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Merge remote-tracking branch 'px4/master' into bottle_drop

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This commit is contained in:
Julian Oes
2014-03-29 11:16:15 +01:00
parent 873fa4cb40 9b1de5004c
commit 33d65eae97
135 changed files with 9310 additions and 5858 deletions
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.ycm_extra_conf.py
+173
View File
@@ -0,0 +1,173 @@
# This file is NOT licensed under the GPLv3, which is the license for the rest
# of YouCompleteMe.
#
# Here's the license text for this file:
#
# This is free and unencumbered software released into the public domain.
#
# Anyone is free to copy, modify, publish, use, compile, sell, or
# distribute this software, either in source code form or as a compiled
# binary, for any purpose, commercial or non-commercial, and by any
# means.
#
# In jurisdictions that recognize copyright laws, the author or authors
# of this software dedicate any and all copyright interest in the
# software to the public domain. We make this dedication for the benefit
# of the public at large and to the detriment of our heirs and
# successors. We intend this dedication to be an overt act of
# relinquishment in perpetuity of all present and future rights to this
# software under copyright law.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
# IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR
# OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
# ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
# OTHER DEALINGS IN THE SOFTWARE.
#
# For more information, please refer to <http://unlicense.org/>
import os
import ycm_core
# These are the compilation flags that will be used in case there's no
# compilation database set (by default, one is not set).
# CHANGE THIS LIST OF FLAGS. YES, THIS IS THE DROID YOU HAVE BEEN LOOKING FOR.
flags = [
'-Wall',
'-Wextra',
'-Werror',
#'-Wc++98-compat',
'-Wno-long-long',
'-Wno-variadic-macros',
'-fexceptions',
'-DNDEBUG',
# You 100% do NOT need -DUSE_CLANG_COMPLETER in your flags; only the YCM
# source code needs it.
#'-DUSE_CLANG_COMPLETER',
# THIS IS IMPORTANT! Without a "-std=<something>" flag, clang won't know which
# language to use when compiling headers. So it will guess. Badly. So C++
# headers will be compiled as C headers. You don't want that so ALWAYS specify
# a "-std=<something>".
# For a C project, you would set this to something like 'c99' instead of
# 'c++11'.
'-std=c++11',
# ...and the same thing goes for the magic -x option which specifies the
# language that the files to be compiled are written in. This is mostly
# relevant for c++ headers.
# For a C project, you would set this to 'c' instead of 'c++'.
'-x',
'c++',
'-undef', # get rid of standard definitions to allow us to include arm math header
'-I', os.path.join(os.path.expanduser("~"),'gcc-arm-none-eabi-4_7-2013q3/arm-none-eabi/include'),
'-I', 'Build/px4io-v1_default.build/nuttx-export/include/',
'-I', 'Build/px4io-v2_default.build/nuttx-export/include/',
'-I', './NuttX/nuttx/arch/arm/include',
'-include', './src/include/visibility.h',
'-I', './src',
'-I', './src/modules',
'-I', './src/include',
'-I', './src/lib',
'-I', './NuttX',
]
# Set this to the absolute path to the folder (NOT the file!) containing the
# compile_commands.json file to use that instead of 'flags'. See here for
# more details: http://clang.llvm.org/docs/JSONCompilationDatabase.html
#
# Most projects will NOT need to set this to anything; you can just change the
# 'flags' list of compilation flags. Notice that YCM itself uses that approach.
compilation_database_folder = ''
if os.path.exists( compilation_database_folder ):
database = ycm_core.CompilationDatabase( compilation_database_folder )
else:
database = None
SOURCE_EXTENSIONS = [ '.cpp', '.cxx', '.cc', '.c', '.m', '.mm' ]
def DirectoryOfThisScript():
return os.path.dirname( os.path.abspath( __file__ ) )
def MakeRelativePathsInFlagsAbsolute( flags, working_directory ):
if not working_directory:
return list( flags )
new_flags = []
make_next_absolute = False
path_flags = [ '-isystem', '-I', '-iquote', '--sysroot=' ]
for flag in flags:
new_flag = flag
if make_next_absolute:
make_next_absolute = False
if not flag.startswith( '/' ):
new_flag = os.path.join( working_directory, flag )
for path_flag in path_flags:
if flag == path_flag:
make_next_absolute = True
break
if flag.startswith( path_flag ):
path = flag[ len( path_flag ): ]
new_flag = path_flag + os.path.join( working_directory, path )
break
if new_flag:
new_flags.append( new_flag )
return new_flags
def IsHeaderFile( filename ):
extension = os.path.splitext( filename )[ 1 ]
return extension in [ '.h', '.hxx', '.hpp', '.hh' ]
def GetCompilationInfoForFile( filename ):
# The compilation_commands.json file generated by CMake does not have entries
# for header files. So we do our best by asking the db for flags for a
# corresponding source file, if any. If one exists, the flags for that file
# should be good enough.
if IsHeaderFile( filename ):
basename = os.path.splitext( filename )[ 0 ]
for extension in SOURCE_EXTENSIONS:
replacement_file = basename + extension
if os.path.exists( replacement_file ):
compilation_info = database.GetCompilationInfoForFile(
replacement_file )
if compilation_info.compiler_flags_:
return compilation_info
return None
return database.GetCompilationInfoForFile( filename )
def FlagsForFile( filename, **kwargs ):
if database:
# Bear in mind that compilation_info.compiler_flags_ does NOT return a
# python list, but a "list-like" StringVec object
compilation_info = GetCompilationInfoForFile( filename )
if not compilation_info:
return None
final_flags = MakeRelativePathsInFlagsAbsolute(
compilation_info.compiler_flags_,
compilation_info.compiler_working_dir_ )
# NOTE: This is just for YouCompleteMe; it's highly likely that your project
# does NOT need to remove the stdlib flag. DO NOT USE THIS IN YOUR
# ycm_extra_conf IF YOU'RE NOT 100% SURE YOU NEED IT.
#try:
# final_flags.remove( '-stdlib=libc++' )
#except ValueError:
# pass
else:
relative_to = DirectoryOfThisScript()
final_flags = MakeRelativePathsInFlagsAbsolute( flags, relative_to )
return {
'flags': final_flags,
'do_cache': True
}
ROMFS/px4fmu_common/init.d/10016_3dr_iris
+2 -2
View File
@@ -10,11 +10,11 @@ sh /etc/init.d/rc.mc_defaults
if [ $DO_AUTOCONFIG == yes ]
then
# TODO tune roll/pitch separately
param set MC_ROLL_P 9.0
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.13
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.004
param set MC_PITCH_P 9.0
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.13
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.004
ROMFS/px4fmu_common/init.d/11001_hexa_cox
+1 -1
View File
@@ -2,7 +2,7 @@
#
# UNTESTED UNTESTED!
#
# Generic 10” Hexa coaxial geometry
# Generic 10" Hexa coaxial geometry
#
# Lorenz Meier <lm@inf.ethz.ch>
#
ROMFS/px4fmu_common/init.d/12001_octo_cox
+1 -1
View File
@@ -1,6 +1,6 @@
#!nsh
#
# Generic 10” Octo coaxial geometry
# Generic 10" Octo coaxial geometry
#
# Lorenz Meier <lm@inf.ethz.ch>
#
ROMFS/px4fmu_common/init.d/2103_skyhunter_1800
+5
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@@ -0,0 +1,5 @@
#!nsh
sh /etc/init.d/rc.fw_defaults
set MIXER FMU_AET
ROMFS/px4fmu_common/init.d/3031_phantom
+30 -1
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@@ -2,9 +2,38 @@
#
# Phantom FPV Flying Wing
#
# Simon Wilks <sjwilks@gmail.com>
# Simon Wilks <sjwilks@gmail.com>, Thomas Gubler <thomasgubler@gmail.com>
#
sh /etc/init.d/rc.fw_defaults
if [ $DO_AUTOCONFIG == yes ]
then
param set FW_AIRSPD_MIN 13
param set FW_AIRSPD_TRIM 18
param set FW_AIRSPD_MAX 40
param set FW_ATT_TC 0.3
param set FW_L1_DAMPING 0.75
param set FW_L1_PERIOD 15
param set FW_PR_FF 0.2
param set FW_PR_I 0.005
param set FW_PR_IMAX 0.2
param set FW_PR_P 0.03
param set FW_P_LIM_MAX 50
param set FW_P_LIM_MIN -50
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 0
param set FW_RR_FF 0.5
param set FW_RR_I 0.02
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.08
param set FW_R_LIM 70
param set FW_R_RMAX 0
param set FW_T_HRATE_P 0.01
param set FW_T_RLL2THR 15
param set FW_T_SRATE_P 0.01
param set FW_T_TIME_CONST 5
fi
set MIXER FMU_Q
ROMFS/px4fmu_common/init.d/3033_wingwing
+25
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@@ -7,4 +7,29 @@
sh /etc/init.d/rc.fw_defaults
if [ $DO_AUTOCONFIG == yes ]
then
param set BAT_N_CELLS 2
param set FW_AIRSPD_MAX 15
param set FW_AIRSPD_MIN 7
param set FW_AIRSPD_TRIM 11
param set FW_ATT_TC 0.3
param set FW_L1_DAMPING 0.74
param set FW_L1_PERIOD 12
param set FW_LND_ANG 15
param set FW_LND_FLALT 5
param set FW_LND_HHDIST 15
param set FW_LND_HVIRT 13
param set FW_LND_TLALT 5
param set FW_THR_LND_MAX 0
param set FW_P_ROLLFF 2
param set FW_PR_FF 0.6
param set FW_PR_IMAX 0.2
param set FW_PR_P 0.06
param set FW_RR_FF 0.6
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.09
param set FW_THR_CRUISE 0.65
fi
set MIXER FMU_Q
ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
+42
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@@ -0,0 +1,42 @@
#!nsh
#
# TBS Caipirinha Flying Wing
#
# Thomas Gubler <thomasgubler@gmail.com>
#
sh /etc/init.d/rc.fw_defaults
if [ $DO_AUTOCONFIG == yes ]
then
# TODO: these are the X5 default parameters, update them to the caipi
param set FW_AIRSPD_MIN 15
param set FW_AIRSPD_TRIM 20
param set FW_AIRSPD_MAX 40
param set FW_ATT_TC 0.3
param set FW_L1_DAMPING 0.74
param set FW_L1_PERIOD 15
param set FW_PR_FF 0.3
param set FW_PR_I 0
param set FW_PR_IMAX 0.2
param set FW_PR_P 0.03
param set FW_P_LIM_MAX 45
param set FW_P_LIM_MIN -45
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 0
param set FW_RR_FF 0.3
param set FW_RR_I 0
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.03
param set FW_R_LIM 60
param set FW_R_RMAX 0
param set FW_T_HRATE_P 0.01
param set FW_T_RLL2THR 15
param set FW_T_SRATE_P 0.01
param set FW_T_TIME_CONST 5
fi
set MIXER FMU_Q
ROMFS/px4fmu_common/init.d/4001_quad_x
+1 -1
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@@ -1,6 +1,6 @@
#!nsh
#
# Generic 10” Quad X geometry
# Generic 10" Quad X geometry
#
# Lorenz Meier <lm@inf.ethz.ch>
#
ROMFS/px4fmu_common/init.d/4008_ardrone
+3 -1
View File
@@ -23,13 +23,15 @@ then
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
param set BAT_V_SCALING 0.00838095238
fi
set OUTPUT_MODE ardrone
set USE_IO no
set MIXER skip
# set MAV_TYPE because no specific mixer is set
set MAV_TYPE 2
ROMFS/px4fmu_common/init.d/5001_quad_+
+1 -1
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@@ -1,6 +1,6 @@
#!nsh
#
# Generic 10” Quad + geometry
# Generic 10" Quad + geometry
#
# Anton Babushkin <anton.babushkin@me.com>
#
ROMFS/px4fmu_common/init.d/6001_hexa_x
+1 -1
View File
@@ -1,6 +1,6 @@
#!nsh
#
# Generic 10” Hexa X geometry
# Generic 10" Hexa X geometry
#
# Anton Babushkin <anton.babushkin@me.com>
#
ROMFS/px4fmu_common/init.d/7001_hexa_+
+1 -1
View File
@@ -1,6 +1,6 @@
#!nsh
#
# Generic 10” Hexa + geometry
# Generic 10" Hexa + geometry
#
# Anton Babushkin <anton.babushkin@me.com>
#
ROMFS/px4fmu_common/init.d/8001_octo_x
+1 -1
View File
@@ -1,6 +1,6 @@
#!nsh
#
# Generic 10” Octo X geometry
# Generic 10" Octo X geometry
#
# Anton Babushkin <anton.babushkin@me.com>
#
ROMFS/px4fmu_common/init.d/9001_octo_+
+1 -1
View File
@@ -1,6 +1,6 @@
#!nsh
#
# Generic 10” Octo + geometry
# Generic 10" Octo + geometry
#
# Anton Babushkin <anton.babushkin@me.com>
#
ROMFS/px4fmu_common/init.d/rc.autostart
+11
View File
@@ -68,6 +68,12 @@ then
set MODE custom
fi
if param compare SYS_AUTOSTART 2103 103
then
sh /etc/init.d/2103_skyhunter_1800
set MODE custom
fi
#
# Flying wing
#
@@ -97,6 +103,11 @@ then
sh /etc/init.d/3034_fx79
fi
if param compare SYS_AUTOSTART 3100
then
sh /etc/init.d/3100_tbs_caipirinha
fi
#
# Quad X
#
ROMFS/px4fmu_common/init.d/rc.fw_defaults
+2
View File
@@ -11,4 +11,6 @@ then
param set NAV_RTL_ALT 100
param set NAV_RTL_LAND_T -1
param set NAV_ACCEPT_RAD 50
param set RC_SCALE_ROLL 1
param set RC_SCALE_PITCH 1
fi
ROMFS/px4fmu_common/init.d/rc.usb
+7 -33
View File
@@ -5,38 +5,12 @@
echo "Starting MAVLink on this USB console"
# Stop tone alarm
tone_alarm stop
#
# Check for UORB
#
if uorb start
then
echo "uORB started"
fi
# Tell MAVLink that this link is "fast"
if mavlink stop
then
echo "stopped other MAVLink instance"
fi
mavlink start -b 230400 -d /dev/ttyACM0
# Stop commander
if commander stop
then
echo "Commander stopped"
fi
sleep 1
# Start the commander
if commander start
then
echo "Commander started"
fi
echo "MAVLink started, exiting shell.."
mavlink start -r 10000 -d /dev/ttyACM0
# Enable a number of interesting streams we want via USB
mavlink stream -d /dev/ttyACM0 -s NAMED_VALUE_FLOAT -r 10
mavlink stream -d /dev/ttyACM0 -s OPTICAL_FLOW -r 10
mavlink stream -d /dev/ttyACM0 -s ATTITUDE_CONTROLS -r 30
mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 10
# Exit shell to make it available to MAVLink
exit
exit
ROMFS/px4fmu_common/init.d/rcS
+43 -18
View File
@@ -108,7 +108,6 @@ then
set HIL no
set VEHICLE_TYPE none
set MIXER none
set USE_IO yes
set OUTPUT_MODE none
set PWM_OUTPUTS none
set PWM_RATE none
@@ -117,7 +116,10 @@ then
set PWM_MAX none
set MKBLCTRL_MODE none
set FMU_MODE pwm
set MAVLINK_FLAGS default
set EXIT_ON_END no
set MAV_TYPE none
set LOAD_DEFAULT_APPS yes
#
# Set DO_AUTOCONFIG flag to use it in AUTOSTART scripts
@@ -128,6 +130,16 @@ then
else
set DO_AUTOCONFIG no
fi
#
# Set USE_IO flag
#
if param compare SYS_USE_IO 1
then
set USE_IO yes
else
set USE_IO no
fi
#
# Set parameters and env variables for selected AUTOSTART
@@ -390,28 +402,34 @@ then
#
# MAVLink
#
set EXIT_ON_END no
if [ $HIL == yes ]
if [ $MAVLINK_FLAGS == default ]
then
sleep 1
mavlink start -b 230400 -d /dev/ttyACM0
usleep 5000
else
if [ $TTYS1_BUSY == yes ]
if [ $HIL == yes ]
then
# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else
mavlink start -d /dev/ttyS0
sleep 1
set MAVLINK_FLAGS "-r 10000 -d /dev/ttyACM0"
usleep 5000
# Exit from nsh to free port for mavlink
set EXIT_ON_END yes
else
# Start MAVLink on default port: ttyS1
mavlink start
usleep 5000
# Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s
if [ $TTYS1_BUSY == yes ]
then
# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else
set MAVLINK_FLAGS "-r 1000 -d /dev/ttyS0"
usleep 5000
# Exit from nsh to free port for mavlink
set EXIT_ON_END yes
else
# Start MAVLink on default port: ttyS1
set MAVLINK_FLAGS "-r 1000"
usleep 5000
fi
fi
fi
mavlink start $MAVLINK_FLAGS
usleep 5000
#
# Start the datamanager
@@ -471,7 +489,10 @@ then
sh /etc/init.d/rc.interface
# Start standard fixedwing apps
sh /etc/init.d/rc.fw_apps
if [ $LOAD_DEFAULT_APPS == yes ]
then
sh /etc/init.d/rc.fw_apps
fi
fi
#
@@ -527,7 +548,10 @@ then
sh /etc/init.d/rc.interface
# Start standard multicopter apps
sh /etc/init.d/rc.mc_apps
if [ $LOAD_DEFAULT_APPS == yes ]
then
sh /etc/init.d/rc.mc_apps
fi
fi
#
@@ -550,6 +574,7 @@ then
if [ $EXIT_ON_END == yes ]
then
echo "[init] Exit from nsh"
exit
fi
Tools/.gitignore
+2
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@@ -0,0 +1,2 @@
parameters.wiki
parameters.xml
Tools/fetch_log.py
+133
View File
@@ -0,0 +1,133 @@
#!/usr/bin/env python
############################################################################
#
# Copyright (C) 2012, 2013 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
#
# Log fetcher
#
# Print list of logs:
# python fetch_log.py
#
# Fetch log:
# python fetch_log.py sess001/log001.bin
#
import serial, time, sys, os
def wait_for_string(ser, s, timeout=1.0, debug=False):
t0 = time.time()
buf = []
res = []
n = 0
while (True):
c = ser.read()
if debug:
sys.stderr.write(c)
buf.append(c)
if len(buf) > len(s):
res.append(buf.pop(0))
n += 1
if n % 10000 == 0:
sys.stderr.write(str(n) + "\n")
if "".join(buf) == s:
break
if timeout > 0.0 and time.time() - t0 > timeout:
raise Exception("Timeout while waiting for: " + s)
return "".join(res)
def exec_cmd(ser, cmd, timeout):
ser.write(cmd + "\n")
ser.flush()
wait_for_string(ser, cmd + "\r\n", timeout)
return wait_for_string(ser, "nsh> \x1b[K", timeout)
def ls_dir(ser, dir, timeout=1.0):
res = []
for line in exec_cmd(ser, "ls -l " + dir, timeout).splitlines()[1:]:
res.append((line[20:], int(line[11:19].strip()), line[1] == "d"))
return res
def list_logs(ser):
logs_dir = "/fs/microsd/log"
res = []
for d in ls_dir(ser, logs_dir):
if d[2]:
sess_dir = d[0][:-1]
for f in ls_dir(ser, logs_dir + "/" + sess_dir):
log_file = f[0]
log_size = f[1]
res.append(sess_dir + "/" + log_file + "\t" + str(log_size))
return "\n".join(res)
def fetch_log(ser, fn, timeout):
cmd = "dumpfile " + fn
ser.write(cmd + "\n")
ser.flush()
wait_for_string(ser, cmd + "\r\n", timeout, True)
res = wait_for_string(ser, "\n", timeout, True)
data = []
if res.startswith("OK"):
size = int(res.split()[1])
n = 0
print "Reading data:"
while (n < size):
buf = ser.read(min(size - n, 8192))
data.append(buf)
n += len(buf)
sys.stdout.write(".")
sys.stdout.flush()
print
else:
raise Exception("Error reading log")
wait_for_string(ser, "nsh> \x1b[K", timeout)
return "".join(data)
def main():
dev = "/dev/tty.usbmodem1"
ser = serial.Serial(dev, "115200", timeout=0.2)
if len(sys.argv) < 2:
print list_logs(ser)
else:
log_file = sys.argv[1]
data = fetch_log(ser, "/fs/microsd/log/" + log_file, 1.0)
try:
os.mkdir(log_file.split("/")[0])
except:
pass
fout = open(log_file, "wb")
fout.write(data)
fout.close()
ser.close()
if __name__ == "__main__":
main()
Tools/px4params/.gitignore
-4
View File
@@ -1,4 +0,0 @@
parameters.wiki
parameters.xml
parameters.wikirpc.xml
cookies.txt
Tools/px4params/README.md
+1 -9
View File
@@ -1,9 +1 @@
h1. PX4 Parameters Processor
It's designed to scan PX4 source codes, find declarations of tunable parameters,
and generate the list in various formats.
Currently supported formats are:
* XML for the parametric UI generator
* Human-readable description in DokuWiki format
This folder contains a python library used by px_process_params.py
Tools/px4params/__init__.py
+1
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@@ -0,0 +1 @@
__all__ = ["srcscanner", "srcparser", "xmlout", "dokuwikiout", "dokuwikirpc"]
Tools/px4params/dokuwikiout.py
+44
View File
@@ -0,0 +1,44 @@
from xml.sax.saxutils import escape
import codecs
class DokuWikiTablesOutput():
def __init__(self, groups):
result = ("====== Parameter Reference ======\n"
"<note>**This list is auto-generated from the source code** and contains the most recent parameter documentation.</note>\n"
"\n")
for group in groups:
result += "==== %s ====\n\n" % group.GetName()
result += "|< 100% 25% 45% 10% 10% 10% >|\n"
result += "^ Name ^ Description ^ Min ^ Max ^ Default ^\n"
result += "^ ::: ^ Comment ^^^^\n"
for param in group.GetParams():
code = param.GetFieldValue("code")
name = param.GetFieldValue("short_desc")
min_val = param.GetFieldValue("min")
max_val = param.GetFieldValue("max")
def_val = param.GetFieldValue("default")
long_desc = param.GetFieldValue("long_desc")
if name == code:
name = ""
else:
name = name.replace("\n", " ")
name = name.replace("|", "%%|%%")
name = name.replace("^", "%%^%%")
result += "| **%s** |" % code
result += " %s |" % name
result += " %s |" % (min_val or "")
result += " %s |" % (max_val or "")
result += " %s |" % (def_val or "")
result += "\n"
if long_desc is not None:
result += "| ::: | <div>%s</div> ||||\n" % long_desc
result += "\n"
self.output = result;
def Save(self, filename):
with codecs.open(filename, 'w', 'utf-8') as f:
f.write(self.output)
Tools/px4params/dokuwikirpc.py
+16
View File
@@ -0,0 +1,16 @@
try:
import xmlrpclib
except ImportError:
import xmlrpc.client as xmlrpclib
# See https://www.dokuwiki.org/devel:xmlrpc for a list of available functions!
# Usage example:
# xmlrpc = dokuwikirpc.get_xmlrpc(url, username, password)
# print(xmlrpc.dokuwiki.getVersion())
def get_xmlrpc(url, username, password):
#proto, url = url.split("://")
#url = proto + "://" + username + ":" + password + "@" + url + "/lib/exe/xmlrpc.php"
url += "/lib/exe/xmlrpc.php?u=" + username + "&p=" + password
return xmlrpclib.ServerProxy(url)
Tools/px4params/output_dokuwiki_listings.py
-31
View File
@@ -1,31 +0,0 @@
import codecs
class DokuWikiListingsOutput():
def __init__(self, groups):
result = ""
for group in groups:
result += "==== %s ====\n\n" % group.GetName()
for param in group.GetParams():
code = param.GetFieldValue("code")
name = param.GetFieldValue("short_desc")
if code != name:
name = "%s (%s)" % (name, code)
result += "=== %s ===\n\n" % name
long_desc = param.GetFieldValue("long_desc")
if long_desc is not None:
result += "%s\n\n" % long_desc
min_val = param.GetFieldValue("min")
if min_val is not None:
result += "* Minimal value: %s\n" % min_val
max_val = param.GetFieldValue("max")
if max_val is not None:
result += "* Maximal value: %s\n" % max_val
def_val = param.GetFieldValue("default")
if def_val is not None:
result += "* Default value: %s\n" % def_val
result += "\n"
self.output = result
def Save(self, filename):
with codecs.open(filename, 'w', 'utf-8') as f:
f.write(self.output)
Tools/px4params/output_dokuwiki_tables.py
-76
View File
@@ -1,76 +0,0 @@
from xml.sax.saxutils import escape
import codecs
class DokuWikiTablesOutput():
def __init__(self, groups):
result = "====== Parameter Reference ======\nThis list is auto-generated every few minutes and contains the most recent parameter names and default values.\n\n"
for group in groups:
result += "==== %s ====\n\n" % group.GetName()
result += "|< 100% 20% 20% 10% 10% 10% 30%>|\n"
result += "^ Name ^ Description ^ Min ^ Max ^ Default ^ Comment ^\n"
for param in group.GetParams():
code = param.GetFieldValue("code")
name = param.GetFieldValue("short_desc")
min_val = param.GetFieldValue("min")
max_val = param.GetFieldValue("max")
def_val = param.GetFieldValue("default")
long_desc = param.GetFieldValue("long_desc")
name = name.replace("\n", " ")
result += "| %s | %s |" % (code, name)
if min_val is not None:
result += " %s |" % min_val
else:
result += " |"
if max_val is not None:
result += " %s |" % max_val
else:
result += " |"
if def_val is not None:
result += " %s |" % def_val
else:
result += " |"
if long_desc is not None:
long_desc = long_desc.replace("\n", " ")
result += " %s |" % long_desc
else:
result += " |"
result += "\n"
result += "\n"
self.output = result;
def Save(self, filename):
with codecs.open(filename, 'w', 'utf-8') as f:
f.write(self.output)
def SaveRpc(self, filename):
with codecs.open(filename, 'w', 'utf-8') as f:
f.write("""<?xml version='1.0'?>
<methodCall>
<methodName>wiki.putPage</methodName>
<params>
<param>
<value>
<string>:firmware:parameters</string>
</value>
</param>
<param>
<value>
<string>""")
f.write(escape(self.output))
f.write("""</string>
</value>
</param>
<param>
<value>
<name>sum</name>
<string>Updated parameters automagically from code.</string>
</value>
</param>
</params>
</methodCall>""")
Tools/px4params/srcparser.py
+3 -2
View File
@@ -44,6 +44,7 @@ class Parameter(object):
"default": 6,
"min": 5,
"max": 4,
"unit": 3,
# all others == 0 (sorted alphabetically)
}
@@ -71,7 +72,7 @@ class Parameter(object):
"""
return self.fields.get(code)
class Parser(object):
class SourceParser(object):
"""
Parses provided data and stores all found parameters internally.
"""
@@ -86,7 +87,7 @@ class Parser(object):
re_is_a_number = re.compile(r'^-?[0-9\.]')
re_remove_dots = re.compile(r'\.+$')
valid_tags = set(["min", "max", "group"])
valid_tags = set(["group", "min", "max", "unit"])
# Order of parameter groups
priority = {
Tools/px4params/scanner.py → Tools/px4params/srcscanner.py
+3 -8
View File
@@ -2,26 +2,21 @@ import os
import re
import codecs
class Scanner(object):
class SourceScanner(object):
"""
Traverses directory tree, reads all source files, and passes their contents
to the Parser.
"""
re_file_extension = re.compile(r'\.([^\.]+)$')
def ScanDir(self, srcdir, parser):
"""
Scans provided path and passes all found contents to the parser using
parser.Parse method.
"""
extensions = set(parser.GetSupportedExtensions())
extensions = tuple(parser.GetSupportedExtensions())
for dirname, dirnames, filenames in os.walk(srcdir):
for filename in filenames:
m = self.re_file_extension.search(filename)
if m:
ext = m.group(1)
if ext in extensions:
if filename.endswith(extensions):
path = os.path.join(dirname, filename)
self.ScanFile(path, parser)
Tools/px4params/output_xml.py → Tools/px4params/xmlout.py
View File
Tools/px4params/xmlrpc.sh
-5
View File
@@ -1,5 +0,0 @@
python px_process_params.py
rm cookies.txt
curl --cookie cookies.txt --cookie-jar cookies.txt --user-agent Mozilla/4.0 --data "u=$XMLRPCUSER&p=$XMLRPCPASS" https://pixhawk.org/start?do=login
curl -k --cookie cookies.txt -H "Content-Type: application/xml" -X POST --data-binary @parameters.wikirpc.xml "https://pixhawk.org/lib/exe/xmlrpc.php"
Tools/px_process_params.py
+140
View File
@@ -0,0 +1,140 @@
#!/usr/bin/env python
############################################################################
#
# Copyright (C) 2013-2014 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.
#
############################################################################
#
# PX4 paramers processor (main executable file)
#
# This tool scans the PX4 source code for declarations of tunable parameters
# and outputs the list in various formats.
#
# Currently supported formats are:
# * XML for the parametric UI generator
# * Human-readable description in DokuWiki page format
#
# This tool also allows to automatically upload the human-readable version
# to the DokuWiki installation via XML-RPC.
#
from __future__ import print_function
import sys
import os
import argparse
from px4params import srcscanner, srcparser, xmlout, dokuwikiout, dokuwikirpc
def main():
# Parse command line arguments
parser = argparse.ArgumentParser(description="Process parameter documentation.")
parser.add_argument("-s", "--src-path",
default="../src",
metavar="PATH",
help="path to source files to scan for parameters")
parser.add_argument("-x", "--xml",
nargs='?',
const="parameters.xml",
metavar="FILENAME",
help="Create XML file"
" (default FILENAME: parameters.xml)")
parser.add_argument("-w", "--wiki",
nargs='?',
const="parameters.wiki",
metavar="FILENAME",
help="Create DokuWiki file"
" (default FILENAME: parameters.wiki)")
parser.add_argument("-u", "--wiki-update",
nargs='?',
const="firmware:parameters",
metavar="PAGENAME",
help="Update DokuWiki page"
" (default PAGENAME: firmware:parameters)")
parser.add_argument("--wiki-url",
default="https://pixhawk.org",
metavar="URL",
help="DokuWiki URL"
" (default: https://pixhawk.org)")
parser.add_argument("--wiki-user",
default=os.environ.get('XMLRPCUSER', None),
metavar="USERNAME",
help="DokuWiki XML-RPC user name"
" (default: $XMLRPCUSER environment variable)")
parser.add_argument("--wiki-pass",
default=os.environ.get('XMLRPCPASS', None),
metavar="PASSWORD",
help="DokuWiki XML-RPC user password"
" (default: $XMLRPCUSER environment variable)")
parser.add_argument("--wiki-summary",
metavar="SUMMARY",
default="Automagically updated parameter documentation from code.",
help="DokuWiki page edit summary")
args = parser.parse_args()
# Check for valid command
if not (args.xml or args.wiki or args.wiki_update):
print("Error: You need to specify at least one output method!\n")
parser.print_usage()
sys.exit(1)
# Initialize source scanner and parser
scanner = srcscanner.SourceScanner()
parser = srcparser.SourceParser()
# Scan directories, and parse the files
print("Scanning source path " + args.src_path)
scanner.ScanDir(args.src_path, parser)
param_groups = parser.GetParamGroups()
# Output to XML file
if args.xml:
print("Creating XML file " + args.xml)
out = xmlout.XMLOutput(param_groups)
out.Save(args.xml)
# Output to DokuWiki tables
if args.wiki or args.wiki_update:
out = dokuwikiout.DokuWikiTablesOutput(param_groups)
if args.wiki:
print("Creating wiki file " + args.wiki)
out.Save(args.wiki)
if args.wiki_update:
if args.wiki_user and args.wiki_pass:
print("Updating wiki page " + args.wiki_update)
xmlrpc = dokuwikirpc.get_xmlrpc(args.wiki_url, args.wiki_user, args.wiki_pass)
xmlrpc.wiki.putPage(args.wiki_update, out.output, {'sum': args.wiki_summary})
else:
print("Error: You need to specify DokuWiki XML-RPC username and password!")
print("All done!")
if __name__ == "__main__":
main()
Tools/px_romfs_pruner.py
+83
View File
@@ -0,0 +1,83 @@
#!/usr/bin/env python
############################################################################
#
# Copyright (C) 2014 PX4 Development Team. All rights reserved.
# Author: Julian Oes <joes@student.ethz.ch>
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
"""
px_romfs_pruner.py:
Delete all comments and newlines before ROMFS is converted to an image
"""
from __future__ import print_function
import argparse
import os
def main():
# Parse commandline arguments
parser = argparse.ArgumentParser(description="ROMFS pruner.")
parser.add_argument('--folder', action="store", help="ROMFS scratch folder.")
args = parser.parse_args()
print("Pruning ROMFS files.")
# go through
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:
continue
file_path = os.path.join(root, file)
# read file line by line
pruned_content = ""
with open(file_path, "r") as f:
for line in f:
# handle mixer files differently than startup files
if file_path.endswith(".mix"):
if line.startswith(("Z:", "M:", "R: ", "O:", "S:")):
pruned_content += line
else:
if not line.isspace() and not line.strip().startswith("#"):
pruned_content += line
# overwrite old scratch file
with open(file_path, "w") as f:
f.write(pruned_content)
if __name__ == '__main__':
main()
Tools/px_update_wiki.sh
+2
View File
@@ -0,0 +1,2 @@
# Remember to set the XMLRPCUSER and XMLRPCPASS environment variables
python px_process_params.py --wiki-update
makefiles/config_px4fmu-v1_default.mk
+1
View File
@@ -56,6 +56,7 @@ MODULES += systemcmds/tests
MODULES += systemcmds/config
MODULES += systemcmds/nshterm
MODULES += systemcmds/hw_ver
MODULES += systemcmds/dumpfile
#
# General system control
makefiles/config_px4fmu-v2_default.mk
+3 -1
View File
@@ -27,6 +27,7 @@ MODULES += drivers/l3gd20
MODULES += drivers/hmc5883
MODULES += drivers/ms5611
MODULES += drivers/mb12xx
MODULES += drivers/sf0x
MODULES += drivers/gps
MODULES += drivers/hil
MODULES += drivers/hott/hott_telemetry
@@ -63,6 +64,7 @@ MODULES += systemcmds/config
MODULES += systemcmds/nshterm
MODULES += systemcmds/mtd
MODULES += systemcmds/hw_ver
MODULES += systemcmds/dumpfile
#
# General system control
@@ -70,7 +72,7 @@ MODULES += systemcmds/hw_ver
MODULES += modules/commander
MODULES += modules/navigator
MODULES += modules/mavlink
MODULES += modules/mavlink_onboard
MODULES += modules/gpio_led
#
# Estimation modules (EKF/ SO3 / other filters)
makefiles/firmware.mk
+4
View File
@@ -355,6 +355,9 @@ ROMFS_OBJ = $(ROMFS_CSRC:.c=.o)
LIBS += $(ROMFS_OBJ)
LINK_DEPS += $(ROMFS_OBJ)
# Remove all comments from startup and mixer files
ROMFS_PRUNER = $(PX4_BASE)/Tools/px_romfs_pruner.py
# Turn the ROMFS image into an object file
$(ROMFS_OBJ): $(ROMFS_IMG) $(GLOBAL_DEPS)
$(call BIN_TO_OBJ,$<,$@,romfs_img)
@@ -372,6 +375,7 @@ ifneq ($(ROMFS_EXTRA_FILES),)
$(Q) $(MKDIR) -p $(ROMFS_SCRATCH)/extras
$(Q) $(COPY) $(ROMFS_EXTRA_FILES) $(ROMFS_SCRATCH)/extras
endif
$(Q) $(PYTHON) -u $(ROMFS_PRUNER) --folder $(ROMFS_SCRATCH)
EXTRA_CLEANS += $(ROMGS_OBJ) $(ROMFS_IMG)
nuttx-configs/px4fmu-v1/nsh/defconfig
+4 -4
View File
@@ -405,7 +405,7 @@ CONFIG_SIG_SIGWORK=4
CONFIG_MAX_TASKS=32
CONFIG_MAX_TASK_ARGS=10
CONFIG_NPTHREAD_KEYS=4
CONFIG_NFILE_DESCRIPTORS=32
CONFIG_NFILE_DESCRIPTORS=36
CONFIG_NFILE_STREAMS=8
CONFIG_NAME_MAX=32
CONFIG_PREALLOC_MQ_MSGS=4
@@ -417,7 +417,7 @@ CONFIG_PREALLOC_TIMERS=50
#
# Stack and heap information
#
CONFIG_IDLETHREAD_STACKSIZE=6000
CONFIG_IDLETHREAD_STACKSIZE=4096
CONFIG_USERMAIN_STACKSIZE=4096
CONFIG_PTHREAD_STACK_MIN=512
CONFIG_PTHREAD_STACK_DEFAULT=2048
@@ -720,11 +720,11 @@ CONFIG_SCHED_WORKQUEUE=y
CONFIG_SCHED_HPWORK=y
CONFIG_SCHED_WORKPRIORITY=192
CONFIG_SCHED_WORKPERIOD=5000
CONFIG_SCHED_WORKSTACKSIZE=4000
CONFIG_SCHED_WORKSTACKSIZE=2048
CONFIG_SCHED_LPWORK=y
CONFIG_SCHED_LPWORKPRIORITY=50
CONFIG_SCHED_LPWORKPERIOD=50000
CONFIG_SCHED_LPWORKSTACKSIZE=4000
CONFIG_SCHED_LPWORKSTACKSIZE=2048
# CONFIG_LIB_KBDCODEC is not set
# CONFIG_LIB_SLCDCODEC is not set
nuttx-configs/px4fmu-v2/nsh/defconfig
+3 -3
View File
@@ -439,7 +439,7 @@ CONFIG_SIG_SIGWORK=4
CONFIG_MAX_TASKS=32
CONFIG_MAX_TASK_ARGS=10
CONFIG_NPTHREAD_KEYS=4
CONFIG_NFILE_DESCRIPTORS=32
CONFIG_NFILE_DESCRIPTORS=36
CONFIG_NFILE_STREAMS=8
CONFIG_NAME_MAX=32
CONFIG_PREALLOC_MQ_MSGS=4
@@ -796,11 +796,11 @@ CONFIG_SCHED_WORKQUEUE=y
CONFIG_SCHED_HPWORK=y
CONFIG_SCHED_WORKPRIORITY=192
CONFIG_SCHED_WORKPERIOD=5000
CONFIG_SCHED_WORKSTACKSIZE=4000
CONFIG_SCHED_WORKSTACKSIZE=2000
CONFIG_SCHED_LPWORK=y
CONFIG_SCHED_LPWORKPRIORITY=50
CONFIG_SCHED_LPWORKPERIOD=50000
CONFIG_SCHED_LPWORKSTACKSIZE=4000
CONFIG_SCHED_LPWORKSTACKSIZE=2000
# CONFIG_LIB_KBDCODEC is not set
# CONFIG_LIB_SLCDCODEC is not set
src/drivers/device/cdev.cpp
+1 -1
View File
@@ -124,7 +124,7 @@ CDev::register_class_devname(const char *class_devname)
if (ret == OK) break;
} else {
char name[32];
snprintf(name, sizeof(name), "%s%u", class_devname, class_instance);
snprintf(name, sizeof(name), "%s%d", class_devname, class_instance);
ret = register_driver(name, &fops, 0666, (void *)this);
if (ret == OK) break;
}
src/drivers/drv_px4flow.h
+84
View File
@@ -0,0 +1,84 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file Rangefinder driver interface.
*/
#ifndef _DRV_PX4FLOW_H
#define _DRV_PX4FLOW_H
#include <stdint.h>
#include <sys/ioctl.h>
#include "drv_sensor.h"
#include "drv_orb_dev.h"
#define PX4FLOW_DEVICE_PATH "/dev/px4flow"
/**
* Optical flow in NED body frame in SI units.
*
* @see http://en.wikipedia.org/wiki/International_System_of_Units
*/
struct px4flow_report {
uint64_t timestamp; /**< in microseconds since system start */
int16_t flow_raw_x; /**< flow in pixels in X direction, not rotation-compensated */
int16_t flow_raw_y; /**< flow in pixels in Y direction, not rotation-compensated */
float flow_comp_x_m; /**< speed over ground in meters, rotation-compensated */
float flow_comp_y_m; /**< speed over ground in meters, rotation-compensated */
float ground_distance_m; /**< Altitude / distance to ground in meters */
uint8_t quality; /**< Quality of the measurement, 0: bad quality, 255: maximum quality */
uint8_t sensor_id; /**< id of the sensor emitting the flow value */
};
/*
* ObjDev tag for px4flow data.
*/
ORB_DECLARE(optical_flow);
/*
* ioctl() definitions
*
* px4flow drivers also implement the generic sensor driver
* interfaces from drv_sensor.h
*/
#define _PX4FLOWIOCBASE (0x7700)
#define __PX4FLOWIOC(_n) (_IOC(_PX4FLOWIOCBASE, _n))
#endif /* _DRV_PX4FLOW_H */
src/drivers/ets_airspeed/ets_airspeed.cpp
+1 -2
View File
@@ -132,7 +132,6 @@ ETSAirspeed::measure()
if (OK != ret) {
perf_count(_comms_errors);
log("i2c::transfer returned %d", ret);
}
return ret;
@@ -308,7 +307,7 @@ fail:
g_dev = nullptr;
}
errx(1, "driver start failed");
errx(1, "no ETS airspeed sensor connected");
}
/**
src/drivers/gps/gps.cpp
+5
View File
@@ -232,6 +232,11 @@ GPS::ioctl(struct file *filp, int cmd, unsigned long arg)
case SENSORIOCRESET:
cmd_reset();
break;
default:
/* give it to parent if no one wants it */
ret = CDev::ioctl(filp, cmd, arg);
break;
}
unlock();
src/drivers/mb12xx/mb12xx.cpp
+140 -104
View File
@@ -37,7 +37,7 @@
*
* Driver for the Maxbotix sonar range finders connected via I2C.
*/
#include <nuttx/config.h>
#include <drivers/device/i2c.h>
@@ -84,7 +84,7 @@
/* Device limits */
#define MB12XX_MIN_DISTANCE (0.20f)
#define MB12XX_MAX_DISTANCE (7.65f)
#define MB12XX_CONVERSION_INTERVAL 60000 /* 60ms */
/* oddly, ERROR is not defined for c++ */
@@ -102,17 +102,17 @@ class MB12XX : public device::I2C
public:
MB12XX(int bus = MB12XX_BUS, int address = MB12XX_BASEADDR);
virtual ~MB12XX();
virtual int init();
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
/**
* Diagnostics - print some basic information about the driver.
*/
void print_info();
protected:
virtual int probe();
@@ -124,13 +124,13 @@ private:
bool _sensor_ok;
int _measure_ticks;
bool _collect_phase;
orb_advert_t _range_finder_topic;
perf_counter_t _sample_perf;
perf_counter_t _comms_errors;
perf_counter_t _buffer_overflows;
/**
* Test whether the device supported by the driver is present at a
* specific address.
@@ -139,7 +139,7 @@ private:
* @return True if the device is present.
*/
int probe_address(uint8_t address);
/**
* Initialise the automatic measurement state machine and start it.
*
@@ -147,12 +147,12 @@ private:
* to make it more aggressive about resetting the bus in case of errors.
*/
void start();
/**
* Stop the automatic measurement state machine.
*/
void stop();
/**
* Set the min and max distance thresholds if you want the end points of the sensors
* range to be brought in at all, otherwise it will use the defaults MB12XX_MIN_DISTANCE
@@ -162,7 +162,7 @@ private:
void set_maximum_distance(float max);
float get_minimum_distance();
float get_maximum_distance();
/**
* Perform a poll cycle; collect from the previous measurement
* and start a new one.
@@ -177,8 +177,8 @@ private:
* @param arg Instance pointer for the driver that is polling.
*/
static void cycle_trampoline(void *arg);
};
/*
@@ -200,8 +200,8 @@ MB12XX::MB12XX(int bus, int address) :
_buffer_overflows(perf_alloc(PC_COUNT, "mb12xx_buffer_overflows"))
{
// enable debug() calls
_debug_enabled = true;
_debug_enabled = false;
// work_cancel in the dtor will explode if we don't do this...
memset(&_work, 0, sizeof(_work));
}
@@ -212,8 +212,9 @@ MB12XX::~MB12XX()
stop();
/* free any existing reports */
if (_reports != nullptr)
if (_reports != nullptr) {
delete _reports;
}
}
int
@@ -222,22 +223,25 @@ MB12XX::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(range_finder_report));
if (_reports == nullptr)
if (_reports == nullptr) {
goto out;
}
/* get a publish handle on the range finder topic */
struct range_finder_report zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_range_finder_topic = orb_advertise(ORB_ID(sensor_range_finder), &zero_report);
if (_range_finder_topic < 0)
if (_range_finder_topic < 0) {
debug("failed to create sensor_range_finder object. Did you start uOrb?");
}
ret = OK;
/* sensor is ok, but we don't really know if it is within range */
@@ -256,13 +260,13 @@ void
MB12XX::set_minimum_distance(float min)
{
_min_distance = min;
}
}
void
MB12XX::set_maximum_distance(float max)
{
_max_distance = max;
}
}
float
MB12XX::get_minimum_distance()
@@ -284,20 +288,20 @@ MB12XX::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? */
@@ -307,13 +311,14 @@ MB12XX::ioctl(struct file *filp, int cmd, unsigned long arg)
_measure_ticks = USEC2TICK(MB12XX_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);
@@ -322,15 +327,17 @@ MB12XX::ioctl(struct file *filp, int cmd, unsigned long arg)
unsigned ticks = USEC2TICK(1000000 / arg);
/* check against maximum rate */
if (ticks < USEC2TICK(MB12XX_CONVERSION_INTERVAL))
if (ticks < USEC2TICK(MB12XX_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;
}
@@ -338,45 +345,49 @@ MB12XX::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;
irqstate_t flags = irqsave();
if (!_reports->resize(arg)) {
/* 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;
}
irqrestore(flags);
return -ENOMEM;
return OK;
}
irqrestore(flags);
return OK;
}
case SENSORIOCGQUEUEDEPTH:
return _reports->size();
case SENSORIOCRESET:
/* XXX implement this */
return -EINVAL;
case RANGEFINDERIOCSETMINIUMDISTANCE:
{
set_minimum_distance(*(float *)arg);
return 0;
}
break;
case RANGEFINDERIOCSETMAXIUMDISTANCE:
{
set_maximum_distance(*(float *)arg);
return 0;
}
break;
case RANGEFINDERIOCSETMINIUMDISTANCE: {
set_minimum_distance(*(float *)arg);
return 0;
}
break;
case RANGEFINDERIOCSETMAXIUMDISTANCE: {
set_maximum_distance(*(float *)arg);
return 0;
}
break;
default:
/* give it to the superclass */
return I2C::ioctl(filp, cmd, arg);
@@ -391,8 +402,9 @@ MB12XX::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) {
@@ -453,14 +465,14 @@ MB12XX::measure()
uint8_t cmd = MB12XX_TAKE_RANGE_REG;
ret = transfer(&cmd, 1, nullptr, 0);
if (OK != ret)
{
if (OK != ret) {
perf_count(_comms_errors);
log("i2c::transfer returned %d", ret);
return ret;
}
ret = OK;
return ret;
}
@@ -468,32 +480,31 @@ int
MB12XX::collect()
{
int ret = -EIO;
/* read from the sensor */
uint8_t val[2] = {0, 0};
perf_begin(_sample_perf);
ret = transfer(nullptr, 0, &val[0], 2);
if (ret < 0)
{
if (ret < 0) {
log("error reading from sensor: %d", ret);
perf_count(_comms_errors);
perf_end(_sample_perf);
return ret;
}
uint16_t distance = val[0] << 8 | val[1];
float si_units = (distance * 1.0f)/ 100.0f; /* cm to m */
float si_units = (distance * 1.0f) / 100.0f; /* cm to m */
struct range_finder_report report;
/* 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);
report.error_count = perf_event_count(_comms_errors);
report.distance = si_units;
report.valid = si_units > get_minimum_distance() && si_units < get_maximum_distance() ? 1 : 0;
/* publish it */
orb_publish(ORB_ID(sensor_range_finder), _range_finder_topic, &report);
@@ -519,17 +530,19 @@ MB12XX::start()
/* schedule a cycle to start things */
work_queue(HPWORK, &_work, (worker_t)&MB12XX::cycle_trampoline, this, 1);
/* notify about state change */
struct subsystem_info_s info = {
true,
true,
true,
SUBSYSTEM_TYPE_RANGEFINDER};
SUBSYSTEM_TYPE_RANGEFINDER
};
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);
}
@@ -583,8 +596,9 @@ MB12XX::cycle()
}
/* measurement phase */
if (OK != measure())
if (OK != measure()) {
log("measure error");
}
/* next phase is collection */
_collect_phase = true;
@@ -635,33 +649,37 @@ start()
{
int fd;
if (g_dev != nullptr)
if (g_dev != nullptr) {
errx(1, "already started");
}
/* create the driver */
g_dev = new MB12XX(MB12XX_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(RANGE_FINDER_DEVICE_PATH, O_RDONLY);
if (fd < 0)
if (fd < 0) {
goto fail;
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
goto fail;
}
exit(0);
fail:
if (g_dev != nullptr)
{
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
}
@@ -674,15 +692,14 @@ 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);
}
@@ -700,22 +717,25 @@ test()
int fd = open(RANGE_FINDER_DEVICE_PATH, O_RDONLY);
if (fd < 0)
if (fd < 0) {
err(1, "%s open failed (try 'mb12xx start' if the driver is not running", RANGE_FINDER_DEVICE_PATH);
}
/* do a simple demand read */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report))
if (sz != sizeof(report)) {
err(1, "immediate read failed");
}
warnx("single read");
warnx("measurement: %0.2f m", (double)report.distance);
warnx("time: %lld", report.timestamp);
/* 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++) {
@@ -726,20 +746,27 @@ 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("measurement: %0.3f", (double)report.distance);
warnx("time: %lld", report.timestamp);
}
/* reset the sensor polling to default rate */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) {
errx(1, "failed to set default poll rate");
}
errx(0, "PASS");
}
@@ -751,14 +778,17 @@ reset()
{
int fd = open(RANGE_FINDER_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);
}
@@ -769,8 +799,9 @@ 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();
@@ -786,32 +817,37 @@ mb12xx_main(int argc, char *argv[])
/*
* Start/load the driver.
*/
if (!strcmp(argv[1], "start"))
if (!strcmp(argv[1], "start")) {
mb12xx::start();
/*
* Stop the driver
*/
if (!strcmp(argv[1], "stop"))
mb12xx::stop();
}
/*
* Stop the driver
*/
if (!strcmp(argv[1], "stop")) {
mb12xx::stop();
}
/*
* Test the driver/device.
*/
if (!strcmp(argv[1], "test"))
if (!strcmp(argv[1], "test")) {
mb12xx::test();
}
/*
* Reset the driver.
*/
if (!strcmp(argv[1], "reset"))
if (!strcmp(argv[1], "reset")) {
mb12xx::reset();
}
/*
* Print driver information.
*/
if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status"))
if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) {
mb12xx::info();
}
errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
}
src/drivers/md25/md25.cpp
+2 -2
View File
@@ -52,7 +52,7 @@
#include <arch/board/board.h>
#include <mavlink/mavlink_log.h>
#include <controllib/uorb/UOrbPublication.hpp>
#include <uORB/Publication.hpp>
#include <uORB/topics/debug_key_value.h>
#include <drivers/drv_hrt.h>
@@ -587,7 +587,7 @@ int md25Sine(const char *deviceName, uint8_t bus, uint8_t address, float amplitu
float prev_revolution = md25.getRevolutions1();
// debug publication
control::UOrbPublication<debug_key_value_s> debug_msg(NULL,
uORB::Publication<debug_key_value_s> debug_msg(NULL,
ORB_ID(debug_key_value));
// sine wave for motor 1
src/drivers/md25/md25.hpp
+2 -2
View File
@@ -46,7 +46,7 @@
#include <poll.h>
#include <stdio.h>
#include <controllib/uorb/UOrbSubscription.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/actuator_controls.h>
#include <drivers/device/i2c.h>
@@ -270,7 +270,7 @@ private:
struct pollfd _controlPoll;
/** actuator controls subscription */
control::UOrbSubscription<actuator_controls_s> _actuators;
uORB::Subscription<actuator_controls_s> _actuators;
// local copy of data from i2c device
uint8_t _version;
src/drivers/meas_airspeed/meas_airspeed.cpp
+77 -44
View File
@@ -79,6 +79,8 @@
#include <systemlib/param/param.h>
#include <systemlib/perf_counter.h>
#include <mathlib/math/filter/LowPassFilter2p.hpp>
#include <drivers/drv_airspeed.h>
#include <drivers/drv_hrt.h>
@@ -99,12 +101,14 @@
#define ADDR_READ_MR 0x00 /* write to this address to start conversion */
/* Measurement rate is 100Hz */
#define MEAS_RATE 100.0f
#define MEAS_DRIVER_FILTER_FREQ 3.0f
#define CONVERSION_INTERVAL (1000000 / 100) /* microseconds */
class MEASAirspeed : public Airspeed
{
public:
MEASAirspeed(int bus, int address = I2C_ADDRESS_MS4525DO, const char* path = PATH_MS4525);
MEASAirspeed(int bus, int address = I2C_ADDRESS_MS4525DO, const char *path = PATH_MS4525);
protected:
@@ -116,6 +120,7 @@ protected:
virtual int measure();
virtual int collect();
math::LowPassFilter2p _filter;
};
/*
@@ -123,8 +128,9 @@ protected:
*/
extern "C" __EXPORT int meas_airspeed_main(int argc, char *argv[]);
MEASAirspeed::MEASAirspeed(int bus, int address, const char* path) : Airspeed(bus, address,
CONVERSION_INTERVAL, path)
MEASAirspeed::MEASAirspeed(int bus, int address, const char *path) : Airspeed(bus, address,
CONVERSION_INTERVAL, path),
_filter(MEAS_RATE, MEAS_DRIVER_FILTER_FREQ)
{
}
@@ -161,23 +167,25 @@ MEASAirspeed::collect()
ret = transfer(nullptr, 0, &val[0], 4);
if (ret < 0) {
perf_count(_comms_errors);
perf_end(_sample_perf);
perf_count(_comms_errors);
perf_end(_sample_perf);
return ret;
}
uint8_t status = val[0] & 0xC0;
uint8_t status = (val[0] & 0xC0) >> 6;
if (status == 2) {
log("err: stale data");
perf_count(_comms_errors);
perf_end(_sample_perf);
return ret;
} else if (status == 3) {
log("err: fault");
perf_count(_comms_errors);
perf_end(_sample_perf);
return ret;
switch (status) {
case 0:
break;
case 1:
/* fallthrough */
case 2:
/* fallthrough */
case 3:
perf_count(_comms_errors);
perf_end(_sample_perf);
return -EAGAIN;
}
int16_t dp_raw = 0, dT_raw = 0;
@@ -193,21 +201,24 @@ MEASAirspeed::collect()
*/
const float P_min = -1.0f;
const float P_max = 1.0f;
float diff_press_pa = fabsf( ( ((float)dp_raw - 0.1f*16383.0f) * (P_max-P_min)/(0.8f*16383.0f) + P_min) * 6894.8f) - _diff_pres_offset;
if (diff_press_pa < 0.0f)
diff_press_pa = 0.0f;
float diff_press_pa = fabsf((((float)dp_raw - 0.1f * 16383.0f) * (P_max - P_min) / (0.8f * 16383.0f) + P_min) * 6894.8f) - _diff_pres_offset;
if (diff_press_pa < 0.0f) {
diff_press_pa = 0.0f;
}
struct differential_pressure_s report;
/* track maximum differential pressure measured (so we can work out top speed). */
if (diff_press_pa > _max_differential_pressure_pa) {
_max_differential_pressure_pa = diff_press_pa;
_max_differential_pressure_pa = diff_press_pa;
}
report.timestamp = hrt_absolute_time();
report.error_count = perf_event_count(_comms_errors);
report.error_count = perf_event_count(_comms_errors);
report.temperature = temperature;
report.differential_pressure_pa = diff_press_pa;
report.differential_pressure_filtered_pa = _filter.apply(diff_press_pa);
report.voltage = 0;
report.max_differential_pressure_pa = _max_differential_pressure_pa;
@@ -261,8 +272,9 @@ MEASAirspeed::cycle()
}
/* measurement phase */
if (OK != measure())
if (OK != measure()) {
log("measure error");
}
/* next phase is collection */
_collect_phase = true;
@@ -303,15 +315,17 @@ start(int i2c_bus)
{
int fd;
if (g_dev != nullptr)
if (g_dev != nullptr) {
errx(1, "already started");
}
/* create the driver, try the MS4525DO first */
g_dev = new MEASAirspeed(i2c_bus, I2C_ADDRESS_MS4525DO, PATH_MS4525);
/* check if the MS4525DO was instantiated */
if (g_dev == nullptr)
if (g_dev == nullptr) {
goto fail;
}
/* try the MS5525DSO next if init fails */
if (OK != g_dev->Airspeed::init()) {
@@ -319,22 +333,26 @@ start(int i2c_bus)
g_dev = new MEASAirspeed(i2c_bus, I2C_ADDRESS_MS5525DSO, PATH_MS5525);
/* check if the MS5525DSO was instantiated */
if (g_dev == nullptr)
if (g_dev == nullptr) {
goto fail;
}
/* both versions failed if the init for the MS5525DSO fails, give up */
if (OK != g_dev->Airspeed::init())
if (OK != g_dev->Airspeed::init()) {
goto fail;
}
}
/* set the poll rate to default, starts automatic data collection */
fd = open(AIRSPEED_DEVICE_PATH, O_RDONLY);
if (fd < 0)
if (fd < 0) {
goto fail;
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
goto fail;
}
exit(0);
@@ -345,7 +363,7 @@ fail:
g_dev = nullptr;
}
errx(1, "driver start failed");
errx(1, "no MS4525 airspeed sensor connected");
}
/**
@@ -379,21 +397,24 @@ test()
int fd = open(AIRSPEED_DEVICE_PATH, O_RDONLY);
if (fd < 0)
if (fd < 0) {
err(1, "%s open failed (try 'meas_airspeed start' if the driver is not running", AIRSPEED_DEVICE_PATH);
}
/* do a simple demand read */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report))
if (sz != sizeof(report)) {
err(1, "immediate read failed");
}
warnx("single read");
warnx("diff pressure: %8.4f pa", (double)report.differential_pressure_pa);
/* 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++) {
@@ -404,14 +425,16 @@ 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("diff pressure: %8.4f pa", (double)report.differential_pressure_pa);
@@ -419,8 +442,9 @@ test()
}
/* reset the sensor polling to its default rate */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT))
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) {
errx(1, "failed to set default rate");
}
errx(0, "PASS");
}
@@ -433,14 +457,17 @@ reset()
{
int fd = open(AIRSPEED_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);
}
@@ -451,8 +478,9 @@ 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();
@@ -491,32 +519,37 @@ meas_airspeed_main(int argc, char *argv[])
/*
* Start/load the driver.
*/
if (!strcmp(argv[1], "start"))
if (!strcmp(argv[1], "start")) {
meas_airspeed::start(i2c_bus);
}
/*
* Stop the driver
*/
if (!strcmp(argv[1], "stop"))
if (!strcmp(argv[1], "stop")) {
meas_airspeed::stop();
}
/*
* Test the driver/device.
*/
if (!strcmp(argv[1], "test"))
if (!strcmp(argv[1], "test")) {
meas_airspeed::test();
}
/*
* Reset the driver.
*/
if (!strcmp(argv[1], "reset"))
if (!strcmp(argv[1], "reset")) {
meas_airspeed::reset();
}
/*
* Print driver information.
*/
if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status"))
if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) {
meas_airspeed::info();
}
meas_airspeed_usage();
exit(0);
src/modules/mavlink_onboard/module.mk → src/drivers/px4flow/module.mk
+4 -6
View File
@@ -1,6 +1,6 @@
############################################################################
#
# Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
# Copyright (c) 2013 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
@@ -32,11 +32,9 @@
############################################################################
#
# MAVLink protocol to uORB interface process (XXX hack for onboard use)
# Makefile to build the PX4FLOW driver.
#
MODULE_COMMAND = mavlink_onboard
SRCS = mavlink.c \
mavlink_receiver.c
MODULE_COMMAND = px4flow
INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink
SRCS = px4flow.cpp
src/drivers/px4flow/px4flow.cpp
+806
View File
@@ -0,0 +1,806 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file px4flow.cpp
* @author Dominik Honegger
*
* Driver for the PX4FLOW module connected via I2C.
*/
#include <nuttx/config.h>
#include <drivers/device/i2c.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdlib.h>
#include <stdbool.h>
#include <semaphore.h>
#include <string.h>
#include <fcntl.h>
#include <poll.h>
#include <errno.h>
#include <stdio.h>
#include <math.h>
#include <unistd.h>
#include <nuttx/arch.h>
#include <nuttx/wqueue.h>
#include <nuttx/clock.h>
#include <systemlib/perf_counter.h>
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_px4flow.h>
#include <drivers/device/ringbuffer.h>
#include <uORB/uORB.h>
#include <uORB/topics/subsystem_info.h>
//#include <uORB/topics/optical_flow.h>
#include <board_config.h>
/* Configuration Constants */
#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 */
#define PX4FLOW_CONVERSION_INTERVAL 8000 /* 8ms 125Hz
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;
#ifndef CONFIG_SCHED_WORKQUEUE
# error This requires CONFIG_SCHED_WORKQUEUE.
#endif
//struct i2c_frame
//{
// uint16_t frame_count;
// int16_t pixel_flow_x_sum;
// int16_t pixel_flow_y_sum;
// int16_t flow_comp_m_x;
// int16_t flow_comp_m_y;
// int16_t qual;
// int16_t gyro_x_rate;
// int16_t gyro_y_rate;
// int16_t gyro_z_rate;
// uint8_t gyro_range;
// uint8_t sonar_timestamp;
// int16_t ground_distance;
//};
//
//struct i2c_frame f;
class PX4FLOW : public device::I2C
{
public:
PX4FLOW(int bus = PX4FLOW_BUS, int address = I2C_FLOW_ADDRESS);
virtual ~PX4FLOW();
virtual int init();
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
/**
* Diagnostics - print some basic information about the driver.
*/
void print_info();
protected:
virtual int probe();
private:
work_s _work;
RingBuffer *_reports;
bool _sensor_ok;
int _measure_ticks;
bool _collect_phase;
orb_advert_t _px4flow_topic;
perf_counter_t _sample_perf;
perf_counter_t _comms_errors;
perf_counter_t _buffer_overflows;
/**
* Test whether the device supported by the driver is present at a
* specific address.
*
* @param address The I2C bus address to probe.
* @return True if the device is present.
*/
int probe_address(uint8_t address);
/**
* Initialise the automatic measurement state machine and start it.
*
* @note This function is called at open and error time. It might make sense
* to make it more aggressive about resetting the bus in case of errors.
*/
void start();
/**
* Stop the automatic measurement state machine.
*/
void stop();
/**
* Perform a poll cycle; collect from the previous measurement
* and start a new one.
*/
void cycle();
int measure();
int collect();
/**
* Static trampoline from the workq context; because we don't have a
* generic workq wrapper yet.
*
* @param arg Instance pointer for the driver that is polling.
*/
static void cycle_trampoline(void *arg);
};
/*
* Driver 'main' command.
*/
extern "C" __EXPORT int px4flow_main(int argc, char *argv[]);
PX4FLOW::PX4FLOW(int bus, int address) :
I2C("PX4FLOW", PX4FLOW_DEVICE_PATH, bus, address, 400000),//400khz
_reports(nullptr),
_sensor_ok(false),
_measure_ticks(0),
_collect_phase(false),
_px4flow_topic(-1),
_sample_perf(perf_alloc(PC_ELAPSED, "px4flow_read")),
_comms_errors(perf_alloc(PC_COUNT, "px4flow_comms_errors")),
_buffer_overflows(perf_alloc(PC_COUNT, "px4flow_buffer_overflows"))
{
// enable debug() calls
_debug_enabled = true;
// work_cancel in the dtor will explode if we don't do this...
memset(&_work, 0, sizeof(_work));
}
PX4FLOW::~PX4FLOW()
{
/* make sure we are truly inactive */
stop();
/* free any existing reports */
if (_reports != nullptr)
delete _reports;
}
int
PX4FLOW::init()
{
int ret = ERROR;
/* do I2C init (and probe) first */
if (I2C::init() != OK)
goto out;
/* allocate basic report buffers */
_reports = new RingBuffer(2, sizeof(px4flow_report));
if (_reports == nullptr)
goto out;
/* get a publish handle on the px4flow topic */
struct px4flow_report zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_px4flow_topic = orb_advertise(ORB_ID(optical_flow), &zero_report);
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 */
_sensor_ok = true;
out:
return ret;
}
int
PX4FLOW::probe()
{
return measure();
}
int
PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
case SENSORIOCSPOLLRATE: {
switch (arg) {
/* switching to manual polling */
case SENSOR_POLLRATE_MANUAL:
stop();
_measure_ticks = 0;
return OK;
/* external signalling (DRDY) not supported */
case SENSOR_POLLRATE_EXTERNAL:
/* zero would be bad */
case 0:
return -EINVAL;
/* set default/max polling rate */
case SENSOR_POLLRATE_MAX:
case SENSOR_POLLRATE_DEFAULT: {
/* do we need to start internal polling? */
bool want_start = (_measure_ticks == 0);
/* set interval for next measurement to minimum legal value */
_measure_ticks = USEC2TICK(PX4FLOW_CONVERSION_INTERVAL);
/* if we need to start the poll state machine, do it */
if (want_start)
start();
return OK;
}
/* adjust to a legal polling interval in Hz */
default: {
/* do we need to start internal polling? */
bool want_start = (_measure_ticks == 0);
/* convert hz to tick interval via microseconds */
unsigned ticks = USEC2TICK(1000000 / arg);
/* check against maximum rate */
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)
start();
return OK;
}
}
}
case SENSORIOCGPOLLRATE:
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;
irqstate_t flags = irqsave();
if (!_reports->resize(arg)) {
irqrestore(flags);
return -ENOMEM;
}
irqrestore(flags);
return OK;
}
case SENSORIOCGQUEUEDEPTH:
return _reports->size();
case SENSORIOCRESET:
/* XXX implement this */
return -EINVAL;
default:
/* give it to the superclass */
return I2C::ioctl(filp, cmd, arg);
}
}
ssize_t
PX4FLOW::read(struct file *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(struct px4flow_report);
struct px4flow_report *rbuf = reinterpret_cast<struct px4flow_report *>(buffer);
int ret = 0;
/* buffer must be large enough */
if (count < 1)
return -ENOSPC;
/* if automatic measurement is enabled */
if (_measure_ticks > 0) {
/*
* While there is space in the caller's buffer, and reports, copy them.
* Note that we may be pre-empted by the workq thread while we are doing this;
* we are careful to avoid racing with them.
*/
while (count--) {
if (_reports->get(rbuf)) {
ret += sizeof(*rbuf);
rbuf++;
}
}
/* if there was no data, warn the caller */
return ret ? ret : -EAGAIN;
}
/* manual measurement - run one conversion */
do {
_reports->flush();
/* trigger a measurement */
if (OK != measure()) {
ret = -EIO;
break;
}
/* wait for it to complete */
usleep(PX4FLOW_CONVERSION_INTERVAL);
/* run the collection phase */
if (OK != collect()) {
ret = -EIO;
break;
}
/* state machine will have generated a report, copy it out */
if (_reports->get(rbuf)) {
ret = sizeof(*rbuf);
}
} while (0);
return ret;
}
int
PX4FLOW::measure()
{
int ret;
/*
* Send the command to begin a measurement.
*/
uint8_t cmd = PX4FLOW_REG;
ret = transfer(&cmd, 1, nullptr, 0);
if (OK != ret)
{
perf_count(_comms_errors);
log("i2c::transfer returned %d", ret);
printf("i2c::transfer flow returned %d");
return ret;
}
ret = OK;
return ret;
}
int
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};
perf_begin(_sample_perf);
ret = transfer(nullptr, 0, &val[0], 22);
if (ret < 0)
{
log("error reading from sensor: %d", ret);
perf_count(_comms_errors);
perf_end(_sample_perf);
return ret;
}
// f.frame_count = val[1] << 8 | val[0];
// f.pixel_flow_x_sum= val[3] << 8 | val[2];
// f.pixel_flow_y_sum= val[5] << 8 | val[4];
// f.flow_comp_m_x= val[7] << 8 | val[6];
// f.flow_comp_m_y= val[9] << 8 | val[8];
// f.qual= val[11] << 8 | val[10];
// f.gyro_x_rate= val[13] << 8 | val[12];
// f.gyro_y_rate= val[15] << 8 | val[14];
// f.gyro_z_rate= val[17] << 8 | val[16];
// f.gyro_range= val[18];
// f.sonar_timestamp= val[19];
// f.ground_distance= val[21] << 8 | val[20];
int16_t flowcx = val[7] << 8 | val[6];
int16_t flowcy = val[9] << 8 | val[8];
int16_t gdist = val[21] << 8 | val[20];
struct px4flow_report 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.sensor_id = 0;
report.timestamp = hrt_absolute_time();
/* publish it */
orb_publish(ORB_ID(optical_flow), _px4flow_topic, &report);
/* post a report to the ring */
if (_reports->force(&report)) {
perf_count(_buffer_overflows);
}
/* notify anyone waiting for data */
poll_notify(POLLIN);
ret = OK;
perf_end(_sample_perf);
return ret;
}
void
PX4FLOW::start()
{
/* reset the report ring and state machine */
_collect_phase = false;
_reports->flush();
/* schedule a cycle to start things */
work_queue(HPWORK, &_work, (worker_t)&PX4FLOW::cycle_trampoline, this, 1);
/* notify about state change */
struct subsystem_info_s info = {
true,
true,
true,
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);
}
}
void
PX4FLOW::stop()
{
work_cancel(HPWORK, &_work);
}
void
PX4FLOW::cycle_trampoline(void *arg)
{
PX4FLOW *dev = (PX4FLOW *)arg;
dev->cycle();
}
void
PX4FLOW::cycle()
{
/* collection phase? */
if (_collect_phase) {
/* perform collection */
if (OK != collect()) {
log("collection error");
/* restart the measurement state machine */
start();
return;
}
/* next phase is measurement */
_collect_phase = false;
/*
* Is there a collect->measure gap?
*/
if (_measure_ticks > USEC2TICK(PX4FLOW_CONVERSION_INTERVAL)) {
/* schedule a fresh cycle call when we are ready to measure again */
work_queue(HPWORK,
&_work,
(worker_t)&PX4FLOW::cycle_trampoline,
this,
_measure_ticks - USEC2TICK(PX4FLOW_CONVERSION_INTERVAL));
return;
}
}
/* measurement phase */
if (OK != measure())
log("measure error");
/* next phase is collection */
_collect_phase = true;
/* schedule a fresh cycle call when the measurement is done */
work_queue(HPWORK,
&_work,
(worker_t)&PX4FLOW::cycle_trampoline,
this,
USEC2TICK(PX4FLOW_CONVERSION_INTERVAL));
}
void
PX4FLOW::print_info()
{
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
perf_print_counter(_buffer_overflows);
printf("poll interval: %u ticks\n", _measure_ticks);
_reports->print_info("report queue");
}
/**
* Local functions in support of the shell command.
*/
namespace px4flow
{
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
const int ERROR = -1;
PX4FLOW *g_dev;
void start();
void stop();
void test();
void reset();
void info();
/**
* Start the driver.
*/
void
start()
{
int fd;
if (g_dev != nullptr)
errx(1, "already started");
/* create the driver */
g_dev = new PX4FLOW(PX4FLOW_BUS);
if (g_dev == nullptr)
goto fail;
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)
goto fail;
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX) < 0)
goto fail;
exit(0);
fail:
if (g_dev != nullptr)
{
delete g_dev;
g_dev = nullptr;
}
errx(1, "driver start failed");
}
/**
* Stop the driver
*/
void stop()
{
if (g_dev != nullptr)
{
delete g_dev;
g_dev = nullptr;
}
else
{
errx(1, "driver not running");
}
exit(0);
}
/**
* Perform some basic functional tests on the driver;
* make sure we can collect data from the sensor in polled
* and automatic modes.
*/
void
test()
{
struct px4flow_report report;
ssize_t sz;
int ret;
int fd = open(PX4FLOW_DEVICE_PATH, O_RDONLY);
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("single read");
warnx("flowx: %0.2f m/s", (double)report.flow_comp_x_m);
warnx("flowy: %0.2f m/s", (double)report.flow_comp_y_m);
warnx("time: %lld", report.timestamp);
/* start the sensor polling at 2Hz */
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++) {
struct pollfd fds;
/* wait for data to be ready */
fds.fd = fd;
fds.events = POLLIN;
ret = poll(&fds, 1, 2000);
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))
err(1, "periodic read failed");
warnx("periodic read %u", i);
warnx("flowx: %0.2f m/s", (double)report.flow_comp_x_m);
warnx("flowy: %0.2f m/s", (double)report.flow_comp_y_m);
warnx("time: %lld", report.timestamp);
}
errx(0, "PASS");
}
/**
* Reset the driver.
*/
void
reset()
{
int fd = open(PX4FLOW_DEVICE_PATH, O_RDONLY);
if (fd < 0)
err(1, "failed ");
if (ioctl(fd, SENSORIOCRESET, 0) < 0)
err(1, "driver reset failed");
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
err(1, "driver poll restart failed");
exit(0);
}
/**
* Print a little info about the driver.
*/
void
info()
{
if (g_dev == nullptr)
errx(1, "driver not running");
printf("state @ %p\n", g_dev);
g_dev->print_info();
exit(0);
}
} // namespace
int
px4flow_main(int argc, char *argv[])
{
/*
* Start/load the driver.
*/
if (!strcmp(argv[1], "start"))
px4flow::start();
/*
* Stop the driver
*/
if (!strcmp(argv[1], "stop"))
px4flow::stop();
/*
* Test the driver/device.
*/
if (!strcmp(argv[1], "test"))
px4flow::test();
/*
* Reset the driver.
*/
if (!strcmp(argv[1], "reset"))
px4flow::reset();
/*
* Print driver information.
*/
if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status"))
px4flow::info();
errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
}
src/drivers/px4io/px4io.cpp
+18 -13
View File
@@ -1332,12 +1332,15 @@ PX4IO::io_handle_battery(uint16_t vbatt, uint16_t ibatt)
battery_status.discharged_mah = _battery_mamphour_total;
_battery_last_timestamp = battery_status.timestamp;
/* lazily publish the battery voltage */
if (_to_battery > 0) {
orb_publish(ORB_ID(battery_status), _to_battery, &battery_status);
/* the announced battery status would conflict with the simulated battery status in HIL */
if (!(_pub_blocked)) {
/* lazily publish the battery voltage */
if (_to_battery > 0) {
orb_publish(ORB_ID(battery_status), _to_battery, &battery_status);
} else {
_to_battery = orb_advertise(ORB_ID(battery_status), &battery_status);
} else {
_to_battery = orb_advertise(ORB_ID(battery_status), &battery_status);
}
}
}
@@ -1921,12 +1924,14 @@ PX4IO::print_status()
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE));
#endif
printf("debuglevel %u\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SET_DEBUG));
printf("controls");
for (unsigned group = 0; group < 4; group++) {
printf("controls %u:", group);
for (unsigned i = 0; i < _max_controls; i++)
printf(" %u", io_reg_get(PX4IO_PAGE_CONTROLS, i));
for (unsigned i = 0; i < _max_controls; i++)
printf(" %d", (int16_t) io_reg_get(PX4IO_PAGE_CONTROLS, group * PX4IO_PROTOCOL_MAX_CONTROL_COUNT + i));
printf("\n");
printf("\n");
}
for (unsigned i = 0; i < _max_rc_input; i++) {
unsigned base = PX4IO_P_RC_CONFIG_STRIDE * i;
@@ -1957,8 +1962,7 @@ PX4IO::print_status()
}
int
PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg)
/* Make it obvious that file * isn't used here */
PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
{
int ret = OK;
@@ -2370,8 +2374,9 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg)
break;
default:
/* not a recognized value */
ret = -ENOTTY;
/* see if the parent class can make any use of it */
ret = CDev::ioctl(filep, cmd, arg);
break;
}
return ret;
src/drivers/rgbled/rgbled.cpp
+2
View File
@@ -242,6 +242,8 @@ RGBLED::ioctl(struct file *filp, int cmd, unsigned long arg)
return OK;
default:
/* see if the parent class can make any use of it */
ret = CDev::ioctl(filp, cmd, arg);
break;
}
src/drivers/roboclaw/RoboClaw.cpp
+1 -1
View File
@@ -53,7 +53,7 @@
#include <arch/board/board.h>
#include <mavlink/mavlink_log.h>
#include <controllib/uorb/UOrbPublication.hpp>
#include <uORB/Publication.hpp>
#include <uORB/topics/debug_key_value.h>
#include <drivers/drv_hrt.h>
src/drivers/roboclaw/RoboClaw.hpp
+2 -2
View File
@@ -45,7 +45,7 @@
#include <poll.h>
#include <stdio.h>
#include <controllib/uorb/UOrbSubscription.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/actuator_controls.h>
#include <drivers/device/i2c.h>
@@ -169,7 +169,7 @@ private:
struct pollfd _controlPoll;
/** actuator controls subscription */
control::UOrbSubscription<actuator_controls_s> _actuators;
uORB::Subscription<actuator_controls_s> _actuators;
// private data
float _motor1Position;
Tools/px4params/px_process_params.py → src/drivers/sf0x/module.mk
Executable → Regular
+4 -31
View File
@@ -1,7 +1,6 @@
#!/usr/bin/env python
############################################################################
#
# Copyright (C) 2013 PX4 Development Team. All rights reserved.
# 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
@@ -33,35 +32,9 @@
############################################################################
#
# PX4 paramers processor (main executable file)
#
# It scans src/ subdirectory of the project, collects all parameters
# definitions, and outputs list of parameters in XML and DokuWiki formats.
# Makefile to build the Lightware laser range finder driver.
#
import scanner
import srcparser
import output_xml
import output_dokuwiki_tables
import output_dokuwiki_listings
MODULE_COMMAND = sf0x
# Initialize parser
prs = srcparser.Parser()
# Scan directories, and parse the files
sc = scanner.Scanner()
sc.ScanDir("../../src", prs)
groups = prs.GetParamGroups()
# Output into XML
out = output_xml.XMLOutput(groups)
out.Save("parameters.xml")
# Output to DokuWiki listings
#out = output_dokuwiki_listings.DokuWikiListingsOutput(groups)
#out.Save("parameters.wiki")
# Output to DokuWiki tables
out = output_dokuwiki_tables.DokuWikiTablesOutput(groups)
out.Save("parameters.wiki")
out.SaveRpc("parameters.wikirpc.xml")
SRCS = sf0x.cpp
src/drivers/sf0x/sf0x.cpp
+977
View File
@@ -0,0 +1,977 @@
/****************************************************************************
*
* 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 sf0x.cpp
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Greg Hulands
*
* Driver for the Lightware SF0x laser rangefinder series
*/
#include <nuttx/config.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdlib.h>
#include <stdbool.h>
#include <semaphore.h>
#include <string.h>
#include <fcntl.h>
#include <poll.h>
#include <errno.h>
#include <stdio.h>
#include <math.h>
#include <unistd.h>
#include <termios.h>
#include <nuttx/arch.h>
#include <nuttx/wqueue.h>
#include <nuttx/clock.h>
#include <systemlib/perf_counter.h>
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_range_finder.h>
#include <drivers/device/device.h>
#include <drivers/device/ringbuffer.h>
#include <uORB/uORB.h>
#include <uORB/topics/subsystem_info.h>
#include <board_config.h>
/* Configuration Constants */
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;
#ifndef CONFIG_SCHED_WORKQUEUE
# error This requires CONFIG_SCHED_WORKQUEUE.
#endif
#define SF0X_CONVERSION_INTERVAL 83334
#define SF0X_TAKE_RANGE_REG 'd'
#define SF02F_MIN_DISTANCE 0.0f
#define SF02F_MAX_DISTANCE 40.0f
#define SF0X_DEFAULT_PORT "/dev/ttyS2"
class SF0X : public device::CDev
{
public:
SF0X(const char *port = SF0X_DEFAULT_PORT);
virtual ~SF0X();
virtual int init();
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
/**
* Diagnostics - print some basic information about the driver.
*/
void print_info();
protected:
virtual int probe();
private:
float _min_distance;
float _max_distance;
work_s _work;
RingBuffer *_reports;
bool _sensor_ok;
int _measure_ticks;
bool _collect_phase;
int _fd;
char _linebuf[10];
unsigned _linebuf_index;
hrt_abstime _last_read;
orb_advert_t _range_finder_topic;
perf_counter_t _sample_perf;
perf_counter_t _comms_errors;
perf_counter_t _buffer_overflows;
/**
* Initialise the automatic measurement state machine and start it.
*
* @note This function is called at open and error time. It might make sense
* to make it more aggressive about resetting the bus in case of errors.
*/
void start();
/**
* Stop the automatic measurement state machine.
*/
void stop();
/**
* Set the min and max distance thresholds if you want the end points of the sensors
* range to be brought in at all, otherwise it will use the defaults SF0X_MIN_DISTANCE
* and SF0X_MAX_DISTANCE
*/
void set_minimum_distance(float min);
void set_maximum_distance(float max);
float get_minimum_distance();
float get_maximum_distance();
/**
* Perform a poll cycle; collect from the previous measurement
* and start a new one.
*/
void cycle();
int measure();
int collect();
/**
* Static trampoline from the workq context; because we don't have a
* generic workq wrapper yet.
*
* @param arg Instance pointer for the driver that is polling.
*/
static void cycle_trampoline(void *arg);
};
/*
* Driver 'main' command.
*/
extern "C" __EXPORT int sf0x_main(int argc, char *argv[]);
SF0X::SF0X(const char *port) :
CDev("SF0X", RANGE_FINDER_DEVICE_PATH),
_min_distance(SF02F_MIN_DISTANCE),
_max_distance(SF02F_MAX_DISTANCE),
_reports(nullptr),
_sensor_ok(false),
_measure_ticks(0),
_collect_phase(false),
_fd(-1),
_linebuf_index(0),
_last_read(0),
_range_finder_topic(-1),
_sample_perf(perf_alloc(PC_ELAPSED, "sf0x_read")),
_comms_errors(perf_alloc(PC_COUNT, "sf0x_comms_errors")),
_buffer_overflows(perf_alloc(PC_COUNT, "sf0x_buffer_overflows"))
{
/* open fd */
_fd = ::open(port, O_RDWR | O_NOCTTY | O_NONBLOCK);
if (_fd < 0) {
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;
/* fill the struct for the new configuration */
tcgetattr(_fd, &uart_config);
/* clear ONLCR flag (which appends a CR for every LF) */
uart_config.c_oflag &= ~ONLCR;
/* no parity, one stop bit */
uart_config.c_cflag &= ~(CSTOPB | PARENB);
unsigned speed = B9600;
/* set baud rate */
if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) {
warnx("ERR CFG: %d ISPD", termios_state);
}
if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) {
warnx("ERR CFG: %d OSPD\n", termios_state);
}
if ((termios_state = tcsetattr(_fd, TCSANOW, &uart_config)) < 0) {
warnx("ERR baud %d ATTR", termios_state);
}
// disable debug() calls
_debug_enabled = false;
// work_cancel in the dtor will explode if we don't do this...
memset(&_work, 0, sizeof(_work));
}
SF0X::~SF0X()
{
/* make sure we are truly inactive */
stop();
/* free any existing reports */
if (_reports != nullptr) {
delete _reports;
}
}
int
SF0X::init()
{
int ret = ERROR;
unsigned i = 0;
/* do regular cdev init */
if (CDev::init() != OK) {
goto out;
}
/* allocate basic report buffers */
_reports = new RingBuffer(2, sizeof(range_finder_report));
if (_reports == nullptr) {
warnx("mem err");
goto out;
}
/* get a publish handle on the range finder topic */
struct range_finder_report zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_range_finder_topic = orb_advertise(ORB_ID(sensor_range_finder), &zero_report);
if (_range_finder_topic < 0) {
warnx("advert err");
}
/* attempt to get a measurement 5 times */
while (ret != OK && i < 5) {
if (measure()) {
ret = ERROR;
_sensor_ok = false;
}
usleep(100000);
if (collect()) {
ret = ERROR;
_sensor_ok = false;
} else {
ret = OK;
/* sensor is ok, but we don't really know if it is within range */
_sensor_ok = true;
}
i++;
}
/* close the fd */
::close(_fd);
_fd = -1;
out:
return ret;
}
int
SF0X::probe()
{
return measure();
}
void
SF0X::set_minimum_distance(float min)
{
_min_distance = min;
}
void
SF0X::set_maximum_distance(float max)
{
_max_distance = max;
}
float
SF0X::get_minimum_distance()
{
return _min_distance;
}
float
SF0X::get_maximum_distance()
{
return _max_distance;
}
int
SF0X::ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
case SENSORIOCSPOLLRATE: {
switch (arg) {
/* switching to manual polling */
case SENSOR_POLLRATE_MANUAL:
stop();
_measure_ticks = 0;
return OK;
/* external signalling (DRDY) not supported */
case SENSOR_POLLRATE_EXTERNAL:
/* zero would be bad */
case 0:
return -EINVAL;
/* set default/max polling rate */
case SENSOR_POLLRATE_MAX:
case SENSOR_POLLRATE_DEFAULT: {
/* do we need to start internal polling? */
bool want_start = (_measure_ticks == 0);
/* set interval for next measurement to minimum legal value */
_measure_ticks = USEC2TICK(SF0X_CONVERSION_INTERVAL);
/* if we need to start the poll state machine, do it */
if (want_start) {
start();
}
return OK;
}
/* adjust to a legal polling interval in Hz */
default: {
/* do we need to start internal polling? */
bool want_start = (_measure_ticks == 0);
/* convert hz to tick interval via microseconds */
unsigned ticks = USEC2TICK(1000000 / arg);
/* check against maximum rate */
if (ticks < USEC2TICK(SF0X_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) {
start();
}
return OK;
}
}
}
case SENSORIOCGPOLLRATE:
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;
}
irqstate_t flags = irqsave();
if (!_reports->resize(arg)) {
irqrestore(flags);
return -ENOMEM;
}
irqrestore(flags);
return OK;
}
case SENSORIOCGQUEUEDEPTH:
return _reports->size();
case SENSORIOCRESET:
/* XXX implement this */
return -EINVAL;
case RANGEFINDERIOCSETMINIUMDISTANCE: {
set_minimum_distance(*(float *)arg);
return 0;
}
break;
case RANGEFINDERIOCSETMAXIUMDISTANCE: {
set_maximum_distance(*(float *)arg);
return 0;
}
break;
default:
/* give it to the superclass */
return CDev::ioctl(filp, cmd, arg);
}
}
ssize_t
SF0X::read(struct file *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(struct range_finder_report);
struct range_finder_report *rbuf = reinterpret_cast<struct range_finder_report *>(buffer);
int ret = 0;
/* buffer must be large enough */
if (count < 1) {
return -ENOSPC;
}
/* if automatic measurement is enabled */
if (_measure_ticks > 0) {
/*
* While there is space in the caller's buffer, and reports, copy them.
* Note that we may be pre-empted by the workq thread while we are doing this;
* we are careful to avoid racing with them.
*/
while (count--) {
if (_reports->get(rbuf)) {
ret += sizeof(*rbuf);
rbuf++;
}
}
/* if there was no data, warn the caller */
return ret ? ret : -EAGAIN;
}
/* manual measurement - run one conversion */
do {
_reports->flush();
/* trigger a measurement */
if (OK != measure()) {
ret = -EIO;
break;
}
/* wait for it to complete */
usleep(SF0X_CONVERSION_INTERVAL);
/* run the collection phase */
if (OK != collect()) {
ret = -EIO;
break;
}
/* state machine will have generated a report, copy it out */
if (_reports->get(rbuf)) {
ret = sizeof(*rbuf);
}
} while (0);
return ret;
}
int
SF0X::measure()
{
int ret;
/*
* Send the command to begin a measurement.
*/
char cmd = SF0X_TAKE_RANGE_REG;
ret = ::write(_fd, &cmd, 1);
if (ret != sizeof(cmd)) {
perf_count(_comms_errors);
log("write fail %d", ret);
return ret;
}
ret = OK;
return ret;
}
int
SF0X::collect()
{
int ret;
perf_begin(_sample_perf);
/* clear buffer if last read was too long ago */
uint64_t read_elapsed = hrt_elapsed_time(&_last_read);
if (read_elapsed > (SF0X_CONVERSION_INTERVAL * 2)) {
_linebuf_index = 0;
}
/* read from the sensor (uart buffer) */
ret = ::read(_fd, &_linebuf[_linebuf_index], sizeof(_linebuf) - _linebuf_index);
if (ret < 0) {
_linebuf[sizeof(_linebuf) - 1] = '\0';
debug("read err: %d lbi: %d buf: %s", ret, (int)_linebuf_index, _linebuf);
perf_count(_comms_errors);
perf_end(_sample_perf);
/* only throw an error if we time out */
if (read_elapsed > (SF0X_CONVERSION_INTERVAL * 2)) {
return ret;
} else {
return -EAGAIN;
}
}
_linebuf_index += ret;
if (_linebuf_index >= sizeof(_linebuf)) {
_linebuf_index = 0;
}
_last_read = hrt_absolute_time();
if (_linebuf[_linebuf_index - 2] != '\r' || _linebuf[_linebuf_index - 1] != '\n') {
/* incomplete read, reschedule ourselves */
return -EAGAIN;
}
char *end;
float si_units;
bool valid;
/* enforce line ending */
_linebuf[sizeof(_linebuf) - 1] = '\0';
if (_linebuf[0] == '-' && _linebuf[1] == '-' && _linebuf[2] == '.') {
si_units = -1.0f;
valid = false;
} else {
si_units = strtod(_linebuf, &end);
valid = true;
}
debug("val (float): %8.4f, raw: %s\n", si_units, _linebuf);
/* done with this chunk, resetting */
_linebuf_index = 0;
struct range_finder_report report;
/* 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);
report.distance = si_units;
report.valid = valid && (si_units > get_minimum_distance() && si_units < get_maximum_distance() ? 1 : 0);
/* publish it */
orb_publish(ORB_ID(sensor_range_finder), _range_finder_topic, &report);
if (_reports->force(&report)) {
perf_count(_buffer_overflows);
}
/* notify anyone waiting for data */
poll_notify(POLLIN);
ret = OK;
perf_end(_sample_perf);
return ret;
}
void
SF0X::start()
{
/* reset the report ring and state machine */
_collect_phase = false;
_reports->flush();
/* schedule a cycle to start things */
work_queue(HPWORK, &_work, (worker_t)&SF0X::cycle_trampoline, this, 1);
// /* notify about state change */
// struct subsystem_info_s info = {
// true,
// true,
// true,
// SUBSYSTEM_TYPE_RANGEFINDER
// };
// 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);
// }
}
void
SF0X::stop()
{
work_cancel(HPWORK, &_work);
}
void
SF0X::cycle_trampoline(void *arg)
{
SF0X *dev = static_cast<SF0X *>(arg);
dev->cycle();
}
void
SF0X::cycle()
{
/* fds initialized? */
if (_fd < 0) {
/* open fd */
_fd = ::open(SF0X_DEFAULT_PORT, O_RDWR | O_NOCTTY | O_NONBLOCK);
}
/* collection phase? */
if (_collect_phase) {
/* perform collection */
int collect_ret = collect();
if (collect_ret == -EAGAIN) {
/* reschedule to grab the missing bits, time to transmit 10 bytes @9600 bps */
work_queue(HPWORK,
&_work,
(worker_t)&SF0X::cycle_trampoline,
this,
USEC2TICK(1100));
return;
}
if (OK != collect_ret) {
log("collection error");
/* restart the measurement state machine */
start();
return;
}
/* next phase is measurement */
_collect_phase = false;
/*
* Is there a collect->measure gap?
*/
if (_measure_ticks > USEC2TICK(SF0X_CONVERSION_INTERVAL)) {
/* schedule a fresh cycle call when we are ready to measure again */
work_queue(HPWORK,
&_work,
(worker_t)&SF0X::cycle_trampoline,
this,
_measure_ticks - USEC2TICK(SF0X_CONVERSION_INTERVAL));
return;
}
}
/* measurement phase */
if (OK != measure()) {
log("measure error");
}
/* next phase is collection */
_collect_phase = true;
/* schedule a fresh cycle call when the measurement is done */
work_queue(HPWORK,
&_work,
(worker_t)&SF0X::cycle_trampoline,
this,
USEC2TICK(SF0X_CONVERSION_INTERVAL));
}
void
SF0X::print_info()
{
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
perf_print_counter(_buffer_overflows);
printf("poll interval: %d ticks\n", _measure_ticks);
_reports->print_info("report queue");
}
/**
* Local functions in support of the shell command.
*/
namespace sf0x
{
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
const int ERROR = -1;
SF0X *g_dev;
void start();
void stop();
void test();
void reset();
void info();
/**
* Start the driver.
*/
void
start(const char *port)
{
int fd;
if (g_dev != nullptr) {
errx(1, "already started");
}
/* create the driver */
g_dev = new SF0X(port);
if (g_dev == nullptr) {
goto fail;
}
if (OK != g_dev->init()) {
goto fail;
}
/* set the poll rate to default, starts automatic data collection */
fd = open(RANGE_FINDER_DEVICE_PATH, 0);
if (fd < 0) {
warnx("device open fail");
goto fail;
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
goto fail;
}
exit(0);
fail:
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
}
errx(1, "driver start failed");
}
/**
* Stop the driver
*/
void stop()
{
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
} else {
errx(1, "driver not running");
}
exit(0);
}
/**
* Perform some basic functional tests on the driver;
* make sure we can collect data from the sensor in polled
* and automatic modes.
*/
void
test()
{
struct range_finder_report report;
ssize_t sz;
int fd = open(RANGE_FINDER_DEVICE_PATH, O_RDONLY);
if (fd < 0) {
err(1, "%s open failed (try 'sf0x start' if the driver is not running", RANGE_FINDER_DEVICE_PATH);
}
/* do a simple demand read */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report)) {
err(1, "immediate read failed");
}
warnx("single read");
warnx("measurement: %0.2f m", (double)report.distance);
warnx("time: %lld", report.timestamp);
/* start the sensor polling at 2Hz */
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++) {
struct pollfd fds;
/* wait for data to be ready */
fds.fd = fd;
fds.events = POLLIN;
int ret = poll(&fds, 1, 2000);
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)) {
err(1, "periodic read failed");
}
warnx("periodic read %u", i);
warnx("measurement: %0.3f", (double)report.distance);
warnx("time: %lld", report.timestamp);
}
/* reset the sensor polling to default rate */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) {
errx(1, "failed to set default poll rate");
}
errx(0, "PASS");
}
/**
* Reset the driver.
*/
void
reset()
{
int fd = open(RANGE_FINDER_DEVICE_PATH, O_RDONLY);
if (fd < 0) {
err(1, "failed ");
}
if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
err(1, "driver reset failed");
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
err(1, "driver poll restart failed");
}
exit(0);
}
/**
* Print a little info about the driver.
*/
void
info()
{
if (g_dev == nullptr) {
errx(1, "driver not running");
}
printf("state @ %p\n", g_dev);
g_dev->print_info();
exit(0);
}
} // namespace
int
sf0x_main(int argc, char *argv[])
{
/*
* Start/load the driver.
*/
if (!strcmp(argv[1], "start")) {
if (argc > 2) {
sf0x::start(argv[2]);
} else {
sf0x::start(SF0X_DEFAULT_PORT);
}
}
/*
* Stop the driver
*/
if (!strcmp(argv[1], "stop")) {
sf0x::stop();
}
/*
* Test the driver/device.
*/
if (!strcmp(argv[1], "test")) {
sf0x::test();
}
/*
* Reset the driver.
*/
if (!strcmp(argv[1], "reset")) {
sf0x::reset();
}
/*
* Print driver information.
*/
if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) {
sf0x::info();
}
errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
}
src/modules/controllib/block/List.hpp → src/include/containers/List.hpp
+3 -3
View File
@@ -32,9 +32,9 @@
****************************************************************************/
/**
* @file Node.h
* @file List.hpp
*
* A node of a linked list.
* A linked list.
*/
#pragma once
@@ -43,7 +43,7 @@ template<class T>
class __EXPORT ListNode
{
public:
ListNode() : _sibling(NULL) {
ListNode() : _sibling(nullptr) {
}
void setSibling(T sibling) { _sibling = sibling; }
T getSibling() { return _sibling; }
src/include/mavlink/mavlink_log.h
+3
View File
@@ -100,6 +100,7 @@ __EXPORT void mavlink_vasprintf(int _fd, int severity, const char *fmt, ...);
*/
#define mavlink_log_info(_fd, _text, ...) mavlink_vasprintf(_fd, MAVLINK_IOC_SEND_TEXT_INFO, _text, ##__VA_ARGS__);
struct mavlink_logmessage {
char text[MAVLINK_LOG_MAXLEN + 1];
unsigned char severity;
@@ -112,6 +113,7 @@ struct mavlink_logbuffer {
struct mavlink_logmessage *elems;
};
__BEGIN_DECLS
void mavlink_logbuffer_init(struct mavlink_logbuffer *lb, int size);
void mavlink_logbuffer_destroy(struct mavlink_logbuffer *lb);
@@ -125,6 +127,7 @@ void mavlink_logbuffer_write(struct mavlink_logbuffer *lb, const struct mavlink_
int mavlink_logbuffer_read(struct mavlink_logbuffer *lb, struct mavlink_logmessage *elem);
void mavlink_logbuffer_vasprintf(struct mavlink_logbuffer *lb, int severity, const char *fmt, ...);
__END_DECLS
#endif
src/lib/geo/geo.c
+8 -8
View File
@@ -441,14 +441,14 @@ __EXPORT float _wrap_pi(float bearing)
}
int c = 0;
while (bearing > M_PI_F) {
while (bearing >= M_PI_F) {
bearing -= M_TWOPI_F;
if (c++ > 3)
return NAN;
}
c = 0;
while (bearing <= -M_PI_F) {
while (bearing < -M_PI_F) {
bearing += M_TWOPI_F;
if (c++ > 3)
return NAN;
@@ -465,14 +465,14 @@ __EXPORT float _wrap_2pi(float bearing)
}
int c = 0;
while (bearing > M_TWOPI_F) {
while (bearing >= M_TWOPI_F) {
bearing -= M_TWOPI_F;
if (c++ > 3)
return NAN;
}
c = 0;
while (bearing <= 0.0f) {
while (bearing < 0.0f) {
bearing += M_TWOPI_F;
if (c++ > 3)
return NAN;
@@ -489,14 +489,14 @@ __EXPORT float _wrap_180(float bearing)
}
int c = 0;
while (bearing > 180.0f) {
while (bearing >= 180.0f) {
bearing -= 360.0f;
if (c++ > 3)
return NAN;
}
c = 0;
while (bearing <= -180.0f) {
while (bearing < -180.0f) {
bearing += 360.0f;
if (c++ > 3)
return NAN;
@@ -513,14 +513,14 @@ __EXPORT float _wrap_360(float bearing)
}
int c = 0;
while (bearing > 360.0f) {
while (bearing >= 360.0f) {
bearing -= 360.0f;
if (c++ > 3)
return NAN;
}
c = 0;
while (bearing <= 0.0f) {
while (bearing < 0.0f) {
bearing += 360.0f;
if (c++ > 3)
return NAN;
src/lib/launchdetection/CatapultLaunchMethod.cpp
+14 -7
View File
@@ -41,12 +41,16 @@
#include "CatapultLaunchMethod.h"
#include <systemlib/err.h>
CatapultLaunchMethod::CatapultLaunchMethod() :
last_timestamp(0),
namespace launchdetection
{
CatapultLaunchMethod::CatapultLaunchMethod(SuperBlock *parent) :
SuperBlock(parent, "CAT"),
last_timestamp(hrt_absolute_time()),
integrator(0.0f),
launchDetected(false),
threshold_accel(NULL, "LAUN_CAT_A", false),
threshold_time(NULL, "LAUN_CAT_T", false)
threshold_accel(this, "A"),
threshold_time(this, "T")
{
}
@@ -83,8 +87,11 @@ bool CatapultLaunchMethod::getLaunchDetected()
return launchDetected;
}
void CatapultLaunchMethod::updateParams()
void CatapultLaunchMethod::reset()
{
threshold_accel.update();
threshold_time.update();
integrator = 0.0f;
launchDetected = false;
}
}
src/lib/launchdetection/CatapultLaunchMethod.h
+9 -5
View File
@@ -44,22 +44,24 @@
#include "LaunchMethod.h"
#include <drivers/drv_hrt.h>
#include <controllib/blocks.hpp>
#include <controllib/block/BlockParam.hpp>
class CatapultLaunchMethod : public LaunchMethod
namespace launchdetection
{
class CatapultLaunchMethod : public LaunchMethod, public control::SuperBlock
{
public:
CatapultLaunchMethod();
CatapultLaunchMethod(SuperBlock *parent);
~CatapultLaunchMethod();
void update(float accel_x);
bool getLaunchDetected();
void updateParams();
void reset();
private:
hrt_abstime last_timestamp;
// float threshold_accel_raw;
// float threshold_time;
float integrator;
bool launchDetected;
@@ -69,3 +71,5 @@ private:
};
#endif /* CATAPULTLAUNCHMETHOD_H_ */
}
src/lib/launchdetection/LaunchDetector.cpp
+13 -11
View File
@@ -42,12 +42,16 @@
#include "CatapultLaunchMethod.h"
#include <systemlib/err.h>
namespace launchdetection
{
LaunchDetector::LaunchDetector() :
launchdetection_on(NULL, "LAUN_ALL_ON", false),
throttlePreTakeoff(NULL, "LAUN_THR_PRE", false)
SuperBlock(NULL, "LAUN"),
launchdetection_on(this, "ALL_ON"),
throttlePreTakeoff(this, "THR_PRE")
{
/* init all detectors */
launchMethods[0] = new CatapultLaunchMethod();
launchMethods[0] = new CatapultLaunchMethod(this);
/* update all parameters of all detectors */
@@ -59,6 +63,12 @@ LaunchDetector::~LaunchDetector()
}
void LaunchDetector::reset()
{
/* Reset all detectors */
launchMethods[0]->reset();
}
void LaunchDetector::update(float accel_x)
{
if (launchdetection_on.get() == 1) {
@@ -81,12 +91,4 @@ bool LaunchDetector::getLaunchDetected()
return false;
}
void LaunchDetector::updateParams() {
launchdetection_on.update();
throttlePreTakeoff.update();
for (uint8_t i = 0; i < sizeof(launchMethods)/sizeof(LaunchMethod); i++) {
launchMethods[i]->updateParams();
}
}
src/lib/launchdetection/LaunchDetector.h
+7 -3
View File
@@ -45,18 +45,21 @@
#include <stdint.h>
#include "LaunchMethod.h"
#include <controllib/blocks.hpp>
#include <controllib/block/BlockParam.hpp>
class __EXPORT LaunchDetector
namespace launchdetection
{
class __EXPORT LaunchDetector : public control::SuperBlock
{
public:
LaunchDetector();
~LaunchDetector();
void reset();
void update(float accel_x);
bool getLaunchDetected();
void updateParams();
bool launchDetectionEnabled() { return (bool)launchdetection_on.get(); };
float getThrottlePreTakeoff() {return throttlePreTakeoff.get(); }
@@ -71,5 +74,6 @@ private:
};
}
#endif // LAUNCHDETECTOR_H
src/lib/launchdetection/LaunchMethod.h
+7 -1
View File
@@ -41,14 +41,20 @@
#ifndef LAUNCHMETHOD_H_
#define LAUNCHMETHOD_H_
namespace launchdetection
{
class LaunchMethod
{
public:
virtual void update(float accel_x) = 0;
virtual bool getLaunchDetected() = 0;
virtual void updateParams() = 0;
virtual void reset() = 0;
protected:
private:
};
}
#endif /* LAUNCHMETHOD_H_ */
src/modules/att_pos_estimator_ekf/KalmanNav.hpp
+8 -8
View File
@@ -47,8 +47,8 @@
#include <mathlib/mathlib.h>
#include <controllib/blocks.hpp>
#include <controllib/block/BlockParam.hpp>
#include <controllib/uorb/UOrbSubscription.hpp>
#include <controllib/uorb/UOrbPublication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/Publication.hpp>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_global_position.h>
@@ -138,13 +138,13 @@ protected:
math::Matrix<3,3> C_nb; /**< direction cosine matrix from body to nav frame */
math::Quaternion q; /**< quaternion from body to nav frame */
// subscriptions
control::UOrbSubscription<sensor_combined_s> _sensors; /**< sensors sub. */
control::UOrbSubscription<vehicle_gps_position_s> _gps; /**< gps sub. */
control::UOrbSubscription<parameter_update_s> _param_update; /**< parameter update sub. */
uORB::Subscription<sensor_combined_s> _sensors; /**< sensors sub. */
uORB::Subscription<vehicle_gps_position_s> _gps; /**< gps sub. */
uORB::Subscription<parameter_update_s> _param_update; /**< parameter update sub. */
// publications
control::UOrbPublication<vehicle_global_position_s> _pos; /**< position pub. */
control::UOrbPublication<vehicle_local_position_s> _localPos; /**< local position pub. */
control::UOrbPublication<vehicle_attitude_s> _att; /**< attitude pub. */
uORB::Publication<vehicle_global_position_s> _pos; /**< position pub. */
uORB::Publication<vehicle_local_position_s> _localPos; /**< local position pub. */
uORB::Publication<vehicle_attitude_s> _att; /**< attitude pub. */
// time stamps
uint64_t _pubTimeStamp; /**< output data publication time stamp */
uint64_t _predictTimeStamp; /**< prediction time stamp */
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+8 -9
View File
@@ -277,7 +277,6 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
// XXX write this out to perf regs
/* keep track of sensor updates */
uint32_t sensor_last_count[3] = {0, 0, 0};
uint64_t sensor_last_timestamp[3] = {0, 0, 0};
struct attitude_estimator_ekf_params ekf_params;
@@ -380,9 +379,8 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
uint8_t update_vect[3] = {0, 0, 0};
/* Fill in gyro measurements */
if (sensor_last_count[0] != raw.gyro_counter) {
if (sensor_last_timestamp[0] != raw.timestamp) {
update_vect[0] = 1;
sensor_last_count[0] = raw.gyro_counter;
sensor_update_hz[0] = 1e6f / (raw.timestamp - sensor_last_timestamp[0]);
sensor_last_timestamp[0] = raw.timestamp;
}
@@ -392,11 +390,10 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
z_k[2] = raw.gyro_rad_s[2] - gyro_offsets[2];
/* update accelerometer measurements */
if (sensor_last_count[1] != raw.accelerometer_counter) {
if (sensor_last_timestamp[1] != raw.accelerometer_timestamp) {
update_vect[1] = 1;
sensor_last_count[1] = raw.accelerometer_counter;
sensor_update_hz[1] = 1e6f / (raw.timestamp - sensor_last_timestamp[1]);
sensor_last_timestamp[1] = raw.timestamp;
sensor_last_timestamp[1] = raw.accelerometer_timestamp;
}
hrt_abstime vel_t = 0;
@@ -445,11 +442,10 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
z_k[5] = raw.accelerometer_m_s2[2] - acc(2);
/* update magnetometer measurements */
if (sensor_last_count[2] != raw.magnetometer_counter) {
if (sensor_last_timestamp[2] != raw.magnetometer_timestamp) {
update_vect[2] = 1;
sensor_last_count[2] = raw.magnetometer_counter;
sensor_update_hz[2] = 1e6f / (raw.timestamp - sensor_last_timestamp[2]);
sensor_last_timestamp[2] = raw.timestamp;
sensor_last_timestamp[2] = raw.magnetometer_timestamp;
}
z_k[6] = raw.magnetometer_ga[0];
@@ -477,6 +473,9 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
dt = 0.005f;
parameters_update(&ekf_param_handles, &ekf_params);
/* update mag declination rotation matrix */
R_decl.from_euler(0.0f, 0.0f, ekf_params.mag_decl);
x_aposteriori_k[0] = z_k[0];
x_aposteriori_k[1] = z_k[1];
x_aposteriori_k[2] = z_k[2];
src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp
+5 -9
View File
@@ -445,7 +445,6 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[])
// XXX write this out to perf regs
/* keep track of sensor updates */
uint32_t sensor_last_count[3] = {0, 0, 0};
uint64_t sensor_last_timestamp[3] = {0, 0, 0};
struct attitude_estimator_so3_params so3_comp_params;
@@ -526,9 +525,8 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[])
uint8_t update_vect[3] = {0, 0, 0};
/* Fill in gyro measurements */
if (sensor_last_count[0] != raw.gyro_counter) {
if (sensor_last_timestamp[0] != raw.timestamp) {
update_vect[0] = 1;
sensor_last_count[0] = raw.gyro_counter;
sensor_update_hz[0] = 1e6f / (raw.timestamp - sensor_last_timestamp[0]);
sensor_last_timestamp[0] = raw.timestamp;
}
@@ -538,11 +536,10 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[])
gyro[2] = raw.gyro_rad_s[2] - gyro_offsets[2];
/* update accelerometer measurements */
if (sensor_last_count[1] != raw.accelerometer_counter) {
if (sensor_last_timestamp[1] != raw.accelerometer_timestamp) {
update_vect[1] = 1;
sensor_last_count[1] = raw.accelerometer_counter;
sensor_update_hz[1] = 1e6f / (raw.timestamp - sensor_last_timestamp[1]);
sensor_last_timestamp[1] = raw.timestamp;
sensor_last_timestamp[1] = raw.accelerometer_timestamp;
}
acc[0] = raw.accelerometer_m_s2[0];
@@ -550,11 +547,10 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[])
acc[2] = raw.accelerometer_m_s2[2];
/* update magnetometer measurements */
if (sensor_last_count[2] != raw.magnetometer_counter) {
if (sensor_last_timestamp[2] != raw.magnetometer_timestamp) {
update_vect[2] = 1;
sensor_last_count[2] = raw.magnetometer_counter;
sensor_update_hz[2] = 1e6f / (raw.timestamp - sensor_last_timestamp[2]);
sensor_last_timestamp[2] = raw.timestamp;
sensor_last_timestamp[2] = raw.magnetometer_timestamp;
}
mag[0] = raw.magnetometer_ga[0];
src/modules/commander/commander.cpp
+10 -1
View File
@@ -119,6 +119,7 @@ extern struct system_load_s system_load;
#define POSITION_TIMEOUT 1000000 /**< consider the local or global position estimate invalid after 1s */
#define RC_TIMEOUT 100000
#define RC_TIMEOUT_HIL 500000
#define DIFFPRESS_TIMEOUT 2000000
#define PRINT_INTERVAL 5000000
@@ -1108,8 +1109,16 @@ int commander_thread_main(int argc, char *argv[])
}
}
/*
* XXX workaround:
* Prevent RC loss in HIL when sensors.cpp is only publishing sp_man at a low rate (e.g. 30Hz)
* which can trigger RC loss if the computer/simulator lags.
*/
uint64_t rc_timeout = status.hil_state == HIL_STATE_ON ? RC_TIMEOUT_HIL : RC_TIMEOUT;
/* start 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 + rc_timeout) {
/* handle the case where RC signal was regained */
if (!status.rc_signal_found_once) {
status.rc_signal_found_once = true;
src/modules/commander/px4_custom_mode.h
+2
View File
@@ -8,6 +8,8 @@
#ifndef PX4_CUSTOM_MODE_H_
#define PX4_CUSTOM_MODE_H_
#include <stdint.h>
enum PX4_CUSTOM_MAIN_MODE {
PX4_CUSTOM_MAIN_MODE_MANUAL = 1,
PX4_CUSTOM_MAIN_MODE_SEATBELT,
src/modules/commander/state_machine_helper.cpp
+44 -9
View File
@@ -44,6 +44,7 @@
#include <stdbool.h>
#include <dirent.h>
#include <fcntl.h>
#include <string.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
@@ -309,10 +310,7 @@ int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_s
bool valid_transition = false;
int ret = ERROR;
warnx("Current state: %d, requested state: %d", current_status->hil_state, new_state);
if (current_status->hil_state == new_state) {
warnx("Hil state not changed");
valid_transition = true;
} else {
@@ -340,23 +338,60 @@ int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_s
/* list directory */
DIR *d;
struct dirent *direntry;
d = opendir("/dev");
if (d) {
struct dirent *direntry;
char devname[24];
while ((direntry = readdir(d)) != NULL) {
int sensfd = ::open(direntry->d_name, 0);
int block_ret = ::ioctl(sensfd, DEVIOCSPUBBLOCK, 0);
/* skip serial ports */
if (!strncmp("tty", direntry->d_name, 3)) {
continue;
}
/* skip mtd devices */
if (!strncmp("mtd", direntry->d_name, 3)) {
continue;
}
/* skip ram devices */
if (!strncmp("ram", direntry->d_name, 3)) {
continue;
}
/* skip MMC devices */
if (!strncmp("mmc", direntry->d_name, 3)) {
continue;
}
/* skip mavlink */
if (!strcmp("mavlink", direntry->d_name)) {
continue;
}
/* skip console */
if (!strcmp("console", direntry->d_name)) {
continue;
}
/* skip null */
if (!strcmp("null", direntry->d_name)) {
continue;
}
snprintf(devname, sizeof(devname), "/dev/%s", direntry->d_name);
int sensfd = ::open(devname, 0);
if (sensfd < 0) {
warn("failed opening device %s", devname);
continue;
}
int block_ret = ::ioctl(sensfd, DEVIOCSPUBBLOCK, 1);
close(sensfd);
printf("Disabling %s\n: %s", direntry->d_name, (!block_ret) ? "OK" : "FAIL");
printf("Disabling %s: %s\n", devname, (block_ret == OK) ? "OK" : "ERROR");
}
closedir(d);
warnx("directory listing ok (FS mounted and readable)");
} else {
/* failed opening dir */
warnx("FAILED LISTING DEVICE ROOT DIRECTORY");
src/modules/controllib/block/Block.cpp
+5 -4
View File
@@ -41,10 +41,11 @@
#include <string.h>
#include <stdio.h>
#include <uORB/Subscription.hpp>
#include <uORB/Publication.hpp>
#include "Block.hpp"
#include "BlockParam.hpp"
#include "../uorb/UOrbSubscription.hpp"
#include "../uorb/UOrbPublication.hpp"
namespace control
{
@@ -100,7 +101,7 @@ void Block::updateParams()
void Block::updateSubscriptions()
{
UOrbSubscriptionBase *sub = getSubscriptions().getHead();
uORB::SubscriptionBase *sub = getSubscriptions().getHead();
int count = 0;
while (sub != NULL) {
@@ -118,7 +119,7 @@ void Block::updateSubscriptions()
void Block::updatePublications()
{
UOrbPublicationBase *pub = getPublications().getHead();
uORB::PublicationBase *pub = getPublications().getHead();
int count = 0;
while (pub != NULL) {
src/modules/controllib/block/Block.hpp
+11 -7
View File
@@ -42,7 +42,13 @@
#include <stdint.h>
#include <inttypes.h>
#include "List.hpp"
#include <containers/List.hpp>
// forward declaration
namespace uORB {
class SubscriptionBase;
class PublicationBase;
}
namespace control
{
@@ -55,8 +61,6 @@ static const uint8_t blockNameLengthMax = 80;
// forward declaration
class BlockParamBase;
class UOrbSubscriptionBase;
class UOrbPublicationBase;
class SuperBlock;
/**
@@ -79,15 +83,15 @@ public:
protected:
// accessors
SuperBlock *getParent() { return _parent; }
List<UOrbSubscriptionBase *> & getSubscriptions() { return _subscriptions; }
List<UOrbPublicationBase *> & getPublications() { return _publications; }
List<uORB::SubscriptionBase *> & getSubscriptions() { return _subscriptions; }
List<uORB::PublicationBase *> & getPublications() { return _publications; }
List<BlockParamBase *> & getParams() { return _params; }
// attributes
const char *_name;
SuperBlock *_parent;
float _dt;
List<UOrbSubscriptionBase *> _subscriptions;
List<UOrbPublicationBase *> _publications;
List<uORB::SubscriptionBase *> _subscriptions;
List<uORB::PublicationBase *> _publications;
List<BlockParamBase *> _params;
};
src/modules/controllib/block/BlockParam.cpp
+25
View File
@@ -76,4 +76,29 @@ BlockParamBase::BlockParamBase(Block *parent, const char *name, bool parent_pref
printf("error finding param: %s\n", fullname);
};
template <class T>
BlockParam<T>::BlockParam(Block *block, const char *name,
bool parent_prefix) :
BlockParamBase(block, name, parent_prefix),
_val() {
update();
}
template <class T>
T BlockParam<T>::get() { return _val; }
template <class T>
void BlockParam<T>::set(T val) { _val = val; }
template <class T>
void BlockParam<T>::update() {
if (_handle != PARAM_INVALID) param_get(_handle, &_val);
}
template <class T>
BlockParam<T>::~BlockParam() {};
template class __EXPORT BlockParam<float>;
template class __EXPORT BlockParam<int>;
} // namespace control
src/modules/controllib/block/BlockParam.hpp
+12 -29
View File
@@ -42,7 +42,7 @@
#include <systemlib/param/param.h>
#include "Block.hpp"
#include "List.hpp"
#include <containers/List.hpp>
namespace control
{
@@ -70,38 +70,21 @@ protected:
* Parameters that are tied to blocks for updating and nameing.
*/
class __EXPORT BlockParamFloat : public BlockParamBase
template <class T>
class BlockParam : public BlockParamBase
{
public:
BlockParamFloat(Block *block, const char *name, bool parent_prefix=true) :
BlockParamBase(block, name, parent_prefix),
_val() {
update();
}
float get() { return _val; }
void set(float val) { _val = val; }
void update() {
if (_handle != PARAM_INVALID) param_get(_handle, &_val);
}
BlockParam(Block *block, const char *name,
bool parent_prefix=true);
T get();
void set(T val);
void update();
virtual ~BlockParam();
protected:
float _val;
T _val;
};
class __EXPORT BlockParamInt : public BlockParamBase
{
public:
BlockParamInt(Block *block, const char *name, bool parent_prefix=true) :
BlockParamBase(block, name, parent_prefix),
_val() {
update();
}
int get() { return _val; }
void set(int val) { _val = val; }
void update() {
if (_handle != PARAM_INVALID) param_get(_handle, &_val);
}
protected:
int _val;
};
typedef BlockParam<float> BlockParamFloat;
typedef BlockParam<int> BlockParamInt;
} // namespace control
src/modules/controllib/module.mk
-2
View File
@@ -37,7 +37,5 @@
SRCS = test_params.c \
block/Block.cpp \
block/BlockParam.cpp \
uorb/UOrbPublication.cpp \
uorb/UOrbSubscription.cpp \
uorb/blocks.cpp \
blocks.cpp
src/modules/controllib/uorb/blocks.hpp
+11 -11
View File
@@ -62,8 +62,8 @@ extern "C" {
}
#include "../blocks.hpp"
#include "UOrbSubscription.hpp"
#include "UOrbPublication.hpp"
#include <uORB/Subscription.hpp>
#include <uORB/Publication.hpp>
namespace control
{
@@ -94,16 +94,16 @@ class __EXPORT BlockUorbEnabledAutopilot : public SuperBlock
{
protected:
// subscriptions
UOrbSubscription<vehicle_attitude_s> _att;
UOrbSubscription<vehicle_attitude_setpoint_s> _attCmd;
UOrbSubscription<vehicle_rates_setpoint_s> _ratesCmd;
UOrbSubscription<vehicle_global_position_s> _pos;
UOrbSubscription<position_setpoint_triplet_s> _missionCmd;
UOrbSubscription<manual_control_setpoint_s> _manual;
UOrbSubscription<vehicle_status_s> _status;
UOrbSubscription<parameter_update_s> _param_update;
uORB::Subscription<vehicle_attitude_s> _att;
uORB::Subscription<vehicle_attitude_setpoint_s> _attCmd;
uORB::Subscription<vehicle_rates_setpoint_s> _ratesCmd;
uORB::Subscription<vehicle_global_position_s> _pos;
uORB::Subscription<position_setpoint_triplet_s> _missionCmd;
uORB::Subscription<manual_control_setpoint_s> _manual;
uORB::Subscription<vehicle_status_s> _status;
uORB::Subscription<parameter_update_s> _param_update;
// publications
UOrbPublication<actuator_controls_s> _actuators;
uORB::Publication<actuator_controls_s> _actuators;
public:
BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name);
virtual ~BlockUorbEnabledAutopilot();
src/modules/dataman/dataman.c
+17 -17
View File
@@ -1,8 +1,10 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier
* Jean Cyr
* Author: Jean Cyr
* Lorenz Meier
* Julian Oes
* Thomas Gubler
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -40,16 +42,8 @@
#include <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <math.h>
#include <poll.h>
#include <time.h>
#include <sys/ioctl.h>
#include <systemlib/systemlib.h>
#include <systemlib/err.h>
#include <queue.h>
#include "dataman.h"
@@ -175,8 +169,10 @@ create_work_item(void)
/* Try to reuse item from free item queue */
lock_queue(&g_free_q);
if ((item = (work_q_item_t *)sq_remfirst(&(g_free_q.q))))
g_free_q.size--;
unlock_queue(&g_free_q);
/* If we there weren't any free items then obtain memory for a new one */
@@ -289,11 +285,11 @@ _write(dm_item_t item, unsigned char index, dm_persitence_t persistence, const v
offset = calculate_offset(item, index);
/* If item type or index out of range, return error */
if (offset < 0)
if (offset < 0)
return -1;
/* Make sure caller has not given us more data than we can handle */
if (count > DM_MAX_DATA_SIZE)
if (count > DM_MAX_DATA_SIZE)
return -1;
/* Write out the data, prefixed with length and persistence level */
@@ -339,6 +335,7 @@ _read(dm_item_t item, unsigned char index, void *buf, size_t count)
/* Read the prefix and data */
len = -1;
if (lseek(g_task_fd, offset, SEEK_SET) == offset)
len = read(g_task_fd, buffer, count + DM_SECTOR_HDR_SIZE);
@@ -492,7 +489,7 @@ dm_write(dm_item_t item, unsigned char index, dm_persitence_t persistence, const
return -1;
/* get a work item and queue up a write request */
if ((work = create_work_item()) == NULL)
if ((work = create_work_item()) == NULL)
return -1;
work->func = dm_write_func;
@@ -599,17 +596,20 @@ task_main(int argc, char *argv[])
/* Open or create the data manager file */
g_task_fd = open(k_data_manager_device_path, O_RDWR | O_CREAT | O_BINARY);
if (g_task_fd < 0) {
warnx("Could not open data manager file %s", k_data_manager_device_path);
sem_post(&g_init_sema); /* Don't want to hang startup */
return -1;
}
if (lseek(g_task_fd, max_offset, SEEK_SET) != max_offset) {
close(g_task_fd);
warnx("Could not seek data manager file %s", k_data_manager_device_path);
sem_post(&g_init_sema); /* Don't want to hang startup */
return -1;
}
fsync(g_task_fd);
/* We use two file descriptors, one for the caller context and one for the worker thread */
@@ -767,10 +767,10 @@ dataman_main(int argc, char *argv[])
stop();
else if (!strcmp(argv[1], "status"))
status();
else if (!strcmp(argv[1], "poweronrestart"))
dm_restart(DM_INIT_REASON_POWER_ON);
else if (!strcmp(argv[1], "inflightrestart"))
dm_restart(DM_INIT_REASON_IN_FLIGHT);
else if (!strcmp(argv[1], "poweronrestart"))
dm_restart(DM_INIT_REASON_POWER_ON);
else if (!strcmp(argv[1], "inflightrestart"))
dm_restart(DM_INIT_REASON_IN_FLIGHT);
else
usage();
src/modules/dataman/module.mk
-2
View File
@@ -38,5 +38,3 @@
MODULE_COMMAND = dataman
SRCS = dataman.c
INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink
src/modules/fixedwing_backside/fixedwing.cpp
+3 -3
View File
@@ -175,14 +175,14 @@ void BlockMultiModeBacksideAutopilot::update()
// the min/max velocity
float v = _vLimit.update(sqrtf(
_pos.vel_n * _pos.vel_n +
_pos.vy * _pos.vy +
_pos.vel_e * _pos.vel_e +
_pos.vel_d * _pos.vel_d));
// limit velocity command between min/max velocity
float vCmd = _vLimit.update(_vCmd.get());
// altitude hold
float dThrottle = _h2Thr.update(_missionCmd.current.altitude - _pos.alt);
float dThrottle = _h2Thr.update(_missionCmd.current.alt - _pos.alt);
// heading hold
float psiError = _wrap_pi(_guide.getPsiCmd() - _att.yaw);
@@ -237,7 +237,7 @@ void BlockMultiModeBacksideAutopilot::update()
// the min/max velocity
float v = _vLimit.update(sqrtf(
_pos.vel_n * _pos.vel_n +
_pos.vy * _pos.vy +
_pos.vel_e * _pos.vel_e +
_pos.vel_d * _pos.vel_d));
// pitch channel -> rate of climb
src/modules/fw_att_control/fw_att_control_main.cpp
+72 -47
View File
@@ -108,14 +108,14 @@ private:
bool _task_should_exit; /**< if true, sensor task should exit */
int _control_task; /**< task handle for sensor task */
int _att_sub; /**< vehicle attitude subscription */
int _accel_sub; /**< accelerometer subscription */
int _att_sub; /**< vehicle attitude subscription */
int _accel_sub; /**< accelerometer subscription */
int _att_sp_sub; /**< vehicle attitude setpoint */
int _attitude_sub; /**< raw rc channels data subscription */
int _airspeed_sub; /**< airspeed subscription */
int _vcontrol_mode_sub; /**< vehicle status subscription */
int _params_sub; /**< notification of parameter updates */
int _manual_sub; /**< notification of manual control updates */
int _params_sub; /**< notification of parameter updates */
int _manual_sub; /**< notification of manual control updates */
int _global_pos_sub; /**< global position subscription */
orb_advert_t _rate_sp_pub; /**< rate setpoint publication */
@@ -123,20 +123,19 @@ private:
orb_advert_t _actuators_0_pub; /**< actuator control group 0 setpoint */
orb_advert_t _actuators_1_pub; /**< actuator control group 1 setpoint (Airframe) */
struct vehicle_attitude_s _att; /**< vehicle attitude */
struct accel_report _accel; /**< body frame accelerations */
struct vehicle_attitude_s _att; /**< vehicle attitude */
struct accel_report _accel; /**< body frame accelerations */
struct vehicle_attitude_setpoint_s _att_sp; /**< vehicle attitude setpoint */
struct manual_control_setpoint_s _manual; /**< r/c channel data */
struct airspeed_s _airspeed; /**< airspeed */
struct vehicle_control_mode_s _vcontrol_mode; /**< vehicle control mode */
struct airspeed_s _airspeed; /**< airspeed */
struct vehicle_control_mode_s _vcontrol_mode; /**< vehicle control mode */
struct actuator_controls_s _actuators; /**< actuator control inputs */
struct actuator_controls_s _actuators_airframe; /**< actuator control inputs */
struct vehicle_global_position_s _global_pos; /**< global position */
struct actuator_controls_s _actuators_airframe; /**< actuator control inputs */
struct vehicle_global_position_s _global_pos; /**< global position */
perf_counter_t _loop_perf; /**< loop performance counter */
bool _setpoint_valid; /**< flag if the position control setpoint is valid */
bool _airspeed_valid; /**< flag if the airspeed measurement is valid */
struct {
float tconst;
@@ -166,6 +165,15 @@ private:
float airspeed_min;
float airspeed_trim;
float airspeed_max;
float trim_roll;
float trim_pitch;
float trim_yaw;
float rollsp_offset_deg; /**< Roll Setpoint Offset in deg */
float pitchsp_offset_deg; /**< Pitch Setpoint Offset in deg */
float rollsp_offset_rad; /**< Roll Setpoint Offset in rad */
float pitchsp_offset_rad; /**< Pitch Setpoint Offset in rad */
} _parameters; /**< local copies of interesting parameters */
struct {
@@ -197,6 +205,12 @@ private:
param_t airspeed_min;
param_t airspeed_trim;
param_t airspeed_max;
param_t trim_roll;
param_t trim_pitch;
param_t trim_yaw;
param_t rollsp_offset_deg;
param_t pitchsp_offset_deg;
} _parameter_handles; /**< handles for interesting parameters */
@@ -230,7 +244,7 @@ private:
/**
* Check for airspeed updates.
*/
bool vehicle_airspeed_poll();
void vehicle_airspeed_poll();
/**
* Check for accel updates.
@@ -293,19 +307,18 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "fw att control")),
/* states */
_setpoint_valid(false),
_airspeed_valid(false)
_setpoint_valid(false)
{
/* safely initialize structs */
_att = {0};
_accel = {0};
_att_sp = {0};
_manual = {0};
_airspeed = {0};
_vcontrol_mode = {0};
_actuators = {0};
_actuators_airframe = {0};
_global_pos = {0};
_att = {};
_accel = {};
_att_sp = {};
_manual = {};
_airspeed = {};
_vcontrol_mode = {};
_actuators = {};
_actuators_airframe = {};
_global_pos = {};
_parameter_handles.tconst = param_find("FW_ATT_TC");
@@ -335,6 +348,12 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
_parameter_handles.y_coordinated_min_speed = param_find("FW_YCO_VMIN");
_parameter_handles.trim_roll = param_find("TRIM_ROLL");
_parameter_handles.trim_pitch = param_find("TRIM_PITCH");
_parameter_handles.trim_yaw = param_find("TRIM_YAW");
_parameter_handles.rollsp_offset_deg = param_find("FW_RSP_OFF");
_parameter_handles.pitchsp_offset_deg = param_find("FW_PSP_OFF");
/* fetch initial parameter values */
parameters_update();
}
@@ -395,6 +414,15 @@ FixedwingAttitudeControl::parameters_update()
param_get(_parameter_handles.airspeed_trim, &(_parameters.airspeed_trim));
param_get(_parameter_handles.airspeed_max, &(_parameters.airspeed_max));
param_get(_parameter_handles.trim_roll, &(_parameters.trim_roll));
param_get(_parameter_handles.trim_pitch, &(_parameters.trim_pitch));
param_get(_parameter_handles.trim_yaw, &(_parameters.trim_yaw));
param_get(_parameter_handles.rollsp_offset_deg, &(_parameters.rollsp_offset_deg));
param_get(_parameter_handles.pitchsp_offset_deg, &(_parameters.pitchsp_offset_deg));
_parameters.rollsp_offset_rad = math::radians(_parameters.rollsp_offset_deg);
_parameters.pitchsp_offset_rad = math::radians(_parameters.pitchsp_offset_deg);
/* pitch control parameters */
_pitch_ctrl.set_time_constant(_parameters.tconst);
_pitch_ctrl.set_k_p(_parameters.p_p);
@@ -452,7 +480,7 @@ FixedwingAttitudeControl::vehicle_manual_poll()
}
}
bool
void
FixedwingAttitudeControl::vehicle_airspeed_poll()
{
/* check if there is a new position */
@@ -462,10 +490,7 @@ FixedwingAttitudeControl::vehicle_airspeed_poll()
if (airspeed_updated) {
orb_copy(ORB_ID(airspeed), _airspeed_sub, &_airspeed);
// warnx("airspeed poll: ind: %.4f, true: %.4f", _airspeed.indicated_airspeed_m_s, _airspeed.true_airspeed_m_s);
return true;
}
return false;
}
void
@@ -539,7 +564,7 @@ FixedwingAttitudeControl::task_main()
parameters_update();
/* get an initial update for all sensor and status data */
(void)vehicle_airspeed_poll();
vehicle_airspeed_poll();
vehicle_setpoint_poll();
vehicle_accel_poll();
vehicle_control_mode_poll();
@@ -596,7 +621,7 @@ FixedwingAttitudeControl::task_main()
/* load local copies */
orb_copy(ORB_ID(vehicle_attitude), _att_sub, &_att);
_airspeed_valid = vehicle_airspeed_poll();
vehicle_airspeed_poll();
vehicle_setpoint_poll();
@@ -636,9 +661,9 @@ FixedwingAttitudeControl::task_main()
float airspeed;
/* if airspeed is smaller than min, the sensor is not giving good readings */
if (!_airspeed_valid ||
(_airspeed.indicated_airspeed_m_s < 0.5f * _parameters.airspeed_min) ||
!isfinite(_airspeed.indicated_airspeed_m_s)) {
if ((_airspeed.indicated_airspeed_m_s < 0.5f * _parameters.airspeed_min) ||
!isfinite(_airspeed.indicated_airspeed_m_s) ||
hrt_elapsed_time(&_airspeed.timestamp) > 1e6) {
airspeed = _parameters.airspeed_trim;
} else {
@@ -648,13 +673,13 @@ FixedwingAttitudeControl::task_main()
float airspeed_scaling = _parameters.airspeed_trim / airspeed;
//warnx("aspd scale: %6.2f act scale: %6.2f", airspeed_scaling, actuator_scaling);
float roll_sp = 0.0f;
float pitch_sp = 0.0f;
float roll_sp = _parameters.rollsp_offset_rad;
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) {
roll_sp = _att_sp.roll_body;
pitch_sp = _att_sp.pitch_body;
roll_sp = _att_sp.roll_body + _parameters.rollsp_offset_rad;
pitch_sp = _att_sp.pitch_body + _parameters.pitchsp_offset_rad;
throttle_sp = _att_sp.thrust;
/* reset integrals where needed */
@@ -670,9 +695,13 @@ FixedwingAttitudeControl::task_main()
* With this mapping the stick angle is a 1:1 representation of
* the commanded attitude. If more than 45 degrees are desired,
* a scaling parameter can be applied to the remote.
*
* The trim gets subtracted here from the manual setpoint to get
* the intended attitude setpoint. Later, after the rate control step the
* trim is added again to the control signal.
*/
roll_sp = _manual.roll * 0.75f;
pitch_sp = _manual.pitch * 0.75f;
roll_sp = (_manual.roll - _parameters.trim_roll) * 0.75f + _parameters.rollsp_offset_rad;
pitch_sp = (_manual.pitch - _parameters.trim_pitch) * 0.75f + _parameters.pitchsp_offset_rad;
throttle_sp = _manual.throttle;
_actuators.control[4] = _manual.flaps;
@@ -685,7 +714,7 @@ FixedwingAttitudeControl::task_main()
att_sp.timestamp = hrt_absolute_time();
att_sp.roll_body = roll_sp;
att_sp.pitch_body = pitch_sp;
att_sp.yaw_body = 0.0f;
att_sp.yaw_body = 0.0f - _parameters.trim_yaw;
att_sp.thrust = throttle_sp;
/* lazily publish the setpoint only once available */
@@ -719,12 +748,12 @@ FixedwingAttitudeControl::task_main()
speed_body_u, speed_body_v, speed_body_w,
_roll_ctrl.get_desired_rate(), _pitch_ctrl.get_desired_rate()); //runs last, because is depending on output of roll and pitch attitude
/* Run attitude RATE controllers which need the desired attitudes from above */
/* Run attitude RATE controllers which need the desired attitudes from above, add trim */
float roll_u = _roll_ctrl.control_bodyrate(_att.pitch,
_att.rollspeed, _att.yawspeed,
_yaw_ctrl.get_desired_rate(),
_parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator);
_actuators.control[0] = (isfinite(roll_u)) ? roll_u : 0.0f;
_actuators.control[0] = (isfinite(roll_u)) ? roll_u + _parameters.trim_roll : _parameters.trim_roll;
if (!isfinite(roll_u)) {
warnx("roll_u %.4f", roll_u);
}
@@ -733,7 +762,7 @@ FixedwingAttitudeControl::task_main()
_att.pitchspeed, _att.yawspeed,
_yaw_ctrl.get_desired_rate(),
_parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator);
_actuators.control[1] = (isfinite(pitch_u)) ? pitch_u : 0.0f;
_actuators.control[1] = (isfinite(pitch_u)) ? pitch_u + _parameters.trim_pitch : _parameters.trim_pitch;
if (!isfinite(pitch_u)) {
warnx("pitch_u %.4f, _yaw_ctrl.get_desired_rate() %.4f, airspeed %.4f, airspeed_scaling %.4f, roll_sp %.4f, pitch_sp %.4f, _roll_ctrl.get_desired_rate() %.4f, _pitch_ctrl.get_desired_rate() %.4f att_sp.roll_body %.4f",
pitch_u, _yaw_ctrl.get_desired_rate(), airspeed, airspeed_scaling, roll_sp, pitch_sp, _roll_ctrl.get_desired_rate(), _pitch_ctrl.get_desired_rate(), _att_sp.roll_body);
@@ -743,7 +772,7 @@ FixedwingAttitudeControl::task_main()
_att.pitchspeed, _att.yawspeed,
_pitch_ctrl.get_desired_rate(),
_parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator);
_actuators.control[2] = (isfinite(yaw_u)) ? yaw_u : 0.0f;
_actuators.control[2] = (isfinite(yaw_u)) ? yaw_u + _parameters.trim_yaw : _parameters.trim_yaw;
if (!isfinite(yaw_u)) {
warnx("yaw_u %.4f", yaw_u);
}
@@ -757,10 +786,6 @@ FixedwingAttitudeControl::task_main()
warnx("Non-finite setpoint roll_sp: %.4f, pitch_sp %.4f", roll_sp, pitch_sp);
}
// warnx("aspd: %s: %6.2f, aspd scaling: %6.2f, controls: %5.2f %5.2f %5.2f %5.2f", (_airspeed_valid) ? "valid" : "unknown",
// airspeed, airspeed_scaling, _actuators.control[0], _actuators.control[1],
// _actuators.control[2], _actuators.control[3]);
/*
* Lazily publish the rate setpoint (for analysis, the actuators are published below)
* only once available
src/modules/fw_att_control/fw_att_control_params.c
+10
View File
@@ -176,3 +176,13 @@ PARAM_DEFINE_FLOAT(FW_AIRSPD_TRIM, 20.0f);
// @Description If the airspeed is above this value the TECS controller will try to decrease airspeed more aggressively
// @Range 0.0 to 30
PARAM_DEFINE_FLOAT(FW_AIRSPD_MAX, 50.0f);
// @DisplayName Roll Setpoint Offset
// @Description An airframe specific offset of the roll setpoint in degrees, the value is added to the roll setpoint and should correspond to the typical cruise speed of the airframe
// @Range -90.0 to 90.0
PARAM_DEFINE_FLOAT(FW_RSP_OFF, 0.0f);
// @DisplayName Pitch Setpoint Offset
// @Description An airframe specific offset of the pitch setpoint in degrees, the value is added to the pitch setpoint and should correspond to the typical cruise speed of the airframe
// @Range -90.0 to 90.0
PARAM_DEFINE_FLOAT(FW_PSP_OFF, 0.0f);
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+46 -9
View File
@@ -176,6 +176,8 @@ private:
bool launch_detected;
bool usePreTakeoffThrust;
bool last_manual; ///< true if the last iteration was in manual mode (used to determine when a reset is needed)
/* Landingslope object */
Landingslope landingslope;
@@ -184,7 +186,7 @@ private:
float target_bearing;
/* Launch detection */
LaunchDetector launchDetector;
launchdetection::LaunchDetector launchDetector;
/* throttle and airspeed states */
float _airspeed_error; ///< airspeed error to setpoint in m/s
@@ -344,6 +346,16 @@ private:
* Main sensor collection task.
*/
void task_main() __attribute__((noreturn));
/*
* Reset takeoff state
*/
void reset_takeoff_state();
/*
* Reset landing state
*/
void reset_landing_state();
};
namespace l1_control
@@ -389,6 +401,7 @@ FixedwingPositionControl::FixedwingPositionControl() :
land_motor_lim(false),
land_onslope(false),
launch_detected(false),
last_manual(false),
usePreTakeoffThrust(false),
flare_curve_alt_last(0.0f),
launchDetector(),
@@ -976,6 +989,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
} else {
/* no takeoff detection --> fly */
launch_detected = true;
warnx("launchdetection off");
}
}
@@ -1022,19 +1036,14 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
// mission is active
_loiter_hold = false;
/* reset land state */
/* reset landing state */
if (pos_sp_triplet.current.type != SETPOINT_TYPE_LAND) {
land_noreturn_horizontal = false;
land_noreturn_vertical = false;
land_stayonground = false;
land_motor_lim = false;
land_onslope = false;
reset_landing_state();
}
/* reset takeoff/launch state */
if (pos_sp_triplet.current.type != SETPOINT_TYPE_TAKEOFF) {
launch_detected = false;
usePreTakeoffThrust = false;
reset_takeoff_state();
}
if (was_circle_mode && !_l1_control.circle_mode()) {
@@ -1131,6 +1140,12 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
/* no flight mode applies, do not publish an attitude setpoint */
setpoint = false;
/* reset landing and takeoff state */
if (!last_manual) {
reset_landing_state();
reset_takeoff_state();
}
}
if (usePreTakeoffThrust) {
@@ -1141,6 +1156,12 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
}
_att_sp.pitch_body = _tecs.get_pitch_demand();
if (_control_mode.flag_control_position_enabled) {
last_manual = false;
} else {
last_manual = true;
}
return setpoint;
}
@@ -1291,6 +1312,22 @@ FixedwingPositionControl::task_main()
_exit(0);
}
void FixedwingPositionControl::reset_takeoff_state()
{
launch_detected = false;
usePreTakeoffThrust = false;
launchDetector.reset();
}
void FixedwingPositionControl::reset_landing_state()
{
land_noreturn_horizontal = false;
land_noreturn_vertical = false;
land_stayonground = false;
land_motor_lim = false;
land_onslope = false;
}
int
FixedwingPositionControl::start()
{
src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
+1 -1
View File
@@ -245,7 +245,7 @@ PARAM_DEFINE_FLOAT(FW_T_INTEG_GAIN, 0.1f);
/**
* Maximum vertical acceleration
*
* This is the maximum vertical acceleration (in metres/second^2)
* This is the maximum vertical acceleration (in metres/second square)
* either up or down that the controller will use to correct speed
* or height errors. The default value of 7 m/s/s (equivalent to +- 0.7 g)
* allows for reasonably aggressive pitch changes if required to recover
src/modules/gpio_led/gpio_led.c
+64 -41
View File
@@ -51,7 +51,6 @@
#include <systemlib/err.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_armed.h>
#include <poll.h>
#include <drivers/drv_gpio.h>
#include <modules/px4iofirmware/protocol.h>
@@ -63,8 +62,6 @@ struct gpio_led_s {
int pin;
struct vehicle_status_s status;
int vehicle_status_sub;
struct actuator_armed_s armed;
int actuator_armed_sub;
bool led_state;
int counter;
};
@@ -81,6 +78,7 @@ void gpio_led_cycle(FAR void *arg);
int gpio_led_main(int argc, char *argv[])
{
if (argc < 2) {
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
errx(1, "usage: gpio_led {start|stop} [-p <1|2|a1|a2|r1|r2>]\n"
"\t-p\tUse pin:\n"
"\t\t1\tPX4FMU GPIO_EXT1 (default)\n"
@@ -88,7 +86,14 @@ int gpio_led_main(int argc, char *argv[])
"\t\ta1\tPX4IO ACC1\n"
"\t\ta2\tPX4IO ACC2\n"
"\t\tr1\tPX4IO RELAY1\n"
"\t\tr2\tPX4IO RELAY2");
"\t\tr2\tPX4IO RELAY2"
);
#endif
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
errx(1, "usage: gpio_led {start|stop} [-p <n>]\n"
"\t-p <n>\tUse specified AUX OUT pin number (default: 1)"
);
#endif
} else {
@@ -98,37 +103,70 @@ int gpio_led_main(int argc, char *argv[])
}
bool use_io = false;
int pin = GPIO_EXT_1;
/* by default use GPIO_EXT_1 on FMUv1 and GPIO_SERVO_1 on FMUv2 */
int pin = 1;
/* pin name to display */
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
char *pin_name = "PX4FMU GPIO_EXT1";
#endif
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
char pin_name[] = "AUX OUT 1";
#endif
if (argc > 2) {
if (!strcmp(argv[2], "-p")) {
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
if (!strcmp(argv[3], "1")) {
use_io = false;
pin = GPIO_EXT_1;
pin_name = "PX4FMU GPIO_EXT1";
} else if (!strcmp(argv[3], "2")) {
use_io = false;
pin = GPIO_EXT_2;
pin_name = "PX4FMU GPIO_EXT2";
} else if (!strcmp(argv[3], "a1")) {
use_io = true;
pin = PX4IO_P_SETUP_RELAYS_ACC1;
pin_name = "PX4IO ACC1";
} else if (!strcmp(argv[3], "a2")) {
use_io = true;
pin = PX4IO_P_SETUP_RELAYS_ACC2;
pin_name = "PX4IO ACC2";
} else if (!strcmp(argv[3], "r1")) {
use_io = true;
pin = PX4IO_P_SETUP_RELAYS_POWER1;
pin_name = "PX4IO RELAY1";
} else if (!strcmp(argv[3], "r2")) {
use_io = true;
pin = PX4IO_P_SETUP_RELAYS_POWER2;
pin_name = "PX4IO RELAY2";
} else {
errx(1, "unsupported pin: %s", argv[3]);
}
#endif
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
unsigned int n = strtoul(argv[3], NULL, 10);
if (n >= 1 && n <= 6) {
use_io = false;
pin = 1 << (n - 1);
snprintf(pin_name, sizeof(pin_name), "AUX OUT %d", n);
} else {
errx(1, "unsupported pin: %s", argv[3]);
}
#endif
}
}
@@ -142,21 +180,6 @@ int gpio_led_main(int argc, char *argv[])
} else {
gpio_led_started = true;
char pin_name[24];
if (use_io) {
if (pin & (PX4IO_P_SETUP_RELAYS_ACC1 | PX4IO_P_SETUP_RELAYS_ACC2)) {
sprintf(pin_name, "PX4IO ACC%i", (pin >> 3));
} else {
sprintf(pin_name, "PX4IO RELAY%i", pin);
}
} else {
sprintf(pin_name, "PX4FMU GPIO_EXT%i", pin);
}
warnx("start, using pin: %s", pin_name);
}
@@ -186,6 +209,7 @@ void gpio_led_start(FAR void *arg)
if (priv->use_io) {
gpio_dev = PX4IO_DEVICE_PATH;
} else {
gpio_dev = PX4FMU_DEVICE_PATH;
}
@@ -204,8 +228,10 @@ void gpio_led_start(FAR void *arg)
/* px4fmu only, px4io doesn't support GPIO_SET_OUTPUT and will ignore */
ioctl(priv->gpio_fd, GPIO_SET_OUTPUT, priv->pin);
/* subscribe to vehicle status topic */
/* initialize vehicle status structure */
memset(&priv->status, 0, sizeof(priv->status));
/* subscribe to vehicle status topic */
priv->vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
/* add worker to queue */
@@ -224,38 +250,33 @@ void gpio_led_cycle(FAR void *arg)
FAR struct gpio_led_s *priv = (FAR struct gpio_led_s *)arg;
/* check for status updates*/
bool status_updated;
orb_check(priv->vehicle_status_sub, &status_updated);
bool updated;
orb_check(priv->vehicle_status_sub, &updated);
if (status_updated)
if (updated) {
orb_copy(ORB_ID(vehicle_status), priv->vehicle_status_sub, &priv->status);
orb_check(priv->vehicle_status_sub, &status_updated);
if (status_updated)
orb_copy(ORB_ID(actuator_armed), priv->actuator_armed_sub, &priv->armed);
}
/* select pattern for current status */
int pattern = 0;
if (priv->armed.armed) {
if (priv->status.battery_warning == VEHICLE_BATTERY_WARNING_NONE) {
if (priv->status.arming_state == ARMING_STATE_ARMED_ERROR) {
pattern = 0x2A; // *_*_*_ fast blink (armed, error)
} else if (priv->status.arming_state == ARMING_STATE_ARMED) {
if (priv->status.battery_warning == VEHICLE_BATTERY_WARNING_NONE && priv->status.failsafe_state == FAILSAFE_STATE_NORMAL) {
pattern = 0x3f; // ****** solid (armed)
} else {
pattern = 0x2A; // *_*_*_ fast blink (armed, battery warning)
pattern = 0x3e; // *****_ slow blink (armed, battery low or failsafe)
}
} else {
if (priv->armed.ready_to_arm) {
pattern = 0x00; // ______ off (disarmed, preflight check)
} else if (priv->status.arming_state == ARMING_STATE_STANDBY) {
pattern = 0x38; // ***___ slow blink (disarmed, ready)
} else if (priv->armed.ready_to_arm && priv->status.battery_warning == VEHICLE_BATTERY_WARNING_NONE) {
pattern = 0x38; // ***___ slow blink (disarmed, ready)
} else if (priv->status.arming_state == ARMING_STATE_STANDBY_ERROR) {
pattern = 0x28; // *_*___ slow double blink (disarmed, error)
} else {
pattern = 0x28; // *_*___ slow double blink (disarmed, not good to arm)
}
}
/* blink pattern */
@@ -266,6 +287,7 @@ void gpio_led_cycle(FAR void *arg)
if (led_state_new) {
ioctl(priv->gpio_fd, GPIO_SET, priv->pin);
} else {
ioctl(priv->gpio_fd, GPIO_CLEAR, priv->pin);
}
@@ -273,8 +295,9 @@ void gpio_led_cycle(FAR void *arg)
priv->counter++;
if (priv->counter > 5)
if (priv->counter > 5) {
priv->counter = 0;
}
/* repeat cycle at 5 Hz */
if (gpio_led_started) {
src/modules/mavlink/mavlink.c
+2 -762
View File
@@ -1,7 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
* Copyright (c) 2012-2014 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
@@ -34,46 +33,18 @@
/**
* @file mavlink.c
* MAVLink 1.0 protocol implementation.
* Adapter functions expected by the protocol library
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#include <nuttx/config.h>
#include <unistd.h>
#include <pthread.h>
#include <stdio.h>
#include <math.h>
#include <stdbool.h>
#include <fcntl.h>
#include <mqueue.h>
#include <string.h>
#include "mavlink_bridge_header.h"
#include <drivers/drv_hrt.h>
#include <time.h>
#include <float.h>
#include <unistd.h>
#include <nuttx/sched.h>
#include <sys/prctl.h>
#include <termios.h>
#include <errno.h>
#include <stdlib.h>
#include <poll.h>
#include <systemlib/param/param.h>
#include <systemlib/systemlib.h>
#include <systemlib/err.h>
#include <mavlink/mavlink_log.h>
#include <commander/px4_custom_mode.h>
#include "waypoints.h"
#include "orb_topics.h"
#include "mavlink_hil.h"
#include "util.h"
#include "waypoints.h"
#include "mavlink_parameters.h"
#include <uORB/topics/mission_result.h>
/* define MAVLink specific parameters */
/**
@@ -92,22 +63,6 @@ PARAM_DEFINE_INT32(MAV_COMP_ID, 50);
*/
PARAM_DEFINE_INT32(MAV_TYPE, MAV_TYPE_FIXED_WING);
__EXPORT int mavlink_main(int argc, char *argv[]);
static int mavlink_thread_main(int argc, char *argv[]);
/* thread state */
volatile bool thread_should_exit = false;
static volatile bool thread_running = false;
static int mavlink_task;
/* pthreads */
static pthread_t receive_thread;
static pthread_t uorb_receive_thread;
/* terminate MAVLink on user request - disabled by default */
static bool mavlink_link_termination_allowed = false;
mavlink_system_t mavlink_system = {
100,
50,
@@ -117,362 +72,6 @@ mavlink_system_t mavlink_system = {
0
}; // System ID, 1-255, Component/Subsystem ID, 1-255
/* XXX not widely used */
uint8_t chan = MAVLINK_COMM_0;
/* XXX probably should be in a header... */
extern pthread_t receive_start(int uart);
/* Allocate storage space for waypoints */
static mavlink_wpm_storage wpm_s;
mavlink_wpm_storage *wpm = &wpm_s;
bool mavlink_hil_enabled = false;
/* protocol interface */
static int uart;
static int baudrate;
bool gcs_link = true;
/* interface mode */
static enum {
MAVLINK_INTERFACE_MODE_OFFBOARD,
MAVLINK_INTERFACE_MODE_ONBOARD
} mavlink_link_mode = MAVLINK_INTERFACE_MODE_OFFBOARD;
static struct mavlink_logbuffer lb;
static void mavlink_update_system(void);
static int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb);
static void usage(void);
int set_mavlink_interval_limit(struct mavlink_subscriptions *subs, int mavlink_msg_id, int min_interval);
int
set_hil_on_off(bool hil_enabled)
{
int ret = OK;
/* Enable HIL */
if (hil_enabled && !mavlink_hil_enabled) {
mavlink_hil_enabled = true;
/* ramp up some HIL-related subscriptions */
unsigned hil_rate_interval;
if (baudrate < 19200) {
/* 10 Hz */
hil_rate_interval = 100;
} else if (baudrate < 38400) {
/* 10 Hz */
hil_rate_interval = 100;
} else if (baudrate < 115200) {
/* 20 Hz */
hil_rate_interval = 50;
} else {
/* 200 Hz */
hil_rate_interval = 5;
}
orb_set_interval(mavlink_subs.spa_sub, hil_rate_interval);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, hil_rate_interval);
}
if (!hil_enabled && mavlink_hil_enabled) {
mavlink_hil_enabled = false;
orb_set_interval(mavlink_subs.spa_sub, 200);
} else {
ret = ERROR;
}
return ret;
}
void
get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_base_mode, uint32_t *mavlink_custom_mode)
{
/* reset MAVLink mode bitfield */
*mavlink_base_mode = 0;
*mavlink_custom_mode = 0;
/**
* Set mode flags
**/
/* HIL */
if (v_status.hil_state == HIL_STATE_ON) {
*mavlink_base_mode |= MAV_MODE_FLAG_HIL_ENABLED;
}
/* arming state */
if (armed.armed) {
*mavlink_base_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
}
/* main state */
*mavlink_base_mode |= MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
union px4_custom_mode custom_mode;
custom_mode.data = 0;
if (pos_sp_triplet.nav_state == NAV_STATE_NONE) {
/* use main state when navigator is not active */
if (v_status.main_state == MAIN_STATE_MANUAL) {
*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | (v_status.is_rotary_wing ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0);
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
} else if (v_status.main_state == MAIN_STATE_SEATBELT) {
*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_SEATBELT;
} else if (v_status.main_state == MAIN_STATE_EASY) {
*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_EASY;
} else if (v_status.main_state == MAIN_STATE_AUTO) {
*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_READY;
}
} else {
/* use navigation state when navigator is active */
*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
if (pos_sp_triplet.nav_state == NAV_STATE_READY) {
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_READY;
} else if (pos_sp_triplet.nav_state == NAV_STATE_LOITER) {
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LOITER;
} else if (pos_sp_triplet.nav_state == NAV_STATE_MISSION) {
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_MISSION;
} else if (pos_sp_triplet.nav_state == NAV_STATE_RTL) {
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTL;
} else if (pos_sp_triplet.nav_state == NAV_STATE_LAND) {
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND;
}
}
*mavlink_custom_mode = custom_mode.data;
/**
* Set mavlink state
**/
/* set calibration state */
if (v_status.arming_state == ARMING_STATE_INIT
|| v_status.arming_state == ARMING_STATE_IN_AIR_RESTORE
|| v_status.arming_state == ARMING_STATE_STANDBY_ERROR) { // TODO review
*mavlink_state = MAV_STATE_UNINIT;
} else if (v_status.arming_state == ARMING_STATE_ARMED) {
*mavlink_state = MAV_STATE_ACTIVE;
} else if (v_status.arming_state == ARMING_STATE_ARMED_ERROR) {
*mavlink_state = MAV_STATE_CRITICAL;
} else if (v_status.arming_state == ARMING_STATE_STANDBY) {
*mavlink_state = MAV_STATE_STANDBY;
} else if (v_status.arming_state == ARMING_STATE_REBOOT) {
*mavlink_state = MAV_STATE_POWEROFF;
} else {
warnx("Unknown mavlink state");
*mavlink_state = MAV_STATE_CRITICAL;
}
}
int set_mavlink_interval_limit(struct mavlink_subscriptions *subs, int mavlink_msg_id, int min_interval)
{
int ret = OK;
switch (mavlink_msg_id) {
case MAVLINK_MSG_ID_SCALED_IMU:
/* sensor sub triggers scaled IMU */
orb_set_interval(subs->sensor_sub, min_interval);
break;
case MAVLINK_MSG_ID_HIGHRES_IMU:
/* sensor sub triggers highres IMU */
orb_set_interval(subs->sensor_sub, min_interval);
break;
case MAVLINK_MSG_ID_RAW_IMU:
/* sensor sub triggers RAW IMU */
orb_set_interval(subs->sensor_sub, min_interval);
break;
case MAVLINK_MSG_ID_ATTITUDE:
/* attitude sub triggers attitude */
orb_set_interval(subs->att_sub, min_interval);
break;
case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW:
/* actuator_outputs triggers this message */
orb_set_interval(subs->act_0_sub, min_interval);
orb_set_interval(subs->act_1_sub, min_interval);
orb_set_interval(subs->act_2_sub, min_interval);
orb_set_interval(subs->act_3_sub, min_interval);
orb_set_interval(subs->actuators_sub, min_interval);
orb_set_interval(subs->actuators_effective_sub, min_interval);
orb_set_interval(subs->spa_sub, min_interval);
orb_set_interval(mavlink_subs.rates_setpoint_sub, min_interval);
break;
case MAVLINK_MSG_ID_MANUAL_CONTROL:
/* manual_control_setpoint triggers this message */
orb_set_interval(subs->man_control_sp_sub, min_interval);
break;
case MAVLINK_MSG_ID_NAMED_VALUE_FLOAT:
orb_set_interval(subs->debug_key_value, min_interval);
break;
default:
/* not found */
ret = ERROR;
break;
}
return ret;
}
/****************************************************************************
* MAVLink text message logger
****************************************************************************/
static int mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg);
static const struct file_operations mavlink_fops = {
.ioctl = mavlink_dev_ioctl
};
static int
mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg)
{
static unsigned int total_counter = 0;
switch (cmd) {
case (int)MAVLINK_IOC_SEND_TEXT_INFO:
case (int)MAVLINK_IOC_SEND_TEXT_CRITICAL:
case (int)MAVLINK_IOC_SEND_TEXT_EMERGENCY: {
const char *txt = (const char *)arg;
struct mavlink_logmessage msg;
strncpy(msg.text, txt, sizeof(msg.text));
mavlink_logbuffer_write(&lb, &msg);
total_counter++;
return OK;
}
default:
return ENOTTY;
}
}
#define MAVLINK_OFFBOARD_CONTROL_FLAG_ARMED 0x10
/****************************************************************************
* Public Functions
****************************************************************************/
int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_config_original, bool *is_usb)
{
/* process baud rate */
int speed;
switch (baud) {
case 0: speed = B0; break;
case 50: speed = B50; break;
case 75: speed = B75; break;
case 110: speed = B110; break;
case 134: speed = B134; break;
case 150: speed = B150; break;
case 200: speed = B200; break;
case 300: speed = B300; break;
case 600: speed = B600; break;
case 1200: speed = B1200; break;
case 1800: speed = B1800; break;
case 2400: speed = B2400; break;
case 4800: speed = B4800; break;
case 9600: speed = B9600; break;
case 19200: speed = B19200; break;
case 38400: speed = B38400; break;
case 57600: speed = B57600; break;
case 115200: speed = B115200; break;
case 230400: speed = B230400; break;
case 460800: speed = B460800; break;
case 921600: speed = B921600; break;
default:
warnx("ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\n\t9600\n19200\n38400\n57600\n115200\n230400\n460800\n921600\n\n", baud);
return -EINVAL;
}
/* open uart */
warnx("UART is %s, baudrate is %d\n", uart_name, baud);
uart = open(uart_name, O_RDWR | O_NOCTTY);
/* Try to set baud rate */
struct termios uart_config;
int termios_state;
*is_usb = false;
/* Back up the original uart configuration to restore it after exit */
if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
warnx("ERROR get termios config %s: %d\n", uart_name, termios_state);
close(uart);
return -1;
}
/* Fill the struct for the new configuration */
tcgetattr(uart, &uart_config);
/* Clear ONLCR flag (which appends a CR for every LF) */
uart_config.c_oflag &= ~ONLCR;
/* USB serial is indicated by /dev/ttyACM0*/
if (strcmp(uart_name, "/dev/ttyACM0") != OK && strcmp(uart_name, "/dev/ttyACM1") != OK) {
/* Set baud rate */
if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
warnx("ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
close(uart);
return -1;
}
}
if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
warnx("ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name);
close(uart);
return -1;
}
return uart;
}
void
mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length)
{
write(uart, ch, (size_t)(sizeof(uint8_t) * length));
}
/*
* Internal function to give access to the channel status for each channel
*/
@@ -490,362 +89,3 @@ extern mavlink_message_t *mavlink_get_channel_buffer(uint8_t channel)
static mavlink_message_t m_mavlink_buffer[MAVLINK_COMM_NUM_BUFFERS];
return &m_mavlink_buffer[channel];
}
void mavlink_update_system(void)
{
static bool initialized = false;
static param_t param_system_id;
static param_t param_component_id;
static param_t param_system_type;
if (!initialized) {
param_system_id = param_find("MAV_SYS_ID");
param_component_id = param_find("MAV_COMP_ID");
param_system_type = param_find("MAV_TYPE");
initialized = true;
}
/* update system and component id */
int32_t system_id;
param_get(param_system_id, &system_id);
if (system_id > 0 && system_id < 255) {
mavlink_system.sysid = system_id;
}
int32_t component_id;
param_get(param_component_id, &component_id);
if (component_id > 0 && component_id < 255) {
mavlink_system.compid = component_id;
}
int32_t system_type;
param_get(param_system_type, &system_type);
if (system_type >= 0 && system_type < MAV_TYPE_ENUM_END) {
mavlink_system.type = system_type;
}
}
/**
* MAVLink Protocol main function.
*/
int mavlink_thread_main(int argc, char *argv[])
{
/* initialize mavlink text message buffering */
mavlink_logbuffer_init(&lb, 10);
int ch;
char *device_name = "/dev/ttyS1";
baudrate = 57600;
/* work around some stupidity in task_create's argv handling */
argc -= 2;
argv += 2;
while ((ch = getopt(argc, argv, "b:d:eo")) != EOF) {
switch (ch) {
case 'b':
baudrate = strtoul(optarg, NULL, 10);
if (baudrate < 9600 || baudrate > 921600)
errx(1, "invalid baud rate '%s'", optarg);
break;
case 'd':
device_name = optarg;
break;
case 'e':
mavlink_link_termination_allowed = true;
break;
case 'o':
mavlink_link_mode = MAVLINK_INTERFACE_MODE_ONBOARD;
break;
default:
usage();
break;
}
}
struct termios uart_config_original;
bool usb_uart;
/* print welcome text */
warnx("MAVLink v1.0 serial interface starting...");
/* inform about mode */
warnx((mavlink_link_mode == MAVLINK_INTERFACE_MODE_ONBOARD) ? "ONBOARD MODE" : "DOWNLINK MODE");
/* Flush stdout in case MAVLink is about to take it over */
fflush(stdout);
/* default values for arguments */
uart = mavlink_open_uart(baudrate, device_name, &uart_config_original, &usb_uart);
if (uart < 0)
err(1, "could not open %s", device_name);
/* create the device node that's used for sending text log messages, etc. */
register_driver(MAVLINK_LOG_DEVICE, &mavlink_fops, 0666, NULL);
/* Initialize system properties */
mavlink_update_system();
/* start the MAVLink receiver */
receive_thread = receive_start(uart);
/* start the ORB receiver */
uorb_receive_thread = uorb_receive_start();
/* initialize waypoint manager */
mavlink_wpm_init(wpm);
/* all subscriptions are now active, set up initial guess about rate limits */
if (baudrate >= 230400) {
/* 200 Hz / 5 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 20);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 20);
/* 50 Hz / 20 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 30);
/* 20 Hz / 50 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 10);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 50);
/* 10 Hz */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW_INT, 100);
/* 10 Hz */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 100);
} else if (baudrate >= 115200) {
/* 20 Hz / 50 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 50);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 50);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 50);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 50);
/* 5 Hz / 200 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 200);
/* 5 Hz / 200 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW_INT, 200);
/* 2 Hz */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 500);
} else if (baudrate >= 57600) {
/* 10 Hz / 100 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 300);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 300);
/* 10 Hz / 100 ms ATTITUDE */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 200);
/* 5 Hz / 200 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 200);
/* 5 Hz / 200 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 500);
/* 2 Hz */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 500);
/* 2 Hz */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW_INT, 500);
} else {
/* very low baud rate, limit to 1 Hz / 1000 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 1000);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 1000);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 1000);
/* 1 Hz / 1000 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 1000);
/* 0.5 Hz */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 2000);
/* 0.1 Hz */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 10000);
}
int mission_result_sub = orb_subscribe(ORB_ID(mission_result));
struct mission_result_s mission_result;
memset(&mission_result, 0, sizeof(mission_result));
thread_running = true;
/* arm counter to go off immediately */
unsigned lowspeed_counter = 10;
while (!thread_should_exit) {
/* 1 Hz */
if (lowspeed_counter == 10) {
mavlink_update_system();
/* translate the current system state to mavlink state and mode */
uint8_t mavlink_state = 0;
uint8_t mavlink_base_mode = 0;
uint32_t mavlink_custom_mode = 0;
get_mavlink_mode_and_state(&mavlink_state, &mavlink_base_mode, &mavlink_custom_mode);
/* send heartbeat */
mavlink_msg_heartbeat_send(chan, mavlink_system.type, MAV_AUTOPILOT_PX4, mavlink_base_mode, mavlink_custom_mode, mavlink_state);
/* switch HIL mode if required */
if (v_status.hil_state == HIL_STATE_ON)
set_hil_on_off(true);
else if (v_status.hil_state == HIL_STATE_OFF)
set_hil_on_off(false);
/* send status (values already copied in the section above) */
mavlink_msg_sys_status_send(chan,
v_status.onboard_control_sensors_present,
v_status.onboard_control_sensors_enabled,
v_status.onboard_control_sensors_health,
v_status.load * 1000.0f,
v_status.battery_voltage * 1000.0f,
v_status.battery_current * 100.0f,
v_status.battery_remaining * 100.0f,
v_status.drop_rate_comm,
v_status.errors_comm,
v_status.errors_count1,
v_status.errors_count2,
v_status.errors_count3,
v_status.errors_count4);
lowspeed_counter = 0;
}
lowspeed_counter++;
bool updated;
orb_check(mission_result_sub, &updated);
if (updated) {
orb_copy(ORB_ID(mission_result), mission_result_sub, &mission_result);
if (mission_result.mission_reached) {
mavlink_wpm_send_waypoint_reached((uint16_t)mission_result.mission_index);
}
}
mavlink_waypoint_eventloop(hrt_absolute_time());
/* sleep quarter the time */
usleep(25000);
/* check if waypoint has been reached against the last positions */
mavlink_waypoint_eventloop(hrt_absolute_time());
/* sleep quarter the time */
usleep(25000);
/* send parameters at 20 Hz (if queued for sending) */
mavlink_pm_queued_send();
mavlink_waypoint_eventloop(hrt_absolute_time());
/* sleep quarter the time */
usleep(25000);
mavlink_waypoint_eventloop(hrt_absolute_time());
if (baudrate > 57600) {
mavlink_pm_queued_send();
}
/* sleep 10 ms */
usleep(10000);
/* send one string at 10 Hz */
if (!mavlink_logbuffer_is_empty(&lb)) {
struct mavlink_logmessage msg;
int lb_ret = mavlink_logbuffer_read(&lb, &msg);
if (lb_ret == OK) {
mavlink_missionlib_send_gcs_string(msg.text);
}
}
/* sleep 15 ms */
usleep(15000);
}
/* wait for threads to complete */
pthread_join(receive_thread, NULL);
pthread_join(uorb_receive_thread, NULL);
/* Reset the UART flags to original state */
tcsetattr(uart, TCSANOW, &uart_config_original);
/* destroy log buffer */
//mavlink_logbuffer_destroy(&lb);
thread_running = false;
return 0;
}
static void
usage()
{
fprintf(stderr, "usage: mavlink start [-d <devicename>] [-b <baud rate>]\n"
" mavlink stop\n"
" mavlink status\n");
exit(1);
}
int mavlink_main(int argc, char *argv[])
{
if (argc < 2) {
warnx("missing command");
usage();
}
if (!strcmp(argv[1], "start")) {
/* this is not an error */
if (thread_running)
errx(0, "mavlink already running");
thread_should_exit = false;
mavlink_task = task_spawn_cmd("mavlink",
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
2048,
mavlink_thread_main,
(const char **)argv);
while (!thread_running) {
usleep(200);
}
exit(0);
}
if (!strcmp(argv[1], "stop")) {
/* this is not an error */
if (!thread_running)
errx(0, "mavlink already stopped");
thread_should_exit = true;
while (thread_running) {
usleep(200000);
warnx(".");
}
warnx("terminated.");
exit(0);
}
if (!strcmp(argv[1], "status")) {
if (thread_running) {
errx(0, "running");
} else {
errx(1, "not running");
}
}
warnx("unrecognized command");
usage();
/* not getting here */
return 0;
}
src/modules/mavlink/mavlink_bridge_header.h
+6 -3
View File
@@ -1,7 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
* Copyright (c) 2012-2014 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
@@ -43,6 +42,8 @@
#ifndef MAVLINK_BRIDGE_HEADER_H
#define MAVLINK_BRIDGE_HEADER_H
__BEGIN_DECLS
#define MAVLINK_USE_CONVENIENCE_FUNCTIONS
/* use efficient approach, see mavlink_helpers.h */
@@ -73,11 +74,13 @@ extern mavlink_system_t mavlink_system;
* @param chan MAVLink channel to use, usually MAVLINK_COMM_0 = UART0
* @param ch Character to send
*/
extern void mavlink_send_uart_bytes(mavlink_channel_t chan, const uint8_t *ch, int length);
void mavlink_send_uart_bytes(mavlink_channel_t chan, const uint8_t *ch, int length);
extern mavlink_status_t *mavlink_get_channel_status(uint8_t chan);
extern mavlink_message_t *mavlink_get_channel_buffer(uint8_t chan);
#include <v1.0/common/mavlink.h>
__END_DECLS
#endif /* MAVLINK_BRIDGE_HEADER_H */
src/modules/mavlink/mavlink_main.cpp
+2103
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src/modules/mavlink/mavlink_main.h
+325
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@@ -0,0 +1,325 @@
/****************************************************************************
*
* Copyright (c) 2012-2014 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 mavlink_main.h
* MAVLink 1.0 protocol interface definition.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#pragma once
#include <stdbool.h>
#include <nuttx/fs/fs.h>
#include <systemlib/param/param.h>
#include <systemlib/perf_counter.h>
#include <pthread.h>
#include <mavlink/mavlink_log.h>
#include <uORB/uORB.h>
#include <uORB/topics/mission.h>
#include "mavlink_bridge_header.h"
#include "mavlink_orb_subscription.h"
#include "mavlink_stream.h"
#include "mavlink_messages.h"
// FIXME XXX - TO BE MOVED TO XML
enum MAVLINK_WPM_STATES {
MAVLINK_WPM_STATE_IDLE = 0,
MAVLINK_WPM_STATE_SENDLIST,
MAVLINK_WPM_STATE_SENDLIST_SENDWPS,
MAVLINK_WPM_STATE_GETLIST,
MAVLINK_WPM_STATE_GETLIST_GETWPS,
MAVLINK_WPM_STATE_GETLIST_GOTALL,
MAVLINK_WPM_STATE_ENUM_END
};
enum MAVLINK_WPM_CODES {
MAVLINK_WPM_CODE_OK = 0,
MAVLINK_WPM_CODE_ERR_WAYPOINT_ACTION_NOT_SUPPORTED,
MAVLINK_WPM_CODE_ERR_WAYPOINT_FRAME_NOT_SUPPORTED,
MAVLINK_WPM_CODE_ERR_WAYPOINT_OUT_OF_BOUNDS,
MAVLINK_WPM_CODE_ERR_WAYPOINT_MAX_NUMBER_EXCEEDED,
MAVLINK_WPM_CODE_ENUM_END
};
#define MAVLINK_WPM_MAX_WP_COUNT 255
#define MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT 5000000 ///< Protocol communication timeout in useconds
#define MAVLINK_WPM_SETPOINT_DELAY_DEFAULT 1000000 ///< When to send a new setpoint
#define MAVLINK_WPM_PROTOCOL_DELAY_DEFAULT 40000
struct mavlink_wpm_storage {
uint16_t size;
uint16_t max_size;
enum MAVLINK_WPM_STATES current_state;
int16_t current_wp_id; ///< Waypoint in current transmission
uint16_t current_count;
uint8_t current_partner_sysid;
uint8_t current_partner_compid;
uint64_t timestamp_lastaction;
uint64_t timestamp_last_send_setpoint;
uint32_t timeout;
int current_dataman_id;
};
class Mavlink
{
public:
/**
* Constructor
*/
Mavlink();
/**
* Destructor, also kills the mavlinks task.
*/
~Mavlink();
/**
* Start the mavlink task.
*
* @return OK on success.
*/
static int start(int argc, char *argv[]);
/**
* Display the mavlink status.
*/
void status();
static int stream(int argc, char *argv[]);
static int instance_count();
static Mavlink *new_instance();
static Mavlink *get_instance(unsigned instance);
static Mavlink *get_instance_for_device(const char *device_name);
static int destroy_all_instances();
static bool instance_exists(const char *device_name, Mavlink *self);
static int get_uart_fd(unsigned index);
int get_uart_fd();
const char *_device_name;
enum MAVLINK_MODE {
MAVLINK_MODE_NORMAL = 0,
MAVLINK_MODE_CUSTOM,
MAVLINK_MODE_CAMERA
};
void set_mode(enum MAVLINK_MODE);
enum MAVLINK_MODE get_mode() { return _mode; }
bool get_hil_enabled() { return _hil_enabled; };
bool get_flow_control_enabled() { return _flow_control_enabled; }
/**
* Handle waypoint related messages.
*/
void mavlink_wpm_message_handler(const mavlink_message_t *msg);
static int start_helper(int argc, char *argv[]);
/**
* Handle parameter related messages.
*/
void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg);
void get_mavlink_mode_and_state(struct vehicle_status_s *status, struct position_setpoint_triplet_s *pos_sp_triplet, uint8_t *mavlink_state, uint8_t *mavlink_base_mode, uint32_t *mavlink_custom_mode);
/**
* Enable / disable Hardware in the Loop simulation mode.
*
* @param hil_enabled The new HIL enable/disable state.
* @return OK if the HIL state changed, ERROR if the
* requested change could not be made or was
* redundant.
*/
int set_hil_enabled(bool hil_enabled);
MavlinkOrbSubscription *add_orb_subscription(const orb_id_t topic);
int get_instance_id();
/**
* Enable / disable hardware flow control.
*
* @param enabled True if hardware flow control should be enabled
*/
int enable_flow_control(bool enabled);
mavlink_channel_t get_channel();
bool _task_should_exit; /**< if true, mavlink task should exit */
protected:
Mavlink *next;
private:
int _instance_id;
int _mavlink_fd;
bool _task_running;
perf_counter_t _loop_perf; /**< loop performance counter */
/* states */
bool _hil_enabled; /**< Hardware In the Loop mode */
bool _is_usb_uart; /**< Port is USB */
unsigned _main_loop_delay; /**< mainloop delay, depends on data rate */
MavlinkOrbSubscription *_subscriptions;
MavlinkStream *_streams;
orb_advert_t _mission_pub;
struct mission_s mission;
uint8_t missionlib_msg_buf[MAVLINK_MAX_PACKET_LEN];
MAVLINK_MODE _mode;
uint8_t _mavlink_wpm_comp_id;
mavlink_channel_t _channel;
struct mavlink_logbuffer _logbuffer;
unsigned int _total_counter;
pthread_t _receive_thread;
/* Allocate storage space for waypoints */
mavlink_wpm_storage _wpm_s;
mavlink_wpm_storage *_wpm;
bool _verbose;
int _uart_fd;
int _baudrate;
int _datarate;
/**
* If the queue index is not at 0, the queue sending
* logic will send parameters from the current index
* to len - 1, the end of the param list.
*/
unsigned int _mavlink_param_queue_index;
bool mavlink_link_termination_allowed;
char *_subscribe_to_stream;
float _subscribe_to_stream_rate;
bool _flow_control_enabled;
/**
* Send one parameter.
*
* @param param The parameter id to send.
* @return zero on success, nonzero on failure.
*/
int mavlink_pm_send_param(param_t param);
/**
* Send one parameter identified by index.
*
* @param index The index of the parameter to send.
* @return zero on success, nonzero else.
*/
int mavlink_pm_send_param_for_index(uint16_t index);
/**
* Send one parameter identified by name.
*
* @param name The index of the parameter to send.
* @return zero on success, nonzero else.
*/
int mavlink_pm_send_param_for_name(const char *name);
/**
* Send a queue of parameters, one parameter per function call.
*
* @return zero on success, nonzero on failure
*/
int mavlink_pm_queued_send(void);
/**
* Start sending the parameter queue.
*
* This function will not directly send parameters, but instead
* activate the sending of one parameter on each call of
* mavlink_pm_queued_send().
* @see mavlink_pm_queued_send()
*/
void mavlink_pm_start_queued_send();
void mavlink_update_system();
void mavlink_waypoint_eventloop(uint64_t now);
void mavlink_wpm_send_waypoint_reached(uint16_t seq);
void mavlink_wpm_send_waypoint_request(uint8_t sysid, uint8_t compid, uint16_t seq);
void mavlink_wpm_send_waypoint(uint8_t sysid, uint8_t compid, uint16_t seq);
void mavlink_wpm_send_waypoint_count(uint8_t sysid, uint8_t compid, uint16_t count);
void mavlink_wpm_send_waypoint_current(uint16_t seq);
void mavlink_wpm_send_waypoint_ack(uint8_t sysid, uint8_t compid, uint8_t type);
void mavlink_wpm_init(mavlink_wpm_storage *state);
int map_mission_item_to_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item);
int map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item);
void publish_mission();
void mavlink_missionlib_send_message(mavlink_message_t *msg);
int mavlink_missionlib_send_gcs_string(const char *string);
int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb);
int configure_stream(const char *stream_name, const float rate);
void configure_stream_threadsafe(const char *stream_name, const float rate);
static int mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg);
/**
* Main mavlink task.
*/
int task_main(int argc, char *argv[]);
};
src/modules/mavlink/mavlink_messages.cpp
+1304
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File diff suppressed because it is too large Load Diff
src/modules/controllib/uorb/UOrbSubscription.cpp → src/modules/mavlink/mavlink_messages.h
+9 -12
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2014 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
@@ -32,20 +32,17 @@
****************************************************************************/
/**
* @file UOrbSubscription.cpp
* @file mavlink_messages.h
* MAVLink 1.0 message formatters definition.
*
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#include "UOrbSubscription.hpp"
#ifndef MAVLINK_MESSAGES_H_
#define MAVLINK_MESSAGES_H_
namespace control
{
#include "mavlink_stream.h"
bool __EXPORT UOrbSubscriptionBase::updated()
{
bool isUpdated = false;
orb_check(_handle, &isUpdated);
return isUpdated;
}
extern MavlinkStream *streams_list[];
} // namespace control
#endif /* MAVLINK_MESSAGES_H_ */
src/modules/mavlink/mavlink_orb_subscription.cpp
+113
View File
@@ -0,0 +1,113 @@
/****************************************************************************
*
* 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 mavlink_orb_subscription.cpp
* uORB subscription implementation.
*
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#include <unistd.h>
#include <stdlib.h>
#include <string.h>
#include <uORB/uORB.h>
#include <stdio.h>
#include "mavlink_orb_subscription.h"
MavlinkOrbSubscription::MavlinkOrbSubscription(const orb_id_t topic) :
_fd(orb_subscribe(_topic)),
_published(false),
_topic(topic),
_last_check(0),
next(nullptr)
{
_data = malloc(topic->o_size);
memset(_data, 0, topic->o_size);
}
MavlinkOrbSubscription::~MavlinkOrbSubscription()
{
close(_fd);
free(_data);
}
const orb_id_t
MavlinkOrbSubscription::get_topic()
{
return _topic;
}
void *
MavlinkOrbSubscription::get_data()
{
return _data;
}
bool
MavlinkOrbSubscription::update(const hrt_abstime t)
{
if (_last_check == t) {
/* already checked right now, return result of the check */
return _updated;
} else {
_last_check = t;
orb_check(_fd, &_updated);
if (_updated) {
orb_copy(_topic, _fd, _data);
return true;
}
}
return false;
}
bool
MavlinkOrbSubscription::is_published()
{
if (_published) {
return true;
}
bool updated;
orb_check(_fd, &updated);
if (updated) {
_published = true;
}
return _published;
}
src/modules/mavlink/mavlink_orb_subscription.h
+78
View File
@@ -0,0 +1,78 @@
/****************************************************************************
*
* 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 mavlink_orb_subscription.h
* uORB subscription definition.
*
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#ifndef MAVLINK_ORB_SUBSCRIPTION_H_
#define MAVLINK_ORB_SUBSCRIPTION_H_
#include <systemlib/uthash/utlist.h>
#include <drivers/drv_hrt.h>
class MavlinkOrbSubscription
{
public:
MavlinkOrbSubscription *next; /*< pointer to next subscription in list */
MavlinkOrbSubscription(const orb_id_t topic);
~MavlinkOrbSubscription();
bool update(const hrt_abstime t);
/**
* Check if the topic has been published.
*
* This call will return true if the topic was ever published.
* @return true if the topic has been published at least once.
*/
bool is_published();
void *get_data();
const orb_id_t get_topic();
private:
const orb_id_t _topic; /*< topic metadata */
int _fd; /*< subscription handle */
bool _published; /*< topic was ever published */
void *_data; /*< pointer to data buffer */
hrt_abstime _last_check; /*< time of last check */
bool _updated; /*< updated on last check */
};
#endif /* MAVLINK_ORB_SUBSCRIPTION_H_ */
src/modules/mavlink/mavlink_parameters.c
-230
View File
@@ -1,230 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file mavlink_parameters.c
* MAVLink parameter protocol implementation (BSD-relicensed).
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#include "mavlink_bridge_header.h"
#include "mavlink_parameters.h"
#include <uORB/uORB.h>
#include "math.h" /* isinf / isnan checks */
#include <assert.h>
#include <stdio.h>
#include <fcntl.h>
#include <unistd.h>
#include <stdbool.h>
#include <string.h>
#include <errno.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>
#include <sys/stat.h>
extern mavlink_system_t mavlink_system;
extern int mavlink_missionlib_send_message(mavlink_message_t *msg);
extern int mavlink_missionlib_send_gcs_string(const char *string);
/**
* If the queue index is not at 0, the queue sending
* logic will send parameters from the current index
* to len - 1, the end of the param list.
*/
static unsigned int mavlink_param_queue_index = 0;
/**
* Callback for param interface.
*/
void mavlink_pm_callback(void *arg, param_t param);
void mavlink_pm_callback(void *arg, param_t param)
{
mavlink_pm_send_param(param);
usleep(*(unsigned int *)arg);
}
void mavlink_pm_send_all_params(unsigned int delay)
{
unsigned int dbuf = delay;
param_foreach(&mavlink_pm_callback, &dbuf, false);
}
int mavlink_pm_queued_send()
{
if (mavlink_param_queue_index < param_count()) {
mavlink_pm_send_param(param_for_index(mavlink_param_queue_index));
mavlink_param_queue_index++;
return 0;
} else {
return 1;
}
}
void mavlink_pm_start_queued_send()
{
mavlink_param_queue_index = 0;
}
int mavlink_pm_send_param_for_index(uint16_t index)
{
return mavlink_pm_send_param(param_for_index(index));
}
int mavlink_pm_send_param_for_name(const char *name)
{
return mavlink_pm_send_param(param_find(name));
}
int mavlink_pm_send_param(param_t param)
{
if (param == PARAM_INVALID) return 1;
/* buffers for param transmission */
static char name_buf[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN];
float val_buf;
static mavlink_message_t tx_msg;
/* query parameter type */
param_type_t type = param_type(param);
/* copy parameter name */
strncpy((char *)name_buf, param_name(param), MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
/*
* Map onboard parameter type to MAVLink type,
* endianess matches (both little endian)
*/
uint8_t mavlink_type;
if (type == PARAM_TYPE_INT32) {
mavlink_type = MAVLINK_TYPE_INT32_T;
} else if (type == PARAM_TYPE_FLOAT) {
mavlink_type = MAVLINK_TYPE_FLOAT;
} else {
mavlink_type = MAVLINK_TYPE_FLOAT;
}
/*
* get param value, since MAVLink encodes float and int params in the same
* space during transmission, copy param onto float val_buf
*/
int ret;
if ((ret = param_get(param, &val_buf)) != OK) {
return ret;
}
mavlink_msg_param_value_pack_chan(mavlink_system.sysid,
mavlink_system.compid,
MAVLINK_COMM_0,
&tx_msg,
name_buf,
val_buf,
mavlink_type,
param_count(),
param_get_index(param));
ret = mavlink_missionlib_send_message(&tx_msg);
return ret;
}
void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg)
{
switch (msg->msgid) {
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: {
/* Start sending parameters */
mavlink_pm_start_queued_send();
mavlink_missionlib_send_gcs_string("[mavlink pm] sending list");
} break;
case MAVLINK_MSG_ID_PARAM_SET: {
/* Handle parameter setting */
if (msg->msgid == MAVLINK_MSG_ID_PARAM_SET) {
mavlink_param_set_t mavlink_param_set;
mavlink_msg_param_set_decode(msg, &mavlink_param_set);
if (mavlink_param_set.target_system == mavlink_system.sysid && ((mavlink_param_set.target_component == mavlink_system.compid) || (mavlink_param_set.target_component == MAV_COMP_ID_ALL))) {
/* local name buffer to enforce null-terminated string */
char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1];
strncpy(name, mavlink_param_set.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
/* enforce null termination */
name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0';
/* attempt to find parameter, set and send it */
param_t param = param_find(name);
if (param == PARAM_INVALID) {
char buf[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN];
sprintf(buf, "[mavlink pm] unknown: %s", name);
mavlink_missionlib_send_gcs_string(buf);
} else {
/* set and send parameter */
param_set(param, &(mavlink_param_set.param_value));
mavlink_pm_send_param(param);
}
}
}
} break;
case MAVLINK_MSG_ID_PARAM_REQUEST_READ: {
mavlink_param_request_read_t mavlink_param_request_read;
mavlink_msg_param_request_read_decode(msg, &mavlink_param_request_read);
if (mavlink_param_request_read.target_system == mavlink_system.sysid && ((mavlink_param_request_read.target_component == mavlink_system.compid) || (mavlink_param_request_read.target_component == MAV_COMP_ID_ALL))) {
/* when no index is given, loop through string ids and compare them */
if (mavlink_param_request_read.param_index == -1) {
/* local name buffer to enforce null-terminated string */
char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1];
strncpy(name, mavlink_param_request_read.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
/* enforce null termination */
name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0';
/* attempt to find parameter and send it */
mavlink_pm_send_param_for_name(name);
} else {
/* when index is >= 0, send this parameter again */
mavlink_pm_send_param_for_index(mavlink_param_request_read.param_index);
}
}
} break;
}
}
src/modules/mavlink/mavlink_parameters.h
-104
View File
@@ -1,104 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file mavlink_parameters.h
* MAVLink parameter protocol definitions (BSD-relicensed).
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
/* This assumes you have the mavlink headers on your include path
or in the same folder as this source file */
#include <v1.0/mavlink_types.h>
#include <stdbool.h>
#include <systemlib/param/param.h>
/**
* Handle parameter related messages.
*/
void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg);
/**
* Send all parameters at once.
*
* This function blocks until all parameters have been sent.
* it delays each parameter by the passed amount of microseconds.
*
* @param delay The delay in us between sending all parameters.
*/
void mavlink_pm_send_all_params(unsigned int delay);
/**
* Send one parameter.
*
* @param param The parameter id to send.
* @return zero on success, nonzero on failure.
*/
int mavlink_pm_send_param(param_t param);
/**
* Send one parameter identified by index.
*
* @param index The index of the parameter to send.
* @return zero on success, nonzero else.
*/
int mavlink_pm_send_param_for_index(uint16_t index);
/**
* Send one parameter identified by name.
*
* @param name The index of the parameter to send.
* @return zero on success, nonzero else.
*/
int mavlink_pm_send_param_for_name(const char *name);
/**
* Send a queue of parameters, one parameter per function call.
*
* @return zero on success, nonzero on failure
*/
int mavlink_pm_queued_send(void);
/**
* Start sending the parameter queue.
*
* This function will not directly send parameters, but instead
* activate the sending of one parameter on each call of
* mavlink_pm_queued_send().
* @see mavlink_pm_queued_send()
*/
void mavlink_pm_start_queued_send(void);
src/modules/mavlink_onboard/util.h → src/modules/mavlink/mavlink_rate_limiter.cpp
+33 -16
View File
@@ -1,7 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
* 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
@@ -33,23 +32,41 @@
****************************************************************************/
/**
* @file util.h
* Utility and helper functions and data.
* @file mavlink_rate_limiter.cpp
* Message rate limiter implementation.
*
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#pragma once
#include "mavlink_rate_limiter.h"
#include "orb_topics.h"
MavlinkRateLimiter::MavlinkRateLimiter() : _last_sent(0), _interval(1000000)
{
}
/** MAVLink communications channel */
extern uint8_t chan;
MavlinkRateLimiter::MavlinkRateLimiter(unsigned int interval) : _last_sent(0), _interval(interval)
{
}
/** Shutdown marker */
extern volatile bool thread_should_exit;
MavlinkRateLimiter::~MavlinkRateLimiter()
{
}
/**
* Translate the custom state into standard mavlink modes and state.
*/
extern void
get_mavlink_mode_and_state(const struct vehicle_control_mode_s *control_mode, const struct actuator_armed_s *armed,
uint8_t *mavlink_state, uint8_t *mavlink_mode);
void
MavlinkRateLimiter::set_interval(unsigned int interval)
{
_interval = interval;
}
bool
MavlinkRateLimiter::check(hrt_abstime t)
{
uint64_t dt = t - _last_sent;
if (dt > 0 && dt >= _interval) {
_last_sent = (t / _interval) * _interval;
return true;
}
return false;
}
src/modules/mavlink/mavlink_hil.h → src/modules/mavlink/mavlink_rate_limiter.h
+27 -17
View File
@@ -1,7 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
* 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
@@ -33,20 +32,31 @@
****************************************************************************/
/**
* @file mavlink_hil.h
* Hardware-in-the-loop simulation support.
*/
#pragma once
extern bool mavlink_hil_enabled;
/**
* Enable / disable Hardware in the Loop simulation mode.
* @file mavlink_rate_limiter.h
* Message rate limiter definition.
*
* @param hil_enabled The new HIL enable/disable state.
* @return OK if the HIL state changed, ERROR if the
* requested change could not be made or was
* redundant.
* @author Anton Babushkin <anton.babushkin@me.com>
*/
extern int set_hil_on_off(bool hil_enabled);
#ifndef MAVLINK_RATE_LIMITER_H_
#define MAVLINK_RATE_LIMITER_H_
#include <drivers/drv_hrt.h>
class MavlinkRateLimiter
{
private:
hrt_abstime _last_sent;
hrt_abstime _interval;
public:
MavlinkRateLimiter();
MavlinkRateLimiter(unsigned int interval);
~MavlinkRateLimiter();
void set_interval(unsigned int interval);
bool check(hrt_abstime t);
};
#endif /* MAVLINK_RATE_LIMITER_H_ */
src/modules/mavlink/mavlink_receiver.cpp
+757 -679
View File
File diff suppressed because it is too large Load Diff
src/modules/mavlink/orb_topics.h → src/modules/mavlink/mavlink_receiver.h
+82 -60
View File
@@ -1,7 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
* Copyright (c) 2012-2014 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
@@ -33,12 +32,15 @@
****************************************************************************/
/**
* @file orb_topics.h
* Common sets of topics subscribed to or published by the MAVLink driver,
* and structures maintained by those subscriptions.
* @file mavlink_orb_listener.h
* MAVLink 1.0 uORB listener definition
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#pragma once
#include <systemlib/perf_counter.h>
#include <uORB/uORB.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/rc_channels.h>
@@ -55,7 +57,6 @@
#include <uORB/topics/vehicle_vicon_position.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_controls_effective.h>
@@ -66,59 +67,80 @@
#include <uORB/topics/debug_key_value.h>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/battery_status.h>
#include <drivers/drv_rc_input.h>
#include <uORB/topics/navigation_capabilities.h>
struct mavlink_subscriptions {
int sensor_sub;
int att_sub;
int global_pos_sub;
int act_0_sub;
int act_1_sub;
int act_2_sub;
int act_3_sub;
int gps_sub;
int man_control_sp_sub;
int safety_sub;
int actuators_sub;
int armed_sub;
int actuators_effective_sub;
int local_pos_sub;
int spa_sub;
int spl_sub;
int triplet_sub;
int debug_key_value;
int input_rc_sub;
int optical_flow;
int rates_setpoint_sub;
int home_sub;
int airspeed_sub;
int navigation_capabilities_sub;
int position_setpoint_triplet_sub;
class Mavlink;
class MavlinkReceiver
{
public:
/**
* Constructor
*/
MavlinkReceiver(Mavlink *parent);
/**
* Destructor, also kills the mavlinks task.
*/
~MavlinkReceiver();
/**
* Start the mavlink task.
*
* @return OK on success.
*/
int start();
/**
* Display the mavlink status.
*/
void print_status();
static pthread_t receive_start(Mavlink *parent);
static void *start_helper(void *context);
private:
perf_counter_t _loop_perf; /**< loop performance counter */
Mavlink *_mavlink;
void handle_message(mavlink_message_t *msg);
void handle_message_command_long(mavlink_message_t *msg);
void handle_message_optical_flow(mavlink_message_t *msg);
void handle_message_set_mode(mavlink_message_t *msg);
void handle_message_vicon_position_estimate(mavlink_message_t *msg);
void handle_message_quad_swarm_roll_pitch_yaw_thrust(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_hil_sensor(mavlink_message_t *msg);
void handle_message_hil_gps(mavlink_message_t *msg);
void handle_message_hil_state_quaternion(mavlink_message_t *msg);
void *receive_thread(void *arg);
mavlink_status_t status;
struct vehicle_local_position_s hil_local_pos;
int _manual_sub;
orb_advert_t _global_pos_pub;
orb_advert_t _local_pos_pub;
orb_advert_t _attitude_pub;
orb_advert_t _gps_pub;
orb_advert_t _sensors_pub;
orb_advert_t _gyro_pub;
orb_advert_t _accel_pub;
orb_advert_t _mag_pub;
orb_advert_t _baro_pub;
orb_advert_t _airspeed_pub;
orb_advert_t _battery_pub;
orb_advert_t _cmd_pub;
orb_advert_t _flow_pub;
orb_advert_t _offboard_control_sp_pub;
orb_advert_t _vicon_position_pub;
orb_advert_t _telemetry_status_pub;
orb_advert_t _rc_pub;
orb_advert_t _manual_pub;
int _hil_frames;
uint64_t _old_timestamp;
bool _hil_local_proj_inited;
float _hil_local_alt0;
};
extern struct mavlink_subscriptions mavlink_subs;
/** Global position */
extern struct vehicle_global_position_s global_pos;
/** Local position */
extern struct vehicle_local_position_s local_pos;
/** navigation capabilities */
extern struct navigation_capabilities_s nav_cap;
/** Vehicle status */
extern struct vehicle_status_s v_status;
/** Position setpoint triplet */
extern struct position_setpoint_triplet_s pos_sp_triplet;
/** RC channels */
extern struct rc_channels_s rc;
/** Actuator armed state */
extern struct actuator_armed_s armed;
/** Worker thread starter */
extern pthread_t uorb_receive_start(void);
src/modules/mavlink/mavlink_stream.cpp
+85
View File
@@ -0,0 +1,85 @@
/****************************************************************************
*
* 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 mavlink_stream.cpp
* Mavlink messages stream implementation.
*
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#include <stdlib.h>
#include "mavlink_stream.h"
#include "mavlink_main.h"
MavlinkStream::MavlinkStream() : _interval(1000000), _last_sent(0), _channel(MAVLINK_COMM_0), next(nullptr)
{
}
MavlinkStream::~MavlinkStream()
{
}
/**
* Set messages interval in ms
*/
void
MavlinkStream::set_interval(const unsigned int interval)
{
_interval = interval;
}
/**
* Set mavlink channel
*/
void
MavlinkStream::set_channel(mavlink_channel_t channel)
{
_channel = channel;
}
/**
* Update subscriptions and send message if necessary
*/
int
MavlinkStream::update(const hrt_abstime t)
{
uint64_t dt = t - _last_sent;
if (dt > 0 && dt >= _interval) {
/* interval expired, send message */
send(t);
_last_sent = (t / _interval) * _interval;
}
}
src/modules/mavlink/mavlink_stream.h
+76
View File
@@ -0,0 +1,76 @@
/****************************************************************************
*
* 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 mavlink_stream.cpp
* Mavlink messages stream definition.
*
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#ifndef MAVLINK_STREAM_H_
#define MAVLINK_STREAM_H_
#include <drivers/drv_hrt.h>
class Mavlink;
class MavlinkStream;
#include "mavlink_main.h"
class MavlinkStream
{
private:
hrt_abstime _last_sent;
protected:
mavlink_channel_t _channel;
unsigned int _interval;
virtual void send(const hrt_abstime t) = 0;
public:
MavlinkStream *next;
MavlinkStream();
~MavlinkStream();
void set_interval(const unsigned int interval);
void set_channel(mavlink_channel_t channel);
int update(const hrt_abstime t);
virtual MavlinkStream *new_instance() = 0;
virtual void subscribe(Mavlink *mavlink) = 0;
virtual const char *get_name() = 0;
};
#endif /* MAVLINK_STREAM_H_ */

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