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Merge branch 'master' of github.com:PX4/Firmware

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This commit is contained in:
Lorenz Meier
2013-09-03 07:50:05 +02:00
parent 3c0c11aec3 29c06e3943
commit 238f018090
6 changed files with 46 additions and 20 deletions
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ROMFS/px4fmu_common/init.d/10_dji_f330
+28 -12
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@@ -10,18 +10,34 @@ then
# Set all params here, then disable autoconfig
param set SYS_AUTOCONFIG 0
param set MC_ATTRATE_D 0.004
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_P 0.12
param set MC_ATT_D 0.0
param set MC_ATT_I 0.0
param set MC_ATT_P 7.0
param set MC_YAWPOS_D 0.0
param set MC_YAWPOS_I 0.0
param set MC_YAWPOS_P 2.0
param set MC_YAWRATE_D 0.005
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_P 0.3
param set MC_ATTRATE_D 0.004
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_P 0.12
param set MC_ATT_D 0.0
param set MC_ATT_I 0.0
param set MC_ATT_P 7.0
param set MC_YAWPOS_D 0.0
param set MC_YAWPOS_I 0.0
param set MC_YAWPOS_P 2.0
param set MC_YAWRATE_D 0.005
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_P 0.3
param set NAV_TAKEOFF_ALT 1.0
param set MPC_TILT_MAX 0.5
param set MPC_THR_MAX 0.7
param set MPC_THR_MIN 0.3
param set MPC_XY_D 0
param set MPC_XY_P 0.5
param set MPC_XY_VEL_D 0
param set MPC_XY_VEL_I 0
param set MPC_XY_VEL_MAX 2
param set MPC_XY_VEL_P 0.2
param set MPC_Z_D 0
param set MPC_Z_P 1
param set MPC_Z_VEL_D 0
param set MPC_Z_VEL_I 0.10
param set MPC_Z_VEL_MAX 2
param set MPC_Z_VEL_P 0.20
param save
fi
src/modules/commander/commander_params.c
+1
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@@ -46,6 +46,7 @@
#include <systemlib/param/param.h>
PARAM_DEFINE_FLOAT(NAV_TAKEOFF_ALT, 5.0f);
PARAM_DEFINE_FLOAT(NAV_TAKEOFF_GAP, 3.0f);
PARAM_DEFINE_FLOAT(TRIM_ROLL, 0.0f);
PARAM_DEFINE_FLOAT(TRIM_PITCH, 0.0f);
PARAM_DEFINE_FLOAT(TRIM_YAW, 0.0f);
src/modules/multirotor_pos_control/multirotor_pos_control.c
+7 -6
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@@ -227,7 +227,7 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
hrt_abstime t_prev = 0;
const float alt_ctl_dz = 0.2f;
const float pos_ctl_dz = 0.05f;
const float takeoff_alt_default = 10.0f;
float ref_alt = 0.0f;
hrt_abstime ref_alt_t = 0;
uint64_t local_ref_timestamp = 0;
@@ -244,6 +244,7 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
parameters_init(&params_h);
parameters_update(&params_h, &params);
for (int i = 0; i < 2; i++) {
pid_init(&(xy_pos_pids[i]), params.xy_p, 0.0f, params.xy_d, 1.0f, 0.0f, PID_MODE_DERIVATIV_SET, 0.02f);
pid_init(&(xy_vel_pids[i]), params.xy_vel_p, params.xy_vel_i, params.xy_vel_d, 1.0f, params.tilt_max, PID_MODE_DERIVATIV_CALC_NO_SP, 0.02f);
@@ -350,7 +351,7 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
if (reset_sp_z) {
reset_sp_z = false;
local_pos_sp.z = local_pos.z;
mavlink_log_info(mavlink_fd, "[mpc] reset alt sp: %.2f", (double)-local_pos_sp.z);
mavlink_log_info(mavlink_fd, "[mpc] reset alt sp: %.2f", (double) - local_pos_sp.z);
}
/* move altitude setpoint with throttle stick */
@@ -423,12 +424,12 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
if (reset_auto_pos) {
local_pos_sp.x = local_pos.x;
local_pos_sp.y = local_pos.y;
local_pos_sp.z = -takeoff_alt_default;
local_pos_sp.z = - params.takeoff_alt - params.takeoff_gap;
local_pos_sp.yaw = att.yaw;
local_pos_sp_valid = true;
att_sp.yaw_body = att.yaw;
reset_auto_pos = false;
mavlink_log_info(mavlink_fd, "[mpc] takeoff sp: %.2f %.2f %.2f", (double)local_pos_sp.x, (double)local_pos_sp.y, (double)-local_pos_sp.z);
mavlink_log_info(mavlink_fd, "[mpc] takeoff sp: %.2f %.2f %.2f", (double)local_pos_sp.x, (double)local_pos_sp.y, (double) - local_pos_sp.z);
}
} else if (control_mode.auto_state == NAVIGATION_STATE_AUTO_RTL) {
@@ -504,7 +505,7 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
/* set altitude setpoint to 5m under ground,
* don't set it too deep to avoid unexpected landing in case of false "landed" signal */
local_pos_sp.z = 5.0f;
mavlink_log_info(mavlink_fd, "[mpc] landed, set alt: %.2f", (double)-local_pos_sp.z);
mavlink_log_info(mavlink_fd, "[mpc] landed, set alt: %.2f", (double) - local_pos_sp.z);
}
reset_sp_z = true;
@@ -514,7 +515,7 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
if (reset_sp_z) {
reset_sp_z = false;
local_pos_sp.z = local_pos.z;
mavlink_log_info(mavlink_fd, "[mpc] set loiter alt: %.2f", (double)-local_pos_sp.z);
mavlink_log_info(mavlink_fd, "[mpc] set loiter alt: %.2f", (double) - local_pos_sp.z);
}
}
src/modules/multirotor_pos_control/multirotor_pos_control_params.c
+4
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@@ -59,6 +59,8 @@ PARAM_DEFINE_FLOAT(MPC_TILT_MAX, 0.5f);
int parameters_init(struct multirotor_position_control_param_handles *h)
{
h->takeoff_alt = param_find("NAV_TAKEOFF_ALT");
h->takeoff_gap = param_find("NAV_TAKEOFF_GAP");
h->thr_min = param_find("MPC_THR_MIN");
h->thr_max = param_find("MPC_THR_MAX");
h->z_p = param_find("MPC_Z_P");
@@ -84,6 +86,8 @@ int parameters_init(struct multirotor_position_control_param_handles *h)
int parameters_update(const struct multirotor_position_control_param_handles *h, struct multirotor_position_control_params *p)
{
param_get(h->takeoff_alt, &(p->takeoff_alt));
param_get(h->takeoff_gap, &(p->takeoff_gap));
param_get(h->thr_min, &(p->thr_min));
param_get(h->thr_max, &(p->thr_max));
param_get(h->z_p, &(p->z_p));
src/modules/multirotor_pos_control/multirotor_pos_control_params.h
+4
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@@ -41,6 +41,8 @@
#include <systemlib/param/param.h>
struct multirotor_position_control_params {
float takeoff_alt;
float takeoff_gap;
float thr_min;
float thr_max;
float z_p;
@@ -63,6 +65,8 @@ struct multirotor_position_control_params {
};
struct multirotor_position_control_param_handles {
param_t takeoff_alt;
param_t takeoff_gap;
param_t thr_min;
param_t thr_max;
param_t z_p;
src/modules/px4iofirmware/mixer.cpp
+2 -2
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@@ -358,8 +358,8 @@ static unsigned mixer_text_length = 0;
void
mixer_handle_text(const void *buffer, size_t length)
{
/* do not allow a mixer change while outputs armed */
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) {
/* do not allow a mixer change while safety off */
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)) {
return;
}