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px4-firmware
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manual merge of origin/master into fw_control

This commit is contained in:
Thomas Gubler 2012-11-25 00:50:25 +01:00
parent 6fb54ec62c dc72d467d4
commit dd05426002
7 changed files with 47 additions and 78 deletions
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11
apps/drivers/device/spi.cpp
View File

@ -86,7 +86,7 @@ SPI::init()
{
int ret = OK;
// attach to the spi bus
/* attach to the spi bus */
if (_dev == nullptr)
_dev = up_spiinitialize(_bus);
@ -96,7 +96,10 @@ SPI::init()
goto out;
}
// call the probe function to check whether the device is present
/* deselect device to ensure high to low transition of pin select */
SPI_SELECT(_dev, _device, false);
/* call the probe function to check whether the device is present */
ret = probe();
if (ret != OK) {
@ -104,7 +107,7 @@ SPI::init()
goto out;
}
// do base class init, which will create the device node, etc.
/* do base class init, which will create the device node, etc. */
ret = CDev::init();
if (ret != OK) {
@ -112,7 +115,7 @@ SPI::init()
goto out;
}
// tell the workd where we are
/* tell the workd where we are */
log("on SPI bus %d at %d", _bus, _device);
out:

8
apps/drivers/l3gd20/l3gd20.cpp
View File

@ -151,7 +151,7 @@ extern "C" { __EXPORT int l3gd20_main(int argc, char *argv[]); }
class L3GD20 : public device::SPI
{
public:
L3GD20(int bus, spi_dev_e device);
L3GD20(int bus, const char* path, spi_dev_e device);
~L3GD20();
virtual int init();
@ -265,8 +265,8 @@ private:
#define INCREMENT(_x, _lim) do { _x++; if (_x >= _lim) _x = 0; } while(0)
L3GD20::L3GD20(int bus, spi_dev_e device) :
SPI("L3GD20", GYRO_DEVICE_PATH, bus, device, SPIDEV_MODE3, 8000000),
L3GD20::L3GD20(int bus, const char* path, spi_dev_e device) :
SPI("L3GD20", path, bus, device, SPIDEV_MODE3, 8000000),
_call_interval(0),
_num_reports(0),
_next_report(0),
@ -745,7 +745,7 @@ start()
errx(1, "already started");
/* create the driver */
g_dev = new L3GD20(1 /* XXX magic number */, (spi_dev_e)PX4_SPIDEV_GYRO);
g_dev = new L3GD20(1 /* XXX magic number */, GYRO_DEVICE_PATH, (spi_dev_e)PX4_SPIDEV_GYRO);
if (g_dev == nullptr)
goto fail;

46
apps/fixedwing_att_control/fixedwing_att_control_main.c
View File

@ -138,7 +138,13 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
memset(&rates_sp, 0, sizeof(rates_sp));
struct vehicle_global_position_s global_pos;
memset(&global_pos, 0, sizeof(global_pos));
struct manual_control_setpoint_s manual_sp;
memset(&manual_sp, 0, sizeof(manual_sp));
struct vehicle_status_s vstatus;
memset(&vstatus, 0, sizeof(vstatus));
// static struct debug_key_value_s debug_output;
// memset(&debug_output, 0, sizeof(debug_output));
/* output structs */
struct actuator_controls_s actuators;
@ -148,17 +154,20 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
/* publish actuator controls */
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++)
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) {
actuators.control[i] = 0.0f;
}
orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
orb_advert_t debug_pub = orb_advertise(ORB_ID(debug_key_value), &debug_output);
debug_output.key[0] = '1';
/* subscribe */
/* subscribe */
int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
int att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
int manual_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
int vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
/* Setup of loop */
float gyro[3] = {0.0f, 0.0f, 0.0f};
@ -200,24 +209,39 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
}
}
orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub, &manual_sp);
orb_copy(ORB_ID(vehicle_status), vstatus_sub, &vstatus);
gyro[0] = att.rollspeed;
gyro[1] = att.pitchspeed;
gyro[2] = att.yawspeed;
/* Control */
if (vstatus.state_machine == SYSTEM_STATE_AUTO) {
/* Attitude Control */
fixedwing_att_control_attitude(&att_sp,
&att,
&speed_body,
&rates_sp);
/* Attitude Control */
fixedwing_att_control_attitude(&att_sp,
&att,
&speed_body,
&rates_sp);
/* Attitude Rate Control */
fixedwing_att_control_rates(&rates_sp, gyro, &actuators);
/* Attitude Rate Control */
fixedwing_att_control_rates(&rates_sp, gyro, &actuators);
//REMOVEME XXX
actuators.control[3] = 0.7f;
//REMOVEME XXX
actuators.control[3] = 0.7f;
// debug_output.value = rates_sp.pitch;
// orb_publish(ORB_ID(debug_key_value), debug_pub, &debug_output);
} else if (vstatus.state_machine == SYSTEM_STATE_MANUAL) {
/* directly pass through values */
actuators.control[0] = manual_sp.roll;
/* positive pitch means negative actuator -> pull up */
actuators.control[1] = -manual_sp.pitch;
actuators.control[2] = manual_sp.yaw;
actuators.control[3] = manual_sp.throttle;
}
/* publish output */
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
debug_output.value = rates_sp.yaw;
orb_publish(ORB_ID(debug_key_value), debug_pub, &debug_output);

54
apps/fixedwing_pos_control/fixedwing_pos_control.h
View File

@ -1,54 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Doug Weibel <douglas.weibel@colorado.edu>
* @author Lorenz Meier <lm@inf.ethz.ch>
@author Thomas Gubler <thomasgubler@student.ethz.ch>
*
* 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 fixedwing_pos_control.h
* Position control for fixed wing airframes.
*/
#ifndef FIXEDWING_POS_CONTROL_H_
#define FIXEDWING_POS_CONTROL_H_
float _wrap180(float bearing);
float _wrap360(float bearing);
float _wrapPI(float bearing);
float _wrap2PI(float bearing);
/* FIXEDWING_CONTROL_H_ */

1
apps/mavlink_onboard/mavlink_receiver.c
View File

@ -162,7 +162,6 @@ handle_message(mavlink_message_t *msg)
orb_publish(ORB_ID(optical_flow), flow_pub, &f);
}
printf("GOT FLOW!\n");
}
if (msg->msgid == MAVLINK_MSG_ID_SET_MODE) {

3
apps/multirotor_att_control/multirotor_att_control_main.c
View File

@ -272,9 +272,6 @@ mc_thread_main(int argc, char *argv[])
if (rc_loss_first_time)
att_sp.yaw_body = att.yaw;
// XXX hard-limit it to prevent ballistic mishaps - this is just supposed to
// slow a crash down, not actually keep the system in-air.
rc_loss_first_time = false;
} else {

2
apps/systemcmds/preflight_check/preflight_check.c
View File

@ -145,7 +145,7 @@ system_eval:
led_toggle(leds, LED_BLUE);
/* display and sound error */
for (int i = 0; i < 200; i++)
for (int i = 0; i < 150; i++)
{
led_toggle(leds, LED_BLUE);
led_toggle(leds, LED_AMBER);