forked from Archive/PX4-Autopilot
Merge branch 'multirotor'
This commit is contained in:
commit
b7875f4d0f
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@ -538,9 +538,10 @@ CONFIG_USBDEV=y
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#
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# CONFIG_USBDEV_ISOCHRONOUS is not set
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# CONFIG_USBDEV_DUALSPEED is not set
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CONFIG_USBDEV_SELFPOWERED=y
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# CONFIG_USBDEV_BUSPOWERED is not set
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# CONFIG_USBDEV_SELFPOWERED is not set
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CONFIG_USBDEV_BUSPOWERED=y
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CONFIG_USBDEV_MAXPOWER=500
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# CONFIG_USBDEV_REMOTEWAKEUP is not set
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# CONFIG_USBDEV_DMA is not set
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# CONFIG_USBDEV_TRACE is not set
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@ -106,6 +106,11 @@ Airspeed::~Airspeed()
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/* free any existing reports */
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if (_reports != nullptr)
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delete[] _reports;
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// free perf counters
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perf_free(_sample_perf);
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perf_free(_comms_errors);
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perf_free(_buffer_overflows);
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}
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int
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@ -152,7 +157,7 @@ Airspeed::probe()
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*/
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_retries = 4;
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int ret = measure();
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_retries = 0;
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_retries = 2;
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return ret;
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}
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@ -165,5 +165,5 @@ protected:
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};
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/* helper macro for handling report buffer indices */
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#define INCREMENT(_x, _lim) do { _x++; if (_x >= _lim) _x = 0; } while(0)
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#define INCREMENT(_x, _lim) do { __typeof__(_x) _tmp = _x+1; if (_tmp >= _lim) _tmp = 0; _x = _tmp; } while(0)
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@ -234,7 +234,7 @@ private:
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};
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/* helper macro for handling report buffer indices */
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#define INCREMENT(_x, _lim) do { _x++; if (_x >= _lim) _x = 0; } while(0)
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#define INCREMENT(_x, _lim) do { __typeof__(_x) _tmp = _x+1; if (_tmp >= _lim) _tmp = 0; _x = _tmp; } while(0)
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BMA180::BMA180(int bus, spi_dev_e device) :
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@ -311,7 +311,7 @@ private:
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};
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/* helper macro for handling report buffer indices */
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#define INCREMENT(_x, _lim) do { _x++; if (_x >= _lim) _x = 0; } while(0)
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#define INCREMENT(_x, _lim) do { __typeof__(_x) _tmp = _x+1; if (_tmp >= _lim) _tmp = 0; _x = _tmp; } while(0)
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/*
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* Driver 'main' command.
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@ -359,6 +359,11 @@ HMC5883::~HMC5883()
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/* free any existing reports */
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if (_reports != nullptr)
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delete[] _reports;
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// free perf counters
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perf_free(_sample_perf);
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perf_free(_comms_errors);
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perf_free(_buffer_overflows);
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}
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int
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@ -300,7 +300,7 @@ private:
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};
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/* helper macro for handling report buffer indices */
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#define INCREMENT(_x, _lim) do { _x++; if (_x >= _lim) _x = 0; } while(0)
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#define INCREMENT(_x, _lim) do { __typeof__(_x) _tmp = _x+1; if (_tmp >= _lim) _tmp = 0; _x = _tmp; } while(0)
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L3GD20::L3GD20(int bus, const char* path, spi_dev_e device) :
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@ -421,7 +421,7 @@ private:
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/* helper macro for handling report buffer indices */
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#define INCREMENT(_x, _lim) do { _x++; if (_x >= _lim) _x = 0; } while(0)
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#define INCREMENT(_x, _lim) do { __typeof__(_x) _tmp = _x+1; if (_tmp >= _lim) _tmp = 0; _x = _tmp; } while(0)
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LSM303D::LSM303D(int bus, const char* path, spi_dev_e device) :
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@ -184,7 +184,7 @@ private:
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};
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/* helper macro for handling report buffer indices */
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#define INCREMENT(_x, _lim) do { _x++; if (_x >= _lim) _x = 0; } while(0)
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#define INCREMENT(_x, _lim) do { __typeof__(_x) _tmp = _x+1; if (_tmp >= _lim) _tmp = 0; _x = _tmp; } while(0)
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/*
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* Driver 'main' command.
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@ -162,6 +162,8 @@ MEASAirspeed::collect()
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if (ret < 0) {
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log("error reading from sensor: %d", ret);
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perf_count(_comms_errors);
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perf_end(_sample_perf);
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return ret;
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}
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@ -169,9 +171,14 @@ MEASAirspeed::collect()
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if (status == 2) {
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log("err: stale data");
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perf_count(_comms_errors);
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perf_end(_sample_perf);
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return ret;
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} else if (status == 3) {
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log("err: fault");
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perf_count(_comms_errors);
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perf_end(_sample_perf);
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return ret;
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}
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//uint16_t diff_pres_pa = (val[1]) | ((val[0] & ~(0xC0)) << 8);
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@ -77,7 +77,7 @@ static const int ERROR = -1;
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#endif
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/* helper macro for handling report buffer indices */
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#define INCREMENT(_x, _lim) do { _x++; if (_x >= _lim) _x = 0; } while(0)
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#define INCREMENT(_x, _lim) do { __typeof__(_x) _tmp = _x+1; if (_tmp >= _lim) _tmp = 0; _x = _tmp; } while(0)
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/* helper macro for arithmetic - returns the square of the argument */
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#define POW2(_x) ((_x) * (_x))
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@ -225,6 +225,12 @@ MS5611::~MS5611()
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if (_reports != nullptr)
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delete[] _reports;
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// free perf counters
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perf_free(_sample_perf);
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perf_free(_measure_perf);
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perf_free(_comms_errors);
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perf_free(_buffer_overflows);
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delete _interface;
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}
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@ -673,7 +673,7 @@ Sensors::parameters_update()
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if (!isfinite(_parameters.scaling_factor[i]) ||
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_parameters.scaling_factor[i] * _parameters.rev[i] < 0.000001f ||
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_parameters.scaling_factor[i] * _parameters.rev[i] > 0.2f) {
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warnx("RC chan %u not sane, scaling: %8.6f, rev: %d", i, _parameters.scaling_factor[i], (int)(_parameters.rev[i]));
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/* scaling factors do not make sense, lock them down */
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_parameters.scaling_factor[i] = 0;
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rc_valid = false;
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