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Merge branch 'master' into navigator_rewrite

Browse Source 
Conflicts:
	src/drivers/gps/gps.cpp
	src/drivers/gps/mtk.cpp
	src/modules/commander/commander.cpp
	src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
	src/modules/navigator/mission.cpp
	src/modules/navigator/mission.h
	src/modules/navigator/navigator_main.cpp
	src/modules/navigator/navigator_state.h
	src/modules/position_estimator_inav/position_estimator_inav_main.c
This commit is contained in:
Julian Oes
2014-05-26 20:19:11 +02:00
parent 68352cb923 36495cdb62
commit 063caba36b
173 changed files with 5312 additions and 1890 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/ardrone_interface/ardrone_interface.c
+1 -1
View File
@@ -119,7 +119,7 @@ int ardrone_interface_main(int argc, char *argv[])
ardrone_interface_task = task_spawn_cmd("ardrone_interface",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 15,
2048,
1100,
ardrone_interface_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
exit(0);
src/drivers/ardrone_interface/module.mk
+1
View File
@@ -38,3 +38,4 @@
MODULE_COMMAND = ardrone_interface
SRCS = ardrone_interface.c \
ardrone_motor_control.c
MODULE_STACKSIZE = 1200
src/drivers/blinkm/blinkm.cpp
+43 -28
View File
@@ -194,6 +194,26 @@ private:
bool systemstate_run;
int vehicle_status_sub_fd;
int vehicle_control_mode_sub_fd;
int vehicle_gps_position_sub_fd;
int actuator_armed_sub_fd;
int safety_sub_fd;
int num_of_cells;
int detected_cells_runcount;
int t_led_color[8];
int t_led_blink;
int led_thread_runcount;
int led_interval;
bool topic_initialized;
bool detected_cells_blinked;
bool led_thread_ready;
int num_of_used_sats;
void setLEDColor(int ledcolor);
static void led_trampoline(void *arg);
void led();
@@ -265,7 +285,22 @@ BlinkM::BlinkM(int bus, int blinkm) :
led_color_7(LED_OFF),
led_color_8(LED_OFF),
led_blink(LED_NOBLINK),
systemstate_run(false)
systemstate_run(false),
vehicle_status_sub_fd(-1),
vehicle_control_mode_sub_fd(-1),
vehicle_gps_position_sub_fd(-1),
actuator_armed_sub_fd(-1),
safety_sub_fd(-1),
num_of_cells(0),
detected_cells_runcount(0),
t_led_color({0}),
t_led_blink(0),
led_thread_runcount(0),
led_interval(1000),
topic_initialized(false),
detected_cells_blinked(false),
led_thread_ready(true),
num_of_used_sats(0)
{
memset(&_work, 0, sizeof(_work));
}
@@ -382,31 +417,6 @@ void
BlinkM::led()
{
static int vehicle_status_sub_fd;
static int vehicle_control_mode_sub_fd;
static int vehicle_gps_position_sub_fd;
static int actuator_armed_sub_fd;
static int safety_sub_fd;
static int num_of_cells = 0;
static int detected_cells_runcount = 0;
static int t_led_color[8] = { 0, 0, 0, 0, 0, 0, 0, 0};
static int t_led_blink = 0;
static int led_thread_runcount=0;
static int led_interval = 1000;
static int no_data_vehicle_status = 0;
static int no_data_vehicle_control_mode = 0;
static int no_data_actuator_armed = 0;
static int no_data_vehicle_gps_position = 0;
static bool topic_initialized = false;
static bool detected_cells_blinked = false;
static bool led_thread_ready = true;
int num_of_used_sats = 0;
if(!topic_initialized) {
vehicle_status_sub_fd = orb_subscribe(ORB_ID(vehicle_status));
orb_set_interval(vehicle_status_sub_fd, 250);
@@ -494,6 +504,11 @@ BlinkM::led()
orb_check(vehicle_status_sub_fd, &new_data_vehicle_status);
int no_data_vehicle_status = 0;
int no_data_vehicle_control_mode = 0;
int no_data_actuator_armed = 0;
int no_data_vehicle_gps_position = 0;
if (new_data_vehicle_status) {
orb_copy(ORB_ID(vehicle_status), vehicle_status_sub_fd, &vehicle_status_raw);
no_data_vehicle_status = 0;
@@ -638,11 +653,11 @@ BlinkM::led()
if(new_data_vehicle_control_mode || no_data_vehicle_control_mode < 3) {
/* indicate main control state */
if (vehicle_status_raw.main_state == MAIN_STATE_EASY)
if (vehicle_status_raw.main_state == MAIN_STATE_POSCTL)
led_color_4 = LED_GREEN;
else if (vehicle_status_raw.main_state == MAIN_STATE_AUTO)
led_color_4 = LED_BLUE;
else if (vehicle_status_raw.main_state == MAIN_STATE_SEATBELT)
else if (vehicle_status_raw.main_state == MAIN_STATE_ALTCTL)
led_color_4 = LED_YELLOW;
else if (vehicle_status_raw.main_state == MAIN_STATE_MANUAL)
led_color_4 = LED_WHITE;
src/drivers/boards/aerocore/aerocore_init.c
+282
View File
@@ -0,0 +1,282 @@
/****************************************************************************
*
* Copyright (C) 2012 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
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file aerocore_init.c
*
* AeroCore-specific early startup code. This file implements the
* nsh_archinitialize() function that is called early by nsh during startup.
*
* Code here is run before the rcS script is invoked; it should start required
* subsystems and perform board-specific initialisation.
*/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <stdbool.h>
#include <stdio.h>
#include <debug.h>
#include <errno.h>
#include <nuttx/arch.h>
#include <nuttx/spi.h>
#include <nuttx/i2c.h>
#include <nuttx/mmcsd.h>
#include <nuttx/analog/adc.h>
#include <nuttx/gran.h>
#include <stm32.h>
#include "board_config.h"
#include <stm32_uart.h>
#include <arch/board/board.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_led.h>
#include <systemlib/cpuload.h>
#include <systemlib/perf_counter.h>
/****************************************************************************
* Pre-Processor Definitions
****************************************************************************/
/* Configuration ************************************************************/
/* Debug ********************************************************************/
#ifdef CONFIG_CPP_HAVE_VARARGS
# ifdef CONFIG_DEBUG
# define message(...) lowsyslog(__VA_ARGS__)
# else
# define message(...) printf(__VA_ARGS__)
# endif
#else
# ifdef CONFIG_DEBUG
# define message lowsyslog
# else
# define message printf
# endif
#endif
/****************************************************************************
* Protected Functions
****************************************************************************/
#if defined(CONFIG_FAT_DMAMEMORY)
# if !defined(CONFIG_GRAN) || !defined(CONFIG_FAT_DMAMEMORY)
# error microSD DMA support requires CONFIG_GRAN
# endif
static GRAN_HANDLE dma_allocator;
/*
* The DMA heap size constrains the total number of things that can be
* ready to do DMA at a time.
*
* For example, FAT DMA depends on one sector-sized buffer per filesystem plus
* one sector-sized buffer per file.
*
* We use a fundamental alignment / granule size of 64B; this is sufficient
* to guarantee alignment for the largest STM32 DMA burst (16 beats x 32bits).
*/
static uint8_t g_dma_heap[8192] __attribute__((aligned(64)));
static perf_counter_t g_dma_perf;
static void
dma_alloc_init(void)
{
dma_allocator = gran_initialize(g_dma_heap,
sizeof(g_dma_heap),
7, /* 128B granule - must be > alignment (XXX bug?) */
6); /* 64B alignment */
if (dma_allocator == NULL) {
message("[boot] DMA allocator setup FAILED");
} else {
g_dma_perf = perf_alloc(PC_COUNT, "DMA allocations");
}
}
/****************************************************************************
* Public Functions
****************************************************************************/
/*
* DMA-aware allocator stubs for the FAT filesystem.
*/
__EXPORT void *fat_dma_alloc(size_t size);
__EXPORT void fat_dma_free(FAR void *memory, size_t size);
void *
fat_dma_alloc(size_t size)
{
perf_count(g_dma_perf);
return gran_alloc(dma_allocator, size);
}
void
fat_dma_free(FAR void *memory, size_t size)
{
gran_free(dma_allocator, memory, size);
}
#else
# define dma_alloc_init()
#endif
/************************************************************************************
* Name: stm32_boardinitialize
*
* Description:
* All STM32 architectures must provide the following entry point. This entry point
* is called early in the intitialization -- after all memory has been configured
* and mapped but before any devices have been initialized.
*
************************************************************************************/
__EXPORT void
stm32_boardinitialize(void)
{
/* configure SPI interfaces */
stm32_spiinitialize();
/* configure LEDs */
up_ledinit();
}
/****************************************************************************
* Name: nsh_archinitialize
*
* Description:
* Perform architecture specific initialization
*
****************************************************************************/
static struct spi_dev_s *spi3;
static struct spi_dev_s *spi4;
#include <math.h>
#ifdef __cplusplus
__EXPORT int matherr(struct __exception *e)
{
return 1;
}
#else
__EXPORT int matherr(struct exception *e)
{
return 1;
}
#endif
__EXPORT int nsh_archinitialize(void)
{
/* configure ADC pins */
stm32_configgpio(GPIO_ADC1_IN10); /* used by VBUS valid */
stm32_configgpio(GPIO_ADC1_IN11); /* J1 breakout */
stm32_configgpio(GPIO_ADC1_IN12); /* J1 breakout */
stm32_configgpio(GPIO_ADC1_IN13); /* J1 breakout */
/* configure the high-resolution time/callout interface */
hrt_init();
/* configure the DMA allocator */
dma_alloc_init();
/* configure CPU load estimation */
#ifdef CONFIG_SCHED_INSTRUMENTATION
cpuload_initialize_once();
#endif
/* set up the serial DMA polling */
static struct hrt_call serial_dma_call;
struct timespec ts;
/*
* Poll at 1ms intervals for received bytes that have not triggered
* a DMA event.
*/
ts.tv_sec = 0;
ts.tv_nsec = 1000000;
hrt_call_every(&serial_dma_call,
ts_to_abstime(&ts),
ts_to_abstime(&ts),
(hrt_callout)stm32_serial_dma_poll,
NULL);
/* initial LED state */
drv_led_start();
led_off(LED_AMBER);
/* Configure Sensors on SPI bus #3 */
spi3 = up_spiinitialize(3);
if (!spi3) {
message("[boot] FAILED to initialize SPI port 3\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
/* Default: 1MHz, 8 bits, Mode 3 */
SPI_SETFREQUENCY(spi3, 10000000);
SPI_SETBITS(spi3, 8);
SPI_SETMODE(spi3, SPIDEV_MODE3);
SPI_SELECT(spi3, PX4_SPIDEV_GYRO, false);
SPI_SELECT(spi3, PX4_SPIDEV_ACCEL_MAG, false);
SPI_SELECT(spi3, PX4_SPIDEV_BARO, false);
up_udelay(20);
message("[boot] Initialized SPI port 3 (SENSORS)\n");
/* Configure FRAM on SPI bus #4 */
spi4 = up_spiinitialize(4);
if (!spi4) {
message("[boot] FAILED to initialize SPI port 4\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
/* Default: ~10MHz, 8 bits, Mode 3 */
SPI_SETFREQUENCY(spi4, 10 * 1000 * 1000);
SPI_SETBITS(spi4, 8);
SPI_SETMODE(spi4, SPIDEV_MODE0);
SPI_SELECT(spi4, SPIDEV_FLASH, false);
message("[boot] Initialized SPI port 4 (FRAM)\n");
return OK;
}
src/examples/flow_position_control/flow_position_control_params.h → src/drivers/boards/aerocore/aerocore_led.c
+82 -61
View File
@@ -1,8 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
* Author: Samuel Zihlmann <samuezih@ee.ethz.ch>
* Lorenz Meier <lm@inf.ethz.ch>
* Copyright (c) 2013 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
@@ -33,68 +31,91 @@
*
****************************************************************************/
/**
* @file aerocore_led.c
*
* AeroCore LED backend.
*/
#include <nuttx/config.h>
#include <stdbool.h>
#include "stm32.h"
#include "board_config.h"
#include <arch/board/board.h>
/*
* @file flow_position_control_params.h
*
* Parameters for position controller
* Ideally we'd be able to get these from up_internal.h,
* but since we want to be able to disable the NuttX use
* of leds for system indication at will and there is no
* separate switch, we need to build independent of the
* CONFIG_ARCH_LEDS configuration switch.
*/
__BEGIN_DECLS
extern void led_init();
extern void led_on(int led);
extern void led_off(int led);
extern void led_toggle(int led);
__END_DECLS
#include <systemlib/param/param.h>
__EXPORT void led_init()
{
stm32_configgpio(GPIO_LED0);
stm32_configgpio(GPIO_LED1);
}
struct flow_position_control_params {
float pos_p;
float pos_d;
float height_p;
float height_i;
float height_d;
float height_rate;
float height_min;
float height_max;
float thrust_feedforward;
float limit_speed_x;
float limit_speed_y;
float limit_height_error;
float limit_thrust_int;
float limit_thrust_upper;
float limit_thrust_lower;
float limit_yaw_step;
float manual_threshold;
float rc_scale_pitch;
float rc_scale_roll;
float rc_scale_yaw;
};
__EXPORT void led_on(int led)
{
switch (led) {
case 0:
stm32_gpiowrite(GPIO_LED0, true);
break;
struct flow_position_control_param_handles {
param_t pos_p;
param_t pos_d;
param_t height_p;
param_t height_i;
param_t height_d;
param_t height_rate;
param_t height_min;
param_t height_max;
param_t thrust_feedforward;
param_t limit_speed_x;
param_t limit_speed_y;
param_t limit_height_error;
param_t limit_thrust_int;
param_t limit_thrust_upper;
param_t limit_thrust_lower;
param_t limit_yaw_step;
param_t manual_threshold;
param_t rc_scale_pitch;
param_t rc_scale_roll;
param_t rc_scale_yaw;
};
case 1:
stm32_gpiowrite(GPIO_LED1, true);
break;
/**
* Initialize all parameter handles and values
*
*/
int parameters_init(struct flow_position_control_param_handles *h);
default:
warnx("LED ID not recognized\n");
}
}
/**
* Update all parameters
*
*/
int parameters_update(const struct flow_position_control_param_handles *h, struct flow_position_control_params *p);
__EXPORT void led_off(int led)
{
switch (led) {
case 0:
stm32_gpiowrite(GPIO_LED0, false);
break;
case 1:
stm32_gpiowrite(GPIO_LED1, false);
break;
default:
warnx("LED ID not recognized\n");
}
}
__EXPORT void led_toggle(int led)
{
switch (led) {
case 0:
if (stm32_gpioread(GPIO_LED0))
stm32_gpiowrite(GPIO_LED0, false);
else
stm32_gpiowrite(GPIO_LED0, true);
break;
case 1:
if (stm32_gpioread(GPIO_LED1))
stm32_gpiowrite(GPIO_LED1, false);
else
stm32_gpiowrite(GPIO_LED1, true);
break;
default:
warnx("LED ID not recognized\n");
}
}
src/drivers/boards/aerocore/aerocore_pwm_servo.c
+117
View File
@@ -0,0 +1,117 @@
/****************************************************************************
*
* Copyright (C) 2012 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
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/*
* @file aerocore_pwm_servo.c
*
* Configuration data for the stm32 pwm_servo driver.
*
* Note that these arrays must always be fully-sized.
*/
#include <stdint.h>
#include <stm32.h>
#include <stm32_gpio.h>
#include <stm32_tim.h>
#include <drivers/stm32/drv_pwm_servo.h>
#include <drivers/drv_pwm_output.h>
#include "board_config.h"
__EXPORT const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS] = {
{
.base = STM32_TIM1_BASE,
.clock_register = STM32_RCC_APB2ENR,
.clock_bit = RCC_APB2ENR_TIM1EN,
.clock_freq = STM32_APB2_TIM1_CLKIN
},
{
.base = STM32_TIM3_BASE,
.clock_register = STM32_RCC_APB1ENR,
.clock_bit = RCC_APB1ENR_TIM3EN,
.clock_freq = STM32_APB1_TIM3_CLKIN
}
};
__EXPORT const struct pwm_servo_channel pwm_channels[PWM_SERVO_MAX_CHANNELS] = {
{
.gpio = GPIO_TIM1_CH1OUT,
.timer_index = 0,
.timer_channel = 1,
.default_value = 1500,
},
{
.gpio = GPIO_TIM1_CH2OUT,
.timer_index = 0,
.timer_channel = 2,
.default_value = 1500,
},
{
.gpio = GPIO_TIM1_CH3OUT,
.timer_index = 0,
.timer_channel = 3,
.default_value = 1500,
},
{
.gpio = GPIO_TIM1_CH4OUT,
.timer_index = 0,
.timer_channel = 4,
.default_value = 1500,
},
{
.gpio = GPIO_TIM3_CH1OUT,
.timer_index = 1,
.timer_channel = 1,
.default_value = 1500,
},
{
.gpio = GPIO_TIM3_CH2OUT,
.timer_index = 1,
.timer_channel = 2,
.default_value = 1500,
},
{
.gpio = GPIO_TIM3_CH3OUT,
.timer_index = 1,
.timer_channel = 3,
.default_value = 1500,
},
{
.gpio = GPIO_TIM3_CH4OUT,
.timer_index = 1,
.timer_channel = 4,
.default_value = 1500,
}
};
src/drivers/boards/aerocore/aerocore_spi.c
+183
View File
@@ -0,0 +1,183 @@
/****************************************************************************
*
* Copyright (C) 2012 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
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file aerocore_spi.c
*
* Board-specific SPI functions.
*/
/************************************************************************************
* Included Files
************************************************************************************/
#include <nuttx/config.h>
#include <stdint.h>
#include <stdbool.h>
#include <debug.h>
#include <nuttx/spi.h>
#include <arch/board/board.h>
#include <up_arch.h>
#include <chip.h>
#include <stm32.h>
#include "board_config.h"
/************************************************************************************
* Public Functions
************************************************************************************/
/************************************************************************************
* Name: stm32_spiinitialize
*
* Description:
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
*
************************************************************************************/
__EXPORT void weak_function stm32_spiinitialize(void)
{
#ifdef CONFIG_STM32_SPI1
stm32_configgpio(GPIO_SPI1_NSS);
stm32_gpiowrite(GPIO_SPI1_NSS, 1);
#endif
#ifdef CONFIG_STM32_SPI2
stm32_configgpio(GPIO_SPI2_NSS);
stm32_gpiowrite(GPIO_SPI2_NSS, 1);
#endif
#ifdef CONFIG_STM32_SPI3
stm32_configgpio(GPIO_SPI_CS_GYRO);
stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG);
stm32_configgpio(GPIO_SPI_CS_BARO);
/* De-activate all peripherals,
* required for some peripheral
* state machines
*/
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
stm32_configgpio(GPIO_EXTI_GYRO_DRDY);
stm32_configgpio(GPIO_EXTI_MAG_DRDY);
stm32_configgpio(GPIO_EXTI_ACCEL_DRDY);
#endif
#ifdef CONFIG_STM32_SPI4
stm32_configgpio(GPIO_SPI4_NSS);
stm32_gpiowrite(GPIO_SPI4_NSS, 1);
#endif
}
#ifdef CONFIG_STM32_SPI1
__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
{
/* there is only one device broken-out so select it */
stm32_gpiowrite(GPIO_SPI1_NSS, !selected);
}
__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
{
return SPI_STATUS_PRESENT;
}
#endif
#ifdef CONFIG_STM32_SPI2
__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
{
/* there is only one device broken-out so select it */
stm32_gpiowrite(GPIO_SPI2_NSS, !selected);
}
__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
{
return SPI_STATUS_PRESENT;
}
#endif
#ifdef CONFIG_STM32_SPI3
__EXPORT void stm32_spi3select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
{
/* SPI select is active low, so write !selected to select the device */
switch (devid) {
case PX4_SPIDEV_GYRO:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
break;
case PX4_SPIDEV_ACCEL_MAG:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, !selected);
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
break;
case PX4_SPIDEV_BARO:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
stm32_gpiowrite(GPIO_SPI_CS_BARO, !selected);
break;
default:
break;
}
}
__EXPORT uint8_t stm32_spi3status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
{
return SPI_STATUS_PRESENT;
}
#endif
#ifdef CONFIG_STM32_SPI4
__EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
{
/* there can only be one device on this bus, so always select it */
stm32_gpiowrite(GPIO_SPI4_NSS, !selected);
}
__EXPORT uint8_t stm32_spi4status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
{
/* FRAM is always present */
return SPI_STATUS_PRESENT;
}
#endif
src/drivers/boards/aerocore/board_config.h
+176
View File
@@ -0,0 +1,176 @@
/****************************************************************************
*
* 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
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file board_config.h
*
* AeroCore internal definitions
*/
#pragma once
/****************************************************************************************************
* Included Files
****************************************************************************************************/
#include <nuttx/config.h>
#include <nuttx/compiler.h>
#include <stdint.h>
__BEGIN_DECLS
/* these headers are not C++ safe */
#include <stm32.h>
#include <arch/board/board.h>
#define UDID_START 0x1FFF7A10
/****************************************************************************************************
* Definitions
****************************************************************************************************/
/* LEDs */
#define GPIO_LED0 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN9)
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN10)
/* Gyro */
#define GPIO_EXTI_GYRO_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN0)
#define SENSOR_BOARD_ROTATION_DEFAULT 3 /* SENSOR_BOARD_ROTATION_270_DEG */
/* Accel & Mag */
#define GPIO_EXTI_MAG_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN1)
#define GPIO_EXTI_ACCEL_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN2)
/* GPS */
#define GPIO_GPS_NRESET (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN5)
#define GPIO_GPS_TIMEPULSE (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTC|GPIO_PIN4)
#define GPS_DEFAULT_UART_PORT "/dev/ttyS0"
/* SPI3--Sensors */
#define PX4_SPI_BUS_SENSORS 3
#define GPIO_SPI_CS_ACCEL_MAG (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN2)
#define GPIO_SPI_CS_GYRO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
#define GPIO_SPI_CS_BARO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4)
/* Nominal chip selects for devices on SPI bus #3 */
#define PX4_SPIDEV_ACCEL_MAG 0
#define PX4_SPIDEV_GYRO 1
#define PX4_SPIDEV_BARO 2
/* User GPIOs broken out on J11 */
#define GPIO_GPIO0_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0)
#define GPIO_GPIO1_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN1)
#define GPIO_GPIO3_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN1)
#define GPIO_GPIO4_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN2)
#define GPIO_GPIO5_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN3)
#define GPIO_GPIO6_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN12)
#define GPIO_GPIO7_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN13)
#define GPIO_GPIO8_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN14)
#define GPIO_GPIO9_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN15)
#define GPIO_GPIO10_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
#define GPIO_GPIO11_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN8)
#define GPIO_GPIO0_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)
#define GPIO_GPIO1_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1)
#define GPIO_GPIO3_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1)
#define GPIO_GPIO4_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN2)
#define GPIO_GPIO5_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN3)
#define GPIO_GPIO6_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN12)
#define GPIO_GPIO7_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13)
#define GPIO_GPIO8_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)
#define GPIO_GPIO9_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN15)
#define GPIO_GPIO10_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN5)
#define GPIO_GPIO11_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8)
/* PWM
*
* Eight PWM outputs are configured.
*
* Pins:
*
* CH1 : PA8 : TIM1_CH1
* CH2 : PA9 : TIM1_CH2
* CH3 : PA10 : TIM1_CH3
* CH4 : PA11 : TIM1_CH4
* CH5 : PC6 : TIM3_CH1
* CH6 : PC7 : TIM3_CH2
* CH7 : PC8 : TIM3_CH3
* CH8 : PC9 : TIM3_CH4
*/
#define GPIO_TIM1_CH1OUT GPIO_TIM1_CH1OUT_1
#define GPIO_TIM1_CH2OUT GPIO_TIM1_CH2OUT_1
#define GPIO_TIM1_CH3OUT GPIO_TIM1_CH3OUT_1
#define GPIO_TIM1_CH4OUT GPIO_TIM1_CH4OUT_1
#define GPIO_TIM3_CH1OUT GPIO_TIM3_CH1OUT_3
#define GPIO_TIM3_CH2OUT GPIO_TIM3_CH2OUT_3
#define GPIO_TIM3_CH3OUT GPIO_TIM3_CH3OUT_2
#define GPIO_TIM3_CH4OUT GPIO_TIM3_CH4OUT_2
/* High-resolution timer */
#define HRT_TIMER 8 /* use timer 8 for the HRT */
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
/* Tone Alarm (no onboard speaker )*/
#define TONE_ALARM_TIMER 2 /* timer 2 */
#define TONE_ALARM_CHANNEL 1 /* channel 1 */
#define GPIO_TONE_ALARM_IDLE (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN0)
/****************************************************************************************************
* Public Types
****************************************************************************************************/
/****************************************************************************************************
* Public data
****************************************************************************************************/
#ifndef __ASSEMBLY__
/****************************************************************************************************
* Public Functions
****************************************************************************************************/
/****************************************************************************************************
* Name: stm32_spiinitialize
*
* Description:
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
*
****************************************************************************************************/
extern void stm32_spiinitialize(void);
#endif /* __ASSEMBLY__ */
__END_DECLS
src/drivers/boards/aerocore/module.mk
+8
View File
@@ -0,0 +1,8 @@
#
# Board-specific startup code for the AeroCore
#
SRCS = aerocore_init.c \
aerocore_pwm_servo.c \
aerocore_spi.c \
aerocore_led.c
src/drivers/boards/px4fmu-v1/board_config.h
+2
View File
@@ -85,6 +85,8 @@ __BEGIN_DECLS
#define GPIO_SPI_CS_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
#define GPIO_SPI_CS_SDCARD (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
#define PX4_SPI_BUS_SENSORS 1
/*
* Use these in place of the spi_dev_e enumeration to
* select a specific SPI device on SPI1
src/drivers/boards/px4fmu-v2/board_config.h
+2
View File
@@ -107,6 +107,8 @@ __BEGIN_DECLS
#define GPIO_SPI_CS_FRAM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
#define GPIO_SPI_CS_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
#define PX4_SPI_BUS_SENSORS 1
/* Use these in place of the spi_dev_e enumeration to select a specific SPI device on SPI1 */
#define PX4_SPIDEV_GYRO 1
#define PX4_SPIDEV_ACCEL_MAG 2
src/drivers/drv_gpio.h
+9 -1
View File
@@ -94,6 +94,14 @@
#endif
#ifdef CONFIG_ARCH_BOARD_AEROCORE
/*
* AeroCore GPIO numbers and configuration.
*
*/
# define PX4FMU_DEVICE_PATH "/dev/px4fmu"
#endif
#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
/* no GPIO driver on the PX4IOv1 board */
#endif
@@ -146,4 +154,4 @@
#define GPIO_SENSOR_RAIL_RESET GPIOC(13)
#endif /* _DRV_GPIO_H */
#endif /* _DRV_GPIO_H */
src/drivers/drv_gps.h
+4
View File
@@ -43,10 +43,14 @@
#include <stdint.h>
#include <sys/ioctl.h>
#include "board_config.h"
#include "drv_sensor.h"
#include "drv_orb_dev.h"
#ifndef GPS_DEFAULT_UART_PORT
#define GPS_DEFAULT_UART_PORT "/dev/ttyS3"
#endif
#define GPS_DEVICE_PATH "/dev/gps"
src/drivers/ets_airspeed/ets_airspeed.cpp
+6 -4
View File
@@ -154,8 +154,9 @@ ETSAirspeed::collect()
return ret;
}
uint16_t diff_pres_pa = val[1] << 8 | val[0];
if (diff_pres_pa == 0) {
uint16_t diff_pres_pa_raw = val[1] << 8 | val[0];
uint16_t diff_pres_pa;
if (diff_pres_pa_raw == 0) {
// a zero value means the pressure sensor cannot give us a
// value. We need to return, and not report a value or the
// caller could end up using this value as part of an
@@ -165,10 +166,10 @@ ETSAirspeed::collect()
return -1;
}
if (diff_pres_pa < _diff_pres_offset + MIN_ACCURATE_DIFF_PRES_PA) {
if (diff_pres_pa_raw < _diff_pres_offset + MIN_ACCURATE_DIFF_PRES_PA) {
diff_pres_pa = 0;
} else {
diff_pres_pa -= _diff_pres_offset;
diff_pres_pa = diff_pres_pa_raw - _diff_pres_offset;
}
// Track maximum differential pressure measured (so we can work out top speed).
@@ -183,6 +184,7 @@ ETSAirspeed::collect()
// XXX we may want to smooth out the readings to remove noise.
report.differential_pressure_filtered_pa = (float)diff_pres_pa;
report.differential_pressure_raw_pa = (float)diff_pres_pa_raw;
report.temperature = -1000.0f;
report.voltage = 0;
report.max_differential_pressure_pa = _max_differential_pressure_pa;
src/drivers/frsky_telemetry/frsky_data.c
+7 -10
View File
@@ -53,6 +53,8 @@
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_status.h>
#include <drivers/drv_hrt.h>
/* FrSky sensor hub data IDs */
#define FRSKY_ID_GPS_ALT_BP 0x01
#define FRSKY_ID_TEMP1 0x02
@@ -192,17 +194,12 @@ void frsky_send_frame1(int uart)
}
/**
* Formats the decimal latitude/longitude to the required degrees/minutes/seconds.
* Formats the decimal latitude/longitude to the required degrees/minutes.
*/
static float frsky_format_gps(float dec)
{
float dms_deg = (int) dec;
float dec_deg = dec - dms_deg;
float dms_min = (int) (dec_deg * 60);
float dec_min = (dec_deg * 60) - dms_min;
float dms_sec = dec_min * 60;
return (dms_deg * 100.0f) + dms_min + (dms_sec / 100.0f);
float dm_deg = (int) dec;
return (dm_deg * 100.0f) + (dec - dm_deg) * 60;
}
/**
@@ -230,9 +227,9 @@ void frsky_send_frame2(int uart)
struct tm *tm_gps = gmtime(&time_gps);
course = (global_pos.yaw + M_PI_F) / M_PI_F * 180.0f;
lat = frsky_format_gps(abs(global_pos.lat));
lat = frsky_format_gps(fabsf(global_pos.lat));
lat_ns = (global_pos.lat < 0) ? 'S' : 'N';
lon = frsky_format_gps(abs(global_pos.lon));
lon = frsky_format_gps(fabsf(global_pos.lon));
lon_ew = (global_pos.lon < 0) ? 'W' : 'E';
speed = sqrtf(global_pos.vel_n * global_pos.vel_n + global_pos.vel_e * global_pos.vel_e)
* 25.0f / 46.0f;
src/drivers/frsky_telemetry/frsky_telemetry.c
+1 -1
View File
@@ -222,7 +222,7 @@ int frsky_telemetry_main(int argc, char *argv[])
frsky_task = task_spawn_cmd("frsky_telemetry",
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
2048,
2000,
frsky_telemetry_thread_main,
(const char **)argv);
src/drivers/frsky_telemetry/module.mk
+2
View File
@@ -39,3 +39,5 @@ MODULE_COMMAND = frsky_telemetry
SRCS = frsky_data.c \
frsky_telemetry.c
MODULE_STACKSIZE = 1200
src/drivers/gps/gps.cpp
+17 -12
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* 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
@@ -56,6 +56,7 @@
#include <arch/board/board.h>
#include <drivers/drv_hrt.h>
#include <drivers/device/i2c.h>
#include <systemlib/systemlib.h>
#include <systemlib/perf_counter.h>
#include <systemlib/scheduling_priorities.h>
#include <systemlib/err.h>
@@ -63,6 +64,8 @@
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <board_config.h>
#include "ubx.h"
#include "mtk.h"
@@ -76,12 +79,6 @@
#endif
static const int ERROR = -1;
#ifndef CONFIG_SCHED_WORKQUEUE
# error This requires CONFIG_SCHED_WORKQUEUE.
#endif
class GPS : public device::CDev
{
public:
@@ -209,7 +206,8 @@ GPS::init()
goto out;
/* start the GPS driver worker task */
_task = task_create("gps", SCHED_PRIORITY_SLOW_DRIVER, 2048, (main_t)&GPS::task_main_trampoline, nullptr);
_task = task_spawn_cmd("gps", SCHED_DEFAULT,
SCHED_PRIORITY_SLOW_DRIVER, 2000, (main_t)&GPS::task_main_trampoline, nullptr);
if (_task < 0) {
warnx("task start failed: %d", errno);
@@ -421,7 +419,14 @@ GPS::task_main()
void
GPS::cmd_reset()
{
//XXX add reset?
#ifdef GPIO_GPS_NRESET
warnx("Toggling GPS reset pin");
stm32_configgpio(GPIO_GPS_NRESET);
stm32_gpiowrite(GPIO_GPS_NRESET, 0);
usleep(100);
stm32_gpiowrite(GPIO_GPS_NRESET, 1);
warnx("Toggled GPS reset pin");
#endif
}
void
@@ -443,10 +448,10 @@ GPS::print_info()
warnx("port: %s, baudrate: %d, status: %s", _port, _baudrate, (_healthy) ? "OK" : "NOT OK");
if (_report.timestamp_position != 0) {
warnx("position lock: %dD, satellites: %d, last update: %fms ago", (int)_report.fix_type,
_report.satellites_visible, (hrt_absolute_time() - _report.timestamp_position) / 1000.0f);
warnx("position lock: %dD, satellites: %d, last update: %8.4fms ago", (int)_report.fix_type,
_report.satellites_visible, (double)(hrt_absolute_time() - _report.timestamp_position) / 1000.0f);
warnx("lat: %d, lon: %d, alt: %d", _report.lat, _report.lon, _report.alt);
warnx("eph: %.2fm, epv: %.2fm", _report.eph, _report.epv);
warnx("eph: %.2fm, epv: %.2fm", (double)_report.eph, (double)_report.epv);
warnx("rate position: \t%6.2f Hz", (double)_Helper->get_position_update_rate());
warnx("rate velocity: \t%6.2f Hz", (double)_Helper->get_velocity_update_rate());
warnx("rate publication:\t%6.2f Hz", (double)_rate);
src/drivers/gps/gps_helper.cpp
+2 -2
View File
@@ -56,7 +56,7 @@ GPS_Helper::get_velocity_update_rate()
return _rate_vel;
}
float
void
GPS_Helper::reset_update_rates()
{
_rate_count_vel = 0;
@@ -64,7 +64,7 @@ GPS_Helper::reset_update_rates()
_interval_rate_start = hrt_absolute_time();
}
float
void
GPS_Helper::store_update_rates()
{
_rate_vel = _rate_count_vel / (((float)(hrt_absolute_time() - _interval_rate_start)) / 1000000.0f);
src/drivers/gps/gps_helper.h
+6 -2
View File
@@ -46,13 +46,17 @@
class GPS_Helper
{
public:
GPS_Helper() {};
virtual ~GPS_Helper() {};
virtual int configure(unsigned &baud) = 0;
virtual int receive(unsigned timeout) = 0;
int set_baudrate(const int &fd, unsigned baud);
float get_position_update_rate();
float get_velocity_update_rate();
float reset_update_rates();
float store_update_rates();
void reset_update_rates();
void store_update_rates();
protected:
uint8_t _rate_count_lat_lon;
src/drivers/gps/module.mk
+2
View File
@@ -41,3 +41,5 @@ SRCS = gps.cpp \
gps_helper.cpp \
mtk.cpp \
ubx.cpp
MODULE_STACKSIZE = 1200
src/drivers/gps/mtk.cpp
+8 -2
View File
@@ -249,12 +249,18 @@ MTK::handle_message(gps_mtk_packet_t &packet)
warnx("mtk: unknown revision");
_gps_position->lat = 0;
_gps_position->lon = 0;
// Indicate this data is not usable and bail out
_gps_position->eph_m = 1000.0f;
_gps_position->epv_m = 1000.0f;
_gps_position->fix_type = 0;
return;
}
_gps_position->alt = (int32_t)(packet.msl_altitude * 10); // from cm to mm
_gps_position->fix_type = packet.fix_type;
_gps_position->eph = packet.hdop; // XXX: Check this because eph_m is in m and hdop is without unit
_gps_position->epv = 0.0; //unknown in mtk custom mode
_gps_position->eph = packet.hdop / 100.0f; // from cm to m
_gps_position->epv = _gps_position->eph; // unknown in mtk custom mode, so we cheat with eph
_gps_position->vel_m_s = ((float)packet.ground_speed) * 1e-2f; // from cm/s to m/s
_gps_position->cog_rad = ((float)packet.heading) * M_DEG_TO_RAD_F * 1e-2f; //from deg *100 to rad
_gps_position->satellites_visible = packet.satellites;
src/drivers/gps/ubx.cpp
+36 -11
View File
@@ -164,7 +164,7 @@ UBX::configure(unsigned &baudrate)
send_config_packet(_fd, (uint8_t *)&cfg_rate_packet, sizeof(cfg_rate_packet));
if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
warnx("ubx: configuration failed: RATE");
warnx("CFG FAIL: RATE");
return 1;
}
@@ -185,7 +185,7 @@ UBX::configure(unsigned &baudrate)
send_config_packet(_fd, (uint8_t *)&cfg_nav5_packet, sizeof(cfg_nav5_packet));
if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
warnx("ubx: configuration failed: NAV5");
warnx("CFG FAIL: NAV5");
return 1;
}
@@ -194,35 +194,42 @@ UBX::configure(unsigned &baudrate)
configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_POSLLH, 1);
if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
warnx("ubx: msg rate configuration failed: NAV POSLLH");
warnx("MSG CFG FAIL: NAV POSLLH");
return 1;
}
configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_TIMEUTC, 1);
if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
warnx("ubx: msg rate configuration failed: NAV TIMEUTC");
warnx("MSG CFG FAIL: NAV TIMEUTC");
return 1;
}
configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_SOL, 1);
if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
warnx("ubx: msg rate configuration failed: NAV SOL");
warnx("MSG CFG FAIL: NAV SOL");
return 1;
}
configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_VELNED, 1);
if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
warnx("ubx: msg rate configuration failed: NAV VELNED");
warnx("MSG CFG FAIL: NAV VELNED");
return 1;
}
configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_SVINFO, 5);
if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
warnx("ubx: msg rate configuration failed: NAV SVINFO");
warnx("MSG CFG FAIL: NAV SVINFO");
return 1;
}
configure_message_rate(UBX_CLASS_MON, UBX_MESSAGE_MON_HW, 1);
if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
warnx("MSG CFG FAIL: MON HW");
return 1;
}
@@ -274,7 +281,7 @@ UBX::receive(unsigned timeout)
if (ret < 0) {
/* something went wrong when polling */
warnx("ubx: poll error");
warnx("poll error");
return -1;
} else if (ret == 0) {
@@ -310,7 +317,7 @@ UBX::receive(unsigned timeout)
/* abort after timeout if no useful packets received */
if (time_started + timeout * 1000 < hrt_absolute_time()) {
warnx("ubx: timeout - no useful messages");
warnx("timeout - no useful messages");
return -1;
}
}
@@ -383,7 +390,7 @@ UBX::parse_char(uint8_t b)
return 1; // message received successfully
} else {
warnx("ubx: checksum wrong");
warnx("checksum wrong");
decode_init();
return -1;
}
@@ -392,7 +399,7 @@ UBX::parse_char(uint8_t b)
_rx_count++;
} else {
warnx("ubx: buffer full");
warnx("buffer full");
decode_init();
return -1;
}
@@ -566,6 +573,24 @@ UBX::handle_message()
break;
}
case UBX_CLASS_MON: {
switch (_message_id) {
case UBX_MESSAGE_MON_HW: {
struct gps_bin_mon_hw_packet *p = (struct gps_bin_mon_hw_packet*) _rx_buffer;
_gps_position->noise_per_ms = p->noisePerMS;
_gps_position->jamming_indicator = p->jamInd;
ret = 1;
break;
}
default:
break;
}
}
default:
break;
}
src/drivers/gps/ubx.h
+26 -2
View File
@@ -56,6 +56,7 @@
//#define UBX_CLASS_RXM 0x02
#define UBX_CLASS_ACK 0x05
#define UBX_CLASS_CFG 0x06
#define UBX_CLASS_MON 0x0A
/* MessageIDs (the ones that are used) */
#define UBX_MESSAGE_NAV_POSLLH 0x02
@@ -72,6 +73,8 @@
#define UBX_MESSAGE_CFG_RATE 0x08
#define UBX_MESSAGE_CFG_NAV5 0x24
#define UBX_MESSAGE_MON_HW 0x09
#define UBX_CFG_PRT_LENGTH 20
#define UBX_CFG_PRT_PAYLOAD_PORTID 0x01 /**< UART1 */
#define UBX_CFG_PRT_PAYLOAD_MODE 0x000008D0 /**< 0b0000100011010000: 8N1 */
@@ -210,6 +213,27 @@ typedef struct {
uint8_t ck_b;
} gps_bin_nav_velned_packet_t;
struct gps_bin_mon_hw_packet {
uint32_t pinSel;
uint32_t pinBank;
uint32_t pinDir;
uint32_t pinVal;
uint16_t noisePerMS;
uint16_t agcCnt;
uint8_t aStatus;
uint8_t aPower;
uint8_t flags;
uint8_t __reserved1;
uint32_t usedMask;
uint8_t VP[25];
uint8_t jamInd;
uint16_t __reserved3;
uint32_t pinIrq;
uint32_t pulLH;
uint32_t pullL;
};
//typedef struct {
// int32_t time_milliseconds; /**< Measurement integer millisecond GPS time of week */
// int16_t week; /**< Measurement GPS week number */
@@ -319,7 +343,7 @@ typedef enum {
//typedef type_gps_bin_ubx_state gps_bin_ubx_state_t;
#pragma pack(pop)
#define RECV_BUFFER_SIZE 500 //The NAV-SOL messages really need such a big buffer
#define RECV_BUFFER_SIZE 300 //The NAV-SOL messages really need such a big buffer
class UBX : public GPS_Helper
{
@@ -383,7 +407,7 @@ private:
uint8_t _message_class;
uint8_t _message_id;
unsigned _payload_size;
uint8_t _disable_cmd_last;
hrt_abstime _disable_cmd_last;
};
#endif /* UBX_H_ */
src/drivers/hil/hil.cpp
+1 -1
View File
@@ -122,7 +122,7 @@ private:
actuator_controls_s _controls;
static void task_main_trampoline(int argc, char *argv[]);
void task_main() __attribute__((noreturn));
void task_main();
static int control_callback(uintptr_t handle,
uint8_t control_group,
src/drivers/hmc5883/hmc5883.cpp
+6 -4
View File
@@ -158,6 +158,7 @@ private:
int _class_instance;
orb_advert_t _mag_topic;
orb_advert_t _subsystem_pub;
perf_counter_t _sample_perf;
perf_counter_t _comms_errors;
@@ -324,7 +325,9 @@ HMC5883::HMC5883(int bus) :
_reports(nullptr),
_range_scale(0), /* default range scale from counts to gauss */
_range_ga(1.3f),
_collect_phase(false),
_mag_topic(-1),
_subsystem_pub(-1),
_class_instance(-1),
_sample_perf(perf_alloc(PC_ELAPSED, "hmc5883_read")),
_comms_errors(perf_alloc(PC_COUNT, "hmc5883_comms_errors")),
@@ -1137,13 +1140,12 @@ int HMC5883::check_calibration()
true,
_calibrated,
SUBSYSTEM_TYPE_MAG};
static orb_advert_t pub = -1;
if (!(_pub_blocked)) {
if (pub > 0) {
orb_publish(ORB_ID(subsystem_info), pub, &info);
if (_subsystem_pub > 0) {
orb_publish(ORB_ID(subsystem_info), _subsystem_pub, &info);
} else {
pub = orb_advertise(ORB_ID(subsystem_info), &info);
_subsystem_pub = orb_advertise(ORB_ID(subsystem_info), &info);
}
}
}
src/drivers/hott/messages.cpp
+17 -15
View File
@@ -51,6 +51,8 @@
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <drivers/drv_hrt.h>
/* The board is very roughly 5 deg warmer than the surrounding air */
#define BOARD_TEMP_OFFSET_DEG 5
@@ -62,7 +64,6 @@ static int _airspeed_sub = -1;
static int _esc_sub = -1;
static orb_advert_t _esc_pub;
struct esc_status_s _esc;
static bool _home_position_set = false;
static double _home_lat = 0.0d;
@@ -82,8 +83,6 @@ init_sub_messages(void)
void
init_pub_messages(void)
{
memset(&_esc, 0, sizeof(_esc));
_esc_pub = orb_advertise(ORB_ID(esc_status), &_esc);
}
void
@@ -106,23 +105,26 @@ publish_gam_message(const uint8_t *buffer)
size_t size = sizeof(msg);
memset(&msg, 0, size);
memcpy(&msg, buffer, size);
struct esc_status_s esc;
memset(&esc, 0, sizeof(esc));
// Publish it.
esc.timestamp = hrt_absolute_time();
esc.esc_count = 1;
esc.esc_connectiontype = ESC_CONNECTION_TYPE_PPM;
esc.esc[0].esc_vendor = ESC_VENDOR_GRAUPNER_HOTT;
esc.esc[0].esc_rpm = (uint16_t)((msg.rpm_H << 8) | (msg.rpm_L & 0xff)) * 10;
esc.esc[0].esc_temperature = msg.temperature1 - 20;
esc.esc[0].esc_voltage = (uint16_t)((msg.main_voltage_H << 8) | (msg.main_voltage_L & 0xff));
esc.esc[0].esc_current = (uint16_t)((msg.current_H << 8) | (msg.current_L & 0xff));
/* announce the esc if needed, just publish else */
if (_esc_pub > 0) {
orb_publish(ORB_ID(esc_status), _esc_pub, &_esc);
orb_publish(ORB_ID(esc_status), _esc_pub, &esc);
} else {
_esc_pub = orb_advertise(ORB_ID(esc_status), &_esc);
_esc_pub = orb_advertise(ORB_ID(esc_status), &esc);
}
// Publish it.
_esc.esc_count = 1;
_esc.esc_connectiontype = ESC_CONNECTION_TYPE_PPM;
_esc.esc[0].esc_vendor = ESC_VENDOR_GRAUPNER_HOTT;
_esc.esc[0].esc_rpm = (uint16_t)((msg.rpm_H << 8) | (msg.rpm_L & 0xff)) * 10;
_esc.esc[0].esc_temperature = msg.temperature1 - 20;
_esc.esc[0].esc_voltage = (uint16_t)((msg.main_voltage_H << 8) | (msg.main_voltage_L & 0xff));
_esc.esc[0].esc_current = (uint16_t)((msg.current_H << 8) | (msg.current_L & 0xff));
}
void
src/drivers/l3gd20/l3gd20.cpp
+38 -18
View File
@@ -34,6 +34,9 @@
/**
* @file l3gd20.cpp
* Driver for the ST L3GD20 MEMS gyro connected via SPI.
*
* Note: With the exception of the self-test feature, the ST L3G4200D is
* also supported by this driver.
*/
#include <nuttx/config.h>
@@ -89,9 +92,11 @@ static const int ERROR = -1;
#define ADDR_WHO_AM_I 0x0F
#define WHO_I_AM_H 0xD7
#define WHO_I_AM 0xD4
#define WHO_I_AM_L3G4200D 0xD3 /* for L3G4200D */
#define ADDR_CTRL_REG1 0x20
#define REG1_RATE_LP_MASK 0xF0 /* Mask to guard partial register update */
/* keep lowpass low to avoid noise issues */
#define RATE_95HZ_LP_25HZ ((0<<7) | (0<<6) | (0<<5) | (1<<4))
#define RATE_190HZ_LP_25HZ ((0<<7) | (1<<6) | (0<<5) | (1<<4))
@@ -166,9 +171,14 @@ static const int ERROR = -1;
#define FIFO_CTRL_BYPASS_TO_STREAM_MODE (1<<7)
#define L3GD20_DEFAULT_RATE 760
#define L3G4200D_DEFAULT_RATE 800
#define L3GD20_DEFAULT_RANGE_DPS 2000
#define L3GD20_DEFAULT_FILTER_FREQ 30
#ifndef SENSOR_BOARD_ROTATION_DEFAULT
#define SENSOR_BOARD_ROTATION_DEFAULT SENSOR_BOARD_ROTATION_270_DEG
#endif
extern "C" { __EXPORT int l3gd20_main(int argc, char *argv[]); }
class L3GD20 : public device::SPI
@@ -216,6 +226,9 @@ private:
math::LowPassFilter2p _gyro_filter_y;
math::LowPassFilter2p _gyro_filter_z;
/* true if an L3G4200D is detected */
bool _is_l3g4200d;
/**
* Start automatic measurement.
*/
@@ -324,14 +337,15 @@ L3GD20::L3GD20(int bus, const char* path, spi_dev_e device) :
_gyro_topic(-1),
_class_instance(-1),
_current_rate(0),
_orientation(SENSOR_BOARD_ROTATION_270_DEG),
_orientation(SENSOR_BOARD_ROTATION_DEFAULT),
_read(0),
_sample_perf(perf_alloc(PC_ELAPSED, "l3gd20_read")),
_reschedules(perf_alloc(PC_COUNT, "l3gd20_reschedules")),
_errors(perf_alloc(PC_COUNT, "l3gd20_errors")),
_gyro_filter_x(L3GD20_DEFAULT_RATE, L3GD20_DEFAULT_FILTER_FREQ),
_gyro_filter_y(L3GD20_DEFAULT_RATE, L3GD20_DEFAULT_FILTER_FREQ),
_gyro_filter_z(L3GD20_DEFAULT_RATE, L3GD20_DEFAULT_FILTER_FREQ)
_gyro_filter_z(L3GD20_DEFAULT_RATE, L3GD20_DEFAULT_FILTER_FREQ),
_is_l3g4200d(false)
{
// enable debug() calls
_debug_enabled = true;
@@ -413,14 +427,7 @@ L3GD20::probe()
/* verify that the device is attached and functioning, accept L3GD20 and L3GD20H */
if (read_reg(ADDR_WHO_AM_I) == WHO_I_AM) {
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
_orientation = SENSOR_BOARD_ROTATION_270_DEG;
#elif CONFIG_ARCH_BOARD_PX4FMU_V2
_orientation = SENSOR_BOARD_ROTATION_270_DEG;
#else
#error This driver needs a board selection, either CONFIG_ARCH_BOARD_PX4FMU_V1 or CONFIG_ARCH_BOARD_PX4FMU_V2
#endif
_orientation = SENSOR_BOARD_ROTATION_DEFAULT;
success = true;
}
@@ -430,6 +437,13 @@ L3GD20::probe()
success = true;
}
/* Detect the L3G4200D used on AeroCore */
if (read_reg(ADDR_WHO_AM_I) == WHO_I_AM_L3G4200D) {
_is_l3g4200d = true;
_orientation = SENSOR_BOARD_ROTATION_DEFAULT;
success = true;
}
if (success)
return OK;
@@ -502,6 +516,9 @@ L3GD20::ioctl(struct file *filp, int cmd, unsigned long arg)
/* set default/max polling rate */
case SENSOR_POLLRATE_MAX:
case SENSOR_POLLRATE_DEFAULT:
if (_is_l3g4200d) {
return ioctl(filp, SENSORIOCSPOLLRATE, L3G4200D_DEFAULT_RATE);
}
return ioctl(filp, SENSORIOCSPOLLRATE, L3GD20_DEFAULT_RATE);
/* adjust to a legal polling interval in Hz */
@@ -683,23 +700,26 @@ L3GD20::set_samplerate(unsigned frequency)
uint8_t bits = REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE;
if (frequency == 0)
frequency = 760;
frequency = _is_l3g4200d ? 800 : 760;
/* use limits good for H or non-H models */
/*
* Use limits good for H or non-H models. Rates are slightly different
* for L3G4200D part but register settings are the same.
*/
if (frequency <= 100) {
_current_rate = 95;
_current_rate = _is_l3g4200d ? 100 : 95;
bits |= RATE_95HZ_LP_25HZ;
} else if (frequency <= 200) {
_current_rate = 190;
_current_rate = _is_l3g4200d ? 200 : 190;
bits |= RATE_190HZ_LP_50HZ;
} else if (frequency <= 400) {
_current_rate = 380;
_current_rate = _is_l3g4200d ? 400 : 380;
bits |= RATE_380HZ_LP_50HZ;
} else if (frequency <= 800) {
_current_rate = 760;
_current_rate = _is_l3g4200d ? 800 : 760;
bits |= RATE_760HZ_LP_50HZ;
} else {
return -EINVAL;
@@ -772,7 +792,7 @@ L3GD20::reset()
* callback fast enough to not miss data. */
write_reg(ADDR_FIFO_CTRL_REG, FIFO_CTRL_BYPASS_MODE);
set_samplerate(0); // 760Hz
set_samplerate(0); // 760Hz or 800Hz
set_range(L3GD20_DEFAULT_RANGE_DPS);
set_driver_lowpass_filter(L3GD20_DEFAULT_RATE, L3GD20_DEFAULT_FILTER_FREQ);
@@ -971,7 +991,7 @@ start()
errx(0, "already started");
/* create the driver */
g_dev = new L3GD20(1 /* SPI bus 1 */, L3GD20_DEVICE_PATH, (spi_dev_e)PX4_SPIDEV_GYRO);
g_dev = new L3GD20(PX4_SPI_BUS_SENSORS, L3GD20_DEVICE_PATH, (spi_dev_e)PX4_SPIDEV_GYRO);
if (g_dev == nullptr)
goto fail;
src/drivers/lsm303d/lsm303d.cpp
+1 -1
View File
@@ -1793,7 +1793,7 @@ start()
errx(0, "already started");
/* create the driver */
g_dev = new LSM303D(1 /* SPI dev 1 */, LSM303D_DEVICE_PATH_ACCEL, (spi_dev_e)PX4_SPIDEV_ACCEL_MAG);
g_dev = new LSM303D(PX4_SPI_BUS_SENSORS, LSM303D_DEVICE_PATH_ACCEL, (spi_dev_e)PX4_SPIDEV_ACCEL_MAG);
if (g_dev == nullptr) {
warnx("failed instantiating LSM303D obj");
src/drivers/mkblctrl/mkblctrl.cpp
+17 -21
View File
@@ -92,8 +92,20 @@
#define MOTOR_SPINUP_COUNTER 30
#define ESC_UORB_PUBLISH_DELAY 500000
struct MotorData_t {
unsigned int Version; // the version of the BL (0 = old)
unsigned int SetPoint; // written by attitude controller
unsigned int SetPointLowerBits; // for higher Resolution of new BLs
float SetPoint_PX4; // Values from PX4
unsigned int State; // 7 bit for I2C error counter, highest bit indicates if motor is present
unsigned int ReadMode; // select data to read
unsigned short RawPwmValue; // length of PWM pulse
// the following bytes must be exactly in that order!
unsigned int Current; // in 0.1 A steps, read back from BL
unsigned int MaxPWM; // read back from BL is less than 255 if BL is in current limit
unsigned int Temperature; // old BL-Ctrl will return a 255 here, the new version the temp. in
unsigned int RoundCount;
};
class MK : public device::I2C
{
@@ -154,8 +166,10 @@ private:
actuator_controls_s _controls;
MotorData_t Motor[MAX_MOTORS];
static void task_main_trampoline(int argc, char *argv[]);
void task_main() __attribute__((noreturn));
void task_main();
static int control_callback(uintptr_t handle,
uint8_t control_group,
@@ -195,24 +209,6 @@ const int blctrlAddr_px4[] = { 0, 0, 0, 0, 0, 0, 0, 0};
int addrTranslator[] = {0, 0, 0, 0, 0, 0, 0, 0};
struct MotorData_t {
unsigned int Version; // the version of the BL (0 = old)
unsigned int SetPoint; // written by attitude controller
unsigned int SetPointLowerBits; // for higher Resolution of new BLs
float SetPoint_PX4; // Values from PX4
unsigned int State; // 7 bit for I2C error counter, highest bit indicates if motor is present
unsigned int ReadMode; // select data to read
unsigned short RawPwmValue; // length of PWM pulse
// the following bytes must be exactly in that order!
unsigned int Current; // in 0.1 A steps, read back from BL
unsigned int MaxPWM; // read back from BL is less than 255 if BL is in current limit
unsigned int Temperature; // old BL-Ctrl will return a 255 here, the new version the temp. in
unsigned int RoundCount;
};
MotorData_t Motor[MAX_MOTORS];
namespace
{
src/drivers/mpu6000/mpu6000.cpp
-1
View File
@@ -1380,7 +1380,6 @@ MPU6000_gyro::init()
_gyro_class_instance = register_class_devname(GYRO_DEVICE_PATH);
out:
return ret;
}
src/drivers/ms5611/ms5611.cpp
+2 -2
View File
@@ -753,8 +753,8 @@ MS5611::print_info()
printf("TEMP: %d\n", _TEMP);
printf("SENS: %lld\n", _SENS);
printf("OFF: %lld\n", _OFF);
printf("P: %.3f\n", _P);
printf("T: %.3f\n", _T);
printf("P: %.3f\n", (double)_P);
printf("T: %.3f\n", (double)_T);
printf("MSL pressure: %10.4f\n", (double)(_msl_pressure / 100.f));
printf("factory_setup %u\n", _prom.factory_setup);
src/drivers/ms5611/ms5611_spi.cpp
+1 -1
View File
@@ -117,7 +117,7 @@ private:
device::Device *
MS5611_spi_interface(ms5611::prom_u &prom_buf)
{
return new MS5611_SPI(1 /* XXX MAGIC NUMBER */, (spi_dev_e)PX4_SPIDEV_BARO, prom_buf);
return new MS5611_SPI(PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_BARO, prom_buf);
}
MS5611_SPI::MS5611_SPI(int bus, spi_dev_e device, ms5611::prom_u &prom_buf) :
src/drivers/px4fmu/fmu.cpp
+88 -9
View File
@@ -92,6 +92,7 @@ public:
MODE_2PWM,
MODE_4PWM,
MODE_6PWM,
MODE_8PWM,
};
PX4FMU();
virtual ~PX4FMU();
@@ -113,6 +114,9 @@ private:
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
static const unsigned _max_actuators = 6;
#endif
#if defined(CONFIG_ARCH_BOARD_AEROCORE)
static const unsigned _max_actuators = 8;
#endif
Mode _mode;
unsigned _pwm_default_rate;
@@ -149,7 +153,7 @@ private:
unsigned _num_disarmed_set;
static void task_main_trampoline(int argc, char *argv[]);
void task_main() __attribute__((noreturn));
void task_main();
static int control_callback(uintptr_t handle,
uint8_t control_group,
@@ -203,6 +207,20 @@ const PX4FMU::GPIOConfig PX4FMU::_gpio_tab[] = {
{GPIO_VDD_5V_HIPOWER_OC, 0, 0},
{GPIO_VDD_5V_PERIPH_OC, 0, 0},
#endif
#if defined(CONFIG_ARCH_BOARD_AEROCORE)
/* AeroCore breaks out User GPIOs on J11 */
{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0},
{GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0},
{GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, 0},
{GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, 0},
{GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, 0},
{GPIO_GPIO6_INPUT, GPIO_GPIO6_OUTPUT, 0},
{GPIO_GPIO7_INPUT, GPIO_GPIO7_OUTPUT, 0},
{GPIO_GPIO8_INPUT, GPIO_GPIO8_OUTPUT, 0},
{GPIO_GPIO9_INPUT, GPIO_GPIO9_OUTPUT, 0},
{GPIO_GPIO10_INPUT, GPIO_GPIO10_OUTPUT, 0},
{GPIO_GPIO11_INPUT, GPIO_GPIO11_OUTPUT, 0},
#endif
};
const unsigned PX4FMU::_ngpio = sizeof(PX4FMU::_gpio_tab) / sizeof(PX4FMU::_gpio_tab[0]);
@@ -382,6 +400,20 @@ PX4FMU::set_mode(Mode mode)
break;
#ifdef CONFIG_ARCH_BOARD_AEROCORE
case MODE_8PWM: // AeroCore PWMs as 8 PWM outs
debug("MODE_8PWM");
/* default output rates */
_pwm_default_rate = 50;
_pwm_alt_rate = 50;
_pwm_alt_rate_channels = 0;
/* XXX magic numbers */
up_pwm_servo_init(0xff);
set_pwm_rate(_pwm_alt_rate_channels, _pwm_default_rate, _pwm_alt_rate);
break;
#endif
case MODE_NONE:
debug("MODE_NONE");
@@ -559,13 +591,12 @@ PX4FMU::task_main()
}
/* sleep waiting for data, stopping to check for PPM
* input at 100Hz */
* input at 50Hz */
int ret = ::poll(_poll_fds, _poll_fds_num, CONTROL_INPUT_DROP_LIMIT_MS);
/* this would be bad... */
if (ret < 0) {
log("poll error %d", errno);
usleep(1000000);
continue;
} else if (ret == 0) {
@@ -603,6 +634,9 @@ PX4FMU::task_main()
num_outputs = 6;
break;
case MODE_8PWM:
num_outputs = 8;
break;
default:
num_outputs = 0;
break;
@@ -614,11 +648,9 @@ PX4FMU::task_main()
/* iterate actuators */
for (unsigned i = 0; i < num_outputs; i++) {
/* last resort: catch NaN, INF and out-of-band errors */
if (i >= outputs.noutputs ||
!isfinite(outputs.output[i]) ||
outputs.output[i] < -1.0f ||
outputs.output[i] > 1.0f) {
/* last resort: catch NaN and INF */
if ((i >= outputs.noutputs) ||
!isfinite(outputs.output[i])) {
/*
* Value is NaN, INF or out of band - set to the minimum value.
* This will be clearly visible on the servo status and will limit the risk of accidentally
@@ -630,6 +662,7 @@ PX4FMU::task_main()
uint16_t pwm_limited[num_outputs];
/* the PWM limit call takes care of out of band errors and constrains */
pwm_limit_calc(_servo_armed, num_outputs, _disarmed_pwm, _min_pwm, _max_pwm, outputs.output, pwm_limited, &_pwm_limit);
/* output to the servos */
@@ -758,6 +791,9 @@ PX4FMU::ioctl(file *filp, int cmd, unsigned long arg)
case MODE_2PWM:
case MODE_4PWM:
case MODE_6PWM:
#ifdef CONFIG_ARCH_BOARD_AEROCORE
case MODE_8PWM:
#endif
ret = pwm_ioctl(filp, cmd, arg);
break;
@@ -987,6 +1023,15 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
break;
}
#ifdef CONFIG_ARCH_BOARD_AEROCORE
case PWM_SERVO_SET(7):
case PWM_SERVO_SET(6):
if (_mode < MODE_8PWM) {
ret = -EINVAL;
break;
}
#endif
case PWM_SERVO_SET(5):
case PWM_SERVO_SET(4):
if (_mode < MODE_6PWM) {
@@ -1014,6 +1059,15 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
break;
#ifdef CONFIG_ARCH_BOARD_AEROCORE
case PWM_SERVO_GET(7):
case PWM_SERVO_GET(6):
if (_mode < MODE_8PWM) {
ret = -EINVAL;
break;
}
#endif
case PWM_SERVO_GET(5):
case PWM_SERVO_GET(4):
if (_mode < MODE_6PWM) {
@@ -1041,12 +1095,22 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
case PWM_SERVO_GET_RATEGROUP(3):
case PWM_SERVO_GET_RATEGROUP(4):
case PWM_SERVO_GET_RATEGROUP(5):
#ifdef CONFIG_ARCH_BOARD_AEROCORE
case PWM_SERVO_GET_RATEGROUP(6):
case PWM_SERVO_GET_RATEGROUP(7):
#endif
*(uint32_t *)arg = up_pwm_servo_get_rate_group(cmd - PWM_SERVO_GET_RATEGROUP(0));
break;
case PWM_SERVO_GET_COUNT:
case MIXERIOCGETOUTPUTCOUNT:
switch (_mode) {
#ifdef CONFIG_ARCH_BOARD_AEROCORE
case MODE_8PWM:
*(unsigned *)arg = 8;
break;
#endif
case MODE_6PWM:
*(unsigned *)arg = 6;
break;
@@ -1092,6 +1156,11 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
set_mode(MODE_6PWM);
break;
#endif
#if defined(CONFIG_ARCH_BOARD_AEROCORE)
case 8:
set_mode(MODE_8PWM);
break;
#endif
default:
ret = -EINVAL;
@@ -1182,10 +1251,17 @@ PX4FMU::write(file *filp, const char *buffer, size_t len)
unsigned count = len / 2;
uint16_t values[6];
#ifdef CONFIG_ARCH_BOARD_AEROCORE
if (count > 8) {
// we have at most 8 outputs
count = 8;
}
#else
if (count > 6) {
// we have at most 6 outputs
count = 6;
}
#endif
// allow for misaligned values
memcpy(values, buffer, count * 2);
@@ -1459,6 +1535,9 @@ fmu_new_mode(PortMode new_mode)
#endif
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
servo_mode = PX4FMU::MODE_6PWM;
#endif
#if defined(CONFIG_ARCH_BOARD_AEROCORE)
servo_mode = PX4FMU::MODE_8PWM;
#endif
break;
@@ -1777,7 +1856,7 @@ fmu_main(int argc, char *argv[])
fprintf(stderr, "FMU: unrecognised command %s, try:\n", verb);
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
fprintf(stderr, " mode_gpio, mode_serial, mode_pwm, mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio, test\n");
#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_AEROCORE)
fprintf(stderr, " mode_gpio, mode_pwm, test, sensor_reset [milliseconds]\n");
#endif
exit(1);
src/drivers/px4fmu/module.mk
+2
View File
@@ -4,3 +4,5 @@
MODULE_COMMAND = fmu
SRCS = fmu.cpp
MODULE_STACKSIZE = 1200
src/drivers/px4io/module.mk
+2
View File
@@ -44,3 +44,5 @@ SRCS = px4io.cpp \
# XXX prune to just get UART registers
INCLUDE_DIRS += $(NUTTX_SRC)/arch/arm/src/stm32 $(NUTTX_SRC)/arch/arm/src/common
MODULE_STACKSIZE = 1200
src/drivers/px4io/px4io.cpp
+46 -15
View File
@@ -529,6 +529,11 @@ PX4IO::~PX4IO()
if (_interface != nullptr)
delete _interface;
/* deallocate perfs */
perf_free(_perf_update);
perf_free(_perf_write);
perf_free(_perf_chan_count);
g_dev = nullptr;
}
@@ -576,8 +581,10 @@ PX4IO::init()
ASSERT(_task == -1);
sys_restart_param = param_find("SYS_RESTART_TYPE");
/* Indicate restart type is unknown */
param_set(sys_restart_param, &sys_restart_val);
if (sys_restart_param != PARAM_INVALID) {
/* Indicate restart type is unknown */
param_set(sys_restart_param, &sys_restart_val);
}
/* do regular cdev init */
ret = CDev::init();
@@ -789,7 +796,12 @@ PX4IO::init()
}
/* start the IO interface task */
_task = task_create("px4io", SCHED_PRIORITY_ACTUATOR_OUTPUTS, 2048, (main_t)&PX4IO::task_main_trampoline, nullptr);
_task = task_spawn_cmd("px4io",
SCHED_DEFAULT,
SCHED_PRIORITY_ACTUATOR_OUTPUTS,
2000,
(main_t)&PX4IO::task_main_trampoline,
nullptr);
if (_task < 0) {
debug("task start failed: %d", errno);
@@ -984,13 +996,17 @@ PX4IO::task_main()
int32_t failsafe_param_val;
param_t failsafe_param = param_find("RC_FAILS_THR");
if (failsafe_param > 0) {
if (failsafe_param != PARAM_INVALID) {
param_get(failsafe_param, &failsafe_param_val);
uint16_t failsafe_thr = failsafe_param_val;
pret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RC_THR_FAILSAFE_US, &failsafe_thr, 1);
if (pret != OK) {
log("failsafe upload failed");
if (failsafe_param_val > 0) {
uint16_t failsafe_thr = failsafe_param_val;
pret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RC_THR_FAILSAFE_US, &failsafe_thr, 1);
if (pret != OK) {
log("failsafe upload failed, FS: %d us", (int)failsafe_thr);
}
}
}
@@ -1448,7 +1464,7 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
/* we don't have the status bits, so input_source has to be set elsewhere */
input_rc.input_source = RC_INPUT_SOURCE_UNKNOWN;
static const unsigned prolog = (PX4IO_P_RAW_RC_BASE - PX4IO_P_RAW_RC_COUNT);
const unsigned prolog = (PX4IO_P_RAW_RC_BASE - PX4IO_P_RAW_RC_COUNT);
uint16_t regs[RC_INPUT_MAX_CHANNELS + prolog];
/*
@@ -1456,8 +1472,6 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
*
* This should be the common case (9 channel R/C control being a reasonable upper bound).
*/
input_rc.timestamp_publication = hrt_absolute_time();
ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_COUNT, &regs[0], prolog + 9);
if (ret != OK)
@@ -1469,23 +1483,38 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
*/
channel_count = regs[PX4IO_P_RAW_RC_COUNT];
if (channel_count != _rc_chan_count)
/* limit the channel count */
if (channel_count > RC_INPUT_MAX_CHANNELS) {
channel_count = RC_INPUT_MAX_CHANNELS;
}
/* count channel count changes to identify signal integrity issues */
if (channel_count != _rc_chan_count) {
perf_count(_perf_chan_count);
}
_rc_chan_count = channel_count;
input_rc.timestamp_publication = hrt_absolute_time();
input_rc.rc_ppm_frame_length = regs[PX4IO_P_RAW_RC_DATA];
input_rc.rssi = regs[PX4IO_P_RAW_RC_NRSSI];
input_rc.rc_failsafe = (regs[PX4IO_P_RAW_RC_FLAGS] & PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
input_rc.rc_lost = !(regs[PX4IO_P_RAW_RC_FLAGS] & PX4IO_P_RAW_RC_FLAGS_RC_OK);
input_rc.rc_lost_frame_count = regs[PX4IO_P_RAW_LOST_FRAME_COUNT];
input_rc.rc_total_frame_count = regs[PX4IO_P_RAW_FRAME_COUNT];
input_rc.channel_count = channel_count;
/* rc_lost has to be set before the call to this function */
if (!input_rc.rc_lost && !input_rc.rc_failsafe)
if (!input_rc.rc_lost && !input_rc.rc_failsafe) {
_rc_last_valid = input_rc.timestamp_publication;
}
input_rc.timestamp_last_signal = _rc_last_valid;
/* FIELDS NOT SET HERE */
/* input_rc.input_source is set after this call XXX we might want to mirror the flags in the RC struct */
if (channel_count > 9) {
ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE + 9, &regs[prolog + 9], channel_count - 9);
@@ -1493,8 +1522,10 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
return ret;
}
input_rc.channel_count = channel_count;
memcpy(input_rc.values, &regs[prolog], channel_count * 2);
/* last thing set are the actual channel values as 16 bit values */
for (unsigned i = 0; i < channel_count; i++) {
input_rc.values[i] = regs[prolog + i];
}
return ret;
}
src/drivers/px4io/px4io_serial.cpp
+1 -1
View File
@@ -639,7 +639,7 @@ PX4IO_serial::_do_interrupt()
if (_rx_dma_status == _dma_status_waiting) {
/* verify that the received packet is complete */
unsigned length = sizeof(_dma_buffer) - stm32_dmaresidual(_rx_dma);
int length = sizeof(_dma_buffer) - stm32_dmaresidual(_rx_dma);
if ((length < 1) || (length < PKT_SIZE(_dma_buffer))) {
perf_count(_pc_badidle);
src/drivers/sf0x/sf0x.cpp
+2 -5
View File
@@ -254,9 +254,6 @@ SF0X::~SF0X()
int
SF0X::init()
{
int ret = ERROR;
unsigned i = 0;
/* do regular cdev init */
if (CDev::init() != OK) {
goto out;
@@ -594,7 +591,7 @@ SF0X::collect()
valid = false;
/* wipe out partially read content from last cycle(s), check for dot */
for (int i = 0; i < (lend - 2); i++) {
for (unsigned i = 0; i < (lend - 2); i++) {
if (_linebuf[i] == '\n') {
char buf[sizeof(_linebuf)];
memcpy(buf, &_linebuf[i+1], (lend + 1) - (i + 1));
@@ -795,7 +792,7 @@ const int ERROR = -1;
SF0X *g_dev;
void start();
void start(const char *port);
void stop();
void test();
void reset();
src/drivers/stm32/adc/adc.cpp
+5 -1
View File
@@ -145,7 +145,7 @@ private:
ADC::ADC(uint32_t channels) :
CDev("adc", ADC_DEVICE_PATH),
_sample_perf(perf_alloc(PC_ELAPSED, "ADC samples")),
_sample_perf(perf_alloc(PC_ELAPSED, "adc_samples")),
_channel_count(0),
_samples(nullptr),
_to_system_power(0)
@@ -419,6 +419,10 @@ adc_main(int argc, char *argv[])
g_adc = new ADC((1 << 2) | (1 << 3) | (1 << 4) |
(1 << 10) | (1 << 11) | (1 << 12) | (1 << 13) | (1 << 14) | (1 << 15));
#endif
#ifdef CONFIG_ARCH_BOARD_AEROCORE
/* XXX this hardcodes the default channel set for AeroCore - should be configurable */
g_adc = new ADC((1 << 10) | (1 << 11) | (1 << 12) | (1 << 13));
#endif
if (g_adc == nullptr)
errx(1, "couldn't allocate the ADC driver");
src/drivers/stm32/drv_hrt.c
+11 -3
View File
@@ -94,7 +94,7 @@
#elif HRT_TIMER == 3
# define HRT_TIMER_BASE STM32_TIM3_BASE
# define HRT_TIMER_POWER_REG STM32_RCC_APB1ENR
# define HRT_TIMER_POWER_BIT RCC_APB2ENR_TIM3EN
# define HRT_TIMER_POWER_BIT RCC_APB1ENR_TIM3EN
# define HRT_TIMER_VECTOR STM32_IRQ_TIM3
# define HRT_TIMER_CLOCK STM32_APB1_TIM3_CLKIN
# if CONFIG_STM32_TIM3
@@ -141,7 +141,7 @@
# define HRT_TIMER_POWER_REG STM32_RCC_APB1ENR
# define HRT_TIMER_POWER_BIT RCC_APB2ENR_TIM10EN
# define HRT_TIMER_VECTOR STM32_IRQ_TIM1UP
# define HRT_TIMER_CLOCK STM32_APB1_TIM10_CLKIN
# define HRT_TIMER_CLOCK STM32_APB2_TIM10_CLKIN
# if CONFIG_STM32_TIM10
# error must not set CONFIG_STM32_TIM11=y and HRT_TIMER=10
# endif
@@ -150,7 +150,7 @@
# define HRT_TIMER_POWER_REG STM32_RCC_APB1ENR
# define HRT_TIMER_POWER_BIT RCC_APB2ENR_TIM11EN
# define HRT_TIMER_VECTOR STM32_IRQ_TIM1TRGCOM
# define HRT_TIMER_CLOCK STM32_APB1_TIM11_CLKIN
# define HRT_TIMER_CLOCK STM32_APB2_TIM11_CLKIN
# if CONFIG_STM32_TIM11
# error must not set CONFIG_STM32_TIM11=y and HRT_TIMER=11
# endif
@@ -354,6 +354,9 @@ __EXPORT uint16_t ppm_frame_length = 0;
__EXPORT unsigned ppm_decoded_channels = 0;
__EXPORT uint64_t ppm_last_valid_decode = 0;
#define PPM_DEBUG 0
#if PPM_DEBUG
/* PPM edge history */
__EXPORT uint16_t ppm_edge_history[32];
unsigned ppm_edge_next;
@@ -361,6 +364,7 @@ unsigned ppm_edge_next;
/* PPM pulse history */
__EXPORT uint16_t ppm_pulse_history[32];
unsigned ppm_pulse_next;
#endif
static uint16_t ppm_temp_buffer[PPM_MAX_CHANNELS];
@@ -455,10 +459,12 @@ hrt_ppm_decode(uint32_t status)
/* how long since the last edge? - this handles counter wrapping implicitely. */
width = count - ppm.last_edge;
#if PPM_DEBUG
ppm_edge_history[ppm_edge_next++] = width;
if (ppm_edge_next >= 32)
ppm_edge_next = 0;
#endif
/*
* if this looks like a start pulse, then push the last set of values
@@ -546,10 +552,12 @@ hrt_ppm_decode(uint32_t status)
interval = count - ppm.last_mark;
ppm.last_mark = count;
#if PPM_DEBUG
ppm_pulse_history[ppm_pulse_next++] = interval;
if (ppm_pulse_next >= 32)
ppm_pulse_next = 0;
#endif
/* if the mark-mark timing is out of bounds, abandon the frame */
if ((interval < PPM_MIN_CHANNEL_VALUE) || (interval > PPM_MAX_CHANNEL_VALUE))
src/examples/fixedwing_control/module.mk
+2
View File
@@ -39,3 +39,5 @@ MODULE_COMMAND = ex_fixedwing_control
SRCS = main.c \
params.c
MODULE_STACKSIZE = 1200
src/examples/flow_position_control/flow_position_control_main.c
-613
View File
@@ -1,613 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
* Author: Samuel Zihlmann <samuezih@ee.ethz.ch>
* Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file flow_position_control.c
*
* Optical flow position controller
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdbool.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <debug.h>
#include <termios.h>
#include <time.h>
#include <math.h>
#include <sys/prctl.h>
#include <drivers/drv_hrt.h>
#include <uORB/uORB.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_bodyframe_speed_setpoint.h>
#include <uORB/topics/filtered_bottom_flow.h>
#include <systemlib/systemlib.h>
#include <systemlib/perf_counter.h>
#include <systemlib/err.h>
#include <poll.h>
#include <mavlink/mavlink_log.h>
#include "flow_position_control_params.h"
static bool thread_should_exit = false; /**< Deamon exit flag */
static bool thread_running = false; /**< Deamon status flag */
static int deamon_task; /**< Handle of deamon task / thread */
__EXPORT int flow_position_control_main(int argc, char *argv[]);
/**
* Mainloop of position controller.
*/
static int flow_position_control_thread_main(int argc, char *argv[]);
/**
* Print the correct usage.
*/
static void usage(const char *reason);
static void
usage(const char *reason)
{
if (reason)
fprintf(stderr, "%s\n", reason);
fprintf(stderr, "usage: deamon {start|stop|status} [-p <additional params>]\n\n");
exit(1);
}
/**
* The deamon app only briefly exists to start
* the background job. The stack size assigned in the
* Makefile does only apply to this management task.
*
* The actual stack size should be set in the call
* to task_spawn_cmd().
*/
int flow_position_control_main(int argc, char *argv[])
{
if (argc < 1)
usage("missing command");
if (!strcmp(argv[1], "start"))
{
if (thread_running)
{
printf("flow position control already running\n");
/* this is not an error */
exit(0);
}
thread_should_exit = false;
deamon_task = task_spawn_cmd("flow_position_control",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 6,
4096,
flow_position_control_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
exit(0);
}
if (!strcmp(argv[1], "stop"))
{
thread_should_exit = true;
exit(0);
}
if (!strcmp(argv[1], "status"))
{
if (thread_running)
printf("\tflow position control app is running\n");
else
printf("\tflow position control app not started\n");
exit(0);
}
usage("unrecognized command");
exit(1);
}
static int
flow_position_control_thread_main(int argc, char *argv[])
{
/* welcome user */
thread_running = true;
static int mavlink_fd;
mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
mavlink_log_info(mavlink_fd, "[fpc] started");
uint32_t counter = 0;
const float time_scale = powf(10.0f,-6.0f);
/* structures */
struct actuator_armed_s armed;
memset(&armed, 0, sizeof(armed));
struct vehicle_control_mode_s control_mode;
memset(&control_mode, 0, sizeof(control_mode));
struct vehicle_attitude_s att;
memset(&att, 0, sizeof(att));
struct manual_control_setpoint_s manual;
memset(&manual, 0, sizeof(manual));
struct filtered_bottom_flow_s filtered_flow;
memset(&filtered_flow, 0, sizeof(filtered_flow));
struct vehicle_local_position_s local_pos;
memset(&local_pos, 0, sizeof(local_pos));
struct vehicle_bodyframe_speed_setpoint_s speed_sp;
memset(&speed_sp, 0, sizeof(speed_sp));
/* subscribe to attitude, motor setpoints and system state */
int parameter_update_sub = orb_subscribe(ORB_ID(parameter_update));
int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude));
int armed_sub = orb_subscribe(ORB_ID(actuator_armed));
int control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
int manual_control_setpoint_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
int filtered_bottom_flow_sub = orb_subscribe(ORB_ID(filtered_bottom_flow));
int vehicle_local_position_sub = orb_subscribe(ORB_ID(vehicle_local_position));
orb_advert_t speed_sp_pub;
bool speed_setpoint_adverted = false;
/* parameters init*/
struct flow_position_control_params params;
struct flow_position_control_param_handles param_handles;
parameters_init(&param_handles);
parameters_update(&param_handles, &params);
/* init flow sum setpoint */
float flow_sp_sumx = 0.0f;
float flow_sp_sumy = 0.0f;
/* init yaw setpoint */
float yaw_sp = 0.0f;
/* init height setpoint */
float height_sp = params.height_min;
/* height controller states */
bool start_phase = true;
bool landing_initialized = false;
float landing_thrust_start = 0.0f;
/* states */
float integrated_h_error = 0.0f;
float last_local_pos_z = 0.0f;
bool update_flow_sp_sumx = false;
bool update_flow_sp_sumy = false;
uint64_t last_time = 0.0f;
float dt = 0.0f; // s
/* register the perf counter */
perf_counter_t mc_loop_perf = perf_alloc(PC_ELAPSED, "flow_position_control_runtime");
perf_counter_t mc_interval_perf = perf_alloc(PC_INTERVAL, "flow_position_control_interval");
perf_counter_t mc_err_perf = perf_alloc(PC_COUNT, "flow_position_control_err");
static bool sensors_ready = false;
static bool status_changed = false;
while (!thread_should_exit)
{
/* wait for first attitude msg to be sure all data are available */
if (sensors_ready)
{
/* polling */
struct pollfd fds[2] = {
{ .fd = filtered_bottom_flow_sub, .events = POLLIN }, // positions from estimator
{ .fd = parameter_update_sub, .events = POLLIN }
};
/* wait for a position update, check for exit condition every 500 ms */
int ret = poll(fds, 2, 500);
if (ret < 0)
{
/* poll error, count it in perf */
perf_count(mc_err_perf);
}
else if (ret == 0)
{
/* no return value, ignore */
// printf("[flow position control] no filtered flow updates\n");
}
else
{
/* parameter update available? */
if (fds[1].revents & POLLIN)
{
/* read from param to clear updated flag */
struct parameter_update_s update;
orb_copy(ORB_ID(parameter_update), parameter_update_sub, &update);
parameters_update(&param_handles, &params);
mavlink_log_info(mavlink_fd,"[fpc] parameters updated.");
}
/* only run controller if position/speed changed */
if (fds[0].revents & POLLIN)
{
perf_begin(mc_loop_perf);
/* get a local copy of the vehicle state */
orb_copy(ORB_ID(actuator_armed), armed_sub, &armed);
/* get a local copy of manual setpoint */
orb_copy(ORB_ID(manual_control_setpoint), manual_control_setpoint_sub, &manual);
/* get a local copy of attitude */
orb_copy(ORB_ID(vehicle_attitude), vehicle_attitude_sub, &att);
/* get a local copy of filtered bottom flow */
orb_copy(ORB_ID(filtered_bottom_flow), filtered_bottom_flow_sub, &filtered_flow);
/* get a local copy of local position */
orb_copy(ORB_ID(vehicle_local_position), vehicle_local_position_sub, &local_pos);
/* get a local copy of control mode */
orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode);
if (control_mode.flag_control_velocity_enabled)
{
float manual_pitch = manual.pitch / params.rc_scale_pitch; // 0 to 1
float manual_roll = manual.roll / params.rc_scale_roll; // 0 to 1
float manual_yaw = manual.yaw / params.rc_scale_yaw; // -1 to 1
if(status_changed == false)
mavlink_log_info(mavlink_fd,"[fpc] flow POSITION control engaged");
status_changed = true;
/* calc dt */
if(last_time == 0)
{
last_time = hrt_absolute_time();
continue;
}
dt = ((float) (hrt_absolute_time() - last_time)) * time_scale;
last_time = hrt_absolute_time();
/* update flow sum setpoint */
if (update_flow_sp_sumx)
{
flow_sp_sumx = filtered_flow.sumx;
update_flow_sp_sumx = false;
}
if (update_flow_sp_sumy)
{
flow_sp_sumy = filtered_flow.sumy;
update_flow_sp_sumy = false;
}
/* calc new bodyframe speed setpoints */
float speed_body_x = (flow_sp_sumx - filtered_flow.sumx) * params.pos_p - filtered_flow.vx * params.pos_d;
float speed_body_y = (flow_sp_sumy - filtered_flow.sumy) * params.pos_p - filtered_flow.vy * params.pos_d;
float speed_limit_height_factor = height_sp; // the settings are for 1 meter
/* overwrite with rc input if there is any */
if(isfinite(manual_pitch) && isfinite(manual_roll))
{
if(fabsf(manual_pitch) > params.manual_threshold)
{
speed_body_x = -manual_pitch * params.limit_speed_x * speed_limit_height_factor;
update_flow_sp_sumx = true;
}
if(fabsf(manual_roll) > params.manual_threshold)
{
speed_body_y = manual_roll * params.limit_speed_y * speed_limit_height_factor;
update_flow_sp_sumy = true;
}
}
/* limit speed setpoints */
if((speed_body_x <= params.limit_speed_x * speed_limit_height_factor) &&
(speed_body_x >= -params.limit_speed_x * speed_limit_height_factor))
{
speed_sp.vx = speed_body_x;
}
else
{
if(speed_body_x > params.limit_speed_x * speed_limit_height_factor)
speed_sp.vx = params.limit_speed_x * speed_limit_height_factor;
if(speed_body_x < -params.limit_speed_x * speed_limit_height_factor)
speed_sp.vx = -params.limit_speed_x * speed_limit_height_factor;
}
if((speed_body_y <= params.limit_speed_y * speed_limit_height_factor) &&
(speed_body_y >= -params.limit_speed_y * speed_limit_height_factor))
{
speed_sp.vy = speed_body_y;
}
else
{
if(speed_body_y > params.limit_speed_y * speed_limit_height_factor)
speed_sp.vy = params.limit_speed_y * speed_limit_height_factor;
if(speed_body_y < -params.limit_speed_y * speed_limit_height_factor)
speed_sp.vy = -params.limit_speed_y * speed_limit_height_factor;
}
/* manual yaw change */
if(isfinite(manual_yaw) && isfinite(manual.throttle))
{
if(fabsf(manual_yaw) > params.manual_threshold && manual.throttle > 0.2f)
{
yaw_sp += manual_yaw * params.limit_yaw_step;
/* modulo for rotation -pi +pi */
if(yaw_sp < -M_PI_F)
yaw_sp = yaw_sp + M_TWOPI_F;
else if(yaw_sp > M_PI_F)
yaw_sp = yaw_sp - M_TWOPI_F;
}
}
/* forward yaw setpoint */
speed_sp.yaw_sp = yaw_sp;
/* manual height control
* 0-20%: thrust linear down
* 20%-40%: down
* 40%-60%: stabilize altitude
* 60-100%: up
*/
float thrust_control = 0.0f;
if (isfinite(manual.throttle))
{
if (start_phase)
{
/* control start thrust with stick input */
if (manual.throttle < 0.4f)
{
/* first 40% for up to feedforward */
thrust_control = manual.throttle / 0.4f * params.thrust_feedforward;
}
else
{
/* second 60% for up to feedforward + 10% */
thrust_control = (manual.throttle - 0.4f) / 0.6f * 0.1f + params.thrust_feedforward;
}
/* exit start phase if setpoint is reached */
if (height_sp < -local_pos.z && thrust_control > params.limit_thrust_lower)
{
start_phase = false;
/* switch to stabilize */
thrust_control = params.thrust_feedforward;
}
}
else
{
if (manual.throttle < 0.2f)
{
/* landing initialization */
if (!landing_initialized)
{
/* consider last thrust control to avoid steps */
landing_thrust_start = speed_sp.thrust_sp;
landing_initialized = true;
}
/* set current height as setpoint to avoid steps */
if (-local_pos.z > params.height_min)
height_sp = -local_pos.z;
else
height_sp = params.height_min;
/* lower 20% stick range controls thrust down */
thrust_control = manual.throttle / 0.2f * landing_thrust_start;
/* assume ground position here */
if (thrust_control < 0.1f)
{
/* reset integral if on ground */
integrated_h_error = 0.0f;
/* switch to start phase */
start_phase = true;
/* reset height setpoint */
height_sp = params.height_min;
}
}
else
{
/* stabilized mode */
landing_initialized = false;
/* calc new thrust with PID */
float height_error = (local_pos.z - (-height_sp));
/* update height setpoint if needed*/
if (manual.throttle < 0.4f)
{
/* down */
if (height_sp > params.height_min + params.height_rate &&
fabsf(height_error) < params.limit_height_error)
height_sp -= params.height_rate * dt;
}
if (manual.throttle > 0.6f)
{
/* up */
if (height_sp < params.height_max &&
fabsf(height_error) < params.limit_height_error)
height_sp += params.height_rate * dt;
}
/* instead of speed limitation, limit height error (downwards) */
if(height_error > params.limit_height_error)
height_error = params.limit_height_error;
else if(height_error < -params.limit_height_error)
height_error = -params.limit_height_error;
integrated_h_error = integrated_h_error + height_error;
float integrated_thrust_addition = integrated_h_error * params.height_i;
if(integrated_thrust_addition > params.limit_thrust_int)
integrated_thrust_addition = params.limit_thrust_int;
if(integrated_thrust_addition < -params.limit_thrust_int)
integrated_thrust_addition = -params.limit_thrust_int;
float height_speed = last_local_pos_z - local_pos.z;
float thrust_diff = height_error * params.height_p - height_speed * params.height_d;
thrust_control = params.thrust_feedforward + thrust_diff + integrated_thrust_addition;
/* add attitude component
* F = Fz / (cos(pitch)*cos(roll)) -> can be found in rotM
*/
// // TODO problem with attitude
// if (att.R_valid && att.R[2][2] > 0)
// thrust_control = thrust_control / att.R[2][2];
/* set thrust lower limit */
if(thrust_control < params.limit_thrust_lower)
thrust_control = params.limit_thrust_lower;
}
}
/* set thrust upper limit */
if(thrust_control > params.limit_thrust_upper)
thrust_control = params.limit_thrust_upper;
}
/* store actual height for speed estimation */
last_local_pos_z = local_pos.z;
speed_sp.thrust_sp = thrust_control; //manual.throttle;
speed_sp.timestamp = hrt_absolute_time();
/* publish new speed setpoint */
if(isfinite(speed_sp.vx) && isfinite(speed_sp.vy) && isfinite(speed_sp.yaw_sp) && isfinite(speed_sp.thrust_sp))
{
if(speed_setpoint_adverted)
{
orb_publish(ORB_ID(vehicle_bodyframe_speed_setpoint), speed_sp_pub, &speed_sp);
}
else
{
speed_sp_pub = orb_advertise(ORB_ID(vehicle_bodyframe_speed_setpoint), &speed_sp);
speed_setpoint_adverted = true;
}
}
else
{
warnx("NaN in flow position controller!");
}
}
else
{
/* in manual or stabilized state just reset speed and flow sum setpoint */
//mavlink_log_info(mavlink_fd,"[fpc] reset speed sp, flow_sp_sumx,y (%f,%f)",filtered_flow.sumx, filtered_flow.sumy);
if(status_changed == true)
mavlink_log_info(mavlink_fd,"[fpc] flow POSITION controller disengaged.");
status_changed = false;
speed_sp.vx = 0.0f;
speed_sp.vy = 0.0f;
flow_sp_sumx = filtered_flow.sumx;
flow_sp_sumy = filtered_flow.sumy;
if(isfinite(att.yaw))
{
yaw_sp = att.yaw;
speed_sp.yaw_sp = att.yaw;
}
if(isfinite(manual.throttle))
speed_sp.thrust_sp = manual.throttle;
}
/* measure in what intervals the controller runs */
perf_count(mc_interval_perf);
perf_end(mc_loop_perf);
}
}
counter++;
}
else
{
/* sensors not ready waiting for first attitude msg */
/* polling */
struct pollfd fds[1] = {
{ .fd = vehicle_attitude_sub, .events = POLLIN },
};
/* wait for a flow msg, check for exit condition every 5 s */
int ret = poll(fds, 1, 5000);
if (ret < 0)
{
/* poll error, count it in perf */
perf_count(mc_err_perf);
}
else if (ret == 0)
{
/* no return value, ignore */
mavlink_log_info(mavlink_fd,"[fpc] no attitude received.\n");
}
else
{
if (fds[0].revents & POLLIN)
{
sensors_ready = true;
mavlink_log_info(mavlink_fd,"[fpc] initialized.\n");
}
}
}
}
mavlink_log_info(mavlink_fd,"[fpc] ending now...\n");
thread_running = false;
close(parameter_update_sub);
close(vehicle_attitude_sub);
close(vehicle_local_position_sub);
close(armed_sub);
close(control_mode_sub);
close(manual_control_setpoint_sub);
close(speed_sp_pub);
perf_print_counter(mc_loop_perf);
perf_free(mc_loop_perf);
fflush(stdout);
return 0;
}
src/examples/flow_position_control/flow_position_control_params.c
-124
View File
@@ -1,124 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
* Author: Samuel Zihlmann <samuezih@ee.ethz.ch>
* Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/*
* @file flow_position_control_params.c
*/
#include "flow_position_control_params.h"
/* controller parameters */
// Position control P gain
PARAM_DEFINE_FLOAT(FPC_POS_P, 3.0f);
// Position control D / damping gain
PARAM_DEFINE_FLOAT(FPC_POS_D, 0.0f);
// Altitude control P gain
PARAM_DEFINE_FLOAT(FPC_H_P, 0.15f);
// Altitude control I (integrator) gain
PARAM_DEFINE_FLOAT(FPC_H_I, 0.00001f);
// Altitude control D gain
PARAM_DEFINE_FLOAT(FPC_H_D, 0.8f);
// Altitude control rate limiter
PARAM_DEFINE_FLOAT(FPC_H_RATE, 0.1f);
// Altitude control minimum altitude
PARAM_DEFINE_FLOAT(FPC_H_MIN, 0.5f);
// Altitude control maximum altitude (higher than 1.5m is untested)
PARAM_DEFINE_FLOAT(FPC_H_MAX, 1.5f);
// Altitude control feed forward throttle - adjust to the
// throttle position (0..1) where the copter hovers in manual flight
PARAM_DEFINE_FLOAT(FPC_T_FFWD, 0.7f); // adjust this before flight
PARAM_DEFINE_FLOAT(FPC_L_S_X, 1.2f);
PARAM_DEFINE_FLOAT(FPC_L_S_Y, 1.2f);
PARAM_DEFINE_FLOAT(FPC_L_H_ERR, 0.1f);
PARAM_DEFINE_FLOAT(FPC_L_TH_I, 0.05f);
PARAM_DEFINE_FLOAT(FPC_L_TH_U, 0.8f);
PARAM_DEFINE_FLOAT(FPC_L_TH_L, 0.6f);
PARAM_DEFINE_FLOAT(FPC_L_YAW_STEP, 0.03f);
PARAM_DEFINE_FLOAT(FPC_MAN_THR, 0.1f);
int parameters_init(struct flow_position_control_param_handles *h)
{
/* PID parameters */
h->pos_p = param_find("FPC_POS_P");
h->pos_d = param_find("FPC_POS_D");
h->height_p = param_find("FPC_H_P");
h->height_i = param_find("FPC_H_I");
h->height_d = param_find("FPC_H_D");
h->height_rate = param_find("FPC_H_RATE");
h->height_min = param_find("FPC_H_MIN");
h->height_max = param_find("FPC_H_MAX");
h->thrust_feedforward = param_find("FPC_T_FFWD");
h->limit_speed_x = param_find("FPC_L_S_X");
h->limit_speed_y = param_find("FPC_L_S_Y");
h->limit_height_error = param_find("FPC_L_H_ERR");
h->limit_thrust_int = param_find("FPC_L_TH_I");
h->limit_thrust_upper = param_find("FPC_L_TH_U");
h->limit_thrust_lower = param_find("FPC_L_TH_L");
h->limit_yaw_step = param_find("FPC_L_YAW_STEP");
h->manual_threshold = param_find("FPC_MAN_THR");
h->rc_scale_pitch = param_find("RC_SCALE_PITCH");
h->rc_scale_roll = param_find("RC_SCALE_ROLL");
h->rc_scale_yaw = param_find("RC_SCALE_YAW");
return OK;
}
int parameters_update(const struct flow_position_control_param_handles *h, struct flow_position_control_params *p)
{
param_get(h->pos_p, &(p->pos_p));
param_get(h->pos_d, &(p->pos_d));
param_get(h->height_p, &(p->height_p));
param_get(h->height_i, &(p->height_i));
param_get(h->height_d, &(p->height_d));
param_get(h->height_rate, &(p->height_rate));
param_get(h->height_min, &(p->height_min));
param_get(h->height_max, &(p->height_max));
param_get(h->thrust_feedforward, &(p->thrust_feedforward));
param_get(h->limit_speed_x, &(p->limit_speed_x));
param_get(h->limit_speed_y, &(p->limit_speed_y));
param_get(h->limit_height_error, &(p->limit_height_error));
param_get(h->limit_thrust_int, &(p->limit_thrust_int));
param_get(h->limit_thrust_upper, &(p->limit_thrust_upper));
param_get(h->limit_thrust_lower, &(p->limit_thrust_lower));
param_get(h->limit_yaw_step, &(p->limit_yaw_step));
param_get(h->manual_threshold, &(p->manual_threshold));
param_get(h->rc_scale_pitch, &(p->rc_scale_pitch));
param_get(h->rc_scale_roll, &(p->rc_scale_roll));
param_get(h->rc_scale_yaw, &(p->rc_scale_yaw));
return OK;
}
src/examples/flow_position_control/module.mk
-41
View File
@@ -1,41 +0,0 @@
############################################################################
#
# Copyright (c) 2012, 2013 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
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
#
# Build multirotor position control
#
MODULE_COMMAND = flow_position_control
SRCS = flow_position_control_main.c \
flow_position_control_params.c
src/examples/flow_position_estimator/flow_position_estimator_main.c
+3 -2
View File
@@ -65,6 +65,7 @@
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/filtered_bottom_flow.h>
#include <systemlib/perf_counter.h>
#include <systemlib/systemlib.h>
#include <poll.h>
#include "flow_position_estimator_params.h"
@@ -109,9 +110,9 @@ int flow_position_estimator_main(int argc, char *argv[])
thread_should_exit = false;
daemon_task = task_spawn_cmd("flow_position_estimator",
SCHED_RR,
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
4096,
4000,
flow_position_estimator_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
exit(0);
src/examples/px4_daemon_app/module.mk
+2
View File
@@ -38,3 +38,5 @@
MODULE_COMMAND = px4_daemon_app
SRCS = px4_daemon_app.c
MODULE_STACKSIZE = 1200
src/examples/px4_daemon_app/px4_daemon_app.c
+1 -1
View File
@@ -98,7 +98,7 @@ int px4_daemon_app_main(int argc, char *argv[])
daemon_task = task_spawn_cmd("daemon",
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
4096,
2000,
px4_daemon_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
exit(0);
src/examples/px4_mavlink_debug/module.mk
+3 -1
View File
@@ -37,4 +37,6 @@
MODULE_COMMAND = px4_mavlink_debug
SRCS = px4_mavlink_debug.c
SRCS = px4_mavlink_debug.c
MODULE_STACKSIZE = 2000
src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
+20 -1
View File
@@ -63,11 +63,22 @@ ECL_PitchController::ECL_PitchController() :
_rate_setpoint(0.0f),
_bodyrate_setpoint(0.0f)
{
perf_alloc(PC_COUNT, "fw att control pitch nonfinite input");
}
ECL_PitchController::~ECL_PitchController()
{
perf_free(_nonfinite_input_perf);
}
float ECL_PitchController::control_attitude(float pitch_setpoint, float roll, float pitch, float airspeed)
{
/* Do not calculate control signal with bad inputs */
if (!(isfinite(pitch_setpoint) && isfinite(roll) && isfinite(pitch) && isfinite(airspeed))) {
perf_count(_nonfinite_input_perf);
warnx("not controlling pitch");
return _rate_setpoint;
}
/* flying inverted (wings upside down) ? */
bool inverted = false;
@@ -123,6 +134,14 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch,
float yaw_rate_setpoint,
float airspeed_min, float airspeed_max, float airspeed, float scaler, bool lock_integrator)
{
/* Do not calculate control signal with bad inputs */
if (!(isfinite(roll) && isfinite(pitch) && isfinite(pitch_rate) && isfinite(yaw_rate) &&
isfinite(yaw_rate_setpoint) && isfinite(airspeed_min) &&
isfinite(airspeed_max) && isfinite(scaler))) {
perf_count(_nonfinite_input_perf);
return math::constrain(_last_output, -1.0f, 1.0f);
}
/* get the usual dt estimate */
uint64_t dt_micros = ecl_elapsed_time(&_last_run);
_last_run = ecl_absolute_time();
src/lib/ecl/attitude_fw/ecl_pitch_controller.h
+4
View File
@@ -51,12 +51,15 @@
#include <stdbool.h>
#include <stdint.h>
#include <systemlib/perf_counter.h>
class __EXPORT ECL_PitchController //XXX: create controller superclass
{
public:
ECL_PitchController();
~ECL_PitchController();
float control_attitude(float pitch_setpoint, float roll, float pitch, float airspeed);
@@ -126,6 +129,7 @@ private:
float _rate_error;
float _rate_setpoint;
float _bodyrate_setpoint;
perf_counter_t _nonfinite_input_perf;
};
#endif // ECL_PITCH_CONTROLLER_H
src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
+21 -2
View File
@@ -61,10 +61,21 @@ ECL_RollController::ECL_RollController() :
_rate_setpoint(0.0f),
_bodyrate_setpoint(0.0f)
{
perf_alloc(PC_COUNT, "fw att control roll nonfinite input");
}
ECL_RollController::~ECL_RollController()
{
perf_free(_nonfinite_input_perf);
}
float ECL_RollController::control_attitude(float roll_setpoint, float roll)
{
/* Do not calculate control signal with bad inputs */
if (!(isfinite(roll_setpoint) && isfinite(roll))) {
perf_count(_nonfinite_input_perf);
return _rate_setpoint;
}
/* Calculate error */
float roll_error = roll_setpoint - roll;
@@ -86,6 +97,14 @@ float ECL_RollController::control_bodyrate(float pitch,
float yaw_rate_setpoint,
float airspeed_min, float airspeed_max, float airspeed, float scaler, bool lock_integrator)
{
/* Do not calculate control signal with bad inputs */
if (!(isfinite(pitch) && isfinite(roll_rate) && isfinite(yaw_rate) && isfinite(yaw_rate_setpoint) &&
isfinite(airspeed_min) && isfinite(airspeed_max) &&
isfinite(scaler))) {
perf_count(_nonfinite_input_perf);
return math::constrain(_last_output, -1.0f, 1.0f);
}
/* get the usual dt estimate */
uint64_t dt_micros = ecl_elapsed_time(&_last_run);
_last_run = ecl_absolute_time();
@@ -122,8 +141,8 @@ float ECL_RollController::control_bodyrate(float pitch,
float id = _rate_error * dt;
/*
* anti-windup: do not allow integrator to increase if actuator is at limit
*/
* anti-windup: do not allow integrator to increase if actuator is at limit
*/
if (_last_output < -1.0f) {
/* only allow motion to center: increase value */
id = math::max(id, 0.0f);
src/lib/ecl/attitude_fw/ecl_roll_controller.h
+4
View File
@@ -51,12 +51,15 @@
#include <stdbool.h>
#include <stdint.h>
#include <systemlib/perf_counter.h>
class __EXPORT ECL_RollController //XXX: create controller superclass
{
public:
ECL_RollController();
~ECL_RollController();
float control_attitude(float roll_setpoint, float roll);
float control_bodyrate(float pitch,
@@ -117,6 +120,7 @@ private:
float _rate_error;
float _rate_setpoint;
float _bodyrate_setpoint;
perf_counter_t _nonfinite_input_perf;
};
#endif // ECL_ROLL_CONTROLLER_H
src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
+20
View File
@@ -60,12 +60,25 @@ ECL_YawController::ECL_YawController() :
_bodyrate_setpoint(0.0f),
_coordinated_min_speed(1.0f)
{
perf_alloc(PC_COUNT, "fw att control yaw nonfinite input");
}
ECL_YawController::~ECL_YawController()
{
perf_free(_nonfinite_input_perf);
}
float ECL_YawController::control_attitude(float roll, float pitch,
float speed_body_u, float speed_body_v, float speed_body_w,
float roll_rate_setpoint, float pitch_rate_setpoint)
{
/* Do not calculate control signal with bad inputs */
if (!(isfinite(roll) && isfinite(pitch) && isfinite(speed_body_u) && isfinite(speed_body_v) &&
isfinite(speed_body_w) && isfinite(roll_rate_setpoint) &&
isfinite(pitch_rate_setpoint))) {
perf_count(_nonfinite_input_perf);
return _rate_setpoint;
}
// static int counter = 0;
/* Calculate desired yaw rate from coordinated turn constraint / (no side forces) */
_rate_setpoint = 0.0f;
@@ -103,6 +116,13 @@ float ECL_YawController::control_bodyrate(float roll, float pitch,
float pitch_rate_setpoint,
float airspeed_min, float airspeed_max, float airspeed, float scaler, bool lock_integrator)
{
/* Do not calculate control signal with bad inputs */
if (!(isfinite(roll) && isfinite(pitch) && isfinite(pitch_rate) && isfinite(yaw_rate) &&
isfinite(pitch_rate_setpoint) && isfinite(airspeed_min) &&
isfinite(airspeed_max) && isfinite(scaler))) {
perf_count(_nonfinite_input_perf);
return math::constrain(_last_output, -1.0f, 1.0f);
}
/* get the usual dt estimate */
uint64_t dt_micros = ecl_elapsed_time(&_last_run);
_last_run = ecl_absolute_time();
src/lib/ecl/attitude_fw/ecl_yaw_controller.h
+4
View File
@@ -50,12 +50,15 @@
#include <stdbool.h>
#include <stdint.h>
#include <systemlib/perf_counter.h>
class __EXPORT ECL_YawController //XXX: create controller superclass
{
public:
ECL_YawController();
~ECL_YawController();
float control_attitude(float roll, float pitch,
float speed_body_u, float speed_body_v, float speed_body_w,
float roll_rate_setpoint, float pitch_rate_setpoint);
@@ -118,6 +121,7 @@ private:
float _rate_setpoint;
float _bodyrate_setpoint;
float _coordinated_min_speed;
perf_counter_t _nonfinite_input_perf;
};
src/lib/version/version.h
+4
View File
@@ -59,4 +59,8 @@
#define HW_ARCH "PX4FMU_V2"
#endif
#ifdef CONFIG_ARCH_BOARD_AEROCORE
#define HW_ARCH "AEROCORE"
#endif
#endif /* VERSION_H_ */
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+9 -16
View File
@@ -1,8 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Tobias Naegeli <naegelit@student.ethz.ch>
* Lorenz Meier <lm@inf.ethz.ch>
* 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
@@ -34,9 +32,12 @@
****************************************************************************/
/*
* @file attitude_estimator_ekf_main.c
* @file attitude_estimator_ekf_main.cpp
*
* Extended Kalman Filter for Attitude Estimation.
*
* @author Tobias Naegeli <naegelit@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#include <nuttx/config.h>
@@ -111,7 +112,7 @@ usage(const char *reason)
* Makefile does only apply to this management task.
*
* The actual stack size should be set in the call
* to task_create().
* to task_spawn_cmd().
*/
int attitude_estimator_ekf_main(int argc, char *argv[])
{
@@ -265,7 +266,6 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
orb_advert_t pub_att = orb_advertise(ORB_ID(vehicle_attitude), &att);
int loopcounter = 0;
int printcounter = 0;
thread_running = true;
@@ -273,9 +273,6 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
// struct debug_key_value_s dbg = { .key = "", .value = 0.0f };
// orb_advert_t pub_dbg = -1;
float sensor_update_hz[3] = {0.0f, 0.0f, 0.0f};
// XXX write this out to perf regs
/* keep track of sensor updates */
uint64_t sensor_last_timestamp[3] = {0, 0, 0};
@@ -286,11 +283,9 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
/* initialize parameter handles */
parameters_init(&ekf_param_handles);
uint64_t start_time = hrt_absolute_time();
bool initialized = false;
float gyro_offsets[3] = { 0.0f, 0.0f, 0.0f };
unsigned offset_count = 0;
/* rotation matrix for magnetic declination */
math::Matrix<3, 3> R_decl;
@@ -381,7 +376,7 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
/* Fill in gyro measurements */
if (sensor_last_timestamp[0] != raw.timestamp) {
update_vect[0] = 1;
sensor_update_hz[0] = 1e6f / (raw.timestamp - sensor_last_timestamp[0]);
// sensor_update_hz[0] = 1e6f / (raw.timestamp - sensor_last_timestamp[0]);
sensor_last_timestamp[0] = raw.timestamp;
}
@@ -392,7 +387,7 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
/* update accelerometer measurements */
if (sensor_last_timestamp[1] != raw.accelerometer_timestamp) {
update_vect[1] = 1;
sensor_update_hz[1] = 1e6f / (raw.timestamp - sensor_last_timestamp[1]);
// sensor_update_hz[1] = 1e6f / (raw.timestamp - sensor_last_timestamp[1]);
sensor_last_timestamp[1] = raw.accelerometer_timestamp;
}
@@ -444,7 +439,7 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
/* update magnetometer measurements */
if (sensor_last_timestamp[2] != raw.magnetometer_timestamp) {
update_vect[2] = 1;
sensor_update_hz[2] = 1e6f / (raw.timestamp - sensor_last_timestamp[2]);
// sensor_update_hz[2] = 1e6f / (raw.timestamp - sensor_last_timestamp[2]);
sensor_last_timestamp[2] = raw.magnetometer_timestamp;
}
@@ -497,8 +492,6 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
continue;
}
uint64_t timing_start = hrt_absolute_time();
attitudeKalmanfilter(update_vect, dt, z_k, x_aposteriori_k, P_aposteriori_k, ekf_params.q, ekf_params.r,
euler, Rot_matrix, x_aposteriori, P_aposteriori);
src/modules/attitude_estimator_ekf/module.mk
+2
View File
@@ -50,3 +50,5 @@ SRCS = attitude_estimator_ekf_main.cpp \
codegen/rtGetNaN.c \
codegen/norm.c \
codegen/cross.c
MODULE_STACKSIZE = 1200
src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp
+5 -4
View File
@@ -1,8 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Author: Hyon Lim <limhyon@gmail.com>
* Anton Babushkin <anton.babushkin@me.com>
* Copyright (c) 2013 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
@@ -36,6 +34,9 @@
/*
* @file attitude_estimator_so3_main.cpp
*
* @author Hyon Lim <limhyon@gmail.com>
* @author Anton Babushkin <anton.babushkin@me.com>
*
* Implementation of nonlinear complementary filters on the SO(3).
* This code performs attitude estimation by using accelerometer, gyroscopes and magnetometer.
* Result is provided as quaternion, 1-2-3 Euler angle and rotation matrix.
@@ -131,7 +132,7 @@ usage(const char *reason)
* Makefile does only apply to this management task.
*
* The actual stack size should be set in the call
* to task_create().
* to task_spawn_cmd().
*/
int attitude_estimator_so3_main(int argc, char *argv[])
{
src/modules/attitude_estimator_so3/module.mk
+2
View File
@@ -6,3 +6,5 @@ MODULE_COMMAND = attitude_estimator_so3
SRCS = attitude_estimator_so3_main.cpp \
attitude_estimator_so3_params.c
MODULE_STACKSIZE = 1200
src/modules/commander/accelerometer_calibration.cpp
+40 -26
View File
@@ -194,13 +194,13 @@ int do_accel_calibration(int mavlink_fd)
int32_t board_rotation_int;
param_get(board_rotation_h, &(board_rotation_int));
enum Rotation board_rotation_id = (enum Rotation)board_rotation_int;
math::Matrix<3,3> board_rotation;
math::Matrix<3, 3> board_rotation;
get_rot_matrix(board_rotation_id, &board_rotation);
math::Matrix<3,3> board_rotation_t = board_rotation.transposed();
math::Matrix<3, 3> board_rotation_t = board_rotation.transposed();
math::Vector<3> accel_offs_vec(&accel_offs[0]);
math::Vector<3> accel_offs_rotated = board_rotation_t * accel_offs_vec;
math::Matrix<3,3> accel_T_mat(&accel_T[0][0]);
math::Matrix<3,3> accel_T_rotated = board_rotation_t * accel_T_mat * board_rotation;
math::Vector<3> accel_offs_rotated = board_rotation_t *accel_offs_vec;
math::Matrix<3, 3> accel_T_mat(&accel_T[0][0]);
math::Matrix<3, 3> accel_T_rotated = board_rotation_t *accel_T_mat * board_rotation;
accel_scale.x_offset = accel_offs_rotated(0);
accel_scale.x_scale = accel_T_rotated(0, 0);
@@ -277,11 +277,13 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float
}
}
if (old_done_count != done_count)
if (old_done_count != done_count) {
mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 17 * done_count);
}
if (done)
if (done) {
break;
}
mavlink_log_info(mavlink_fd, "directions left: %s%s%s%s%s%s",
(!data_collected[0]) ? "x+ " : "",
@@ -380,11 +382,13 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined)
d = d * d;
accel_disp[i] = accel_disp[i] * (1.0f - w);
if (d > still_thr2 * 8.0f)
if (d > still_thr2 * 8.0f) {
d = still_thr2 * 8.0f;
}
if (d > accel_disp[i])
if (d > accel_disp[i]) {
accel_disp[i] = d;
}
}
/* still detector with hysteresis */
@@ -432,33 +436,39 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined)
if (fabsf(accel_ema[0] - CONSTANTS_ONE_G) < accel_err_thr &&
fabsf(accel_ema[1]) < accel_err_thr &&
fabsf(accel_ema[2]) < accel_err_thr)
return 0; // [ g, 0, 0 ]
fabsf(accel_ema[2]) < accel_err_thr) {
return 0; // [ g, 0, 0 ]
}
if (fabsf(accel_ema[0] + CONSTANTS_ONE_G) < accel_err_thr &&
fabsf(accel_ema[1]) < accel_err_thr &&
fabsf(accel_ema[2]) < accel_err_thr)
return 1; // [ -g, 0, 0 ]
fabsf(accel_ema[2]) < accel_err_thr) {
return 1; // [ -g, 0, 0 ]
}
if (fabsf(accel_ema[0]) < accel_err_thr &&
fabsf(accel_ema[1] - CONSTANTS_ONE_G) < accel_err_thr &&
fabsf(accel_ema[2]) < accel_err_thr)
return 2; // [ 0, g, 0 ]
fabsf(accel_ema[2]) < accel_err_thr) {
return 2; // [ 0, g, 0 ]
}
if (fabsf(accel_ema[0]) < accel_err_thr &&
fabsf(accel_ema[1] + CONSTANTS_ONE_G) < accel_err_thr &&
fabsf(accel_ema[2]) < accel_err_thr)
return 3; // [ 0, -g, 0 ]
fabsf(accel_ema[2]) < accel_err_thr) {
return 3; // [ 0, -g, 0 ]
}
if (fabsf(accel_ema[0]) < accel_err_thr &&
fabsf(accel_ema[1]) < accel_err_thr &&
fabsf(accel_ema[2] - CONSTANTS_ONE_G) < accel_err_thr)
return 4; // [ 0, 0, g ]
fabsf(accel_ema[2] - CONSTANTS_ONE_G) < accel_err_thr) {
return 4; // [ 0, 0, g ]
}
if (fabsf(accel_ema[0]) < accel_err_thr &&
fabsf(accel_ema[1]) < accel_err_thr &&
fabsf(accel_ema[2] + CONSTANTS_ONE_G) < accel_err_thr)
return 5; // [ 0, 0, -g ]
fabsf(accel_ema[2] + CONSTANTS_ONE_G) < accel_err_thr) {
return 5; // [ 0, 0, -g ]
}
mavlink_log_critical(mavlink_fd, "ERROR: invalid orientation");
@@ -485,8 +495,9 @@ int read_accelerometer_avg(int sensor_combined_sub, float accel_avg[3], int samp
struct sensor_combined_s sensor;
orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor);
for (int i = 0; i < 3; i++)
for (int i = 0; i < 3; i++) {
accel_sum[i] += sensor.accelerometer_m_s2[i];
}
count++;
@@ -495,8 +506,9 @@ int read_accelerometer_avg(int sensor_combined_sub, float accel_avg[3], int samp
continue;
}
if (errcount > samples_num / 10)
if (errcount > samples_num / 10) {
return ERROR;
}
}
for (int i = 0; i < 3; i++) {
@@ -512,8 +524,9 @@ int mat_invert3(float src[3][3], float dst[3][3])
src[0][1] * (src[1][0] * src[2][2] - src[1][2] * src[2][0]) +
src[0][2] * (src[1][0] * src[2][1] - src[1][1] * src[2][0]);
if (det == 0.0f)
return ERROR; // Singular matrix
if (det == 0.0f) {
return ERROR; // Singular matrix
}
dst[0][0] = (src[1][1] * src[2][2] - src[1][2] * src[2][1]) / det;
dst[1][0] = (src[1][2] * src[2][0] - src[1][0] * src[2][2]) / det;
@@ -549,8 +562,9 @@ int calculate_calibration_values(float accel_ref[6][3], float accel_T[3][3], flo
/* calculate inverse matrix for A */
float mat_A_inv[3][3];
if (mat_invert3(mat_A, mat_A_inv) != OK)
if (mat_invert3(mat_A, mat_A_inv) != OK) {
return ERROR;
}
/* copy results to accel_T */
for (int i = 0; i < 3; i++) {
src/modules/commander/airspeed_calibration.cpp
+5 -1
View File
@@ -82,12 +82,15 @@ int do_airspeed_calibration(int mavlink_fd)
bool paramreset_successful = false;
int fd = open(AIRSPEED_DEVICE_PATH, 0);
if (fd > 0) {
if (OK == ioctl(fd, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale)) {
paramreset_successful = true;
} else {
mavlink_log_critical(mavlink_fd, "airspeed offset zero failed");
}
close(fd);
}
@@ -112,8 +115,9 @@ int do_airspeed_calibration(int mavlink_fd)
diff_pres_offset += diff_pres.differential_pressure_raw_pa;
calibration_counter++;
if (calibration_counter % (calibration_count / 20) == 0)
if (calibration_counter % (calibration_count / 20) == 0) {
mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, (calibration_counter * 100) / calibration_count);
}
} else if (poll_ret == 0) {
/* any poll failure for 1s is a reason to abort */
src/modules/commander/commander.cpp
+220 -147
View File
@@ -221,7 +221,7 @@ void print_status();
transition_result_t check_navigation_state_machine(struct vehicle_status_s *status, struct vehicle_control_mode_s *control_mode, struct vehicle_local_position_s *local_pos);
transition_result_t arm_disarm(bool arm, const int mavlink_fd, const char* armedBy);
transition_result_t arm_disarm(bool arm, const int mavlink_fd, const char *armedBy);
/**
* Loop that runs at a lower rate and priority for calibration and parameter tasks.
@@ -233,8 +233,9 @@ void answer_command(struct vehicle_command_s &cmd, enum VEHICLE_CMD_RESULT resul
int commander_main(int argc, char *argv[])
{
if (argc < 1)
if (argc < 1) {
usage("missing command");
}
if (!strcmp(argv[1], "start")) {
@@ -248,7 +249,7 @@ int commander_main(int argc, char *argv[])
daemon_task = task_spawn_cmd("commander",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 40,
3000,
2950,
commander_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
@@ -261,8 +262,9 @@ int commander_main(int argc, char *argv[])
if (!strcmp(argv[1], "stop")) {
if (!thread_running)
if (!thread_running) {
errx(0, "commander already stopped");
}
thread_should_exit = true;
@@ -304,8 +306,9 @@ int commander_main(int argc, char *argv[])
void usage(const char *reason)
{
if (reason)
if (reason) {
fprintf(stderr, "%s\n", reason);
}
fprintf(stderr, "usage: daemon {start|stop|status} [-p <additional params>]\n\n");
exit(1);
@@ -364,20 +367,22 @@ void print_status()
static orb_advert_t status_pub;
transition_result_t arm_disarm(bool arm, const int mavlink_fd, const char* armedBy)
transition_result_t arm_disarm(bool arm, const int mavlink_fd, const char *armedBy)
{
transition_result_t arming_res = TRANSITION_NOT_CHANGED;
// Transition the armed state. By passing mavlink_fd to arming_state_transition it will
// output appropriate error messages if the state cannot transition.
arming_res = arming_state_transition(&status, &safety, arm ? ARMING_STATE_ARMED : ARMING_STATE_STANDBY, &armed, mavlink_fd);
if (arming_res == TRANSITION_CHANGED && mavlink_fd) {
mavlink_log_info(mavlink_fd, "[cmd] %s by %s", arm ? "ARMED" : "DISARMED", armedBy);
} else if (arming_res == TRANSITION_DENIED) {
tune_negative(true);
}
return arming_res;
transition_result_t arming_res = TRANSITION_NOT_CHANGED;
// Transition the armed state. By passing mavlink_fd to arming_state_transition it will
// output appropriate error messages if the state cannot transition.
arming_res = arming_state_transition(&status, &safety, arm ? ARMING_STATE_ARMED : ARMING_STATE_STANDBY, &armed, mavlink_fd);
if (arming_res == TRANSITION_CHANGED && mavlink_fd) {
mavlink_log_info(mavlink_fd, "[cmd] %s by %s", arm ? "ARMED" : "DISARMED", armedBy);
} else if (arming_res == TRANSITION_DENIED) {
tune_negative(true);
}
return arming_res;
}
bool handle_command(struct vehicle_status_s *status, const struct safety_s *safety, struct vehicle_command_s *cmd, struct actuator_armed_s *armed, struct home_position_s *home, struct vehicle_global_position_s *global_pos, orb_advert_t *home_pub)
@@ -414,43 +419,61 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
/* set main state */
transition_result_t main_res = TRANSITION_DENIED;
if (base_mode & MAV_MODE_FLAG_CUSTOM_MODE_ENABLED) {
/* use autopilot-specific mode */
if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_MANUAL) {
/* MANUAL */
main_res = main_state_transition(status, MAIN_STATE_MANUAL);
if (hil_ret == OK) {
ret = true;
}
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_SEATBELT) {
/* SEATBELT */
main_res = main_state_transition(status, MAIN_STATE_SEATBELT);
// Transition the arming state
arming_res = arm_disarm(base_mode & MAV_MODE_FLAG_SAFETY_ARMED, mavlink_fd, "set mode command");
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_EASY) {
/* EASY */
main_res = main_state_transition(status, MAIN_STATE_EASY);
if (arming_res == TRANSITION_CHANGED) {
ret = true;
}
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_AUTO) {
/* AUTO */
main_res = main_state_transition(status, MAIN_STATE_AUTO);
}
} else {
/* use base mode */
if (base_mode & MAV_MODE_FLAG_AUTO_ENABLED) {
/* AUTO */
main_res = main_state_transition(status, MAIN_STATE_AUTO);
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ALTCTL) {
/* ALTCTL */
main_res = main_state_transition(status, MAIN_STATE_ALTCTL);
} else if (base_mode & MAV_MODE_FLAG_MANUAL_INPUT_ENABLED) {
if (base_mode & MAV_MODE_FLAG_GUIDED_ENABLED) {
/* EASY */
main_res = main_state_transition(status, MAIN_STATE_EASY);
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_POSCTL) {
/* POSCTL */
main_res = main_state_transition(status, MAIN_STATE_POSCTL);
} else if (base_mode & MAV_MODE_FLAG_STABILIZE_ENABLED) {
/* MANUAL */
main_res = main_state_transition(status, MAIN_STATE_MANUAL);
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_AUTO) {
/* AUTO */
main_res = main_state_transition(status, MAIN_STATE_AUTO);
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ACRO) {
/* ACRO */
main_res = main_state_transition(status, MAIN_STATE_ACRO);
}
} else {
/* use base mode */
if (base_mode & MAV_MODE_FLAG_AUTO_ENABLED) {
/* AUTO */
main_res = main_state_transition(status, MAIN_STATE_AUTO);
} else if (base_mode & MAV_MODE_FLAG_MANUAL_INPUT_ENABLED) {
if (base_mode & MAV_MODE_FLAG_GUIDED_ENABLED) {
/* POSCTL */
main_res = main_state_transition(status, MAIN_STATE_POSCTL);
} else if (base_mode & MAV_MODE_FLAG_STABILIZE_ENABLED) {
/* MANUAL */
main_res = main_state_transition(status, MAIN_STATE_MANUAL);
}
}
}
}
if (main_res == TRANSITION_CHANGED) {
ret = true;
}
if (arming_res != TRANSITION_DENIED && main_res != TRANSITION_DENIED) {
result = VEHICLE_CMD_RESULT_ACCEPTED;
@@ -463,24 +486,28 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
}
case VEHICLE_CMD_COMPONENT_ARM_DISARM: {
// Follow exactly what the mavlink spec says for values: 0.0f for disarm, 1.0f for arm.
// We use an float epsilon delta to test float equality.
if (cmd->param1 != 0.0f && (fabsf(cmd->param1 - 1.0f) > 2.0f * FLT_EPSILON)) {
// Follow exactly what the mavlink spec says for values: 0.0f for disarm, 1.0f for arm.
// We use an float epsilon delta to test float equality.
if (cmd->param1 != 0.0f && (fabsf(cmd->param1 - 1.0f) > 2.0f * FLT_EPSILON)) {
mavlink_log_info(mavlink_fd, "Unsupported ARM_DISARM parameter: %.6f", cmd->param1);
} else {
// Flick to inair restore first if this comes from an onboard system
if (cmd->source_system == status->system_id && cmd->source_component == status->component_id) {
status->arming_state = ARMING_STATE_IN_AIR_RESTORE;
}
transition_result_t arming_res = arm_disarm(cmd->param1 != 0.0f, mavlink_fd, "arm/disarm component command");
if (arming_res == TRANSITION_DENIED) {
mavlink_log_critical(mavlink_fd, "#audio: REJECTING component arm cmd");
result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
} else {
result = VEHICLE_CMD_RESULT_ACCEPTED;
}
}
} else {
// Flick to inair restore first if this comes from an onboard system
if (cmd->source_system == status->system_id && cmd->source_component == status->component_id) {
status->arming_state = ARMING_STATE_IN_AIR_RESTORE;
}
transition_result_t arming_res = arm_disarm(cmd->param1 != 0.0f, mavlink_fd, "arm/disarm component command");
if (arming_res == TRANSITION_DENIED) {
mavlink_log_critical(mavlink_fd, "#audio: REJECTING component arm cmd");
result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
} else {
result = VEHICLE_CMD_RESULT_ACCEPTED;
}
}
}
break;
@@ -504,7 +531,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
}
break;
/* Flight termination */
/* Flight termination */
case VEHICLE_CMD_DO_SET_SERVO: { //xxx: needs its own mavlink command
//XXX: to enable the parachute, a param needs to be set
@@ -523,6 +550,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
case VEHICLE_CMD_DO_SET_HOME: {
bool use_current = cmd->param1 > 0.5f;
if (use_current) {
/* use current position */
if (status->condition_global_position_valid) {
@@ -566,6 +594,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
}
}
break;
case VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
case VEHICLE_CMD_PREFLIGHT_CALIBRATION:
case VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS:
@@ -579,6 +608,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
answer_command(*cmd, VEHICLE_CMD_RESULT_UNSUPPORTED);
break;
}
if (result != VEHICLE_CMD_RESULT_UNSUPPORTED) {
/* already warned about unsupported commands in "default" case */
answer_command(*cmd, result);
@@ -612,9 +642,10 @@ int commander_thread_main(int argc, char *argv[])
char *main_states_str[MAIN_STATE_MAX];
main_states_str[0] = "MANUAL";
main_states_str[1] = "SEATBELT";
main_states_str[2] = "EASY";
main_states_str[1] = "ALTCTL";
main_states_str[2] = "POSCTL";
main_states_str[3] = "AUTO";
main_states_str[4] = "ACRO";
char *arming_states_str[ARMING_STATE_MAX];
arming_states_str[0] = "INIT";
@@ -705,7 +736,7 @@ int commander_thread_main(int argc, char *argv[])
pthread_attr_t commander_low_prio_attr;
pthread_attr_init(&commander_low_prio_attr);
pthread_attr_setstacksize(&commander_low_prio_attr, 2992);
pthread_attr_setstacksize(&commander_low_prio_attr, 2900);
struct sched_param param;
(void)pthread_attr_getschedparam(&commander_low_prio_attr, &param);
@@ -860,6 +891,7 @@ int commander_thread_main(int argc, char *argv[])
/* re-check RC calibration */
rc_calibration_ok = (OK == rc_calibration_check(mavlink_fd));
}
/* navigation parameters */
param_get(_param_takeoff_alt, &takeoff_alt);
param_get(_param_enable_parachute, &parachute_enabled);
@@ -900,6 +932,7 @@ int commander_thread_main(int argc, char *argv[])
/* disarm if safety is now on and still armed */
if (status.hil_state == HIL_STATE_OFF && safety.safety_switch_available && !safety.safety_off && armed.armed) {
arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR);
if (TRANSITION_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed)) {
mavlink_log_info(mavlink_fd, "[cmd] DISARMED by safety switch");
}
@@ -925,9 +958,11 @@ int commander_thread_main(int argc, char *argv[])
/* update condition_global_position_valid */
/* hysteresis for EPH/EPV */
bool eph_epv_good;
if (status.condition_global_position_valid) {
if (global_position.eph > eph_epv_threshold * 2.0f || global_position.epv > eph_epv_threshold * 2.0f) {
eph_epv_good = false;
} else {
eph_epv_good = true;
}
@@ -935,17 +970,19 @@ int commander_thread_main(int argc, char *argv[])
} else {
if (global_position.eph < eph_epv_threshold && global_position.epv < eph_epv_threshold) {
eph_epv_good = true;
} else {
eph_epv_good = false;
}
}
check_valid(global_position.timestamp, POSITION_TIMEOUT, eph_epv_good, &(status.condition_global_position_valid), &status_changed);
/* check if GPS fix is ok */
/* update home position */
if (!status.condition_home_position_valid && status.condition_global_position_valid && !armed.armed &&
(global_position.eph < eph_epv_threshold) && (global_position.epv < eph_epv_threshold)) {
(global_position.eph < eph_epv_threshold) && (global_position.epv < eph_epv_threshold)) {
home.lat = global_position.lat;
home.lon = global_position.lon;
@@ -972,7 +1009,26 @@ int commander_thread_main(int argc, char *argv[])
}
/* update condition_local_position_valid and condition_local_altitude_valid */
check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.xy_valid && eph_epv_good, &(status.condition_local_position_valid), &status_changed);
/* hysteresis for EPH */
bool local_eph_good;
if (status.condition_global_position_valid) {
if (local_position.eph > eph_epv_threshold * 2.0f) {
local_eph_good = false;
} else {
local_eph_good = true;
}
} else {
if (local_position.eph < eph_epv_threshold) {
local_eph_good = true;
} else {
local_eph_good = false;
}
}
check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.xy_valid && local_eph_good, &(status.condition_local_position_valid), &status_changed);
check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.z_valid, &(status.condition_local_altitude_valid), &status_changed);
if (status.condition_local_altitude_valid) {
@@ -1050,8 +1106,9 @@ int commander_thread_main(int argc, char *argv[])
/* compute system load */
uint64_t interval_runtime = system_load.tasks[0].total_runtime - last_idle_time;
if (last_idle_time > 0)
status.load = 1.0f - ((float)interval_runtime / 1e6f); //system load is time spent in non-idle
if (last_idle_time > 0) {
status.load = 1.0f - ((float)interval_runtime / 1e6f); //system load is time spent in non-idle
}
last_idle_time = system_load.tasks[0].total_runtime;
@@ -1127,22 +1184,22 @@ int commander_thread_main(int argc, char *argv[])
status.rc_signal_lost = false;
transition_result_t res; // store all transitions results here
transition_result_t arming_res; // store all transitions results here
/* arm/disarm by RC */
res = TRANSITION_NOT_CHANGED;
arming_res = TRANSITION_NOT_CHANGED;
/* check if left stick is in lower left position and we are in MANUAL or AUTO_READY mode or (ASSISTED mode and landed) -> disarm
/* check if left stick is in lower left position and we are in MANUAL or AUTO_READY mode or (ASSIST mode and landed) -> disarm
* do it only for rotary wings */
if (status.is_rotary_wing &&
(status.arming_state == ARMING_STATE_ARMED || status.arming_state == ARMING_STATE_ARMED_ERROR) &&
(status.main_state == MAIN_STATE_MANUAL || status.condition_landed) &&
sp_man.yaw < -STICK_ON_OFF_LIMIT && sp_man.throttle < 0.1f) {
(status.main_state == MAIN_STATE_MANUAL || status.main_state == MAIN_STATE_ACRO || status.condition_landed) &&
sp_man.r < -STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) {
if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) {
/* disarm to STANDBY if ARMED or to STANDBY_ERROR if ARMED_ERROR */
arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR);
res = arming_state_transition(&status, &safety, new_arming_state, &armed);
arming_res = arming_state_transition(&status, &safety, new_arming_state, &armed);
stick_off_counter = 0;
} else {
@@ -1155,16 +1212,16 @@ int commander_thread_main(int argc, char *argv[])
/* check if left stick is in lower right position and we're in MANUAL mode -> arm */
if (status.arming_state == ARMING_STATE_STANDBY &&
sp_man.yaw > STICK_ON_OFF_LIMIT && sp_man.throttle < 0.1f) {
sp_man.r > STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) {
if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) {
if (safety.safety_switch_available && !safety.safety_off && status.hil_state == HIL_STATE_OFF) {
print_reject_arm("NOT ARMING: Press safety switch first.");
print_reject_arm("#audio: NOT ARMING: Press safety switch first.");
} else if (status.main_state != MAIN_STATE_MANUAL) {
print_reject_arm("NOT ARMING: Switch to MANUAL mode first.");
print_reject_arm("#audio: NOT ARMING: Switch to MANUAL mode first.");
} else {
res = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed);
arming_res = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed);
}
stick_on_counter = 0;
@@ -1177,7 +1234,7 @@ int commander_thread_main(int argc, char *argv[])
stick_on_counter = 0;
}
if (res == TRANSITION_CHANGED) {
if (arming_res == TRANSITION_CHANGED) {
if (status.arming_state == ARMING_STATE_ARMED) {
mavlink_log_info(mavlink_fd, "[cmd] ARMED by RC");
@@ -1185,24 +1242,24 @@ int commander_thread_main(int argc, char *argv[])
mavlink_log_info(mavlink_fd, "[cmd] DISARMED by RC");
}
} else if (res == TRANSITION_DENIED) {
} else if (arming_res == TRANSITION_DENIED) {
/* DENIED here indicates bug in the commander */
mavlink_log_critical(mavlink_fd, "ERROR: arming state transition denied");
}
if (status.failsafe_state != FAILSAFE_STATE_NORMAL) {
/* recover from failsafe */
transition_result_t res = failsafe_state_transition(&status, FAILSAFE_STATE_NORMAL);
(void)failsafe_state_transition(&status, FAILSAFE_STATE_NORMAL);
}
/* evaluate the main state machine according to mode switches */
res = set_main_state_rc(&status, &sp_man);
transition_result_t main_res = set_main_state_rc(&status, &sp_man);
/* play tune on mode change only if armed, blink LED always */
if (res == TRANSITION_CHANGED) {
if (main_res == TRANSITION_CHANGED) {
tune_positive(armed.armed);
} else if (res == TRANSITION_DENIED) {
} else if (main_res == TRANSITION_DENIED) {
/* DENIED here indicates bug in the commander */
mavlink_log_critical(mavlink_fd, "ERROR: main state transition denied");
}
@@ -1215,7 +1272,8 @@ int commander_thread_main(int argc, char *argv[])
} else {
/* MISSION switch */
/* LOITER switch */
if (sp_man.loiter_switch == SWITCH_POS_ON) {
/* stick is in LOITER position */
status.set_nav_state = NAVIGATION_STATE_LOITER;
@@ -1225,7 +1283,7 @@ int commander_thread_main(int argc, char *argv[])
status.set_nav_state = NAVIGATION_STATE_MISSION;
} else if ((sp_man.return_switch == SWITCH_POS_OFF || sp_man.return_switch == SWITCH_POS_MIDDLE) &&
pos_sp_triplet.nav_state == NAV_STATE_RTL) {
pos_sp_triplet.nav_state == NAV_STATE_RTL) {
/* RETURN switch is in normal mode, no MISSION switch mapped, interrupt if in RTL state */
status.set_nav_state = NAVIGATION_STATE_MISSION;
}
@@ -1241,27 +1299,20 @@ int commander_thread_main(int argc, char *argv[])
if (armed.armed) {
if (status.main_state == MAIN_STATE_AUTO) {
/* check if AUTO mode still allowed */
transition_result_t res = main_state_transition(&status, MAIN_STATE_AUTO);
transition_result_t auto_res = main_state_transition(&status, MAIN_STATE_AUTO);
if (res == TRANSITION_NOT_CHANGED) {
if (auto_res == TRANSITION_NOT_CHANGED) {
last_auto_state_valid = hrt_absolute_time();
}
/* still invalid state after the timeout interval, execute failsafe */
if ((hrt_elapsed_time(&last_auto_state_valid) > FAILSAFE_DEFAULT_TIMEOUT) && (res == TRANSITION_DENIED)) {
if ((hrt_elapsed_time(&last_auto_state_valid) > FAILSAFE_DEFAULT_TIMEOUT) && (auto_res == TRANSITION_DENIED)) {
/* AUTO mode denied, don't try RTL, switch to failsafe state LAND */
res = failsafe_state_transition(&status, FAILSAFE_STATE_LAND);
auto_res = failsafe_state_transition(&status, FAILSAFE_STATE_LAND);
if (res == TRANSITION_DENIED) {
if (auto_res == TRANSITION_DENIED) {
/* LAND not allowed, set TERMINATION state */
transition_result_t res = failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION);
if (res == TRANSITION_CHANGED) {
mavlink_log_critical(mavlink_fd, "#a FAILSAFE: TERMINATION");
}
} else if (res == TRANSITION_CHANGED) {
mavlink_log_critical(mavlink_fd, "#a FAILSAFE: LANDING");
(void)failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION);
}
} else {
status.set_nav_state = NAVIGATION_STATE_MISSION;
@@ -1269,47 +1320,37 @@ int commander_thread_main(int argc, char *argv[])
} else {
/* failsafe for manual modes */
transition_result_t res = TRANSITION_DENIED;
transition_result_t manual_res = TRANSITION_DENIED;
if (!status.condition_landed) {
/* vehicle is not landed, try to perform RTL */
res = failsafe_state_transition(&status, FAILSAFE_STATE_RTL);
if (res == TRANSITION_CHANGED) {
mavlink_log_critical(mavlink_fd, "#a FAILSAFE: RETURN TO LAND");
}
manual_res = failsafe_state_transition(&status, FAILSAFE_STATE_RTL);
}
if (res == TRANSITION_DENIED) {
if (manual_res == TRANSITION_DENIED) {
/* RTL not allowed (no global position estimate) or not wanted, try LAND */
res = failsafe_state_transition(&status, FAILSAFE_STATE_LAND);
manual_res = failsafe_state_transition(&status, FAILSAFE_STATE_LAND);
if (res == TRANSITION_CHANGED) {
mavlink_log_critical(mavlink_fd, "#a FAILSAFE: LANDING");
}
if (res == TRANSITION_DENIED) {
if (manual_res == TRANSITION_DENIED) {
/* LAND not allowed, set TERMINATION state */
res = failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION);
} else if (res == TRANSITION_CHANGED) {
mavlink_log_critical(mavlink_fd, "#a FAILSAFE: TERMINATION");
(void)failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION);
}
} else {
status.set_nav_state = NAVIGATION_STATE_RTL;
}
}
}
} else {
if (status.failsafe_state != FAILSAFE_STATE_NORMAL) {
/* reset failsafe when disarmed */
transition_result_t res = failsafe_state_transition(&status, FAILSAFE_STATE_NORMAL);
(void)failsafe_state_transition(&status, FAILSAFE_STATE_NORMAL);
}
}
}
// TODO remove this hack
/* flight termination in manual mode if assisted switch is on easy position */
if (!status.is_rotary_wing && parachute_enabled && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.assisted_switch == SWITCH_POS_ON) {
/* flight termination in manual mode if assist switch is on POSCTL position */
if (!status.is_rotary_wing && parachute_enabled && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.posctl_switch == SWITCH_POS_ON) {
if (TRANSITION_CHANGED == failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION)) {
tune_positive(armed.armed);
}
@@ -1323,8 +1364,9 @@ int commander_thread_main(int argc, char *argv[])
orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd);
/* handle it */
if (handle_command(&status, &safety, &cmd, &armed, &home, &global_position, &home_pub))
if (handle_command(&status, &safety, &cmd, &armed, &home, &global_position, &home_pub)) {
status_changed = true;
}
}
/* check which state machines for changes, clear "changed" flag */
@@ -1341,7 +1383,7 @@ int commander_thread_main(int argc, char *argv[])
/* update home position on arming if at least 2s from commander start spent to avoid setting home on in-air restart */
if (armed.armed && !was_armed && hrt_absolute_time() > start_time + 2000000 && status.condition_global_position_valid &&
(global_position.eph < eph_epv_threshold) && (global_position.epv < eph_epv_threshold)) {
(global_position.eph < eph_epv_threshold) && (global_position.epv < eph_epv_threshold)) {
// TODO remove code duplication
home.lat = global_position.lat;
@@ -1353,7 +1395,7 @@ int commander_thread_main(int argc, char *argv[])
home.z = local_position.z;
warnx("home: lat = %.7f, lon = %.7f, alt = %.2f ", home.lat, home.lon, (double)home.alt);
mavlink_log_info(mavlink_fd, "[cmd] home: %.7f, %.7f, %.2f", home.lat, home.lon, (double)home.alt);
mavlink_log_info(mavlink_fd, "#audio: home: %.7f, %.7f, %.2f", home.lat, home.lon, (double)home.alt);
/* announce new home position */
if (home_pub > 0) {
@@ -1367,6 +1409,7 @@ int commander_thread_main(int argc, char *argv[])
status.condition_home_position_valid = true;
}
}
was_armed = armed.armed;
if (main_state_changed) {
@@ -1530,21 +1573,24 @@ control_status_leds(vehicle_status_s *status, const actuator_armed_s *actuator_a
} else if (actuator_armed->ready_to_arm) {
/* ready to arm, blink at 1Hz */
if (leds_counter % 20 == 0)
if (leds_counter % 20 == 0) {
led_toggle(LED_BLUE);
}
} else {
/* not ready to arm, blink at 10Hz */
if (leds_counter % 2 == 0)
if (leds_counter % 2 == 0) {
led_toggle(LED_BLUE);
}
}
#endif
/* give system warnings on error LED, XXX maybe add memory usage warning too */
if (status->load > 0.95f) {
if (leds_counter % 2 == 0)
if (leds_counter % 2 == 0) {
led_toggle(LED_AMBER);
}
} else {
led_off(LED_AMBER);
@@ -1565,30 +1611,35 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin
break;
case SWITCH_POS_OFF: // MANUAL
res = main_state_transition(status, MAIN_STATE_MANUAL);
if (sp_man->acro_switch == SWITCH_POS_ON) {
res = main_state_transition(status, MAIN_STATE_ACRO);
} else {
res = main_state_transition(status, MAIN_STATE_MANUAL);
}
// TRANSITION_DENIED is not possible here
break;
case SWITCH_POS_MIDDLE: // ASSISTED
if (sp_man->assisted_switch == SWITCH_POS_ON) {
res = main_state_transition(status, MAIN_STATE_EASY);
case SWITCH_POS_MIDDLE: // ASSIST
if (sp_man->posctl_switch == SWITCH_POS_ON) {
res = main_state_transition(status, MAIN_STATE_POSCTL);
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}
// else fallback to SEATBELT
print_reject_mode(status, "EASY");
// else fallback to ALTCTL
print_reject_mode(status, "POSCTL");
}
res = main_state_transition(status, MAIN_STATE_SEATBELT);
res = main_state_transition(status, MAIN_STATE_ALTCTL);
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this mode
}
if (sp_man->assisted_switch != SWITCH_POS_ON) {
print_reject_mode(status, "SEATBELT");
if (sp_man->posctl_switch != SWITCH_POS_ON) {
print_reject_mode(status, "ALTCTL");
}
// else fallback to MANUAL
@@ -1603,9 +1654,9 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin
break; // changed successfully or already in this state
}
// else fallback to SEATBELT (EASY likely will not work too)
// else fallback to ALTCTL (POSCTL likely will not work too)
print_reject_mode(status, "AUTO");
res = main_state_transition(status, MAIN_STATE_SEATBELT);
res = main_state_transition(status, MAIN_STATE_ALTCTL);
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
@@ -1651,7 +1702,7 @@ set_control_mode()
control_mode.flag_control_velocity_enabled = false;
break;
case MAIN_STATE_SEATBELT:
case MAIN_STATE_ALTCTL:
control_mode.flag_control_manual_enabled = true;
control_mode.flag_control_auto_enabled = false;
control_mode.flag_control_rates_enabled = true;
@@ -1662,7 +1713,7 @@ set_control_mode()
control_mode.flag_control_velocity_enabled = false;
break;
case MAIN_STATE_EASY:
case MAIN_STATE_POSCTL:
control_mode.flag_control_manual_enabled = true;
control_mode.flag_control_auto_enabled = false;
control_mode.flag_control_rates_enabled = true;
@@ -1675,6 +1726,18 @@ set_control_mode()
case MAIN_STATE_AUTO:
navigator_enabled = true;
break;
case MAIN_STATE_ACRO:
control_mode.flag_control_manual_enabled = true;
control_mode.flag_control_auto_enabled = false;
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = false;
control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = false;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
break;
default:
break;
@@ -1758,7 +1821,7 @@ void answer_command(struct vehicle_command_s &cmd, enum VEHICLE_CMD_RESULT resul
{
switch (result) {
case VEHICLE_CMD_RESULT_ACCEPTED:
tune_positive(true);
tune_positive(true);
break;
case VEHICLE_CMD_RESULT_DENIED:
@@ -1772,7 +1835,8 @@ void answer_command(struct vehicle_command_s &cmd, enum VEHICLE_CMD_RESULT resul
break;
case VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED:
mavlink_log_critical(mavlink_fd, "#audio: command temporarily rejected: %u", cmd.command);
/* this needs additional hints to the user - so let other messages pass and be spoken */
mavlink_log_critical(mavlink_fd, "command temporarily rejected: %u", cmd.command);
tune_negative(true);
break;
@@ -1808,8 +1872,9 @@ void *commander_low_prio_loop(void *arg)
int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 200);
/* timed out - periodic check for thread_should_exit, etc. */
if (pret == 0)
if (pret == 0) {
continue;
}
/* this is undesirable but not much we can do - might want to flag unhappy status */
if (pret < 0) {
@@ -1824,8 +1889,9 @@ void *commander_low_prio_loop(void *arg)
if (cmd.command == VEHICLE_CMD_DO_SET_MODE ||
cmd.command == VEHICLE_CMD_COMPONENT_ARM_DISARM ||
cmd.command == VEHICLE_CMD_NAV_TAKEOFF ||
cmd.command == VEHICLE_CMD_DO_SET_SERVO)
cmd.command == VEHICLE_CMD_DO_SET_SERVO) {
continue;
}
/* only handle low-priority commands here */
switch (cmd.command) {
@@ -1903,6 +1969,7 @@ void *commander_low_prio_loop(void *arg)
/* airspeed calibration */
answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
calib_ret = do_airspeed_calibration(mavlink_fd);
} else if ((int)(cmd.param4) == 0) {
/* RC calibration ended - have we been in one worth confirming? */
if (status.rc_input_blocked) {
@@ -1917,10 +1984,12 @@ void *commander_low_prio_loop(void *arg)
}
if (calib_ret == OK)
if (calib_ret == OK) {
tune_positive(true);
else
} else {
tune_negative(true);
}
arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed);
@@ -1940,11 +2009,13 @@ void *commander_low_prio_loop(void *arg)
mavlink_log_critical(mavlink_fd, "#audio: parameters load ERROR");
/* convenience as many parts of NuttX use negative errno */
if (ret < 0)
if (ret < 0) {
ret = -ret;
}
if (ret < 1000)
if (ret < 1000) {
mavlink_log_critical(mavlink_fd, "#audio: %s", strerror(ret));
}
answer_command(cmd, VEHICLE_CMD_RESULT_FAILED);
}
@@ -1960,11 +2031,13 @@ void *commander_low_prio_loop(void *arg)
mavlink_log_critical(mavlink_fd, "#audio: parameters save error");
/* convenience as many parts of NuttX use negative errno */
if (ret < 0)
if (ret < 0) {
ret = -ret;
}
if (ret < 1000)
if (ret < 1000) {
mavlink_log_critical(mavlink_fd, "#audio: %s", strerror(ret));
}
answer_command(cmd, VEHICLE_CMD_RESULT_FAILED);
}
@@ -1974,8 +2047,8 @@ void *commander_low_prio_loop(void *arg)
}
case VEHICLE_CMD_START_RX_PAIR:
/* handled in the IO driver */
break;
/* handled in the IO driver */
break;
default:
/* don't answer on unsupported commands, it will be done in main loop */
src/modules/commander/commander_helper.cpp
+17 -5
View File
@@ -113,17 +113,22 @@ void buzzer_deinit()
close(buzzer);
}
void set_tune(int tune) {
void set_tune(int tune)
{
unsigned int new_tune_duration = tune_durations[tune];
/* don't interrupt currently playing non-repeating tune by repeating */
if (tune_end == 0 || new_tune_duration != 0 || hrt_absolute_time() > tune_end) {
/* allow interrupting current non-repeating tune by the same tune */
if (tune != tune_current || new_tune_duration != 0) {
ioctl(buzzer, TONE_SET_ALARM, tune);
}
tune_current = tune;
if (new_tune_duration != 0) {
tune_end = hrt_absolute_time() + new_tune_duration;
} else {
tune_end = 0;
}
@@ -138,6 +143,7 @@ void tune_positive(bool use_buzzer)
blink_msg_end = hrt_absolute_time() + BLINK_MSG_TIME;
rgbled_set_color(RGBLED_COLOR_GREEN);
rgbled_set_mode(RGBLED_MODE_BLINK_FAST);
if (use_buzzer) {
set_tune(TONE_NOTIFY_POSITIVE_TUNE);
}
@@ -151,6 +157,7 @@ void tune_neutral(bool use_buzzer)
blink_msg_end = hrt_absolute_time() + BLINK_MSG_TIME;
rgbled_set_color(RGBLED_COLOR_WHITE);
rgbled_set_mode(RGBLED_MODE_BLINK_FAST);
if (use_buzzer) {
set_tune(TONE_NOTIFY_NEUTRAL_TUNE);
}
@@ -164,6 +171,7 @@ void tune_negative(bool use_buzzer)
blink_msg_end = hrt_absolute_time() + BLINK_MSG_TIME;
rgbled_set_color(RGBLED_COLOR_RED);
rgbled_set_mode(RGBLED_MODE_BLINK_FAST);
if (use_buzzer) {
set_tune(TONE_NOTIFY_NEGATIVE_TUNE);
}
@@ -198,7 +206,7 @@ int led_init()
return ERROR;
}
/* the blue LED is only available on FMUv1 but not FMUv2 */
/* the blue LED is only available on FMUv1 & AeroCore but not FMUv2 */
(void)ioctl(leds, LED_ON, LED_BLUE);
/* we consider the amber led mandatory */
@@ -244,22 +252,25 @@ int led_off(int led)
void rgbled_set_color(rgbled_color_t color)
{
if (rgbleds != -1)
if (rgbleds != -1) {
ioctl(rgbleds, RGBLED_SET_COLOR, (unsigned long)color);
}
}
void rgbled_set_mode(rgbled_mode_t mode)
{
if (rgbleds != -1)
if (rgbleds != -1) {
ioctl(rgbleds, RGBLED_SET_MODE, (unsigned long)mode);
}
}
void rgbled_set_pattern(rgbled_pattern_t *pattern)
{
if (rgbleds != -1)
if (rgbleds != -1) {
ioctl(rgbleds, RGBLED_SET_PATTERN, (unsigned long)pattern);
}
}
float battery_remaining_estimate_voltage(float voltage, float discharged)
@@ -299,6 +310,7 @@ float battery_remaining_estimate_voltage(float voltage, float discharged)
if (bat_capacity > 0.0f) {
/* if battery capacity is known, use discharged current for estimate, but don't show more than voltage estimate */
ret = fminf(remaining_voltage, 1.0f - discharged / bat_capacity);
} else {
/* else use voltage */
ret = remaining_voltage;
src/modules/commander/commander_tests/state_machine_helper_test.cpp
+12 -12
View File
@@ -317,34 +317,34 @@ bool StateMachineHelperTest::mainStateTransitionTest(void)
TRANSITION_CHANGED == main_state_transition(&current_state, new_main_state));
ut_assert("new state: manual", MAIN_STATE_MANUAL == current_state.main_state);
// MANUAL to SEATBELT.
// MANUAL to ALTCTRL.
current_state.main_state = MAIN_STATE_MANUAL;
current_state.condition_local_altitude_valid = true;
new_main_state = MAIN_STATE_SEATBELT;
ut_assert("tranisition: manual to seatbelt",
new_main_state = MAIN_STATE_ALTCTL;
ut_assert("tranisition: manual to altctrl",
TRANSITION_CHANGED == main_state_transition(&current_state, new_main_state));
ut_assert("new state: seatbelt", MAIN_STATE_SEATBELT == current_state.main_state);
ut_assert("new state: altctrl", MAIN_STATE_ALTCTL == current_state.main_state);
// MANUAL to SEATBELT, invalid local altitude.
// MANUAL to ALTCTRL, invalid local altitude.
current_state.main_state = MAIN_STATE_MANUAL;
current_state.condition_local_altitude_valid = false;
new_main_state = MAIN_STATE_SEATBELT;
new_main_state = MAIN_STATE_ALTCTL;
ut_assert("no transition: invalid local altitude",
TRANSITION_DENIED == main_state_transition(&current_state, new_main_state));
ut_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);
// MANUAL to EASY.
// MANUAL to POSCTRL.
current_state.main_state = MAIN_STATE_MANUAL;
current_state.condition_local_position_valid = true;
new_main_state = MAIN_STATE_EASY;
ut_assert("transition: manual to easy",
new_main_state = MAIN_STATE_POSCTL;
ut_assert("transition: manual to posctrl",
TRANSITION_CHANGED == main_state_transition(&current_state, new_main_state));
ut_assert("current state: easy", MAIN_STATE_EASY == current_state.main_state);
ut_assert("current state: posctrl", MAIN_STATE_POSCTL == current_state.main_state);
// MANUAL to EASY, invalid local position.
// MANUAL to POSCTRL, invalid local position.
current_state.main_state = MAIN_STATE_MANUAL;
current_state.condition_local_position_valid = false;
new_main_state = MAIN_STATE_EASY;
new_main_state = MAIN_STATE_POSCTL;
ut_assert("no transition: invalid position",
TRANSITION_DENIED == main_state_transition(&current_state, new_main_state));
ut_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);
src/modules/commander/gyro_calibration.cpp
+10 -8
View File
@@ -110,8 +110,9 @@ int do_gyro_calibration(int mavlink_fd)
gyro_scale.z_offset += gyro_report.z;
calibration_counter++;
if (calibration_counter % (calibration_count / 20) == 0)
if (calibration_counter % (calibration_count / 20) == 0) {
mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, (calibration_counter * 100) / calibration_count);
}
} else {
poll_errcount++;
@@ -163,8 +164,9 @@ int do_gyro_calibration(int mavlink_fd)
/* apply new offsets */
fd = open(GYRO_DEVICE_PATH, 0);
if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gyro_scale))
if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gyro_scale)) {
warn("WARNING: failed to apply new offsets for gyro");
}
close(fd);
@@ -178,9 +180,9 @@ int do_gyro_calibration(int mavlink_fd)
float mag_last = -atan2f(raw.magnetometer_ga[1], raw.magnetometer_ga[0]);
if (mag_last > M_PI_F) mag_last -= 2 * M_PI_F;
if (mag_last > M_PI_F) { mag_last -= 2 * M_PI_F; }
if (mag_last < -M_PI_F) mag_last += 2 * M_PI_F;
if (mag_last < -M_PI_F) { mag_last += 2 * M_PI_F; }
uint64_t last_time = hrt_absolute_time();
@@ -220,15 +222,15 @@ int do_gyro_calibration(int mavlink_fd)
//float mag = -atan2f(magNav(1),magNav(0));
float mag = -atan2f(raw.magnetometer_ga[1], raw.magnetometer_ga[0]);
if (mag > M_PI_F) mag -= 2 * M_PI_F;
if (mag > M_PI_F) { mag -= 2 * M_PI_F; }
if (mag < -M_PI_F) mag += 2 * M_PI_F;
if (mag < -M_PI_F) { mag += 2 * M_PI_F; }
float diff = mag - mag_last;
if (diff > M_PI_F) diff -= 2 * M_PI_F;
if (diff > M_PI_F) { diff -= 2 * M_PI_F; }
if (diff < -M_PI_F) diff += 2 * M_PI_F;
if (diff < -M_PI_F) { diff += 2 * M_PI_F; }
baseline_integral += diff;
mag_last = mag;
src/modules/commander/mag_calibration.cpp
+36 -11
View File
@@ -72,7 +72,7 @@ int do_mag_calibration(int mavlink_fd)
uint64_t calibration_interval = 45 * 1000 * 1000;
/* maximum 500 values */
const unsigned int calibration_maxcount = 500;
const unsigned int calibration_maxcount = 240;
unsigned int calibration_counter;
struct mag_scale mscale_null = {
@@ -121,9 +121,24 @@ int do_mag_calibration(int mavlink_fd)
if (x == NULL || y == NULL || z == NULL) {
mavlink_log_critical(mavlink_fd, "ERROR: out of memory");
/* clean up */
if (x != NULL) {
free(x);
}
if (y != NULL) {
free(y);
}
if (z != NULL) {
free(z);
}
res = ERROR;
return res;
}
} else {
/* exit */
return ERROR;
@@ -163,8 +178,9 @@ int do_mag_calibration(int mavlink_fd)
calibration_counter++;
if (calibration_counter % (calibration_maxcount / 20) == 0)
if (calibration_counter % (calibration_maxcount / 20) == 0) {
mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 20 + (calibration_counter * 50) / calibration_maxcount);
}
} else {
poll_errcount++;
@@ -198,14 +214,17 @@ int do_mag_calibration(int mavlink_fd)
}
}
if (x != NULL)
if (x != NULL) {
free(x);
}
if (y != NULL)
if (y != NULL) {
free(y);
}
if (z != NULL)
if (z != NULL) {
free(z);
}
if (res == OK) {
/* apply calibration and set parameters */
@@ -234,23 +253,29 @@ int do_mag_calibration(int mavlink_fd)
if (res == OK) {
/* set parameters */
if (param_set(param_find("SENS_MAG_XOFF"), &(mscale.x_offset)))
if (param_set(param_find("SENS_MAG_XOFF"), &(mscale.x_offset))) {
res = ERROR;
}
if (param_set(param_find("SENS_MAG_YOFF"), &(mscale.y_offset)))
if (param_set(param_find("SENS_MAG_YOFF"), &(mscale.y_offset))) {
res = ERROR;
}
if (param_set(param_find("SENS_MAG_ZOFF"), &(mscale.z_offset)))
if (param_set(param_find("SENS_MAG_ZOFF"), &(mscale.z_offset))) {
res = ERROR;
}
if (param_set(param_find("SENS_MAG_XSCALE"), &(mscale.x_scale)))
if (param_set(param_find("SENS_MAG_XSCALE"), &(mscale.x_scale))) {
res = ERROR;
}
if (param_set(param_find("SENS_MAG_YSCALE"), &(mscale.y_scale)))
if (param_set(param_find("SENS_MAG_YSCALE"), &(mscale.y_scale))) {
res = ERROR;
}
if (param_set(param_find("SENS_MAG_ZSCALE"), &(mscale.z_scale)))
if (param_set(param_find("SENS_MAG_ZSCALE"), &(mscale.z_scale))) {
res = ERROR;
}
if (res != OK) {
mavlink_log_critical(mavlink_fd, CAL_FAILED_SET_PARAMS_MSG);
src/modules/commander/module.mk
+4
View File
@@ -47,3 +47,7 @@ SRCS = commander.cpp \
baro_calibration.cpp \
rc_calibration.cpp \
airspeed_calibration.cpp
MODULE_STACKSIZE = 1200
MAXOPTIMIZATION = -Os
src/modules/commander/px4_custom_mode.h
+3 -2
View File
@@ -12,9 +12,10 @@
enum PX4_CUSTOM_MAIN_MODE {
PX4_CUSTOM_MAIN_MODE_MANUAL = 1,
PX4_CUSTOM_MAIN_MODE_SEATBELT,
PX4_CUSTOM_MAIN_MODE_EASY,
PX4_CUSTOM_MAIN_MODE_ALTCTL,
PX4_CUSTOM_MAIN_MODE_POSCTL,
PX4_CUSTOM_MAIN_MODE_AUTO,
PX4_CUSTOM_MAIN_MODE_ACRO,
};
enum PX4_CUSTOM_SUB_MODE_AUTO {
src/modules/commander/rc_calibration.cpp
+3 -3
View File
@@ -69,11 +69,11 @@ int do_trim_calibration(int mavlink_fd)
orb_copy(ORB_ID(manual_control_setpoint), sub_man, &sp);
/* set parameters */
float p = sp.roll;
float p = sp.y;
param_set(param_find("TRIM_ROLL"), &p);
p = sp.pitch;
p = sp.x;
param_set(param_find("TRIM_PITCH"), &p);
p = sp.yaw;
p = sp.r;
param_set(param_find("TRIM_YAW"), &p);
/* store to permanent storage */
src/modules/commander/state_machine_helper.cpp
+91 -73
View File
@@ -75,38 +75,38 @@ static bool failsafe_state_changed = true;
// though the transition is marked as true additional checks must be made. See arming_state_transition
// code for those checks.
static const bool arming_transitions[ARMING_STATE_MAX][ARMING_STATE_MAX] = {
// INIT, STANDBY, ARMED, ARMED_ERROR, STANDBY_ERROR, REBOOT, IN_AIR_RESTORE
{ /* ARMING_STATE_INIT */ true, true, false, false, false, false, false },
{ /* ARMING_STATE_STANDBY */ true, true, true, true, false, false, false },
{ /* ARMING_STATE_ARMED */ false, true, true, false, false, false, true },
{ /* ARMING_STATE_ARMED_ERROR */ false, false, true, true, false, false, false },
{ /* ARMING_STATE_STANDBY_ERROR */ true, true, false, true, true, false, false },
{ /* ARMING_STATE_REBOOT */ true, true, false, false, true, true, true },
{ /* ARMING_STATE_IN_AIR_RESTORE */ false, false, false, false, false, false, false }, // NYI
// INIT, STANDBY, ARMED, ARMED_ERROR, STANDBY_ERROR, REBOOT, IN_AIR_RESTORE
{ /* ARMING_STATE_INIT */ true, true, false, false, false, false, false },
{ /* ARMING_STATE_STANDBY */ true, true, true, true, false, false, false },
{ /* ARMING_STATE_ARMED */ false, true, true, false, false, false, true },
{ /* ARMING_STATE_ARMED_ERROR */ false, false, true, true, false, false, false },
{ /* ARMING_STATE_STANDBY_ERROR */ true, true, false, true, true, false, false },
{ /* ARMING_STATE_REBOOT */ true, true, false, false, true, true, true },
{ /* ARMING_STATE_IN_AIR_RESTORE */ false, false, false, false, false, false, false }, // NYI
};
// You can index into the array with an arming_state_t in order to get it's textual representation
static const char* state_names[ARMING_STATE_MAX] = {
"ARMING_STATE_INIT",
"ARMING_STATE_STANDBY",
"ARMING_STATE_ARMED",
"ARMING_STATE_ARMED_ERROR",
"ARMING_STATE_STANDBY_ERROR",
"ARMING_STATE_REBOOT",
"ARMING_STATE_IN_AIR_RESTORE",
static const char *state_names[ARMING_STATE_MAX] = {
"ARMING_STATE_INIT",
"ARMING_STATE_STANDBY",
"ARMING_STATE_ARMED",
"ARMING_STATE_ARMED_ERROR",
"ARMING_STATE_STANDBY_ERROR",
"ARMING_STATE_REBOOT",
"ARMING_STATE_IN_AIR_RESTORE",
};
transition_result_t
arming_state_transition(struct vehicle_status_s *status, /// current vehicle status
const struct safety_s *safety, /// current safety settings
arming_state_t new_arming_state, /// arming state requested
struct actuator_armed_s *armed, /// current armed status
const int mavlink_fd) /// mavlink fd for error reporting, 0 for none
const struct safety_s *safety, /// current safety settings
arming_state_t new_arming_state, /// arming state requested
struct actuator_armed_s *armed, /// current armed status
const int mavlink_fd) /// mavlink fd for error reporting, 0 for none
{
// Double check that our static arrays are still valid
ASSERT(ARMING_STATE_INIT == 0);
ASSERT(ARMING_STATE_IN_AIR_RESTORE == ARMING_STATE_MAX - 1);
// Double check that our static arrays are still valid
ASSERT(ARMING_STATE_INIT == 0);
ASSERT(ARMING_STATE_IN_AIR_RESTORE == ARMING_STATE_MAX - 1);
/*
* Perform an atomic state update
*/
@@ -117,63 +117,70 @@ arming_state_transition(struct vehicle_status_s *status, /// current
/* only check transition if the new state is actually different from the current one */
if (new_arming_state == status->arming_state) {
ret = TRANSITION_NOT_CHANGED;
} else {
/* enforce lockdown in HIL */
if (status->hil_state == HIL_STATE_ON) {
armed->lockdown = true;
} else {
armed->lockdown = false;
}
// Check that we have a valid state transition
bool valid_transition = arming_transitions[new_arming_state][status->arming_state];
if (valid_transition) {
// We have a good transition. Now perform any secondary validation.
if (new_arming_state == ARMING_STATE_ARMED) {
// Fail transition if we need safety switch press
// Allow if coming from in air restore
// Allow if HIL_STATE_ON
if (status->arming_state != ARMING_STATE_IN_AIR_RESTORE && status->hil_state == HIL_STATE_OFF && safety->safety_switch_available && !safety->safety_off) {
if (mavlink_fd) {
mavlink_log_critical(mavlink_fd, "NOT ARMING: Press safety switch first.");
}
valid_transition = false;
}
} else if (new_arming_state == ARMING_STATE_STANDBY && status->arming_state == ARMING_STATE_ARMED_ERROR) {
new_arming_state = ARMING_STATE_STANDBY_ERROR;
}
}
// HIL can always go to standby
if (status->hil_state == HIL_STATE_ON && new_arming_state == ARMING_STATE_STANDBY) {
valid_transition = true;
}
/* Sensors need to be initialized for STANDBY state */
if (new_arming_state == ARMING_STATE_STANDBY && !status->condition_system_sensors_initialized) {
valid_transition = false;
}
// Finish up the state transition
if (valid_transition) {
armed->armed = new_arming_state == ARMING_STATE_ARMED || new_arming_state == ARMING_STATE_ARMED_ERROR;
armed->ready_to_arm = new_arming_state == ARMING_STATE_ARMED || new_arming_state == ARMING_STATE_STANDBY;
ret = TRANSITION_CHANGED;
status->arming_state = new_arming_state;
arming_state_changed = true;
}
}
// Check that we have a valid state transition
bool valid_transition = arming_transitions[new_arming_state][status->arming_state];
if (valid_transition) {
// We have a good transition. Now perform any secondary validation.
if (new_arming_state == ARMING_STATE_ARMED) {
// Fail transition if we need safety switch press
// Allow if coming from in air restore
// Allow if HIL_STATE_ON
if (status->arming_state != ARMING_STATE_IN_AIR_RESTORE && status->hil_state == HIL_STATE_OFF && safety->safety_switch_available && !safety->safety_off) {
if (mavlink_fd) {
mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Press safety switch first.");
}
valid_transition = false;
}
} else if (new_arming_state == ARMING_STATE_STANDBY && status->arming_state == ARMING_STATE_ARMED_ERROR) {
new_arming_state = ARMING_STATE_STANDBY_ERROR;
}
}
// HIL can always go to standby
if (status->hil_state == HIL_STATE_ON && new_arming_state == ARMING_STATE_STANDBY) {
valid_transition = true;
}
/* Sensors need to be initialized for STANDBY state */
if (new_arming_state == ARMING_STATE_STANDBY && !status->condition_system_sensors_initialized) {
valid_transition = false;
}
// Finish up the state transition
if (valid_transition) {
armed->armed = new_arming_state == ARMING_STATE_ARMED || new_arming_state == ARMING_STATE_ARMED_ERROR;
armed->ready_to_arm = new_arming_state == ARMING_STATE_ARMED || new_arming_state == ARMING_STATE_STANDBY;
ret = TRANSITION_CHANGED;
status->arming_state = new_arming_state;
arming_state_changed = true;
}
}
/* end of atomic state update */
irqrestore(flags);
if (ret == TRANSITION_DENIED) {
static const char* errMsg = "Invalid arming transition from %s to %s";
if (mavlink_fd) {
mavlink_log_critical(mavlink_fd, errMsg, state_names[status->arming_state], state_names[new_arming_state]);
}
warnx(errMsg, state_names[status->arming_state], state_names[new_arming_state]);
}
if (ret == TRANSITION_DENIED) {
static const char *errMsg = "Invalid arming transition from %s to %s";
if (mavlink_fd) {
mavlink_log_critical(mavlink_fd, errMsg, state_names[status->arming_state], state_names[new_arming_state]);
}
warnx(errMsg, state_names[status->arming_state], state_names[new_arming_state]);
}
return ret;
}
@@ -215,7 +222,11 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
ret = TRANSITION_CHANGED;
break;
case MAIN_STATE_SEATBELT:
case MAIN_STATE_ACRO:
ret = TRANSITION_CHANGED;
break;
case MAIN_STATE_ALTCTL:
/* need at minimum altitude estimate */
if (!status->is_rotary_wing ||
@@ -226,7 +237,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
break;
case MAIN_STATE_EASY:
case MAIN_STATE_POSCTL:
/* need at minimum local position estimate */
if (status->condition_local_position_valid ||
@@ -301,7 +312,7 @@ int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_s
case HIL_STATE_OFF:
/* we're in HIL and unexpected things can happen if we disable HIL now */
mavlink_log_critical(mavlink_fd, "Not switching off HIL (safety)");
mavlink_log_critical(mavlink_fd, "#audio: Not switching off HIL (safety)");
valid_transition = false;
break;
@@ -320,6 +331,7 @@ int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_s
/* list directory */
DIR *d;
d = opendir("/dev");
if (d) {
struct dirent *direntry;
@@ -331,26 +343,32 @@ int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_s
if (!strncmp("tty", direntry->d_name, 3)) {
continue;
}
/* skip mtd devices */
if (!strncmp("mtd", direntry->d_name, 3)) {
continue;
}
/* skip ram devices */
if (!strncmp("ram", direntry->d_name, 3)) {
continue;
}
/* skip MMC devices */
if (!strncmp("mmc", direntry->d_name, 3)) {
continue;
}
/* skip mavlink */
if (!strcmp("mavlink", direntry->d_name)) {
continue;
}
/* skip console */
if (!strcmp("console", direntry->d_name)) {
continue;
}
/* skip null */
if (!strcmp("null", direntry->d_name)) {
continue;
src/modules/dataman/dataman.c
+35 -17
View File
@@ -1,10 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: Jean Cyr
* Lorenz Meier
* Julian Oes
* Thomas Gubler
* 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
@@ -37,6 +33,11 @@
/**
* @file dataman.c
* DATAMANAGER driver.
*
* @author Jean Cyr
* @author Lorenz Meier
* @author Julian Oes
* @author Thomas Gubler
*/
#include <nuttx/config.h>
@@ -62,7 +63,7 @@ __EXPORT ssize_t dm_write(dm_item_t item, unsigned char index, dm_persitence_t
__EXPORT int dm_clear(dm_item_t item);
__EXPORT int dm_restart(dm_reset_reason restart_type);
/* Types of function calls supported by the worker task */
/** Types of function calls supported by the worker task */
typedef enum {
dm_write_func = 0,
dm_read_func,
@@ -71,11 +72,12 @@ typedef enum {
dm_number_of_funcs
} dm_function_t;
/* Work task work item */
/** Work task work item */
typedef struct {
sq_entry_t link; /**< list linkage */
sem_t wait_sem;
dm_function_t func;
unsigned char first;
unsigned char func;
ssize_t result;
union {
struct {
@@ -100,6 +102,8 @@ typedef struct {
};
} work_q_item_t;
const size_t k_work_item_allocation_chunk_size = 8;
/* Usage statistics */
static unsigned g_func_counts[dm_number_of_funcs];
@@ -177,9 +181,23 @@ create_work_item(void)
unlock_queue(&g_free_q);
/* If we there weren't any free items then obtain memory for a new one */
if (item == NULL)
item = (work_q_item_t *)malloc(sizeof(work_q_item_t));
/* If we there weren't any free items then obtain memory for a new ones */
if (item == NULL) {
item = (work_q_item_t *)malloc(k_work_item_allocation_chunk_size * sizeof(work_q_item_t));
if (item) {
item->first = 1;
lock_queue(&g_free_q);
for (int i = 1; i < k_work_item_allocation_chunk_size; i++) {
(item + i)->first = 0;
sq_addfirst(&(item + i)->link, &(g_free_q.q));
}
/* Update the queue size and potentially the maximum queue size */
g_free_q.size += k_work_item_allocation_chunk_size - 1;
if (g_free_q.size > g_free_q.max_size)
g_free_q.max_size = g_free_q.size;
unlock_queue(&g_free_q);
}
}
/* If we got one then lock the item*/
if (item)
@@ -411,7 +429,7 @@ _clear(dm_item_t item)
return result;
}
/* Tell the data manager about the type of the last reset */
/** Tell the data manager about the type of the last reset */
static int
_restart(dm_reset_reason reason)
{
@@ -480,7 +498,7 @@ _restart(dm_reset_reason reason)
return result;
}
/* write to the data manager file */
/** Write to the data manager file */
__EXPORT ssize_t
dm_write(dm_item_t item, unsigned char index, dm_persitence_t persistence, const void *buf, size_t count)
{
@@ -505,7 +523,7 @@ dm_write(dm_item_t item, unsigned char index, dm_persitence_t persistence, const
return (ssize_t)enqueue_work_item_and_wait_for_result(work);
}
/* Retrieve from the data manager file */
/** Retrieve from the data manager file */
__EXPORT ssize_t
dm_read(dm_item_t item, unsigned char index, void *buf, size_t count)
{
@@ -717,8 +735,8 @@ task_main(int argc, char *argv[])
for (;;) {
if ((work = (work_q_item_t *)sq_remfirst(&(g_free_q.q))) == NULL)
break;
free(work);
if (work->first)
free(work);
}
destroy_q(&g_work_q);
@@ -736,7 +754,7 @@ start(void)
sem_init(&g_init_sema, 1, 0);
/* start the worker thread */
if ((task = task_spawn_cmd("dataman", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 2048, task_main, NULL)) <= 0) {
if ((task = task_spawn_cmd("dataman", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 2000, task_main, NULL)) <= 0) {
warn("task start failed");
return -1;
}
src/modules/dataman/dataman.h
+10 -10
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* 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
@@ -46,7 +46,7 @@
extern "C" {
#endif
/* Types of items that the data manager can store */
/** Types of items that the data manager can store */
typedef enum {
DM_KEY_SAFE_POINTS = 0, /* Safe points coordinates, safe point 0 is home point */
DM_KEY_FENCE_POINTS, /* Fence vertex coordinates */
@@ -56,7 +56,7 @@ extern "C" {
DM_KEY_NUM_KEYS /* Total number of item types defined */
} dm_item_t;
/* The maximum number of instances for each item type */
/** The maximum number of instances for each item type */
enum {
DM_KEY_SAFE_POINTS_MAX = 8,
DM_KEY_FENCE_POINTS_MAX = GEOFENCE_MAX_VERTICES,
@@ -65,24 +65,24 @@ extern "C" {
DM_KEY_WAYPOINTS_ONBOARD_MAX = NUM_MISSIONS_SUPPORTED
};
/* Data persistence levels */
/** Data persistence levels */
typedef enum {
DM_PERSIST_POWER_ON_RESET = 0, /* Data survives all resets */
DM_PERSIST_IN_FLIGHT_RESET, /* Data survives in-flight resets only */
DM_PERSIST_VOLATILE /* Data does not survive resets */
} dm_persitence_t;
/* The reason for the last reset */
/** The reason for the last reset */
typedef enum {
DM_INIT_REASON_POWER_ON = 0, /* Data survives resets */
DM_INIT_REASON_IN_FLIGHT, /* Data survives in-flight resets only */
DM_INIT_REASON_VOLATILE /* Data does not survive reset */
} dm_reset_reason;
/* Maximum size in bytes of a single item instance */
/** Maximum size in bytes of a single item instance */
#define DM_MAX_DATA_SIZE 124
/* Retrieve from the data manager store */
/** Retrieve from the data manager store */
__EXPORT ssize_t
dm_read(
dm_item_t item, /* The item type to retrieve */
@@ -91,7 +91,7 @@ extern "C" {
size_t buflen /* Length in bytes of data to retrieve */
);
/* write to the data manager store */
/** write to the data manager store */
__EXPORT ssize_t
dm_write(
dm_item_t item, /* The item type to store */
@@ -101,13 +101,13 @@ extern "C" {
size_t buflen /* Length in bytes of data to retrieve */
);
/* Erase all items of this type */
/** Erase all items of this type */
__EXPORT int
dm_clear(
dm_item_t item /* The item type to clear */
);
/* Tell the data manager about the type of the last reset */
/** Tell the data manager about the type of the last reset */
__EXPORT int
dm_restart(
dm_reset_reason restart_type /* The last reset type */
src/modules/dataman/module.mk
+2
View File
@@ -38,3 +38,5 @@
MODULE_COMMAND = dataman
SRCS = dataman.c
MODULE_STACKSIZE = 1200
src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp → src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+34 -22
View File
@@ -32,7 +32,7 @@
****************************************************************************/
/**
* @file fw_att_pos_estimator_main.cpp
* @file ekf_att_pos_estimator_main.cpp
* Implementation of the attitude and position estimator.
*
* @author Paul Riseborough <p_riseborough@live.com.au>
@@ -97,6 +97,7 @@ __EXPORT uint32_t millis();
static uint64_t last_run = 0;
static uint64_t IMUmsec = 0;
static const uint64_t FILTER_INIT_DELAY = 1 * 1000 * 1000;
uint32_t millis()
{
@@ -194,6 +195,7 @@ private:
bool _baro_init;
bool _gps_initialized;
uint64_t _gps_start_time;
uint64_t _filter_start_time;
bool _gyro_valid;
bool _accel_valid;
bool _mag_valid;
@@ -246,7 +248,7 @@ private:
float _velocity_xy_filtered;
float _velocity_z_filtered;
float _airspeed_filtered;
float _airspeed_filtered;
/**
* Update our local parameter cache.
@@ -272,7 +274,7 @@ private:
/**
* Main sensor collection task.
*/
void task_main() __attribute__((noreturn));
void task_main();
};
namespace estimator
@@ -306,6 +308,8 @@ FixedwingEstimator::FixedwingEstimator() :
_vstatus_sub(-1),
_params_sub(-1),
_manual_control_sub(-1),
_mission_sub(-1),
_home_sub(-1),
/* publications */
_att_pub(-1),
@@ -336,13 +340,13 @@ FixedwingEstimator::FixedwingEstimator() :
_baro_gps_offset(0.0f),
/* performance counters */
_loop_perf(perf_alloc(PC_COUNT, "fw_att_pos_estimator")),
_perf_gyro(perf_alloc(PC_COUNT, "fw_ekf_gyro_upd")),
_perf_accel(perf_alloc(PC_COUNT, "fw_ekf_accel_upd")),
_perf_mag(perf_alloc(PC_COUNT, "fw_ekf_mag_upd")),
_perf_gps(perf_alloc(PC_COUNT, "fw_ekf_gps_upd")),
_perf_baro(perf_alloc(PC_COUNT, "fw_ekf_baro_upd")),
_perf_airspeed(perf_alloc(PC_COUNT, "fw_ekf_aspd_upd")),
_loop_perf(perf_alloc(PC_COUNT, "ekf_att_pos_estimator")),
_perf_gyro(perf_alloc(PC_COUNT, "ekf_att_pos_gyro_upd")),
_perf_accel(perf_alloc(PC_COUNT, "ekf_att_pos_accel_upd")),
_perf_mag(perf_alloc(PC_COUNT, "ekf_att_pos_mag_upd")),
_perf_gps(perf_alloc(PC_COUNT, "ekf_att_pos_gps_upd")),
_perf_baro(perf_alloc(PC_COUNT, "ekf_att_pos_baro_upd")),
_perf_airspeed(perf_alloc(PC_COUNT, "ekf_att_pos_aspd_upd")),
/* states */
_initialized(false),
@@ -509,14 +513,14 @@ FixedwingEstimator::task_main_trampoline(int argc, char *argv[])
estimator::g_estimator->task_main();
}
float dt = 0.0f; // time lapsed since last covariance prediction
void
FixedwingEstimator::task_main()
{
_mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
_ekf = new AttPosEKF();
float dt = 0.0f; // time lapsed since last covariance prediction
_filter_start_time = hrt_absolute_time();
if (!_ekf) {
errx(1, "failed allocating EKF filter - out of RAM!");
@@ -642,6 +646,7 @@ FixedwingEstimator::task_main()
_ekf->ZeroVariables();
_ekf->dtIMU = 0.01f;
_filter_start_time = last_sensor_timestamp;
/* now skip this loop and get data on the next one, which will also re-init the filter */
continue;
@@ -719,6 +724,8 @@ FixedwingEstimator::task_main()
if (last_accel != _sensor_combined.accelerometer_timestamp) {
accel_updated = true;
} else {
accel_updated = false;
}
last_accel = _sensor_combined.accelerometer_timestamp;
@@ -809,7 +816,6 @@ FixedwingEstimator::task_main()
perf_count(_perf_gps);
if (_gps.fix_type < 3) {
gps_updated = false;
newDataGps = false;
} else {
@@ -1025,7 +1031,7 @@ FixedwingEstimator::task_main()
* PART TWO: EXECUTE THE FILTER
**/
if (_baro_init && _gyro_valid && _accel_valid && _mag_valid) {
if ((hrt_elapsed_time(&_filter_start_time) > FILTER_INIT_DELAY) && _baro_init && _gyro_valid && _accel_valid && _mag_valid) {
float initVelNED[3];
@@ -1042,9 +1048,9 @@ FixedwingEstimator::task_main()
// Set up height correctly
orb_copy(ORB_ID(sensor_baro), _baro_sub, &_baro);
_baro_gps_offset = gps_alt - _baro.altitude;
_baro_gps_offset = _baro_ref - _baro.altitude;
_ekf->baroHgt = _baro.altitude;
_ekf->hgtMea = 1.0f * (_ekf->baroHgt - _baro_ref);
_ekf->hgtMea = 1.0f * (_ekf->baroHgt - (_baro_ref));
// Set up position variables correctly
_ekf->GPSstatus = _gps.fix_type;
@@ -1061,14 +1067,14 @@ FixedwingEstimator::task_main()
// Initialize projection
_local_pos.ref_lat = lat;
_local_pos.ref_lon = lon;
_local_pos.ref_alt = _baro_ref + _baro_gps_offset;
_local_pos.ref_alt = gps_alt;
_local_pos.ref_timestamp = _gps.timestamp_position;
map_projection_init(&_pos_ref, lat, lon);
mavlink_log_info(_mavlink_fd, "[ekf] ref: LA %.4f,LO %.4f,ALT %.2f", lat, lon, (double)gps_alt);
warnx("HOME/REF: LA %8.4f,LO %8.4f,ALT %8.2f V: %8.4f %8.4f %8.4f", lat, lon, (double)gps_alt,
(double)_ekf->velNED[0], (double)_ekf->velNED[1], (double)_ekf->velNED[2]);
warnx("BARO: %8.4f m / ref: %8.4f m", _ekf->baroHgt, _ekf->hgtMea);
warnx("BARO: %8.4f m / ref: %8.4f m / gps offs: %8.4f m", (double)_ekf->baroHgt, (double)_baro_ref, (double)_baro_gps_offset);
warnx("GPS: eph: %8.4f, epv: %8.4f, declination: %8.4f", (double)_gps.eph, (double)_gps.epv, (double)math::degrees(declination));
_gps_initialized = true;
@@ -1084,6 +1090,10 @@ FixedwingEstimator::task_main()
_ekf->posNE[0] = _ekf->posNED[0];
_ekf->posNE[1] = _ekf->posNED[1];
_local_pos.ref_alt = _baro_ref;
_baro_gps_offset = 0.0f;
_ekf->InitialiseFilter(initVelNED, 0.0, 0.0, 0.0f, 0.0f);
}
}
@@ -1263,7 +1273,8 @@ FixedwingEstimator::task_main()
_local_pos.timestamp = last_sensor_timestamp;
_local_pos.x = _ekf->states[7];
_local_pos.y = _ekf->states[8];
_local_pos.z = _ekf->states[9] + _baro_gps_offset;
// XXX need to announce change of Z reference somehow elegantly
_local_pos.z = _ekf->states[9] - _baro_gps_offset;
_local_pos.vx = _ekf->states[4];
_local_pos.vy = _ekf->states[5];
@@ -1324,8 +1335,8 @@ FixedwingEstimator::task_main()
_global_pos.vel_e = 0.0f;
}
/* local pos alt is negative, change sign and add alt offset */
_global_pos.alt = _local_pos.ref_alt + (-_local_pos.z);
/* local pos alt is negative, change sign and add alt offsets */
_global_pos.alt = _local_pos.ref_alt + _baro_gps_offset + (-_local_pos.z);
if (_local_pos.v_z_valid) {
_global_pos.vel_d = _local_pos.vz;
@@ -1400,7 +1411,8 @@ FixedwingEstimator::print_status()
// 15-17: Earth Magnetic Field Vector - gauss (North, East, Down)
// 18-20: Body Magnetic Field Vector - gauss (X,Y,Z)
printf("dtIMU: %8.6f dt: %8.6f IMUmsec: %d\n", (double)_ekf->dtIMU, (double)dt, (int)IMUmsec);
printf("dtIMU: %8.6f IMUmsec: %d\n", (double)_ekf->dtIMU, (int)IMUmsec);
printf("ref alt: %8.6f\n", (double)_local_pos.ref_alt);
printf("dvel: %8.6f %8.6f %8.6f accel: %8.6f %8.6f %8.6f\n", (double)_ekf->dVelIMU.x, (double)_ekf->dVelIMU.y, (double)_ekf->dVelIMU.z, (double)_ekf->accel.x, (double)_ekf->accel.y, (double)_ekf->accel.z);
printf("dang: %8.4f %8.4f %8.4f dang corr: %8.4f %8.4f %8.4f\n" , (double)_ekf->dAngIMU.x, (double)_ekf->dAngIMU.y, (double)_ekf->dAngIMU.z, (double)_ekf->correctedDelAng.x, (double)_ekf->correctedDelAng.y, (double)_ekf->correctedDelAng.z);
printf("states (quat) [1-4]: %8.4f, %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[0], (double)_ekf->states[1], (double)_ekf->states[2], (double)_ekf->states[3]);
src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_params.c → src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c
+3 -3
View File
@@ -32,7 +32,7 @@
****************************************************************************/
/**
* @file fw_att_pos_estimator_params.c
* @file ekf_att_pos_estimator_params.c
*
* Parameters defined by the attitude and position estimator task
*
@@ -226,11 +226,11 @@ PARAM_DEFINE_FLOAT(PE_GBIAS_PNOISE, 1e-07f);
* Generic defaults: 0.0001f, multicopters: 0.0001f, ground vehicles: 0.0001f.
* Increasing this value makes the bias estimation faster and noisier.
*
* @min 0.0001
* @min 0.00001
* @max 0.001
* @group Position Estimator
*/
PARAM_DEFINE_FLOAT(PE_ABIAS_PNOISE, 0.0001f);
PARAM_DEFINE_FLOAT(PE_ABIAS_PNOISE, 0.00005f);
/**
* Magnetometer earth frame offsets process noise
src/modules/ekf_att_pos_estimator/estimator.cpp
+74 -15
View File
@@ -1,5 +1,6 @@
#include "estimator.h"
#include <string.h>
#include <stdarg.h>
// Define EKF_DEBUG here to enable the debug print calls
// if the macro is not set, these will be completely
@@ -1268,7 +1269,7 @@ void AttPosEKF::FuseMagnetometer()
for (uint8_t i = 0; i < n_states; i++) {
H_MAG[i] = 0.0f;
}
uint8_t indexLimit;
unsigned indexLimit;
// Perform sequential fusion of Magnetometer measurements.
// This assumes that the errors in the different components are
@@ -1281,11 +1282,11 @@ void AttPosEKF::FuseMagnetometer()
// Limit range of states modified when on ground
if(!onGround)
{
indexLimit = 22;
indexLimit = n_states;
}
else
{
indexLimit = 13;
indexLimit = 13 + 1;
}
// Sequential fusion of XYZ components to spread processing load across
@@ -1346,7 +1347,16 @@ void AttPosEKF::FuseMagnetometer()
H_MAG[19] = 1.0f;
// Calculate Kalman gain
SK_MX[0] = 1/(P[19][19] + R_MAG + P[1][19]*SH_MAG[0] + P[3][19]*SH_MAG[2] - P[16][19]*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) - (2*magD*q0 - 2*magE*q1 + 2*magN*q2)*(P[19][2] + P[1][2]*SH_MAG[0] + P[3][2]*SH_MAG[2] - P[16][2]*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P[17][2]*(2*q0*q3 + 2*q1*q2) - P[18][2]*(2*q0*q2 - 2*q1*q3) - P[2][2]*(2*magD*q0 - 2*magE*q1 + 2*magN*q2) + P[0][2]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + (SH_MAG[7] + SH_MAG[8] - 2*magD*q2)*(P[19][0] + P[1][0]*SH_MAG[0] + P[3][0]*SH_MAG[2] - P[16][0]*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P[17][0]*(2*q0*q3 + 2*q1*q2) - P[18][0]*(2*q0*q2 - 2*q1*q3) - P[2][0]*(2*magD*q0 - 2*magE*q1 + 2*magN*q2) + P[0][0]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + SH_MAG[0]*(P[19][1] + P[1][1]*SH_MAG[0] + P[3][1]*SH_MAG[2] - P[16][1]*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P[17][1]*(2*q0*q3 + 2*q1*q2) - P[18][1]*(2*q0*q2 - 2*q1*q3) - P[2][1]*(2*magD*q0 - 2*magE*q1 + 2*magN*q2) + P[0][1]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + SH_MAG[2]*(P[19][3] + P[1][3]*SH_MAG[0] + P[3][3]*SH_MAG[2] - P[16][3]*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P[17][3]*(2*q0*q3 + 2*q1*q2) - P[18][3]*(2*q0*q2 - 2*q1*q3) - P[2][3]*(2*magD*q0 - 2*magE*q1 + 2*magN*q2) + P[0][3]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) - (SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6])*(P[19][16] + P[1][16]*SH_MAG[0] + P[3][16]*SH_MAG[2] - P[16][16]*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P[17][16]*(2*q0*q3 + 2*q1*q2) - P[18][16]*(2*q0*q2 - 2*q1*q3) - P[2][16]*(2*magD*q0 - 2*magE*q1 + 2*magN*q2) + P[0][16]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + P[17][19]*(2*q0*q3 + 2*q1*q2) - P[18][19]*(2*q0*q2 - 2*q1*q3) - P[2][19]*(2*magD*q0 - 2*magE*q1 + 2*magN*q2) + (2*q0*q3 + 2*q1*q2)*(P[19][17] + P[1][17]*SH_MAG[0] + P[3][17]*SH_MAG[2] - P[16][17]*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P[17][17]*(2*q0*q3 + 2*q1*q2) - P[18][17]*(2*q0*q2 - 2*q1*q3) - P[2][17]*(2*magD*q0 - 2*magE*q1 + 2*magN*q2) + P[0][17]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) - (2*q0*q2 - 2*q1*q3)*(P[19][18] + P[1][18]*SH_MAG[0] + P[3][18]*SH_MAG[2] - P[16][18]*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P[17][18]*(2*q0*q3 + 2*q1*q2) - P[18][18]*(2*q0*q2 - 2*q1*q3) - P[2][18]*(2*magD*q0 - 2*magE*q1 + 2*magN*q2) + P[0][18]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + P[0][19]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2));
float temp = (P[19][19] + R_MAG + P[1][19]*SH_MAG[0] + P[3][19]*SH_MAG[2] - P[16][19]*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) - (2*magD*q0 - 2*magE*q1 + 2*magN*q2)*(P[19][2] + P[1][2]*SH_MAG[0] + P[3][2]*SH_MAG[2] - P[16][2]*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P[17][2]*(2*q0*q3 + 2*q1*q2) - P[18][2]*(2*q0*q2 - 2*q1*q3) - P[2][2]*(2*magD*q0 - 2*magE*q1 + 2*magN*q2) + P[0][2]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + (SH_MAG[7] + SH_MAG[8] - 2*magD*q2)*(P[19][0] + P[1][0]*SH_MAG[0] + P[3][0]*SH_MAG[2] - P[16][0]*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P[17][0]*(2*q0*q3 + 2*q1*q2) - P[18][0]*(2*q0*q2 - 2*q1*q3) - P[2][0]*(2*magD*q0 - 2*magE*q1 + 2*magN*q2) + P[0][0]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + SH_MAG[0]*(P[19][1] + P[1][1]*SH_MAG[0] + P[3][1]*SH_MAG[2] - P[16][1]*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P[17][1]*(2*q0*q3 + 2*q1*q2) - P[18][1]*(2*q0*q2 - 2*q1*q3) - P[2][1]*(2*magD*q0 - 2*magE*q1 + 2*magN*q2) + P[0][1]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + SH_MAG[2]*(P[19][3] + P[1][3]*SH_MAG[0] + P[3][3]*SH_MAG[2] - P[16][3]*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P[17][3]*(2*q0*q3 + 2*q1*q2) - P[18][3]*(2*q0*q2 - 2*q1*q3) - P[2][3]*(2*magD*q0 - 2*magE*q1 + 2*magN*q2) + P[0][3]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) - (SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6])*(P[19][16] + P[1][16]*SH_MAG[0] + P[3][16]*SH_MAG[2] - P[16][16]*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P[17][16]*(2*q0*q3 + 2*q1*q2) - P[18][16]*(2*q0*q2 - 2*q1*q3) - P[2][16]*(2*magD*q0 - 2*magE*q1 + 2*magN*q2) + P[0][16]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + P[17][19]*(2*q0*q3 + 2*q1*q2) - P[18][19]*(2*q0*q2 - 2*q1*q3) - P[2][19]*(2*magD*q0 - 2*magE*q1 + 2*magN*q2) + (2*q0*q3 + 2*q1*q2)*(P[19][17] + P[1][17]*SH_MAG[0] + P[3][17]*SH_MAG[2] - P[16][17]*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P[17][17]*(2*q0*q3 + 2*q1*q2) - P[18][17]*(2*q0*q2 - 2*q1*q3) - P[2][17]*(2*magD*q0 - 2*magE*q1 + 2*magN*q2) + P[0][17]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) - (2*q0*q2 - 2*q1*q3)*(P[19][18] + P[1][18]*SH_MAG[0] + P[3][18]*SH_MAG[2] - P[16][18]*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P[17][18]*(2*q0*q3 + 2*q1*q2) - P[18][18]*(2*q0*q2 - 2*q1*q3) - P[2][18]*(2*magD*q0 - 2*magE*q1 + 2*magN*q2) + P[0][18]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + P[0][19]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2));
if (temp >= R_MAG) {
SK_MX[0] = 1.0f / temp;
} else {
// the calculation is badly conditioned, so we cannot perform fusion on this step
// we increase the state variances and try again next time
P[19][19] += 0.1f*R_MAG;
obsIndex = 1;
return;
}
SK_MX[1] = SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6];
SK_MX[2] = 2*magD*q0 - 2*magE*q1 + 2*magN*q2;
SK_MX[3] = SH_MAG[7] + SH_MAG[8] - 2*magD*q2;
@@ -1398,7 +1408,16 @@ void AttPosEKF::FuseMagnetometer()
H_MAG[20] = 1;
// Calculate Kalman gain
SK_MY[0] = 1/(P[20][20] + R_MAG + P[0][20]*SH_MAG[2] + P[1][20]*SH_MAG[1] + P[2][20]*SH_MAG[0] - P[17][20]*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - (2*q0*q3 - 2*q1*q2)*(P[20][16] + P[0][16]*SH_MAG[2] + P[1][16]*SH_MAG[1] + P[2][16]*SH_MAG[0] - P[17][16]*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P[16][16]*(2*q0*q3 - 2*q1*q2) + P[18][16]*(2*q0*q1 + 2*q2*q3) - P[3][16]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + (2*q0*q1 + 2*q2*q3)*(P[20][18] + P[0][18]*SH_MAG[2] + P[1][18]*SH_MAG[1] + P[2][18]*SH_MAG[0] - P[17][18]*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P[16][18]*(2*q0*q3 - 2*q1*q2) + P[18][18]*(2*q0*q1 + 2*q2*q3) - P[3][18]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) - (SH_MAG[7] + SH_MAG[8] - 2*magD*q2)*(P[20][3] + P[0][3]*SH_MAG[2] + P[1][3]*SH_MAG[1] + P[2][3]*SH_MAG[0] - P[17][3]*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P[16][3]*(2*q0*q3 - 2*q1*q2) + P[18][3]*(2*q0*q1 + 2*q2*q3) - P[3][3]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) - P[16][20]*(2*q0*q3 - 2*q1*q2) + P[18][20]*(2*q0*q1 + 2*q2*q3) + SH_MAG[2]*(P[20][0] + P[0][0]*SH_MAG[2] + P[1][0]*SH_MAG[1] + P[2][0]*SH_MAG[0] - P[17][0]*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P[16][0]*(2*q0*q3 - 2*q1*q2) + P[18][0]*(2*q0*q1 + 2*q2*q3) - P[3][0]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + SH_MAG[1]*(P[20][1] + P[0][1]*SH_MAG[2] + P[1][1]*SH_MAG[1] + P[2][1]*SH_MAG[0] - P[17][1]*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P[16][1]*(2*q0*q3 - 2*q1*q2) + P[18][1]*(2*q0*q1 + 2*q2*q3) - P[3][1]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + SH_MAG[0]*(P[20][2] + P[0][2]*SH_MAG[2] + P[1][2]*SH_MAG[1] + P[2][2]*SH_MAG[0] - P[17][2]*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P[16][2]*(2*q0*q3 - 2*q1*q2) + P[18][2]*(2*q0*q1 + 2*q2*q3) - P[3][2]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) - (SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6])*(P[20][17] + P[0][17]*SH_MAG[2] + P[1][17]*SH_MAG[1] + P[2][17]*SH_MAG[0] - P[17][17]*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P[16][17]*(2*q0*q3 - 2*q1*q2) + P[18][17]*(2*q0*q1 + 2*q2*q3) - P[3][17]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) - P[3][20]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2));
float temp = (P[20][20] + R_MAG + P[0][20]*SH_MAG[2] + P[1][20]*SH_MAG[1] + P[2][20]*SH_MAG[0] - P[17][20]*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - (2*q0*q3 - 2*q1*q2)*(P[20][16] + P[0][16]*SH_MAG[2] + P[1][16]*SH_MAG[1] + P[2][16]*SH_MAG[0] - P[17][16]*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P[16][16]*(2*q0*q3 - 2*q1*q2) + P[18][16]*(2*q0*q1 + 2*q2*q3) - P[3][16]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + (2*q0*q1 + 2*q2*q3)*(P[20][18] + P[0][18]*SH_MAG[2] + P[1][18]*SH_MAG[1] + P[2][18]*SH_MAG[0] - P[17][18]*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P[16][18]*(2*q0*q3 - 2*q1*q2) + P[18][18]*(2*q0*q1 + 2*q2*q3) - P[3][18]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) - (SH_MAG[7] + SH_MAG[8] - 2*magD*q2)*(P[20][3] + P[0][3]*SH_MAG[2] + P[1][3]*SH_MAG[1] + P[2][3]*SH_MAG[0] - P[17][3]*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P[16][3]*(2*q0*q3 - 2*q1*q2) + P[18][3]*(2*q0*q1 + 2*q2*q3) - P[3][3]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) - P[16][20]*(2*q0*q3 - 2*q1*q2) + P[18][20]*(2*q0*q1 + 2*q2*q3) + SH_MAG[2]*(P[20][0] + P[0][0]*SH_MAG[2] + P[1][0]*SH_MAG[1] + P[2][0]*SH_MAG[0] - P[17][0]*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P[16][0]*(2*q0*q3 - 2*q1*q2) + P[18][0]*(2*q0*q1 + 2*q2*q3) - P[3][0]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + SH_MAG[1]*(P[20][1] + P[0][1]*SH_MAG[2] + P[1][1]*SH_MAG[1] + P[2][1]*SH_MAG[0] - P[17][1]*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P[16][1]*(2*q0*q3 - 2*q1*q2) + P[18][1]*(2*q0*q1 + 2*q2*q3) - P[3][1]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + SH_MAG[0]*(P[20][2] + P[0][2]*SH_MAG[2] + P[1][2]*SH_MAG[1] + P[2][2]*SH_MAG[0] - P[17][2]*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P[16][2]*(2*q0*q3 - 2*q1*q2) + P[18][2]*(2*q0*q1 + 2*q2*q3) - P[3][2]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) - (SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6])*(P[20][17] + P[0][17]*SH_MAG[2] + P[1][17]*SH_MAG[1] + P[2][17]*SH_MAG[0] - P[17][17]*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P[16][17]*(2*q0*q3 - 2*q1*q2) + P[18][17]*(2*q0*q1 + 2*q2*q3) - P[3][17]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) - P[3][20]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2));
if (temp >= R_MAG) {
SK_MY[0] = 1.0f / temp;
} else {
// the calculation is badly conditioned, so we cannot perform fusion on this step
// we increase the state variances and try again next time
P[20][20] += 0.1f*R_MAG;
obsIndex = 2;
return;
}
SK_MY[1] = SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6];
SK_MY[2] = SH_MAG[7] + SH_MAG[8] - 2*magD*q2;
SK_MY[3] = 2*q0*q3 - 2*q1*q2;
@@ -1444,7 +1463,16 @@ void AttPosEKF::FuseMagnetometer()
H_MAG[21] = 1;
// Calculate Kalman gain
SK_MZ[0] = 1/(P[21][21] + R_MAG + P[0][21]*SH_MAG[1] + P[3][21]*SH_MAG[0] + P[18][21]*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) - (2*magD*q1 + 2*magE*q0 - 2*magN*q3)*(P[21][1] + P[0][1]*SH_MAG[1] + P[3][1]*SH_MAG[0] + P[18][1]*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P[16][1]*(2*q0*q2 + 2*q1*q3) - P[17][1]*(2*q0*q1 - 2*q2*q3) - P[1][1]*(2*magD*q1 + 2*magE*q0 - 2*magN*q3) + P[2][1]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + (SH_MAG[7] + SH_MAG[8] - 2*magD*q2)*(P[21][2] + P[0][2]*SH_MAG[1] + P[3][2]*SH_MAG[0] + P[18][2]*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P[16][2]*(2*q0*q2 + 2*q1*q3) - P[17][2]*(2*q0*q1 - 2*q2*q3) - P[1][2]*(2*magD*q1 + 2*magE*q0 - 2*magN*q3) + P[2][2]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + SH_MAG[1]*(P[21][0] + P[0][0]*SH_MAG[1] + P[3][0]*SH_MAG[0] + P[18][0]*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P[16][0]*(2*q0*q2 + 2*q1*q3) - P[17][0]*(2*q0*q1 - 2*q2*q3) - P[1][0]*(2*magD*q1 + 2*magE*q0 - 2*magN*q3) + P[2][0]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + SH_MAG[0]*(P[21][3] + P[0][3]*SH_MAG[1] + P[3][3]*SH_MAG[0] + P[18][3]*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P[16][3]*(2*q0*q2 + 2*q1*q3) - P[17][3]*(2*q0*q1 - 2*q2*q3) - P[1][3]*(2*magD*q1 + 2*magE*q0 - 2*magN*q3) + P[2][3]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + (SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6])*(P[21][18] + P[0][18]*SH_MAG[1] + P[3][18]*SH_MAG[0] + P[18][18]*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P[16][18]*(2*q0*q2 + 2*q1*q3) - P[17][18]*(2*q0*q1 - 2*q2*q3) - P[1][18]*(2*magD*q1 + 2*magE*q0 - 2*magN*q3) + P[2][18]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + P[16][21]*(2*q0*q2 + 2*q1*q3) - P[17][21]*(2*q0*q1 - 2*q2*q3) - P[1][21]*(2*magD*q1 + 2*magE*q0 - 2*magN*q3) + (2*q0*q2 + 2*q1*q3)*(P[21][16] + P[0][16]*SH_MAG[1] + P[3][16]*SH_MAG[0] + P[18][16]*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P[16][16]*(2*q0*q2 + 2*q1*q3) - P[17][16]*(2*q0*q1 - 2*q2*q3) - P[1][16]*(2*magD*q1 + 2*magE*q0 - 2*magN*q3) + P[2][16]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) - (2*q0*q1 - 2*q2*q3)*(P[21][17] + P[0][17]*SH_MAG[1] + P[3][17]*SH_MAG[0] + P[18][17]*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P[16][17]*(2*q0*q2 + 2*q1*q3) - P[17][17]*(2*q0*q1 - 2*q2*q3) - P[1][17]*(2*magD*q1 + 2*magE*q0 - 2*magN*q3) + P[2][17]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + P[2][21]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2));
float temp = (P[21][21] + R_MAG + P[0][21]*SH_MAG[1] + P[3][21]*SH_MAG[0] + P[18][21]*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) - (2*magD*q1 + 2*magE*q0 - 2*magN*q3)*(P[21][1] + P[0][1]*SH_MAG[1] + P[3][1]*SH_MAG[0] + P[18][1]*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P[16][1]*(2*q0*q2 + 2*q1*q3) - P[17][1]*(2*q0*q1 - 2*q2*q3) - P[1][1]*(2*magD*q1 + 2*magE*q0 - 2*magN*q3) + P[2][1]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + (SH_MAG[7] + SH_MAG[8] - 2*magD*q2)*(P[21][2] + P[0][2]*SH_MAG[1] + P[3][2]*SH_MAG[0] + P[18][2]*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P[16][2]*(2*q0*q2 + 2*q1*q3) - P[17][2]*(2*q0*q1 - 2*q2*q3) - P[1][2]*(2*magD*q1 + 2*magE*q0 - 2*magN*q3) + P[2][2]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + SH_MAG[1]*(P[21][0] + P[0][0]*SH_MAG[1] + P[3][0]*SH_MAG[0] + P[18][0]*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P[16][0]*(2*q0*q2 + 2*q1*q3) - P[17][0]*(2*q0*q1 - 2*q2*q3) - P[1][0]*(2*magD*q1 + 2*magE*q0 - 2*magN*q3) + P[2][0]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + SH_MAG[0]*(P[21][3] + P[0][3]*SH_MAG[1] + P[3][3]*SH_MAG[0] + P[18][3]*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P[16][3]*(2*q0*q2 + 2*q1*q3) - P[17][3]*(2*q0*q1 - 2*q2*q3) - P[1][3]*(2*magD*q1 + 2*magE*q0 - 2*magN*q3) + P[2][3]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + (SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6])*(P[21][18] + P[0][18]*SH_MAG[1] + P[3][18]*SH_MAG[0] + P[18][18]*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P[16][18]*(2*q0*q2 + 2*q1*q3) - P[17][18]*(2*q0*q1 - 2*q2*q3) - P[1][18]*(2*magD*q1 + 2*magE*q0 - 2*magN*q3) + P[2][18]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + P[16][21]*(2*q0*q2 + 2*q1*q3) - P[17][21]*(2*q0*q1 - 2*q2*q3) - P[1][21]*(2*magD*q1 + 2*magE*q0 - 2*magN*q3) + (2*q0*q2 + 2*q1*q3)*(P[21][16] + P[0][16]*SH_MAG[1] + P[3][16]*SH_MAG[0] + P[18][16]*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P[16][16]*(2*q0*q2 + 2*q1*q3) - P[17][16]*(2*q0*q1 - 2*q2*q3) - P[1][16]*(2*magD*q1 + 2*magE*q0 - 2*magN*q3) + P[2][16]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) - (2*q0*q1 - 2*q2*q3)*(P[21][17] + P[0][17]*SH_MAG[1] + P[3][17]*SH_MAG[0] + P[18][17]*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P[16][17]*(2*q0*q2 + 2*q1*q3) - P[17][17]*(2*q0*q1 - 2*q2*q3) - P[1][17]*(2*magD*q1 + 2*magE*q0 - 2*magN*q3) + P[2][17]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + P[2][21]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2));
if (temp >= R_MAG) {
SK_MZ[0] = 1.0f / temp;
} else {
// the calculation is badly conditioned, so we cannot perform fusion on this step
// we increase the state variances and try again next time
P[21][21] += 0.1f*R_MAG;
obsIndex = 3;
return;
}
SK_MZ[1] = SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6];
SK_MZ[2] = 2*magD*q1 + 2*magE*q0 - 2*magN*q3;
SK_MZ[3] = SH_MAG[7] + SH_MAG[8] - 2*magD*q2;
@@ -1483,7 +1511,7 @@ void AttPosEKF::FuseMagnetometer()
if ((innovMag[obsIndex]*innovMag[obsIndex]/varInnovMag[obsIndex]) < 25.0)
{
// correct the state vector
for (uint8_t j= 0; j<=indexLimit; j++)
for (uint8_t j= 0; j < indexLimit; j++)
{
states[j] = states[j] - Kfusion[j] * innovMag[obsIndex];
}
@@ -1500,7 +1528,7 @@ void AttPosEKF::FuseMagnetometer()
// correct the covariance P = (I - K*H)*P
// take advantage of the empty columns in KH to reduce the
// number of operations
for (uint8_t i = 0; i<=indexLimit; i++)
for (uint8_t i = 0; i < indexLimit; i++)
{
for (uint8_t j = 0; j <= 3; j++)
{
@@ -1522,9 +1550,9 @@ void AttPosEKF::FuseMagnetometer()
}
}
}
for (uint8_t i = 0; i<=indexLimit; i++)
for (uint8_t i = 0; i < indexLimit; i++)
{
for (uint8_t j = 0; j<=indexLimit; j++)
for (uint8_t j = 0; j < indexLimit; j++)
{
KHP[i][j] = 0.0f;
for (uint8_t k = 0; k <= 3; k++)
@@ -1541,9 +1569,9 @@ void AttPosEKF::FuseMagnetometer()
}
}
}
for (uint8_t i = 0; i <= indexLimit; i++)
for (uint8_t i = 0; i < indexLimit; i++)
{
for (uint8_t j = 0; j <= indexLimit; j++)
for (uint8_t j = 0; j < indexLimit; j++)
{
P[i][j] = P[i][j] - KHP[i][j];
}
@@ -1564,6 +1592,7 @@ void AttPosEKF::FuseAirspeed()
float vwe;
float R_TAS = sq(airspeedMeasurementSigma);
float SH_TAS[3];
float SK_TAS;
float VtasPred;
// Copy required states to local variable names
@@ -1593,7 +1622,16 @@ void AttPosEKF::FuseAirspeed()
H_TAS[15] = -SH_TAS[1];
// Calculate Kalman gains
float SK_TAS = 1/(R_TAS + SH_TAS[2]*(P[4][4]*SH_TAS[2] + P[5][4]*SH_TAS[1] - P[14][4]*SH_TAS[2] - P[15][4]*SH_TAS[1] + P[6][4]*vd*SH_TAS[0]) + SH_TAS[1]*(P[4][5]*SH_TAS[2] + P[5][5]*SH_TAS[1] - P[14][5]*SH_TAS[2] - P[15][5]*SH_TAS[1] + P[6][5]*vd*SH_TAS[0]) - SH_TAS[2]*(P[4][14]*SH_TAS[2] + P[5][14]*SH_TAS[1] - P[14][14]*SH_TAS[2] - P[15][14]*SH_TAS[1] + P[6][14]*vd*SH_TAS[0]) - SH_TAS[1]*(P[4][15]*SH_TAS[2] + P[5][15]*SH_TAS[1] - P[14][15]*SH_TAS[2] - P[15][15]*SH_TAS[1] + P[6][15]*vd*SH_TAS[0]) + vd*SH_TAS[0]*(P[4][6]*SH_TAS[2] + P[5][6]*SH_TAS[1] - P[14][6]*SH_TAS[2] - P[15][6]*SH_TAS[1] + P[6][6]*vd*SH_TAS[0]));
float temp = (R_TAS + SH_TAS[2]*(P[4][4]*SH_TAS[2] + P[5][4]*SH_TAS[1] - P[14][4]*SH_TAS[2] - P[15][4]*SH_TAS[1] + P[6][4]*vd*SH_TAS[0]) + SH_TAS[1]*(P[4][5]*SH_TAS[2] + P[5][5]*SH_TAS[1] - P[14][5]*SH_TAS[2] - P[15][5]*SH_TAS[1] + P[6][5]*vd*SH_TAS[0]) - SH_TAS[2]*(P[4][14]*SH_TAS[2] + P[5][14]*SH_TAS[1] - P[14][14]*SH_TAS[2] - P[15][14]*SH_TAS[1] + P[6][14]*vd*SH_TAS[0]) - SH_TAS[1]*(P[4][15]*SH_TAS[2] + P[5][15]*SH_TAS[1] - P[14][15]*SH_TAS[2] - P[15][15]*SH_TAS[1] + P[6][15]*vd*SH_TAS[0]) + vd*SH_TAS[0]*(P[4][6]*SH_TAS[2] + P[5][6]*SH_TAS[1] - P[14][6]*SH_TAS[2] - P[15][6]*SH_TAS[1] + P[6][6]*vd*SH_TAS[0]));
if (temp >= R_TAS) {
SK_TAS = 1.0f / temp;
} else {
// the calculation is badly conditioned, so we cannot perform fusion on this step
// we increase the wind state variances and try again next time
P[14][14] += 0.05f*R_TAS;
P[15][15] += 0.05f*R_TAS;
return;
}
Kfusion[0] = SK_TAS*(P[0][4]*SH_TAS[2] - P[0][14]*SH_TAS[2] + P[0][5]*SH_TAS[1] - P[0][15]*SH_TAS[1] + P[0][6]*vd*SH_TAS[0]);
Kfusion[1] = SK_TAS*(P[1][4]*SH_TAS[2] - P[1][14]*SH_TAS[2] + P[1][5]*SH_TAS[1] - P[1][15]*SH_TAS[1] + P[1][6]*vd*SH_TAS[0]);
Kfusion[2] = SK_TAS*(P[2][4]*SH_TAS[2] - P[2][14]*SH_TAS[2] + P[2][5]*SH_TAS[1] - P[2][15]*SH_TAS[1] + P[2][6]*vd*SH_TAS[0]);
@@ -2001,7 +2039,22 @@ void AttPosEKF::CovarianceInit()
float AttPosEKF::ConstrainFloat(float val, float min, float max)
{
return (val > max) ? max : ((val < min) ? min : val);
float ret;
if (val > max) {
ret = max;
ekf_debug("> max: %8.4f, val: %8.4f", max, val);
} else if (val < min) {
ret = min;
ekf_debug("< min: %8.4f, val: %8.4f", min, val);
} else {
ret = val;
}
if (!isfinite(val)) {
ekf_debug("constrain: non-finite!");
}
return ret;
}
void AttPosEKF::ConstrainVariances()
@@ -2466,12 +2519,18 @@ void AttPosEKF::InitializeDynamic(float (&initvelNED)[3], float declination)
void AttPosEKF::InitialiseFilter(float (&initvelNED)[3], double referenceLat, double referenceLon, float referenceHgt, float declination)
{
//store initial lat,long and height
// store initial lat,long and height
latRef = referenceLat;
lonRef = referenceLon;
hgtRef = referenceHgt;
refSet = true;
// we are at reference altitude, so measurement must be zero
hgtMea = 0.0f;
// the baro offset must be this difference now
baroHgtOffset = baroHgt - referenceHgt;
memset(&last_ekf_error, 0, sizeof(last_ekf_error));
InitializeDynamic(initvelNED, declination);
src/modules/ekf_att_pos_estimator/estimator.h
+1
View File
@@ -198,6 +198,7 @@ public:
float velNED[3]; // North, East, Down velocity obs (m/s)
float posNE[2]; // North, East position obs (m)
float hgtMea; // measured height (m)
float baroHgtOffset; ///< the baro (weather) offset from normalized altitude
float rngMea; // Ground distance
float posNED[3]; // North, East Down position (m)
src/modules/ekf_att_pos_estimator/module.mk
+3 -3
View File
@@ -32,11 +32,11 @@
############################################################################
#
# Main Attitude and Position Estimator for Fixed Wing Aircraft
# Main EKF Attitude and Position Estimator
#
MODULE_COMMAND = ekf_att_pos_estimator
SRCS = fw_att_pos_estimator_main.cpp \
fw_att_pos_estimator_params.c \
SRCS = ekf_att_pos_estimator_main.cpp \
ekf_att_pos_estimator_params.c \
estimator.cpp
src/modules/fixedwing_backside/fixedwing.cpp
+2 -2
View File
@@ -229,8 +229,8 @@ void BlockMultiModeBacksideAutopilot::update()
_actuators.control[CH_RDR] = _manual.yaw;
_actuators.control[CH_THR] = _manual.throttle;
} else if (_status.main_state == MAIN_STATE_SEATBELT ||
_status.main_state == MAIN_STATE_EASY /* TODO, implement easy */) {
} else if (_status.main_state == MAIN_STATE_ALTCTL ||
_status.main_state == MAIN_STATE_POSCTL /* TODO, implement pos control */) {
// calculate velocity, XXX should be airspeed, but using ground speed for now
// for the purpose of control we will limit the velocity feedback between
src/modules/fw_att_control/fw_att_control_main.cpp
+66 -22
View File
@@ -134,6 +134,8 @@ private:
struct vehicle_global_position_s _global_pos; /**< global position */
perf_counter_t _loop_perf; /**< loop performance counter */
perf_counter_t _nonfinite_input_perf; /**< performance counter for non finite input */
perf_counter_t _nonfinite_output_perf; /**< performance counter for non finite output */
bool _setpoint_valid; /**< flag if the position control setpoint is valid */
@@ -273,7 +275,7 @@ private:
/**
* Main sensor collection task.
*/
void task_main() __attribute__((noreturn));
void task_main();
};
namespace att_control
@@ -304,12 +306,14 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
/* publications */
_rate_sp_pub(-1),
_actuators_0_pub(-1),
_attitude_sp_pub(-1),
_actuators_0_pub(-1),
_actuators_1_pub(-1),
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "fw att control")),
_nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control nonfinite input")),
_nonfinite_output_perf(perf_alloc(PC_COUNT, "fw att control nonfinite output")),
/* states */
_setpoint_valid(false)
{
@@ -387,6 +391,10 @@ FixedwingAttitudeControl::~FixedwingAttitudeControl()
} while (_control_task != -1);
}
perf_free(_loop_perf);
perf_free(_nonfinite_input_perf);
perf_free(_nonfinite_output_perf);
att_control::g_control = nullptr;
}
@@ -592,6 +600,8 @@ FixedwingAttitudeControl::task_main()
while (!_task_should_exit) {
static int loop_counter = 0;
/* wait for up to 500ms for data */
int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
@@ -672,10 +682,12 @@ FixedwingAttitudeControl::task_main()
float airspeed;
/* if airspeed is not updating, we assume the normal average speed */
if (!isfinite(_airspeed.true_airspeed_m_s) ||
if (bool nonfinite = !isfinite(_airspeed.true_airspeed_m_s) ||
hrt_elapsed_time(&_airspeed.timestamp) > 1e6) {
airspeed = _parameters.airspeed_trim;
if (nonfinite) {
perf_count(_nonfinite_input_perf);
}
} else {
airspeed = _airspeed.true_airspeed_m_s;
}
@@ -706,20 +718,21 @@ FixedwingAttitudeControl::task_main()
} else {
/*
* Scale down roll and pitch as the setpoints are radians
* and a typical remote can only do 45 degrees, the mapping is
* -1..+1 to -45..+45 degrees or -0.75..+0.75 radians.
* and a typical remote can only do around 45 degrees, the mapping is
* -1..+1 to -man_roll_max rad..+man_roll_max rad (equivalent for pitch)
*
* With this mapping the stick angle is a 1:1 representation of
* the commanded attitude. If more than 45 degrees are desired,
* a scaling parameter can be applied to the remote.
* the commanded attitude.
*
* The trim gets subtracted here from the manual setpoint to get
* the intended attitude setpoint. Later, after the rate control step the
* trim is added again to the control signal.
*/
roll_sp = (_manual.roll * _parameters.man_roll_max - _parameters.trim_roll) + _parameters.rollsp_offset_rad;
pitch_sp = (-_manual.pitch * _parameters.man_pitch_max - _parameters.trim_pitch) + _parameters.pitchsp_offset_rad;
throttle_sp = _manual.throttle;
roll_sp = (_manual.y * _parameters.man_roll_max - _parameters.trim_roll)
+ _parameters.rollsp_offset_rad;
pitch_sp = -(_manual.x * _parameters.man_pitch_max - _parameters.trim_pitch)
+ _parameters.pitchsp_offset_rad;
throttle_sp = _manual.z;
_actuators.control[4] = _manual.flaps;
/*
@@ -754,7 +767,9 @@ FixedwingAttitudeControl::task_main()
speed_body_v = _att.R[0][1] * _global_pos.vel_n + _att.R[1][1] * _global_pos.vel_e + _att.R[2][1] * _global_pos.vel_d;
speed_body_w = _att.R[0][2] * _global_pos.vel_n + _att.R[1][2] * _global_pos.vel_e + _att.R[2][2] * _global_pos.vel_d;
} else {
warnx("Did not get a valid R\n");
if (loop_counter % 10 == 0) {
warnx("Did not get a valid R\n");
}
}
/* Run attitude controllers */
@@ -772,7 +787,12 @@ FixedwingAttitudeControl::task_main()
_parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator);
_actuators.control[0] = (isfinite(roll_u)) ? roll_u + _parameters.trim_roll : _parameters.trim_roll;
if (!isfinite(roll_u)) {
warnx("roll_u %.4f", roll_u);
_roll_ctrl.reset_integrator();
perf_count(_nonfinite_output_perf);
if (loop_counter % 10 == 0) {
warnx("roll_u %.4f", (double)roll_u);
}
}
float pitch_u = _pitch_ctrl.control_bodyrate(_att.roll, _att.pitch,
@@ -781,8 +801,22 @@ FixedwingAttitudeControl::task_main()
_parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator);
_actuators.control[1] = (isfinite(pitch_u)) ? pitch_u + _parameters.trim_pitch : _parameters.trim_pitch;
if (!isfinite(pitch_u)) {
warnx("pitch_u %.4f, _yaw_ctrl.get_desired_rate() %.4f, airspeed %.4f, airspeed_scaling %.4f, roll_sp %.4f, pitch_sp %.4f, _roll_ctrl.get_desired_rate() %.4f, _pitch_ctrl.get_desired_rate() %.4f att_sp.roll_body %.4f",
(double)pitch_u, (double)_yaw_ctrl.get_desired_rate(), (double)airspeed, (double)airspeed_scaling, (double)roll_sp, (double)pitch_sp, (double)_roll_ctrl.get_desired_rate(), (double)_pitch_ctrl.get_desired_rate(), (double)_att_sp.roll_body);
_pitch_ctrl.reset_integrator();
perf_count(_nonfinite_output_perf);
if (loop_counter % 10 == 0) {
warnx("pitch_u %.4f, _yaw_ctrl.get_desired_rate() %.4f,"
" airspeed %.4f, airspeed_scaling %.4f,"
" roll_sp %.4f, pitch_sp %.4f,"
" _roll_ctrl.get_desired_rate() %.4f,"
" _pitch_ctrl.get_desired_rate() %.4f"
" att_sp.roll_body %.4f",
(double)pitch_u, (double)_yaw_ctrl.get_desired_rate(),
(double)airspeed, (double)airspeed_scaling,
(double)roll_sp, (double)pitch_sp,
(double)_roll_ctrl.get_desired_rate(),
(double)_pitch_ctrl.get_desired_rate(),
(double)_att_sp.roll_body);
}
}
float yaw_u = _yaw_ctrl.control_bodyrate(_att.roll, _att.pitch,
@@ -791,16 +825,25 @@ FixedwingAttitudeControl::task_main()
_parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator);
_actuators.control[2] = (isfinite(yaw_u)) ? yaw_u + _parameters.trim_yaw : _parameters.trim_yaw;
if (!isfinite(yaw_u)) {
warnx("yaw_u %.4f", (double)yaw_u);
_yaw_ctrl.reset_integrator();
perf_count(_nonfinite_output_perf);
if (loop_counter % 10 == 0) {
warnx("yaw_u %.4f", (double)yaw_u);
}
}
/* throttle passed through */
_actuators.control[3] = (isfinite(throttle_sp)) ? throttle_sp : 0.0f;
if (!isfinite(throttle_sp)) {
warnx("throttle_sp %.4f", (double)throttle_sp);
if (loop_counter % 10 == 0) {
warnx("throttle_sp %.4f", (double)throttle_sp);
}
}
} else {
warnx("Non-finite setpoint roll_sp: %.4f, pitch_sp %.4f", (double)roll_sp, (double)pitch_sp);
perf_count(_nonfinite_input_perf);
if (loop_counter % 10 == 0) {
warnx("Non-finite setpoint roll_sp: %.4f, pitch_sp %.4f", (double)roll_sp, (double)pitch_sp);
}
}
/*
@@ -825,10 +868,10 @@ FixedwingAttitudeControl::task_main()
} else {
/* manual/direct control */
_actuators.control[0] = _manual.roll;
_actuators.control[1] = -_manual.pitch;
_actuators.control[2] = _manual.yaw;
_actuators.control[3] = _manual.throttle;
_actuators.control[0] = _manual.y;
_actuators.control[1] = -_manual.x;
_actuators.control[2] = _manual.r;
_actuators.control[3] = _manual.z;
_actuators.control[4] = _manual.flaps;
}
@@ -864,6 +907,7 @@ FixedwingAttitudeControl::task_main()
}
loop_counter++;
perf_end(_loop_perf);
}
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+104 -48
View File
@@ -89,6 +89,7 @@
#include <launchdetection/LaunchDetector.h>
#include <ecl/l1/ecl_l1_pos_controller.h>
#include <external_lgpl/tecs/tecs.h>
#include <drivers/drv_range_finder.h>
#include "landingslope.h"
@@ -134,6 +135,7 @@ private:
int _params_sub; /**< notification of parameter updates */
int _manual_control_sub; /**< notification of manual control updates */
int _sensor_combined_sub; /**< for body frame accelerations */
int _range_finder_sub; /**< range finder subscription */
orb_advert_t _attitude_sp_pub; /**< attitude setpoint */
orb_advert_t _nav_capabilities_pub; /**< navigation capabilities publication */
@@ -147,11 +149,12 @@ private:
struct vehicle_global_position_s _global_pos; /**< global vehicle position */
struct position_setpoint_triplet_s _pos_sp_triplet; /**< triplet of mission items */
struct sensor_combined_s _sensor_combined; /**< for body frame accelerations */
struct range_finder_report _range_finder; /**< range finder report */
perf_counter_t _loop_perf; /**< loop performance counter */
/** manual control states */
float _seatbelt_hold_heading; /**< heading the system should hold in seatbelt mode */
float _altctrl_hold_heading; /**< heading the system should hold in altctrl mode */
double _loiter_hold_lat;
double _loiter_hold_lon;
float _loiter_hold_alt;
@@ -179,7 +182,7 @@ private:
/* Landingslope object */
Landingslope landingslope;
float flare_curve_alt_last;
float flare_curve_alt_rel_last;
/* heading hold */
float target_bearing;
@@ -237,6 +240,7 @@ private:
float land_flare_alt_relative;
float land_thrust_lim_alt_relative;
float land_heading_hold_horizontal_distance;
float range_finder_rel_alt;
} _parameters; /**< local copies of interesting parameters */
@@ -281,6 +285,7 @@ private:
param_t land_flare_alt_relative;
param_t land_thrust_lim_alt_relative;
param_t land_heading_hold_horizontal_distance;
param_t range_finder_rel_alt;
} _parameter_handles; /**< handles for interesting parameters */
@@ -306,6 +311,12 @@ private:
*/
bool vehicle_airspeed_poll();
/**
* Check for range finder updates.
*/
bool range_finder_poll();
/**
* Check for position updates.
*/
@@ -326,6 +337,11 @@ private:
*/
void navigation_capabilities_publish();
/**
* Get the relative alt either from the difference between estimate and waypoint or from the laser range finder
*/
float get_relative_landingalt(float land_setpoint_alt, float current_alt, const struct range_finder_report &range_finder, float range_finder_use_relative_alt);
/**
* Control position.
*/
@@ -343,7 +359,7 @@ private:
/**
* Main sensor collection task.
*/
void task_main() __attribute__((noreturn));
void task_main();
/*
* Reset takeoff state
@@ -382,6 +398,7 @@ FixedwingPositionControl::FixedwingPositionControl() :
_control_mode_sub(-1),
_params_sub(-1),
_manual_control_sub(-1),
_range_finder_sub(-1),
/* publications */
_attitude_sp_pub(-1),
@@ -398,9 +415,9 @@ FixedwingPositionControl::FixedwingPositionControl() :
land_motor_lim(false),
land_onslope(false),
launch_detected(false),
last_manual(false),
usePreTakeoffThrust(false),
flare_curve_alt_last(0.0f),
last_manual(false),
flare_curve_alt_rel_last(0.0f),
launchDetector(),
_airspeed_error(0.0f),
_airspeed_valid(false),
@@ -414,7 +431,8 @@ FixedwingPositionControl::FixedwingPositionControl() :
_control_mode(),
_global_pos(),
_pos_sp_triplet(),
_sensor_combined()
_sensor_combined(),
_range_finder()
{
_nav_capabilities.turn_distance = 0.0f;
@@ -439,6 +457,7 @@ FixedwingPositionControl::FixedwingPositionControl() :
_parameter_handles.land_flare_alt_relative = param_find("FW_LND_FLALT");
_parameter_handles.land_thrust_lim_alt_relative = param_find("FW_LND_TLALT");
_parameter_handles.land_heading_hold_horizontal_distance = param_find("FW_LND_HHDIST");
_parameter_handles.range_finder_rel_alt = param_find("FW_LND_RFRALT");
_parameter_handles.time_const = param_find("FW_T_TIME_CONST");
_parameter_handles.min_sink_rate = param_find("FW_T_SINK_MIN");
@@ -528,6 +547,8 @@ FixedwingPositionControl::parameters_update()
param_get(_parameter_handles.land_thrust_lim_alt_relative, &(_parameters.land_thrust_lim_alt_relative));
param_get(_parameter_handles.land_heading_hold_horizontal_distance, &(_parameters.land_heading_hold_horizontal_distance));
param_get(_parameter_handles.range_finder_rel_alt, &(_parameters.range_finder_rel_alt));
_l1_control.set_l1_damping(_parameters.l1_damping);
_l1_control.set_l1_period(_parameters.l1_period);
_l1_control.set_l1_roll_limit(math::radians(_parameters.roll_limit));
@@ -623,6 +644,20 @@ FixedwingPositionControl::vehicle_airspeed_poll()
return airspeed_updated;
}
bool
FixedwingPositionControl::range_finder_poll()
{
/* check if there is a range finder measurement */
bool range_finder_updated;
orb_check(_range_finder_sub, &range_finder_updated);
if (range_finder_updated) {
orb_copy(ORB_ID(sensor_range_finder), _range_finder_sub, &_range_finder);
}
return range_finder_updated;
}
void
FixedwingPositionControl::vehicle_attitude_poll()
{
@@ -750,6 +785,23 @@ void FixedwingPositionControl::navigation_capabilities_publish()
}
}
float FixedwingPositionControl::get_relative_landingalt(float land_setpoint_alt, float current_alt, const struct range_finder_report &range_finder, float range_finder_use_relative_alt)
{
float rel_alt_estimated = current_alt - land_setpoint_alt;
/* only use range finder if:
* parameter (range_finder_use_relative_alt) > 0
* the measurement is valid
* the estimated relative altitude (from global altitude estimate and landing waypoint) <= range_finder_use_relative_alt
*/
if (range_finder_use_relative_alt < 0 || !range_finder.valid || rel_alt_estimated > range_finder_use_relative_alt ) {
return rel_alt_estimated;
}
return range_finder.distance;
}
bool
FixedwingPositionControl::control_position(const math::Vector<2> &current_position, const math::Vector<2> &ground_speed,
const struct position_setpoint_triplet_s &pos_sp_triplet)
@@ -892,12 +944,14 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
/* 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 L_altitude_rel = landingslope.getLandingSlopeRelativeAltitude(L_wp_distance);
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);
float landing_slope_alt_rel_desired = landingslope.getLandingSlopeRelativeAltitudeSave(wp_distance, bearing_lastwp_currwp, bearing_airplane_currwp);
if ( (_global_pos.alt < _pos_sp_triplet.current.alt + landingslope.flare_relative_alt()) || land_noreturn_vertical) { //checking for land_noreturn to avoid unwanted climb out
float relative_alt = get_relative_landingalt(_pos_sp_triplet.current.alt, _global_pos.alt, _range_finder, _parameters.range_finder_rel_alt);
if ( (relative_alt < landingslope.flare_relative_alt()) || land_noreturn_vertical) { //checking for land_noreturn to avoid unwanted climb out
/* land with minimal speed */
@@ -907,7 +961,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
/* kill the throttle if param requests it */
throttle_max = _parameters.throttle_max;
if (_global_pos.alt < _pos_sp_triplet.current.alt + landingslope.motor_lim_relative_alt() || land_motor_lim) {
if (relative_alt < landingslope.motor_lim_relative_alt() || land_motor_lim) {
throttle_max = math::min(throttle_max, _parameters.throttle_land_max);
if (!land_motor_lim) {
land_motor_lim = true;
@@ -916,16 +970,16 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
}
float flare_curve_alt = landingslope.getFlareCurveAltitudeSave(wp_distance, bearing_lastwp_currwp, bearing_airplane_currwp, _pos_sp_triplet.current.alt);
float flare_curve_alt_rel = landingslope.getFlareCurveRelativeAltitudeSave(wp_distance, bearing_lastwp_currwp, bearing_airplane_currwp);
/* avoid climbout */
if ((flare_curve_alt_last < flare_curve_alt && land_noreturn_vertical) || land_stayonground)
if ((flare_curve_alt_rel_last < flare_curve_alt_rel && land_noreturn_vertical) || land_stayonground)
{
flare_curve_alt = pos_sp_triplet.current.alt;
flare_curve_alt_rel = 0.0f; // stay on ground
land_stayonground = true;
}
_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, flare_curve_alt, calculate_target_airspeed(airspeed_land),
_tecs.update_pitch_throttle(_R_nb, _att.pitch, _pos_sp_triplet.current.alt + relative_alt, _pos_sp_triplet.current.alt + flare_curve_alt_rel, calculate_target_airspeed(airspeed_land),
_airspeed.indicated_airspeed_m_s, eas2tas,
false, flare_pitch_angle_rad,
0.0f, throttle_max, throttle_land,
@@ -937,7 +991,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_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;
flare_curve_alt_rel_last = flare_curve_alt_rel;
} else {
/* intersect glide slope:
@@ -945,20 +999,20 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
* 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) {
float altitude_desired_rel = relative_alt;
if (relative_alt > landing_slope_alt_rel_desired - 10.0f) {
/* stay on slope */
altitude_desired = landing_slope_alt_desired;
altitude_desired_rel = landing_slope_alt_rel_desired;
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);
altitude_desired_rel = math::max(relative_alt, L_altitude_rel);
}
_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, altitude_desired, calculate_target_airspeed(airspeed_approach),
_tecs.update_pitch_throttle(_R_nb, _att.pitch, _pos_sp_triplet.current.alt + relative_alt, _pos_sp_triplet.current.alt + altitude_desired_rel, calculate_target_airspeed(airspeed_approach),
_airspeed.indicated_airspeed_m_s, eas2tas,
false, math::radians(_parameters.pitch_limit_min),
_parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
@@ -1047,16 +1101,16 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
_att_sp.roll_reset_integral = true;
}
} else if (0/* easy mode enabled */) {
} else if (0/* posctrl mode enabled */) {
/** EASY FLIGHT **/
/** POSCTRL FLIGHT **/
if (0/* switched from another mode to easy */) {
_seatbelt_hold_heading = _att.yaw;
if (0/* switched from another mode to posctrl */) {
_altctrl_hold_heading = _att.yaw;
}
if (0/* easy on and manual control yaw non-zero */) {
_seatbelt_hold_heading = _att.yaw + _manual.yaw;
if (0/* posctrl on and manual control yaw non-zero */) {
_altctrl_hold_heading = _att.yaw + _manual.r;
}
//XXX not used
@@ -1069,44 +1123,44 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
// climb_out = true;
// }
/* if in seatbelt mode, set airspeed based on manual control */
/* if in altctrl mode, set airspeed based on manual control */
// XXX check if ground speed undershoot should be applied here
float seatbelt_airspeed = _parameters.airspeed_min +
float altctrl_airspeed = _parameters.airspeed_min +
(_parameters.airspeed_max - _parameters.airspeed_min) *
_manual.throttle;
_manual.z;
_l1_control.navigate_heading(_seatbelt_hold_heading, _att.yaw, ground_speed);
_l1_control.navigate_heading(_altctrl_hold_heading, _att.yaw, ground_speed);
_att_sp.roll_body = _l1_control.nav_roll();
_att_sp.yaw_body = _l1_control.nav_bearing();
_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.pitch * 2.0f,
seatbelt_airspeed,
_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.x * 2.0f,
altctrl_airspeed,
_airspeed.indicated_airspeed_m_s, eas2tas,
false, _parameters.pitch_limit_min,
_parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
_parameters.pitch_limit_min, _parameters.pitch_limit_max);
} else if (0/* seatbelt mode enabled */) {
} else if (0/* altctrl mode enabled */) {
/** SEATBELT FLIGHT **/
/** ALTCTRL FLIGHT **/
if (0/* switched from another mode to seatbelt */) {
_seatbelt_hold_heading = _att.yaw;
if (0/* switched from another mode to altctrl */) {
_altctrl_hold_heading = _att.yaw;
}
if (0/* seatbelt on and manual control yaw non-zero */) {
_seatbelt_hold_heading = _att.yaw + _manual.yaw;
if (0/* altctrl on and manual control yaw non-zero */) {
_altctrl_hold_heading = _att.yaw + _manual.r;
}
/* if in seatbelt mode, set airspeed based on manual control */
/* if in altctrl mode, set airspeed based on manual control */
// XXX check if ground speed undershoot should be applied here
float seatbelt_airspeed = _parameters.airspeed_min +
float altctrl_airspeed = _parameters.airspeed_min +
(_parameters.airspeed_max - _parameters.airspeed_min) *
_manual.throttle;
_manual.z;
/* user switched off throttle */
if (_manual.throttle < 0.1f) {
if (_manual.z < 0.1f) {
throttle_max = 0.0f;
/* switch to pure pitch based altitude control, give up speed */
_tecs.set_speed_weight(0.0f);
@@ -1116,15 +1170,15 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
bool climb_out = false;
/* user wants to climb out */
if (_manual.pitch > 0.3f && _manual.throttle > 0.8f) {
if (_manual.x > 0.3f && _manual.z > 0.8f) {
climb_out = true;
}
_l1_control.navigate_heading(_seatbelt_hold_heading, _att.yaw, ground_speed);
_att_sp.roll_body = _manual.roll;
_att_sp.yaw_body = _manual.yaw;
_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.pitch * 2.0f,
seatbelt_airspeed,
_l1_control.navigate_heading(_altctrl_hold_heading, _att.yaw, ground_speed);
_att_sp.roll_body = _manual.y;
_att_sp.yaw_body = _manual.r;
_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.x * 2.0f,
altctrl_airspeed,
_airspeed.indicated_airspeed_m_s, eas2tas,
climb_out, _parameters.pitch_limit_min,
_parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
@@ -1181,6 +1235,7 @@ FixedwingPositionControl::task_main()
_airspeed_sub = orb_subscribe(ORB_ID(airspeed));
_params_sub = orb_subscribe(ORB_ID(parameter_update));
_manual_control_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
_range_finder_sub = orb_subscribe(ORB_ID(sensor_range_finder));
/* rate limit vehicle status updates to 5Hz */
orb_set_interval(_control_mode_sub, 200);
@@ -1260,6 +1315,7 @@ FixedwingPositionControl::task_main()
vehicle_setpoint_poll();
vehicle_sensor_combined_poll();
vehicle_airspeed_poll();
range_finder_poll();
// vehicle_baro_poll();
math::Vector<2> ground_speed(_global_pos.vel_n, _global_pos.vel_e);
src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
+11
View File
@@ -375,3 +375,14 @@ PARAM_DEFINE_FLOAT(FW_LND_TLALT, 5.0f);
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_LND_HHDIST, 15.0f);
/**
* Relative altitude threshold for range finder measurements for use during landing
*
* range finder measurements will only be used if the estimated relative altitude (gobal_pos.alt - landing_waypoint.alt) is < FW_LND_RFRALT
* set to < 0 to disable
* the correct value of this parameter depends on your range measuring device as well as on the terrain at the landing location
*
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_LND_RFRALT, -1.0f);
src/modules/fw_pos_control_l1/landingslope.cpp
+27 -7
View File
@@ -69,26 +69,46 @@ void Landingslope::calculateSlopeValues()
_horizontal_slope_displacement = (_flare_length - _d1);
}
float Landingslope::getLandingSlopeAbsoluteAltitude(float wp_distance, float wp_altitude)
float Landingslope::getLandingSlopeRelativeAltitude(float wp_landing_distance)
{
return Landingslope::getLandingSlopeAbsoluteAltitude(wp_distance, wp_altitude, _horizontal_slope_displacement, _landing_slope_angle_rad);
return Landingslope::getLandingSlopeRelativeAltitude(wp_landing_distance, _horizontal_slope_displacement, _landing_slope_angle_rad);
}
float Landingslope::getLandingSlopeAbsoluteAltitudeSave(float wp_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp, float wp_altitude)
float Landingslope::getLandingSlopeRelativeAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp)
{
/* If airplane is in front of waypoint return slope altitude, else return waypoint altitude */
if (fabsf(bearing_airplane_currwp - bearing_lastwp_currwp) < math::radians(90.0f))
return getLandingSlopeAbsoluteAltitude(wp_distance, wp_altitude);
return getLandingSlopeRelativeAltitude(wp_landing_distance);
else
return 0.0f;
}
float Landingslope::getLandingSlopeAbsoluteAltitude(float wp_landing_distance, float wp_altitude)
{
return Landingslope::getLandingSlopeAbsoluteAltitude(wp_landing_distance, wp_altitude, _horizontal_slope_displacement, _landing_slope_angle_rad);
}
float Landingslope::getLandingSlopeAbsoluteAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp, float wp_altitude)
{
/* If airplane is in front of waypoint return slope altitude, else return waypoint altitude */
if (fabsf(bearing_airplane_currwp - bearing_lastwp_currwp) < math::radians(90.0f))
return getLandingSlopeAbsoluteAltitude(wp_landing_distance, wp_altitude);
else
return wp_altitude;
}
float Landingslope::getFlareCurveAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp, float wp_landing_altitude)
float Landingslope::getFlareCurveRelativeAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp)
{
/* If airplane is in front of waypoint return flare curve altitude, else return waypoint altitude */
if (fabsf(bearing_airplane_currwp - bearing_lastwp_currwp) < math::radians(90.0f))
return wp_landing_altitude + _H0 * expf(-math::max(0.0f, _flare_length - wp_landing_distance)/_flare_constant) - _H1_virt;
return _H0 * expf(-math::max(0.0f, _flare_length - wp_landing_distance)/_flare_constant) - _H1_virt;
else
return wp_landing_altitude;
return 0.0f;
}
float Landingslope::getFlareCurveAbsoluteAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp, float wp_landing_altitude)
{
return wp_landing_altitude + getFlareCurveRelativeAltitudeSave(wp_landing_distance, bearing_lastwp_currwp, bearing_airplane_currwp);
}
src/modules/fw_pos_control_l1/landingslope.h
+28 -3
View File
@@ -63,11 +63,26 @@ public:
Landingslope() {}
~Landingslope() {}
/**
*
* @return relative altitude of point on landing slope at distance to landing waypoint=wp_landing_distance
*/
float getLandingSlopeRelativeAltitude(float wp_landing_distance);
/**
*
* @return relative altitude of point on landing slope at distance to landing waypoint=wp_landing_distance
* Performs check if aircraft is in front of waypoint to avoid climbout
*/
float getLandingSlopeRelativeAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp);
/**
*
* @return Absolute altitude of point on landing slope at distance to landing waypoint=wp_landing_distance
*/
float getLandingSlopeAbsoluteAltitude(float wp_distance, float wp_altitude);
float getLandingSlopeAbsoluteAltitude(float wp_landing_distance, float wp_altitude);
/**
*
@@ -76,13 +91,22 @@ public:
*/
float getLandingSlopeAbsoluteAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp, float wp_landing_altitude);
/**
*
* @return Relative altitude of point on landing slope at distance to landing waypoint=wp_landing_distance
*/
__EXPORT static float getLandingSlopeRelativeAltitude(float wp_landing_distance, float horizontal_slope_displacement, float landing_slope_angle_rad)
{
return (wp_landing_distance - horizontal_slope_displacement) * tanf(landing_slope_angle_rad); //flare_relative_alt is negative
}
/**
*
* @return Absolute altitude of point on landing slope at distance to landing waypoint=wp_landing_distance
*/
__EXPORT static float getLandingSlopeAbsoluteAltitude(float wp_landing_distance, float wp_landing_altitude, float horizontal_slope_displacement, float landing_slope_angle_rad)
{
return (wp_landing_distance - horizontal_slope_displacement) * tanf(landing_slope_angle_rad) + wp_landing_altitude; //flare_relative_alt is negative
return getLandingSlopeRelativeAltitude(wp_landing_distance, horizontal_slope_displacement, landing_slope_angle_rad) + wp_landing_altitude;
}
/**
@@ -95,8 +119,9 @@ public:
}
float getFlareCurveRelativeAltitudeSave(float wp_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp);
float getFlareCurveAltitudeSave(float wp_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp, float wp_altitude);
float getFlareCurveAbsoluteAltitudeSave(float wp_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp, float wp_altitude);
void update(float landing_slope_angle_rad,
float flare_relative_alt,
src/modules/mavlink/mavlink_main.cpp
+10 -13
View File
@@ -149,10 +149,7 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length
instance = Mavlink::get_instance(6);
break;
#endif
}
/* no valid instance, bail */
if (!instance) {
default:
return;
}
@@ -211,9 +208,9 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length
static void usage(void);
Mavlink::Mavlink() :
next(nullptr),
_device_name(DEFAULT_DEVICE_NAME),
_task_should_exit(false),
next(nullptr),
_mavlink_fd(-1),
_task_running(false),
_hil_enabled(false),
@@ -234,7 +231,6 @@ Mavlink::Mavlink() :
_subscribe_to_stream_rate(0.0f),
_flow_control_enabled(true),
_message_buffer({}),
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "mavlink"))
{
@@ -736,9 +732,9 @@ int Mavlink::mavlink_pm_send_param(param_t param)
if (param == PARAM_INVALID) { return 1; }
/* buffers for param transmission */
static char name_buf[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN];
char name_buf[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN];
float val_buf;
static mavlink_message_t tx_msg;
mavlink_message_t tx_msg;
/* query parameter type */
param_type_t type = param_type(param);
@@ -1543,6 +1539,8 @@ void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg)
void
Mavlink::mavlink_missionlib_send_message(mavlink_message_t *msg)
{
uint8_t missionlib_msg_buf[MAVLINK_MAX_PACKET_LEN];
uint16_t len = mavlink_msg_to_send_buffer(missionlib_msg_buf, msg);
mavlink_send_uart_bytes(_channel, missionlib_msg_buf, len);
@@ -2039,14 +2037,14 @@ Mavlink::task_main(int argc, char *argv[])
if (_subscribe_to_stream != nullptr) {
if (OK == configure_stream(_subscribe_to_stream, _subscribe_to_stream_rate)) {
if (_subscribe_to_stream_rate > 0.0f) {
warnx("stream %s on device %s enabled with rate %.1f Hz", _subscribe_to_stream, _device_name, _subscribe_to_stream_rate);
warnx("stream %s on device %s enabled with rate %.1f Hz", _subscribe_to_stream, _device_name, (double)_subscribe_to_stream_rate);
} else {
warnx("stream %s on device %s disabled", _subscribe_to_stream, _device_name);
}
} else {
warnx("stream %s not found", _subscribe_to_stream, _device_name);
warnx("stream %s on device %s not found", _subscribe_to_stream, _device_name);
}
delete _subscribe_to_stream;
@@ -2213,7 +2211,7 @@ Mavlink::start(int argc, char *argv[])
task_spawn_cmd(buf,
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
2048,
1950,
(main_t)&Mavlink::start_helper,
(const char **)argv);
@@ -2252,7 +2250,6 @@ Mavlink::stream(int argc, char *argv[])
const char *device_name = DEFAULT_DEVICE_NAME;
float rate = -1.0f;
const char *stream_name = nullptr;
int ch;
argc -= 2;
argv += 2;
@@ -2289,7 +2286,7 @@ Mavlink::stream(int argc, char *argv[])
i++;
}
if (!err_flag && rate >= 0.0 && stream_name != nullptr) {
if (!err_flag && rate >= 0.0f && stream_name != nullptr) {
Mavlink *inst = get_instance_for_device(device_name);
if (inst != nullptr) {
src/modules/mavlink/mavlink_main.h
+1 -4
View File
@@ -221,8 +221,6 @@ private:
int _mavlink_fd;
bool _task_running;
perf_counter_t _loop_perf; /**< loop performance counter */
/* states */
bool _hil_enabled; /**< Hardware In the Loop mode */
bool _use_hil_gps; /**< Accept GPS HIL messages (for example from an external motion capturing system to fake indoor gps) */
@@ -237,7 +235,6 @@ private:
orb_advert_t _mission_pub;
struct mission_s mission;
uint8_t missionlib_msg_buf[MAVLINK_MAX_PACKET_LEN];
MAVLINK_MODE _mode;
uint8_t _mavlink_wpm_comp_id;
@@ -283,7 +280,7 @@ private:
pthread_mutex_t _message_buffer_mutex;
perf_counter_t _loop_perf; /**< loop performance counter */
/**
* Send one parameter.
src/modules/mavlink/mavlink_messages.cpp
+12 -8
View File
@@ -125,18 +125,22 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | (status->is_rotary_wing ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0);
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
} else if (status->main_state == MAIN_STATE_SEATBELT) {
} else if (status->main_state == MAIN_STATE_ALTCTL) {
*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_SEATBELT;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ALTCTL;
} else if (status->main_state == MAIN_STATE_EASY) {
} else if (status->main_state == MAIN_STATE_POSCTL) {
*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_EASY;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_POSCTL;
} else if (status->main_state == MAIN_STATE_AUTO) {
*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_READY;
} else if (status->main_state == MAIN_STATE_ACRO) {
*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ACRO;
}
} else {
@@ -1139,10 +1143,10 @@ protected:
if (manual_sub->update(t)) {
mavlink_msg_manual_control_send(_channel,
mavlink_system.sysid,
manual->roll * 1000,
manual->pitch * 1000,
manual->yaw * 1000,
manual->throttle * 1000,
manual->x * 1000,
manual->y * 1000,
manual->z * 1000,
manual->r * 1000,
0);
}
}
src/modules/mavlink/mavlink_orb_subscription.cpp
+1 -1
View File
@@ -63,7 +63,7 @@ MavlinkOrbSubscription::~MavlinkOrbSubscription()
free(_data);
}
const orb_id_t
orb_id_t
MavlinkOrbSubscription::get_topic()
{
return _topic;
src/modules/mavlink/mavlink_orb_subscription.h
+1 -1
View File
@@ -63,7 +63,7 @@ public:
*/
bool is_published();
void *get_data();
const orb_id_t get_topic();
orb_id_t get_topic();
private:
const orb_id_t _topic; /*< topic metadata */
src/modules/mavlink/mavlink_receiver.cpp
+8 -6
View File
@@ -191,7 +191,7 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
}
}
/* If we've received a valid message, mark the flag indicating so.
This is used in the '-w' command-line flag. */
_mavlink->set_has_received_messages(true);
@@ -438,10 +438,10 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
memset(&manual, 0, sizeof(manual));
manual.timestamp = hrt_absolute_time();
manual.pitch = man.x / 1000.0f;
manual.roll = man.y / 1000.0f;
manual.yaw = man.r / 1000.0f;
manual.throttle = man.z / 1000.0f;
manual.x = man.x / 1000.0f;
manual.y = man.y / 1000.0f;
manual.r = man.r / 1000.0f;
manual.z = man.z / 1000.0f;
if (_manual_pub < 0) {
_manual_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual);
@@ -932,6 +932,8 @@ void *MavlinkReceiver::start_helper(void *context)
rcv->receive_thread(NULL);
delete rcv;
return nullptr;
}
pthread_t
@@ -949,7 +951,7 @@ MavlinkReceiver::receive_start(Mavlink *parent)
param.sched_priority = SCHED_PRIORITY_MAX - 40;
(void)pthread_attr_setschedparam(&receiveloop_attr, &param);
pthread_attr_setstacksize(&receiveloop_attr, 3000);
pthread_attr_setstacksize(&receiveloop_attr, 2900);
pthread_t thread;
pthread_create(&thread, &receiveloop_attr, MavlinkReceiver::start_helper, (void *)parent);
src/modules/mavlink/mavlink_stream.cpp
+4
View File
@@ -81,5 +81,9 @@ MavlinkStream::update(const hrt_abstime t)
/* interval expired, send message */
send(t);
_last_sent = (t / _interval) * _interval;
return 0;
}
return -1;
}
src/modules/mavlink/mavlink_stream.h
+5 -1
View File
@@ -63,9 +63,13 @@ public:
MavlinkStream *next;
MavlinkStream();
~MavlinkStream();
virtual ~MavlinkStream();
void set_interval(const unsigned int interval);
void set_channel(mavlink_channel_t channel);
/**
* @return 0 if updated / sent, -1 if unchanged
*/
int update(const hrt_abstime t);
virtual MavlinkStream *new_instance() = 0;
virtual void subscribe(Mavlink *mavlink) = 0;
src/modules/mavlink/module.mk
+2
View File
@@ -48,3 +48,5 @@ SRCS += mavlink_main.cpp \
INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink
MAXOPTIMIZATION = -Os
MODULE_STACKSIZE = 1024
src/modules/mc_att_control/mc_att_control_main.cpp
+82 -21
View File
@@ -1,9 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
* Author: @author Tobias Naegeli <naegelit@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -35,9 +32,13 @@
****************************************************************************/
/**
* @file mc_att_control_main.c
* @file mc_att_control_main.cpp
* Multicopter attitude controller.
*
* @author Tobias Naegeli <naegelit@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*
* The controller has two loops: P loop for angular error and PD loop for angular rate error.
* Desired rotation calculated keeping in mind that yaw response is normally slower than roll/pitch.
* For small deviations controller rotates copter to have shortest path of thrust vector and independently rotates around yaw,
@@ -71,7 +72,7 @@
#include <systemlib/err.h>
#include <systemlib/perf_counter.h>
#include <systemlib/systemlib.h>
#include <mathlib/mathlib.h>
#include <lib/mathlib/mathlib.h>
#include <lib/geo/geo.h>
/**
@@ -156,10 +157,14 @@ private:
param_t yaw_rate_i;
param_t yaw_rate_d;
param_t yaw_ff;
param_t yaw_rate_max;
param_t man_roll_max;
param_t man_pitch_max;
param_t man_yaw_max;
param_t acro_roll_max;
param_t acro_pitch_max;
param_t acro_yaw_max;
} _params_handles; /**< handles for interesting parameters */
struct {
@@ -168,10 +173,12 @@ private:
math::Vector<3> rate_i; /**< I gain for angular rate error */
math::Vector<3> rate_d; /**< D gain for angular rate error */
float yaw_ff; /**< yaw control feed-forward */
float yaw_rate_max; /**< max yaw rate */
float man_roll_max;
float man_pitch_max;
float man_yaw_max;
math::Vector<3> acro_rate_max; /**< max attitude rates in acro mode */
} _params;
/**
@@ -225,9 +232,9 @@ private:
static void task_main_trampoline(int argc, char *argv[]);
/**
* Main sensor collection task.
* Main attitude control task.
*/
void task_main() __attribute__((noreturn));
void task_main();
};
namespace mc_att_control
@@ -276,6 +283,12 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
_params.rate_p.zero();
_params.rate_i.zero();
_params.rate_d.zero();
_params.yaw_ff = 0.0f;
_params.yaw_rate_max = 0.0f;
_params.man_roll_max = 0.0f;
_params.man_pitch_max = 0.0f;
_params.man_yaw_max = 0.0f;
_params.acro_rate_max.zero();
_rates_prev.zero();
_rates_sp.zero();
@@ -298,10 +311,13 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
_params_handles.yaw_rate_i = param_find("MC_YAWRATE_I");
_params_handles.yaw_rate_d = param_find("MC_YAWRATE_D");
_params_handles.yaw_ff = param_find("MC_YAW_FF");
_params_handles.yaw_rate_max = param_find("MC_YAWRATE_MAX");
_params_handles.man_roll_max = param_find("MC_MAN_R_MAX");
_params_handles.man_pitch_max = param_find("MC_MAN_P_MAX");
_params_handles.man_yaw_max = param_find("MC_MAN_Y_MAX");
_params_handles.acro_roll_max = param_find("MC_ACRO_R_MAX");
_params_handles.acro_pitch_max = param_find("MC_ACRO_P_MAX");
_params_handles.acro_yaw_max = param_find("MC_ACRO_Y_MAX");
/* fetch initial parameter values */
parameters_update();
@@ -367,15 +383,24 @@ MulticopterAttitudeControl::parameters_update()
_params.rate_d(2) = v;
param_get(_params_handles.yaw_ff, &_params.yaw_ff);
param_get(_params_handles.yaw_rate_max, &_params.yaw_rate_max);
_params.yaw_rate_max = math::radians(_params.yaw_rate_max);
/* manual control scale */
param_get(_params_handles.man_roll_max, &_params.man_roll_max);
param_get(_params_handles.man_pitch_max, &_params.man_pitch_max);
param_get(_params_handles.man_yaw_max, &_params.man_yaw_max);
_params.man_roll_max = math::radians(_params.man_roll_max);
_params.man_pitch_max = math::radians(_params.man_pitch_max);
_params.man_yaw_max = math::radians(_params.man_yaw_max);
_params.man_roll_max *= M_PI / 180.0;
_params.man_pitch_max *= M_PI / 180.0;
_params.man_yaw_max *= M_PI / 180.0;
/* acro control scale */
param_get(_params_handles.acro_roll_max, &v);
_params.acro_rate_max(0) = math::radians(v);
param_get(_params_handles.acro_pitch_max, &v);
_params.acro_rate_max(1) = math::radians(v);
param_get(_params_handles.acro_yaw_max, &v);
_params.acro_rate_max(2) = math::radians(v);
return OK;
}
@@ -478,7 +503,7 @@ MulticopterAttitudeControl::control_attitude(float dt)
if (!_v_control_mode.flag_control_climb_rate_enabled) {
/* pass throttle directly if not in altitude stabilized mode */
_v_att_sp.thrust = _manual_control_sp.throttle;
_v_att_sp.thrust = _manual_control_sp.z;
publish_att_sp = true;
}
@@ -496,8 +521,16 @@ MulticopterAttitudeControl::control_attitude(float dt)
//}
} else {
/* move yaw setpoint */
yaw_sp_move_rate = _manual_control_sp.yaw * _params.man_yaw_max;
yaw_sp_move_rate = _manual_control_sp.r * _params.man_yaw_max;
_v_att_sp.yaw_body = _wrap_pi(_v_att_sp.yaw_body + yaw_sp_move_rate * dt);
float yaw_offs_max = _params.man_yaw_max / _params.att_p(2);
float yaw_offs = _wrap_pi(_v_att_sp.yaw_body - _v_att.yaw);
if (yaw_offs < - yaw_offs_max) {
_v_att_sp.yaw_body = _wrap_pi(_v_att.yaw - yaw_offs_max);
} else if (yaw_offs > yaw_offs_max) {
_v_att_sp.yaw_body = _wrap_pi(_v_att.yaw + yaw_offs_max);
}
_v_att_sp.R_valid = false;
publish_att_sp = true;
}
@@ -512,8 +545,8 @@ MulticopterAttitudeControl::control_attitude(float dt)
if (!_v_control_mode.flag_control_velocity_enabled) {
/* update attitude setpoint if not in position control mode */
_v_att_sp.roll_body = _manual_control_sp.roll * _params.man_roll_max;
_v_att_sp.pitch_body = -_manual_control_sp.pitch * _params.man_pitch_max;
_v_att_sp.roll_body = _manual_control_sp.y * _params.man_roll_max;
_v_att_sp.pitch_body = -_manual_control_sp.x * _params.man_pitch_max;
_v_att_sp.R_valid = false;
publish_att_sp = true;
}
@@ -626,6 +659,9 @@ MulticopterAttitudeControl::control_attitude(float dt)
/* calculate angular rates setpoint */
_rates_sp = _params.att_p.emult(e_R);
/* limit yaw rate */
_rates_sp(2) = math::constrain(_rates_sp(2), -_params.yaw_rate_max, _params.yaw_rate_max);
/* feed forward yaw setpoint rate */
_rates_sp(2) += yaw_sp_move_rate * yaw_w * _params.yaw_ff;
}
@@ -762,11 +798,36 @@ MulticopterAttitudeControl::task_main()
} else {
/* attitude controller disabled, poll rates setpoint topic */
vehicle_rates_setpoint_poll();
_rates_sp(0) = _v_rates_sp.roll;
_rates_sp(1) = _v_rates_sp.pitch;
_rates_sp(2) = _v_rates_sp.yaw;
_thrust_sp = _v_rates_sp.thrust;
if (_v_control_mode.flag_control_manual_enabled) {
/* manual rates control - ACRO mode */
_rates_sp = math::Vector<3>(_manual_control_sp.y, -_manual_control_sp.x, _manual_control_sp.r).emult(_params.acro_rate_max);
_thrust_sp = _manual_control_sp.z;
/* reset yaw setpoint after ACRO */
_reset_yaw_sp = true;
/* publish attitude rates setpoint */
_v_rates_sp.roll = _rates_sp(0);
_v_rates_sp.pitch = _rates_sp(1);
_v_rates_sp.yaw = _rates_sp(2);
_v_rates_sp.thrust = _thrust_sp;
_v_rates_sp.timestamp = hrt_absolute_time();
if (_v_rates_sp_pub > 0) {
orb_publish(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_pub, &_v_rates_sp);
} else {
_v_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_v_rates_sp);
}
} else {
/* attitude controller disabled, poll rates setpoint topic */
vehicle_rates_setpoint_poll();
_rates_sp(0) = _v_rates_sp.roll;
_rates_sp(1) = _v_rates_sp.pitch;
_rates_sp(2) = _v_rates_sp.yaw;
_thrust_sp = _v_rates_sp.thrust;
}
}
if (_v_control_mode.flag_control_rates_enabled) {
@@ -806,7 +867,7 @@ MulticopterAttitudeControl::start()
_control_task = task_spawn_cmd("mc_att_control",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
2048,
2000,
(main_t)&MulticopterAttitudeControl::task_main_trampoline,
nullptr);
src/modules/mc_att_control/mc_att_control_params.c
+45 -3
View File
@@ -1,9 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
* Author: @author Tobias Naegeli <naegelit@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -37,6 +34,10 @@
/**
* @file mc_att_control_params.c
* Parameters for multicopter attitude controller.
*
* @author Tobias Naegeli <naegelit@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#include <systemlib/param/param.h>
@@ -174,6 +175,18 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
*/
PARAM_DEFINE_FLOAT(MC_YAW_FF, 0.5f);
/**
* Max yaw rate
*
* Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation.
*
* @unit deg/s
* @min 0.0
* @max 360.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX, 120.0f);
/**
* Max manual roll
*
@@ -202,3 +215,32 @@ PARAM_DEFINE_FLOAT(MC_MAN_P_MAX, 35.0f);
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_MAN_Y_MAX, 120.0f);
/**
* Max acro roll rate
*
* @unit deg/s
* @min 0.0
* @max 360.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ACRO_R_MAX, 90.0f);
/**
* Max acro pitch rate
*
* @unit deg/s
* @min 0.0
* @max 360.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ACRO_P_MAX, 90.0f);
/**
* Max acro yaw rate
*
* @unit deg/s
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ACRO_Y_MAX, 120.0f);
src/modules/mc_pos_control/mc_pos_control_main.cpp
+6 -6
View File
@@ -226,7 +226,7 @@ private:
/**
* Main sensor collection task.
*/
void task_main() __attribute__((noreturn));
void task_main();
};
namespace pos_control
@@ -617,7 +617,7 @@ MulticopterPositionControl::task_main()
reset_alt_sp();
/* move altitude setpoint with throttle stick */
sp_move_rate(2) = -scale_control(_manual.throttle - 0.5f, 0.5f, alt_ctl_dz);
sp_move_rate(2) = -scale_control(_manual.z - 0.5f, 0.5f, alt_ctl_dz);
}
if (_control_mode.flag_control_position_enabled) {
@@ -625,8 +625,8 @@ MulticopterPositionControl::task_main()
reset_pos_sp();
/* move position setpoint with roll/pitch stick */
sp_move_rate(0) = _manual.pitch;
sp_move_rate(1) = _manual.roll;
sp_move_rate(0) = _manual.x;
sp_move_rate(1) = _manual.y;
}
/* limit setpoint move rate */
@@ -782,7 +782,7 @@ MulticopterPositionControl::task_main()
float i = _params.thr_min;
if (reset_int_z_manual) {
i = _manual.throttle;
i = _manual.z;
if (i < _params.thr_min) {
i = _params.thr_min;
@@ -1062,7 +1062,7 @@ MulticopterPositionControl::start()
_control_task = task_spawn_cmd("mc_pos_control",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
2048,
2000,
(main_t)&MulticopterPositionControl::task_main_trampoline,
nullptr);
src/modules/mc_pos_control/mc_pos_control_params.c
+7 -5
View File
@@ -35,6 +35,8 @@
/**
* @file mc_pos_control_params.c
* Multicopter position controller parameters.
*
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#include <systemlib/param/param.h>
@@ -98,7 +100,7 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_D, 0.0f);
/**
* Maximum vertical velocity
*
* Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (SEATBELT, EASY).
* Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL).
*
* @unit m/s
* @min 0.0
@@ -109,7 +111,7 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX, 5.0f);
/**
* Vertical velocity feed forward
*
* Feed forward weight for altitude control in stabilized modes (SEATBELT, EASY). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
* Feed forward weight for altitude control in stabilized modes (ALTCTRL, POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
*
* @min 0.0
* @max 1.0
@@ -154,7 +156,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_D, 0.01f);
/**
* Maximum horizontal velocity
*
* Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (EASY).
* Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL).
*
* @unit m/s
* @min 0.0
@@ -165,7 +167,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 5.0f);
/**
* Horizontal velocity feed forward
*
* Feed forward weight for position control in position control mode (EASY). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
* Feed forward weight for position control in position control mode (POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
*
* @min 0.0
* @max 1.0
@@ -176,7 +178,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_FF, 0.5f);
/**
* Maximum tilt angle in air
*
* Limits maximum tilt in AUTO and EASY modes during flight.
* Limits maximum tilt in AUTO and POSCTRL modes during flight.
*
* @unit deg
* @min 0.0
src/modules/navigator/geofence.cpp
+3 -2
View File
@@ -1,8 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: @author Jean Cyr <jean.m.cyr@gmail.com>
* @author Thomas Gubler <thomasgubler@gmail.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -35,6 +33,9 @@
/**
* @file geofence.cpp
* Provides functions for handling the geofence
*
* @author Jean Cyr <jean.m.cyr@gmail.com>
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include "geofence.h"
src/modules/navigator/geofence.h
+3 -2
View File
@@ -1,8 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: @author Jean Cyr <jean.m.cyr@gmail.com>
* @author Thomas Gubler <thomasgubler@gmail.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -35,6 +33,9 @@
/**
* @file geofence.h
* Provides functions for handling the geofence
*
* @author Jean Cyr <jean.m.cyr@gmail.com>
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#ifndef GEOFENCE_H_

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