mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-16 23:57:34 +08:00
Merge branch 'master' into export-build
This commit is contained in:
px4dev
Executable → Regular
+586
-224
@@ -1,224 +1,586 @@
|
||||
% This Matlab Script can be used to import the binary logged values of the
|
||||
% PX4FMU into data that can be plotted and analyzed.
|
||||
|
||||
% Clear everything
|
||||
clc
|
||||
clear all
|
||||
close all
|
||||
|
||||
% Set the path to your sysvector.bin file here
|
||||
filePath = 'sysvector.bin';
|
||||
|
||||
% Work around a Matlab bug (not related to PX4)
|
||||
% where timestamps from 1.1.1970 do not allow to
|
||||
% read the file's size
|
||||
if ismac
|
||||
system('touch -t 201212121212.12 sysvector.bin');
|
||||
end
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||||
|
||||
%%%%%%%%%%%%%%%%%%%%%%%
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||||
% SYSTEM VECTOR
|
||||
%
|
||||
% //All measurements in NED frame
|
||||
%
|
||||
% uint64_t timestamp; //[us]
|
||||
% float gyro[3]; //[rad/s]
|
||||
% float accel[3]; //[m/s^2]
|
||||
% float mag[3]; //[gauss]
|
||||
% float baro; //pressure [millibar]
|
||||
% float baro_alt; //altitude above MSL [meter]
|
||||
% float baro_temp; //[degree celcius]
|
||||
% float control[4]; //roll, pitch, yaw [-1..1], thrust [0..1]
|
||||
% float actuators[8]; //motor 1-8, in motor units (PWM: 1000-2000,AR.Drone: 0-512)
|
||||
% float vbat; //battery voltage in [volt]
|
||||
% float bat_current - current drawn from battery at this time instant
|
||||
% float bat_discharged - discharged energy in mAh
|
||||
% float adc[4]; //ADC ports [volt]
|
||||
% float local_position[3]; //tangent plane mapping into x,y,z [m]
|
||||
% int32_t gps_raw_position[3]; //latitude [degrees] north, longitude [degrees] east, altitude above MSL [millimeter]
|
||||
% float attitude[3]; //pitch, roll, yaw [rad]
|
||||
% float rotMatrix[9]; //unitvectors
|
||||
% float actuator_control[4]; //unitvector
|
||||
% float optical_flow[4]; //roll, pitch, yaw [-1..1], thrust [0..1]
|
||||
% float diff_pressure; - pressure difference in millibar
|
||||
% float ind_airspeed;
|
||||
% float true_airspeed;
|
||||
|
||||
% Definition of the logged values
|
||||
logFormat{1} = struct('name', 'timestamp', 'bytes', 8, 'array', 1, 'precision', 'uint64', 'machineformat', 'ieee-le.l64');
|
||||
logFormat{2} = struct('name', 'gyro', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{3} = struct('name', 'accel', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{4} = struct('name', 'mag', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{5} = struct('name', 'baro', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{6} = struct('name', 'baro_alt', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{7} = struct('name', 'baro_temp', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{8} = struct('name', 'control', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le');
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||||
logFormat{9} = struct('name', 'actuators', 'bytes', 4, 'array', 8, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{10} = struct('name', 'vbat', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
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||||
logFormat{11} = struct('name', 'bat_current', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{12} = struct('name', 'bat_discharged', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{13} = struct('name', 'adc', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{14} = struct('name', 'local_position', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{15} = struct('name', 'gps_raw_position', 'bytes', 4, 'array', 3, 'precision', 'uint32', 'machineformat', 'ieee-le');
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logFormat{16} = struct('name', 'attitude', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
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||||
logFormat{17} = struct('name', 'rot_matrix', 'bytes', 4, 'array', 9, 'precision', 'float', 'machineformat', 'ieee-le');
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||||
logFormat{18} = struct('name', 'vicon_position', 'bytes', 4, 'array', 6, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{19} = struct('name', 'actuator_control', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{20} = struct('name', 'optical_flow', 'bytes', 4, 'array', 6, 'precision', 'float', 'machineformat', 'ieee-le');
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||||
logFormat{21} = struct('name', 'diff_pressure', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{22} = struct('name', 'ind_airspeed', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
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||||
logFormat{23} = struct('name', 'true_airspeed', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
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||||
% First get length of one line
|
||||
columns = length(logFormat);
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lineLength = 0;
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||||
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||||
for i=1:columns
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lineLength = lineLength + logFormat{i}.bytes * logFormat{i}.array;
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end
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||||
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||||
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||||
if exist(filePath, 'file')
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||||
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fileInfo = dir(filePath);
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fileSize = fileInfo.bytes;
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elements = int64(fileSize./(lineLength));
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fid = fopen(filePath, 'r');
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offset = 0;
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for i=1:columns
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% using fread with a skip speeds up the import drastically, do not
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% import the values one after the other
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sysvector.(genvarname(logFormat{i}.name)) = transpose(fread(...
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fid, ...
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[logFormat{i}.array, elements], [num2str(logFormat{i}.array),'*',logFormat{i}.precision,'=>',logFormat{i}.precision], ...
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||||
lineLength - logFormat{i}.bytes*logFormat{i}.array, ...
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||||
logFormat{i}.machineformat) ...
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);
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offset = offset + logFormat{i}.bytes*logFormat{i}.array;
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fseek(fid, offset,'bof');
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end
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% shot the flight time
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time_us = sysvector.timestamp(end) - sysvector.timestamp(1);
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time_s = time_us*1e-6;
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time_m = time_s/60;
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% close the logfile
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fclose(fid);
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disp(['end log2matlab conversion' char(10)]);
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else
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disp(['file: ' filePath ' does not exist' char(10)]);
|
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end
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%% Plot GPS RAW measurements
|
||||
|
||||
% Only plot GPS data if available
|
||||
if cumsum(double(sysvector.gps_raw_position(200:end,1))) > 0
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figure('units','normalized','outerposition',[0 0 1 1])
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plot3(sysvector.gps_raw_position(200:end,1), sysvector.gps_raw_position(200:end,2), sysvector.gps_raw_position(200:end,3));
|
||||
end
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||||
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||||
|
||||
%% Plot optical flow trajectory
|
||||
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||||
flow_sz = size(sysvector.timestamp);
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flow_elements = flow_sz(1);
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||||
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xt(1:flow_elements,1) = sysvector.timestamp(:,1); % time column [ms]
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||||
|
||||
|
||||
%calc dt
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dt = zeros(flow_elements,1);
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for i = 1:flow_elements-1
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||||
dt(i+1,1) = double(xt(i+1,1)-xt(i,1)) * 10^(-6); % timestep [s]
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||||
end
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||||
dt(1,1) = mean(dt);
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||||
|
||||
|
||||
global_speed = zeros(flow_elements,3);
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||||
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||||
%calc global speed (with rot matrix)
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for i = 1:flow_elements
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||||
rotM = [sysvector.rot_matrix(i,1:3);sysvector.rot_matrix(i,4:6);sysvector.rot_matrix(i,7:9)]';
|
||||
speedX = sysvector.optical_flow(i,3);
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||||
speedY = sysvector.optical_flow(i,4);
|
||||
|
||||
relSpeed = [-speedY,speedX,0];
|
||||
global_speed(i,:) = relSpeed * rotM;
|
||||
end
|
||||
|
||||
|
||||
|
||||
px = zeros(flow_elements,1);
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||||
py = zeros(flow_elements,1);
|
||||
distance = 0;
|
||||
|
||||
last_vx = 0;
|
||||
last_vy = 0;
|
||||
elem_cnt = 0;
|
||||
|
||||
% Very basic accumulation, stops on bad flow quality
|
||||
for i = 1:flow_elements
|
||||
if sysvector.optical_flow(i,6) > 5
|
||||
px(i,1) = global_speed(i,1)*dt(i,1);
|
||||
py(i,1) = global_speed(i,2)*dt(i,1);
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||||
distance = distance + norm([px(i,1) py(i,1)]);
|
||||
last_vx = px(i,1);
|
||||
last_vy = py(i,1);
|
||||
else
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||||
px(i,1) = last_vx;
|
||||
py(i,1) = last_vy;
|
||||
last_vx = last_vx*0.95;
|
||||
last_vy = last_vy*0.95;
|
||||
end
|
||||
end
|
||||
|
||||
px_sum = cumsum(px);
|
||||
py_sum = cumsum(py);
|
||||
time = cumsum(dt);
|
||||
|
||||
figure()
|
||||
set(gca, 'Units','normal');
|
||||
|
||||
plot(py_sum, px_sum, '-blue', 'LineWidth',2);
|
||||
axis equal;
|
||||
% set title and axis captions
|
||||
xlabel('X position (meters)','fontsize',14)
|
||||
ylabel('Y position (meters)','fontsize',14)
|
||||
% mark begin and end
|
||||
hold on
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||||
plot(py_sum(1,1),px_sum(1,1),'ks','LineWidth',2,...
|
||||
'MarkerEdgeColor','k',...
|
||||
'MarkerFaceColor','g',...
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||||
'MarkerSize',10)
|
||||
hold on
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||||
plot(py_sum(end,1),px_sum(end,1),'kv','LineWidth',2,...
|
||||
'MarkerEdgeColor','k',...
|
||||
'MarkerFaceColor','b',...
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||||
'MarkerSize',10)
|
||||
% add total length as annotation
|
||||
set(gca,'fontsize',13);
|
||||
legend('Trajectory', 'START', sprintf('END\n(%.2f m, %.0f:%.0f s)', distance, time_m, time_s - time_m*60));
|
||||
title('Optical Flow Position Integration', 'fontsize', 15);
|
||||
|
||||
figure()
|
||||
plot(time, sysvector.optical_flow(:,5), 'blue');
|
||||
axis([time(1,1) time(end,1) 0 (max(sysvector.optical_flow(i,5))+0.2)]);
|
||||
xlabel('seconds','fontsize',14);
|
||||
ylabel('m','fontsize',14);
|
||||
set(gca,'fontsize',13);
|
||||
title('Ultrasound Altitude', 'fontsize', 15);
|
||||
|
||||
|
||||
figure()
|
||||
plot(time, global_speed(:,2), 'red');
|
||||
hold on;
|
||||
plot(time, global_speed(:,1), 'blue');
|
||||
legend('y velocity (m/s)', 'x velocity (m/s)');
|
||||
xlabel('seconds','fontsize',14);
|
||||
ylabel('m/s','fontsize',14);
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||||
set(gca,'fontsize',13);
|
||||
title('Optical Flow Velocity', 'fontsize', 15);
|
||||
% This Matlab Script can be used to import the binary logged values of the
|
||||
% PX4FMU into data that can be plotted and analyzed.
|
||||
|
||||
%% ************************************************************************
|
||||
% PX4LOG_PLOTSCRIPT: Main function
|
||||
% ************************************************************************
|
||||
function PX4Log_Plotscript
|
||||
|
||||
% Clear everything
|
||||
clc
|
||||
clear all
|
||||
close all
|
||||
|
||||
% ************************************************************************
|
||||
% SETTINGS
|
||||
% ************************************************************************
|
||||
|
||||
% Set the path to your sysvector.bin file here
|
||||
filePath = 'sysvector.bin';
|
||||
|
||||
% Set the minimum and maximum times to plot here [in seconds]
|
||||
mintime=0; %The minimum time/timestamp to display, as set by the user [0 for first element / start]
|
||||
maxtime=0; %The maximum time/timestamp to display, as set by the user [0 for last element / end]
|
||||
|
||||
%Determine which data to plot. Not completely implemented yet.
|
||||
bDisplayGPS=true;
|
||||
|
||||
%conversion factors
|
||||
fconv_gpsalt=1E-3; %[mm] to [m]
|
||||
fconv_gpslatlong=1E-7; %[gps_raw_position_unit] to [deg]
|
||||
fconv_timestamp=1E-6; % [microseconds] to [seconds]
|
||||
|
||||
% ************************************************************************
|
||||
% Import the PX4 logs
|
||||
% ************************************************************************
|
||||
ImportPX4LogData();
|
||||
|
||||
%Translate min and max plot times to indices
|
||||
time=double(sysvector.timestamp) .*fconv_timestamp;
|
||||
mintime_log=time(1); %The minimum time/timestamp found in the log
|
||||
maxtime_log=time(end); %The maximum time/timestamp found in the log
|
||||
CurTime=mintime_log; %The current time at which to draw the aircraft position
|
||||
|
||||
[imintime,imaxtime]=FindMinMaxTimeIndices();
|
||||
|
||||
% ************************************************************************
|
||||
% PLOT & GUI SETUP
|
||||
% ************************************************************************
|
||||
NrFigures=5;
|
||||
NrAxes=10;
|
||||
h.figures(1:NrFigures)=0.0; % Temporary initialization of figure handle array - these are numbered consecutively
|
||||
h.axes(1:NrAxes)=0.0; % Temporary initialization of axes handle array - these are numbered consecutively
|
||||
h.pathpoints=[]; % Temporary initiliazation of path points
|
||||
|
||||
% Setup the GUI to control the plots
|
||||
InitControlGUI();
|
||||
% Setup the plotting-GUI (figures, axes) itself.
|
||||
InitPlotGUI();
|
||||
|
||||
% ************************************************************************
|
||||
% DRAW EVERYTHING
|
||||
% ************************************************************************
|
||||
DrawRawData();
|
||||
DrawCurrentAircraftState();
|
||||
|
||||
%% ************************************************************************
|
||||
% *** END OF MAIN SCRIPT ***
|
||||
% NESTED FUNCTION DEFINTIONS FROM HERE ON
|
||||
% ************************************************************************
|
||||
|
||||
|
||||
%% ************************************************************************
|
||||
% IMPORTPX4LOGDATA (nested function)
|
||||
% ************************************************************************
|
||||
% Attention: This is the import routine for firmware from ca. 03/2013.
|
||||
% Other firmware versions might require different import
|
||||
% routines.
|
||||
|
||||
function ImportPX4LogData()
|
||||
% Work around a Matlab bug (not related to PX4)
|
||||
% where timestamps from 1.1.1970 do not allow to
|
||||
% read the file's size
|
||||
if ismac
|
||||
system('touch -t 201212121212.12 sysvector.bin');
|
||||
end
|
||||
|
||||
% ************************************************************************
|
||||
% RETRIEVE SYSTEM VECTOR
|
||||
% *************************************************************************
|
||||
% //All measurements in NED frame
|
||||
%
|
||||
% uint64_t timestamp; //[us]
|
||||
% float gyro[3]; //[rad/s]
|
||||
% float accel[3]; //[m/s^2]
|
||||
% float mag[3]; //[gauss]
|
||||
% float baro; //pressure [millibar]
|
||||
% float baro_alt; //altitude above MSL [meter]
|
||||
% float baro_temp; //[degree celcius]
|
||||
% float control[4]; //roll, pitch, yaw [-1..1], thrust [0..1]
|
||||
% float actuators[8]; //motor 1-8, in motor units (PWM: 1000-2000,AR.Drone: 0-512)
|
||||
% float vbat; //battery voltage in [volt]
|
||||
% float bat_current - current drawn from battery at this time instant
|
||||
% float bat_discharged - discharged energy in mAh
|
||||
% float adc[4]; //remaining auxiliary ADC ports [volt]
|
||||
% float local_position[3]; //tangent plane mapping into x,y,z [m]
|
||||
% int32_t gps_raw_position[3]; //latitude [degrees] north, longitude [degrees] east, altitude above MSL [millimeter]
|
||||
% float attitude[3]; //pitch, roll, yaw [rad]
|
||||
% float rotMatrix[9]; //unitvectors
|
||||
% float actuator_control[4]; //unitvector
|
||||
% float optical_flow[4]; //roll, pitch, yaw [-1..1], thrust [0..1]
|
||||
% float diff_pressure; - pressure difference in millibar
|
||||
% float ind_airspeed;
|
||||
% float true_airspeed;
|
||||
|
||||
% Definition of the logged values
|
||||
logFormat{1} = struct('name', 'timestamp', 'bytes', 8, 'array', 1, 'precision', 'uint64', 'machineformat', 'ieee-le.l64');
|
||||
logFormat{2} = struct('name', 'gyro', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{3} = struct('name', 'accel', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{4} = struct('name', 'mag', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{5} = struct('name', 'baro', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{6} = struct('name', 'baro_alt', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{7} = struct('name', 'baro_temp', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{8} = struct('name', 'control', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{9} = struct('name', 'actuators', 'bytes', 4, 'array', 8, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{10} = struct('name', 'vbat', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{11} = struct('name', 'bat_current', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{12} = struct('name', 'bat_discharged', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{13} = struct('name', 'adc', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{14} = struct('name', 'local_position', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{15} = struct('name', 'gps_raw_position', 'bytes', 4, 'array', 3, 'precision', 'uint32', 'machineformat', 'ieee-le');
|
||||
logFormat{16} = struct('name', 'attitude', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{17} = struct('name', 'rot_matrix', 'bytes', 4, 'array', 9, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{18} = struct('name', 'vicon_position', 'bytes', 4, 'array', 6, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{19} = struct('name', 'actuator_control', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{20} = struct('name', 'optical_flow', 'bytes', 4, 'array', 6, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{21} = struct('name', 'diff_pressure', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{22} = struct('name', 'ind_airspeed', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{23} = struct('name', 'true_airspeed', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
|
||||
% First get length of one line
|
||||
columns = length(logFormat);
|
||||
lineLength = 0;
|
||||
|
||||
for i=1:columns
|
||||
lineLength = lineLength + logFormat{i}.bytes * logFormat{i}.array;
|
||||
end
|
||||
|
||||
|
||||
if exist(filePath, 'file')
|
||||
|
||||
fileInfo = dir(filePath);
|
||||
fileSize = fileInfo.bytes;
|
||||
|
||||
elements = int64(fileSize./(lineLength));
|
||||
|
||||
fid = fopen(filePath, 'r');
|
||||
offset = 0;
|
||||
for i=1:columns
|
||||
% using fread with a skip speeds up the import drastically, do not
|
||||
% import the values one after the other
|
||||
sysvector.(genvarname(logFormat{i}.name)) = transpose(fread(...
|
||||
fid, ...
|
||||
[logFormat{i}.array, elements], [num2str(logFormat{i}.array),'*',logFormat{i}.precision,'=>',logFormat{i}.precision], ...
|
||||
lineLength - logFormat{i}.bytes*logFormat{i}.array, ...
|
||||
logFormat{i}.machineformat) ...
|
||||
);
|
||||
offset = offset + logFormat{i}.bytes*logFormat{i}.array;
|
||||
fseek(fid, offset,'bof');
|
||||
end
|
||||
|
||||
% shot the flight time
|
||||
time_us = sysvector.timestamp(end) - sysvector.timestamp(1);
|
||||
time_s = time_us*1e-6;
|
||||
time_m = time_s/60;
|
||||
|
||||
% close the logfile
|
||||
fclose(fid);
|
||||
|
||||
disp(['end log2matlab conversion' char(10)]);
|
||||
else
|
||||
disp(['file: ' filePath ' does not exist' char(10)]);
|
||||
end
|
||||
end
|
||||
|
||||
%% ************************************************************************
|
||||
% INITCONTROLGUI (nested function)
|
||||
% ************************************************************************
|
||||
%Setup central control GUI components to control current time where data is shown
|
||||
function InitControlGUI()
|
||||
%**********************************************************************
|
||||
% GUI size definitions
|
||||
%**********************************************************************
|
||||
dxy=5; %margins
|
||||
%Panel: Plotctrl
|
||||
dlabels=120;
|
||||
dsliders=200;
|
||||
dedits=80;
|
||||
hslider=20;
|
||||
|
||||
hpanel1=40; %panel1
|
||||
hpanel2=220;%panel2
|
||||
hpanel3=3*hslider+4*dxy+3*dxy;%panel3.
|
||||
|
||||
width=dlabels+dsliders+dedits+4*dxy+2*dxy; %figure width
|
||||
height=hpanel1+hpanel2+hpanel3+4*dxy; %figure height
|
||||
|
||||
%**********************************************************************
|
||||
% Create GUI
|
||||
%**********************************************************************
|
||||
h.figures(1)=figure('Units','pixels','position',[200 200 width height],'Name','Control GUI');
|
||||
h.guistatepanel=uipanel('Title','Current GUI state','Units','pixels','Position',[dxy dxy width-2*dxy hpanel1],'parent',h.figures(1));
|
||||
h.aircraftstatepanel=uipanel('Title','Current aircraft state','Units','pixels','Position',[dxy hpanel1+2*dxy width-2*dxy hpanel2],'parent',h.figures(1));
|
||||
h.plotctrlpanel=uipanel('Title','Plot Control','Units','pixels','Position',[dxy hpanel1+hpanel2+3*dxy width-2*dxy hpanel3],'parent',h.figures(1));
|
||||
|
||||
%%Control GUI-elements
|
||||
%Slider: Current time
|
||||
h.labels.CurTime=uicontrol(gcf,'style','text','Position',[dxy dxy dlabels hslider],'String','Current time t[s]:','parent',h.plotctrlpanel,'HorizontalAlignment','left');
|
||||
h.sliders.CurTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels dxy dsliders hslider],...
|
||||
'min',mintime,'max',maxtime,'value',mintime,'callback',@curtime_callback,'parent',h.plotctrlpanel);
|
||||
temp=get(h.sliders.CurTime,'Max')-get(h.sliders.CurTime,'Min');
|
||||
set(h.sliders.CurTime,'SliderStep',[1.0/temp 5.0/temp]);
|
||||
h.edits.CurTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders dxy dedits hslider],'String',get(h.sliders.CurTime,'value'),...
|
||||
'BackgroundColor','white','callback',@curtime_callback,'parent',h.plotctrlpanel);
|
||||
|
||||
%Slider: MaxTime
|
||||
h.labels.MaxTime=uicontrol(gcf,'style','text','position',[dxy 2*dxy+hslider dlabels hslider],'String','Max. time t[s] to display:','parent',h.plotctrlpanel,'HorizontalAlignment','left');
|
||||
h.sliders.MaxTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels 2*dxy+hslider dsliders hslider],...
|
||||
'min',mintime_log,'max',maxtime_log,'value',maxtime,'callback',@minmaxtime_callback,'parent',h.plotctrlpanel);
|
||||
h.edits.MaxTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders 2*dxy+hslider dedits hslider],'String',get(h.sliders.MaxTime,'value'),...
|
||||
'BackgroundColor','white','callback',@minmaxtime_callback,'parent',h.plotctrlpanel);
|
||||
|
||||
%Slider: MinTime
|
||||
h.labels.MinTime=uicontrol(gcf,'style','text','position',[dxy 3*dxy+2*hslider dlabels hslider],'String','Min. time t[s] to dispay :','parent',h.plotctrlpanel,'HorizontalAlignment','left');
|
||||
h.sliders.MinTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels 3*dxy+2*hslider dsliders hslider],...
|
||||
'min',mintime_log,'max',maxtime_log,'value',mintime,'callback',@minmaxtime_callback,'parent',h.plotctrlpanel);
|
||||
h.edits.MinTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders 3*dxy+2*hslider dedits hslider],'String',get(h.sliders.MinTime,'value'),...
|
||||
'BackgroundColor','white','callback',@minmaxtime_callback,'parent',h.plotctrlpanel);
|
||||
|
||||
%%Current data/state GUI-elements (Multiline-edit-box)
|
||||
h.edits.AircraftState=uicontrol(gcf,'style','edit','Units','normalized','position',[.02 .02 0.96 0.96],'Min',1,'Max',10,'String','This shows the current aircraft state',...
|
||||
'HorizontalAlignment','left','parent',h.aircraftstatepanel);
|
||||
|
||||
h.labels.GUIState=uicontrol(gcf,'style','text','Units','pixels','position',[dxy dxy width-4*dxy hslider],'String','Current state of this GUI',...
|
||||
'HorizontalAlignment','left','parent',h.guistatepanel);
|
||||
|
||||
end
|
||||
|
||||
%% ************************************************************************
|
||||
% INITPLOTGUI (nested function)
|
||||
% ************************************************************************
|
||||
function InitPlotGUI()
|
||||
|
||||
% Setup handles to lines and text
|
||||
h.markertext=[];
|
||||
templinehandle=0.0;%line([0 1],[0 5]); % Just a temporary handle to init array
|
||||
h.markerline(1:NrAxes)=templinehandle; % the actual handle-array to the lines - these are numbered consecutively
|
||||
h.markerline(1:NrAxes)=0.0;
|
||||
|
||||
% Setup all other figures and axes for plotting
|
||||
% PLOT WINDOW 1: GPS POSITION
|
||||
h.figures(2)=figure('units','normalized','Toolbar','figure', 'Name', 'GPS Position');
|
||||
h.axes(1)=axes();
|
||||
set(h.axes(1),'Parent',h.figures(2));
|
||||
|
||||
% PLOT WINDOW 2: IMU, baro altitude
|
||||
h.figures(3)=figure('Name', 'IMU / Baro Altitude');
|
||||
h.axes(2)=subplot(4,1,1);
|
||||
h.axes(3)=subplot(4,1,2);
|
||||
h.axes(4)=subplot(4,1,3);
|
||||
h.axes(5)=subplot(4,1,4);
|
||||
set(h.axes(2:5),'Parent',h.figures(3));
|
||||
|
||||
% PLOT WINDOW 3: ATTITUDE ESTIMATE, ACTUATORS/CONTROLS, AIRSPEEDS,...
|
||||
h.figures(4)=figure('Name', 'Attitude Estimate / Actuators / Airspeeds');
|
||||
h.axes(6)=subplot(4,1,1);
|
||||
h.axes(7)=subplot(4,1,2);
|
||||
h.axes(8)=subplot(4,1,3);
|
||||
h.axes(9)=subplot(4,1,4);
|
||||
set(h.axes(6:9),'Parent',h.figures(4));
|
||||
|
||||
% PLOT WINDOW 4: LOG STATS
|
||||
h.figures(5) = figure('Name', 'Log Statistics');
|
||||
h.axes(10)=subplot(1,1,1);
|
||||
set(h.axes(10:10),'Parent',h.figures(5));
|
||||
|
||||
end
|
||||
|
||||
%% ************************************************************************
|
||||
% DRAWRAWDATA (nested function)
|
||||
% ************************************************************************
|
||||
%Draws the raw data from the sysvector, but does not add any
|
||||
%marker-lines or so
|
||||
function DrawRawData()
|
||||
% ************************************************************************
|
||||
% PLOT WINDOW 1: GPS POSITION & GUI
|
||||
% ************************************************************************
|
||||
figure(h.figures(2));
|
||||
% Only plot GPS data if available
|
||||
if (sum(double(sysvector.gps_raw_position(imintime:imaxtime,1)))>0) && (bDisplayGPS)
|
||||
%Draw data
|
||||
plot3(h.axes(1),double(sysvector.gps_raw_position(imintime:imaxtime,1))*fconv_gpslatlong, ...
|
||||
double(sysvector.gps_raw_position(imintime:imaxtime,2))*fconv_gpslatlong, ...
|
||||
double(sysvector.gps_raw_position(imintime:imaxtime,3))*fconv_gpsalt,'r.');
|
||||
title(h.axes(1),'GPS Position Data(if available)');
|
||||
xlabel(h.axes(1),'Latitude [deg]');
|
||||
ylabel(h.axes(1),'Longitude [deg]');
|
||||
zlabel(h.axes(1),'Altitude above MSL [m]');
|
||||
grid on
|
||||
|
||||
%Reset path
|
||||
h.pathpoints=0;
|
||||
end
|
||||
|
||||
% ************************************************************************
|
||||
% PLOT WINDOW 2: IMU, baro altitude
|
||||
% ************************************************************************
|
||||
figure(h.figures(3));
|
||||
plot(h.axes(2),time(imintime:imaxtime),sysvector.mag(imintime:imaxtime,:));
|
||||
title(h.axes(2),'Magnetometers [Gauss]');
|
||||
legend(h.axes(2),'x','y','z');
|
||||
plot(h.axes(3),time(imintime:imaxtime),sysvector.accel(imintime:imaxtime,:));
|
||||
title(h.axes(3),'Accelerometers [m/s²]');
|
||||
legend(h.axes(3),'x','y','z');
|
||||
plot(h.axes(4),time(imintime:imaxtime),sysvector.gyro(imintime:imaxtime,:));
|
||||
title(h.axes(4),'Gyroscopes [rad/s]');
|
||||
legend(h.axes(4),'x','y','z');
|
||||
plot(h.axes(5),time(imintime:imaxtime),sysvector.baro_alt(imintime:imaxtime),'color','blue');
|
||||
if(bDisplayGPS)
|
||||
hold on;
|
||||
plot(h.axes(5),time(imintime:imaxtime),double(sysvector.gps_raw_position(imintime:imaxtime,3)).*fconv_gpsalt,'color','red');
|
||||
hold off
|
||||
legend('Barometric Altitude [m]','GPS Altitude [m]');
|
||||
else
|
||||
legend('Barometric Altitude [m]');
|
||||
end
|
||||
title(h.axes(5),'Altitude above MSL [m]');
|
||||
|
||||
% ************************************************************************
|
||||
% PLOT WINDOW 3: ATTITUDE ESTIMATE, ACTUATORS/CONTROLS, AIRSPEEDS,...
|
||||
% ************************************************************************
|
||||
figure(h.figures(4));
|
||||
%Attitude Estimate
|
||||
plot(h.axes(6),time(imintime:imaxtime), sysvector.attitude(imintime:imaxtime,:).*180./3.14159);
|
||||
title(h.axes(6),'Estimated attitude [deg]');
|
||||
legend(h.axes(6),'roll','pitch','yaw');
|
||||
%Actuator Controls
|
||||
plot(h.axes(7),time(imintime:imaxtime), sysvector.actuator_control(imintime:imaxtime,:));
|
||||
title(h.axes(7),'Actuator control [-]');
|
||||
legend(h.axes(7),'0','1','2','3');
|
||||
%Actuator Controls
|
||||
plot(h.axes(8),time(imintime:imaxtime), sysvector.actuators(imintime:imaxtime,1:8));
|
||||
title(h.axes(8),'Actuator PWM (raw-)outputs [µs]');
|
||||
legend(h.axes(8),'CH1','CH2','CH3','CH4','CH5','CH6','CH7','CH8');
|
||||
set(h.axes(8), 'YLim',[800 2200]);
|
||||
%Airspeeds
|
||||
plot(h.axes(9),time(imintime:imaxtime), sysvector.ind_airspeed(imintime:imaxtime));
|
||||
hold on
|
||||
plot(h.axes(9),time(imintime:imaxtime), sysvector.true_airspeed(imintime:imaxtime));
|
||||
hold off
|
||||
%add GPS total airspeed here
|
||||
title(h.axes(9),'Airspeed [m/s]');
|
||||
legend(h.axes(9),'Indicated Airspeed (IAS)','True Airspeed (TAS)','GPS Airspeed');
|
||||
%calculate time differences and plot them
|
||||
intervals = zeros(0,imaxtime - imintime);
|
||||
for k = imintime+1:imaxtime
|
||||
intervals(k) = time(k) - time(k-1);
|
||||
end
|
||||
plot(h.axes(10), time(imintime:imaxtime), intervals);
|
||||
|
||||
%Set same timescale for all plots
|
||||
for i=2:NrAxes
|
||||
set(h.axes(i),'XLim',[mintime maxtime]);
|
||||
end
|
||||
|
||||
set(h.labels.GUIState,'String','OK','BackgroundColor',[240/255 240/255 240/255]);
|
||||
end
|
||||
|
||||
%% ************************************************************************
|
||||
% DRAWCURRENTAIRCRAFTSTATE(nested function)
|
||||
% ************************************************************************
|
||||
function DrawCurrentAircraftState()
|
||||
%find current data index
|
||||
i=find(time>=CurTime,1,'first');
|
||||
|
||||
%**********************************************************************
|
||||
% Current aircraft state label update
|
||||
%**********************************************************************
|
||||
acstate{1,:}=[sprintf('%s \t\t','GPS Pos:'),'[lat=',num2str(double(sysvector.gps_raw_position(i,1))*fconv_gpslatlong),'°, ',...
|
||||
'lon=',num2str(double(sysvector.gps_raw_position(i,2))*fconv_gpslatlong),'°, ',...
|
||||
'alt=',num2str(double(sysvector.gps_raw_position(i,3))*fconv_gpsalt),'m]'];
|
||||
acstate{2,:}=[sprintf('%s \t\t','Mags[gauss]'),'[x=',num2str(sysvector.mag(i,1)),...
|
||||
', y=',num2str(sysvector.mag(i,2)),...
|
||||
', z=',num2str(sysvector.mag(i,3)),']'];
|
||||
acstate{3,:}=[sprintf('%s \t\t','Accels[m/s²]'),'[x=',num2str(sysvector.accel(i,1)),...
|
||||
', y=',num2str(sysvector.accel(i,2)),...
|
||||
', z=',num2str(sysvector.accel(i,3)),']'];
|
||||
acstate{4,:}=[sprintf('%s \t\t','Gyros[rad/s]'),'[x=',num2str(sysvector.gyro(i,1)),...
|
||||
', y=',num2str(sysvector.gyro(i,2)),...
|
||||
', z=',num2str(sysvector.gyro(i,3)),']'];
|
||||
acstate{5,:}=[sprintf('%s \t\t','Altitude[m]'),'[Barometric: ',num2str(sysvector.baro_alt(i)),'m, GPS: ',num2str(double(sysvector.gps_raw_position(i,3))*fconv_gpsalt),'m]'];
|
||||
acstate{6,:}=[sprintf('%s \t','Est. attitude[deg]:'),'[Roll=',num2str(sysvector.attitude(i,1).*180./3.14159),...
|
||||
', Pitch=',num2str(sysvector.attitude(i,2).*180./3.14159),...
|
||||
', Yaw=',num2str(sysvector.attitude(i,3).*180./3.14159),']'];
|
||||
acstate{7,:}=sprintf('%s \t[','Actuator Ctrls [-]:');
|
||||
for j=1:4
|
||||
acstate{7,:}=[acstate{7,:},num2str(sysvector.actuator_control(i,j)),','];
|
||||
end
|
||||
acstate{7,:}=[acstate{7,:},']'];
|
||||
acstate{8,:}=sprintf('%s \t[','Actuator Outputs [PWM/µs]:');
|
||||
for j=1:8
|
||||
acstate{8,:}=[acstate{8,:},num2str(sysvector.actuators(i,j)),','];
|
||||
end
|
||||
acstate{8,:}=[acstate{8,:},']'];
|
||||
acstate{9,:}=[sprintf('%s \t','Airspeed[m/s]:'),'[IAS: ',num2str(sysvector.ind_airspeed(i)),', TAS: ',num2str(sysvector.true_airspeed(i)),']'];
|
||||
|
||||
set(h.edits.AircraftState,'String',acstate);
|
||||
|
||||
%**********************************************************************
|
||||
% GPS Plot Update
|
||||
%**********************************************************************
|
||||
%Plot traveled path, and and time.
|
||||
figure(h.figures(2));
|
||||
hold on;
|
||||
if(CurTime>mintime+1) %the +1 is only a small bugfix
|
||||
h.pathline=plot3(h.axes(1),double(sysvector.gps_raw_position(imintime:i,1))*fconv_gpslatlong, ...
|
||||
double(sysvector.gps_raw_position(imintime:i,2))*fconv_gpslatlong, ...
|
||||
double(sysvector.gps_raw_position(imintime:i,3))*fconv_gpsalt,'b','LineWidth',2);
|
||||
end;
|
||||
hold off
|
||||
%Plot current position
|
||||
newpoint=[double(sysvector.gps_raw_position(i,1))*fconv_gpslatlong double(sysvector.gps_raw_position(i,2))*fconv_gpslatlong double(sysvector.gps_raw_position(i,3))*fconv_gpsalt];
|
||||
if(numel(h.pathpoints)<=3) %empty path
|
||||
h.pathpoints(1,1:3)=newpoint;
|
||||
else %Not empty, append new point
|
||||
h.pathpoints(size(h.pathpoints,1)+1,:)=newpoint;
|
||||
end
|
||||
axes(h.axes(1));
|
||||
line(h.pathpoints(:,1),h.pathpoints(:,2),h.pathpoints(:,3),'LineStyle','none','Marker','.','MarkerEdge','black','MarkerSize',20);
|
||||
|
||||
|
||||
% Plot current time (small label next to current gps position)
|
||||
textdesc=strcat(' t=',num2str(time(i)),'s');
|
||||
if(isvalidhandle(h.markertext))
|
||||
delete(h.markertext); %delete old text
|
||||
end
|
||||
h.markertext=text(double(sysvector.gps_raw_position(i,1))*fconv_gpslatlong,double(sysvector.gps_raw_position(i,2))*fconv_gpslatlong,...
|
||||
double(sysvector.gps_raw_position(i,3))*fconv_gpsalt,textdesc);
|
||||
set(h.edits.CurTime,'String',CurTime);
|
||||
|
||||
%**********************************************************************
|
||||
% Plot the lines showing the current time in the 2-d plots
|
||||
%**********************************************************************
|
||||
for i=2:NrAxes
|
||||
if(isvalidhandle(h.markerline(i))) delete(h.markerline(i)); end
|
||||
ylims=get(h.axes(i),'YLim');
|
||||
h.markerline(i)=line([CurTime CurTime] ,get(h.axes(i),'YLim'),'Color','black');
|
||||
set(h.markerline(i),'parent',h.axes(i));
|
||||
end
|
||||
|
||||
set(h.labels.GUIState,'String','OK','BackgroundColor',[240/255 240/255 240/255]);
|
||||
end
|
||||
|
||||
%% ************************************************************************
|
||||
% MINMAXTIME CALLBACK (nested function)
|
||||
% ************************************************************************
|
||||
function minmaxtime_callback(hObj,event) %#ok<INUSL>
|
||||
new_mintime=get(h.sliders.MinTime,'Value');
|
||||
new_maxtime=get(h.sliders.MaxTime,'Value');
|
||||
|
||||
%Safety checks:
|
||||
bErr=false;
|
||||
%1: mintime must be < maxtime
|
||||
if((new_mintime>maxtime) || (new_maxtime<mintime))
|
||||
set(h.labels.GUIState,'String','Error: Mintime cannot be bigger than maxtime! Values were not changed.','BackgroundColor','red');
|
||||
bErr=true;
|
||||
else
|
||||
%2: MinTime must be <=CurTime
|
||||
if(new_mintime>CurTime)
|
||||
set(h.labels.GUIState,'String','Error: Mintime cannot be bigger than CurTime! CurTime set to new mintime.','BackgroundColor','red');
|
||||
mintime=new_mintime;
|
||||
CurTime=mintime;
|
||||
bErr=true;
|
||||
end
|
||||
%3: MaxTime must be >CurTime
|
||||
if(new_maxtime<CurTime)
|
||||
set(h.labels.GUIState,'String','Error: Maxtime cannot be smaller than CurTime! CurTime set to new maxtime.','BackgroundColor','red');
|
||||
maxtime=new_maxtime;
|
||||
CurTime=maxtime;
|
||||
bErr=true;
|
||||
end
|
||||
end
|
||||
|
||||
if(bErr==false)
|
||||
maxtime=new_maxtime;
|
||||
mintime=new_mintime;
|
||||
end
|
||||
|
||||
%Needs to be done in case values were reset above
|
||||
set(h.sliders.MinTime,'Value',mintime);
|
||||
set(h.sliders.MaxTime,'Value',maxtime);
|
||||
|
||||
%Update curtime-slider
|
||||
set(h.sliders.CurTime,'Value',CurTime);
|
||||
set(h.sliders.CurTime,'Max',maxtime);
|
||||
set(h.sliders.CurTime,'Min',mintime);
|
||||
temp=get(h.sliders.CurTime,'Max')-get(h.sliders.CurTime,'Min');
|
||||
set(h.sliders.CurTime,'SliderStep',[1.0/temp 5.0/temp]); %Set Stepsize to constant [in seconds]
|
||||
|
||||
%update edit fields
|
||||
set(h.edits.CurTime,'String',get(h.sliders.CurTime,'Value'));
|
||||
set(h.edits.MinTime,'String',get(h.sliders.MinTime,'Value'));
|
||||
set(h.edits.MaxTime,'String',get(h.sliders.MaxTime,'Value'));
|
||||
|
||||
%Finally, we have to redraw. Update time indices first.
|
||||
[imintime,imaxtime]=FindMinMaxTimeIndices();
|
||||
DrawRawData(); %Rawdata only
|
||||
DrawCurrentAircraftState(); %path info & markers
|
||||
end
|
||||
|
||||
|
||||
%% ************************************************************************
|
||||
% CURTIME CALLBACK (nested function)
|
||||
% ************************************************************************
|
||||
function curtime_callback(hObj,event) %#ok<INUSL>
|
||||
%find current time
|
||||
if(hObj==h.sliders.CurTime)
|
||||
CurTime=get(h.sliders.CurTime,'Value');
|
||||
elseif (hObj==h.edits.CurTime)
|
||||
temp=str2num(get(h.edits.CurTime,'String'));
|
||||
if(temp<maxtime && temp>mintime)
|
||||
CurTime=temp;
|
||||
else
|
||||
%Error
|
||||
set(h.labels.GUIState,'String','Error: You tried to set an invalid current time! Previous value restored.','BackgroundColor','red');
|
||||
end
|
||||
else
|
||||
%Error
|
||||
set(h.labels.GUIState,'String','Error: curtime_callback','BackgroundColor','red');
|
||||
end
|
||||
|
||||
set(h.sliders.CurTime,'Value',CurTime);
|
||||
set(h.edits.CurTime,'String',num2str(CurTime));
|
||||
|
||||
%Redraw time markers, but don't have to redraw the whole raw data
|
||||
DrawCurrentAircraftState();
|
||||
end
|
||||
|
||||
%% ************************************************************************
|
||||
% FINDMINMAXINDICES (nested function)
|
||||
% ************************************************************************
|
||||
function [idxmin,idxmax] = FindMinMaxTimeIndices()
|
||||
for i=1:size(sysvector.timestamp,1)
|
||||
if time(i)>=mintime; idxmin=i; break; end
|
||||
end
|
||||
for i=1:size(sysvector.timestamp,1)
|
||||
if maxtime==0; idxmax=size(sysvector.timestamp,1); break; end
|
||||
if time(i)>=maxtime; idxmax=i; break; end
|
||||
end
|
||||
mintime=time(idxmin);
|
||||
maxtime=time(idxmax);
|
||||
end
|
||||
|
||||
%% ************************************************************************
|
||||
% ISVALIDHANDLE (nested function)
|
||||
% ************************************************************************
|
||||
function isvalid = isvalidhandle(handle)
|
||||
if(exist(varname(handle))>0 && length(ishandle(handle))>0)
|
||||
if(ishandle(handle)>0)
|
||||
if(handle>0.0)
|
||||
isvalid=true;
|
||||
return;
|
||||
end
|
||||
end
|
||||
end
|
||||
isvalid=false;
|
||||
end
|
||||
|
||||
%% ************************************************************************
|
||||
% JUST SOME SMALL HELPER FUNCTIONS (nested function)
|
||||
% ************************************************************************
|
||||
function out = varname(var)
|
||||
out = inputname(1);
|
||||
end
|
||||
|
||||
%This is the end of the matlab file / the main function
|
||||
end
|
||||
|
||||
@@ -0,0 +1,107 @@
|
||||
#!nsh
|
||||
|
||||
# Disable USB and autostart
|
||||
set USB no
|
||||
set MODE camflyer
|
||||
|
||||
#
|
||||
# Start the ORB (first app to start)
|
||||
#
|
||||
uorb start
|
||||
|
||||
#
|
||||
# Load microSD params
|
||||
#
|
||||
echo "[init] loading microSD params"
|
||||
param select /fs/microsd/parameters
|
||||
if [ -f /fs/microsd/parameters ]
|
||||
then
|
||||
param load /fs/microsd/parameters
|
||||
fi
|
||||
|
||||
#
|
||||
# Force some key parameters to sane values
|
||||
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
|
||||
# see https://pixhawk.ethz.ch/mavlink/
|
||||
#
|
||||
param set MAV_TYPE 1
|
||||
|
||||
#
|
||||
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
|
||||
#
|
||||
if [ -f /fs/microsd/px4io.bin ]
|
||||
then
|
||||
echo "PX4IO Firmware found. Checking Upgrade.."
|
||||
if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
|
||||
then
|
||||
echo "No newer version, skipping upgrade."
|
||||
else
|
||||
echo "Loading /fs/microsd/px4io.bin"
|
||||
if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log
|
||||
then
|
||||
cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
|
||||
echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log
|
||||
else
|
||||
echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log
|
||||
echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode"
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Start MAVLink (depends on orb)
|
||||
#
|
||||
mavlink start -d /dev/ttyS1 -b 57600
|
||||
usleep 5000
|
||||
|
||||
#
|
||||
# Start the commander (depends on orb, mavlink)
|
||||
#
|
||||
commander start
|
||||
|
||||
#
|
||||
# Start PX4IO interface (depends on orb, commander)
|
||||
#
|
||||
px4io start
|
||||
|
||||
#
|
||||
# Allow PX4IO to recover from midair restarts.
|
||||
# this is very unlikely, but quite safe and robust.
|
||||
px4io recovery
|
||||
|
||||
#
|
||||
# Start the sensors (depends on orb, px4io)
|
||||
#
|
||||
sh /etc/init.d/rc.sensors
|
||||
|
||||
#
|
||||
# Start GPS interface (depends on orb)
|
||||
#
|
||||
gps start
|
||||
|
||||
#
|
||||
# Start the attitude estimator (depends on orb)
|
||||
#
|
||||
kalman_demo start
|
||||
|
||||
#
|
||||
# Load mixer and start controllers (depends on px4io)
|
||||
#
|
||||
mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
|
||||
control_demo start
|
||||
|
||||
#
|
||||
# Start logging
|
||||
#
|
||||
#sdlog start -s 4
|
||||
|
||||
#
|
||||
# Start system state
|
||||
#
|
||||
if blinkm start
|
||||
then
|
||||
echo "using BlinkM for state indication"
|
||||
blinkm systemstate
|
||||
else
|
||||
echo "no BlinkM found, OK."
|
||||
fi
|
||||
@@ -0,0 +1,99 @@
|
||||
#!nsh
|
||||
#
|
||||
# Flight startup script for PX4FMU on PX4IOAR carrier board.
|
||||
#
|
||||
|
||||
# Disable the USB interface
|
||||
set USB no
|
||||
|
||||
# Disable autostarting other apps
|
||||
set MODE ardrone
|
||||
|
||||
echo "[init] doing PX4IOAR startup..."
|
||||
|
||||
#
|
||||
# Start the ORB
|
||||
#
|
||||
uorb start
|
||||
|
||||
#
|
||||
# Init the parameter storage
|
||||
#
|
||||
echo "[init] loading microSD params"
|
||||
param select /fs/microsd/parameters
|
||||
if [ -f /fs/microsd/parameters ]
|
||||
then
|
||||
param load /fs/microsd/parameters
|
||||
fi
|
||||
|
||||
#
|
||||
# Force some key parameters to sane values
|
||||
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
|
||||
# see https://pixhawk.ethz.ch/mavlink/
|
||||
#
|
||||
param set MAV_TYPE 2
|
||||
|
||||
#
|
||||
# Configure PX4FMU for operation with PX4IOAR
|
||||
#
|
||||
fmu mode_gpio_serial
|
||||
|
||||
#
|
||||
# Start the sensors.
|
||||
#
|
||||
sh /etc/init.d/rc.sensors
|
||||
|
||||
#
|
||||
# Start MAVLink
|
||||
#
|
||||
mavlink start -d /dev/ttyS0 -b 57600
|
||||
usleep 5000
|
||||
|
||||
#
|
||||
# Start the commander.
|
||||
#
|
||||
commander start
|
||||
|
||||
#
|
||||
# Start the attitude estimator
|
||||
#
|
||||
attitude_estimator_ekf start
|
||||
|
||||
#
|
||||
# Fire up the multi rotor attitude controller
|
||||
#
|
||||
multirotor_att_control start
|
||||
|
||||
#
|
||||
# Fire up the AR.Drone interface.
|
||||
#
|
||||
ardrone_interface start -d /dev/ttyS1
|
||||
|
||||
#
|
||||
# Start logging
|
||||
#
|
||||
sdlog start -s 10
|
||||
|
||||
#
|
||||
# Start GPS capture
|
||||
#
|
||||
gps start
|
||||
|
||||
#
|
||||
# Start system state
|
||||
#
|
||||
if blinkm start
|
||||
then
|
||||
echo "using BlinkM for state indication"
|
||||
blinkm systemstate
|
||||
else
|
||||
echo "no BlinkM found, OK."
|
||||
fi
|
||||
|
||||
#
|
||||
# startup is done; we don't want the shell because we
|
||||
# use the same UART for telemetry
|
||||
#
|
||||
echo "[init] startup done"
|
||||
|
||||
exit
|
||||
@@ -35,6 +35,17 @@ param set MAV_TYPE 1
|
||||
#
|
||||
commander start
|
||||
|
||||
#
|
||||
# Check if we got an IO
|
||||
#
|
||||
if [ px4io start ]
|
||||
then
|
||||
echo "IO started"
|
||||
else
|
||||
fmu mode_serial
|
||||
echo "FMU started"
|
||||
end
|
||||
|
||||
#
|
||||
# Start the sensors (depends on orb, px4io)
|
||||
#
|
||||
|
||||
Executable
+83
@@ -0,0 +1,83 @@
|
||||
#!nsh
|
||||
#
|
||||
# PX4FMU startup script.
|
||||
#
|
||||
# This script is responsible for:
|
||||
#
|
||||
# - mounting the microSD card (if present)
|
||||
# - running the user startup script from the microSD card (if present)
|
||||
# - detecting the configuration of the system and picking a suitable
|
||||
# startup script to continue with
|
||||
#
|
||||
# Note: DO NOT add configuration-specific commands to this script;
|
||||
# add them to the per-configuration scripts instead.
|
||||
#
|
||||
|
||||
#
|
||||
# Default to auto-start mode. An init script on the microSD card
|
||||
# can change this to prevent automatic startup of the flight script.
|
||||
#
|
||||
set MODE autostart
|
||||
set USB autoconnect
|
||||
|
||||
#
|
||||
|
||||
#
|
||||
|
||||
|
||||
#
|
||||
# Try to mount the microSD card.
|
||||
#
|
||||
echo "[init] looking for microSD..."
|
||||
if mount -t vfat /dev/mmcsd0 /fs/microsd
|
||||
then
|
||||
echo "[init] card mounted at /fs/microsd"
|
||||
# Start playing the startup tune
|
||||
tone_alarm start
|
||||
else
|
||||
echo "[init] no microSD card found"
|
||||
# Play SOS
|
||||
tone_alarm 2
|
||||
fi
|
||||
|
||||
#
|
||||
# Look for an init script on the microSD card.
|
||||
#
|
||||
# To prevent automatic startup in the current flight mode,
|
||||
# the script should set MODE to some other value.
|
||||
#
|
||||
if [ -f /fs/microsd/etc/rc ]
|
||||
then
|
||||
echo "[init] reading /fs/microsd/etc/rc"
|
||||
sh /fs/microsd/etc/rc
|
||||
fi
|
||||
# Also consider rc.txt files
|
||||
if [ -f /fs/microsd/etc/rc.txt ]
|
||||
then
|
||||
echo "[init] reading /fs/microsd/etc/rc.txt"
|
||||
sh /fs/microsd/etc/rc.txt
|
||||
fi
|
||||
|
||||
#
|
||||
# Check for USB host
|
||||
#
|
||||
if [ $USB != autoconnect ]
|
||||
then
|
||||
echo "[init] not connecting USB"
|
||||
else
|
||||
if sercon
|
||||
then
|
||||
echo "[init] USB interface connected"
|
||||
else
|
||||
echo "[init] No USB connected"
|
||||
fi
|
||||
fi
|
||||
|
||||
# if this is an APM build then there will be a rc.APM script
|
||||
# from an EXTERNAL_SCRIPTS build option
|
||||
if [ -f /etc/init.d/rc.APM ]
|
||||
then
|
||||
echo Running rc.APM
|
||||
# if APM startup is successful then nsh will exit
|
||||
sh /etc/init.d/rc.APM
|
||||
fi
|
||||
Reference in New Issue
Block a user