forked from Archive/PX4-Autopilot
Merge remote-tracking branch 'px4/master' into navigator_new
This commit is contained in:
Julian Oes
commit
c1e50b8a1f
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|
@ -8,30 +8,35 @@ echo "[init] PX4FMU v1, v2 with or without IO on Phantom FPV"
|
|||
if param compare SYS_AUTOCONFIG 1
|
||||
then
|
||||
# Set all params here, then disable autoconfig
|
||||
param set FW_AIRSPD_MIN 11.4
|
||||
param set FW_AIRSPD_TRIM 14
|
||||
param set FW_AIRSPD_MAX 22
|
||||
param set FW_L1_PERIOD 15
|
||||
param set FW_P_D 0
|
||||
param set FW_P_I 0
|
||||
param set FW_P_IMAX 15
|
||||
param set FW_P_LIM_MAX 50
|
||||
param set FW_P_LIM_MIN -50
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||||
param set FW_P_LIM_MAX 45
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||||
param set FW_P_LIM_MIN -45
|
||||
param set FW_P_P 60
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||||
param set FW_P_RMAX_NEG 0
|
||||
param set FW_P_RMAX_POS 0
|
||||
param set FW_P_ROLLFF 1.1
|
||||
param set FW_P_ROLLFF 2
|
||||
param set FW_R_D 0
|
||||
param set FW_R_I 5
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param set FW_R_IMAX 20
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||||
param set FW_R_P 100
|
||||
param set FW_R_RMAX 100
|
||||
param set FW_THR_CRUISE 0.65
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param set FW_R_IMAX 15
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||||
param set FW_R_P 80
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||||
param set FW_R_RMAX 60
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param set FW_THR_CRUISE 0.8
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||||
param set FW_THR_LND_MAX 0
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param set FW_THR_MAX 1
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param set FW_THR_MIN 0
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param set FW_THR_MIN 0.5
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param set FW_T_SINK_MAX 5.0
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param set FW_T_SINK_MIN 4.0
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param set FW_Y_ROLLFF 1.1
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param set FW_L1_PERIOD 17
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param set RC_SCALE_ROLL 1.0
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param set RC_SCALE_PITCH 1.0
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param set FW_T_SINK_MIN 2.0
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param set FW_Y_ROLLFF 1.0
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param set RC_SCALE_ROLL 0.6
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param set RC_SCALE_PITCH 0.6
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param set TRIM_PITCH 0.1
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param set SYS_AUTOCONFIG 0
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param save
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fi
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@ -0,0 +1,91 @@
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#!nsh
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||||
echo "[init] PX4FMU v1, v2 with or without IO on the Wing Wing (aka Z-84)"
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||||
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||||
#
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# Load default params for this platform
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#
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if param compare SYS_AUTOCONFIG 1
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||||
then
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||||
# Set all params here, then disable autoconfig
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param set FW_AIRSPD_MIN 7
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param set FW_AIRSPD_TRIM 9
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param set FW_AIRSPD_MAX 14
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param set FW_L1_PERIOD 10
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param set FW_P_D 0
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param set FW_P_I 0
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||||
param set FW_P_IMAX 20
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param set FW_P_LIM_MAX 30
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param set FW_P_LIM_MIN -20
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param set FW_P_P 30
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param set FW_P_RMAX_NEG 0
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param set FW_P_RMAX_POS 0
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param set FW_P_ROLLFF 2
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param set FW_R_D 0
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param set FW_R_I 5
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param set FW_R_IMAX 20
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param set FW_R_P 60
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param set FW_R_RMAX 60
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param set FW_THR_CRUISE 0.65
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param set FW_THR_MAX 0.7
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param set FW_THR_MIN 0
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param set FW_T_SINK_MAX 5
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param set FW_T_SINK_MIN 2
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param set FW_T_TIME_CONST 9
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param set FW_Y_ROLLFF 2.0
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param set RC_SCALE_ROLL 1.0
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param set RC_SCALE_PITCH 1.0
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param set SYS_AUTOCONFIG 0
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param save
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fi
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||||
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#
|
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# Force some key parameters to sane values
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||||
# MAV_TYPE 1 = fixed wing
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||||
#
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||||
param set MAV_TYPE 1
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||||
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||||
set EXIT_ON_END no
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||||
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||||
#
|
||||
# Start and configure PX4IO or FMU interface
|
||||
#
|
||||
if px4io detect
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||||
then
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||||
# Start MAVLink (depends on orb)
|
||||
mavlink start
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||||
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sh /etc/init.d/rc.io
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# Limit to 100 Hz updates and (implicit) 50 Hz PWM
|
||||
px4io limit 100
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||||
else
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||||
# Start MAVLink (on UART1 / ttyS0)
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||||
mavlink start -d /dev/ttyS0
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||||
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||||
fmu mode_pwm
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||||
param set BAT_V_SCALING 0.004593
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||||
set EXIT_ON_END yes
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fi
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||||
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#
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||||
# Load mixer and start controllers (depends on px4io)
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||||
#
|
||||
if [ -f /fs/microsd/etc/mixers/FMU_Q.mix ]
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||||
then
|
||||
echo "Using /fs/microsd/etc/mixers/FMU_Q.mix"
|
||||
mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_Q.mix
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||||
else
|
||||
echo "Using /etc/mixers/FMU_Q.mix"
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||||
mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
|
||||
fi
|
||||
|
||||
#
|
||||
# Start common fixedwing apps
|
||||
#
|
||||
sh /etc/init.d/rc.fixedwing
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||||
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||||
if [ $EXIT_ON_END == yes ]
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||||
then
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||||
exit
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||||
fi
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||||
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|
@ -0,0 +1,91 @@
|
|||
#!nsh
|
||||
|
||||
echo "[init] PX4FMU v1, v2 with or without IO on FX-79 Buffalo"
|
||||
|
||||
#
|
||||
# Load default params for this platform
|
||||
#
|
||||
if param compare SYS_AUTOCONFIG 1
|
||||
then
|
||||
# Set all params here, then disable autoconfig
|
||||
param set FW_AIRSPD_MAX 20
|
||||
param set FW_AIRSPD_TRIM 12
|
||||
param set FW_AIRSPD_MIN 15
|
||||
param set FW_L1_PERIOD 12
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||||
param set FW_P_D 0
|
||||
param set FW_P_I 0
|
||||
param set FW_P_IMAX 15
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||||
param set FW_P_LIM_MAX 50
|
||||
param set FW_P_LIM_MIN -50
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||||
param set FW_P_P 60
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||||
param set FW_P_RMAX_NEG 0
|
||||
param set FW_P_RMAX_POS 0
|
||||
param set FW_P_ROLLFF 1.1
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||||
param set FW_R_D 0
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||||
param set FW_R_I 5
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||||
param set FW_R_IMAX 20
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||||
param set FW_R_P 80
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||||
param set FW_R_RMAX 100
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||||
param set FW_THR_CRUISE 0.75
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||||
param set FW_THR_MAX 1
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||||
param set FW_THR_MIN 0
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||||
param set FW_T_SINK_MAX 5.0
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||||
param set FW_T_SINK_MIN 4.0
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||||
param set FW_T_TIME_CONST 9
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||||
param set FW_Y_ROLLFF 1.1
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||||
param set RC_SCALE_ROLL 1.0
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||||
param set RC_SCALE_PITCH 1.0
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||||
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||||
param set SYS_AUTOCONFIG 0
|
||||
param save
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||||
fi
|
||||
|
||||
#
|
||||
# Force some key parameters to sane values
|
||||
# MAV_TYPE 1 = fixed wing
|
||||
#
|
||||
param set MAV_TYPE 1
|
||||
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||||
set EXIT_ON_END no
|
||||
|
||||
#
|
||||
# Start and configure PX4IO or FMU interface
|
||||
#
|
||||
if px4io detect
|
||||
then
|
||||
# Start MAVLink (depends on orb)
|
||||
mavlink start
|
||||
|
||||
sh /etc/init.d/rc.io
|
||||
# Limit to 100 Hz updates and (implicit) 50 Hz PWM
|
||||
px4io limit 100
|
||||
else
|
||||
# Start MAVLink (on UART1 / ttyS0)
|
||||
mavlink start -d /dev/ttyS0
|
||||
|
||||
fmu mode_pwm
|
||||
param set BAT_V_SCALING 0.004593
|
||||
set EXIT_ON_END yes
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||||
fi
|
||||
|
||||
#
|
||||
# Load mixer and start controllers (depends on px4io)
|
||||
#
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||||
if [ -f /fs/microsd/etc/mixers/FMU_FX79.mix ]
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||||
then
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||||
echo "Using /fs/microsd/etc/mixers/FMU_FX79.mix"
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||||
mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_FX79.mix
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||||
else
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||||
echo "Using /etc/mixers/FMU_FX79.mix"
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||||
mixer load /dev/pwm_output /etc/mixers/FMU_FX79.mix
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||||
fi
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||||
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||||
#
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||||
# Start common fixedwing apps
|
||||
#
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||||
sh /etc/init.d/rc.fixedwing
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||||
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||||
if [ $EXIT_ON_END == yes ]
|
||||
then
|
||||
exit
|
||||
fi
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||||
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|
@ -0,0 +1,60 @@
|
|||
#!nsh
|
||||
|
||||
echo "[init] PX4FMU v1, v2 init to log only
|
||||
|
||||
#
|
||||
# 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
|
||||
fi
|
||||
|
||||
set EXIT_ON_END no
|
||||
|
||||
#
|
||||
# Start and configure PX4IO or FMU interface
|
||||
#
|
||||
if px4io detect
|
||||
then
|
||||
# Start MAVLink (depends on orb)
|
||||
mavlink start
|
||||
usleep 5000
|
||||
|
||||
commander start
|
||||
|
||||
sh /etc/init.d/rc.io
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||||
# Set PWM values for DJI ESCs
|
||||
else
|
||||
# Start MAVLink (on UART1 / ttyS0)
|
||||
mavlink start -d /dev/ttyS0
|
||||
usleep 5000
|
||||
param set BAT_V_SCALING 0.004593
|
||||
set EXIT_ON_END yes
|
||||
fi
|
||||
|
||||
sh /etc/init.d/rc.sensors
|
||||
|
||||
gps start
|
||||
|
||||
attitude_estimator_ekf start
|
||||
|
||||
position_estimator_inav start
|
||||
|
||||
if [ -d /fs/microsd ]
|
||||
then
|
||||
if [ $BOARD == fmuv1 ]
|
||||
then
|
||||
sdlog2 start -r 50 -e -b 16
|
||||
else
|
||||
sdlog2 start -r 200 -e -b 16
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ $EXIT_ON_END == yes ]
|
||||
then
|
||||
exit
|
||||
fi
|
||||
|
|
@ -331,6 +331,18 @@ then
|
|||
set MODE custom
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 33
|
||||
then
|
||||
sh /etc/init.d/33_io_wingwing
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 34
|
||||
then
|
||||
sh /etc/init.d/34_io_fx79
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 40
|
||||
then
|
||||
sh /etc/init.d/40_io_segway
|
||||
|
|
@ -355,6 +367,12 @@ then
|
|||
set MODE custom
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 800
|
||||
then
|
||||
sh /etc/init.d/800_sdlogger
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
# Start any custom extensions that might be missing
|
||||
if [ -f /fs/microsd/etc/rc.local ]
|
||||
then
|
||||
|
|
|
|||
|
|
@ -0,0 +1,72 @@
|
|||
FX-79 Delta-wing mixer for PX4FMU
|
||||
=================================
|
||||
|
||||
Designed for FX-79.
|
||||
|
||||
TODO (sjwilks): Add mixers for flaps.
|
||||
|
||||
This file defines mixers suitable for controlling a delta wing aircraft using
|
||||
PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
|
||||
servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
|
||||
assumed to be unused.
|
||||
|
||||
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
|
||||
(roll), 1 (pitch) and 3 (thrust).
|
||||
|
||||
See the README for more information on the scaler format.
|
||||
|
||||
Elevon mixers
|
||||
-------------
|
||||
Three scalers total (output, roll, pitch).
|
||||
|
||||
On the assumption that the two elevon servos are physically reversed, the pitch
|
||||
input is inverted between the two servos.
|
||||
|
||||
The scaling factor for roll inputs is adjusted to implement differential travel
|
||||
for the elevons.
|
||||
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 0 5000 8000 0 -10000 10000
|
||||
S: 0 1 8000 8000 0 -10000 10000
|
||||
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 0 8000 5000 0 -10000 10000
|
||||
S: 0 1 -8000 -8000 0 -10000 10000
|
||||
|
||||
Output 2
|
||||
--------
|
||||
This mixer is empty.
|
||||
|
||||
Z:
|
||||
|
||||
Motor speed mixer
|
||||
-----------------
|
||||
Two scalers total (output, thrust).
|
||||
|
||||
This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
|
||||
range. Inputs below zero are treated as zero.
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
||||
|
||||
Gimbal / flaps / payload mixer for last four channels
|
||||
-----------------------------------------------------
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 4 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 5 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 6 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 7 10000 10000 0 -10000 10000
|
||||
|
|
@ -89,7 +89,7 @@ struct rc_input_values {
|
|||
/** number of channels actually being seen */
|
||||
uint32_t channel_count;
|
||||
|
||||
/** receive signal strength indicator (RSSI): < 0: Undefined, 0: no signal, 1000: full reception */
|
||||
/** receive signal strength indicator (RSSI): < 0: Undefined, 0: no signal, 255: full reception */
|
||||
int32_t rssi;
|
||||
|
||||
/** Input source */
|
||||
|
|
|
|||
|
|
@ -850,7 +850,7 @@ PX4IO::task_main()
|
|||
|
||||
/* we're not nice to the lower-priority control groups and only check them
|
||||
when the primary group updated (which is now). */
|
||||
io_set_control_groups();
|
||||
(void)io_set_control_groups();
|
||||
}
|
||||
|
||||
if (now >= poll_last + IO_POLL_INTERVAL) {
|
||||
|
|
@ -962,14 +962,14 @@ out:
|
|||
int
|
||||
PX4IO::io_set_control_groups()
|
||||
{
|
||||
bool attitude_ok = io_set_control_state(0);
|
||||
int ret = io_set_control_state(0);
|
||||
|
||||
/* send auxiliary control groups */
|
||||
(void)io_set_control_state(1);
|
||||
(void)io_set_control_state(2);
|
||||
(void)io_set_control_state(3);
|
||||
|
||||
return attitude_ok;
|
||||
return ret;
|
||||
}
|
||||
|
||||
int
|
||||
|
|
@ -1095,8 +1095,10 @@ PX4IO::io_set_rc_config()
|
|||
* assign RC_MAP_ROLL/PITCH/YAW/THROTTLE to the canonical
|
||||
* controls.
|
||||
*/
|
||||
|
||||
/* fill the mapping with an error condition triggering value */
|
||||
for (unsigned i = 0; i < _max_rc_input; i++)
|
||||
input_map[i] = -1;
|
||||
input_map[i] = UINT8_MAX;
|
||||
|
||||
/*
|
||||
* NOTE: The indices for mapped channels are 1-based
|
||||
|
|
@ -1128,12 +1130,6 @@ PX4IO::io_set_rc_config()
|
|||
if ((ichan >= 0) && (ichan < (int)_max_rc_input))
|
||||
input_map[ichan - 1] = 4;
|
||||
|
||||
ichan = 5;
|
||||
|
||||
for (unsigned i = 0; i < _max_rc_input; i++)
|
||||
if (input_map[i] == -1)
|
||||
input_map[i] = ichan++;
|
||||
|
||||
/*
|
||||
* Iterate all possible RC inputs.
|
||||
*/
|
||||
|
|
@ -1801,6 +1797,16 @@ PX4IO::print_status()
|
|||
printf(" %u", io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE + i));
|
||||
|
||||
printf("\n");
|
||||
|
||||
if (raw_inputs > 0) {
|
||||
int frame_len = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_RC_DATA);
|
||||
printf("RC data (PPM frame len) %u us\n", frame_len);
|
||||
|
||||
if ((frame_len - raw_inputs * 2000 - 3000) < 0) {
|
||||
printf("WARNING WARNING WARNING! This RC receiver does not allow safe frame detection.\n");
|
||||
}
|
||||
}
|
||||
|
||||
uint16_t mapped_inputs = io_reg_get(PX4IO_PAGE_RC_INPUT, PX4IO_P_RC_VALID);
|
||||
printf("mapped R/C inputs 0x%04x", mapped_inputs);
|
||||
|
||||
|
|
|
|||
|
|
@ -1,6 +1,6 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Copyright (c) 2012, 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
|
||||
|
|
@ -168,7 +168,7 @@
|
|||
# error HRT_TIMER_CLOCK must be greater than 1MHz
|
||||
#endif
|
||||
|
||||
/*
|
||||
/**
|
||||
* Minimum/maximum deadlines.
|
||||
*
|
||||
* These are suitable for use with a 16-bit timer/counter clocked
|
||||
|
|
@ -276,12 +276,16 @@ static void hrt_call_invoke(void);
|
|||
* Specific registers and bits used by PPM sub-functions
|
||||
*/
|
||||
#ifdef HRT_PPM_CHANNEL
|
||||
/*
|
||||
/*
|
||||
* If the timer hardware doesn't support GTIM_CCER_CCxNP, then we will work around it.
|
||||
*
|
||||
* Note that we assume that M3 means STM32F1 (since we don't really care about the F2).
|
||||
*/
|
||||
# ifdef CONFIG_ARCH_CORTEXM3
|
||||
# undef GTIM_CCER_CC1NP
|
||||
# undef GTIM_CCER_CC2NP
|
||||
# undef GTIM_CCER_CC3NP
|
||||
# undef GTIM_CCER_CC4NP
|
||||
# define GTIM_CCER_CC1NP 0
|
||||
# define GTIM_CCER_CC2NP 0
|
||||
# define GTIM_CCER_CC3NP 0
|
||||
|
|
@ -332,19 +336,21 @@ static void hrt_call_invoke(void);
|
|||
/*
|
||||
* PPM decoder tuning parameters
|
||||
*/
|
||||
# define PPM_MAX_PULSE_WIDTH 550 /* maximum width of a valid pulse */
|
||||
# define PPM_MIN_CHANNEL_VALUE 800 /* shortest valid channel signal */
|
||||
# define PPM_MAX_CHANNEL_VALUE 2200 /* longest valid channel signal */
|
||||
# define PPM_MIN_START 2500 /* shortest valid start gap */
|
||||
# define PPM_MIN_PULSE_WIDTH 200 /**< minimum width of a valid first pulse */
|
||||
# define PPM_MAX_PULSE_WIDTH 600 /**< maximum width of a valid first pulse */
|
||||
# define PPM_MIN_CHANNEL_VALUE 800 /**< shortest valid channel signal */
|
||||
# define PPM_MAX_CHANNEL_VALUE 2200 /**< longest valid channel signal */
|
||||
# define PPM_MIN_START 2300 /**< shortest valid start gap (only 2nd part of pulse) */
|
||||
|
||||
/* decoded PPM buffer */
|
||||
#define PPM_MIN_CHANNELS 5
|
||||
#define PPM_MAX_CHANNELS 20
|
||||
|
||||
/* Number of same-sized frames required to 'lock' */
|
||||
#define PPM_CHANNEL_LOCK 4 /* should be less than the input timeout */
|
||||
/** Number of same-sized frames required to 'lock' */
|
||||
#define PPM_CHANNEL_LOCK 4 /**< should be less than the input timeout */
|
||||
|
||||
__EXPORT uint16_t ppm_buffer[PPM_MAX_CHANNELS];
|
||||
__EXPORT uint16_t ppm_frame_length = 0;
|
||||
__EXPORT unsigned ppm_decoded_channels = 0;
|
||||
__EXPORT uint64_t ppm_last_valid_decode = 0;
|
||||
|
||||
|
|
@ -358,11 +364,12 @@ unsigned ppm_pulse_next;
|
|||
|
||||
static uint16_t ppm_temp_buffer[PPM_MAX_CHANNELS];
|
||||
|
||||
/* PPM decoder state machine */
|
||||
/** PPM decoder state machine */
|
||||
struct {
|
||||
uint16_t last_edge; /* last capture time */
|
||||
uint16_t last_mark; /* last significant edge */
|
||||
unsigned next_channel;
|
||||
uint16_t last_edge; /**< last capture time */
|
||||
uint16_t last_mark; /**< last significant edge */
|
||||
uint16_t frame_start; /**< the frame width */
|
||||
unsigned next_channel; /**< next channel index */
|
||||
enum {
|
||||
UNSYNCH = 0,
|
||||
ARM,
|
||||
|
|
@ -384,7 +391,7 @@ static void hrt_ppm_decode(uint32_t status);
|
|||
# define CCER_PPM 0
|
||||
#endif /* HRT_PPM_CHANNEL */
|
||||
|
||||
/*
|
||||
/**
|
||||
* Initialise the timer we are going to use.
|
||||
*
|
||||
* We expect that we'll own one of the reduced-function STM32 general
|
||||
|
|
@ -430,7 +437,7 @@ hrt_tim_init(void)
|
|||
}
|
||||
|
||||
#ifdef HRT_PPM_CHANNEL
|
||||
/*
|
||||
/**
|
||||
* Handle the PPM decoder state machine.
|
||||
*/
|
||||
static void
|
||||
|
|
@ -447,7 +454,6 @@ hrt_ppm_decode(uint32_t status)
|
|||
|
||||
/* how long since the last edge? - this handles counter wrapping implicitely. */
|
||||
width = count - ppm.last_edge;
|
||||
ppm.last_edge = count;
|
||||
|
||||
ppm_edge_history[ppm_edge_next++] = width;
|
||||
|
||||
|
|
@ -491,6 +497,7 @@ hrt_ppm_decode(uint32_t status)
|
|||
ppm_buffer[i] = ppm_temp_buffer[i];
|
||||
|
||||
ppm_last_valid_decode = hrt_absolute_time();
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -500,29 +507,39 @@ hrt_ppm_decode(uint32_t status)
|
|||
/* next edge is the reference for the first channel */
|
||||
ppm.phase = ARM;
|
||||
|
||||
ppm.last_edge = count;
|
||||
return;
|
||||
}
|
||||
|
||||
switch (ppm.phase) {
|
||||
case UNSYNCH:
|
||||
/* we are waiting for a start pulse - nothing useful to do here */
|
||||
return;
|
||||
break;
|
||||
|
||||
case ARM:
|
||||
|
||||
/* we expect a pulse giving us the first mark */
|
||||
if (width > PPM_MAX_PULSE_WIDTH)
|
||||
goto error; /* pulse was too long */
|
||||
if (width < PPM_MIN_PULSE_WIDTH || width > PPM_MAX_PULSE_WIDTH)
|
||||
goto error; /* pulse was too short or too long */
|
||||
|
||||
/* record the mark timing, expect an inactive edge */
|
||||
ppm.last_mark = count;
|
||||
ppm.phase = INACTIVE;
|
||||
return;
|
||||
ppm.last_mark = ppm.last_edge;
|
||||
|
||||
/* frame length is everything including the start gap */
|
||||
ppm_frame_length = (uint16_t)(ppm.last_edge - ppm.frame_start);
|
||||
ppm.frame_start = ppm.last_edge;
|
||||
ppm.phase = ACTIVE;
|
||||
break;
|
||||
|
||||
case INACTIVE:
|
||||
|
||||
/* we expect a short pulse */
|
||||
if (width < PPM_MIN_PULSE_WIDTH || width > PPM_MAX_PULSE_WIDTH)
|
||||
goto error; /* pulse was too short or too long */
|
||||
|
||||
/* this edge is not interesting, but now we are ready for the next mark */
|
||||
ppm.phase = ACTIVE;
|
||||
return;
|
||||
break;
|
||||
|
||||
case ACTIVE:
|
||||
/* determine the interval from the last mark */
|
||||
|
|
@ -543,10 +560,13 @@ hrt_ppm_decode(uint32_t status)
|
|||
ppm_temp_buffer[ppm.next_channel++] = interval;
|
||||
|
||||
ppm.phase = INACTIVE;
|
||||
return;
|
||||
break;
|
||||
|
||||
}
|
||||
|
||||
ppm.last_edge = count;
|
||||
return;
|
||||
|
||||
/* the state machine is corrupted; reset it */
|
||||
|
||||
error:
|
||||
|
|
@ -557,7 +577,7 @@ error:
|
|||
}
|
||||
#endif /* HRT_PPM_CHANNEL */
|
||||
|
||||
/*
|
||||
/**
|
||||
* Handle the compare interupt by calling the callout dispatcher
|
||||
* and then re-scheduling the next deadline.
|
||||
*/
|
||||
|
|
@ -586,6 +606,7 @@ hrt_tim_isr(int irq, void *context)
|
|||
|
||||
hrt_ppm_decode(status);
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
/* was this a timer tick? */
|
||||
|
|
@ -604,7 +625,7 @@ hrt_tim_isr(int irq, void *context)
|
|||
return OK;
|
||||
}
|
||||
|
||||
/*
|
||||
/**
|
||||
* Fetch a never-wrapping absolute time value in microseconds from
|
||||
* some arbitrary epoch shortly after system start.
|
||||
*/
|
||||
|
|
@ -651,7 +672,7 @@ hrt_absolute_time(void)
|
|||
return abstime;
|
||||
}
|
||||
|
||||
/*
|
||||
/**
|
||||
* Convert a timespec to absolute time
|
||||
*/
|
||||
hrt_abstime
|
||||
|
|
@ -665,7 +686,7 @@ ts_to_abstime(struct timespec *ts)
|
|||
return result;
|
||||
}
|
||||
|
||||
/*
|
||||
/**
|
||||
* Convert absolute time to a timespec.
|
||||
*/
|
||||
void
|
||||
|
|
@ -676,7 +697,7 @@ abstime_to_ts(struct timespec *ts, hrt_abstime abstime)
|
|||
ts->tv_nsec = abstime * 1000;
|
||||
}
|
||||
|
||||
/*
|
||||
/**
|
||||
* Compare a time value with the current time.
|
||||
*/
|
||||
hrt_abstime
|
||||
|
|
@ -691,7 +712,7 @@ hrt_elapsed_time(const volatile hrt_abstime *then)
|
|||
return delta;
|
||||
}
|
||||
|
||||
/*
|
||||
/**
|
||||
* Store the absolute time in an interrupt-safe fashion
|
||||
*/
|
||||
hrt_abstime
|
||||
|
|
@ -706,7 +727,7 @@ hrt_store_absolute_time(volatile hrt_abstime *now)
|
|||
return ts;
|
||||
}
|
||||
|
||||
/*
|
||||
/**
|
||||
* Initalise the high-resolution timing module.
|
||||
*/
|
||||
void
|
||||
|
|
@ -721,7 +742,7 @@ hrt_init(void)
|
|||
#endif
|
||||
}
|
||||
|
||||
/*
|
||||
/**
|
||||
* Call callout(arg) after interval has elapsed.
|
||||
*/
|
||||
void
|
||||
|
|
@ -734,7 +755,7 @@ hrt_call_after(struct hrt_call *entry, hrt_abstime delay, hrt_callout callout, v
|
|||
arg);
|
||||
}
|
||||
|
||||
/*
|
||||
/**
|
||||
* Call callout(arg) at calltime.
|
||||
*/
|
||||
void
|
||||
|
|
@ -743,7 +764,7 @@ hrt_call_at(struct hrt_call *entry, hrt_abstime calltime, hrt_callout callout, v
|
|||
hrt_call_internal(entry, calltime, 0, callout, arg);
|
||||
}
|
||||
|
||||
/*
|
||||
/**
|
||||
* Call callout(arg) every period.
|
||||
*/
|
||||
void
|
||||
|
|
@ -762,13 +783,13 @@ hrt_call_internal(struct hrt_call *entry, hrt_abstime deadline, hrt_abstime inte
|
|||
irqstate_t flags = irqsave();
|
||||
|
||||
/* if the entry is currently queued, remove it */
|
||||
/* note that we are using a potentially uninitialised
|
||||
entry->link here, but it is safe as sq_rem() doesn't
|
||||
dereference the passed node unless it is found in the
|
||||
list. So we potentially waste a bit of time searching the
|
||||
queue for the uninitialised entry->link but we don't do
|
||||
anything actually unsafe.
|
||||
*/
|
||||
/* note that we are using a potentially uninitialised
|
||||
entry->link here, but it is safe as sq_rem() doesn't
|
||||
dereference the passed node unless it is found in the
|
||||
list. So we potentially waste a bit of time searching the
|
||||
queue for the uninitialised entry->link but we don't do
|
||||
anything actually unsafe.
|
||||
*/
|
||||
if (entry->deadline != 0)
|
||||
sq_rem(&entry->link, &callout_queue);
|
||||
|
||||
|
|
@ -782,7 +803,7 @@ hrt_call_internal(struct hrt_call *entry, hrt_abstime deadline, hrt_abstime inte
|
|||
irqrestore(flags);
|
||||
}
|
||||
|
||||
/*
|
||||
/**
|
||||
* If this returns true, the call has been invoked and removed from the callout list.
|
||||
*
|
||||
* Always returns false for repeating callouts.
|
||||
|
|
@ -793,7 +814,7 @@ hrt_called(struct hrt_call *entry)
|
|||
return (entry->deadline == 0);
|
||||
}
|
||||
|
||||
/*
|
||||
/**
|
||||
* Remove the entry from the callout list.
|
||||
*/
|
||||
void
|
||||
|
|
@ -876,17 +897,18 @@ hrt_call_invoke(void)
|
|||
/* if the callout has a non-zero period, it has to be re-entered */
|
||||
if (call->period != 0) {
|
||||
// re-check call->deadline to allow for
|
||||
// callouts to re-schedule themselves
|
||||
// callouts to re-schedule themselves
|
||||
// using hrt_call_delay()
|
||||
if (call->deadline <= now) {
|
||||
call->deadline = deadline + call->period;
|
||||
}
|
||||
|
||||
hrt_call_enter(call);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
/**
|
||||
* Reschedule the next timer interrupt.
|
||||
*
|
||||
* This routine must be called with interrupts disabled.
|
||||
|
|
|
|||
|
|
@ -52,11 +52,13 @@ PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q3, 0.005f);
|
|||
PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q4, 0.0f);
|
||||
|
||||
/* gyro measurement noise */
|
||||
PARAM_DEFINE_FLOAT(EKF_ATT_V3_R0, 0.0008f);
|
||||
PARAM_DEFINE_FLOAT(EKF_ATT_V3_R1, 10000.0f);
|
||||
PARAM_DEFINE_FLOAT(EKF_ATT_V3_R2, 1.0f);
|
||||
/* accelerometer measurement noise */
|
||||
PARAM_DEFINE_FLOAT(EKF_ATT_V3_R3, 0.0f);
|
||||
PARAM_DEFINE_FLOAT(EKF_ATT_V4_R0, 0.0008f);
|
||||
/* accel measurement noise */
|
||||
PARAM_DEFINE_FLOAT(EKF_ATT_V4_R1, 10000.0f);
|
||||
/* mag measurement noise */
|
||||
PARAM_DEFINE_FLOAT(EKF_ATT_V4_R2, 100.0f);
|
||||
/* offset estimation - UNUSED */
|
||||
PARAM_DEFINE_FLOAT(EKF_ATT_V4_R3, 0.0f);
|
||||
|
||||
/* offsets in roll, pitch and yaw of sensor plane and body */
|
||||
PARAM_DEFINE_FLOAT(ATT_ROLL_OFF3, 0.0f);
|
||||
|
|
@ -72,10 +74,10 @@ int parameters_init(struct attitude_estimator_ekf_param_handles *h)
|
|||
h->q3 = param_find("EKF_ATT_V3_Q3");
|
||||
h->q4 = param_find("EKF_ATT_V3_Q4");
|
||||
|
||||
h->r0 = param_find("EKF_ATT_V3_R0");
|
||||
h->r1 = param_find("EKF_ATT_V3_R1");
|
||||
h->r2 = param_find("EKF_ATT_V3_R2");
|
||||
h->r3 = param_find("EKF_ATT_V3_R3");
|
||||
h->r0 = param_find("EKF_ATT_V4_R0");
|
||||
h->r1 = param_find("EKF_ATT_V4_R1");
|
||||
h->r2 = param_find("EKF_ATT_V4_R2");
|
||||
h->r3 = param_find("EKF_ATT_V4_R3");
|
||||
|
||||
h->roll_off = param_find("ATT_ROLL_OFF3");
|
||||
h->pitch_off = param_find("ATT_PITCH_OFF3");
|
||||
|
|
|
|||
|
|
@ -50,7 +50,7 @@
|
|||
#define RC_CHANNEL_HIGH_THRESH 5000
|
||||
#define RC_CHANNEL_LOW_THRESH -5000
|
||||
|
||||
static bool ppm_input(uint16_t *values, uint16_t *num_values);
|
||||
static bool ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len);
|
||||
|
||||
static perf_counter_t c_gather_dsm;
|
||||
static perf_counter_t c_gather_sbus;
|
||||
|
|
@ -94,7 +94,7 @@ controls_tick() {
|
|||
* other. Don't do that.
|
||||
*/
|
||||
|
||||
/* receive signal strenght indicator (RSSI). 0 = no connection, 1000: perfect connection */
|
||||
/* receive signal strenght indicator (RSSI). 0 = no connection, 255: perfect connection */
|
||||
uint16_t rssi = 0;
|
||||
|
||||
perf_begin(c_gather_dsm);
|
||||
|
|
@ -108,7 +108,7 @@ controls_tick() {
|
|||
else
|
||||
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_RC_DSM11;
|
||||
|
||||
rssi = 1000;
|
||||
rssi = 255;
|
||||
}
|
||||
perf_end(c_gather_dsm);
|
||||
|
||||
|
|
@ -125,11 +125,11 @@ controls_tick() {
|
|||
* disable the PPM decoder completely if we have S.bus signal.
|
||||
*/
|
||||
perf_begin(c_gather_ppm);
|
||||
bool ppm_updated = ppm_input(r_raw_rc_values, &r_raw_rc_count);
|
||||
bool ppm_updated = ppm_input(r_raw_rc_values, &r_raw_rc_count, &r_page_status[PX4IO_P_STATUS_RC_DATA]);
|
||||
if (ppm_updated) {
|
||||
|
||||
/* XXX sample RSSI properly here */
|
||||
rssi = 1000;
|
||||
rssi = 255;
|
||||
|
||||
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_PPM;
|
||||
}
|
||||
|
|
@ -321,7 +321,7 @@ controls_tick() {
|
|||
}
|
||||
|
||||
static bool
|
||||
ppm_input(uint16_t *values, uint16_t *num_values)
|
||||
ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len)
|
||||
{
|
||||
bool result = false;
|
||||
|
||||
|
|
@ -345,6 +345,10 @@ ppm_input(uint16_t *values, uint16_t *num_values)
|
|||
/* clear validity */
|
||||
ppm_last_valid_decode = 0;
|
||||
|
||||
/* store PPM frame length */
|
||||
if (num_values)
|
||||
*frame_len = ppm_frame_length;
|
||||
|
||||
/* good if we got any channels */
|
||||
result = (*num_values > 0);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -128,7 +128,8 @@
|
|||
#define PX4IO_P_STATUS_VSERVO 6 /* [2] servo rail voltage in mV */
|
||||
#define PX4IO_P_STATUS_VRSSI 7 /* [2] RSSI voltage */
|
||||
#define PX4IO_P_STATUS_PRSSI 8 /* [2] RSSI PWM value */
|
||||
#define PX4IO_P_STATUS_NRSSI 9 /* [2] Normalized RSSI value, 0: no reception, 1000: perfect reception */
|
||||
#define PX4IO_P_STATUS_NRSSI 9 /* [2] Normalized RSSI value, 0: no reception, 255: perfect reception */
|
||||
#define PX4IO_P_STATUS_RC_DATA 10 /* [1] + [2] Details about the RC source (PPM frame length, Spektrum protocol type) */
|
||||
|
||||
/* array of post-mix actuator outputs, -10000..10000 */
|
||||
#define PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */
|
||||
|
|
|
|||
|
|
@ -89,7 +89,9 @@ uint16_t r_page_status[] = {
|
|||
[PX4IO_P_STATUS_IBATT] = 0,
|
||||
[PX4IO_P_STATUS_VSERVO] = 0,
|
||||
[PX4IO_P_STATUS_VRSSI] = 0,
|
||||
[PX4IO_P_STATUS_PRSSI] = 0
|
||||
[PX4IO_P_STATUS_PRSSI] = 0,
|
||||
[PX4IO_P_STATUS_NRSSI] = 0,
|
||||
[PX4IO_P_STATUS_RC_DATA] = 0
|
||||
};
|
||||
|
||||
/**
|
||||
|
|
@ -582,6 +584,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
|
|||
/* this option is normally set last */
|
||||
if (value & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) {
|
||||
uint8_t count = 0;
|
||||
bool disabled = false;
|
||||
|
||||
/* assert min..center..max ordering */
|
||||
if (conf[PX4IO_P_RC_CONFIG_MIN] < 500) {
|
||||
|
|
@ -600,7 +603,10 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
|
|||
if (conf[PX4IO_P_RC_CONFIG_DEADZONE] > 500) {
|
||||
count++;
|
||||
}
|
||||
if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_RC_MAPPED_CONTROL_CHANNELS) {
|
||||
|
||||
if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] == UINT8_MAX) {
|
||||
disabled = true;
|
||||
} else if ((int)(conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]) < 0 || conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_RC_MAPPED_CONTROL_CHANNELS) {
|
||||
count++;
|
||||
}
|
||||
|
||||
|
|
@ -608,7 +614,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
|
|||
if (count) {
|
||||
isr_debug(0, "ERROR: %d config error(s) for RC%d.\n", count, (channel + 1));
|
||||
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_INIT_OK;
|
||||
} else {
|
||||
} else if (!disabled) {
|
||||
conf[index] |= PX4IO_P_RC_CONFIG_OPTIONS_ENABLED;
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -280,7 +280,7 @@ sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint
|
|||
*rssi = 100; // XXX magic number indicating bad signal, but not a signal loss (yet)
|
||||
}
|
||||
|
||||
*rssi = 1000;
|
||||
*rssi = 255;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -104,49 +104,49 @@ PARAM_DEFINE_FLOAT(RC1_MIN, 1000.0f);
|
|||
PARAM_DEFINE_FLOAT(RC1_TRIM, 1500.0f);
|
||||
PARAM_DEFINE_FLOAT(RC1_MAX, 2000.0f);
|
||||
PARAM_DEFINE_FLOAT(RC1_REV, 1.0f);
|
||||
PARAM_DEFINE_FLOAT(RC1_DZ, 0.0f);
|
||||
PARAM_DEFINE_FLOAT(RC1_DZ, 10.0f);
|
||||
|
||||
PARAM_DEFINE_FLOAT(RC2_MIN, 1000);
|
||||
PARAM_DEFINE_FLOAT(RC2_TRIM, 1500);
|
||||
PARAM_DEFINE_FLOAT(RC2_MAX, 2000);
|
||||
PARAM_DEFINE_FLOAT(RC2_REV, 1.0f);
|
||||
PARAM_DEFINE_FLOAT(RC2_DZ, 0.0f);
|
||||
PARAM_DEFINE_FLOAT(RC2_DZ, 10.0f);
|
||||
|
||||
PARAM_DEFINE_FLOAT(RC3_MIN, 1000);
|
||||
PARAM_DEFINE_FLOAT(RC3_TRIM, 1500);
|
||||
PARAM_DEFINE_FLOAT(RC3_MAX, 2000);
|
||||
PARAM_DEFINE_FLOAT(RC3_REV, 1.0f);
|
||||
PARAM_DEFINE_FLOAT(RC3_DZ, 0.0f);
|
||||
PARAM_DEFINE_FLOAT(RC3_DZ, 10.0f);
|
||||
|
||||
PARAM_DEFINE_FLOAT(RC4_MIN, 1000);
|
||||
PARAM_DEFINE_FLOAT(RC4_TRIM, 1500);
|
||||
PARAM_DEFINE_FLOAT(RC4_MAX, 2000);
|
||||
PARAM_DEFINE_FLOAT(RC4_REV, 1.0f);
|
||||
PARAM_DEFINE_FLOAT(RC4_DZ, 30.0f);
|
||||
PARAM_DEFINE_FLOAT(RC4_DZ, 10.0f);
|
||||
|
||||
PARAM_DEFINE_FLOAT(RC5_MIN, 1000);
|
||||
PARAM_DEFINE_FLOAT(RC5_TRIM, 1500);
|
||||
PARAM_DEFINE_FLOAT(RC5_MAX, 2000);
|
||||
PARAM_DEFINE_FLOAT(RC5_REV, 1.0f);
|
||||
PARAM_DEFINE_FLOAT(RC5_DZ, 0.0f);
|
||||
PARAM_DEFINE_FLOAT(RC5_DZ, 10.0f);
|
||||
|
||||
PARAM_DEFINE_FLOAT(RC6_MIN, 1000);
|
||||
PARAM_DEFINE_FLOAT(RC6_TRIM, 1500);
|
||||
PARAM_DEFINE_FLOAT(RC6_MAX, 2000);
|
||||
PARAM_DEFINE_FLOAT(RC6_REV, 1.0f);
|
||||
PARAM_DEFINE_FLOAT(RC6_DZ, 0.0f);
|
||||
PARAM_DEFINE_FLOAT(RC6_DZ, 10.0f);
|
||||
|
||||
PARAM_DEFINE_FLOAT(RC7_MIN, 1000);
|
||||
PARAM_DEFINE_FLOAT(RC7_TRIM, 1500);
|
||||
PARAM_DEFINE_FLOAT(RC7_MAX, 2000);
|
||||
PARAM_DEFINE_FLOAT(RC7_REV, 1.0f);
|
||||
PARAM_DEFINE_FLOAT(RC7_DZ, 0.0f);
|
||||
PARAM_DEFINE_FLOAT(RC7_DZ, 10.0f);
|
||||
|
||||
PARAM_DEFINE_FLOAT(RC8_MIN, 1000);
|
||||
PARAM_DEFINE_FLOAT(RC8_TRIM, 1500);
|
||||
PARAM_DEFINE_FLOAT(RC8_MAX, 2000);
|
||||
PARAM_DEFINE_FLOAT(RC8_REV, 1.0f);
|
||||
PARAM_DEFINE_FLOAT(RC8_DZ, 0.0f);
|
||||
PARAM_DEFINE_FLOAT(RC8_DZ, 10.0f);
|
||||
|
||||
PARAM_DEFINE_FLOAT(RC9_MIN, 1000);
|
||||
PARAM_DEFINE_FLOAT(RC9_TRIM, 1500);
|
||||
|
|
|
|||
|
|
@ -57,6 +57,7 @@ __BEGIN_DECLS
|
|||
* PPM decoder state
|
||||
*/
|
||||
__EXPORT extern uint16_t ppm_buffer[PPM_MAX_CHANNELS]; /**< decoded PPM channel values */
|
||||
__EXPORT extern uint16_t ppm_frame_length; /**< length of the decoded PPM frame (includes gap) */
|
||||
__EXPORT extern unsigned ppm_decoded_channels; /**< count of decoded channels */
|
||||
__EXPORT extern hrt_abstime ppm_last_valid_decode; /**< timestamp of the last valid decode */
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue