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Merged fmuv2_bringup

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This commit is contained in:
Lorenz Meier
2013-08-21 15:19:19 +02:00
parent 5a8dc9c504 db1229dca3
commit 309ea81460
20 changed files with 804 additions and 535 deletions
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src/modules/mavlink/module.mk
-1
View File
@@ -39,7 +39,6 @@ MODULE_COMMAND = mavlink
SRCS += mavlink.c \
missionlib.c \
mavlink_parameters.c \
mavlink_log.c \
mavlink_receiver.cpp \
orb_listener.c \
waypoints.c
src/modules/px4iofirmware/mixer.cpp
+2 -1
View File
@@ -148,7 +148,8 @@ mixer_tick(void)
if ( (r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) {
(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) &&
!(r_setup_arming & PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED)) {
/* if allowed, mix from RC inputs directly */
source = MIX_OVERRIDE;
src/modules/px4iofirmware/protocol.h
+2 -1
View File
@@ -74,7 +74,7 @@
#define REG_TO_FLOAT(_reg) ((float)REG_TO_SIGNED(_reg) / 10000.0f)
#define FLOAT_TO_REG(_float) SIGNED_TO_REG((int16_t)((_float) * 10000.0f))
#define PX4IO_PROTOCOL_VERSION 3
#define PX4IO_PROTOCOL_VERSION 4
/* static configuration page */
#define PX4IO_PAGE_CONFIG 0
@@ -159,6 +159,7 @@
#define PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM (1 << 3) /* use custom failsafe values, not 0 values of mixer */
#define PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK (1 << 4) /* OK to try in-air restart */
#define PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE (1 << 5) /* Output of PWM right after startup enabled to help ESCs initialize and prevent them from beeping */
#define PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED (1 << 6) /* Disable the IO-internal evaluation of the RC */
#define PX4IO_P_SETUP_PWM_RATES 2 /* bitmask, 0 = low rate, 1 = high rate */
#define PX4IO_P_SETUP_PWM_DEFAULTRATE 3 /* 'low' PWM frame output rate in Hz */
src/modules/px4iofirmware/registers.c
+10 -2
View File
@@ -158,9 +158,10 @@ volatile uint16_t r_page_setup[] =
#define PX4IO_P_SETUP_ARMING_VALID (PX4IO_P_SETUP_ARMING_FMU_ARMED | \
PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK | \
PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK | \
PX4IO_P_SETUP_ARMING_IO_ARM_OK) | \
PX4IO_P_SETUP_ARMING_IO_ARM_OK | \
PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM | \
PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE
PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE | \
PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED)
#define PX4IO_P_SETUP_RATES_VALID ((1 << PX4IO_SERVO_COUNT) - 1)
#define PX4IO_P_SETUP_RELAYS_VALID ((1 << PX4IO_RELAY_CHANNELS) - 1)
@@ -432,6 +433,10 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
// r_status_flags &= ~PX4IO_P_STATUS_FLAGS_ARMED;
// }
if (value & PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED) {
r_status_flags |= PX4IO_P_STATUS_FLAGS_INIT_OK;
}
r_setup_arming = value;
break;
@@ -523,6 +528,9 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
value &= PX4IO_P_RC_CONFIG_OPTIONS_VALID;
r_status_flags |= PX4IO_P_STATUS_FLAGS_INIT_OK;
/* clear any existing RC disabled flag */
r_setup_arming &= ~(PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED);
/* set all options except the enabled option */
conf[index] = value & ~PX4IO_P_RC_CONFIG_OPTIONS_ENABLED;
src/modules/sensors/sensors.cpp
+24 -9
View File
@@ -912,11 +912,11 @@ Sensors::gyro_init()
#else
/* set the gyro internal sampling rate up to at leat 800Hz */
ioctl(fd, GYROIOCSSAMPLERATE, 800);
/* set the gyro internal sampling rate up to at least 760Hz */
ioctl(fd, GYROIOCSSAMPLERATE, 760);
/* set the driver to poll at 800Hz */
ioctl(fd, SENSORIOCSPOLLRATE, 800);
/* set the driver to poll at 760Hz */
ioctl(fd, SENSORIOCSPOLLRATE, 760);
#endif
@@ -929,6 +929,7 @@ void
Sensors::mag_init()
{
int fd;
int ret;
fd = open(MAG_DEVICE_PATH, 0);
@@ -937,13 +938,27 @@ Sensors::mag_init()
errx(1, "FATAL: no magnetometer found");
}
/* set the mag internal poll rate to at least 150Hz */
ioctl(fd, MAGIOCSSAMPLERATE, 150);
/* try different mag sampling rates */
/* set the driver to poll at 150Hz */
ioctl(fd, SENSORIOCSPOLLRATE, 150);
int ret = ioctl(fd, MAGIOCGEXTERNAL, 0);
ret = ioctl(fd, MAGIOCSSAMPLERATE, 150);
if (ret == OK) {
/* set the pollrate accordingly */
ioctl(fd, SENSORIOCSPOLLRATE, 150);
} else {
ret = ioctl(fd, MAGIOCSSAMPLERATE, 100);
/* if the slower sampling rate still fails, something is wrong */
if (ret == OK) {
/* set the driver to poll also at the slower rate */
ioctl(fd, SENSORIOCSPOLLRATE, 100);
} else {
errx(1, "FATAL: mag sampling rate could not be set");
}
}
ret = ioctl(fd, MAGIOCGEXTERNAL, 0);
if (ret < 0)
errx(1, "FATAL: unknown if magnetometer is external or onboard");
else if (ret == 1)
src/modules/mavlink/mavlink_log.c → src/modules/systemlib/mavlink_log.c
+6 -15
View File
@@ -46,28 +46,25 @@
#include <mavlink/mavlink_log.h>
static FILE* text_recorder_fd = NULL;
void mavlink_logbuffer_init(struct mavlink_logbuffer *lb, int size)
__EXPORT void mavlink_logbuffer_init(struct mavlink_logbuffer *lb, int size)
{
lb->size = size;
lb->start = 0;
lb->count = 0;
lb->elems = (struct mavlink_logmessage *)calloc(lb->size, sizeof(struct mavlink_logmessage));
text_recorder_fd = fopen("/fs/microsd/text_recorder.txt", "w");
}
int mavlink_logbuffer_is_full(struct mavlink_logbuffer *lb)
__EXPORT int mavlink_logbuffer_is_full(struct mavlink_logbuffer *lb)
{
return lb->count == (int)lb->size;
}
int mavlink_logbuffer_is_empty(struct mavlink_logbuffer *lb)
__EXPORT int mavlink_logbuffer_is_empty(struct mavlink_logbuffer *lb)
{
return lb->count == 0;
}
void mavlink_logbuffer_write(struct mavlink_logbuffer *lb, const struct mavlink_logmessage *elem)
__EXPORT void mavlink_logbuffer_write(struct mavlink_logbuffer *lb, const struct mavlink_logmessage *elem)
{
int end = (lb->start + lb->count) % lb->size;
memcpy(&(lb->elems[end]), elem, sizeof(struct mavlink_logmessage));
@@ -80,19 +77,13 @@ void mavlink_logbuffer_write(struct mavlink_logbuffer *lb, const struct mavlink_
}
}
int mavlink_logbuffer_read(struct mavlink_logbuffer *lb, struct mavlink_logmessage *elem)
__EXPORT int mavlink_logbuffer_read(struct mavlink_logbuffer *lb, struct mavlink_logmessage *elem)
{
if (!mavlink_logbuffer_is_empty(lb)) {
memcpy(elem, &(lb->elems[lb->start]), sizeof(struct mavlink_logmessage));
lb->start = (lb->start + 1) % lb->size;
--lb->count;
if (text_recorder_fd) {
fwrite(elem->text, 1, strnlen(elem->text, 50), text_recorder_fd);
fputc("\n", text_recorder_fd);
fsync(text_recorder_fd);
}
return 0;
} else {
@@ -100,7 +91,7 @@ int mavlink_logbuffer_read(struct mavlink_logbuffer *lb, struct mavlink_logmessa
}
}
void mavlink_logbuffer_vasprintf(struct mavlink_logbuffer *lb, int severity, const char *fmt, ...)
__EXPORT void mavlink_logbuffer_vasprintf(struct mavlink_logbuffer *lb, int severity, const char *fmt, ...)
{
va_list ap;
va_start(ap, fmt);
src/modules/systemlib/module.mk
+2 -1
View File
@@ -48,4 +48,5 @@ SRCS = err.c \
geo/geo.c \
systemlib.c \
airspeed.c \
system_params.c
system_params.c \
mavlink_log.c