forked from Archive/PX4-Autopilot
Merge branch 'master' of github.com:PX4/Firmware
This commit is contained in:
commit
f88bba0cec
|
@ -0,0 +1,116 @@
|
|||
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<target name="firmware" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>distclean</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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<target name="upload" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>upload</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="ROMFS" path="ROMFS" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>install</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</storageModule>
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</cproject>
|
|
@ -33,4 +33,4 @@ nuttx/nuttx.hex
|
|||
.settings
|
||||
Firmware.sublime-workspace
|
||||
.DS_Store
|
||||
nuttx/configs/px4fmu/include/nsh_romfsimg.h
|
||||
nsh_romfsimg.h
|
||||
|
|
|
@ -0,0 +1,135 @@
|
|||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<projectDescription>
|
||||
<name>PX4 Firmware</name>
|
||||
<comment></comment>
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<projects>
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</projects>
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<buildSpec>
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<buildCommand>
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<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
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<triggers>clean,full,incremental,</triggers>
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<arguments>
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<dictionary>
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<key>?name?</key>
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<value></value>
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</dictionary>
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||||
<dictionary>
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||||
<key>org.eclipse.cdt.make.core.append_environment</key>
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<value>true</value>
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</dictionary>
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<dictionary>
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<key>org.eclipse.cdt.make.core.autoBuildTarget</key>
|
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<value>all</value>
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</dictionary>
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<dictionary>
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||||
<key>org.eclipse.cdt.make.core.buildArguments</key>
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<value></value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.buildCommand</key>
|
||||
<value>make</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.cleanBuildTarget</key>
|
||||
<value>clean</value>
|
||||
</dictionary>
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<dictionary>
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||||
<key>org.eclipse.cdt.make.core.contents</key>
|
||||
<value>org.eclipse.cdt.make.core.activeConfigSettings</value>
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</dictionary>
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<dictionary>
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<key>org.eclipse.cdt.make.core.enableAutoBuild</key>
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<value>false</value>
|
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</dictionary>
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<dictionary>
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<key>org.eclipse.cdt.make.core.enableCleanBuild</key>
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<value>true</value>
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<dictionary>
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<key>org.eclipse.cdt.make.core.enableFullBuild</key>
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<dictionary>
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<key>org.eclipse.cdt.make.core.fullBuildTarget</key>
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<dictionary>
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<key>org.eclipse.cdt.make.core.stopOnError</key>
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<dictionary>
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<key>org.eclipse.cdt.make.core.useDefaultBuildCmd</key>
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<value>true</value>
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</dictionary>
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</arguments>
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</buildCommand>
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<buildCommand>
|
||||
<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
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<triggers>full,incremental,</triggers>
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<arguments>
|
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</arguments>
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</buildCommand>
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</buildSpec>
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<natures>
|
||||
<nature>org.eclipse.cdt.core.cnature</nature>
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<nature>org.eclipse.cdt.core.ccnature</nature>
|
||||
<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
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<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
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|
||||
<filteredResources>
|
||||
<filter>
|
||||
<id>1344101890673</id>
|
||||
<name></name>
|
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<type>6</type>
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<matcher>
|
||||
<id>org.eclipse.ui.ide.multiFilter</id>
|
||||
<arguments>1.0-name-matches-false-false-*.o</arguments>
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||||
</matcher>
|
||||
</filter>
|
||||
<filter>
|
||||
<id>1344101890683</id>
|
||||
<name></name>
|
||||
<type>6</type>
|
||||
<matcher>
|
||||
<id>org.eclipse.ui.ide.multiFilter</id>
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<arguments>1.0-name-matches-false-false-.dep</arguments>
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||||
</matcher>
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</filter>
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<filter>
|
||||
<id>1344101890687</id>
|
||||
<name></name>
|
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<type>6</type>
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<matcher>
|
||||
<id>org.eclipse.ui.ide.multiFilter</id>
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<arguments>1.0-name-matches-false-false-.context</arguments>
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||||
</matcher>
|
||||
</filter>
|
||||
<filter>
|
||||
<id>1344101890691</id>
|
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<name></name>
|
||||
<type>6</type>
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||||
<matcher>
|
||||
<id>org.eclipse.ui.ide.multiFilter</id>
|
||||
<arguments>1.0-name-matches-false-false-.depend</arguments>
|
||||
</matcher>
|
||||
</filter>
|
||||
<filter>
|
||||
<id>1344101890695</id>
|
||||
<name></name>
|
||||
<type>6</type>
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||||
<matcher>
|
||||
<id>org.eclipse.ui.ide.multiFilter</id>
|
||||
<arguments>1.0-name-matches-false-false-.built</arguments>
|
||||
</matcher>
|
||||
</filter>
|
||||
<filter>
|
||||
<id>1344101890698</id>
|
||||
<name></name>
|
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<type>6</type>
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<matcher>
|
||||
<id>org.eclipse.ui.ide.multiFilter</id>
|
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<arguments>1.0-name-matches-false-false-*.a</arguments>
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</matcher>
|
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</filter>
|
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</filteredResources>
|
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</projectDescription>
|
|
@ -10,7 +10,10 @@
|
|||
".built",
|
||||
".context",
|
||||
".depend",
|
||||
"Make.dep"
|
||||
"Make.dep",
|
||||
".configured",
|
||||
"*.sublime-project",
|
||||
"*.sublime-workspace"
|
||||
]
|
||||
}
|
||||
],
|
||||
|
|
|
@ -20,7 +20,12 @@ ROMFS_FSSPEC := $(SRCROOT)/scripts/rcS~init.d/rcS \
|
|||
$(SRCROOT)/scripts/rc.logging~init.d/rc.logging \
|
||||
$(SRCROOT)/scripts/rc.standalone~init.d/rc.standalone \
|
||||
$(SRCROOT)/scripts/rc.PX4IO~init.d/rc.PX4IO \
|
||||
$(SRCROOT)/scripts/rc.PX4IOAR~init.d/rc.PX4IOAR
|
||||
$(SRCROOT)/scripts/rc.PX4IOAR~init.d/rc.PX4IOAR \
|
||||
$(SRCROOT)/mixers/FMU_pass.mix~mixers/FMU_pass.mix \
|
||||
$(SRCROOT)/mixers/FMU_delta.mix~mixers/FMU_delta.mix \
|
||||
$(SRCROOT)/mixers/FMU_AERT.mix~mixers/FMU_AERT.mix \
|
||||
$(SRCROOT)/mixers/FMU_AET.mix~mixers/FMU_AET.mix \
|
||||
$(SRCROOT)/mixers/FMU_RET.mix~mixers/FMU_ERT.mix
|
||||
|
||||
#
|
||||
# Add the PX4IO firmware to the spec if someone has dropped it into the
|
||||
|
|
|
@ -0,0 +1,64 @@
|
|||
Aileron/rudder/elevator/throttle mixer for PX4FMU
|
||||
==================================================
|
||||
|
||||
This file defines mixers suitable for controlling a fixed wing aircraft with
|
||||
aileron, rudder, elevator and throttle controls using PX4FMU. The configuration
|
||||
assumes the aileron servo(s) are connected to PX4FMU servo output 0, the
|
||||
elevator to output 1, the rudder to output 2 and the throttle to output 3.
|
||||
|
||||
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
|
||||
(roll), 1 (pitch) and 3 (thrust).
|
||||
|
||||
Aileron mixer
|
||||
-------------
|
||||
Two scalers total (output, roll).
|
||||
|
||||
This mixer assumes that the aileron servos are set up correctly mechanically;
|
||||
depending on the actual configuration it may be necessary to reverse the scaling
|
||||
factors (to reverse the servo movement) and adjust the offset, scaling and
|
||||
endpoints to suit.
|
||||
|
||||
As there is only one output, if using two servos adjustments to compensate for
|
||||
differences between the servos must be made mechanically. To obtain the correct
|
||||
motion using a Y cable, the servos can be positioned reversed from one another.
|
||||
|
||||
M: 2
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
|
||||
Elevator mixer
|
||||
------------
|
||||
Two scalers total (output, roll).
|
||||
|
||||
This mixer assumes that the elevator servo is set up correctly mechanically;
|
||||
depending on the actual configuration it may be necessary to reverse the scaling
|
||||
factors (to reverse the servo movement) and adjust the offset, scaling and
|
||||
endpoints to suit.
|
||||
|
||||
M: 2
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
S: 0 1 10000 10000 0 -10000 10000
|
||||
|
||||
Rudder mixer
|
||||
------------
|
||||
Two scalers total (output, yaw).
|
||||
|
||||
This mixer assumes that the rudder servo is set up correctly mechanically;
|
||||
depending on the actual configuration it may be necessary to reverse the scaling
|
||||
factors (to reverse the servo movement) and adjust the offset, scaling and
|
||||
endpoints to suit.
|
||||
|
||||
M: 2
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
S: 0 2 10000 10000 0 -10000 10000
|
||||
|
||||
Motor speed mixer
|
||||
-----------------
|
||||
Two scalers total (output, thrust).
|
||||
|
||||
This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
|
||||
range. Inputs below zero are treated as zero.
|
||||
|
||||
M: 2
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
|
@ -0,0 +1,60 @@
|
|||
Aileron/elevator/throttle mixer for PX4FMU
|
||||
==================================================
|
||||
|
||||
This file defines mixers suitable for controlling a fixed wing aircraft with
|
||||
aileron, elevator and throttle controls using PX4FMU. The configuration assumes
|
||||
the aileron servo(s) are connected to PX4FMU servo output 0, the elevator to
|
||||
output 1 and the throttle to output 3.
|
||||
|
||||
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
|
||||
(roll), 1 (pitch) and 3 (thrust).
|
||||
|
||||
Aileron mixer
|
||||
-------------
|
||||
Two scalers total (output, roll).
|
||||
|
||||
This mixer assumes that the aileron servos are set up correctly mechanically;
|
||||
depending on the actual configuration it may be necessary to reverse the scaling
|
||||
factors (to reverse the servo movement) and adjust the offset, scaling and
|
||||
endpoints to suit.
|
||||
|
||||
As there is only one output, if using two servos adjustments to compensate for
|
||||
differences between the servos must be made mechanically. To obtain the correct
|
||||
motion using a Y cable, the servos can be positioned reversed from one another.
|
||||
|
||||
Alternatively, output 2 could be used as a second aileron servo output with
|
||||
separate mixing.
|
||||
|
||||
M: 2
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
|
||||
Elevator mixer
|
||||
------------
|
||||
Two scalers total (output, roll).
|
||||
|
||||
This mixer assumes that the elevator servo is set up correctly mechanically;
|
||||
depending on the actual configuration it may be necessary to reverse the scaling
|
||||
factors (to reverse the servo movement) and adjust the offset, scaling and
|
||||
endpoints to suit.
|
||||
|
||||
M: 2
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
S: 0 1 10000 10000 0 -10000 10000
|
||||
|
||||
Output 2
|
||||
--------
|
||||
This mixer is empty.
|
||||
|
||||
M: 0
|
||||
|
||||
Motor speed mixer
|
||||
-----------------
|
||||
Two scalers total (output, thrust).
|
||||
|
||||
This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
|
||||
range. Inputs below zero are treated as zero.
|
||||
|
||||
M: 2
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
|
@ -0,0 +1,53 @@
|
|||
Rudder/elevator/throttle mixer for PX4FMU
|
||||
=========================================
|
||||
|
||||
This file defines mixers suitable for controlling a fixed wing aircraft with
|
||||
rudder, elevator and throttle controls using PX4FMU. The configuration assumes
|
||||
the rudder servo is connected to PX4FMU servo output 0, the elevator to output 1
|
||||
and the throttle to output 3.
|
||||
|
||||
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
|
||||
(roll), 1 (pitch) and 3 (thrust).
|
||||
|
||||
Rudder mixer
|
||||
------------
|
||||
Two scalers total (output, roll).
|
||||
|
||||
This mixer assumes that the rudder servo is set up correctly mechanically;
|
||||
depending on the actual configuration it may be necessary to reverse the scaling
|
||||
factors (to reverse the servo movement) and adjust the offset, scaling and
|
||||
endpoints to suit.
|
||||
|
||||
M: 2
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
|
||||
Elevator mixer
|
||||
------------
|
||||
Two scalers total (output, roll).
|
||||
|
||||
This mixer assumes that the elevator servo is set up correctly mechanically;
|
||||
depending on the actual configuration it may be necessary to reverse the scaling
|
||||
factors (to reverse the servo movement) and adjust the offset, scaling and
|
||||
endpoints to suit.
|
||||
|
||||
M: 2
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
S: 0 1 10000 10000 0 -10000 10000
|
||||
|
||||
Output 2
|
||||
--------
|
||||
This mixer is empty.
|
||||
|
||||
M: 0
|
||||
|
||||
Motor speed mixer
|
||||
-----------------
|
||||
Two scalers total (output, thrust).
|
||||
|
||||
This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
|
||||
range. Inputs below zero are treated as zero.
|
||||
|
||||
M: 2
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
|
@ -0,0 +1,50 @@
|
|||
Delta-wing mixer for PX4FMU
|
||||
===========================
|
||||
|
||||
This file defines mixers suitable for controlling a delta wing aircraft using
|
||||
PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
|
||||
servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
|
||||
assumed to be unused.
|
||||
|
||||
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
|
||||
(roll), 1 (pitch) and 3 (thrust).
|
||||
|
||||
See the README for more information on the scaler format.
|
||||
|
||||
Elevon mixers
|
||||
-------------
|
||||
Three scalers total (output, roll, pitch).
|
||||
|
||||
On the assumption that the two elevon servos are physically reversed, the pitch
|
||||
input is inverted between the two servos.
|
||||
|
||||
The scaling factor for roll inputs is adjusted to implement differential travel
|
||||
for the elevons.
|
||||
|
||||
M: 3
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
S: 0 0 3000 5000 0 -10000 10000
|
||||
S: 0 1 5000 5000 0 -10000 10000
|
||||
|
||||
M: 3
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
S: 0 0 5000 3000 0 -10000 10000
|
||||
S: 0 1 -5000 -5000 0 -10000 10000
|
||||
|
||||
Output 2
|
||||
--------
|
||||
This mixer is empty.
|
||||
|
||||
M: 0
|
||||
|
||||
Motor speed mixer
|
||||
-----------------
|
||||
Two scalers total (output, thrust).
|
||||
|
||||
This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
|
||||
range. Inputs below zero are treated as zero.
|
||||
|
||||
M: 2
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
||||
|
|
@ -0,0 +1,23 @@
|
|||
Passthrough mixer for PX4FMU
|
||||
============================
|
||||
|
||||
This file defines passthrough mixers suitable for testing.
|
||||
|
||||
Channel group 0, channels 0-3 are passed directly through to the outputs.
|
||||
|
||||
M: 2
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
|
||||
M: 2
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
S: 0 1 10000 10000 0 -10000 10000
|
||||
|
||||
M: 2
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
S: 0 2 10000 10000 0 -10000 10000
|
||||
|
||||
M: 2
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
|
|
@ -0,0 +1,54 @@
|
|||
Quadrotor + mixer for PX4FMU
|
||||
============================
|
||||
|
||||
This file defines mixers suitable for controlling a quadrotor in the +
|
||||
arrangement using PX4FMU. The configuration assumes the motors are connected
|
||||
starting with the front motor on output 0 and proceeding clockwise.
|
||||
|
||||
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
|
||||
(roll), 1 (pitch), 2 (yaw) and 3 (thrust).
|
||||
|
||||
See the README for more information on the scaler format.
|
||||
|
||||
Scale values here will definitely need tuning.
|
||||
|
||||
Front
|
||||
-----
|
||||
|
||||
M: 4
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
S: 0 0 0 0 0 -10000 10000
|
||||
S: 0 1 1000 1000 0 -10000 10000
|
||||
S: 0 2 1000 1000 0 -10000 10000
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
||||
|
||||
Right
|
||||
-----
|
||||
|
||||
M: 4
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
S: 0 0 1000 1000 0 -10000 10000
|
||||
S: 0 1 0 0 0 -10000 10000
|
||||
S: 0 2 -1000 -1000 0 -10000 10000
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
||||
|
||||
Back
|
||||
----
|
||||
|
||||
M: 4
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
S: 0 0 0 0 0 -10000 10000
|
||||
S: 0 1 -1000 -1000 0 -10000 10000
|
||||
S: 0 2 1000 1000 0 -10000 10000
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
||||
|
||||
Left
|
||||
----
|
||||
|
||||
M: 4
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
S: 0 0 -1000 -1000 0 -10000 10000
|
||||
S: 0 1 0 0 0 -10000 10000
|
||||
S: 0 2 -1000 -1000 0 -10000 10000
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
||||
|
|
@ -0,0 +1,54 @@
|
|||
Quadrotor X mixer for PX4FMU
|
||||
============================
|
||||
|
||||
This file defines mixers suitable for controlling a quadrotor in the X
|
||||
arrangement using PX4FMU. The configuration assumes the motors are connected
|
||||
starting with the front-right motor on output 0 and proceeding clockwise.
|
||||
|
||||
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
|
||||
(roll), 1 (pitch), 2 (yaw) and 3 (thrust).
|
||||
|
||||
See the README for more information on the scaler format.
|
||||
|
||||
Scale values here will definitely need tuning.
|
||||
|
||||
Front right
|
||||
-----------
|
||||
|
||||
M: 4
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
S: 0 0 1000 1000 0 -10000 10000
|
||||
S: 0 1 1000 1000 0 -10000 10000
|
||||
S: 0 2 1000 1000 0 -10000 10000
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
||||
|
||||
Back right
|
||||
----------
|
||||
|
||||
M: 4
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
S: 0 0 1000 1000 0 -10000 10000
|
||||
S: 0 1 -1000 -1000 0 -10000 10000
|
||||
S: 0 2 -1000 -1000 0 -10000 10000
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
||||
|
||||
Back left
|
||||
---------
|
||||
|
||||
M: 4
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
S: 0 0 -1000 -1000 0 -10000 10000
|
||||
S: 0 1 -1000 -1000 0 -10000 10000
|
||||
S: 0 2 1000 1000 0 -10000 10000
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
||||
|
||||
Front left
|
||||
----------
|
||||
|
||||
M: 4
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
S: 0 0 -1000 -1000 0 -10000 10000
|
||||
S: 0 1 1000 1000 0 -10000 10000
|
||||
S: 0 2 -1000 -1000 0 -10000 10000
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
||||
|
|
@ -0,0 +1,90 @@
|
|||
PX4 mixer definitions
|
||||
=====================
|
||||
|
||||
Files in this directory implement example mixers that can be used as a basis
|
||||
for customisation, or for general testing purposes.
|
||||
|
||||
Mixer basics
|
||||
------------
|
||||
|
||||
Mixers combine control values from various sources (control tasks, user inputs,
|
||||
etc.) and produce output values suitable for controlling actuators; servos,
|
||||
motors, switches and so on.
|
||||
|
||||
An actuator derives its value from the combination of one or more control
|
||||
values. Each of the control values is scaled according to the actuator's
|
||||
configuration and then combined to produce the actuator value, which may then be
|
||||
further scaled to suit the specific output type.
|
||||
|
||||
Internally, all scaling is performed using floating point values. Inputs and
|
||||
outputs are clamped to the range -1.0 to 1.0.
|
||||
|
||||
control control control
|
||||
| | |
|
||||
v v v
|
||||
scale scale scale
|
||||
| | |
|
||||
| v |
|
||||
+-------> mix <------+
|
||||
|
|
||||
scale
|
||||
|
|
||||
v
|
||||
out
|
||||
|
||||
Scaling
|
||||
-------
|
||||
|
||||
Basic scalers provide linear scaling of the input to the output.
|
||||
|
||||
Each scaler allows the input value to be scaled independently for inputs
|
||||
greater/less than zero. An offset can be applied to the output, and lower and
|
||||
upper boundary constraints can be applied. Negative scaling factors cause the
|
||||
output to be inverted (negative input produces positive output).
|
||||
|
||||
Scaler pseudocode:
|
||||
|
||||
if (input < 0)
|
||||
output = (input * NEGATIVE_SCALE) + OFFSET
|
||||
else
|
||||
output = (input * POSITIVE_SCALE) + OFFSET
|
||||
|
||||
if (output < LOWER_LIMIT)
|
||||
output = LOWER_LIMIT
|
||||
if (output > UPPER_LIMIT)
|
||||
output = UPPER_LIMIT
|
||||
|
||||
Syntax
|
||||
------
|
||||
|
||||
Mixer definitions are text files; lines beginning with a single capital letter
|
||||
followed by a colon are significant. All other lines are ignored, meaning that
|
||||
explanatory text can be freely mixed with the definitions.
|
||||
|
||||
Each file may define more than one mixer; the allocation of mixers to actuators
|
||||
is specific to the device reading the mixer definition.
|
||||
|
||||
A mixer begins with a line of the form
|
||||
|
||||
M: <scaler count>
|
||||
|
||||
If the scaler count is zero, the mixer is a placeholder and the device will not
|
||||
allocate a mixer for this position. Otherwise, this line is followed by scaler
|
||||
definitions matching the given count.
|
||||
|
||||
A scaler definition is a line of the form:
|
||||
|
||||
S: <group> <index> <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
|
||||
|
||||
The first scaler definition following the M: line configures the output scaler.
|
||||
The <group> and <index> fields are ignored in this case.
|
||||
|
||||
For the remaining scalers, the <group> value identifies the control group from
|
||||
which the scaler will read. Control group 0 is the vehicle attitude control
|
||||
group; other group numbers may be assigned for other purposes. The <index> value
|
||||
selects the control within the group that will be scaled.
|
||||
|
||||
The remaining fields on the line represent the scaler parameters as discussed
|
||||
above. Whilst the calculations are performed as floating-point operations, the
|
||||
values stored in the definition file are scaled by a factor of 10000; i.e. an
|
||||
offset of -0.5 is encoded as -5000.
|
|
@ -209,6 +209,8 @@ FMUServo::task_main()
|
|||
|
||||
unsigned num_outputs = (_mode == MODE_2PWM) ? 2 : 4;
|
||||
|
||||
log("starting");
|
||||
|
||||
/* loop until killed */
|
||||
while (!_task_should_exit) {
|
||||
|
||||
|
@ -235,7 +237,6 @@ FMUServo::task_main()
|
|||
|
||||
/* if the actuator is configured */
|
||||
if (_mixer[i] != nullptr) {
|
||||
|
||||
/* mix controls to the actuator */
|
||||
float output = mixer_mix(_mixer[i], &controls[0]);
|
||||
|
||||
|
@ -263,6 +264,8 @@ FMUServo::task_main()
|
|||
/* make sure servos are off */
|
||||
up_pwm_servo_deinit();
|
||||
|
||||
log("stopping");
|
||||
|
||||
/* note - someone else is responsible for restoring the GPIO config */
|
||||
|
||||
/* tell the dtor that we are exiting */
|
||||
|
@ -379,13 +382,16 @@ FMUServo::ioctl(struct file *filp, int cmd, unsigned long arg)
|
|||
/* get the caller-supplied mixer and check */
|
||||
mm = (struct mixer_s *)arg;
|
||||
|
||||
if (mixer_check(mm, 1, NUM_ACTUATOR_CONTROLS)) { /* only the attitude group is supported */
|
||||
ret = -EINVAL;
|
||||
break;
|
||||
}
|
||||
|
||||
/* allocate local storage and copy from the caller*/
|
||||
if (mm != nullptr) {
|
||||
|
||||
if (mixer_check(mm, 1, NUM_ACTUATOR_CONTROLS)) {
|
||||
/* only the attitude group is supported */
|
||||
ret = -EINVAL;
|
||||
break;
|
||||
}
|
||||
|
||||
/* allocate a new mixer struct */
|
||||
tmm = (struct mixer_s *)malloc(MIXER_SIZE(mm->control_count));
|
||||
memcpy(tmm, mm, MIXER_SIZE(mm->control_count));
|
||||
|
||||
|
@ -512,6 +518,56 @@ fmu_new_mode(PortMode new_mode)
|
|||
return ret;
|
||||
}
|
||||
|
||||
void
|
||||
test(void)
|
||||
{
|
||||
int fd;
|
||||
|
||||
fd = open(PWM_OUTPUT_DEVICE_PATH, 0);
|
||||
|
||||
if (fd < 0) {
|
||||
puts("open fail");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
ioctl(fd, PWM_SERVO_ARM, 0);
|
||||
ioctl(fd, PWM_SERVO_SET(0), 1000);
|
||||
|
||||
close(fd);
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
void
|
||||
fake(int argc, char *argv[])
|
||||
{
|
||||
if (argc < 5) {
|
||||
puts("fmu fake <roll> <pitch> <yaw> <thrust> (values -100 - 100)");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
struct actuator_controls_s ac;
|
||||
|
||||
ac.control[0] = strtol(argv[1], 0, 0) / 100.0f;
|
||||
|
||||
ac.control[1] = strtol(argv[2], 0, 0) / 100.0f;
|
||||
|
||||
ac.control[2] = strtol(argv[3], 0, 0) / 100.0f;
|
||||
|
||||
ac.control[3] = strtol(argv[4], 0, 0) / 100.0f;
|
||||
|
||||
int handle = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &ac);
|
||||
|
||||
if (handle < 0) {
|
||||
puts("advertise failed");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
close(handle);
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
extern "C" __EXPORT int fmu_main(int argc, char *argv[]);
|
||||
|
@ -521,10 +577,16 @@ fmu_main(int argc, char *argv[])
|
|||
{
|
||||
PortMode new_mode = PORT_MODE_UNSET;
|
||||
|
||||
if (!strcmp(argv[1], "test"))
|
||||
test();
|
||||
|
||||
if (!strcmp(argv[1], "fake"))
|
||||
fake(argc - 1, argv + 1);
|
||||
|
||||
/*
|
||||
* Mode switches.
|
||||
*
|
||||
* XXX use getopt
|
||||
* XXX use getopt?
|
||||
*/
|
||||
if (!strcmp(argv[1], "mode_gpio")) {
|
||||
new_mode = PORT_FULL_GPIO;
|
||||
|
|
|
@ -163,29 +163,46 @@ mixer_mix(struct mixer_s *mixer, float **controls)
|
|||
static int
|
||||
mixer_getline(int fd, char *line, unsigned maxlen)
|
||||
{
|
||||
int ret;
|
||||
char c;
|
||||
/* reduce line budget by 1 to account for terminal NUL */
|
||||
maxlen--;
|
||||
|
||||
while (--maxlen) {
|
||||
ret = read(fd, &c, 1);
|
||||
/* loop looking for a non-comment line */
|
||||
for (;;) {
|
||||
int ret;
|
||||
char c;
|
||||
char *p = line;
|
||||
|
||||
if (ret <= 0)
|
||||
return ret;
|
||||
/* loop reading characters for this line */
|
||||
for (;;) {
|
||||
ret = read(fd, &c, 1);
|
||||
|
||||
if (c == '\r')
|
||||
continue;
|
||||
/* on error or EOF, return same */
|
||||
if (ret <= 0)
|
||||
return ret;
|
||||
|
||||
if (c == '\n') {
|
||||
*line = '\0';
|
||||
return 1;
|
||||
/* ignore carriage returns */
|
||||
if (c == '\r')
|
||||
continue;
|
||||
|
||||
/* line termination */
|
||||
if (c == '\n') {
|
||||
/* ignore malformed lines */
|
||||
if ((p - line) < 4)
|
||||
break;
|
||||
|
||||
if (line[1] != ':')
|
||||
break;
|
||||
|
||||
/* terminate line as string and return */
|
||||
*p = '\0';
|
||||
return 1;
|
||||
}
|
||||
|
||||
/* if we have space, accumulate the byte and go on */
|
||||
if ((p - line) < maxlen)
|
||||
*p++ = c;
|
||||
}
|
||||
|
||||
*line++ = c;
|
||||
}
|
||||
|
||||
/* line too long */
|
||||
puts("line too long");
|
||||
return -1;
|
||||
}
|
||||
|
||||
static int
|
||||
|
@ -214,7 +231,7 @@ mixer_load(int fd, struct mixer_s **mp)
|
|||
{
|
||||
int ret, result = -1;
|
||||
struct mixer_s *mixer = NULL;
|
||||
char buf[100];
|
||||
char buf[60];
|
||||
unsigned scalers;
|
||||
|
||||
ret = mixer_getline(fd, buf, sizeof(buf));
|
||||
|
|
|
@ -1,601 +0,0 @@
|
|||
unsigned char romfs_img[] = {
|
||||
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|
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|
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|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00
|
||||
};
|
||||
unsigned int romfs_img_len = 7168;
|
|
@ -164,10 +164,10 @@ pwm_timer_init(unsigned timer)
|
|||
rDCR(timer) = 0;
|
||||
|
||||
/* configure the timer to free-run at 1MHz */
|
||||
rPSC(timer) = pwm_timers[timer].clock_freq / 1000000;
|
||||
rPSC(timer) = (pwm_timers[timer].clock_freq / 1000000) - 1;
|
||||
|
||||
/* and update at the desired rate */
|
||||
rARR(timer) = 1000000 / pwm_update_rate;
|
||||
rARR(timer) = (1000000 / pwm_update_rate) - 1;
|
||||
|
||||
/* generate an update event; reloads the counter and all registers */
|
||||
rEGR(timer) = GTIM_EGR_UG;
|
||||
|
@ -234,6 +234,8 @@ up_pwm_servo_set(unsigned channel, servo_position_t value)
|
|||
return -1;
|
||||
|
||||
/* configure the channel */
|
||||
if (value > 0)
|
||||
value--;
|
||||
switch (pwm_channels[channel].timer_channel) {
|
||||
case 1:
|
||||
rCCR1(timer) = value;
|
||||
|
|
|
@ -96,10 +96,10 @@ pwm_timer_init(unsigned timer)
|
|||
rDCR(timer) = 0;
|
||||
|
||||
/* configure the timer to free-run at 1MHz */
|
||||
rPSC(timer) = cfg->timers[timer].clock_freq / 1000000;
|
||||
rPSC(timer) = (cfg->timers[timer].clock_freq / 1000000) -1;
|
||||
|
||||
/* and update at the desired rate */
|
||||
rARR(timer) = 1000000 / cfg->update_rate;
|
||||
rARR(timer) = (1000000 / cfg->update_rate) - 1;
|
||||
|
||||
/* generate an update event; reloads the counter and all registers */
|
||||
rEGR(timer) = GTIM_EGR_UG;
|
||||
|
@ -166,6 +166,8 @@ pwm_channel_set(unsigned channel, servo_position_t value)
|
|||
return;
|
||||
|
||||
/* configure the channel */
|
||||
if (value > 0)
|
||||
value--;
|
||||
switch (cfg->channels[channel].timer_channel) {
|
||||
case 1:
|
||||
rCCR1(timer) = value;
|
||||
|
|
Loading…
Reference in New Issue