From 4a66e285adcd88cf42c3907753abd9b433815e45 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Thu, 13 Feb 2014 00:05:27 +0100 Subject: [PATCH 01/26] navigator mavlink log info messages: add #audio tag --- src/modules/navigator/navigator_main.cpp | 24 ++++++++++++------------ 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 5139ae6cd2..2711be24fc 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -865,7 +865,7 @@ Navigator::task_main() /* notify user about state changes */ if (myState != prevState) { - mavlink_log_info(_mavlink_fd, "[navigator] nav state: %s", nav_states_str[myState]); + mavlink_log_info(_mavlink_fd, "#audio: [navigator] nav state: %s", nav_states_str[myState]); prevState = myState; /* reset time counter on state changes */ @@ -1073,11 +1073,11 @@ Navigator::start_loiter() /* use current altitude if above min altitude set by parameter */ if (_global_pos.alt < min_alt_amsl) { _pos_sp_triplet.current.alt = min_alt_amsl; - mavlink_log_info(_mavlink_fd, "[navigator] loiter %.1fm higher", (double)(min_alt_amsl - _global_pos.alt)); + mavlink_log_info(_mavlink_fd, "#audio: [navigator] loiter %.1fm higher", (double)(min_alt_amsl - _global_pos.alt)); } else { _pos_sp_triplet.current.alt = _global_pos.alt; - mavlink_log_info(_mavlink_fd, "[navigator] loiter at current altitude"); + mavlink_log_info(_mavlink_fd, "#audio: [navigator] loiter at current altitude"); } _pos_sp_triplet.current.type = SETPOINT_TYPE_LOITER; @@ -1175,14 +1175,14 @@ Navigator::set_mission_item() } if (_do_takeoff) { - mavlink_log_info(_mavlink_fd, "[navigator] takeoff to %.1fm above home", _pos_sp_triplet.current.alt - _home_pos.alt); + mavlink_log_info(_mavlink_fd, "#audio: [navigator] takeoff to %.1fm above home", _pos_sp_triplet.current.alt - _home_pos.alt); } else { if (onboard) { - mavlink_log_info(_mavlink_fd, "[navigator] heading to onboard WP %d", index); + mavlink_log_info(_mavlink_fd, "#audio: [navigator] heading to onboard WP %d", index); } else { - mavlink_log_info(_mavlink_fd, "[navigator] heading to offboard WP %d", index); + mavlink_log_info(_mavlink_fd, "#audio: [navigator] heading to offboard WP %d", index); } } @@ -1331,7 +1331,7 @@ Navigator::set_rtl_item() _pos_sp_triplet.next.valid = false; - mavlink_log_info(_mavlink_fd, "[navigator] RTL: climb to %.1fm above home", climb_alt - _home_pos.alt); + mavlink_log_info(_mavlink_fd, "#audio: [navigator] RTL: climb to %.1fm above home", climb_alt - _home_pos.alt); break; } @@ -1357,7 +1357,7 @@ Navigator::set_rtl_item() _pos_sp_triplet.next.valid = false; - mavlink_log_info(_mavlink_fd, "[navigator] RTL: return at %.1fm above home", _mission_item.altitude - _home_pos.alt); + mavlink_log_info(_mavlink_fd, "#audio: [navigator] RTL: return at %.1fm above home", _mission_item.altitude - _home_pos.alt); break; } @@ -1384,12 +1384,12 @@ Navigator::set_rtl_item() _pos_sp_triplet.next.valid = false; - mavlink_log_info(_mavlink_fd, "[navigator] RTL: descend to %.1fm above home", _mission_item.altitude - _home_pos.alt); + mavlink_log_info(_mavlink_fd, "#audio: [navigator] RTL: descend to %.1fm above home", _mission_item.altitude - _home_pos.alt); break; } default: { - mavlink_log_critical(_mavlink_fd, "[navigator] error: unknown RTL state: %d", _rtl_state); + mavlink_log_critical(_mavlink_fd, "#audio: [navigator] error: unknown RTL state: %d", _rtl_state); start_loiter(); break; } @@ -1516,7 +1516,7 @@ Navigator::check_mission_item_reached() _time_first_inside_orbit = now; if (_mission_item.time_inside > 0.01f) { - mavlink_log_info(_mavlink_fd, "[navigator] waypoint reached, wait for %.1fs", _mission_item.time_inside); + mavlink_log_info(_mavlink_fd, "#audio: [navigator] waypoint reached, wait for %.1fs", _mission_item.time_inside); } } @@ -1541,7 +1541,7 @@ Navigator::on_mission_item_reached() if (_do_takeoff) { /* takeoff completed */ _do_takeoff = false; - mavlink_log_info(_mavlink_fd, "[navigator] takeoff completed"); + mavlink_log_info(_mavlink_fd, "#audio: [navigator] takeoff completed"); } else { /* advance by one mission item */ From 84d9e3479f3d2bb29b22906be0dfe65d73b5dd0f Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Tue, 18 Feb 2014 23:42:02 +0400 Subject: [PATCH 02/26] mc_pos_control: unused variables removed --- src/modules/mc_pos_control/mc_pos_control_main.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index b06655385a..b4bac53d66 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -730,7 +730,6 @@ MulticopterPositionControl::task_main() } else { /* run position & altitude controllers, calculate velocity setpoint */ math::Vector<3> pos_err; - float err_x, err_y; get_vector_to_next_waypoint_fast(_global_pos.lat, _global_pos.lon, _lat_sp, _lon_sp, &pos_err.data[0], &pos_err.data[1]); pos_err(2) = -(_alt_sp - alt); From 6480c6a2cee7a237f9310f6986567e91c54c1247 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Wed, 19 Feb 2014 21:48:54 +0100 Subject: [PATCH 03/26] fw autoland: remove confusing slopelength parameter --- src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 6 +----- src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c | 7 ------- 2 files changed, 1 insertion(+), 12 deletions(-) diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index 45fdaa355e..020d1c119e 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -233,7 +233,6 @@ private: float speedrate_p; float land_slope_angle; - float land_slope_length; float land_H1_virt; float land_flare_alt_relative; float land_thrust_lim_alt_relative; @@ -278,7 +277,6 @@ private: param_t speedrate_p; param_t land_slope_angle; - param_t land_slope_length; param_t land_H1_virt; param_t land_flare_alt_relative; param_t land_thrust_lim_alt_relative; @@ -431,7 +429,6 @@ FixedwingPositionControl::FixedwingPositionControl() : _parameter_handles.throttle_land_max = param_find("FW_THR_LND_MAX"); _parameter_handles.land_slope_angle = param_find("FW_LND_ANG"); - _parameter_handles.land_slope_length = param_find("FW_LND_SLLR"); _parameter_handles.land_H1_virt = param_find("FW_LND_HVIRT"); _parameter_handles.land_flare_alt_relative = param_find("FW_LND_FLALT"); _parameter_handles.land_thrust_lim_alt_relative = param_find("FW_LND_TLALT"); @@ -520,7 +517,6 @@ FixedwingPositionControl::parameters_update() param_get(_parameter_handles.speedrate_p, &(_parameters.speedrate_p)); param_get(_parameter_handles.land_slope_angle, &(_parameters.land_slope_angle)); - param_get(_parameter_handles.land_slope_length, &(_parameters.land_slope_length)); param_get(_parameter_handles.land_H1_virt, &(_parameters.land_H1_virt)); param_get(_parameter_handles.land_flare_alt_relative, &(_parameters.land_flare_alt_relative)); param_get(_parameter_handles.land_thrust_lim_alt_relative, &(_parameters.land_thrust_lim_alt_relative)); @@ -889,7 +885,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi float airspeed_land = 1.3f * _parameters.airspeed_min; float airspeed_approach = 1.3f * _parameters.airspeed_min; - float L_wp_distance = get_distance_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1)) * _parameters.land_slope_length; + float L_wp_distance = get_distance_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1)) * 0.9f; float L_altitude = landingslope.getLandingSlopeAbsoluteAltitude(L_wp_distance, _pos_sp_triplet.current.alt); float bearing_airplane_currwp = get_bearing_to_next_waypoint(current_position(0), current_position(1), curr_wp(0), curr_wp(1)); float landing_slope_alt_desired = landingslope.getLandingSlopeAbsoluteAltitudeSave(wp_distance, bearing_lastwp_currwp, bearing_airplane_currwp, _pos_sp_triplet.current.alt); diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c index 62a340e905..0909135e15 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c @@ -348,13 +348,6 @@ PARAM_DEFINE_FLOAT(FW_T_SRATE_P, 0.05f); */ PARAM_DEFINE_FLOAT(FW_LND_ANG, 5.0f); -/** - * Landing slope length - * - * @group L1 Control - */ -PARAM_DEFINE_FLOAT(FW_LND_SLLR, 0.9f); - /** * * From b7488da441cf945ec1e5f0a1a4c4b6295707a8b0 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Wed, 19 Feb 2014 22:06:05 +0100 Subject: [PATCH 04/26] fw autoland: completely remove the virtual wp between the last wp and the landing wp. autoland starts now from the last normal wp. --- .../fw_pos_control_l1_main.cpp | 32 +++++++------------ 1 file changed, 11 insertions(+), 21 deletions(-) diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index 020d1c119e..e1869328a1 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -885,7 +885,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi float airspeed_land = 1.3f * _parameters.airspeed_min; float airspeed_approach = 1.3f * _parameters.airspeed_min; - float L_wp_distance = get_distance_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1)) * 0.9f; + float L_wp_distance = get_distance_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1)); float L_altitude = landingslope.getLandingSlopeAbsoluteAltitude(L_wp_distance, _pos_sp_triplet.current.alt); float bearing_airplane_currwp = get_bearing_to_next_waypoint(current_position(0), current_position(1), curr_wp(0), curr_wp(1)); float landing_slope_alt_desired = landingslope.getLandingSlopeAbsoluteAltitudeSave(wp_distance, bearing_lastwp_currwp, bearing_airplane_currwp, _pos_sp_triplet.current.alt); @@ -931,34 +931,24 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi //warnx("Landing: flare, _global_pos.alt %.1f, flare_curve_alt %.1f, flare_curve_alt_last %.1f, flare_length %.1f, wp_distance %.1f", _global_pos.alt, flare_curve_alt, flare_curve_alt_last, flare_length, wp_distance); flare_curve_alt_last = flare_curve_alt; - - } else if (wp_distance < L_wp_distance) { - - /* minimize speed to approach speed, stay on landing slope */ - _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, landing_slope_alt_desired, calculate_target_airspeed(airspeed_approach), - _airspeed.indicated_airspeed_m_s, eas2tas, - false, flare_pitch_angle_rad, - _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, - math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max)); - //warnx("Landing: stay on slope, alt_desired: %.1f (wp_distance: %.1f), calculate_target_airspeed(airspeed_land) %.1f, horizontal_slope_displacement %.1f, d1 %.1f, flare_length %.1f", landing_slope_alt_desired, wp_distance, calculate_target_airspeed(airspeed_land), horizontal_slope_displacement, d1, flare_length); - - if (!land_onslope) { - - mavlink_log_info(_mavlink_fd, "#audio: Landing, on slope"); - land_onslope = true; - } - } else { /* intersect glide slope: - * if current position is higher or within 10m of slope follow the glide slope - * if current position is below slope -10m continue on maximum of previous wp altitude or L_altitude until the intersection with the slope - * */ + * minimize speed to approach speed + * if current position is higher or within 10m of slope follow the glide slope + * if current position is below slope -10m continue on maximum of previous wp altitude or L_altitude until the intersection with the slope + * */ float altitude_desired = _global_pos.alt; if (_global_pos.alt > landing_slope_alt_desired - 10.0f) { /* stay on slope */ altitude_desired = landing_slope_alt_desired; //warnx("Landing: before L, stay on landing slope, alt_desired: %.1f (wp_distance: %.1f, L_wp_distance %.1f), calculate_target_airspeed(airspeed_land) %.1f, horizontal_slope_displacement %.1f", altitude_desired, wp_distance, L_wp_distance, calculate_target_airspeed(airspeed_land), horizontal_slope_displacement); + + if (!land_onslope) { + mavlink_log_info(_mavlink_fd, "#audio: Landing, on slope"); + land_onslope = true; + } + } else { /* continue horizontally */ altitude_desired = math::max(_global_pos.alt, L_altitude); From 9830f668c548ed63131722cdbba4753e1c06f647 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Wed, 19 Feb 2014 22:55:40 +0100 Subject: [PATCH 05/26] fw autoland: fix warning --- src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index e1869328a1..b0d2bcbc6d 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -912,7 +912,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi float flare_curve_alt = landingslope.getFlareCurveAltitudeSave(wp_distance, bearing_lastwp_currwp, bearing_airplane_currwp, _pos_sp_triplet.current.alt); /* avoid climbout */ - if (flare_curve_alt_last < flare_curve_alt && land_noreturn_vertical || land_stayonground) + if ((flare_curve_alt_last < flare_curve_alt && land_noreturn_vertical) || land_stayonground) { flare_curve_alt = pos_sp_triplet.current.alt; land_stayonground = true; From 60de15ea9d753eef3361778633f7f91fb92aa748 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Wed, 19 Feb 2014 23:26:50 +0100 Subject: [PATCH 06/26] fw autoland: remove old comments --- src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 4 ---- 1 file changed, 4 deletions(-) diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index b0d2bcbc6d..3367aee9aa 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -942,17 +942,13 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi if (_global_pos.alt > landing_slope_alt_desired - 10.0f) { /* stay on slope */ altitude_desired = landing_slope_alt_desired; - //warnx("Landing: before L, stay on landing slope, alt_desired: %.1f (wp_distance: %.1f, L_wp_distance %.1f), calculate_target_airspeed(airspeed_land) %.1f, horizontal_slope_displacement %.1f", altitude_desired, wp_distance, L_wp_distance, calculate_target_airspeed(airspeed_land), horizontal_slope_displacement); - if (!land_onslope) { mavlink_log_info(_mavlink_fd, "#audio: Landing, on slope"); land_onslope = true; } - } else { /* continue horizontally */ altitude_desired = math::max(_global_pos.alt, L_altitude); - //warnx("Landing: before L,continue at: %.4f, (landing_slope_alt_desired %.4f, wp_distance: %.4f, L_altitude: %.4f L_wp_distance: %.4f)", altitude_desired, landing_slope_alt_desired, wp_distance, L_altitude, L_wp_distance); } _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, altitude_desired, calculate_target_airspeed(airspeed_approach), From b7899056f5454d8508a20dff87661c424ad98340 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Wed, 19 Feb 2014 23:32:55 +0100 Subject: [PATCH 07/26] fw autoland: add very short comment --- src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index 3367aee9aa..64d2b70197 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -885,8 +885,10 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi float airspeed_land = 1.3f * _parameters.airspeed_min; float airspeed_approach = 1.3f * _parameters.airspeed_min; + /* Calculate distance (to landing waypoint) and altitude of last ordinary waypoint L */ float L_wp_distance = get_distance_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1)); float L_altitude = landingslope.getLandingSlopeAbsoluteAltitude(L_wp_distance, _pos_sp_triplet.current.alt); + float bearing_airplane_currwp = get_bearing_to_next_waypoint(current_position(0), current_position(1), curr_wp(0), curr_wp(1)); float landing_slope_alt_desired = landingslope.getLandingSlopeAbsoluteAltitudeSave(wp_distance, bearing_lastwp_currwp, bearing_airplane_currwp, _pos_sp_triplet.current.alt); From 2d97dff35c2976c7ba98e97a66b4a141cfb8960e Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 21 Feb 2014 06:52:40 +0100 Subject: [PATCH 08/26] Added support for DX10t, which apparently outputs 13 channels --- src/modules/px4iofirmware/dsm.c | 1 + 1 file changed, 1 insertion(+) diff --git a/src/modules/px4iofirmware/dsm.c b/src/modules/px4iofirmware/dsm.c index 60eda23192..70f31240a2 100644 --- a/src/modules/px4iofirmware/dsm.c +++ b/src/modules/px4iofirmware/dsm.c @@ -162,6 +162,7 @@ dsm_guess_format(bool reset) 0xff, /* 8 channels (DX8) */ 0x1ff, /* 9 channels (DX9, etc.) */ 0x3ff, /* 10 channels (DX10) */ + 0x1fff, /* 13 channels (DX10t) */ 0x3fff /* 18 channels (DX10) */ }; unsigned votes10 = 0; From 9828d5ede474723d83b189c394397d78c7050b7a Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 21 Feb 2014 07:50:36 +0100 Subject: [PATCH 09/26] Fix copyright, do not return junk channel #13 that Spektrum gives us. --- src/modules/px4iofirmware/dsm.c | 11 ++++++++++- 1 file changed, 10 insertions(+), 1 deletion(-) diff --git a/src/modules/px4iofirmware/dsm.c b/src/modules/px4iofirmware/dsm.c index 70f31240a2..0d3eb26063 100644 --- a/src/modules/px4iofirmware/dsm.c +++ b/src/modules/px4iofirmware/dsm.c @@ -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 * modification, are permitted provided that the following conditions @@ -401,6 +401,15 @@ dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values) values[channel] = value; } + /* + * Spektrum likes to send junk in higher channel numbers to fill + * their packets. We don't know about a 13 channel model in their TX + * lines, so if we get a channel count of 13, we'll return 12 (the last + * data index that is stable). + */ + if (*num_values == 13) + *num_values = 12; + if (dsm_channel_shift == 11) { /* Set the 11-bit data indicator */ *num_values |= 0x8000; From b58fa2dffc22b3ba27ac87f1f514c298024cea4a Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 18 Feb 2014 10:37:54 +0100 Subject: [PATCH 10/26] Change bit mask to allow for 10 channels. --- src/modules/px4iofirmware/registers.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index 1335f52e13..97d25bbfa8 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -566,7 +566,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) break; case PX4IO_P_SETUP_DSM: - dsm_bind(value & 0x0f, (value >> 4) & 7); + dsm_bind(value & 0x0f, (value >> 4) & 0xF); break; default: From f1f1ecd096f2ad7b791127c9ee943a7dfc0ab3f4 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 18 Feb 2014 10:36:46 +0100 Subject: [PATCH 11/26] Fix mavlink feedback FD handling --- src/drivers/px4io/px4io.cpp | 27 ++++++++++++--------------- 1 file changed, 12 insertions(+), 15 deletions(-) diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index efcf4d12b9..13326e9625 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -244,8 +244,7 @@ private: volatile int _task; ///< worker task id volatile bool _task_should_exit; ///< worker terminate flag - int _mavlink_fd; ///< mavlink file descriptor. This is opened by class instantiation and Doesn't appear to be usable in main thread. - int _thread_mavlink_fd; ///< mavlink file descriptor for thread. + int _mavlink_fd; ///< mavlink file descriptor. perf_counter_t _perf_update; /// Date: Tue, 18 Feb 2014 10:37:11 +0100 Subject: [PATCH 12/26] Code style --- src/drivers/drv_pwm_output.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h index c3eea310ff..7a93e513ed 100644 --- a/src/drivers/drv_pwm_output.h +++ b/src/drivers/drv_pwm_output.h @@ -160,7 +160,7 @@ ORB_DECLARE(output_pwm); #define DSM2_BIND_PULSES 3 /* DSM_BIND_START ioctl parameter, pulses required to start dsm2 pairing */ #define DSMX_BIND_PULSES 7 /* DSM_BIND_START ioctl parameter, pulses required to start dsmx pairing */ -#define DSMX8_BIND_PULSES 10 /* DSM_BIND_START ioctl parameter, pulses required to start 8 or more channel dsmx pairing */ +#define DSMX8_BIND_PULSES 10 /* DSM_BIND_START ioctl parameter, pulses required to start 8 or more channel dsmx pairing */ /** power up DSM receiver */ #define DSM_BIND_POWER_UP _IOC(_PWM_SERVO_BASE, 11) From a91b68d8a52709c5ce3ce465cad3b7e5a5e34f66 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 18 Feb 2014 10:37:32 +0100 Subject: [PATCH 13/26] Fix DSM pairing error handling. --- src/drivers/px4io/px4io.cpp | 30 ++++++++++++++++++++---------- 1 file changed, 20 insertions(+), 10 deletions(-) diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 13326e9625..7c7b3dcb7d 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -2112,14 +2112,24 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg) break; case DSM_BIND_START: - io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_down); - usleep(500000); - io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_set_rx_out); - io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_up); - usleep(72000); - io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_send_pulses | (arg << 4)); - usleep(50000); - io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_reinit_uart); + + /* only allow DSM2, DSM-X and DSM-X with more than 7 channels */ + if (arg == DSM2_BIND_PULSES || + arg == DSMX_BIND_PULSES || + arg == DSMX8_BIND_PULSES) { + io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_down); + usleep(500000); + io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_set_rx_out); + io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_up); + usleep(72000); + io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_send_pulses | (arg << 4)); + usleep(50000); + io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_reinit_uart); + + ret = OK; + } else { + ret = -EINVAL; + } break; case DSM_BIND_POWER_UP: @@ -2612,7 +2622,7 @@ bind(int argc, char *argv[]) #endif if (argc < 3) - errx(0, "needs argument, use dsm2 or dsmx"); + errx(0, "needs argument, use dsm2, dsmx or dsmx8"); if (!strcmp(argv[2], "dsm2")) pulses = DSM2_BIND_PULSES; @@ -2621,7 +2631,7 @@ bind(int argc, char *argv[]) else if (!strcmp(argv[2], "dsmx8")) pulses = DSMX8_BIND_PULSES; else - errx(1, "unknown parameter %s, use dsm2 or dsmx", argv[2]); + errx(1, "unknown parameter %s, use dsm2, dsmx or dsmx8", argv[2]); // Test for custom pulse parameter if (argc > 3) pulses = atoi(argv[3]); From 06b69b70a5d73ba32bc08cacedbeb9016a32195b Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 21 Feb 2014 12:27:04 +0100 Subject: [PATCH 14/26] Scaling Spektrum inputs into normalized value same as the servo outputs do --- src/modules/px4iofirmware/dsm.c | 22 ++++++++++++++++++---- 1 file changed, 18 insertions(+), 4 deletions(-) diff --git a/src/modules/px4iofirmware/dsm.c b/src/modules/px4iofirmware/dsm.c index 0d3eb26063..aac2087b22 100644 --- a/src/modules/px4iofirmware/dsm.c +++ b/src/modules/px4iofirmware/dsm.c @@ -369,11 +369,25 @@ dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values) if (channel >= *num_values) *num_values = channel + 1; - /* convert 0-1024 / 0-2048 values to 1000-2000 ppm encoding in a very sloppy fashion */ - if (dsm_channel_shift == 11) - value /= 2; + /* convert 0-1024 / 0-2048 values to 1000-2000 ppm encoding. */ + if (dsm_channel_shift == 10) + value *= 2; - value += 998; + /* + * Spektrum scaling is special. There are these basic considerations + * + * * Midpoint is 1520 us + * * 100% travel channels are +- 400 us + * + * We obey the original Spektrum scaling (so a default setup will scale from + * 1100 - 1900 us), but we do not obey the weird 1520 us center point + * and instead (correctly) center the center around 1500 us. This is in order + * to get something useful without requiring the user to calibrate on a digital + * link for no reason. + */ + + /* scaled integer for decent accuracy while staying efficient */ + value = (((value - 1024) * 1000) / 1700) + 1500; /* * Store the decoded channel into the R/C input buffer, taking into From 983cff56b3854aecf645773a1863ac01903b8c5a Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 21 Feb 2014 12:50:29 +0100 Subject: [PATCH 15/26] Added int cast to handle arithmetic correctly --- src/modules/px4iofirmware/dsm.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/px4iofirmware/dsm.c b/src/modules/px4iofirmware/dsm.c index aac2087b22..d3f3658228 100644 --- a/src/modules/px4iofirmware/dsm.c +++ b/src/modules/px4iofirmware/dsm.c @@ -387,7 +387,7 @@ dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values) */ /* scaled integer for decent accuracy while staying efficient */ - value = (((value - 1024) * 1000) / 1700) + 1500; + value = ((((int)value - 1024) * 1000) / 1700) + 1500; /* * Store the decoded channel into the R/C input buffer, taking into From f4bac7e7e802abf671d0ee87ad84b6f281fd81be Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Fri, 21 Feb 2014 20:22:05 +0100 Subject: [PATCH 16/26] navigator: remove all but one [navigator] tag from mavlink audio messages --- src/modules/navigator/navigator_main.cpp | 22 +++++++++++----------- 1 file changed, 11 insertions(+), 11 deletions(-) diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 2711be24fc..0268c47e73 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -865,7 +865,7 @@ Navigator::task_main() /* notify user about state changes */ if (myState != prevState) { - mavlink_log_info(_mavlink_fd, "#audio: [navigator] nav state: %s", nav_states_str[myState]); + mavlink_log_info(_mavlink_fd, "#audio: navigation state: %s", nav_states_str[myState]); prevState = myState; /* reset time counter on state changes */ @@ -1073,11 +1073,11 @@ Navigator::start_loiter() /* use current altitude if above min altitude set by parameter */ if (_global_pos.alt < min_alt_amsl) { _pos_sp_triplet.current.alt = min_alt_amsl; - mavlink_log_info(_mavlink_fd, "#audio: [navigator] loiter %.1fm higher", (double)(min_alt_amsl - _global_pos.alt)); + mavlink_log_info(_mavlink_fd, "#audio: loiter %.1fm higher", (double)(min_alt_amsl - _global_pos.alt)); } else { _pos_sp_triplet.current.alt = _global_pos.alt; - mavlink_log_info(_mavlink_fd, "#audio: [navigator] loiter at current altitude"); + mavlink_log_info(_mavlink_fd, "#audio: loiter at current altitude"); } _pos_sp_triplet.current.type = SETPOINT_TYPE_LOITER; @@ -1175,14 +1175,14 @@ Navigator::set_mission_item() } if (_do_takeoff) { - mavlink_log_info(_mavlink_fd, "#audio: [navigator] takeoff to %.1fm above home", _pos_sp_triplet.current.alt - _home_pos.alt); + mavlink_log_info(_mavlink_fd, "#audio: takeoff to %.1fm above home", _pos_sp_triplet.current.alt - _home_pos.alt); } else { if (onboard) { - mavlink_log_info(_mavlink_fd, "#audio: [navigator] heading to onboard WP %d", index); + mavlink_log_info(_mavlink_fd, "#audio: heading to onboard WP %d", index); } else { - mavlink_log_info(_mavlink_fd, "#audio: [navigator] heading to offboard WP %d", index); + mavlink_log_info(_mavlink_fd, "#audio: heading to offboard WP %d", index); } } @@ -1331,7 +1331,7 @@ Navigator::set_rtl_item() _pos_sp_triplet.next.valid = false; - mavlink_log_info(_mavlink_fd, "#audio: [navigator] RTL: climb to %.1fm above home", climb_alt - _home_pos.alt); + mavlink_log_info(_mavlink_fd, "#audio: RTL: climb to %.1fm above home", climb_alt - _home_pos.alt); break; } @@ -1357,7 +1357,7 @@ Navigator::set_rtl_item() _pos_sp_triplet.next.valid = false; - mavlink_log_info(_mavlink_fd, "#audio: [navigator] RTL: return at %.1fm above home", _mission_item.altitude - _home_pos.alt); + mavlink_log_info(_mavlink_fd, "#audio: RTL: return at %.1fm above home", _mission_item.altitude - _home_pos.alt); break; } @@ -1384,7 +1384,7 @@ Navigator::set_rtl_item() _pos_sp_triplet.next.valid = false; - mavlink_log_info(_mavlink_fd, "#audio: [navigator] RTL: descend to %.1fm above home", _mission_item.altitude - _home_pos.alt); + mavlink_log_info(_mavlink_fd, "#audio: RTL: descend to %.1fm above home", _mission_item.altitude - _home_pos.alt); break; } @@ -1516,7 +1516,7 @@ Navigator::check_mission_item_reached() _time_first_inside_orbit = now; if (_mission_item.time_inside > 0.01f) { - mavlink_log_info(_mavlink_fd, "#audio: [navigator] waypoint reached, wait for %.1fs", _mission_item.time_inside); + mavlink_log_info(_mavlink_fd, "#audio: waypoint reached, wait for %.1fs", _mission_item.time_inside); } } @@ -1541,7 +1541,7 @@ Navigator::on_mission_item_reached() if (_do_takeoff) { /* takeoff completed */ _do_takeoff = false; - mavlink_log_info(_mavlink_fd, "#audio: [navigator] takeoff completed"); + mavlink_log_info(_mavlink_fd, "#audio: takeoff completed"); } else { /* advance by one mission item */ From ff8f92af31fe1eadb52dbe1e612fd1f31b00ff82 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 23 Feb 2014 07:24:03 -0800 Subject: [PATCH 17/26] Remove Ubuntu code style script - people should use the reference one --- Tools/fix_code_style_ubuntu.sh | 19 ------------------- 1 file changed, 19 deletions(-) delete mode 100755 Tools/fix_code_style_ubuntu.sh diff --git a/Tools/fix_code_style_ubuntu.sh b/Tools/fix_code_style_ubuntu.sh deleted file mode 100755 index 90ab57b895..0000000000 --- a/Tools/fix_code_style_ubuntu.sh +++ /dev/null @@ -1,19 +0,0 @@ -#!/bin/sh -astyle \ - --style=linux \ - --indent=force-tab=8 \ - --indent-cases \ - --indent-preprocessor \ - --break-blocks=all \ - --pad-oper \ - --pad-header \ - --unpad-paren \ - --keep-one-line-blocks \ - --keep-one-line-statements \ - --align-pointer=name \ - --suffix=none \ - --lineend=linux \ - $* - #--ignore-exclude-errors-x \ - #--exclude=EASTL \ - #--align-reference=name \ From 99b376089f6a35c977174ae8e01bc4686b405cc7 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 23 Feb 2014 07:26:23 -0800 Subject: [PATCH 18/26] Replace single if lines with brackets in astyle --- Tools/fix_code_style.sh | 1 + 1 file changed, 1 insertion(+) diff --git a/Tools/fix_code_style.sh b/Tools/fix_code_style.sh index 832ee79da6..0b6743013f 100755 --- a/Tools/fix_code_style.sh +++ b/Tools/fix_code_style.sh @@ -16,4 +16,5 @@ astyle \ --ignore-exclude-errors-x \ --lineend=linux \ --exclude=EASTL \ + --add-brackets \ $* From 20618a611b5cd719cab803823b2f3a08d9a498f6 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 23 Feb 2014 12:44:05 -0800 Subject: [PATCH 19/26] Fixed a number of compile warnings in mount tests. --- src/systemcmds/tests/test_mount.c | 38 ++++++++++++++----------------- 1 file changed, 17 insertions(+), 21 deletions(-) diff --git a/src/systemcmds/tests/test_mount.c b/src/systemcmds/tests/test_mount.c index 44e34d9ef3..4b6303cfb1 100644 --- a/src/systemcmds/tests/test_mount.c +++ b/src/systemcmds/tests/test_mount.c @@ -141,8 +141,8 @@ test_mount(int argc, char *argv[]) /* announce mode switch */ if (it_left_fsync_prev != it_left_fsync && it_left_fsync == 0) { warnx("\n SUCCESSFULLY PASSED FSYNC'ED WRITES, CONTINUTING WITHOUT FSYNC"); - fsync(stdout); - fsync(stderr); + fsync(fileno(stdout)); + fsync(fileno(stderr)); usleep(20000); } @@ -162,7 +162,7 @@ test_mount(int argc, char *argv[]) } char buf[64]; - int wret = sprintf(buf, "TEST: %d %d ", it_left_fsync, it_left_abort); + (void)sprintf(buf, "TEST: %d %d ", it_left_fsync, it_left_abort); lseek(cmd_fd, 0, SEEK_SET); write(cmd_fd, buf, strlen(buf) + 1); fsync(cmd_fd); @@ -174,8 +174,8 @@ test_mount(int argc, char *argv[]) printf("\n\n====== FILE TEST: %u bytes chunks (%s) ======\n", chunk_sizes[c], (it_left_fsync > 0) ? "FSYNC" : "NO FSYNC"); printf("unpower the system immediately (within 0.5s) when the hash (#) sign appears\n"); - fsync(stdout); - fsync(stderr); + fsync(fileno(stdout)); + fsync(fileno(stderr)); usleep(50000); for (unsigned a = 0; a < alignments; a++) { @@ -185,22 +185,20 @@ test_mount(int argc, char *argv[]) uint8_t write_buf[chunk_sizes[c] + alignments] __attribute__((aligned(64))); /* fill write buffer with known values */ - for (int i = 0; i < sizeof(write_buf); i++) { + for (unsigned i = 0; i < sizeof(write_buf); i++) { /* this will wrap, but we just need a known value with spacing */ write_buf[i] = i+11; } uint8_t read_buf[chunk_sizes[c] + alignments] __attribute__((aligned(64))); - hrt_abstime start, end; int fd = open("/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT); - start = hrt_absolute_time(); for (unsigned i = 0; i < iterations; i++) { int wret = write(fd, write_buf + a, chunk_sizes[c]); - if (wret != chunk_sizes[c]) { + if (wret != (int)chunk_sizes[c]) { warn("WRITE ERROR!"); if ((0x3 & (uintptr_t)(write_buf + a))) @@ -214,8 +212,8 @@ test_mount(int argc, char *argv[]) fsync(fd); } else { printf("#"); - fsync(stdout); - fsync(stderr); + fsync(fileno(stdout)); + fsync(fileno(stderr)); } } @@ -224,12 +222,10 @@ test_mount(int argc, char *argv[]) } printf("."); - fsync(stdout); - fsync(stderr); + fsync(fileno(stdout)); + fsync(fileno(stderr)); usleep(200000); - end = hrt_absolute_time(); - close(fd); fd = open("/fs/microsd/testfile", O_RDONLY); @@ -237,7 +233,7 @@ test_mount(int argc, char *argv[]) for (unsigned i = 0; i < iterations; i++) { int rret = read(fd, read_buf, chunk_sizes[c]); - if (rret != chunk_sizes[c]) { + if (rret != (int)chunk_sizes[c]) { warnx("READ ERROR!"); return 1; } @@ -245,7 +241,7 @@ test_mount(int argc, char *argv[]) /* compare value */ bool compare_ok = true; - for (int j = 0; j < chunk_sizes[c]; j++) { + for (unsigned j = 0; j < chunk_sizes[c]; j++) { if (read_buf[j] != write_buf[j + a]) { warnx("COMPARISON ERROR: byte %d, align shift: %d", j, a); compare_ok = false; @@ -271,16 +267,16 @@ test_mount(int argc, char *argv[]) } } - fsync(stdout); - fsync(stderr); + fsync(fileno(stdout)); + fsync(fileno(stderr)); usleep(20000); /* we always reboot for the next test if we get here */ warnx("Iteration done, rebooting.."); - fsync(stdout); - fsync(stderr); + fsync(fileno(stdout)); + fsync(fileno(stderr)); usleep(50000); systemreset(false); From e1f60e770948d28ec1152f66b9c3ad57eae0c2e4 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 23 Feb 2014 12:53:20 -0800 Subject: [PATCH 20/26] Code style fixes (authors should be in the doxygen section), using lseek to attempt to work around log corruption --- src/modules/sdlog2/logbuffer.c | 3 +-- src/modules/sdlog2/sdlog2.c | 4 ++-- 2 files changed, 3 insertions(+), 4 deletions(-) diff --git a/src/modules/sdlog2/logbuffer.c b/src/modules/sdlog2/logbuffer.c index b3243f7b5a..6a29d7e5c9 100644 --- a/src/modules/sdlog2/logbuffer.c +++ b/src/modules/sdlog2/logbuffer.c @@ -1,7 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2013 PX4 Development Team. All rights reserved. - * Author: Anton Babushkin + * Copyright (c) 2013, 2014 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 diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index c4fafb5a66..16c37459b5 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -1,8 +1,6 @@ /**************************************************************************** * * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier - * Anton Babushkin * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -95,6 +93,7 @@ #define LOGBUFFER_WRITE_AND_COUNT(_msg) if (logbuffer_write(&lb, &log_msg, LOG_PACKET_SIZE(_msg))) { \ log_msgs_written++; \ + } else { \ log_msgs_skipped++; \ } @@ -450,6 +449,7 @@ static void *logwriter_thread(void *arg) n = available; } + lseek(log_fd, 0, SEEK_CUR); n = write(log_fd, read_ptr, n); should_wait = (n == available) && !is_part; From ba0bf456b9b0cf6cdc58ce2fd80192da3c1744d2 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Mon, 24 Feb 2014 15:37:35 +0100 Subject: [PATCH 21/26] gitignore: ignore pydev project file created in eclipse --- .gitignore | 1 + 1 file changed, 1 insertion(+) diff --git a/.gitignore b/.gitignore index 3e94cf6205..71326517f2 100644 --- a/.gitignore +++ b/.gitignore @@ -35,3 +35,4 @@ mavlink/include/mavlink/v0.9/ /Documentation/doxygen*objdb*tmp .tags .tags_sorted_by_file +.pydevproject From 5ed5e04cb24c261c9a8b40857bd1d733238f847e Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Mon, 24 Feb 2014 15:43:23 +0100 Subject: [PATCH 22/26] sdlog2: code style fixes broke compilation --- src/modules/sdlog2/sdlog2.c | 1 - 1 file changed, 1 deletion(-) diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 16c37459b5..41e2248bbe 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -93,7 +93,6 @@ #define LOGBUFFER_WRITE_AND_COUNT(_msg) if (logbuffer_write(&lb, &log_msg, LOG_PACKET_SIZE(_msg))) { \ log_msgs_written++; \ - } else { \ log_msgs_skipped++; \ } From a79eef05bcb23c9be386a2980437a67151cfa3ea Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Mon, 24 Feb 2014 23:48:00 +0400 Subject: [PATCH 23/26] perf_counter: added include --- src/modules/systemlib/perf_counter.h | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/modules/systemlib/perf_counter.h b/src/modules/systemlib/perf_counter.h index e1e3cbe95e..d8f69fdbf7 100644 --- a/src/modules/systemlib/perf_counter.h +++ b/src/modules/systemlib/perf_counter.h @@ -39,6 +39,8 @@ #ifndef _SYSTEMLIB_PERF_COUNTER_H #define _SYSTEMLIB_PERF_COUNTER_H value +#include + /** * Counter types. */ From f8187650083b361f61c07ceb712c21a25d1c80c4 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Thu, 27 Feb 2014 18:32:55 +0400 Subject: [PATCH 24/26] top: CPU % indication bug fixed --- src/systemcmds/top/top.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/systemcmds/top/top.c b/src/systemcmds/top/top.c index 1ca3fc9281..37e913040d 100644 --- a/src/systemcmds/top/top.c +++ b/src/systemcmds/top/top.c @@ -233,8 +233,8 @@ top_main(void) system_load.tasks[i].tcb->pid, CONFIG_TASK_NAME_SIZE, system_load.tasks[i].tcb->name, (system_load.tasks[i].total_runtime / 1000), - (int)(curr_loads[i] * 100), - (int)(curr_loads[i] * 100000.0f - (int)(curr_loads[i] * 1000.0f) * 100), + (int)(curr_loads[i] * 100.0f), + (int)((curr_loads[i] * 100.0f - (int)(curr_loads[i] * 100.0f)) * 1000), stack_size - stack_free, stack_size, system_load.tasks[i].tcb->sched_priority, From e06263f76f9e38ea9624f1f1ab21af8731a3cd7f Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Sat, 1 Mar 2014 22:43:56 +0400 Subject: [PATCH 25/26] position_estimator_inav: failsafe against NaN estimate --- .../position_estimator_inav_main.c | 14 ++++++++++++-- 1 file changed, 12 insertions(+), 2 deletions(-) diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c index ad363efe06..fb68dd31c0 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -708,6 +708,11 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) inertial_filter_correct(corr_gps[2][0], dt, z_est, 0, w_z_gps_p); inertial_filter_correct(corr_acc[2], dt, z_est, 2, params.w_z_acc); + float x_est_prev[3], y_est_prev[3]; + + memcpy(x_est_prev, x_est, sizeof(x_est)); + memcpy(y_est_prev, y_est, sizeof(y_est)); + if (can_estimate_xy) { /* inertial filter prediction for position */ inertial_filter_predict(dt, x_est); @@ -715,7 +720,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) if (!isfinite(x_est[0]) || !isfinite(y_est[0])) { write_debug_log("BAD ESTIMATE AFTER PREDICTION", dt, x_est, y_est, z_est, corr_acc, corr_gps, w_xy_gps_p, w_xy_gps_v); - thread_should_exit = true; + memcpy(x_est, x_est_prev, sizeof(x_est)); + memcpy(y_est, y_est_prev, sizeof(y_est)); } /* inertial filter correction for position */ @@ -739,7 +745,11 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) if (!isfinite(x_est[0]) || !isfinite(y_est[0])) { write_debug_log("BAD ESTIMATE AFTER CORRECTION", dt, x_est, y_est, z_est, corr_acc, corr_gps, w_xy_gps_p, w_xy_gps_v); - thread_should_exit = true; + memcpy(x_est, x_est_prev, sizeof(x_est)); + memcpy(y_est, y_est_prev, sizeof(y_est)); + memset(corr_acc, 0, sizeof(corr_acc)); + memset(corr_gps, 0, sizeof(corr_gps)); + memset(corr_flow, 0, sizeof(corr_flow)); } } From d11235585cf1014c5391b63e394151c171ed286d Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Sat, 1 Mar 2014 22:56:02 +0400 Subject: [PATCH 26/26] position_estimator_inav: log writing on NaN estimate fixed --- .../position_estimator_inav_main.c | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c index fb68dd31c0..d6d03367b6 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -167,12 +167,13 @@ void write_debug_log(const char *msg, float dt, float x_est[3], float y_est[3], FILE *f = fopen("/fs/microsd/inav.log", "a"); if (f) { char *s = malloc(256); - snprintf(s, 256, "%llu %s\n\tdt=%.5f x_est=[%.5f %.5f %.5f] y_est=[%.5f %.5f %.5f] z_est=[%.5f %.5f %.5f]\n", hrt_absolute_time(), msg, dt, x_est[0], x_est[1], x_est[2], y_est[0], y_est[1], y_est[2], z_est[0], z_est[1], z_est[2]); - fputs(f, s); - snprintf(s, 256, "\tacc_corr=[%.5f %.5f %.5f] gps_pos_corr=[%.5f %.5f %.5f] gps_vel_corr=[%.5f %.5f %.5f] w_xy_gps_p=%.5f w_xy_gps_v=%.5f\n", corr_acc[0], corr_acc[1], corr_acc[2], corr_gps[0][0], corr_gps[1][0], corr_gps[2][0], corr_gps[0][1], corr_gps[1][1], corr_gps[2][1], w_xy_gps_p, w_xy_gps_v); - fputs(f, s); + unsigned n = snprintf(s, 256, "%llu %s\n\tdt=%.5f x_est=[%.5f %.5f %.5f] y_est=[%.5f %.5f %.5f] z_est=[%.5f %.5f %.5f]\n", hrt_absolute_time(), msg, dt, x_est[0], x_est[1], x_est[2], y_est[0], y_est[1], y_est[2], z_est[0], z_est[1], z_est[2]); + fwrite(s, 1, n, f); + n = snprintf(s, 256, "\tacc_corr=[%.5f %.5f %.5f] gps_pos_corr=[%.5f %.5f %.5f] gps_vel_corr=[%.5f %.5f %.5f] w_xy_gps_p=%.5f w_xy_gps_v=%.5f\n", corr_acc[0], corr_acc[1], corr_acc[2], corr_gps[0][0], corr_gps[1][0], corr_gps[2][0], corr_gps[0][1], corr_gps[1][1], corr_gps[2][1], w_xy_gps_p, w_xy_gps_v); + fwrite(s, 1, n, f); free(s); } + fsync(fileno(f)); fclose(f); }