp_sub, &rates_sp_updated);
if (rates_sp_updated) {
orb_copy(ORB_ID(vehicle_rates_setpoint), rates_sp_sub, &rates_sp);
} else {
if (!control_mode.flag_control_auto_enabled) {
/* no control, try to stay on place */
if (!control_mode.flag_control_velocity_enabled) {
/* no velocity control, reset attitude setpoint */
att_sp.roll_body = 0.0f;
att_sp.pitch_body = 0.0f;
att_sp.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
}
/* apply controller */
float rates[3];
rates[0] = att.rollspeed;
rates[1] = att.pitchspeed;
rates[2] = att.yawspeed;
multirotor_control_rates(&rates_sp, rates, &actuators, reset_integral);
} else {
/* rates controller disabled, set actuators to zero for safety */
actuators.control[0] = 0.0f;
actuators.control[1] = 0.0f;
actuators.control[2] = 0.0f;
actuators.control[3] = 0.0f;
}
actuators.timestamp = hrt_absolute_time();
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
/* reset yaw setpoint after non-manual control */
reset_yaw_sp = true;
}
perf_end(mc_loop_perf);
} /* end of poll call for attitude updates */
} /* end of poll return value check */
/* check if we should we reset integrals */
bool reset_integral = !control_mode.flag_armed || att_sp.thrust < 0.1f; // TODO use landed status instead of throttle
/* run attitude controller if needed */
if (control_mode.flag_control_attitude_enabled) {
multirotor_control_attitude(&att_sp, &att, &rates_sp, control_yaw_position, reset_integral);
orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
}
/* measure in what intervals the controller runs */
perf_count(mc_interval_perf);
/* run rates controller if needed */
if (control_mode.flag_control_rates_enabled) {
/* get current rate setpoint */
bool rates_sp_updated = false;
orb_check(vehicle_rates_setpoint_sub, &rates_sp_updated);
if (rates_sp_updated) {
orb_copy(ORB_ID(vehicle_rates_setpoint), vehicle_rates_setpoint_sub, &rates_sp);
}
/* apply controller */
float rates[3];
rates[0] = att.rollspeed;
rates[1] = att.pitchspeed;
rates[2] = att.yawspeed;
multirotor_control_rates(&rates_sp, rates, &actuators, reset_integral);
} else {
/* rates controller disabled, set actuators to zero for safety */
actuators.control[0] = 0.0f;
actuators.control[1] = 0.0f;
actuators.control[2] = 0.0f;
actuators.control[3] = 0.0f;
}
actuators.timestamp = hrt_absolute_time();
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
perf_end(mc_loop_perf);
}
}
warnx("stopping, disarming motors");
@ -383,10 +383,9 @@ mc_thread_main(int argc, char *argv[])
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
close(att_sub);
close(control_mode_sub);
close(manual_sub);
close(vehicle_attitude_sub);
close(vehicle_control_mode_sub);
close(manual_control_setpoint_sub);
close(actuator_pub);
close(att_sp_pub);

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

@ -285,10 +285,10 @@ dsm_bind(uint16_t cmd, int pulses)
/*Pulse RX pin a number of times*/
for (int i = 0; i < pulses; i++) {
up_udelay(25);
stm32_gpiowrite(usart1RxAsOutp, false);
up_udelay(25);
stm32_gpiowrite(usart1RxAsOutp, true);
up_udelay(25);
}
break;

239
src/modules/sensors/sensors.cpp
View File

@ -68,7 +68,6 @@
#include <systemlib/err.h>
#include <systemlib/perf_counter.h>
#include <systemlib/ppm_decode.h>
#include <systemlib/airspeed.h>
#include <uORB/uORB.h>
@ -105,22 +104,22 @@
* IN13 - aux1
* IN14 - aux2
* IN15 - pressure sensor
*
*
* IO:
* IN4 - servo supply rail
* IN5 - analog RSSI
*/
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
#define ADC_BATTERY_VOLTAGE_CHANNEL 10
#define ADC_AIRSPEED_VOLTAGE_CHANNEL 11
#define ADC_BATTERY_VOLTAGE_CHANNEL 10
#define ADC_AIRSPEED_VOLTAGE_CHANNEL 11
#endif
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
#define ADC_BATTERY_VOLTAGE_CHANNEL 2
#define ADC_BATTERY_CURRENT_CHANNEL 3
#define ADC_5V_RAIL_SENSE 4
#define ADC_AIRSPEED_VOLTAGE_CHANNEL 15
#define ADC_BATTERY_VOLTAGE_CHANNEL 2
#define ADC_BATTERY_CURRENT_CHANNEL 3
#define ADC_5V_RAIL_SENSE 4
#define ADC_AIRSPEED_VOLTAGE_CHANNEL 15
#endif
#define BAT_VOL_INITIAL 0.f
@ -134,8 +133,6 @@
*/
#define PCB_TEMP_ESTIMATE_DEG 5.0f
#define PPM_INPUT_TIMEOUT_INTERVAL 50000 /**< 50 ms timeout / 20 Hz */
#define limit_minus_one_to_one(arg) (arg < -1.0f) ? -1.0f : ((arg > 1.0f) ? 1.0f : arg)
/**
@ -143,70 +140,68 @@
* This enum maps from board attitude to airframe attitude.
*/
enum Rotation {
ROTATION_NONE = 0,
ROTATION_YAW_45 = 1,
ROTATION_YAW_90 = 2,
ROTATION_YAW_135 = 3,
ROTATION_YAW_180 = 4,
ROTATION_YAW_225 = 5,
ROTATION_YAW_270 = 6,
ROTATION_YAW_315 = 7,
ROTATION_ROLL_180 = 8,
ROTATION_ROLL_180_YAW_45 = 9,
ROTATION_ROLL_180_YAW_90 = 10,
ROTATION_ROLL_180_YAW_135 = 11,
ROTATION_PITCH_180 = 12,
ROTATION_ROLL_180_YAW_225 = 13,
ROTATION_ROLL_180_YAW_270 = 14,
ROTATION_ROLL_180_YAW_315 = 15,
ROTATION_ROLL_90 = 16,
ROTATION_ROLL_90_YAW_45 = 17,
ROTATION_ROLL_90_YAW_90 = 18,
ROTATION_ROLL_90_YAW_135 = 19,
ROTATION_ROLL_270 = 20,
ROTATION_ROLL_270_YAW_45 = 21,
ROTATION_ROLL_270_YAW_90 = 22,
ROTATION_ROLL_270_YAW_135 = 23,
ROTATION_PITCH_90 = 24,
ROTATION_PITCH_270 = 25,
ROTATION_MAX
ROTATION_NONE = 0,
ROTATION_YAW_45 = 1,
ROTATION_YAW_90 = 2,
ROTATION_YAW_135 = 3,
ROTATION_YAW_180 = 4,
ROTATION_YAW_225 = 5,
ROTATION_YAW_270 = 6,
ROTATION_YAW_315 = 7,
ROTATION_ROLL_180 = 8,
ROTATION_ROLL_180_YAW_45 = 9,
ROTATION_ROLL_180_YAW_90 = 10,
ROTATION_ROLL_180_YAW_135 = 11,
ROTATION_PITCH_180 = 12,
ROTATION_ROLL_180_YAW_225 = 13,
ROTATION_ROLL_180_YAW_270 = 14,
ROTATION_ROLL_180_YAW_315 = 15,
ROTATION_ROLL_90 = 16,
ROTATION_ROLL_90_YAW_45 = 17,
ROTATION_ROLL_90_YAW_90 = 18,
ROTATION_ROLL_90_YAW_135 = 19,
ROTATION_ROLL_270 = 20,
ROTATION_ROLL_270_YAW_45 = 21,
ROTATION_ROLL_270_YAW_90 = 22,
ROTATION_ROLL_270_YAW_135 = 23,
ROTATION_PITCH_90 = 24,
ROTATION_PITCH_270 = 25,
ROTATION_MAX
};
typedef struct
{
uint16_t roll;
uint16_t pitch;
uint16_t yaw;
typedef struct {
uint16_t roll;
uint16_t pitch;
uint16_t yaw;
} rot_lookup_t;
const rot_lookup_t rot_lookup[] =
{
{ 0, 0, 0 },
{ 0, 0, 45 },
{ 0, 0, 90 },
{ 0, 0, 135 },
{ 0, 0, 180 },
{ 0, 0, 225 },
{ 0, 0, 270 },
{ 0, 0, 315 },
{180, 0, 0 },
{180, 0, 45 },
{180, 0, 90 },
{180, 0, 135 },
{ 0, 180, 0 },
{180, 0, 225 },
{180, 0, 270 },
{180, 0, 315 },
{ 90, 0, 0 },
{ 90, 0, 45 },
{ 90, 0, 90 },
{ 90, 0, 135 },
{270, 0, 0 },
{270, 0, 45 },
{270, 0, 90 },
{270, 0, 135 },
{ 0, 90, 0 },
{ 0, 270, 0 }
const rot_lookup_t rot_lookup[] = {
{ 0, 0, 0 },
{ 0, 0, 45 },
{ 0, 0, 90 },
{ 0, 0, 135 },
{ 0, 0, 180 },
{ 0, 0, 225 },
{ 0, 0, 270 },
{ 0, 0, 315 },
{180, 0, 0 },
{180, 0, 45 },
{180, 0, 90 },
{180, 0, 135 },
{ 0, 180, 0 },
{180, 0, 225 },
{180, 0, 270 },
{180, 0, 315 },
{ 90, 0, 0 },
{ 90, 0, 45 },
{ 90, 0, 90 },
{ 90, 0, 135 },
{270, 0, 0 },
{270, 0, 45 },
{270, 0, 90 },
{270, 0, 135 },
{ 0, 90, 0 },
{ 0, 270, 0 }
};
/**
@ -239,12 +234,12 @@ public:
private:
static const unsigned _rc_max_chan_count = RC_CHANNELS_MAX; /**< maximum number of r/c channels we handle */
hrt_abstime _ppm_last_valid; /**< last time we got a valid ppm signal */
hrt_abstime _rc_last_valid; /**< last time we got a valid RC signal */
/**
* Gather and publish PPM input data.
* Gather and publish RC input data.
*/
void ppm_poll();
void rc_poll();
/* XXX should not be here - should be own driver */
int _fd_adc; /**< ADC driver handle */
@ -501,7 +496,7 @@ Sensors *g_sensors = nullptr;
}
Sensors::Sensors() :
_ppm_last_valid(0),
_rc_last_valid(0),
_fd_adc(-1),
_last_adc(0),
@ -532,8 +527,8 @@ Sensors::Sensors() :
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "sensor task update")),
_board_rotation(3,3),
_external_mag_rotation(3,3),
_board_rotation(3, 3),
_external_mag_rotation(3, 3),
_mag_is_external(false)
{
@ -660,9 +655,9 @@ int
Sensors::parameters_update()
{
bool rc_valid = true;
float tmpScaleFactor = 0.0f;
float tmpRevFactor = 0.0f;
float tmpScaleFactor = 0.0f;
float tmpRevFactor = 0.0f;
/* rc values */
for (unsigned int i = 0; i < RC_CHANNELS_MAX; i++) {
@ -674,19 +669,19 @@ Sensors::parameters_update()
tmpScaleFactor = (1.0f / ((_parameters.max[i] - _parameters.min[i]) / 2.0f) * _parameters.rev[i]);
tmpRevFactor = tmpScaleFactor * _parameters.rev[i];
/* handle blowup in the scaling factor calculation */
if (!isfinite(tmpScaleFactor) ||
(tmpRevFactor < 0.000001f) ||
(tmpRevFactor > 0.2f) ) {
(tmpRevFactor > 0.2f)) {
warnx("RC chan %u not sane, scaling: %8.6f, rev: %d", i, tmpScaleFactor, (int)(_parameters.rev[i]));
/* scaling factors do not make sense, lock them down */
_parameters.scaling_factor[i] = 0.0f;
rc_valid = false;
} else {
_parameters.scaling_factor[i] = tmpScaleFactor;
}
else {
_parameters.scaling_factor[i] = tmpScaleFactor;
}
}
/* handle wrong values */
@ -812,7 +807,7 @@ void
Sensors::get_rot_matrix(enum Rotation rot, math::Matrix *rot_matrix)
{
/* first set to zero */
rot_matrix->Matrix::zero(3,3);
rot_matrix->Matrix::zero(3, 3);
float roll = M_DEG_TO_RAD_F * (float)rot_lookup[rot].roll;
float pitch = M_DEG_TO_RAD_F * (float)rot_lookup[rot].pitch;
@ -823,7 +818,7 @@ Sensors::get_rot_matrix(enum Rotation rot, math::Matrix *rot_matrix)
math::Dcm R(euler);
for (int i = 0; i < 3; i++) for (int j = 0; j < 3; j++)
(*rot_matrix)(i,j) = R(i, j);
(*rot_matrix)(i, j) = R(i, j);
}
void
@ -841,7 +836,7 @@ Sensors::accel_init()
// XXX do the check more elegantly
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
/* set the accel internal sampling rate up to at leat 1000Hz */
ioctl(fd, ACCELIOCSSAMPLERATE, 1000);
@ -849,7 +844,7 @@ Sensors::accel_init()
/* set the driver to poll at 1000Hz */
ioctl(fd, SENSORIOCSPOLLRATE, 1000);
#elif CONFIG_ARCH_BOARD_PX4FMU_V2
#elif CONFIG_ARCH_BOARD_PX4FMU_V2
/* set the accel internal sampling rate up to at leat 800Hz */
ioctl(fd, ACCELIOCSSAMPLERATE, 800);
@ -857,10 +852,10 @@ Sensors::accel_init()
/* set the driver to poll at 800Hz */
ioctl(fd, SENSORIOCSPOLLRATE, 800);
#else
#error Need a board configuration, either CONFIG_ARCH_BOARD_PX4FMU_V1 or CONFIG_ARCH_BOARD_PX4FMU_V2
#else
#error Need a board configuration, either CONFIG_ARCH_BOARD_PX4FMU_V1 or CONFIG_ARCH_BOARD_PX4FMU_V2
#endif
#endif
warnx("using system accel");
close(fd);
@ -882,7 +877,7 @@ Sensors::gyro_init()
// XXX do the check more elegantly
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
/* set the gyro internal sampling rate up to at least 1000Hz */
if (ioctl(fd, GYROIOCSSAMPLERATE, 1000) != OK)
@ -892,7 +887,7 @@ Sensors::gyro_init()
if (ioctl(fd, SENSORIOCSPOLLRATE, 1000) != OK)
ioctl(fd, SENSORIOCSPOLLRATE, 800);
#else
#else
/* set the gyro internal sampling rate up to at least 760Hz */
ioctl(fd, GYROIOCSSAMPLERATE, 760);
@ -900,7 +895,7 @@ Sensors::gyro_init()
/* set the driver to poll at 760Hz */
ioctl(fd, SENSORIOCSPOLLRATE, 760);
#endif
#endif
warnx("using system gyro");
close(fd);
@ -924,23 +919,28 @@ Sensors::mag_init()
ret = ioctl(fd, MAGIOCSSAMPLERATE, 150);
if (ret == OK) {
/* set the pollrate accordingly */
ioctl(fd, SENSORIOCSPOLLRATE, 150);
} else {
ret = ioctl(fd, MAGIOCSSAMPLERATE, 100);
/* if the slower sampling rate still fails, something is wrong */
if (ret == OK) {
/* set the driver to poll also at the slower rate */
ioctl(fd, SENSORIOCSPOLLRATE, 100);
} else {
errx(1, "FATAL: mag sampling rate could not be set");
}
}
ret = ioctl(fd, MAGIOCGEXTERNAL, 0);
if (ret < 0)
errx(1, "FATAL: unknown if magnetometer is external or onboard");
else if (ret == 1)
@ -993,7 +993,7 @@ Sensors::accel_poll(struct sensor_combined_s &raw)
orb_copy(ORB_ID(sensor_accel), _accel_sub, &accel_report);
math::Vector3 vect = {accel_report.x, accel_report.y, accel_report.z};
vect = _board_rotation*vect;
vect = _board_rotation * vect;
raw.accelerometer_m_s2[0] = vect(0);
raw.accelerometer_m_s2[1] = vect(1);
@ -1019,7 +1019,7 @@ Sensors::gyro_poll(struct sensor_combined_s &raw)
orb_copy(ORB_ID(sensor_gyro), _gyro_sub, &gyro_report);
math::Vector3 vect = {gyro_report.x, gyro_report.y, gyro_report.z};
vect = _board_rotation*vect;
vect = _board_rotation * vect;
raw.gyro_rad_s[0] = vect(0);
raw.gyro_rad_s[1] = vect(1);
@ -1047,9 +1047,9 @@ Sensors::mag_poll(struct sensor_combined_s &raw)
math::Vector3 vect = {mag_report.x, mag_report.y, mag_report.z};
if (_mag_is_external)
vect = _external_mag_rotation*vect;
vect = _external_mag_rotation * vect;
else
vect = _board_rotation*vect;
vect = _board_rotation * vect;
raw.magnetometer_ga[0] = vect(0);
raw.magnetometer_ga[1] = vect(1);
@ -1094,8 +1094,8 @@ Sensors::diff_pres_poll(struct sensor_combined_s &raw)
raw.differential_pressure_counter++;
_airspeed.indicated_airspeed_m_s = calc_indicated_airspeed(_diff_pres.differential_pressure_pa);
_airspeed.true_airspeed_m_s = calc_true_airspeed(_diff_pres.differential_pressure_pa + raw.baro_pres_mbar*1e2f,
raw.baro_pres_mbar*1e2f, raw.baro_temp_celcius - PCB_TEMP_ESTIMATE_DEG);
_airspeed.true_airspeed_m_s = calc_true_airspeed(_diff_pres.differential_pressure_pa + raw.baro_pres_mbar * 1e2f,
raw.baro_pres_mbar * 1e2f, raw.baro_temp_celcius - PCB_TEMP_ESTIMATE_DEG);
/* announce the airspeed if needed, just publish else */
if (_airspeed_pub > 0) {
@ -1236,12 +1236,12 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
int ret = read(_fd_adc, &buf_adc, sizeof(buf_adc));
for (unsigned i = 0; i < sizeof(buf_adc) / sizeof(buf_adc[0]); i++) {
if (ret >= (int)sizeof(buf_adc[0])) {
/* Save raw voltage values */
if (i < (sizeof(raw.adc_voltage_v)) / sizeof(raw.adc_voltage_v[0])) {
raw.adc_voltage_v[i] = buf_adc[i].am_data / (4096.0f / 3.3f);
raw.adc_voltage_v[i] = buf_adc[i].am_data / (4096.0f / 3.3f);
}
/* look for specific channels and process the raw voltage to measurement data */
@ -1269,12 +1269,12 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
} else {
_battery_pub = orb_advertise(ORB_ID(battery_status), &_battery_status);
}
}
}
} else if (ADC_AIRSPEED_VOLTAGE_CHANNEL == buf_adc[i].am_channel) {
/* calculate airspeed, raw is the difference from */
float voltage = (float)(buf_adc[i].am_data ) * 3.3f / 4096.0f * 2.0f; //V_ref/4096 * (voltage divider factor)
float voltage = (float)(buf_adc[i].am_data) * 3.3f / 4096.0f * 2.0f; //V_ref/4096 * (voltage divider factor)
/**
* The voltage divider pulls the signal down, only act on
@ -1306,17 +1306,13 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
}
void
Sensors::ppm_poll()
Sensors::rc_poll()
{
bool rc_updated;
orb_check(_rc_sub, &rc_updated);
/* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */
struct pollfd fds[1];
fds[0].fd = _rc_sub;
fds[0].events = POLLIN;
/* check non-blocking for new data */
int poll_ret = poll(fds, 1, 0);
if (poll_ret > 0) {
if (rc_updated) {
/* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */
struct rc_input_values rc_input;
orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input);
@ -1352,7 +1348,7 @@ Sensors::ppm_poll()
channel_limit = _rc_max_chan_count;
/* we are accepting this message */
_ppm_last_valid = rc_input.timestamp;
_rc_last_valid = rc_input.timestamp;
/* Read out values from raw message */
for (unsigned int i = 0; i < channel_limit; i++) {
@ -1362,6 +1358,7 @@ Sensors::ppm_poll()
*/
if (rc_input.values[i] < _parameters.min[i])
rc_input.values[i] = _parameters.min[i];
if (rc_input.values[i] > _parameters.max[i])
rc_input.values[i] = _parameters.max[i];
@ -1622,7 +1619,7 @@ Sensors::task_main()
orb_publish(ORB_ID(sensor_combined), _sensor_pub, &raw);
/* Look for new r/c input data */
ppm_poll();
rc_poll();
perf_end(_loop_perf);
}
@ -1640,11 +1637,11 @@ Sensors::start()
/* start the task */
_sensors_task = task_spawn_cmd("sensors_task",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
2048,
(main_t)&Sensors::task_main_trampoline,
nullptr);
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
2048,
(main_t)&Sensors::task_main_trampoline,
nullptr);
if (_sensors_task < 0) {
warn("task start failed");

1
src/modules/uORB/topics/vehicle_control_mode.h
View File

@ -61,7 +61,6 @@
*/
struct vehicle_control_mode_s
{
uint16_t counter; /**< incremented by the writing thread every time new data is stored */
uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */
bool flag_armed;