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

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This commit is contained in:
Thomas Gubler
2014-05-05 14:42:46 +02:00
parent 775499321a 896d8a3acd
commit 474a76b553
36 changed files with 608 additions and 131 deletions
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src/drivers/drv_hrt.h
+1
View File
@@ -41,6 +41,7 @@
#include <sys/types.h>
#include <stdbool.h>
#include <inttypes.h>
#include <time.h>
#include <queue.h>
src/lib/geo/geo.h
+2
View File
@@ -50,6 +50,8 @@
__BEGIN_DECLS
#include "geo/geo_mag_declination.h"
#include <stdbool.h>
#define CONSTANTS_ONE_G 9.80665f /* m/s^2 */
src/lib/geo/geo_mag_declination.c
+136
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@@ -0,0 +1,136 @@
/****************************************************************************
*
* Copyright (c) 2014 MAV GEO Library (MAVGEO). 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 MAVGEO 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 geo_mag_declination.c
*
* Calculation / lookup table for earth magnetic field declination.
*
* Lookup table from Scott Ferguson <scottfromscott@gmail.com>
*
* XXX Lookup table currently too coarse in resolution (only full degrees)
* and lat/lon res - needs extension medium term.
*
*/
#include <geo/geo.h>
/** set this always to the sampling in degrees for the table below */
#define SAMPLING_RES 10.0f
#define SAMPLING_MIN_LAT -60.0f
#define SAMPLING_MAX_LAT 60.0f
#define SAMPLING_MIN_LON -180.0f
#define SAMPLING_MAX_LON 180.0f
static const int8_t declination_table[13][37] = \
{
46, 45, 44, 42, 41, 40, 38, 36, 33, 28, 23, 16, 10, 4, -1, -5, -9, -14, -19, -26, -33, -40, -48, -55, -61, \
-66, -71, -74, -75, -72, -61, -25, 22, 40, 45, 47, 46, 30, 30, 30, 30, 29, 29, 29, 29, 27, 24, 18, 11, 3, \
-3, -9, -12, -15, -17, -21, -26, -32, -39, -45, -51, -55, -57, -56, -53, -44, -31, -14, 0, 13, 21, 26, \
29, 30, 21, 22, 22, 22, 22, 22, 22, 22, 21, 18, 13, 5, -3, -11, -17, -20, -21, -22, -23, -25, -29, -35, \
-40, -44, -45, -44, -40, -32, -22, -12, -3, 3, 9, 14, 18, 20, 21, 16, 17, 17, 17, 17, 17, 16, 16, 16, 13, \
8, 0, -9, -16, -21, -24, -25, -25, -23, -20, -21, -24, -28, -31, -31, -29, -24, -17, -9, -3, 0, 4, 7, \
10, 13, 15, 16, 12, 13, 13, 13, 13, 13, 12, 12, 11, 9, 3, -4, -12, -19, -23, -24, -24, -22, -17, -12, -9, \
-10, -13, -17, -18, -16, -13, -8, -3, 0, 1, 3, 6, 8, 10, 12, 12, 10, 10, 10, 10, 10, 10, 10, 9, 9, 6, 0, -6, \
-14, -20, -22, -22, -19, -15, -10, -6, -2, -2, -4, -7, -8, -8, -7, -4, 0, 1, 1, 2, 4, 6, 8, 10, 10, 9, 9, 9, \
9, 9, 9, 8, 8, 7, 4, -1, -8, -15, -19, -20, -18, -14, -9, -5, -2, 0, 1, 0, -2, -3, -4, -3, -2, 0, 0, 0, 1, 3, 5, \
7, 8, 9, 8, 8, 8, 9, 9, 9, 8, 8, 6, 2, -3, -9, -15, -18, -17, -14, -10, -6, -2, 0, 1, 2, 2, 0, -1, -1, -2, -1, 0, \
0, 0, 0, 1, 3, 5, 7, 8, 8, 9, 9, 10, 10, 10, 10, 8, 5, 0, -5, -11, -15, -16, -15, -12, -8, -4, -1, 0, 2, 3, 2, 1, 0, \
0, 0, 0, 0, -1, -2, -2, -1, 0, 3, 6, 8, 6, 9, 10, 11, 12, 12, 11, 9, 5, 0, -7, -12, -15, -15, -13, -10, -7, -3, \
0, 1, 2, 3, 3, 3, 2, 1, 0, 0, -1, -3, -4, -5, -5, -2, 0, 3, 6, 5, 8, 11, 13, 15, 15, 14, 11, 5, -1, -9, -14, -17, \
-16, -14, -11, -7, -3, 0, 1, 3, 4, 5, 5, 5, 4, 3, 1, -1, -4, -7, -8, -8, -6, -2, 1, 5, 4, 8, 12, 15, 17, 18, 16, \
12, 5, -3, -12, -18, -20, -19, -16, -13, -8, -4, -1, 1, 4, 6, 8, 9, 9, 9, 7, 3, -1, -6, -10, -12, -11, -9, -5, \
0, 4, 3, 9, 14, 17, 20, 21, 19, 14, 4, -8, -19, -25, -26, -25, -21, -17, -12, -7, -2, 1, 5, 9, 13, 15, 16, 16, \
13, 7, 0, -7, -12, -15, -14, -11, -6, -1, 3
};
static float get_lookup_table_val(unsigned lat, unsigned lon);
__EXPORT float get_mag_declination(float lat, float lon)
{
/*
* If the values exceed valid ranges, return zero as default
* as we have no way of knowing what the closest real value
* would be.
*/
if (lat < -90.0f || lat > 90.0f ||
lon < -180.0f || lon > 180.0f) {
return 0.0f;
}
/* round down to nearest sampling resolution */
int min_lat = (int)(lat / SAMPLING_RES) * SAMPLING_RES;
int min_lon = (int)(lon / SAMPLING_RES) * SAMPLING_RES;
/* for the rare case of hitting the bounds exactly
* the rounding logic wouldn't fit, so enforce it.
*/
/* limit to table bounds - required for maxima even when table spans full globe range */
if (lat <= SAMPLING_MIN_LAT) {
min_lat = SAMPLING_MIN_LAT;
}
if (lat >= SAMPLING_MAX_LAT) {
min_lat = (int)(lat / SAMPLING_RES) * SAMPLING_RES - SAMPLING_RES;
}
if (lon <= SAMPLING_MIN_LON) {
min_lon = SAMPLING_MIN_LON;
}
if (lon >= SAMPLING_MAX_LON) {
min_lon = (int)(lon / SAMPLING_RES) * SAMPLING_RES - SAMPLING_RES;
}
/* find index of nearest low sampling point */
unsigned min_lat_index = (-(SAMPLING_MIN_LAT) + min_lat) / SAMPLING_RES;
unsigned min_lon_index = (-(SAMPLING_MIN_LON) + min_lon) / SAMPLING_RES;
float declination_sw = get_lookup_table_val(min_lat_index, min_lon_index);
float declination_se = get_lookup_table_val(min_lat_index, min_lon_index + 1);
float declination_ne = get_lookup_table_val(min_lat_index + 1, min_lon_index + 1);
float declination_nw = get_lookup_table_val(min_lat_index + 1, min_lon_index);
/* perform bilinear interpolation on the four grid corners */
float declination_min = ((lon - min_lon) / SAMPLING_RES) * (declination_se - declination_sw) + declination_sw;
float declination_max = ((lon - min_lon) / SAMPLING_RES) * (declination_ne - declination_nw) + declination_nw;
return ((lat - min_lat) / SAMPLING_RES) * (declination_max - declination_min) + declination_min;
}
float get_lookup_table_val(unsigned lat_index, unsigned lon_index)
{
return declination_table[lat_index][lon_index];
}
src/systemcmds/hw_ver/hw_ver.c → src/lib/geo/geo_mag_declination.h
+11 -37
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2014 PX4 Development Team. All rights reserved.
* Copyright (c) 2014 MAV GEO Library (MAVGEO). All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -12,7 +12,7 @@
* 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
* 3. Neither the name MAVGEO nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
@@ -32,42 +32,16 @@
****************************************************************************/
/**
* @file hw_ver.c
*
* Show and test hardware version.
*/
* @file geo_mag_declination.h
*
* Calculation / lookup table for earth magnetic field declination.
*
*/
#include <nuttx/config.h>
#pragma once
#include <stdio.h>
#include <string.h>
#include <errno.h>
#include <version/version.h>
__BEGIN_DECLS
__EXPORT int hw_ver_main(int argc, char *argv[]);
__EXPORT float get_mag_declination(float lat, float lon);
int
hw_ver_main(int argc, char *argv[])
{
if (argc >= 2) {
if (!strcmp(argv[1], "show")) {
printf(HW_ARCH "\n");
exit(0);
}
if (!strcmp(argv[1], "compare")) {
if (argc >= 3) {
int ret = strcmp(HW_ARCH, argv[2]) != 0;
if (ret == 0) {
printf("hw_ver match: %s\n", HW_ARCH);
}
exit(ret);
} else {
errx(1, "not enough arguments, try 'compare PX4FMU_1'");
}
}
}
errx(1, "expected a command, try 'show' or 'compare'");
}
__END_DECLS
src/lib/geo/module.mk
+2 -1
View File
@@ -35,4 +35,5 @@
# Geo library
#
SRCS = geo.c
SRCS = geo.c \
geo_mag_declination.c
src/lib/mathlib/CMSIS/Include/arm_math.h
+1 -1
View File
@@ -5193,7 +5193,7 @@ void arm_rfft_fast_f32(
*pIa = Ialpha;
/* Calculating pIb from Ialpha and Ibeta by equation pIb = -(1/2) * Ialpha + (sqrt(3)/2) * Ibeta */
*pIb = -0.5 * Ialpha + (float32_t) 0.8660254039 *Ibeta;
*pIb = (float32_t)-0.5 * Ialpha + (float32_t) 0.8660254039 *Ibeta;
}
src/modules/commander/commander_helper.cpp
+3 -13
View File
@@ -199,15 +199,9 @@ int led_init()
}
/* the blue LED is only available on FMUv1 but not FMUv2 */
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
if (ioctl(leds, LED_ON, LED_BLUE)) {
warnx("Blue LED: ioctl fail\n");
return ERROR;
}
#endif
(void)ioctl(leds, LED_ON, LED_BLUE);
/* we consider the amber led mandatory */
if (ioctl(leds, LED_ON, LED_AMBER)) {
warnx("Amber LED: ioctl fail\n");
return ERROR;
@@ -217,11 +211,7 @@ int led_init()
rgbleds = open(RGBLED_DEVICE_PATH, 0);
if (rgbleds == -1) {
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
errx(1, "Unable to open " RGBLED_DEVICE_PATH);
#else
warnx("No RGB LED found");
#endif
warnx("No RGB LED found at " RGBLED_DEVICE_PATH);
}
return 0;
src/modules/mavlink/mavlink_messages.cpp
+5 -5
View File
@@ -819,11 +819,11 @@ protected:
void send(const hrt_abstime t)
{
bool updated = status_sub->update(t);
updated |= pos_sp_triplet_sub->update(t);
updated |= act_sub->update(t);
bool updated = act_sub->update(t);
(void)pos_sp_triplet_sub->update(t);
(void)status_sub->update(t);
if (updated) {
if (updated && (status->arming_state == ARMING_STATE_ARMED)) {
/* translate the current syste state to mavlink state and mode */
uint8_t mavlink_state;
uint8_t mavlink_base_mode;
@@ -1353,7 +1353,7 @@ protected:
uint8_t orientation = 0;
uint8_t covariance = 20;
mavlink_msg_distance_sensor_send(_channel, range->timestamp / 1000, type, id, orientation,
mavlink_msg_distance_sensor_send(_channel, range->timestamp / 1000, type, id, orientation,
range->minimum_distance*100, range->maximum_distance*100, range->distance*100, covariance);
}
};
src/modules/mavlink/mavlink_receiver.cpp
+2 -2
View File
@@ -432,8 +432,8 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
memset(&manual, 0, sizeof(manual));
manual.timestamp = hrt_absolute_time();
manual.roll = man.x / 1000.0f;
manual.pitch = man.y / 1000.0f;
manual.pitch = man.x / 1000.0f;
manual.roll = man.y / 1000.0f;
manual.yaw = man.r / 1000.0f;
manual.throttle = man.z / 1000.0f;
src/modules/mc_att_control/mc_att_control_main.cpp
+2 -1
View File
@@ -496,7 +496,8 @@ MulticopterAttitudeControl::control_attitude(float dt)
//}
} else {
/* move yaw setpoint */
_v_att_sp.yaw_body = _wrap_pi(_v_att_sp.yaw_body + _manual_control_sp.yaw * _params.man_yaw_max * dt);
yaw_sp_move_rate = _manual_control_sp.yaw * _params.man_yaw_max;
_v_att_sp.yaw_body = _wrap_pi(_v_att_sp.yaw_body + yaw_sp_move_rate * dt);
_v_att_sp.R_valid = false;
publish_att_sp = true;
}
src/modules/systemlib/mixer/mixer_load.c
+1
View File
@@ -41,6 +41,7 @@
#include <string.h>
#include <stdio.h>
#include <ctype.h>
#include <systemlib/err.h>
#include "mixer_load.h"
src/systemcmds/esc_calib/esc_calib.c
+1 -1
View File
@@ -182,7 +182,7 @@ esc_calib_main(int argc, char *argv[])
if (orb_updated) {
errx(1, "ABORTING! Attitude control still active. Please ensure to shut down all controllers:\n"
"\tmultirotor_att_control stop\n"
"\tmc_att_control stop\n"
"\tfw_att_control stop\n");
}
src/systemcmds/pwm/pwm.c
+105 -1
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
@@ -443,6 +443,110 @@ pwm_main(int argc, char *argv[])
exit(0);
}
}
usleep(2000);
}
exit(0);
} else if (!strcmp(argv[1], "steps")) {
if (set_mask == 0) {
usage("no channels set");
}
/* get current servo values */
struct pwm_output_values last_spos;
for (unsigned i = 0; i < servo_count; i++) {
ret = ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&last_spos.values[i]);
if (ret != OK)
err(1, "PWM_SERVO_GET(%d)", i);
}
/* perform PWM output */
/* Open console directly to grab CTRL-C signal */
struct pollfd fds;
fds.fd = 0; /* stdin */
fds.events = POLLIN;
warnx("Running 5 steps. WARNING! Motors will be live in 5 seconds\nPress any key to abort now.");
sleep(5);
unsigned off = 900;
unsigned idle = 1300;
unsigned full = 2000;
unsigned steps_timings_us[] = {2000, 5000, 20000, 50000};
unsigned phase = 0;
unsigned phase_counter = 0;
unsigned const phase_maxcount = 20;
for ( unsigned steps_timing_index = 0;
steps_timing_index < sizeof(steps_timings_us) / sizeof(steps_timings_us[0]);
steps_timing_index++ ) {
warnx("Sending step input with 0 to 100%% over a %u microseconds ramp", steps_timings_us[steps_timing_index]);
while (1) {
for (unsigned i = 0; i < servo_count; i++) {
if (set_mask & 1<<i) {
unsigned val;
if (phase == 0) {
val = idle;
} else if (phase == 1) {
/* ramp - depending how steep it is this ramp will look instantaneous on the output */
val = idle + (full - idle) * (phase_maxcount / (float)phase_counter);
} else {
val = off;
}
ret = ioctl(fd, PWM_SERVO_SET(i), val);
if (ret != OK)
err(1, "PWM_SERVO_SET(%d)", i);
}
}
/* abort on user request */
char c;
ret = poll(&fds, 1, 0);
if (ret > 0) {
int ret = read(0, &c, 1);
if (ret > 0) {
/* reset output to the last value */
for (unsigned i = 0; i < servo_count; i++) {
if (set_mask & 1<<i) {
ret = ioctl(fd, PWM_SERVO_SET(i), last_spos.values[i]);
if (ret != OK)
err(1, "PWM_SERVO_SET(%d)", i);
}
}
warnx("Key pressed, user abort\n");
exit(0);
}
}
if (phase == 1) {
usleep(steps_timings_us[steps_timing_index] / phase_maxcount);
} else if (phase == 0) {
usleep(50000);
} else if (phase == 2) {
usleep(50000);
} else {
break;
}
phase_counter++;
if (phase_counter > phase_maxcount) {
phase++;
phase_counter = 0;
}
}
}
exit(0);
src/systemcmds/hw_ver/module.mk → src/systemcmds/ver/module.mk
+6 -5
View File
@@ -32,12 +32,13 @@
############################################################################
#
# Show and test hardware version
# "version" nsh-command displays version infromation for hw,sw, gcc,build etc
# can be also included and used in own code via "ver.h"
#
MODULE_COMMAND = hw_ver
SRCS = hw_ver.c
MODULE_COMMAND = ver
SRCS = ver.c
MODULE_STACKSIZE = 1024
MODULE_STACKSIZE = 1024
MAXOPTIMIZATION = -Os
MAXOPTIMIZATION = -Os
src/systemcmds/ver/ver.c
+123
View File
@@ -0,0 +1,123 @@
/****************************************************************************
*
* Copyright (c) 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file ver.c
*
* Version command, unifies way of showing versions of HW, SW, Build, GCC
* In case you want to add new version just extend version_main function
*
* @author Vladimir Kulla <ufon@kullaonline.net>
*/
#include <stdio.h>
#include <string.h>
#include <version/version.h>
#include <systemlib/err.h>
// string constants for version commands
static const char sz_ver_hw_str[] = "hw";
static const char sz_ver_hwcmp_str[] = "hwcmp";
static const char sz_ver_git_str[] = "git";
static const char sz_ver_bdate_str[] = "bdate";
static const char sz_ver_gcc_str[] = "gcc";
static const char sz_ver_all_str[] = "all";
static void usage(const char *reason)
{
if (reason != NULL) {
printf("%s\n", reason);
}
printf("usage: ver {hw|hwcmp|git|bdate|gcc|all}\n\n");
}
__EXPORT int ver_main(int argc, char *argv[]);
int ver_main(int argc, char *argv[])
{
int ret = 1; //defaults to an error
// first check if there are at least 2 params
if (argc >= 2) {
if (argv[1] != NULL) {
if (!strncmp(argv[1], sz_ver_hw_str, sizeof(sz_ver_hw_str))) {
printf("%s\n", HW_ARCH);
ret = 0;
} else if (!strncmp(argv[1], sz_ver_hwcmp_str, sizeof(sz_ver_hwcmp_str))) {
if (argc >= 3 && argv[2] != NULL) {
// compare 3rd parameter with HW_ARCH string, in case of match, return 0
ret = strncmp(HW_ARCH, argv[2], strlen(HW_ARCH));
if (ret == 0) {
printf("ver hwcmp match: %s\n", HW_ARCH);
}
} else {
errx(1, "Not enough arguments, try 'ver hwcmp PX4FMU_V2'");
}
} else if (!strncmp(argv[1], sz_ver_git_str, sizeof(sz_ver_git_str))) {
printf("%s\n", FW_GIT);
ret = 0;
} else if (!strncmp(argv[1], sz_ver_bdate_str, sizeof(sz_ver_bdate_str))) {
printf("%s %s\n", __DATE__, __TIME__);
ret = 0;
} else if (!strncmp(argv[1], sz_ver_gcc_str, sizeof(sz_ver_gcc_str))) {
printf("%s\n", __VERSION__);
ret = 0;
} else if (!strncmp(argv[1], sz_ver_all_str, sizeof(sz_ver_all_str))) {
printf("HW arch: %s\n", HW_ARCH);
printf("Build datetime: %s %s\n", __DATE__, __TIME__);
printf("FW git-hash: %s\n", FW_GIT);
printf("GCC toolchain: %s\n", __VERSION__);
ret = 0;
} else {
errx(1, "unknown command.\n");
}
} else {
usage("Error, input parameter NULL.\n");
}
} else {
usage("Error, not enough parameters.");
}
return ret;
}