dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

Merge branch 'master' into navigator_rewrite_estimator

This commit is contained in:
Lorenz Meier 2014-06-23 13:53:22 +02:00
parent 90a40dda86 bf5061aa21
commit f02de30c32
7 changed files with 67 additions and 51 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
ROMFS/px4fmu_common/init.d/3031_phantom
View File

@ -37,3 +37,7 @@ then
fi
set MIXER FMU_Q
# Provide ESC a constant 1000 us pulse
set PWM_OUTPUTS 4
set PWM_DISARMED 1000

38
src/drivers/px4io/px4io.cpp
View File

@ -197,8 +197,10 @@ public:
* Print IO status.
*
* Print all relevant IO status information
*
* @param extended_status Shows more verbose information (in particular RC config)
*/
void print_status();
void print_status(bool extended_status);
/**
* Fetch and print debug console output.
@ -1850,7 +1852,7 @@ PX4IO::mixer_send(const char *buf, unsigned buflen, unsigned retries)
}
void
PX4IO::print_status()
PX4IO::print_status(bool extended_status)
{
/* basic configuration */
printf("protocol %u hardware %u bootloader %u buffer %uB crc 0x%04x%04x\n",
@ -2013,19 +2015,21 @@ PX4IO::print_status()
printf("\n");
}
for (unsigned i = 0; i < _max_rc_input; i++) {
unsigned base = PX4IO_P_RC_CONFIG_STRIDE * i;
uint16_t options = io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_OPTIONS);
printf("input %u min %u center %u max %u deadzone %u assigned %u options 0x%04x%s%s\n",
i,
io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_MIN),
io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_CENTER),
io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_MAX),
io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_DEADZONE),
io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_ASSIGNMENT),
options,
((options & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) ? " ENABLED" : ""),
((options & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE) ? " REVERSED" : ""));
if (extended_status) {
for (unsigned i = 0; i < _max_rc_input; i++) {
unsigned base = PX4IO_P_RC_CONFIG_STRIDE * i;
uint16_t options = io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_OPTIONS);
printf("input %u min %u center %u max %u deadzone %u assigned %u options 0x%04x%s%s\n",
i,
io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_MIN),
io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_CENTER),
io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_MAX),
io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_DEADZONE),
io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_ASSIGNMENT),
options,
((options & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) ? " ENABLED" : ""),
((options & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE) ? " REVERSED" : ""));
}
}
printf("failsafe");
@ -2853,7 +2857,7 @@ monitor(void)
if (g_dev != nullptr) {
printf("\033[2J\033[H"); /* move cursor home and clear screen */
(void)g_dev->print_status();
(void)g_dev->print_status(false);
(void)g_dev->print_debug();
printf("\n\n\n[ Use 'px4io debug <N>' for more output. Hit <enter> three times to exit monitor mode ]\n");
@ -3119,7 +3123,7 @@ px4io_main(int argc, char *argv[])
if (!strcmp(argv[1], "status")) {
printf("[px4io] loaded\n");
g_dev->print_status();
g_dev->print_status(true);
exit(0);
}

6
src/drivers/px4io/px4io_uploader.cpp
View File

@ -240,9 +240,9 @@ PX4IO_Uploader::upload(const char *filenames[])
close(_io_fd);
_io_fd = -1;
// sleep for enough time for the IO chip to boot. This makes
// forceupdate more reliably startup IO again after update
up_udelay(100*1000);
// sleep for enough time for the IO chip to boot. This makes
// forceupdate more reliably startup IO again after update
up_udelay(100*1000);
return ret;
}

38
src/modules/mavlink/mavlink_main.cpp
View File

@ -1576,32 +1576,36 @@ Mavlink::configure_stream(const char *stream_name, const float rate)
/* delete stream */
LL_DELETE(_streams, stream);
delete stream;
warnx("deleted stream %s", stream->get_name());
}
return OK;
}
}
if (interval > 0) {
/* search for stream with specified name in supported streams list */
for (unsigned int i = 0; streams_list[i] != nullptr; i++) {
if (strcmp(stream_name, streams_list[i]->get_name()) == 0) {
/* create new instance */
stream = streams_list[i]->new_instance();
stream->set_channel(get_channel());
stream->set_interval(interval);
stream->subscribe(this);
LL_APPEND(_streams, stream);
return OK;
}
}
} else {
/* stream not found, nothing to disable */
if (interval == 0) {
/* stream was not active and is requested to be disabled, do nothing */
return OK;
}
/* search for stream with specified name in supported streams list */
for (unsigned int i = 0; streams_list[i] != nullptr; i++) {
if (strcmp(stream_name, streams_list[i]->get_name()) == 0) {
/* create new instance */
stream = streams_list[i]->new_instance();
stream->set_channel(get_channel());
stream->set_interval(interval);
stream->subscribe(this);
LL_APPEND(_streams, stream);
return OK;
}
}
/* if we reach here, the stream list does not contain the stream */
warnx("stream %s not found", stream_name);
return ERROR;
}

2
src/modules/mavlink/mavlink_messages.cpp
View File

@ -1652,7 +1652,7 @@ StreamListItem *streams_list[] = {
new StreamListItem(&MavlinkStreamLocalPositionSetpoint::new_instance, &MavlinkStreamLocalPositionSetpoint::get_name_static),
new StreamListItem(&MavlinkStreamRollPitchYawThrustSetpoint::new_instance, &MavlinkStreamRollPitchYawThrustSetpoint::get_name_static),
new StreamListItem(&MavlinkStreamRollPitchYawRatesThrustSetpoint::new_instance, &MavlinkStreamRollPitchYawRatesThrustSetpoint::get_name_static),
new StreamListItem(&MavlinkStreamRCChannelsRaw::new_instance, &MavlinkStreamGlobalPositionInt::get_name_static),
new StreamListItem(&MavlinkStreamRCChannelsRaw::new_instance, &MavlinkStreamRCChannelsRaw::get_name_static),
new StreamListItem(&MavlinkStreamManualControl::new_instance, &MavlinkStreamManualControl::get_name_static),
new StreamListItem(&MavlinkStreamOpticalFlow::new_instance, &MavlinkStreamOpticalFlow::get_name_static),
new StreamListItem(&MavlinkStreamAttitudeControls::new_instance, &MavlinkStreamAttitudeControls::get_name_static),

26
src/modules/mavlink/mavlink_orb_subscription.cpp
View File

@ -44,6 +44,8 @@
#include <uORB/uORB.h>
#include <stdio.h>
#include <systemlib/err.h>
#include "mavlink_orb_subscription.h"
MavlinkOrbSubscription::MavlinkOrbSubscription(const orb_id_t topic) :
@ -77,21 +79,23 @@ MavlinkOrbSubscription::update(uint64_t *time, void* data)
time_topic = 0;
}
if (orb_copy(_topic, _fd, data)) {
/* error copying topic data */
memset(data, 0, _topic->o_size);
return false;
if (time_topic != *time) {
} else {
/* data copied successfully */
_published = true;
if (time_topic != *time) {
*time = time_topic;
return true;
if (orb_copy(_topic, _fd, data)) {
/* error copying topic data */
memset(data, 0, _topic->o_size);
//warnx("err copy, fd: %d, obj: %s, size: %d", _fd, _topic->o_name, _topic->o_size);
return false;
} else {
return false;
/* data copied successfully */
_published = true;
*time = time_topic;
return true;
}
} else {
return false;
}
}

4
src/modules/systemlib/perf_counter.c
View File

@ -301,7 +301,7 @@ perf_print_counter_fd(int fd, perf_counter_t handle)
case PC_ELAPSED: {
struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle;
dprintf(fd, "%s: %llu events, %lluus elapsed, %llu avg, min %lluus max %lluus\n",
dprintf(fd, "%s: %llu events, %lluus elapsed, %lluus avg, min %lluus max %lluus\n",
handle->name,
pce->event_count,
pce->time_total,
@ -314,7 +314,7 @@ perf_print_counter_fd(int fd, perf_counter_t handle)
case PC_INTERVAL: {
struct perf_ctr_interval *pci = (struct perf_ctr_interval *)handle;
dprintf(fd, "%s: %llu events, %llu avg, min %lluus max %lluus\n",
dprintf(fd, "%s: %llu events, %lluus avg, min %lluus max %lluus\n",
handle->name,
pci->event_count,
(pci->time_last - pci->time_first) / pci->event_count,