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Merge branch 'master' of github.com:PX4/Firmware into master2

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This commit is contained in:
Lorenz Meier 2014-05-20 23:20:17 +02:00
commit 47562990a1
20 changed files with 241 additions and 40 deletions
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2
ROMFS/px4fmu_common/init.d/11001_hexa_cox
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@ -1,7 +1,5 @@
#!nsh
#
# UNTESTED UNTESTED!
#
# Generic 10" Hexa coaxial geometry
#
# Lorenz Meier <lm@inf.ethz.ch>

15
src/drivers/frsky_telemetry/frsky_data.c
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@ -194,17 +194,12 @@ void frsky_send_frame1(int uart)
}
/**
* Formats the decimal latitude/longitude to the required degrees/minutes/seconds.
* Formats the decimal latitude/longitude to the required degrees/minutes.
*/
static float frsky_format_gps(float dec)
{
float dms_deg = (int) dec;
float dec_deg = dec - dms_deg;
float dms_min = (int) (dec_deg * 60);
float dec_min = (dec_deg * 60) - dms_min;
float dms_sec = dec_min * 60;
return (dms_deg * 100.0f) + dms_min + (dms_sec / 100.0f);
float dm_deg = (int) dec;
return (dm_deg * 100.0f) + (dec - dm_deg) * 60;
}
/**
@ -232,9 +227,9 @@ void frsky_send_frame2(int uart)
struct tm *tm_gps = gmtime(&time_gps);
course = (global_pos.yaw + M_PI_F) / M_PI_F * 180.0f;
lat = frsky_format_gps(abs(global_pos.lat));
lat = frsky_format_gps(fabsf(global_pos.lat));
lat_ns = (global_pos.lat < 0) ? 'S' : 'N';
lon = frsky_format_gps(abs(global_pos.lon));
lon = frsky_format_gps(fabsf(global_pos.lon));
lon_ew = (global_pos.lon < 0) ? 'W' : 'E';
speed = sqrtf(global_pos.vel_n * global_pos.vel_n + global_pos.vel_e * global_pos.vel_e)
* 25.0f / 46.0f;

46
src/modules/commander/commander.cpp
View File

@ -453,6 +453,10 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_AUTO) {
/* AUTO */
main_res = main_state_transition(status, MAIN_STATE_AUTO);
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ACRO) {
/* ACRO */
main_res = main_state_transition(status, MAIN_STATE_ACRO);
}
} else {
@ -652,6 +656,7 @@ int commander_thread_main(int argc, char *argv[])
main_states_str[1] = "ALTCTL";
main_states_str[2] = "POSCTL";
main_states_str[3] = "AUTO";
main_states_str[4] = "ACRO";
char *arming_states_str[ARMING_STATE_MAX];
arming_states_str[0] = "INIT";
@ -1012,7 +1017,26 @@ int commander_thread_main(int argc, char *argv[])
}
/* update condition_local_position_valid and condition_local_altitude_valid */
check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.xy_valid && eph_epv_good, &(status.condition_local_position_valid), &status_changed);
/* hysteresis for EPH */
bool local_eph_good;
if (status.condition_global_position_valid) {
if (local_position.eph > eph_epv_threshold * 2.0f) {
local_eph_good = false;
} else {
local_eph_good = true;
}
} else {
if (local_position.eph < eph_epv_threshold) {
local_eph_good = true;
} else {
local_eph_good = false;
}
}
check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.xy_valid && local_eph_good, &(status.condition_local_position_valid), &status_changed);
check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.z_valid, &(status.condition_local_altitude_valid), &status_changed);
static bool published_condition_landed_fw = false;
@ -1187,7 +1211,7 @@ int commander_thread_main(int argc, char *argv[])
* do it only for rotary wings */
if (status.is_rotary_wing &&
(status.arming_state == ARMING_STATE_ARMED || status.arming_state == ARMING_STATE_ARMED_ERROR) &&
(status.main_state == MAIN_STATE_MANUAL || status.condition_landed) &&
(status.main_state == MAIN_STATE_MANUAL || status.main_state == MAIN_STATE_ACRO || status.condition_landed) &&
sp_man.r < -STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) {
if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) {
@ -1600,7 +1624,12 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin
break;
case SWITCH_POS_OFF: // MANUAL
res = main_state_transition(status, MAIN_STATE_MANUAL);
if (sp_man->acro_switch == SWITCH_POS_ON) {
res = main_state_transition(status, MAIN_STATE_ACRO);
} else {
res = main_state_transition(status, MAIN_STATE_MANUAL);
}
// TRANSITION_DENIED is not possible here
break;
@ -1712,6 +1741,17 @@ set_control_mode()
navigator_enabled = true;
break;
case MAIN_STATE_ACRO:
control_mode.flag_control_manual_enabled = true;
control_mode.flag_control_auto_enabled = false;
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = false;
control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = false;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
break;
default:
break;
}

1
src/modules/commander/px4_custom_mode.h
View File

@ -15,6 +15,7 @@ enum PX4_CUSTOM_MAIN_MODE {
PX4_CUSTOM_MAIN_MODE_ALTCTL,
PX4_CUSTOM_MAIN_MODE_POSCTL,
PX4_CUSTOM_MAIN_MODE_AUTO,
PX4_CUSTOM_MAIN_MODE_ACRO,
};
enum PX4_CUSTOM_SUB_MODE_AUTO {

4
src/modules/commander/state_machine_helper.cpp
View File

@ -222,6 +222,10 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
ret = TRANSITION_CHANGED;
break;
case MAIN_STATE_ACRO:
ret = TRANSITION_CHANGED;
break;
case MAIN_STATE_ALTCTL:
/* need at minimum altitude estimate */

4
src/modules/mavlink/mavlink_messages.cpp
View File

@ -136,6 +136,10 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_READY;
} else if (status->main_state == MAIN_STATE_ACRO) {
*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ACRO;
}
} else {

51
src/modules/mc_att_control/mc_att_control_main.cpp
View File

@ -162,6 +162,9 @@ private:
param_t man_roll_max;
param_t man_pitch_max;
param_t man_yaw_max;
param_t acro_roll_max;
param_t acro_pitch_max;
param_t acro_yaw_max;
} _params_handles; /**< handles for interesting parameters */
struct {
@ -175,6 +178,7 @@ private:
float man_roll_max;
float man_pitch_max;
float man_yaw_max;
math::Vector<3> acro_rate_max; /**< max attitude rates in acro mode */
} _params;
/**
@ -284,6 +288,7 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
_params.man_roll_max = 0.0f;
_params.man_pitch_max = 0.0f;
_params.man_yaw_max = 0.0f;
_params.acro_rate_max.zero();
_rates_prev.zero();
_rates_sp.zero();
@ -310,6 +315,9 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
_params_handles.man_roll_max = param_find("MC_MAN_R_MAX");
_params_handles.man_pitch_max = param_find("MC_MAN_P_MAX");
_params_handles.man_yaw_max = param_find("MC_MAN_Y_MAX");
_params_handles.acro_roll_max = param_find("MC_ACRO_R_MAX");
_params_handles.acro_pitch_max = param_find("MC_ACRO_P_MAX");
_params_handles.acro_yaw_max = param_find("MC_ACRO_Y_MAX");
/* fetch initial parameter values */
parameters_update();
@ -386,6 +394,14 @@ MulticopterAttitudeControl::parameters_update()
_params.man_pitch_max = math::radians(_params.man_pitch_max);
_params.man_yaw_max = math::radians(_params.man_yaw_max);
/* acro control scale */
param_get(_params_handles.acro_roll_max, &v);
_params.acro_rate_max(0) = math::radians(v);
param_get(_params_handles.acro_pitch_max, &v);
_params.acro_rate_max(1) = math::radians(v);
param_get(_params_handles.acro_yaw_max, &v);
_params.acro_rate_max(2) = math::radians(v);
return OK;
}
@ -782,11 +798,36 @@ MulticopterAttitudeControl::task_main()
} else {
/* attitude controller disabled, poll rates setpoint topic */
vehicle_rates_setpoint_poll();
_rates_sp(0) = _v_rates_sp.roll;
_rates_sp(1) = _v_rates_sp.pitch;
_rates_sp(2) = _v_rates_sp.yaw;
_thrust_sp = _v_rates_sp.thrust;
if (_v_control_mode.flag_control_manual_enabled) {
/* manual rates control - ACRO mode */
_rates_sp = math::Vector<3>(_manual_control_sp.y, -_manual_control_sp.x, _manual_control_sp.r).emult(_params.acro_rate_max);
_thrust_sp = _manual_control_sp.z;
/* reset yaw setpoint after ACRO */
_reset_yaw_sp = true;
/* publish attitude rates setpoint */
_v_rates_sp.roll = _rates_sp(0);
_v_rates_sp.pitch = _rates_sp(1);
_v_rates_sp.yaw = _rates_sp(2);
_v_rates_sp.thrust = _thrust_sp;
_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);
} else {
_v_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_v_rates_sp);
}
} else {
/* attitude controller disabled, poll rates setpoint topic */
vehicle_rates_setpoint_poll();
_rates_sp(0) = _v_rates_sp.roll;
_rates_sp(1) = _v_rates_sp.pitch;
_rates_sp(2) = _v_rates_sp.yaw;
_thrust_sp = _v_rates_sp.thrust;
}
}
if (_v_control_mode.flag_control_rates_enabled) {

29
src/modules/mc_att_control/mc_att_control_params.c
View File

@ -215,3 +215,32 @@ PARAM_DEFINE_FLOAT(MC_MAN_P_MAX, 35.0f);
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_MAN_Y_MAX, 120.0f);
/**
* Max acro roll rate
*
* @unit deg/s
* @min 0.0
* @max 360.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ACRO_R_MAX, 90.0f);
/**
* Max acro pitch rate
*
* @unit deg/s
* @min 0.0
* @max 360.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ACRO_P_MAX, 90.0f);
/**
* Max acro yaw rate
*
* @unit deg/s
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ACRO_Y_MAX, 120.0f);

21
src/modules/position_estimator_inav/position_estimator_inav_main.c
View File

@ -199,6 +199,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
float y_est[3] = { 0.0f, 0.0f, 0.0f };
float z_est[3] = { 0.0f, 0.0f, 0.0f };
float eph = 1.0;
float epv = 1.0;
float x_est_prev[3], y_est_prev[3], z_est_prev[3];
memset(x_est_prev, 0, sizeof(x_est_prev));
memset(y_est_prev, 0, sizeof(y_est_prev));
@ -535,6 +538,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
flow_valid = true;
eph = fminf(eph, 0.1 / att.R[2][2] / flow_q * fmaxf(1.0f, flow_dist)); // under ideal conditions, on 1m distance assume EPH = 10cm
} else {
w_flow = 0.0f;
flow_valid = false;
@ -673,6 +678,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
corr_gps[2][1] = 0.0f;
}
eph = fminf(eph, gps.eph_m);
epv = fminf(epv, gps.epv_m);
w_gps_xy = min_eph_epv / fmaxf(min_eph_epv, gps.eph_m);
w_gps_z = min_eph_epv / fmaxf(min_eph_epv, gps.epv_m);
}
@ -712,6 +720,10 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
dt = fmaxf(fminf(0.02, dt), 0.002); // constrain dt from 2 to 20 ms
t_prev = t;
/* increase EPH/EPV on each step */
eph *= 1.0 + dt;
epv += 0.005 * dt; // add 1m to EPV each 200s (baro drift)
/* use GPS if it's valid and reference position initialized */
bool use_gps_xy = ref_inited && gps_valid && params.w_xy_gps_p > MIN_VALID_W;
bool use_gps_z = ref_inited && gps_valid && params.w_z_gps_p > MIN_VALID_W;
@ -723,7 +735,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
xy_src_time = t;
}
bool can_estimate_xy = (t < xy_src_time + xy_src_timeout);
bool can_estimate_xy = eph < max_eph_epv * 1.5;
bool dist_bottom_valid = (t < sonar_valid_time + sonar_valid_timeout);
@ -922,6 +934,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
local_pos.landed = landed;
local_pos.yaw = att.yaw;
local_pos.dist_bottom_valid = dist_bottom_valid;
local_pos.eph = eph;
local_pos.epv = epv;
if (local_pos.dist_bottom_valid) {
local_pos.dist_bottom = -z_est[0] - surface_offset;
@ -950,9 +964,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
global_pos.yaw = local_pos.yaw;
// TODO implement dead-reckoning
global_pos.eph = gps.eph_m;
global_pos.epv = gps.epv_m;
global_pos.eph = eph;
global_pos.epv = epv;
if (vehicle_global_position_pub < 0) {
vehicle_global_position_pub = orb_advertise(ORB_ID(vehicle_global_position), &global_pos);

10
src/modules/sdlog2/sdlog2.c
View File

@ -1119,10 +1119,16 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_LPOS.ref_lat = buf.local_pos.ref_lat * 1e7;
log_msg.body.log_LPOS.ref_lon = buf.local_pos.ref_lon * 1e7;
log_msg.body.log_LPOS.ref_alt = buf.local_pos.ref_alt;
log_msg.body.log_LPOS.xy_flags = (buf.local_pos.xy_valid ? 1 : 0) | (buf.local_pos.v_xy_valid ? 2 : 0) | (buf.local_pos.xy_global ? 8 : 0);
log_msg.body.log_LPOS.z_flags = (buf.local_pos.z_valid ? 1 : 0) | (buf.local_pos.v_z_valid ? 2 : 0) | (buf.local_pos.z_global ? 8 : 0);
log_msg.body.log_LPOS.pos_flags = (buf.local_pos.xy_valid ? 1 : 0) |
(buf.local_pos.z_valid ? 2 : 0) |
(buf.local_pos.v_xy_valid ? 4 : 0) |
(buf.local_pos.v_z_valid ? 8 : 0) |
(buf.local_pos.xy_global ? 16 : 0) |
(buf.local_pos.z_global ? 32 : 0);
log_msg.body.log_LPOS.landed = buf.local_pos.landed;
log_msg.body.log_LPOS.ground_dist_flags = (buf.local_pos.dist_bottom_valid ? 1 : 0);
log_msg.body.log_LPOS.eph = buf.local_pos.eph;
log_msg.body.log_LPOS.epv = buf.local_pos.epv;
LOGBUFFER_WRITE_AND_COUNT(LPOS);
}

7
src/modules/sdlog2/sdlog2_messages.h
View File

@ -109,10 +109,11 @@ struct log_LPOS_s {
int32_t ref_lat;
int32_t ref_lon;
float ref_alt;
uint8_t xy_flags;
uint8_t z_flags;
uint8_t pos_flags;
uint8_t landed;
uint8_t ground_dist_flags;
float eph;
float epv;
};
/* --- LPSP - LOCAL POSITION SETPOINT --- */
@ -360,7 +361,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"),
LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"),
LOG_FORMAT(SENS, "fffff", "BaroPres,BaroAlt,BaroTemp,DiffPres,DiffPresFilt"),
LOG_FORMAT(LPOS, "ffffffffLLfBBBB", "X,Y,Z,dist,distR,VX,VY,VZ,RLat,RLon,RAlt,XYFlg,ZFlg,LFlg,GFlg"),
LOG_FORMAT(LPOS, "ffffffffLLfBBBff", "X,Y,Z,Dist,DistR,VX,VY,VZ,RLat,RLon,RAlt,PFlg,LFlg,GFlg,EPH,EPV"),
LOG_FORMAT(LPSP, "ffff", "X,Y,Z,Yaw"),
LOG_FORMAT(GPS, "QBffLLfffff", "GPSTime,FixType,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog"),
LOG_FORMAT(ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"),

25
src/modules/sensors/sensor_params.c
View File

@ -625,6 +625,15 @@ PARAM_DEFINE_INT32(RC_MAP_POSCTL_SW, 0);
*/
PARAM_DEFINE_INT32(RC_MAP_LOITER_SW, 0);
/**
* Acro switch channel mapping.
*
* @min 0
* @max 18
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_MAP_ACRO_SW, 0);
/**
* Flaps channel mapping.
*
@ -756,3 +765,19 @@ PARAM_DEFINE_FLOAT(RC_RETURN_TH, 0.5f);
*
*/
PARAM_DEFINE_FLOAT(RC_LOITER_TH, 0.5f);
/**
* Threshold for selecting acro mode
*
* min:-1
* max:+1
*
* 0-1 indicate where in the full channel range the threshold sits
* 0 : min
* 1 : max
* sign indicates polarity of comparison
* positive : true when channel>th
* negative : true when channel<th
*
*/
PARAM_DEFINE_FLOAT(RC_ACRO_TH, 0.5f);

16
src/modules/sensors/sensors.cpp
View File

@ -263,6 +263,7 @@ private:
int rc_map_return_sw;
int rc_map_posctl_sw;
int rc_map_loiter_sw;
int rc_map_acro_sw;
int rc_map_flaps;
@ -278,11 +279,13 @@ private:
float rc_posctl_th;
float rc_return_th;
float rc_loiter_th;
float rc_acro_th;
bool rc_assist_inv;
bool rc_auto_inv;
bool rc_posctl_inv;
bool rc_return_inv;
bool rc_loiter_inv;
bool rc_acro_inv;
float battery_voltage_scaling;
float battery_current_scaling;
@ -315,6 +318,7 @@ private:
param_t rc_map_return_sw;
param_t rc_map_posctl_sw;
param_t rc_map_loiter_sw;
param_t rc_map_acro_sw;
param_t rc_map_flaps;
@ -330,6 +334,7 @@ private:
param_t rc_posctl_th;
param_t rc_return_th;
param_t rc_loiter_th;
param_t rc_acro_th;
param_t battery_voltage_scaling;
param_t battery_current_scaling;
@ -530,6 +535,7 @@ Sensors::Sensors() :
/* optional mode switches, not mapped per default */
_parameter_handles.rc_map_posctl_sw = param_find("RC_MAP_POSCTL_SW");
_parameter_handles.rc_map_loiter_sw = param_find("RC_MAP_LOITER_SW");
_parameter_handles.rc_map_acro_sw = param_find("RC_MAP_ACRO_SW");
_parameter_handles.rc_map_aux1 = param_find("RC_MAP_AUX1");
_parameter_handles.rc_map_aux2 = param_find("RC_MAP_AUX2");
@ -544,6 +550,7 @@ Sensors::Sensors() :
_parameter_handles.rc_posctl_th = param_find("RC_POSCTL_TH");
_parameter_handles.rc_return_th = param_find("RC_RETURN_TH");
_parameter_handles.rc_loiter_th = param_find("RC_LOITER_TH");
_parameter_handles.rc_acro_th = param_find("RC_ACRO_TH");
/* gyro offsets */
_parameter_handles.gyro_offset[0] = param_find("SENS_GYRO_XOFF");
@ -687,6 +694,10 @@ Sensors::parameters_update()
warnx("%s", paramerr);
}
if (param_get(_parameter_handles.rc_map_acro_sw, &(_parameters.rc_map_acro_sw)) != OK) {
warnx("%s", paramerr);
}
if (param_get(_parameter_handles.rc_map_flaps, &(_parameters.rc_map_flaps)) != OK) {
warnx("%s", paramerr);
}
@ -712,6 +723,9 @@ Sensors::parameters_update()
param_get(_parameter_handles.rc_loiter_th, &(_parameters.rc_loiter_th));
_parameters.rc_loiter_inv = (_parameters.rc_loiter_th < 0);
_parameters.rc_loiter_th = fabs(_parameters.rc_loiter_th);
param_get(_parameter_handles.rc_acro_th, &(_parameters.rc_acro_th));
_parameters.rc_acro_inv = (_parameters.rc_acro_th < 0);
_parameters.rc_acro_th = fabs(_parameters.rc_acro_th);
/* update RC function mappings */
_rc.function[THROTTLE] = _parameters.rc_map_throttle - 1;
@ -723,6 +737,7 @@ Sensors::parameters_update()
_rc.function[RETURN] = _parameters.rc_map_return_sw - 1;
_rc.function[POSCTL] = _parameters.rc_map_posctl_sw - 1;
_rc.function[LOITER] = _parameters.rc_map_loiter_sw - 1;
_rc.function[ACRO] = _parameters.rc_map_acro_sw - 1;
_rc.function[FLAPS] = _parameters.rc_map_flaps - 1;
@ -1508,6 +1523,7 @@ Sensors::rc_poll()
manual.posctl_switch = get_rc_sw2pos_position(POSCTL, _parameters.rc_posctl_th, _parameters.rc_posctl_inv);
manual.return_switch = get_rc_sw2pos_position(RETURN, _parameters.rc_return_th, _parameters.rc_return_inv);
manual.loiter_switch = get_rc_sw2pos_position(LOITER, _parameters.rc_loiter_th, _parameters.rc_loiter_inv);
manual.acro_switch = get_rc_sw2pos_position(ACRO, _parameters.rc_acro_th, _parameters.rc_acro_inv);
/* publish manual_control_setpoint topic */
if (_manual_control_pub > 0) {

1
src/modules/systemlib/mixer/mixer.h
View File

@ -447,6 +447,7 @@ public:
QUAD_WIDE, /**< quad in wide configuration */
HEX_X, /**< hex in X configuration */
HEX_PLUS, /**< hex in + configuration */
HEX_COX,
OCTA_X,
OCTA_PLUS,
OCTA_COX,

13
src/modules/systemlib/mixer/mixer_multirotor.cpp
View File

@ -115,6 +115,14 @@ const MultirotorMixer::Rotor _config_hex_plus[] = {
{ 0.866025, 0.500000, 1.00 },
{ -0.866025, -0.500000, -1.00 },
};
const MultirotorMixer::Rotor _config_hex_cox[] = {
{ -0.866025, 0.500000, -1.00 },
{ -0.866025, 0.500000, 1.00 },
{ -0.000000, -1.000000, -1.00 },
{ -0.000000, -1.000000, 1.00 },
{ 0.866025, 0.500000, -1.00 },
{ 0.866025, 0.500000, 1.00 },
};
const MultirotorMixer::Rotor _config_octa_x[] = {
{ -0.382683, 0.923880, -1.00 },
{ 0.382683, -0.923880, -1.00 },
@ -152,6 +160,7 @@ const MultirotorMixer::Rotor *_config_index[MultirotorMixer::MAX_GEOMETRY] = {
&_config_quad_wide[0],
&_config_hex_x[0],
&_config_hex_plus[0],
&_config_hex_cox[0],
&_config_octa_x[0],
&_config_octa_plus[0],
&_config_octa_cox[0],
@ -163,6 +172,7 @@ const unsigned _config_rotor_count[MultirotorMixer::MAX_GEOMETRY] = {
4, /* quad_wide */
6, /* hex_x */
6, /* hex_plus */
6, /* hex_cox */
8, /* octa_x */
8, /* octa_plus */
8, /* octa_cox */
@ -252,6 +262,9 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
} else if (!strcmp(geomname, "6x")) {
geometry = MultirotorMixer::HEX_X;
} else if (!strcmp(geomname, "6c")) {
geometry = MultirotorMixer::HEX_COX;
} else if (!strcmp(geomname, "8+")) {
geometry = MultirotorMixer::OCTA_PLUS;

15
src/modules/systemlib/mixer/multi_tables
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@ -52,6 +52,15 @@ set hex_plus {
120 CW
}
set hex_cox {
60 CW
60 CCW
180 CW
180 CCW
-60 CW
-60 CCW
}
set octa_x {
22.5 CW
-157.5 CW
@ -85,7 +94,7 @@ set octa_cox {
-135 CW
}
set tables {quad_x quad_plus quad_v quad_wide hex_x hex_plus octa_x octa_plus octa_cox}
set tables {quad_x quad_plus quad_v quad_wide hex_x hex_plus hex_cox octa_x octa_plus octa_cox}
proc factors {a d} { puts [format "\t{ %9.6f, %9.6f, %5.2f }," [rcos [expr $a + 90]] [rcos $a] [expr -$d]]}
@ -104,13 +113,13 @@ foreach table $tables {
puts "};"
}
puts "const MultirotorMixer::Rotor *_config_index\[MultirotorMixer::Geometry::MAX_GEOMETRY\] = {"
puts "const MultirotorMixer::Rotor *_config_index\[MultirotorMixer::MAX_GEOMETRY\] = {"
foreach table $tables {
puts [format "\t&_config_%s\[0\]," $table]
}
puts "};"
puts "const unsigned _config_rotor_count\[MultirotorMixer::Geometry::MAX_GEOMETRY\] = {"
puts "const unsigned _config_rotor_count\[MultirotorMixer::MAX_GEOMETRY\] = {"
foreach table $tables {
upvar #0 $table angles
puts [format "\t%u, /* %s */" [expr [llength $angles] / 2] $table]

1
src/modules/uORB/topics/manual_control_setpoint.h
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@ -97,6 +97,7 @@ struct manual_control_setpoint_s {
switch_pos_t return_switch; /**< return to launch 2 position switch (mandatory): _NORMAL_, RTL */
switch_pos_t posctl_switch; /**< position control 2 position switch (optional): _ALTCTL_, POSCTL */
switch_pos_t loiter_switch; /**< loiter 2 position switch (optional): _MISSION_, LOITER */
switch_pos_t acro_switch; /**< acro 2 position switch (optional): _MANUAL_, ACRO */
}; /**< manual control inputs */
/**

17
src/modules/uORB/topics/rc_channels.h
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@ -45,12 +45,12 @@
/**
* The number of RC channel inputs supported.
* Current (Q4/2013) radios support up to 18 channels,
* leaving at a sane value of 15.
* leaving at a sane value of 16.
* This number can be greater then number of RC channels,
* because single RC channel can be mapped to multiple
* functions, e.g. for various mode switches.
*/
#define RC_CHANNELS_MAPPED_MAX 15
#define RC_CHANNELS_MAPPED_MAX 16
/**
* This defines the mapping of the RC functions.
@ -67,12 +67,13 @@ enum RC_CHANNELS_FUNCTION {
POSCTL = 6,
LOITER = 7,
OFFBOARD_MODE = 8,
FLAPS = 9,
AUX_1 = 10,
AUX_2 = 11,
AUX_3 = 12,
AUX_4 = 13,
AUX_5 = 14,
ACRO = 9,
FLAPS = 10,
AUX_1 = 11,
AUX_2 = 12,
AUX_3 = 13,
AUX_4 = 14,
AUX_5 = 15,
RC_CHANNELS_FUNCTION_MAX /**< indicates the number of functions. There can be more functions than RC channels. */
};

2
src/modules/uORB/topics/vehicle_local_position.h
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@ -83,6 +83,8 @@ struct vehicle_local_position_s {
float dist_bottom_rate; /**< Distance to bottom surface (ground) change rate */
uint64_t surface_bottom_timestamp; /**< Time when new bottom surface found */
bool dist_bottom_valid; /**< true if distance to bottom surface is valid */
float eph;
float epv;
};
/**

1
src/modules/uORB/topics/vehicle_status.h
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@ -66,6 +66,7 @@ typedef enum {
MAIN_STATE_ALTCTL,
MAIN_STATE_POSCTL,
MAIN_STATE_AUTO,
MAIN_STATE_ACRO,
MAIN_STATE_MAX
} main_state_t;