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Merged master into indoor branch

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This commit is contained in:
Lorenz Meier
2014-12-26 17:06:19 +01:00
parent f3a224e30d 5c51adf5f7
commit 407889ea2c
229 changed files with 27468 additions and 4247 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/airspeed/airspeed.cpp
+6 -4
View File
@@ -159,13 +159,15 @@ out:
int
Airspeed::probe()
{
/* on initial power up the device needs more than one retry
for detection. Once it is running then retries aren't
needed
/* on initial power up the device may need more than one retry
for detection. Once it is running the number of retries can
be reduced
*/
_retries = 4;
int ret = measure();
_retries = 0;
// drop back to 2 retries once initialised
_retries = 2;
return ret;
}
src/drivers/ardrone_interface/ardrone_interface.c
+1 -1
View File
@@ -121,7 +121,7 @@ int ardrone_interface_main(int argc, char *argv[])
SCHED_PRIORITY_MAX - 15,
1100,
ardrone_interface_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
(argv) ? (char * const *)&argv[2] : (char * const *)NULL);
exit(0);
}
src/drivers/boards/aerocore/aerocore_led.c
+2 -1
View File
@@ -45,6 +45,7 @@
#include "board_config.h"
#include <arch/board/board.h>
#include <systemlib/err.h>
/*
* Ideally we'd be able to get these from up_internal.h,
@@ -54,7 +55,7 @@
* CONFIG_ARCH_LEDS configuration switch.
*/
__BEGIN_DECLS
extern void led_init();
extern void led_init(void);
extern void led_on(int led);
extern void led_off(int led);
extern void led_toggle(int led);
src/drivers/frsky_telemetry/frsky_telemetry.c
+1 -1
View File
@@ -221,7 +221,7 @@ int frsky_telemetry_main(int argc, char *argv[])
SCHED_PRIORITY_DEFAULT,
2000,
frsky_telemetry_thread_main,
(const char **)argv);
(char * const *)argv);
while (!thread_running) {
usleep(200);
src/drivers/gps/gps.cpp
-1
View File
@@ -274,7 +274,6 @@ GPS::task_main_trampoline(void *arg)
void
GPS::task_main()
{
log("starting");
/* open the serial port */
_serial_fd = ::open(_port, O_RDWR);
src/drivers/hmc5883/hmc5883.cpp
+29 -10
View File
@@ -1349,7 +1349,7 @@ HMC5883 *g_dev_ext = nullptr;
void start(int bus, enum Rotation rotation);
void test(int bus);
void reset(int bus);
void info(int bus);
int info(int bus);
int calibrate(int bus);
void usage();
@@ -1595,17 +1595,23 @@ reset(int bus)
/**
* Print a little info about the driver.
*/
void
int
info(int bus)
{
HMC5883 *g_dev = (bus == PX4_I2C_BUS_ONBOARD?g_dev_int:g_dev_ext);
if (g_dev == nullptr)
errx(1, "driver not running");
int ret = 1;
printf("state @ %p\n", g_dev);
g_dev->print_info();
HMC5883 *g_dev = (bus == PX4_I2C_BUS_ONBOARD ? g_dev_int : g_dev_ext);
if (g_dev == nullptr) {
warnx("not running on bus %d", bus);
} else {
exit(0);
warnx("running on bus: %d (%s)\n", bus, ((PX4_I2C_BUS_ONBOARD) ? "onboard" : "offboard"));
g_dev->print_info();
ret = 0;
}
return ret;
}
void
@@ -1685,8 +1691,21 @@ hmc5883_main(int argc, char *argv[])
/*
* Print driver information.
*/
if (!strcmp(verb, "info") || !strcmp(verb, "status"))
hmc5883::info(bus);
if (!strcmp(verb, "info") || !strcmp(verb, "status")) {
if (bus == -1) {
int ret = 0;
if (hmc5883::info(PX4_I2C_BUS_ONBOARD)) {
ret = 1;
}
if (hmc5883::info(PX4_I2C_BUS_EXPANSION)) {
ret = 1;
}
exit(ret);
} else {
exit(hmc5883::info(bus));
}
}
/*
* Autocalibrate the scaling
src/drivers/hott/hott_sensors/hott_sensors.cpp
+1 -1
View File
@@ -214,7 +214,7 @@ hott_sensors_main(int argc, char *argv[])
SCHED_PRIORITY_DEFAULT,
1024,
hott_sensors_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
(argv) ? (char * const *)&argv[2] : (char * const *)NULL);
exit(0);
}
src/drivers/hott/hott_telemetry/hott_telemetry.cpp
+1 -1
View File
@@ -240,7 +240,7 @@ hott_telemetry_main(int argc, char *argv[])
SCHED_PRIORITY_DEFAULT,
2048,
hott_telemetry_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
(argv) ? (char * const *)&argv[2] : (char * const *)NULL);
exit(0);
}
src/drivers/ll40ls/ll40ls.cpp
+12 -10
View File
@@ -89,7 +89,7 @@
/* Device limits */
#define LL40LS_MIN_DISTANCE (0.00f)
#define LL40LS_MAX_DISTANCE (14.00f)
#define LL40LS_MAX_DISTANCE (60.00f)
#define LL40LS_CONVERSION_INTERVAL 100000 /* 100ms */
@@ -233,11 +233,11 @@ LL40LS::~LL40LS()
if (_reports != nullptr) {
delete _reports;
}
if (_class_instance != -1) {
unregister_class_devname(RANGE_FINDER_DEVICE_PATH, _class_instance);
}
// free perf counters
perf_free(_sample_perf);
perf_free(_comms_errors);
@@ -263,7 +263,7 @@ LL40LS::init()
_class_instance = register_class_devname(RANGE_FINDER_DEVICE_PATH);
if (_class_instance == CLASS_DEVICE_PRIMARY) {
if (_class_instance == CLASS_DEVICE_PRIMARY) {
/* get a publish handle on the range finder topic */
struct range_finder_report rf_report;
measure();
@@ -314,9 +314,9 @@ LL40LS::probe()
goto ok;
}
debug("WHO_AM_I byte mismatch 0x%02x should be 0x%02x val=0x%02x\n",
(unsigned)who_am_i,
LL40LS_WHO_AM_I_REG_VAL,
debug("WHO_AM_I byte mismatch 0x%02x should be 0x%02x val=0x%02x\n",
(unsigned)who_am_i,
LL40LS_WHO_AM_I_REG_VAL,
(unsigned)val);
}
@@ -581,6 +581,8 @@ LL40LS::collect()
report.timestamp = hrt_absolute_time();
report.error_count = perf_event_count(_comms_errors);
report.distance = si_units;
report.minimum_distance = get_minimum_distance();
report.maximum_distance = get_maximum_distance();
if (si_units > get_minimum_distance() && si_units < get_maximum_distance()) {
report.valid = 1;
}
@@ -704,7 +706,7 @@ LL40LS::print_info()
perf_print_counter(_buffer_overflows);
printf("poll interval: %u ticks\n", _measure_ticks);
_reports->print_info("report queue");
printf("distance: %ucm (0x%04x)\n",
printf("distance: %ucm (0x%04x)\n",
(unsigned)_last_distance, (unsigned)_last_distance);
}
@@ -969,8 +971,8 @@ ll40ls_main(int argc, char *argv[])
}
}
const char *verb = argv[optind];
const char *verb = argv[optind];
/*
* Start/load the driver.
*/
src/drivers/mb12xx/mb12xx.cpp
+2
View File
@@ -520,6 +520,8 @@ MB12XX::collect()
report.timestamp = hrt_absolute_time();
report.error_count = perf_event_count(_comms_errors);
report.distance = si_units;
report.minimum_distance = get_minimum_distance();
report.maximum_distance = get_maximum_distance();
report.valid = si_units > get_minimum_distance() && si_units < get_maximum_distance() ? 1 : 0;
/* publish it, if we are the primary */
src/drivers/mpu6000/mpu6000.cpp
+42 -2
View File
@@ -194,6 +194,8 @@ public:
*/
void print_info();
void print_registers();
protected:
virtual int probe();
@@ -1414,6 +1416,21 @@ MPU6000::print_info()
_gyro_reports->print_info("gyro queue");
}
void
MPU6000::print_registers()
{
printf("MPU6000 registers\n");
for (uint8_t reg=MPUREG_PRODUCT_ID; reg<=108; reg++) {
uint8_t v = read_reg(reg);
printf("%02x:%02x ",(unsigned)reg, (unsigned)v);
if ((reg - (MPUREG_PRODUCT_ID-1)) % 13 == 0) {
printf("\n");
}
}
printf("\n");
}
MPU6000_gyro::MPU6000_gyro(MPU6000 *parent, const char *path) :
CDev("MPU6000_gyro", path),
_parent(parent),
@@ -1479,6 +1496,7 @@ void start(bool, enum Rotation);
void test(bool);
void reset(bool);
void info(bool);
void regdump(bool);
void usage();
/**
@@ -1654,10 +1672,26 @@ info(bool external_bus)
exit(0);
}
/**
* Dump the register information
*/
void
regdump(bool external_bus)
{
MPU6000 **g_dev_ptr = external_bus?&g_dev_ext:&g_dev_int;
if (*g_dev_ptr == nullptr)
errx(1, "driver not running");
printf("regdump @ %p\n", *g_dev_ptr);
(*g_dev_ptr)->print_registers();
exit(0);
}
void
usage()
{
warnx("missing command: try 'start', 'info', 'test', 'reset'");
warnx("missing command: try 'start', 'info', 'test', 'reset', 'regdump'");
warnx("options:");
warnx(" -X (external bus)");
warnx(" -R rotation");
@@ -1714,5 +1748,11 @@ mpu6000_main(int argc, char *argv[])
if (!strcmp(verb, "info"))
mpu6000::info(external_bus);
errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
/*
* Print register information.
*/
if (!strcmp(verb, "regdump"))
mpu6000::regdump(external_bus);
errx(1, "unrecognized command, try 'start', 'test', 'reset', 'info' or 'regdump'");
}
src/drivers/px4flow/module.mk
+2
View File
@@ -40,3 +40,5 @@ MODULE_COMMAND = px4flow
SRCS = px4flow.cpp
MAXOPTIMIZATION = -Os
EXTRACXXFLAGS = -Wno-attributes
src/drivers/px4flow/px4flow.cpp
+200 -143
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* 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
@@ -73,15 +73,13 @@
#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 */
#define PX4FLOW_REG 0x16 /* Measure Register 22*/
#define PX4FLOW_CONVERSION_INTERVAL 20000 //in microseconds! 20000 = 50 Hz 100000 = 10Hz
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
@@ -92,28 +90,42 @@ static const int ERROR = -1;
# 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;
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
struct i2c_integral_frame {
uint16_t frame_count_since_last_readout;
int16_t pixel_flow_x_integral;
int16_t pixel_flow_y_integral;
int16_t gyro_x_rate_integral;
int16_t gyro_y_rate_integral;
int16_t gyro_z_rate_integral;
uint32_t integration_timespan;
uint32_t time_since_last_sonar_update;
uint16_t ground_distance;
int16_t gyro_temperature;
uint8_t qual;
} __attribute__((packed));
struct i2c_integral_frame f_integral;
class PX4FLOW: public device::I2C
{
public:
PX4FLOW(int bus = PX4FLOW_BUS, int address = I2C_FLOW_ADDRESS);
PX4FLOW(int bus, int address = I2C_FLOW_ADDRESS);
virtual ~PX4FLOW();
virtual int init();
@@ -122,8 +134,8 @@ public:
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
/**
* Diagnostics - print some basic information about the driver.
*/
* Diagnostics - print some basic information about the driver.
*/
void print_info();
protected:
@@ -144,42 +156,41 @@ private:
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.
*/
* 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.
*/
* 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.
*/
* Stop the automatic measurement state machine.
*/
void stop();
/**
* Perform a poll cycle; collect from the previous measurement
* and start a new one.
*/
* 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);
* 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);
};
@@ -189,7 +200,7 @@ private:
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
I2C("PX4FLOW", PX4FLOW_DEVICE_PATH, bus, address, 400000), //400khz
_reports(nullptr),
_sensor_ok(false),
_measure_ticks(0),
@@ -228,21 +239,12 @@ PX4FLOW::init()
}
/* allocate basic report buffers */
_reports = new RingBuffer(2, sizeof(struct optical_flow_s));
_reports = new RingBuffer(2, sizeof(optical_flow_s));
if (_reports == nullptr) {
goto out;
}
/* get a publish handle on the px4flow topic */
struct optical_flow_s zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_px4flow_topic = orb_advertise(ORB_ID(optical_flow), &zero_report);
if (_px4flow_topic < 0) {
warnx("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;
@@ -410,9 +412,6 @@ PX4FLOW::read(struct file *filp, char *buffer, size_t buflen)
break;
}
/* wait for it to complete */
usleep(PX4FLOW_CONVERSION_INTERVAL);
/* run the collection phase */
if (OK != collect()) {
ret = -EIO;
@@ -442,6 +441,7 @@ PX4FLOW::measure()
if (OK != ret) {
perf_count(_comms_errors);
debug("i2c::transfer returned %d", ret);
return ret;
}
@@ -453,14 +453,20 @@ PX4FLOW::measure()
int
PX4FLOW::collect()
{
int ret = -EIO;
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};
uint8_t val[47] = { 0 };
perf_begin(_sample_perf);
ret = transfer(nullptr, 0, &val[0], 22);
if (PX4FLOW_REG == 0x00) {
ret = transfer(nullptr, 0, &val[0], 47); // read 47 bytes (22+25 : frame1 + frame2)
}
if (PX4FLOW_REG == 0x16) {
ret = transfer(nullptr, 0, &val[0], 25); // read 25 bytes (only frame2)
}
if (ret < 0) {
debug("error reading from sensor: %d", ret);
@@ -469,36 +475,74 @@ PX4FLOW::collect()
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];
if (PX4FLOW_REG == 0) {
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];
f_integral.frame_count_since_last_readout = val[23] << 8 | val[22];
f_integral.pixel_flow_x_integral = val[25] << 8 | val[24];
f_integral.pixel_flow_y_integral = val[27] << 8 | val[26];
f_integral.gyro_x_rate_integral = val[29] << 8 | val[28];
f_integral.gyro_y_rate_integral = val[31] << 8 | val[30];
f_integral.gyro_z_rate_integral = val[33] << 8 | val[32];
f_integral.integration_timespan = val[37] << 24 | val[36] << 16
| val[35] << 8 | val[34];
f_integral.time_since_last_sonar_update = val[41] << 24 | val[40] << 16
| val[39] << 8 | val[38];
f_integral.ground_distance = val[43] << 8 | val[42];
f_integral.gyro_temperature = val[45] << 8 | val[44];
f_integral.qual = val[46];
}
if (PX4FLOW_REG == 0x16) {
f_integral.frame_count_since_last_readout = val[1] << 8 | val[0];
f_integral.pixel_flow_x_integral = val[3] << 8 | val[2];
f_integral.pixel_flow_y_integral = val[5] << 8 | val[4];
f_integral.gyro_x_rate_integral = val[7] << 8 | val[6];
f_integral.gyro_y_rate_integral = val[9] << 8 | val[8];
f_integral.gyro_z_rate_integral = val[11] << 8 | val[10];
f_integral.integration_timespan = val[15] << 24 | val[14] << 16 | val[13] << 8 | val[12];
f_integral.time_since_last_sonar_update = val[19] << 24 | val[18] << 16 | val[17] << 8 | val[16];
f_integral.ground_distance = val[21] << 8 | val[20];
f_integral.gyro_temperature = val[23] << 8 | val[22];
f_integral.qual = val[24];
}
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 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];
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();
report.pixel_flow_x_integral = static_cast<float>(f_integral.pixel_flow_x_integral) / 10000.0f;//convert to radians
report.pixel_flow_y_integral = static_cast<float>(f_integral.pixel_flow_y_integral) / 10000.0f;//convert to radians
report.frame_count_since_last_readout = f_integral.frame_count_since_last_readout;
report.ground_distance_m = static_cast<float>(f_integral.ground_distance) / 1000.0f;//convert to meters
report.quality = f_integral.qual; //0:bad ; 255 max quality
report.gyro_x_rate_integral = static_cast<float>(f_integral.gyro_x_rate_integral) / 10000.0f; //convert to radians
report.gyro_y_rate_integral = static_cast<float>(f_integral.gyro_y_rate_integral) / 10000.0f; //convert to radians
report.gyro_z_rate_integral = static_cast<float>(f_integral.gyro_z_rate_integral) / 10000.0f; //convert to radians
report.integration_timespan = f_integral.integration_timespan; //microseconds
report.time_since_last_sonar_update = f_integral.time_since_last_sonar_update;//microseconds
report.gyro_temperature = f_integral.gyro_temperature;//Temperature * 100 in centi-degrees Celsius
report.sensor_id = 0;
/* publish it */
orb_publish(ORB_ID(optical_flow), _px4flow_topic, &report);
if (_px4flow_topic < 0) {
_px4flow_topic = orb_advertise(ORB_ID(optical_flow), &report);
} else {
/* publish it */
orb_publish(ORB_ID(optical_flow), _px4flow_topic, &report);
}
/* post a report to the ring */
if (_reports->force(&report)) {
@@ -558,50 +602,21 @@ PX4FLOW::cycle_trampoline(void *arg)
void
PX4FLOW::cycle()
{
/* collection phase? */
if (_collect_phase) {
/* perform collection */
if (OK != collect()) {
debug("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()) {
debug("measure error");
}
/* next phase is collection */
_collect_phase = true;
/* perform collection */
if (OK != collect()) {
debug("collection error");
/* restart the measurement state machine */
start();
return;
}
work_queue(HPWORK, &_work, (worker_t)&PX4FLOW::cycle_trampoline, this,
_measure_ticks);
/* 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
@@ -647,14 +662,41 @@ start()
}
/* create the driver */
g_dev = new PX4FLOW(PX4FLOW_BUS);
g_dev = new PX4FLOW(PX4_I2C_BUS_EXPANSION);
if (g_dev == nullptr) {
goto fail;
}
if (OK != g_dev->init()) {
goto fail;
#ifdef PX4_I2C_BUS_ESC
delete g_dev;
/* try 2nd bus */
g_dev = new PX4FLOW(PX4_I2C_BUS_ESC);
if (g_dev == nullptr) {
goto fail;
}
if (OK != g_dev->init()) {
#endif
delete g_dev;
/* try 3rd bus */
g_dev = new PX4FLOW(PX4_I2C_BUS_ONBOARD);
if (g_dev == nullptr) {
goto fail;
}
if (OK != g_dev->init()) {
goto fail;
}
#ifdef PX4_I2C_BUS_ESC
}
#endif
}
/* set the poll rate to default, starts automatic data collection */
@@ -683,7 +725,8 @@ fail:
/**
* Stop the driver
*/
void stop()
void
stop()
{
if (g_dev != nullptr) {
delete g_dev;
@@ -714,6 +757,7 @@ test()
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));
@@ -723,18 +767,18 @@ test()
}
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);
warnx("pixel_flow_x_integral: %i", f_integral.pixel_flow_x_integral);
warnx("pixel_flow_y_integral: %i", f_integral.pixel_flow_y_integral);
warnx("framecount_integral: %u",
f_integral.frame_count_since_last_readout);
/* start the sensor polling at 2Hz */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
errx(1, "failed to set 2Hz poll rate");
/* start the sensor polling at 10Hz */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 10)) {
errx(1, "failed to set 10Hz poll rate");
}
/* read the sensor 5x and report each value */
for (unsigned i = 0; i < 5; i++) {
for (unsigned i = 0; i < 10; i++) {
struct pollfd fds;
/* wait for data to be ready */
@@ -754,9 +798,22 @@ test()
}
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);
warnx("framecount_total: %u", f.frame_count);
warnx("framecount_integral: %u",
f_integral.frame_count_since_last_readout);
warnx("pixel_flow_x_integral: %i", f_integral.pixel_flow_x_integral);
warnx("pixel_flow_y_integral: %i", f_integral.pixel_flow_y_integral);
warnx("gyro_x_rate_integral: %i", f_integral.gyro_x_rate_integral);
warnx("gyro_y_rate_integral: %i", f_integral.gyro_y_rate_integral);
warnx("gyro_z_rate_integral: %i", f_integral.gyro_z_rate_integral);
warnx("integration_timespan [us]: %u", f_integral.integration_timespan);
warnx("ground_distance: %0.2f m",
(double) f_integral.ground_distance / 1000);
warnx("time since last sonar update [us]: %i",
f_integral.time_since_last_sonar_update);
warnx("quality integration average : %i", f_integral.qual);
warnx("quality : %i", f.qual);
}
src/drivers/px4io/px4io.cpp
+52 -45
View File
@@ -817,6 +817,11 @@ PX4IO::init()
}
/* set safety to off if circuit breaker enabled */
if (circuit_breaker_enabled("CBRK_IO_SAFETY", CBRK_IO_SAFETY_KEY)) {
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, PX4IO_FORCE_SAFETY_MAGIC);
}
/* try to claim the generic PWM output device node as well - it's OK if we fail at this */
ret = register_driver(PWM_OUTPUT_DEVICE_PATH, &fops, 0666, (void *)this);
@@ -1155,52 +1160,54 @@ PX4IO::io_set_arming_state()
actuator_armed_s armed; ///< system armed state
vehicle_control_mode_s control_mode; ///< vehicle_control_mode
orb_copy(ORB_ID(actuator_armed), _t_actuator_armed, &armed);
orb_copy(ORB_ID(vehicle_control_mode), _t_vehicle_control_mode, &control_mode);
int have_armed = orb_copy(ORB_ID(actuator_armed), _t_actuator_armed, &armed);
int have_control_mode = orb_copy(ORB_ID(vehicle_control_mode), _t_vehicle_control_mode, &control_mode);
uint16_t set = 0;
uint16_t clear = 0;
if (armed.armed) {
set |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
if (have_armed == OK) {
if (armed.armed) {
set |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
} else {
clear |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
}
} else {
clear |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
if (armed.lockdown && !_lockdown_override) {
set |= PX4IO_P_SETUP_ARMING_LOCKDOWN;
} else {
clear |= PX4IO_P_SETUP_ARMING_LOCKDOWN;
}
/* Do not set failsafe if circuit breaker is enabled */
if (armed.force_failsafe && !_cb_flighttermination) {
set |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
} else {
clear |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
}
// XXX this is for future support in the commander
// but can be removed if unneeded
// if (armed.termination_failsafe) {
// set |= PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE;
// } else {
// clear |= PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE;
// }
if (armed.ready_to_arm) {
set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
} else {
clear |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
}
}
if (armed.lockdown && !_lockdown_override) {
set |= PX4IO_P_SETUP_ARMING_LOCKDOWN;
} else {
clear |= PX4IO_P_SETUP_ARMING_LOCKDOWN;
}
/* Do not set failsafe if circuit breaker is enabled */
if (armed.force_failsafe && !_cb_flighttermination) {
set |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
} else {
clear |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
}
// XXX this is for future support in the commander
// but can be removed if unneeded
// if (armed.termination_failsafe) {
// set |= PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE;
// } else {
// clear |= PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE;
// }
if (armed.ready_to_arm) {
set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
} else {
clear |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
}
if (control_mode.flag_external_manual_override_ok) {
set |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
} else {
clear |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
if (have_control_mode == OK) {
if (control_mode.flag_external_manual_override_ok) {
set |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
} else {
clear |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
}
}
return io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, clear, set);
@@ -2193,7 +2200,7 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
struct pwm_output_values* pwm = (struct pwm_output_values*)arg;
if (pwm->channel_count > _max_actuators)
/* fail with error */
return E2BIG;
return -E2BIG;
/* copy values to registers in IO */
ret = io_reg_set(PX4IO_PAGE_FAILSAFE_PWM, 0, pwm->values, pwm->channel_count);
@@ -2212,7 +2219,7 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
struct pwm_output_values* pwm = (struct pwm_output_values*)arg;
if (pwm->channel_count > _max_actuators)
/* fail with error */
return E2BIG;
return -E2BIG;
/* copy values to registers in IO */
ret = io_reg_set(PX4IO_PAGE_DISARMED_PWM, 0, pwm->values, pwm->channel_count);
@@ -2231,7 +2238,7 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
struct pwm_output_values* pwm = (struct pwm_output_values*)arg;
if (pwm->channel_count > _max_actuators)
/* fail with error */
return E2BIG;
return -E2BIG;
/* copy values to registers in IO */
ret = io_reg_set(PX4IO_PAGE_CONTROL_MIN_PWM, 0, pwm->values, pwm->channel_count);
@@ -2250,7 +2257,7 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
struct pwm_output_values* pwm = (struct pwm_output_values*)arg;
if (pwm->channel_count > _max_actuators)
/* fail with error */
return E2BIG;
return -E2BIG;
/* copy values to registers in IO */
ret = io_reg_set(PX4IO_PAGE_CONTROL_MAX_PWM, 0, pwm->values, pwm->channel_count);
@@ -2587,9 +2594,9 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
on param_get()
*/
struct pwm_output_rc_config* config = (struct pwm_output_rc_config*)arg;
if (config->channel >= _max_actuators) {
if (config->channel >= RC_INPUT_MAX_CHANNELS) {
/* fail with error */
return E2BIG;
return -E2BIG;
}
/* copy values to registers in IO */
src/drivers/rgbled/rgbled.cpp
+7 -7
View File
@@ -121,7 +121,7 @@ private:
/* for now, we only support one RGBLED */
namespace
{
RGBLED *g_rgbled;
RGBLED *g_rgbled = nullptr;
}
void rgbled_usage();
@@ -680,15 +680,15 @@ rgbled_main(int argc, char *argv[])
ret = ioctl(fd, RGBLED_SET_MODE, (unsigned long)RGBLED_MODE_OFF);
close(fd);
/* delete the rgbled object if stop was requested, in addition to turning off the LED. */
if (!strcmp(verb, "stop")) {
delete g_rgbled;
g_rgbled = nullptr;
exit(0);
}
exit(ret);
}
if (!strcmp(verb, "stop")) {
delete g_rgbled;
g_rgbled = nullptr;
exit(0);
}
if (!strcmp(verb, "rgb")) {
if (argc < 5) {
errx(1, "Usage: rgbled rgb <red> <green> <blue>");
src/drivers/roboclaw/roboclaw_main.cpp
+1 -1
View File
@@ -109,7 +109,7 @@ int roboclaw_main(int argc, char *argv[])
SCHED_PRIORITY_MAX - 10,
2048,
roboclaw_thread_main,
(const char **)argv);
(char * const *)argv);
exit(0);
} else if (!strcmp(argv[1], "test")) {
src/drivers/sf0x/sf0x.cpp
+3 -1
View File
@@ -547,7 +547,7 @@ SF0X::collect()
float si_units;
bool valid = false;
for (int i = 0; i < ret; i++) {
if (OK == sf0x_parser(readbuf[i], _linebuf, &_linebuf_index, &_parse_state, &si_units)) {
valid = true;
@@ -566,6 +566,8 @@ SF0X::collect()
report.timestamp = hrt_absolute_time();
report.error_count = perf_event_count(_comms_errors);
report.distance = si_units;
report.minimum_distance = get_minimum_distance();
report.maximum_distance = get_maximum_distance();
report.valid = valid && (si_units > get_minimum_distance() && si_units < get_maximum_distance() ? 1 : 0);
/* publish it */
src/drivers/stm32/drv_hrt.c
+5 -3
View File
@@ -253,9 +253,11 @@ static uint16_t latency_baseline;
static uint16_t latency_actual;
/* latency histogram */
#define LATENCY_BUCKET_COUNT 8
static const uint16_t latency_buckets[LATENCY_BUCKET_COUNT] = { 1, 2, 5, 10, 20, 50, 100, 1000 };
static uint32_t latency_counters[LATENCY_BUCKET_COUNT + 1];
#define LATENCY_BUCKET_COUNT 8
__EXPORT const uint16_t latency_bucket_count = LATENCY_BUCKET_COUNT;
__EXPORT const uint16_t latency_buckets[LATENCY_BUCKET_COUNT] = { 1, 2, 5, 10, 20, 50, 100, 1000 };
__EXPORT uint32_t latency_counters[LATENCY_BUCKET_COUNT + 1];
/* timer-specific functions */
static void hrt_tim_init(void);
src/examples/flow_speed_control/module.mk → src/drivers/trone/module.mk
+8 -5
View File
@@ -1,6 +1,6 @@
############################################################################
#
# Copyright (c) 2012, 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
@@ -32,10 +32,13 @@
############################################################################
#
# Build flow speed control
# Makefile to build the TeraRanger One range finder driver
#
MODULE_COMMAND = flow_speed_control
MODULE_COMMAND = trone
SRCS = flow_speed_control_main.c \
flow_speed_control_params.c
SRCS = trone.cpp
MODULE_STACKSIZE = 1200
MAXOPTIMIZATION = -Os
src/drivers/trone/trone.cpp
+915
View File
@@ -0,0 +1,915 @@
/****************************************************************************
*
* 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 trone.cpp
* @author Luis Rodrigues
*
* Driver for the TeraRanger One range finders 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_range_finder.h>
#include <drivers/device/ringbuffer.h>
#include <uORB/uORB.h>
#include <uORB/topics/subsystem_info.h>
#include <board_config.h>
/* Configuration Constants */
#define TRONE_BUS PX4_I2C_BUS_EXPANSION
#define TRONE_BASEADDR 0x30 /* 7-bit address */
#define TRONE_DEVICE_PATH "/dev/trone"
/* TRONE Registers addresses */
#define TRONE_MEASURE_REG 0x00 /* Measure range register */
/* Device limits */
#define TRONE_MIN_DISTANCE (0.20f)
#define TRONE_MAX_DISTANCE (14.00f)
#define TRONE_CONVERSION_INTERVAL 50000 /* 50ms */
/* 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
class TRONE : public device::I2C
{
public:
TRONE(int bus = TRONE_BUS, int address = TRONE_BASEADDR);
virtual ~TRONE();
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 _class_instance;
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.
*
* @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();
/**
* 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 TRONE_MIN_DISTANCE
* and TRONE_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);
};
static const uint8_t crc_table[] = {
0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31,
0x24, 0x23, 0x2a, 0x2d, 0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65,
0x48, 0x4f, 0x46, 0x41, 0x54, 0x53, 0x5a, 0x5d, 0xe0, 0xe7, 0xee, 0xe9,
0xfc, 0xfb, 0xf2, 0xf5, 0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd,
0x90, 0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85, 0xa8, 0xaf, 0xa6, 0xa1,
0xb4, 0xb3, 0xba, 0xbd, 0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5, 0xd2,
0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea, 0xb7, 0xb0, 0xb9, 0xbe,
0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9d, 0x9a,
0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32, 0x1f, 0x18, 0x11, 0x16,
0x03, 0x04, 0x0d, 0x0a, 0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42,
0x6f, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7d, 0x7a, 0x89, 0x8e, 0x87, 0x80,
0x95, 0x92, 0x9b, 0x9c, 0xb1, 0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3, 0xa4,
0xf9, 0xfe, 0xf7, 0xf0, 0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6, 0xcf, 0xc8,
0xdd, 0xda, 0xd3, 0xd4, 0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c,
0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44, 0x19, 0x1e, 0x17, 0x10,
0x05, 0x02, 0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34,
0x4e, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78, 0x7f,
0x6a, 0x6d, 0x64, 0x63, 0x3e, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b,
0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13, 0xae, 0xa9, 0xa0, 0xa7,
0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f, 0x8a, 0x8d, 0x84, 0x83,
0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef,
0xfa, 0xfd, 0xf4, 0xf3
};
static uint8_t crc8(uint8_t *p, uint8_t len) {
uint16_t i;
uint16_t crc = 0x0;
while (len--) {
i = (crc ^ *p++) & 0xFF;
crc = (crc_table[i] ^ (crc << 8)) & 0xFF;
}
return crc & 0xFF;
}
/*
* Driver 'main' command.
*/
extern "C" __EXPORT int trone_main(int argc, char *argv[]);
TRONE::TRONE(int bus, int address) :
I2C("TRONE", TRONE_DEVICE_PATH, bus, address, 100000),
_min_distance(TRONE_MIN_DISTANCE),
_max_distance(TRONE_MAX_DISTANCE),
_reports(nullptr),
_sensor_ok(false),
_measure_ticks(0),
_collect_phase(false),
_class_instance(-1),
_range_finder_topic(-1),
_sample_perf(perf_alloc(PC_ELAPSED, "trone_read")),
_comms_errors(perf_alloc(PC_COUNT, "trone_comms_errors")),
_buffer_overflows(perf_alloc(PC_COUNT, "trone_buffer_overflows"))
{
// up the retries since the device misses the first measure attempts
I2C::_retries = 3;
// enable debug() calls
_debug_enabled = false;
// work_cancel in the dtor will explode if we don't do this...
memset(&_work, 0, sizeof(_work));
}
TRONE::~TRONE()
{
/* make sure we are truly inactive */
stop();
/* free any existing reports */
if (_reports != nullptr) {
delete _reports;
}
if (_class_instance != -1) {
unregister_class_devname(RANGE_FINDER_DEVICE_PATH, _class_instance);
}
// free perf counters
perf_free(_sample_perf);
perf_free(_comms_errors);
perf_free(_buffer_overflows);
}
int
TRONE::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(range_finder_report));
if (_reports == nullptr) {
goto out;
}
_class_instance = register_class_devname(RANGE_FINDER_DEVICE_PATH);
if (_class_instance == CLASS_DEVICE_PRIMARY) {
/* get a publish handle on the range finder topic */
struct range_finder_report rf_report;
measure();
_reports->get(&rf_report);
_range_finder_topic = orb_advertise(ORB_ID(sensor_range_finder), &rf_report);
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 */
_sensor_ok = true;
out:
return ret;
}
int
TRONE::probe()
{
return measure();
}
void
TRONE::set_minimum_distance(float min)
{
_min_distance = min;
}
void
TRONE::set_maximum_distance(float max)
{
_max_distance = max;
}
float
TRONE::get_minimum_distance()
{
return _min_distance;
}
float
TRONE::get_maximum_distance()
{
return _max_distance;
}
int
TRONE::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(TRONE_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(TRONE_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 I2C::ioctl(filp, cmd, arg);
}
}
ssize_t
TRONE::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(TRONE_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
TRONE::measure()
{
int ret;
/*
* Send the command to begin a measurement.
*/
const uint8_t cmd = TRONE_MEASURE_REG;
ret = transfer(&cmd, sizeof(cmd), nullptr, 0);
if (OK != ret) {
perf_count(_comms_errors);
log("i2c::transfer returned %d", ret);
return ret;
}
ret = OK;
return ret;
}
int
TRONE::collect()
{
int ret = -EIO;
/* read from the sensor */
uint8_t val[3] = {0, 0, 0};
perf_begin(_sample_perf);
ret = transfer(nullptr, 0, &val[0], 3);
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 * 0.001f; /* mm 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.distance = si_units;
report.minimum_distance = get_minimum_distance();
report.maximum_distance = get_maximum_distance();
report.valid = crc8(val, 2) == val[2] && si_units > get_minimum_distance() && si_units < get_maximum_distance() ? 1 : 0;
/* publish it, if we are the primary */
if (_range_finder_topic >= 0) {
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
TRONE::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)&TRONE::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
TRONE::stop()
{
work_cancel(HPWORK, &_work);
}
void
TRONE::cycle_trampoline(void *arg)
{
TRONE *dev = (TRONE *)arg;
dev->cycle();
}
void
TRONE::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(TRONE_CONVERSION_INTERVAL)) {
/* schedule a fresh cycle call when we are ready to measure again */
work_queue(HPWORK,
&_work,
(worker_t)&TRONE::cycle_trampoline,
this,
_measure_ticks - USEC2TICK(TRONE_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)&TRONE::cycle_trampoline,
this,
USEC2TICK(TRONE_CONVERSION_INTERVAL));
}
void
TRONE::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 trone
{
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
const int ERROR = -1;
TRONE *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 TRONE(TRONE_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(TRONE_DEVICE_PATH, O_RDONLY);
if (fd < 0) {
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 ret;
int fd = open(TRONE_DEVICE_PATH, O_RDONLY);
if (fd < 0) {
err(1, "%s open failed (try 'trone start' if the driver is not running", TRONE_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 50x and report each value */
for (unsigned i = 0; i < 50; 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("valid %u", report.valid);
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(TRONE_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
trone_main(int argc, char *argv[])
{
/*
* Start/load the driver.
*/
if (!strcmp(argv[1], "start")) {
trone::start();
}
/*
* Stop the driver
*/
if (!strcmp(argv[1], "stop")) {
trone::stop();
}
/*
* Test the driver/device.
*/
if (!strcmp(argv[1], "test")) {
trone::test();
}
/*
* Reset the driver.
*/
if (!strcmp(argv[1], "reset")) {
trone::reset();
}
/*
* Print driver information.
*/
if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) {
trone::info();
}
errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
}
src/examples/fixedwing_control/main.c
+23 -132
View File
@@ -1,7 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
* 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
@@ -31,6 +30,7 @@
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file main.c
*
@@ -55,7 +55,7 @@
#include <drivers/drv_hrt.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_global_position_setpoint.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
@@ -106,11 +106,9 @@ static void usage(const char *reason);
*
* @param att_sp The current attitude setpoint - the values the system would like to reach.
* @param att The current attitude. The controller should make the attitude match the setpoint
* @param speed_body The velocity of the system. Currently unused.
* @param rates_sp The angular rate setpoint. This is the output of the controller.
*/
void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att,
float speed_body[], struct vehicle_rates_setpoint_s *rates_sp,
void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp,
struct actuator_controls_s *actuators);
/**
@@ -125,7 +123,7 @@ void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const st
* @param att The current attitude
* @param att_sp The attitude setpoint. This is the output of the controller
*/
void control_heading(const struct vehicle_global_position_s *pos, const struct vehicle_global_position_setpoint_s *sp,
void control_heading(const struct vehicle_global_position_s *pos, const struct position_setpoint_s *sp,
const struct vehicle_attitude_s *att, struct vehicle_attitude_setpoint_s *att_sp);
/* Variables */
@@ -135,8 +133,7 @@ static int deamon_task; /**< Handle of deamon task / thread */
static struct params p;
static struct param_handles ph;
void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att,
float speed_body[], struct vehicle_rates_setpoint_s *rates_sp,
void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp,
struct actuator_controls_s *actuators)
{
@@ -173,7 +170,7 @@ void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const st
actuators->control[1] = pitch_err * p.pitch_p;
}
void control_heading(const struct vehicle_global_position_s *pos, const struct vehicle_global_position_setpoint_s *sp,
void control_heading(const struct vehicle_global_position_s *pos, const struct position_setpoint_s *sp,
const struct vehicle_attitude_s *att, struct vehicle_attitude_setpoint_s *att_sp)
{
@@ -186,7 +183,7 @@ void control_heading(const struct vehicle_global_position_s *pos, const struct v
/* calculate heading error */
float yaw_err = att->yaw - bearing;
/* apply control gain */
float roll_command = yaw_err * p.hdng_p;
att_sp->roll_body = yaw_err * p.hdng_p;
/* limit output, this commonly is a tuning parameter, too */
if (att_sp->roll_body < -0.6f) {
@@ -253,7 +250,7 @@ int fixedwing_control_thread_main(int argc, char *argv[])
memset(&manual_sp, 0, sizeof(manual_sp));
struct vehicle_status_s vstatus;
memset(&vstatus, 0, sizeof(vstatus));
struct vehicle_global_position_setpoint_s global_sp;
struct position_setpoint_s global_sp;
memset(&global_sp, 0, sizeof(global_sp));
/* output structs - this is what is sent to the mixer */
@@ -275,17 +272,14 @@ int fixedwing_control_thread_main(int argc, char *argv[])
/* subscribe to topics. */
int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
int att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
int manual_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
int vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
int global_sp_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint));
int global_sp_sub = orb_subscribe(ORB_ID(position_setpoint_triplet));
int param_sub = orb_subscribe(ORB_ID(parameter_update));
/* Setup of loop */
float speed_body[3] = {0.0f, 0.0f, 0.0f};
/* RC failsafe check */
bool throttle_half_once = false;
struct pollfd fds[2] = {{ .fd = param_sub, .events = POLLIN },
{ .fd = att_sub, .events = POLLIN }};
@@ -339,25 +333,10 @@ int fixedwing_control_thread_main(int argc, char *argv[])
/* get a local copy of attitude */
orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
if (global_sp_updated)
orb_copy(ORB_ID(vehicle_global_position_setpoint), global_sp_sub, &global_sp);
/* currently speed in body frame is not used, but here for reference */
if (pos_updated) {
orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos);
if (att.R_valid) {
speed_body[0] = att.R[0][0] * global_pos.vx + att.R[0][1] * global_pos.vy + att.R[0][2] * global_pos.vz;
speed_body[1] = att.R[1][0] * global_pos.vx + att.R[1][1] * global_pos.vy + att.R[1][2] * global_pos.vz;
speed_body[2] = att.R[2][0] * global_pos.vx + att.R[2][1] * global_pos.vy + att.R[2][2] * global_pos.vz;
} else {
speed_body[0] = 0;
speed_body[1] = 0;
speed_body[2] = 0;
warnx("Did not get a valid R\n");
}
if (global_sp_updated) {
struct position_setpoint_triplet_s triplet;
orb_copy(ORB_ID(position_setpoint_triplet), global_sp_sub, &triplet);
memcpy(&global_sp, &triplet.current, sizeof(global_sp));
}
if (manual_sp_updated)
@@ -365,106 +344,14 @@ int fixedwing_control_thread_main(int argc, char *argv[])
orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub, &manual_sp);
/* check if the throttle was ever more than 50% - go later only to failsafe if yes */
if (isfinite(manual_sp.throttle) &&
(manual_sp.throttle >= 0.6f) &&
(manual_sp.throttle <= 1.0f)) {
throttle_half_once = true;
if (isfinite(manual_sp.z) &&
(manual_sp.z >= 0.6f) &&
(manual_sp.z <= 1.0f)) {
}
/* get the system status and the flight mode we're in */
orb_copy(ORB_ID(vehicle_status), vstatus_sub, &vstatus);
/* control */
#warning fix this
#if 0
if (vstatus.navigation_state == NAVIGATION_STATE_AUTO_ ||
vstatus.navigation_state == NAVIGATION_STATE_STABILIZED) {
/* simple heading control */
control_heading(&global_pos, &global_sp, &att, &att_sp);
/* nail pitch and yaw (rudder) to zero. This example only controls roll (index 0) */
actuators.control[1] = 0.0f;
actuators.control[2] = 0.0f;
/* simple attitude control */
control_attitude(&att_sp, &att, speed_body, &rates_sp, &actuators);
/* pass through throttle */
actuators.control[3] = att_sp.thrust;
/* set flaps to zero */
actuators.control[4] = 0.0f;
} else if (vstatus.navigation_state == NAVIGATION_STATE_MANUAL) {
/* if in manual mode, decide between attitude stabilization (SAS) and full manual pass-through */
} else if (vstatus.state_machine == SYSTEM_STATE_MANUAL) {
if (vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) {
/* if the RC signal is lost, try to stay level and go slowly back down to ground */
if (vstatus.rc_signal_lost && throttle_half_once) {
/* put plane into loiter */
att_sp.roll_body = 0.3f;
att_sp.pitch_body = 0.0f;
/* limit throttle to 60 % of last value if sane */
if (isfinite(manual_sp.throttle) &&
(manual_sp.throttle >= 0.0f) &&
(manual_sp.throttle <= 1.0f)) {
att_sp.thrust = 0.6f * manual_sp.throttle;
} else {
att_sp.thrust = 0.0f;
}
att_sp.yaw_body = 0;
// XXX disable yaw control, loiter
} else {
att_sp.roll_body = manual_sp.roll;
att_sp.pitch_body = manual_sp.pitch;
att_sp.yaw_body = 0;
att_sp.thrust = manual_sp.throttle;
}
att_sp.timestamp = hrt_absolute_time();
/* attitude control */
control_attitude(&att_sp, &att, speed_body, &rates_sp, &actuators);
/* pass through throttle */
actuators.control[3] = att_sp.thrust;
/* pass through flaps */
if (isfinite(manual_sp.flaps)) {
actuators.control[4] = manual_sp.flaps;
} else {
actuators.control[4] = 0.0f;
}
} else if (vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) {
/* directly pass through values */
actuators.control[0] = manual_sp.roll;
/* positive pitch means negative actuator -> pull up */
actuators.control[1] = manual_sp.pitch;
actuators.control[2] = manual_sp.yaw;
actuators.control[3] = manual_sp.throttle;
if (isfinite(manual_sp.flaps)) {
actuators.control[4] = manual_sp.flaps;
} else {
actuators.control[4] = 0.0f;
}
}
}
#endif
/* publish rates */
orb_publish(ORB_ID(vehicle_rates_setpoint), rates_pub, &rates_sp);
@@ -474,6 +361,10 @@ int fixedwing_control_thread_main(int argc, char *argv[])
isfinite(actuators.control[2]) &&
isfinite(actuators.control[3])) {
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
if (verbose) {
warnx("published");
}
}
}
}
@@ -532,7 +423,7 @@ int ex_fixedwing_control_main(int argc, char *argv[])
SCHED_PRIORITY_MAX - 20,
2048,
fixedwing_control_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
(argv) ? (char * const *)&argv[2] : (char * const *)NULL);
thread_running = true;
exit(0);
}
src/examples/fixedwing_control/module.mk
+2
View File
@@ -41,3 +41,5 @@ SRCS = main.c \
params.c
MODULE_STACKSIZE = 1200
EXTRACFLAGS = -Wframe-larger-than=1200
src/examples/flow_position_estimator/flow_position_estimator_main.c
+3 -3
View File
@@ -114,7 +114,7 @@ int flow_position_estimator_main(int argc, char *argv[])
SCHED_PRIORITY_MAX - 5,
4000,
flow_position_estimator_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
(argv) ? (char * const *)&argv[2] : (char * const *)NULL);
exit(0);
}
@@ -308,8 +308,8 @@ int flow_position_estimator_thread_main(int argc, char *argv[])
if (vehicle_liftoff || params.debug)
{
/* copy flow */
flow_speed[0] = flow.flow_comp_x_m;
flow_speed[1] = flow.flow_comp_y_m;
flow_speed[0] = flow.pixel_flow_x_integral / (flow.integration_timespan / 1e6f) * flow.ground_distance_m;
flow_speed[1] = flow.pixel_flow_y_integral / (flow.integration_timespan / 1e6f) * flow.ground_distance_m;
flow_speed[2] = 0.0f;
/* convert to bodyframe velocity */
src/examples/flow_position_estimator/module.mk
+2
View File
@@ -39,3 +39,5 @@ MODULE_COMMAND = flow_position_estimator
SRCS = flow_position_estimator_main.c \
flow_position_estimator_params.c
EXTRACFLAGS = -Wno-float-equal
src/examples/flow_speed_control/flow_speed_control_main.c
-387
View File
@@ -1,387 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
* Author: Samuel Zihlmann <samuezih@ee.ethz.ch>
* 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 flow_speed_control.c
*
* Optical flow speed controller
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdbool.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <debug.h>
#include <termios.h>
#include <time.h>
#include <math.h>
#include <sys/prctl.h>
#include <drivers/drv_hrt.h>
#include <uORB/uORB.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_bodyframe_speed_setpoint.h>
#include <uORB/topics/filtered_bottom_flow.h>
#include <systemlib/systemlib.h>
#include <systemlib/perf_counter.h>
#include <systemlib/err.h>
#include <poll.h>
#include <mavlink/mavlink_log.h>
#include "flow_speed_control_params.h"
static bool thread_should_exit = false; /**< Deamon exit flag */
static bool thread_running = false; /**< Deamon status flag */
static int deamon_task; /**< Handle of deamon task / thread */
__EXPORT int flow_speed_control_main(int argc, char *argv[]);
/**
* Mainloop of position controller.
*/
static int flow_speed_control_thread_main(int argc, char *argv[]);
/**
* Print the correct usage.
*/
static void usage(const char *reason);
static void
usage(const char *reason)
{
if (reason)
fprintf(stderr, "%s\n", reason);
fprintf(stderr, "usage: deamon {start|stop|status} [-p <additional params>]\n\n");
exit(1);
}
/**
* The deamon app only briefly exists to start
* the background job. The stack size assigned in the
* Makefile does only apply to this management task.
*
* The actual stack size should be set in the call
* to task_spawn_cmd().
*/
int flow_speed_control_main(int argc, char *argv[])
{
if (argc < 1)
usage("missing command");
if (!strcmp(argv[1], "start"))
{
if (thread_running)
{
printf("flow speed control already running\n");
/* this is not an error */
exit(0);
}
thread_should_exit = false;
deamon_task = task_spawn_cmd("flow_speed_control",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 6,
4096,
flow_speed_control_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
exit(0);
}
if (!strcmp(argv[1], "stop"))
{
thread_should_exit = true;
exit(0);
}
if (!strcmp(argv[1], "status"))
{
if (thread_running)
printf("\tflow speed control app is running\n");
else
printf("\tflow speed control app not started\n");
exit(0);
}
usage("unrecognized command");
exit(1);
}
static int
flow_speed_control_thread_main(int argc, char *argv[])
{
/* welcome user */
thread_running = true;
static int mavlink_fd;
mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
mavlink_log_info(mavlink_fd,"[fsc] started");
uint32_t counter = 0;
/* structures */
struct actuator_armed_s armed;
memset(&armed, 0, sizeof(armed));
struct vehicle_control_mode_s control_mode;
memset(&control_mode, 0, sizeof(control_mode));
struct filtered_bottom_flow_s filtered_flow;
memset(&filtered_flow, 0, sizeof(filtered_flow));
struct vehicle_bodyframe_speed_setpoint_s speed_sp;
memset(&speed_sp, 0, sizeof(speed_sp));
struct vehicle_attitude_setpoint_s att_sp;
memset(&att_sp, 0, sizeof(att_sp));
/* subscribe to attitude, motor setpoints and system state */
int parameter_update_sub = orb_subscribe(ORB_ID(parameter_update));
int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude));
int armed_sub = orb_subscribe(ORB_ID(actuator_armed));
int control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
int filtered_bottom_flow_sub = orb_subscribe(ORB_ID(filtered_bottom_flow));
int vehicle_bodyframe_speed_setpoint_sub = orb_subscribe(ORB_ID(vehicle_bodyframe_speed_setpoint));
orb_advert_t att_sp_pub;
bool attitude_setpoint_adverted = false;
/* parameters init*/
struct flow_speed_control_params params;
struct flow_speed_control_param_handles param_handles;
parameters_init(&param_handles);
parameters_update(&param_handles, &params);
/* register the perf counter */
perf_counter_t mc_loop_perf = perf_alloc(PC_ELAPSED, "flow_speed_control_runtime");
perf_counter_t mc_interval_perf = perf_alloc(PC_INTERVAL, "flow_speed_control_interval");
perf_counter_t mc_err_perf = perf_alloc(PC_COUNT, "flow_speed_control_err");
static bool sensors_ready = false;
static bool status_changed = false;
while (!thread_should_exit)
{
/* wait for first attitude msg to be sure all data are available */
if (sensors_ready)
{
/* polling */
struct pollfd fds[2] = {
{ .fd = vehicle_bodyframe_speed_setpoint_sub, .events = POLLIN }, // speed setpoint from pos controller
{ .fd = parameter_update_sub, .events = POLLIN }
};
/* wait for a position update, check for exit condition every 5000 ms */
int ret = poll(fds, 2, 500);
if (ret < 0)
{
/* poll error, count it in perf */
perf_count(mc_err_perf);
}
else if (ret == 0)
{
/* no return value, ignore */
// printf("[flow speed control] no bodyframe speed setpoints updates\n");
}
else
{
/* parameter update available? */
if (fds[1].revents & POLLIN)
{
/* read from param to clear updated flag */
struct parameter_update_s update;
orb_copy(ORB_ID(parameter_update), parameter_update_sub, &update);
parameters_update(&param_handles, &params);
mavlink_log_info(mavlink_fd,"[fsp] parameters updated.");
}
/* only run controller if position/speed changed */
if (fds[0].revents & POLLIN)
{
perf_begin(mc_loop_perf);
/* get a local copy of the armed topic */
orb_copy(ORB_ID(actuator_armed), armed_sub, &armed);
/* get a local copy of the control mode */
orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode);
/* get a local copy of filtered bottom flow */
orb_copy(ORB_ID(filtered_bottom_flow), filtered_bottom_flow_sub, &filtered_flow);
/* get a local copy of bodyframe speed setpoint */
orb_copy(ORB_ID(vehicle_bodyframe_speed_setpoint), vehicle_bodyframe_speed_setpoint_sub, &speed_sp);
/* get a local copy of control mode */
orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode);
if (control_mode.flag_control_velocity_enabled)
{
/* calc new roll/pitch */
float pitch_body = -(speed_sp.vx - filtered_flow.vx) * params.speed_p;
float roll_body = (speed_sp.vy - filtered_flow.vy) * params.speed_p;
if(status_changed == false)
mavlink_log_info(mavlink_fd,"[fsc] flow SPEED control engaged");
status_changed = true;
/* limit roll and pitch corrections */
if((pitch_body <= params.limit_pitch) && (pitch_body >= -params.limit_pitch))
{
att_sp.pitch_body = pitch_body;
}
else
{
if(pitch_body > params.limit_pitch)
att_sp.pitch_body = params.limit_pitch;
if(pitch_body < -params.limit_pitch)
att_sp.pitch_body = -params.limit_pitch;
}
if((roll_body <= params.limit_roll) && (roll_body >= -params.limit_roll))
{
att_sp.roll_body = roll_body;
}
else
{
if(roll_body > params.limit_roll)
att_sp.roll_body = params.limit_roll;
if(roll_body < -params.limit_roll)
att_sp.roll_body = -params.limit_roll;
}
/* set yaw setpoint forward*/
att_sp.yaw_body = speed_sp.yaw_sp;
/* add trim from parameters */
att_sp.roll_body = att_sp.roll_body + params.trim_roll;
att_sp.pitch_body = att_sp.pitch_body + params.trim_pitch;
att_sp.thrust = speed_sp.thrust_sp;
att_sp.timestamp = hrt_absolute_time();
/* publish new attitude setpoint */
if(isfinite(att_sp.pitch_body) && isfinite(att_sp.roll_body) && isfinite(att_sp.yaw_body) && isfinite(att_sp.thrust))
{
if (attitude_setpoint_adverted)
{
orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
}
else
{
att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
attitude_setpoint_adverted = true;
}
}
else
{
warnx("NaN in flow speed controller!");
}
}
else
{
if(status_changed == true)
mavlink_log_info(mavlink_fd,"[fsc] flow SPEED controller disengaged.");
status_changed = false;
/* reset attitude setpoint */
att_sp.roll_body = 0.0f;
att_sp.pitch_body = 0.0f;
att_sp.thrust = 0.0f;
att_sp.yaw_body = 0.0f;
}
/* measure in what intervals the controller runs */
perf_count(mc_interval_perf);
perf_end(mc_loop_perf);
}
}
counter++;
}
else
{
/* sensors not ready waiting for first attitude msg */
/* polling */
struct pollfd fds[1] = {
{ .fd = vehicle_attitude_sub, .events = POLLIN },
};
/* wait for a flow msg, check for exit condition every 5 s */
int ret = poll(fds, 1, 5000);
if (ret < 0)
{
/* poll error, count it in perf */
perf_count(mc_err_perf);
}
else if (ret == 0)
{
/* no return value, ignore */
mavlink_log_info(mavlink_fd,"[fsc] no attitude received.");
}
else
{
if (fds[0].revents & POLLIN)
{
sensors_ready = true;
mavlink_log_info(mavlink_fd,"[fsp] initialized.");
}
}
}
}
mavlink_log_info(mavlink_fd,"[fsc] ending now...");
thread_running = false;
close(parameter_update_sub);
close(vehicle_attitude_sub);
close(vehicle_bodyframe_speed_setpoint_sub);
close(filtered_bottom_flow_sub);
close(armed_sub);
close(control_mode_sub);
close(att_sp_pub);
perf_print_counter(mc_loop_perf);
perf_free(mc_loop_perf);
fflush(stdout);
return 0;
}
src/examples/hwtest/hwtest.c
+76 -24
View File
@@ -1,7 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
* 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
@@ -34,41 +33,94 @@
/**
* @file hwtest.c
*
* Simple functional hardware test.
* Simple output test.
* @ref Documentation https://pixhawk.org/dev/examples/write_output
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <systemlib/err.h>
#include <string.h>
#include <drivers/drv_hrt.h>
#include <uORB/uORB.h>
#include <nuttx/config.h>
#include <systemlib/err.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/uORB.h>
__EXPORT int ex_hwtest_main(int argc, char *argv[]);
int ex_hwtest_main(int argc, char *argv[])
{
struct actuator_controls_s actuators;
memset(&actuators, 0, sizeof(actuators));
orb_advert_t actuator_pub_fd = orb_advertise(ORB_ID(actuator_controls_0), &actuators);
warnx("DO NOT FORGET TO STOP THE COMMANDER APP!");
warnx("(run <commander stop> to do so)");
warnx("usage: http://px4.io/dev/examples/write_output");
int i;
float rcvalue = -1.0f;
hrt_abstime stime;
struct actuator_controls_s actuators;
memset(&actuators, 0, sizeof(actuators));
orb_advert_t actuator_pub_fd = orb_advertise(ORB_ID(actuator_controls_0), &actuators);
while (true) {
stime = hrt_absolute_time();
while (hrt_absolute_time() - stime < 1000000) {
for (i=0; i<8; i++)
actuators.control[i] = rcvalue;
actuators.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(actuator_controls_0), actuator_pub_fd, &actuators);
}
warnx("servos set to %.1f", rcvalue);
rcvalue *= -1.0f;
}
struct actuator_armed_s arm;
memset(&arm, 0 , sizeof(arm));
return OK;
arm.timestamp = hrt_absolute_time();
arm.ready_to_arm = true;
arm.armed = true;
orb_advert_t arm_pub_fd = orb_advertise(ORB_ID(actuator_armed), &arm);
orb_publish(ORB_ID(actuator_armed), arm_pub_fd, &arm);
/* read back values to validate */
int arm_sub_fd = orb_subscribe(ORB_ID(actuator_armed));
orb_copy(ORB_ID(actuator_armed), arm_sub_fd, &arm);
if (arm.ready_to_arm && arm.armed) {
warnx("Actuator armed");
} else {
errx(1, "Arming actuators failed");
}
hrt_abstime stime;
int count = 0;
while (count != 36) {
stime = hrt_absolute_time();
while (hrt_absolute_time() - stime < 1000000) {
for (int i = 0; i != 2; i++) {
if (count <= 5) {
actuators.control[i] = -1.0f;
} else if (count <= 10) {
actuators.control[i] = -0.7f;
} else if (count <= 15) {
actuators.control[i] = -0.5f;
} else if (count <= 20) {
actuators.control[i] = -0.3f;
} else if (count <= 25) {
actuators.control[i] = 0.0f;
} else if (count <= 30) {
actuators.control[i] = 0.3f;
} else {
actuators.control[i] = 0.5f;
}
}
actuators.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(actuator_controls_0), actuator_pub_fd, &actuators);
usleep(10000);
}
warnx("count %i", count);
count++;
}
return OK;
}
src/examples/matlab_csv_serial/matlab_csv_serial.c
+1 -1
View File
@@ -107,7 +107,7 @@ int matlab_csv_serial_main(int argc, char *argv[])
SCHED_PRIORITY_MAX - 5,
2000,
matlab_csv_serial_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
(argv) ? (char * const *)&argv[2] : (char * const *)NULL);
exit(0);
}
src/examples/px4_daemon_app/px4_daemon_app.c
+6 -3
View File
@@ -38,10 +38,13 @@
* @author Example User <mail@example.com>
*/
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <nuttx/config.h>
#include <nuttx/sched.h>
#include <unistd.h>
#include <stdio.h>
#include <systemlib/systemlib.h>
#include <systemlib/err.h>
@@ -100,7 +103,7 @@ int px4_daemon_app_main(int argc, char *argv[])
SCHED_PRIORITY_DEFAULT,
2000,
px4_daemon_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
(argv) ? (char * const *)&argv[2] : (char * const *)NULL);
exit(0);
}
src/lib/conversion/rotation.cpp
+5
View File
@@ -181,6 +181,11 @@ rotate_3f(enum Rotation rot, float &x, float &y, float &z)
x = tmp;
return;
}
case ROTATION_ROLL_270_YAW_270: {
tmp = z; z = -y; y = tmp;
tmp = x; x = y; y = -tmp;
return;
}
case ROTATION_PITCH_90: {
tmp = z; z = -x; x = tmp;
return;
src/lib/rc/st24.c
+1 -1
View File
@@ -72,7 +72,7 @@ const char *decode_states[] = {"UNSYNCED",
#define ST24_SCALE_OFFSET (int)(ST24_TARGET_MIN - (ST24_SCALE_FACTOR * ST24_RANGE_MIN + 0.5f))
static enum ST24_DECODE_STATE _decode_state = ST24_DECODE_STATE_UNSYNCED;
static unsigned _rxlen;
static uint8_t _rxlen;
static ReceiverFcPacket _rxpacket;
src/lib/uavcan
Submodule
+1
Submodule src/lib/uavcan added at 1efd244275
src/modules/attitude_estimator_ekf/AttitudeEKF.m
+298
View File
@@ -0,0 +1,298 @@
function [xa_apo,Pa_apo,Rot_matrix,eulerAngles,debugOutput]...
= AttitudeEKF(approx_prediction,use_inertia_matrix,zFlag,dt,z,q_rotSpeed,q_rotAcc,q_acc,q_mag,r_gyro,r_accel,r_mag,J)
%LQG Postion Estimator and Controller
% Observer:
% x[n|n] = x[n|n-1] + M(y[n] - Cx[n|n-1] - Du[n])
% x[n+1|n] = Ax[n|n] + Bu[n]
%
% $Author: Tobias Naegeli $ $Date: 2014 $ $Revision: 3 $
%
%
% Arguments:
% approx_prediction: if 1 then the exponential map is approximated with a
% first order taylor approximation. has at the moment not a big influence
% (just 1st or 2nd order approximation) we should change it to rodriquez
% approximation.
% use_inertia_matrix: set to true if you have the inertia matrix J for your
% quadrotor
% xa_apo_k: old state vectotr
% zFlag: if sensor measurement is available [gyro, acc, mag]
% dt: dt in s
% z: measurements [gyro, acc, mag]
% q_rotSpeed: process noise gyro
% q_rotAcc: process noise gyro acceleration
% q_acc: process noise acceleration
% q_mag: process noise magnetometer
% r_gyro: measurement noise gyro
% r_accel: measurement noise accel
% r_mag: measurement noise mag
% J: moment of inertia matrix
% Output:
% xa_apo: updated state vectotr
% Pa_apo: updated state covariance matrix
% Rot_matrix: rotation matrix
% eulerAngles: euler angles
% debugOutput: not used
%% model specific parameters
% compute once the inverse of the Inertia
persistent Ji;
if isempty(Ji)
Ji=single(inv(J));
end
%% init
persistent x_apo
if(isempty(x_apo))
gyro_init=single([0;0;0]);
gyro_acc_init=single([0;0;0]);
acc_init=single([0;0;-9.81]);
mag_init=single([1;0;0]);
x_apo=single([gyro_init;gyro_acc_init;acc_init;mag_init]);
end
persistent P_apo
if(isempty(P_apo))
% P_apo = single(eye(NSTATES) * 1000);
P_apo = single(200*ones(12));
end
debugOutput = single(zeros(4,1));
%% copy the states
wx= x_apo(1); % x body angular rate
wy= x_apo(2); % y body angular rate
wz= x_apo(3); % z body angular rate
wax= x_apo(4); % x body angular acceleration
way= x_apo(5); % y body angular acceleration
waz= x_apo(6); % z body angular acceleration
zex= x_apo(7); % x component gravity vector
zey= x_apo(8); % y component gravity vector
zez= x_apo(9); % z component gravity vector
mux= x_apo(10); % x component magnetic field vector
muy= x_apo(11); % y component magnetic field vector
muz= x_apo(12); % z component magnetic field vector
%% prediction section
% compute the apriori state estimate from the previous aposteriori estimate
%body angular accelerations
if (use_inertia_matrix==1)
wak =[wax;way;waz]+Ji*(-cross([wax;way;waz],J*[wax;way;waz]))*dt;
else
wak =[wax;way;waz];
end
%body angular rates
wk =[wx; wy; wz] + dt*wak;
%derivative of the prediction rotation matrix
O=[0,-wz,wy;wz,0,-wx;-wy,wx,0]';
%prediction of the earth z vector
if (approx_prediction==1)
%e^(Odt)=I+dt*O+dt^2/2!O^2
% so we do a first order approximation of the exponential map
zek =(O*dt+single(eye(3)))*[zex;zey;zez];
else
zek =(single(eye(3))+O*dt+dt^2/2*O^2)*[zex;zey;zez];
%zek =expm2(O*dt)*[zex;zey;zez]; not working because use double
%precision
end
%prediction of the magnetic vector
if (approx_prediction==1)
%e^(Odt)=I+dt*O+dt^2/2!O^2
% so we do a first order approximation of the exponential map
muk =(O*dt+single(eye(3)))*[mux;muy;muz];
else
muk =(single(eye(3))+O*dt+dt^2/2*O^2)*[mux;muy;muz];
%muk =expm2(O*dt)*[mux;muy;muz]; not working because use double
%precision
end
x_apr=[wk;wak;zek;muk];
% compute the apriori error covariance estimate from the previous
%aposteriori estimate
EZ=[0,zez,-zey;
-zez,0,zex;
zey,-zex,0]';
MA=[0,muz,-muy;
-muz,0,mux;
muy,-mux,0]';
E=single(eye(3));
Z=single(zeros(3));
A_lin=[ Z, E, Z, Z
Z, Z, Z, Z
EZ, Z, O, Z
MA, Z, Z, O];
A_lin=eye(12)+A_lin*dt;
%process covariance matrix
persistent Q
if (isempty(Q))
Q=diag([ q_rotSpeed,q_rotSpeed,q_rotSpeed,...
q_rotAcc,q_rotAcc,q_rotAcc,...
q_acc,q_acc,q_acc,...
q_mag,q_mag,q_mag]);
end
P_apr=A_lin*P_apo*A_lin'+Q;
%% update
if zFlag(1)==1&&zFlag(2)==1&&zFlag(3)==1
% R=[r_gyro,0,0,0,0,0,0,0,0;
% 0,r_gyro,0,0,0,0,0,0,0;
% 0,0,r_gyro,0,0,0,0,0,0;
% 0,0,0,r_accel,0,0,0,0,0;
% 0,0,0,0,r_accel,0,0,0,0;
% 0,0,0,0,0,r_accel,0,0,0;
% 0,0,0,0,0,0,r_mag,0,0;
% 0,0,0,0,0,0,0,r_mag,0;
% 0,0,0,0,0,0,0,0,r_mag];
R_v=[r_gyro,r_gyro,r_gyro,r_accel,r_accel,r_accel,r_mag,r_mag,r_mag];
%observation matrix
%[zw;ze;zmk];
H_k=[ E, Z, Z, Z;
Z, Z, E, Z;
Z, Z, Z, E];
y_k=z(1:9)-H_k*x_apr;
%S_k=H_k*P_apr*H_k'+R;
S_k=H_k*P_apr*H_k';
S_k(1:9+1:end) = S_k(1:9+1:end) + R_v;
K_k=(P_apr*H_k'/(S_k));
x_apo=x_apr+K_k*y_k;
P_apo=(eye(12)-K_k*H_k)*P_apr;
else
if zFlag(1)==1&&zFlag(2)==0&&zFlag(3)==0
R=[r_gyro,0,0;
0,r_gyro,0;
0,0,r_gyro];
R_v=[r_gyro,r_gyro,r_gyro];
%observation matrix
H_k=[ E, Z, Z, Z];
y_k=z(1:3)-H_k(1:3,1:12)*x_apr;
% S_k=H_k(1:3,1:12)*P_apr*H_k(1:3,1:12)'+R(1:3,1:3);
S_k=H_k(1:3,1:12)*P_apr*H_k(1:3,1:12)';
S_k(1:3+1:end) = S_k(1:3+1:end) + R_v;
K_k=(P_apr*H_k(1:3,1:12)'/(S_k));
x_apo=x_apr+K_k*y_k;
P_apo=(eye(12)-K_k*H_k(1:3,1:12))*P_apr;
else
if zFlag(1)==1&&zFlag(2)==1&&zFlag(3)==0
% R=[r_gyro,0,0,0,0,0;
% 0,r_gyro,0,0,0,0;
% 0,0,r_gyro,0,0,0;
% 0,0,0,r_accel,0,0;
% 0,0,0,0,r_accel,0;
% 0,0,0,0,0,r_accel];
R_v=[r_gyro,r_gyro,r_gyro,r_accel,r_accel,r_accel];
%observation matrix
H_k=[ E, Z, Z, Z;
Z, Z, E, Z];
y_k=z(1:6)-H_k(1:6,1:12)*x_apr;
% S_k=H_k(1:6,1:12)*P_apr*H_k(1:6,1:12)'+R(1:6,1:6);
S_k=H_k(1:6,1:12)*P_apr*H_k(1:6,1:12)';
S_k(1:6+1:end) = S_k(1:6+1:end) + R_v;
K_k=(P_apr*H_k(1:6,1:12)'/(S_k));
x_apo=x_apr+K_k*y_k;
P_apo=(eye(12)-K_k*H_k(1:6,1:12))*P_apr;
else
if zFlag(1)==1&&zFlag(2)==0&&zFlag(3)==1
% R=[r_gyro,0,0,0,0,0;
% 0,r_gyro,0,0,0,0;
% 0,0,r_gyro,0,0,0;
% 0,0,0,r_mag,0,0;
% 0,0,0,0,r_mag,0;
% 0,0,0,0,0,r_mag];
R_v=[r_gyro,r_gyro,r_gyro,r_mag,r_mag,r_mag];
%observation matrix
H_k=[ E, Z, Z, Z;
Z, Z, Z, E];
y_k=[z(1:3);z(7:9)]-H_k(1:6,1:12)*x_apr;
%S_k=H_k(1:6,1:12)*P_apr*H_k(1:6,1:12)'+R(1:6,1:6);
S_k=H_k(1:6,1:12)*P_apr*H_k(1:6,1:12)';
S_k(1:6+1:end) = S_k(1:6+1:end) + R_v;
K_k=(P_apr*H_k(1:6,1:12)'/(S_k));
x_apo=x_apr+K_k*y_k;
P_apo=(eye(12)-K_k*H_k(1:6,1:12))*P_apr;
else
x_apo=x_apr;
P_apo=P_apr;
end
end
end
end
%% euler anglels extraction
z_n_b = -x_apo(7:9)./norm(x_apo(7:9));
m_n_b = x_apo(10:12)./norm(x_apo(10:12));
y_n_b=cross(z_n_b,m_n_b);
y_n_b=y_n_b./norm(y_n_b);
x_n_b=(cross(y_n_b,z_n_b));
x_n_b=x_n_b./norm(x_n_b);
xa_apo=x_apo;
Pa_apo=P_apo;
% rotation matrix from earth to body system
Rot_matrix=[x_n_b,y_n_b,z_n_b];
phi=atan2(Rot_matrix(2,3),Rot_matrix(3,3));
theta=-asin(Rot_matrix(1,3));
psi=atan2(Rot_matrix(1,2),Rot_matrix(1,1));
eulerAngles=[phi;theta;psi];
src/modules/attitude_estimator_ekf/attitudeKalmanfilter.prj
+502
View File
@@ -0,0 +1,502 @@
<?xml version="1.0" encoding="UTF-8"?>
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<param.DefaultFixedPointSignedness />
</unset>
<fileset.entrypoints>
<file value="${PROJECT_ROOT}/AttitudeEKF.m" custom-data-expanded="true">
<Inputs fileName="AttitudeEKF.m" functionName="AttitudeEKF">
<Input Name="approx_prediction">
<Class>uint8</Class>
<UserDefined>false</UserDefined>
<Size>1 x 1</Size>
<Complex>false</Complex>
</Input>
<Input Name="use_inertia_matrix">
<Class>uint8</Class>
<UserDefined>false</UserDefined>
<Size>1 x 1</Size>
<Complex>false</Complex>
</Input>
<Input Name="zFlag">
<Class>uint8</Class>
<UserDefined>false</UserDefined>
<Size>3 x 1</Size>
<Complex>false</Complex>
</Input>
<Input Name="dt">
<Class>single</Class>
<UserDefined>false</UserDefined>
<Size>1 x 1</Size>
<Complex>false</Complex>
</Input>
<Input Name="z">
<Class>single</Class>
<UserDefined>false</UserDefined>
<Size>9 x 1</Size>
<Complex>false</Complex>
</Input>
<Input Name="q_rotSpeed">
<Class>single</Class>
<UserDefined>false</UserDefined>
<Size>1 x 1</Size>
<Complex>false</Complex>
</Input>
<Input Name="q_rotAcc">
<Class>single</Class>
<UserDefined>false</UserDefined>
<Size>1 x 1</Size>
<Complex>false</Complex>
</Input>
<Input Name="q_acc">
<Class>single</Class>
<UserDefined>false</UserDefined>
<Size>1 x 1</Size>
<Complex>false</Complex>
</Input>
<Input Name="q_mag">
<Class>single</Class>
<UserDefined>false</UserDefined>
<Size>1 x 1</Size>
<Complex>false</Complex>
</Input>
<Input Name="r_gyro">
<Class>single</Class>
<UserDefined>false</UserDefined>
<Size>1 x 1</Size>
<Complex>false</Complex>
</Input>
<Input Name="r_accel">
<Class>single</Class>
<UserDefined>false</UserDefined>
<Size>1 x 1</Size>
<Complex>false</Complex>
</Input>
<Input Name="r_mag">
<Class>single</Class>
<UserDefined>false</UserDefined>
<Size>1 x 1</Size>
<Complex>false</Complex>
</Input>
<Input Name="J">
<Class>single</Class>
<UserDefined>false</UserDefined>
<Size>3 x 3</Size>
<Complex>false</Complex>
</Input>
</Inputs>
</file>
</fileset.entrypoints>
<fileset.testbench>
<file>${PROJECT_ROOT}/AttitudeEKF_Test.m</file>
</fileset.testbench>
<fileset.package />
<build-deliverables>
<file name="AttitudeEKF.a" location="${MATLAB_ROOT}/bin/codegen/codegen/lib/AttitudeEKF" optional="false">/opt/matlab/r2013b/bin/codegen/codegen/lib/AttitudeEKF/AttitudeEKF.a</file>
</build-deliverables>
<workflow />
<matlab>
<root>/opt/matlab/r2013b</root>
<toolboxes>
<toolbox name="fixedpoint" />
</toolboxes>
</matlab>
<platform>
<unix>true</unix>
<mac>false</mac>
<windows>false</windows>
<win2k>false</win2k>
<winxp>false</winxp>
<vista>false</vista>
<linux>true</linux>
<solaris>false</solaris>
<osver>3.16.1-1-ARCH</osver>
<os32>false</os32>
<os64>true</os64>
<arch>glnxa64</arch>
<matlab>true</matlab>
</platform>
</configuration>
</deployment-project>
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+66 -9
View File
@@ -38,6 +38,7 @@
*
* @author Tobias Naegeli <naegelit@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include <nuttx/config.h>
@@ -75,8 +76,7 @@
#ifdef __cplusplus
extern "C" {
#endif
#include "codegen/attitudeKalmanfilter_initialize.h"
#include "codegen/attitudeKalmanfilter.h"
#include "codegen/AttitudeEKF.h"
#include "attitude_estimator_ekf_params.h"
#ifdef __cplusplus
}
@@ -133,9 +133,9 @@ int attitude_estimator_ekf_main(int argc, char *argv[])
attitude_estimator_ekf_task = task_spawn_cmd("attitude_estimator_ekf",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
14000,
7200,
attitude_estimator_ekf_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
(argv) ? (char * const *)&argv[2] : (char * const *)NULL);
exit(0);
}
@@ -207,10 +207,11 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
0, 0, 1.f
}; /**< init: identity matrix */
float debugOutput[4] = { 0.0f };
int overloadcounter = 19;
/* Initialize filter */
attitudeKalmanfilter_initialize();
AttitudeEKF_initialize();
/* store start time to guard against too slow update rates */
uint64_t last_run = hrt_absolute_time();
@@ -275,9 +276,10 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
/* keep track of sensor updates */
uint64_t sensor_last_timestamp[3] = {0, 0, 0};
struct attitude_estimator_ekf_params ekf_params {};
struct attitude_estimator_ekf_params ekf_params;
memset(&ekf_params, 0, sizeof(ekf_params));
struct attitude_estimator_ekf_param_handles ekf_param_handles {};
struct attitude_estimator_ekf_param_handles ekf_param_handles = { 0 };
/* initialize parameter handles */
parameters_init(&ekf_param_handles);
@@ -528,8 +530,25 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
continue;
}
attitudeKalmanfilter(update_vect, dt, z_k, x_aposteriori_k, P_aposteriori_k, ekf_params.q, ekf_params.r,
euler, Rot_matrix, x_aposteriori, P_aposteriori);
/* Call the estimator */
AttitudeEKF(false, // approx_prediction
(unsigned char)ekf_params.use_moment_inertia,
update_vect,
dt,
z_k,
ekf_params.q[0], // q_rotSpeed,
ekf_params.q[1], // q_rotAcc
ekf_params.q[2], // q_acc
ekf_params.q[3], // q_mag
ekf_params.r[0], // r_gyro
ekf_params.r[1], // r_accel
ekf_params.r[2], // r_mag
ekf_params.moment_inertia_J,
x_aposteriori,
P_aposteriori,
Rot_matrix,
euler,
debugOutput);
/* swap values for next iteration, check for fatal inputs */
if (isfinite(euler[0]) && isfinite(euler[1]) && isfinite(euler[2])) {
@@ -576,6 +595,44 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
memcpy(&att.R[0][0], &R.data[0][0], sizeof(att.R));
att.R_valid = true;
// compute secondary attitude
math::Matrix<3, 3> R_adapted; //modified rotation matrix
R_adapted = R;
//move z to x
R_adapted(0, 0) = R(0, 2);
R_adapted(1, 0) = R(1, 2);
R_adapted(2, 0) = R(2, 2);
//move x to z
R_adapted(0, 2) = R(0, 0);
R_adapted(1, 2) = R(1, 0);
R_adapted(2, 2) = R(2, 0);
//change direction of pitch (convert to right handed system)
R_adapted(0, 0) = -R_adapted(0, 0);
R_adapted(1, 0) = -R_adapted(1, 0);
R_adapted(2, 0) = -R_adapted(2, 0);
math::Vector<3> euler_angles_sec; //adapted euler angles for fixed wing operation
euler_angles_sec = R_adapted.to_euler();
att.roll_sec = euler_angles_sec(0);
att.pitch_sec = euler_angles_sec(1);
att.yaw_sec = euler_angles_sec(2);
memcpy(&att.R_sec[0][0], &R_adapted.data[0][0], sizeof(att.R_sec));
att.rollspeed_sec = -x_aposteriori[2];
att.pitchspeed_sec = x_aposteriori[1];
att.yawspeed_sec = x_aposteriori[0];
att.rollacc_sec = -x_aposteriori[5];
att.pitchacc_sec = x_aposteriori[4];
att.yawacc_sec = x_aposteriori[3];
att.g_comp_sec[0] = -raw.accelerometer_m_s2[2] - (-acc(2));
att.g_comp_sec[1] = raw.accelerometer_m_s2[1] - acc(1);
att.g_comp_sec[2] = raw.accelerometer_m_s2[0] - acc(0);
if (isfinite(att.roll) && isfinite(att.pitch) && isfinite(att.yaw)) {
// Broadcast
orb_publish(ORB_ID(vehicle_attitude), pub_att, &att);
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
+90 -16
View File
@@ -44,28 +44,96 @@
/* Extended Kalman Filter covariances */
/* gyro process noise */
PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q0, 1e-4f);
PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q1, 0.08f);
PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q2, 0.009f);
/* gyro offsets process noise */
PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q3, 0.005f);
PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q4, 0.0f);
/* gyro measurement noise */
/**
* Body angular rate process noise
*
* @group attitude_ekf
*/
PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q0, 1e-4f);
/**
* Body angular acceleration process noise
*
* @group attitude_ekf
*/
PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q1, 0.08f);
/**
* Acceleration process noise
*
* @group attitude_ekf
*/
PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q2, 0.009f);
/**
* Magnet field vector process noise
*
* @group attitude_ekf
*/
PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q3, 0.005f);
/**
* Gyro measurement noise
*
* @group attitude_ekf
*/
PARAM_DEFINE_FLOAT(EKF_ATT_V4_R0, 0.0008f);
/* accel measurement noise */
/**
* Accel measurement noise
*
* @group attitude_ekf
*/
PARAM_DEFINE_FLOAT(EKF_ATT_V4_R1, 10000.0f);
/* mag measurement noise */
/**
* Mag measurement noise
*
* @group attitude_ekf
*/
PARAM_DEFINE_FLOAT(EKF_ATT_V4_R2, 100.0f);
/* offset estimation - UNUSED */
PARAM_DEFINE_FLOAT(EKF_ATT_V4_R3, 0.0f);
/* magnetic declination, in degrees */
PARAM_DEFINE_FLOAT(ATT_MAG_DECL, 0.0f);
PARAM_DEFINE_INT32(ATT_ACC_COMP, 2);
/**
* Moment of inertia matrix diagonal entry (1, 1)
*
* @group attitude_ekf
* @unit kg*m^2
*/
PARAM_DEFINE_FLOAT(ATT_J11, 0.0018);
/**
* Moment of inertia matrix diagonal entry (2, 2)
*
* @group attitude_ekf
* @unit kg*m^2
*/
PARAM_DEFINE_FLOAT(ATT_J22, 0.0018);
/**
* Moment of inertia matrix diagonal entry (3, 3)
*
* @group attitude_ekf
* @unit kg*m^2
*/
PARAM_DEFINE_FLOAT(ATT_J33, 0.0037);
/**
* Moment of inertia enabled in estimator
*
* If set to != 0 the moment of inertia will be used in the estimator
*
* @group attitude_ekf
* @min 0
* @max 1
*/
PARAM_DEFINE_INT32(ATT_J_EN, 0);
int parameters_init(struct attitude_estimator_ekf_param_handles *h)
{
/* PID parameters */
@@ -73,17 +141,20 @@ int parameters_init(struct attitude_estimator_ekf_param_handles *h)
h->q1 = param_find("EKF_ATT_V3_Q1");
h->q2 = param_find("EKF_ATT_V3_Q2");
h->q3 = param_find("EKF_ATT_V3_Q3");
h->q4 = param_find("EKF_ATT_V3_Q4");
h->r0 = param_find("EKF_ATT_V4_R0");
h->r1 = param_find("EKF_ATT_V4_R1");
h->r2 = param_find("EKF_ATT_V4_R2");
h->r3 = param_find("EKF_ATT_V4_R3");
h->mag_decl = param_find("ATT_MAG_DECL");
h->acc_comp = param_find("ATT_ACC_COMP");
h->moment_inertia_J[0] = param_find("ATT_J11");
h->moment_inertia_J[1] = param_find("ATT_J22");
h->moment_inertia_J[2] = param_find("ATT_J33");
h->use_moment_inertia = param_find("ATT_J_EN");
return OK;
}
@@ -93,17 +164,20 @@ int parameters_update(const struct attitude_estimator_ekf_param_handles *h, stru
param_get(h->q1, &(p->q[1]));
param_get(h->q2, &(p->q[2]));
param_get(h->q3, &(p->q[3]));
param_get(h->q4, &(p->q[4]));
param_get(h->r0, &(p->r[0]));
param_get(h->r1, &(p->r[1]));
param_get(h->r2, &(p->r[2]));
param_get(h->r3, &(p->r[3]));
param_get(h->mag_decl, &(p->mag_decl));
p->mag_decl *= M_PI_F / 180.0f;
param_get(h->acc_comp, &(p->acc_comp));
for (int i = 0; i < 3; i++) {
param_get(h->moment_inertia_J[i], &(p->moment_inertia_J[3 * i + i]));
}
param_get(h->use_moment_inertia, &(p->use_moment_inertia));
return OK;
}
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h
+8 -4
View File
@@ -42,8 +42,10 @@
#include <systemlib/param/param.h>
struct attitude_estimator_ekf_params {
float r[9];
float q[12];
float r[3];
float q[4];
float moment_inertia_J[9];
int32_t use_moment_inertia;
float roll_off;
float pitch_off;
float yaw_off;
@@ -52,8 +54,10 @@ struct attitude_estimator_ekf_params {
};
struct attitude_estimator_ekf_param_handles {
param_t r0, r1, r2, r3;
param_t q0, q1, q2, q3, q4;
param_t r0, r1, r2;
param_t q0, q1, q2, q3;
param_t moment_inertia_J[3]; /**< diagonal entries of the matrix */
param_t use_moment_inertia;
param_t mag_decl;
param_t acc_comp;
};
src/modules/attitude_estimator_ekf/codegen/AttitudeEKF.c
+1456
View File
File diff suppressed because it is too large Load Diff
src/modules/attitude_estimator_ekf/codegen/AttitudeEKF.h
+26
View File
@@ -0,0 +1,26 @@
/*
* AttitudeEKF.h
*
* Code generation for function 'AttitudeEKF'
*
* C source code generated on: Thu Aug 21 11:17:28 2014
*
*/
#ifndef __ATTITUDEEKF_H__
#define __ATTITUDEEKF_H__
/* Include files */
#include <math.h>
#include <stddef.h>
#include <stdlib.h>
#include <string.h>
#include "rtwtypes.h"
#include "AttitudeEKF_types.h"
/* Function Declarations */
extern void AttitudeEKF(unsigned char approx_prediction, unsigned char use_inertia_matrix, const unsigned char zFlag[3], float dt, const float z[9], float q_rotSpeed, float q_rotAcc, float q_acc, float q_mag, float r_gyro, float r_accel, float r_mag, const float J[9], float xa_apo[12], float Pa_apo[144], float Rot_matrix[9], float eulerAngles[3], float debugOutput[4]);
extern void AttitudeEKF_initialize(void);
extern void AttitudeEKF_terminate(void);
#endif
/* End of code generation (AttitudeEKF.h) */
src/modules/attitude_estimator_ekf/codegen/AttitudeEKF_types.h
+17
View File
@@ -0,0 +1,17 @@
/*
* AttitudeEKF_types.h
*
* Code generation for function 'AttitudeEKF'
*
* C source code generated on: Thu Aug 21 11:17:28 2014
*
*/
#ifndef __ATTITUDEEKF_TYPES_H__
#define __ATTITUDEEKF_TYPES_H__
/* Include files */
#include "rtwtypes.h"
#endif
/* End of code generation (AttitudeEKF_types.h) */
src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c
-1148
View File
File diff suppressed because it is too large Load Diff
src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h
-34
View File
@@ -1,34 +0,0 @@
/*
* attitudeKalmanfilter.h
*
* Code generation for function 'attitudeKalmanfilter'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
#ifndef __ATTITUDEKALMANFILTER_H__
#define __ATTITUDEKALMANFILTER_H__
/* Include files */
#include <math.h>
#include <stddef.h>
#include <stdlib.h>
#include <string.h>
#include "rt_defines.h"
#include "rt_nonfinite.h"
#include "rtwtypes.h"
#include "attitudeKalmanfilter_types.h"
/* Type Definitions */
/* Named Constants */
/* Variable Declarations */
/* Variable Definitions */
/* Function Declarations */
extern void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const real32_T z[9], const real32_T x_aposteriori_k[12], const real32_T P_aposteriori_k[144], const real32_T q[12], real32_T r[9], real32_T eulerAngles[3], real32_T Rot_matrix[9], real32_T x_aposteriori[12], real32_T P_aposteriori[144]);
#endif
/* End of code generation (attitudeKalmanfilter.h) */
src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.c
-31
View File
@@ -1,31 +0,0 @@
/*
* attitudeKalmanfilter_initialize.c
*
* Code generation for function 'attitudeKalmanfilter_initialize'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
/* Include files */
#include "rt_nonfinite.h"
#include "attitudeKalmanfilter.h"
#include "attitudeKalmanfilter_initialize.h"
/* Type Definitions */
/* Named Constants */
/* Variable Declarations */
/* Variable Definitions */
/* Function Declarations */
/* Function Definitions */
void attitudeKalmanfilter_initialize(void)
{
rt_InitInfAndNaN(8U);
}
/* End of code generation (attitudeKalmanfilter_initialize.c) */
src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.h
-34
View File
@@ -1,34 +0,0 @@
/*
* attitudeKalmanfilter_initialize.h
*
* Code generation for function 'attitudeKalmanfilter_initialize'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
#ifndef __ATTITUDEKALMANFILTER_INITIALIZE_H__
#define __ATTITUDEKALMANFILTER_INITIALIZE_H__
/* Include files */
#include <math.h>
#include <stddef.h>
#include <stdlib.h>
#include <string.h>
#include "rt_defines.h"
#include "rt_nonfinite.h"
#include "rtwtypes.h"
#include "attitudeKalmanfilter_types.h"
/* Type Definitions */
/* Named Constants */
/* Variable Declarations */
/* Variable Definitions */
/* Function Declarations */
extern void attitudeKalmanfilter_initialize(void);
#endif
/* End of code generation (attitudeKalmanfilter_initialize.h) */
src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.c
-31
View File
@@ -1,31 +0,0 @@
/*
* attitudeKalmanfilter_terminate.c
*
* Code generation for function 'attitudeKalmanfilter_terminate'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
/* Include files */
#include "rt_nonfinite.h"
#include "attitudeKalmanfilter.h"
#include "attitudeKalmanfilter_terminate.h"
/* Type Definitions */
/* Named Constants */
/* Variable Declarations */
/* Variable Definitions */
/* Function Declarations */
/* Function Definitions */
void attitudeKalmanfilter_terminate(void)
{
/* (no terminate code required) */
}
/* End of code generation (attitudeKalmanfilter_terminate.c) */
src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.h
-34
View File
@@ -1,34 +0,0 @@
/*
* attitudeKalmanfilter_terminate.h
*
* Code generation for function 'attitudeKalmanfilter_terminate'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
#ifndef __ATTITUDEKALMANFILTER_TERMINATE_H__
#define __ATTITUDEKALMANFILTER_TERMINATE_H__
/* Include files */
#include <math.h>
#include <stddef.h>
#include <stdlib.h>
#include <string.h>
#include "rt_defines.h"
#include "rt_nonfinite.h"
#include "rtwtypes.h"
#include "attitudeKalmanfilter_types.h"
/* Type Definitions */
/* Named Constants */
/* Variable Declarations */
/* Variable Definitions */
/* Function Declarations */
extern void attitudeKalmanfilter_terminate(void);
#endif
/* End of code generation (attitudeKalmanfilter_terminate.h) */
src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_types.h
-16
View File
@@ -1,16 +0,0 @@
/*
* attitudeKalmanfilter_types.h
*
* Code generation for function 'attitudeKalmanfilter'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
#ifndef __ATTITUDEKALMANFILTER_TYPES_H__
#define __ATTITUDEKALMANFILTER_TYPES_H__
/* Type Definitions */
#endif
/* End of code generation (attitudeKalmanfilter_types.h) */
src/modules/attitude_estimator_ekf/codegen/cross.c
-37
View File
@@ -1,37 +0,0 @@
/*
* cross.c
*
* Code generation for function 'cross'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
/* Include files */
#include "rt_nonfinite.h"
#include "attitudeKalmanfilter.h"
#include "cross.h"
/* Type Definitions */
/* Named Constants */
/* Variable Declarations */
/* Variable Definitions */
/* Function Declarations */
/* Function Definitions */
/*
*
*/
void cross(const real32_T a[3], const real32_T b[3], real32_T c[3])
{
c[0] = a[1] * b[2] - a[2] * b[1];
c[1] = a[2] * b[0] - a[0] * b[2];
c[2] = a[0] * b[1] - a[1] * b[0];
}
/* End of code generation (cross.c) */
src/modules/attitude_estimator_ekf/codegen/cross.h
-34
View File
@@ -1,34 +0,0 @@
/*
* cross.h
*
* Code generation for function 'cross'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
#ifndef __CROSS_H__
#define __CROSS_H__
/* Include files */
#include <math.h>
#include <stddef.h>
#include <stdlib.h>
#include <string.h>
#include "rt_defines.h"
#include "rt_nonfinite.h"
#include "rtwtypes.h"
#include "attitudeKalmanfilter_types.h"
/* Type Definitions */
/* Named Constants */
/* Variable Declarations */
/* Variable Definitions */
/* Function Declarations */
extern void cross(const real32_T a[3], const real32_T b[3], real32_T c[3]);
#endif
/* End of code generation (cross.h) */
src/modules/attitude_estimator_ekf/codegen/eye.c
-51
View File
@@ -1,51 +0,0 @@
/*
* eye.c
*
* Code generation for function 'eye'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
/* Include files */
#include "rt_nonfinite.h"
#include "attitudeKalmanfilter.h"
#include "eye.h"
/* Type Definitions */
/* Named Constants */
/* Variable Declarations */
/* Variable Definitions */
/* Function Declarations */
/* Function Definitions */
/*
*
*/
void b_eye(real_T I[144])
{
int32_T i;
memset(&I[0], 0, 144U * sizeof(real_T));
for (i = 0; i < 12; i++) {
I[i + 12 * i] = 1.0;
}
}
/*
*
*/
void eye(real_T I[9])
{
int32_T i;
memset(&I[0], 0, 9U * sizeof(real_T));
for (i = 0; i < 3; i++) {
I[i + 3 * i] = 1.0;
}
}
/* End of code generation (eye.c) */
src/modules/attitude_estimator_ekf/codegen/eye.h
-35
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@@ -1,35 +0,0 @@
/*
* eye.h
*
* Code generation for function 'eye'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
#ifndef __EYE_H__
#define __EYE_H__
/* Include files */
#include <math.h>
#include <stddef.h>
#include <stdlib.h>
#include <string.h>
#include "rt_defines.h"
#include "rt_nonfinite.h"
#include "rtwtypes.h"
#include "attitudeKalmanfilter_types.h"
/* Type Definitions */
/* Named Constants */
/* Variable Declarations */
/* Variable Definitions */
/* Function Declarations */
extern void b_eye(real_T I[144]);
extern void eye(real_T I[9]);
#endif
/* End of code generation (eye.h) */
src/modules/attitude_estimator_ekf/codegen/mrdivide.c
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@@ -1,357 +0,0 @@
/*
* mrdivide.c
*
* Code generation for function 'mrdivide'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
/* Include files */
#include "rt_nonfinite.h"
#include "attitudeKalmanfilter.h"
#include "mrdivide.h"
/* Type Definitions */
/* Named Constants */
/* Variable Declarations */
/* Variable Definitions */
/* Function Declarations */
/* Function Definitions */
/*
*
*/
void b_mrdivide(const real32_T A[36], const real32_T B[9], real32_T y[36])
{
real32_T b_A[9];
int32_T rtemp;
int32_T k;
real32_T b_B[36];
int32_T r1;
int32_T r2;
int32_T r3;
real32_T maxval;
real32_T a21;
real32_T Y[36];
for (rtemp = 0; rtemp < 3; rtemp++) {
for (k = 0; k < 3; k++) {
b_A[k + 3 * rtemp] = B[rtemp + 3 * k];
}
}
for (rtemp = 0; rtemp < 12; rtemp++) {
for (k = 0; k < 3; k++) {
b_B[k + 3 * rtemp] = A[rtemp + 12 * k];
}
}
r1 = 0;
r2 = 1;
r3 = 2;
maxval = (real32_T)fabs(b_A[0]);
a21 = (real32_T)fabs(b_A[1]);
if (a21 > maxval) {
maxval = a21;
r1 = 1;
r2 = 0;
}
if ((real32_T)fabs(b_A[2]) > maxval) {
r1 = 2;
r2 = 1;
r3 = 0;
}
b_A[r2] /= b_A[r1];
b_A[r3] /= b_A[r1];
b_A[3 + r2] -= b_A[r2] * b_A[3 + r1];
b_A[3 + r3] -= b_A[r3] * b_A[3 + r1];
b_A[6 + r2] -= b_A[r2] * b_A[6 + r1];
b_A[6 + r3] -= b_A[r3] * b_A[6 + r1];
if ((real32_T)fabs(b_A[3 + r3]) > (real32_T)fabs(b_A[3 + r2])) {
rtemp = r2;
r2 = r3;
r3 = rtemp;
}
b_A[3 + r3] /= b_A[3 + r2];
b_A[6 + r3] -= b_A[3 + r3] * b_A[6 + r2];
for (k = 0; k < 12; k++) {
Y[3 * k] = b_B[r1 + 3 * k];
Y[1 + 3 * k] = b_B[r2 + 3 * k] - Y[3 * k] * b_A[r2];
Y[2 + 3 * k] = (b_B[r3 + 3 * k] - Y[3 * k] * b_A[r3]) - Y[1 + 3 * k] * b_A[3
+ r3];
Y[2 + 3 * k] /= b_A[6 + r3];
Y[3 * k] -= Y[2 + 3 * k] * b_A[6 + r1];
Y[1 + 3 * k] -= Y[2 + 3 * k] * b_A[6 + r2];
Y[1 + 3 * k] /= b_A[3 + r2];
Y[3 * k] -= Y[1 + 3 * k] * b_A[3 + r1];
Y[3 * k] /= b_A[r1];
}
for (rtemp = 0; rtemp < 3; rtemp++) {
for (k = 0; k < 12; k++) {
y[k + 12 * rtemp] = Y[rtemp + 3 * k];
}
}
}
/*
*
*/
void c_mrdivide(const real32_T A[72], const real32_T B[36], real32_T y[72])
{
real32_T b_A[36];
int8_T ipiv[6];
int32_T i3;
int32_T iy;
int32_T j;
int32_T c;
int32_T ix;
real32_T temp;
int32_T k;
real32_T s;
int32_T jy;
int32_T ijA;
real32_T Y[72];
for (i3 = 0; i3 < 6; i3++) {
for (iy = 0; iy < 6; iy++) {
b_A[iy + 6 * i3] = B[i3 + 6 * iy];
}
ipiv[i3] = (int8_T)(1 + i3);
}
for (j = 0; j < 5; j++) {
c = j * 7;
iy = 0;
ix = c;
temp = (real32_T)fabs(b_A[c]);
for (k = 2; k <= 6 - j; k++) {
ix++;
s = (real32_T)fabs(b_A[ix]);
if (s > temp) {
iy = k - 1;
temp = s;
}
}
if (b_A[c + iy] != 0.0F) {
if (iy != 0) {
ipiv[j] = (int8_T)((j + iy) + 1);
ix = j;
iy += j;
for (k = 0; k < 6; k++) {
temp = b_A[ix];
b_A[ix] = b_A[iy];
b_A[iy] = temp;
ix += 6;
iy += 6;
}
}
i3 = (c - j) + 6;
for (jy = c + 1; jy + 1 <= i3; jy++) {
b_A[jy] /= b_A[c];
}
}
iy = c;
jy = c + 6;
for (k = 1; k <= 5 - j; k++) {
temp = b_A[jy];
if (b_A[jy] != 0.0F) {
ix = c + 1;
i3 = (iy - j) + 12;
for (ijA = 7 + iy; ijA + 1 <= i3; ijA++) {
b_A[ijA] += b_A[ix] * -temp;
ix++;
}
}
jy += 6;
iy += 6;
}
}
for (i3 = 0; i3 < 12; i3++) {
for (iy = 0; iy < 6; iy++) {
Y[iy + 6 * i3] = A[i3 + 12 * iy];
}
}
for (jy = 0; jy < 6; jy++) {
if (ipiv[jy] != jy + 1) {
for (j = 0; j < 12; j++) {
temp = Y[jy + 6 * j];
Y[jy + 6 * j] = Y[(ipiv[jy] + 6 * j) - 1];
Y[(ipiv[jy] + 6 * j) - 1] = temp;
}
}
}
for (j = 0; j < 12; j++) {
c = 6 * j;
for (k = 0; k < 6; k++) {
iy = 6 * k;
if (Y[k + c] != 0.0F) {
for (jy = k + 2; jy < 7; jy++) {
Y[(jy + c) - 1] -= Y[k + c] * b_A[(jy + iy) - 1];
}
}
}
}
for (j = 0; j < 12; j++) {
c = 6 * j;
for (k = 5; k > -1; k += -1) {
iy = 6 * k;
if (Y[k + c] != 0.0F) {
Y[k + c] /= b_A[k + iy];
for (jy = 0; jy + 1 <= k; jy++) {
Y[jy + c] -= Y[k + c] * b_A[jy + iy];
}
}
}
}
for (i3 = 0; i3 < 6; i3++) {
for (iy = 0; iy < 12; iy++) {
y[iy + 12 * i3] = Y[i3 + 6 * iy];
}
}
}
/*
*
*/
void mrdivide(const real32_T A[108], const real32_T B[81], real32_T y[108])
{
real32_T b_A[81];
int8_T ipiv[9];
int32_T i2;
int32_T iy;
int32_T j;
int32_T c;
int32_T ix;
real32_T temp;
int32_T k;
real32_T s;
int32_T jy;
int32_T ijA;
real32_T Y[108];
for (i2 = 0; i2 < 9; i2++) {
for (iy = 0; iy < 9; iy++) {
b_A[iy + 9 * i2] = B[i2 + 9 * iy];
}
ipiv[i2] = (int8_T)(1 + i2);
}
for (j = 0; j < 8; j++) {
c = j * 10;
iy = 0;
ix = c;
temp = (real32_T)fabs(b_A[c]);
for (k = 2; k <= 9 - j; k++) {
ix++;
s = (real32_T)fabs(b_A[ix]);
if (s > temp) {
iy = k - 1;
temp = s;
}
}
if (b_A[c + iy] != 0.0F) {
if (iy != 0) {
ipiv[j] = (int8_T)((j + iy) + 1);
ix = j;
iy += j;
for (k = 0; k < 9; k++) {
temp = b_A[ix];
b_A[ix] = b_A[iy];
b_A[iy] = temp;
ix += 9;
iy += 9;
}
}
i2 = (c - j) + 9;
for (jy = c + 1; jy + 1 <= i2; jy++) {
b_A[jy] /= b_A[c];
}
}
iy = c;
jy = c + 9;
for (k = 1; k <= 8 - j; k++) {
temp = b_A[jy];
if (b_A[jy] != 0.0F) {
ix = c + 1;
i2 = (iy - j) + 18;
for (ijA = 10 + iy; ijA + 1 <= i2; ijA++) {
b_A[ijA] += b_A[ix] * -temp;
ix++;
}
}
jy += 9;
iy += 9;
}
}
for (i2 = 0; i2 < 12; i2++) {
for (iy = 0; iy < 9; iy++) {
Y[iy + 9 * i2] = A[i2 + 12 * iy];
}
}
for (jy = 0; jy < 9; jy++) {
if (ipiv[jy] != jy + 1) {
for (j = 0; j < 12; j++) {
temp = Y[jy + 9 * j];
Y[jy + 9 * j] = Y[(ipiv[jy] + 9 * j) - 1];
Y[(ipiv[jy] + 9 * j) - 1] = temp;
}
}
}
for (j = 0; j < 12; j++) {
c = 9 * j;
for (k = 0; k < 9; k++) {
iy = 9 * k;
if (Y[k + c] != 0.0F) {
for (jy = k + 2; jy < 10; jy++) {
Y[(jy + c) - 1] -= Y[k + c] * b_A[(jy + iy) - 1];
}
}
}
}
for (j = 0; j < 12; j++) {
c = 9 * j;
for (k = 8; k > -1; k += -1) {
iy = 9 * k;
if (Y[k + c] != 0.0F) {
Y[k + c] /= b_A[k + iy];
for (jy = 0; jy + 1 <= k; jy++) {
Y[jy + c] -= Y[k + c] * b_A[jy + iy];
}
}
}
}
for (i2 = 0; i2 < 9; i2++) {
for (iy = 0; iy < 12; iy++) {
y[iy + 12 * i2] = Y[i2 + 9 * iy];
}
}
}
/* End of code generation (mrdivide.c) */
src/modules/attitude_estimator_ekf/codegen/mrdivide.h
-36
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@@ -1,36 +0,0 @@
/*
* mrdivide.h
*
* Code generation for function 'mrdivide'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
#ifndef __MRDIVIDE_H__
#define __MRDIVIDE_H__
/* Include files */
#include <math.h>
#include <stddef.h>
#include <stdlib.h>
#include <string.h>
#include "rt_defines.h"
#include "rt_nonfinite.h"
#include "rtwtypes.h"
#include "attitudeKalmanfilter_types.h"
/* Type Definitions */
/* Named Constants */
/* Variable Declarations */
/* Variable Definitions */
/* Function Declarations */
extern void b_mrdivide(const real32_T A[36], const real32_T B[9], real32_T y[36]);
extern void c_mrdivide(const real32_T A[72], const real32_T B[36], real32_T y[72]);
extern void mrdivide(const real32_T A[108], const real32_T B[81], real32_T y[108]);
#endif
/* End of code generation (mrdivide.h) */
src/modules/attitude_estimator_ekf/codegen/norm.c
-54
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@@ -1,54 +0,0 @@
/*
* norm.c
*
* Code generation for function 'norm'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
/* Include files */
#include "rt_nonfinite.h"
#include "attitudeKalmanfilter.h"
#include "norm.h"
/* Type Definitions */
/* Named Constants */
/* Variable Declarations */
/* Variable Definitions */
/* Function Declarations */
/* Function Definitions */
/*
*
*/
real32_T norm(const real32_T x[3])
{
real32_T y;
real32_T scale;
int32_T k;
real32_T absxk;
real32_T t;
y = 0.0F;
scale = 1.17549435E-38F;
for (k = 0; k < 3; k++) {
absxk = (real32_T)fabs(x[k]);
if (absxk > scale) {
t = scale / absxk;
y = 1.0F + y * t * t;
scale = absxk;
} else {
t = absxk / scale;
y += t * t;
}
}
return scale * (real32_T)sqrt(y);
}
/* End of code generation (norm.c) */
src/modules/attitude_estimator_ekf/codegen/norm.h
-34
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@@ -1,34 +0,0 @@
/*
* norm.h
*
* Code generation for function 'norm'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
#ifndef __NORM_H__
#define __NORM_H__
/* Include files */
#include <math.h>
#include <stddef.h>
#include <stdlib.h>
#include <string.h>
#include "rt_defines.h"
#include "rt_nonfinite.h"
#include "rtwtypes.h"
#include "attitudeKalmanfilter_types.h"
/* Type Definitions */
/* Named Constants */
/* Variable Declarations */
/* Variable Definitions */
/* Function Declarations */
extern real32_T norm(const real32_T x[3]);
#endif
/* End of code generation (norm.h) */
src/modules/attitude_estimator_ekf/codegen/rdivide.c
-38
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@@ -1,38 +0,0 @@
/*
* rdivide.c
*
* Code generation for function 'rdivide'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
/* Include files */
#include "rt_nonfinite.h"
#include "attitudeKalmanfilter.h"
#include "rdivide.h"
/* Type Definitions */
/* Named Constants */
/* Variable Declarations */
/* Variable Definitions */
/* Function Declarations */
/* Function Definitions */
/*
*
*/
void rdivide(const real32_T x[3], real32_T y, real32_T z[3])
{
int32_T i;
for (i = 0; i < 3; i++) {
z[i] = x[i] / y;
}
}
/* End of code generation (rdivide.c) */
src/modules/attitude_estimator_ekf/codegen/rdivide.h
-34
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@@ -1,34 +0,0 @@
/*
* rdivide.h
*
* Code generation for function 'rdivide'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
#ifndef __RDIVIDE_H__
#define __RDIVIDE_H__
/* Include files */
#include <math.h>
#include <stddef.h>
#include <stdlib.h>
#include <string.h>
#include "rt_defines.h"
#include "rt_nonfinite.h"
#include "rtwtypes.h"
#include "attitudeKalmanfilter_types.h"
/* Type Definitions */
/* Named Constants */
/* Variable Declarations */
/* Variable Definitions */
/* Function Declarations */
extern void rdivide(const real32_T x[3], real32_T y, real32_T z[3]);
#endif
/* End of code generation (rdivide.h) */
src/modules/attitude_estimator_ekf/codegen/rtGetInf.c
-139
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@@ -1,139 +0,0 @@
/*
* rtGetInf.c
*
* Code generation for function 'attitudeKalmanfilter'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
/*
* Abstract:
* MATLAB for code generation function to initialize non-finite, Inf and MinusInf
*/
#include "rtGetInf.h"
#define NumBitsPerChar 8U
/* Function: rtGetInf ==================================================
* Abstract:
* Initialize rtInf needed by the generated code.
* Inf is initialized as non-signaling. Assumes IEEE.
*/
real_T rtGetInf(void)
{
size_t bitsPerReal = sizeof(real_T) * (NumBitsPerChar);
real_T inf = 0.0;
if (bitsPerReal == 32U) {
inf = rtGetInfF();
} else {
uint16_T one = 1U;
enum {
LittleEndian,
BigEndian
} machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian;
switch (machByteOrder) {
case LittleEndian:
{
union {
LittleEndianIEEEDouble bitVal;
real_T fltVal;
} tmpVal;
tmpVal.bitVal.words.wordH = 0x7FF00000U;
tmpVal.bitVal.words.wordL = 0x00000000U;
inf = tmpVal.fltVal;
break;
}
case BigEndian:
{
union {
BigEndianIEEEDouble bitVal;
real_T fltVal;
} tmpVal;
tmpVal.bitVal.words.wordH = 0x7FF00000U;
tmpVal.bitVal.words.wordL = 0x00000000U;
inf = tmpVal.fltVal;
break;
}
}
}
return inf;
}
/* Function: rtGetInfF ==================================================
* Abstract:
* Initialize rtInfF needed by the generated code.
* Inf is initialized as non-signaling. Assumes IEEE.
*/
real32_T rtGetInfF(void)
{
IEEESingle infF;
infF.wordL.wordLuint = 0x7F800000U;
return infF.wordL.wordLreal;
}
/* Function: rtGetMinusInf ==================================================
* Abstract:
* Initialize rtMinusInf needed by the generated code.
* Inf is initialized as non-signaling. Assumes IEEE.
*/
real_T rtGetMinusInf(void)
{
size_t bitsPerReal = sizeof(real_T) * (NumBitsPerChar);
real_T minf = 0.0;
if (bitsPerReal == 32U) {
minf = rtGetMinusInfF();
} else {
uint16_T one = 1U;
enum {
LittleEndian,
BigEndian
} machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian;
switch (machByteOrder) {
case LittleEndian:
{
union {
LittleEndianIEEEDouble bitVal;
real_T fltVal;
} tmpVal;
tmpVal.bitVal.words.wordH = 0xFFF00000U;
tmpVal.bitVal.words.wordL = 0x00000000U;
minf = tmpVal.fltVal;
break;
}
case BigEndian:
{
union {
BigEndianIEEEDouble bitVal;
real_T fltVal;
} tmpVal;
tmpVal.bitVal.words.wordH = 0xFFF00000U;
tmpVal.bitVal.words.wordL = 0x00000000U;
minf = tmpVal.fltVal;
break;
}
}
}
return minf;
}
/* Function: rtGetMinusInfF ==================================================
* Abstract:
* Initialize rtMinusInfF needed by the generated code.
* Inf is initialized as non-signaling. Assumes IEEE.
*/
real32_T rtGetMinusInfF(void)
{
IEEESingle minfF;
minfF.wordL.wordLuint = 0xFF800000U;
return minfF.wordL.wordLreal;
}
/* End of code generation (rtGetInf.c) */
src/modules/attitude_estimator_ekf/codegen/rtGetInf.h
-23
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@@ -1,23 +0,0 @@
/*
* rtGetInf.h
*
* Code generation for function 'attitudeKalmanfilter'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
#ifndef __RTGETINF_H__
#define __RTGETINF_H__
#include <stddef.h>
#include "rtwtypes.h"
#include "rt_nonfinite.h"
extern real_T rtGetInf(void);
extern real32_T rtGetInfF(void);
extern real_T rtGetMinusInf(void);
extern real32_T rtGetMinusInfF(void);
#endif
/* End of code generation (rtGetInf.h) */
src/modules/attitude_estimator_ekf/codegen/rtGetNaN.c
-96
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@@ -1,96 +0,0 @@
/*
* rtGetNaN.c
*
* Code generation for function 'attitudeKalmanfilter'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
/*
* Abstract:
* MATLAB for code generation function to initialize non-finite, NaN
*/
#include "rtGetNaN.h"
#define NumBitsPerChar 8U
/* Function: rtGetNaN ==================================================
* Abstract:
* Initialize rtNaN needed by the generated code.
* NaN is initialized as non-signaling. Assumes IEEE.
*/
real_T rtGetNaN(void)
{
size_t bitsPerReal = sizeof(real_T) * (NumBitsPerChar);
real_T nan = 0.0;
if (bitsPerReal == 32U) {
nan = rtGetNaNF();
} else {
uint16_T one = 1U;
enum {
LittleEndian,
BigEndian
} machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian;
switch (machByteOrder) {
case LittleEndian:
{
union {
LittleEndianIEEEDouble bitVal;
real_T fltVal;
} tmpVal;
tmpVal.bitVal.words.wordH = 0xFFF80000U;
tmpVal.bitVal.words.wordL = 0x00000000U;
nan = tmpVal.fltVal;
break;
}
case BigEndian:
{
union {
BigEndianIEEEDouble bitVal;
real_T fltVal;
} tmpVal;
tmpVal.bitVal.words.wordH = 0x7FFFFFFFU;
tmpVal.bitVal.words.wordL = 0xFFFFFFFFU;
nan = tmpVal.fltVal;
break;
}
}
}
return nan;
}
/* Function: rtGetNaNF ==================================================
* Abstract:
* Initialize rtNaNF needed by the generated code.
* NaN is initialized as non-signaling. Assumes IEEE.
*/
real32_T rtGetNaNF(void)
{
IEEESingle nanF = { { 0 } };
uint16_T one = 1U;
enum {
LittleEndian,
BigEndian
} machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian;
switch (machByteOrder) {
case LittleEndian:
{
nanF.wordL.wordLuint = 0xFFC00000U;
break;
}
case BigEndian:
{
nanF.wordL.wordLuint = 0x7FFFFFFFU;
break;
}
}
return nanF.wordL.wordLreal;
}
/* End of code generation (rtGetNaN.c) */
src/modules/attitude_estimator_ekf/codegen/rtGetNaN.h
-21
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@@ -1,21 +0,0 @@
/*
* rtGetNaN.h
*
* Code generation for function 'attitudeKalmanfilter'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
#ifndef __RTGETNAN_H__
#define __RTGETNAN_H__
#include <stddef.h>
#include "rtwtypes.h"
#include "rt_nonfinite.h"
extern real_T rtGetNaN(void);
extern real32_T rtGetNaNF(void);
#endif
/* End of code generation (rtGetNaN.h) */
src/modules/attitude_estimator_ekf/codegen/rt_defines.h
-24
View File
@@ -1,24 +0,0 @@
/*
* rt_defines.h
*
* Code generation for function 'attitudeKalmanfilter'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
#ifndef __RT_DEFINES_H__
#define __RT_DEFINES_H__
#include <stdlib.h>
#define RT_PI 3.14159265358979323846
#define RT_PIF 3.1415927F
#define RT_LN_10 2.30258509299404568402
#define RT_LN_10F 2.3025851F
#define RT_LOG10E 0.43429448190325182765
#define RT_LOG10EF 0.43429449F
#define RT_E 2.7182818284590452354
#define RT_EF 2.7182817F
#endif
/* End of code generation (rt_defines.h) */
src/modules/attitude_estimator_ekf/codegen/rt_nonfinite.c
-87
View File
@@ -1,87 +0,0 @@
/*
* rt_nonfinite.c
*
* Code generation for function 'attitudeKalmanfilter'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
/*
* Abstract:
* MATLAB for code generation function to initialize non-finites,
* (Inf, NaN and -Inf).
*/
#include "rt_nonfinite.h"
#include "rtGetNaN.h"
#include "rtGetInf.h"
real_T rtInf;
real_T rtMinusInf;
real_T rtNaN;
real32_T rtInfF;
real32_T rtMinusInfF;
real32_T rtNaNF;
/* Function: rt_InitInfAndNaN ==================================================
* Abstract:
* Initialize the rtInf, rtMinusInf, and rtNaN needed by the
* generated code. NaN is initialized as non-signaling. Assumes IEEE.
*/
void rt_InitInfAndNaN(size_t realSize)
{
(void) (realSize);
rtNaN = rtGetNaN();
rtNaNF = rtGetNaNF();
rtInf = rtGetInf();
rtInfF = rtGetInfF();
rtMinusInf = rtGetMinusInf();
rtMinusInfF = rtGetMinusInfF();
}
/* Function: rtIsInf ==================================================
* Abstract:
* Test if value is infinite
*/
boolean_T rtIsInf(real_T value)
{
return ((value==rtInf || value==rtMinusInf) ? 1U : 0U);
}
/* Function: rtIsInfF =================================================
* Abstract:
* Test if single-precision value is infinite
*/
boolean_T rtIsInfF(real32_T value)
{
return(((value)==rtInfF || (value)==rtMinusInfF) ? 1U : 0U);
}
/* Function: rtIsNaN ==================================================
* Abstract:
* Test if value is not a number
*/
boolean_T rtIsNaN(real_T value)
{
#if defined(_MSC_VER) && (_MSC_VER <= 1200)
return _isnan(value)? TRUE:FALSE;
#else
return (value!=value)? 1U:0U;
#endif
}
/* Function: rtIsNaNF =================================================
* Abstract:
* Test if single-precision value is not a number
*/
boolean_T rtIsNaNF(real32_T value)
{
#if defined(_MSC_VER) && (_MSC_VER <= 1200)
return _isnan((real_T)value)? true:false;
#else
return (value!=value)? 1U:0U;
#endif
}
/* End of code generation (rt_nonfinite.c) */
src/modules/attitude_estimator_ekf/codegen/rt_nonfinite.h
-53
View File
@@ -1,53 +0,0 @@
/*
* rt_nonfinite.h
*
* Code generation for function 'attitudeKalmanfilter'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
#ifndef __RT_NONFINITE_H__
#define __RT_NONFINITE_H__
#if defined(_MSC_VER) && (_MSC_VER <= 1200)
#include <float.h>
#endif
#include <stddef.h>
#include "rtwtypes.h"
extern real_T rtInf;
extern real_T rtMinusInf;
extern real_T rtNaN;
extern real32_T rtInfF;
extern real32_T rtMinusInfF;
extern real32_T rtNaNF;
extern void rt_InitInfAndNaN(size_t realSize);
extern boolean_T rtIsInf(real_T value);
extern boolean_T rtIsInfF(real32_T value);
extern boolean_T rtIsNaN(real_T value);
extern boolean_T rtIsNaNF(real32_T value);
typedef struct {
struct {
uint32_T wordH;
uint32_T wordL;
} words;
} BigEndianIEEEDouble;
typedef struct {
struct {
uint32_T wordL;
uint32_T wordH;
} words;
} LittleEndianIEEEDouble;
typedef struct {
union {
real32_T wordLreal;
uint32_T wordLuint;
} wordL;
} IEEESingle;
#endif
/* End of code generation (rt_nonfinite.h) */
src/modules/attitude_estimator_ekf/codegen/rtwtypes.h
Executable → Regular
+160 -159
View File
@@ -1,159 +1,160 @@
/*
* rtwtypes.h
*
* Code generation for function 'attitudeKalmanfilter'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
#ifndef __RTWTYPES_H__
#define __RTWTYPES_H__
#ifndef TRUE
# define TRUE (1U)
#endif
#ifndef FALSE
# define FALSE (0U)
#endif
#ifndef __TMWTYPES__
#define __TMWTYPES__
#include <limits.h>
/*=======================================================================*
* Target hardware information
* Device type: Generic->MATLAB Host Computer
* Number of bits: char: 8 short: 16 int: 32
* long: 32 native word size: 32
* Byte ordering: LittleEndian
* Signed integer division rounds to: Zero
* Shift right on a signed integer as arithmetic shift: on
*=======================================================================*/
/*=======================================================================*
* Fixed width word size data types: *
* int8_T, int16_T, int32_T - signed 8, 16, or 32 bit integers *
* uint8_T, uint16_T, uint32_T - unsigned 8, 16, or 32 bit integers *
* real32_T, real64_T - 32 and 64 bit floating point numbers *
*=======================================================================*/
typedef signed char int8_T;
typedef unsigned char uint8_T;
typedef short int16_T;
typedef unsigned short uint16_T;
typedef int int32_T;
typedef unsigned int uint32_T;
typedef float real32_T;
typedef double real64_T;
/*===========================================================================*
* Generic type definitions: real_T, time_T, boolean_T, int_T, uint_T, *
* ulong_T, char_T and byte_T. *
*===========================================================================*/
typedef double real_T;
typedef double time_T;
typedef unsigned char boolean_T;
typedef int int_T;
typedef unsigned int uint_T;
typedef unsigned long ulong_T;
typedef char char_T;
typedef char_T byte_T;
/*===========================================================================*
* Complex number type definitions *
*===========================================================================*/
#define CREAL_T
typedef struct {
real32_T re;
real32_T im;
} creal32_T;
typedef struct {
real64_T re;
real64_T im;
} creal64_T;
typedef struct {
real_T re;
real_T im;
} creal_T;
typedef struct {
int8_T re;
int8_T im;
} cint8_T;
typedef struct {
uint8_T re;
uint8_T im;
} cuint8_T;
typedef struct {
int16_T re;
int16_T im;
} cint16_T;
typedef struct {
uint16_T re;
uint16_T im;
} cuint16_T;
typedef struct {
int32_T re;
int32_T im;
} cint32_T;
typedef struct {
uint32_T re;
uint32_T im;
} cuint32_T;
/*=======================================================================*
* Min and Max: *
* int8_T, int16_T, int32_T - signed 8, 16, or 32 bit integers *
* uint8_T, uint16_T, uint32_T - unsigned 8, 16, or 32 bit integers *
*=======================================================================*/
#define MAX_int8_T ((int8_T)(127))
#define MIN_int8_T ((int8_T)(-128))
#define MAX_uint8_T ((uint8_T)(255))
#define MIN_uint8_T ((uint8_T)(0))
#define MAX_int16_T ((int16_T)(32767))
#define MIN_int16_T ((int16_T)(-32768))
#define MAX_uint16_T ((uint16_T)(65535))
#define MIN_uint16_T ((uint16_T)(0))
#define MAX_int32_T ((int32_T)(2147483647))
#define MIN_int32_T ((int32_T)(-2147483647-1))
#define MAX_uint32_T ((uint32_T)(0xFFFFFFFFU))
#define MIN_uint32_T ((uint32_T)(0))
/* Logical type definitions */
#if !defined(__cplusplus) && !defined(__true_false_are_keywords)
# ifndef false
# define false (0U)
# endif
# ifndef true
# define true (1U)
# endif
#endif
/*
* MATLAB for code generation assumes the code is compiled on a target using a 2's compliment representation
* for signed integer values.
*/
#if ((SCHAR_MIN + 1) != -SCHAR_MAX)
#error "This code must be compiled using a 2's complement representation for signed integer values"
#endif
/*
* Maximum length of a MATLAB identifier (function/variable)
* including the null-termination character. Referenced by
* rt_logging.c and rt_matrx.c.
*/
#define TMW_NAME_LENGTH_MAX 64
#endif
#endif
/* End of code generation (rtwtypes.h) */
/*
* rtwtypes.h
*
* Code generation for function 'AttitudeEKF'
*
* C source code generated on: Thu Aug 21 11:17:28 2014
*
*/
#ifndef __RTWTYPES_H__
#define __RTWTYPES_H__
#ifndef TRUE
# define TRUE (1U)
#endif
#ifndef FALSE
# define FALSE (0U)
#endif
#ifndef __TMWTYPES__
#define __TMWTYPES__
#include <limits.h>
/*=======================================================================*
* Target hardware information
* Device type: ARM Compatible->ARM Cortex
* Number of bits: char: 8 short: 16 int: 32
* long: 32
* native word size: 32
* Byte ordering: LittleEndian
* Signed integer division rounds to: Undefined
* Shift right on a signed integer as arithmetic shift: on
*=======================================================================*/
/*=======================================================================*
* Fixed width word size data types: *
* int8_T, int16_T, int32_T - signed 8, 16, or 32 bit integers *
* uint8_T, uint16_T, uint32_T - unsigned 8, 16, or 32 bit integers *
* real32_T, real64_T - 32 and 64 bit floating point numbers *
*=======================================================================*/
typedef signed char int8_T;
typedef unsigned char uint8_T;
typedef short int16_T;
typedef unsigned short uint16_T;
typedef int int32_T;
typedef unsigned int uint32_T;
typedef float real32_T;
typedef double real64_T;
/*===========================================================================*
* Generic type definitions: real_T, time_T, boolean_T, int_T, uint_T, *
* ulong_T, char_T and byte_T. *
*===========================================================================*/
typedef double real_T;
typedef double time_T;
typedef unsigned char boolean_T;
typedef int int_T;
typedef unsigned int uint_T;
typedef unsigned long ulong_T;
typedef char char_T;
typedef char_T byte_T;
/*===========================================================================*
* Complex number type definitions *
*===========================================================================*/
#define CREAL_T
typedef struct {
real32_T re;
real32_T im;
} creal32_T;
typedef struct {
real64_T re;
real64_T im;
} creal64_T;
typedef struct {
real_T re;
real_T im;
} creal_T;
typedef struct {
int8_T re;
int8_T im;
} cint8_T;
typedef struct {
uint8_T re;
uint8_T im;
} cuint8_T;
typedef struct {
int16_T re;
int16_T im;
} cint16_T;
typedef struct {
uint16_T re;
uint16_T im;
} cuint16_T;
typedef struct {
int32_T re;
int32_T im;
} cint32_T;
typedef struct {
uint32_T re;
uint32_T im;
} cuint32_T;
/*=======================================================================*
* Min and Max: *
* int8_T, int16_T, int32_T - signed 8, 16, or 32 bit integers *
* uint8_T, uint16_T, uint32_T - unsigned 8, 16, or 32 bit integers *
*=======================================================================*/
#define MAX_int8_T ((int8_T)(127))
#define MIN_int8_T ((int8_T)(-128))
#define MAX_uint8_T ((uint8_T)(255))
#define MIN_uint8_T ((uint8_T)(0))
#define MAX_int16_T ((int16_T)(32767))
#define MIN_int16_T ((int16_T)(-32768))
#define MAX_uint16_T ((uint16_T)(65535))
#define MIN_uint16_T ((uint16_T)(0))
#define MAX_int32_T ((int32_T)(2147483647))
#define MIN_int32_T ((int32_T)(-2147483647-1))
#define MAX_uint32_T ((uint32_T)(0xFFFFFFFFU))
#define MIN_uint32_T ((uint32_T)(0))
/* Logical type definitions */
#if !defined(__cplusplus) && !defined(__true_false_are_keywords)
# ifndef false
# define false (0U)
# endif
# ifndef true
# define true (1U)
# endif
#endif
/*
* MATLAB for code generation assumes the code is compiled on a target using a 2's compliment representation
* for signed integer values.
*/
#if ((SCHAR_MIN + 1) != -SCHAR_MAX)
#error "This code must be compiled using a 2's complement representation for signed integer values"
#endif
/*
* Maximum length of a MATLAB identifier (function/variable)
* including the null-termination character. Referenced by
* rt_logging.c and rt_matrx.c.
*/
#define TMW_NAME_LENGTH_MAX 64
#endif
#endif
/* End of code generation (rtwtypes.h) */
src/modules/attitude_estimator_ekf/module.mk
+5 -11
View File
@@ -39,16 +39,10 @@ MODULE_COMMAND = attitude_estimator_ekf
SRCS = attitude_estimator_ekf_main.cpp \
attitude_estimator_ekf_params.c \
codegen/eye.c \
codegen/attitudeKalmanfilter.c \
codegen/mrdivide.c \
codegen/rdivide.c \
codegen/attitudeKalmanfilter_initialize.c \
codegen/attitudeKalmanfilter_terminate.c \
codegen/rt_nonfinite.c \
codegen/rtGetInf.c \
codegen/rtGetNaN.c \
codegen/norm.c \
codegen/cross.c
codegen/AttitudeEKF.c
MODULE_STACKSIZE = 1200
EXTRACFLAGS = -Wno-float-equal -Wframe-larger-than=3600
EXTRACXXFLAGS = -Wframe-larger-than=2200
src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp
+1 -1
View File
@@ -153,7 +153,7 @@ int attitude_estimator_so3_main(int argc, char *argv[])
SCHED_PRIORITY_MAX - 5,
14000,
attitude_estimator_so3_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
(argv) ? (char * const *)&argv[2] : (char * const *)NULL);
exit(0);
}
src/modules/attitude_estimator_so3/module.mk
+2
View File
@@ -8,3 +8,5 @@ SRCS = attitude_estimator_so3_main.cpp \
attitude_estimator_so3_params.c
MODULE_STACKSIZE = 1200
EXTRACXXFLAGS = -Wno-float-equal
src/modules/bottle_drop/bottle_drop.cpp
+7
View File
@@ -523,6 +523,9 @@ BottleDrop::task_main()
}
switch (_drop_state) {
case DROP_STATE_INIT:
// do nothing
break;
case DROP_STATE_TARGET_VALID:
{
@@ -689,6 +692,10 @@ BottleDrop::task_main()
orb_publish(ORB_ID(onboard_mission), _onboard_mission_pub, &_onboard_mission);
}
break;
case DROP_STATE_BAY_CLOSED:
// do nothing
break;
}
counter++;
src/modules/commander/accelerometer_calibration.cpp
+5 -5
View File
@@ -263,7 +263,7 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float
const int samples_num = 2500;
float accel_ref[6][3];
bool data_collected[6] = { false, false, false, false, false, false };
const char *orientation_strs[6] = { "front", "back", "left", "right", "top", "bottom" };
const char *orientation_strs[6] = { "back", "front", "left", "right", "up", "down" };
int sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined));
@@ -294,12 +294,12 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float
/* inform user which axes are still needed */
mavlink_log_info(mavlink_fd, "pending: %s%s%s%s%s%s",
(!data_collected[0]) ? "front " : "",
(!data_collected[1]) ? "back " : "",
(!data_collected[5]) ? "down " : "",
(!data_collected[0]) ? "back " : "",
(!data_collected[1]) ? "front " : "",
(!data_collected[2]) ? "left " : "",
(!data_collected[3]) ? "right " : "",
(!data_collected[4]) ? "up " : "",
(!data_collected[5]) ? "down " : "");
(!data_collected[4]) ? "up " : "");
/* allow user enough time to read the message */
sleep(3);
src/modules/commander/commander.cpp
+82 -29
View File
@@ -81,7 +81,9 @@
#include <uORB/topics/system_power.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/mission_result.h>
#include <uORB/topics/geofence_result.h>
#include <uORB/topics/telemetry_status.h>
#include <uORB/topics/vtol_vehicle_status.h>
#include <drivers/drv_led.h>
#include <drivers/drv_hrt.h>
@@ -149,6 +151,9 @@ enum MAV_MODE_FLAG {
/* Mavlink file descriptors */
static int mavlink_fd = 0;
/* Syste autostart ID */
static int autostart_id;
/* flags */
static bool commander_initialized = false;
static volatile bool thread_should_exit = false; /**< daemon exit flag */
@@ -263,7 +268,7 @@ int commander_main(int argc, char *argv[])
SCHED_PRIORITY_MAX - 40,
3200,
commander_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
(argv) ? (char * const *)&argv[2] : (char * const *)NULL);
while (!thread_running) {
usleep(200);
@@ -310,12 +315,16 @@ int commander_main(int argc, char *argv[])
}
if (!strcmp(argv[1], "arm")) {
arm_disarm(true, mavlink_fd, "command line");
int mavlink_fd_local = open(MAVLINK_LOG_DEVICE, 0);
arm_disarm(true, mavlink_fd_local, "command line");
close(mavlink_fd_local);
exit(0);
}
if (!strcmp(argv[1], "disarm")) {
arm_disarm(false, mavlink_fd, "command line");
int mavlink_fd_local = open(MAVLINK_LOG_DEVICE, 0);
arm_disarm(false, mavlink_fd_local, "command line");
close(mavlink_fd_local);
exit(0);
}
@@ -728,6 +737,7 @@ int commander_thread_main(int argc, char *argv[])
param_t _param_ef_throttle_thres = param_find("COM_EF_THROT");
param_t _param_ef_current2throttle_thres = param_find("COM_EF_C2T");
param_t _param_ef_time_thres = param_find("COM_EF_TIME");
param_t _param_autostart_id = param_find("SYS_AUTOSTART");
/* welcome user */
warnx("starting");
@@ -917,6 +927,11 @@ int commander_thread_main(int argc, char *argv[])
struct mission_result_s mission_result;
memset(&mission_result, 0, sizeof(mission_result));
/* Subscribe to geofence result topic */
int geofence_result_sub = orb_subscribe(ORB_ID(geofence_result));
struct geofence_result_s geofence_result;
memset(&geofence_result, 0, sizeof(geofence_result));
/* Subscribe to manual control data */
int sp_man_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
struct manual_control_setpoint_s sp_man;
@@ -1010,6 +1025,13 @@ int commander_thread_main(int argc, char *argv[])
struct actuator_controls_s actuator_controls;
memset(&actuator_controls, 0, sizeof(actuator_controls));
/* Subscribe to vtol vehicle status topic */
int vtol_vehicle_status_sub = orb_subscribe(ORB_ID(vtol_vehicle_status));
struct vtol_vehicle_status_s vtol_status;
memset(&vtol_status, 0, sizeof(vtol_status));
vtol_status.vtol_in_rw_mode = true; //default for vtol is rotary wing
control_status_leds(&status, &armed, true);
/* now initialized */
@@ -1066,7 +1088,10 @@ int commander_thread_main(int argc, char *argv[])
status.system_type == VEHICLE_TYPE_TRICOPTER ||
status.system_type == VEHICLE_TYPE_QUADROTOR ||
status.system_type == VEHICLE_TYPE_HEXAROTOR ||
status.system_type == VEHICLE_TYPE_OCTOROTOR) {
status.system_type == VEHICLE_TYPE_OCTOROTOR ||
(status.system_type == VEHICLE_TYPE_VTOL_DUOROTOR && vtol_status.vtol_in_rw_mode) ||
(status.system_type == VEHICLE_TYPE_VTOL_QUADROTOR && vtol_status.vtol_in_rw_mode)) {
status.is_rotary_wing = true;
} else {
@@ -1102,6 +1127,7 @@ int commander_thread_main(int argc, char *argv[])
param_get(_param_ef_throttle_thres, &ef_throttle_thres);
param_get(_param_ef_current2throttle_thres, &ef_current2throttle_thres);
param_get(_param_ef_time_thres, &ef_time_thres);
param_get(_param_autostart_id, &autostart_id);
}
orb_check(sp_man_sub, &updated);
@@ -1227,6 +1253,19 @@ int commander_thread_main(int argc, char *argv[])
}
}
/* update vtol vehicle status*/
orb_check(vtol_vehicle_status_sub, &updated);
if (updated) {
/* vtol status changed */
orb_copy(ORB_ID(vtol_vehicle_status), vtol_vehicle_status_sub, &vtol_status);
/* Make sure that this is only adjusted if vehicle realy is of type vtol*/
if (status.system_type == VEHICLE_TYPE_VTOL_DUOROTOR || VEHICLE_TYPE_VTOL_QUADROTOR) {
status.is_rotary_wing = vtol_status.vtol_in_rw_mode;
}
}
/* update global position estimate */
orb_check(global_position_sub, &updated);
@@ -1512,27 +1551,34 @@ int commander_thread_main(int argc, char *argv[])
if (updated) {
orb_copy(ORB_ID(mission_result), mission_result_sub, &mission_result);
/* Check for geofence violation */
if (armed.armed && (mission_result.geofence_violated || mission_result.flight_termination)) {
//XXX: make this configurable to select different actions (e.g. navigation modes)
/* this will only trigger if geofence is activated via param and a geofence file is present, also there is a circuit breaker to disable the actual flight termination in the px4io driver */
armed.force_failsafe = true;
status_changed = true;
static bool flight_termination_printed = false;
if (!flight_termination_printed) {
warnx("Flight termination because of navigator request or geofence");
mavlink_log_critical(mavlink_fd, "GF violation: flight termination");
flight_termination_printed = true;
}
if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {
mavlink_log_critical(mavlink_fd, "GF violation: flight termination");
}
} // no reset is done here on purpose, on geofence violation we want to stay in flighttermination
}
/* start geofence result check */
orb_check(geofence_result_sub, &updated);
if (updated) {
orb_copy(ORB_ID(geofence_result), geofence_result_sub, &geofence_result);
}
/* Check for geofence violation */
if (armed.armed && (geofence_result.geofence_violated || mission_result.flight_termination)) {
//XXX: make this configurable to select different actions (e.g. navigation modes)
/* this will only trigger if geofence is activated via param and a geofence file is present, also there is a circuit breaker to disable the actual flight termination in the px4io driver */
armed.force_failsafe = true;
status_changed = true;
static bool flight_termination_printed = false;
if (!flight_termination_printed) {
warnx("Flight termination because of navigator request or geofence");
mavlink_log_critical(mavlink_fd, "GF violation: flight termination");
flight_termination_printed = true;
}
if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {
mavlink_log_critical(mavlink_fd, "GF violation: flight termination");
}
} // no reset is done here on purpose, on geofence violation we want to stay in flighttermination
/* RC input check */
if (!status.rc_input_blocked && sp_man.timestamp != 0 &&
hrt_absolute_time() < sp_man.timestamp + (uint64_t)(rc_loss_timeout * 1e6f)) {
@@ -1544,7 +1590,7 @@ int commander_thread_main(int argc, char *argv[])
} else {
if (status.rc_signal_lost) {
mavlink_log_critical(mavlink_fd, "RC signal regained");
mavlink_log_critical(mavlink_fd, "RC SIGNAL REGAINED after %llums",(hrt_absolute_time()-status.rc_signal_lost_timestamp)/1000);
status_changed = true;
}
}
@@ -1645,8 +1691,9 @@ int commander_thread_main(int argc, char *argv[])
} else {
if (!status.rc_signal_lost) {
mavlink_log_critical(mavlink_fd, "RC SIGNAL LOST");
mavlink_log_critical(mavlink_fd, "RC SIGNAL LOST (at t=%llums)",hrt_absolute_time()/1000);
status.rc_signal_lost = true;
status.rc_signal_lost_timestamp=sp_man.timestamp;
status_changed = true;
}
}
@@ -1663,7 +1710,7 @@ int commander_thread_main(int argc, char *argv[])
if (telemetry_lost[i] &&
hrt_elapsed_time(&telemetry_last_dl_loss[i]) > datalink_regain_timeout * 1e6) {
mavlink_log_critical(mavlink_fd, "data link %i regained", i);
mavlink_log_info(mavlink_fd, "data link %i regained", i);
telemetry_lost[i] = false;
have_link = true;
@@ -1677,7 +1724,7 @@ int commander_thread_main(int argc, char *argv[])
telemetry_last_dl_loss[i] = hrt_absolute_time();
if (!telemetry_lost[i]) {
mavlink_log_critical(mavlink_fd, "data link %i lost", i);
mavlink_log_info(mavlink_fd, "data link %i lost", i);
telemetry_lost[i] = true;
}
}
@@ -1692,7 +1739,7 @@ int commander_thread_main(int argc, char *argv[])
} else {
if (!status.data_link_lost) {
mavlink_log_critical(mavlink_fd, "ALL DATA LINKS LOST");
mavlink_log_info(mavlink_fd, "ALL DATA LINKS LOST");
status.data_link_lost = true;
status.data_link_lost_counter++;
status_changed = true;
@@ -2184,7 +2231,13 @@ set_control_mode()
/* set vehicle_control_mode according to set_navigation_state */
control_mode.flag_armed = armed.armed;
/* TODO: check this */
control_mode.flag_external_manual_override_ok = !status.is_rotary_wing;
if (autostart_id < 13000 || autostart_id >= 14000) {
control_mode.flag_external_manual_override_ok = !status.is_rotary_wing;
} else {
control_mode.flag_external_manual_override_ok = false;
}
control_mode.flag_system_hil_enabled = status.hil_state == HIL_STATE_ON;
control_mode.flag_control_offboard_enabled = false;
src/modules/commander/module.mk
+3
View File
@@ -51,3 +51,6 @@ SRCS = commander.cpp \
MODULE_STACKSIZE = 1200
MAXOPTIMIZATION = -Os
EXTRACXXFLAGS = -Wframe-larger-than=1900
src/modules/commander/state_machine_helper.cpp
+1 -1
View File
@@ -706,7 +706,7 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
}
if (fabsf(airspeed.indicated_airspeed_m_s > 6.0f)) {
mavlink_log_critical(mavlink_fd, "AIRSPEED WARNING: WIND OR CALIBRATION MISSING");
mavlink_log_critical(mavlink_fd, "AIRSPEED WARNING: WIND OR CALIBRATION ISSUE");
// XXX do not make this fatal yet
}
}
src/modules/dataman/dataman.c
+5 -9
View File
@@ -629,9 +629,6 @@ task_main(int argc, char *argv[])
{
work_q_item_t *work;
/* inform about start */
warnx("Initializing..");
/* Initialize global variables */
g_key_offsets[0] = 0;
@@ -694,16 +691,15 @@ task_main(int argc, char *argv[])
if (sys_restart_val == DM_INIT_REASON_POWER_ON) {
warnx("Power on restart");
_restart(DM_INIT_REASON_POWER_ON);
}
else if (sys_restart_val == DM_INIT_REASON_IN_FLIGHT) {
} else if (sys_restart_val == DM_INIT_REASON_IN_FLIGHT) {
warnx("In flight restart");
_restart(DM_INIT_REASON_IN_FLIGHT);
}
else
} else {
warnx("Unknown restart");
}
else
}
} else {
warnx("Unknown restart");
}
/* We use two file descriptors, one for the caller context and one for the worker thread */
/* They are actually the same but we need to some way to reject caller request while the */
src/modules/ekf_att_pos_estimator/module.mk
+2 -1
View File
@@ -42,4 +42,5 @@ SRCS = ekf_att_pos_estimator_main.cpp \
estimator_23states.cpp \
estimator_utilities.cpp
EXTRACXXFLAGS = -Weffc++
EXTRACXXFLAGS = -Weffc++ -Wframe-larger-than=3000
src/modules/fixedwing_backside/fixedwing_backside_main.cpp
+1 -1
View File
@@ -115,7 +115,7 @@ int fixedwing_backside_main(int argc, char *argv[])
SCHED_PRIORITY_MAX - 10,
5120,
control_demo_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
(argv) ? (char * const *)&argv[2] : (char * const *)NULL);
exit(0);
}
src/modules/fw_att_control/fw_att_control_main.cpp
+135 -46
View File
@@ -35,8 +35,9 @@
* @file fw_att_control_main.c
* Implementation of a generic attitude controller based on classic orthogonal PIDs.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@gmail.com>
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@gmail.com>
* @author Roman Bapst <bapstr@ethz.ch>
*
*/
@@ -92,12 +93,12 @@ public:
FixedwingAttitudeControl();
/**
* Destructor, also kills the sensors task.
* Destructor, also kills the main task.
*/
~FixedwingAttitudeControl();
/**
* Start the sensors task.
* Start the main task.
*
* @return OK on success.
*/
@@ -112,9 +113,9 @@ public:
private:
bool _task_should_exit; /**< if true, sensor task should exit */
bool _task_should_exit; /**< if true, attitude control task should exit */
bool _task_running; /**< if true, task is running in its mainloop */
int _control_task; /**< task handle for sensor task */
int _control_task; /**< task handle */
int _att_sub; /**< vehicle attitude subscription */
int _accel_sub; /**< accelerometer subscription */
@@ -130,11 +131,15 @@ private:
orb_advert_t _rate_sp_pub; /**< rate setpoint publication */
orb_advert_t _attitude_sp_pub; /**< attitude setpoint point */
orb_advert_t _actuators_0_pub; /**< actuator control group 0 setpoint */
orb_advert_t _actuators_1_pub; /**< actuator control group 1 setpoint (Airframe) */
orb_advert_t _actuators_2_pub; /**< actuator control group 1 setpoint (Airframe) */
orb_id_t _rates_sp_id; // pointer to correct rates setpoint uORB metadata structure
orb_id_t _actuators_id; // pointer to correct actuator controls0 uORB metadata structure
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 vehicle_rates_setpoint_s _rates_sp; /* attitude rates 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 */
@@ -189,6 +194,8 @@ private:
float man_roll_max; /**< Max Roll in rad */
float man_pitch_max; /**< Max Pitch in rad */
param_t autostart_id; /* indicates which airframe is used */
} _parameters; /**< local copies of interesting parameters */
struct {
@@ -228,6 +235,8 @@ private:
param_t pitchsp_offset_deg;
param_t man_roll_max;
param_t man_pitch_max;
param_t autostart_id; /* indicates which airframe is used */
} _parameter_handles; /**< handles for interesting parameters */
@@ -289,7 +298,7 @@ private:
static void task_main_trampoline(int argc, char *argv[]);
/**
* Main sensor collection task.
* Main attitude controller collection task.
*/
void task_main();
@@ -327,7 +336,7 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
_rate_sp_pub(-1),
_attitude_sp_pub(-1),
_actuators_0_pub(-1),
_actuators_1_pub(-1),
_actuators_2_pub(-1),
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "fw att control")),
@@ -341,6 +350,7 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
_att = {};
_accel = {};
_att_sp = {};
_rates_sp = {};
_manual = {};
_airspeed = {};
_vcontrol_mode = {};
@@ -386,8 +396,19 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
_parameter_handles.man_roll_max = param_find("FW_MAN_R_MAX");
_parameter_handles.man_pitch_max = param_find("FW_MAN_P_MAX");
_parameter_handles.autostart_id = param_find("SYS_AUTOSTART");
/* fetch initial parameter values */
parameters_update();
// set correct uORB ID, depending on if vehicle is VTOL or not
if (_parameters.autostart_id >= 13000 && _parameters.autostart_id <= 13999) { /* VTOL airframe?*/
_rates_sp_id = ORB_ID(fw_virtual_rates_setpoint);
_actuators_id = ORB_ID(actuator_controls_virtual_fw);
}
else {
_rates_sp_id = ORB_ID(vehicle_rates_setpoint);
_actuators_id = ORB_ID(actuator_controls_0);
}
}
FixedwingAttitudeControl::~FixedwingAttitudeControl()
@@ -462,6 +483,7 @@ FixedwingAttitudeControl::parameters_update()
_parameters.man_roll_max = math::radians(_parameters.man_roll_max);
_parameters.man_pitch_max = math::radians(_parameters.man_pitch_max);
param_get(_parameter_handles.autostart_id, &_parameters.autostart_id);
/* pitch control parameters */
_pitch_ctrl.set_time_constant(_parameters.tconst);
@@ -497,7 +519,7 @@ FixedwingAttitudeControl::vehicle_control_mode_poll()
{
bool vcontrol_mode_updated;
/* Check HIL state if vehicle status has changed */
/* Check if vehicle control mode has changed */
orb_check(_vcontrol_mode_sub, &vcontrol_mode_updated);
if (vcontrol_mode_updated) {
@@ -529,7 +551,6 @@ 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);
}
}
@@ -679,6 +700,65 @@ FixedwingAttitudeControl::task_main()
/* load local copies */
orb_copy(ORB_ID(vehicle_attitude), _att_sub, &_att);
if (_parameters.autostart_id >= 13000
&& _parameters.autostart_id <= 13999) { //vehicle type is VTOL, need to modify attitude!
/* The following modification to the attitude is vehicle specific and in this case applies
to tail-sitter models !!!
* Since the VTOL airframe is initialized as a multicopter we need to
* modify the estimated attitude for the fixed wing operation.
* Since the neutral position of the vehicle in fixed wing mode is -90 degrees rotated around
* the pitch axis compared to the neutral position of the vehicle in multicopter mode
* we need to swap the roll and the yaw axis (1st and 3rd column) in the rotation matrix.
* Additionally, in order to get the correct sign of the pitch, we need to multiply
* the new x axis of the rotation matrix with -1
*
* original: modified:
*
* Rxx Ryx Rzx -Rzx Ryx Rxx
* Rxy Ryy Rzy -Rzy Ryy Rxy
* Rxz Ryz Rzz -Rzz Ryz Rxz
* */
math::Matrix<3, 3> R; //original rotation matrix
math::Matrix<3, 3> R_adapted; //modified rotation matrix
R.set(_att.R);
R_adapted.set(_att.R);
//move z to x
R_adapted(0, 0) = R(0, 2);
R_adapted(1, 0) = R(1, 2);
R_adapted(2, 0) = R(2, 2);
//move x to z
R_adapted(0, 2) = R(0, 0);
R_adapted(1, 2) = R(1, 0);
R_adapted(2, 2) = R(2, 0);
//change direction of pitch (convert to right handed system)
R_adapted(0, 0) = -R_adapted(0, 0);
R_adapted(1, 0) = -R_adapted(1, 0);
R_adapted(2, 0) = -R_adapted(2, 0);
math::Vector<3> euler_angles; //adapted euler angles for fixed wing operation
euler_angles = R_adapted.to_euler();
//fill in new attitude data
_att.roll = euler_angles(0);
_att.pitch = euler_angles(1);
_att.yaw = euler_angles(2);
_att.R[0][0] = R_adapted(0, 0);
_att.R[0][1] = R_adapted(0, 1);
_att.R[0][2] = R_adapted(0, 2);
_att.R[1][0] = R_adapted(1, 0);
_att.R[1][1] = R_adapted(1, 1);
_att.R[1][2] = R_adapted(1, 2);
_att.R[2][0] = R_adapted(2, 0);
_att.R[2][1] = R_adapted(2, 1);
_att.R[2][2] = R_adapted(2, 2);
// lastly, roll- and yawspeed have to be swaped
float helper = _att.rollspeed;
_att.rollspeed = -_att.yawspeed;
_att.yawspeed = helper;
}
vehicle_airspeed_poll();
vehicle_setpoint_poll();
@@ -696,7 +776,7 @@ FixedwingAttitudeControl::task_main()
/* lock integrator until control is started */
bool lock_integrator;
if (_vcontrol_mode.flag_control_attitude_enabled) {
if (_vcontrol_mode.flag_control_attitude_enabled && !_vehicle_status.is_rotary_wing) {
lock_integrator = false;
} else {
@@ -705,10 +785,10 @@ FixedwingAttitudeControl::task_main()
/* Simple handling of failsafe: deploy parachute if failsafe is on */
if (_vcontrol_mode.flag_control_termination_enabled) {
_actuators_airframe.control[1] = 1.0f;
_actuators_airframe.control[7] = 1.0f;
// warnx("_actuators_airframe.control[1] = 1.0f;");
} else {
_actuators_airframe.control[1] = 0.0f;
_actuators_airframe.control[7] = 0.0f;
// warnx("_actuators_airframe.control[1] = -1.0f;");
}
@@ -751,14 +831,32 @@ FixedwingAttitudeControl::task_main()
* - manual control is disabled (another app may send the setpoint, but it should
* for sure not be set from the remote control values)
*/
if (_vcontrol_mode.flag_control_velocity_enabled ||
_vcontrol_mode.flag_control_position_enabled ||
if (_vcontrol_mode.flag_control_auto_enabled ||
!_vcontrol_mode.flag_control_manual_enabled) {
/* read in attitude setpoint from attitude setpoint uorb topic */
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 */
if (_att_sp.roll_reset_integral) {
_roll_ctrl.reset_integrator();
}
if (_att_sp.pitch_reset_integral) {
_pitch_ctrl.reset_integrator();
}
if (_att_sp.yaw_reset_integral) {
_yaw_ctrl.reset_integrator();
}
} else if (_vcontrol_mode.flag_control_velocity_enabled) {
/*
* Velocity should be controlled and manual is enabled.
*/
roll_sp = (_manual.y * _parameters.man_roll_max - _parameters.trim_roll)
+ _parameters.rollsp_offset_rad;
pitch_sp = _att_sp.pitch_body + _parameters.pitchsp_offset_rad;
throttle_sp = _att_sp.thrust;
/* reset integrals where needed */
if (_att_sp.roll_reset_integral) {
_roll_ctrl.reset_integrator();
@@ -802,18 +900,18 @@ FixedwingAttitudeControl::task_main()
att_sp.thrust = throttle_sp;
/* lazily publish the setpoint only once available */
if (_attitude_sp_pub > 0) {
if (_attitude_sp_pub > 0 && !_vehicle_status.is_rotary_wing) {
/* publish the attitude setpoint */
orb_publish(ORB_ID(vehicle_attitude_setpoint), _attitude_sp_pub, &att_sp);
} else {
} else if (_attitude_sp_pub < 0 && !_vehicle_status.is_rotary_wing) {
/* advertise and publish */
_attitude_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
}
}
/* If the aircraft is on ground reset the integrators */
if (_vehicle_status.condition_landed) {
if (_vehicle_status.condition_landed || _vehicle_status.is_rotary_wing) {
_roll_ctrl.reset_integrator();
_pitch_ctrl.reset_integrator();
_yaw_ctrl.reset_integrator();
@@ -915,20 +1013,18 @@ FixedwingAttitudeControl::task_main()
* Lazily publish the rate setpoint (for analysis, the actuators are published below)
* only once available
*/
vehicle_rates_setpoint_s rates_sp;
rates_sp.roll = _roll_ctrl.get_desired_rate();
rates_sp.pitch = _pitch_ctrl.get_desired_rate();
rates_sp.yaw = _yaw_ctrl.get_desired_rate();
_rates_sp.roll = _roll_ctrl.get_desired_rate();
_rates_sp.pitch = _pitch_ctrl.get_desired_rate();
_rates_sp.yaw = _yaw_ctrl.get_desired_rate();
rates_sp.timestamp = hrt_absolute_time();
_rates_sp.timestamp = hrt_absolute_time();
if (_rate_sp_pub > 0) {
/* publish the attitude setpoint */
orb_publish(ORB_ID(vehicle_rates_setpoint), _rate_sp_pub, &rates_sp);
/* publish the attitude rates setpoint */
orb_publish(_rates_sp_id, _rate_sp_pub, &_rates_sp);
} else {
/* advertise and publish */
_rate_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp);
/* advertise the attitude rates setpoint */
_rate_sp_pub = orb_advertise(_rates_sp_id, &_rates_sp);
}
} else {
@@ -948,28 +1044,21 @@ FixedwingAttitudeControl::task_main()
_actuators.timestamp = hrt_absolute_time();
_actuators_airframe.timestamp = hrt_absolute_time();
/* publish the actuator controls */
if (_actuators_0_pub > 0) {
/* publish the attitude setpoint */
orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators);
orb_publish(_actuators_id, _actuators_0_pub, &_actuators);
} else {
_actuators_0_pub= orb_advertise(_actuators_id, &_actuators);
}
if (_actuators_2_pub > 0) {
/* publish the actuator controls*/
orb_publish(ORB_ID(actuator_controls_2), _actuators_2_pub, &_actuators_airframe);
} else {
/* advertise and publish */
_actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators);
_actuators_2_pub = orb_advertise(ORB_ID(actuator_controls_2), &_actuators_airframe);
}
if (_actuators_1_pub > 0) {
/* publish the attitude setpoint */
orb_publish(ORB_ID(actuator_controls_1), _actuators_1_pub, &_actuators_airframe);
// warnx("%.2f %.2f %.2f %.2f %.2f %.2f %.2f %.2f",
// (double)_actuators_airframe.control[0], (double)_actuators_airframe.control[1], (double)_actuators_airframe.control[2],
// (double)_actuators_airframe.control[3], (double)_actuators_airframe.control[4], (double)_actuators_airframe.control[5],
// (double)_actuators_airframe.control[6], (double)_actuators_airframe.control[7]);
} else {
/* advertise and publish */
_actuators_1_pub = orb_advertise(ORB_ID(actuator_controls_1), &_actuators_airframe);
}
}
loop_counter++;
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+124 -27
View File
@@ -163,6 +163,9 @@ private:
perf_counter_t _loop_perf; /**< loop performance counter */
float _hold_alt; /**< hold altitude for velocity mode */
hrt_abstime _control_position_last_called; /**<last call of control_position */
/* land states */
bool land_noreturn_horizontal;
bool land_noreturn_vertical;
@@ -197,7 +200,11 @@ private:
ECL_L1_Pos_Controller _l1_control;
TECS _tecs;
fwPosctrl::mTecs _mTecs;
bool _was_pos_control_mode;
enum FW_POSCTRL_MODE {
FW_POSCTRL_MODE_AUTO,
FW_POSCTRL_MODE_POSITION,
FW_POSCTRL_MODE_OTHER
} _control_mode_current; ///< used to check the mode in the last control loop iteration. Use to check if the last iteration was in the same mode.
struct {
float l1_period;
@@ -316,6 +323,11 @@ private:
*/
void vehicle_status_poll();
/**
* Check for manual setpoint updates.
*/
bool vehicle_manual_control_setpoint_poll();
/**
* Check for airspeed updates.
*/
@@ -439,6 +451,9 @@ FixedwingPositionControl::FixedwingPositionControl() :
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "fw l1 control")),
_hold_alt(0.0f),
_control_position_last_called(0),
land_noreturn_horizontal(false),
land_noreturn_vertical(false),
land_stayonground(false),
@@ -458,7 +473,7 @@ FixedwingPositionControl::FixedwingPositionControl() :
_global_pos_valid(false),
_l1_control(),
_mTecs(),
_was_pos_control_mode(false)
_control_mode_current(FW_POSCTRL_MODE_OTHER)
{
_nav_capabilities.turn_distance = 0.0f;
@@ -692,6 +707,22 @@ FixedwingPositionControl::vehicle_airspeed_poll()
return airspeed_updated;
}
bool
FixedwingPositionControl::vehicle_manual_control_setpoint_poll()
{
bool manual_updated;
/* Check if manual setpoint has changed */
orb_check(_manual_control_sub, &manual_updated);
if (manual_updated) {
orb_copy(ORB_ID(manual_control_setpoint), _manual_control_sub, &_manual);
}
return manual_updated;
}
void
FixedwingPositionControl::vehicle_attitude_poll()
{
@@ -852,6 +883,12 @@ bool
FixedwingPositionControl::control_position(const math::Vector<2> &current_position, const math::Vector<3> &ground_speed,
const struct position_setpoint_triplet_s &pos_sp_triplet)
{
float dt = FLT_MIN; // Using non zero value to a avoid division by zero
if (_control_position_last_called > 0) {
dt = (float)hrt_elapsed_time(&_control_position_last_called) * 1e-6f;
}
_control_position_last_called = hrt_absolute_time();
bool setpoint = true;
math::Vector<2> ground_speed_2d = {ground_speed(0), ground_speed(1)};
@@ -873,21 +910,22 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
/* no throttle limit as default */
float throttle_max = 1.0f;
/* AUTONOMOUS FLIGHT */
if (_control_mode.flag_control_auto_enabled &&
pos_sp_triplet.current.valid) {
/* AUTONOMOUS FLIGHT */
// XXX this should only execute if auto AND safety off (actuators active),
// else integrators should be constantly reset.
if (pos_sp_triplet.current.valid) {
if (!_was_pos_control_mode) {
/* Reset integrators if switching to this mode from a other mode in which posctl was not active */
if (_control_mode_current == FW_POSCTRL_MODE_OTHER) {
/* reset integrators */
if (_mTecs.getEnabled()) {
_mTecs.resetIntegrators();
_mTecs.resetDerivatives(_airspeed.true_airspeed_m_s);
}
}
_control_mode_current = FW_POSCTRL_MODE_AUTO;
_was_pos_control_mode = true;
/* reset hold altitude */
_hold_alt = _global_pos.alt;
/* get circle mode */
bool was_circle_mode = _l1_control.circle_mode();
@@ -1169,15 +1207,15 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
tecs_update_pitch_throttle(_pos_sp_triplet.current.alt,
calculate_target_airspeed(_parameters.airspeed_trim),
eas2tas,
math::radians(_parameters.pitch_limit_min),
math::radians(_parameters.pitch_limit_max),
_parameters.throttle_min,
takeoff_throttle,
_parameters.throttle_cruise,
false,
math::radians(_parameters.pitch_limit_min),
_global_pos.alt,
ground_speed);
math::radians(_parameters.pitch_limit_min),
math::radians(_parameters.pitch_limit_max),
_parameters.throttle_min,
takeoff_throttle,
_parameters.throttle_cruise,
false,
math::radians(_parameters.pitch_limit_min),
_global_pos.alt,
ground_speed);
}
} else {
/* Tell the attitude controller to stop integrating while we are waiting
@@ -1209,12 +1247,69 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
_att_sp.roll_reset_integral = true;
}
} else {
} else if (_control_mode.flag_control_velocity_enabled &&
_control_mode.flag_control_altitude_enabled) {
/* POSITION CONTROL: pitch stick moves altitude setpoint, throttle stick sets airspeed */
_was_pos_control_mode = false;
const float deadBand = (60.0f/1000.0f);
const float factor = 1.0f - deadBand;
if (_control_mode_current != FW_POSCTRL_MODE_POSITION) {
/* Need to init because last loop iteration was in a different mode */
_hold_alt = _global_pos.alt;
}
/* Reset integrators if switching to this mode from a other mode in which posctl was not active */
if (_control_mode_current == FW_POSCTRL_MODE_OTHER) {
/* reset integrators */
if (_mTecs.getEnabled()) {
_mTecs.resetIntegrators();
_mTecs.resetDerivatives(_airspeed.true_airspeed_m_s);
}
}
_control_mode_current = FW_POSCTRL_MODE_POSITION;
/* Get demanded airspeed */
float altctrl_airspeed = _parameters.airspeed_min +
(_parameters.airspeed_max - _parameters.airspeed_min) *
_manual.z;
/* Get demanded vertical velocity from pitch control */
static bool was_in_deadband = false;
if (_manual.x > deadBand) {
float pitch = (_manual.x - deadBand) / factor;
_hold_alt -= (_parameters.max_climb_rate * dt) * pitch;
was_in_deadband = false;
} else if (_manual.x < - deadBand) {
float pitch = (_manual.x + deadBand) / factor;
_hold_alt -= (_parameters.max_sink_rate * dt) * pitch;
was_in_deadband = false;
} else if (!was_in_deadband) {
/* store altitude at which manual.x was inside deadBand
* The aircraft should immediately try to fly at this altitude
* as this is what the pilot expects when he moves the stick to the center */
_hold_alt = _global_pos.alt;
was_in_deadband = true;
}
tecs_update_pitch_throttle(_hold_alt,
altctrl_airspeed,
eas2tas,
math::radians(_parameters.pitch_limit_min),
math::radians(_parameters.pitch_limit_max),
_parameters.throttle_min,
_parameters.throttle_max,
_parameters.throttle_cruise,
false,
math::radians(_parameters.pitch_limit_min),
_global_pos.alt,
ground_speed,
TECS_MODE_NORMAL);
} else {
_control_mode_current = FW_POSCTRL_MODE_OTHER;
/** MANUAL FLIGHT **/
/* reset hold altitude */
_hold_alt = _global_pos.alt;
/* no flight mode applies, do not publish an attitude setpoint */
setpoint = false;
@@ -1225,10 +1320,12 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
}
}
/* Copy thrust output for publication */
if (_vehicle_status.engine_failure || _vehicle_status.engine_failure_cmd) {
/* Set thrust to 0 to minimize damage */
_att_sp.thrust = 0.0f;
} else if (pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF &&
} else if (_control_mode_current == FW_POSCTRL_MODE_AUTO && // launchdetector only available in auto
pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF &&
launch_detection_state != LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS) {
/* making sure again that the correct thrust is used,
* without depending on library calls for safety reasons */
@@ -1241,8 +1338,9 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
/* During a takeoff waypoint while waiting for launch the pitch sp is set
* already (not by tecs) */
if (!(pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF &&
launch_detection_state == LAUNCHDETECTION_RES_NONE)) {
if (!(_control_mode_current == FW_POSCTRL_MODE_AUTO &&
pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF &&
launch_detection_state == LAUNCHDETECTION_RES_NONE)) {
_att_sp.pitch_body = _mTecs.getEnabled() ? _mTecs.getPitchSetpoint() : _tecs.get_pitch_demand();
}
@@ -1313,8 +1411,6 @@ FixedwingPositionControl::task_main()
continue;
}
perf_begin(_loop_perf);
/* check vehicle control mode for changes to publication state */
vehicle_control_mode_poll();
@@ -1333,6 +1429,7 @@ FixedwingPositionControl::task_main()
/* only run controller if position changed */
if (fds[1].revents & POLLIN) {
perf_begin(_loop_perf);
/* XXX Hack to get mavlink output going */
if (_mavlink_fd < 0) {
@@ -1350,6 +1447,7 @@ FixedwingPositionControl::task_main()
vehicle_setpoint_poll();
vehicle_sensor_combined_poll();
vehicle_airspeed_poll();
vehicle_manual_control_setpoint_poll();
// vehicle_baro_poll();
math::Vector<3> ground_speed(_global_pos.vel_n, _global_pos.vel_e, _global_pos.vel_d);
@@ -1386,10 +1484,9 @@ FixedwingPositionControl::task_main()
}
}
perf_end(_loop_perf);
}
perf_end(_loop_perf);
}
_task_running = false;
src/modules/fw_pos_control_l1/module.mk
+4
View File
@@ -45,3 +45,7 @@ SRCS = fw_pos_control_l1_main.cpp \
mtecs/mTecs_params.c
MODULE_STACKSIZE = 1200
MAXOPTIMIZATION = -Os
EXTRACXXFLAGS = -Wno-float-equal
src/modules/mavlink/mavlink_ftp.cpp
+1 -1
View File
@@ -801,7 +801,7 @@ MavlinkFTP::_return_request(Request *req)
/// @brief Copy file (with limited space)
int
MavlinkFTP::_copy_file(const char *src_path, const char *dst_path, ssize_t length)
MavlinkFTP::_copy_file(const char *src_path, const char *dst_path, size_t length)
{
char buff[512];
int src_fd = -1, dst_fd = -1;
src/modules/mavlink/mavlink_ftp.h
+1 -1
View File
@@ -142,7 +142,7 @@ private:
static void _worker_trampoline(void *arg);
void _process_request(Request *req);
void _reply(Request *req);
int _copy_file(const char *src_path, const char *dst_path, ssize_t length);
int _copy_file(const char *src_path, const char *dst_path, size_t length);
ErrorCode _workList(PayloadHeader *payload);
ErrorCode _workOpen(PayloadHeader *payload, int oflag);
src/modules/mavlink/mavlink_main.cpp
+2 -2
View File
@@ -1405,7 +1405,7 @@ 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", 5.0f);
configure_stream("OPTICAL_FLOW_RAD", 5.0f);
break;
case MAVLINK_MODE_ONBOARD:
@@ -1638,7 +1638,7 @@ Mavlink::start(int argc, char *argv[])
SCHED_PRIORITY_DEFAULT,
2800,
(main_t)&Mavlink::start_helper,
(const char **)argv);
(char * const *)argv);
// Ensure that this shell command
// does not return before the instance
src/modules/mavlink/mavlink_messages.cpp
+40 -29
View File
@@ -810,9 +810,6 @@ private:
MavlinkOrbSubscription *_airspeed_sub;
uint64_t _airspeed_time;
MavlinkOrbSubscription *_sensor_combined_sub;
uint64_t _sensor_combined_time;
/* do not allow top copying this class */
MavlinkStreamVFRHUD(MavlinkStreamVFRHUD &);
MavlinkStreamVFRHUD& operator = (const MavlinkStreamVFRHUD &);
@@ -828,9 +825,7 @@ protected:
_act_sub(_mavlink->add_orb_subscription(ORB_ID(actuator_controls_0))),
_act_time(0),
_airspeed_sub(_mavlink->add_orb_subscription(ORB_ID(airspeed))),
_airspeed_time(0),
_sensor_combined_sub(_mavlink->add_orb_subscription(ORB_ID(sensor_combined))),
_sensor_combined_time(0)
_airspeed_time(0)
{}
void send(const hrt_abstime t)
@@ -840,14 +835,12 @@ protected:
struct actuator_armed_s armed;
struct actuator_controls_s act;
struct airspeed_s airspeed;
struct sensor_combined_s sensor_combined;
bool updated = _att_sub->update(&_att_time, &att);
updated |= _pos_sub->update(&_pos_time, &pos);
updated |= _armed_sub->update(&_armed_time, &armed);
updated |= _act_sub->update(&_act_time, &act);
updated |= _airspeed_sub->update(&_airspeed_time, &airspeed);
updated |= _sensor_combined_sub->update(&_sensor_combined_time, &sensor_combined);
if (updated) {
mavlink_vfr_hud_t msg;
@@ -856,7 +849,7 @@ protected:
msg.groundspeed = sqrtf(pos.vel_n * pos.vel_n + pos.vel_e * pos.vel_e);
msg.heading = _wrap_2pi(att.yaw) * M_RAD_TO_DEG_F;
msg.throttle = armed.armed ? act.control[3] * 100.0f : 0.0f;
msg.alt = sensor_combined.baro_alt_meter;
msg.alt = pos.alt;
msg.climb = -pos.vel_d;
_mavlink->send_message(MAVLINK_MSG_ID_VFR_HUD, &msg);
@@ -1358,7 +1351,10 @@ protected:
/* scale outputs depending on system type */
if (system_type == MAV_TYPE_QUADROTOR ||
system_type == MAV_TYPE_HEXAROTOR ||
system_type == MAV_TYPE_OCTOROTOR) {
system_type == MAV_TYPE_OCTOROTOR ||
system_type == MAV_TYPE_VTOL_DUOROTOR ||
system_type == MAV_TYPE_VTOL_QUADROTOR) {
/* multirotors: set number of rotor outputs depending on type */
unsigned n;
@@ -1372,6 +1368,14 @@ protected:
n = 6;
break;
case MAV_TYPE_VTOL_DUOROTOR:
n = 2;
break;
case MAV_TYPE_VTOL_QUADROTOR:
n = 4;
break;
default:
n = 8;
break;
@@ -1760,6 +1764,9 @@ protected:
case RC_INPUT_SOURCE_PX4IO_ST24:
msg.rssi |= (3 << 4);
break;
case RC_INPUT_SOURCE_UNKNOWN:
// do nothing
break;
}
if (rc.rc_lost) {
@@ -1834,33 +1841,32 @@ protected:
}
};
class MavlinkStreamOpticalFlow : public MavlinkStream
class MavlinkStreamOpticalFlowRad : public MavlinkStream
{
public:
const char *get_name() const
{
return MavlinkStreamOpticalFlow::get_name_static();
return MavlinkStreamOpticalFlowRad::get_name_static();
}
static const char *get_name_static()
{
return "OPTICAL_FLOW";
return "OPTICAL_FLOW_RAD";
}
uint8_t get_id()
{
return MAVLINK_MSG_ID_OPTICAL_FLOW;
return MAVLINK_MSG_ID_OPTICAL_FLOW_RAD;
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamOpticalFlow(mavlink);
return new MavlinkStreamOpticalFlowRad(mavlink);
}
unsigned get_size()
{
return _flow_sub->is_published() ? (MAVLINK_MSG_ID_OPTICAL_FLOW_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
return _flow_sub->is_published() ? (MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
}
private:
@@ -1868,11 +1874,11 @@ private:
uint64_t _flow_time;
/* do not allow top copying this class */
MavlinkStreamOpticalFlow(MavlinkStreamOpticalFlow &);
MavlinkStreamOpticalFlow& operator = (const MavlinkStreamOpticalFlow &);
MavlinkStreamOpticalFlowRad(MavlinkStreamOpticalFlowRad &);
MavlinkStreamOpticalFlowRad& operator = (const MavlinkStreamOpticalFlowRad &);
protected:
explicit MavlinkStreamOpticalFlow(Mavlink *mavlink) : MavlinkStream(mavlink),
explicit MavlinkStreamOpticalFlowRad(Mavlink *mavlink) : MavlinkStream(mavlink),
_flow_sub(_mavlink->add_orb_subscription(ORB_ID(optical_flow))),
_flow_time(0)
{}
@@ -1882,18 +1888,23 @@ protected:
struct optical_flow_s flow;
if (_flow_sub->update(&_flow_time, &flow)) {
mavlink_optical_flow_t msg;
mavlink_optical_flow_rad_t msg;
msg.time_usec = flow.timestamp;
msg.sensor_id = flow.sensor_id;
msg.flow_x = flow.flow_raw_x;
msg.flow_y = flow.flow_raw_y;
msg.flow_comp_m_x = flow.flow_comp_x_m;
msg.flow_comp_m_y = flow.flow_comp_y_m;
msg.integrated_x = flow.pixel_flow_x_integral;
msg.integrated_y = flow.pixel_flow_y_integral;
msg.integrated_xgyro = flow.gyro_x_rate_integral;
msg.integrated_ygyro = flow.gyro_y_rate_integral;
msg.integrated_zgyro = flow.gyro_z_rate_integral;
msg.distance = flow.ground_distance_m;
msg.quality = flow.quality;
msg.ground_distance = flow.ground_distance_m;
msg.integration_time_us = flow.integration_timespan;
msg.sensor_id = flow.sensor_id;
msg.time_delta_distance_us = flow.time_since_last_sonar_update;
msg.temperature = flow.gyro_temperature;
_mavlink->send_message(MAVLINK_MSG_ID_OPTICAL_FLOW, &msg);
_mavlink->send_message(MAVLINK_MSG_ID_OPTICAL_FLOW_RAD, &msg);
}
}
};
@@ -2165,7 +2176,7 @@ protected:
msg.id = 0;
msg.orientation = 0;
msg.min_distance = range.minimum_distance * 100;
msg.max_distance = range.minimum_distance * 100;
msg.max_distance = range.maximum_distance * 100;
msg.current_distance = range.distance * 100;
msg.covariance = 20;
@@ -2199,7 +2210,7 @@ StreamListItem *streams_list[] = {
new StreamListItem(&MavlinkStreamAttitudeTarget::new_instance, &MavlinkStreamAttitudeTarget::get_name_static),
new StreamListItem(&MavlinkStreamRCChannelsRaw::new_instance, &MavlinkStreamRCChannelsRaw::get_name_static),
new StreamListItem(&MavlinkStreamManualControl::new_instance, &MavlinkStreamManualControl::get_name_static),
new StreamListItem(&MavlinkStreamOpticalFlow::new_instance, &MavlinkStreamOpticalFlow::get_name_static),
new StreamListItem(&MavlinkStreamOpticalFlowRad::new_instance, &MavlinkStreamOpticalFlowRad::get_name_static),
new StreamListItem(&MavlinkStreamAttitudeControls::new_instance, &MavlinkStreamAttitudeControls::get_name_static),
new StreamListItem(&MavlinkStreamNamedValueFloat::new_instance, &MavlinkStreamNamedValueFloat::get_name_static),
new StreamListItem(&MavlinkStreamCameraCapture::new_instance, &MavlinkStreamCameraCapture::get_name_static),
src/modules/mavlink/mavlink_mission.cpp
+7 -4
View File
@@ -292,9 +292,6 @@ MavlinkMissionManager::send_mission_item_reached(uint16_t seq)
void
MavlinkMissionManager::send(const hrt_abstime now)
{
/* update interval for slow rate limiter */
_slow_rate_limiter.set_interval(_interval * 10 / _mavlink->get_rate_mult());
bool updated = false;
orb_check(_mission_result_sub, &updated);
@@ -312,6 +309,12 @@ MavlinkMissionManager::send(const hrt_abstime now)
send_mission_current(_current_seq);
if (mission_result.item_do_jump_changed) {
/* send a mission item again if the remaining DO_JUMPs has changed */
send_mission_item(_transfer_partner_sysid, _transfer_partner_compid,
(uint16_t)mission_result.item_changed_index);
}
} else {
if (_slow_rate_limiter.check(now)) {
send_mission_current(_current_seq);
@@ -811,7 +814,7 @@ MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s *
case NAV_CMD_DO_JUMP:
mavlink_mission_item->param1 = mission_item->do_jump_mission_index;
mavlink_mission_item->param2 = mission_item->do_jump_repeat_count;
mavlink_mission_item->param2 = mission_item->do_jump_repeat_count - mission_item->do_jump_current_count;
break;
default:
src/modules/mavlink/mavlink_receiver.cpp
+24 -16
View File
@@ -144,8 +144,8 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
handle_message_command_int(msg);
break;
case MAVLINK_MSG_ID_OPTICAL_FLOW:
handle_message_optical_flow(msg);
case MAVLINK_MSG_ID_OPTICAL_FLOW_RAD:
handle_message_optical_flow_rad(msg);
break;
case MAVLINK_MSG_ID_SET_MODE:
@@ -352,24 +352,27 @@ MavlinkReceiver::handle_message_command_int(mavlink_message_t *msg)
}
void
MavlinkReceiver::handle_message_optical_flow(mavlink_message_t *msg)
MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
{
/* optical flow */
mavlink_optical_flow_t flow;
mavlink_msg_optical_flow_decode(msg, &flow);
mavlink_optical_flow_rad_t flow;
mavlink_msg_optical_flow_rad_decode(msg, &flow);
struct optical_flow_s f;
memset(&f, 0, sizeof(f));
f.timestamp = hrt_absolute_time();
f.flow_timestamp = flow.time_usec;
f.flow_raw_x = flow.flow_x;
f.flow_raw_y = flow.flow_y;
f.flow_comp_x_m = flow.flow_comp_m_x;
f.flow_comp_y_m = flow.flow_comp_m_y;
f.ground_distance_m = flow.ground_distance;
f.timestamp = flow.time_usec;
f.integration_timespan = flow.integration_time_us;
f.pixel_flow_x_integral = flow.integrated_x;
f.pixel_flow_y_integral = flow.integrated_y;
f.gyro_x_rate_integral = flow.integrated_xgyro;
f.gyro_y_rate_integral = flow.integrated_ygyro;
f.gyro_z_rate_integral = flow.integrated_zgyro;
f.time_since_last_sonar_update = flow.time_delta_distance_us;
f.ground_distance_m = flow.distance;
f.quality = flow.quality;
f.sensor_id = flow.sensor_id;
f.gyro_temperature = flow.temperature;
if (_flow_pub < 0) {
_flow_pub = orb_advertise(ORB_ID(optical_flow), &f);
@@ -389,13 +392,18 @@ MavlinkReceiver::handle_message_hil_optical_flow(mavlink_message_t *msg)
struct optical_flow_s f;
memset(&f, 0, sizeof(f));
f.timestamp = hrt_absolute_time();
f.flow_timestamp = flow.time_usec;
f.flow_raw_x = flow.integrated_x;
f.flow_raw_y = flow.integrated_y;
f.timestamp = hrt_absolute_time(); // XXX we rely on the system time for now and not flow.time_usec;
f.integration_timespan = flow.integration_time_us;
f.pixel_flow_x_integral = flow.integrated_x;
f.pixel_flow_y_integral = flow.integrated_y;
f.gyro_x_rate_integral = flow.integrated_xgyro;
f.gyro_y_rate_integral = flow.integrated_ygyro;
f.gyro_z_rate_integral = flow.integrated_zgyro;
f.time_since_last_sonar_update = flow.time_delta_distance_us;
f.ground_distance_m = flow.distance;
f.quality = flow.quality;
f.sensor_id = flow.sensor_id;
f.gyro_temperature = flow.temperature;
if (_flow_pub < 0) {
_flow_pub = orb_advertise(ORB_ID(optical_flow), &f);
src/modules/mavlink/mavlink_receiver.h
+1 -1
View File
@@ -112,7 +112,7 @@ private:
void handle_message(mavlink_message_t *msg);
void handle_message_command_long(mavlink_message_t *msg);
void handle_message_command_int(mavlink_message_t *msg);
void handle_message_optical_flow(mavlink_message_t *msg);
void handle_message_optical_flow_rad(mavlink_message_t *msg);
void handle_message_hil_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);
src/modules/mc_att_control/mc_att_control_main.cpp
+62 -16
View File
@@ -66,6 +66,7 @@
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/parameter_update.h>
#include <systemlib/param/param.h>
@@ -96,12 +97,12 @@ public:
MulticopterAttitudeControl();
/**
* Destructor, also kills the sensors task.
* Destructor, also kills the main task
*/
~MulticopterAttitudeControl();
/**
* Start the sensors task.
* Start the multicopter attitude control task.
*
* @return OK on success.
*/
@@ -109,8 +110,8 @@ public:
private:
bool _task_should_exit; /**< if true, sensor task should exit */
int _control_task; /**< task handle for sensor task */
bool _task_should_exit; /**< if true, task_main() should exit */
int _control_task; /**< task handle */
int _v_att_sub; /**< vehicle attitude subscription */
int _v_att_sp_sub; /**< vehicle attitude setpoint subscription */
@@ -119,11 +120,15 @@ private:
int _params_sub; /**< parameter updates subscription */
int _manual_control_sp_sub; /**< manual control setpoint subscription */
int _armed_sub; /**< arming status subscription */
int _vehicle_status_sub; /**< vehicle status subscription */
orb_advert_t _att_sp_pub; /**< attitude setpoint publication */
orb_advert_t _v_rates_sp_pub; /**< rate setpoint publication */
orb_advert_t _actuators_0_pub; /**< attitude actuator controls publication */
orb_id_t _rates_sp_id; // pointer to correct rates setpoint uORB metadata structure
orb_id_t _actuators_id; // pointer to correct actuator controls0 uORB metadata structure
bool _actuators_0_circuit_breaker_enabled; /**< circuit breaker to suppress output */
struct vehicle_attitude_s _v_att; /**< vehicle attitude */
@@ -133,6 +138,7 @@ private:
struct vehicle_control_mode_s _v_control_mode; /**< vehicle control mode */
struct actuator_controls_s _actuators; /**< actuator controls */
struct actuator_armed_s _armed; /**< actuator arming status */
struct vehicle_status_s _vehicle_status; /**< vehicle status */
perf_counter_t _loop_perf; /**< loop performance counter */
@@ -168,6 +174,8 @@ private:
param_t acro_roll_max;
param_t acro_pitch_max;
param_t acro_yaw_max;
param_t autostart_id; //what frame are we using?
} _params_handles; /**< handles for interesting parameters */
struct {
@@ -182,6 +190,8 @@ private:
float man_pitch_max;
float man_yaw_max;
math::Vector<3> acro_rate_max; /**< max attitude rates in acro mode */
param_t autostart_id;
} _params;
/**
@@ -229,6 +239,11 @@ private:
*/
void control_attitude_rates(float dt);
/**
* Check for vehicle status updates.
*/
void vehicle_status_poll();
/**
* Shim for calling task_main from task_create.
*/
@@ -264,6 +279,7 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
_params_sub(-1),
_manual_control_sp_sub(-1),
_armed_sub(-1),
_vehicle_status_sub(-1),
/* publications */
_att_sp_pub(-1),
@@ -283,6 +299,8 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
memset(&_v_control_mode, 0, sizeof(_v_control_mode));
memset(&_actuators, 0, sizeof(_actuators));
memset(&_armed, 0, sizeof(_armed));
memset(&_vehicle_status, 0, sizeof(_vehicle_status));
_vehicle_status.is_rotary_wing = true;
_params.att_p.zero();
_params.rate_p.zero();
@@ -295,6 +313,8 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
_params.man_yaw_max = 0.0f;
_params.acro_rate_max.zero();
_params.autostart_id = 0; //default
_rates_prev.zero();
_rates_sp.zero();
_rates_int.zero();
@@ -324,8 +344,19 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
_params_handles.acro_pitch_max = param_find("MC_ACRO_P_MAX");
_params_handles.acro_yaw_max = param_find("MC_ACRO_Y_MAX");
_params_handles.autostart_id = param_find("SYS_AUTOSTART");
/* fetch initial parameter values */
parameters_update();
// set correct uORB ID, depending on if vehicle is VTOL or not
if (_params.autostart_id >= 13000 && _params.autostart_id <= 13999) { /* VTOL airframe?*/
_rates_sp_id = ORB_ID(mc_virtual_rates_setpoint);
_actuators_id = ORB_ID(actuator_controls_virtual_mc);
}
else {
_rates_sp_id = ORB_ID(vehicle_rates_setpoint);
_actuators_id = ORB_ID(actuator_controls_0);
}
}
MulticopterAttitudeControl::~MulticopterAttitudeControl()
@@ -409,6 +440,8 @@ MulticopterAttitudeControl::parameters_update()
_actuators_0_circuit_breaker_enabled = circuit_breaker_enabled("CBRK_RATE_CTRL", CBRK_RATE_CTRL_KEY);
param_get(_params_handles.autostart_id, &_params.autostart_id);
return OK;
}
@@ -417,7 +450,7 @@ MulticopterAttitudeControl::parameter_update_poll()
{
bool updated;
/* Check HIL state if vehicle status has changed */
/* Check if parameters have changed */
orb_check(_params_sub, &updated);
if (updated) {
@@ -432,7 +465,7 @@ MulticopterAttitudeControl::vehicle_control_mode_poll()
{
bool updated;
/* Check HIL state if vehicle status has changed */
/* Check if vehicle control mode has changed */
orb_check(_v_control_mode_sub, &updated);
if (updated) {
@@ -489,6 +522,18 @@ MulticopterAttitudeControl::arming_status_poll()
}
}
void
MulticopterAttitudeControl::vehicle_status_poll()
{
/* check if there is new status information */
bool vehicle_status_updated;
orb_check(_vehicle_status_sub, &vehicle_status_updated);
if (vehicle_status_updated) {
orb_copy(ORB_ID(vehicle_status), _vehicle_status_sub, &_vehicle_status);
}
}
/*
* Attitude controller.
* Input: 'manual_control_setpoint' and 'vehicle_attitude_setpoint' topics (depending on mode)
@@ -585,7 +630,7 @@ MulticopterAttitudeControl::control_attitude(float dt)
}
/* publish the attitude setpoint if needed */
if (publish_att_sp) {
if (publish_att_sp && _vehicle_status.is_rotary_wing) {
_v_att_sp.timestamp = hrt_absolute_time();
if (_att_sp_pub > 0) {
@@ -682,7 +727,7 @@ void
MulticopterAttitudeControl::control_attitude_rates(float dt)
{
/* reset integral if disarmed */
if (!_armed.armed) {
if (!_armed.armed || !_vehicle_status.is_rotary_wing) {
_rates_int.zero();
}
@@ -721,8 +766,6 @@ MulticopterAttitudeControl::task_main_trampoline(int argc, char *argv[])
void
MulticopterAttitudeControl::task_main()
{
warnx("started");
fflush(stdout);
/*
* do subscriptions
@@ -734,6 +777,7 @@ MulticopterAttitudeControl::task_main()
_params_sub = orb_subscribe(ORB_ID(parameter_update));
_manual_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
_vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
/* initialize parameters cache */
parameters_update();
@@ -785,6 +829,7 @@ MulticopterAttitudeControl::task_main()
vehicle_control_mode_poll();
arming_status_poll();
vehicle_manual_poll();
vehicle_status_poll();
if (_v_control_mode.flag_control_attitude_enabled) {
control_attitude(dt);
@@ -797,10 +842,10 @@ MulticopterAttitudeControl::task_main()
_v_rates_sp.timestamp = hrt_absolute_time();
if (_v_rates_sp_pub > 0) {
orb_publish(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_pub, &_v_rates_sp);
orb_publish(_rates_sp_id, _v_rates_sp_pub, &_v_rates_sp);
} else {
_v_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_v_rates_sp);
_v_rates_sp_pub = orb_advertise(_rates_sp_id, &_v_rates_sp);
}
} else {
@@ -821,10 +866,10 @@ MulticopterAttitudeControl::task_main()
_v_rates_sp.timestamp = hrt_absolute_time();
if (_v_rates_sp_pub > 0) {
orb_publish(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_pub, &_v_rates_sp);
orb_publish(_rates_sp_id, _v_rates_sp_pub, &_v_rates_sp);
} else {
_v_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_v_rates_sp);
_v_rates_sp_pub = orb_advertise(_rates_sp_id, &_v_rates_sp);
}
} else {
@@ -849,11 +894,12 @@ MulticopterAttitudeControl::task_main()
if (!_actuators_0_circuit_breaker_enabled) {
if (_actuators_0_pub > 0) {
orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators);
orb_publish(_actuators_id, _actuators_0_pub, &_actuators);
} else {
_actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators);
_actuators_0_pub = orb_advertise(_actuators_id, &_actuators);
}
}
}
}
src/modules/mc_pos_control/mc_pos_control_main.cpp
+6 -7
View File
@@ -535,7 +535,7 @@ MulticopterPositionControl::reset_pos_sp()
- _params.vel_ff(0) * _sp_move_rate(0)) / _params.pos_p(0);
_pos_sp(1) = _pos(1) + (_vel(1) - _att_sp.R_body[1][2] * _att_sp.thrust / _params.vel_p(1)
- _params.vel_ff(1) * _sp_move_rate(1)) / _params.pos_p(1);
mavlink_log_info(_mavlink_fd, "[mpc] reset pos sp: %.2f, %.2f", (double)_pos_sp(0), (double)_pos_sp(1));
mavlink_log_info(_mavlink_fd, "[mpc] reset pos sp: %d, %d", (int)_pos_sp(0), (int)_pos_sp(1));
}
}
@@ -545,7 +545,7 @@ MulticopterPositionControl::reset_alt_sp()
if (_reset_alt_sp) {
_reset_alt_sp = false;
_pos_sp(2) = _pos(2) + (_vel(2) - _params.vel_ff(2) * _sp_move_rate(2)) / _params.pos_p(2);
mavlink_log_info(_mavlink_fd, "[mpc] reset alt sp: %.2f", -(double)_pos_sp(2));
mavlink_log_info(_mavlink_fd, "[mpc] reset alt sp: %d", -(int)_pos_sp(2));
}
}
@@ -652,8 +652,6 @@ MulticopterPositionControl::control_offboard(float dt)
/* control position */
_pos_sp(0) = _pos_sp_triplet.current.x;
_pos_sp(1) = _pos_sp_triplet.current.y;
_pos_sp(2) = _pos_sp_triplet.current.z;
} else if (_control_mode.flag_control_velocity_enabled && _pos_sp_triplet.current.velocity_valid) {
/* control velocity */
/* reset position setpoint to current position if needed */
@@ -670,7 +668,10 @@ MulticopterPositionControl::control_offboard(float dt)
_att_sp.yaw_body = _att_sp.yaw_body + _pos_sp_triplet.current.yawspeed * dt;
}
if (_control_mode.flag_control_altitude_enabled) {
if (_control_mode.flag_control_altitude_enabled && _pos_sp_triplet.current.position_valid) {
/* Control altitude */
_pos_sp(2) = _pos_sp_triplet.current.z;
} else if (_control_mode.flag_control_climb_rate_enabled && _pos_sp_triplet.current.velocity_valid) {
/* reset alt setpoint to current altitude if needed */
reset_alt_sp();
@@ -857,10 +858,8 @@ MulticopterPositionControl::control_auto(float dt)
void
MulticopterPositionControl::task_main()
{
warnx("started");
_mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
mavlink_log_info(_mavlink_fd, "[mpc] started");
/*
* do subscriptions
src/modules/navigator/datalinkloss.cpp
+4 -4
View File
@@ -155,7 +155,7 @@ DataLinkLoss::set_dll_item()
case DLL_STATE_TERMINATE: {
/* Request flight termination from the commander */
_navigator->get_mission_result()->flight_termination = true;
_navigator->publish_mission_result();
_navigator->set_mission_result_updated();
reset_mission_item_reached();
warnx("not switched to manual: request flight termination");
pos_sp_triplet->previous.valid = false;
@@ -188,7 +188,7 @@ DataLinkLoss::advance_dll()
_navigator->get_vstatus()->data_link_lost_counter, _param_numberdatalinklosses.get());
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: too many DL losses, fly to airfield home");
_navigator->get_mission_result()->stay_in_failsafe = true;
_navigator->publish_mission_result();
_navigator->set_mission_result_updated();
reset_mission_item_reached();
_dll_state = DLL_STATE_FLYTOAIRFIELDHOMEWP;
} else {
@@ -209,7 +209,7 @@ DataLinkLoss::advance_dll()
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: fly to airfield home");
_dll_state = DLL_STATE_FLYTOAIRFIELDHOMEWP;
_navigator->get_mission_result()->stay_in_failsafe = true;
_navigator->publish_mission_result();
_navigator->set_mission_result_updated();
reset_mission_item_reached();
break;
case DLL_STATE_FLYTOAIRFIELDHOMEWP:
@@ -217,7 +217,7 @@ DataLinkLoss::advance_dll()
warnx("time is up, state should have been changed manually by now");
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: no manual control, terminating");
_navigator->get_mission_result()->stay_in_failsafe = true;
_navigator->publish_mission_result();
_navigator->set_mission_result_updated();
reset_mission_item_reached();
break;
case DLL_STATE_TERMINATE:
src/modules/navigator/geofence.cpp
+13 -4
View File
@@ -279,8 +279,14 @@ Geofence::loadFromFile(const char *filename)
while((textStart < sizeof(line)/sizeof(char)) && isspace(line[textStart])) textStart++;
/* if the line starts with #, skip */
if (line[textStart] == commentChar)
if (line[textStart] == commentChar) {
continue;
}
/* if there is only a linefeed, skip it */
if (line[0] == '\n') {
continue;
}
if (gotVertical) {
/* Parse the line as a geofence point */
@@ -291,8 +297,10 @@ Geofence::loadFromFile(const char *filename)
/* Handle degree minute second format */
float lat_d, lat_m, lat_s, lon_d, lon_m, lon_s;
if (sscanf(line, "DMS %f %f %f %f %f %f", &lat_d, &lat_m, &lat_s, &lon_d, &lon_m, &lon_s) != 6)
if (sscanf(line, "DMS %f %f %f %f %f %f", &lat_d, &lat_m, &lat_s, &lon_d, &lon_m, &lon_s) != 6) {
warnx("Scanf to parse DMS geofence vertex failed.");
return ERROR;
}
// warnx("Geofence DMS: %.5f %.5f %.5f ; %.5f %.5f %.5f", (double)lat_d, (double)lat_m, (double)lat_s, (double)lon_d, (double)lon_m, (double)lon_s);
@@ -301,9 +309,10 @@ Geofence::loadFromFile(const char *filename)
} else {
/* Handle decimal degree format */
if (sscanf(line, "%f %f", &(vertex.lat), &(vertex.lon)) != 2)
if (sscanf(line, "%f %f", &(vertex.lat), &(vertex.lon)) != 2) {
warnx("Scanf to parse geofence vertex failed.");
return ERROR;
}
}
if (dm_write(DM_KEY_FENCE_POINTS, pointCounter, DM_PERSIST_POWER_ON_RESET, &vertex, sizeof(vertex)) != sizeof(vertex))
src/modules/navigator/gpsfailure.cpp
+1 -1
View File
@@ -141,7 +141,7 @@ GpsFailure::set_gpsf_item()
case GPSF_STATE_TERMINATE: {
/* Request flight termination from the commander */
_navigator->get_mission_result()->flight_termination = true;
_navigator->publish_mission_result();
_navigator->set_mission_result_updated();
warnx("gps fail: request flight termination");
}
default:
src/modules/navigator/mission.cpp
+17 -12
View File
@@ -38,6 +38,7 @@
* @author Julian Oes <julian@oes.ch>
* @author Thomas Gubler <thomasgubler@gmail.com>
* @author Anton Babushkin <anton.babushkin@me.com>
* @author Ban Siesta <bansiesta@gmail.com>
*/
#include <sys/types.h>
@@ -149,18 +150,12 @@ Mission::on_active()
/* lets check if we reached the current mission item */
if (_mission_type != MISSION_TYPE_NONE && is_mission_item_reached()) {
set_mission_item_reached();
if (_mission_item.autocontinue) {
/* switch to next waypoint if 'autocontinue' flag set */
advance_mission();
set_mission_items();
} else {
/* else just report that item reached */
if (_mission_type == MISSION_TYPE_OFFBOARD) {
if (!(_navigator->get_mission_result()->seq_reached == _current_offboard_mission_index && _navigator->get_mission_result()->reached)) {
set_mission_item_reached();
}
}
}
} else if (_mission_type != MISSION_TYPE_NONE &&_param_altmode.get() == MISSION_ALTMODE_FOH) {
@@ -395,7 +390,6 @@ Mission::set_mission_items()
/* reuse setpoint for LOITER only if it's not IDLE */
_navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == SETPOINT_TYPE_LOITER);
reset_mission_item_reached();
set_mission_finished();
_navigator->set_position_setpoint_triplet_updated();
@@ -636,6 +630,8 @@ Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s
"ERROR DO JUMP waypoint could not be written");
return false;
}
report_do_jump_mission_changed(*mission_index_ptr,
mission_item_tmp.do_jump_repeat_count);
}
/* set new mission item index and repeat
* we don't have to validate here, if it's invalid, we should realize this later .*/
@@ -706,23 +702,32 @@ Mission::save_offboard_mission_state()
dm_unlock(DM_KEY_MISSION_STATE);
}
void
Mission::report_do_jump_mission_changed(int index, int do_jumps_remaining)
{
/* inform about the change */
_navigator->get_mission_result()->item_do_jump_changed = true;
_navigator->get_mission_result()->item_changed_index = index;
_navigator->get_mission_result()->item_do_jump_remaining = do_jumps_remaining;
_navigator->set_mission_result_updated();
}
void
Mission::set_mission_item_reached()
{
_navigator->get_mission_result()->reached = true;
_navigator->get_mission_result()->seq_reached = _current_offboard_mission_index;
_navigator->publish_mission_result();
_navigator->set_mission_result_updated();
reset_mission_item_reached();
}
void
Mission::set_current_offboard_mission_item()
{
warnx("current offboard mission index: %d", _current_offboard_mission_index);
_navigator->get_mission_result()->reached = false;
_navigator->get_mission_result()->finished = false;
_navigator->get_mission_result()->seq_current = _current_offboard_mission_index;
_navigator->publish_mission_result();
_navigator->set_mission_result_updated();
save_offboard_mission_state();
}
@@ -731,5 +736,5 @@ void
Mission::set_mission_finished()
{
_navigator->get_mission_result()->finished = true;
_navigator->publish_mission_result();
_navigator->set_mission_result_updated();
}
src/modules/navigator/mission.h
+6
View File
@@ -38,6 +38,7 @@
* @author Julian Oes <julian@oes.ch>
* @author Thomas Gubler <thomasgubler@gmail.com>
* @author Anton Babushkin <anton.babushkin@me.com>
* @author Ban Siesta <bansiesta@gmail.com>
*/
#ifndef NAVIGATOR_MISSION_H
@@ -130,6 +131,11 @@ private:
*/
void save_offboard_mission_state();
/**
* Inform about a changed mission item after a DO_JUMP
*/
void report_do_jump_mission_changed(int index, int do_jumps_remaining);
/**
* Set a mission item as reached
*/
src/modules/navigator/module.mk
+2
View File
@@ -62,3 +62,5 @@ INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink
MODULE_STACKSIZE = 1200
MAXOPTIMIZATION = -Os
EXTRACXXFLAGS = -Wno-sign-compare
src/modules/navigator/navigator.h
+15 -3
View File
@@ -54,6 +54,7 @@
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/mission_result.h>
#include <uORB/topics/geofence_result.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include "navigator_mode.h"
@@ -107,9 +108,9 @@ public:
void load_fence_from_file(const char *filename);
/**
* Publish the mission result so commander and mavlink know what is going on
* Publish the geofence result
*/
void publish_mission_result();
void publish_geofence_result();
/**
* Publish the attitude sp, only to be used in very special modes when position control is deactivated
@@ -122,6 +123,7 @@ public:
*/
void set_can_loiter_at_sp(bool can_loiter) { _can_loiter_at_sp = can_loiter; }
void set_position_setpoint_triplet_updated() { _pos_sp_triplet_updated = true; }
void set_mission_result_updated() { _mission_result_updated = true; }
/**
* Getters
@@ -134,6 +136,7 @@ public:
struct home_position_s* get_home_position() { return &_home_pos; }
struct position_setpoint_triplet_s* get_position_setpoint_triplet() { return &_pos_sp_triplet; }
struct mission_result_s* get_mission_result() { return &_mission_result; }
struct geofence_result_s* get_geofence_result() { return &_geofence_result; }
struct vehicle_attitude_setpoint_s* get_att_sp() { return &_att_sp; }
int get_onboard_mission_sub() { return _onboard_mission_sub; }
@@ -164,6 +167,7 @@ private:
orb_advert_t _pos_sp_triplet_pub; /**< publish position setpoint triplet */
orb_advert_t _mission_result_pub;
orb_advert_t _geofence_result_pub;
orb_advert_t _att_sp_pub; /**< publish att sp
used only in very special failsafe modes
when pos control is deactivated */
@@ -179,7 +183,8 @@ private:
position_setpoint_triplet_s _pos_sp_triplet; /**< triplet of position setpoints */
mission_result_s _mission_result;
vehicle_attitude_setpoint_s _att_sp;
geofence_result_s _geofence_result;
vehicle_attitude_setpoint_s _att_sp;
bool _mission_item_valid; /**< flags if the current mission item is valid */
@@ -206,6 +211,7 @@ private:
bool _can_loiter_at_sp; /**< flags if current position SP can be used to loiter */
bool _pos_sp_triplet_updated; /**< flags if position SP triplet needs to be published */
bool _pos_sp_triplet_published_invalid_once; /**< flags if position SP triplet has been published once to UORB */
bool _mission_result_updated; /**< flags if mission result has seen an update */
control::BlockParamFloat _param_loiter_radius; /**< loiter radius for fixedwing */
control::BlockParamFloat _param_acceptance_radius; /**< acceptance for takeoff */
@@ -271,6 +277,12 @@ private:
*/
void publish_position_setpoint_triplet();
/**
* Publish the mission result so commander and mavlink know what is going on
*/
void publish_mission_result();
/* this class has ptr data members, so it should not be copied,
* consequently the copy constructors are private.
*/
src/modules/navigator/navigator_main.cpp
+33 -4
View File
@@ -110,6 +110,7 @@ Navigator::Navigator() :
_param_update_sub(-1),
_pos_sp_triplet_pub(-1),
_mission_result_pub(-1),
_geofence_result_pub(-1),
_att_sp_pub(-1),
_vstatus{},
_control_mode{},
@@ -138,6 +139,7 @@ Navigator::Navigator() :
_can_loiter_at_sp(false),
_pos_sp_triplet_updated(false),
_pos_sp_triplet_published_invalid_once(false),
_mission_result_updated(false),
_param_loiter_radius(this, "LOITER_RAD"),
_param_acceptance_radius(this, "ACC_RAD"),
_param_datalinkloss_obc(this, "DLL_OBC"),
@@ -398,8 +400,8 @@ Navigator::task_main()
have_geofence_position_data = false;
if (!inside) {
/* inform other apps via the mission result */
_mission_result.geofence_violated = true;
publish_mission_result();
_geofence_result.geofence_violated = true;
publish_geofence_result();
/* Issue a warning about the geofence violation once */
if (!_geofence_violation_warning_sent) {
@@ -408,8 +410,8 @@ Navigator::task_main()
}
} else {
/* inform other apps via the mission result */
_mission_result.geofence_violated = false;
publish_mission_result();
_geofence_result.geofence_violated = false;
publish_geofence_result();
/* Reset the _geofence_violation_warning_sent field */
_geofence_violation_warning_sent = false;
}
@@ -490,6 +492,11 @@ Navigator::task_main()
_pos_sp_triplet_updated = false;
}
if (_mission_result_updated) {
publish_mission_result();
_mission_result_updated = false;
}
perf_end(_loop_perf);
}
warnx("exiting.");
@@ -639,6 +646,28 @@ Navigator::publish_mission_result()
/* advertise and publish */
_mission_result_pub = orb_advertise(ORB_ID(mission_result), &_mission_result);
}
/* reset some of the flags */
_mission_result.seq_reached = false;
_mission_result.seq_current = 0;
_mission_result.item_do_jump_changed = false;
_mission_result.item_changed_index = 0;
_mission_result.item_do_jump_remaining = 0;
}
void
Navigator::publish_geofence_result()
{
/* lazily publish the geofence result only once available */
if (_geofence_result_pub > 0) {
/* publish mission result */
orb_publish(ORB_ID(geofence_result), _geofence_result_pub, &_geofence_result);
} else {
/* advertise and publish */
_geofence_result_pub = orb_advertise(ORB_ID(geofence_result), &_geofence_result);
}
}
void
src/modules/navigator/navigator_mode.cpp
+1 -1
View File
@@ -65,7 +65,7 @@ NavigatorMode::run(bool active) {
_first_run = false;
/* Reset stay in failsafe flag */
_navigator->get_mission_result()->stay_in_failsafe = false;
_navigator->publish_mission_result();
_navigator->set_mission_result_updated();
on_activation();
} else {
src/modules/navigator/rcloss.cpp
+3 -3
View File
@@ -128,7 +128,7 @@ RCLoss::set_rcl_item()
case RCL_STATE_TERMINATE: {
/* Request flight termination from the commander */
_navigator->get_mission_result()->flight_termination = true;
_navigator->publish_mission_result();
_navigator->set_mission_result_updated();
warnx("rc not recovered: request flight termination");
pos_sp_triplet->previous.valid = false;
pos_sp_triplet->current.valid = false;
@@ -162,7 +162,7 @@ RCLoss::advance_rcl()
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: rc loss, terminating");
_rcl_state = RCL_STATE_TERMINATE;
_navigator->get_mission_result()->stay_in_failsafe = true;
_navigator->publish_mission_result();
_navigator->set_mission_result_updated();
reset_mission_item_reached();
}
break;
@@ -171,7 +171,7 @@ RCLoss::advance_rcl()
warnx("time is up, no RC regain, terminating");
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RC not regained, terminating");
_navigator->get_mission_result()->stay_in_failsafe = true;
_navigator->publish_mission_result();
_navigator->set_mission_result_updated();
reset_mission_item_reached();
break;
case RCL_STATE_TERMINATE:
src/modules/position_estimator_inav/module.mk
+3
View File
@@ -41,3 +41,6 @@ SRCS = position_estimator_inav_main.c \
inertial_filter.c
MODULE_STACKSIZE = 1200
EXTRACFLAGS = -Wframe-larger-than=3500
src/modules/position_estimator_inav/position_estimator_inav_main.c
+16 -20
View File
@@ -151,7 +151,7 @@ int position_estimator_inav_main(int argc, char *argv[])
position_estimator_inav_task = task_spawn_cmd("position_estimator_inav",
SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 5000,
position_estimator_inav_thread_main,
(argv) ? (const char **) &argv[2] : (const char **) NULL);
(argv) ? (char * const *) &argv[2] : (char * const *) NULL);
exit(0);
}
@@ -161,7 +161,7 @@ int position_estimator_inav_main(int argc, char *argv[])
thread_should_exit = true;
} else {
warnx("app not started");
warnx("not started");
}
exit(0);
@@ -169,10 +169,10 @@ int position_estimator_inav_main(int argc, char *argv[])
if (!strcmp(argv[1], "status")) {
if (thread_running) {
warnx("app is running");
warnx("is running");
} else {
warnx("app not started");
warnx("not started");
}
exit(0);
@@ -210,10 +210,8 @@ static void write_debug_log(const char *msg, float dt, float x_est[2], float y_e
****************************************************************************/
int position_estimator_inav_thread_main(int argc, char *argv[])
{
warnx("started");
int mavlink_fd;
mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
mavlink_log_info(mavlink_fd, "[inav] started");
float x_est[2] = { 0.0f, 0.0f }; // pos, vel
float y_est[2] = { 0.0f, 0.0f }; // pos, vel
@@ -298,7 +296,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
float w_flow = 0.0f;
float sonar_prev = 0.0f;
hrt_abstime flow_prev = 0; // time of last flow measurement
//hrt_abstime flow_prev = 0; // time of last flow measurement
hrt_abstime sonar_time = 0; // time of last sonar measurement (not filtered)
hrt_abstime sonar_valid_time = 0; // time of last sonar measurement used for correction (filtered)
@@ -389,8 +387,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
} else {
wait_baro = false;
baro_offset /= (float) baro_init_cnt;
warnx("baro offs: %.2f", (double)baro_offset);
mavlink_log_info(mavlink_fd, "[inav] baro offs: %.2f", (double)baro_offset);
warnx("baro offs: %d", (int)baro_offset);
mavlink_log_info(mavlink_fd, "[inav] baro offs: %d", (int)baro_offset);
local_pos.z_valid = true;
local_pos.v_z_valid = true;
}
@@ -491,8 +489,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
orb_copy(ORB_ID(optical_flow), optical_flow_sub, &flow);
/* calculate time from previous update */
float flow_dt = flow_prev > 0 ? (flow.flow_timestamp - flow_prev) * 1e-6f : 0.1f;
flow_prev = flow.flow_timestamp;
// float flow_dt = flow_prev > 0 ? (flow.flow_timestamp - flow_prev) * 1e-6f : 0.1f;
// flow_prev = flow.flow_timestamp;
if ((flow.ground_distance_m > 0.31f) &&
(flow.ground_distance_m < 4.0f) &&
@@ -520,7 +518,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
sonar_valid_time = t;
sonar_valid = true;
local_pos.surface_bottom_timestamp = t;
mavlink_log_info(mavlink_fd, "[inav] new surface level: %.2f", (double)surface_offset);
mavlink_log_info(mavlink_fd, "[inav] new surface level: %d", (int)surface_offset);
}
} else {
@@ -550,8 +548,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
/* convert raw flow to angular flow (rad/s) */
float flow_ang[2];
flow_ang[0] = flow.flow_raw_x * params.flow_k / 1000.0f / flow_dt;
flow_ang[1] = flow.flow_raw_y * params.flow_k / 1000.0f / flow_dt;
//todo check direction of x und y axis
flow_ang[0] = flow.pixel_flow_x_integral/(float)flow.integration_timespan*1000000.0f;//flow.flow_raw_x * params.flow_k / 1000.0f / flow_dt;
flow_ang[1] = flow.pixel_flow_y_integral/(float)flow.integration_timespan*1000000.0f;//flow.flow_raw_y * params.flow_k / 1000.0f / flow_dt;
/* flow measurements vector */
float flow_m[3];
flow_m[0] = -flow_ang[0] * flow_dist;
@@ -750,8 +749,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
/* initialize projection */
map_projection_init(&ref, lat, lon);
warnx("init ref: lat=%.7f, lon=%.7f, alt=%.2f", (double)lat, (double)lon, (double)alt);
mavlink_log_info(mavlink_fd, "[inav] init ref: %.7f, %.7f, %.2f", (double)lat, (double)lon, (double)alt);
// XXX replace this print
warnx("init ref: lat=%.7f, lon=%.7f, alt=%8.4f", (double)lat, (double)lon, (double)alt);
mavlink_log_info(mavlink_fd, "[inav] init ref: %.7f, %.7f, %8.4f", (double)lat, (double)lon, (double)alt);
}
}
@@ -1081,10 +1081,6 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
landed = false;
landed_time = 0;
}
/* reset xy velocity estimates when landed */
x_est[1] = 0.0f;
y_est[1] = 0.0f;
} else {
if (alt_disp2 < land_disp2 && thrust < params.land_thr) {
if (landed_time == 0) {
src/modules/px4iofirmware/mixer.cpp
+10 -10
View File
@@ -353,12 +353,16 @@ static unsigned mixer_text_length = 0;
int
mixer_handle_text(const void *buffer, size_t length)
{
/* do not allow a mixer change while safety off */
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)) {
/* do not allow a mixer change while safety off and FMU armed */
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) &&
(r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)) {
return 1;
}
/* abort if we're in the mixer */
/* disable mixing, will be enabled once load is complete */
r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_MIXER_OK);
/* abort if we're in the mixer - the caller is expected to retry */
if (in_mixer) {
return 1;
}
@@ -367,17 +371,16 @@ mixer_handle_text(const void *buffer, size_t length)
isr_debug(2, "mix txt %u", length);
if (length < sizeof(px4io_mixdata))
if (length < sizeof(px4io_mixdata)) {
return 0;
}
unsigned text_length = length - sizeof(px4io_mixdata);
unsigned text_length = length - sizeof(px4io_mixdata);
switch (msg->action) {
case F2I_MIXER_ACTION_RESET:
isr_debug(2, "reset");
/* FIRST mark the mixer as invalid */
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK;
/* THEN actually delete it */
mixer_group.reset();
mixer_text_length = 0;
@@ -386,9 +389,6 @@ mixer_handle_text(const void *buffer, size_t length)
case F2I_MIXER_ACTION_APPEND:
isr_debug(2, "append %d", length);
/* disable mixing during the update */
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK;
/* check for overflow - this would be really fatal */
if ((mixer_text_length + text_length + 1) > sizeof(mixer_text)) {
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK;

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