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px4-firmware
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Merge branch 'master' of github.com:PX4/Firmware into indoor

This commit is contained in:
Lorenz Meier 2014-08-20 20:23:13 +02:00
parent 03e6dbed80 56ec052346
commit ebf7e1c22f
17 changed files with 203 additions and 106 deletions
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2
ROMFS/px4fmu_common/init.d/rc.usb
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@ -23,7 +23,7 @@ mavlink stream -d /dev/ttyACM0 -s RC_CHANNELS_RAW -r 5
usleep 100000
mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 20
usleep 100000
mavlink stream -d /dev/ttyACM0 -s GLOBAL_POSITION_SETPOINT_INT -r 20
mavlink stream -d /dev/ttyACM0 -s POSITION_TARGET_GLOBAL_INT -r 10
usleep 100000
# Exit shell to make it available to MAVLink

5
makefiles/config_px4fmu-v1_default.mk
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@ -25,7 +25,6 @@ MODULES += drivers/mpu6000
MODULES += drivers/hmc5883
MODULES += drivers/ms5611
MODULES += drivers/mb12xx
MODULES += drivers/ll40ls
MODULES += drivers/gps
MODULES += drivers/hil
MODULES += drivers/hott/hott_telemetry
@ -44,7 +43,6 @@ MODULES += modules/sensors
#
MODULES += systemcmds/mtd
MODULES += systemcmds/bl_update
MODULES += systemcmds/i2c
MODULES += systemcmds/mixer
MODULES += systemcmds/param
MODULES += systemcmds/perf
@ -152,5 +150,4 @@ endef
# command priority stack entrypoint
BUILTIN_COMMANDS := \
$(call _B, sercon, , 2048, sercon_main ) \
$(call _B, serdis, , 2048, serdis_main ) \
$(call _B, sysinfo, , 2048, sysinfo_main )
$(call _B, serdis, , 2048, serdis_main )

7
src/drivers/airspeed/airspeed.cpp
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@ -165,7 +165,7 @@ Airspeed::probe()
*/
_retries = 4;
int ret = measure();
_retries = 2;
_retries = 0;
return ret;
}
@ -381,7 +381,10 @@ Airspeed::cycle_trampoline(void *arg)
Airspeed *dev = (Airspeed *)arg;
dev->cycle();
dev->update_status();
// XXX we do not know if this is
// really helping - do not update the
// subsys state right now
//dev->update_status();
}
void

3
src/drivers/hmc5883/hmc5883.cpp
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@ -1283,14 +1283,13 @@ int HMC5883::set_excitement(unsigned enable)
if (OK != ret)
perf_count(_comms_errors);
_conf_reg &= ~0x03; // reset previous excitement mode
if (((int)enable) < 0) {
_conf_reg |= 0x01;
} else if (enable > 0) {
_conf_reg |= 0x02;
} else {
_conf_reg &= ~0x03;
}
// ::printf("set_excitement enable=%d regA=0x%x\n", (int)enable, (unsigned)_conf_reg);

2
src/drivers/ms5611/ms5611.cpp
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@ -130,7 +130,7 @@ protected:
float _T;
/* altitude conversion calibration */
unsigned _msl_pressure; /* in kPa */
unsigned _msl_pressure; /* in Pa */
orb_advert_t _baro_topic;

2
src/drivers/px4io/px4io.cpp
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@ -1968,7 +1968,7 @@ PX4IO::print_status(bool extended_status)
printf("actuators");
for (unsigned i = 0; i < _max_actuators; i++)
printf(" %u", io_reg_get(PX4IO_PAGE_ACTUATORS, i));
printf(" %hi", int16_t(io_reg_get(PX4IO_PAGE_ACTUATORS, i)));
printf("\n");
printf("servos");

3
src/drivers/sf0x/sf0x.cpp
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@ -598,7 +598,8 @@ SF0X::collect()
memcpy(_linebuf, buf, (lend + 1) - (i + 1));
}
if (_linebuf[i] == '.') {
/* we need a digit before the dot and a dot for a valid number */
if (i > 0 && _linebuf[i] == '.') {
valid = true;
}
}

6
src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
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@ -169,7 +169,7 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch,
if (!lock_integrator && _k_i > 0.0f && airspeed > 0.5f * airspeed_min) {
float id = _rate_error * dt;
float id = _rate_error * dt * scaler;
/*
* anti-windup: do not allow integrator to increase if actuator is at limit
@ -190,7 +190,9 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch,
float integrator_constrained = math::constrain(_integrator * _k_i, -_integrator_max, _integrator_max);
/* Apply PI rate controller and store non-limited output */
_last_output = (_bodyrate_setpoint * _k_ff +_rate_error * _k_p + integrator_constrained) * scaler * scaler; //scaler is proportional to 1/airspeed
_last_output = _bodyrate_setpoint * _k_ff * scaler +
_rate_error * _k_p * scaler * scaler
+ integrator_constrained; //scaler is proportional to 1/airspeed
// warnx("pitch: _integrator: %.4f, _integrator_max: %.4f, airspeed %.4f, _k_i %.4f, _k_p: %.4f", (double)_integrator, (double)_integrator_max, (double)airspeed, (double)_k_i, (double)_k_p);
// warnx("roll: _last_output %.4f", (double)_last_output);
return math::constrain(_last_output, -1.0f, 1.0f);

6
src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
View File

@ -135,7 +135,7 @@ float ECL_RollController::control_bodyrate(float pitch,
if (!lock_integrator && _k_i > 0.0f && airspeed > 0.5f * airspeed_min) {
float id = _rate_error * dt;
float id = _rate_error * dt * scaler;
/*
* anti-windup: do not allow integrator to increase if actuator is at limit
@ -157,7 +157,9 @@ float ECL_RollController::control_bodyrate(float pitch,
//warnx("roll: _integrator: %.4f, _integrator_max: %.4f", (double)_integrator, (double)_integrator_max);
/* Apply PI rate controller and store non-limited output */
_last_output = (_bodyrate_setpoint * _k_ff + _rate_error * _k_p + integrator_constrained) * scaler * scaler; //scaler is proportional to 1/airspeed
_last_output = _bodyrate_setpoint * _k_ff * scaler +
_rate_error * _k_p * scaler * scaler
+ integrator_constrained; //scaler is proportional to 1/airspeed
return math::constrain(_last_output, -1.0f, 1.0f);
}

2
src/modules/commander/commander.cpp
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@ -129,7 +129,7 @@ extern struct system_load_s system_load;
#define POSITION_TIMEOUT (2 * 1000 * 1000) /**< consider the local or global position estimate invalid after 600ms */
#define FAILSAFE_DEFAULT_TIMEOUT (3 * 1000 * 1000) /**< hysteresis time - the failsafe will trigger after 3 seconds in this state */
#define RC_TIMEOUT 500000
#define DL_TIMEOUT 5 * 1000* 1000
#define DL_TIMEOUT (10 * 1000 * 1000)
#define OFFBOARD_TIMEOUT 500000
#define DIFFPRESS_TIMEOUT 2000000

8
src/modules/mavlink/mavlink_main.cpp
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@ -217,6 +217,8 @@ Mavlink::Mavlink() :
errx(1, "instance ID is out of range");
break;
}
_rstatus.type = TELEMETRY_STATUS_RADIO_TYPE_GENERIC;
}
Mavlink::~Mavlink()
@ -1388,8 +1390,8 @@ Mavlink::task_main(int argc, char *argv[])
configure_stream("GLOBAL_POSITION_INT", 3.0f);
configure_stream("LOCAL_POSITION_NED", 3.0f);
configure_stream("RC_CHANNELS_RAW", 1.0f);
configure_stream("GLOBAL_POSITION_SETPOINT_INT", 3.0f);
configure_stream("ROLL_PITCH_YAW_THRUST_SETPOINT", 3.0f);
configure_stream("POSITION_TARGET_GLOBAL_INT", 3.0f);
configure_stream("ATTITUDE_TARGET", 3.0f);
configure_stream("DISTANCE_SENSOR", 0.5f);
break;
@ -1653,6 +1655,8 @@ Mavlink::display_status()
printf("\tGCS heartbeat:\t%llu us ago\n", hrt_elapsed_time(&_rstatus.heartbeat_time));
}
printf("\tmavlink chan: #%u\n", _channel);
if (_rstatus.timestamp > 0) {
printf("\ttype:\t\t");

17
src/modules/mavlink/mavlink_messages.cpp
View File

@ -1333,7 +1333,7 @@ protected:
}
for (unsigned i = 0; i < 8; i++) {
if (mavlink_base_mode & MAV_MODE_FLAG_SAFETY_ARMED) {
if (act.output[i] > PWM_LOWEST_MIN / 2) {
if (i < n) {
/* scale PWM out 900..2100 us to 0..1 for rotors */
out[i] = (act.output[i] - PWM_LOWEST_MIN) / (PWM_HIGHEST_MAX - PWM_LOWEST_MIN);
@ -1344,7 +1344,7 @@ protected:
}
} else {
/* send 0 when disarmed */
/* send 0 when disarmed and for disabled channels */
out[i] = 0.0f;
}
}
@ -1353,6 +1353,7 @@ protected:
/* fixed wing: scale throttle to 0..1 and other channels to -1..1 */
for (unsigned i = 0; i < 8; i++) {
if (act.output[i] > PWM_LOWEST_MIN / 2) {
if (i != 3) {
/* scale PWM out 900..2100 us to -1..1 for normal channels */
out[i] = (act.output[i] - pwm_center) / ((PWM_HIGHEST_MAX - PWM_LOWEST_MIN) / 2);
@ -1362,6 +1363,10 @@ protected:
out[i] = (act.output[i] - PWM_LOWEST_MIN) / (PWM_HIGHEST_MAX - PWM_LOWEST_MIN);
}
} else {
/* set 0 for disabled channels */
out[i] = 0.0f;
}
}
}
@ -1637,10 +1642,10 @@ protected:
msg.chan2_raw = (rc.channel_count > (i * port_width) + 1) ? rc.values[(i * port_width) + 1] : UINT16_MAX;
msg.chan3_raw = (rc.channel_count > (i * port_width) + 2) ? rc.values[(i * port_width) + 2] : UINT16_MAX;
msg.chan4_raw = (rc.channel_count > (i * port_width) + 3) ? rc.values[(i * port_width) + 3] : UINT16_MAX;
msg.chan4_raw = (rc.channel_count > (i * port_width) + 4) ? rc.values[(i * port_width) + 4] : UINT16_MAX;
msg.chan4_raw = (rc.channel_count > (i * port_width) + 5) ? rc.values[(i * port_width) + 5] : UINT16_MAX;
msg.chan4_raw = (rc.channel_count > (i * port_width) + 6) ? rc.values[(i * port_width) + 6] : UINT16_MAX;
msg.chan4_raw = (rc.channel_count > (i * port_width) + 7) ? rc.values[(i * port_width) + 7] : UINT16_MAX;
msg.chan5_raw = (rc.channel_count > (i * port_width) + 4) ? rc.values[(i * port_width) + 4] : UINT16_MAX;
msg.chan6_raw = (rc.channel_count > (i * port_width) + 5) ? rc.values[(i * port_width) + 5] : UINT16_MAX;
msg.chan7_raw = (rc.channel_count > (i * port_width) + 6) ? rc.values[(i * port_width) + 6] : UINT16_MAX;
msg.chan8_raw = (rc.channel_count > (i * port_width) + 7) ? rc.values[(i * port_width) + 7] : UINT16_MAX;
msg.rssi = rc.rssi;
_mavlink->send_message(MAVLINK_MSG_ID_RC_CHANNELS_RAW, &msg);

82
src/modules/mavlink/mavlink_receiver.cpp
View File

@ -112,7 +112,6 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_telemetry_status_pub(-1),
_rc_pub(-1),
_manual_pub(-1),
_radio_status_available(false),
_control_mode_sub(orb_subscribe(ORB_ID(vehicle_control_mode))),
_hil_frames(0),
_old_timestamp(0),
@ -137,6 +136,10 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
handle_message_command_long(msg);
break;
case MAVLINK_MSG_ID_COMMAND_INT:
handle_message_command_int(msg);
break;
case MAVLINK_MSG_ID_OPTICAL_FLOW:
handle_message_optical_flow(msg);
break;
@ -276,6 +279,62 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
}
}
void
MavlinkReceiver::handle_message_command_int(mavlink_message_t *msg)
{
/* command */
mavlink_command_int_t cmd_mavlink;
mavlink_msg_command_int_decode(msg, &cmd_mavlink);
if (cmd_mavlink.target_system == mavlink_system.sysid && ((cmd_mavlink.target_component == mavlink_system.compid)
|| (cmd_mavlink.target_component == MAV_COMP_ID_ALL))) {
//check for MAVLINK terminate command
if (cmd_mavlink.command == MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN && ((int)cmd_mavlink.param1) == 3) {
/* This is the link shutdown command, terminate mavlink */
warnx("terminated by remote command");
fflush(stdout);
usleep(50000);
/* terminate other threads and this thread */
_mavlink->_task_should_exit = true;
} else {
if (msg->sysid == mavlink_system.sysid && msg->compid == mavlink_system.compid) {
warnx("ignoring CMD spoofed with same SYS/COMP (%d/%d) ID",
mavlink_system.sysid, mavlink_system.compid);
return;
}
struct vehicle_command_s vcmd;
memset(&vcmd, 0, sizeof(vcmd));
/* Copy the content of mavlink_command_int_t cmd_mavlink into command_t cmd */
vcmd.param1 = cmd_mavlink.param1;
vcmd.param2 = cmd_mavlink.param2;
vcmd.param3 = cmd_mavlink.param3;
vcmd.param4 = cmd_mavlink.param4;
/* these are coordinates as 1e7 scaled integers to work around the 32 bit floating point limits */
vcmd.param5 = ((double)cmd_mavlink.x) / 1e7;
vcmd.param6 = ((double)cmd_mavlink.y) / 1e7;
vcmd.param7 = cmd_mavlink.z;
// XXX do proper translation
vcmd.command = (enum VEHICLE_CMD)cmd_mavlink.command;
vcmd.target_system = cmd_mavlink.target_system;
vcmd.target_component = cmd_mavlink.target_component;
vcmd.source_system = msg->sysid;
vcmd.source_component = msg->compid;
if (_cmd_pub < 0) {
_cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
} else {
orb_publish(ORB_ID(vehicle_command), _cmd_pub, &vcmd);
}
}
}
}
void
MavlinkReceiver::handle_message_optical_flow(mavlink_message_t *msg)
{
@ -430,9 +489,6 @@ MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg)
} else {
orb_publish(telemetry_status_orb_id[_mavlink->get_channel()], _telemetry_status_pub, &tstatus);
}
/* this means that heartbeats alone won't be published to the radio status no more */
_radio_status_available = true;
}
}
@ -474,18 +530,11 @@ MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg)
struct telemetry_status_s &tstatus = _mavlink->get_rx_status();
hrt_abstime tnow = hrt_absolute_time();
/* always set heartbeat, publish only if telemetry link not up */
tstatus.heartbeat_time = tnow;
/* if no radio status messages arrive, lets at least publish that heartbeats were received */
if (!_radio_status_available) {
tstatus.timestamp = tnow;
/* telem_time indicates the timestamp of a telemetry status packet and we got none */
tstatus.telem_time = 0;
tstatus.type = TELEMETRY_STATUS_RADIO_TYPE_GENERIC;
/* set heartbeat time and topic time and publish -
* the telem status also gets updated on telemetry events
*/
tstatus.timestamp = hrt_absolute_time();
tstatus.heartbeat_time = tstatus.timestamp;
if (_telemetry_status_pub < 0) {
_telemetry_status_pub = orb_advertise(telemetry_status_orb_id[_mavlink->get_channel()], &tstatus);
@ -496,7 +545,6 @@ MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg)
}
}
}
}
void
MavlinkReceiver::handle_message_request_data_stream(mavlink_message_t *msg)

2
src/modules/mavlink/mavlink_receiver.h
View File

@ -110,6 +110,7 @@ private:
void handle_message(mavlink_message_t *msg);
void handle_message_command_long(mavlink_message_t *msg);
void handle_message_command_int(mavlink_message_t *msg);
void handle_message_optical_flow(mavlink_message_t *msg);
void handle_message_set_mode(mavlink_message_t *msg);
void handle_message_vicon_position_estimate(mavlink_message_t *msg);
@ -151,7 +152,6 @@ private:
orb_advert_t _telemetry_status_pub;
orb_advert_t _rc_pub;
orb_advert_t _manual_pub;
bool _radio_status_available;
int _control_mode_sub;
int _hil_frames;
uint64_t _old_timestamp;

10
src/modules/sensors/sensor_params.c
View File

@ -214,6 +214,16 @@ PARAM_DEFINE_FLOAT(SENS_DPRES_OFF, 0.0f);
*/
PARAM_DEFINE_FLOAT(SENS_DPRES_ANSC, 0);
/**
* QNH for barometer
*
* @min 500
* @max 1500
* @group Sensor Calibration
* @unit hPa
*/
PARAM_DEFINE_FLOAT(SENS_BARO_QNH, 1013.25f);
/**
* Board rotation

38
src/modules/sensors/sensors.cpp
View File

@ -143,6 +143,12 @@
#define STICK_ON_OFF_LIMIT 0.75f
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;
/**
* Sensor app start / stop handling function
*
@ -301,6 +307,8 @@ private:
float battery_voltage_scaling;
float battery_current_scaling;
float baro_qnh;
} _parameters; /**< local copies of interesting parameters */
struct {
@ -357,6 +365,8 @@ private:
param_t board_offset[3];
param_t baro_qnh;
} _parameter_handles; /**< handles for interesting parameters */
@ -462,12 +472,6 @@ private:
namespace sensors
{
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;
Sensors *g_sensors = nullptr;
}
@ -617,6 +621,9 @@ Sensors::Sensors() :
_parameter_handles.board_offset[1] = param_find("SENS_BOARD_Y_OFF");
_parameter_handles.board_offset[2] = param_find("SENS_BOARD_Z_OFF");
/* Barometer QNH */
_parameter_handles.baro_qnh = param_find("SENS_BARO_QNH");
/* fetch initial parameter values */
parameters_update();
}
@ -841,6 +848,25 @@ Sensors::parameters_update()
_board_rotation = _board_rotation * board_rotation_offset;
/* update barometer qnh setting */
param_get(_parameter_handles.baro_qnh, &(_parameters.baro_qnh));
int fd;
fd = open(BARO_DEVICE_PATH, 0);
if (fd < 0) {
warn("%s", BARO_DEVICE_PATH);
errx(1, "FATAL: no barometer found");
} else {
warnx("qnh ioctl, %lu", (unsigned long)(_parameters.baro_qnh * 100));
int ret = ioctl(fd, BAROIOCSMSLPRESSURE, (unsigned long)(_parameters.baro_qnh * 100));
if (ret) {
warnx("qnh could not be set");
close(fd);
return ERROR;
}
close(fd);
}
return OK;
}

2
src/systemcmds/tests/test_sensors.c
View File

@ -331,7 +331,7 @@ mag(int argc, char *argv[])
float len = sqrtf(buf.x * buf.x + buf.y * buf.y + buf.z * buf.z);
if (len < 1.0f || len > 3.0f) {
if (len < 0.25f || len > 3.0f) {
warnx("MAG scale error!");
return ERROR;
}