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Added ground estimator, fixed RC calibration

This commit is contained in:
Lorenz Meier 2012-09-12 10:34:49 +02:00
parent b7c8b7d9f1
commit cb57fdb28c
4 changed files with 186 additions and 19 deletions
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14
apps/mavlink/mavlink.c
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@ -754,9 +754,9 @@ static void *uorb_receiveloop(void *arg)
/* handle the poll result */
if (poll_ret == 0) {
/* XXX this means none of our providers is giving us data - might be an error? */
mavlink_missionlib_send_gcs_string("[mavlink] No telemetry data for 1 s");
} else if (poll_ret < 0) {
/* XXX this is seriously bad - should be an emergency */
mavlink_missionlib_send_gcs_string("[mavlink] ERROR reading uORB data");
} else {
int ifds = 0;
@ -867,7 +867,8 @@ static void *uorb_receiveloop(void *arg)
/* copy rc channels into local buffer */
orb_copy(ORB_ID(rc_channels), rc_sub, &rc);
/* Channels are sent in MAVLink main loop at a fixed interval */
// TODO decide where to send channels
mavlink_msg_rc_channels_raw_send(chan, rc.timestamp / 1000, 0, rc.chan[0].raw, rc.chan[1].raw, rc.chan[2].raw, rc.chan[3].raw,
rc.chan[4].raw, rc.chan[5].raw, rc.chan[6].raw, rc.chan[7].raw, rc.rssi);
}
/* --- VEHICLE GLOBAL POSITION --- */
@ -1617,13 +1618,6 @@ int mavlink_thread_main(int argc, char *argv[])
v_status.onboard_control_sensors_health, v_status.load, v_status.voltage_battery * 1000.f, v_status.current_battery * 1000.f,
v_status.battery_remaining, v_status.drop_rate_comm, v_status.errors_comm,
v_status.errors_count1, v_status.errors_count2, v_status.errors_count3, v_status.errors_count4);
/* send over MAVLink */
if ((hrt_absolute_time() - rc.timestamp) < 200000) {
mavlink_msg_rc_channels_raw_send(chan, rc.timestamp / 1000, 0, rc.chan[0].raw, rc.chan[1].raw, rc.chan[2].raw, rc.chan[3].raw,
rc.chan[4].raw, rc.chan[5].raw, rc.chan[6].raw, rc.chan[7].raw, rc.rssi);
}
lowspeed_counter = 0;
}
lowspeed_counter++;

42
apps/px4/ground_estimator/Makefile Normal file
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@ -0,0 +1,42 @@
############################################################################
#
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
#
# Basic example application
#
APPNAME = ground_estimator
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 2048
include $(APPDIR)/mk/app.mk

129
apps/px4/ground_estimator/ground_estimator.c Normal file
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@ -0,0 +1,129 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Example User <mail@example.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file ground_estimator.c
* ground_estimator application example for PX4 autopilot
*/
#include <nuttx/config.h>
#include <unistd.h>
#include <stdio.h>
static bool thread_should_exit = false; /**< ground_estimator exit flag */
static bool thread_running = false; /**< ground_estimator status flag */
static int ground_estimator_task; /**< Handle of ground_estimator task / thread */
/**
* ground_estimator management function.
*/
__EXPORT int ground_estimator_app_main(int argc, char *argv[]);
/**
* Mainloop of ground_estimator.
*/
int ground_estimator_thread_main(int argc, char *argv[]);
/**
* Print the correct usage.
*/
static void usage(const char *reason);
int ground_estimator_thread_main(int argc, char *argv[]) {
printf("[ground_estimator] starting\n");
while (!thread_should_exit) {
printf("Hello ground_estimator!\n");
sleep(10);
}
printf("[ground_estimator] exiting.\n");
return 0;
}
static void
usage(const char *reason)
{
if (reason)
fprintf(stderr, "%s\n", reason);
fprintf(stderr, "usage: ground_estimator {start|stop|status} [-p <additional params>]\n\n");
exit(1);
}
/**
* The ground_estimator app only briefly exists to start
* the background job. The stack size assigned in the
* Makefile does only apply to this management task.
*
* The actual stack size should be set in the call
* to task_create().
*/
int ground_estimator_app_main(int argc, char *argv[])
{
if (argc < 1)
usage("missing command");
if (!strcmp(argv[1], "start")) {
if (thread_running) {
printf("ground_estimator already running\n");
/* this is not an error */
exit(0);
}
thread_should_exit = false;
ground_estimator_task = task_create("ground_estimator", SCHED_PRIORITY_DEFAULT, 4096, ground_estimator_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL);
thread_running = true;
exit(0);
}
if (!strcmp(argv[1], "stop")) {
thread_should_exit = true;
exit(0);
}
if (!strcmp(argv[1], "status")) {
if (thread_running) {
printf("\tground_estimator is running\n");
} else {
printf("\tground_estimator not started\n");
}
exit(0);
}
usage("unrecognized command");
exit(1);
}

20
apps/sensors/sensors.cpp
View File

@ -195,9 +195,9 @@ private:
int rc_map_throttle;
int rc_map_mode_sw;
int rc_scale_roll;
int rc_scale_pitch;
int rc_scale_yaw;
float rc_scale_roll;
float rc_scale_pitch;
float rc_scale_yaw;
float battery_voltage_scaling;
} _parameters; /**< local copies of interesting parameters */
@ -960,17 +960,19 @@ Sensors::ppm_poll()
_rc.chan[i].scale = (ppm_buffer[i] - _rc.chan[i].mid) * _rc.chan[i].scaling_factor * 10000;
/* scale around the mid point differently for lower and upper range */
if (ppm_buffer[i] > _rc.chan[i].mid + _parameters.dz[i]) {
_rc.chan[i].scaled = ((ppm_buffer[i] - _parameters.trim[i]) / (_parameters.max[i] - _parameters.trim[i]));
} else if ((ppm_buffer[i] < _rc_chan[i].mid - _parameters.dz[i])) {
_rc.chan[i].scaled = -1.0 + ((ppm_buffer[i] - _parameters.min[i]) / (_parameters.trim[i] - _parameters.min[i]));
if (ppm_buffer[i] > (_parameters.trim[i] + _parameters.dz[i])) {
_rc.chan[i].scaled = (ppm_buffer[i] - _parameters.trim[i]) / (float)(_parameters.max[i] - _parameters.trim[i]);
} else if (ppm_buffer[i] < (_parameters.trim[i] - _parameters.dz[i])) {
/* division by zero impossible for trim == min (as for throttle), as this falls in the above if clause */
_rc.chan[i].scaled = -1.0 + ((ppm_buffer[i] - _parameters.min[i]) / (float)(_parameters.trim[i] - _parameters.min[i]));
} else {
/* in the configured dead zone, output zero */
_rc.chan[i].scaled = 0.0f;
}
/* reverse channel if required */
_rc.chan[i] *= _parameters.rev[i];
_rc.chan[i].scaled *= _parameters.rev[i];
/* handle any parameter-induced blowups */
if (isnan(_rc.chan[i].scaled) || isinf(_rc.chan[i].scaled))
@ -1001,7 +1003,7 @@ Sensors::ppm_poll()
if (manual_control.yaw > 1.0f) manual_control.yaw = 1.0f;
/* throttle input */
manual_control.throttle = _rc.chan[_rc.function[THROTTLE]].scaled/2.0f;
manual_control.throttle = _rc.chan[_rc.function[THROTTLE]].scaled;
if (manual_control.throttle < 0.0f) manual_control.throttle = 0.0f;
if (manual_control.throttle > 1.0f) manual_control.throttle = 1.0f;