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px4-firmware
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Merged master

This commit is contained in:
Lorenz Meier 2014-01-05 01:48:07 +01:00
parent a5e95bde0a 4d3a2c824c
commit c8801ae3b7
6 changed files with 33 additions and 27 deletions
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10
makefiles/config_px4fmu-v1_default.mk
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@ -21,7 +21,7 @@ MODULES += drivers/px4fmu
MODULES += drivers/boards/px4fmu-v1 MODULES += drivers/boards/px4fmu-v1
MODULES += drivers/ardrone_interface MODULES += drivers/ardrone_interface
MODULES += drivers/l3gd20 MODULES += drivers/l3gd20
MODULES += drivers/bma180 #MODULES += drivers/bma180
MODULES += drivers/mpu6000 MODULES += drivers/mpu6000
MODULES += drivers/hmc5883 MODULES += drivers/hmc5883
MODULES += drivers/ms5611 MODULES += drivers/ms5611
@ -33,7 +33,6 @@ MODULES += drivers/hott/hott_sensors
MODULES += drivers/blinkm MODULES += drivers/blinkm
MODULES += drivers/rgbled MODULES += drivers/rgbled
MODULES += drivers/mkblctrl MODULES += drivers/mkblctrl
MODULES += drivers/roboclaw
MODULES += drivers/airspeed MODULES += drivers/airspeed
MODULES += drivers/ets_airspeed MODULES += drivers/ets_airspeed
MODULES += drivers/meas_airspeed MODULES += drivers/meas_airspeed
@ -75,18 +74,17 @@ MODULES += modules/attitude_estimator_ekf
MODULES += modules/attitude_estimator_so3 MODULES += modules/attitude_estimator_so3
MODULES += modules/fw_att_pos_estimator MODULES += modules/fw_att_pos_estimator
MODULES += modules/position_estimator_inav MODULES += modules/position_estimator_inav
MODULES += examples/flow_position_estimator #MODULES += examples/flow_position_estimator
# #
# Vehicle Control # Vehicle Control
# #
#MODULES += modules/segway # XXX Needs GCC 4.7 fix
MODULES += modules/fw_pos_control_l1 MODULES += modules/fw_pos_control_l1
MODULES += modules/fw_att_control MODULES += modules/fw_att_control
MODULES += modules/multirotor_att_control MODULES += modules/multirotor_att_control
MODULES += modules/multirotor_pos_control MODULES += modules/multirotor_pos_control
MODULES += examples/flow_position_control #MODULES += examples/flow_position_control
MODULES += examples/flow_speed_control #MODULES += examples/flow_speed_control
# #
# Logging # Logging

6
src/drivers/boards/px4fmu-v1/board_config.h
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@ -1,6 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (C) 2012 PX4 Development Team. All rights reserved. * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
@ -34,7 +34,7 @@
/** /**
* @file board_config.h * @file board_config.h
* *
* PX4FMU internal definitions * PX4FMUv1 internal definitions
*/ */
#pragma once #pragma once
@ -180,7 +180,7 @@ __BEGIN_DECLS
#define HRT_TIMER 1 /* use timer1 for the HRT */ #define HRT_TIMER 1 /* use timer1 for the HRT */
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */ #define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
#define HRT_PPM_CHANNEL 3 /* use capture/compare channel 3 */ #define HRT_PPM_CHANNEL 3 /* use capture/compare channel 3 */
#define GPIO_PPM_IN (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN10) #define GPIO_PPM_IN (GPIO_ALT|GPIO_AF1|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN10)
/**************************************************************************************************** /****************************************************************************************************
* Public Types * Public Types

26
src/drivers/boards/px4fmu-v2/board_config.h
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@ -1,6 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (C) 2012 PX4 Development Team. All rights reserved. * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
@ -34,7 +34,7 @@
/** /**
* @file board_config.h * @file board_config.h
* *
* PX4FMU internal definitions * PX4FMUv2 internal definitions
*/ */
#pragma once #pragma once
@ -82,21 +82,21 @@ __BEGIN_DECLS
#define GPIO_EXTI_MPU_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15) #define GPIO_EXTI_MPU_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
/* Data ready pins off */ /* Data ready pins off */
#define GPIO_GYRO_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN0) #define GPIO_GYRO_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN0)
#define GPIO_MAG_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN1) #define GPIO_MAG_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN1)
#define GPIO_ACCEL_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN4) #define GPIO_ACCEL_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN4)
#define GPIO_EXTI_MPU_DRDY (GPIO_INPUT|GPIO_PULLDOWN|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15) #define GPIO_EXTI_MPU_DRDY (GPIO_INPUT|GPIO_PULLDOWN|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
/* SPI1 off */ /* SPI1 off */
#define GPIO_SPI1_SCK_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN5) #define GPIO_SPI1_SCK_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN5)
#define GPIO_SPI1_MISO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN6) #define GPIO_SPI1_MISO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN6)
#define GPIO_SPI1_MOSI_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN7) #define GPIO_SPI1_MOSI_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN7)
/* SPI1 chip selects off */ /* SPI1 chip selects off */
#define GPIO_SPI_CS_GYRO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN13) #define GPIO_SPI_CS_GYRO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN13)
#define GPIO_SPI_CS_ACCEL_MAG_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN15) #define GPIO_SPI_CS_ACCEL_MAG_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN15)
#define GPIO_SPI_CS_BARO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTD|GPIO_PIN7) #define GPIO_SPI_CS_BARO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTD|GPIO_PIN7)
#define GPIO_SPI_CS_MPU (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN2) #define GPIO_SPI_CS_MPU (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN2)
/* SPI chip selects */ /* SPI chip selects */
#define GPIO_SPI_CS_GYRO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13) #define GPIO_SPI_CS_GYRO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
@ -177,7 +177,7 @@ __BEGIN_DECLS
* *
* PA9 OTG_FS_VBUS VBUS sensing (also connected to the green LED) * PA9 OTG_FS_VBUS VBUS sensing (also connected to the green LED)
*/ */
#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9) #define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
/* High-resolution timer */ /* High-resolution timer */
#define HRT_TIMER 8 /* use timer8 for the HRT */ #define HRT_TIMER 8 /* use timer8 for the HRT */

4
src/drivers/boards/px4io-v1/board_config.h
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@ -1,6 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (C) 2012 PX4 Development Team. All rights reserved. * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
@ -92,4 +92,4 @@
#define HRT_TIMER 1 /* use timer1 for the HRT */ #define HRT_TIMER 1 /* use timer1 for the HRT */
#define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 2 */ #define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 2 */
#define HRT_PPM_CHANNEL 1 /* use capture/compare channel 1 */ #define HRT_PPM_CHANNEL 1 /* use capture/compare channel 1 */
#define GPIO_PPM_IN GPIO_TIM1_CH1IN #define GPIO_PPM_IN (GPIO_ALT|GPIO_CNF_INPULLUP|GPIO_PORTE|GPIO_PIN9)

6
src/drivers/boards/px4io-v2/board_config.h
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@ -1,6 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (C) 2012 PX4 Development Team. All rights reserved. * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
@ -32,7 +32,7 @@
****************************************************************************/ ****************************************************************************/
/** /**
* @file px4iov2_internal.h * @file board_config.h
* *
* PX4IOV2 internal definitions * PX4IOV2 internal definitions
*/ */
@ -122,7 +122,7 @@
#define HRT_TIMER 1 /* use timer1 for the HRT */ #define HRT_TIMER 1 /* use timer1 for the HRT */
#define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 2 */ #define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 2 */
#define HRT_PPM_CHANNEL 1 /* use capture/compare channel 1 */ #define HRT_PPM_CHANNEL 1 /* use capture/compare channel 1 */
#define GPIO_PPM_IN GPIO_TIM1_CH1IN #define GPIO_PPM_IN (GPIO_ALT|GPIO_CNF_INPULLUP|GPIO_PORTE|GPIO_PIN9)
/* LED definitions ******************************************************************/ /* LED definitions ******************************************************************/
/* PX4 has two LEDs that we will encode as: */ /* PX4 has two LEDs that we will encode as: */

8
src/lib/external_lgpl/tecs/tecs.cpp
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@ -404,10 +404,18 @@ void TECS::_update_pitch(void)
// Apply max and min values for integrator state that will allow for no more than // Apply max and min values for integrator state that will allow for no more than
// 5deg of saturation. This allows for some pitch variation due to gusts before the // 5deg of saturation. This allows for some pitch variation due to gusts before the
// integrator is clipped. Otherwise the effectiveness of the integrator will be reduced in turbulence // integrator is clipped. Otherwise the effectiveness of the integrator will be reduced in turbulence
// During climbout/takeoff, bias the demanded pitch angle so that zero speed error produces a pitch angle
// demand equal to the minimum value (which is )set by the mission plan during this mode). Otherwise the
// integrator has to catch up before the nose can be raised to reduce speed during climbout.
float gainInv = (_integ5_state * _timeConst * CONSTANTS_ONE_G); float gainInv = (_integ5_state * _timeConst * CONSTANTS_ONE_G);
float temp = SEB_error + SEBdot_error * _ptchDamp + SEBdot_dem * _timeConst; float temp = SEB_error + SEBdot_error * _ptchDamp + SEBdot_dem * _timeConst;
if (_climbOutDem)
{
temp += _PITCHminf * gainInv;
}
_integ7_state = constrain(_integ7_state, (gainInv * (_PITCHminf - 0.0783f)) - temp, (gainInv * (_PITCHmaxf + 0.0783f)) - temp); _integ7_state = constrain(_integ7_state, (gainInv * (_PITCHminf - 0.0783f)) - temp, (gainInv * (_PITCHmaxf + 0.0783f)) - temp);
// Calculate pitch demand from specific energy balance signals // Calculate pitch demand from specific energy balance signals
_pitch_dem_unc = (temp + _integ7_state) / gainInv; _pitch_dem_unc = (temp + _integ7_state) / gainInv;