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pulled from PX4 master

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This commit is contained in:
Roman Bapst
2014-11-10 17:16:30 +01:00
parent 43ebaf287c 4e8e6e653b
commit 31238516b5
140 changed files with 4577 additions and 1221 deletions
Download Patch File Download Diff File Expand all files Collapse all files
NuttX
+1 -1
Submodule NuttX updated: 41fffa0df1...5ee4b2b2c2
ROMFS/px4fmu_common/init.d/10015_tbs_discovery
+1
View File
@@ -27,3 +27,4 @@ fi
set MIXER FMU_quad_w
set PWM_OUTPUTS 1234
set PWM_MIN 1200
ROMFS/px4fmu_common/init.d/3035_viper
-1
View File
@@ -9,4 +9,3 @@ sh /etc/init.d/rc.fw_defaults
set MIXER Viper
set FAILSAFE "-c567 -p 1000"
ROMFS/px4fmu_common/init.d/rc.autostart
+6
View File
@@ -22,6 +22,12 @@
# Simulation setups
#
if param compare SYS_AUTOSTART 901
then
sh /etc/init.d/901_bottle_drop_test.hil
set MODE custom
fi
if param compare SYS_AUTOSTART 1000
then
sh /etc/init.d/1000_rc_fw_easystar.hil
ROMFS/px4fmu_common/init.d/rc.fw_apps
+2
View File
@@ -13,3 +13,5 @@ ekf_att_pos_estimator start
#
fw_att_control start
fw_pos_control_l1 start
bottle_drop start
ROMFS/px4fmu_common/init.d/rc.sensors
+5
View File
@@ -68,6 +68,11 @@ else
fi
fi
# Check for flow sensor
if px4flow start
then
fi
#
# Start the sensor collection task.
# IMPORTANT: this also loads param offsets
ROMFS/px4fmu_common/mixers/FMU_FX79.mix
+5 -8
View File
@@ -52,21 +52,18 @@ M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
Gimbal / flaps / payload mixer for last four channels
Inputs to the mixer come from channel group 2 (payload), channels 0
(bay servo 1), 1 (bay servo 2) and 3 (drop release).
-----------------------------------------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 4 10000 10000 0 -10000 10000
S: 2 0 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 5 10000 10000 0 -10000 10000
S: 2 1 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 6 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 7 10000 10000 0 -10000 10000
S: 2 2 -10000 -10000 0 -10000 10000
ROMFS/px4fmu_common/mixers/Viper.mix
+1 -1
View File
@@ -66,6 +66,6 @@ S: 2 1 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 2 2 -10000 -10000 0 -10000 10000
S: 2 2 -8000 -8000 0 -10000 10000
ROMFS/px4fmu_test/init.d/rcS
+30
View File
@@ -75,3 +75,33 @@ if [ -f /fs/microsd/mount_test_cmds.txt ]
then
tests mount
fi
#
# Run unit tests at board boot, reporting failure as needed.
# Add new unit tests using the same pattern as below.
#
set unit_test_failure 0
if mavlink_tests
then
else
set unit_test_failure 1
set unit_test_failure_list "${unit_test_failure_list} mavlink_tests"
fi
if commander_tests
then
else
set unit_test_failure 1
set unit_test_failure_list "${unit_test_failure_list} commander_tests"
fi
if [ $unit_test_failure == 0 ]
then
echo
echo "All Unit Tests PASSED"
else
echo
echo "Some Unit Tests FAILED:${unit_test_failure_list}"
fi
Tools/px_romfs_pruner.py
+1 -1
View File
@@ -57,7 +57,7 @@ def main():
for (root, dirs, files) in os.walk(args.folder):
for file in files:
# only prune text files
if ".zip" in file or ".bin" in file or ".swp" in file:
if ".zip" in file or ".bin" in file or ".swp" in file or ".data" in file:
continue
file_path = os.path.join(root, file)
Tools/px_uploader.py
+7 -3
View File
@@ -178,9 +178,9 @@ class uploader(object):
MAVLINK_REBOOT_ID1 = bytearray(b'\xfe\x21\x72\xff\x00\x4c\x00\x00\x80\x3f\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf6\x00\x01\x00\x00\x48\xf0')
MAVLINK_REBOOT_ID0 = bytearray(b'\xfe\x21\x45\xff\x00\x4c\x00\x00\x80\x3f\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf6\x00\x00\x00\x00\xd7\xac')
def __init__(self, portname, baudrate, interCharTimeout=0.001, timeout=0.5):
def __init__(self, portname, baudrate):
# open the port, keep the default timeout short so we can poll quickly
self.port = serial.Serial(portname, baudrate)
self.port = serial.Serial(portname, baudrate, timeout=0.5)
self.otp = b''
self.sn = b''
@@ -195,7 +195,7 @@ class uploader(object):
def __recv(self, count=1):
c = self.port.read(count)
if len(c) < 1:
raise RuntimeError("timeout waiting for data (%u bytes)", count)
raise RuntimeError("timeout waiting for data (%u bytes)" % count)
# print("recv " + binascii.hexlify(c))
return c
@@ -459,6 +459,7 @@ if os.path.exists("/usr/sbin/ModemManager"):
# Load the firmware file
fw = firmware(args.firmware)
print("Loaded firmware for %x,%x, waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision')))
print("If the board does not respond within 1-2 seconds, unplug and re-plug the USB connector.")
# Spin waiting for a device to show up
while True:
@@ -508,9 +509,12 @@ while True:
except Exception:
# most probably a timeout talking to the port, no bootloader, try to reboot the board
print("attempting reboot on %s..." % port)
print("if the board does not respond, unplug and re-plug the USB connector.")
up.send_reboot()
# wait for the reboot, without we might run into Serial I/O Error 5
time.sleep(0.5)
# always close the port
up.close()
continue
try:
Tools/sdlog2/sdlog2_dump.py
Regular → Executable
+2 -2
View File
@@ -154,8 +154,8 @@ class SDLog2Parser:
first_data_msg = False
self.__parseMsg(msg_descr)
bytes_read += self.__ptr
if not self.__debug_out and self.__time_msg != None and self.__csv_updated:
self.__printCSVRow()
if not self.__debug_out and self.__time_msg != None and self.__csv_updated:
self.__printCSVRow()
f.close()
def __bytesLeft(self):
Tools/tests-host/.gitignore
+2
View File
@@ -1,4 +1,6 @@
./obj/*
mixer_test
sf0x_test
sbus2_test
autodeclination_test
st24_test
Tools/tests-host/Makefile
+18 -3
View File
@@ -3,7 +3,7 @@ CC=g++
CFLAGS=-I. -I../../src/modules -I ../../src/include -I../../src/drivers \
-I../../src -I../../src/lib -D__EXPORT="" -Dnullptr="0" -lm
all: mixer_test sbus2_test autodeclination_test
all: mixer_test sbus2_test autodeclination_test st24_test sf0x_test
MIXER_FILES=../../src/systemcmds/tests/test_mixer.cpp \
../../src/systemcmds/tests/test_conv.cpp \
@@ -20,7 +20,16 @@ SBUS2_FILES=../../src/modules/px4iofirmware/sbus.c \
hrt.cpp \
sbus2_test.cpp
AUTODECLINATION_FILES= ../../src/lib/geo/geo_mag_declination.c \
ST24_FILES=../../src/lib/rc/st24.c \
hrt.cpp \
st24_test.cpp
SF0X_FILES= \
hrt.cpp \
sf0x_test.cpp \
../../src/drivers/sf0x/sf0x_parser.cpp
AUTODECLINATION_FILES= ../../src/lib/geo_lookup/geo_mag_declination.c \
hrt.cpp \
autodeclination_test.cpp
@@ -30,10 +39,16 @@ mixer_test: $(MIXER_FILES)
sbus2_test: $(SBUS2_FILES)
$(CC) -o sbus2_test $(SBUS2_FILES) $(CFLAGS)
sf0x_test: $(SF0X_FILES)
$(CC) -o sf0x_test $(SF0X_FILES) $(CFLAGS)
autodeclination_test: $(SBUS2_FILES)
$(CC) -o autodeclination_test $(AUTODECLINATION_FILES) $(CFLAGS)
st24_test: $(ST24_FILES)
$(CC) -o st24_test $(ST24_FILES) $(CFLAGS)
.PHONY: clean
clean:
rm -f $(ODIR)/*.o *~ core $(INCDIR)/*~ mixer_test sbus2_test autodeclination_test
rm -f $(ODIR)/*.o *~ core $(INCDIR)/*~ mixer_test sbus2_test autodeclination_test st24_test sf0x_test
Tools/tests-host/sbus2_test.cpp
+2 -1
View File
@@ -29,7 +29,8 @@ int main(int argc, char *argv[]) {
// Trash the first 20 lines
for (unsigned i = 0; i < 20; i++) {
(void)fscanf(fp, "%f,%x,,", &f, &x);
char buf[200];
(void)fgets(buf, sizeof(buf), fp);
}
// Init the parser
Tools/upload.sh
Executable
+28
View File
@@ -0,0 +1,28 @@
#!/bin/bash
EXEDIR=`pwd`
BASEDIR=$(dirname $0)
SYSTYPE=`uname -s`
#
# Serial port defaults.
#
# XXX The uploader should be smarter than this.
#
if [ $SYSTYPE=Darwin ];
then
SERIAL_PORTS="/dev/tty.usbmodemPX*,/dev/tty.usbmodem*"
fi
if [ $SYSTYPE=Linux ];
then
SERIAL_PORTS="/dev/serial/by-id/usb-3D_Robotics*"
fi
if [ $SYSTYPE="" ];
then
SERIAL_PORTS="COM32,COM31,COM30,COM29,COM28,COM27,COM26,COM25,COM24,COM23,COM22,COM21,COM20,COM19,COM18,COM17,COM16,COM15,COM14,COM13,COM12,COM11,COM10,COM9,COM8,COM7,COM6,COM5,COM4,COM3,COM2,COM1,COM0"
fi
python $BASEDIR/px_uploader.py --port $SERIAL_PORTS $1
Tools/usb_serialload.py
+55
View File
@@ -0,0 +1,55 @@
import serial, time
port = serial.Serial('/dev/ttyACM0', baudrate=57600, timeout=2)
data = '01234567890123456789012345678901234567890123456789'
#data = 'hellohello'
outLine = 'echo %s\n' % data
port.write('\n\n\n')
port.write('free\n')
line = port.readline(80)
while line != '':
print(line)
line = port.readline(80)
i = 0
bytesOut = 0
bytesIn = 0
startTime = time.time()
lastPrint = startTime
while True:
bytesOut += port.write(outLine)
line = port.readline(80)
bytesIn += len(line)
# check command line echo
if (data not in line):
print('command error %d: %s' % (i,line))
#break
# read echo output
line = port.readline(80)
if (data not in line):
print('echo output error %d: %s' % (i,line))
#break
bytesIn += len(line)
#print('%d: %s' % (i,line))
#print('%d: bytesOut: %d, bytesIn: %d' % (i, bytesOut, bytesIn))
elapsedT = time.time() - lastPrint
if (time.time() - lastPrint >= 5):
outRate = bytesOut / elapsedT
inRate = bytesIn / elapsedT
usbRate = (bytesOut + bytesIn) / elapsedT
lastPrint = time.time()
print('elapsed time: %f' % (time.time() - startTime))
print('data rates (bytes/sec): out: %f, in: %f, total: %f' % (outRate, inRate, usbRate))
bytesOut = 0
bytesIn = 0
i += 1
#if (i > 2): break
makefiles/config_px4fmu-v1_default.mk
+4 -4
View File
@@ -24,16 +24,16 @@ MODULES += drivers/l3gd20
MODULES += drivers/mpu6000
MODULES += drivers/hmc5883
MODULES += drivers/ms5611
MODULES += drivers/mb12xx
#MODULES += drivers/mb12xx
MODULES += drivers/gps
MODULES += drivers/hil
MODULES += drivers/blinkm
#MODULES += drivers/blinkm
MODULES += drivers/rgbled
MODULES += drivers/mkblctrl
MODULES += drivers/airspeed
MODULES += drivers/ets_airspeed
#MODULES += drivers/ets_airspeed
MODULES += drivers/meas_airspeed
MODULES += drivers/frsky_telemetry
#MODULES += drivers/frsky_telemetry
MODULES += modules/sensors
#
makefiles/config_px4fmu-v2_default.mk
+5
View File
@@ -128,6 +128,11 @@ MODULES += lib/geo_lookup
MODULES += lib/conversion
MODULES += lib/launchdetection
#
# OBC challenge
#
MODULES += modules/bottle_drop
#
# Demo apps
#
makefiles/config_px4fmu-v2_test.mk
+1
View File
@@ -56,6 +56,7 @@ LIBRARIES += lib/mathlib/CMSIS
MODULES += modules/unit_test
MODULES += modules/mavlink/mavlink_tests
MODULES += modules/commander/commander_tests
#
# Transitional support - add commands from the NuttX export archive.
mavlink/include/mavlink/v1.0
+1 -1
Submodule mavlink/include/mavlink/v1.0 updated: 2423e47b4f...ad5e5a645d
nuttx-configs/px4fmu-v1/nsh/defconfig
+1 -1
View File
@@ -287,7 +287,7 @@ CONFIG_STM32_USART_SINGLEWIRE=y
#
# CONFIG_STM32_I2C_DYNTIMEO is not set
CONFIG_STM32_I2CTIMEOSEC=0
CONFIG_STM32_I2CTIMEOMS=1
CONFIG_STM32_I2CTIMEOMS=10
# CONFIG_STM32_I2C_DUTY16_9 is not set
#
src/drivers/boards/aerocore/aerocore_init.c
+13
View File
@@ -93,6 +93,19 @@
# endif
#endif
/*
* 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(void);
extern void led_on(int led);
extern void led_off(int led);
__END_DECLS
/****************************************************************************
* Protected Functions
****************************************************************************/
src/drivers/boards/aerocore/board_config.h
+19
View File
@@ -171,6 +171,25 @@ __BEGIN_DECLS
extern void stm32_spiinitialize(void);
/****************************************************************************
* Name: nsh_archinitialize
*
* Description:
* Perform architecture specific initialization for NSH.
*
* CONFIG_NSH_ARCHINIT=y :
* Called from the NSH library
*
* CONFIG_BOARD_INITIALIZE=y, CONFIG_NSH_LIBRARY=y, &&
* CONFIG_NSH_ARCHINIT=n :
* Called from board_initialize().
*
****************************************************************************/
#ifdef CONFIG_NSH_LIBRARY
int nsh_archinitialize(void);
#endif
#endif /* __ASSEMBLY__ */
__END_DECLS
src/drivers/boards/px4fmu-v1/board_config.h
+21
View File
@@ -209,6 +209,27 @@ __BEGIN_DECLS
extern void stm32_spiinitialize(void);
extern void stm32_usbinitialize(void);
/****************************************************************************
* Name: nsh_archinitialize
*
* Description:
* Perform architecture specific initialization for NSH.
*
* CONFIG_NSH_ARCHINIT=y :
* Called from the NSH library
*
* CONFIG_BOARD_INITIALIZE=y, CONFIG_NSH_LIBRARY=y, &&
* CONFIG_NSH_ARCHINIT=n :
* Called from board_initialize().
*
****************************************************************************/
#ifdef CONFIG_NSH_LIBRARY
int nsh_archinitialize(void);
#endif
#endif /* __ASSEMBLY__ */
__END_DECLS
src/drivers/boards/px4fmu-v2/board_config.h
+21
View File
@@ -229,6 +229,27 @@ __BEGIN_DECLS
extern void stm32_spiinitialize(void);
extern void stm32_usbinitialize(void);
/****************************************************************************
* Name: nsh_archinitialize
*
* Description:
* Perform architecture specific initialization for NSH.
*
* CONFIG_NSH_ARCHINIT=y :
* Called from the NSH library
*
* CONFIG_BOARD_INITIALIZE=y, CONFIG_NSH_LIBRARY=y, &&
* CONFIG_NSH_ARCHINIT=n :
* Called from board_initialize().
*
****************************************************************************/
#ifdef CONFIG_NSH_LIBRARY
int nsh_archinitialize(void);
#endif
#endif /* __ASSEMBLY__ */
__END_DECLS
src/drivers/boards/px4fmu-v2/px4fmu2_init.c
+13
View File
@@ -94,6 +94,19 @@
# endif
#endif
/*
* 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(void);
extern void led_on(int led);
extern void led_off(int led);
__END_DECLS
/****************************************************************************
* Protected Functions
****************************************************************************/
src/drivers/boards/px4io-v2/board_config.h
+1
View File
@@ -77,6 +77,7 @@
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14)
#define GPIO_LED2 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN15)
#define GPIO_LED3 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN13)
#define GPIO_LED4 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN11)
/* Safety switch button *******************************************************/
src/drivers/boards/px4io-v2/px4iov2_init.c
+1
View File
@@ -108,6 +108,7 @@ __EXPORT void stm32_boardinitialize(void)
stm32_configgpio(GPIO_LED1);
stm32_configgpio(GPIO_LED2);
stm32_configgpio(GPIO_LED3);
stm32_configgpio(GPIO_LED4);
stm32_configgpio(GPIO_BTN_SAFETY);
src/drivers/device/device.cpp
+1
View File
@@ -97,6 +97,7 @@ Device::Device(const char *name,
/* setup a default device ID. When bus_type is UNKNOWN the
other fields are invalid */
_device_id.devid = 0;
_device_id.devid_s.bus_type = DeviceBusType_UNKNOWN;
_device_id.devid_s.bus = 0;
_device_id.devid_s.address = 0;
src/drivers/drv_gps.h
+2 -1
View File
@@ -57,7 +57,8 @@
typedef enum {
GPS_DRIVER_MODE_NONE = 0,
GPS_DRIVER_MODE_UBX,
GPS_DRIVER_MODE_MTK
GPS_DRIVER_MODE_MTK,
GPS_DRIVER_MODE_ASHTECH
} gps_driver_mode_t;
src/drivers/drv_pwm_output.h
+9 -3
View File
@@ -165,7 +165,7 @@ ORB_DECLARE(output_pwm);
#define DSM2_BIND_PULSES 3 /* DSM_BIND_START ioctl parameter, pulses required to start dsm2 pairing */
#define DSMX_BIND_PULSES 7 /* DSM_BIND_START ioctl parameter, pulses required to start dsmx pairing */
#define DSMX8_BIND_PULSES 10 /* DSM_BIND_START ioctl parameter, pulses required to start 8 or more channel dsmx pairing */
#define DSMX8_BIND_PULSES 9 /* DSM_BIND_START ioctl parameter, pulses required to start 8 or more channel dsmx pairing */
/** power up DSM receiver */
#define DSM_BIND_POWER_UP _IOC(_PWM_SERVO_BASE, 11)
@@ -205,10 +205,16 @@ ORB_DECLARE(output_pwm);
#define PWM_SERVO_GET_DISABLE_LOCKDOWN _IOC(_PWM_SERVO_BASE, 22)
/** force safety switch off (to disable use of safety switch) */
#define PWM_SERVO_SET_FORCE_SAFETY_OFF _IOC(_PWM_SERVO_BASE, 23)
#define PWM_SERVO_SET_FORCE_SAFETY_OFF _IOC(_PWM_SERVO_BASE, 23)
/** force failsafe mode (failsafe values are set immediately even if failsafe condition not met) */
#define PWM_SERVO_SET_FORCE_FAILSAFE _IOC(_PWM_SERVO_BASE, 24)
#define PWM_SERVO_SET_FORCE_FAILSAFE _IOC(_PWM_SERVO_BASE, 24)
/** make failsafe non-recoverable (termination) if it occurs */
#define PWM_SERVO_SET_TERMINATION_FAILSAFE _IOC(_PWM_SERVO_BASE, 25)
/** force safety switch on (to enable use of safety switch) */
#define PWM_SERVO_SET_FORCE_SAFETY_ON _IOC(_PWM_SERVO_BASE, 26)
/*
*
src/drivers/drv_rc_input.h
+2 -1
View File
@@ -83,7 +83,8 @@ enum RC_INPUT_SOURCE {
RC_INPUT_SOURCE_PX4FMU_PPM,
RC_INPUT_SOURCE_PX4IO_PPM,
RC_INPUT_SOURCE_PX4IO_SPEKTRUM,
RC_INPUT_SOURCE_PX4IO_SBUS
RC_INPUT_SOURCE_PX4IO_SBUS,
RC_INPUT_SOURCE_PX4IO_ST24
};
/**
src/drivers/gps/ashtech.cpp
+641
View File
@@ -0,0 +1,641 @@
#include "ashtech.h"
#include <unistd.h>
#include <stdlib.h>
#include <stdio.h>
#include <poll.h>
#include <math.h>
#include <string.h>
#include <assert.h>
#include <systemlib/err.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/satellite_info.h>
#include <drivers/drv_hrt.h>
#include <fcntl.h>
#include <math.h>
ASHTECH::ASHTECH(const int &fd, struct vehicle_gps_position_s *gps_position, struct satellite_info_s *satellite_info):
_fd(fd),
_satellite_info(satellite_info),
_gps_position(gps_position)
{
decode_init();
_decode_state = NME_DECODE_UNINIT;
_rx_buffer_bytes = 0;
}
ASHTECH::~ASHTECH()
{
}
/*
* All NMEA descriptions are taken from
* http://www.trimble.com/OEM_ReceiverHelp/V4.44/en/NMEA-0183messages_MessageOverview.html
*/
int ASHTECH::handle_message(int len)
{
char * endp;
if (len < 7) { return 0; }
int uiCalcComma = 0;
for (int i = 0 ; i < len; i++) {
if (_rx_buffer[i] == ',') { uiCalcComma++; }
}
char *bufptr = (char *)(_rx_buffer + 6);
if ((memcmp(_rx_buffer + 3, "ZDA,", 3) == 0) && (uiCalcComma == 6)) {
/*
UTC day, month, and year, and local time zone offset
An example of the ZDA message string is:
$GPZDA,172809.456,12,07,1996,00,00*45
ZDA message fields
Field Meaning
0 Message ID $GPZDA
1 UTC
2 Day, ranging between 01 and 31
3 Month, ranging between 01 and 12
4 Year
5 Local time zone offset from GMT, ranging from 00 through 13 hours
6 Local time zone offset from GMT, ranging from 00 through 59 minutes
7 The checksum data, always begins with *
Fields 5 and 6 together yield the total offset. For example, if field 5 is -5 and field 6 is +15, local time is 5 hours and 15 minutes earlier than GMT.
*/
double ashtech_time = 0.0;
int day = 0, month = 0, year = 0, local_time_off_hour __attribute__((unused)) = 0, local_time_off_min __attribute__((unused)) = 0;
if (bufptr && *(++bufptr) != ',') { ashtech_time = strtod(bufptr, &endp); bufptr = endp; }
if (bufptr && *(++bufptr) != ',') { day = strtol(bufptr, &endp, 10); bufptr = endp; }
if (bufptr && *(++bufptr) != ',') { month = strtol(bufptr, &endp, 10); bufptr = endp; }
if (bufptr && *(++bufptr) != ',') { year = strtol(bufptr, &endp, 10); bufptr = endp; }
if (bufptr && *(++bufptr) != ',') { local_time_off_hour = strtol(bufptr, &endp, 10); bufptr = endp; }
if (bufptr && *(++bufptr) != ',') { local_time_off_min = strtol(bufptr, &endp, 10); bufptr = endp; }
int ashtech_hour = ashtech_time / 10000;
int ashtech_minute = (ashtech_time - ashtech_hour * 10000) / 100;
double ashtech_sec = ashtech_time - ashtech_hour * 10000 - ashtech_minute * 100;
/*
* convert to unix timestamp
*/
struct tm timeinfo;
timeinfo.tm_year = year - 1900;
timeinfo.tm_mon = month - 1;
timeinfo.tm_mday = day;
timeinfo.tm_hour = ashtech_hour;
timeinfo.tm_min = ashtech_minute;
timeinfo.tm_sec = int(ashtech_sec);
time_t epoch = mktime(&timeinfo);
_gps_position->time_gps_usec = (uint64_t)epoch * 1000000; //TODO: test this
_gps_position->time_gps_usec += (uint64_t)((ashtech_sec - int(ashtech_sec)) * 1e6);
_gps_position->timestamp_time = hrt_absolute_time();
}
else if ((memcmp(_rx_buffer + 3, "GGA,", 3) == 0) && (uiCalcComma == 14)) {
/*
Time, position, and fix related data
An example of the GBS message string is:
$GPGGA,172814.0,3723.46587704,N,12202.26957864,W,2,6,1.2,18.893,M,-25.669,M,2.0,0031*4F
Note - The data string exceeds the ASHTECH standard length.
GGA message fields
Field Meaning
0 Message ID $GPGGA
1 UTC of position fix
2 Latitude
3 Direction of latitude:
N: North
S: South
4 Longitude
5 Direction of longitude:
E: East
W: West
6 GPS Quality indicator:
0: Fix not valid
1: GPS fix
2: Differential GPS fix, OmniSTAR VBS
4: Real-Time Kinematic, fixed integers
5: Real-Time Kinematic, float integers, OmniSTAR XP/HP or Location RTK
7 Number of SVs in use, range from 00 through to 24+
8 HDOP
9 Orthometric height (MSL reference)
10 M: unit of measure for orthometric height is meters
11 Geoid separation
12 M: geoid separation measured in meters
13 Age of differential GPS data record, Type 1 or Type 9. Null field when DGPS is not used.
14 Reference station ID, range 0000-4095. A null field when any reference station ID is selected and no corrections are received1.
15
The checksum data, always begins with *
Note - If a user-defined geoid model, or an inclined
*/
double ashtech_time __attribute__((unused)) = 0.0, lat = 0.0, lon = 0.0, alt = 0.0;
int num_of_sv __attribute__((unused)) = 0, fix_quality = 0;
double hdop __attribute__((unused)) = 99.9;
char ns = '?', ew = '?';
if (bufptr && *(++bufptr) != ',') { ashtech_time = strtod(bufptr, &endp); bufptr = endp; }
if (bufptr && *(++bufptr) != ',') { lat = strtod(bufptr, &endp); bufptr = endp; }
if (bufptr && *(++bufptr) != ',') { ns = *(bufptr++); }
if (bufptr && *(++bufptr) != ',') { lon = strtod(bufptr, &endp); bufptr = endp; }
if (bufptr && *(++bufptr) != ',') { ew = *(bufptr++); }
if (bufptr && *(++bufptr) != ',') { fix_quality = strtol(bufptr, &endp, 10); bufptr = endp; }
if (bufptr && *(++bufptr) != ',') { num_of_sv = strtol(bufptr, &endp, 10); bufptr = endp; }
if (bufptr && *(++bufptr) != ',') { hdop = strtod(bufptr, &endp); bufptr = endp; }
if (bufptr && *(++bufptr) != ',') { alt = strtod(bufptr, &endp); bufptr = endp; }
if (ns == 'S') {
lat = -lat;
}
if (ew == 'W') {
lon = -lon;
}
_gps_position->lat = (int(lat * 0.01) + (lat * 0.01 - int(lat * 0.01)) * 100.0 / 60.0) * 10000000;
_gps_position->lon = (int(lon * 0.01) + (lon * 0.01 - int(lon * 0.01)) * 100.0 / 60.0) * 10000000;
_gps_position->alt = alt * 1000;
_rate_count_lat_lon++;
if (fix_quality <= 0) {
_gps_position->fix_type = 0;
} else {
/*
* in this NMEA message float integers (value 5) mode has higher value than fixed integers (value 4), whereas it provides lower quality,
* and since value 3 is not being used, I "moved" value 5 to 3 to add it to _gps_position->fix_type
*/
if (fix_quality == 5) { fix_quality = 3; }
/*
* fix quality 1 means just a normal 3D fix, so I'm subtracting 1 here. This way we'll have 3 for auto, 4 for DGPS, 5 for floats, 6 for fixed.
*/
_gps_position->fix_type = 3 + fix_quality - 1;
}
_gps_position->timestamp_position = hrt_absolute_time();
_gps_position->vel_m_s = 0; /**< GPS ground speed (m/s) */
_gps_position->vel_n_m_s = 0; /**< GPS ground speed in m/s */
_gps_position->vel_e_m_s = 0; /**< GPS ground speed in m/s */
_gps_position->vel_d_m_s = 0; /**< GPS ground speed in m/s */
_gps_position->cog_rad =
0; /**< Course over ground (NOT heading, but direction of movement) in rad, -PI..PI */
_gps_position->vel_ned_valid = true; /**< Flag to indicate if NED speed is valid */
_gps_position->c_variance_rad = 0.1;
_gps_position->timestamp_velocity = hrt_absolute_time();
return 1;
} else if ((memcmp(_rx_buffer, "$PASHR,POS,", 11) == 0) && (uiCalcComma == 18)) {
/*
Example $PASHR,POS,2,10,125410.00,5525.8138702,N,03833.9587380,E,131.555,1.0,0.0,0.007,-0.001,2.0,1.0,1.7,1.0,*34
$PASHR,POS,d1,d2,m3,m4,c5,m6,c7,f8,f9,f10,f11,f12,f13,f14,f15,f16,s17*cc
Parameter Description Range
d1 Position mode 0: standalone
1: differential
2: RTK float
3: RTK fixed
5: Dead reckoning
9: SBAS (see NPT setting)
d2 Number of satellite used in position fix 0-99
m3 Current UTC time of position fix (hhmmss.ss) 000000.00-235959.99
m4 Latitude of position (ddmm.mmmmmm) 0-90 degrees 00-59.9999999 minutes
c5 Latitude sector N, S
m6 Longitude of position (dddmm.mmmmmm) 0-180 degrees 00-59.9999999 minutes
c7 Longitude sector E,W
f8 Altitude above ellipsoid +9999.000
f9 Differential age (data link age), seconds 0.0-600.0
f10 True track/course over ground in degrees 0.0-359.9
f11 Speed over ground in knots 0.0-999.9
f12 Vertical velocity in decimeters per second +999.9
f13 PDOP 0-99.9
f14 HDOP 0-99.9
f15 VDOP 0-99.9
f16 TDOP 0-99.9
s17 Reserved no data
*cc Checksum
*/
bufptr = (char *)(_rx_buffer + 10);
/*
* Ashtech would return empty space as coordinate (lat, lon or alt) if it doesn't have a fix yet
*/
int coordinatesFound = 0;
double ashtech_time __attribute__((unused)) = 0.0, lat = 0.0, lon = 0.0, alt = 0.0;
int num_of_sv __attribute__((unused)) = 0, fix_quality = 0;
double track_true = 0.0, ground_speed = 0.0 , age_of_corr __attribute__((unused)) = 0.0;
double hdop __attribute__((unused)) = 99.9, vdop __attribute__((unused)) = 99.9, pdop __attribute__((unused)) = 99.9, tdop __attribute__((unused)) = 99.9, vertic_vel = 0.0;
char ns = '?', ew = '?';
if (bufptr && *(++bufptr) != ',') { fix_quality = strtol(bufptr, &endp, 10); bufptr = endp; }
if (bufptr && *(++bufptr) != ',') { num_of_sv = strtol(bufptr, &endp, 10); bufptr = endp; }
if (bufptr && *(++bufptr) != ',') { ashtech_time = strtod(bufptr, &endp); bufptr = endp; }
if (bufptr && *(++bufptr) != ',') {
/*
* if a coordinate is skipped (i.e. no fix), it either won't get into this block (two commas in a row)
* or strtod won't find anything and endp will point exactly where bufptr is. The same is for lon and alt.
*/
lat = strtod(bufptr, &endp);
if (bufptr != endp) {coordinatesFound++;}
bufptr = endp;
}
if (bufptr && *(++bufptr) != ',') { ns = *(bufptr++); }
if (bufptr && *(++bufptr) != ',') {
lon = strtod(bufptr, &endp);
if (bufptr != endp) {coordinatesFound++;}
bufptr = endp;
}
if (bufptr && *(++bufptr) != ',') { ew = *(bufptr++); }
if (bufptr && *(++bufptr) != ',') {
alt = strtod(bufptr, &endp);
if (bufptr != endp) {coordinatesFound++;}
bufptr = endp;
}
if (bufptr && *(++bufptr) != ',') { age_of_corr = strtod(bufptr, &endp); bufptr = endp; }
if (bufptr && *(++bufptr) != ',') { track_true = strtod(bufptr, &endp); bufptr = endp; }
if (bufptr && *(++bufptr) != ',') { ground_speed = strtod(bufptr, &endp); bufptr = endp; }
if (bufptr && *(++bufptr) != ',') { vertic_vel = strtod(bufptr, &endp); bufptr = endp; }
if (bufptr && *(++bufptr) != ',') { pdop = strtod(bufptr, &endp); bufptr = endp; }
if (bufptr && *(++bufptr) != ',') { hdop = strtod(bufptr, &endp); bufptr = endp; }
if (bufptr && *(++bufptr) != ',') { vdop = strtod(bufptr, &endp); bufptr = endp; }
if (bufptr && *(++bufptr) != ',') { tdop = strtod(bufptr, &endp); bufptr = endp; }
if (ns == 'S') {
lat = -lat;
}
if (ew == 'W') {
lon = -lon;
}
_gps_position->lat = (int(lat * 0.01) + (lat * 0.01 - int(lat * 0.01)) * 100.0 / 60.0) * 10000000;
_gps_position->lon = (int(lon * 0.01) + (lon * 0.01 - int(lon * 0.01)) * 100.0 / 60.0) * 10000000;
_gps_position->alt = alt * 1000;
_rate_count_lat_lon++;
if (coordinatesFound < 3) {
_gps_position->fix_type = 0;
} else {
_gps_position->fix_type = 3 + fix_quality;
}
_gps_position->timestamp_position = hrt_absolute_time();
double track_rad = track_true * M_PI / 180.0;
double velocity_ms = ground_speed / 1.9438445; /** knots to m/s */
double velocity_north = velocity_ms * cos(track_rad);
double velocity_east = velocity_ms * sin(track_rad);
_gps_position->vel_m_s = velocity_ms; /**< GPS ground speed (m/s) */
_gps_position->vel_n_m_s = velocity_north; /**< GPS ground speed in m/s */
_gps_position->vel_e_m_s = velocity_east; /**< GPS ground speed in m/s */
_gps_position->vel_d_m_s = -vertic_vel; /**< GPS ground speed in m/s */
_gps_position->cog_rad =
track_rad; /**< Course over ground (NOT heading, but direction of movement) in rad, -PI..PI */
_gps_position->vel_ned_valid = true; /**< Flag to indicate if NED speed is valid */
_gps_position->c_variance_rad = 0.1;
_gps_position->timestamp_velocity = hrt_absolute_time();
return 1;
} else if ((memcmp(_rx_buffer + 3, "GST,", 3) == 0) && (uiCalcComma == 8)) {
/*
Position error statistics
An example of the GST message string is:
$GPGST,172814.0,0.006,0.023,0.020,273.6,0.023,0.020,0.031*6A
The Talker ID ($--) will vary depending on the satellite system used for the position solution:
$GP - GPS only
$GL - GLONASS only
$GN - Combined
GST message fields
Field Meaning
0 Message ID $GPGST
1 UTC of position fix
2 RMS value of the pseudorange residuals; includes carrier phase residuals during periods of RTK (float) and RTK (fixed) processing
3 Error ellipse semi-major axis 1 sigma error, in meters
4 Error ellipse semi-minor axis 1 sigma error, in meters
5 Error ellipse orientation, degrees from true north
6 Latitude 1 sigma error, in meters
7 Longitude 1 sigma error, in meters
8 Height 1 sigma error, in meters
9 The checksum data, always begins with *
*/
double ashtech_time __attribute__((unused)) = 0.0, lat_err = 0.0, lon_err = 0.0, alt_err = 0.0;
double min_err __attribute__((unused)) = 0.0, maj_err __attribute__((unused)) = 0.0, deg_from_north __attribute__((unused)) = 0.0, rms_err __attribute__((unused)) = 0.0;
if (bufptr && *(++bufptr) != ',') { ashtech_time = strtod(bufptr, &endp); bufptr = endp; }
if (bufptr && *(++bufptr) != ',') { rms_err = strtod(bufptr, &endp); bufptr = endp; }
if (bufptr && *(++bufptr) != ',') { maj_err = strtod(bufptr, &endp); bufptr = endp; }
if (bufptr && *(++bufptr) != ',') { min_err = strtod(bufptr, &endp); bufptr = endp; }
if (bufptr && *(++bufptr) != ',') { deg_from_north = strtod(bufptr, &endp); bufptr = endp; }
if (bufptr && *(++bufptr) != ',') { lat_err = strtod(bufptr, &endp); bufptr = endp; }
if (bufptr && *(++bufptr) != ',') { lon_err = strtod(bufptr, &endp); bufptr = endp; }
if (bufptr && *(++bufptr) != ',') { alt_err = strtod(bufptr, &endp); bufptr = endp; }
_gps_position->eph = sqrt(lat_err * lat_err + lon_err * lon_err);
_gps_position->epv = alt_err;
_gps_position->s_variance_m_s = 0;
_gps_position->timestamp_variance = hrt_absolute_time();
} else if ((memcmp(_rx_buffer + 3, "GSV,", 3) == 0)) {
/*
The GSV message string identifies the number of SVs in view, the PRN numbers, elevations, azimuths, and SNR values. An example of the GSV message string is:
$GPGSV,4,1,13,02,02,213,,03,-3,000,,11,00,121,,14,13,172,05*67
GSV message fields
Field Meaning
0 Message ID $GPGSV
1 Total number of messages of this type in this cycle
2 Message number
3 Total number of SVs visible
4 SV PRN number
5 Elevation, in degrees, 90 maximum
6 Azimuth, degrees from True North, 000 through 359
7 SNR, 00 through 99 dB (null when not tracking)
8-11 Information about second SV, same format as fields 4 through 7
12-15 Information about third SV, same format as fields 4 through 7
16-19 Information about fourth SV, same format as fields 4 through 7
20 The checksum data, always begins with *
*/
/*
* currently process only gps, because do not know what
* Global satellite ID I should use for non GPS sats
*/
bool bGPS = false;
if (memcmp(_rx_buffer, "$GP", 3) != 0) {
return 0;
} else {
bGPS = true;
}
int all_msg_num = 0, this_msg_num = 0, tot_sv_visible = 0;
struct gsv_sat {
int svid;
int elevation;
int azimuth;
int snr;
} sat[4];
memset(sat, 0, sizeof(sat));
if (bufptr && *(++bufptr) != ',') { all_msg_num = strtol(bufptr, &endp, 10); bufptr = endp; }
if (bufptr && *(++bufptr) != ',') { this_msg_num = strtol(bufptr, &endp, 10); bufptr = endp; }
if (bufptr && *(++bufptr) != ',') { tot_sv_visible = strtol(bufptr, &endp, 10); bufptr = endp; }
if ((this_msg_num < 1) || (this_msg_num > all_msg_num)) {
return 0;
}
if ((this_msg_num == 0) && (bGPS == true)) {
memset(_satellite_info->svid, 0, sizeof(_satellite_info->svid));
memset(_satellite_info->used, 0, sizeof(_satellite_info->used));
memset(_satellite_info->snr, 0, sizeof(_satellite_info->snr));
memset(_satellite_info->elevation, 0, sizeof(_satellite_info->elevation));
memset(_satellite_info->azimuth, 0, sizeof(_satellite_info->azimuth));
}
int end = 4;
if (this_msg_num == all_msg_num) {
end = tot_sv_visible - (this_msg_num - 1) * 4;
_gps_position->satellites_used = tot_sv_visible;
_satellite_info->count = SAT_INFO_MAX_SATELLITES;
_satellite_info->timestamp = hrt_absolute_time();
}
for (int y = 0 ; y < end ; y++) {
if (bufptr && *(++bufptr) != ',') { sat[y].svid = strtol(bufptr, &endp, 10); bufptr = endp; }
if (bufptr && *(++bufptr) != ',') { sat[y].elevation = strtol(bufptr, &endp, 10); bufptr = endp; }
if (bufptr && *(++bufptr) != ',') { sat[y].azimuth = strtol(bufptr, &endp, 10); bufptr = endp; }
if (bufptr && *(++bufptr) != ',') { sat[y].snr = strtol(bufptr, &endp, 10); bufptr = endp; }
_satellite_info->svid[y + (this_msg_num - 1) * 4] = sat[y].svid;
_satellite_info->used[y + (this_msg_num - 1) * 4] = ((sat[y].snr > 0) ? true : false);
_satellite_info->snr[y + (this_msg_num - 1) * 4] = sat[y].snr;
_satellite_info->elevation[y + (this_msg_num - 1) * 4] = sat[y].elevation;
_satellite_info->azimuth[y + (this_msg_num - 1) * 4] = sat[y].azimuth;
}
}
return 0;
}
int ASHTECH::receive(unsigned timeout)
{
{
/* poll descriptor */
pollfd fds[1];
fds[0].fd = _fd;
fds[0].events = POLLIN;
uint8_t buf[32];
/* timeout additional to poll */
uint64_t time_started = hrt_absolute_time();
int j = 0;
ssize_t bytes_count = 0;
while (true) {
/* pass received bytes to the packet decoder */
while (j < bytes_count) {
int l = 0;
if ((l = parse_char(buf[j])) > 0) {
/* return to configure during configuration or to the gps driver during normal work
* if a packet has arrived */
if (handle_message(l) > 0) {
return 1;
}
}
/* in case we keep trying but only get crap from GPS */
if (time_started + timeout * 1000 * 2 < hrt_absolute_time()) {
return -1;
}
j++;
}
/* everything is read */
j = bytes_count = 0;
/* then poll for new data */
int ret = ::poll(fds, sizeof(fds) / sizeof(fds[0]), timeout * 2);
if (ret < 0) {
/* something went wrong when polling */
return -1;
} else if (ret == 0) {
/* Timeout */
return -1;
} else if (ret > 0) {
/* if we have new data from GPS, go handle it */
if (fds[0].revents & POLLIN) {
/*
* We are here because poll says there is some data, so this
* won't block even on a blocking device. If more bytes are
* available, we'll go back to poll() again...
*/
bytes_count = ::read(_fd, buf, sizeof(buf));
}
}
}
}
}
#define HEXDIGIT_CHAR(d) ((char)((d) + (((d) < 0xA) ? '0' : 'A'-0xA)))
int ASHTECH::parse_char(uint8_t b)
{
int iRet = 0;
switch (_decode_state) {
/* First, look for sync1 */
case NME_DECODE_UNINIT:
if (b == '$') {
_decode_state = NME_DECODE_GOT_SYNC1;
_rx_buffer_bytes = 0;
_rx_buffer[_rx_buffer_bytes++] = b;
}
break;
case NME_DECODE_GOT_SYNC1:
if (b == '$') {
_decode_state = NME_DECODE_GOT_SYNC1;
_rx_buffer_bytes = 0;
} else if (b == '*') {
_decode_state = NME_DECODE_GOT_ASTERIKS;
}
if (_rx_buffer_bytes >= (sizeof(_rx_buffer) - 5)) {
_decode_state = NME_DECODE_UNINIT;
_rx_buffer_bytes = 0;
} else {
_rx_buffer[_rx_buffer_bytes++] = b;
}
break;
case NME_DECODE_GOT_ASTERIKS:
_rx_buffer[_rx_buffer_bytes++] = b;
_decode_state = NME_DECODE_GOT_FIRST_CS_BYTE;
break;
case NME_DECODE_GOT_FIRST_CS_BYTE:
_rx_buffer[_rx_buffer_bytes++] = b;
uint8_t checksum = 0;
uint8_t *buffer = _rx_buffer + 1;
uint8_t *bufend = _rx_buffer + _rx_buffer_bytes - 3;
for (; buffer < bufend; buffer++) { checksum ^= *buffer; }
if ((HEXDIGIT_CHAR(checksum >> 4) == *(_rx_buffer + _rx_buffer_bytes - 2)) &&
(HEXDIGIT_CHAR(checksum & 0x0F) == *(_rx_buffer + _rx_buffer_bytes - 1))) {
iRet = _rx_buffer_bytes;
}
_decode_state = NME_DECODE_UNINIT;
_rx_buffer_bytes = 0;
break;
}
return iRet;
}
void ASHTECH::decode_init(void)
{
}
/*
* ashtech board configuration script
*/
const char comm[] = "$PASHS,POP,20\r\n"\
"$PASHS,NME,ZDA,B,ON,3\r\n"\
"$PASHS,NME,GGA,B,OFF\r\n"\
"$PASHS,NME,GST,B,ON,3\r\n"\
"$PASHS,NME,POS,B,ON,0.05\r\n"\
"$PASHS,NME,GSV,B,ON,3\r\n"\
"$PASHS,SPD,A,8\r\n"\
"$PASHS,SPD,B,9\r\n";
int ASHTECH::configure(unsigned &baudrate)
{
/* try different baudrates */
const unsigned baudrates_to_try[] = {9600, 38400, 19200, 57600, 115200};
for (unsigned int baud_i = 0; baud_i < sizeof(baudrates_to_try) / sizeof(baudrates_to_try[0]); baud_i++) {
baudrate = baudrates_to_try[baud_i];
set_baudrate(_fd, baudrate);
write(_fd, (uint8_t *)comm, sizeof(comm));
}
set_baudrate(_fd, 115200);
return 0;
}
src/drivers/gps/ashtech.h
+96
View File
@@ -0,0 +1,96 @@
/****************************************************************************
*
* Copyright (C) 2013. All rights reserved.
* Author: Boriskin Aleksey <a.d.boriskin@gmail.com>
* Kistanov Alexander <akistanov@gramant.ru>
*
* 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 ASHTECH protocol definitions */
#ifndef ASHTECH_H_
#define ASHTECH_H_
#include "gps_helper.h"
#ifndef RECV_BUFFER_SIZE
#define RECV_BUFFER_SIZE 512
#define SAT_INFO_MAX_SATELLITES 20
#endif
class ASHTECH : public GPS_Helper
{
enum ashtech_decode_state_t {
NME_DECODE_UNINIT,
NME_DECODE_GOT_SYNC1,
NME_DECODE_GOT_ASTERIKS,
NME_DECODE_GOT_FIRST_CS_BYTE
};
int _fd;
struct satellite_info_s *_satellite_info;
struct vehicle_gps_position_s *_gps_position;
int ashtechlog_fd;
ashtech_decode_state_t _decode_state;
uint8_t _rx_buffer[RECV_BUFFER_SIZE];
uint16_t _rx_buffer_bytes;
bool _parse_error; /** parse error flag */
char *_parse_pos; /** parse position */
bool _gsv_in_progress; /**< Indicates that gsv data parsing is in progress */
/* int _satellites_count; **< Number of satellites info parsed. */
uint8_t count; /**< Number of satellites in satellite info */
uint8_t svid[SAT_INFO_MAX_SATELLITES]; /**< Space vehicle ID [1..255], see scheme below */
uint8_t used[SAT_INFO_MAX_SATELLITES]; /**< 0: Satellite not used, 1: used for navigation */
uint8_t elevation[SAT_INFO_MAX_SATELLITES]; /**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */
uint8_t azimuth[SAT_INFO_MAX_SATELLITES]; /**< Direction of satellite, 0: 0 deg, 255: 360 deg. */
uint8_t snr[SAT_INFO_MAX_SATELLITES]; /**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99, zero when not tracking this satellite. */
public:
ASHTECH(const int &fd, struct vehicle_gps_position_s *gps_position, struct satellite_info_s *satellite_info);
~ASHTECH();
int receive(unsigned timeout);
int configure(unsigned &baudrate);
void decode_init(void);
int handle_message(int len);
int parse_char(uint8_t b);
/** Read int ASHTECH parameter */
int32_t read_int();
/** Read float ASHTECH parameter */
double read_float();
/** Read char ASHTECH parameter */
char read_char();
};
#endif /* ASHTECH_H_ */
src/drivers/gps/gps.cpp
+17
View File
@@ -69,6 +69,7 @@
#include "ubx.h"
#include "mtk.h"
#include "ashtech.h"
#define TIMEOUT_5HZ 500
@@ -341,6 +342,10 @@ GPS::task_main()
_Helper = new MTK(_serial_fd, &_report_gps_pos);
break;
case GPS_DRIVER_MODE_ASHTECH:
_Helper = new ASHTECH(_serial_fd, &_report_gps_pos, _p_report_sat_info);
break;
default:
break;
}
@@ -402,6 +407,10 @@ GPS::task_main()
mode_str = "MTK";
break;
case GPS_DRIVER_MODE_ASHTECH:
mode_str = "ASHTECH";
break;
default:
break;
}
@@ -429,6 +438,10 @@ GPS::task_main()
break;
case GPS_DRIVER_MODE_MTK:
_mode = GPS_DRIVER_MODE_ASHTECH;
break;
case GPS_DRIVER_MODE_ASHTECH:
_mode = GPS_DRIVER_MODE_UBX;
break;
@@ -475,6 +488,10 @@ GPS::print_info()
warnx("protocol: MTK");
break;
case GPS_DRIVER_MODE_ASHTECH:
warnx("protocol: ASHTECH");
break;
default:
break;
}
src/drivers/gps/module.mk
+1
View File
@@ -40,6 +40,7 @@ MODULE_COMMAND = gps
SRCS = gps.cpp \
gps_helper.cpp \
mtk.cpp \
ashtech.cpp \
ubx.cpp
MODULE_STACKSIZE = 1200
src/drivers/gps/ubx.cpp
+12
View File
@@ -189,6 +189,18 @@ UBX::configure(unsigned &baudrate)
return 1;
}
#ifdef UBX_CONFIGURE_SBAS
/* send a SBAS message to set the SBAS options */
memset(&_buf.payload_tx_cfg_sbas, 0, sizeof(_buf.payload_tx_cfg_sbas));
_buf.payload_tx_cfg_sbas.mode = UBX_TX_CFG_SBAS_MODE;
send_message(UBX_MSG_CFG_SBAS, _buf.raw, sizeof(_buf.payload_tx_cfg_sbas));
if (wait_for_ack(UBX_MSG_CFG_SBAS, UBX_CONFIG_TIMEOUT, true) < 0) {
return 1;
}
#endif
/* configure message rates */
/* the last argument is divisor for measurement rate (set by CFG RATE), i.e. 1 means 5Hz */
src/drivers/gps/ubx.h
+17
View File
@@ -73,6 +73,7 @@
#define UBX_ID_CFG_MSG 0x01
#define UBX_ID_CFG_RATE 0x08
#define UBX_ID_CFG_NAV5 0x24
#define UBX_ID_CFG_SBAS 0x16
#define UBX_ID_MON_VER 0x04
#define UBX_ID_MON_HW 0x09
@@ -89,6 +90,7 @@
#define UBX_MSG_CFG_MSG ((UBX_CLASS_CFG) | UBX_ID_CFG_MSG << 8)
#define UBX_MSG_CFG_RATE ((UBX_CLASS_CFG) | UBX_ID_CFG_RATE << 8)
#define UBX_MSG_CFG_NAV5 ((UBX_CLASS_CFG) | UBX_ID_CFG_NAV5 << 8)
#define UBX_MSG_CFG_SBAS ((UBX_CLASS_CFG) | UBX_ID_CFG_SBAS << 8)
#define UBX_MSG_MON_HW ((UBX_CLASS_MON) | UBX_ID_MON_HW << 8)
#define UBX_MSG_MON_VER ((UBX_CLASS_MON) | UBX_ID_MON_VER << 8)
@@ -128,6 +130,11 @@
#define UBX_TX_CFG_NAV5_DYNMODEL 7 /**< 0 Portable, 2 Stationary, 3 Pedestrian, 4 Automotive, 5 Sea, 6 Airborne <1g, 7 Airborne <2g, 8 Airborne <4g */
#define UBX_TX_CFG_NAV5_FIXMODE 2 /**< 1 2D only, 2 3D only, 3 Auto 2D/3D */
/* TX CFG-SBAS message contents */
#define UBX_TX_CFG_SBAS_MODE_ENABLED 1 /**< SBAS enabled */
#define UBX_TX_CFG_SBAS_MODE_DISABLED 0 /**< SBAS disabled */
#define UBX_TX_CFG_SBAS_MODE UBX_TX_CFG_SBAS_MODE_DISABLED /**< SBAS enabled or disabled */
/* TX CFG-MSG message contents */
#define UBX_TX_CFG_MSG_RATE1_5HZ 0x01 /**< {0x00, 0x01, 0x00, 0x00, 0x00, 0x00} the second entry is for UART1 */
#define UBX_TX_CFG_MSG_RATE1_1HZ 0x05 /**< {0x00, 0x05, 0x00, 0x00, 0x00, 0x00} the second entry is for UART1 */
@@ -383,6 +390,15 @@ typedef struct {
uint32_t reserved4;
} ubx_payload_tx_cfg_nav5_t;
/* tx cfg-sbas */
typedef struct {
uint8_t mode;
uint8_t usage;
uint8_t maxSBAS;
uint8_t scanmode2;
uint32_t scanmode1;
} ubx_payload_tx_cfg_sbas_t;
/* Tx CFG-MSG */
typedef struct {
union {
@@ -413,6 +429,7 @@ typedef union {
ubx_payload_tx_cfg_prt_t payload_tx_cfg_prt;
ubx_payload_tx_cfg_rate_t payload_tx_cfg_rate;
ubx_payload_tx_cfg_nav5_t payload_tx_cfg_nav5;
ubx_payload_tx_cfg_sbas_t payload_tx_cfg_sbas;
ubx_payload_tx_cfg_msg_t payload_tx_cfg_msg;
uint8_t raw[];
} ubx_buf_t;
src/drivers/hil/hil.cpp
+2 -1
View File
@@ -392,7 +392,8 @@ HIL::task_main()
if (fds[0].revents & POLLIN) {
/* get controls - must always do this to avoid spinning */
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, _t_actuators, &_controls);
orb_copy(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS :
ORB_ID(actuator_controls_1), _t_actuators, &_controls);
/* can we mix? */
if (_mixers != nullptr) {
src/drivers/hmc5883/hmc5883.cpp
+15 -34
View File
@@ -1049,11 +1049,9 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
* LSM/Ga, giving 1.16 and 1.08 */
float expected_cal[3] = { 1.16f, 1.08f, 1.08f };
warnx("starting mag scale calibration");
/* start the sensor polling at 50 Hz */
if (OK != ioctl(filp, SENSORIOCSPOLLRATE, 50)) {
warn("failed to set 2Hz poll rate");
warn("FAILED: SENSORIOCSPOLLRATE 2Hz");
ret = 1;
goto out;
}
@@ -1061,25 +1059,25 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
/* Set to 2.5 Gauss. We ask for 3 to get the right part of
* the chained if statement above. */
if (OK != ioctl(filp, MAGIOCSRANGE, 3)) {
warnx("failed to set 2.5 Ga range");
warnx("FAILED: MAGIOCSRANGE 3.3 Ga");
ret = 1;
goto out;
}
if (OK != ioctl(filp, MAGIOCEXSTRAP, 1)) {
warnx("failed to enable sensor calibration mode");
warnx("FAILED: MAGIOCEXSTRAP 1");
ret = 1;
goto out;
}
if (OK != ioctl(filp, MAGIOCGSCALE, (long unsigned int)&mscale_previous)) {
warn("WARNING: failed to get scale / offsets for mag");
warn("FAILED: MAGIOCGSCALE 1");
ret = 1;
goto out;
}
if (OK != ioctl(filp, MAGIOCSSCALE, (long unsigned int)&mscale_null)) {
warn("WARNING: failed to set null scale / offsets for mag");
warn("FAILED: MAGIOCSSCALE 1");
ret = 1;
goto out;
}
@@ -1094,7 +1092,7 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
ret = ::poll(&fds, 1, 2000);
if (ret != 1) {
warn("timed out waiting for sensor data");
warn("ERROR: TIMEOUT 1");
goto out;
}
@@ -1102,7 +1100,7 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
sz = ::read(fd, &report, sizeof(report));
if (sz != sizeof(report)) {
warn("periodic read failed");
warn("ERROR: READ 1");
ret = -EIO;
goto out;
}
@@ -1118,7 +1116,7 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
ret = ::poll(&fds, 1, 2000);
if (ret != 1) {
warn("timed out waiting for sensor data");
warn("ERROR: TIMEOUT 2");
goto out;
}
@@ -1126,7 +1124,7 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
sz = ::read(fd, &report, sizeof(report));
if (sz != sizeof(report)) {
warn("periodic read failed");
warn("ERROR: READ 2");
ret = -EIO;
goto out;
}
@@ -1142,33 +1140,19 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
sum_excited[1] += cal[1];
sum_excited[2] += cal[2];
}
//warnx("periodic read %u", i);
//warnx("measurement: %.6f %.6f %.6f", (double)report.x, (double)report.y, (double)report.z);
//warnx("cal: %.6f %.6f %.6f", (double)cal[0], (double)cal[1], (double)cal[2]);
}
if (good_count < 5) {
warn("failed calibration");
ret = -EIO;
goto out;
}
#if 0
warnx("measurement avg: %.6f %.6f %.6f",
(double)sum_excited[0]/good_count,
(double)sum_excited[1]/good_count,
(double)sum_excited[2]/good_count);
#endif
float scaling[3];
scaling[0] = sum_excited[0] / good_count;
scaling[1] = sum_excited[1] / good_count;
scaling[2] = sum_excited[2] / good_count;
warnx("axes scaling: %.6f %.6f %.6f", (double)scaling[0], (double)scaling[1], (double)scaling[2]);
/* set scaling in device */
mscale_previous.x_scale = scaling[0];
mscale_previous.y_scale = scaling[1];
@@ -1179,29 +1163,26 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
out:
if (OK != ioctl(filp, MAGIOCSSCALE, (long unsigned int)&mscale_previous)) {
warn("failed to set new scale / offsets for mag");
warn("FAILED: MAGIOCSSCALE 2");
}
/* set back to normal mode */
/* Set to 1.1 Gauss */
if (OK != ::ioctl(fd, MAGIOCSRANGE, 1)) {
warnx("failed to set 1.1 Ga range");
warnx("FAILED: MAGIOCSRANGE 1.1 Ga");
}
if (OK != ::ioctl(fd, MAGIOCEXSTRAP, 0)) {
warnx("failed to disable sensor calibration mode");
warnx("FAILED: MAGIOCEXSTRAP 0");
}
if (ret == OK) {
if (!check_scale()) {
warnx("mag scale calibration successfully finished.");
} else {
warnx("mag scale calibration finished with invalid results.");
if (check_scale()) {
/* failed */
warnx("FAILED: SCALE");
ret = ERROR;
}
} else {
warnx("mag scale calibration failed.");
}
return ret;
src/drivers/hott/messages.cpp
+7 -7
View File
@@ -115,9 +115,9 @@ publish_gam_message(const uint8_t *buffer)
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));
esc.esc[0].esc_temperature = static_cast<float>(msg.temperature1) - 20.0F;
esc.esc[0].esc_voltage = static_cast<float>((msg.main_voltage_H << 8) | (msg.main_voltage_L & 0xff)) * 0.1F;
esc.esc[0].esc_current = static_cast<float>((msg.current_H << 8) | (msg.current_L & 0xff)) * 0.1F;
/* announce the esc if needed, just publish else */
if (_esc_pub > 0) {
@@ -186,18 +186,18 @@ build_gam_response(uint8_t *buffer, size_t *size)
msg.gam_sensor_id = GAM_SENSOR_ID;
msg.sensor_text_id = GAM_SENSOR_TEXT_ID;
msg.temperature1 = (uint8_t)(esc.esc[0].esc_temperature + 20);
msg.temperature1 = (uint8_t)(esc.esc[0].esc_temperature + 20.0F);
msg.temperature2 = 20; // 0 deg. C.
uint16_t voltage = (uint16_t)(esc.esc[0].esc_voltage);
const uint16_t voltage = (uint16_t)(esc.esc[0].esc_voltage * 10.0F);
msg.main_voltage_L = (uint8_t)voltage & 0xff;
msg.main_voltage_H = (uint8_t)(voltage >> 8) & 0xff;
uint16_t current = (uint16_t)(esc.esc[0].esc_current);
const uint16_t current = (uint16_t)(esc.esc[0].esc_current * 10.0F);
msg.current_L = (uint8_t)current & 0xff;
msg.current_H = (uint8_t)(current >> 8) & 0xff;
uint16_t rpm = (uint16_t)(esc.esc[0].esc_rpm * 0.1f);
const uint16_t rpm = (uint16_t)(esc.esc[0].esc_rpm * 0.1f);
msg.rpm_L = (uint8_t)rpm & 0xff;
msg.rpm_H = (uint8_t)(rpm >> 8) & 0xff;
src/drivers/l3gd20/l3gd20.cpp
+8 -1
View File
@@ -176,6 +176,7 @@ static const int ERROR = -1;
#define L3G4200D_DEFAULT_RATE 800
#define L3GD20_DEFAULT_RANGE_DPS 2000
#define L3GD20_DEFAULT_FILTER_FREQ 30
#define L3GD20_TEMP_OFFSET_CELSIUS 40
#ifndef SENSOR_BOARD_ROTATION_DEFAULT
#define SENSOR_BOARD_ROTATION_DEFAULT SENSOR_BOARD_ROTATION_270_DEG
@@ -856,7 +857,7 @@ L3GD20::measure()
#pragma pack(push, 1)
struct {
uint8_t cmd;
uint8_t temp;
int8_t temp;
uint8_t status;
int16_t x;
int16_t y;
@@ -930,6 +931,8 @@ L3GD20::measure()
report.z_raw = raw_report.z;
report.temperature_raw = raw_report.temp;
report.x = ((report.x_raw * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale;
report.y = ((report.y_raw * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale;
report.z = ((report.z_raw * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale;
@@ -938,6 +941,8 @@ L3GD20::measure()
report.y = _gyro_filter_y.apply(report.y);
report.z = _gyro_filter_z.apply(report.z);
report.temperature = L3GD20_TEMP_OFFSET_CELSIUS - raw_report.temp;
// apply user specified rotation
rotate_3f(_rotation, report.x, report.y, report.z);
@@ -1091,9 +1096,11 @@ test()
warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x);
warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y);
warnx("gyro z: \t% 9.5f\trad/s", (double)g_report.z);
warnx("temp: \t%d\tC", (int)g_report.temperature);
warnx("gyro x: \t%d\traw", (int)g_report.x_raw);
warnx("gyro y: \t%d\traw", (int)g_report.y_raw);
warnx("gyro z: \t%d\traw", (int)g_report.z_raw);
warnx("temp: \t%d\traw", (int)g_report.temperature_raw);
warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
(int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
src/drivers/ll40ls/ll40ls.cpp
+187 -59
View File
@@ -73,14 +73,19 @@
/* Configuration Constants */
#define LL40LS_BUS PX4_I2C_BUS_EXPANSION
#define LL40LS_BASEADDR 0x42 /* 7-bit address */
#define LL40LS_DEVICE_PATH "/dev/ll40ls"
#define LL40LS_BASEADDR 0x62 /* 7-bit address */
#define LL40LS_BASEADDR_OLD 0x42 /* previous 7-bit address */
#define LL40LS_DEVICE_PATH_INT "/dev/ll40ls_int"
#define LL40LS_DEVICE_PATH_EXT "/dev/ll40ls_ext"
/* LL40LS Registers addresses */
#define LL40LS_MEASURE_REG 0x00 /* Measure range register */
#define LL40LS_MSRREG_ACQUIRE 0x04 /* Value to initiate a measurement, varies based on sensor revision */
#define LL40LS_MSRREG_ACQUIRE 0x04 /* Value to initiate a measurement, varies based on sensor revision */
#define LL40LS_DISTHIGH_REG 0x8F /* High byte of distance register, auto increment */
#define LL40LS_WHO_AM_I_REG 0x11
#define LL40LS_WHO_AM_I_REG_VAL 0xCA
#define LL40LS_SIGNAL_STRENGTH_REG 0x5b
/* Device limits */
#define LL40LS_MIN_DISTANCE (0.00f)
@@ -101,7 +106,7 @@ static const int ERROR = -1;
class LL40LS : public device::I2C
{
public:
LL40LS(int bus = LL40LS_BUS, int address = LL40LS_BASEADDR);
LL40LS(int bus, const char *path, int address = LL40LS_BASEADDR);
virtual ~LL40LS();
virtual int init();
@@ -116,6 +121,7 @@ public:
protected:
virtual int probe();
virtual int read_reg(uint8_t reg, uint8_t &val);
private:
float _min_distance;
@@ -132,6 +138,10 @@ private:
perf_counter_t _sample_perf;
perf_counter_t _comms_errors;
perf_counter_t _buffer_overflows;
uint16_t _last_distance;
/**< the bus the device is connected to */
int _bus;
/**
* Test whether the device supported by the driver is present at a
@@ -188,8 +198,8 @@ private:
*/
extern "C" __EXPORT int ll40ls_main(int argc, char *argv[]);
LL40LS::LL40LS(int bus, int address) :
I2C("LL40LS", LL40LS_DEVICE_PATH, bus, address, 100000),
LL40LS::LL40LS(int bus, const char *path, int address) :
I2C("LL40LS", path, bus, address, 100000),
_min_distance(LL40LS_MIN_DISTANCE),
_max_distance(LL40LS_MAX_DISTANCE),
_reports(nullptr),
@@ -200,10 +210,12 @@ LL40LS::LL40LS(int bus, int address) :
_range_finder_topic(-1),
_sample_perf(perf_alloc(PC_ELAPSED, "ll40ls_read")),
_comms_errors(perf_alloc(PC_COUNT, "ll40ls_comms_errors")),
_buffer_overflows(perf_alloc(PC_COUNT, "ll40ls_buffer_overflows"))
_buffer_overflows(perf_alloc(PC_COUNT, "ll40ls_buffer_overflows")),
_last_distance(0),
_bus(bus)
{
// up the retries since the device misses the first measure attempts
I2C::_retries = 3;
_retries = 3;
// enable debug() calls
_debug_enabled = false;
@@ -270,9 +282,51 @@ out:
return ret;
}
int
LL40LS::read_reg(uint8_t reg, uint8_t &val)
{
return transfer(&reg, 1, &val, 1);
}
int
LL40LS::probe()
{
// cope with both old and new I2C bus address
const uint8_t addresses[2] = {LL40LS_BASEADDR, LL40LS_BASEADDR_OLD};
// more retries for detection
_retries = 10;
for (uint8_t i=0; i<sizeof(addresses); i++) {
uint8_t val=0, who_am_i=0;
// set the I2C bus address
set_address(addresses[i]);
if (read_reg(LL40LS_WHO_AM_I_REG, who_am_i) == OK && who_am_i == LL40LS_WHO_AM_I_REG_VAL) {
// it is responding correctly to a WHO_AM_I
goto ok;
}
if (read_reg(LL40LS_SIGNAL_STRENGTH_REG, val) == OK && val != 0) {
// very likely to be a ll40ls. px4flow does not
// respond to this
goto ok;
}
debug("WHO_AM_I byte mismatch 0x%02x should be 0x%02x val=0x%02x\n",
(unsigned)who_am_i,
LL40LS_WHO_AM_I_REG_VAL,
(unsigned)val);
}
// not found on any address
return -EIO;
ok:
_retries = 3;
// start a measurement
return measure();
}
@@ -521,6 +575,8 @@ LL40LS::collect()
float si_units = distance * 0.01f; /* cm to m */
struct range_finder_report report;
_last_distance = distance;
/* this should be fairly close to the end of the measurement, so the best approximation of the time */
report.timestamp = hrt_absolute_time();
report.error_count = perf_event_count(_comms_errors);
@@ -648,6 +704,8 @@ LL40LS::print_info()
perf_print_counter(_buffer_overflows);
printf("poll interval: %u ticks\n", _measure_ticks);
_reports->print_info("report queue");
printf("distance: %ucm (0x%04x)\n",
(unsigned)_last_distance, (unsigned)_last_distance);
}
/**
@@ -662,55 +720,89 @@ namespace ll40ls
#endif
const int ERROR = -1;
LL40LS *g_dev;
LL40LS *g_dev_int;
LL40LS *g_dev_ext;
void start();
void stop();
void test();
void reset();
void info();
void start(int bus);
void stop(int bus);
void test(int bus);
void reset(int bus);
void info(int bus);
void usage();
/**
* Start the driver.
*/
void
start()
start(int bus)
{
int fd;
if (g_dev != nullptr) {
errx(1, "already started");
/* create the driver, attempt expansion bus first */
if (bus == -1 || bus == PX4_I2C_BUS_EXPANSION) {
if (g_dev_ext != nullptr)
errx(0, "already started external");
g_dev_ext = new LL40LS(PX4_I2C_BUS_EXPANSION, LL40LS_DEVICE_PATH_EXT);
if (g_dev_ext != nullptr && OK != g_dev_ext->init()) {
delete g_dev_ext;
g_dev_ext = nullptr;
}
}
/* create the driver */
g_dev = new LL40LS(LL40LS_BUS);
#ifdef PX4_I2C_BUS_ONBOARD
/* if this failed, attempt onboard sensor */
if (bus == -1 || bus == PX4_I2C_BUS_ONBOARD) {
if (g_dev_int != nullptr)
errx(0, "already started internal");
g_dev_int = new LL40LS(PX4_I2C_BUS_ONBOARD, LL40LS_DEVICE_PATH_INT);
if (g_dev_int != nullptr && OK != g_dev_int->init()) {
/* tear down the failing onboard instance */
delete g_dev_int;
g_dev_int = nullptr;
if (g_dev == nullptr) {
goto fail;
}
if (OK != g_dev->init()) {
goto fail;
if (bus == PX4_I2C_BUS_ONBOARD) {
goto fail;
}
}
if (g_dev_int == nullptr && bus == PX4_I2C_BUS_ONBOARD) {
goto fail;
}
}
#endif
/* set the poll rate to default, starts automatic data collection */
fd = open(LL40LS_DEVICE_PATH, O_RDONLY);
if (g_dev_int != nullptr) {
int fd = open(LL40LS_DEVICE_PATH_INT, O_RDONLY);
if (fd == -1) {
goto fail;
}
int ret = ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT);
close(fd);
if (ret < 0) {
goto fail;
}
}
if (fd < 0) {
goto fail;
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
goto fail;
}
if (g_dev_ext != nullptr) {
int fd = open(LL40LS_DEVICE_PATH_EXT, O_RDONLY);
if (fd == -1) {
goto fail;
}
int ret = ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT);
close(fd);
if (ret < 0) {
goto fail;
}
}
exit(0);
fail:
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
if (g_dev_int != nullptr && (bus == -1 || bus == PX4_I2C_BUS_ONBOARD)) {
delete g_dev_int;
g_dev_int = nullptr;
}
if (g_dev_ext != nullptr && (bus == -1 || bus == PX4_I2C_BUS_EXPANSION)) {
delete g_dev_ext;
g_dev_ext = nullptr;
}
errx(1, "driver start failed");
@@ -719,11 +811,12 @@ fail:
/**
* Stop the driver
*/
void stop()
void stop(int bus)
{
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
LL40LS **g_dev = (bus == PX4_I2C_BUS_ONBOARD?&g_dev_int:&g_dev_ext);
if (*g_dev != nullptr) {
delete *g_dev;
*g_dev = nullptr;
} else {
errx(1, "driver not running");
@@ -738,16 +831,17 @@ void stop()
* and automatic modes.
*/
void
test()
test(int bus)
{
struct range_finder_report report;
ssize_t sz;
int ret;
const char *path = (bus==PX4_I2C_BUS_ONBOARD?LL40LS_DEVICE_PATH_INT:LL40LS_DEVICE_PATH_EXT);
int fd = open(LL40LS_DEVICE_PATH, O_RDONLY);
int fd = open(path, O_RDONLY);
if (fd < 0) {
err(1, "%s open failed (try 'll40ls start' if the driver is not running", LL40LS_DEVICE_PATH);
err(1, "%s open failed (try 'll40ls start' if the driver is not running", path);
}
/* do a simple demand read */
@@ -803,9 +897,10 @@ test()
* Reset the driver.
*/
void
reset()
reset(int bus)
{
int fd = open(LL40LS_DEVICE_PATH, O_RDONLY);
const char *path = (bus==PX4_I2C_BUS_ONBOARD?LL40LS_DEVICE_PATH_INT:LL40LS_DEVICE_PATH_EXT);
int fd = open(path, O_RDONLY);
if (fd < 0) {
err(1, "failed ");
@@ -826,8 +921,9 @@ reset()
* Print a little info about the driver.
*/
void
info()
info(int bus)
{
LL40LS *g_dev = (bus == PX4_I2C_BUS_ONBOARD?g_dev_int:g_dev_ext);
if (g_dev == nullptr) {
errx(1, "driver not running");
}
@@ -838,44 +934,76 @@ info()
exit(0);
}
void
usage()
{
warnx("missing command: try 'start', 'stop', 'info', 'test', 'reset', 'info'");
warnx("options:");
warnx(" -X only external bus");
#ifdef PX4_I2C_BUS_ONBOARD
warnx(" -I only internal bus");
#endif
}
} // namespace
int
ll40ls_main(int argc, char *argv[])
{
int ch;
int bus = -1;
while ((ch = getopt(argc, argv, "XI")) != EOF) {
switch (ch) {
#ifdef PX4_I2C_BUS_ONBOARD
case 'I':
bus = PX4_I2C_BUS_ONBOARD;
break;
#endif
case 'X':
bus = PX4_I2C_BUS_EXPANSION;
break;
default:
ll40ls::usage();
exit(0);
}
}
const char *verb = argv[optind];
/*
* Start/load the driver.
*/
if (!strcmp(argv[1], "start")) {
ll40ls::start();
if (!strcmp(verb, "start")) {
ll40ls::start(bus);
}
/*
* Stop the driver
*/
if (!strcmp(argv[1], "stop")) {
ll40ls::stop();
if (!strcmp(verb, "stop")) {
ll40ls::stop(bus);
}
/*
* Test the driver/device.
*/
if (!strcmp(argv[1], "test")) {
ll40ls::test();
if (!strcmp(verb, "test")) {
ll40ls::test(bus);
}
/*
* Reset the driver.
*/
if (!strcmp(argv[1], "reset")) {
ll40ls::reset();
if (!strcmp(verb, "reset")) {
ll40ls::reset(bus);
}
/*
* Print driver information.
*/
if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) {
ll40ls::info();
if (!strcmp(verb, "info") || !strcmp(verb, "status")) {
ll40ls::info(bus);
}
errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
src/drivers/lsm303d/lsm303d.cpp
+4 -2
View File
@@ -1519,8 +1519,10 @@ LSM303D::measure()
{
// if the accel doesn't have any data ready then re-schedule
// for 100 microseconds later. This ensures we don't double
// read a value and then miss the next value
if (stm32_gpioread(GPIO_EXTI_ACCEL_DRDY) == 0) {
// read a value and then miss the next value.
// Note that DRDY is not available when the lsm303d is
// connected on the external bus
if (_bus == PX4_SPI_BUS_SENSORS && stm32_gpioread(GPIO_EXTI_ACCEL_DRDY) == 0) {
perf_count(_accel_reschedules);
hrt_call_delay(&_accel_call, 100);
return;
src/drivers/mkblctrl/mkblctrl.cpp
+3 -3
View File
@@ -600,8 +600,8 @@ MK::task_main()
esc.esc[i].esc_address = (uint8_t) BLCTRL_BASE_ADDR + i;
esc.esc[i].esc_vendor = ESC_VENDOR_MIKROKOPTER;
esc.esc[i].esc_version = (uint16_t) Motor[i].Version;
esc.esc[i].esc_voltage = (uint16_t) 0;
esc.esc[i].esc_current = (uint16_t) Motor[i].Current;
esc.esc[i].esc_voltage = 0.0F;
esc.esc[i].esc_current = static_cast<float>(Motor[i].Current) * 0.1F;
esc.esc[i].esc_rpm = (uint16_t) 0;
esc.esc[i].esc_setpoint = (float) Motor[i].SetPoint_PX4;
@@ -614,7 +614,7 @@ MK::task_main()
esc.esc[i].esc_setpoint_raw = (uint16_t) Motor[i].SetPoint;
}
esc.esc[i].esc_temperature = (uint16_t) Motor[i].Temperature;
esc.esc[i].esc_temperature = static_cast<float>(Motor[i].Temperature);
esc.esc[i].esc_state = (uint16_t) Motor[i].State;
esc.esc[i].esc_errorcount = (uint16_t) 0;
src/drivers/mpu6000/mpu6000.cpp
+18 -10
View File
@@ -229,6 +229,7 @@ private:
perf_counter_t _gyro_reads;
perf_counter_t _sample_perf;
perf_counter_t _bad_transfers;
perf_counter_t _good_transfers;
math::LowPassFilter2p _accel_filter_x;
math::LowPassFilter2p _accel_filter_y;
@@ -404,6 +405,7 @@ MPU6000::MPU6000(int bus, const char *path_accel, const char *path_gyro, spi_dev
_gyro_reads(perf_alloc(PC_COUNT, "mpu6000_gyro_read")),
_sample_perf(perf_alloc(PC_ELAPSED, "mpu6000_read")),
_bad_transfers(perf_alloc(PC_COUNT, "mpu6000_bad_transfers")),
_good_transfers(perf_alloc(PC_COUNT, "mpu6000_good_transfers")),
_accel_filter_x(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
_accel_filter_y(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
_accel_filter_z(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
@@ -456,6 +458,7 @@ MPU6000::~MPU6000()
perf_free(_accel_reads);
perf_free(_gyro_reads);
perf_free(_bad_transfers);
perf_free(_good_transfers);
}
int
@@ -910,12 +913,14 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
// adjust filters
float cutoff_freq_hz = _accel_filter_x.get_cutoff_freq();
float sample_rate = 1.0e6f/ticks;
_set_dlpf_filter(cutoff_freq_hz);
_accel_filter_x.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
_accel_filter_y.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
_accel_filter_z.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
float cutoff_freq_hz_gyro = _gyro_filter_x.get_cutoff_freq();
_set_dlpf_filter(cutoff_freq_hz_gyro);
_gyro_filter_x.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro);
_gyro_filter_y.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro);
_gyro_filter_z.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro);
@@ -968,11 +973,9 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
return _accel_filter_x.get_cutoff_freq();
case ACCELIOCSLOWPASS:
if (arg == 0) {
// allow disabling of on-chip filter using
// zero as desired filter frequency
_set_dlpf_filter(0);
}
// set hardware filtering
_set_dlpf_filter(arg);
// set software filtering
_accel_filter_x.set_cutoff_frequency(1.0e6f / _call_interval, arg);
_accel_filter_y.set_cutoff_frequency(1.0e6f / _call_interval, arg);
_accel_filter_z.set_cutoff_frequency(1.0e6f / _call_interval, arg);
@@ -1053,14 +1056,11 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
case GYROIOCGLOWPASS:
return _gyro_filter_x.get_cutoff_freq();
case GYROIOCSLOWPASS:
// set hardware filtering
_set_dlpf_filter(arg);
_gyro_filter_x.set_cutoff_frequency(1.0e6f / _call_interval, arg);
_gyro_filter_y.set_cutoff_frequency(1.0e6f / _call_interval, arg);
_gyro_filter_z.set_cutoff_frequency(1.0e6f / _call_interval, arg);
if (arg == 0) {
// allow disabling of on-chip filter using 0
// as desired frequency
_set_dlpf_filter(0);
}
return OK;
case GYROIOCSSCALE:
@@ -1282,8 +1282,14 @@ MPU6000::measure()
// all zero data - probably a SPI bus error
perf_count(_bad_transfers);
perf_end(_sample_perf);
// note that we don't call reset() here as a reset()
// costs 20ms with interrupts disabled. That means if
// the mpu6k does go bad it would cause a FMU failure,
// regardless of whether another sensor is available,
return;
}
perf_count(_good_transfers);
/*
@@ -1402,6 +1408,8 @@ MPU6000::print_info()
perf_print_counter(_sample_perf);
perf_print_counter(_accel_reads);
perf_print_counter(_gyro_reads);
perf_print_counter(_bad_transfers);
perf_print_counter(_good_transfers);
_accel_reports->print_info("accel queue");
_gyro_reports->print_info("gyro queue");
}
src/drivers/px4flow/px4flow.cpp
+112 -69
View File
@@ -76,7 +76,7 @@
#define PX4FLOW_BUS PX4_I2C_BUS_EXPANSION
#define I2C_FLOW_ADDRESS 0x42 //* 7-bit address. 8-bit address is 0x84
//range 0x42 - 0x49
/* PX4FLOW Registers addresses */
#define PX4FLOW_REG 0x00 /* Measure Register */
@@ -212,8 +212,9 @@ PX4FLOW::~PX4FLOW()
stop();
/* free any existing reports */
if (_reports != nullptr)
if (_reports != nullptr) {
delete _reports;
}
}
int
@@ -222,22 +223,25 @@ PX4FLOW::init()
int ret = ERROR;
/* do I2C init (and probe) first */
if (I2C::init() != OK)
if (I2C::init() != OK) {
goto out;
}
/* allocate basic report buffers */
_reports = new RingBuffer(2, sizeof(struct optical_flow_s));
if (_reports == nullptr)
if (_reports == nullptr) {
goto out;
}
/* get a publish handle on the px4flow topic */
struct optical_flow_s zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_px4flow_topic = orb_advertise(ORB_ID(optical_flow), &zero_report);
if (_px4flow_topic < 0)
if (_px4flow_topic < 0) {
debug("failed to create px4flow object. Did you start uOrb?");
}
ret = OK;
/* sensor is ok, but we don't really know if it is within range */
@@ -249,6 +253,17 @@ out:
int
PX4FLOW::probe()
{
uint8_t val[22];
// to be sure this is not a ll40ls Lidar (which can also be on
// 0x42) we check if a 22 byte transfer works from address
// 0. The ll40ls gives an error for that, whereas the flow
// happily returns some data
if (transfer(nullptr, 0, &val[0], 22) != OK) {
return -EIO;
}
// that worked, so start a measurement cycle
return measure();
}
@@ -260,20 +275,20 @@ PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg)
case SENSORIOCSPOLLRATE: {
switch (arg) {
/* switching to manual polling */
/* switching to manual polling */
case SENSOR_POLLRATE_MANUAL:
stop();
_measure_ticks = 0;
return OK;
/* external signalling (DRDY) not supported */
/* external signalling (DRDY) not supported */
case SENSOR_POLLRATE_EXTERNAL:
/* zero would be bad */
/* zero would be bad */
case 0:
return -EINVAL;
/* set default/max polling rate */
/* set default/max polling rate */
case SENSOR_POLLRATE_MAX:
case SENSOR_POLLRATE_DEFAULT: {
/* do we need to start internal polling? */
@@ -283,13 +298,14 @@ PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg)
_measure_ticks = USEC2TICK(PX4FLOW_CONVERSION_INTERVAL);
/* if we need to start the poll state machine, do it */
if (want_start)
if (want_start) {
start();
}
return OK;
}
/* adjust to a legal polling interval in Hz */
/* adjust to a legal polling interval in Hz */
default: {
/* do we need to start internal polling? */
bool want_start = (_measure_ticks == 0);
@@ -298,15 +314,17 @@ PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg)
unsigned ticks = USEC2TICK(1000000 / arg);
/* check against maximum rate */
if (ticks < USEC2TICK(PX4FLOW_CONVERSION_INTERVAL))
if (ticks < USEC2TICK(PX4FLOW_CONVERSION_INTERVAL)) {
return -EINVAL;
}
/* update interval for next measurement */
_measure_ticks = ticks;
/* if we need to start the poll state machine, do it */
if (want_start)
if (want_start) {
start();
}
return OK;
}
@@ -314,25 +332,29 @@ PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg)
}
case SENSORIOCGPOLLRATE:
if (_measure_ticks == 0)
if (_measure_ticks == 0) {
return SENSOR_POLLRATE_MANUAL;
}
return (1000 / _measure_ticks);
case SENSORIOCSQUEUEDEPTH: {
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 1) || (arg > 100))
return -EINVAL;
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 1) || (arg > 100)) {
return -EINVAL;
}
irqstate_t flags = irqsave();
if (!_reports->resize(arg)) {
irqrestore(flags);
return -ENOMEM;
}
irqstate_t flags = irqsave();
if (!_reports->resize(arg)) {
irqrestore(flags);
return -ENOMEM;
}
irqrestore(flags);
return OK;
}
return OK;
}
case SENSORIOCGQUEUEDEPTH:
return _reports->size();
@@ -355,8 +377,9 @@ PX4FLOW::read(struct file *filp, char *buffer, size_t buflen)
int ret = 0;
/* buffer must be large enough */
if (count < 1)
if (count < 1) {
return -ENOSPC;
}
/* if automatic measurement is enabled */
if (_measure_ticks > 0) {
@@ -417,13 +440,13 @@ PX4FLOW::measure()
uint8_t cmd = PX4FLOW_REG;
ret = transfer(&cmd, 1, nullptr, 0);
if (OK != ret)
{
if (OK != ret) {
perf_count(_comms_errors);
log("i2c::transfer returned %d", ret);
printf("i2c::transfer flow returned %d");
printf("i2c::transfer flow returned %d");
return ret;
}
ret = OK;
return ret;
@@ -435,14 +458,13 @@ PX4FLOW::collect()
int ret = -EIO;
/* read from the sensor */
uint8_t val[22] = {0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0};
uint8_t val[22] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
perf_begin(_sample_perf);
ret = transfer(nullptr, 0, &val[0], 22);
if (ret < 0)
{
if (ret < 0) {
log("error reading from sensor: %d", ret);
perf_count(_comms_errors);
perf_end(_sample_perf);
@@ -467,12 +489,12 @@ PX4FLOW::collect()
int16_t gdist = val[21] << 8 | val[20];
struct optical_flow_s report;
report.flow_comp_x_m = float(flowcx)/1000.0f;
report.flow_comp_y_m = float(flowcy)/1000.0f;
report.flow_raw_x= val[3] << 8 | val[2];
report.flow_raw_y= val[5] << 8 | val[4];
report.ground_distance_m =float(gdist)/1000.0f;
report.quality= val[10];
report.flow_comp_x_m = float(flowcx) / 1000.0f;
report.flow_comp_y_m = float(flowcy) / 1000.0f;
report.flow_raw_x = val[3] << 8 | val[2];
report.flow_raw_y = val[5] << 8 | val[4];
report.ground_distance_m = float(gdist) / 1000.0f;
report.quality = val[10];
report.sensor_id = 0;
report.timestamp = hrt_absolute_time();
@@ -509,11 +531,13 @@ PX4FLOW::start()
true,
true,
true,
SUBSYSTEM_TYPE_OPTICALFLOW};
SUBSYSTEM_TYPE_OPTICALFLOW
};
static orb_advert_t pub = -1;
if (pub > 0) {
orb_publish(ORB_ID(subsystem_info), pub, &info);
} else {
pub = orb_advertise(ORB_ID(subsystem_info), &info);
}
@@ -567,8 +591,9 @@ PX4FLOW::cycle()
}
/* measurement phase */
if (OK != measure())
if (OK != measure()) {
log("measure error");
}
/* next phase is collection */
_collect_phase = true;
@@ -619,33 +644,37 @@ start()
{
int fd;
if (g_dev != nullptr)
if (g_dev != nullptr) {
errx(1, "already started");
}
/* create the driver */
g_dev = new PX4FLOW(PX4FLOW_BUS);
if (g_dev == nullptr)
if (g_dev == nullptr) {
goto fail;
}
if (OK != g_dev->init())
if (OK != g_dev->init()) {
goto fail;
}
/* set the poll rate to default, starts automatic data collection */
fd = open(PX4FLOW_DEVICE_PATH, O_RDONLY);
if (fd < 0)
if (fd < 0) {
goto fail;
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX) < 0)
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX) < 0) {
goto fail;
}
exit(0);
fail:
if (g_dev != nullptr)
{
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
}
@@ -658,15 +687,14 @@ fail:
*/
void stop()
{
if (g_dev != nullptr)
{
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
}
else
{
} else {
errx(1, "driver not running");
}
exit(0);
}
@@ -684,14 +712,17 @@ test()
int fd = open(PX4FLOW_DEVICE_PATH, O_RDONLY);
if (fd < 0)
if (fd < 0) {
err(1, "%s open failed (try 'px4flow start' if the driver is not running", PX4FLOW_DEVICE_PATH);
}
/* do a simple demand read */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report))
// err(1, "immediate read failed");
{
warnx("immediate read failed");
}
warnx("single read");
warnx("flowx: %0.2f m/s", (double)report.flow_comp_x_m);
@@ -700,8 +731,9 @@ test()
/* start the sensor polling at 2Hz */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2))
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
errx(1, "failed to set 2Hz poll rate");
}
/* read the sensor 5x and report each value */
for (unsigned i = 0; i < 5; i++) {
@@ -712,14 +744,16 @@ test()
fds.events = POLLIN;
ret = poll(&fds, 1, 2000);
if (ret != 1)
if (ret != 1) {
errx(1, "timed out waiting for sensor data");
}
/* now go get it */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report))
if (sz != sizeof(report)) {
err(1, "periodic read failed");
}
warnx("periodic read %u", i);
warnx("flowx: %0.2f m/s", (double)report.flow_comp_x_m);
@@ -740,14 +774,17 @@ reset()
{
int fd = open(PX4FLOW_DEVICE_PATH, O_RDONLY);
if (fd < 0)
if (fd < 0) {
err(1, "failed ");
}
if (ioctl(fd, SENSORIOCRESET, 0) < 0)
if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
err(1, "driver reset failed");
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
err(1, "driver poll restart failed");
}
exit(0);
}
@@ -758,8 +795,9 @@ reset()
void
info()
{
if (g_dev == nullptr)
if (g_dev == nullptr) {
errx(1, "driver not running");
}
printf("state @ %p\n", g_dev);
g_dev->print_info();
@@ -775,32 +813,37 @@ px4flow_main(int argc, char *argv[])
/*
* Start/load the driver.
*/
if (!strcmp(argv[1], "start"))
if (!strcmp(argv[1], "start")) {
px4flow::start();
}
/*
* Stop the driver
*/
if (!strcmp(argv[1], "stop"))
px4flow::stop();
/*
* Stop the driver
*/
if (!strcmp(argv[1], "stop")) {
px4flow::stop();
}
/*
* Test the driver/device.
*/
if (!strcmp(argv[1], "test"))
if (!strcmp(argv[1], "test")) {
px4flow::test();
}
/*
* Reset the driver.
*/
if (!strcmp(argv[1], "reset"))
if (!strcmp(argv[1], "reset")) {
px4flow::reset();
}
/*
* Print driver information.
*/
if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status"))
if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) {
px4flow::info();
}
errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
}
src/drivers/px4fmu/fmu.cpp
+1
View File
@@ -829,6 +829,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
case PWM_SERVO_SET_ARM_OK:
case PWM_SERVO_CLEAR_ARM_OK:
case PWM_SERVO_SET_FORCE_SAFETY_OFF:
case PWM_SERVO_SET_FORCE_SAFETY_ON:
// these are no-ops, as no safety switch
break;
src/drivers/px4io/px4io.cpp
+61 -10
View File
@@ -295,6 +295,7 @@ private:
float _battery_amp_bias; ///< current sensor bias
float _battery_mamphour_total;///< amp hours consumed so far
uint64_t _battery_last_timestamp;///< last amp hour calculation timestamp
bool _cb_flighttermination; ///< true if the flight termination circuit breaker is enabled
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
bool _dsm_vcc_ctl; ///< true if relay 1 controls DSM satellite RX power
@@ -515,7 +516,8 @@ PX4IO::PX4IO(device::Device *interface) :
_battery_amp_per_volt(90.0f / 5.0f), // this matches the 3DR current sensor
_battery_amp_bias(0),
_battery_mamphour_total(0),
_battery_last_timestamp(0)
_battery_last_timestamp(0),
_cb_flighttermination(true)
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
, _dsm_vcc_ctl(false)
#endif
@@ -1051,6 +1053,9 @@ PX4IO::task_main()
}
}
/* Update Circuit breakers */
_cb_flighttermination = circuit_breaker_enabled("CBRK_FLIGHTTERM", CBRK_FLIGHTTERM_KEY);
}
}
@@ -1169,12 +1174,21 @@ PX4IO::io_set_arming_state()
clear |= PX4IO_P_SETUP_ARMING_LOCKDOWN;
}
if (armed.force_failsafe) {
/* Do not set failsafe if circuit breaker is enabled */
if (armed.force_failsafe && !_cb_flighttermination) {
set |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
} else {
clear |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
}
// XXX this is for future support in the commander
// but can be removed if unneeded
// if (armed.termination_failsafe) {
// set |= PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE;
// } else {
// clear |= PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE;
// }
if (armed.ready_to_arm) {
set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
@@ -1233,28 +1247,40 @@ PX4IO::io_set_rc_config()
*/
param_get(param_find("RC_MAP_ROLL"), &ichan);
/* subtract one from 1-based index - this might be
* a negative number now
*/
ichan -= 1;
if ((ichan >= 0) && (ichan < (int)_max_rc_input))
input_map[ichan - 1] = 0;
input_map[ichan] = 0;
param_get(param_find("RC_MAP_PITCH"), &ichan);
if ((ichan >= 0) && (ichan < (int)_max_rc_input))
input_map[ichan - 1] = 1;
input_map[ichan] = 1;
param_get(param_find("RC_MAP_YAW"), &ichan);
if ((ichan >= 0) && (ichan < (int)_max_rc_input))
input_map[ichan - 1] = 2;
input_map[ichan] = 2;
param_get(param_find("RC_MAP_THROTTLE"), &ichan);
if ((ichan >= 0) && (ichan < (int)_max_rc_input))
input_map[ichan - 1] = 3;
input_map[ichan] = 3;
param_get(param_find("RC_MAP_FLAPS"), &ichan);
if ((ichan >= 0) && (ichan < (int)_max_rc_input))
input_map[ichan] = 4;
param_get(param_find("RC_MAP_MODE_SW"), &ichan);
if ((ichan >= 0) && (ichan < (int)_max_rc_input))
input_map[ichan - 1] = 4;
if ((ichan >= 0) && (ichan < (int)_max_rc_input)) {
/* use out of normal bounds index to indicate special channel */
input_map[ichan] = PX4IO_P_RC_CONFIG_ASSIGNMENT_MODESWITCH;
}
/*
* Iterate all possible RC inputs.
@@ -1603,6 +1629,9 @@ PX4IO::io_publish_raw_rc()
} else if (_status & PX4IO_P_STATUS_FLAGS_RC_SBUS) {
rc_val.input_source = RC_INPUT_SOURCE_PX4IO_SBUS;
} else if (_status & PX4IO_P_STATUS_FLAGS_RC_ST24) {
rc_val.input_source = RC_INPUT_SOURCE_PX4IO_ST24;
} else {
rc_val.input_source = RC_INPUT_SOURCE_UNKNOWN;
@@ -1920,13 +1949,15 @@ PX4IO::print_status(bool extended_status)
io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FREEMEM));
uint16_t flags = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS);
uint16_t io_status_flags = flags;
printf("status 0x%04x%s%s%s%s%s%s%s%s%s%s%s%s\n",
printf("status 0x%04x%s%s%s%s%s%s%s%s%s%s%s%s%s%s\n",
flags,
((flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED) ? " OUTPUTS_ARMED" : ""),
((flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) ? " SAFETY_OFF" : " SAFETY_SAFE"),
((flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) ? " OVERRIDE" : ""),
((flags & PX4IO_P_STATUS_FLAGS_RC_OK) ? " RC_OK" : " RC_FAIL"),
((flags & PX4IO_P_STATUS_FLAGS_RC_PPM) ? " PPM" : ""),
((flags & PX4IO_P_STATUS_FLAGS_RC_DSM) ? " DSM" : ""),
((flags & PX4IO_P_STATUS_FLAGS_RC_ST24) ? " ST24" : ""),
((flags & PX4IO_P_STATUS_FLAGS_RC_SBUS) ? " SBUS" : ""),
((flags & PX4IO_P_STATUS_FLAGS_FMU_OK) ? " FMU_OK" : " FMU_FAIL"),
((flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) ? " RAW_PWM_PASSTHROUGH" : ""),
@@ -2038,7 +2069,8 @@ PX4IO::print_status(bool extended_status)
((arming & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) ? " INAIR_RESTART_OK" : ""),
((arming & PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE) ? " ALWAYS_PWM_ENABLE" : ""),
((arming & PX4IO_P_SETUP_ARMING_LOCKDOWN) ? " LOCKDOWN" : ""),
((arming & PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE) ? " FORCE_FAILSAFE" : "")
((arming & PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE) ? " FORCE_FAILSAFE" : ""),
((arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE) ? " TERM_FAILSAFE" : "")
);
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
printf("rates 0x%04x default %u alt %u relays 0x%04x\n",
@@ -2251,6 +2283,11 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, PX4IO_FORCE_SAFETY_MAGIC);
break;
case PWM_SERVO_SET_FORCE_SAFETY_ON:
/* force safety switch on */
ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_ON, PX4IO_FORCE_SAFETY_MAGIC);
break;
case PWM_SERVO_SET_FORCE_FAILSAFE:
/* force failsafe mode instantly */
if (arg == 0) {
@@ -2262,6 +2299,17 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
}
break;
case PWM_SERVO_SET_TERMINATION_FAILSAFE:
/* if failsafe occurs, do not allow the system to recover */
if (arg == 0) {
/* clear termination failsafe flag */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE, 0);
} else {
/* set termination failsafe flag */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE);
}
break;
case DSM_BIND_START:
/* only allow DSM2, DSM-X and DSM-X with more than 7 channels */
@@ -2439,6 +2487,9 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
} else if (status & PX4IO_P_STATUS_FLAGS_RC_SBUS) {
rc_val->input_source = RC_INPUT_SOURCE_PX4IO_SBUS;
} else if (status & PX4IO_P_STATUS_FLAGS_RC_ST24) {
rc_val->input_source = RC_INPUT_SOURCE_PX4IO_ST24;
} else {
rc_val->input_source = RC_INPUT_SOURCE_UNKNOWN;
}
src/drivers/sf0x/module.mk
+2 -1
View File
@@ -37,6 +37,7 @@
MODULE_COMMAND = sf0x
SRCS = sf0x.cpp
SRCS = sf0x.cpp \
sf0x_parser.cpp
MAXOPTIMIZATION = -Os
src/drivers/sf0x/sf0x.cpp
+16 -84
View File
@@ -72,6 +72,8 @@
#include <board_config.h>
#include "sf0x_parser.h"
/* Configuration Constants */
/* oddly, ERROR is not defined for c++ */
@@ -120,6 +122,7 @@ private:
int _fd;
char _linebuf[10];
unsigned _linebuf_index;
enum SF0X_PARSE_STATE _parse_state;
hrt_abstime _last_read;
orb_advert_t _range_finder_topic;
@@ -186,6 +189,7 @@ SF0X::SF0X(const char *port) :
_collect_phase(false),
_fd(-1),
_linebuf_index(0),
_parse_state(SF0X_PARSE_STATE0_UNSYNC),
_last_read(0),
_range_finder_topic(-1),
_consecutive_fail_count(0),
@@ -200,12 +204,6 @@ SF0X::SF0X(const char *port) :
warnx("FAIL: laser fd");
}
/* tell it to stop auto-triggering */
char stop_auto = ' ';
(void)::write(_fd, &stop_auto, 1);
usleep(100);
(void)::write(_fd, &stop_auto, 1);
struct termios uart_config;
int termios_state;
@@ -520,20 +518,15 @@ SF0X::collect()
/* clear buffer if last read was too long ago */
uint64_t read_elapsed = hrt_elapsed_time(&_last_read);
/* timed out - retry */
if (read_elapsed > (SF0X_CONVERSION_INTERVAL * 2)) {
_linebuf_index = 0;
}
/* the buffer for read chars is buflen minus null termination */
unsigned readlen = sizeof(_linebuf) - 1;
char readbuf[sizeof(_linebuf)];
unsigned readlen = sizeof(readbuf) - 1;
/* read from the sensor (uart buffer) */
ret = ::read(_fd, &_linebuf[_linebuf_index], readlen - _linebuf_index);
ret = ::read(_fd, &readbuf[0], readlen);
if (ret < 0) {
_linebuf[sizeof(_linebuf) - 1] = '\0';
debug("read err: %d lbi: %d buf: %s", ret, (int)_linebuf_index, _linebuf);
debug("read err: %d", ret);
perf_count(_comms_errors);
perf_end(_sample_perf);
@@ -548,84 +541,23 @@ SF0X::collect()
return -EAGAIN;
}
/* let the write pointer point to the next free entry */
_linebuf_index += ret;
_last_read = hrt_absolute_time();
/* require a reasonable amount of minimum bytes */
if (_linebuf_index < 6) {
/* we need at this format: x.xx\r\n */
return -EAGAIN;
} else if (_linebuf[_linebuf_index - 2] != '\r' || _linebuf[_linebuf_index - 1] != '\n') {
if (_linebuf_index == readlen) {
/* we have a full buffer, but no line ending - abort */
_linebuf_index = 0;
perf_count(_comms_errors);
return -ENOMEM;
} else {
/* incomplete read, reschedule ourselves */
return -EAGAIN;
float si_units;
bool valid = false;
for (int i = 0; i < ret; i++) {
if (OK == sf0x_parser(readbuf[i], _linebuf, &_linebuf_index, &_parse_state, &si_units)) {
valid = true;
}
}
char *end;
float si_units;
bool valid;
/* enforce line ending */
_linebuf[_linebuf_index] = '\0';
if (_linebuf[0] == '-' && _linebuf[1] == '-' && _linebuf[2] == '.') {
si_units = -1.0f;
valid = false;
} else {
/* we need to find a dot in the string, as we're missing the meters part else */
valid = false;
/* wipe out partially read content from last cycle(s), check for dot */
for (unsigned i = 0; i < (_linebuf_index - 2); i++) {
if (_linebuf[i] == '\n') {
/* wipe out any partial measurements */
for (unsigned j = 0; j <= i; j++) {
_linebuf[j] = ' ';
}
}
/* we need a digit before the dot and a dot for a valid number */
if (i > 0 && ((_linebuf[i - 1] >= '0') && (_linebuf[i - 1] <= '9')) && (_linebuf[i] == '.')) {
valid = true;
}
}
if (valid) {
si_units = strtod(_linebuf, &end);
/* we require at least four characters for a valid number */
if (end > _linebuf + 3) {
valid = true;
} else {
si_units = -1.0f;
valid = false;
}
}
if (!valid) {
return -EAGAIN;
}
debug("val (float): %8.4f, raw: %s, valid: %s", (double)si_units, _linebuf, ((valid) ? "OK" : "NO"));
/* done with this chunk, resetting - even if invalid */
_linebuf_index = 0;
/* if its invalid, there is no reason to forward the value */
if (!valid) {
perf_count(_comms_errors);
return -EINVAL;
}
struct range_finder_report report;
/* this should be fairly close to the end of the measurement, so the best approximation of the time */
src/lib/conversion/module.mk
+2
View File
@@ -36,3 +36,5 @@
#
SRCS = rotation.cpp
MAXOPTIMIZATION = -Os
src/lib/conversion/rotation.h
+3 -1
View File
@@ -74,6 +74,7 @@ enum Rotation {
ROTATION_ROLL_270_YAW_135 = 23,
ROTATION_PITCH_90 = 24,
ROTATION_PITCH_270 = 25,
ROTATION_ROLL_270_YAW_270 = 26,
ROTATION_MAX
};
@@ -109,7 +110,8 @@ const rot_lookup_t rot_lookup[] = {
{270, 0, 90 },
{270, 0, 135 },
{ 0, 90, 0 },
{ 0, 270, 0 }
{ 0, 270, 0 },
{270, 0, 270 }
};
/**
src/lib/external_lgpl/tecs/tecs.cpp
+5 -5
View File
@@ -236,9 +236,9 @@ void TECS::_update_height_demand(float demand, float state)
// // _hgt_rate_dem);
_hgt_dem_adj = demand;//0.025f * demand + 0.975f * _hgt_dem_adj_last;
_hgt_rate_dem = (_hgt_dem_adj-state)*_heightrate_p + _heightrate_ff * (_hgt_dem_adj - _hgt_dem_adj_last)/_DT;
_hgt_dem_adj_last = _hgt_dem_adj;
_hgt_rate_dem = (_hgt_dem_adj-state)*_heightrate_p + _heightrate_ff * (_hgt_dem_adj - _hgt_dem_adj_last)/_DT;
// Limit height rate of change
if (_hgt_rate_dem > _maxClimbRate) {
_hgt_rate_dem = _maxClimbRate;
@@ -299,7 +299,7 @@ void TECS::_update_throttle(float throttle_cruise, const math::Matrix<3,3> &rotM
// Calculate throttle demand
// If underspeed condition is set, then demand full throttle
if (_underspeed) {
_throttle_dem_unc = 1.0f;
_throttle_dem = 1.0f;
} else {
// Calculate gain scaler from specific energy error to throttle
@@ -363,10 +363,10 @@ void TECS::_update_throttle(float throttle_cruise, const math::Matrix<3,3> &rotM
} else {
_throttle_dem = ff_throttle;
}
}
// Constrain throttle demand
_throttle_dem = constrain(_throttle_dem, _THRminf, _THRmaxf);
// Constrain throttle demand
_throttle_dem = constrain(_throttle_dem, _THRminf, _THRmaxf);
}
}
void TECS::_detect_bad_descent(void)
src/lib/external_lgpl/tecs/tecs.h
-3
View File
@@ -345,9 +345,6 @@ private:
// climbout mode
bool _climbOutDem;
// throttle demand before limiting
float _throttle_dem_unc;
// pitch demand before limiting
float _pitch_dem_unc;
src/lib/geo/geo.c
+10 -7
View File
@@ -362,8 +362,12 @@ __EXPORT int get_distance_to_line(struct crosstrack_error_s *crosstrack_error, d
crosstrack_error->distance = 0.0f;
crosstrack_error->bearing = 0.0f;
dist_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
// Return error if arguments are bad
if (lat_now == 0.0 || lon_now == 0.0 || lat_start == 0.0 || lon_start == 0.0 || lat_end == 0.0d || lon_end == 0.0d) { return return_value; }
if (dist_to_end < 0.1f) {
return ERROR;
}
bearing_end = get_bearing_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
bearing_track = get_bearing_to_next_waypoint(lat_start, lon_start, lat_end, lon_end);
@@ -377,7 +381,6 @@ __EXPORT int get_distance_to_line(struct crosstrack_error_s *crosstrack_error, d
return return_value;
}
dist_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
crosstrack_error->distance = (dist_to_end) * sinf(bearing_diff);
if (sin(bearing_diff) >= 0) {
@@ -414,10 +417,10 @@ __EXPORT int get_distance_to_arc(struct crosstrack_error_s *crosstrack_error, do
crosstrack_error->bearing = 0.0f;
// Return error if arguments are bad
if (lat_now == 0.0 || lon_now == 0.0 || lat_center == 0.0 || lon_center == 0.0 || radius == 0.0f) { return return_value; }
if (radius < 0.1f) { return return_value; }
if (arc_sweep >= 0) {
if (arc_sweep >= 0.0f) {
bearing_sector_start = arc_start_bearing;
bearing_sector_end = arc_start_bearing + arc_sweep;
@@ -463,8 +466,8 @@ __EXPORT int get_distance_to_arc(struct crosstrack_error_s *crosstrack_error, do
double start_disp_x = (double)radius * sin(arc_start_bearing);
double start_disp_y = (double)radius * cos(arc_start_bearing);
double end_disp_x = (double)radius * sin(_wrapPI((double)(arc_start_bearing + arc_sweep)));
double end_disp_y = (double)radius * cos(_wrapPI((double)(arc_start_bearing + arc_sweep)));
double end_disp_x = (double)radius * sin(_wrap_pi((double)(arc_start_bearing + arc_sweep)));
double end_disp_y = (double)radius * cos(_wrap_pi((double)(arc_start_bearing + arc_sweep)));
double lon_start = lon_now + start_disp_x / 111111.0;
double lat_start = lat_now + start_disp_y * cos(lat_now) / 111111.0;
double lon_end = lon_now + end_disp_x / 111111.0;
@@ -484,7 +487,7 @@ __EXPORT int get_distance_to_arc(struct crosstrack_error_s *crosstrack_error, do
}
crosstrack_error->bearing = _wrapPI((double)crosstrack_error->bearing);
crosstrack_error->bearing = _wrap_pi((double)crosstrack_error->bearing);
return_value = OK;
return return_value;
}
src/modules/commander/accelerometer_calibration.cpp
+32 -18
View File
@@ -83,7 +83,7 @@
* | accel_T[1][i] |
* [ accel_T[2][i] ]
*
* b = [ accel_corr_ref[0][i] ] // One measurement per axis is enough
* b = [ accel_corr_ref[0][i] ] // One measurement per side is enough
* | accel_corr_ref[2][i] |
* [ accel_corr_ref[4][i] ]
*
@@ -162,6 +162,11 @@ int do_accel_calibration(int mavlink_fd)
mavlink_log_info(mavlink_fd, CAL_STARTED_MSG, sensor_name);
mavlink_log_info(mavlink_fd, "You need to put the system on all six sides");
sleep(3);
mavlink_log_info(mavlink_fd, "Follow the instructions on the screen");
sleep(5);
struct accel_scale accel_scale = {
0.0f,
1.0f,
@@ -258,7 +263,7 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float
const int samples_num = 2500;
float accel_ref[6][3];
bool data_collected[6] = { false, false, false, false, false, false };
const char *orientation_strs[6] = { "x+", "x-", "y+", "y-", "z+", "z-" };
const char *orientation_strs[6] = { "front", "back", "left", "right", "top", "bottom" };
int sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined));
@@ -287,29 +292,37 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float
break;
}
mavlink_log_info(mavlink_fd, "directions left: %s%s%s%s%s%s",
(!data_collected[0]) ? "x+ " : "",
(!data_collected[1]) ? "x- " : "",
(!data_collected[2]) ? "y+ " : "",
(!data_collected[3]) ? "y- " : "",
(!data_collected[4]) ? "z+ " : "",
(!data_collected[5]) ? "z- " : "");
/* inform user which axes are still needed */
mavlink_log_info(mavlink_fd, "pending: %s%s%s%s%s%s",
(!data_collected[0]) ? "front " : "",
(!data_collected[1]) ? "back " : "",
(!data_collected[2]) ? "left " : "",
(!data_collected[3]) ? "right " : "",
(!data_collected[4]) ? "up " : "",
(!data_collected[5]) ? "down " : "");
/* allow user enough time to read the message */
sleep(3);
int orient = detect_orientation(mavlink_fd, sensor_combined_sub);
if (orient < 0) {
res = ERROR;
break;
}
if (data_collected[orient]) {
mavlink_log_info(mavlink_fd, "%s done, rotate to a different axis", orientation_strs[orient]);
mavlink_log_info(mavlink_fd, "invalid motion, hold still...");
sleep(3);
continue;
}
mavlink_log_info(mavlink_fd, "accel measurement started: %s axis", orientation_strs[orient]);
/* inform user about already handled side */
if (data_collected[orient]) {
mavlink_log_info(mavlink_fd, "%s side done, rotate to a different side", orientation_strs[orient]);
sleep(4);
continue;
}
mavlink_log_info(mavlink_fd, "Hold still, starting to measure %s side", orientation_strs[orient]);
sleep(1);
read_accelerometer_avg(sensor_combined_sub, &(accel_ref[orient][0]), samples_num);
mavlink_log_info(mavlink_fd, "result for %s axis: [ %.2f %.2f %.2f ]", orientation_strs[orient],
mavlink_log_info(mavlink_fd, "result for %s side: [ %.2f %.2f %.2f ]", orientation_strs[orient],
(double)accel_ref[orient][0],
(double)accel_ref[orient][1],
(double)accel_ref[orient][2]);
@@ -400,7 +413,7 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined)
/* is still now */
if (t_still == 0) {
/* first time */
mavlink_log_info(mavlink_fd, "detected rest position, waiting...");
mavlink_log_info(mavlink_fd, "detected rest position, hold still...");
t_still = t;
t_timeout = t + timeout;
@@ -418,6 +431,7 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined)
/* not still, reset still start time */
if (t_still != 0) {
mavlink_log_info(mavlink_fd, "detected motion, hold still...");
sleep(3);
t_still = 0;
}
}
src/modules/commander/airspeed_calibration.cpp
+17 -8
View File
@@ -61,6 +61,15 @@ static const int ERROR = -1;
static const char *sensor_name = "dpress";
#define HUMAN_ASPD_CAL_FAILED_MSG "Calibration failed, see http://px4.io/help/aspd"
static void feedback_calibration_failed(int mavlink_fd)
{
sleep(5);
mavlink_log_critical(mavlink_fd, CAL_FAILED_MSG, sensor_name);
mavlink_log_critical(mavlink_fd, HUMAN_ASPD_CAL_FAILED_MSG);
}
int do_airspeed_calibration(int mavlink_fd)
{
/* give directions */
@@ -99,7 +108,7 @@ int do_airspeed_calibration(int mavlink_fd)
float analog_scaling = 0.0f;
param_get(param_find("SENS_DPRES_ANSC"), &(analog_scaling));
if (fabsf(analog_scaling) < 0.1f) {
mavlink_log_critical(mavlink_fd, "If analog sens, retry with [SENS_DPRES_ANSC=1000]");
mavlink_log_critical(mavlink_fd, "No airspeed sensor, see http://px4.io/help/aspd");
close(diff_pres_sub);
return ERROR;
}
@@ -138,7 +147,7 @@ int do_airspeed_calibration(int mavlink_fd)
} else if (poll_ret == 0) {
/* any poll failure for 1s is a reason to abort */
mavlink_log_critical(mavlink_fd, CAL_FAILED_MSG, sensor_name);
feedback_calibration_failed(mavlink_fd);
close(diff_pres_sub);
return ERROR;
}
@@ -175,7 +184,7 @@ int do_airspeed_calibration(int mavlink_fd)
}
} else {
mavlink_log_info(mavlink_fd, CAL_FAILED_MSG, sensor_name);
feedback_calibration_failed(mavlink_fd);
close(diff_pres_sub);
return ERROR;
}
@@ -207,7 +216,7 @@ int do_airspeed_calibration(int mavlink_fd)
if (fabsf(diff_pres.differential_pressure_raw_pa) < 50.0f) {
if (calibration_counter % 500 == 0) {
mavlink_log_info(mavlink_fd, "Create airflow! (%d, wanted: 50 Pa)",
mavlink_log_info(mavlink_fd, "Create air pressure! (got %d, wanted: 50 Pa)",
(int)diff_pres.differential_pressure_raw_pa);
}
continue;
@@ -215,9 +224,9 @@ int do_airspeed_calibration(int mavlink_fd)
/* do not allow negative values */
if (diff_pres.differential_pressure_raw_pa < 0.0f) {
mavlink_log_critical(mavlink_fd, "Swap static and dynamic ports!");
mavlink_log_info(mavlink_fd, "ERROR: Negative pressure difference detected! (%d Pa)",
(int)diff_pres.differential_pressure_raw_pa);
mavlink_log_critical(mavlink_fd, "Swap static and dynamic ports!");
close(diff_pres_sub);
/* the user setup is wrong, wipe the calibration to force a proper re-calibration */
@@ -235,7 +244,7 @@ int do_airspeed_calibration(int mavlink_fd)
close(diff_pres_sub);
mavlink_log_info(mavlink_fd, CAL_FAILED_MSG, sensor_name);
feedback_calibration_failed(mavlink_fd);
return ERROR;
} else {
mavlink_log_info(mavlink_fd, "Positive pressure: OK (%d Pa)",
@@ -245,14 +254,14 @@ int do_airspeed_calibration(int mavlink_fd)
} else if (poll_ret == 0) {
/* any poll failure for 1s is a reason to abort */
mavlink_log_critical(mavlink_fd, CAL_FAILED_MSG, sensor_name);
feedback_calibration_failed(mavlink_fd);
close(diff_pres_sub);
return ERROR;
}
}
if (calibration_counter == maxcount) {
mavlink_log_critical(mavlink_fd, CAL_FAILED_MSG, sensor_name);
feedback_calibration_failed(mavlink_fd);
close(diff_pres_sub);
return ERROR;
}
src/modules/commander/commander.cpp
+393 -82
View File
@@ -128,8 +128,6 @@ extern struct system_load_s system_load;
#define POSITION_TIMEOUT (2 * 1000 * 1000) /**< consider the local or global position estimate invalid after 600ms */
#define FAILSAFE_DEFAULT_TIMEOUT (3 * 1000 * 1000) /**< hysteresis time - the failsafe will trigger after 3 seconds in this state */
#define RC_TIMEOUT 500000
#define DL_TIMEOUT (10 * 1000 * 1000)
#define OFFBOARD_TIMEOUT 500000
#define DIFFPRESS_TIMEOUT 2000000
@@ -209,7 +207,9 @@ void usage(const char *reason);
/**
* React to commands that are sent e.g. from the mavlink module.
*/
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);
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);
/**
* Mainloop of commander.
@@ -232,7 +232,8 @@ void print_reject_arm(const char *msg);
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 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);
@@ -262,7 +263,7 @@ int commander_main(int argc, char *argv[])
daemon_task = task_spawn_cmd("commander",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 40,
2950,
3200,
commander_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
@@ -395,7 +396,8 @@ transition_result_t arm_disarm(bool arm, const int mavlink_fd_local, const char
// 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, true /* fRunPreArmChecks */, mavlink_fd_local);
arming_res = arming_state_transition(&status, &safety, arm ? ARMING_STATE_ARMED : ARMING_STATE_STANDBY, &armed,
true /* fRunPreArmChecks */, mavlink_fd_local);
if (arming_res == TRANSITION_CHANGED && mavlink_fd) {
mavlink_log_info(mavlink_fd_local, "[cmd] %s by %s", arm ? "ARMED" : "DISARMED", armedBy);
@@ -408,11 +410,12 @@ transition_result_t arm_disarm(bool arm, const int mavlink_fd_local, const char
}
bool handle_command(struct vehicle_status_s *status_local, const struct safety_s *safety_local,
struct vehicle_command_s *cmd, struct actuator_armed_s *armed_local,
struct home_position_s *home, struct vehicle_global_position_s *global_pos, orb_advert_t *home_pub)
struct vehicle_command_s *cmd, struct actuator_armed_s *armed_local,
struct home_position_s *home, struct vehicle_global_position_s *global_pos, orb_advert_t *home_pub)
{
/* only handle commands that are meant to be handled by this system and component */
if (cmd->target_system != status_local->system_id || ((cmd->target_component != status_local->component_id) && (cmd->target_component != 0))) { // component_id 0: valid for all components
if (cmd->target_system != status_local->system_id || ((cmd->target_component != status_local->component_id)
&& (cmd->target_component != 0))) { // component_id 0: valid for all components
return false;
}
@@ -539,13 +542,13 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
} else {
mavlink_log_critical(mavlink_fd, "REJ CMD: %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f",
(double)cmd->param1,
(double)cmd->param2,
(double)cmd->param3,
(double)cmd->param4,
(double)cmd->param5,
(double)cmd->param6,
(double)cmd->param7);
(double)cmd->param1,
(double)cmd->param2,
(double)cmd->param3,
(double)cmd->param4,
(double)cmd->param5,
(double)cmd->param6,
(double)cmd->param7);
}
}
break;
@@ -555,11 +558,44 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
if (cmd->param1 > 0.5f) {
//XXX update state machine?
armed_local->force_failsafe = true;
warnx("forcing failsafe");
warnx("forcing failsafe (termination)");
} else {
armed_local->force_failsafe = false;
warnx("disabling failsafe");
warnx("disabling failsafe (termination)");
}
/* param2 is currently used for other failsafe modes */
status_local->engine_failure_cmd = false;
status_local->data_link_lost_cmd = false;
status_local->gps_failure_cmd = false;
status_local->rc_signal_lost_cmd = false;
if ((int)cmd->param2 <= 0) {
/* reset all commanded failure modes */
warnx("reset all non-flighttermination failsafe commands");
} else if ((int)cmd->param2 == 1) {
/* trigger engine failure mode */
status_local->engine_failure_cmd = true;
warnx("engine failure mode commanded");
} else if ((int)cmd->param2 == 2) {
/* trigger data link loss mode */
status_local->data_link_lost_cmd = true;
warnx("data link loss mode commanded");
} else if ((int)cmd->param2 == 3) {
/* trigger gps loss mode */
status_local->gps_failure_cmd = true;
warnx("gps loss mode commanded");
} else if ((int)cmd->param2 == 4) {
/* trigger rc loss mode */
status_local->rc_signal_lost_cmd = true;
warnx("rc loss mode commanded");
}
cmd_result = VEHICLE_CMD_RESULT_ACCEPTED;
}
break;
@@ -611,6 +647,35 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
}
break;
case VEHICLE_CMD_NAV_GUIDED_ENABLE: {
transition_result_t res = TRANSITION_DENIED;
static main_state_t main_state_pre_offboard = MAIN_STATE_MANUAL;
if (status_local->main_state != MAIN_STATE_OFFBOARD) {
main_state_pre_offboard = status_local->main_state;
}
if (cmd->param1 > 0.5f) {
res = main_state_transition(status_local, MAIN_STATE_OFFBOARD);
if (res == TRANSITION_DENIED) {
print_reject_mode(status_local, "OFFBOARD");
status_local->offboard_control_set_by_command = false;
} else {
/* Set flag that offboard was set via command, main state is not overridden by rc */
status_local->offboard_control_set_by_command = true;
}
} else {
/* If the mavlink command is used to enable or disable offboard control:
* switch back to previous mode when disabling */
res = main_state_transition(status_local, main_state_pre_offboard);
status_local->offboard_control_set_by_command = false;
}
}
break;
case VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
case VEHICLE_CMD_PREFLIGHT_CALIBRATION:
case VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS:
@@ -659,6 +724,12 @@ int commander_thread_main(int argc, char *argv[])
param_t _param_takeoff_alt = param_find("NAV_TAKEOFF_ALT");
param_t _param_enable_parachute = param_find("NAV_PARACHUTE_EN");
param_t _param_enable_datalink_loss = param_find("COM_DL_LOSS_EN");
param_t _param_datalink_loss_timeout = param_find("COM_DL_LOSS_T");
param_t _param_rc_loss_timeout = param_find("COM_RC_LOSS_T");
param_t _param_datalink_regain_timeout = param_find("COM_DL_REG_T");
param_t _param_ef_throttle_thres = param_find("COM_EF_THROT");
param_t _param_ef_current2throttle_thres = param_find("COM_EF_C2T");
param_t _param_ef_time_thres = param_find("COM_EF_TIME");
/* welcome user */
warnx("starting");
@@ -746,9 +817,12 @@ int commander_thread_main(int argc, char *argv[])
// CIRCUIT BREAKERS
status.circuit_breaker_engaged_power_check = false;
status.circuit_breaker_engaged_airspd_check = false;
status.circuit_breaker_engaged_enginefailure_check = false;
status.circuit_breaker_engaged_gpsfailure_check = false;
/* publish initial state */
status_pub = orb_advertise(ORB_ID(vehicle_status), &status);
if (status_pub < 0) {
warnx("ERROR: orb_advertise for topic vehicle_status failed (uorb app running?).\n");
warnx("exiting.");
@@ -774,11 +848,14 @@ int commander_thread_main(int argc, char *argv[])
/* init mission state, do it here to allow navigator to use stored mission even if mavlink failed to start */
orb_advert_t mission_pub = -1;
mission_s mission;
if (dm_read(DM_KEY_MISSION_STATE, 0, &mission, sizeof(mission_s)) == sizeof(mission_s)) {
if (mission.dataman_id >= 0 && mission.dataman_id <= 1) {
warnx("loaded mission state: dataman_id=%d, count=%u, current=%d", mission.dataman_id, mission.count, mission.current_seq);
warnx("loaded mission state: dataman_id=%d, count=%u, current=%d", mission.dataman_id, mission.count,
mission.current_seq);
mavlink_log_info(mavlink_fd, "[cmd] dataman_id=%d, count=%u, current=%d",
mission.dataman_id, mission.count, mission.current_seq);
mission.dataman_id, mission.count, mission.current_seq);
} else {
const char *missionfail = "reading mission state failed";
warnx("%s", missionfail);
@@ -851,11 +928,13 @@ int commander_thread_main(int argc, char *argv[])
/* Subscribe to telemetry status topics */
int telemetry_subs[TELEMETRY_STATUS_ORB_ID_NUM];
uint64_t telemetry_last_heartbeat[TELEMETRY_STATUS_ORB_ID_NUM];
uint64_t telemetry_last_dl_loss[TELEMETRY_STATUS_ORB_ID_NUM];
bool telemetry_lost[TELEMETRY_STATUS_ORB_ID_NUM];
for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
telemetry_subs[i] = orb_subscribe(telemetry_status_orb_id[i]);
telemetry_last_heartbeat[i] = 0;
telemetry_last_dl_loss[i] = 0;
telemetry_lost[i] = true;
}
@@ -941,6 +1020,15 @@ int commander_thread_main(int argc, char *argv[])
transition_result_t arming_ret;
int32_t datalink_loss_enabled = false;
int32_t datalink_loss_timeout = 10;
float rc_loss_timeout = 0.5;
int32_t datalink_regain_timeout = 0;
/* Thresholds for engine failure detection */
int32_t ef_throttle_thres = 1.0f;
int32_t ef_current2throttle_thres = 0.0f;
int32_t ef_time_thres = 1000.0f;
uint64_t timestamp_engine_healthy = 0; /**< absolute time when engine was healty */
/* check which state machines for changes, clear "changed" flag */
bool arming_state_changed = false;
@@ -988,8 +1076,14 @@ int commander_thread_main(int argc, char *argv[])
param_get(_param_system_id, &(status.system_id));
param_get(_param_component_id, &(status.component_id));
status.circuit_breaker_engaged_power_check = circuit_breaker_enabled("CBRK_SUPPLY_CHK", CBRK_SUPPLY_CHK_KEY);
status.circuit_breaker_engaged_airspd_check = circuit_breaker_enabled("CBRK_AIRSPD_CHK", CBRK_AIRSPD_CHK_KEY);
status.circuit_breaker_engaged_power_check =
circuit_breaker_enabled("CBRK_SUPPLY_CHK", CBRK_SUPPLY_CHK_KEY);
status.circuit_breaker_engaged_airspd_check =
circuit_breaker_enabled("CBRK_AIRSPD_CHK", CBRK_AIRSPD_CHK_KEY);
status.circuit_breaker_engaged_enginefailure_check =
circuit_breaker_enabled("CBRK_ENGINEFAIL", CBRK_ENGINEFAIL_KEY);
status.circuit_breaker_engaged_gpsfailure_check =
circuit_breaker_enabled("CBRK_GPSFAIL", CBRK_GPSFAIL_KEY);
status_changed = true;
@@ -1001,6 +1095,12 @@ int commander_thread_main(int argc, char *argv[])
param_get(_param_takeoff_alt, &takeoff_alt);
param_get(_param_enable_parachute, &parachute_enabled);
param_get(_param_enable_datalink_loss, &datalink_loss_enabled);
param_get(_param_datalink_loss_timeout, &datalink_loss_timeout);
param_get(_param_rc_loss_timeout, &rc_loss_timeout);
param_get(_param_datalink_regain_timeout, &datalink_regain_timeout);
param_get(_param_ef_throttle_thres, &ef_throttle_thres);
param_get(_param_ef_current2throttle_thres, &ef_current2throttle_thres);
param_get(_param_ef_time_thres, &ef_time_thres);
}
orb_check(sp_man_sub, &updated);
@@ -1021,6 +1121,7 @@ int commander_thread_main(int argc, char *argv[])
status.offboard_control_signal_lost = false;
status_changed = true;
}
} else {
if (!status.offboard_control_signal_lost) {
status.offboard_control_signal_lost = true;
@@ -1039,9 +1140,9 @@ int commander_thread_main(int argc, char *argv[])
/* perform system checks when new telemetry link connected */
if (mavlink_fd &&
telemetry_last_heartbeat[i] == 0 &&
telemetry.heartbeat_time > 0 &&
hrt_elapsed_time(&telemetry.heartbeat_time) < DL_TIMEOUT) {
telemetry_last_heartbeat[i] == 0 &&
telemetry.heartbeat_time > 0 &&
hrt_elapsed_time(&telemetry.heartbeat_time) < datalink_loss_timeout * 1e6) {
(void)rc_calibration_check(mavlink_fd);
}
@@ -1054,6 +1155,27 @@ int commander_thread_main(int argc, char *argv[])
if (updated) {
orb_copy(ORB_ID(sensor_combined), sensor_sub, &sensors);
/* Check if the barometer is healthy and issue a warning in the GCS if not so.
* Because the barometer is used for calculating AMSL altitude which is used to ensure
* vertical separation from other airtraffic the operator has to know when the
* barometer is inoperational.
* */
if (hrt_elapsed_time(&sensors.baro_timestamp) < FAILSAFE_DEFAULT_TIMEOUT) {
/* handle the case where baro was regained */
if (status.barometer_failure) {
status.barometer_failure = false;
status_changed = true;
mavlink_log_critical(mavlink_fd, "baro healthy");
}
} else {
if (!status.barometer_failure) {
status.barometer_failure = true;
status_changed = true;
mavlink_log_critical(mavlink_fd, "baro failed");
}
}
}
orb_check(diff_pres_sub, &updated);
@@ -1069,10 +1191,11 @@ int commander_thread_main(int argc, char *argv[])
if (hrt_elapsed_time(&system_power.timestamp) < 200000) {
if (system_power.servo_valid &&
!system_power.brick_valid &&
!system_power.usb_connected) {
!system_power.brick_valid &&
!system_power.usb_connected) {
/* flying only on servo rail, this is unsafe */
status.condition_power_input_valid = false;
} else {
status.condition_power_input_valid = true;
}
@@ -1092,9 +1215,11 @@ 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);
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, true /* fRunPreArmChecks */, mavlink_fd)) {
if (TRANSITION_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed,
true /* fRunPreArmChecks */, mavlink_fd)) {
mavlink_log_info(mavlink_fd, "DISARMED by safety switch");
arming_state_changed = true;
}
@@ -1138,9 +1263,8 @@ int commander_thread_main(int argc, char *argv[])
}
}
check_valid(global_position.timestamp, POSITION_TIMEOUT, eph_good, &(status.condition_global_position_valid), &status_changed);
/* check if GPS fix is ok */
check_valid(global_position.timestamp, POSITION_TIMEOUT, eph_good, &(status.condition_global_position_valid),
&status_changed);
/* update home position */
if (!status.condition_home_position_valid && status.condition_global_position_valid && !armed.armed &&
@@ -1190,8 +1314,11 @@ int commander_thread_main(int argc, char *argv[])
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);
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) {
if (status.condition_landed != local_position.landed) {
@@ -1222,7 +1349,8 @@ int commander_thread_main(int argc, char *argv[])
/* get throttle (if armed), as we only care about energy negative throttle also counts */
float throttle = (armed.armed) ? fabsf(actuator_controls.control[3]) : 0.0f;
status.battery_remaining = battery_remaining_estimate_voltage(battery.voltage_filtered_v, battery.discharged_mah, throttle);
status.battery_remaining = battery_remaining_estimate_voltage(battery.voltage_filtered_v, battery.discharged_mah,
throttle);
}
}
@@ -1279,8 +1407,8 @@ int commander_thread_main(int argc, char *argv[])
last_idle_time = system_load.tasks[0].total_runtime;
/* check if board is connected via USB */
//struct stat statbuf;
//on_usb_power = (stat("/dev/ttyACM0", &statbuf) == 0);
struct stat statbuf;
on_usb_power = (stat("/dev/ttyACM0", &statbuf) == 0);
}
/* if battery voltage is getting lower, warn using buzzer, etc. */
@@ -1290,26 +1418,30 @@ int commander_thread_main(int argc, char *argv[])
status.battery_warning = VEHICLE_BATTERY_WARNING_LOW;
status_changed = true;
} else if (status.condition_battery_voltage_valid && status.battery_remaining < 0.09f && !critical_battery_voltage_actions_done && low_battery_voltage_actions_done) {
} else if (!on_usb_power && status.condition_battery_voltage_valid && status.battery_remaining < 0.09f
&& !critical_battery_voltage_actions_done && low_battery_voltage_actions_done) {
/* critical battery voltage, this is rather an emergency, change state machine */
critical_battery_voltage_actions_done = true;
mavlink_log_emergency(mavlink_fd, "CRITICAL BATTERY, LAND IMMEDIATELY");
status.battery_warning = VEHICLE_BATTERY_WARNING_CRITICAL;
if (armed.armed) {
arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_ARMED_ERROR, &armed, true /* fRunPreArmChecks */, mavlink_fd);
arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_ARMED_ERROR, &armed, true /* fRunPreArmChecks */,
mavlink_fd);
if (arming_ret == TRANSITION_CHANGED) {
arming_state_changed = true;
}
} else {
arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_STANDBY_ERROR, &armed, true /* fRunPreArmChecks */, mavlink_fd);
arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_STANDBY_ERROR, &armed, true /* fRunPreArmChecks */,
mavlink_fd);
if (arming_ret == TRANSITION_CHANGED) {
arming_state_changed = true;
}
}
status_changed = true;
}
@@ -1318,7 +1450,8 @@ int commander_thread_main(int argc, char *argv[])
/* If in INIT state, try to proceed to STANDBY state */
if (status.arming_state == ARMING_STATE_INIT && low_prio_task == LOW_PRIO_TASK_NONE) {
/* TODO: check for sensors */
arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed, true /* fRunPreArmChecks */, mavlink_fd);
arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed, true /* fRunPreArmChecks */,
mavlink_fd);
if (arming_ret == TRANSITION_CHANGED) {
arming_state_changed = true;
@@ -1346,11 +1479,31 @@ int commander_thread_main(int argc, char *argv[])
/* Initialize map projection if gps is valid */
if (!map_projection_global_initialized()
&& (gps_position.eph < eph_threshold)
&& (gps_position.epv < epv_threshold)
&& hrt_elapsed_time((hrt_abstime*)&gps_position.timestamp_position) < 1e6) {
&& (gps_position.eph < eph_threshold)
&& (gps_position.epv < epv_threshold)
&& hrt_elapsed_time((hrt_abstime *)&gps_position.timestamp_position) < 1e6) {
/* set reference for global coordinates <--> local coordiantes conversion and map_projection */
globallocalconverter_init((double)gps_position.lat * 1.0e-7, (double)gps_position.lon * 1.0e-7, (float)gps_position.alt * 1.0e-3f, hrt_absolute_time());
globallocalconverter_init((double)gps_position.lat * 1.0e-7, (double)gps_position.lon * 1.0e-7,
(float)gps_position.alt * 1.0e-3f, hrt_absolute_time());
}
/* check if GPS fix is ok */
if (status.circuit_breaker_engaged_gpsfailure_check ||
(gps_position.fix_type >= 3 &&
hrt_elapsed_time(&gps_position.timestamp_position) < FAILSAFE_DEFAULT_TIMEOUT)) {
/* handle the case where gps was regained */
if (status.gps_failure) {
status.gps_failure = false;
status_changed = true;
mavlink_log_critical(mavlink_fd, "gps regained");
}
} else {
if (!status.gps_failure) {
status.gps_failure = true;
status_changed = true;
mavlink_log_critical(mavlink_fd, "gps fix lost");
}
}
/* start mission result check */
@@ -1358,10 +1511,30 @@ int commander_thread_main(int argc, char *argv[])
if (updated) {
orb_copy(ORB_ID(mission_result), mission_result_sub, &mission_result);
/* Check for geofence violation */
if (armed.armed && (mission_result.geofence_violated || mission_result.flight_termination)) {
//XXX: make this configurable to select different actions (e.g. navigation modes)
/* this will only trigger if geofence is activated via param and a geofence file is present, also there is a circuit breaker to disable the actual flight termination in the px4io driver */
armed.force_failsafe = true;
status_changed = true;
static bool flight_termination_printed = false;
if (!flight_termination_printed) {
warnx("Flight termination because of navigator request or geofence");
mavlink_log_critical(mavlink_fd, "GF violation: flight termination");
flight_termination_printed = true;
}
if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {
mavlink_log_critical(mavlink_fd, "GF violation: flight termination");
}
} // no reset is done here on purpose, on geofence violation we want to stay in flighttermination
}
/* RC input check */
if (!status.rc_input_blocked && sp_man.timestamp != 0 && hrt_absolute_time() < sp_man.timestamp + RC_TIMEOUT) {
if (!status.rc_input_blocked && sp_man.timestamp != 0 &&
hrt_absolute_time() < sp_man.timestamp + (uint64_t)(rc_loss_timeout * 1e6f)) {
/* handle the case where RC signal was regained */
if (!status.rc_signal_found_once) {
status.rc_signal_found_once = true;
@@ -1386,11 +1559,15 @@ int commander_thread_main(int argc, char *argv[])
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);
arming_ret = arming_state_transition(&status, &safety, new_arming_state, &armed, true /* fRunPreArmChecks */, mavlink_fd);
arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY :
ARMING_STATE_STANDBY_ERROR);
arming_ret = arming_state_transition(&status, &safety, new_arming_state, &armed, true /* fRunPreArmChecks */,
mavlink_fd);
if (arming_ret == TRANSITION_CHANGED) {
arming_state_changed = true;
}
stick_off_counter = 0;
} else {
@@ -1412,8 +1589,11 @@ int commander_thread_main(int argc, char *argv[])
*/
if (status.main_state != MAIN_STATE_MANUAL) {
print_reject_arm("NOT ARMING: Switch to MANUAL mode first.");
} else {
arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed, true /* fRunPreArmChecks */, mavlink_fd);
arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed, true /* fRunPreArmChecks */,
mavlink_fd);
if (arming_ret == TRANSITION_CHANGED) {
arming_state_changed = true;
}
@@ -1436,6 +1616,7 @@ int commander_thread_main(int argc, char *argv[])
} else {
mavlink_log_info(mavlink_fd, "DISARMED by RC");
}
arming_state_changed = true;
} else if (arming_ret == TRANSITION_DENIED) {
@@ -1471,16 +1652,29 @@ int commander_thread_main(int argc, char *argv[])
/* data links check */
bool have_link = false;
for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
if (telemetry_last_heartbeat[i] != 0 && hrt_elapsed_time(&telemetry_last_heartbeat[i]) < DL_TIMEOUT) {
/* handle the case where data link was regained */
if (telemetry_lost[i]) {
if (telemetry_last_heartbeat[i] != 0 &&
hrt_elapsed_time(&telemetry_last_heartbeat[i]) < datalink_loss_timeout * 1e6) {
/* handle the case where data link was regained,
* accept datalink as healthy only after datalink_regain_timeout seconds
* */
if (telemetry_lost[i] &&
hrt_elapsed_time(&telemetry_last_dl_loss[i]) > datalink_regain_timeout * 1e6) {
mavlink_log_critical(mavlink_fd, "data link %i regained", i);
telemetry_lost[i] = false;
have_link = true;
} else if (!telemetry_lost[i]) {
/* telemetry was healthy also in last iteration
* we don't have to check a timeout */
have_link = true;
}
have_link = true;
} else {
telemetry_last_dl_loss[i] = hrt_absolute_time();
if (!telemetry_lost[i]) {
mavlink_log_critical(mavlink_fd, "data link %i lost", i);
telemetry_lost[i] = true;
@@ -1499,10 +1693,42 @@ int commander_thread_main(int argc, char *argv[])
if (!status.data_link_lost) {
mavlink_log_critical(mavlink_fd, "ALL DATA LINKS LOST");
status.data_link_lost = true;
status.data_link_lost_counter++;
status_changed = true;
}
}
/* Check engine failure
* only for fixed wing for now
*/
if (!status.circuit_breaker_engaged_enginefailure_check &&
status.is_rotary_wing == false &&
armed.armed &&
((actuator_controls.control[3] > ef_throttle_thres &&
battery.current_a / actuator_controls.control[3] <
ef_current2throttle_thres) ||
(status.engine_failure))) {
/* potential failure, measure time */
if (timestamp_engine_healthy > 0 &&
hrt_elapsed_time(&timestamp_engine_healthy) >
ef_time_thres * 1e6 &&
!status.engine_failure) {
status.engine_failure = true;
status_changed = true;
mavlink_log_critical(mavlink_fd, "Engine Failure");
}
} else {
/* no failure reset flag */
timestamp_engine_healthy = hrt_absolute_time();
if (status.engine_failure) {
status.engine_failure = false;
status_changed = true;
}
}
/* handle commands last, as the system needs to be updated to handle them */
orb_check(cmd_sub, &updated);
@@ -1516,6 +1742,57 @@ int commander_thread_main(int argc, char *argv[])
}
}
/* Check for failure combinations which lead to flight termination */
if (armed.armed) {
/* At this point the data link and the gps system have been checked
* If we are not in a manual (RC stick controlled mode)
* and both failed we want to terminate the flight */
if (status.main_state != MAIN_STATE_MANUAL &&
status.main_state != MAIN_STATE_ACRO &&
status.main_state != MAIN_STATE_ALTCTL &&
status.main_state != MAIN_STATE_POSCTL &&
((status.data_link_lost && status.gps_failure) ||
(status.data_link_lost_cmd && status.gps_failure_cmd))) {
armed.force_failsafe = true;
status_changed = true;
static bool flight_termination_printed = false;
if (!flight_termination_printed) {
warnx("Flight termination because of data link loss && gps failure");
mavlink_log_critical(mavlink_fd, "DL and GPS lost: flight termination");
flight_termination_printed = true;
}
if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {
mavlink_log_critical(mavlink_fd, "DL and GPS lost: flight termination");
}
}
/* At this point the rc signal and the gps system have been checked
* If we are in manual (controlled with RC):
* if both failed we want to terminate the flight */
if ((status.main_state == MAIN_STATE_ACRO ||
status.main_state == MAIN_STATE_MANUAL ||
status.main_state == MAIN_STATE_ALTCTL ||
status.main_state == MAIN_STATE_POSCTL) &&
((status.rc_signal_lost && status.gps_failure) ||
(status.rc_signal_lost_cmd && status.gps_failure_cmd))) {
armed.force_failsafe = true;
status_changed = true;
static bool flight_termination_printed = false;
if (!flight_termination_printed) {
warnx("Flight termination because of RC signal loss && gps failure");
flight_termination_printed = true;
}
if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {
mavlink_log_critical(mavlink_fd, "RC and GPS lost: flight termination");
}
}
}
hrt_abstime t1 = hrt_absolute_time();
/* print new state */
@@ -1550,6 +1827,7 @@ int commander_thread_main(int argc, char *argv[])
/* mark home position as set */
status.condition_home_position_valid = true;
}
arming_state_changed = false;
}
@@ -1557,7 +1835,8 @@ int commander_thread_main(int argc, char *argv[])
/* now set navigation state according to failsafe and main state */
bool nav_state_changed = set_nav_state(&status, (bool)datalink_loss_enabled,
mission_result.finished);
mission_result.finished,
mission_result.stay_in_failsafe);
// TODO handle mode changes by commands
if (main_state_changed) {
@@ -1593,7 +1872,8 @@ int commander_thread_main(int argc, char *argv[])
}
/* play arming and battery warning tunes */
if (!arm_tune_played && armed.armed && (!safety.safety_switch_available || (safety.safety_switch_available && safety.safety_off))) {
if (!arm_tune_played && armed.armed && (!safety.safety_switch_available || (safety.safety_switch_available
&& safety.safety_off))) {
/* play tune when armed */
set_tune(TONE_ARMING_WARNING_TUNE);
arm_tune_played = true;
@@ -1763,9 +2043,15 @@ set_main_state_rc(struct vehicle_status_s *status_local, struct manual_control_s
/* set main state according to RC switches */
transition_result_t res = TRANSITION_DENIED;
/* if offboard is set allready by a mavlink command, abort */
if (status.offboard_control_set_by_command) {
return main_state_transition(status_local, MAIN_STATE_OFFBOARD);
}
/* offboard switch overrides main switch */
if (sp_man->offboard_switch == SWITCH_POS_ON) {
res = main_state_transition(status_local, MAIN_STATE_OFFBOARD);
if (res == TRANSITION_DENIED) {
print_reject_mode(status_local, "OFFBOARD");
@@ -1787,6 +2073,7 @@ set_main_state_rc(struct vehicle_status_s *status_local, struct manual_control_s
} else {
res = main_state_transition(status_local, MAIN_STATE_MANUAL);
}
// TRANSITION_DENIED is not possible here
break;
@@ -1801,7 +2088,7 @@ set_main_state_rc(struct vehicle_status_s *status_local, struct manual_control_s
print_reject_mode(status_local, "POSCTL");
}
// fallback to ALTCTL
// fallback to ALTCTL
res = main_state_transition(status_local, MAIN_STATE_ALTCTL);
if (res != TRANSITION_DENIED) {
@@ -1825,14 +2112,14 @@ set_main_state_rc(struct vehicle_status_s *status_local, struct manual_control_s
break; // changed successfully or already in this state
}
print_reject_mode(status_local, "AUTO_RTL");
print_reject_mode(status_local, "AUTO_RTL");
// fallback to LOITER if home position not set
res = main_state_transition(status_local, MAIN_STATE_AUTO_LOITER);
// fallback to LOITER if home position not set
res = main_state_transition(status_local, MAIN_STATE_AUTO_LOITER);
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}
} else if (sp_man->loiter_switch == SWITCH_POS_ON) {
res = main_state_transition(status_local, MAIN_STATE_AUTO_LOITER);
@@ -1841,7 +2128,7 @@ set_main_state_rc(struct vehicle_status_s *status_local, struct manual_control_s
break; // changed successfully or already in this state
}
print_reject_mode(status_local, "AUTO_LOITER");
print_reject_mode(status_local, "AUTO_LOITER");
} else {
res = main_state_transition(status_local, MAIN_STATE_AUTO_MISSION);
@@ -1850,22 +2137,22 @@ set_main_state_rc(struct vehicle_status_s *status_local, struct manual_control_s
break; // changed successfully or already in this state
}
print_reject_mode(status_local, "AUTO_MISSION");
print_reject_mode(status_local, "AUTO_MISSION");
// fallback to LOITER if home position not set
res = main_state_transition(status_local, MAIN_STATE_AUTO_LOITER);
// fallback to LOITER if home position not set
res = main_state_transition(status_local, MAIN_STATE_AUTO_LOITER);
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}
}
// fallback to POSCTL
res = main_state_transition(status_local, MAIN_STATE_POSCTL);
// fallback to POSCTL
res = main_state_transition(status_local, MAIN_STATE_POSCTL);
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}
// fallback to ALTCTL
res = main_state_transition(status_local, MAIN_STATE_ALTCTL);
@@ -1947,6 +2234,7 @@ set_control_mode()
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
break;
case OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE:
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
@@ -1955,22 +2243,30 @@ set_control_mode()
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
break;
case OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY:
case OFFBOARD_CONTROL_MODE_DIRECT_FORCE:
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
control_mode.flag_control_altitude_enabled = true; /* XXX: hack for now */
control_mode.flag_control_climb_rate_enabled = true;
control_mode.flag_control_position_enabled = true; /* XXX: hack for now */
control_mode.flag_control_velocity_enabled = true;
control_mode.flag_control_attitude_enabled = false;
control_mode.flag_control_force_enabled = true;
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;
case OFFBOARD_CONTROL_MODE_DIRECT_POSITION:
case OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED:
case OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_OFFSET_NED:
case OFFBOARD_CONTROL_MODE_DIRECT_BODY_NED:
case OFFBOARD_CONTROL_MODE_DIRECT_BODY_OFFSET_NED:
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
control_mode.flag_control_altitude_enabled = true;
control_mode.flag_control_climb_rate_enabled = true;
control_mode.flag_control_position_enabled = true;
control_mode.flag_control_velocity_enabled = true;
//XXX: the flags could depend on sp_offboard.ignore
break;
default:
control_mode.flag_control_rates_enabled = false;
control_mode.flag_control_attitude_enabled = false;
@@ -1979,6 +2275,7 @@ set_control_mode()
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
}
break;
case NAVIGATION_STATE_POSCTL:
@@ -1997,6 +2294,7 @@ set_control_mode()
case NAVIGATION_STATE_AUTO_LOITER:
case NAVIGATION_STATE_AUTO_RTL:
case NAVIGATION_STATE_AUTO_RTGS:
case NAVIGATION_STATE_AUTO_LANDENGFAIL:
control_mode.flag_control_manual_enabled = false;
control_mode.flag_control_auto_enabled = true;
control_mode.flag_control_rates_enabled = true;
@@ -2008,6 +2306,18 @@ set_control_mode()
control_mode.flag_control_termination_enabled = false;
break;
case NAVIGATION_STATE_AUTO_LANDGPSFAIL:
control_mode.flag_control_manual_enabled = false;
control_mode.flag_control_auto_enabled = false;
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = true;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
control_mode.flag_control_termination_enabled = false;
break;
case NAVIGATION_STATE_LAND:
control_mode.flag_control_manual_enabled = false;
control_mode.flag_control_auto_enabled = true;
@@ -2175,7 +2485,8 @@ void *commander_low_prio_loop(void *arg)
int calib_ret = ERROR;
/* try to go to INIT/PREFLIGHT arming state */
if (TRANSITION_DENIED == arming_state_transition(&status, &safety, ARMING_STATE_INIT, &armed, true /* fRunPreArmChecks */, mavlink_fd)) {
if (TRANSITION_DENIED == arming_state_transition(&status, &safety, ARMING_STATE_INIT, &armed,
true /* fRunPreArmChecks */, mavlink_fd)) {
answer_command(cmd, VEHICLE_CMD_RESULT_DENIED);
break;
}
src/modules/commander/commander_params.c
+66
View File
@@ -105,3 +105,69 @@ PARAM_DEFINE_FLOAT(BAT_CAPACITY, -1.0f);
* @max 1
*/
PARAM_DEFINE_INT32(COM_DL_LOSS_EN, 0);
/** Datalink loss time threshold
*
* After this amount of seconds without datalink the data link lost mode triggers
*
* @group commander
* @unit second
* @min 0
* @max 30
*/
PARAM_DEFINE_INT32(COM_DL_LOSS_T, 10);
/** Datalink regain time threshold
*
* After a data link loss: after this this amount of seconds with a healthy datalink the 'datalink loss'
* flag is set back to false
*
* @group commander
* @unit second
* @min 0
* @max 30
*/
PARAM_DEFINE_INT32(COM_DL_REG_T, 0);
/** Engine Failure Throttle Threshold
*
* Engine failure triggers only above this throttle value
*
* @group commander
* @min 0.0f
* @max 1.0f
*/
PARAM_DEFINE_FLOAT(COM_EF_THROT, 0.5f);
/** Engine Failure Current/Throttle Threshold
*
* Engine failure triggers only below this current/throttle value
*
* @group commander
* @min 0.0f
* @max 7.0f
*/
PARAM_DEFINE_FLOAT(COM_EF_C2T, 5.0f);
/** Engine Failure Time Threshold
*
* Engine failure triggers only if the throttle threshold and the
* current to throttle threshold are violated for this time
*
* @group commander
* @unit second
* @min 0.0f
* @max 7.0f
*/
PARAM_DEFINE_FLOAT(COM_EF_TIME, 10.0f);
/** RC loss time threshold
*
* After this amount of seconds without RC connection the rc lost flag is set to true
*
* @group commander
* @unit second
* @min 0
* @max 35
*/
PARAM_DEFINE_FLOAT(COM_RC_LOSS_T, 0.5);
src/modules/commander/commander_tests/commander_tests.cpp
+1 -3
View File
@@ -48,7 +48,5 @@ extern "C" __EXPORT int commander_tests_main(int argc, char *argv[]);
int commander_tests_main(int argc, char *argv[])
{
stateMachineHelperTest();
return 0;
return stateMachineHelperTest() ? 0 : -1;
}
src/modules/commander/commander_tests/state_machine_helper_test.cpp
+5 -8
View File
@@ -49,7 +49,7 @@ public:
StateMachineHelperTest();
virtual ~StateMachineHelperTest();
virtual void runTests(void);
virtual bool run_tests(void);
private:
bool armingStateTransitionTest();
@@ -488,16 +488,13 @@ bool StateMachineHelperTest::isSafeTest(void)
return true;
}
void StateMachineHelperTest::runTests(void)
bool StateMachineHelperTest::run_tests(void)
{
ut_run_test(armingStateTransitionTest);
ut_run_test(mainStateTransitionTest);
ut_run_test(isSafeTest);
return (_tests_failed == 0);
}
void stateMachineHelperTest(void)
{
StateMachineHelperTest* test = new StateMachineHelperTest();
test->runTests();
test->printResults();
}
ut_declare_test(stateMachineHelperTest, StateMachineHelperTest)
src/modules/commander/commander_tests/state_machine_helper_test.h
+1 -1
View File
@@ -39,6 +39,6 @@
#ifndef STATE_MACHINE_HELPER_TEST_H_
#define STATE_MACHINE_HELPER_TEST_
void stateMachineHelperTest(void);
bool stateMachineHelperTest(void);
#endif /* STATE_MACHINE_HELPER_TEST_H_ */
src/modules/commander/gyro_calibration.cpp
+4 -1
View File
@@ -63,7 +63,10 @@ static const char *sensor_name = "gyro";
int do_gyro_calibration(int mavlink_fd)
{
mavlink_log_info(mavlink_fd, CAL_STARTED_MSG, sensor_name);
mavlink_log_info(mavlink_fd, "don't move system");
mavlink_log_info(mavlink_fd, "HOLD STILL");
/* wait for the user to respond */
sleep(2);
struct gyro_scale gyro_scale = {
0.0f,
src/modules/commander/mag_calibration.cpp
+1 -1
View File
@@ -155,7 +155,7 @@ int do_mag_calibration(int mavlink_fd)
uint64_t calibration_deadline = hrt_absolute_time() + calibration_interval;
unsigned poll_errcount = 0;
mavlink_log_info(mavlink_fd, "rotate in a figure 8 around all axis");
mavlink_log_info(mavlink_fd, "Turn on all sides: front/back,left/right,up/down");
calibration_counter = 0;
src/modules/commander/state_machine_helper.cpp
+32 -23
View File
@@ -443,7 +443,8 @@ transition_result_t hil_state_transition(hil_state_t new_state, int status_pub,
/**
* Check failsafe and main status and set navigation status for navigator accordingly
*/
bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_enabled, const bool mission_finished)
bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_enabled, const bool mission_finished,
const bool stay_in_failsafe)
{
navigation_state_t nav_state_old = status->nav_state;
@@ -457,11 +458,11 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
case MAIN_STATE_ALTCTL:
case MAIN_STATE_POSCTL:
/* require RC for all manual modes */
if (status->rc_signal_lost && armed) {
if ((status->rc_signal_lost || status->rc_signal_lost_cmd) && armed) {
status->failsafe = true;
if (status->condition_global_position_valid && status->condition_home_position_valid) {
status->nav_state = NAVIGATION_STATE_AUTO_RTL;
status->nav_state = NAVIGATION_STATE_AUTO_RCRECOVER;
} else if (status->condition_local_position_valid) {
status->nav_state = NAVIGATION_STATE_LAND;
} else if (status->condition_local_altitude_valid) {
@@ -497,14 +498,29 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
case MAIN_STATE_AUTO_MISSION:
/* go into failsafe
* - if commanded to do so
* - if we have an engine failure
* - if either the datalink is enabled and lost as well as RC is lost
* - if there is no datalink and the mission is finished */
if (((status->data_link_lost && data_link_loss_enabled) && status->rc_signal_lost) ||
if (status->engine_failure_cmd) {
status->nav_state = NAVIGATION_STATE_AUTO_LANDENGFAIL;
} else if (status->data_link_lost_cmd) {
status->nav_state = NAVIGATION_STATE_AUTO_RTGS;
} else if (status->gps_failure_cmd) {
status->nav_state = NAVIGATION_STATE_AUTO_LANDGPSFAIL;
} else if (status->rc_signal_lost_cmd) {
status->nav_state = NAVIGATION_STATE_AUTO_RTGS; //XXX
/* Finished handling commands which have priority , now handle failures */
} else if (status->gps_failure) {
status->nav_state = NAVIGATION_STATE_AUTO_LANDGPSFAIL;
} else if (status->engine_failure) {
status->nav_state = NAVIGATION_STATE_AUTO_LANDENGFAIL;
} else if (((status->data_link_lost && data_link_loss_enabled) && status->rc_signal_lost) ||
(!data_link_loss_enabled && status->rc_signal_lost && mission_finished)) {
status->failsafe = true;
if (status->condition_global_position_valid && status->condition_home_position_valid) {
status->nav_state = NAVIGATION_STATE_AUTO_RTL;
status->nav_state = NAVIGATION_STATE_AUTO_RTGS;
} else if (status->condition_local_position_valid) {
status->nav_state = NAVIGATION_STATE_LAND;
} else if (status->condition_local_altitude_valid) {
@@ -528,31 +544,20 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
}
/* don't bother if RC is lost and mission is not yet finished */
} else if (status->rc_signal_lost) {
} else if (status->rc_signal_lost && !stay_in_failsafe) {
/* this mode is ok, we don't need RC for missions */
status->nav_state = NAVIGATION_STATE_AUTO_MISSION;
} else {
} else if (!stay_in_failsafe){
/* everything is perfect */
status->nav_state = NAVIGATION_STATE_AUTO_MISSION;
}
break;
case MAIN_STATE_AUTO_LOITER:
/* go into failsafe if datalink and RC is lost */
if ((status->data_link_lost && data_link_loss_enabled) && status->rc_signal_lost) {
status->failsafe = true;
if (status->condition_global_position_valid && status->condition_home_position_valid) {
status->nav_state = NAVIGATION_STATE_AUTO_RTL;
} else if (status->condition_local_position_valid) {
status->nav_state = NAVIGATION_STATE_LAND;
} else if (status->condition_local_altitude_valid) {
status->nav_state = NAVIGATION_STATE_DESCEND;
} else {
status->nav_state = NAVIGATION_STATE_TERMINATION;
}
/* go into failsafe on a engine failure */
if (status->engine_failure) {
status->nav_state = NAVIGATION_STATE_AUTO_LANDENGFAIL;
/* also go into failsafe if just datalink is lost */
} else if (status->data_link_lost && data_link_loss_enabled) {
status->failsafe = true;
@@ -593,8 +598,12 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
break;
case MAIN_STATE_AUTO_RTL:
/* require global position and home */
if ((!status->condition_global_position_valid || !status->condition_home_position_valid)) {
/* require global position and home, also go into failsafe on an engine failure */
if (status->engine_failure) {
status->nav_state = NAVIGATION_STATE_AUTO_LANDENGFAIL;
} else if ((!status->condition_global_position_valid ||
!status->condition_home_position_valid)) {
status->failsafe = true;
if (status->condition_local_position_valid) {
src/modules/commander/state_machine_helper.h
+1 -1
View File
@@ -63,7 +63,7 @@ transition_result_t main_state_transition(struct vehicle_status_s *current_state
transition_result_t hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_status_s *current_state, const int mavlink_fd);
bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_enabled, const bool mission_finished);
bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_enabled, const bool mission_finished, const bool stay_in_failsafe);
int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd);
src/modules/dataman/dataman.c
+1 -1
View File
@@ -797,7 +797,7 @@ 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, 2000, task_main, NULL)) <= 0) {
if ((task = task_spawn_cmd("dataman", SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT, 2000, task_main, NULL)) <= 0) {
warn("task start failed");
return -1;
}
src/modules/dataman/module.mk
+2
View File
@@ -40,3 +40,5 @@ MODULE_COMMAND = dataman
SRCS = dataman.c
MODULE_STACKSIZE = 1200
MAXOPTIMIZATION = -Os
src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+8 -7
View File
@@ -382,6 +382,7 @@ FixedwingEstimator::FixedwingEstimator() :
_local_pos({}),
_gps({}),
_wind({}),
_distance{},
_gyro_offsets({}),
_accel_offsets({}),
@@ -596,12 +597,12 @@ FixedwingEstimator::check_filter_state()
const char* const feedback[] = { 0,
"NaN in states, resetting",
"stale IMU data, resetting",
"stale sensor data, resetting",
"got initial position lock",
"excessive gyro offsets",
"GPS velocity divergence",
"velocity diverted, check accel config",
"excessive covariances",
"unknown condition"};
"unknown condition, resetting"};
// Print out error condition
if (check) {
@@ -613,7 +614,7 @@ FixedwingEstimator::check_filter_state()
}
warnx("reset: %s", feedback[warn_index]);
mavlink_log_critical(_mavlink_fd, "[ekf] re-init: %s", feedback[warn_index]);
mavlink_log_critical(_mavlink_fd, "[ekf check] %s", feedback[warn_index]);
}
struct estimator_status_report rep;
@@ -782,7 +783,7 @@ FixedwingEstimator::task_main()
while (!_task_should_exit) {
/* wait for up to 500ms for data */
/* wait for up to 100ms for data */
int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
/* timed out - periodic check for _task_should_exit, etc. */
@@ -1084,7 +1085,7 @@ FixedwingEstimator::task_main()
float baro_elapsed = (_baro.timestamp - baro_last) / 1e6f;
_ekf->updateDtHgtFilt(math::constrain(baro_elapsed, 0.001f, 0.1));
_ekf->updateDtHgtFilt(math::constrain(baro_elapsed, 0.001f, 0.1f));
_ekf->baroHgt = _baro.altitude;
@@ -1369,7 +1370,7 @@ FixedwingEstimator::task_main()
if (newRangeData) {
_ekf->fuseRngData = true;
_ekf->useRangeFinder = true;
_ekf->RecallStates(_ekf->statesAtRngTime, (IMUmsec - 500.0f));
_ekf->RecallStates(_ekf->statesAtRngTime, (IMUmsec - 100.0f));
_ekf->GroundEKF();
}
src/modules/ekf_att_pos_estimator/estimator_23states.cpp
+8 -7
View File
@@ -119,6 +119,7 @@ AttPosEKF::AttPosEKF() :
inhibitWindStates(true),
inhibitMagStates(true),
inhibitGndState(true),
inhibitScaleState(true),
onGround(true),
staticMode(true),
@@ -2560,15 +2561,15 @@ void AttPosEKF::CovarianceInit()
P[22][22] = sq(0.5f);
}
float AttPosEKF::ConstrainFloat(float val, float min, float max)
float AttPosEKF::ConstrainFloat(float val, float min_val, float max_val)
{
float ret;
if (val > max) {
ret = max;
ekf_debug("> max: %8.4f, val: %8.4f", (double)max, (double)val);
} else if (val < min) {
ret = min;
ekf_debug("< min: %8.4f, val: %8.4f", (double)min, (double)val);
if (val > max_val) {
ret = max_val;
ekf_debug("> max: %8.4f, val: %8.4f", (double)max_val, (double)val);
} else if (val < min_val) {
ret = min_val;
ekf_debug("< min: %8.4f, val: %8.4f", (double)min_val, (double)val);
} else {
ret = val;
}
src/modules/fw_att_control/fw_att_control_main.cpp
+15 -5
View File
@@ -721,8 +721,14 @@ void FixedwingAttitudeControl::task_main() {
float pitch_sp = _parameters.pitchsp_offset_rad;
float throttle_sp = 0.0f;
if (_vcontrol_mode.flag_control_velocity_enabled
|| _vcontrol_mode.flag_control_position_enabled) {
/* Read attitude setpoint from uorb if
* - velocity control or position control is enabled (pos controller is running)
* - manual control is disabled (another app may send the setpoint, but it should
* for sure not be set from the remote control values)
*/
if (_vcontrol_mode.flag_control_velocity_enabled ||
_vcontrol_mode.flag_control_position_enabled ||
!_vcontrol_mode.flag_control_manual_enabled) {
/* read in attitude setpoint from attitude setpoint uorb topic */
roll_sp = _att_sp.roll_body + _parameters.rollsp_offset_rad;
pitch_sp = _att_sp.pitch_body
@@ -890,9 +896,13 @@ void FixedwingAttitudeControl::task_main() {
}
}
/* throttle passed through */
_actuators.control[3] =
(isfinite(throttle_sp)) ? throttle_sp : 0.0f;
/* throttle passed through if it is finite and if no engine failure was
* detected */
_actuators.control[3] = (isfinite(throttle_sp) &&
!(_vehicle_status.engine_failure ||
_vehicle_status.engine_failure_cmd)) ?
throttle_sp : 0.0f;
if (!isfinite(throttle_sp)) {
if (_debug && loop_counter % 10 == 0) {
warnx("throttle_sp %.4f", (double) throttle_sp);
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+123 -88
View File
@@ -88,7 +88,6 @@
#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"
#include "mtecs/mTecs.h"
@@ -141,11 +140,11 @@ private:
int _pos_sp_triplet_sub;
int _att_sub; /**< vehicle attitude subscription */
int _airspeed_sub; /**< airspeed subscription */
int _control_mode_sub; /**< vehicle status subscription */
int _control_mode_sub; /**< control mode subscription */
int _vehicle_status_sub; /**< vehicle status subscription */
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 _tecs_status_pub; /**< TECS status publication */
@@ -156,21 +155,21 @@ private:
struct navigation_capabilities_s _nav_capabilities; /**< navigation capabilities */
struct manual_control_setpoint_s _manual; /**< r/c channel data */
struct airspeed_s _airspeed; /**< airspeed */
struct vehicle_control_mode_s _control_mode; /**< vehicle status */
struct vehicle_control_mode_s _control_mode; /**< control mode */
struct vehicle_status_s _vehicle_status; /**< vehicle status */
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 */
/* land states */
/* not in non-abort mode for landing yet */
bool land_noreturn_horizontal;
bool land_noreturn_vertical;
bool land_stayonground;
bool land_motor_lim;
bool land_onslope;
bool land_useterrain;
/* takeoff/launch states */
LaunchDetectionResult launch_detection_state;
@@ -241,7 +240,9 @@ private:
float land_flare_alt_relative;
float land_thrust_lim_alt_relative;
float land_heading_hold_horizontal_distance;
float range_finder_rel_alt;
float land_flare_pitch_min_deg;
float land_flare_pitch_max_deg;
int land_use_terrain_estimate;
} _parameters; /**< local copies of interesting parameters */
@@ -287,7 +288,9 @@ 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;
param_t land_flare_pitch_min_deg;
param_t land_flare_pitch_max_deg;
param_t land_use_terrain_estimate;
} _parameter_handles; /**< handles for interesting parameters */
@@ -304,21 +307,20 @@ private:
void control_update();
/**
* Check for changes in vehicle status.
* Check for changes in control mode
*/
void vehicle_control_mode_poll();
/**
* Check for changes in vehicle status.
*/
void vehicle_status_poll();
/**
* Check for airspeed updates.
*/
bool vehicle_airspeed_poll();
/**
* Check for range finder updates.
*/
bool range_finder_poll();
/**
* Check for position updates.
*/
@@ -340,9 +342,9 @@ private:
void navigation_capabilities_publish();
/**
* Get the relative alt either from the difference between estimate and waypoint or from the laser range finder
* Return the terrain estimate during landing: uses the wp altitude value or the terrain estimate if available
*/
float get_relative_landingalt(float land_setpoint_alt, float current_alt, const struct range_finder_report &range_finder, float range_finder_use_relative_alt);
float get_terrain_altitude_landing(float land_setpoint_alt, const struct vehicle_global_position_s &global_pos);
/**
* Control position.
@@ -412,10 +414,10 @@ FixedwingPositionControl::FixedwingPositionControl() :
_att_sub(-1),
_airspeed_sub(-1),
_control_mode_sub(-1),
_vehicle_status_sub(-1),
_params_sub(-1),
_manual_control_sub(-1),
_sensor_combined_sub(-1),
_range_finder_sub(-1),
/* publications */
_attitude_sp_pub(-1),
@@ -429,10 +431,10 @@ FixedwingPositionControl::FixedwingPositionControl() :
_manual(),
_airspeed(),
_control_mode(),
_vehicle_status(),
_global_pos(),
_pos_sp_triplet(),
_sensor_combined(),
_range_finder(),
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "fw l1 control")),
@@ -442,6 +444,7 @@ FixedwingPositionControl::FixedwingPositionControl() :
land_stayonground(false),
land_motor_lim(false),
land_onslope(false),
land_useterrain(false),
launch_detection_state(LAUNCHDETECTION_RES_NONE),
last_manual(false),
landingslope(),
@@ -480,7 +483,9 @@ 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.land_flare_pitch_min_deg = param_find("FW_FLARE_PMIN");
_parameter_handles.land_flare_pitch_max_deg = param_find("FW_FLARE_PMAX");
_parameter_handles.land_use_terrain_estimate= param_find("FW_LND_USETER");
_parameter_handles.time_const = param_find("FW_T_TIME_CONST");
_parameter_handles.time_const_throt = param_find("FW_T_THRO_CONST");
@@ -581,8 +586,9 @@ FixedwingPositionControl::parameters_update()
}
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));
param_get(_parameter_handles.land_flare_pitch_min_deg, &(_parameters.land_flare_pitch_min_deg));
param_get(_parameter_handles.land_flare_pitch_max_deg, &(_parameters.land_flare_pitch_max_deg));
param_get(_parameter_handles.land_use_terrain_estimate, &(_parameters.land_use_terrain_estimate));
_l1_control.set_l1_damping(_parameters.l1_damping);
_l1_control.set_l1_period(_parameters.l1_period);
@@ -639,16 +645,27 @@ FixedwingPositionControl::parameters_update()
void
FixedwingPositionControl::vehicle_control_mode_poll()
{
bool vstatus_updated;
bool updated;
/* Check HIL state if vehicle status has changed */
orb_check(_control_mode_sub, &vstatus_updated);
orb_check(_control_mode_sub, &updated);
if (vstatus_updated) {
if (updated) {
orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode);
}
}
void
FixedwingPositionControl::vehicle_status_poll()
{
bool updated;
orb_check(_vehicle_status_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_status), _vehicle_status_sub, &_vehicle_status);
}
}
bool
FixedwingPositionControl::vehicle_airspeed_poll()
{
@@ -675,20 +692,6 @@ 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()
{
@@ -826,21 +829,23 @@ 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 FixedwingPositionControl::get_terrain_altitude_landing(float land_setpoint_alt, const struct vehicle_global_position_s &global_pos)
{
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 || range_finder.distance > range_finder_use_relative_alt ) {
return rel_alt_estimated;
if (!isfinite(global_pos.terrain_alt)) {
return land_setpoint_alt;
}
return range_finder.distance;
/* Decide if the terrain estimation can be used, once we switched to using the terrain we stick with it
* for the whole landing */
if (_parameters.land_use_terrain_estimate && (global_pos.terrain_alt_valid || land_useterrain)) {
if(!land_useterrain) {
mavlink_log_info(_mavlink_fd, "#audio: Landing, using terrain estimate");
land_useterrain = true;
}
return global_pos.terrain_alt;
} else {
return land_setpoint_alt;
}
}
bool
@@ -945,10 +950,17 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
} else if (pos_sp_triplet.current.type == SETPOINT_TYPE_LAND) {
float bearing_lastwp_currwp = get_bearing_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1));
float bearing_airplane_currwp = get_bearing_to_next_waypoint(current_position(0), current_position(1), curr_wp(0), curr_wp(1));
/* Horizontal landing control */
/* switch to heading hold for the last meters, continue heading hold after */
float wp_distance = get_distance_to_next_waypoint(current_position(0), current_position(1), curr_wp(0), curr_wp(1));
/* calculate a waypoint distance value which is 0 when the aircraft is behind the waypoint */
float wp_distance_save = wp_distance;
if (fabsf(bearing_airplane_currwp - bearing_lastwp_currwp) >= math::radians(90.0f)) {
wp_distance_save = 0.0f;
}
//warnx("wp dist: %d, alt err: %d, noret: %s", (int)wp_distance, (int)altitude_error, (land_noreturn) ? "YES" : "NO");
if (wp_distance < _parameters.land_heading_hold_horizontal_distance || land_noreturn_horizontal) {
@@ -984,29 +996,30 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
/* Vertical landing control */
//xxx: using the tecs altitude controller for slope control for now
// /* do not go down too early */
// if (wp_distance > 50.0f) {
// altitude_error = (_global_triplet.current.alt + 25.0f) - _global_pos.alt;
// }
/* apply minimum pitch (flare) and limit roll if close to touch down, altitude error is negative (going down) */
// XXX this could make a great param
float flare_pitch_angle_rad = -math::radians(5.0f);//math::radians(pos_sp_triplet.current.param1)
float throttle_land = _parameters.throttle_min + (_parameters.throttle_max - _parameters.throttle_min) * 0.1f;
float airspeed_land = 1.3f * _parameters.airspeed_min;
float airspeed_approach = 1.3f * _parameters.airspeed_min;
/* Calculate distance (to landing waypoint) and altitude of last ordinary waypoint L */
float L_altitude_rel = _pos_sp_triplet.previous.valid ? _pos_sp_triplet.previous.alt - _pos_sp_triplet.current.alt : 0.0f;
/* Get an estimate of the terrain altitude if available, otherwise terrain_alt will be
* equal to _pos_sp_triplet.current.alt */
float terrain_alt = get_terrain_altitude_landing(_pos_sp_triplet.current.alt, _global_pos);
/* Calculate distance (to landing waypoint) and altitude of last ordinary waypoint L */
float L_altitude_rel = _pos_sp_triplet.previous.valid ?
_pos_sp_triplet.previous.alt - terrain_alt : 0.0f;
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_rel_desired = landingslope.getLandingSlopeRelativeAltitudeSave(wp_distance, bearing_lastwp_currwp, bearing_airplane_currwp);
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
/* Check if we should start flaring with a vertical and a
* horizontal limit (with some tolerance)
* The horizontal limit is only applied when we are in front of the wp
*/
if (((_global_pos.alt < terrain_alt + landingslope.flare_relative_alt()) &&
(wp_distance_save < landingslope.flare_length() + 5.0f)) ||
land_noreturn_vertical) { //checking for land_noreturn to avoid unwanted climb out
/* land with minimal speed */
// /* force TECS to only control speed with pitch, altitude is only implicitely controlled now */
@@ -1015,7 +1028,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
/* kill the throttle if param requests it */
throttle_max = _parameters.throttle_max;
if (relative_alt < landingslope.motor_lim_relative_alt() || land_motor_lim) {
if (_global_pos.alt < terrain_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;
@@ -1033,12 +1046,13 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
land_stayonground = true;
}
tecs_update_pitch_throttle(_pos_sp_triplet.current.alt + flare_curve_alt_rel,
tecs_update_pitch_throttle(terrain_alt + flare_curve_alt_rel,
calculate_target_airspeed(airspeed_land), eas2tas,
flare_pitch_angle_rad, math::radians(15.0f),
math::radians(_parameters.land_flare_pitch_min_deg),
math::radians(_parameters.land_flare_pitch_max_deg),
0.0f, throttle_max, throttle_land,
false, flare_pitch_angle_rad,
_pos_sp_triplet.current.alt + relative_alt, ground_speed,
false, land_motor_lim ? math::radians(_parameters.land_flare_pitch_min_deg) : math::radians(_parameters.pitch_limit_min),
_global_pos.alt, ground_speed,
land_motor_lim ? TECS_MODE_LAND_THROTTLELIM : TECS_MODE_LAND);
if (!land_noreturn_vertical) {
@@ -1059,8 +1073,8 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
* if current position is below the slope continue at previous wp altitude
* until the intersection with slope
* */
float altitude_desired_rel = relative_alt;
if (relative_alt > landing_slope_alt_rel_desired || land_onslope) {
float altitude_desired_rel;
if (_global_pos.alt > terrain_alt + landing_slope_alt_rel_desired || land_onslope) {
/* stay on slope */
altitude_desired_rel = landing_slope_alt_rel_desired;
if (!land_onslope) {
@@ -1069,10 +1083,11 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
}
} else {
/* continue horizontally */
altitude_desired_rel = _pos_sp_triplet.previous.valid ? L_altitude_rel : relative_alt;
altitude_desired_rel = _pos_sp_triplet.previous.valid ? L_altitude_rel :
_global_pos.alt - terrain_alt;
}
tecs_update_pitch_throttle(_pos_sp_triplet.current.alt + altitude_desired_rel,
tecs_update_pitch_throttle(terrain_alt + altitude_desired_rel,
calculate_target_airspeed(airspeed_approach), eas2tas,
math::radians(_parameters.pitch_limit_min),
math::radians(_parameters.pitch_limit_max),
@@ -1081,7 +1096,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
_parameters.throttle_cruise,
false,
math::radians(_parameters.pitch_limit_min),
_pos_sp_triplet.current.alt + relative_alt,
_global_pos.alt,
ground_speed);
}
@@ -1210,16 +1225,20 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
}
}
/* Copy thrust and pitch values from tecs
* making sure again that the correct thrust is used,
* without depending on library calls for safety reasons */
if (pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF &&
if (_vehicle_status.engine_failure || _vehicle_status.engine_failure_cmd) {
/* Set thrust to 0 to minimize damage */
_att_sp.thrust = 0.0f;
} else if (pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF &&
launch_detection_state != LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS) {
/* making sure again that the correct thrust is used,
* without depending on library calls for safety reasons */
_att_sp.thrust = launchDetector.getThrottlePreTakeoff();
} else {
/* Copy thrust and pitch values from tecs */
_att_sp.thrust = math::min(_mTecs.getEnabled() ? _mTecs.getThrottleSetpoint() :
_tecs.get_throttle_demand(), throttle_max);
}
else {
_att_sp.thrust = math::min(_mTecs.getEnabled() ? _mTecs.getThrottleSetpoint() : _tecs.get_throttle_demand(), throttle_max);
}
/* During a takeoff waypoint while waiting for launch the pitch sp is set
* already (not by tecs) */
if (!(pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF &&
@@ -1249,13 +1268,15 @@ FixedwingPositionControl::task_main()
_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
_sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined));
_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
_vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
_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 */
/* rate limit control mode updates to 5Hz */
orb_set_interval(_control_mode_sub, 200);
/* rate limit vehicle status updates to 5Hz */
orb_set_interval(_vehicle_status_sub, 200);
/* rate limit position updates to 50 Hz */
orb_set_interval(_global_pos_sub, 20);
@@ -1294,9 +1315,12 @@ FixedwingPositionControl::task_main()
perf_begin(_loop_perf);
/* check vehicle status for changes to publication state */
/* check vehicle control mode for changes to publication state */
vehicle_control_mode_poll();
/* check vehicle status for changes to publication state */
vehicle_status_poll();
/* only update parameters if they changed */
if (fds[0].revents & POLLIN) {
/* read from param to clear updated flag */
@@ -1326,7 +1350,6 @@ FixedwingPositionControl::task_main()
vehicle_setpoint_poll();
vehicle_sensor_combined_poll();
vehicle_airspeed_poll();
range_finder_poll();
// vehicle_baro_poll();
math::Vector<3> ground_speed(_global_pos.vel_n, _global_pos.vel_e, _global_pos.vel_d);
@@ -1390,6 +1413,7 @@ void FixedwingPositionControl::reset_landing_state()
land_stayonground = false;
land_motor_lim = false;
land_onslope = false;
land_useterrain = false;
}
void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_sp, float eas2tas,
@@ -1408,7 +1432,12 @@ void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_
flightPathAngle = -asinf(ground_speed(2)/ground_speed_length);
}
fwPosctrl::LimitOverride limitOverride;
if (climbout_mode) {
if (_vehicle_status.engine_failure || _vehicle_status.engine_failure_cmd) {
/* Force the slow downwards spiral */
limitOverride.enablePitchMinOverride(-1.0f);
limitOverride.enablePitchMaxOverride(5.0f);
} else if (climbout_mode) {
limitOverride.enablePitchMinOverride(M_RAD_TO_DEG_F * climbout_pitch_min_rad);
} else {
limitOverride.disablePitchMinOverride();
@@ -1424,7 +1453,13 @@ void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_
_mTecs.updateAltitudeSpeed(flightPathAngle, altitude, alt_sp, _airspeed.true_airspeed_m_s, v_sp, mode,
limitOverride);
} else {
/* No underspeed protection in landing mode */
if (_vehicle_status.engine_failure || _vehicle_status.engine_failure_cmd) {
/* Force the slow downwards spiral */
pitch_min_rad = M_DEG_TO_RAD_F * -1.0f;
pitch_max_rad = M_DEG_TO_RAD_F * 5.0f;
}
/* No underspeed protection in landing mode */
_tecs.set_detect_underspeed_enabled(!(mode == TECS_MODE_LAND || mode == TECS_MODE_LAND_THROTTLELIM));
/* Using tecs library */
src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
+21 -5
View File
@@ -412,12 +412,28 @@ PARAM_DEFINE_FLOAT(FW_LND_TLALT, -1.0f);
PARAM_DEFINE_FLOAT(FW_LND_HHDIST, 15.0f);
/**
* Relative altitude threshold for range finder measurements for use during landing
* Enable or disable usage of terrain estimate 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
* 0: disabled, 1: enabled
*
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_LND_RFRALT, -1.0f);
PARAM_DEFINE_INT32(FW_LND_USETER, 0);
/**
* Flare, minimum pitch
*
* Minimum pitch during flare, a positive sign means nose up
* Applied once FW_LND_TLALT is reached
*
*/
PARAM_DEFINE_FLOAT(FW_FLARE_PMIN, 2.5f);
/**
* Flare, maximum pitch
*
* Maximum pitch during flare, a positive sign means nose up
* Applied once FW_LND_TLALT is reached
*
*/
PARAM_DEFINE_FLOAT(FW_FLARE_PMAX, 15.0f);
src/modules/mavlink/mavlink.c
+8 -5
View File
@@ -68,14 +68,17 @@ PARAM_DEFINE_INT32(MAV_TYPE, MAV_TYPE_FIXED_WING);
* @group MAVLink
*/
PARAM_DEFINE_INT32(MAV_USEHILGPS, 0);
/**
* Forward external setpoint messages
* If set to 1 incomming external setpoint messages will be directly forwarded to the controllers if in offboard
* control mode
* @group MAVLink
*/
PARAM_DEFINE_INT32(MAV_FWDEXTSP, 1);
mavlink_system_t mavlink_system = {
100,
50,
MAV_TYPE_FIXED_WING,
0,
0,
0
50
}; // System ID, 1-255, Component/Subsystem ID, 1-255
/*
src/modules/mavlink/mavlink_ftp.cpp
+249 -43
View File
@@ -34,6 +34,7 @@
/// @file mavlink_ftp.cpp
/// @author px4dev, Don Gagne <don@thegagnes.com>
#include <crc32.h>
#include <unistd.h>
#include <stdio.h>
#include <fcntl.h>
@@ -180,12 +181,16 @@ MavlinkFTP::_process_request(Request *req)
errorCode = _workList(payload);
break;
case kCmdOpenFile:
errorCode = _workOpen(payload, false);
case kCmdOpenFileRO:
errorCode = _workOpen(payload, O_RDONLY);
break;
case kCmdCreateFile:
errorCode = _workOpen(payload, true);
errorCode = _workOpen(payload, O_CREAT | O_EXCL | O_WRONLY);
break;
case kCmdOpenFileWO:
errorCode = _workOpen(payload, O_CREAT | O_WRONLY);
break;
case kCmdReadFile:
@@ -200,6 +205,14 @@ MavlinkFTP::_process_request(Request *req)
errorCode = _workRemoveFile(payload);
break;
case kCmdRename:
errorCode = _workRename(payload);
break;
case kCmdTruncateFile:
errorCode = _workTruncateFile(payload);
break;
case kCmdCreateDirectory:
errorCode = _workCreateDirectory(payload);
break;
@@ -208,6 +221,11 @@ MavlinkFTP::_process_request(Request *req)
errorCode = _workRemoveDirectory(payload);
break;
case kCmdCalcFileCRC32:
errorCode = _workCalcFileCRC32(payload);
break;
default:
errorCode = kErrUnknownCommand;
break;
@@ -222,6 +240,7 @@ out:
warnx("FTP: ack\n");
#endif
} else {
int r_errno = errno;
warnx("FTP: nak %u", errorCode);
payload->req_opcode = payload->opcode;
payload->opcode = kRspNak;
@@ -229,7 +248,7 @@ out:
payload->data[0] = errorCode;
if (errorCode == kErrFailErrno) {
payload->size = 2;
payload->data[1] = errno;
payload->data[1] = r_errno;
}
}
@@ -396,27 +415,27 @@ MavlinkFTP::_workList(PayloadHeader* payload)
/// @brief Responds to an Open command
MavlinkFTP::ErrorCode
MavlinkFTP::_workOpen(PayloadHeader* payload, bool create)
MavlinkFTP::_workOpen(PayloadHeader* payload, int oflag)
{
int session_index = _find_unused_session();
if (session_index < 0) {
warnx("FTP: Open failed - out of sessions\n");
return kErrNoSessionsAvailable;
}
char *filename = _data_as_cstring(payload);
uint32_t fileSize = 0;
if (!create) {
struct stat st;
if (stat(filename, &st) != 0) {
return kErrFailErrno;
}
fileSize = st.st_size;
}
int oflag = create ? (O_CREAT | O_EXCL | O_APPEND) : O_RDONLY;
char *filename = _data_as_cstring(payload);
uint32_t fileSize = 0;
struct stat st;
if (stat(filename, &st) != 0) {
// fail only if requested open for read
if (oflag & O_RDONLY)
return kErrFailErrno;
else
st.st_size = 0;
}
fileSize = st.st_size;
int fd = ::open(filename, oflag);
if (fd < 0) {
return kErrFailErrno;
@@ -424,12 +443,8 @@ MavlinkFTP::_workOpen(PayloadHeader* payload, bool create)
_session_fds[session_index] = fd;
payload->session = session_index;
if (create) {
payload->size = 0;
} else {
payload->size = sizeof(uint32_t);
*((uint32_t*)payload->data) = fileSize;
}
payload->size = sizeof(uint32_t);
*((uint32_t*)payload->data) = fileSize;
return kErrNone;
}
@@ -470,29 +485,33 @@ MavlinkFTP::_workRead(PayloadHeader* payload)
MavlinkFTP::ErrorCode
MavlinkFTP::_workWrite(PayloadHeader* payload)
{
#if 0
// NYI: Coming soon
auto hdr = req->header();
int session_index = payload->session;
// look up session
auto session = getSession(hdr->session);
if (session == nullptr) {
return kErrNoSession;
if (!_valid_session(session_index)) {
return kErrInvalidSession;
}
// append to file
int result = session->append(hdr->offset, &hdr->data[0], hdr->size);
if (result < 0) {
// XXX might also be no space, I/O, etc.
return kErrNotAppend;
}
hdr->size = result;
return kErrNone;
#else
return kErrUnknownCommand;
// Seek to the specified position
#ifdef MAVLINK_FTP_DEBUG
warnx("seek %d", payload->offset);
#endif
if (lseek(_session_fds[session_index], payload->offset, SEEK_SET) < 0) {
// Unable to see to the specified location
warnx("seek fail");
return kErrFailErrno;
}
int bytes_written = ::write(_session_fds[session_index], &payload->data[0], payload->size);
if (bytes_written < 0) {
// Negative return indicates error other than eof
warnx("write fail %d", bytes_written);
return kErrFailErrno;
}
payload->size = sizeof(uint32_t);
*((uint32_t*)payload->data) = bytes_written;
return kErrNone;
}
/// @brief Responds to a RemoveFile command
@@ -510,6 +529,81 @@ MavlinkFTP::_workRemoveFile(PayloadHeader* payload)
}
}
/// @brief Responds to a TruncateFile command
MavlinkFTP::ErrorCode
MavlinkFTP::_workTruncateFile(PayloadHeader* payload)
{
char file[kMaxDataLength];
const char temp_file[] = "/fs/microsd/.trunc.tmp";
strncpy(file, _data_as_cstring(payload), kMaxDataLength);
payload->size = 0;
// emulate truncate(file, payload->offset) by
// copying to temp and overwrite with O_TRUNC flag.
struct stat st;
if (stat(file, &st) != 0) {
return kErrFailErrno;
}
if (!S_ISREG(st.st_mode)) {
errno = EISDIR;
return kErrFailErrno;
}
// check perms allow us to write (not romfs)
if (!(st.st_mode & (S_IWUSR | S_IWGRP | S_IWOTH))) {
errno = EROFS;
return kErrFailErrno;
}
if (payload->offset == (unsigned)st.st_size) {
// nothing to do
return kErrNone;
}
else if (payload->offset == 0) {
// 1: truncate all data
int fd = ::open(file, O_TRUNC | O_WRONLY);
if (fd < 0) {
return kErrFailErrno;
}
::close(fd);
return kErrNone;
}
else if (payload->offset > (unsigned)st.st_size) {
// 2: extend file
int fd = ::open(file, O_WRONLY);
if (fd < 0) {
return kErrFailErrno;
}
if (lseek(fd, payload->offset - 1, SEEK_SET) < 0) {
::close(fd);
return kErrFailErrno;
}
bool ok = 1 == ::write(fd, "", 1);
::close(fd);
return (ok)? kErrNone : kErrFailErrno;
}
else {
// 3: truncate
if (_copy_file(file, temp_file, payload->offset) != 0) {
return kErrFailErrno;
}
if (_copy_file(temp_file, file, payload->offset) != 0) {
return kErrFailErrno;
}
if (::unlink(temp_file) != 0) {
return kErrFailErrno;
}
return kErrNone;
}
}
/// @brief Responds to a Terminate command
MavlinkFTP::ErrorCode
MavlinkFTP::_workTerminate(PayloadHeader* payload)
@@ -542,6 +636,33 @@ MavlinkFTP::_workReset(PayloadHeader* payload)
return kErrNone;
}
/// @brief Responds to a Rename command
MavlinkFTP::ErrorCode
MavlinkFTP::_workRename(PayloadHeader* payload)
{
char oldpath[kMaxDataLength];
char newpath[kMaxDataLength];
char *ptr = _data_as_cstring(payload);
size_t oldpath_sz = strlen(ptr);
if (oldpath_sz == payload->size) {
// no newpath
errno = EINVAL;
return kErrFailErrno;
}
strncpy(oldpath, ptr, kMaxDataLength);
strncpy(newpath, ptr + oldpath_sz + 1, kMaxDataLength);
if (rename(oldpath, newpath) == 0) {
payload->size = 0;
return kErrNone;
} else {
return kErrFailErrno;
}
}
/// @brief Responds to a RemoveDirectory command
MavlinkFTP::ErrorCode
MavlinkFTP::_workRemoveDirectory(PayloadHeader* payload)
@@ -572,6 +693,39 @@ MavlinkFTP::_workCreateDirectory(PayloadHeader* payload)
}
}
/// @brief Responds to a CalcFileCRC32 command
MavlinkFTP::ErrorCode
MavlinkFTP::_workCalcFileCRC32(PayloadHeader* payload)
{
char file_buf[256];
uint32_t checksum = 0;
ssize_t bytes_read;
strncpy(file_buf, _data_as_cstring(payload), kMaxDataLength);
int fd = ::open(file_buf, O_RDONLY);
if (fd < 0) {
return kErrFailErrno;
}
do {
bytes_read = ::read(fd, file_buf, sizeof(file_buf));
if (bytes_read < 0) {
int r_errno = errno;
::close(fd);
errno = r_errno;
return kErrFailErrno;
}
checksum = crc32part((uint8_t*)file_buf, bytes_read, checksum);
} while (bytes_read == sizeof(file_buf));
::close(fd);
payload->size = sizeof(uint32_t);
*((uint32_t*)payload->data) = checksum;
return kErrNone;
}
/// @brief Returns true if the specified session is a valid open session
bool
MavlinkFTP::_valid_session(unsigned index)
@@ -645,3 +799,55 @@ MavlinkFTP::_return_request(Request *req)
_unlock_request_queue();
}
/// @brief Copy file (with limited space)
int
MavlinkFTP::_copy_file(const char *src_path, const char *dst_path, ssize_t length)
{
char buff[512];
int src_fd = -1, dst_fd = -1;
int op_errno = 0;
src_fd = ::open(src_path, O_RDONLY);
if (src_fd < 0) {
return -1;
}
dst_fd = ::open(dst_path, O_CREAT | O_TRUNC | O_WRONLY);
if (dst_fd < 0) {
op_errno = errno;
::close(src_fd);
errno = op_errno;
return -1;
}
while (length > 0) {
ssize_t bytes_read, bytes_written;
size_t blen = (length > sizeof(buff))? sizeof(buff) : length;
bytes_read = ::read(src_fd, buff, blen);
if (bytes_read == 0) {
// EOF
break;
}
else if (bytes_read < 0) {
warnx("cp: read");
op_errno = errno;
break;
}
bytes_written = ::write(dst_fd, buff, bytes_read);
if (bytes_written != bytes_read) {
warnx("cp: short write");
op_errno = errno;
break;
}
length -= bytes_written;
}
::close(src_fd);
::close(dst_fd);
errno = op_errno;
return (length > 0)? -1 : 0;
}
src/modules/mavlink/mavlink_ftp.h
+11 -3
View File
@@ -89,13 +89,17 @@ public:
kCmdTerminateSession, ///< Terminates open Read session
kCmdResetSessions, ///< Terminates all open Read sessions
kCmdListDirectory, ///< List files in <path> from <offset>
kCmdOpenFile, ///< Opens file at <path> for reading, returns <session>
kCmdOpenFileRO, ///< Opens file at <path> for reading, returns <session>
kCmdReadFile, ///< Reads <size> bytes from <offset> in <session>
kCmdCreateFile, ///< Creates file at <path> for writing, returns <session>
kCmdWriteFile, ///< Appends <size> bytes to file in <session>
kCmdWriteFile, ///< Writes <size> bytes to <offset> in <session>
kCmdRemoveFile, ///< Remove file at <path>
kCmdCreateDirectory, ///< Creates directory at <path>
kCmdRemoveDirectory, ///< Removes Directory at <path>, must be empty
kCmdOpenFileWO, ///< Opens file at <path> for writing, returns <session>
kCmdTruncateFile, ///< Truncate file at <path> to <offset> length
kCmdRename, ///< Rename <path1> to <path2>
kCmdCalcFileCRC32, ///< Calculate CRC32 for file at <path>
kRspAck = 128, ///< Ack response
kRspNak ///< Nak response
@@ -138,9 +142,10 @@ private:
static void _worker_trampoline(void *arg);
void _process_request(Request *req);
void _reply(Request *req);
int _copy_file(const char *src_path, const char *dst_path, ssize_t length);
ErrorCode _workList(PayloadHeader *payload);
ErrorCode _workOpen(PayloadHeader *payload, bool create);
ErrorCode _workOpen(PayloadHeader *payload, int oflag);
ErrorCode _workRead(PayloadHeader *payload);
ErrorCode _workWrite(PayloadHeader *payload);
ErrorCode _workTerminate(PayloadHeader *payload);
@@ -148,6 +153,9 @@ private:
ErrorCode _workRemoveDirectory(PayloadHeader *payload);
ErrorCode _workCreateDirectory(PayloadHeader *payload);
ErrorCode _workRemoveFile(PayloadHeader *payload);
ErrorCode _workTruncateFile(PayloadHeader *payload);
ErrorCode _workRename(PayloadHeader *payload);
ErrorCode _workCalcFileCRC32(PayloadHeader *payload);
static const unsigned kRequestQueueSize = 2; ///< Max number of queued requests
Request _request_bufs[kRequestQueueSize]; ///< Request buffers which hold work
src/modules/mavlink/mavlink_main.cpp
+20 -8
View File
@@ -123,6 +123,7 @@ Mavlink::Mavlink() :
_task_running(false),
_hil_enabled(false),
_use_hil_gps(false),
_forward_externalsp(false),
_is_usb_uart(false),
_wait_to_transmit(false),
_received_messages(false),
@@ -166,8 +167,10 @@ Mavlink::Mavlink() :
_param_initialized(false),
_param_system_id(0),
_param_component_id(0),
_param_system_type(0),
_param_system_type(MAV_TYPE_FIXED_WING),
_param_use_hil_gps(0),
_param_forward_externalsp(0),
_system_type(0),
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "mavlink_el")),
@@ -483,6 +486,7 @@ void Mavlink::mavlink_update_system(void)
_param_component_id = param_find("MAV_COMP_ID");
_param_system_type = param_find("MAV_TYPE");
_param_use_hil_gps = param_find("MAV_USEHILGPS");
_param_forward_externalsp = param_find("MAV_FWDEXTSP");
}
/* update system and component id */
@@ -522,13 +526,18 @@ void Mavlink::mavlink_update_system(void)
param_get(_param_system_type, &system_type);
if (system_type >= 0 && system_type < MAV_TYPE_ENUM_END) {
mavlink_system.type = system_type;
_system_type = system_type;
}
int32_t use_hil_gps;
param_get(_param_use_hil_gps, &use_hil_gps);
_use_hil_gps = (bool)use_hil_gps;
int32_t forward_externalsp;
param_get(_param_forward_externalsp, &forward_externalsp);
_forward_externalsp = (bool)forward_externalsp;
}
int Mavlink::get_system_id()
@@ -748,7 +757,7 @@ Mavlink::send_message(const uint8_t msgid, const void *msg)
pthread_mutex_lock(&_send_mutex);
int buf_free = get_free_tx_buf();
unsigned buf_free = get_free_tx_buf();
uint8_t payload_len = mavlink_message_lengths[msgid];
unsigned packet_len = payload_len + MAVLINK_NUM_NON_PAYLOAD_BYTES;
@@ -756,7 +765,7 @@ Mavlink::send_message(const uint8_t msgid, const void *msg)
_last_write_try_time = hrt_absolute_time();
/* check if there is space in the buffer, let it overflow else */
if (buf_free < TX_BUFFER_GAP) {
if ((buf_free < TX_BUFFER_GAP) || (buf_free < packet_len)) {
/* no enough space in buffer to send */
count_txerr();
count_txerrbytes(packet_len);
@@ -813,14 +822,14 @@ Mavlink::resend_message(mavlink_message_t *msg)
pthread_mutex_lock(&_send_mutex);
int buf_free = get_free_tx_buf();
unsigned buf_free = get_free_tx_buf();
_last_write_try_time = hrt_absolute_time();
unsigned packet_len = msg->len + MAVLINK_NUM_NON_PAYLOAD_BYTES;
/* check if there is space in the buffer, let it overflow else */
if (buf_free < TX_BUFFER_GAP) {
if ((buf_free < TX_BUFFER_GAP) || (buf_free < packet_len)) {
/* no enough space in buffer to send */
count_txerr();
count_txerrbytes(packet_len);
@@ -1396,7 +1405,7 @@ Mavlink::task_main(int argc, char *argv[])
configure_stream("POSITION_TARGET_GLOBAL_INT", 3.0f);
configure_stream("ATTITUDE_TARGET", 3.0f);
configure_stream("DISTANCE_SENSOR", 0.5f);
configure_stream("OPTICAL_FLOW", 20.0f);
configure_stream("OPTICAL_FLOW", 5.0f);
break;
case MAVLINK_MODE_ONBOARD:
@@ -1404,6 +1413,9 @@ Mavlink::task_main(int argc, char *argv[])
configure_stream("ATTITUDE", 50.0f);
configure_stream("GLOBAL_POSITION_INT", 50.0f);
configure_stream("CAMERA_CAPTURE", 2.0f);
configure_stream("ATTITUDE_TARGET", 10.0f);
configure_stream("POSITION_TARGET_GLOBAL_INT", 10.0f);
configure_stream("VFR_HUD", 10.0f);
break;
default:
@@ -1624,7 +1636,7 @@ Mavlink::start(int argc, char *argv[])
task_spawn_cmd(buf,
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
2700,
2900,
(main_t)&Mavlink::start_helper,
(const char **)argv);
src/modules/mavlink/mavlink_main.h
+9 -1
View File
@@ -137,6 +137,8 @@ public:
bool get_use_hil_gps() { return _use_hil_gps; }
bool get_forward_externalsp() { return _forward_externalsp; }
bool get_flow_control_enabled() { return _flow_control_enabled; }
bool get_forwarding_on() { return _forwarding_on; }
@@ -232,7 +234,7 @@ public:
bool should_transmit() { return (!_wait_to_transmit || (_wait_to_transmit && _received_messages)); }
bool message_buffer_write(const void *ptr, int size);
void lockMessageBufferMutex(void) { pthread_mutex_lock(&_message_buffer_mutex); }
void unlockMessageBufferMutex(void) { pthread_mutex_unlock(&_message_buffer_mutex); }
@@ -263,6 +265,8 @@ public:
struct mavlink_logbuffer *get_logbuffer() { return &_logbuffer; }
unsigned get_system_type() { return _system_type; }
protected:
Mavlink *next;
@@ -275,6 +279,7 @@ private:
/* 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) */
bool _forward_externalsp; /**< Forward external setpoint messages to controllers directly if in offboard mode */
bool _is_usb_uart; /**< Port is USB */
bool _wait_to_transmit; /**< Wait to transmit until received messages. */
bool _received_messages; /**< Whether we've received valid mavlink messages. */
@@ -349,6 +354,9 @@ private:
param_t _param_component_id;
param_t _param_system_type;
param_t _param_use_hil_gps;
param_t _param_forward_externalsp;
unsigned _system_type;
perf_counter_t _loop_perf; /**< loop performance counter */
perf_counter_t _txerr_perf; /**< TX error counter */
src/modules/mavlink/mavlink_messages.cpp
+43 -5
View File
@@ -162,6 +162,8 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
break;
case NAVIGATION_STATE_AUTO_RTL:
/* fallthrough */
case NAVIGATION_STATE_AUTO_RCRECOVER:
*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
| MAV_MODE_FLAG_STABILIZE_ENABLED
| MAV_MODE_FLAG_GUIDED_ENABLED;
@@ -170,6 +172,8 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
break;
case NAVIGATION_STATE_LAND:
case NAVIGATION_STATE_AUTO_LANDENGFAIL:
case NAVIGATION_STATE_AUTO_LANDGPSFAIL:
/* fallthrough */
case NAVIGATION_STATE_DESCEND:
*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
@@ -298,7 +302,7 @@ protected:
msg.base_mode = 0;
msg.custom_mode = 0;
get_mavlink_mode_state(&status, &pos_sp_triplet, &msg.system_status, &msg.base_mode, &msg.custom_mode);
msg.type = mavlink_system.type;
msg.type = _mavlink->get_system_type();
msg.autopilot = MAV_AUTOPILOT_PX4;
msg.mavlink_version = 3;
@@ -337,11 +341,18 @@ private:
/* do not allow top copying this class */
MavlinkStreamStatustext(MavlinkStreamStatustext &);
MavlinkStreamStatustext& operator = (const MavlinkStreamStatustext &);
FILE *fp = nullptr;
protected:
explicit MavlinkStreamStatustext(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
~MavlinkStreamStatustext() {
if (fp) {
fclose(fp);
}
}
void send(const hrt_abstime t)
{
if (!mavlink_logbuffer_is_empty(_mavlink->get_logbuffer())) {
@@ -355,6 +366,31 @@ protected:
strncpy(msg.text, logmsg.text, sizeof(msg.text));
_mavlink->send_message(MAVLINK_MSG_ID_STATUSTEXT, &msg);
/* write log messages in first instance to disk */
if (_mavlink->get_instance_id() == 0) {
if (fp) {
fputs(msg.text, fp);
fputs("\n", fp);
fsync(fileno(fp));
} else {
/* string to hold the path to the log */
char log_file_name[32] = "";
char log_file_path[64] = "";
timespec ts;
clock_gettime(CLOCK_REALTIME, &ts);
/* use GPS time for log file naming, e.g. /fs/microsd/2014-01-19/19_37_52.bin */
time_t gps_time_sec = ts.tv_sec + (ts.tv_nsec / 1e9);
struct tm t;
gmtime_r(&gps_time_sec, &t);
// XXX we do not want to interfere here with the SD log app
strftime(log_file_name, sizeof(log_file_name), "msgs_%Y_%m_%d_%H_%M_%S.txt", &t);
snprintf(log_file_path, sizeof(log_file_path), "/fs/microsd/%s", log_file_name);
fp = fopen(log_file_path, "ab");
}
}
}
}
}
@@ -1317,15 +1353,17 @@ protected:
const float pwm_center = (PWM_HIGHEST_MAX + PWM_LOWEST_MIN) / 2;
unsigned system_type = _mavlink->get_system_type();
/* scale outputs depending on system type */
if (mavlink_system.type == MAV_TYPE_QUADROTOR ||
mavlink_system.type == MAV_TYPE_HEXAROTOR ||
mavlink_system.type == MAV_TYPE_OCTOROTOR) {
if (system_type == MAV_TYPE_QUADROTOR ||
system_type == MAV_TYPE_HEXAROTOR ||
system_type == MAV_TYPE_OCTOROTOR) {
/* multirotors: set number of rotor outputs depending on type */
unsigned n;
switch (mavlink_system.type) {
switch (system_type) {
case MAV_TYPE_QUADROTOR:
n = 4;
break;
src/modules/mavlink/mavlink_receiver.cpp
+298 -8
View File
@@ -37,6 +37,7 @@
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
/* XXX trim includes */
@@ -105,10 +106,11 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_flow_pub(-1),
_range_pub(-1),
_offboard_control_sp_pub(-1),
_local_pos_sp_pub(-1),
_global_vel_sp_pub(-1),
_att_sp_pub(-1),
_rates_sp_pub(-1),
_force_sp_pub(-1),
_pos_sp_triplet_pub(-1),
_vicon_position_pub(-1),
_vision_position_pub(-1),
_telemetry_status_pub(-1),
@@ -154,6 +156,14 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
handle_message_vicon_position_estimate(msg);
break;
case MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED:
handle_message_set_position_target_local_ned(msg);
break;
case MAVLINK_MSG_ID_SET_ATTITUDE_TARGET:
handle_message_set_attitude_target(msg);
break;
case MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE:
handle_message_vision_position_estimate(msg);
break;
@@ -381,11 +391,9 @@ MavlinkReceiver::handle_message_hil_optical_flow(mavlink_message_t *msg)
f.timestamp = hrt_absolute_time();
f.flow_timestamp = flow.time_usec;
f.flow_raw_x = flow.flow_x;
f.flow_raw_y = flow.flow_y;
f.flow_comp_x_m = flow.flow_comp_m_x;
f.flow_comp_y_m = flow.flow_comp_m_y;
f.ground_distance_m = flow.ground_distance;
f.flow_raw_x = flow.integrated_x;
f.flow_raw_y = flow.integrated_y;
f.ground_distance_m = flow.distance;
f.quality = flow.quality;
f.sensor_id = flow.sensor_id;
@@ -403,7 +411,7 @@ MavlinkReceiver::handle_message_hil_optical_flow(mavlink_message_t *msg)
r.timestamp = hrt_absolute_time();
r.error_count = 0;
r.type = RANGE_FINDER_TYPE_LASER;
r.distance = flow.ground_distance;
r.distance = flow.distance;
r.minimum_distance = 0.0f;
r.maximum_distance = 40.0f; // this is set to match the typical range of real sensors, could be made configurable
r.valid = (r.distance > r.minimum_distance) && (r.distance < r.maximum_distance);
@@ -474,6 +482,189 @@ MavlinkReceiver::handle_message_vicon_position_estimate(mavlink_message_t *msg)
}
}
void
MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t *msg)
{
mavlink_set_position_target_local_ned_t set_position_target_local_ned;
mavlink_msg_set_position_target_local_ned_decode(msg, &set_position_target_local_ned);
struct offboard_control_setpoint_s offboard_control_sp;
memset(&offboard_control_sp, 0, sizeof(offboard_control_sp));//XXX breaks compatibility with multiple setpoints
/* Only accept messages which are intended for this system */
if ((mavlink_system.sysid == set_position_target_local_ned.target_system ||
set_position_target_local_ned.target_system == 0) &&
(mavlink_system.compid == set_position_target_local_ned.target_component ||
set_position_target_local_ned.target_component == 0)) {
/* convert mavlink type (local, NED) to uORB offboard control struct */
switch (set_position_target_local_ned.coordinate_frame) {
case MAV_FRAME_LOCAL_NED:
offboard_control_sp.mode = OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED;
break;
case MAV_FRAME_LOCAL_OFFSET_NED:
offboard_control_sp.mode = OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_OFFSET_NED;
break;
case MAV_FRAME_BODY_NED:
offboard_control_sp.mode = OFFBOARD_CONTROL_MODE_DIRECT_BODY_NED;
break;
case MAV_FRAME_BODY_OFFSET_NED:
offboard_control_sp.mode = OFFBOARD_CONTROL_MODE_DIRECT_BODY_OFFSET_NED;
break;
default:
/* invalid setpoint, avoid publishing */
return;
}
offboard_control_sp.position[0] = set_position_target_local_ned.x;
offboard_control_sp.position[1] = set_position_target_local_ned.y;
offboard_control_sp.position[2] = set_position_target_local_ned.z;
offboard_control_sp.velocity[0] = set_position_target_local_ned.vx;
offboard_control_sp.velocity[1] = set_position_target_local_ned.vy;
offboard_control_sp.velocity[2] = set_position_target_local_ned.vz;
offboard_control_sp.acceleration[0] = set_position_target_local_ned.afx;
offboard_control_sp.acceleration[1] = set_position_target_local_ned.afy;
offboard_control_sp.acceleration[2] = set_position_target_local_ned.afz;
offboard_control_sp.yaw = set_position_target_local_ned.yaw;
offboard_control_sp.yaw_rate = set_position_target_local_ned.yaw_rate;
offboard_control_sp.isForceSetpoint = (bool)(set_position_target_local_ned.type_mask & (1 << 9));
/* If we are in force control mode, for now set offboard mode to force control */
if (offboard_control_sp.isForceSetpoint) {
offboard_control_sp.mode = OFFBOARD_CONTROL_MODE_DIRECT_FORCE;
}
/* set ignore flags */
for (int i = 0; i < 9; i++) {
offboard_control_sp.ignore &= ~(1 << i);
offboard_control_sp.ignore |= (set_position_target_local_ned.type_mask & (1 << i));
}
offboard_control_sp.ignore &= ~(1 << OFB_IGN_BIT_YAW);
offboard_control_sp.ignore |= (set_position_target_local_ned.type_mask & (1 << 10)) <<
OFB_IGN_BIT_YAW;
offboard_control_sp.ignore &= ~(1 << OFB_IGN_BIT_YAWRATE);
offboard_control_sp.ignore |= (set_position_target_local_ned.type_mask & (1 << 11)) <<
OFB_IGN_BIT_YAWRATE;
offboard_control_sp.timestamp = hrt_absolute_time();
if (_offboard_control_sp_pub < 0) {
_offboard_control_sp_pub = orb_advertise(ORB_ID(offboard_control_setpoint), &offboard_control_sp);
} else {
orb_publish(ORB_ID(offboard_control_setpoint), _offboard_control_sp_pub, &offboard_control_sp);
}
/* If we are in offboard control mode and offboard control loop through is enabled
* also publish the setpoint topic which is read by the controller */
if (_mavlink->get_forward_externalsp()) {
bool updated;
orb_check(_control_mode_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode);
}
if (_control_mode.flag_control_offboard_enabled) {
if (offboard_control_sp.isForceSetpoint &&
offboard_control_sp_ignore_position_all(offboard_control_sp) &&
offboard_control_sp_ignore_velocity_all(offboard_control_sp)) {
/* The offboard setpoint is a force setpoint only, directly writing to the force
* setpoint topic and not publishing the setpoint triplet topic */
struct vehicle_force_setpoint_s force_sp;
force_sp.x = offboard_control_sp.acceleration[0];
force_sp.y = offboard_control_sp.acceleration[1];
force_sp.z = offboard_control_sp.acceleration[2];
//XXX: yaw
if (_force_sp_pub < 0) {
_force_sp_pub = orb_advertise(ORB_ID(vehicle_force_setpoint), &force_sp);
} else {
orb_publish(ORB_ID(vehicle_force_setpoint), _force_sp_pub, &force_sp);
}
} else {
/* It's not a pure force setpoint: publish to setpoint triplet topic */
struct position_setpoint_triplet_s pos_sp_triplet;
pos_sp_triplet.previous.valid = false;
pos_sp_triplet.next.valid = false;
pos_sp_triplet.current.valid = true;
pos_sp_triplet.current.type = SETPOINT_TYPE_POSITION; //XXX support others
/* set the local pos values if the setpoint type is 'local pos' and none
* of the local pos fields is set to 'ignore' */
if (offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED &&
!offboard_control_sp_ignore_position_some(offboard_control_sp)) {
pos_sp_triplet.current.position_valid = true;
pos_sp_triplet.current.x = offboard_control_sp.position[0];
pos_sp_triplet.current.y = offboard_control_sp.position[1];
pos_sp_triplet.current.z = offboard_control_sp.position[2];
} else {
pos_sp_triplet.current.position_valid = false;
}
/* set the local vel values if the setpoint type is 'local pos' and none
* of the local vel fields is set to 'ignore' */
if (offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED &&
!offboard_control_sp_ignore_velocity_some(offboard_control_sp)) {
pos_sp_triplet.current.velocity_valid = true;
pos_sp_triplet.current.vx = offboard_control_sp.velocity[0];
pos_sp_triplet.current.vy = offboard_control_sp.velocity[1];
pos_sp_triplet.current.vz = offboard_control_sp.velocity[2];
} else {
pos_sp_triplet.current.velocity_valid = false;
}
/* set the local acceleration values if the setpoint type is 'local pos' and none
* of the accelerations fields is set to 'ignore' */
if (offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED &&
!offboard_control_sp_ignore_acceleration_some(offboard_control_sp)) {
pos_sp_triplet.current.acceleration_valid = true;
pos_sp_triplet.current.a_x = offboard_control_sp.acceleration[0];
pos_sp_triplet.current.a_y = offboard_control_sp.acceleration[1];
pos_sp_triplet.current.a_z = offboard_control_sp.acceleration[2];
pos_sp_triplet.current.acceleration_is_force =
offboard_control_sp.isForceSetpoint;
} else {
pos_sp_triplet.current.acceleration_valid = false;
}
/* set the yaw sp value if the setpoint type is 'local pos' and the yaw
* field is not set to 'ignore' */
if (offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED &&
!offboard_control_sp_ignore_yaw(offboard_control_sp)) {
pos_sp_triplet.current.yaw_valid = true;
pos_sp_triplet.current.yaw = offboard_control_sp.yaw;
} else {
pos_sp_triplet.current.yaw_valid = false;
}
/* set the yawrate sp value if the setpoint type is 'local pos' and the yawrate
* field is not set to 'ignore' */
if (offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED &&
!offboard_control_sp_ignore_yawrate(offboard_control_sp)) {
pos_sp_triplet.current.yawspeed_valid = true;
pos_sp_triplet.current.yawspeed = offboard_control_sp.yaw_rate;
} else {
pos_sp_triplet.current.yawspeed_valid = false;
}
//XXX handle global pos setpoints (different MAV frames)
if (_pos_sp_triplet_pub < 0) {
_pos_sp_triplet_pub = orb_advertise(ORB_ID(position_setpoint_triplet),
&pos_sp_triplet);
} else {
orb_publish(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_pub,
&pos_sp_triplet);
}
}
}
}
}
}
void
MavlinkReceiver::handle_message_vision_position_estimate(mavlink_message_t *msg)
{
@@ -513,6 +704,103 @@ MavlinkReceiver::handle_message_vision_position_estimate(mavlink_message_t *msg)
}
}
void
MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
{
mavlink_set_attitude_target_t set_attitude_target;
mavlink_msg_set_attitude_target_decode(msg, &set_attitude_target);
struct offboard_control_setpoint_s offboard_control_sp;
memset(&offboard_control_sp, 0, sizeof(offboard_control_sp)); //XXX breaks compatibility with multiple setpoints
/* Only accept messages which are intended for this system */
if ((mavlink_system.sysid == set_attitude_target.target_system ||
set_attitude_target.target_system == 0) &&
(mavlink_system.compid == set_attitude_target.target_component ||
set_attitude_target.target_component == 0)) {
for (int i = 0; i < 4; i++) {
offboard_control_sp.attitude[i] = set_attitude_target.q[i];
}
offboard_control_sp.attitude_rate[0] = set_attitude_target.body_roll_rate;
offboard_control_sp.attitude_rate[1] = set_attitude_target.body_pitch_rate;
offboard_control_sp.attitude_rate[2] = set_attitude_target.body_yaw_rate;
/* set correct ignore flags for body rate fields: copy from mavlink message */
for (int i = 0; i < 3; i++) {
offboard_control_sp.ignore &= ~(1 << (i + OFB_IGN_BIT_BODYRATE_X));
offboard_control_sp.ignore |= (set_attitude_target.type_mask & (1 << i)) << OFB_IGN_BIT_BODYRATE_X;
}
/* set correct ignore flags for thrust field: copy from mavlink message */
offboard_control_sp.ignore &= ~(1 << OFB_IGN_BIT_THRUST);
offboard_control_sp.ignore |= ((set_attitude_target.type_mask & (1 << 6)) << OFB_IGN_BIT_THRUST);
/* set correct ignore flags for attitude field: copy from mavlink message */
offboard_control_sp.ignore &= ~(1 << OFB_IGN_BIT_ATT);
offboard_control_sp.ignore |= ((set_attitude_target.type_mask & (1 << 7)) << OFB_IGN_BIT_ATT);
offboard_control_sp.timestamp = hrt_absolute_time();
offboard_control_sp.mode =OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE; //XXX handle rate control mode
if (_offboard_control_sp_pub < 0) {
_offboard_control_sp_pub = orb_advertise(ORB_ID(offboard_control_setpoint), &offboard_control_sp);
} else {
orb_publish(ORB_ID(offboard_control_setpoint), _offboard_control_sp_pub, &offboard_control_sp);
}
/* If we are in offboard control mode and offboard control loop through is enabled
* also publish the setpoint topic which is read by the controller */
if (_mavlink->get_forward_externalsp()) {
bool updated;
orb_check(_control_mode_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode);
}
if (_control_mode.flag_control_offboard_enabled) {
/* Publish attitude setpoint if attitude and thrust ignore bits are not set */
if (!(offboard_control_sp_ignore_attitude(offboard_control_sp) ||
offboard_control_sp_ignore_thrust(offboard_control_sp))) {
struct vehicle_attitude_setpoint_s att_sp;
att_sp.timestamp = hrt_absolute_time();
mavlink_quaternion_to_euler(set_attitude_target.q,
&att_sp.roll_body, &att_sp.pitch_body, &att_sp.yaw_body);
mavlink_quaternion_to_dcm(set_attitude_target.q, att_sp.R_body);
att_sp.R_valid = true;
att_sp.thrust = set_attitude_target.thrust;
memcpy(att_sp.q_d, set_attitude_target.q, sizeof(att_sp.q_d));
att_sp.q_d_valid = true;
if (_att_sp_pub < 0) {
_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
} else {
orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &att_sp);
}
}
/* Publish attitude rate setpoint if bodyrate and thrust ignore bits are not set */
///XXX add support for ignoring individual axes
if (!(offboard_control_sp_ignore_bodyrates_some(offboard_control_sp) ||
offboard_control_sp_ignore_thrust(offboard_control_sp))) {
struct vehicle_rates_setpoint_s rates_sp;
rates_sp.timestamp = hrt_absolute_time();
rates_sp.roll = set_attitude_target.body_roll_rate;
rates_sp.pitch = set_attitude_target.body_pitch_rate;
rates_sp.yaw = set_attitude_target.body_yaw_rate;
rates_sp.thrust = set_attitude_target.thrust;
if (_att_sp_pub < 0) {
_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp);
} else {
orb_publish(ORB_ID(vehicle_rates_setpoint), _rates_sp_pub, &rates_sp);
}
}
}
}
}
}
void
MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg)
{
@@ -534,6 +822,8 @@ MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg)
tstatus.remote_noise = rstatus.remnoise;
tstatus.rxerrors = rstatus.rxerrors;
tstatus.fixed = rstatus.fixed;
tstatus.system_id = msg->sysid;
tstatus.component_id = msg->compid;
if (_telemetry_status_pub < 0) {
_telemetry_status_pub = orb_advertise(telemetry_status_orb_id[_mavlink->get_channel()], &tstatus);
@@ -1106,7 +1396,7 @@ MavlinkReceiver::receive_start(Mavlink *parent)
struct sched_param param;
(void)pthread_attr_getschedparam(&receiveloop_attr, &param);
param.sched_priority = SCHED_PRIORITY_MAX - 40;
param.sched_priority = SCHED_PRIORITY_MAX - 80;
(void)pthread_attr_setschedparam(&receiveloop_attr, &param);
pthread_attr_setstacksize(&receiveloop_attr, 2900);
src/modules/mavlink/mavlink_receiver.h
+5 -1
View File
@@ -71,6 +71,7 @@
#include <uORB/topics/debug_key_value.h>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/vehicle_force_setpoint.h>
#include "mavlink_ftp.h"
@@ -117,6 +118,8 @@ private:
void handle_message_vicon_position_estimate(mavlink_message_t *msg);
void handle_message_vision_position_estimate(mavlink_message_t *msg);
void handle_message_quad_swarm_roll_pitch_yaw_thrust(mavlink_message_t *msg);
void handle_message_set_position_target_local_ned(mavlink_message_t *msg);
void handle_message_set_attitude_target(mavlink_message_t *msg);
void handle_message_radio_status(mavlink_message_t *msg);
void handle_message_manual_control(mavlink_message_t *msg);
void handle_message_heartbeat(mavlink_message_t *msg);
@@ -145,10 +148,11 @@ private:
orb_advert_t _flow_pub;
orb_advert_t _range_pub;
orb_advert_t _offboard_control_sp_pub;
orb_advert_t _local_pos_sp_pub;
orb_advert_t _global_vel_sp_pub;
orb_advert_t _att_sp_pub;
orb_advert_t _rates_sp_pub;
orb_advert_t _force_sp_pub;
orb_advert_t _pos_sp_triplet_pub;
orb_advert_t _vicon_position_pub;
orb_advert_t _vision_position_pub;
orb_advert_t _telemetry_status_pub;
src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp
+12 -8
View File
@@ -65,7 +65,7 @@ MavlinkFtpTest::~MavlinkFtpTest()
}
/// @brief Called before every test to initialize the FTP Server.
void MavlinkFtpTest::init(void)
void MavlinkFtpTest::_init(void)
{
_ftp_server = new MavlinkFTP;;
_ftp_server->set_unittest_worker(MavlinkFtpTest::receive_message, this);
@@ -74,7 +74,7 @@ void MavlinkFtpTest::init(void)
}
/// @brief Called after every test to take down the FTP Server.
void MavlinkFtpTest::cleanup(void)
void MavlinkFtpTest::_cleanup(void)
{
delete _ftp_server;
@@ -265,7 +265,7 @@ bool MavlinkFtpTest::_open_badfile_test(void)
MavlinkFTP::PayloadHeader *reply;
const char *dir = "/foo"; // non-existent file
payload.opcode = MavlinkFTP::kCmdOpenFile;
payload.opcode = MavlinkFTP::kCmdOpenFileRO;
payload.offset = 0;
bool success = _send_receive_msg(&payload, // FTP payload header
@@ -295,7 +295,7 @@ bool MavlinkFtpTest::_open_terminate_test(void)
struct stat st;
const ReadTestCase *test = &_rgReadTestCases[i];
payload.opcode = MavlinkFTP::kCmdOpenFile;
payload.opcode = MavlinkFTP::kCmdOpenFileRO;
payload.offset = 0;
bool success = _send_receive_msg(&payload, // FTP payload header
@@ -342,7 +342,7 @@ bool MavlinkFtpTest::_terminate_badsession_test(void)
MavlinkFTP::PayloadHeader *reply;
const char *file = _rgReadTestCases[0].file;
payload.opcode = MavlinkFTP::kCmdOpenFile;
payload.opcode = MavlinkFTP::kCmdOpenFileRO;
payload.offset = 0;
bool success = _send_receive_msg(&payload, // FTP payload header
@@ -400,7 +400,7 @@ bool MavlinkFtpTest::_read_test(void)
// Test case data files are created for specific boundary conditions
ut_compare("Test case data files are out of date", test->length, st.st_size);
payload.opcode = MavlinkFTP::kCmdOpenFile;
payload.opcode = MavlinkFTP::kCmdOpenFileRO;
payload.offset = 0;
bool success = _send_receive_msg(&payload, // FTP payload header
@@ -463,7 +463,7 @@ bool MavlinkFtpTest::_read_badsession_test(void)
MavlinkFTP::PayloadHeader *reply;
const char *file = _rgReadTestCases[0].file;
payload.opcode = MavlinkFTP::kCmdOpenFile;
payload.opcode = MavlinkFTP::kCmdOpenFileRO;
payload.offset = 0;
bool success = _send_receive_msg(&payload, // FTP payload header
@@ -738,7 +738,7 @@ void MavlinkFtpTest::_cleanup_microsd(void)
}
/// @brief Runs all the unit tests
void MavlinkFtpTest::runTests(void)
bool MavlinkFtpTest::run_tests(void)
{
ut_run_test(_ack_test);
ut_run_test(_bad_opcode_test);
@@ -753,5 +753,9 @@ void MavlinkFtpTest::runTests(void)
ut_run_test(_removedirectory_test);
ut_run_test(_createdirectory_test);
ut_run_test(_removefile_test);
return (_tests_failed == 0);
}
ut_declare_test(mavlink_ftp_test, MavlinkFtpTest)
src/modules/mavlink/mavlink_tests/mavlink_ftp_test.h
+5 -4
View File
@@ -46,10 +46,7 @@ public:
MavlinkFtpTest();
virtual ~MavlinkFtpTest();
virtual void init(void);
virtual void cleanup(void);
virtual void runTests(void);
virtual bool run_tests(void);
static void receive_message(const mavlink_message_t *msg, MavlinkFtpTest* ftpTest);
@@ -65,6 +62,9 @@ public:
MavlinkFtpTest& operator=(const MavlinkFtpTest&);
private:
virtual void _init(void);
virtual void _cleanup(void);
bool _ack_test(void);
bool _bad_opcode_test(void);
bool _bad_datasize_test(void);
@@ -105,3 +105,4 @@ private:
static const char _unittest_microsd_file[];
};
bool mavlink_ftp_test(void);
src/modules/mavlink/mavlink_tests/mavlink_tests.cpp
+1 -6
View File
@@ -43,10 +43,5 @@ extern "C" __EXPORT int mavlink_tests_main(int argc, char *argv[]);
int mavlink_tests_main(int argc, char *argv[])
{
MavlinkFtpTest* test = new MavlinkFtpTest;
test->runTests();
test->printResults();
return 0;
return mavlink_ftp_test() ? 0 : -1;
}
src/modules/mavlink/mavlink_tests/module.mk
+2
View File
@@ -45,4 +45,6 @@ INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink
MODULE_STACKSIZE = 5000
MAXOPTIMIZATION = -Os
EXTRACXXFLAGS = -Weffc++ -DMAVLINK_FTP_UNIT_TEST
src/modules/mc_pos_control/mc_pos_control_main.cpp
+213 -41
View File
@@ -76,6 +76,7 @@
#define TILT_COS_MAX 0.7f
#define SIGMA 0.000001f
#define MIN_DIST 0.01f
/**
* Multicopter position control app start / stop handling function
@@ -179,6 +180,7 @@ private:
bool _reset_pos_sp;
bool _reset_alt_sp;
bool _mode_auto;
math::Vector<3> _pos;
math::Vector<3> _pos_sp;
@@ -219,6 +221,11 @@ private:
*/
void reset_alt_sp();
/**
* Check if position setpoint is too far from current position and adjust it if needed.
*/
void limit_pos_sp_offset();
/**
* Set position setpoint using manual control
*/
@@ -229,6 +236,14 @@ private:
*/
void control_offboard(float dt);
bool cross_sphere_line(const math::Vector<3>& sphere_c, float sphere_r,
const math::Vector<3> line_a, const math::Vector<3> line_b, math::Vector<3>& res);
/**
* Set position setpoint for AUTO
*/
void control_auto(float dt);
/**
* Select between barometric and global (AMSL) altitudes
*/
@@ -283,7 +298,8 @@ MulticopterPositionControl::MulticopterPositionControl() :
_ref_timestamp(0),
_reset_pos_sp(true),
_reset_alt_sp(true)
_reset_alt_sp(true),
_mode_auto(false)
{
memset(&_att, 0, sizeof(_att));
memset(&_att_sp, 0, sizeof(_att_sp));
@@ -533,6 +549,29 @@ MulticopterPositionControl::reset_alt_sp()
}
}
void
MulticopterPositionControl::limit_pos_sp_offset()
{
math::Vector<3> pos_sp_offs;
pos_sp_offs.zero();
if (_control_mode.flag_control_position_enabled) {
pos_sp_offs(0) = (_pos_sp(0) - _pos(0)) / _params.sp_offs_max(0);
pos_sp_offs(1) = (_pos_sp(1) - _pos(1)) / _params.sp_offs_max(1);
}
if (_control_mode.flag_control_altitude_enabled) {
pos_sp_offs(2) = (_pos_sp(2) - _pos(2)) / _params.sp_offs_max(2);
}
float pos_sp_offs_norm = pos_sp_offs.length();
if (pos_sp_offs_norm > 1.0f) {
pos_sp_offs /= pos_sp_offs_norm;
_pos_sp = _pos + pos_sp_offs.emult(_params.sp_offs_max);
}
}
void
MulticopterPositionControl::control_manual(float dt)
{
@@ -614,7 +653,6 @@ MulticopterPositionControl::control_offboard(float dt)
_pos_sp(0) = _pos_sp_triplet.current.x;
_pos_sp(1) = _pos_sp_triplet.current.y;
_pos_sp(2) = _pos_sp_triplet.current.z;
_att_sp.yaw_body = _pos_sp_triplet.current.yaw;
} else if (_control_mode.flag_control_velocity_enabled && _pos_sp_triplet.current.velocity_valid) {
/* control velocity */
@@ -624,6 +662,11 @@ MulticopterPositionControl::control_offboard(float dt)
/* set position setpoint move rate */
_sp_move_rate(0) = _pos_sp_triplet.current.vx;
_sp_move_rate(1) = _pos_sp_triplet.current.vy;
}
if (_pos_sp_triplet.current.yaw_valid) {
_att_sp.yaw_body = _pos_sp_triplet.current.yaw;
} else if (_pos_sp_triplet.current.yawspeed_valid) {
_att_sp.yaw_body = _att_sp.yaw_body + _pos_sp_triplet.current.yawspeed * dt;
}
@@ -647,6 +690,170 @@ MulticopterPositionControl::control_offboard(float dt)
}
}
bool
MulticopterPositionControl::cross_sphere_line(const math::Vector<3>& sphere_c, float sphere_r,
const math::Vector<3> line_a, const math::Vector<3> line_b, math::Vector<3>& res)
{
/* project center of sphere on line */
/* normalized AB */
math::Vector<3> ab_norm = line_b - line_a;
ab_norm.normalize();
math::Vector<3> d = line_a + ab_norm * ((sphere_c - line_a) * ab_norm);
float cd_len = (sphere_c - d).length();
/* we have triangle CDX with known CD and CX = R, find DX */
if (sphere_r > cd_len) {
/* have two roots, select one in A->B direction from D */
float dx_len = sqrtf(sphere_r * sphere_r - cd_len * cd_len);
res = d + ab_norm * dx_len;
return true;
} else {
/* have no roots, return D */
res = d;
return false;
}
}
void
MulticopterPositionControl::control_auto(float dt)
{
if (!_mode_auto) {
_mode_auto = true;
/* reset position setpoint on AUTO mode activation */
reset_pos_sp();
reset_alt_sp();
}
bool updated;
orb_check(_pos_sp_triplet_sub, &updated);
if (updated) {
orb_copy(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_sub, &_pos_sp_triplet);
}
if (_pos_sp_triplet.current.valid) {
/* in case of interrupted mission don't go to waypoint but stay at current position */
_reset_pos_sp = true;
_reset_alt_sp = true;
/* project setpoint to local frame */
math::Vector<3> curr_sp;
map_projection_project(&_ref_pos,
_pos_sp_triplet.current.lat, _pos_sp_triplet.current.lon,
&curr_sp.data[0], &curr_sp.data[1]);
curr_sp(2) = -(_pos_sp_triplet.current.alt - _ref_alt);
/* scaled space: 1 == position error resulting max allowed speed, L1 = 1 in this space */
math::Vector<3> scale = _params.pos_p.edivide(_params.vel_max); // TODO add mult param here
/* convert current setpoint to scaled space */
math::Vector<3> curr_sp_s = curr_sp.emult(scale);
/* by default use current setpoint as is */
math::Vector<3> pos_sp_s = curr_sp_s;
if (_pos_sp_triplet.current.type == SETPOINT_TYPE_POSITION && _pos_sp_triplet.previous.valid) {
/* follow "previous - current" line */
math::Vector<3> prev_sp;
map_projection_project(&_ref_pos,
_pos_sp_triplet.previous.lat, _pos_sp_triplet.previous.lon,
&prev_sp.data[0], &prev_sp.data[1]);
prev_sp(2) = -(_pos_sp_triplet.previous.alt - _ref_alt);
if ((curr_sp - prev_sp).length() > MIN_DIST) {
/* find X - cross point of L1 sphere and trajectory */
math::Vector<3> pos_s = _pos.emult(scale);
math::Vector<3> prev_sp_s = prev_sp.emult(scale);
math::Vector<3> prev_curr_s = curr_sp_s - prev_sp_s;
math::Vector<3> curr_pos_s = pos_s - curr_sp_s;
float curr_pos_s_len = curr_pos_s.length();
if (curr_pos_s_len < 1.0f) {
/* copter is closer to waypoint than L1 radius */
/* check next waypoint and use it to avoid slowing down when passing via waypoint */
if (_pos_sp_triplet.next.valid) {
math::Vector<3> next_sp;
map_projection_project(&_ref_pos,
_pos_sp_triplet.next.lat, _pos_sp_triplet.next.lon,
&next_sp.data[0], &next_sp.data[1]);
next_sp(2) = -(_pos_sp_triplet.next.alt - _ref_alt);
if ((next_sp - curr_sp).length() > MIN_DIST) {
math::Vector<3> next_sp_s = next_sp.emult(scale);
/* calculate angle prev - curr - next */
math::Vector<3> curr_next_s = next_sp_s - curr_sp_s;
math::Vector<3> prev_curr_s_norm = prev_curr_s.normalized();
/* cos(a) * curr_next, a = angle between current and next trajectory segments */
float cos_a_curr_next = prev_curr_s_norm * curr_next_s;
/* cos(b), b = angle pos - curr_sp - prev_sp */
float cos_b = -curr_pos_s * prev_curr_s_norm / curr_pos_s_len;
if (cos_a_curr_next > 0.0f && cos_b > 0.0f) {
float curr_next_s_len = curr_next_s.length();
/* if curr - next distance is larger than L1 radius, limit it */
if (curr_next_s_len > 1.0f) {
cos_a_curr_next /= curr_next_s_len;
}
/* feed forward position setpoint offset */
math::Vector<3> pos_ff = prev_curr_s_norm *
cos_a_curr_next * cos_b * cos_b * (1.0f - curr_pos_s_len) *
(1.0f - expf(-curr_pos_s_len * curr_pos_s_len * 20.0f));
pos_sp_s += pos_ff;
}
}
}
} else {
bool near = cross_sphere_line(pos_s, 1.0f, prev_sp_s, curr_sp_s, pos_sp_s);
if (near) {
/* L1 sphere crosses trajectory */
} else {
/* copter is too far from trajectory */
/* if copter is behind prev waypoint, go directly to prev waypoint */
if ((pos_sp_s - prev_sp_s) * prev_curr_s < 0.0f) {
pos_sp_s = prev_sp_s;
}
/* if copter is in front of curr waypoint, go directly to curr waypoint */
if ((pos_sp_s - curr_sp_s) * prev_curr_s > 0.0f) {
pos_sp_s = curr_sp_s;
}
pos_sp_s = pos_s + (pos_sp_s - pos_s).normalized();
}
}
}
}
/* move setpoint not faster than max allowed speed */
math::Vector<3> pos_sp_old_s = _pos_sp.emult(scale);
/* difference between current and desired position setpoints, 1 = max speed */
math::Vector<3> d_pos_m = (pos_sp_s - pos_sp_old_s).edivide(_params.pos_p);
float d_pos_m_len = d_pos_m.length();
if (d_pos_m_len > dt) {
pos_sp_s = pos_sp_old_s + (d_pos_m / d_pos_m_len * dt).emult(_params.pos_p);
}
/* scale result back to normal space */
_pos_sp = pos_sp_s.edivide(scale);
/* update yaw setpoint if needed */
if (isfinite(_pos_sp_triplet.current.yaw)) {
_att_sp.yaw_body = _pos_sp_triplet.current.yaw;
}
} else {
/* no waypoint, do nothing, setpoint was already reset */
}
}
void
MulticopterPositionControl::task_main()
{
@@ -750,41 +957,16 @@ MulticopterPositionControl::task_main()
if (_control_mode.flag_control_manual_enabled) {
/* manual control */
control_manual(dt);
_mode_auto = false;
} else if (_control_mode.flag_control_offboard_enabled) {
/* offboard control */
control_offboard(dt);
_mode_auto = false;
} else {
/* AUTO */
bool updated;
orb_check(_pos_sp_triplet_sub, &updated);
if (updated) {
orb_copy(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_sub, &_pos_sp_triplet);
}
if (_pos_sp_triplet.current.valid) {
/* in case of interrupted mission don't go to waypoint but stay at current position */
_reset_pos_sp = true;
_reset_alt_sp = true;
/* project setpoint to local frame */
map_projection_project(&_ref_pos,
_pos_sp_triplet.current.lat, _pos_sp_triplet.current.lon,
&_pos_sp.data[0], &_pos_sp.data[1]);
_pos_sp(2) = -(_pos_sp_triplet.current.alt - _ref_alt);
/* update yaw setpoint if needed */
if (isfinite(_pos_sp_triplet.current.yaw)) {
_att_sp.yaw_body = _pos_sp_triplet.current.yaw;
}
} else {
/* no waypoint, loiter, reset position setpoint if needed */
reset_pos_sp();
reset_alt_sp();
}
control_auto(dt);
}
/* fill local position setpoint */
@@ -846,16 +1028,6 @@ MulticopterPositionControl::task_main()
_vel_sp(2) = _params.land_speed;
}
if (!_control_mode.flag_control_manual_enabled) {
/* limit 3D speed only in non-manual modes */
float vel_sp_norm = _vel_sp.edivide(_params.vel_max).length();
if (vel_sp_norm > 1.0f) {
_vel_sp /= vel_sp_norm;
}
}
_global_vel_sp.vx = _vel_sp(0);
_global_vel_sp.vy = _vel_sp(1);
_global_vel_sp.vz = _vel_sp(2);
@@ -1132,9 +1304,9 @@ MulticopterPositionControl::task_main()
/* position controller disabled, reset setpoints */
_reset_alt_sp = true;
_reset_pos_sp = true;
_mode_auto = false;
reset_int_z = true;
reset_int_xy = true;
}
/* reset altitude controller integral (hovering throttle) to manual throttle after manual throttle control */
src/modules/navigator/geofence.cpp
+59 -5
View File
@@ -48,6 +48,7 @@
#include <ctype.h>
#include <nuttx/config.h>
#include <unistd.h>
#include <mavlink/mavlink_log.h>
/* Oddly, ERROR is not defined for C++ */
@@ -62,7 +63,12 @@ Geofence::Geofence() :
_altitude_min(0),
_altitude_max(0),
_verticesCount(0),
param_geofence_on(this, "ON")
_param_geofence_on(this, "ON"),
_param_altitude_mode(this, "ALTMODE"),
_param_source(this, "SOURCE"),
_param_counter_threshold(this, "COUNT"),
_outside_counter(0),
_mavlinkFd(-1)
{
/* Load initial params */
updateParams();
@@ -74,23 +80,69 @@ Geofence::~Geofence()
}
bool Geofence::inside(const struct vehicle_global_position_s *vehicle)
bool Geofence::inside(const struct vehicle_global_position_s &global_position)
{
return inside(vehicle->lat, vehicle->lon, vehicle->alt);
return inside(global_position.lat, global_position.lon, global_position.alt);
}
bool Geofence::inside(const struct vehicle_global_position_s &global_position, float baro_altitude_amsl)
{
return inside(global_position.lat, global_position.lon, baro_altitude_amsl);
}
bool Geofence::inside(const struct vehicle_global_position_s &global_position,
const struct vehicle_gps_position_s &gps_position,float baro_altitude_amsl) {
updateParams();
if (getAltitudeMode() == Geofence::GF_ALT_MODE_WGS84) {
if (getSource() == Geofence::GF_SOURCE_GLOBALPOS) {
return inside(global_position);
} else {
return inside((double)gps_position.lat * 1.0e-7, (double)gps_position.lon * 1.0e-7,
(double)gps_position.alt * 1.0e-3);
}
} else {
if (getSource() == Geofence::GF_SOURCE_GLOBALPOS) {
return inside(global_position, baro_altitude_amsl);
} else {
return inside((double)gps_position.lat * 1.0e-7, (double)gps_position.lon * 1.0e-7,
baro_altitude_amsl);
}
}
}
bool Geofence::inside(double lat, double lon, float altitude)
{
bool inside_fence = inside_polygon(lat, lon, altitude);
if (inside_fence) {
_outside_counter = 0;
return inside_fence;
} {
_outside_counter++;
if(_outside_counter > _param_counter_threshold.get()) {
return inside_fence;
} else {
return true;
}
}
}
bool Geofence::inside_polygon(double lat, double lon, float altitude)
{
/* Return true if geofence is disabled */
if (param_geofence_on.get() != 1)
if (_param_geofence_on.get() != 1)
return true;
if (valid()) {
if (!isEmpty()) {
/* Vertical check */
if (altitude > _altitude_max || altitude < _altitude_min)
if (altitude > _altitude_max || altitude < _altitude_min) {
return false;
}
/*Horizontal check */
/* Adaptation of algorithm originally presented as
@@ -280,8 +332,10 @@ Geofence::loadFromFile(const char *filename)
{
_verticesCount = pointCounter;
warnx("Geofence: imported successfully");
mavlink_log_info(_mavlinkFd, "Geofence imported");
} else {
warnx("Geofence: import error");
mavlink_log_critical(_mavlinkFd, "#audio: Geofence import error");
}
return ERROR;
src/modules/navigator/geofence.h
+48 -15
View File
@@ -42,6 +42,9 @@
#define GEOFENCE_H_
#include <uORB/topics/fence.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/sensor_combined.h>
#include <controllib/blocks.hpp>
#include <controllib/block/BlockParam.hpp>
@@ -49,30 +52,32 @@
class Geofence : public control::SuperBlock
{
private:
orb_advert_t _fence_pub; /**< publish fence topic */
float _altitude_min;
float _altitude_max;
unsigned _verticesCount;
/* Params */
control::BlockParamInt param_geofence_on;
public:
Geofence();
~Geofence();
/* Altitude mode, corresponding to the param GF_ALTMODE */
enum {
GF_ALT_MODE_WGS84 = 0,
GF_ALT_MODE_AMSL = 1
};
/* Source, corresponding to the param GF_SOURCE */
enum {
GF_SOURCE_GLOBALPOS = 0,
GF_SOURCE_GPS = 1
};
/**
* Return whether craft is inside geofence.
* Return whether system is inside geofence.
*
* Calculate whether point is inside arbitrary polygon
* @param craft pointer craft coordinates
* @param fence pointer to array of coordinates, one per vertex. First and last vertex are assumed connected
* @return true: craft is inside fence, false:craft is outside fence
* @return true: system is inside fence, false: system is outside fence
*/
bool inside(const struct vehicle_global_position_s *craft);
bool inside(double lat, double lon, float altitude);
bool inside(const struct vehicle_global_position_s &global_position,
const struct vehicle_gps_position_s &gps_position,float baro_altitude_amsl);
bool inside_polygon(double lat, double lon, float altitude);
int clearDm();
@@ -88,6 +93,34 @@ public:
int loadFromFile(const char *filename);
bool isEmpty() {return _verticesCount == 0;}
int getAltitudeMode() { return _param_altitude_mode.get(); }
int getSource() { return _param_source.get(); }
void setMavlinkFd(int value) { _mavlinkFd = value; }
private:
orb_advert_t _fence_pub; /**< publish fence topic */
float _altitude_min;
float _altitude_max;
unsigned _verticesCount;
/* Params */
control::BlockParamInt _param_geofence_on;
control::BlockParamInt _param_altitude_mode;
control::BlockParamInt _param_source;
control::BlockParamInt _param_counter_threshold;
uint8_t _outside_counter;
int _mavlinkFd;
bool inside(double lat, double lon, float altitude);
bool inside(const struct vehicle_global_position_s &global_position);
bool inside(const struct vehicle_global_position_s &global_position, float baro_altitude_amsl);
};
src/modules/navigator/geofence_params.c
+36
View File
@@ -58,3 +58,39 @@
* @group Geofence
*/
PARAM_DEFINE_INT32(GF_ON, 1);
/**
* Geofence altitude mode
*
* Select which altitude reference should be used
* 0 = WGS84, 1 = AMSL
*
* @min 0
* @max 1
* @group Geofence
*/
PARAM_DEFINE_INT32(GF_ALTMODE, 0);
/**
* Geofence source
*
* Select which position source should be used. Selecting GPS instead of global position makes sure that there is
* no dependence on the position estimator
* 0 = global position, 1 = GPS
*
* @min 0
* @max 1
* @group Geofence
*/
PARAM_DEFINE_INT32(GF_SOURCE, 0);
/**
* Geofence counter limit
*
* Set how many subsequent position measurements outside of the fence are needed before geofence violation is triggered
*
* @min -1
* @max 10
* @group Geofence
*/
PARAM_DEFINE_INT32(GF_COUNT, -1);
src/modules/navigator/mission.cpp
+75 -58
View File
@@ -37,6 +37,7 @@
*
* @author Julian Oes <julian@oes.ch>
* @author Thomas Gubler <thomasgubler@gmail.com>
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#include <sys/types.h>
@@ -62,18 +63,16 @@
Mission::Mission(Navigator *navigator, const char *name) :
MissionBlock(navigator, name),
_param_onboard_enabled(this, "ONBOARD_EN"),
_param_takeoff_alt(this, "TAKEOFF_ALT"),
_param_dist_1wp(this, "DIST_1WP"),
_param_altmode(this, "ALTMODE"),
_param_onboard_enabled(this, "MIS_ONBOARD_EN", false),
_param_takeoff_alt(this, "MIS_TAKEOFF_ALT", false),
_param_dist_1wp(this, "MIS_DIST_1WP", false),
_param_altmode(this, "MIS_ALTMODE", false),
_onboard_mission({0}),
_offboard_mission({0}),
_current_onboard_mission_index(-1),
_current_offboard_mission_index(-1),
_need_takeoff(true),
_takeoff(false),
_mission_result_pub(-1),
_mission_result({0}),
_mission_type(MISSION_TYPE_NONE),
_inited(false),
_dist_1wp_ok(false),
@@ -115,6 +114,7 @@ Mission::on_inactive()
update_offboard_mission();
}
/* require takeoff after non-loiter or landing */
if (!_navigator->get_can_loiter_at_sp() || _navigator->get_vstatus()->condition_landed) {
_need_takeoff = true;
}
@@ -149,8 +149,19 @@ Mission::on_active()
/* lets check if we reached the current mission item */
if (_mission_type != MISSION_TYPE_NONE && is_mission_item_reached()) {
advance_mission();
set_mission_items();
if (_mission_item.autocontinue) {
/* switch to next waypoint if 'autocontinue' flag set */
advance_mission();
set_mission_items();
} else {
/* else just report that item reached */
if (_mission_type == MISSION_TYPE_OFFBOARD) {
if (!(_navigator->get_mission_result()->seq_reached == _current_offboard_mission_index && _navigator->get_mission_result()->reached)) {
set_mission_item_reached();
}
}
}
} else if (_mission_type != MISSION_TYPE_NONE &&_param_altmode.get() == MISSION_ALTMODE_FOH) {
altitude_sp_foh_update();
@@ -223,7 +234,7 @@ Mission::update_offboard_mission()
_current_offboard_mission_index = 0;
}
report_current_offboard_mission_item();
set_current_offboard_mission_item();
}
@@ -361,6 +372,10 @@ Mission::set_mission_items()
/* no mission available or mission finished, switch to loiter */
if (_mission_type != MISSION_TYPE_NONE) {
mavlink_log_critical(_navigator->get_mavlink_fd(), "mission finished, loitering");
/* use last setpoint for loiter */
_navigator->set_can_loiter_at_sp(true);
} else if (!user_feedback_done) {
/* only tell users that we got no mission if there has not been any
* better, more specific feedback yet
@@ -377,10 +392,11 @@ Mission::set_mission_items()
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
pos_sp_triplet->next.valid = false;
/* reuse setpoint for LOITER only if it's not IDLE */
_navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == SETPOINT_TYPE_LOITER);
reset_mission_item_reached();
report_mission_finished();
set_mission_finished();
_navigator->set_position_setpoint_triplet_updated();
return;
@@ -417,7 +433,7 @@ Mission::set_mission_items()
takeoff_alt += _navigator->get_home_position()->alt;
}
/* perform takeoff at least to NAV_TAKEOFF_ALT above home/ground, even if first waypoint is lower */
/* takeoff to at least NAV_TAKEOFF_ALT above home/ground, even if first waypoint is lower */
if (_navigator->get_vstatus()->condition_landed) {
takeoff_alt = fmaxf(takeoff_alt, _navigator->get_global_position()->alt + _param_takeoff_alt.get());
@@ -425,32 +441,46 @@ Mission::set_mission_items()
takeoff_alt = fmaxf(takeoff_alt, _navigator->get_home_position()->alt + _param_takeoff_alt.get());
}
mavlink_log_critical(_navigator->get_mavlink_fd(), "takeoff to %.1f meters above home", (double)(takeoff_alt - _navigator->get_home_position()->alt));
/* check if we already above takeoff altitude */
if (_navigator->get_global_position()->alt < takeoff_alt - _navigator->get_acceptance_radius()) {
mavlink_log_critical(_navigator->get_mavlink_fd(), "takeoff to %.1f meters above home", (double)(takeoff_alt - _navigator->get_home_position()->alt));
_mission_item.lat = _navigator->get_global_position()->lat;
_mission_item.lon = _navigator->get_global_position()->lon;
_mission_item.altitude = takeoff_alt;
_mission_item.altitude_is_relative = false;
_mission_item.nav_cmd = NAV_CMD_TAKEOFF;
_mission_item.lat = _navigator->get_global_position()->lat;
_mission_item.lon = _navigator->get_global_position()->lon;
_mission_item.altitude = takeoff_alt;
_mission_item.altitude_is_relative = false;
_mission_item.autocontinue = true;
_mission_item.time_inside = 0;
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
} else {
/* set current position setpoint from mission item */
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
_navigator->set_position_setpoint_triplet_updated();
return;
/* require takeoff after landing or idle */
if (pos_sp_triplet->current.type == SETPOINT_TYPE_LAND || pos_sp_triplet->current.type == SETPOINT_TYPE_IDLE) {
_need_takeoff = true;
} else {
/* skip takeoff */
_takeoff = false;
}
}
_navigator->set_can_loiter_at_sp(false);
reset_mission_item_reached();
/* set current position setpoint from mission item */
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
if (_mission_type == MISSION_TYPE_OFFBOARD) {
report_current_offboard_mission_item();
}
// TODO: report onboard mission item somehow
/* require takeoff after landing or idle */
if (pos_sp_triplet->current.type == SETPOINT_TYPE_LAND || pos_sp_triplet->current.type == SETPOINT_TYPE_IDLE) {
_need_takeoff = true;
}
_navigator->set_can_loiter_at_sp(false);
reset_mission_item_reached();
if (_mission_type == MISSION_TYPE_OFFBOARD) {
set_current_offboard_mission_item();
}
// TODO: report onboard mission item somehow
if (_mission_item.autocontinue && _mission_item.time_inside <= 0.001f) {
/* try to read next mission item */
struct mission_item_s mission_item_next;
@@ -462,6 +492,10 @@ Mission::set_mission_items()
/* next mission item is not available */
pos_sp_triplet->next.valid = false;
}
} else {
/* vehicle will be paused on current waypoint, don't set next item */
pos_sp_triplet->next.valid = false;
}
/* Save the distance between the current sp and the previous one */
@@ -668,45 +702,28 @@ Mission::save_offboard_mission_state()
}
void
Mission::report_mission_item_reached()
Mission::set_mission_item_reached()
{
if (_mission_type == MISSION_TYPE_OFFBOARD) {
_mission_result.reached = true;
_mission_result.seq_reached = _current_offboard_mission_index;
}
publish_mission_result();
_navigator->get_mission_result()->reached = true;
_navigator->get_mission_result()->seq_reached = _current_offboard_mission_index;
_navigator->publish_mission_result();
}
void
Mission::report_current_offboard_mission_item()
Mission::set_current_offboard_mission_item()
{
warnx("current offboard mission index: %d", _current_offboard_mission_index);
_mission_result.seq_current = _current_offboard_mission_index;
publish_mission_result();
_navigator->get_mission_result()->reached = false;
_navigator->get_mission_result()->finished = false;
_navigator->get_mission_result()->seq_current = _current_offboard_mission_index;
_navigator->publish_mission_result();
save_offboard_mission_state();
}
void
Mission::report_mission_finished()
Mission::set_mission_finished()
{
_mission_result.finished = true;
publish_mission_result();
}
void
Mission::publish_mission_result()
{
/* lazily publish the mission result only once available */
if (_mission_result_pub > 0) {
/* publish mission result */
orb_publish(ORB_ID(mission_result), _mission_result_pub, &_mission_result);
} else {
/* advertise and publish */
_mission_result_pub = orb_advertise(ORB_ID(mission_result), &_mission_result);
}
/* reset reached bool */
_mission_result.reached = false;
_mission_result.finished = false;
_navigator->get_mission_result()->finished = true;
_navigator->publish_mission_result();
}
src/modules/navigator/mission.h
+9 -16
View File
@@ -37,6 +37,7 @@
*
* @author Julian Oes <julian@oes.ch>
* @author Thomas Gubler <thomasgubler@gmail.com>
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#ifndef NAVIGATOR_MISSION_H
@@ -130,24 +131,19 @@ private:
void save_offboard_mission_state();
/**
* Report that a mission item has been reached
* Set a mission item as reached
*/
void report_mission_item_reached();
void set_mission_item_reached();
/**
* Rport the current mission item
* Set the current offboard mission item
*/
void report_current_offboard_mission_item();
void set_current_offboard_mission_item();
/**
* Report that the mission is finished if one exists or that none exists
* Set that the mission is finished if one exists or that none exists
*/
void report_mission_finished();
/**
* Publish the mission result so commander and mavlink know what is going on
*/
void publish_mission_result();
void set_mission_finished();
control::BlockParamInt _param_onboard_enabled;
control::BlockParamFloat _param_takeoff_alt;
@@ -159,11 +155,8 @@ private:
int _current_onboard_mission_index;
int _current_offboard_mission_index;
bool _need_takeoff;
bool _takeoff;
orb_advert_t _mission_result_pub;
struct mission_result_s _mission_result;
bool _need_takeoff; /**< if true, then takeoff must be performed before going to the first waypoint (if needed) */
bool _takeoff; /**< takeoff state flag */
enum {
MISSION_TYPE_NONE,
src/modules/navigator/mission_feasibility_checker.cpp
+1 -1
View File
@@ -120,7 +120,7 @@ bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMiss
return false;
}
if (!geofence.inside(missionitem.lat, missionitem.lon, missionitem.altitude)) {
if (!geofence.inside_polygon(missionitem.lat, missionitem.lon, missionitem.altitude)) {
mavlink_log_info(_mavlink_fd, "#audio: Geofence violation waypoint %d", i);
return false;
}
src/modules/navigator/module.mk
+9 -3
View File
@@ -46,13 +46,19 @@ SRCS = navigator_main.cpp \
loiter.cpp \
rtl.cpp \
rtl_params.c \
offboard.cpp \
mission_feasibility_checker.cpp \
geofence.cpp \
geofence_params.c
geofence_params.c \
datalinkloss.cpp \
datalinkloss_params.c \
rcloss.cpp \
rcloss_params.c \
enginefailure.cpp \
gpsfailure.cpp \
gpsfailure_params.c
INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink
MODULE_STACKSIZE = 1200
EXTRACXXFLAGS = -Weffc++
MAXOPTIMIZATION = -Os
src/modules/navigator/navigator.h
+55 -8
View File
@@ -35,6 +35,7 @@
* Helper class to access missions
* @author Julian Oes <julian@oes.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#ifndef NAVIGATOR_H
@@ -50,20 +51,25 @@
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/mission_result.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include "navigator_mode.h"
#include "mission.h"
#include "loiter.h"
#include "rtl.h"
#include "offboard.h"
#include "datalinkloss.h"
#include "enginefailure.h"
#include "gpsfailure.h"
#include "rcloss.h"
#include "geofence.h"
/**
* Number of navigation modes that need on_active/on_inactive calls
* Currently: mission, loiter, and rtl
*/
#define NAVIGATOR_MODE_ARRAY_SIZE 4
#define NAVIGATOR_MODE_ARRAY_SIZE 7
class Navigator : public control::SuperBlock
{
@@ -100,6 +106,17 @@ public:
*/
void load_fence_from_file(const char *filename);
/**
* Publish the mission result so commander and mavlink know what is going on
*/
void publish_mission_result();
/**
* Publish the attitude sp, only to be used in very special modes when position control is deactivated
* Example: mode that is triggered on gps failure
*/
void publish_att_sp();
/**
* Setters
*/
@@ -112,11 +129,15 @@ public:
struct vehicle_status_s* get_vstatus() { return &_vstatus; }
struct vehicle_control_mode_s* get_control_mode() { return &_control_mode; }
struct vehicle_global_position_s* get_global_position() { return &_global_pos; }
struct vehicle_gps_position_s* get_gps_position() { return &_gps_pos; }
struct sensor_combined_s* get_sensor_combined() { return &_sensor_combined; }
struct home_position_s* get_home_position() { return &_home_pos; }
struct position_setpoint_triplet_s* get_position_setpoint_triplet() { return &_pos_sp_triplet; }
struct position_setpoint_triplet_s* get_position_setpoint_triplet() { return &_pos_sp_triplet; }
struct mission_result_s* get_mission_result() { return &_mission_result; }
struct vehicle_attitude_setpoint_s* get_att_sp() { return &_att_sp; }
int get_onboard_mission_sub() { return _onboard_mission_sub; }
int get_offboard_mission_sub() { return _offboard_mission_sub; }
int get_offboard_control_sp_sub() { return _offboard_control_sp_sub; }
Geofence& get_geofence() { return _geofence; }
bool get_can_loiter_at_sp() { return _can_loiter_at_sp; }
float get_loiter_radius() { return _param_loiter_radius.get(); }
@@ -131,25 +152,35 @@ private:
int _mavlink_fd; /**< the file descriptor to send messages over mavlink */
int _global_pos_sub; /**< global position subscription */
int _gps_pos_sub; /**< gps position subscription */
int _sensor_combined_sub; /**< sensor combined subscription */
int _home_pos_sub; /**< home position subscription */
int _vstatus_sub; /**< vehicle status subscription */
int _capabilities_sub; /**< notification of vehicle capabilities updates */
int _offboard_control_sp_sub; /*** offboard control subscription */
int _control_mode_sub; /**< vehicle control mode subscription */
int _onboard_mission_sub; /**< onboard mission subscription */
int _offboard_mission_sub; /**< offboard mission subscription */
int _param_update_sub; /**< param update subscription */
orb_advert_t _pos_sp_triplet_pub; /**< publish position setpoint triplet */
orb_advert_t _mission_result_pub;
orb_advert_t _att_sp_pub; /**< publish att sp
used only in very special failsafe modes
when pos control is deactivated */
vehicle_status_s _vstatus; /**< vehicle status */
vehicle_control_mode_s _control_mode; /**< vehicle control mode */
vehicle_global_position_s _global_pos; /**< global vehicle position */
vehicle_gps_position_s _gps_pos; /**< gps position */
sensor_combined_s _sensor_combined; /**< sensor values */
home_position_s _home_pos; /**< home position for RTL */
mission_item_s _mission_item; /**< current mission item */
navigation_capabilities_s _nav_caps; /**< navigation capabilities */
position_setpoint_triplet_s _pos_sp_triplet; /**< triplet of position setpoints */
mission_result_s _mission_result;
vehicle_attitude_setpoint_s _att_sp;
bool _mission_item_valid; /**< flags if the current mission item is valid */
perf_counter_t _loop_perf; /**< loop performance counter */
@@ -157,14 +188,18 @@ private:
Geofence _geofence; /**< class that handles the geofence */
bool _geofence_violation_warning_sent; /**< prevents spaming to mavlink */
bool _fence_valid; /**< flag if fence is valid */
bool _inside_fence; /**< vehicle is inside fence */
NavigatorMode *_navigation_mode; /**< abstract pointer to current navigation mode class */
Mission _mission; /**< class that handles the missions */
Loiter _loiter; /**< class that handles loiter */
RTL _rtl; /**< class that handles RTL */
Offboard _offboard; /**< class that handles offboard */
RCLoss _rcLoss; /**< class that handles RTL according to
OBC rules (rc loss mode) */
DataLinkLoss _dataLinkLoss; /**< class that handles the OBC datalink loss mode */
EngineFailure _engineFailure; /**< class that handles the engine failure mode
(FW only!) */
GpsFailure _gpsFailure; /**< class that handles the OBC gpsfailure loss mode */
NavigatorMode *_navigation_mode_array[NAVIGATOR_MODE_ARRAY_SIZE]; /**< array of navigation modes */
@@ -173,11 +208,23 @@ private:
control::BlockParamFloat _param_loiter_radius; /**< loiter radius for fixedwing */
control::BlockParamFloat _param_acceptance_radius; /**< acceptance for takeoff */
control::BlockParamInt _param_datalinkloss_obc; /**< if true: obc mode on data link loss enabled */
control::BlockParamInt _param_rcloss_obc; /**< if true: obc mode on rc loss enabled */
/**
* Retrieve global position
*/
void global_position_update();
/**
* Retrieve gps position
*/
void gps_position_update();
/**
* Retrieve sensor values
*/
void sensor_combined_update();
/**
* Retrieve home position
*/
src/modules/navigator/navigator_main.cpp
+130 -16
View File
@@ -40,6 +40,7 @@
* @author Jean Cyr <jean.m.cyr@gmail.com>
* @author Julian Oes <julian@oes.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include <nuttx/config.h>
@@ -67,7 +68,7 @@
#include <uORB/topics/mission.h>
#include <uORB/topics/fence.h>
#include <uORB/topics/navigation_capabilities.h>
#include <uORB/topics/offboard_control_setpoint.h>
#include <drivers/drv_baro.h>
#include <systemlib/err.h>
#include <systemlib/systemlib.h>
@@ -85,6 +86,7 @@
*/
extern "C" __EXPORT int navigator_main(int argc, char *argv[]);
#define GEOFENCE_CHECK_INTERVAL 200000
namespace navigator
{
@@ -98,43 +100,56 @@ Navigator::Navigator() :
_navigator_task(-1),
_mavlink_fd(-1),
_global_pos_sub(-1),
_gps_pos_sub(-1),
_home_pos_sub(-1),
_vstatus_sub(-1),
_capabilities_sub(-1),
_offboard_control_sp_sub(-1),
_control_mode_sub(-1),
_onboard_mission_sub(-1),
_offboard_mission_sub(-1),
_param_update_sub(-1),
_pos_sp_triplet_pub(-1),
_mission_result_pub(-1),
_att_sp_pub(-1),
_vstatus{},
_control_mode{},
_global_pos{},
_gps_pos{},
_sensor_combined{},
_home_pos{},
_mission_item{},
_nav_caps{},
_pos_sp_triplet{},
_mission_result{},
_att_sp{},
_mission_item_valid(false),
_loop_perf(perf_alloc(PC_ELAPSED, "navigator")),
_geofence{},
_geofence_violation_warning_sent(false),
_fence_valid(false),
_inside_fence(true),
_navigation_mode(nullptr),
_mission(this, "MIS"),
_loiter(this, "LOI"),
_rtl(this, "RTL"),
_offboard(this, "OFF"),
_rcLoss(this, "RCL"),
_dataLinkLoss(this, "DLL"),
_engineFailure(this, "EF"),
_gpsFailure(this, "GPSF"),
_can_loiter_at_sp(false),
_pos_sp_triplet_updated(false),
_param_loiter_radius(this, "LOITER_RAD"),
_param_acceptance_radius(this, "ACC_RAD")
_param_acceptance_radius(this, "ACC_RAD"),
_param_datalinkloss_obc(this, "DLL_OBC"),
_param_rcloss_obc(this, "RCL_OBC")
{
/* Create a list of our possible navigation types */
_navigation_mode_array[0] = &_mission;
_navigation_mode_array[1] = &_loiter;
_navigation_mode_array[2] = &_rtl;
_navigation_mode_array[3] = &_offboard;
_navigation_mode_array[3] = &_dataLinkLoss;
_navigation_mode_array[4] = &_engineFailure;
_navigation_mode_array[5] = &_gpsFailure;
_navigation_mode_array[6] = &_rcLoss;
updateParams();
}
@@ -170,6 +185,18 @@ Navigator::global_position_update()
orb_copy(ORB_ID(vehicle_global_position), _global_pos_sub, &_global_pos);
}
void
Navigator::gps_position_update()
{
orb_copy(ORB_ID(vehicle_gps_position), _gps_pos_sub, &_gps_pos);
}
void
Navigator::sensor_combined_update()
{
orb_copy(ORB_ID(sensor_combined), _sensor_combined_sub, &_sensor_combined);
}
void
Navigator::home_position_update()
{
@@ -221,6 +248,7 @@ Navigator::task_main()
warnx("Initializing..");
_mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
_geofence.setMavlinkFd(_mavlink_fd);
/* Try to load the geofence:
* if /fs/microsd/etc/geofence.txt load from this file
@@ -232,6 +260,7 @@ Navigator::task_main()
_geofence.loadFromFile(GEOFENCE_FILENAME);
} else {
mavlink_log_critical(_mavlink_fd, "#audio: No geofence file");
if (_geofence.clearDm() > 0)
warnx("Geofence cleared");
else
@@ -240,6 +269,8 @@ Navigator::task_main()
/* do subscriptions */
_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
_gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
_sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined));
_capabilities_sub = orb_subscribe(ORB_ID(navigation_capabilities));
_vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
@@ -247,12 +278,13 @@ Navigator::task_main()
_onboard_mission_sub = orb_subscribe(ORB_ID(onboard_mission));
_offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission));
_param_update_sub = orb_subscribe(ORB_ID(parameter_update));
_offboard_control_sp_sub = orb_subscribe(ORB_ID(offboard_control_setpoint));
/* copy all topics first time */
vehicle_status_update();
vehicle_control_mode_update();
global_position_update();
gps_position_update();
sensor_combined_update();
home_position_update();
navigation_capabilities_update();
params_update();
@@ -264,7 +296,7 @@ Navigator::task_main()
const hrt_abstime mavlink_open_interval = 500000;
/* wakeup source(s) */
struct pollfd fds[6];
struct pollfd fds[8];
/* Setup of loop */
fds[0].fd = _global_pos_sub;
@@ -279,6 +311,10 @@ Navigator::task_main()
fds[4].events = POLLIN;
fds[5].fd = _param_update_sub;
fds[5].events = POLLIN;
fds[6].fd = _sensor_combined_sub;
fds[6].events = POLLIN;
fds[7].fd = _gps_pos_sub;
fds[7].events = POLLIN;
while (!_task_should_exit) {
@@ -303,6 +339,21 @@ Navigator::task_main()
_mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
}
static bool have_geofence_position_data = false;
/* gps updated */
if (fds[7].revents & POLLIN) {
gps_position_update();
if (_geofence.getSource() == Geofence::GF_SOURCE_GPS) {
have_geofence_position_data = true;
}
}
/* sensors combined updated */
if (fds[6].revents & POLLIN) {
sensor_combined_update();
}
/* parameters updated */
if (fds[5].revents & POLLIN) {
params_update();
@@ -332,9 +383,21 @@ Navigator::task_main()
/* global position updated */
if (fds[0].revents & POLLIN) {
global_position_update();
if (_geofence.getSource() == Geofence::GF_SOURCE_GLOBALPOS) {
have_geofence_position_data = true;
}
}
/* Check geofence violation */
if (!_geofence.inside(&_global_pos)) {
/* Check geofence violation */
static hrt_abstime last_geofence_check = 0;
if (have_geofence_position_data && hrt_elapsed_time(&last_geofence_check) > GEOFENCE_CHECK_INTERVAL) {
bool inside = _geofence.inside(_global_pos, _gps_pos, _sensor_combined.baro_alt_meter);
last_geofence_check = hrt_absolute_time();
have_geofence_position_data = false;
if (!inside) {
/* inform other apps via the mission result */
_mission_result.geofence_violated = true;
publish_mission_result();
/* Issue a warning about the geofence violation once */
if (!_geofence_violation_warning_sent) {
@@ -342,6 +405,9 @@ Navigator::task_main()
_geofence_violation_warning_sent = true;
}
} else {
/* inform other apps via the mission result */
_mission_result.geofence_violated = false;
publish_mission_result();
/* Reset the _geofence_violation_warning_sent field */
_geofence_violation_warning_sent = false;
}
@@ -355,6 +421,7 @@ Navigator::task_main()
case NAVIGATION_STATE_POSCTL:
case NAVIGATION_STATE_LAND:
case NAVIGATION_STATE_TERMINATION:
case NAVIGATION_STATE_OFFBOARD:
_navigation_mode = nullptr;
_can_loiter_at_sp = false;
break;
@@ -364,14 +431,30 @@ Navigator::task_main()
case NAVIGATION_STATE_AUTO_LOITER:
_navigation_mode = &_loiter;
break;
case NAVIGATION_STATE_AUTO_RCRECOVER:
if (_param_rcloss_obc.get() != 0) {
_navigation_mode = &_rcLoss;
} else {
_navigation_mode = &_rtl;
}
break;
case NAVIGATION_STATE_AUTO_RTL:
_navigation_mode = &_rtl;
_navigation_mode = &_rtl;
break;
case NAVIGATION_STATE_AUTO_RTGS:
_navigation_mode = &_rtl; /* TODO: change this to something else */
/* Use complex data link loss mode only when enabled via param
* otherwise use rtl */
if (_param_datalinkloss_obc.get() != 0) {
_navigation_mode = &_dataLinkLoss;
} else {
_navigation_mode = &_rtl;
}
break;
case NAVIGATION_STATE_OFFBOARD:
_navigation_mode = &_offboard;
case NAVIGATION_STATE_AUTO_LANDENGFAIL:
_navigation_mode = &_engineFailure;
break;
case NAVIGATION_STATE_AUTO_LANDGPSFAIL:
_navigation_mode = &_gpsFailure;
break;
default:
_navigation_mode = nullptr;
@@ -442,7 +525,7 @@ Navigator::status()
// warnx("Compass heading in degrees %5.5f", (double)(_global_pos.yaw * M_RAD_TO_DEG_F));
// }
if (_fence_valid) {
if (_geofence.valid()) {
warnx("Geofence is valid");
/* TODO: needed? */
// warnx("Vertex longitude latitude");
@@ -450,7 +533,7 @@ Navigator::status()
// warnx("%6u %9.5f %8.5f", i, (double)_fence.vertices[i].lon, (double)_fence.vertices[i].lat);
} else {
warnx("Geofence not set");
warnx("Geofence not set (no /etc/geofence.txt on microsd) or not valid");
}
}
@@ -534,3 +617,34 @@ int navigator_main(int argc, char *argv[])
return 0;
}
void
Navigator::publish_mission_result()
{
/* lazily publish the mission result only once available */
if (_mission_result_pub > 0) {
/* publish mission result */
orb_publish(ORB_ID(mission_result), _mission_result_pub, &_mission_result);
} else {
/* advertise and publish */
_mission_result_pub = orb_advertise(ORB_ID(mission_result), &_mission_result);
}
/* reset reached bool */
_mission_result.reached = false;
_mission_result.finished = false;
}
void
Navigator::publish_att_sp()
{
/* lazily publish the attitude sp only once available */
if (_att_sp_pub > 0) {
/* publish att sp*/
orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &_att_sp);
} else {
/* advertise and publish */
_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_att_sp);
}
}
src/modules/navigator/navigator_mode.cpp
+4 -1
View File
@@ -43,7 +43,7 @@
#include "navigator.h"
NavigatorMode::NavigatorMode(Navigator *navigator, const char *name) :
SuperBlock(NULL, name),
SuperBlock(navigator, name),
_navigator(navigator),
_first_run(true)
{
@@ -63,6 +63,9 @@ NavigatorMode::run(bool active) {
if (_first_run) {
/* first run */
_first_run = false;
/* Reset stay in failsafe flag */
_navigator->get_mission_result()->stay_in_failsafe = false;
_navigator->publish_mission_result();
on_activation();
} else {
src/modules/navigator/navigator_params.c
+54
View File
@@ -37,6 +37,7 @@
* Parameters for navigator in general
*
* @author Julian Oes <julian@oes.ch>
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include <nuttx/config.h>
@@ -64,3 +65,56 @@ PARAM_DEFINE_FLOAT(NAV_LOITER_RAD, 50.0f);
* @group Mission
*/
PARAM_DEFINE_FLOAT(NAV_ACC_RAD, 25.0f);
/**
* Set OBC mode for data link loss
*
* If set to 1 the behaviour on data link loss is set to a mode according to the OBC rules
*
* @min 0
* @group Mission
*/
PARAM_DEFINE_INT32(NAV_DLL_OBC, 0);
/**
* Set OBC mode for rc loss
*
* If set to 1 the behaviour on data link loss is set to a mode according to the OBC rules
*
* @min 0
* @group Mission
*/
PARAM_DEFINE_INT32(NAV_RCL_OBC, 0);
/**
* Airfield home Lat
*
* Latitude of airfield home waypoint
*
* @unit degrees * 1e7
* @min 0.0
* @group DLL
*/
PARAM_DEFINE_INT32(NAV_AH_LAT, -265847810);
/**
* Airfield home Lon
*
* Longitude of airfield home waypoint
*
* @unit degrees * 1e7
* @min 0.0
* @group DLL
*/
PARAM_DEFINE_INT32(NAV_AH_LON, 1518423250);
/**
* Airfield home alt
*
* Altitude of airfield home waypoint
*
* @unit m
* @min 0.0
* @group DLL
*/
PARAM_DEFINE_FLOAT(NAV_AH_ALT, 600.0f);
src/modules/navigator/offboard.cpp
-129
View File
@@ -1,129 +0,0 @@
/****************************************************************************
*
* Copyright (c) 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 offboard.cpp
*
* Helper class for offboard commands
*
* @author Julian Oes <julian@oes.ch>
*/
#include <string.h>
#include <stdlib.h>
#include <stdbool.h>
#include <math.h>
#include <fcntl.h>
#include <mavlink/mavlink_log.h>
#include <systemlib/err.h>
#include <uORB/uORB.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include "navigator.h"
#include "offboard.h"
Offboard::Offboard(Navigator *navigator, const char *name) :
NavigatorMode(navigator, name),
_offboard_control_sp({0})
{
/* load initial params */
updateParams();
/* initial reset */
on_inactive();
}
Offboard::~Offboard()
{
}
void
Offboard::on_inactive()
{
}
void
Offboard::on_activation()
{
}
void
Offboard::on_active()
{
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
bool updated;
orb_check(_navigator->get_offboard_control_sp_sub(), &updated);
if (updated) {
update_offboard_control_setpoint();
}
/* copy offboard setpoints to the corresponding topics */
if (_navigator->get_control_mode()->flag_control_position_enabled
&& _offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_POSITION) {
/* position control */
pos_sp_triplet->current.x = _offboard_control_sp.p1;
pos_sp_triplet->current.y = _offboard_control_sp.p2;
pos_sp_triplet->current.yaw = _offboard_control_sp.p3;
pos_sp_triplet->current.z = -_offboard_control_sp.p4;
pos_sp_triplet->current.type = SETPOINT_TYPE_OFFBOARD;
pos_sp_triplet->current.valid = true;
pos_sp_triplet->current.position_valid = true;
_navigator->set_position_setpoint_triplet_updated();
} else if (_navigator->get_control_mode()->flag_control_velocity_enabled
&& _offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY) {
/* velocity control */
pos_sp_triplet->current.vx = _offboard_control_sp.p2;
pos_sp_triplet->current.vy = _offboard_control_sp.p1;
pos_sp_triplet->current.yawspeed = _offboard_control_sp.p3;
pos_sp_triplet->current.vz = _offboard_control_sp.p4;
pos_sp_triplet->current.type = SETPOINT_TYPE_OFFBOARD;
pos_sp_triplet->current.valid = true;
pos_sp_triplet->current.velocity_valid = true;
_navigator->set_position_setpoint_triplet_updated();
}
}
void
Offboard::update_offboard_control_setpoint()
{
orb_copy(ORB_ID(offboard_control_setpoint), _navigator->get_offboard_control_sp_sub(), &_offboard_control_sp);
}

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