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Merge branch 'master' into beta_mavlink2

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This commit is contained in:
Anton Babushkin
2014-03-08 11:38:00 +04:00
parent 39b1f7244c cf9fa61a39
commit 320624e995
11 changed files with 273 additions and 12 deletions
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ROMFS/px4fmu_common/init.d/4008_ardrone
+35
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@@ -0,0 +1,35 @@
#!nsh
#
# ARDrone
#
echo "[init] 4008_ardrone: PX4FMU on PX4IOAR carrier board"
# Just use the default multicopter settings.
sh /etc/init.d/rc.mc_defaults
#
# Load default params for this platform
#
if [ $DO_AUTOCONFIG == yes ]
then
# Set all params here, then disable autoconfig
param set MC_ROLL_P 5.0
param set MC_ROLLRATE_P 0.13
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.0
param set MC_PITCH_P 5.0
param set MC_PITCHRATE_P 0.13
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.0
param set MC_YAW_P 1.0
param set MC_YAW_D 0.1
param set MC_YAWRATE_P 0.15
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_D 0.0
param set MC_YAW_FF 0.15
fi
set OUTPUT_MODE ardrone
set USE_IO no
set MIXER skip
ROMFS/px4fmu_common/init.d/rc.autostart
+9
View File
@@ -106,6 +106,15 @@ then
sh /etc/init.d/4001_quad_x
fi
#
# ARDrone
#
if param compare SYS_AUTOSTART 4008 8
then
sh /etc/init.d/4008_ardrone
fi
if param compare SYS_AUTOSTART 4010 10
then
sh /etc/init.d/4010_dji_f330
ROMFS/px4fmu_common/init.d/rc.interface
+6 -3
View File
@@ -3,7 +3,7 @@
# Script to configure control interface
#
if [ $MIXER != none ]
if [ $MIXER != none -a $MIXER != skip ]
then
#
# Load mixer
@@ -33,8 +33,11 @@ then
tone_alarm $TUNE_OUT_ERROR
fi
else
echo "[init] Mixer not defined"
tone_alarm $TUNE_OUT_ERROR
if [ $MIXER != skip ]
then
echo "[init] Mixer not defined"
tone_alarm $TUNE_OUT_ERROR
fi
fi
if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == io ]
ROMFS/px4fmu_common/init.d/rcS
+18 -5
View File
@@ -242,6 +242,11 @@ then
fi
fi
if [ $OUTPUT_MODE == ardrone ]
then
set FMU_MODE gpio_serial
fi
if [ $HIL == yes ]
then
set OUTPUT_MODE hil
@@ -279,9 +284,9 @@ then
tone_alarm $TUNE_OUT_ERROR
fi
fi
if [ $OUTPUT_MODE == fmu ]
if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == ardrone ]
then
echo "[init] Use FMU PWM as primary output"
echo "[init] Use FMU as primary output"
if fmu mode_$FMU_MODE
then
echo "[init] FMU mode_$FMU_MODE started"
@@ -296,7 +301,7 @@ then
then
set TTYS1_BUSY yes
fi
if [ $FMU_MODE == pwm_gpio ]
if [ $FMU_MODE == pwm_gpio -o $OUTPUT_MODE == ardrone ]
then
set TTYS1_BUSY yes
fi
@@ -353,7 +358,7 @@ then
fi
fi
else
if [ $OUTPUT_MODE != fmu ]
if [ $OUTPUT_MODE != fmu -a $OUTPUT_MODE != ardrone ]
then
if fmu mode_$FMU_MODE
then
@@ -369,7 +374,7 @@ then
then
set TTYS1_BUSY yes
fi
if [ $FMU_MODE == pwm_gpio ]
if [ $FMU_MODE == pwm_gpio -o $OUTPUT_MODE == ardrone ]
then
set TTYS1_BUSY yes
fi
@@ -435,6 +440,14 @@ then
gps start
fi
#
# Start up ARDrone Motor interface
#
if [ $OUTPUT_MODE == ardrone ]
then
ardrone_interface start -d /dev/ttyS1
fi
#
# Fixed wing setup
#
nuttx-configs/px4fmu-v2/nsh/defconfig
+3 -3
View File
@@ -306,7 +306,7 @@ CONFIG_UART5_RXDMA=y
# CONFIG_USART6_RS485 is not set
CONFIG_USART6_RXDMA=y
# CONFIG_UART7_RS485 is not set
# CONFIG_UART7_RXDMA is not set
CONFIG_UART7_RXDMA=y
# CONFIG_UART8_RS485 is not set
CONFIG_UART8_RXDMA=y
CONFIG_SERIAL_DISABLE_REORDERING=y
@@ -539,8 +539,8 @@ CONFIG_SERIAL_NPOLLWAITERS=2
# CONFIG_USART3_SERIAL_CONSOLE is not set
# CONFIG_UART4_SERIAL_CONSOLE is not set
# CONFIG_USART6_SERIAL_CONSOLE is not set
# CONFIG_UART7_SERIAL_CONSOLE is not set
CONFIG_UART8_SERIAL_CONSOLE=y
CONFIG_UART7_SERIAL_CONSOLE=y
# CONFIG_UART8_SERIAL_CONSOLE is not set
# CONFIG_NO_SERIAL_CONSOLE is not set
#
src/drivers/px4fmu/fmu.cpp
+1 -1
View File
@@ -1714,7 +1714,7 @@ fmu_main(int argc, char *argv[])
}
fprintf(stderr, "FMU: unrecognised command, try:\n");
fprintf(stderr, "FMU: unrecognised command %s, try:\n", verb);
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
fprintf(stderr, " mode_gpio, mode_serial, mode_pwm, mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio, test\n");
#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
src/modules/mc_att_control/mc_att_control_main.cpp
+2
View File
@@ -262,8 +262,10 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
{
memset(&_v_att, 0, sizeof(_v_att));
memset(&_v_att_sp, 0, sizeof(_v_att_sp));
memset(&_v_rates_sp, 0, sizeof(_v_rates_sp));
memset(&_manual_control_sp, 0, sizeof(_manual_control_sp));
memset(&_v_control_mode, 0, sizeof(_v_control_mode));
memset(&_actuators, 0, sizeof(_actuators));
memset(&_armed, 0, sizeof(_armed));
_params.att_p.zero();
src/systemcmds/tests/module.mk
+1
View File
@@ -26,6 +26,7 @@ SRCS = test_adc.c \
test_mixer.cpp \
test_mathlib.cpp \
test_file.c \
test_file2.c \
tests_main.c \
test_param.c \
test_ppm_loopback.c \
src/systemcmds/tests/test_file2.c
+196
View File
@@ -0,0 +1,196 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file test_file2.c
*
* File write test.
*/
#include <sys/stat.h>
#include <dirent.h>
#include <stdio.h>
#include <stddef.h>
#include <unistd.h>
#include <fcntl.h>
#include <systemlib/err.h>
#include <systemlib/perf_counter.h>
#include <string.h>
#include <stdlib.h>
#include <getopt.h>
#define FLAG_FSYNC 1
#define FLAG_LSEEK 2
/*
return a predictable value for any file offset to allow detection of corruption
*/
static uint8_t get_value(uint32_t ofs)
{
union {
uint32_t ofs;
uint8_t buf[4];
} u;
u.ofs = ofs;
return u.buf[ofs % 4];
}
static void test_corruption(const char *filename, uint32_t write_chunk, uint32_t write_size, uint16_t flags)
{
printf("Testing on %s with write_chunk=%u write_size=%u\n",
filename, (unsigned)write_chunk, (unsigned)write_size);
uint32_t ofs = 0;
int fd = open(filename, O_CREAT | O_RDWR | O_TRUNC);
if (fd == -1) {
perror(filename);
exit(1);
}
// create a file of size write_size, in write_chunk blocks
uint8_t counter = 0;
while (ofs < write_size) {
uint8_t buffer[write_chunk];
for (uint16_t j=0; j<write_chunk; j++) {
buffer[j] = get_value(ofs);
ofs++;
}
if (write(fd, buffer, sizeof(buffer)) != sizeof(buffer)) {
printf("write failed at offset %u\n", ofs);
exit(1);
}
if (flags & FLAG_FSYNC) {
fsync(fd);
}
if (counter % 100 == 0) {
printf("write ofs=%u\r", ofs);
}
counter++;
}
close(fd);
printf("write ofs=%u\n", ofs);
// read and check
fd = open(filename, O_RDONLY);
if (fd == -1) {
perror(filename);
exit(1);
}
counter = 0;
ofs = 0;
while (ofs < write_size) {
uint8_t buffer[write_chunk];
if (counter % 100 == 0) {
printf("read ofs=%u\r", ofs);
}
counter++;
if (read(fd, buffer, sizeof(buffer)) != sizeof(buffer)) {
printf("read failed at offset %u\n", ofs);
exit(1);
}
for (uint16_t j=0; j<write_chunk; j++) {
if (buffer[j] != get_value(ofs)) {
printf("corruption at ofs=%u got %u\n", ofs, buffer[j]);
exit(1);
}
ofs++;
}
if (flags & FLAG_LSEEK) {
lseek(fd, 0, SEEK_CUR);
}
}
printf("read ofs=%u\n", ofs);
close(fd);
unlink(filename);
printf("All OK\n");
}
static void usage(void)
{
printf("test file2 [options] [filename]\n");
printf("\toptions:\n");
printf("\t-s SIZE set file size\n");
printf("\t-c CHUNK set IO chunk size\n");
printf("\t-F fsync on every write\n");
printf("\t-L lseek on every read\n");
}
int test_file2(int argc, char *argv[])
{
int opt;
uint16_t flags = 0;
const char *filename = "/fs/microsd/testfile2.dat";
uint32_t write_chunk = 64;
uint32_t write_size = 5*1024;
while ((opt = getopt(argc, argv, "c:s:FLh")) != EOF) {
switch (opt) {
case 'F':
flags |= FLAG_FSYNC;
break;
case 'L':
flags |= FLAG_LSEEK;
break;
case 's':
write_size = strtoul(optarg, NULL, 0);
break;
case 'c':
write_chunk = strtoul(optarg, NULL, 0);
break;
case 'h':
default:
usage();
exit(1);
}
}
argc -= optind;
argv += optind;
if (argc > 0) {
filename = argv[0];
}
/* check if microSD card is mounted */
struct stat buffer;
if (stat("/fs/microsd/", &buffer)) {
warnx("no microSD card mounted, aborting file test");
return 1;
}
test_corruption(filename, write_chunk, write_size, flags);
return 0;
}
src/systemcmds/tests/tests.h
+1
View File
@@ -107,6 +107,7 @@ extern int test_jig_voltages(int argc, char *argv[]);
extern int test_param(int argc, char *argv[]);
extern int test_bson(int argc, char *argv[]);
extern int test_file(int argc, char *argv[]);
extern int test_file2(int argc, char *argv[]);
extern int test_mixer(int argc, char *argv[]);
extern int test_rc(int argc, char *argv[]);
extern int test_conv(int argc, char *argv[]);
src/systemcmds/tests/tests_main.c
+1
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@@ -104,6 +104,7 @@ const struct {
{"param", test_param, 0},
{"bson", test_bson, 0},
{"file", test_file, 0},
{"file2", test_file2, OPT_NOJIGTEST | OPT_NOALLTEST},
{"mixer", test_mixer, OPT_NOJIGTEST | OPT_NOALLTEST},
{"rc", test_rc, OPT_NOJIGTEST | OPT_NOALLTEST},
{"conv", test_conv, OPT_NOJIGTEST | OPT_NOALLTEST},