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Shrinking the main commander file a bit

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This commit is contained in:
Julian Oes
2013-06-25 16:30:35 +02:00
parent 9ce2b62eb5
commit 0ecc9c4bf4
20 changed files with 1159 additions and 564 deletions
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src/modules/commander/accelerometer_calibration.c
+12 -2
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@@ -70,15 +70,25 @@
*/ */
#include "accelerometer_calibration.h" #include "accelerometer_calibration.h"
#include "commander_helper.h"
#include <unistd.h>
#include <stdio.h>
#include <poll.h> #include <poll.h>
#include <fcntl.h>
#include <sys/prctl.h>
#include <math.h>
#include <string.h>
#include <drivers/drv_hrt.h> #include <drivers/drv_hrt.h>
#include <uORB/topics/sensor_combined.h> #include <uORB/topics/sensor_combined.h>
#include <drivers/drv_accel.h> #include <drivers/drv_accel.h>
#include <systemlib/conversions.h> #include <systemlib/conversions.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>
#include <mavlink/mavlink_log.h> #include <mavlink/mavlink_log.h>
void do_accel_calibration(int mavlink_fd);
int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float accel_scale[3]); int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float accel_scale[3]);
int detect_orientation(int mavlink_fd, int sub_sensor_combined); int detect_orientation(int mavlink_fd, int sub_sensor_combined);
int read_accelerometer_avg(int sensor_combined_sub, float accel_avg[3], int samples_num); int read_accelerometer_avg(int sensor_combined_sub, float accel_avg[3], int samples_num);
@@ -355,7 +365,7 @@ int mat_invert3(float src[3][3], float dst[3][3]) {
float det = src[0][0] * (src[1][1] * src[2][2] - src[1][2] * src[2][1]) - float det = src[0][0] * (src[1][1] * src[2][2] - src[1][2] * src[2][1]) -
src[0][1] * (src[1][0] * src[2][2] - src[1][2] * src[2][0]) + 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]); src[0][2] * (src[1][0] * src[2][1] - src[1][1] * src[2][0]);
if (det == 0.0) if (det == 0.0f)
return ERROR; // Singular matrix return ERROR; // Singular matrix
dst[0][0] = (src[1][1] * src[2][2] - src[1][2] * src[2][1]) / det; dst[0][0] = (src[1][1] * src[2][2] - src[1][2] * src[2][1]) / det;
src/modules/commander/accelerometer_calibration.h
-1
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@@ -9,7 +9,6 @@
#define ACCELEROMETER_CALIBRATION_H_ #define ACCELEROMETER_CALIBRATION_H_
#include <stdint.h> #include <stdint.h>
#include <uORB/topics/vehicle_status.h>
void do_accel_calibration(int mavlink_fd); void do_accel_calibration(int mavlink_fd);
src/modules/commander/airspeed_calibration.c
+111
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@@ -0,0 +1,111 @@
/****************************************************************************
*
* 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
* 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 airspeed_calibration.c
* Airspeed sensor calibration routine
*/
#include "airspeed_calibration.h"
#include "commander_helper.h"
#include <stdio.h>
#include <poll.h>
#include <math.h>
#include <drivers/drv_hrt.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/differential_pressure.h>
#include <mavlink/mavlink_log.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>
void do_airspeed_calibration(int mavlink_fd)
{
/* give directions */
mavlink_log_info(mavlink_fd, "airspeed calibration starting, keep it still");
const int calibration_count = 2500;
int diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure));
struct differential_pressure_s diff_pres;
int calibration_counter = 0;
float diff_pres_offset = 0.0f;
while (calibration_counter < calibration_count) {
/* wait blocking for new data */
struct pollfd fds[1] = { { .fd = diff_pres_sub, .events = POLLIN } };
int poll_ret = poll(fds, 1, 1000);
if (poll_ret) {
orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres);
diff_pres_offset += diff_pres.differential_pressure_pa;
calibration_counter++;
} else if (poll_ret == 0) {
/* any poll failure for 1s is a reason to abort */
mavlink_log_info(mavlink_fd, "airspeed calibration aborted");
return;
}
}
diff_pres_offset = diff_pres_offset / calibration_count;
if (isfinite(diff_pres_offset)) {
if (param_set(param_find("SENS_DPRES_OFF"), &(diff_pres_offset))) {
mavlink_log_critical(mavlink_fd, "Setting offs failed!");
}
/* auto-save to EEPROM */
int save_ret = param_save_default();
if (save_ret != 0) {
warn("WARNING: auto-save of params to storage failed");
}
//char buf[50];
//sprintf(buf, "[cmd] accel cal: x:%8.4f y:%8.4f z:%8.4f\n", (double)accel_offset[0], (double)accel_offset[1], (double)accel_offset[2]);
//mavlink_log_info(mavlink_fd, buf);
mavlink_log_info(mavlink_fd, "airspeed calibration done");
tune_positive();
} else {
mavlink_log_info(mavlink_fd, "airspeed calibration FAILED (NaN)");
}
close(diff_pres_sub);
}
src/modules/commander/airspeed_calibration.h
+46
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@@ -0,0 +1,46 @@
/****************************************************************************
*
* 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
* 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 gyro_calibration.h
* Airspeed sensor calibration routine
*/
#ifndef AIRSPEED_CALIBRATION_H_
#define AIRSPEED_CALIBRATION_H_
#include <stdint.h>
void do_airspeed_calibration(int mavlink_fd);
#endif /* AIRSPEED_CALIBRATION_H_ */
src/modules/commander/baro_calibration.c
+54
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@@ -0,0 +1,54 @@
/****************************************************************************
*
* 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
* 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 baro_calibration.c
* Barometer calibration routine
*/
#include "baro_calibration.h"
#include <poll.h>
#include <math.h>
#include <fcntl.h>
#include <drivers/drv_hrt.h>
#include <uORB/topics/sensor_combined.h>
#include <drivers/drv_baro.h>
#include <mavlink/mavlink_log.h>
#include <systemlib/param/param.h>
void do_baro_calibration(int mavlink_fd)
{
// TODO implement this
return;
}
src/modules/commander/baro_calibration.h
+46
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@@ -0,0 +1,46 @@
/****************************************************************************
*
* 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
* 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 mag_calibration.h
* Barometer calibration routine
*/
#ifndef BARO_CALIBRATION_H_
#define BARO_CALIBRATION_H_
#include <stdint.h>
void do_baro_calibration(int mavlink_fd);
#endif /* BARO_CALIBRATION_H_ */
src/modules/commander/calibration_routines.c
+1
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@@ -217,3 +217,4 @@ int sphere_fit_least_squares(const float x[], const float y[], const float z[],
return 0; return 0;
} }
src/modules/commander/commander.c
+27 -486
View File
@@ -91,15 +91,15 @@
#include <systemlib/err.h> #include <systemlib/err.h>
#include <systemlib/cpuload.h> #include <systemlib/cpuload.h>
#include "commander_helper.h"
#include "state_machine_helper.h" #include "state_machine_helper.h"
#include <drivers/drv_accel.h>
#include <drivers/drv_gyro.h>
#include <drivers/drv_mag.h>
#include <drivers/drv_baro.h>
#include "calibration_routines.h" #include "calibration_routines.h"
#include "accelerometer_calibration.h" #include "accelerometer_calibration.h"
#include "gyro_calibration.h"
#include "mag_calibration.h"
#include "baro_calibration.h"
#include "rc_calibration.h"
#include "airspeed_calibration.h"
PARAM_DEFINE_INT32(SYS_FAILSAVE_LL, 0); /**< Go into low-level failsafe after 0 ms */ PARAM_DEFINE_INT32(SYS_FAILSAVE_LL, 0); /**< Go into low-level failsafe after 0 ms */
//PARAM_DEFINE_INT32(SYS_FAILSAVE_HL, 0); /**< Go into high-level failsafe after 0 ms */ //PARAM_DEFINE_INT32(SYS_FAILSAVE_HL, 0); /**< Go into high-level failsafe after 0 ms */
@@ -110,6 +110,9 @@ PARAM_DEFINE_FLOAT(TRIM_YAW, 0.0f);
extern struct system_load_s system_load; extern struct system_load_s system_load;
#define LOW_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS 1000.0f
#define CRITICAL_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS 100.0f
/* Decouple update interval and hysteris counters, all depends on intervals */ /* Decouple update interval and hysteris counters, all depends on intervals */
#define COMMANDER_MONITORING_INTERVAL 50000 #define COMMANDER_MONITORING_INTERVAL 50000
#define COMMANDER_MONITORING_LOOPSPERMSEC (1/(COMMANDER_MONITORING_INTERVAL/1000.0f)) #define COMMANDER_MONITORING_LOOPSPERMSEC (1/(COMMANDER_MONITORING_INTERVAL/1000.0f))
@@ -130,7 +133,6 @@ extern struct system_load_s system_load;
/* File descriptors */ /* File descriptors */
static int leds; static int leds;
static int buzzer;
static int mavlink_fd; static int mavlink_fd;
/* flags */ /* flags */
@@ -167,27 +169,17 @@ __EXPORT int commander_main(int argc, char *argv[]);
*/ */
int commander_thread_main(int argc, char *argv[]); int commander_thread_main(int argc, char *argv[]);
int buzzer_init(void);
void buzzer_deinit(void);
int led_init(void); int led_init(void);
void led_deinit(void); void led_deinit(void);
int led_toggle(int led); int led_toggle(int led);
int led_on(int led); int led_on(int led);
int led_off(int led); int led_off(int led);
void tune_error(void);
void tune_positive(void);
void tune_neutral(void);
void tune_negative(void);
void do_reboot(void); void do_reboot(void);
void do_gyro_calibration(void);
void do_mag_calibration(void);
void do_rc_calibration(void);
void do_airspeed_calibration(void);
void handle_command(int status_pub, struct vehicle_status_s *current_status, struct vehicle_command_s *cmd, int safety_pub, struct actuator_safety_s *safety); void handle_command(int status_pub, struct vehicle_status_s *current_status, struct vehicle_command_s *cmd, int safety_pub, struct actuator_safety_s *safety);
int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, uint8_t new_state); // int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, uint8_t new_state);
@@ -206,23 +198,6 @@ void usage(const char *reason);
*/ */
// static void cal_bsort(float a[], int n); // static void cal_bsort(float a[], int n);
int buzzer_init()
{
buzzer = open("/dev/tone_alarm", O_WRONLY);
if (buzzer < 0) {
warnx("Buzzer: open fail\n");
return ERROR;
}
return 0;
}
void buzzer_deinit()
{
close(buzzer);
}
int led_init() int led_init()
{ {
@@ -268,27 +243,6 @@ int led_off(int led)
return ioctl(leds, LED_OFF, led); return ioctl(leds, LED_OFF, led);
} }
void tune_error()
{
ioctl(buzzer, TONE_SET_ALARM, 2);
}
void tune_positive()
{
ioctl(buzzer, TONE_SET_ALARM, 3);
}
void tune_neutral()
{
ioctl(buzzer, TONE_SET_ALARM, 4);
}
void tune_negative()
{
ioctl(buzzer, TONE_SET_ALARM, 5);
}
void do_reboot() void do_reboot()
{ {
mavlink_log_critical(mavlink_fd, "REBOOTING SYSTEM"); mavlink_log_critical(mavlink_fd, "REBOOTING SYSTEM");
@@ -298,424 +252,6 @@ void do_reboot()
} }
void do_rc_calibration()
{
mavlink_log_info(mavlink_fd, "trim calibration starting");
/* XXX fix this */
// if (current_status.offboard_control_signal_lost) {
// mavlink_log_critical(mavlink_fd, "TRIM CAL: ABORT. No RC signal.");
// return;
// }
int sub_man = orb_subscribe(ORB_ID(manual_control_setpoint));
struct manual_control_setpoint_s sp;
orb_copy(ORB_ID(manual_control_setpoint), sub_man, &sp);
/* set parameters */
float p = sp.roll;
param_set(param_find("TRIM_ROLL"), &p);
p = sp.pitch;
param_set(param_find("TRIM_PITCH"), &p);
p = sp.yaw;
param_set(param_find("TRIM_YAW"), &p);
/* store to permanent storage */
/* auto-save */
int save_ret = param_save_default();
if (save_ret != 0) {
mavlink_log_critical(mavlink_fd, "TRIM CAL: WARN: auto-save of params failed");
}
tune_positive();
mavlink_log_info(mavlink_fd, "trim calibration done");
}
void do_mag_calibration()
{
mavlink_log_info(mavlink_fd, "mag calibration starting, hold still");
int sub_mag = orb_subscribe(ORB_ID(sensor_mag));
struct mag_report mag;
/* 45 seconds */
uint64_t calibration_interval = 45 * 1000 * 1000;
/* maximum 2000 values */
const unsigned int calibration_maxcount = 500;
unsigned int calibration_counter = 0;
/* limit update rate to get equally spaced measurements over time (in ms) */
orb_set_interval(sub_mag, (calibration_interval / 1000) / calibration_maxcount);
int fd = open(MAG_DEVICE_PATH, O_RDONLY);
/* erase old calibration */
struct mag_scale mscale_null = {
0.0f,
1.0f,
0.0f,
1.0f,
0.0f,
1.0f,
};
if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale_null)) {
warn("WARNING: failed to set scale / offsets for mag");
mavlink_log_info(mavlink_fd, "failed to set scale / offsets for mag");
}
/* calibrate range */
if (OK != ioctl(fd, MAGIOCCALIBRATE, fd)) {
warnx("failed to calibrate scale");
}
close(fd);
/* calibrate offsets */
// uint64_t calibration_start = hrt_absolute_time();
uint64_t axis_deadline = hrt_absolute_time();
uint64_t calibration_deadline = hrt_absolute_time() + calibration_interval;
const char axislabels[3] = { 'X', 'Y', 'Z'};
int axis_index = -1;
float *x = (float *)malloc(sizeof(float) * calibration_maxcount);
float *y = (float *)malloc(sizeof(float) * calibration_maxcount);
float *z = (float *)malloc(sizeof(float) * calibration_maxcount);
if (x == NULL || y == NULL || z == NULL) {
warnx("mag cal failed: out of memory");
mavlink_log_info(mavlink_fd, "mag cal failed: out of memory");
warnx("x:%p y:%p z:%p\n", x, y, z);
return;
}
while (hrt_absolute_time() < calibration_deadline &&
calibration_counter < calibration_maxcount) {
/* wait blocking for new data */
struct pollfd fds[1] = { { .fd = sub_mag, .events = POLLIN } };
/* user guidance */
if (hrt_absolute_time() >= axis_deadline &&
axis_index < 3) {
axis_index++;
char buf[50];
sprintf(buf, "please rotate around %c", axislabels[axis_index]);
mavlink_log_info(mavlink_fd, buf);
tune_neutral();
axis_deadline += calibration_interval / 3;
}
if (!(axis_index < 3)) {
break;
}
// int axis_left = (int64_t)axis_deadline - (int64_t)hrt_absolute_time();
// if ((axis_left / 1000) == 0 && axis_left > 0) {
// char buf[50];
// sprintf(buf, "[cmd] %d seconds left for axis %c", axis_left, axislabels[axis_index]);
// mavlink_log_info(mavlink_fd, buf);
// }
int poll_ret = poll(fds, 1, 1000);
if (poll_ret) {
orb_copy(ORB_ID(sensor_mag), sub_mag, &mag);
x[calibration_counter] = mag.x;
y[calibration_counter] = mag.y;
z[calibration_counter] = mag.z;
/* get min/max values */
// if (mag.x < mag_min[0]) {
// mag_min[0] = mag.x;
// }
// else if (mag.x > mag_max[0]) {
// mag_max[0] = mag.x;
// }
// if (raw.magnetometer_ga[1] < mag_min[1]) {
// mag_min[1] = raw.magnetometer_ga[1];
// }
// else if (raw.magnetometer_ga[1] > mag_max[1]) {
// mag_max[1] = raw.magnetometer_ga[1];
// }
// if (raw.magnetometer_ga[2] < mag_min[2]) {
// mag_min[2] = raw.magnetometer_ga[2];
// }
// else if (raw.magnetometer_ga[2] > mag_max[2]) {
// mag_max[2] = raw.magnetometer_ga[2];
// }
calibration_counter++;
} else if (poll_ret == 0) {
/* any poll failure for 1s is a reason to abort */
mavlink_log_info(mavlink_fd, "mag cal canceled (timed out)");
break;
}
}
float sphere_x;
float sphere_y;
float sphere_z;
float sphere_radius;
sphere_fit_least_squares(x, y, z, calibration_counter, 100, 0.0f, &sphere_x, &sphere_y, &sphere_z, &sphere_radius);
free(x);
free(y);
free(z);
if (isfinite(sphere_x) && isfinite(sphere_y) && isfinite(sphere_z)) {
fd = open(MAG_DEVICE_PATH, 0);
struct mag_scale mscale;
if (OK != ioctl(fd, MAGIOCGSCALE, (long unsigned int)&mscale))
warn("WARNING: failed to get scale / offsets for mag");
mscale.x_offset = sphere_x;
mscale.y_offset = sphere_y;
mscale.z_offset = sphere_z;
if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale))
warn("WARNING: failed to set scale / offsets for mag");
close(fd);
/* announce and set new offset */
if (param_set(param_find("SENS_MAG_XOFF"), &(mscale.x_offset))) {
warnx("Setting X mag offset failed!\n");
}
if (param_set(param_find("SENS_MAG_YOFF"), &(mscale.y_offset))) {
warnx("Setting Y mag offset failed!\n");
}
if (param_set(param_find("SENS_MAG_ZOFF"), &(mscale.z_offset))) {
warnx("Setting Z mag offset failed!\n");
}
if (param_set(param_find("SENS_MAG_XSCALE"), &(mscale.x_scale))) {
warnx("Setting X mag scale failed!\n");
}
if (param_set(param_find("SENS_MAG_YSCALE"), &(mscale.y_scale))) {
warnx("Setting Y mag scale failed!\n");
}
if (param_set(param_find("SENS_MAG_ZSCALE"), &(mscale.z_scale))) {
warnx("Setting Z mag scale failed!\n");
}
/* auto-save to EEPROM */
int save_ret = param_save_default();
if (save_ret != 0) {
warn("WARNING: auto-save of params to storage failed");
mavlink_log_info(mavlink_fd, "FAILED storing calibration");
}
warnx("\tscale: %.6f %.6f %.6f\n \toffset: %.6f %.6f %.6f\nradius: %.6f GA\n",
(double)mscale.x_scale, (double)mscale.y_scale, (double)mscale.z_scale,
(double)mscale.x_offset, (double)mscale.y_offset, (double)mscale.z_offset, (double)sphere_radius);
char buf[52];
sprintf(buf, "mag off: x:%.2f y:%.2f z:%.2f Ga", (double)mscale.x_offset,
(double)mscale.y_offset, (double)mscale.z_offset);
mavlink_log_info(mavlink_fd, buf);
sprintf(buf, "mag scale: x:%.2f y:%.2f z:%.2f", (double)mscale.x_scale,
(double)mscale.y_scale, (double)mscale.z_scale);
mavlink_log_info(mavlink_fd, buf);
mavlink_log_info(mavlink_fd, "mag calibration done");
tune_positive();
/* third beep by cal end routine */
} else {
mavlink_log_info(mavlink_fd, "mag calibration FAILED (NaN in sphere fit)");
}
close(sub_mag);
}
void do_gyro_calibration()
{
mavlink_log_info(mavlink_fd, "gyro calibration starting, hold still");
const int calibration_count = 5000;
int sub_sensor_combined = orb_subscribe(ORB_ID(sensor_combined));
struct sensor_combined_s raw;
int calibration_counter = 0;
float gyro_offset[3] = {0.0f, 0.0f, 0.0f};
/* set offsets to zero */
int fd = open(GYRO_DEVICE_PATH, 0);
struct gyro_scale gscale_null = {
0.0f,
1.0f,
0.0f,
1.0f,
0.0f,
1.0f,
};
if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale_null))
warn("WARNING: failed to set scale / offsets for gyro");
close(fd);
while (calibration_counter < calibration_count) {
/* wait blocking for new data */
struct pollfd fds[1] = { { .fd = sub_sensor_combined, .events = POLLIN } };
int poll_ret = poll(fds, 1, 1000);
if (poll_ret) {
orb_copy(ORB_ID(sensor_combined), sub_sensor_combined, &raw);
gyro_offset[0] += raw.gyro_rad_s[0];
gyro_offset[1] += raw.gyro_rad_s[1];
gyro_offset[2] += raw.gyro_rad_s[2];
calibration_counter++;
} else if (poll_ret == 0) {
/* any poll failure for 1s is a reason to abort */
mavlink_log_info(mavlink_fd, "gyro calibration aborted, retry");
return;
}
}
gyro_offset[0] = gyro_offset[0] / calibration_count;
gyro_offset[1] = gyro_offset[1] / calibration_count;
gyro_offset[2] = gyro_offset[2] / calibration_count;
if (isfinite(gyro_offset[0]) && isfinite(gyro_offset[1]) && isfinite(gyro_offset[2])) {
if (param_set(param_find("SENS_GYRO_XOFF"), &(gyro_offset[0]))
|| param_set(param_find("SENS_GYRO_YOFF"), &(gyro_offset[1]))
|| param_set(param_find("SENS_GYRO_ZOFF"), &(gyro_offset[2]))) {
mavlink_log_critical(mavlink_fd, "Setting gyro offsets failed!");
}
/* set offsets to actual value */
fd = open(GYRO_DEVICE_PATH, 0);
struct gyro_scale gscale = {
gyro_offset[0],
1.0f,
gyro_offset[1],
1.0f,
gyro_offset[2],
1.0f,
};
if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale))
warn("WARNING: failed to set scale / offsets for gyro");
close(fd);
/* auto-save to EEPROM */
int save_ret = param_save_default();
if (save_ret != 0) {
warn("WARNING: auto-save of params to storage failed");
}
// char buf[50];
// sprintf(buf, "cal: x:%8.4f y:%8.4f z:%8.4f", (double)gyro_offset[0], (double)gyro_offset[1], (double)gyro_offset[2]);
// mavlink_log_info(mavlink_fd, buf);
mavlink_log_info(mavlink_fd, "gyro calibration done");
tune_positive();
/* third beep by cal end routine */
} else {
mavlink_log_info(mavlink_fd, "gyro calibration FAILED (NaN)");
}
close(sub_sensor_combined);
}
void do_airspeed_calibration()
{
/* give directions */
mavlink_log_info(mavlink_fd, "airspeed calibration starting, keep it still");
const int calibration_count = 2500;
int diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure));
struct differential_pressure_s diff_pres;
int calibration_counter = 0;
float diff_pres_offset = 0.0f;
while (calibration_counter < calibration_count) {
/* wait blocking for new data */
struct pollfd fds[1] = { { .fd = diff_pres_sub, .events = POLLIN } };
int poll_ret = poll(fds, 1, 1000);
if (poll_ret) {
orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres);
diff_pres_offset += diff_pres.differential_pressure_pa;
calibration_counter++;
} else if (poll_ret == 0) {
/* any poll failure for 1s is a reason to abort */
mavlink_log_info(mavlink_fd, "airspeed calibration aborted");
return;
}
}
diff_pres_offset = diff_pres_offset / calibration_count;
if (isfinite(diff_pres_offset)) {
if (param_set(param_find("SENS_DPRES_OFF"), &(diff_pres_offset))) {
mavlink_log_critical(mavlink_fd, "Setting offs failed!");
}
/* auto-save to EEPROM */
int save_ret = param_save_default();
if (save_ret != 0) {
warn("WARNING: auto-save of params to storage failed");
}
//char buf[50];
//sprintf(buf, "[cmd] accel cal: x:%8.4f y:%8.4f z:%8.4f\n", (double)accel_offset[0], (double)accel_offset[1], (double)accel_offset[2]);
//mavlink_log_info(mavlink_fd, buf);
mavlink_log_info(mavlink_fd, "airspeed calibration done");
tune_positive();
} else {
mavlink_log_info(mavlink_fd, "airspeed calibration FAILED (NaN)");
}
close(diff_pres_sub);
}
void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_status, struct vehicle_command_s *cmd, int safety_pub, struct actuator_safety_s *safety) void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_status, struct vehicle_command_s *cmd, int safety_pub, struct actuator_safety_s *safety)
{ {
@@ -1182,7 +718,7 @@ int commander_thread_main(int argc, char *argv[])
warnx("ERROR: Failed to initialize leds"); warnx("ERROR: Failed to initialize leds");
} }
if (buzzer_init() != 0) { if (buzzer_init() != OK) {
warnx("ERROR: Failed to initialize buzzer"); warnx("ERROR: Failed to initialize buzzer");
} }
@@ -1246,7 +782,12 @@ int commander_thread_main(int argc, char *argv[])
/* advertise to ORB */ /* advertise to ORB */
status_pub = orb_advertise(ORB_ID(vehicle_status), &current_status); status_pub = orb_advertise(ORB_ID(vehicle_status), &current_status);
/* publish current state machine */ /* publish current state machine */
state_machine_publish(status_pub, &current_status, mavlink_fd);
/* publish the new state */
current_status.counter++;
current_status.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(vehicle_status), status_pub, &current_status);
safety_pub = orb_advertise(ORB_ID(actuator_safety), &safety); safety_pub = orb_advertise(ORB_ID(actuator_safety), &safety);
@@ -1715,7 +1256,7 @@ int commander_thread_main(int argc, char *argv[])
// state_changed = true; // state_changed = true;
// } // }
orb_check(ORB_ID(vehicle_gps_position), &new_data); orb_check(gps_sub, &new_data);
if (new_data) { if (new_data) {
@@ -2222,18 +1763,18 @@ int commander_thread_main(int argc, char *argv[])
/* play tone according to evaluation result */ /* play tone according to evaluation result */
/* check if we recently armed */ /* check if we recently armed */
if (!arm_tune_played && safety.armed && ( !safety.safety_switch_available || (safety.safety_off && safety.safety_switch_available))) { if (!arm_tune_played && safety.armed && ( !safety.safety_switch_available || (safety.safety_off && safety.safety_switch_available))) {
if (ioctl(buzzer, TONE_SET_ALARM, 12) == OK) if (tune_arm() == OK)
arm_tune_played = true; arm_tune_played = true;
/* Trigger audio event for low battery */ /* Trigger audio event for low battery */
} else if (bat_remain < 0.1f && battery_voltage_valid) { } else if (bat_remain < 0.1f && battery_voltage_valid) {
if (ioctl(buzzer, TONE_SET_ALARM, 14) == OK) if (tune_critical_bat() == OK)
battery_tune_played = true; battery_tune_played = true;
} else if (bat_remain < 0.2f && battery_voltage_valid) { } else if (bat_remain < 0.2f && battery_voltage_valid) {
if (ioctl(buzzer, TONE_SET_ALARM, 13) == OK) if (tune_low_bat() == OK)
battery_tune_played = true; battery_tune_played = true;
} else if(battery_tune_played) { } else if(battery_tune_played) {
ioctl(buzzer, TONE_SET_ALARM, 0); tune_stop();
battery_tune_played = false; battery_tune_played = false;
} }
@@ -2305,25 +1846,25 @@ void *commander_low_prio_loop(void *arg)
case LOW_PRIO_TASK_GYRO_CALIBRATION: case LOW_PRIO_TASK_GYRO_CALIBRATION:
do_gyro_calibration(); do_gyro_calibration(mavlink_fd);
low_prio_task = LOW_PRIO_TASK_NONE; low_prio_task = LOW_PRIO_TASK_NONE;
break; break;
case LOW_PRIO_TASK_MAG_CALIBRATION: case LOW_PRIO_TASK_MAG_CALIBRATION:
do_mag_calibration(); do_mag_calibration(mavlink_fd);
low_prio_task = LOW_PRIO_TASK_NONE; low_prio_task = LOW_PRIO_TASK_NONE;
break; break;
case LOW_PRIO_TASK_ALTITUDE_CALIBRATION: case LOW_PRIO_TASK_ALTITUDE_CALIBRATION:
// do_baro_calibration(); // do_baro_calibration(mavlink_fd);
case LOW_PRIO_TASK_RC_CALIBRATION: case LOW_PRIO_TASK_RC_CALIBRATION:
// do_rc_calibration(); // do_rc_calibration(mavlink_fd);
low_prio_task = LOW_PRIO_TASK_NONE; low_prio_task = LOW_PRIO_TASK_NONE;
break; break;
@@ -2337,7 +1878,7 @@ void *commander_low_prio_loop(void *arg)
case LOW_PRIO_TASK_AIRSPEED_CALIBRATION: case LOW_PRIO_TASK_AIRSPEED_CALIBRATION:
do_airspeed_calibration(); do_airspeed_calibration(mavlink_fd);
low_prio_task = LOW_PRIO_TASK_NONE; low_prio_task = LOW_PRIO_TASK_NONE;
break; break;
src/modules/commander/commander.h
-4
View File
@@ -49,10 +49,6 @@
#ifndef COMMANDER_H_ #ifndef COMMANDER_H_
#define COMMANDER_H_ #define COMMANDER_H_
#define LOW_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS 1000.0f
#define CRITICAL_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS 100.0f
void tune_confirm(void);
void tune_error(void);
#endif /* COMMANDER_H_ */ #endif /* COMMANDER_H_ */
src/modules/commander/commander_helper.c
+129
View File
@@ -0,0 +1,129 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.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 commander_helper.c
* Commander helper functions implementations
*/
#include <stdio.h>
#include <unistd.h>
#include <stdint.h>
#include <stdbool.h>
#include <fcntl.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_tone_alarm.h>
#include "commander_helper.h"
bool is_multirotor(const struct vehicle_status_s *current_status)
{
return ((current_status->system_type == VEHICLE_TYPE_QUADROTOR) ||
(current_status->system_type == VEHICLE_TYPE_HEXAROTOR) ||
(current_status->system_type == VEHICLE_TYPE_OCTOROTOR) ||
(current_status->system_type == VEHICLE_TYPE_TRICOPTER));
}
bool is_rotary_wing(const struct vehicle_status_s *current_status)
{
return is_multirotor(current_status) || (current_status->system_type == VEHICLE_TYPE_HELICOPTER)
|| (current_status->system_type == VEHICLE_TYPE_COAXIAL);
}
static int buzzer;
int buzzer_init()
{
buzzer = open("/dev/tone_alarm", O_WRONLY);
if (buzzer < 0) {
warnx("Buzzer: open fail\n");
return ERROR;
}
return OK;
}
void buzzer_deinit()
{
close(buzzer);
}
void tune_error()
{
ioctl(buzzer, TONE_SET_ALARM, 2);
}
void tune_positive()
{
ioctl(buzzer, TONE_SET_ALARM, 3);
}
void tune_neutral()
{
ioctl(buzzer, TONE_SET_ALARM, 4);
}
void tune_negative()
{
ioctl(buzzer, TONE_SET_ALARM, 5);
}
int tune_arm()
{
return ioctl(buzzer, TONE_SET_ALARM, 12);
}
int tune_critical_bat()
{
return ioctl(buzzer, TONE_SET_ALARM, 14);
}
int tune_low_bat()
{
return ioctl(buzzer, TONE_SET_ALARM, 13);
}
void tune_stop()
{
ioctl(buzzer, TONE_SET_ALARM, 0);
}
src/modules/commander/commander_helper.h
+66
View File
@@ -0,0 +1,66 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.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 commander_helper.h
* Commander helper functions definitions
*/
#ifndef COMMANDER_HELPER_H_
#define COMMANDER_HELPER_H_
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_safety.h>
#include <uORB/topics/vehicle_control_mode.h>
bool is_multirotor(const struct vehicle_status_s *current_status);
bool is_rotary_wing(const struct vehicle_status_s *current_status);
int buzzer_init(void);
void buzzer_deinit(void);
void tune_error(void);
void tune_positive(void);
void tune_neutral(void);
void tune_negative(void);
int tune_arm(void);
int tune_critical_bat(void);
int tune_low_bat(void);
void tune_stop(void);
#endif /* COMMANDER_HELPER_H_ */
src/modules/commander/gyro_calibration.c
+151
View File
@@ -0,0 +1,151 @@
/****************************************************************************
*
* 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
* 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 gyro_calibration.c
* Gyroscope calibration routine
*/
#include "gyro_calibration.h"
#include "commander_helper.h"
#include <stdio.h>
#include <fcntl.h>
#include <poll.h>
#include <math.h>
#include <drivers/drv_hrt.h>
#include <uORB/topics/sensor_combined.h>
#include <drivers/drv_gyro.h>
#include <mavlink/mavlink_log.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>
void do_gyro_calibration(int mavlink_fd)
{
mavlink_log_info(mavlink_fd, "gyro calibration starting, hold still");
const int calibration_count = 5000;
int sub_sensor_combined = orb_subscribe(ORB_ID(sensor_combined));
struct sensor_combined_s raw;
int calibration_counter = 0;
float gyro_offset[3] = {0.0f, 0.0f, 0.0f};
/* set offsets to zero */
int fd = open(GYRO_DEVICE_PATH, 0);
struct gyro_scale gscale_null = {
0.0f,
1.0f,
0.0f,
1.0f,
0.0f,
1.0f,
};
if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale_null))
warn("WARNING: failed to set scale / offsets for gyro");
close(fd);
while (calibration_counter < calibration_count) {
/* wait blocking for new data */
struct pollfd fds[1] = { { .fd = sub_sensor_combined, .events = POLLIN } };
int poll_ret = poll(fds, 1, 1000);
if (poll_ret) {
orb_copy(ORB_ID(sensor_combined), sub_sensor_combined, &raw);
gyro_offset[0] += raw.gyro_rad_s[0];
gyro_offset[1] += raw.gyro_rad_s[1];
gyro_offset[2] += raw.gyro_rad_s[2];
calibration_counter++;
} else if (poll_ret == 0) {
/* any poll failure for 1s is a reason to abort */
mavlink_log_info(mavlink_fd, "gyro calibration aborted, retry");
return;
}
}
gyro_offset[0] = gyro_offset[0] / calibration_count;
gyro_offset[1] = gyro_offset[1] / calibration_count;
gyro_offset[2] = gyro_offset[2] / calibration_count;
if (isfinite(gyro_offset[0]) && isfinite(gyro_offset[1]) && isfinite(gyro_offset[2])) {
if (param_set(param_find("SENS_GYRO_XOFF"), &(gyro_offset[0]))
|| param_set(param_find("SENS_GYRO_YOFF"), &(gyro_offset[1]))
|| param_set(param_find("SENS_GYRO_ZOFF"), &(gyro_offset[2]))) {
mavlink_log_critical(mavlink_fd, "Setting gyro offsets failed!");
}
/* set offsets to actual value */
fd = open(GYRO_DEVICE_PATH, 0);
struct gyro_scale gscale = {
gyro_offset[0],
1.0f,
gyro_offset[1],
1.0f,
gyro_offset[2],
1.0f,
};
if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale))
warn("WARNING: failed to set scale / offsets for gyro");
close(fd);
/* auto-save to EEPROM */
int save_ret = param_save_default();
if (save_ret != 0) {
warn("WARNING: auto-save of params to storage failed");
}
// char buf[50];
// sprintf(buf, "cal: x:%8.4f y:%8.4f z:%8.4f", (double)gyro_offset[0], (double)gyro_offset[1], (double)gyro_offset[2]);
// mavlink_log_info(mavlink_fd, buf);
mavlink_log_info(mavlink_fd, "gyro calibration done");
tune_positive();
/* third beep by cal end routine */
} else {
mavlink_log_info(mavlink_fd, "gyro calibration FAILED (NaN)");
}
close(sub_sensor_combined);
}
src/modules/commander/gyro_calibration.h
+46
View File
@@ -0,0 +1,46 @@
/****************************************************************************
*
* 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
* 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 gyro_calibration.h
* Gyroscope calibration routine
*/
#ifndef GYRO_CALIBRATION_H_
#define GYRO_CALIBRATION_H_
#include <stdint.h>
void do_gyro_calibration(int mavlink_fd);
#endif /* GYRO_CALIBRATION_H_ */
src/modules/commander/mag_calibration.c
+278
View File
@@ -0,0 +1,278 @@
/****************************************************************************
*
* 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
* 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 mag_calibration.c
* Magnetometer calibration routine
*/
#include "mag_calibration.h"
#include "commander_helper.h"
#include "calibration_routines.h"
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <poll.h>
#include <math.h>
#include <fcntl.h>
#include <drivers/drv_hrt.h>
#include <uORB/topics/sensor_combined.h>
#include <drivers/drv_mag.h>
#include <mavlink/mavlink_log.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>
void do_mag_calibration(int mavlink_fd)
{
mavlink_log_info(mavlink_fd, "mag calibration starting, hold still");
int sub_mag = orb_subscribe(ORB_ID(sensor_mag));
struct mag_report mag;
/* 45 seconds */
uint64_t calibration_interval = 45 * 1000 * 1000;
/* maximum 2000 values */
const unsigned int calibration_maxcount = 500;
unsigned int calibration_counter = 0;
/* limit update rate to get equally spaced measurements over time (in ms) */
orb_set_interval(sub_mag, (calibration_interval / 1000) / calibration_maxcount);
int fd = open(MAG_DEVICE_PATH, O_RDONLY);
/* erase old calibration */
struct mag_scale mscale_null = {
0.0f,
1.0f,
0.0f,
1.0f,
0.0f,
1.0f,
};
if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale_null)) {
warn("WARNING: failed to set scale / offsets for mag");
mavlink_log_info(mavlink_fd, "failed to set scale / offsets for mag");
}
/* calibrate range */
if (OK != ioctl(fd, MAGIOCCALIBRATE, fd)) {
warnx("failed to calibrate scale");
}
close(fd);
/* calibrate offsets */
// uint64_t calibration_start = hrt_absolute_time();
uint64_t axis_deadline = hrt_absolute_time();
uint64_t calibration_deadline = hrt_absolute_time() + calibration_interval;
const char axislabels[3] = { 'X', 'Y', 'Z'};
int axis_index = -1;
float *x = (float *)malloc(sizeof(float) * calibration_maxcount);
float *y = (float *)malloc(sizeof(float) * calibration_maxcount);
float *z = (float *)malloc(sizeof(float) * calibration_maxcount);
if (x == NULL || y == NULL || z == NULL) {
warnx("mag cal failed: out of memory");
mavlink_log_info(mavlink_fd, "mag cal failed: out of memory");
warnx("x:%p y:%p z:%p\n", x, y, z);
return;
}
while (hrt_absolute_time() < calibration_deadline &&
calibration_counter < calibration_maxcount) {
/* wait blocking for new data */
struct pollfd fds[1] = { { .fd = sub_mag, .events = POLLIN } };
/* user guidance */
if (hrt_absolute_time() >= axis_deadline &&
axis_index < 3) {
axis_index++;
char buf[50];
sprintf(buf, "please rotate around %c", axislabels[axis_index]);
mavlink_log_info(mavlink_fd, buf);
tune_neutral();
axis_deadline += calibration_interval / 3;
}
if (!(axis_index < 3)) {
break;
}
// int axis_left = (int64_t)axis_deadline - (int64_t)hrt_absolute_time();
// if ((axis_left / 1000) == 0 && axis_left > 0) {
// char buf[50];
// sprintf(buf, "[cmd] %d seconds left for axis %c", axis_left, axislabels[axis_index]);
// mavlink_log_info(mavlink_fd, buf);
// }
int poll_ret = poll(fds, 1, 1000);
if (poll_ret) {
orb_copy(ORB_ID(sensor_mag), sub_mag, &mag);
x[calibration_counter] = mag.x;
y[calibration_counter] = mag.y;
z[calibration_counter] = mag.z;
/* get min/max values */
// if (mag.x < mag_min[0]) {
// mag_min[0] = mag.x;
// }
// else if (mag.x > mag_max[0]) {
// mag_max[0] = mag.x;
// }
// if (raw.magnetometer_ga[1] < mag_min[1]) {
// mag_min[1] = raw.magnetometer_ga[1];
// }
// else if (raw.magnetometer_ga[1] > mag_max[1]) {
// mag_max[1] = raw.magnetometer_ga[1];
// }
// if (raw.magnetometer_ga[2] < mag_min[2]) {
// mag_min[2] = raw.magnetometer_ga[2];
// }
// else if (raw.magnetometer_ga[2] > mag_max[2]) {
// mag_max[2] = raw.magnetometer_ga[2];
// }
calibration_counter++;
} else if (poll_ret == 0) {
/* any poll failure for 1s is a reason to abort */
mavlink_log_info(mavlink_fd, "mag cal canceled (timed out)");
break;
}
}
float sphere_x;
float sphere_y;
float sphere_z;
float sphere_radius;
sphere_fit_least_squares(x, y, z, calibration_counter, 100, 0.0f, &sphere_x, &sphere_y, &sphere_z, &sphere_radius);
free(x);
free(y);
free(z);
if (isfinite(sphere_x) && isfinite(sphere_y) && isfinite(sphere_z)) {
fd = open(MAG_DEVICE_PATH, 0);
struct mag_scale mscale;
if (OK != ioctl(fd, MAGIOCGSCALE, (long unsigned int)&mscale))
warn("WARNING: failed to get scale / offsets for mag");
mscale.x_offset = sphere_x;
mscale.y_offset = sphere_y;
mscale.z_offset = sphere_z;
if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale))
warn("WARNING: failed to set scale / offsets for mag");
close(fd);
/* announce and set new offset */
if (param_set(param_find("SENS_MAG_XOFF"), &(mscale.x_offset))) {
warnx("Setting X mag offset failed!\n");
}
if (param_set(param_find("SENS_MAG_YOFF"), &(mscale.y_offset))) {
warnx("Setting Y mag offset failed!\n");
}
if (param_set(param_find("SENS_MAG_ZOFF"), &(mscale.z_offset))) {
warnx("Setting Z mag offset failed!\n");
}
if (param_set(param_find("SENS_MAG_XSCALE"), &(mscale.x_scale))) {
warnx("Setting X mag scale failed!\n");
}
if (param_set(param_find("SENS_MAG_YSCALE"), &(mscale.y_scale))) {
warnx("Setting Y mag scale failed!\n");
}
if (param_set(param_find("SENS_MAG_ZSCALE"), &(mscale.z_scale))) {
warnx("Setting Z mag scale failed!\n");
}
/* auto-save to EEPROM */
int save_ret = param_save_default();
if (save_ret != 0) {
warn("WARNING: auto-save of params to storage failed");
mavlink_log_info(mavlink_fd, "FAILED storing calibration");
}
warnx("\tscale: %.6f %.6f %.6f\n \toffset: %.6f %.6f %.6f\nradius: %.6f GA\n",
(double)mscale.x_scale, (double)mscale.y_scale, (double)mscale.z_scale,
(double)mscale.x_offset, (double)mscale.y_offset, (double)mscale.z_offset, (double)sphere_radius);
char buf[52];
sprintf(buf, "mag off: x:%.2f y:%.2f z:%.2f Ga", (double)mscale.x_offset,
(double)mscale.y_offset, (double)mscale.z_offset);
mavlink_log_info(mavlink_fd, buf);
sprintf(buf, "mag scale: x:%.2f y:%.2f z:%.2f", (double)mscale.x_scale,
(double)mscale.y_scale, (double)mscale.z_scale);
mavlink_log_info(mavlink_fd, buf);
mavlink_log_info(mavlink_fd, "mag calibration done");
tune_positive();
/* third beep by cal end routine */
} else {
mavlink_log_info(mavlink_fd, "mag calibration FAILED (NaN in sphere fit)");
}
close(sub_mag);
}
src/modules/commander/mag_calibration.h
+46
View File
@@ -0,0 +1,46 @@
/****************************************************************************
*
* 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
* 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 mag_calibration.h
* Magnetometer calibration routine
*/
#ifndef MAG_CALIBRATION_H_
#define MAG_CALIBRATION_H_
#include <stdint.h>
void do_mag_calibration(int mavlink_fd);
#endif /* MAG_CALIBRATION_H_ */
src/modules/commander/module.mk
+7 -1
View File
@@ -38,6 +38,12 @@
MODULE_COMMAND = commander MODULE_COMMAND = commander
SRCS = commander.c \ SRCS = commander.c \
state_machine_helper.c \ state_machine_helper.c \
commander_helper.c \
calibration_routines.c \ calibration_routines.c \
accelerometer_calibration.c accelerometer_calibration.c \
gyro_calibration.c \
mag_calibration.c \
baro_calibration.c \
rc_calibration.c \
airspeed_calibration.c
src/modules/commander/rc_calibration.c
+83
View File
@@ -0,0 +1,83 @@
/****************************************************************************
*
* 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
* 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 rc_calibration.c
* Remote Control calibration routine
*/
#include "rc_calibration.h"
#include "commander_helper.h"
#include <poll.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <mavlink/mavlink_log.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>
void do_rc_calibration(int mavlink_fd)
{
mavlink_log_info(mavlink_fd, "trim calibration starting");
/* XXX fix this */
// if (current_status.offboard_control_signal_lost) {
// mavlink_log_critical(mavlink_fd, "TRIM CAL: ABORT. No RC signal.");
// return;
// }
int sub_man = orb_subscribe(ORB_ID(manual_control_setpoint));
struct manual_control_setpoint_s sp;
orb_copy(ORB_ID(manual_control_setpoint), sub_man, &sp);
/* set parameters */
float p = sp.roll;
param_set(param_find("TRIM_ROLL"), &p);
p = sp.pitch;
param_set(param_find("TRIM_PITCH"), &p);
p = sp.yaw;
param_set(param_find("TRIM_YAW"), &p);
/* store to permanent storage */
/* auto-save */
int save_ret = param_save_default();
if (save_ret != 0) {
mavlink_log_critical(mavlink_fd, "TRIM CAL: WARN: auto-save of params failed");
}
tune_positive();
mavlink_log_info(mavlink_fd, "trim calibration done");
}
src/modules/commander/rc_calibration.h
+46
View File
@@ -0,0 +1,46 @@
/****************************************************************************
*
* 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
* 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 rc_calibration.h
* Remote Control calibration routine
*/
#ifndef RC_CALIBRATION_H_
#define RC_CALIBRATION_H_
#include <stdint.h>
void do_rc_calibration(int mavlink_fd);
#endif /* RC_CALIBRATION_H_ */
src/modules/commander/state_machine_helper.c
+8 -60
View File
@@ -1,6 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (C) 2012 PX4 Development Team. All rights reserved. * Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch> * Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch> * Julian Oes <joes@student.ethz.ch>
* *
@@ -54,21 +54,8 @@
#include <mavlink/mavlink_log.h> #include <mavlink/mavlink_log.h>
#include "state_machine_helper.h" #include "state_machine_helper.h"
#include "commander.h" #include "commander_helper.h"
bool is_multirotor(const struct vehicle_status_s *current_status)
{
return ((current_status->system_type == VEHICLE_TYPE_QUADROTOR) ||
(current_status->system_type == VEHICLE_TYPE_HEXAROTOR) ||
(current_status->system_type == VEHICLE_TYPE_OCTOROTOR) ||
(current_status->system_type == VEHICLE_TYPE_TRICOPTER));
}
bool is_rotary_wing(const struct vehicle_status_s *current_status)
{
return is_multirotor(current_status) || (current_status->system_type == VEHICLE_TYPE_HELICOPTER)
|| (current_status->system_type == VEHICLE_TYPE_COAXIAL);
}
int arming_state_transition(int status_pub, struct vehicle_status_s *current_state, arming_state_t new_arming_state, int safety_pub, struct actuator_safety_s *safety, const int mavlink_fd) { int arming_state_transition(int status_pub, struct vehicle_status_s *current_state, arming_state_t new_arming_state, int safety_pub, struct actuator_safety_s *safety, const int mavlink_fd) {
@@ -568,7 +555,11 @@ int hil_state_transition(int status_pub, struct vehicle_status_s *current_status
if (valid_transition) { if (valid_transition) {
current_status->hil_state = new_state; current_status->hil_state = new_state;
state_machine_publish(status_pub, current_status, mavlink_fd);
current_status->counter++;
current_status->timestamp = hrt_absolute_time();
orb_publish(ORB_ID(vehicle_status), status_pub, current_status);
ret = OK; ret = OK;
} else { } else {
mavlink_log_critical(mavlink_fd, "REJECTING invalid hil state transition"); mavlink_log_critical(mavlink_fd, "REJECTING invalid hil state transition");
@@ -579,50 +570,6 @@ int hil_state_transition(int status_pub, struct vehicle_status_s *current_status
void state_machine_publish(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
{
/* publish the new state */
current_status->counter++;
current_status->timestamp = hrt_absolute_time();
/* assemble state vector based on flag values */
// if (current_status->flag_control_rates_enabled) {
// current_status->onboard_control_sensors_present |= 0x400;
//
// } else {
// current_status->onboard_control_sensors_present &= ~0x400;
// }
// current_status->onboard_control_sensors_present |= (current_status->flag_control_attitude_enabled) ? 0x800 : 0;
// current_status->onboard_control_sensors_present |= (current_status->flag_control_attitude_enabled) ? 0x1000 : 0;
// current_status->onboard_control_sensors_present |= (current_status->flag_control_velocity_enabled || current_status->flag_control_position_enabled) ? 0x2000 : 0;
// current_status->onboard_control_sensors_present |= (current_status->flag_control_velocity_enabled || current_status->flag_control_position_enabled) ? 0x4000 : 0;
//
// current_status->onboard_control_sensors_enabled |= (current_status->flag_control_rates_enabled) ? 0x400 : 0;
// current_status->onboard_control_sensors_enabled |= (current_status->flag_control_attitude_enabled) ? 0x800 : 0;
// current_status->onboard_control_sensors_enabled |= (current_status->flag_control_attitude_enabled) ? 0x1000 : 0;
// current_status->onboard_control_sensors_enabled |= (current_status->flag_control_velocity_enabled || current_status->flag_control_position_enabled) ? 0x2000 : 0;
// current_status->onboard_control_sensors_enabled |= (current_status->flag_control_velocity_enabled || current_status->flag_control_position_enabled) ? 0x4000 : 0;
orb_publish(ORB_ID(vehicle_status), status_pub, current_status);
}
// void publish_armed_status(const struct vehicle_status_s *current_status)
// {
// struct actuator_armed_s armed;
// armed.armed = current_status->flag_system_armed;
//
// /* XXX allow arming by external components on multicopters only if not yet armed by RC */
// /* XXX allow arming only if core sensors are ok */
// armed.ready_to_arm = true;
//
// /* lock down actuators if required, only in HIL */
// armed.lockdown = (current_status->flag_hil_enabled) ? true : false;
// orb_advert_t armed_pub = orb_advertise(ORB_ID(actuator_armed), &armed);
// orb_publish(ORB_ID(actuator_armed), armed_pub, &armed);
// }
// /* // /*
// * Wrapper functions (to be used in the commander), all functions assume lock on current_status // * Wrapper functions (to be used in the commander), all functions assume lock on current_status
// */ // */
@@ -805,3 +752,4 @@ void state_machine_publish(int status_pub, struct vehicle_status_s *current_stat
// //
// return ret; // return ret;
//} //}
src/modules/commander/state_machine_helper.h
+2 -10
View File
@@ -1,6 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (C) 2012 PX4 Development Team. All rights reserved. * Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch> * Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch> * Julian Oes <joes@student.ethz.ch>
* *
@@ -50,15 +50,7 @@
#include <uORB/topics/vehicle_control_mode.h> #include <uORB/topics/vehicle_control_mode.h>
void navigation_state_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); int arming_state_transition(int status_pub, struct vehicle_status_s *current_state, arming_state_t new_arming_state, int safety_pub, struct actuator_safety_s *safety, const int mavlink_fd);
bool is_multirotor(const struct vehicle_status_s *current_status);
bool is_rotary_wing(const struct vehicle_status_s *current_status);
//int do_arming_state_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, arming_state_t new_state);
void state_machine_publish(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
int navigation_state_transition(int status_pub, struct vehicle_status_s *current_state, navigation_state_t new_navigation_state, int control_mode_pub, struct vehicle_control_mode_s *control_mode, const int mavlink_fd); int navigation_state_transition(int status_pub, struct vehicle_status_s *current_state, navigation_state_t new_navigation_state, int control_mode_pub, struct vehicle_control_mode_s *control_mode, const int mavlink_fd);