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Merge branch 'master' of github.com:PX4/Firmware into i2c_timeout

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This commit is contained in:
Lorenz Meier 2014-08-27 11:24:15 +02:00
commit 3dc1d868d1
23 changed files with 193 additions and 125 deletions
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2
ROMFS/px4fmu_common/init.d/3035_viper
View File

@ -8,3 +8,5 @@
sh /etc/init.d/rc.fw_defaults
set MIXER Viper
set FAILSAFE "-c567 -p 1000"

5
ROMFS/px4fmu_common/init.d/rc.interface
View File

@ -77,4 +77,9 @@ then
pwm max -c $PWM_OUTPUTS -p $PWM_MAX
fi
fi
if [ $FAILSAFE != none ]
then
pwm failsafe -d $OUTPUT_DEV $FAILSAFE
fi
fi

9
ROMFS/px4fmu_common/init.d/rcS
View File

@ -66,6 +66,9 @@ then
#
sercon
# Try to get an USB console
nshterm /dev/ttyACM0 &
#
# Start the ORB (first app to start)
#
@ -96,11 +99,9 @@ then
#
if rgbled start
then
echo "[init] RGB Led"
else
if blinkm start
then
echo "[init] BlinkM"
blinkm systemstate
fi
fi
@ -129,6 +130,7 @@ then
set LOAD_DEFAULT_APPS yes
set GPS yes
set GPS_FAKE no
set FAILSAFE none
#
# Set DO_AUTOCONFIG flag to use it in AUTOSTART scripts
@ -279,9 +281,6 @@ then
fi
fi
# Try to get an USB console
nshterm /dev/ttyACM0 &
#
# Start the datamanager (and do not abort boot if it fails)
#

11
ROMFS/px4fmu_common/mixers/FMU_AERT.mix
View File

@ -64,21 +64,22 @@ O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
Gimbal / flaps / payload mixer for last four channels
Gimbal / flaps / payload mixer for last four channels,
using the payload control group
-----------------------------------------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 4 10000 10000 0 -10000 10000
S: 2 0 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 5 10000 10000 0 -10000 10000
S: 2 1 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 6 10000 10000 0 -10000 10000
S: 2 2 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 7 10000 10000 0 -10000 10000
S: 2 3 10000 10000 0 -10000 10000

13
ROMFS/px4fmu_common/mixers/Viper.mix
View File

@ -52,21 +52,20 @@ M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
Gimbal / flaps / payload mixer for last four channels
Inputs to the mixer come from channel group 2 (payload), channels 0
(bay servo 1), 1 (bay servo 2) and 3 (drop release).
-----------------------------------------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 4 10000 10000 0 -10000 10000
S: 2 0 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 5 10000 10000 0 -10000 10000
S: 2 1 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 6 10000 10000 0 -10000 10000
S: 2 2 -10000 -10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 7 10000 10000 0 -10000 10000

1
makefiles/config_px4fmu-v2_default.mk
View File

@ -41,6 +41,7 @@ MODULES += drivers/frsky_telemetry
MODULES += modules/sensors
MODULES += drivers/mkblctrl
MODULES += drivers/pca8574
MODULES += drivers/px4flow
# Needs to be burned to the ground and re-written; for now,

5
src/drivers/drv_pwm_output.h
View File

@ -94,6 +94,11 @@ __BEGIN_DECLS
*/
#define PWM_LOWEST_MAX 1700
/**
* Do not output a channel with this value
*/
#define PWM_IGNORE_THIS_CHANNEL UINT16_MAX
/**
* Servo output signal type, value is actual servo output pulse
* width in microseconds.

31
src/drivers/drv_px4flow.h
View File

@ -46,37 +46,6 @@
#define PX4FLOW_DEVICE_PATH "/dev/px4flow"
/**
* @addtogroup topics
* @{
*/
/**
* Optical flow in NED body frame in SI units.
*
* @see http://en.wikipedia.org/wiki/International_System_of_Units
*
* @warning If possible the usage of the raw flow and performing rotation-compensation
* using the autopilot angular rate estimate is recommended.
*/
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 per second, rotation-compensated */
float flow_comp_y_m; /**< speed over ground in meters per second, 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.
*/

68
src/drivers/px4flow/px4flow.cpp
View File

@ -37,7 +37,7 @@
*
* Driver for the PX4FLOW module connected via I2C.
*/
#include <nuttx/config.h>
#include <drivers/device/i2c.h>
@ -68,7 +68,7 @@
#include <uORB/uORB.h>
#include <uORB/topics/subsystem_info.h>
//#include <uORB/topics/optical_flow.h>
#include <uORB/topics/optical_flow.h>
#include <board_config.h>
@ -80,7 +80,7 @@
/* PX4FLOW Registers addresses */
#define PX4FLOW_REG 0x00 /* Measure Register */
#define PX4FLOW_CONVERSION_INTERVAL 8000 /* 8ms 125Hz
#define PX4FLOW_CONVERSION_INTERVAL 8000 /* 8ms 125Hz */
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
@ -115,17 +115,17 @@ 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();
@ -136,13 +136,13 @@ private:
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.
@ -151,7 +151,7 @@ private:
* @return True if the device is present.
*/
int probe_address(uint8_t address);
/**
* Initialise the automatic measurement state machine and start it.
*
@ -159,12 +159,12 @@ private:
* to make it more aggressive about resetting the bus in case of errors.
*/
void start();
/**
* Stop the automatic measurement state machine.
*/
void stop();
/**
* Perform a poll cycle; collect from the previous measurement
* and start a new one.
@ -179,8 +179,8 @@ private:
* @param arg Instance pointer for the driver that is polling.
*/
static void cycle_trampoline(void *arg);
};
/*
@ -201,7 +201,7 @@ PX4FLOW::PX4FLOW(int bus, int address) :
{
// enable debug() calls
_debug_enabled = true;
// work_cancel in the dtor will explode if we don't do this...
memset(&_work, 0, sizeof(_work));
}
@ -226,13 +226,13 @@ PX4FLOW::init()
goto out;
/* allocate basic report buffers */
_reports = new RingBuffer(2, sizeof(px4flow_report));
_reports = new RingBuffer(2, sizeof(struct optical_flow_s));
if (_reports == nullptr)
goto out;
/* get a publish handle on the px4flow topic */
struct px4flow_report zero_report;
struct optical_flow_s zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_px4flow_topic = orb_advertise(ORB_ID(optical_flow), &zero_report);
@ -323,24 +323,24 @@ PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long 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 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);
@ -350,8 +350,8 @@ PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long 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);
unsigned count = buflen / sizeof(struct optical_flow_s);
struct optical_flow_s *rbuf = reinterpret_cast<struct optical_flow_s *>(buffer);
int ret = 0;
/* buffer must be large enough */
@ -425,7 +425,7 @@ PX4FLOW::measure()
return ret;
}
ret = OK;
return ret;
}
@ -433,14 +433,14 @@ 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);
@ -448,7 +448,7 @@ PX4FLOW::collect()
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];
@ -466,7 +466,7 @@ PX4FLOW::collect()
int16_t flowcy = val[9] << 8 | val[8];
int16_t gdist = val[21] << 8 | val[20];
struct px4flow_report report;
struct optical_flow_s report;
report.flow_comp_x_m = float(flowcx)/1000.0f;
report.flow_comp_y_m = float(flowcy)/1000.0f;
report.flow_raw_x= val[3] << 8 | val[2];
@ -503,7 +503,7 @@ PX4FLOW::start()
/* 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,
@ -644,7 +644,7 @@ start()
fail:
if (g_dev != nullptr)
if (g_dev != nullptr)
{
delete g_dev;
g_dev = nullptr;
@ -678,7 +678,7 @@ void stop()
void
test()
{
struct px4flow_report report;
struct optical_flow_s report;
ssize_t sz;
int ret;
@ -777,7 +777,7 @@ px4flow_main(int argc, char *argv[])
*/
if (!strcmp(argv[1], "start"))
px4flow::start();
/*
* Stop the driver
*/

4
src/drivers/px4fmu/fmu.cpp
View File

@ -1272,7 +1272,9 @@ PX4FMU::write(file *filp, const char *buffer, size_t len)
memcpy(values, buffer, count * 2);
for (uint8_t i = 0; i < count; i++) {
up_pwm_servo_set(i, values[i]);
if (values[i] != PWM_IGNORE_THIS_CHANNEL) {
up_pwm_servo_set(i, values[i]);
}
}
return count * 2;

4
src/lib/launchdetection/CatapultLaunchMethod.cpp
View File

@ -66,10 +66,10 @@ void CatapultLaunchMethod::update(float accel_x)
last_timestamp = hrt_absolute_time();
if (accel_x > threshold_accel.get()) {
integrator += accel_x * dt;
integrator += dt;
// warnx("*** integrator %.3f, threshold_accel %.3f, threshold_time %.3f, accel_x %.3f, dt %.3f",
// (double)integrator, (double)threshold_accel.get(), (double)threshold_time.get(), (double)accel_x, (double)dt);
if (integrator > threshold_accel.get() * threshold_time.get()) {
if (integrator > threshold_time.get()) {
launchDetected = true;
}

5
src/modules/commander/commander.cpp
View File

@ -615,6 +615,11 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
case VEHICLE_CMD_PREFLIGHT_CALIBRATION:
case VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS:
case VEHICLE_CMD_PREFLIGHT_STORAGE:
case VEHICLE_CMD_CUSTOM_0:
case VEHICLE_CMD_CUSTOM_1:
case VEHICLE_CMD_CUSTOM_2:
case VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY:
case VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY:
/* ignore commands that handled in low prio loop */
break;

2
src/modules/mavlink/mavlink_main.cpp
View File

@ -1396,7 +1396,7 @@ Mavlink::task_main(int argc, char *argv[])
configure_stream("POSITION_TARGET_GLOBAL_INT", 3.0f);
configure_stream("ATTITUDE_TARGET", 3.0f);
configure_stream("DISTANCE_SENSOR", 0.5f);
configure_stream("OPTICAL_FLOW", 0.5f);
configure_stream("OPTICAL_FLOW", 20.0f);
break;
case MAVLINK_MODE_ONBOARD:

26
src/modules/mavlink/mavlink_messages.cpp
View File

@ -886,8 +886,8 @@ protected:
msg.eph = cm_uint16_from_m_float(gps.eph);
msg.epv = cm_uint16_from_m_float(gps.epv);
msg.vel = cm_uint16_from_m_float(gps.vel_m_s),
msg.cog = _wrap_2pi(gps.cog_rad) * M_RAD_TO_DEG_F * 1e2f,
msg.satellites_visible = gps.satellites_used;
msg.cog = _wrap_2pi(gps.cog_rad) * M_RAD_TO_DEG_F * 1e2f,
msg.satellites_visible = gps.satellites_used;
_mavlink->send_message(MAVLINK_MSG_ID_GPS_RAW_INT, &msg);
}
@ -957,11 +957,11 @@ protected:
msg.lat = pos.lat * 1e7;
msg.lon = pos.lon * 1e7;
msg.alt = pos.alt * 1000.0f;
msg.relative_alt = (pos.alt - home.alt) * 1000.0f;
msg.vx = pos.vel_n * 100.0f;
msg.vy = pos.vel_e * 100.0f;
msg.vz = pos.vel_d * 100.0f;
msg.hdg = _wrap_2pi(pos.yaw) * M_RAD_TO_DEG_F * 100.0f;
msg.relative_alt = (pos.alt - home.alt) * 1000.0f;
msg.vx = pos.vel_n * 100.0f;
msg.vy = pos.vel_e * 100.0f;
msg.vz = pos.vel_d * 100.0f;
msg.hdg = _wrap_2pi(pos.yaw) * M_RAD_TO_DEG_F * 100.0f;
_mavlink->send_message(MAVLINK_MSG_ID_GLOBAL_POSITION_INT, &msg);
}
@ -1022,9 +1022,9 @@ protected:
msg.x = pos.x;
msg.y = pos.y;
msg.z = pos.z;
msg.vx = pos.vx;
msg.vy = pos.vy;
msg.vz = pos.vz;
msg.vx = pos.vx;
msg.vy = pos.vy;
msg.vz = pos.vz;
_mavlink->send_message(MAVLINK_MSG_ID_LOCAL_POSITION_NED, &msg);
}
@ -1085,9 +1085,9 @@ protected:
msg.x = pos.x;
msg.y = pos.y;
msg.z = pos.z;
msg.roll = pos.roll;
msg.pitch = pos.pitch;
msg.yaw = pos.yaw;
msg.roll = pos.roll;
msg.pitch = pos.pitch;
msg.yaw = pos.yaw;
_mavlink->send_message(MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE, &msg);
}

4
src/modules/px4iofirmware/registers.c
View File

@ -285,7 +285,9 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
while ((offset < PX4IO_CONTROL_CHANNELS) && (num_values > 0)) {
/* XXX range-check value? */
r_page_servos[offset] = *values;
if (*values != PWM_IGNORE_THIS_CHANNEL) {
r_page_servos[offset] = *values;
}
offset++;
num_values--;

21
src/modules/sdlog2/sdlog2.c
View File

@ -76,6 +76,7 @@
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/satellite_info.h>
#include <uORB/topics/vehicle_vicon_position.h>
#include <uORB/topics/vision_position_estimate.h>
#include <uORB/topics/vehicle_global_velocity_setpoint.h>
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/battery_status.h>
@ -934,6 +935,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct vehicle_global_position_s global_pos;
struct position_setpoint_triplet_s triplet;
struct vehicle_vicon_position_s vicon_pos;
struct vision_position_estimate vision_pos;
struct optical_flow_s flow;
struct rc_channels_s rc;
struct differential_pressure_s diff_pres;
@ -984,6 +986,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct log_EST1_s log_EST1;
struct log_PWR_s log_PWR;
struct log_VICN_s log_VICN;
struct log_VISN_s log_VISN;
struct log_GS0A_s log_GS0A;
struct log_GS0B_s log_GS0B;
struct log_GS1A_s log_GS1A;
@ -1013,6 +1016,7 @@ int sdlog2_thread_main(int argc, char *argv[])
int gps_pos_sub;
int sat_info_sub;
int vicon_pos_sub;
int vision_pos_sub;
int flow_sub;
int rc_sub;
int airspeed_sub;
@ -1043,6 +1047,7 @@ int sdlog2_thread_main(int argc, char *argv[])
subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
subs.triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet));
subs.vicon_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position));
subs.vision_pos_sub = orb_subscribe(ORB_ID(vision_position_estimate));
subs.flow_sub = orb_subscribe(ORB_ID(optical_flow));
subs.rc_sub = orb_subscribe(ORB_ID(rc_channels));
subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed));
@ -1459,6 +1464,22 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_VICN.yaw = buf.vicon_pos.yaw;
LOGBUFFER_WRITE_AND_COUNT(VICN);
}
/* --- VISION POSITION --- */
if (copy_if_updated(ORB_ID(vision_position_estimate), subs.vision_pos_sub, &buf.vision_pos)) {
log_msg.msg_type = LOG_VISN_MSG;
log_msg.body.log_VISN.x = buf.vision_pos.x;
log_msg.body.log_VISN.y = buf.vision_pos.y;
log_msg.body.log_VISN.z = buf.vision_pos.z;
log_msg.body.log_VISN.vx = buf.vision_pos.vx;
log_msg.body.log_VISN.vy = buf.vision_pos.vy;
log_msg.body.log_VISN.vz = buf.vision_pos.vz;
log_msg.body.log_VISN.qx = buf.vision_pos.q[0];
log_msg.body.log_VISN.qy = buf.vision_pos.q[1];
log_msg.body.log_VISN.qz = buf.vision_pos.q[2];
log_msg.body.log_VISN.qw = buf.vision_pos.q[3];
LOGBUFFER_WRITE_AND_COUNT(VISN);
}
/* --- FLOW --- */
if (copy_if_updated(ORB_ID(optical_flow), subs.flow_sub, &buf.flow)) {

15
src/modules/sdlog2/sdlog2_messages.h
View File

@ -391,6 +391,20 @@ struct log_TEL_s {
uint64_t heartbeat_time;
};
/* --- VISN - VISION POSITION --- */
#define LOG_VISN_MSG 38
struct log_VISN_s {
float x;
float y;
float z;
float vx;
float vy;
float vz;
float qx;
float qy;
float qz;
float qw;
};
/********** SYSTEM MESSAGES, ID > 0x80 **********/
@ -449,6 +463,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(EST1, "ffffffffffffffff", "s12,s13,s14,s15,s16,s17,s18,s19,s20,s21,s22,s23,s24,s25,s26,s27"),
LOG_FORMAT(PWR, "fffBBBBB", "Periph5V,Servo5V,RSSI,UsbOk,BrickOk,ServoOk,PeriphOC,HipwrOC"),
LOG_FORMAT(VICN, "ffffff", "X,Y,Z,Roll,Pitch,Yaw"),
LOG_FORMAT(VISN, "ffffffffff", "X,Y,Z,VX,VY,VZ,QuatX,QuatY,QuatZ,QuatW"),
LOG_FORMAT(GS0A, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
LOG_FORMAT(GS0B, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
LOG_FORMAT(GS1A, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),

19
src/modules/uORB/topics/vehicle_command.h
View File

@ -1,9 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
* Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @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
@ -37,6 +34,10 @@
/**
* @file vehicle_command.h
* Definition of the vehicle command uORB topic.
*
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#ifndef TOPIC_VEHICLE_COMMAND_H_
@ -52,6 +53,9 @@
* but can contain additional ones.
*/
enum VEHICLE_CMD {
VEHICLE_CMD_CUSTOM_0 = 0, /* test command */
VEHICLE_CMD_CUSTOM_1 = 1, /* test command */
VEHICLE_CMD_CUSTOM_2 = 2, /* test command */
VEHICLE_CMD_NAV_WAYPOINT = 16, /* Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude| */
VEHICLE_CMD_NAV_LOITER_UNLIM = 17, /* Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */
VEHICLE_CMD_NAV_LOITER_TURNS = 18, /* Loiter around this MISSION for X turns |Turns| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */
@ -87,7 +91,8 @@ enum VEHICLE_CMD {
VEHICLE_CMD_MISSION_START = 300, /* start running a mission |first_item: the first mission item to run| last_item: the last mission item to run (after this item is run, the mission ends)| */
VEHICLE_CMD_COMPONENT_ARM_DISARM = 400, /* Arms / Disarms a component |1 to arm, 0 to disarm| */
VEHICLE_CMD_START_RX_PAIR = 500, /* Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX| */
VEHICLE_CMD_ENUM_END = 501, /* | */
VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY = 30001, /**< Prepare a payload deployment in the flight plan */
VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY = 30002 /**< Control a pre-programmed payload deployment */
};
/**
@ -115,8 +120,8 @@ struct vehicle_command_s {
float param2; /**< Parameter 2, as defined by MAVLink VEHICLE_CMD enum. */
float param3; /**< Parameter 3, as defined by MAVLink VEHICLE_CMD enum. */
float param4; /**< Parameter 4, as defined by MAVLink VEHICLE_CMD enum. */
float param5; /**< Parameter 5, as defined by MAVLink VEHICLE_CMD enum. */
float param6; /**< Parameter 6, as defined by MAVLink VEHICLE_CMD enum. */
double param5; /**< Parameter 5, as defined by MAVLink VEHICLE_CMD enum. */
double param6; /**< Parameter 6, as defined by MAVLink VEHICLE_CMD enum. */
float param7; /**< Parameter 7, as defined by MAVLink VEHICLE_CMD enum. */
enum VEHICLE_CMD command; /**< Command ID, as defined MAVLink by VEHICLE_CMD enum. */
uint8_t target_system; /**< System which should execute the command */

10
src/modules/uavcan/sensors/gnss.cpp
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@ -70,6 +70,16 @@ unsigned UavcanGnssBridge::get_num_redundant_channels() const
return (_receiver_node_id < 0) ? 0 : 1;
}
void UavcanGnssBridge::print_status() const
{
printf("RX errors: %d, receiver node id: ", _sub_fix.getFailureCount());
if (_receiver_node_id < 0) {
printf("N/A\n");
} else {
printf("%d\n", _receiver_node_id);
}
}
void UavcanGnssBridge::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &msg)
{
// This bridge does not support redundant GNSS receivers yet.

2
src/modules/uavcan/sensors/gnss.hpp
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@ -66,6 +66,8 @@ public:
unsigned get_num_redundant_channels() const override;
void print_status() const override;
private:
/**
* GNSS fix message will be reported via this callback.

36
src/modules/uavcan/sensors/sensor_bridge.cpp
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@ -58,7 +58,7 @@ void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge
UavcanCDevSensorBridgeBase::~UavcanCDevSensorBridgeBase()
{
for (unsigned i = 0; i < _max_channels; i++) {
if (_channels[i].redunancy_channel_id >= 0) {
if (_channels[i].node_id >= 0) {
(void)unregister_class_devname(_class_devname, _channels[i].class_instance);
}
}
@ -66,13 +66,15 @@ UavcanCDevSensorBridgeBase::~UavcanCDevSensorBridgeBase()
delete [] _channels;
}
void UavcanCDevSensorBridgeBase::publish(const int redundancy_channel_id, const void *report)
void UavcanCDevSensorBridgeBase::publish(const int node_id, const void *report)
{
assert(report != nullptr);
Channel *channel = nullptr;
// Checking if such channel already exists
for (unsigned i = 0; i < _max_channels; i++) {
if (_channels[i].redunancy_channel_id == redundancy_channel_id) {
if (_channels[i].node_id == node_id) {
channel = _channels + i;
break;
}
@ -84,11 +86,11 @@ void UavcanCDevSensorBridgeBase::publish(const int redundancy_channel_id, const
return; // Give up immediately - saves some CPU time
}
log("adding channel %d...", redundancy_channel_id);
log("adding channel %d...", node_id);
// Search for the first free channel
for (unsigned i = 0; i < _max_channels; i++) {
if (_channels[i].redunancy_channel_id < 0) {
if (_channels[i].node_id < 0) {
channel = _channels + i;
break;
}
@ -111,9 +113,9 @@ void UavcanCDevSensorBridgeBase::publish(const int redundancy_channel_id, const
}
// Publish to the appropriate topic, abort on failure
channel->orb_id = _orb_topics[class_instance];
channel->redunancy_channel_id = redundancy_channel_id;
channel->class_instance = class_instance;
channel->orb_id = _orb_topics[class_instance];
channel->node_id = node_id;
channel->class_instance = class_instance;
channel->orb_advert = orb_advertise(channel->orb_id, report);
if (channel->orb_advert < 0) {
@ -123,7 +125,7 @@ void UavcanCDevSensorBridgeBase::publish(const int redundancy_channel_id, const
return;
}
log("channel %d class instance %d ok", channel->redunancy_channel_id, channel->class_instance);
log("channel %d class instance %d ok", channel->node_id, channel->class_instance);
}
assert(channel != nullptr);
@ -134,9 +136,23 @@ unsigned UavcanCDevSensorBridgeBase::get_num_redundant_channels() const
{
unsigned out = 0;
for (unsigned i = 0; i < _max_channels; i++) {
if (_channels[i].redunancy_channel_id >= 0) {
if (_channels[i].node_id >= 0) {
out += 1;
}
}
return out;
}
void UavcanCDevSensorBridgeBase::print_status() const
{
printf("devname: %s\n", _class_devname);
for (unsigned i = 0; i < _max_channels; i++) {
if (_channels[i].node_id >= 0) {
printf("channel %d: node id %d --> class instance %d\n",
i, _channels[i].node_id, _channels[i].class_instance);
} else {
printf("channel %d: empty\n", i);
}
}
}

15
src/modules/uavcan/sensors/sensor_bridge.hpp
View File

@ -68,6 +68,11 @@ public:
*/
virtual unsigned get_num_redundant_channels() const = 0;
/**
* Prints current status in a human readable format to stdout.
*/
virtual void print_status() const = 0;
/**
* Sensor bridge factory.
* Creates a bridge object by its ASCII name, e.g. "gnss", "mag".
@ -84,7 +89,7 @@ class UavcanCDevSensorBridgeBase : public IUavcanSensorBridge, public device::CD
{
struct Channel
{
int redunancy_channel_id = -1;
int node_id = -1;
orb_id_t orb_id = nullptr;
orb_advert_t orb_advert = -1;
int class_instance = -1;
@ -112,13 +117,15 @@ protected:
/**
* Sends one measurement into appropriate ORB topic.
* New redundancy channels will be registered automatically.
* @param redundancy_channel_id Redundant sensor identifier (e.g. UAVCAN Node ID)
* @param report ORB message object
* @param node_id Sensor's Node ID
* @param report Pointer to ORB message object
*/
void publish(const int redundancy_channel_id, const void *report);
void publish(const int node_id, const void *report);
public:
virtual ~UavcanCDevSensorBridgeBase();
unsigned get_num_redundant_channels() const override;
void print_status() const override;
};

10
src/modules/uavcan/uavcan_main.cpp
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@ -548,14 +548,16 @@ UavcanNode::print_info()
(void)pthread_mutex_lock(&_node_mutex);
// ESC mixer status
warnx("ESC actuators control groups: sub: %u / req: %u / fds: %u",
(unsigned)_groups_subscribed, (unsigned)_groups_required, _poll_fds_num);
warnx("ESC mixer: %s", (_mixers == nullptr) ? "NONE" : "OK");
printf("ESC actuators control groups: sub: %u / req: %u / fds: %u\n",
(unsigned)_groups_subscribed, (unsigned)_groups_required, _poll_fds_num);
printf("ESC mixer: %s\n", (_mixers == nullptr) ? "NONE" : "OK");
// Sensor bridges
auto br = _sensor_bridges.getHead();
while (br != nullptr) {
warnx("Sensor '%s': channels: %u", br->get_name(), br->get_num_redundant_channels());
printf("Sensor '%s':\n", br->get_name());
br->print_status();
printf("\n");
br = br->getSibling();
}