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Merge remote-tracking branch 'upstream/master' into io

Browse Source 
Fixed Conflicts:
	apps/multirotor_att_control/multirotor_att_control_main.c

rc loss failsafe throttle tested
This commit is contained in:
Julian Oes
2012-11-15 11:55:55 -08:00
parent b7c6a11e67 3016ae72a3
commit 33e750602a
26 changed files with 560 additions and 323 deletions
Download Patch File Download Diff File Expand all files Collapse all files
apps/drivers/drv_accel.h
+3
View File
@@ -115,4 +115,7 @@ ORB_DECLARE(sensor_accel);
/** get the current accel measurement range in g */
#define ACCELIOCGRANGE _ACCELIOC(8)
/** get the result of a sensor self-test */
#define ACCELIOCSELFTEST _ACCELIOC(9)
#endif /* _DRV_ACCEL_H */
apps/drivers/drv_gyro.h
+3
View File
@@ -111,4 +111,7 @@ ORB_DECLARE(sensor_gyro);
/** get the current gyro measurement range in degrees per second */
#define GYROIOCGRANGE _GYROIOC(7)
/** check the status of the sensor */
#define GYROIOCSELFTEST _GYROIOC(8)
#endif /* _DRV_GYRO_H */
apps/drivers/drv_led.h
+3 -3
View File
@@ -47,9 +47,9 @@
#define _LED_BASE 0x2800
/* PX4 LED colour codes */
#define LED_AMBER 0
#define LED_RED 0 /* some boards have red rather than amber */
#define LED_BLUE 1
#define LED_AMBER 1
#define LED_RED 1 /* some boards have red rather than amber */
#define LED_BLUE 0
#define LED_SAFETY 2
#define LED_ON _IOC(_LED_BASE, 0)
apps/drivers/drv_mag.h
+3
View File
@@ -108,4 +108,7 @@ ORB_DECLARE(sensor_mag);
/** excite strap */
#define MAGIOCEXSTRAP _MAGIOC(6)
/** perform self test and report status */
#define MAGIOCSELFTEST _MAGIOC(7)
#endif /* _DRV_MAG_H */
apps/drivers/hmc5883/hmc5883.cpp
+24 -13
View File
@@ -634,6 +634,7 @@ HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg)
case MAGIOCSSCALE:
/* set new scale factors */
memcpy(&_scale, (mag_scale *)arg, sizeof(_scale));
/* check calibration, but not actually return an error */
(void)check_calibration();
return 0;
@@ -648,6 +649,9 @@ HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg)
case MAGIOCEXSTRAP:
return set_excitement(arg);
case MAGIOCSELFTEST:
return check_calibration();
default:
/* give it to the superclass */
return I2C::ioctl(filp, cmd, arg);
@@ -1012,7 +1016,12 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
out:
if (ret == OK) {
warnx("mag scale calibration successfully finished.");
if (!check_calibration()) {
warnx("mag scale calibration successfully finished.");
} else {
warnx("mag scale calibration finished with invalid results.");
ret == ERROR;
}
} else {
warnx("mag scale calibration failed.");
@@ -1025,27 +1034,27 @@ int HMC5883::check_calibration()
{
bool scale_valid, offset_valid;
if ((-2.0f * FLT_EPSILON + 1.0f < _scale.x_scale && _scale.x_scale < 2.0f * FLT_EPSILON + 1.0f) &&
(-2.0f * FLT_EPSILON + 1.0f < _scale.y_scale && _scale.y_scale < 2.0f * FLT_EPSILON + 1.0f) &&
(-2.0f * FLT_EPSILON + 1.0f < _scale.z_scale && _scale.z_scale < 2.0f * FLT_EPSILON + 1.0f)) {
/* scale is different from one */
scale_valid = true;
} else {
if ((-FLT_EPSILON + 1.0f < _scale.x_scale && _scale.x_scale < FLT_EPSILON + 1.0f) &&
(-FLT_EPSILON + 1.0f < _scale.y_scale && _scale.y_scale < FLT_EPSILON + 1.0f) &&
(-FLT_EPSILON + 1.0f < _scale.z_scale && _scale.z_scale < FLT_EPSILON + 1.0f)) {
/* scale is one */
scale_valid = false;
} else {
scale_valid = true;
}
if ((-2.0f * FLT_EPSILON < _scale.x_offset && _scale.x_offset < 2.0f * FLT_EPSILON) &&
(-2.0f * FLT_EPSILON < _scale.y_offset && _scale.y_offset < 2.0f * FLT_EPSILON) &&
(-2.0f * FLT_EPSILON < _scale.z_offset && _scale.z_offset < 2.0f * FLT_EPSILON)) {
/* offset is different from zero */
offset_valid = true;
} else {
/* offset is zero */
offset_valid = false;
} else {
offset_valid = true;
}
if (_calibrated != (offset_valid && scale_valid)) {
warnx("warning: mag cal changed: %s%s", (scale_valid) ? "" : "scale invalid. ",
(offset_valid) ? "" : "offset invalid.");
warnx("mag cal status changed %s%s", (scale_valid) ? "" : "scale invalid ",
(offset_valid) ? "" : "offset invalid");
_calibrated = (offset_valid && scale_valid);
/* notify about state change */
struct subsystem_info_s info = {
@@ -1055,7 +1064,9 @@ int HMC5883::check_calibration()
SUBSYSTEM_TYPE_MAG};
orb_advert_t pub = orb_advertise(ORB_ID(subsystem_info), &info);
}
return 0;
/* return 0 if calibrated, 1 else */
return (!_calibrated);
}
int HMC5883::set_excitement(unsigned enable)
apps/drivers/mpu6000/mpu6000.cpp
+40 -4
View File
@@ -260,6 +260,13 @@ private:
*/
uint16_t swap16(uint16_t val) { return (val >> 8) | (val << 8); }
/**
* Self test
*
* @return 0 on success, 1 on failure
*/
int self_test();
};
/**
@@ -494,6 +501,17 @@ MPU6000::read(struct file *filp, char *buffer, size_t buflen)
return ret;
}
int
MPU6000::self_test()
{
if (_reads == 0) {
measure();
}
/* return 0 on success, 1 else */
return (_reads > 0) ? 0 : 1;
}
ssize_t
MPU6000::gyro_read(struct file *filp, char *buffer, size_t buflen)
{
@@ -592,9 +610,17 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
return -EINVAL;
case ACCELIOCSSCALE:
/* copy scale in */
memcpy(&_accel_scale, (struct accel_scale *) arg, sizeof(_accel_scale));
return OK;
{
/* copy scale, but only if off by a few percent */
struct accel_scale *s = (struct accel_scale *) arg;
float sum = s->x_scale + s->y_scale + s->z_scale;
if (sum > 2.0f && sum < 4.0f) {
memcpy(&_accel_scale, s, sizeof(_accel_scale));
return OK;
} else {
return -EINVAL;
}
}
case ACCELIOCGSCALE:
/* copy scale out */
@@ -609,6 +635,9 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
// _accel_range_rad_s = 8.0f * 9.81f;
return -EINVAL;
case ACCELIOCSELFTEST:
return self_test();
default:
/* give it to the superclass */
return SPI::ioctl(filp, cmd, arg);
@@ -656,6 +685,9 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
// _gyro_range_m_s2 = xx
return -EINVAL;
case GYROIOCSELFTEST:
return self_test();
default:
/* give it to the superclass */
return SPI::ioctl(filp, cmd, arg);
@@ -813,7 +845,11 @@ MPU6000::measure()
* Fetch the full set of measurements from the MPU6000 in one pass.
*/
mpu_report.cmd = DIR_READ | MPUREG_INT_STATUS;
transfer((uint8_t *)&mpu_report, ((uint8_t *)&mpu_report), sizeof(mpu_report));
if (OK != transfer((uint8_t *)&mpu_report, ((uint8_t *)&mpu_report), sizeof(mpu_report)))
return;
/* count measurement */
_reads++;
/*
* Convert from big to little endian