From 8067207ea64a949489e19e1d80613702a0b9f83d Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Tue, 18 Jan 2022 10:44:28 -0500 Subject: [PATCH 001/116] px4_work_queue: rename serial port WQs --- .../px4_work_queue/WorkQueueManager.hpp | 22 ++++++++------- .../px4_work_queue/WorkQueueManager.cpp | 28 +++++++++++-------- 2 files changed, 29 insertions(+), 21 deletions(-) diff --git a/platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp b/platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp index af607c94a7..94614bf5d8 100644 --- a/platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp +++ b/platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp @@ -76,16 +76,18 @@ static constexpr wq_config_t hp_default{"wq:hp_default", 1900, -18}; static constexpr wq_config_t uavcan{"wq:uavcan", 3624, -19}; -static constexpr wq_config_t UART0{"wq:UART0", 1632, -21}; -static constexpr wq_config_t UART1{"wq:UART1", 1632, -22}; -static constexpr wq_config_t UART2{"wq:UART2", 1632, -23}; -static constexpr wq_config_t UART3{"wq:UART3", 1632, -24}; -static constexpr wq_config_t UART4{"wq:UART4", 1632, -25}; -static constexpr wq_config_t UART5{"wq:UART5", 1632, -26}; -static constexpr wq_config_t UART6{"wq:UART6", 1632, -27}; -static constexpr wq_config_t UART7{"wq:UART7", 1632, -28}; -static constexpr wq_config_t UART8{"wq:UART8", 1632, -29}; -static constexpr wq_config_t UART_UNKNOWN{"wq:UART_UNKNOWN", 1632, -30}; +static constexpr wq_config_t ttyS0{"wq:ttyS0", 1632, -21}; +static constexpr wq_config_t ttyS1{"wq:ttyS1", 1632, -22}; +static constexpr wq_config_t ttyS2{"wq:ttyS2", 1632, -23}; +static constexpr wq_config_t ttyS3{"wq:ttyS3", 1632, -24}; +static constexpr wq_config_t ttyS4{"wq:ttyS4", 1632, -25}; +static constexpr wq_config_t ttyS5{"wq:ttyS5", 1632, -26}; +static constexpr wq_config_t ttyS6{"wq:ttyS6", 1632, -27}; +static constexpr wq_config_t ttyS7{"wq:ttyS7", 1632, -28}; +static constexpr wq_config_t ttyS8{"wq:ttyS8", 1632, -29}; +static constexpr wq_config_t ttyS9{"wq:ttyS9", 1632, -30}; +static constexpr wq_config_t ttyACM0{"wq:ttyACM0", 1632, -31}; +static constexpr wq_config_t ttyUnknown{"wq:ttyUnknown", 1632, -32}; static constexpr wq_config_t lp_default{"wq:lp_default", 1920, -50}; diff --git a/platforms/common/px4_work_queue/WorkQueueManager.cpp b/platforms/common/px4_work_queue/WorkQueueManager.cpp index b31c7118fe..95f9a47147 100644 --- a/platforms/common/px4_work_queue/WorkQueueManager.cpp +++ b/platforms/common/px4_work_queue/WorkQueueManager.cpp @@ -166,39 +166,45 @@ const wq_config_t & serial_port_to_wq(const char *serial) { if (serial == nullptr) { - return wq_configurations::hp_default; + return wq_configurations::ttyUnknown; } else if (strstr(serial, "ttyS0")) { - return wq_configurations::UART0; + return wq_configurations::ttyS0; } else if (strstr(serial, "ttyS1")) { - return wq_configurations::UART1; + return wq_configurations::ttyS1; } else if (strstr(serial, "ttyS2")) { - return wq_configurations::UART2; + return wq_configurations::ttyS2; } else if (strstr(serial, "ttyS3")) { - return wq_configurations::UART3; + return wq_configurations::ttyS3; } else if (strstr(serial, "ttyS4")) { - return wq_configurations::UART4; + return wq_configurations::ttyS4; } else if (strstr(serial, "ttyS5")) { - return wq_configurations::UART5; + return wq_configurations::ttyS5; } else if (strstr(serial, "ttyS6")) { - return wq_configurations::UART6; + return wq_configurations::ttyS6; } else if (strstr(serial, "ttyS7")) { - return wq_configurations::UART7; + return wq_configurations::ttyS7; } else if (strstr(serial, "ttyS8")) { - return wq_configurations::UART8; + return wq_configurations::ttyS8; + + } else if (strstr(serial, "ttyS9")) { + return wq_configurations::ttyS9; + + } else if (strstr(serial, "ttyACM0")) { + return wq_configurations::ttyACM0; } PX4_DEBUG("unknown serial port: %s", serial); - return wq_configurations::UART_UNKNOWN; + return wq_configurations::ttyUnknown; } const wq_config_t &ins_instance_to_wq(uint8_t instance) From b1d2a0cc4eec20f401468e5a3eaf720702d94c55 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Mon, 17 Jan 2022 17:46:56 -0500 Subject: [PATCH 002/116] sensors: simplify timestamp data validator handling --- .../sensors/data_validator/DataValidator.cpp | 2 +- .../sensors/vehicle_air_data/VehicleAirData.cpp | 14 +++++++------- .../vehicle_magnetometer/VehicleMagnetometer.cpp | 13 +++++++------ src/modules/sensors/voted_sensors_update.cpp | 13 ++++++------- 4 files changed, 21 insertions(+), 21 deletions(-) diff --git a/src/modules/sensors/data_validator/DataValidator.cpp b/src/modules/sensors/data_validator/DataValidator.cpp index 81871a1ae8..68ca806923 100644 --- a/src/modules/sensors/data_validator/DataValidator.cpp +++ b/src/modules/sensors/data_validator/DataValidator.cpp @@ -105,7 +105,7 @@ float DataValidator::confidence(uint64_t timestamp) _error_mask |= ERROR_FLAG_NO_DATA; ret = 0.0f; - } else if (timestamp - _time_last > _timeout_interval) { + } else if (timestamp > _time_last + _timeout_interval) { /* timed out - that's it */ _error_mask |= ERROR_FLAG_TIMEOUT; ret = 0.0f; diff --git a/src/modules/sensors/vehicle_air_data/VehicleAirData.cpp b/src/modules/sensors/vehicle_air_data/VehicleAirData.cpp index 83c1a75a10..8d4e605bd6 100644 --- a/src/modules/sensors/vehicle_air_data/VehicleAirData.cpp +++ b/src/modules/sensors/vehicle_air_data/VehicleAirData.cpp @@ -143,6 +143,8 @@ void VehicleAirData::Run() { perf_begin(_cycle_perf); + const hrt_abstime time_now_us = hrt_absolute_time(); + ParametersUpdate(); SensorCorrectionsUpdate(); @@ -155,7 +157,7 @@ void VehicleAirData::Run() if (!_advertised[uorb_index]) { // use data's timestamp to throttle advertisement checks - if ((_last_data[uorb_index].timestamp == 0) || (hrt_elapsed_time(&_last_data[uorb_index].timestamp) > 1_s)) { + if ((_last_data[uorb_index].timestamp == 0) || (time_now_us > _last_data[uorb_index].timestamp + 1_s)) { if (_sensor_sub[uorb_index].advertised()) { if (uorb_index > 0) { /* the first always exists, but for each further sensor, add a new validator */ @@ -174,7 +176,7 @@ void VehicleAirData::Run() } } else { - _last_data[uorb_index].timestamp = hrt_absolute_time(); + _last_data[uorb_index].timestamp = time_now_us; } } } @@ -198,7 +200,7 @@ void VehicleAirData::Run() // check for the current best sensor int best_index = 0; - _voter.get_best(hrt_absolute_time(), &best_index); + _voter.get_best(time_now_us, &best_index); if (best_index >= 0) { if (_selected_sensor_sub_index != best_index) { @@ -286,9 +288,7 @@ void VehicleAirData::Run() if (flags != DataValidator::ERROR_FLAG_NO_ERROR) { if (failover_index != -1) { - const hrt_abstime now = hrt_absolute_time(); - - if (now - _last_error_message > 3_s) { + if (time_now_us > _last_error_message + 3_s) { mavlink_log_emergency(&_mavlink_log_pub, "%s #%i failed: %s%s%s%s%s!\t", "BARO", failover_index, @@ -318,7 +318,7 @@ void VehicleAirData::Run() events::ID("sensor_failover_baro"), events::Log::Emergency, "Baro sensor #{1} failure: {2}", failover_index, failover_reason); - _last_error_message = now; + _last_error_message = time_now_us; } // reduce priority of failed sensor to the minimum diff --git a/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp b/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp index 94d3f5ad5d..4f734e7af6 100644 --- a/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp +++ b/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp @@ -358,6 +358,8 @@ void VehicleMagnetometer::Run() { perf_begin(_cycle_perf); + const hrt_abstime time_now_us = hrt_absolute_time(); + ParametersUpdate(); // check vehicle status for changes to armed state @@ -381,12 +383,12 @@ void VehicleMagnetometer::Run() if (!_advertised[uorb_index]) { // use data's timestamp to throttle advertisement checks - if ((_last_data[uorb_index].timestamp == 0) || (hrt_elapsed_time(&_last_data[uorb_index].timestamp) > 1_s)) { + if ((_last_data[uorb_index].timestamp == 0) || (time_now_us > _last_data[uorb_index].timestamp + 1_s)) { if (_sensor_sub[uorb_index].advertised()) { _advertised[uorb_index] = true; } else { - _last_data[uorb_index].timestamp = hrt_absolute_time(); + _last_data[uorb_index].timestamp = time_now_us; } } } @@ -445,7 +447,7 @@ void VehicleMagnetometer::Run() // check for the current best sensor int best_index = 0; - _voter.get_best(hrt_absolute_time(), &best_index); + _voter.get_best(time_now_us, &best_index); if (best_index >= 0) { if (_selected_sensor_sub_index != best_index) { @@ -494,9 +496,8 @@ void VehicleMagnetometer::Run() if (flags != DataValidator::ERROR_FLAG_NO_ERROR) { if (failover_index != -1) { - const hrt_abstime now = hrt_absolute_time(); - if (now - _last_error_message > 3_s) { + if (time_now_us > _last_error_message + 3_s) { mavlink_log_emergency(&_mavlink_log_pub, "%s #%i failed: %s%s%s%s%s!\t", "MAG", failover_index, @@ -526,7 +527,7 @@ void VehicleMagnetometer::Run() events::ID("sensor_failover_mag"), events::Log::Emergency, "Magnetometer sensor #{1} failure: {2}", failover_index, failover_reason); - _last_error_message = now; + _last_error_message = time_now_us; } // reduce priority of failed sensor to the minimum diff --git a/src/modules/sensors/voted_sensors_update.cpp b/src/modules/sensors/voted_sensors_update.cpp index e9c8a7783e..d9e69608bc 100644 --- a/src/modules/sensors/voted_sensors_update.cpp +++ b/src/modules/sensors/voted_sensors_update.cpp @@ -140,6 +140,8 @@ void VotedSensorsUpdate::parametersUpdate() void VotedSensorsUpdate::imuPoll(struct sensor_combined_s &raw) { + const hrt_abstime time_now_us = hrt_absolute_time(); + for (int uorb_index = 0; uorb_index < MAX_SENSOR_COUNT; uorb_index++) { vehicle_imu_s imu_report; @@ -176,10 +178,10 @@ void VotedSensorsUpdate::imuPoll(struct sensor_combined_s &raw) _last_accel_timestamp[uorb_index] = imu_report.timestamp_sample; - _accel.voter.put(uorb_index, imu_report.timestamp_sample, _last_sensor_data[uorb_index].accelerometer_m_s2, + _accel.voter.put(uorb_index, imu_report.timestamp, _last_sensor_data[uorb_index].accelerometer_m_s2, imu_status.accel_error_count, _accel.priority[uorb_index]); - _gyro.voter.put(uorb_index, imu_report.timestamp_sample, _last_sensor_data[uorb_index].gyro_rad, + _gyro.voter.put(uorb_index, imu_report.timestamp, _last_sensor_data[uorb_index].gyro_rad, imu_status.gyro_error_count, _gyro.priority[uorb_index]); } } @@ -187,8 +189,8 @@ void VotedSensorsUpdate::imuPoll(struct sensor_combined_s &raw) // find the best sensor int accel_best_index = -1; int gyro_best_index = -1; - _accel.voter.get_best(hrt_absolute_time(), &accel_best_index); - _gyro.voter.get_best(hrt_absolute_time(), &gyro_best_index); + _accel.voter.get_best(time_now_us, &accel_best_index); + _gyro.voter.get_best(time_now_us, &gyro_best_index); if (!_param_sens_imu_mode.get() && ((_selection.timestamp != 0) || (_sensor_selection_sub.updated()))) { // use sensor_selection to find best @@ -196,9 +198,6 @@ void VotedSensorsUpdate::imuPoll(struct sensor_combined_s &raw) // reset inconsistency checks against primary for (int sensor_index = 0; sensor_index < MAX_SENSOR_COUNT; sensor_index++) { _accel_diff[sensor_index].zero(); - } - - for (int sensor_index = 0; sensor_index < MAX_SENSOR_COUNT; sensor_index++) { _gyro_diff[sensor_index].zero(); } } From dd6b7fa98f856160a82d7f398fd39d4ea4c94fc9 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Mon, 17 Jan 2022 21:22:03 -0500 Subject: [PATCH 003/116] sensors: switch status PX4_INFO -> PX4_INFO_RAW --- src/lib/sensor_calibration/Accelerometer.cpp | 29 ++++++++++--------- src/lib/sensor_calibration/Gyroscope.cpp | 24 +++++++-------- src/lib/sensor_calibration/Magnetometer.cpp | 25 ++++++++-------- .../sensors/data_validator/DataValidator.cpp | 6 ++-- .../data_validator/DataValidatorGroup.cpp | 18 ++++++------ src/modules/sensors/sensors.cpp | 2 +- .../VehicleAcceleration.cpp | 6 ++-- .../vehicle_air_data/VehicleAirData.cpp | 9 +++--- .../VehicleAngularVelocity.cpp | 7 +++-- .../VehicleGPSPosition.cpp | 2 +- .../sensors/vehicle_imu/VehicleIMU.cpp | 10 +++---- .../VehicleMagnetometer.cpp | 5 ++-- src/modules/sensors/voted_sensors_update.cpp | 4 +-- 13 files changed, 76 insertions(+), 71 deletions(-) diff --git a/src/lib/sensor_calibration/Accelerometer.cpp b/src/lib/sensor_calibration/Accelerometer.cpp index 4a0443875e..e7c024a462 100644 --- a/src/lib/sensor_calibration/Accelerometer.cpp +++ b/src/lib/sensor_calibration/Accelerometer.cpp @@ -301,25 +301,26 @@ bool Accelerometer::ParametersSave(int desired_calibration_index, bool force) void Accelerometer::PrintStatus() { if (external()) { - PX4_INFO("%s %" PRIu32 - " EN: %d, offset: [%05.3f %05.3f %05.3f], scale: [%05.3f %05.3f %05.3f], %.1f degC, Ext ROT: %d", - SensorString(), device_id(), enabled(), - (double)_offset(0), (double)_offset(1), (double)_offset(2), - (double)_scale(0), (double)_scale(1), (double)_scale(2), - (double)_temperature, - rotation_enum()); + PX4_INFO_RAW("%s %" PRIu32 + " EN: %d, offset: [%05.3f %05.3f %05.3f], scale: [%05.3f %05.3f %05.3f], %.1f degC, Ext ROT: %d\n", + SensorString(), device_id(), enabled(), + (double)_offset(0), (double)_offset(1), (double)_offset(2), + (double)_scale(0), (double)_scale(1), (double)_scale(2), + (double)_temperature, + rotation_enum()); } else { - PX4_INFO("%s %" PRIu32 " EN: %d, offset: [%05.3f %05.3f %05.3f], scale: [%05.3f %05.3f %05.3f], %.1f degC, Internal", - SensorString(), device_id(), enabled(), - (double)_offset(0), (double)_offset(1), (double)_offset(2), - (double)_scale(0), (double)_scale(1), (double)_scale(2), - (double)_temperature); + PX4_INFO_RAW("%s %" PRIu32 + " EN: %d, offset: [%05.3f %05.3f %05.3f], scale: [%05.3f %05.3f %05.3f], %.1f degC, Internal\n", + SensorString(), device_id(), enabled(), + (double)_offset(0), (double)_offset(1), (double)_offset(2), + (double)_scale(0), (double)_scale(1), (double)_scale(2), + (double)_temperature); } if (_thermal_offset.norm() > 0.f) { - PX4_INFO("%s %" PRIu32 " temperature offset: [%.4f %.4f %.4f]", SensorString(), _device_id, - (double)_thermal_offset(0), (double)_thermal_offset(1), (double)_thermal_offset(2)); + PX4_INFO_RAW("%s %" PRIu32 " temperature offset: [%.4f %.4f %.4f]\n", SensorString(), _device_id, + (double)_thermal_offset(0), (double)_thermal_offset(1), (double)_thermal_offset(2)); } } diff --git a/src/lib/sensor_calibration/Gyroscope.cpp b/src/lib/sensor_calibration/Gyroscope.cpp index f6888083bd..eac0aadc49 100644 --- a/src/lib/sensor_calibration/Gyroscope.cpp +++ b/src/lib/sensor_calibration/Gyroscope.cpp @@ -281,23 +281,23 @@ bool Gyroscope::ParametersSave(int desired_calibration_index, bool force) void Gyroscope::PrintStatus() { if (external()) { - PX4_INFO("%s %" PRIu32 - " EN: %d, offset: [%05.3f %05.3f %05.3f], %.1f degC, Ext ROT: %d", - SensorString(), device_id(), enabled(), - (double)_offset(0), (double)_offset(1), (double)_offset(2), - (double)_temperature, - rotation_enum()); + PX4_INFO_RAW("%s %" PRIu32 + " EN: %d, offset: [%05.3f %05.3f %05.3f], %.1f degC, Ext ROT: %d\n", + SensorString(), device_id(), enabled(), + (double)_offset(0), (double)_offset(1), (double)_offset(2), + (double)_temperature, + rotation_enum()); } else { - PX4_INFO("%s %" PRIu32 " EN: %d, offset: [%05.3f %05.3f %05.3f], %.1f degC, Internal", - SensorString(), device_id(), enabled(), - (double)_offset(0), (double)_offset(1), (double)_offset(2), - (double)_temperature); + PX4_INFO_RAW("%s %" PRIu32 " EN: %d, offset: [%05.3f %05.3f %05.3f], %.1f degC, Internal\n", + SensorString(), device_id(), enabled(), + (double)_offset(0), (double)_offset(1), (double)_offset(2), + (double)_temperature); } if (_thermal_offset.norm() > 0.f) { - PX4_INFO("%s %" PRIu32 " temperature offset: [%.4f %.4f %.4f]", SensorString(), _device_id, - (double)_thermal_offset(0), (double)_thermal_offset(1), (double)_thermal_offset(2)); + PX4_INFO_RAW("%s %" PRIu32 " temperature offset: [%.4f %.4f %.4f]\n", SensorString(), _device_id, + (double)_thermal_offset(0), (double)_thermal_offset(1), (double)_thermal_offset(2)); } } diff --git a/src/lib/sensor_calibration/Magnetometer.cpp b/src/lib/sensor_calibration/Magnetometer.cpp index e4eda34ae3..7895ffa2fe 100644 --- a/src/lib/sensor_calibration/Magnetometer.cpp +++ b/src/lib/sensor_calibration/Magnetometer.cpp @@ -301,20 +301,21 @@ bool Magnetometer::ParametersSave(int desired_calibration_index, bool force) void Magnetometer::PrintStatus() { if (external()) { - PX4_INFO("%s %" PRIu32 - " EN: %d, offset: [%05.3f %05.3f %05.3f], scale: [%05.3f %05.3f %05.3f], %.1f degC, Ext ROT: %d", - SensorString(), device_id(), enabled(), - (double)_offset(0), (double)_offset(1), (double)_offset(2), - (double)_scale(0, 0), (double)_scale(1, 1), (double)_scale(2, 2), - (double)_temperature, - rotation_enum()); + PX4_INFO_RAW("%s %" PRIu32 + " EN: %d, offset: [%05.3f %05.3f %05.3f], scale: [%05.3f %05.3f %05.3f], %.1f degC, Ext ROT: %d\n", + SensorString(), device_id(), enabled(), + (double)_offset(0), (double)_offset(1), (double)_offset(2), + (double)_scale(0, 0), (double)_scale(1, 1), (double)_scale(2, 2), + (double)_temperature, + rotation_enum()); } else { - PX4_INFO("%s %" PRIu32 " EN: %d, offset: [%05.3f %05.3f %05.3f], scale: [%05.3f %05.3f %05.3f], %.1f degC, Internal", - SensorString(), device_id(), enabled(), - (double)_offset(0), (double)_offset(1), (double)_offset(2), - (double)_scale(0, 0), (double)_scale(1, 1), (double)_scale(2, 2), - (double)_temperature); + PX4_INFO_RAW("%s %" PRIu32 + " EN: %d, offset: [%05.3f %05.3f %05.3f], scale: [%05.3f %05.3f %05.3f], %.1f degC, Internal\n", + SensorString(), device_id(), enabled(), + (double)_offset(0), (double)_offset(1), (double)_offset(2), + (double)_scale(0, 0), (double)_scale(1, 1), (double)_scale(2, 2), + (double)_temperature); } #if defined(DEBUG_BUILD) diff --git a/src/modules/sensors/data_validator/DataValidator.cpp b/src/modules/sensors/data_validator/DataValidator.cpp index 68ca806923..bc88602196 100644 --- a/src/modules/sensors/data_validator/DataValidator.cpp +++ b/src/modules/sensors/data_validator/DataValidator.cpp @@ -142,12 +142,12 @@ float DataValidator::confidence(uint64_t timestamp) void DataValidator::print() { if (_time_last == 0) { - PX4_INFO("\tno data"); + PX4_INFO_RAW("\tno data\n"); return; } for (unsigned i = 0; i < dimensions; i++) { - PX4_INFO("\tval: %8.4f, lp: %8.4f mean dev: %8.4f RMS: %8.4f conf: %8.4f", (double)_value[i], - (double)_lp[i], (double)_mean[i], (double)_rms[i], (double)confidence(hrt_absolute_time())); + PX4_INFO_RAW("\tval: %8.4f, lp: %8.4f mean dev: %8.4f RMS: %8.4f conf: %8.4f\n", (double)_value[i], + (double)_lp[i], (double)_mean[i], (double)_rms[i], (double)confidence(hrt_absolute_time())); } } diff --git a/src/modules/sensors/data_validator/DataValidatorGroup.cpp b/src/modules/sensors/data_validator/DataValidatorGroup.cpp index 6ff8748fd7..c58574307c 100644 --- a/src/modules/sensors/data_validator/DataValidatorGroup.cpp +++ b/src/modules/sensors/data_validator/DataValidatorGroup.cpp @@ -225,8 +225,8 @@ float *DataValidatorGroup::get_best(uint64_t timestamp, int *index) void DataValidatorGroup::print() { - PX4_INFO("validator: best: %d, prev best: %d, failsafe: %s (%u events)", _curr_best, _prev_best, - (_toggle_count > 0) ? "YES" : "NO", _toggle_count); + PX4_INFO_RAW("validator: best: %d, prev best: %d, failsafe: %s (%u events)\n", _curr_best, _prev_best, + (_toggle_count > 0) ? "YES" : "NO", _toggle_count); DataValidator *next = _first; unsigned i = 0; @@ -235,13 +235,13 @@ void DataValidatorGroup::print() if (next->used()) { uint32_t flags = next->state(); - PX4_INFO("sensor #%u, prio: %d, state:%s%s%s%s%s%s", i, next->priority(), - ((flags & DataValidator::ERROR_FLAG_NO_DATA) ? " OFF" : ""), - ((flags & DataValidator::ERROR_FLAG_STALE_DATA) ? " STALE" : ""), - ((flags & DataValidator::ERROR_FLAG_TIMEOUT) ? " TOUT" : ""), - ((flags & DataValidator::ERROR_FLAG_HIGH_ERRCOUNT) ? " ECNT" : ""), - ((flags & DataValidator::ERROR_FLAG_HIGH_ERRDENSITY) ? " EDNST" : ""), - ((flags == DataValidator::ERROR_FLAG_NO_ERROR) ? " OK" : "")); + PX4_INFO_RAW("sensor #%u, prio: %d, state:%s%s%s%s%s%s\n", i, next->priority(), + ((flags & DataValidator::ERROR_FLAG_NO_DATA) ? " OFF" : ""), + ((flags & DataValidator::ERROR_FLAG_STALE_DATA) ? " STALE" : ""), + ((flags & DataValidator::ERROR_FLAG_TIMEOUT) ? " TOUT" : ""), + ((flags & DataValidator::ERROR_FLAG_HIGH_ERRCOUNT) ? " ECNT" : ""), + ((flags & DataValidator::ERROR_FLAG_HIGH_ERRDENSITY) ? " EDNST" : ""), + ((flags == DataValidator::ERROR_FLAG_NO_ERROR) ? " OK" : "")); next->print(); } diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 67b67f2ed0..8e4d86e9b6 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -769,7 +769,7 @@ int Sensors::print_status() } PX4_INFO_RAW("\n"); - PX4_INFO("Airspeed status:"); + PX4_INFO_RAW("Airspeed status:\n"); _airspeed_validator.print(); PX4_INFO_RAW("\n"); diff --git a/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp b/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp index 02c6c0db79..7dd62009e4 100644 --- a/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp +++ b/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp @@ -256,9 +256,9 @@ void VehicleAcceleration::Run() void VehicleAcceleration::PrintStatus() { - PX4_INFO("selected sensor: %" PRIu32 ", rate: %.1f Hz, estimated bias: [%.4f %.4f %.4f]", - _calibration.device_id(), (double)_filter_sample_rate, - (double)_bias(0), (double)_bias(1), (double)_bias(2)); + PX4_INFO_RAW("[vehicle_acceleration] selected sensor: %" PRIu32 ", rate: %.1f Hz, estimated bias: [%.4f %.4f %.4f]\n", + _calibration.device_id(), (double)_filter_sample_rate, + (double)_bias(0), (double)_bias(1), (double)_bias(2)); _calibration.PrintStatus(); } diff --git a/src/modules/sensors/vehicle_air_data/VehicleAirData.cpp b/src/modules/sensors/vehicle_air_data/VehicleAirData.cpp index 8d4e605bd6..5cf0a42c63 100644 --- a/src/modules/sensors/vehicle_air_data/VehicleAirData.cpp +++ b/src/modules/sensors/vehicle_air_data/VehicleAirData.cpp @@ -338,12 +338,13 @@ void VehicleAirData::Run() void VehicleAirData::PrintStatus() { if (_selected_sensor_sub_index >= 0) { - PX4_INFO("selected barometer: %" PRIu32 " (%" PRId8 ")", _last_data[_selected_sensor_sub_index].device_id, - _selected_sensor_sub_index); + PX4_INFO_RAW("[vehicle_air_data] selected barometer: %" PRIu32 " (%" PRId8 ")\n", + _last_data[_selected_sensor_sub_index].device_id, + _selected_sensor_sub_index); if (fabsf(_thermal_offset[_selected_sensor_sub_index]) > 0.f) { - PX4_INFO("%" PRIu32 " temperature offset: %.4f", _last_data[_selected_sensor_sub_index].device_id, - (double)_thermal_offset[_selected_sensor_sub_index]); + PX4_INFO_RAW("%" PRIu32 " temperature offset: %.4f\n", _last_data[_selected_sensor_sub_index].device_id, + (double)_thermal_offset[_selected_sensor_sub_index]); } } diff --git a/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp b/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp index 9059dea4bb..c658f1fa50 100644 --- a/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp +++ b/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp @@ -860,9 +860,10 @@ bool VehicleAngularVelocity::CalibrateAndPublish(const hrt_abstime ×tamp_sa void VehicleAngularVelocity::PrintStatus() { - PX4_INFO("selected sensor: %" PRIu32 ", rate: %.1f Hz %s, estimated bias: [%.5f %.5f %.5f]", - _calibration.device_id(), (double)_filter_sample_rate_hz, _fifo_available ? "FIFO" : "", - (double)_bias(0), (double)_bias(1), (double)_bias(2)); + PX4_INFO_RAW("[vehicle_angular_velocity] selected sensor: %" PRIu32 + ", rate: %.1f Hz %s, estimated bias: [%.5f %.5f %.5f]\n", + _calibration.device_id(), (double)_filter_sample_rate_hz, _fifo_available ? "FIFO" : "", + (double)_bias(0), (double)_bias(1), (double)_bias(2)); _calibration.PrintStatus(); diff --git a/src/modules/sensors/vehicle_gps_position/VehicleGPSPosition.cpp b/src/modules/sensors/vehicle_gps_position/VehicleGPSPosition.cpp index 9f65125ef4..f30aef9b5a 100644 --- a/src/modules/sensors/vehicle_gps_position/VehicleGPSPosition.cpp +++ b/src/modules/sensors/vehicle_gps_position/VehicleGPSPosition.cpp @@ -176,7 +176,7 @@ void VehicleGPSPosition::Publish(const sensor_gps_s &gps, uint8_t selected) void VehicleGPSPosition::PrintStatus() { - //PX4_INFO("selected GPS: %d", _gps_select_index); + //PX4_INFO_RAW("[vehicle_gps_position] selected GPS: %d\n", _gps_select_index); } }; // namespace sensors diff --git a/src/modules/sensors/vehicle_imu/VehicleIMU.cpp b/src/modules/sensors/vehicle_imu/VehicleIMU.cpp index 6fce636c24..d0f4dea353 100644 --- a/src/modules/sensors/vehicle_imu/VehicleIMU.cpp +++ b/src/modules/sensors/vehicle_imu/VehicleIMU.cpp @@ -701,11 +701,11 @@ void VehicleIMU::UpdateGyroVibrationMetrics(const Vector3f &angular_velocity) void VehicleIMU::PrintStatus() { - PX4_INFO("%" PRIu8 " - Accel: %" PRIu32 ", interval: %.1f us (SD %.1f us), Gyro: %" PRIu32 - ", interval: %.1f us (SD %.1f us)", - _instance, - _accel_calibration.device_id(), (double)_accel_interval_us, (double)sqrtf(_accel_interval_best_variance), - _gyro_calibration.device_id(), (double)_gyro_interval_us, (double)sqrtf(_gyro_interval_best_variance)); + PX4_INFO_RAW("[vehicle_imu] %" PRIu8 " - Accel: %" PRIu32 ", interval: %.1f us (SD %.1f us), Gyro: %" PRIu32 + ", interval: %.1f us (SD %.1f us)\n", + _instance, + _accel_calibration.device_id(), (double)_accel_interval_us, (double)sqrtf(_accel_interval_best_variance), + _gyro_calibration.device_id(), (double)_gyro_interval_us, (double)sqrtf(_gyro_interval_best_variance)); PX4_DEBUG("gyro update mean sample latency: %.6f s, publish latency %.6f s, gyro interval %.6f s", (double)_gyro_update_latency_mean.mean()(0), (double)_gyro_update_latency_mean.mean()(1), diff --git a/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp b/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp index 4f734e7af6..cda243e567 100644 --- a/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp +++ b/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp @@ -633,8 +633,9 @@ void VehicleMagnetometer::calcMagInconsistency() void VehicleMagnetometer::PrintStatus() { if (_selected_sensor_sub_index >= 0) { - PX4_INFO("selected magnetometer: %" PRIu32 " (%" PRId8 ")", _last_data[_selected_sensor_sub_index].device_id, - _selected_sensor_sub_index); + PX4_INFO_RAW("[vehicle_magnetometer] selected magnetometer: %" PRIu32 " (%" PRId8 ")\n", + _last_data[_selected_sensor_sub_index].device_id, + _selected_sensor_sub_index); } _voter.print(); diff --git a/src/modules/sensors/voted_sensors_update.cpp b/src/modules/sensors/voted_sensors_update.cpp index d9e69608bc..963051aab6 100644 --- a/src/modules/sensors/voted_sensors_update.cpp +++ b/src/modules/sensors/voted_sensors_update.cpp @@ -377,11 +377,11 @@ void VotedSensorsUpdate::initSensorClass(SensorData &sensor_data, uint8_t sensor void VotedSensorsUpdate::printStatus() { - PX4_INFO("selected gyro: %" PRIu32 " (%" PRIu8 ")", _selection.gyro_device_id, _gyro.last_best_vote); + PX4_INFO_RAW("selected gyro: %" PRIu32 " (%" PRIu8 ")\n", _selection.gyro_device_id, _gyro.last_best_vote); _gyro.voter.print(); PX4_INFO_RAW("\n"); - PX4_INFO("selected accel: %" PRIu32 " (%" PRIu8 ")", _selection.accel_device_id, _accel.last_best_vote); + PX4_INFO_RAW("selected accel: %" PRIu32 " (%" PRIu8 ")\n", _selection.accel_device_id, _accel.last_best_vote); _accel.voter.print(); } From fe44e281e5da34140025533d84badb988eb22bef Mon Sep 17 00:00:00 2001 From: FARHANG <46557204+farhangnaderi@users.noreply.github.com> Date: Tue, 18 Jan 2022 22:11:41 +0200 Subject: [PATCH 004/116] ROMFS: Holybro X500 v2 airframe addition --- .../init.d/airframes/4019_x500_v2 | 23 +++++++++++++++++++ .../init.d/airframes/CMakeLists.txt | 1 + 2 files changed, 24 insertions(+) create mode 100644 ROMFS/px4fmu_common/init.d/airframes/4019_x500_v2 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4019_x500_v2 b/ROMFS/px4fmu_common/init.d/airframes/4019_x500_v2 new file mode 100644 index 0000000000..7cef516c41 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/airframes/4019_x500_v2 @@ -0,0 +1,23 @@ +#!/bin/sh +# +# @name Holybro X500 V2 +# +# @type Quadrotor x +# @class Copter +# +# @maintainer Farhang Naderi +# +# @board px4_fmu-v2 exclude +# @board bitcraze_crazyflie exclude +# + +. ${R}etc/init.d/rc.mc_defaults + +param set-default IMU_GYRO_CUTOFF 30 + +param set-default MC_ROLLRATE_P 0.14 +param set-default MC_PITCHRATE_P 0.14 +param set-default MC_ROLLRATE_I 0.3 +param set-default MC_PITCHRATE_I 0.3 +param set-default MC_ROLLRATE_D 0.004 +param set-default MC_PITCHRATE_D 0.004 diff --git a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt index d036b5add3..64581e56b7 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt +++ b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt @@ -73,6 +73,7 @@ px4_add_romfs_files( 4016_holybro_px4vision 4017_nxp_hovergames 4018_s500_ctrlalloc + 4019_x500_v2 4030_3dr_solo 4031_3dr_quad 4040_reaper From 258a563dd50785b76457b8a8b24267f8a34a45c2 Mon Sep 17 00:00:00 2001 From: CUAVmengxiao Date: Wed, 3 Nov 2021 15:16:11 +0800 Subject: [PATCH 005/116] barometer: Add ICP10100 and ICP1011 --- src/drivers/barometer/CMakeLists.txt | 1 + .../barometer/invensense/CMakeLists.txt | 35 ++ .../invensense/icp10100/CMakeLists.txt | 46 +++ .../invensense/icp10100/ICP10100.cpp | 375 ++++++++++++++++++ .../invensense/icp10100/ICP10100.hpp | 98 +++++ .../Inven_Sense_ICP10100_registers.hpp | 62 +++ .../invensense/icp10100/icp10100_main.cpp | 79 ++++ .../invensense/icp10111/CMakeLists.txt | 46 +++ .../invensense/icp10111/ICP10111.cpp | 375 ++++++++++++++++++ .../invensense/icp10111/ICP10111.hpp | 98 +++++ .../Inven_Sense_ICP10111_registers.hpp | 62 +++ .../invensense/icp10111/icp10111_main.cpp | 79 ++++ 12 files changed, 1356 insertions(+) create mode 100755 src/drivers/barometer/invensense/CMakeLists.txt create mode 100755 src/drivers/barometer/invensense/icp10100/CMakeLists.txt create mode 100755 src/drivers/barometer/invensense/icp10100/ICP10100.cpp create mode 100755 src/drivers/barometer/invensense/icp10100/ICP10100.hpp create mode 100755 src/drivers/barometer/invensense/icp10100/Inven_Sense_ICP10100_registers.hpp create mode 100755 src/drivers/barometer/invensense/icp10100/icp10100_main.cpp create mode 100755 src/drivers/barometer/invensense/icp10111/CMakeLists.txt create mode 100755 src/drivers/barometer/invensense/icp10111/ICP10111.cpp create mode 100755 src/drivers/barometer/invensense/icp10111/ICP10111.hpp create mode 100755 src/drivers/barometer/invensense/icp10111/Inven_Sense_ICP10111_registers.hpp create mode 100755 src/drivers/barometer/invensense/icp10111/icp10111_main.cpp diff --git a/src/drivers/barometer/CMakeLists.txt b/src/drivers/barometer/CMakeLists.txt index 037daaf269..9758809286 100644 --- a/src/drivers/barometer/CMakeLists.txt +++ b/src/drivers/barometer/CMakeLists.txt @@ -41,3 +41,4 @@ add_subdirectory(lps33hw) add_subdirectory(maiertek) add_subdirectory(ms5611) #add_subdirectory(tcbp001ta) # only for users who really need this +add_subdirectory(invensense) diff --git a/src/drivers/barometer/invensense/CMakeLists.txt b/src/drivers/barometer/invensense/CMakeLists.txt new file mode 100755 index 0000000000..1060e92e66 --- /dev/null +++ b/src/drivers/barometer/invensense/CMakeLists.txt @@ -0,0 +1,35 @@ +############################################################################ +# +# Copyright (c) 2021 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. +# +############################################################################ + +add_subdirectory(icp10100) +add_subdirectory(icp10111) diff --git a/src/drivers/barometer/invensense/icp10100/CMakeLists.txt b/src/drivers/barometer/invensense/icp10100/CMakeLists.txt new file mode 100755 index 0000000000..edacba9ccd --- /dev/null +++ b/src/drivers/barometer/invensense/icp10100/CMakeLists.txt @@ -0,0 +1,46 @@ +############################################################################ +# +# Copyright (c) 2021 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. +# +############################################################################ + +px4_add_module( + MODULE drivers__invensense__icp10100 + MAIN icp10100 + COMPILE_FLAGS + SRCS + Inven_Sense_ICP10100_registers.hpp + ICP10100.cpp + ICP10100.hpp + icp10100_main.cpp + DEPENDS + drivers_barometer + px4_work_queue + ) diff --git a/src/drivers/barometer/invensense/icp10100/ICP10100.cpp b/src/drivers/barometer/invensense/icp10100/ICP10100.cpp new file mode 100755 index 0000000000..00780fcd64 --- /dev/null +++ b/src/drivers/barometer/invensense/icp10100/ICP10100.cpp @@ -0,0 +1,375 @@ +/**************************************************************************** + * + * Copyright (c) 2021 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. + * + ****************************************************************************/ + +#include "ICP10100.hpp" + +using namespace time_literals; + +ICP10100::ICP10100(const I2CSPIDriverConfig &config) : + I2C(config), + I2CSPIDriver(config), + _px4_baro(get_device_id()) +{ +} + +ICP10100::~ICP10100() +{ + perf_free(_reset_perf); + perf_free(_sample_perf); + perf_free(_bad_transfer_perf); +} + +int +ICP10100::init() +{ + int ret = I2C::init(); + + if (ret != PX4_OK) { + DEVICE_DEBUG("I2C::init failed (%i)", ret); + return ret; + } + + return Reset() ? 0 : -1; +} + +bool +ICP10100::Reset() +{ + _state = STATE::RESET; + ScheduleClear(); + ScheduleNow(); + return true; +} + +void +ICP10100::print_status() +{ + I2CSPIDriverBase::print_status(); + perf_print_counter(_reset_perf); + perf_print_counter(_sample_perf); + perf_print_counter(_bad_transfer_perf); +} + +int +ICP10100::probe() +{ + uint16_t ID = 0; + read_response(Cmd::READ_ID, (uint8_t *)&ID, 2); + uint8_t PROD_ID = (ID >> 8) & 0x3f; + + if (PROD_ID != Product_ID) { + DEVICE_DEBUG("unexpected PROD_ID 0x%02x", PROD_ID); + return PX4_ERROR; + } + + return PX4_OK; +} + +void +ICP10100::RunImpl() +{ + const hrt_abstime now = hrt_absolute_time(); + + switch (_state) { + case STATE::RESET: + // Software Reset + send_command(Cmd::SOFT_RESET); + _reset_timestamp = now; + _failure_count = 0; + _state = STATE::WAIT_FOR_RESET; + perf_count(_reset_perf); + ScheduleDelayed(100_ms); // Power On Reset: max 100ms + break; + + case STATE::WAIT_FOR_RESET: { + // check product id + uint16_t ID = 0; + read_response(Cmd::READ_ID, (uint8_t *)&ID, 2); + uint8_t PROD_ID = (ID >> 8) & 0x3f; // Product ID Bits 5:0 + + if (PROD_ID == Product_ID) { + // if reset succeeded then read otp + _state = STATE::READ_OTP; + ScheduleDelayed(10_ms); // Time to coefficients are available. + + } else { + // RESET not complete + if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) { + PX4_DEBUG("Reset failed, retrying"); + _state = STATE::RESET; + ScheduleDelayed(100_ms); + + } else { + PX4_DEBUG("Reset not complete, check again in 10 ms"); + ScheduleDelayed(10_ms); + } + } + } + break; + + case STATE::READ_OTP: { + // read otp + uint8_t addr_otp_cmd[3] = {0x00, 0x66, 0x9c}; + uint8_t otp_buf[3]; + uint8_t crc; + bool success = true; + + send_command(Cmd::SET_ADDR, addr_otp_cmd, 3); + + for (uint8_t i = 0; i < 4; i++) { + read_response(Cmd::READ_OTP, otp_buf, 3); + + crc = 0xFF; + + for (int j = 0; j < 2; j++) { + crc = (uint8_t)cal_crc(crc, otp_buf[j]); + } + + if (crc != otp_buf[2]) { + success = false; + break; + } + + _scal[i] = (otp_buf[0] << 8) | otp_buf[1]; + } + + if (success) { + _state = STATE::MEASURE; + + } else { + _state = STATE::RESET; + } + + ScheduleDelayed(10_ms); + } + break; + + case STATE::MEASURE: + if (Measure()) { + // if configure succeeded then start measurement cycle + _state = STATE::READ; + perf_begin(_sample_perf); + ScheduleDelayed(_measure_interval); + + } else { + // MEASURE not complete + if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) { + PX4_DEBUG("Measure failed, resetting"); + _state = STATE::RESET; + + } else { + PX4_DEBUG("Measure failed, retrying"); + } + + ScheduleDelayed(_measure_interval); + } + + break; + + case STATE::READ: { + uint8_t comp_data[9] {}; + bool success = false; + + if (read_measure_results(comp_data, 9) == PX4_OK) { + perf_end(_sample_perf); + + uint16_t _raw_t = (comp_data[0] << 8) | comp_data[1]; + uint32_t L_res_buf3 = comp_data[3]; // expand result bytes to 32bit to fix issues on 8-bit MCUs + uint32_t L_res_buf4 = comp_data[4]; + uint32_t L_res_buf6 = comp_data[6]; + uint32_t _raw_p = (L_res_buf3 << 16) | (L_res_buf4 << 8) | L_res_buf6; + + // constants for presure calculation + static constexpr float _pcal[3] = { 45000.0, 80000.0, 105000.0 }; + static constexpr float _lut_lower = 3.5 * 0x100000; // 1<<20 + static constexpr float _lut_upper = 11.5 * 0x100000; // 1<<20 + static constexpr float _quadr_factor = 1 / 16777216.0; + static constexpr float _offst_factor = 2048.0; + + // calculate temperature + float _temperature_C = -45.f + 175.f / 65536.f * _raw_t; + + // calculate pressure + float t = (float)(_raw_t - 32768); + float s1 = _lut_lower + (float)(_scal[0] * t * t) * _quadr_factor; + float s2 = _offst_factor * _scal[3] + (float)(_scal[1] * t * t) * _quadr_factor; + float s3 = _lut_upper + (float)(_scal[2] * t * t) * _quadr_factor; + float c = (s1 * s2 * (_pcal[0] - _pcal[1]) + + s2 * s3 * (_pcal[1] - _pcal[2]) + + s3 * s1 * (_pcal[2] - _pcal[0])) / + (s3 * (_pcal[0] - _pcal[1]) + + s1 * (_pcal[1] - _pcal[2]) + + s2 * (_pcal[2] - _pcal[0])); + float a = (_pcal[0] * s1 - _pcal[1] * s2 - (_pcal[1] - _pcal[0]) * c) / (s1 - s2); + float b = (_pcal[0] - a) * (s1 + c); + float _pressure_Pa = a + b / (c + _raw_p); + + const hrt_abstime nowx = hrt_absolute_time(); + float temperature = _temperature_C; + float pressure = _pressure_Pa; // to Pascal + pressure = pressure / 100.0f; // to mbar + + _px4_baro.set_error_count(perf_event_count(_bad_transfer_perf)); + _px4_baro.set_temperature(temperature); + _px4_baro.update(nowx, pressure); + + success = true; + + if (_failure_count > 0) { + _failure_count--; + } + + _state = STATE::MEASURE; + + } else { + perf_count(_bad_transfer_perf); + } + + if (!success) { + _failure_count++; + + // full reset if things are failing consistently + if (_failure_count > 10) { + Reset(); + return; + } + } + + ScheduleDelayed(1000_ms / 8 - _measure_interval); // 8Hz + } + + break; + } +} + +bool +ICP10100::Measure() +{ + /* + From ds-000186-icp-101xx-v1.0.pdf, page 6, table 1 + + Sensor Measurement Max Time + Mode Time (Forced) + Low Power (LP) 1.6 ms 1.8 ms + Normal (N) 5.6 ms 6.3 ms + Low Noise (LN) 20.8 ms 23.8 ms + Ultra Low Noise(ULN) 83.2 ms 94.5 ms + */ + Cmd cmd; + + switch (_mode) { + case MODE::FAST: + cmd = Cmd::MEAS_LP; + _measure_interval = 2_ms; + break; + + case MODE::ACCURATE: + cmd = Cmd::MEAS_LN; + _measure_interval = 24_ms; + break; + + case MODE::VERY_ACCURATE: + cmd = Cmd::MEAS_ULN; + _measure_interval = 95_ms; + break; + + case MODE::NORMAL: + default: + cmd = Cmd::MEAS_N; + _measure_interval = 7_ms; + break; + } + + if (send_command(cmd) != PX4_OK) { + return false; + } + + return true; +} + +int8_t +ICP10100::cal_crc(uint8_t seed, uint8_t data) +{ + int8_t poly = 0x31; + int8_t var2; + uint8_t i; + + for (i = 0; i < 8; i++) { + if ((seed & 0x80) ^ (data & 0x80)) { + var2 = 1; + + } else { + var2 = 0; + } + + seed = (seed & 0x7F) << 1; + data = (data & 0x7F) << 1; + seed = seed ^ (uint8_t)(poly * var2); + } + + return (int8_t)seed; +} + +int +ICP10100::read_measure_results(uint8_t *buf, uint8_t len) +{ + return transfer(nullptr, 0, buf, len); +} + +int +ICP10100::read_response(Cmd cmd, uint8_t *buf, uint8_t len) +{ + uint8_t buff[2]; + buff[0] = ((uint16_t)cmd >> 8) & 0xff; + buff[1] = (uint16_t)cmd & 0xff; + return transfer(&buff[0], 2, buf, len); +} + +int +ICP10100::send_command(Cmd cmd) +{ + uint8_t buf[2]; + buf[0] = ((uint16_t)cmd >> 8) & 0xff; + buf[1] = (uint16_t)cmd & 0xff; + return transfer(buf, sizeof(buf), nullptr, 0); +} + +int +ICP10100::send_command(Cmd cmd, uint8_t *data, uint8_t len) +{ + uint8_t buf[5]; + buf[0] = ((uint16_t)cmd >> 8) & 0xff; + buf[1] = (uint16_t)cmd & 0xff; + memcpy(&buf[2], data, len); + return transfer(&buf[0], len + 2, nullptr, 0); +} diff --git a/src/drivers/barometer/invensense/icp10100/ICP10100.hpp b/src/drivers/barometer/invensense/icp10100/ICP10100.hpp new file mode 100755 index 0000000000..542c0003db --- /dev/null +++ b/src/drivers/barometer/invensense/icp10100/ICP10100.hpp @@ -0,0 +1,98 @@ +/**************************************************************************** + * + * Copyright (C) 2021 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. + * + ****************************************************************************/ + +#pragma once + +#include "Inven_Sense_ICP10100_registers.hpp" + +#include +#include +#include +#include +#include + +using namespace Inven_Sense_ICP10100; + +class ICP10100 : public device::I2C, public I2CSPIDriver +{ +public: + ICP10100(const I2CSPIDriverConfig &config); + ~ICP10100() override; + + static void print_usage(); + + void RunImpl(); + + int init() override; + void print_status() override; + +private: + int probe() override; + + bool Reset(); + + bool Measure(); + + int8_t cal_crc(uint8_t seed, uint8_t data); + int read_measure_results(uint8_t *buf, uint8_t len); + int read_response(Cmd cmd, uint8_t *buf, uint8_t len); + int send_command(Cmd cmd); + int send_command(Cmd cmd, uint8_t *data, uint8_t len); + + PX4Barometer _px4_baro; + + perf_counter_t _reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": reset")}; + perf_counter_t _sample_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": read")}; + perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")}; + + hrt_abstime _reset_timestamp{0}; + int _failure_count{0}; + + unsigned _measure_interval{0}; + int16_t _scal[4]; + + enum class STATE : uint8_t { + RESET, + WAIT_FOR_RESET, + READ_OTP, + MEASURE, + READ + } _state{STATE::RESET}; + + enum class MODE : uint8_t { + FAST, + NORMAL, + ACCURATE, + VERY_ACCURATE + } _mode{MODE::VERY_ACCURATE}; +}; diff --git a/src/drivers/barometer/invensense/icp10100/Inven_Sense_ICP10100_registers.hpp b/src/drivers/barometer/invensense/icp10100/Inven_Sense_ICP10100_registers.hpp new file mode 100755 index 0000000000..558b7f14d1 --- /dev/null +++ b/src/drivers/barometer/invensense/icp10100/Inven_Sense_ICP10100_registers.hpp @@ -0,0 +1,62 @@ +/**************************************************************************** + * + * Copyright (c) 2021 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 icp10100_registers.hpp + * + * icp10100 registers. + * + */ + +#pragma once + +#include + +namespace Inven_Sense_ICP10100 +{ +static constexpr uint32_t I2C_SPEED = 100 * 1000; // 100 kHz I2C serial interface +static constexpr uint8_t I2C_ADDRESS_DEFAULT = 0x63; + +static constexpr uint8_t Product_ID = 0x08; + +enum class Cmd : uint16_t { + READ_ID = 0xefc8, + SET_ADDR = 0xc595, + READ_OTP = 0xc7f7, + MEAS_LP = 0x609c, + MEAS_N = 0x6825, + MEAS_LN = 0x70df, + MEAS_ULN = 0x7866, + SOFT_RESET = 0x805d +}; +} // namespace Inven_Sense_ICP10100 diff --git a/src/drivers/barometer/invensense/icp10100/icp10100_main.cpp b/src/drivers/barometer/invensense/icp10100/icp10100_main.cpp new file mode 100755 index 0000000000..de4c0aa25e --- /dev/null +++ b/src/drivers/barometer/invensense/icp10100/icp10100_main.cpp @@ -0,0 +1,79 @@ +/**************************************************************************** + * + * Copyright (c) 2021 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. + * + ****************************************************************************/ + +#include +#include +#include + +#include "ICP10100.hpp" + +void +ICP10100::print_usage() +{ + PRINT_MODULE_USAGE_NAME("icp10100", "driver"); + PRINT_MODULE_USAGE_SUBCATEGORY("baro"); + PRINT_MODULE_USAGE_COMMAND("start"); + PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false); + PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x63); + PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); +} + +extern "C" int icp10100_main(int argc, char *argv[]) +{ + using ThisDriver = ICP10100; + BusCLIArguments cli{true, false}; + cli.i2c_address = I2C_ADDRESS_DEFAULT; + cli.default_i2c_frequency = I2C_SPEED; + + const char *verb = cli.parseDefaultArguments(argc, argv); + + if (!verb) { + ThisDriver::print_usage(); + return -1; + } + + BusInstanceIterator iterator(MODULE_NAME, cli, DRV_BARO_DEVTYPE_ICP10100); + + if (!strcmp(verb, "start")) { + return ThisDriver::module_start(cli, iterator); + + } else if (!strcmp(verb, "stop")) { + return ThisDriver::module_stop(iterator); + + } else if (!strcmp(verb, "status")) { + return ThisDriver::module_status(iterator); + } + + ThisDriver::print_usage(); + return -1; +} diff --git a/src/drivers/barometer/invensense/icp10111/CMakeLists.txt b/src/drivers/barometer/invensense/icp10111/CMakeLists.txt new file mode 100755 index 0000000000..bc8f5258bc --- /dev/null +++ b/src/drivers/barometer/invensense/icp10111/CMakeLists.txt @@ -0,0 +1,46 @@ +############################################################################ +# +# Copyright (c) 2021 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. +# +############################################################################ + +px4_add_module( + MODULE drivers__invensense__icp10111 + MAIN icp10111 + COMPILE_FLAGS + SRCS + Inven_Sense_ICP10111_registers.hpp + ICP10111.cpp + ICP10111.hpp + icp10111_main.cpp + DEPENDS + drivers_barometer + px4_work_queue + ) diff --git a/src/drivers/barometer/invensense/icp10111/ICP10111.cpp b/src/drivers/barometer/invensense/icp10111/ICP10111.cpp new file mode 100755 index 0000000000..2403906dd5 --- /dev/null +++ b/src/drivers/barometer/invensense/icp10111/ICP10111.cpp @@ -0,0 +1,375 @@ +/**************************************************************************** + * + * Copyright (c) 2021 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. + * + ****************************************************************************/ + +#include "ICP10111.hpp" + +using namespace time_literals; + +ICP10111::ICP10111(const I2CSPIDriverConfig &config) : + I2C(config), + I2CSPIDriver(config), + _px4_baro(get_device_id()) +{ +} + +ICP10111::~ICP10111() +{ + perf_free(_reset_perf); + perf_free(_sample_perf); + perf_free(_bad_transfer_perf); +} + +int +ICP10111::init() +{ + int ret = I2C::init(); + + if (ret != PX4_OK) { + DEVICE_DEBUG("I2C::init failed (%i)", ret); + return ret; + } + + return Reset() ? 0 : -1; +} + +bool +ICP10111::Reset() +{ + _state = STATE::RESET; + ScheduleClear(); + ScheduleNow(); + return true; +} + +void +ICP10111::print_status() +{ + I2CSPIDriverBase::print_status(); + perf_print_counter(_reset_perf); + perf_print_counter(_sample_perf); + perf_print_counter(_bad_transfer_perf); +} + +int +ICP10111::probe() +{ + uint16_t ID = 0; + read_response(Cmd::READ_ID, (uint8_t *)&ID, 2); + uint8_t PROD_ID = (ID >> 8) & 0x3f; + + if (PROD_ID != Product_ID) { + DEVICE_DEBUG("unexpected PROD_ID 0x%02x", PROD_ID); + return PX4_ERROR; + } + + return PX4_OK; +} + +void +ICP10111::RunImpl() +{ + const hrt_abstime now = hrt_absolute_time(); + + switch (_state) { + case STATE::RESET: + // Software Reset + send_command(Cmd::SOFT_RESET); + _reset_timestamp = now; + _failure_count = 0; + _state = STATE::WAIT_FOR_RESET; + perf_count(_reset_perf); + ScheduleDelayed(100_ms); // Power On Reset: max 100ms + break; + + case STATE::WAIT_FOR_RESET: { + // check product id + uint16_t ID = 0; + read_response(Cmd::READ_ID, (uint8_t *)&ID, 2); + uint8_t PROD_ID = (ID >> 8) & 0x3f; // Product ID Bits 5:0 + + if (PROD_ID == Product_ID) { + // if reset succeeded then read otp + _state = STATE::READ_OTP; + ScheduleDelayed(10_ms); // Time to coefficients are available. + + } else { + // RESET not complete + if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) { + PX4_DEBUG("Reset failed, retrying"); + _state = STATE::RESET; + ScheduleDelayed(100_ms); + + } else { + PX4_DEBUG("Reset not complete, check again in 10 ms"); + ScheduleDelayed(10_ms); + } + } + } + break; + + case STATE::READ_OTP: { + // read otp + uint8_t addr_otp_cmd[3] = {0x00, 0x66, 0x9c}; + uint8_t otp_buf[3]; + uint8_t crc; + bool success = true; + + send_command(Cmd::SET_ADDR, addr_otp_cmd, 3); + + for (uint8_t i = 0; i < 4; i++) { + read_response(Cmd::READ_OTP, otp_buf, 3); + + crc = 0xFF; + + for (int j = 0; j < 2; j++) { + crc = (uint8_t)cal_crc(crc, otp_buf[j]); + } + + if (crc != otp_buf[2]) { + success = false; + break; + } + + _scal[i] = (otp_buf[0] << 8) | otp_buf[1]; + } + + if (success) { + _state = STATE::MEASURE; + + } else { + _state = STATE::RESET; + } + + ScheduleDelayed(10_ms); + } + break; + + case STATE::MEASURE: + if (Measure()) { + // if configure succeeded then start measurement cycle + _state = STATE::READ; + perf_begin(_sample_perf); + ScheduleDelayed(_measure_interval); + + } else { + // MEASURE not complete + if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) { + PX4_DEBUG("Measure failed, resetting"); + _state = STATE::RESET; + + } else { + PX4_DEBUG("Measure failed, retrying"); + } + + ScheduleDelayed(_measure_interval); + } + + break; + + case STATE::READ: { + uint8_t comp_data[9] {}; + bool success = false; + + if (read_measure_results(comp_data, 9) == PX4_OK) { + perf_end(_sample_perf); + + uint16_t _raw_t = (comp_data[0] << 8) | comp_data[1]; + uint32_t L_res_buf3 = comp_data[3]; // expand result bytes to 32bit to fix issues on 8-bit MCUs + uint32_t L_res_buf4 = comp_data[4]; + uint32_t L_res_buf6 = comp_data[6]; + uint32_t _raw_p = (L_res_buf3 << 16) | (L_res_buf4 << 8) | L_res_buf6; + + // constants for presure calculation + static constexpr float _pcal[3] = { 45000.0, 80000.0, 105000.0 }; + static constexpr float _lut_lower = 3.5 * 0x100000; // 1<<20 + static constexpr float _lut_upper = 11.5 * 0x100000; // 1<<20 + static constexpr float _quadr_factor = 1 / 16777216.0; + static constexpr float _offst_factor = 2048.0; + + // calculate temperature + float _temperature_C = -45.f + 175.f / 65536.f * _raw_t; + + // calculate pressure + float t = (float)(_raw_t - 32768); + float s1 = _lut_lower + (float)(_scal[0] * t * t) * _quadr_factor; + float s2 = _offst_factor * _scal[3] + (float)(_scal[1] * t * t) * _quadr_factor; + float s3 = _lut_upper + (float)(_scal[2] * t * t) * _quadr_factor; + float c = (s1 * s2 * (_pcal[0] - _pcal[1]) + + s2 * s3 * (_pcal[1] - _pcal[2]) + + s3 * s1 * (_pcal[2] - _pcal[0])) / + (s3 * (_pcal[0] - _pcal[1]) + + s1 * (_pcal[1] - _pcal[2]) + + s2 * (_pcal[2] - _pcal[0])); + float a = (_pcal[0] * s1 - _pcal[1] * s2 - (_pcal[1] - _pcal[0]) * c) / (s1 - s2); + float b = (_pcal[0] - a) * (s1 + c); + float _pressure_Pa = a + b / (c + _raw_p); + + const hrt_abstime nowx = hrt_absolute_time(); + float temperature = _temperature_C; + float pressure = _pressure_Pa; // to Pascal + pressure = pressure / 100.0f; // to mbar + + _px4_baro.set_error_count(perf_event_count(_bad_transfer_perf)); + _px4_baro.set_temperature(temperature); + _px4_baro.update(nowx, pressure); + + success = true; + + if (_failure_count > 0) { + _failure_count--; + } + + _state = STATE::MEASURE; + + } else { + perf_count(_bad_transfer_perf); + } + + if (!success) { + _failure_count++; + + // full reset if things are failing consistently + if (_failure_count > 10) { + Reset(); + return; + } + } + + ScheduleDelayed(1000_ms / 8 - _measure_interval); // 8Hz + } + + break; + } +} + +bool +ICP10111::Measure() +{ + /* + From ds-000186-icp-101xx-v1.0.pdf, page 6, table 1 + + Sensor Measurement Max Time + Mode Time (Forced) + Low Power (LP) 1.6 ms 1.8 ms + Normal (N) 5.6 ms 6.3 ms + Low Noise (LN) 20.8 ms 23.8 ms + Ultra Low Noise(ULN) 83.2 ms 94.5 ms + */ + Cmd cmd; + + switch (_mode) { + case MODE::FAST: + cmd = Cmd::MEAS_LP; + _measure_interval = 2_ms; + break; + + case MODE::ACCURATE: + cmd = Cmd::MEAS_LN; + _measure_interval = 24_ms; + break; + + case MODE::VERY_ACCURATE: + cmd = Cmd::MEAS_ULN; + _measure_interval = 95_ms; + break; + + case MODE::NORMAL: + default: + cmd = Cmd::MEAS_N; + _measure_interval = 7_ms; + break; + } + + if (send_command(cmd) != PX4_OK) { + return false; + } + + return true; +} + +int8_t +ICP10111::cal_crc(uint8_t seed, uint8_t data) +{ + int8_t poly = 0x31; + int8_t var2; + uint8_t i; + + for (i = 0; i < 8; i++) { + if ((seed & 0x80) ^ (data & 0x80)) { + var2 = 1; + + } else { + var2 = 0; + } + + seed = (seed & 0x7F) << 1; + data = (data & 0x7F) << 1; + seed = seed ^ (uint8_t)(poly * var2); + } + + return (int8_t)seed; +} + +int +ICP10111::read_measure_results(uint8_t *buf, uint8_t len) +{ + return transfer(nullptr, 0, buf, len); +} + +int +ICP10111::read_response(Cmd cmd, uint8_t *buf, uint8_t len) +{ + uint8_t buff[2]; + buff[0] = ((uint16_t)cmd >> 8) & 0xff; + buff[1] = (uint16_t)cmd & 0xff; + return transfer(&buff[0], 2, buf, len); +} + +int +ICP10111::send_command(Cmd cmd) +{ + uint8_t buf[2]; + buf[0] = ((uint16_t)cmd >> 8) & 0xff; + buf[1] = (uint16_t)cmd & 0xff; + return transfer(buf, sizeof(buf), nullptr, 0); +} + +int +ICP10111::send_command(Cmd cmd, uint8_t *data, uint8_t len) +{ + uint8_t buf[5]; + buf[0] = ((uint16_t)cmd >> 8) & 0xff; + buf[1] = (uint16_t)cmd & 0xff; + memcpy(&buf[2], data, len); + return transfer(&buf[0], len + 2, nullptr, 0); +} diff --git a/src/drivers/barometer/invensense/icp10111/ICP10111.hpp b/src/drivers/barometer/invensense/icp10111/ICP10111.hpp new file mode 100755 index 0000000000..01db28fa28 --- /dev/null +++ b/src/drivers/barometer/invensense/icp10111/ICP10111.hpp @@ -0,0 +1,98 @@ +/**************************************************************************** + * + * Copyright (C) 2021 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. + * + ****************************************************************************/ + +#pragma once + +#include "Inven_Sense_ICP10111_registers.hpp" + +#include +#include +#include +#include +#include + +using namespace Inven_Sense_ICP10111; + +class ICP10111 : public device::I2C, public I2CSPIDriver +{ +public: + ICP10111(const I2CSPIDriverConfig &config); + ~ICP10111() override; + + static void print_usage(); + + void RunImpl(); + + int init() override; + void print_status() override; + +private: + int probe() override; + + bool Reset(); + + bool Measure(); + + int8_t cal_crc(uint8_t seed, uint8_t data); + int read_measure_results(uint8_t *buf, uint8_t len); + int read_response(Cmd cmd, uint8_t *buf, uint8_t len); + int send_command(Cmd cmd); + int send_command(Cmd cmd, uint8_t *data, uint8_t len); + + PX4Barometer _px4_baro; + + perf_counter_t _reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": reset")}; + perf_counter_t _sample_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": read")}; + perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")}; + + hrt_abstime _reset_timestamp{0}; + int _failure_count{0}; + + unsigned _measure_interval{0}; + int16_t _scal[4]; + + enum class STATE : uint8_t { + RESET, + WAIT_FOR_RESET, + READ_OTP, + MEASURE, + READ + } _state{STATE::RESET}; + + enum class MODE : uint8_t { + FAST, + NORMAL, + ACCURATE, + VERY_ACCURATE + } _mode{MODE::VERY_ACCURATE}; +}; diff --git a/src/drivers/barometer/invensense/icp10111/Inven_Sense_ICP10111_registers.hpp b/src/drivers/barometer/invensense/icp10111/Inven_Sense_ICP10111_registers.hpp new file mode 100755 index 0000000000..907fa1b324 --- /dev/null +++ b/src/drivers/barometer/invensense/icp10111/Inven_Sense_ICP10111_registers.hpp @@ -0,0 +1,62 @@ +/**************************************************************************** + * + * Copyright (c) 2021 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 icp10111_registers.hpp + * + * icp10111 registers. + * + */ + +#pragma once + +#include + +namespace Inven_Sense_ICP10111 +{ +static constexpr uint32_t I2C_SPEED = 100 * 1000; // 100 kHz I2C serial interface +static constexpr uint8_t I2C_ADDRESS_DEFAULT = 0x63; + +static constexpr uint8_t Product_ID = 0x08; + +enum class Cmd : uint16_t { + READ_ID = 0xefc8, + SET_ADDR = 0xc595, + READ_OTP = 0xc7f7, + MEAS_LP = 0x609c, + MEAS_N = 0x6825, + MEAS_LN = 0x70df, + MEAS_ULN = 0x7866, + SOFT_RESET = 0x805d +}; +} // namespace Inven_Sense_ICP10111 diff --git a/src/drivers/barometer/invensense/icp10111/icp10111_main.cpp b/src/drivers/barometer/invensense/icp10111/icp10111_main.cpp new file mode 100755 index 0000000000..c7cfb3d2ce --- /dev/null +++ b/src/drivers/barometer/invensense/icp10111/icp10111_main.cpp @@ -0,0 +1,79 @@ +/**************************************************************************** + * + * Copyright (c) 2021 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. + * + ****************************************************************************/ + +#include +#include +#include + +#include "ICP10111.hpp" + +void +ICP10111::print_usage() +{ + PRINT_MODULE_USAGE_NAME("icp10111", "driver"); + PRINT_MODULE_USAGE_SUBCATEGORY("baro"); + PRINT_MODULE_USAGE_COMMAND("start"); + PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false); + PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x63); + PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); +} + +extern "C" int icp10111_main(int argc, char *argv[]) +{ + using ThisDriver = ICP10111; + BusCLIArguments cli{true, false}; + cli.i2c_address = I2C_ADDRESS_DEFAULT; + cli.default_i2c_frequency = I2C_SPEED; + + const char *verb = cli.parseDefaultArguments(argc, argv); + + if (!verb) { + ThisDriver::print_usage(); + return -1; + } + + BusInstanceIterator iterator(MODULE_NAME, cli, DRV_BARO_DEVTYPE_ICP10111); + + if (!strcmp(verb, "start")) { + return ThisDriver::module_start(cli, iterator); + + } else if (!strcmp(verb, "stop")) { + return ThisDriver::module_stop(iterator); + + } else if (!strcmp(verb, "status")) { + return ThisDriver::module_status(iterator); + } + + ThisDriver::print_usage(); + return -1; +} From 0950bb81abbf201870eb40abfe76ab579bd05e15 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Mon, 10 Jan 2022 14:03:52 +0100 Subject: [PATCH 006/116] ControlAllocation: update normalization scale only if matrix updated is forced The forced flag is used to distinguish between updates due to a configuration (parameter) change (only enabled when disarmed), and matrix updates due to motor tilt change. Only update the normalization scale if the forced flag is true, and use a tilt angle of vertical position for it to have the scales tilt-invariant. Signed-off-by: Silvan Fuhrer --- .../ActuatorEffectivenessTiltrotorVTOL.cpp | 13 ++++- .../ControlAllocation/ControlAllocation.cpp | 3 +- .../ControlAllocation/ControlAllocation.hpp | 3 +- .../ControlAllocationPseudoInverse.cpp | 48 ++++++++++++------- .../ControlAllocationPseudoInverse.hpp | 5 +- .../ControlAllocationPseudoInverseTest.cpp | 2 +- .../control_allocator/ControlAllocator.cpp | 2 +- 7 files changed, 53 insertions(+), 23 deletions(-) diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp index 24309f8adb..0ae567a54e 100644 --- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp +++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp @@ -60,8 +60,14 @@ ActuatorEffectivenessTiltrotorVTOL::getEffectivenessMatrix(Configuration &config // MC motors configuration.selected_matrix = 0; _mc_rotors.enableYawControl(!_tilts.hasYawControl()); - _nontilted_motors = _mc_rotors.updateAxisFromTilts(_tilts, _last_tilt_control) + + // Update matrix with tilts in vertical position when update is triggered by a manual + // configuration (parameter) change (=force update). This is to make sure the normalization + // scales are tilt-invariant. Note: force update only possible when disarm. + const float tilt_control_applied = force ? -1.f : _last_tilt_control; + _nontilted_motors = _mc_rotors.updateAxisFromTilts(_tilts, tilt_control_applied) << configuration.num_actuators[(int)ActuatorType::MOTORS]; + _mc_rotors.getEffectivenessMatrix(configuration, true); // Control Surfaces @@ -75,7 +81,10 @@ ActuatorEffectivenessTiltrotorVTOL::getEffectivenessMatrix(Configuration &config _tilts.updateTorqueSign(_mc_rotors.geometry(), true /* disable pitch to avoid configuration errors */); _tilts.getEffectivenessMatrix(configuration, true); - _updated = false; + // If it was a forced update (thus coming from a config change), then make sure to update matrix in + // the next iteration again with the correct tilt (but without updating the normalization scale). + _updated = force; + return true; } diff --git a/src/modules/control_allocator/ControlAllocation/ControlAllocation.cpp b/src/modules/control_allocator/ControlAllocation/ControlAllocation.cpp index 4c9cd8161f..dfdf9ca7f7 100644 --- a/src/modules/control_allocator/ControlAllocation/ControlAllocation.cpp +++ b/src/modules/control_allocator/ControlAllocation/ControlAllocation.cpp @@ -51,7 +51,8 @@ ControlAllocation::ControlAllocation() void ControlAllocation::setEffectivenessMatrix( const matrix::Matrix &effectiveness, - const ActuatorVector &actuator_trim, const ActuatorVector &linearization_point, int num_actuators) + const ActuatorVector &actuator_trim, const ActuatorVector &linearization_point, int num_actuators, + bool update_normalization_scale) { _effectiveness = effectiveness; ActuatorVector linearization_point_clipped = linearization_point; diff --git a/src/modules/control_allocator/ControlAllocation/ControlAllocation.hpp b/src/modules/control_allocator/ControlAllocation/ControlAllocation.hpp index d2c5e9489c..0d7895374e 100644 --- a/src/modules/control_allocator/ControlAllocation/ControlAllocation.hpp +++ b/src/modules/control_allocator/ControlAllocation/ControlAllocation.hpp @@ -104,7 +104,8 @@ public: * @param B Effectiveness matrix */ virtual void setEffectivenessMatrix(const matrix::Matrix &effectiveness, - const ActuatorVector &actuator_trim, const ActuatorVector &linearization_point, int num_actuators); + const ActuatorVector &actuator_trim, const ActuatorVector &linearization_point, int num_actuators, + bool update_normalization_scale); /** * Get the allocated actuator vector diff --git a/src/modules/control_allocator/ControlAllocation/ControlAllocationPseudoInverse.cpp b/src/modules/control_allocator/ControlAllocation/ControlAllocationPseudoInverse.cpp index b93f0db46e..86cc198c01 100644 --- a/src/modules/control_allocator/ControlAllocation/ControlAllocationPseudoInverse.cpp +++ b/src/modules/control_allocator/ControlAllocation/ControlAllocationPseudoInverse.cpp @@ -44,10 +44,13 @@ void ControlAllocationPseudoInverse::setEffectivenessMatrix( const matrix::Matrix &effectiveness, - const ActuatorVector &actuator_trim, const ActuatorVector &linearization_point, int num_actuators) + const ActuatorVector &actuator_trim, const ActuatorVector &linearization_point, int num_actuators, + bool update_normalization_scale) { - ControlAllocation::setEffectivenessMatrix(effectiveness, actuator_trim, linearization_point, num_actuators); + ControlAllocation::setEffectivenessMatrix(effectiveness, actuator_trim, linearization_point, num_actuators, + update_normalization_scale); _mix_update_needed = true; + _normalization_needs_update = update_normalization_scale; } void @@ -55,33 +58,31 @@ ControlAllocationPseudoInverse::updatePseudoInverse() { if (_mix_update_needed) { matrix::geninv(_effectiveness, _mix); + + if (_normalization_needs_update) { + updateControlAllocationMatrixScale(); + _normalization_needs_update = false; + } + normalizeControlAllocationMatrix(); _mix_update_needed = false; } } void -ControlAllocationPseudoInverse::normalizeControlAllocationMatrix() +ControlAllocationPseudoInverse::updateControlAllocationMatrixScale() { + // Same scale on roll and pitch if (_normalize_rpy) { - // Same scale on roll and pitch const float roll_norm_sq = _mix.col(0).norm_squared(); const float pitch_norm_sq = _mix.col(1).norm_squared(); + _control_allocation_scale(0) = sqrtf(fmaxf(roll_norm_sq, pitch_norm_sq) / (_num_actuators / 2.f)); _control_allocation_scale(1) = _control_allocation_scale(0); - if (_control_allocation_scale(0) > FLT_EPSILON) { - _mix.col(0) /= _control_allocation_scale(0); - _mix.col(1) /= _control_allocation_scale(1); - } - // Scale yaw separately _control_allocation_scale(2) = _mix.col(2).max(); - if (_control_allocation_scale(2) > FLT_EPSILON) { - _mix.col(2) /= _control_allocation_scale(2); - } - } else { _control_allocation_scale(0) = 1.f; _control_allocation_scale(1) = 1.f; @@ -106,16 +107,31 @@ ControlAllocationPseudoInverse::normalizeControlAllocationMatrix() _control_allocation_scale(3) = norm_sum; _control_allocation_scale(4) = norm_sum; _control_allocation_scale(5) = norm_sum; - _mix.col(3) /= _control_allocation_scale(3); - _mix.col(4) /= _control_allocation_scale(4); - _mix.col(5) /= _control_allocation_scale(5); } else { _control_allocation_scale(3) = 1.f; _control_allocation_scale(4) = 1.f; _control_allocation_scale(5) = 1.f; } +} +void +ControlAllocationPseudoInverse::normalizeControlAllocationMatrix() +{ + if (_control_allocation_scale(0) > FLT_EPSILON) { + _mix.col(0) /= _control_allocation_scale(0); + _mix.col(1) /= _control_allocation_scale(1); + } + + if (_control_allocation_scale(2) > FLT_EPSILON) { + _mix.col(2) /= _control_allocation_scale(2); + } + + if (_control_allocation_scale(3) > FLT_EPSILON) { + _mix.col(3) /= _control_allocation_scale(3); + _mix.col(4) /= _control_allocation_scale(4); + _mix.col(5) /= _control_allocation_scale(5); + } // Set all the small elements to 0 to avoid issues // in the control allocation algorithms diff --git a/src/modules/control_allocator/ControlAllocation/ControlAllocationPseudoInverse.hpp b/src/modules/control_allocator/ControlAllocation/ControlAllocationPseudoInverse.hpp index 6412b1cb11..27c367376b 100644 --- a/src/modules/control_allocator/ControlAllocation/ControlAllocationPseudoInverse.hpp +++ b/src/modules/control_allocator/ControlAllocation/ControlAllocationPseudoInverse.hpp @@ -55,7 +55,8 @@ public: void allocate() override; void setEffectivenessMatrix(const matrix::Matrix &effectiveness, - const ActuatorVector &actuator_trim, const ActuatorVector &linearization_point, int num_actuators) override; + const ActuatorVector &actuator_trim, const ActuatorVector &linearization_point, int num_actuators, + bool update_normalization_scale) override; protected: matrix::Matrix _mix; @@ -70,4 +71,6 @@ protected: private: void normalizeControlAllocationMatrix(); + void updateControlAllocationMatrixScale(); + bool _normalization_needs_update{false}; }; diff --git a/src/modules/control_allocator/ControlAllocation/ControlAllocationPseudoInverseTest.cpp b/src/modules/control_allocator/ControlAllocation/ControlAllocationPseudoInverseTest.cpp index 830d1b19a1..1f242befb7 100644 --- a/src/modules/control_allocator/ControlAllocation/ControlAllocationPseudoInverseTest.cpp +++ b/src/modules/control_allocator/ControlAllocation/ControlAllocationPseudoInverseTest.cpp @@ -57,7 +57,7 @@ TEST(ControlAllocationTest, AllZeroCase) matrix::Vector linearization_point; matrix::Vector actuator_sp_expected; - method.setEffectivenessMatrix(effectiveness, actuator_trim, linearization_point, 16); + method.setEffectivenessMatrix(effectiveness, actuator_trim, linearization_point, 16, false); method.setControlSetpoint(control_sp); method.allocate(); method.clipActuatorSetpoint(); diff --git a/src/modules/control_allocator/ControlAllocator.cpp b/src/modules/control_allocator/ControlAllocator.cpp index 18e67256de..9a570d6e52 100644 --- a/src/modules/control_allocator/ControlAllocator.cpp +++ b/src/modules/control_allocator/ControlAllocator.cpp @@ -496,7 +496,7 @@ ControlAllocator::update_effectiveness_matrix_if_needed(bool force) // Assign control effectiveness matrix int total_num_actuators = config.num_actuators_matrix[i]; _control_allocation[i]->setEffectivenessMatrix(config.effectiveness_matrices[i], config.trim[i], - config.linearization_point[i], total_num_actuators); + config.linearization_point[i], total_num_actuators, force); } trims.timestamp = hrt_absolute_time(); From cbb8c902450417473cdb9f19008a552e934eb7b5 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Mon, 10 Jan 2022 16:47:59 +0100 Subject: [PATCH 007/116] ControlAllocation: fix calculation of roll/pitch normalization scale Take into account the actual number of roll and pitch acutators, instead of assuming that all actuators have a roll/pitch component. Signed-off-by: Silvan Fuhrer --- .../ControlAllocationPseudoInverse.cpp | 30 +++++++++++++++++-- 1 file changed, 27 insertions(+), 3 deletions(-) diff --git a/src/modules/control_allocator/ControlAllocation/ControlAllocationPseudoInverse.cpp b/src/modules/control_allocator/ControlAllocation/ControlAllocationPseudoInverse.cpp index 86cc198c01..81b4741bc9 100644 --- a/src/modules/control_allocator/ControlAllocation/ControlAllocationPseudoInverse.cpp +++ b/src/modules/control_allocator/ControlAllocation/ControlAllocationPseudoInverse.cpp @@ -74,10 +74,34 @@ ControlAllocationPseudoInverse::updateControlAllocationMatrixScale() { // Same scale on roll and pitch if (_normalize_rpy) { - const float roll_norm_sq = _mix.col(0).norm_squared(); - const float pitch_norm_sq = _mix.col(1).norm_squared(); - _control_allocation_scale(0) = sqrtf(fmaxf(roll_norm_sq, pitch_norm_sq) / (_num_actuators / 2.f)); + int num_non_zero_roll_torque = 0; + int num_non_zero_pitch_torque = 0; + + for (int i = 0; i < _num_actuators; i++) { + + if (fabsf(_mix(i, 0)) > 1e-3f) { + ++num_non_zero_roll_torque; + } + + if (fabsf(_mix(i, 1)) > 1e-3f) { + ++num_non_zero_pitch_torque; + } + } + + float roll_norm_scale = 1.f; + + if (num_non_zero_roll_torque > 0) { + roll_norm_scale = sqrtf(_mix.col(0).norm_squared() / (num_non_zero_roll_torque / 2.f)); + } + + float pitch_norm_scale = 1.f; + + if (num_non_zero_pitch_torque > 0) { + pitch_norm_scale = sqrtf(_mix.col(1).norm_squared() / (num_non_zero_pitch_torque / 2.f)); + } + + _control_allocation_scale(0) = fmaxf(roll_norm_scale, pitch_norm_scale); _control_allocation_scale(1) = _control_allocation_scale(0); // Scale yaw separately From 632dfa55e6f231f1b62fb2e9bfb048d391ebafc9 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Wed, 12 Jan 2022 17:33:20 +0100 Subject: [PATCH 008/116] FW Pos C: add option to disable airspeed setpoint via stick input -rename FW_POSCTL_INV_ST to FW_POS_STK_CONF and make bitmask out of it: - bit 0: alternative mapping (height rate on throttle stick, airspeed on pitch) - bit 1: enable/disable airspeed setpoints via stick Signed-off-by: Silvan Fuhrer --- .../FixedwingPositionControl.cpp | 34 ++++++++++++------- .../FixedwingPositionControl.hpp | 7 +++- .../fw_pos_control_l1_params.c | 12 +++---- 3 files changed, 33 insertions(+), 20 deletions(-) diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp index 3205fa96e1..6b79350f98 100644 --- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp +++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp @@ -325,13 +325,19 @@ FixedwingPositionControl::manual_control_setpoint_poll() _manual_control_setpoint_altitude = _manual_control_setpoint.x; _manual_control_setpoint_airspeed = math::constrain(_manual_control_setpoint.z, 0.0f, 1.0f); - if (_param_fw_posctl_inv_st.get()) { + if (_param_fw_pos_stk_conf.get() & STICK_CONFIG_SWAP_STICKS_BIT) { /* Alternate stick allocation (similar concept as for multirotor systems: * demanding up/down with the throttle stick, and move faster/break with the pitch one. */ _manual_control_setpoint_altitude = -(math::constrain(_manual_control_setpoint.z, 0.0f, 1.0f) * 2.f - 1.f); _manual_control_setpoint_airspeed = math::constrain(_manual_control_setpoint.x, -1.0f, 1.0f) / 2.f + 0.5f; } + + // send neutral setpoints if no update for 1 s + if (hrt_elapsed_time(&_manual_control_setpoint.timestamp) > 1_s) { + _manual_control_setpoint_altitude = 0.f; + _manual_control_setpoint_airspeed = 0.5f; + } } @@ -375,20 +381,22 @@ FixedwingPositionControl::vehicle_attitude_poll() float FixedwingPositionControl::get_manual_airspeed_setpoint() { - float altctrl_airspeed = 0; + float altctrl_airspeed = _param_fw_airspd_trim.get(); - // neutral throttle corresponds to trim airspeed - if (_manual_control_setpoint_airspeed < 0.5f) { - // lower half of throttle is min to trim airspeed - altctrl_airspeed = _param_fw_airspd_min.get() + - (_param_fw_airspd_trim.get() - _param_fw_airspd_min.get()) * - _manual_control_setpoint_airspeed * 2; + if (_param_fw_pos_stk_conf.get() & STICK_CONFIG_ENABLE_AIRSPEED_SP_MANUAL_BIT) { + // neutral throttle corresponds to trim airspeed + if (_manual_control_setpoint_airspeed < 0.5f) { + // lower half of throttle is min to trim airspeed + altctrl_airspeed = _param_fw_airspd_min.get() + + (_param_fw_airspd_trim.get() - _param_fw_airspd_min.get()) * + _manual_control_setpoint_airspeed * 2; - } else { - // upper half of throttle is trim to max airspeed - altctrl_airspeed = _param_fw_airspd_trim.get() + - (_param_fw_airspd_max.get() - _param_fw_airspd_trim.get()) * - (_manual_control_setpoint_airspeed * 2 - 1); + } else { + // upper half of throttle is trim to max airspeed + altctrl_airspeed = _param_fw_airspd_trim.get() + + (_param_fw_airspd_max.get() - _param_fw_airspd_trim.get()) * + (_manual_control_setpoint_airspeed * 2 - 1); + } } return altctrl_airspeed; diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp index 2a803cc7fc..1a79dfd554 100644 --- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp +++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp @@ -286,6 +286,11 @@ private: param_t _param_handle_airspeed_trans{PARAM_INVALID}; float _param_airspeed_trans{NAN}; + enum StickConfig { + STICK_CONFIG_SWAP_STICKS_BIT = (1 << 0), + STICK_CONFIG_ENABLE_AIRSPEED_SP_MANUAL_BIT = (1 << 1) + }; + // Update our local parameter cache. int parameters_update(); @@ -461,7 +466,7 @@ private: (ParamFloat) _param_fw_thr_min, (ParamFloat) _param_fw_thr_slew_max, - (ParamBool) _param_fw_posctl_inv_st, + (ParamInt) _param_fw_pos_stk_conf, (ParamInt) _param_nav_gpsf_lt, (ParamFloat) _param_nav_gpsf_r, diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c index b972293ab6..76ec5ce013 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c @@ -885,17 +885,17 @@ PARAM_DEFINE_FLOAT(FW_T_TAS_TC, 5.0f); PARAM_DEFINE_FLOAT(FW_GND_SPD_MIN, 5.0f); /** - * RC stick mapping fixed-wing. + * RC stick configuraton fixed-wing. * - * Set RC/joystick configuration for fixed-wing position and altitude controlled flight. + * Set RC/joystick configuration for fixed-wing manual position and altitude controlled flight. * * @min 0 - * @max 1 - * @value 0 Normal stick configuration (airspeed on throttle stick, altitude on pitch stick) - * @value 1 Alternative stick configuration (altitude on throttle stick, airspeed on pitch stick) + * @max 3 + * @bit 0 Alternative stick configuration (height rate on throttle stick, airspeed on pitch stick) + * @bit 1 Enable airspeed setpoint via sticks in altitude and position flight mode * @group FW L1 Control */ -PARAM_DEFINE_INT32(FW_POSCTL_INV_ST, 0); +PARAM_DEFINE_INT32(FW_POS_STK_CONF, 2); /** * Specific total energy rate first order filter time constant. From 8811482f1df86a448075839530cdbedf385b5d1d Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Wed, 19 Jan 2022 10:40:06 +0100 Subject: [PATCH 009/116] PositionControlTest: add integrator windup with invalid setpoint combination unit test This bug was by chance found during simulation testing and debugging. The unit test is to easily reproduce and cover this case. --- .../PositionControl/PositionControlTest.cpp | 20 +++++++++++++++++++ 1 file changed, 20 insertions(+) diff --git a/src/modules/mc_pos_control/PositionControl/PositionControlTest.cpp b/src/modules/mc_pos_control/PositionControl/PositionControlTest.cpp index 5afc32dde1..5e625d0878 100644 --- a/src/modules/mc_pos_control/PositionControl/PositionControlTest.cpp +++ b/src/modules/mc_pos_control/PositionControl/PositionControlTest.cpp @@ -399,3 +399,23 @@ TEST_F(PositionControlBasicTest, UpdateHoverThrust) // the output is still the same EXPECT_EQ(_output_setpoint.thrust[2], -hover_thrust); } + +TEST_F(PositionControlBasicTest, IntegratorWindupWithInvalidSetpoint) +{ + // GIVEN: the controller was ran with an invalid setpoint containing some valid values + _input_setpoint.x = .1f; + _input_setpoint.y = .2f; + // all z-axis setpoints stay NAN + EXPECT_FALSE(runController()); + + // WHEN: we run the controller with a valid setpoint + resetInputSetpoint(); + _input_setpoint.vx = 0.f; + _input_setpoint.vy = 0.f; + _input_setpoint.vz = 0.f; + EXPECT_TRUE(runController()); + + // THEN: the integral did not wind up and produce unexpected deviation + EXPECT_FLOAT_EQ(_attitude.roll_body, 0.f); + EXPECT_FLOAT_EQ(_attitude.pitch_body, 0.f); +} From d4e356a1ac5773ea53375ac686e11676f5aef290 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Wed, 19 Jan 2022 10:41:09 +0100 Subject: [PATCH 010/116] PosititionControl: fix integrator windup with invalid setpoint --- .../PositionControl/PositionControl.cpp | 37 ++++++++++++------- .../PositionControl/PositionControl.hpp | 2 +- 2 files changed, 24 insertions(+), 15 deletions(-) diff --git a/src/modules/mc_pos_control/PositionControl/PositionControl.cpp b/src/modules/mc_pos_control/PositionControl/PositionControl.cpp index 07f8eb004e..1bf8f26210 100644 --- a/src/modules/mc_pos_control/PositionControl/PositionControl.cpp +++ b/src/modules/mc_pos_control/PositionControl/PositionControl.cpp @@ -104,18 +104,21 @@ void PositionControl::setInputSetpoint(const vehicle_local_position_setpoint_s & bool PositionControl::update(const float dt) { - // x and y input setpoints always have to come in pairs - const bool valid = (PX4_ISFINITE(_pos_sp(0)) == PX4_ISFINITE(_pos_sp(1))) - && (PX4_ISFINITE(_vel_sp(0)) == PX4_ISFINITE(_vel_sp(1))) - && (PX4_ISFINITE(_acc_sp(0)) == PX4_ISFINITE(_acc_sp(1))); + bool valid = _inputValid(); - _positionControl(); - _velocityControl(dt); + if (valid) { + _positionControl(); + _velocityControl(dt); - _yawspeed_sp = PX4_ISFINITE(_yawspeed_sp) ? _yawspeed_sp : 0.f; - _yaw_sp = PX4_ISFINITE(_yaw_sp) ? _yaw_sp : _yaw; // TODO: better way to disable yaw control + _yawspeed_sp = PX4_ISFINITE(_yawspeed_sp) ? _yawspeed_sp : 0.f; + _yaw_sp = PX4_ISFINITE(_yaw_sp) ? _yaw_sp : _yaw; // TODO: better way to disable yaw control + } - return valid && _updateSuccessful(); + // There has to be a valid output accleration and thrust setpoint otherwise something went wrong + valid = valid && PX4_ISFINITE(_acc_sp(0)) && PX4_ISFINITE(_acc_sp(1)) && PX4_ISFINITE(_acc_sp(2)); + valid = valid && PX4_ISFINITE(_thr_sp(0)) && PX4_ISFINITE(_thr_sp(1)) && PX4_ISFINITE(_thr_sp(2)); + + return valid; } void PositionControl::_positionControl() @@ -204,10 +207,20 @@ void PositionControl::_accelerationControl() _thr_sp = body_z * collective_thrust; } -bool PositionControl::_updateSuccessful() +bool PositionControl::_inputValid() { bool valid = true; + // Every axis x, y, z needs to have some setpoint + for (int i = 0; i <= 2; i++) { + valid = valid && (PX4_ISFINITE(_pos_sp(i)) || PX4_ISFINITE(_vel_sp(i)) || PX4_ISFINITE(_acc_sp(i))); + } + + // x and y input setpoints always have to come in pairs + valid = valid && (PX4_ISFINITE(_pos_sp(0)) == PX4_ISFINITE(_pos_sp(1))); + valid = valid && (PX4_ISFINITE(_vel_sp(0)) == PX4_ISFINITE(_vel_sp(1))); + valid = valid && (PX4_ISFINITE(_acc_sp(0)) == PX4_ISFINITE(_acc_sp(1))); + // For each controlled state the estimate has to be valid for (int i = 0; i <= 2; i++) { if (PX4_ISFINITE(_pos_sp(i))) { @@ -219,10 +232,6 @@ bool PositionControl::_updateSuccessful() } } - // There has to be a valid output accleration and thrust setpoint otherwise there was no - // setpoint-state pair for each axis that can get controlled - valid = valid && PX4_ISFINITE(_acc_sp(0)) && PX4_ISFINITE(_acc_sp(1)) && PX4_ISFINITE(_acc_sp(2)); - valid = valid && PX4_ISFINITE(_thr_sp(0)) && PX4_ISFINITE(_thr_sp(1)) && PX4_ISFINITE(_thr_sp(2)); return valid; } diff --git a/src/modules/mc_pos_control/PositionControl/PositionControl.hpp b/src/modules/mc_pos_control/PositionControl/PositionControl.hpp index 996c662120..fa2fd35f80 100644 --- a/src/modules/mc_pos_control/PositionControl/PositionControl.hpp +++ b/src/modules/mc_pos_control/PositionControl/PositionControl.hpp @@ -179,7 +179,7 @@ public: void getAttitudeSetpoint(vehicle_attitude_setpoint_s &attitude_setpoint) const; private: - bool _updateSuccessful(); + bool _inputValid(); void _positionControl(); ///< Position proportional control void _velocityControl(const float dt); ///< Velocity PID control From c9f7c20d4667549d7d4d1b5943060ddc042f5044 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Wed, 19 Jan 2022 10:43:23 +0100 Subject: [PATCH 011/116] MulticoperPositionController: time failsafe messages together The following output instead of printing the action "stop and wait" just once: WARN [mc_pos_control] invalid setpoints WARN [mc_pos_control] invalid setpoints WARN [mc_pos_control] Failsafe: stop and wait WARN [mc_pos_control] invalid setpoints WARN [mc_pos_control] Failsafe: stop and wait WARN [mc_pos_control] invalid setpoints WARN [mc_pos_control] Failsafe: stop and wait --- src/modules/mc_pos_control/MulticopterPositionControl.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/modules/mc_pos_control/MulticopterPositionControl.cpp b/src/modules/mc_pos_control/MulticopterPositionControl.cpp index 69266c46fc..fc898efe28 100644 --- a/src/modules/mc_pos_control/MulticopterPositionControl.cpp +++ b/src/modules/mc_pos_control/MulticopterPositionControl.cpp @@ -321,8 +321,6 @@ void MulticopterPositionControl::Run() // set _dt in controllib Block for BlockDerivative setDt(dt); - - const bool was_in_failsafe = _in_failsafe; _in_failsafe = false; _vehicle_control_mode_sub.update(&_vehicle_control_mode); @@ -478,14 +476,16 @@ void MulticopterPositionControl::Run() } else { // Failsafe - if ((time_stamp_now - _last_warn) > 2_s) { + const bool warn_failsafe = (time_stamp_now - _last_warn) > 2_s; + + if (warn_failsafe) { PX4_WARN("invalid setpoints"); _last_warn = time_stamp_now; } vehicle_local_position_setpoint_s failsafe_setpoint{}; - failsafe(time_stamp_now, failsafe_setpoint, states, !was_in_failsafe); + failsafe(time_stamp_now, failsafe_setpoint, states, warn_failsafe); // reset constraints _vehicle_constraints = {0, NAN, NAN, false, {}}; From 36605bfff61bf07b21a853b8cca68d5960d0c6b5 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Wed, 26 May 2021 12:39:02 -0400 Subject: [PATCH 012/116] sensors: lower SENS_MAG_RATE default - reduce estimator 3D mag fusion cpu load (-3% on Pixhawk4) --- src/modules/sensors/sensor_params_mag.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/sensors/sensor_params_mag.c b/src/modules/sensors/sensor_params_mag.c index 929aa97e57..2b373800ac 100644 --- a/src/modules/sensors/sensor_params_mag.c +++ b/src/modules/sensors/sensor_params_mag.c @@ -92,7 +92,7 @@ PARAM_DEFINE_INT32(CAL_MAG_ROT_AUTO, 1); * @reboot_required true * */ -PARAM_DEFINE_FLOAT(SENS_MAG_RATE, 50.0f); +PARAM_DEFINE_FLOAT(SENS_MAG_RATE, 15.0f); /** * Sensors hub mag mode From 92a5bbe97f47453f7e0dc486a9a0335d1feb3dc5 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Thu, 13 Jan 2022 17:42:36 -0500 Subject: [PATCH 013/116] ekf2: improve ring buffer sizing and dynamically allocate --- src/modules/ekf2/CMakeLists.txt | 1 + src/modules/ekf2/EKF/RingBuffer.h | 17 +- src/modules/ekf2/EKF/common.h | 3 +- src/modules/ekf2/EKF/control.cpp | 175 ++++++++----- src/modules/ekf2/EKF/ekf.cpp | 9 +- src/modules/ekf2/EKF/ekf.h | 4 +- src/modules/ekf2/EKF/ekf_helper.cpp | 49 ++-- src/modules/ekf2/EKF/estimator_interface.cpp | 241 ++++++++++-------- src/modules/ekf2/EKF/estimator_interface.h | 48 ++-- src/modules/ekf2/EKF2.cpp | 37 ++- src/modules/ekf2/EKF2.hpp | 2 - src/modules/ekf2/ekf2_params.c | 13 - src/modules/ekf2/test/test_EKF_ringbuffer.cpp | 4 +- 13 files changed, 356 insertions(+), 247 deletions(-) diff --git a/src/modules/ekf2/CMakeLists.txt b/src/modules/ekf2/CMakeLists.txt index 7fb5da77a9..48b9ab8b7e 100644 --- a/src/modules/ekf2/CMakeLists.txt +++ b/src/modules/ekf2/CMakeLists.txt @@ -39,6 +39,7 @@ px4_add_module( COMPILE_FLAGS ${MAX_CUSTOM_OPT_LEVEL} -fno-associative-math + #-DDEBUG_BUILD INCLUDES EKF STACK_MAX diff --git a/src/modules/ekf2/EKF/RingBuffer.h b/src/modules/ekf2/EKF/RingBuffer.h index 512b3a6b6a..76811e3bea 100644 --- a/src/modules/ekf2/EKF/RingBuffer.h +++ b/src/modules/ekf2/EKF/RingBuffer.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2015 PX4 Development Team. All rights reserved. + * Copyright (C) 2015-2022 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 @@ -46,7 +46,7 @@ class RingBuffer { public: explicit RingBuffer(size_t size) { allocate(size); } - RingBuffer() { allocate(1); } + RingBuffer() = delete; ~RingBuffer() { delete[] _buffer; } // no copy, assignment, move, move assignment @@ -155,6 +155,19 @@ public: int get_total_size() const { return sizeof(*this) + sizeof(data_type) * _size; } + int entries() const + { + int count = 0; + + for (uint8_t i = 0; i < _size; i++) { + if (_buffer[i].time_us != 0) { + count++; + } + } + + return count; + } + private: data_type *_buffer{nullptr}; diff --git a/src/modules/ekf2/EKF/common.h b/src/modules/ekf2/EKF/common.h index 7f1cbe977c..17410718b7 100644 --- a/src/modules/ekf2/EKF/common.h +++ b/src/modules/ekf2/EKF/common.h @@ -219,7 +219,8 @@ struct parameters { int32_t vdist_sensor_type{VDIST_SENSOR_BARO}; ///< selects the primary source for height data int32_t terrain_fusion_mode{TerrainFusionMask::TerrainFuseRangeFinder | TerrainFusionMask::TerrainFuseOpticalFlow}; ///< aiding source(s) selection bitmask for the terrain estimator - int32_t sensor_interval_min_ms{20}; ///< minimum time of arrival difference between non IMU sensor updates. Sets the size of the observation buffers. (mSec) + + int32_t sensor_interval_max_ms{10}; ///< maximum time of arrival difference between non IMU sensor updates. Sets the size of the observation buffers. (mSec) // measurement time delays float mag_delay_ms{0.0f}; ///< magnetometer measurement delay relative to the IMU (mSec) diff --git a/src/modules/ekf2/EKF/control.cpp b/src/modules/ekf2/EKF/control.cpp index ea57cb39f8..e3fe101ac5 100644 --- a/src/modules/ekf2/EKF/control.cpp +++ b/src/modules/ekf2/EKF/control.cpp @@ -85,47 +85,59 @@ void Ekf::controlFusionModes() } } - // check for intermittent data (before pop_first_older_than) - const baroSample &baro_init = _baro_buffer.get_newest(); - _baro_hgt_faulty = !isRecent(baro_init.time_us, 2 * BARO_MAX_INTERVAL); + if (_baro_buffer) { + // check for intermittent data (before pop_first_older_than) + const baroSample &baro_init = _baro_buffer->get_newest(); + _baro_hgt_faulty = !isRecent(baro_init.time_us, 2 * BARO_MAX_INTERVAL); - const gpsSample &gps_init = _gps_buffer.get_newest(); - _gps_hgt_intermittent = !isRecent(gps_init.time_us, 2 * GPS_MAX_INTERVAL); + const uint64_t baro_time_prev = _baro_sample_delayed.time_us; + _baro_data_ready = _baro_buffer->pop_first_older_than(_imu_sample_delayed.time_us, &_baro_sample_delayed); - // check for arrival of new sensor data at the fusion time horizon - _time_prev_gps_us = _gps_sample_delayed.time_us; - _gps_data_ready = _gps_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_gps_sample_delayed); - _mag_data_ready = _mag_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_mag_sample_delayed); - - if (_mag_data_ready) { - _mag_lpf.update(_mag_sample_delayed.mag); - - // if enabled, use knowledge of theoretical magnetic field vector to calculate a synthetic magnetomter Z component value. - // this is useful if there is a lot of interference on the sensor measurement. - if (_params.synthesize_mag_z && (_params.mag_declination_source & MASK_USE_GEO_DECL) && (_NED_origin_initialised - || PX4_ISFINITE(_mag_declination_gps))) { - - const Vector3f mag_earth_pred = Dcmf(Eulerf(0, -_mag_inclination_gps, _mag_declination_gps)) * Vector3f(_mag_strength_gps, 0, 0); - _mag_sample_delayed.mag(2) = calculate_synthetic_mag_z_measurement(_mag_sample_delayed.mag, mag_earth_pred); - _control_status.flags.synthetic_mag_z = true; - - } else { - _control_status.flags.synthetic_mag_z = false; + // if we have a new baro sample save the delta time between this sample and the last sample which is + // used below for baro offset calculations + if (_baro_data_ready && baro_time_prev != 0) { + _delta_time_baro_us = _baro_sample_delayed.time_us - baro_time_prev; } } - _delta_time_baro_us = _baro_sample_delayed.time_us; - _baro_data_ready = _baro_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_baro_sample_delayed); - // if we have a new baro sample save the delta time between this sample and the last sample which is - // used below for baro offset calculations - if (_baro_data_ready) { - _delta_time_baro_us = _baro_sample_delayed.time_us - _delta_time_baro_us; + if (_gps_buffer) { + const gpsSample &gps_init = _gps_buffer->get_newest(); + _gps_hgt_intermittent = !isRecent(gps_init.time_us, 2 * GPS_MAX_INTERVAL); + + // check for arrival of new sensor data at the fusion time horizon + _time_prev_gps_us = _gps_sample_delayed.time_us; + _gps_data_ready = _gps_buffer->pop_first_older_than(_imu_sample_delayed.time_us, &_gps_sample_delayed); } - { + + if (_mag_buffer) { + _mag_data_ready = _mag_buffer->pop_first_older_than(_imu_sample_delayed.time_us, &_mag_sample_delayed); + + if (_mag_data_ready) { + _mag_lpf.update(_mag_sample_delayed.mag); + + // if enabled, use knowledge of theoretical magnetic field vector to calculate a synthetic magnetomter Z component value. + // this is useful if there is a lot of interference on the sensor measurement. + if (_params.synthesize_mag_z && (_params.mag_declination_source & MASK_USE_GEO_DECL) + && (_NED_origin_initialised || PX4_ISFINITE(_mag_declination_gps)) + ) { + + const Vector3f mag_earth_pred = Dcmf(Eulerf(0, -_mag_inclination_gps, _mag_declination_gps)) * Vector3f(_mag_strength_gps, 0, 0); + _mag_sample_delayed.mag(2) = calculate_synthetic_mag_z_measurement(_mag_sample_delayed.mag, mag_earth_pred); + _control_status.flags.synthetic_mag_z = true; + + } else { + _control_status.flags.synthetic_mag_z = false; + } + } + + + } + + if (_range_buffer) { // Get range data from buffer and check validity - const bool is_rng_data_ready = _range_buffer.pop_first_older_than(_imu_sample_delayed.time_us, _range_sensor.getSampleAddress()); + bool is_rng_data_ready = _range_buffer->pop_first_older_than(_imu_sample_delayed.time_us, _range_sensor.getSampleAddress()); _range_sensor.setDataReadiness(is_rng_data_ready); // update range sensor angle parameters in case they have changed @@ -134,35 +146,42 @@ void Ekf::controlFusionModes() _range_sensor.setQualityHysteresis(_params.range_valid_quality_s); _range_sensor.runChecks(_imu_sample_delayed.time_us, _R_to_earth); + + if (_range_sensor.isDataHealthy()) { + // correct the range data for position offset relative to the IMU + const Vector3f pos_offset_body = _params.rng_pos_body - _params.imu_pos_body; + const Vector3f pos_offset_earth = _R_to_earth * pos_offset_body; + _range_sensor.setRange(_range_sensor.getRange() + pos_offset_earth(2) / _range_sensor.getCosTilt()); + } } - if (_range_sensor.isDataHealthy()) { - // correct the range data for position offset relative to the IMU - const Vector3f pos_offset_body = _params.rng_pos_body - _params.imu_pos_body; - const Vector3f pos_offset_earth = _R_to_earth * pos_offset_body; - _range_sensor.setRange(_range_sensor.getRange() + pos_offset_earth(2) / _range_sensor.getCosTilt()); + if (_flow_buffer) { + // We don't fuse flow data immediately because we have to wait for the mid integration point to fall behind the fusion time horizon. + // This means we stop looking for new data until the old data has been fused, unless we are not fusing optical flow, + // in this case we need to empty the buffer + if (!_flow_data_ready || !_control_status.flags.opt_flow) { + _flow_data_ready = _flow_buffer->pop_first_older_than(_imu_sample_delayed.time_us, &_flow_sample_delayed); + } + + // check if we should fuse flow data for terrain estimation + if (!_flow_for_terrain_data_ready && _flow_data_ready && _control_status.flags.in_air) { + // TODO: WARNING, _flow_data_ready can be modified in controlOpticalFlowFusion + // due to some checks failing + // only fuse flow for terrain if range data hasn't been fused for 5 seconds + _flow_for_terrain_data_ready = isTimedOut(_time_last_hagl_fuse, (uint64_t)5E6); + // only fuse flow for terrain if the main filter is not fusing flow and we are using gps + _flow_for_terrain_data_ready &= (!_control_status.flags.opt_flow && _control_status.flags.gps); + } } - // We don't fuse flow data immediately because we have to wait for the mid integration point to fall behind the fusion time horizon. - // This means we stop looking for new data until the old data has been fused, unless we are not fusing optical flow, - // in this case we need to empty the buffer - if (!_flow_data_ready || !_control_status.flags.opt_flow) { - _flow_data_ready = _flow_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_flow_sample_delayed); + if (_ext_vision_buffer) { + _ev_data_ready = _ext_vision_buffer->pop_first_older_than(_imu_sample_delayed.time_us, &_ev_sample_delayed); } - // check if we should fuse flow data for terrain estimation - if (!_flow_for_terrain_data_ready && _flow_data_ready && _control_status.flags.in_air) { - // TODO: WARNING, _flow_data_ready can be modified in controlOpticalFlowFusion - // due to some checks failing - // only fuse flow for terrain if range data hasn't been fused for 5 seconds - _flow_for_terrain_data_ready = isTimedOut(_time_last_hagl_fuse, (uint64_t)5E6); - // only fuse flow for terrain if the main filter is not fusing flow and we are using gps - _flow_for_terrain_data_ready &= (!_control_status.flags.opt_flow && _control_status.flags.gps); + if (_airspeed_buffer) { + _tas_data_ready = _airspeed_buffer->pop_first_older_than(_imu_sample_delayed.time_us, &_airspeed_sample_delayed); } - _ev_data_ready = _ext_vision_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_ev_sample_delayed); - _tas_data_ready = _airspeed_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_airspeed_sample_delayed); - // check for height sensor timeouts and reset and change sensor if necessary controlHeightSensorTimeouts(); @@ -632,8 +651,12 @@ void Ekf::controlHeightSensorTimeouts() if (_control_status.flags.baro_hgt) { // check if GPS height is available - const gpsSample &gps_init = _gps_buffer.get_newest(); - const bool gps_hgt_accurate = (gps_init.vacc < _params.req_vacc); + bool gps_hgt_accurate = false; + + if (_gps_buffer) { + const gpsSample &gps_init = _gps_buffer->get_newest(); + gps_hgt_accurate = (gps_init.vacc < _params.req_vacc); + } // check for inertial sensing errors in the last BADACC_PROBATION seconds const bool prev_bad_vert_accel = isRecent(_time_bad_vert_accel, BADACC_PROBATION); @@ -660,13 +683,21 @@ void Ekf::controlHeightSensorTimeouts() } else if (_control_status.flags.gps_hgt) { // check if GPS height is available - const gpsSample &gps_init = _gps_buffer.get_newest(); - const bool gps_hgt_accurate = (gps_init.vacc < _params.req_vacc); + bool gps_hgt_accurate = false; + + if (_gps_buffer) { + const gpsSample &gps_init = _gps_buffer->get_newest(); + gps_hgt_accurate = (gps_init.vacc < _params.req_vacc); + } // check the baro height source for consistency and freshness - const baroSample &baro_init = _baro_buffer.get_newest(); - const float baro_innov = _state.pos(2) - (_hgt_sensor_offset - baro_init.hgt + _baro_hgt_offset); - const bool baro_data_consistent = fabsf(baro_innov) < (sq(_params.baro_noise) + P(9, 9)) * sq(_params.baro_innov_gate); + bool baro_data_consistent = false; + + if (_baro_buffer) { + const baroSample &baro_init = _baro_buffer->get_newest(); + const float baro_innov = _state.pos(2) - (_hgt_sensor_offset - baro_init.hgt + _baro_hgt_offset); + baro_data_consistent = fabsf(baro_innov) < (sq(_params.baro_noise) + P(9, 9)) * sq(_params.baro_innov_gate); + } // if baro data is acceptable and GPS data is inaccurate, reset height to baro const bool reset_to_baro = !_baro_hgt_faulty && @@ -702,8 +733,12 @@ void Ekf::controlHeightSensorTimeouts() } else if (_control_status.flags.ev_hgt) { // check if vision data is available - const extVisionSample &ev_init = _ext_vision_buffer.get_newest(); - const bool ev_data_available = isRecent(ev_init.time_us, 2 * EV_MAX_INTERVAL); + bool ev_data_available = false; + + if (_ext_vision_buffer) { + const extVisionSample &ev_init = _ext_vision_buffer->get_newest(); + ev_data_available = isRecent(ev_init.time_us, 2 * EV_MAX_INTERVAL); + } if (ev_data_available) { request_height_reset = true; @@ -784,7 +819,7 @@ void Ekf::checkVerticalAccelerationHealth() const bool bad_vert_accel = (are_vertical_pos_and_vel_independant || is_clipping_frequently) && is_inertial_nav_falling; if (bad_vert_accel) { - _time_bad_vert_accel = _time_last_imu; + _time_bad_vert_accel = _time_last_imu; } else { _time_good_vert_accel = _time_last_imu; @@ -807,7 +842,7 @@ void Ekf::controlHeightFusion() switch (_params.vdist_sensor_type) { default: - ECL_ERR("Invalid hgt mode: %d", _params.vdist_sensor_type); + ECL_ERR("Invalid hgt mode: %" PRIi32, _params.vdist_sensor_type); // FALLTHROUGH case VDIST_SENSOR_BARO: @@ -825,6 +860,7 @@ void Ekf::controlHeightFusion() break; case VDIST_SENSOR_RANGE: + // If we are supposed to be using range finder data as the primary height sensor, have bad range measurements // and are on the ground, then synthesise a measurement at the expected on ground value if (!_control_status.flags.in_air @@ -845,6 +881,7 @@ void Ekf::controlHeightFusion() break; case VDIST_SENSOR_GPS: + // NOTE: emergency fallback due to extended loss of currently selected sensor data or failure // to pass innovation cinsistency checks is handled elsewhere in Ekf::controlHeightSensorTimeouts. // Do switching between GPS and rangefinder if using range finder as a height source when close @@ -870,6 +907,7 @@ void Ekf::controlHeightFusion() break; case VDIST_SENSOR_EV: + // don't start using EV data unless data is arriving frequently if (!_control_status.flags.ev_hgt && isRecent(_time_last_ext_vision, 2 * EV_MAX_INTERVAL)) { startEvHgtFusion(); @@ -1022,10 +1060,9 @@ void Ekf::controlDragFusion() _control_status.flags.wind = true; resetWind(); - } else if (_drag_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_drag_sample_delayed)) { + } else if (_drag_buffer && _drag_buffer->pop_first_older_than(_imu_sample_delayed.time_us, &_drag_sample_delayed)) { fuseDrag(); } - } } @@ -1089,7 +1126,11 @@ void Ekf::controlFakePosFusion() void Ekf::controlAuxVelFusion() { - const bool data_ready = _auxvel_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_auxvel_sample_delayed); + bool data_ready = false; + + if (_auxvel_buffer) { + data_ready = _auxvel_buffer->pop_first_older_than(_imu_sample_delayed.time_us, &_auxvel_sample_delayed); + } if (data_ready && isHorizontalAidingActive()) { diff --git a/src/modules/ekf2/EKF/ekf.cpp b/src/modules/ekf2/EKF/ekf.cpp index c506b4f7cd..5feaf11946 100644 --- a/src/modules/ekf2/EKF/ekf.cpp +++ b/src/modules/ekf2/EKF/ekf.cpp @@ -143,7 +143,7 @@ bool Ekf::initialiseFilter() } // Sum the magnetometer measurements - if (_mag_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_mag_sample_delayed)) { + if (_mag_buffer && _mag_buffer->pop_first_older_than(_imu_sample_delayed.time_us, &_mag_sample_delayed)) { if (_mag_sample_delayed.time_us != 0) { if (_mag_counter == 0) { _mag_lpf.reset(_mag_sample_delayed.mag); @@ -157,7 +157,7 @@ bool Ekf::initialiseFilter() } // accumulate enough height measurements to be confident in the quality of the data - if (_baro_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_baro_sample_delayed)) { + if (_baro_buffer && _baro_buffer->pop_first_older_than(_imu_sample_delayed.time_us, &_baro_sample_delayed)) { if (_baro_sample_delayed.time_us != 0) { if (_baro_counter == 0) { _baro_hgt_offset = _baro_sample_delayed.hgt; @@ -325,10 +325,13 @@ void Ekf::calculateOutputStates(const imuSample &imu) // Note fixed coefficients are used to save operations. The exact time constant is not important. _yaw_rate_lpf_ef = 0.95f * _yaw_rate_lpf_ef + 0.05f * spin_del_ang_D / imu.delta_ang_dt; + + _output_new.time_us = imu.time_us; + _output_vert_new.time_us = imu.time_us; + const Quatf dq(AxisAnglef{delta_angle}); // rotate the previous INS quaternion by the delta quaternions - _output_new.time_us = imu.time_us; _output_new.quat_nominal = _output_new.quat_nominal * dq; // the quaternions must always be normalised after modification diff --git a/src/modules/ekf2/EKF/ekf.h b/src/modules/ekf2/EKF/ekf.h index 4c4f9d1ce2..27026f531f 100644 --- a/src/modules/ekf2/EKF/ekf.h +++ b/src/modules/ekf2/EKF/ekf.h @@ -546,8 +546,8 @@ private: terrain_fusion_status_u _hagl_sensor_status{}; ///< Struct indicating type of sensor used to estimate height above ground // height sensor status - bool _baro_hgt_faulty{false}; ///< true if valid baro data is unavailable for use - bool _gps_hgt_intermittent{false}; ///< true if gps height into the buffer is intermittent + bool _baro_hgt_faulty{true}; ///< true if valid baro data is unavailable for use + bool _gps_hgt_intermittent{true}; ///< true if gps height into the buffer is intermittent // imu fault status uint64_t _time_bad_vert_accel{0}; ///< last time a bad vertical accel was detected (uSec) diff --git a/src/modules/ekf2/EKF/ekf_helper.cpp b/src/modules/ekf2/EKF/ekf_helper.cpp index ff2cb4f6ed..df74794247 100644 --- a/src/modules/ekf2/EKF/ekf_helper.cpp +++ b/src/modules/ekf2/EKF/ekf_helper.cpp @@ -255,9 +255,6 @@ void Ekf::resetVerticalPositionTo(const float &new_vert_pos) // Reset height state using the last height measurement void Ekf::resetHeight() { - // Get the most recent GPS data - const gpsSample &gps_newest = _gps_buffer.get_newest(); - // reset the vertical position if (_control_status.flags.rng_hgt) { float dist_bottom; @@ -277,15 +274,18 @@ void Ekf::resetHeight() P.uncorrelateCovarianceSetVariance<1>(9, sq(_params.range_noise)); // reset the baro offset which is subtracted from the baro reading if we need to use it as a backup - const baroSample &baro_newest = _baro_buffer.get_newest(); - _baro_hgt_offset = baro_newest.hgt + _state.pos(2); + if (_baro_buffer) { + const baroSample &baro_newest = _baro_buffer->get_newest(); + _baro_hgt_offset = baro_newest.hgt + _state.pos(2); + } } else if (_control_status.flags.baro_hgt) { // initialize vertical position with newest baro measurement - const baroSample &baro_newest = _baro_buffer.get_newest(); - if (!_baro_hgt_faulty) { - resetVerticalPositionTo(-baro_newest.hgt + _baro_hgt_offset); + if (_baro_buffer) { + const baroSample &baro_newest = _baro_buffer->get_newest(); + resetVerticalPositionTo(-baro_newest.hgt + _baro_hgt_offset); + } // the state variance is the same as the observation P.uncorrelateCovarianceSetVariance<1>(9, sq(_params.baro_noise)); @@ -296,15 +296,18 @@ void Ekf::resetHeight() } else if (_control_status.flags.gps_hgt) { // initialize vertical position and velocity with newest gps measurement - if (!_gps_hgt_intermittent) { + if (!_gps_hgt_intermittent && _gps_buffer) { + const gpsSample &gps_newest = _gps_buffer->get_newest(); resetVerticalPositionTo(_hgt_sensor_offset - gps_newest.hgt + _gps_alt_ref); // the state variance is the same as the observation P.uncorrelateCovarianceSetVariance<1>(9, sq(gps_newest.vacc)); // reset the baro offset which is subtracted from the baro reading if we need to use it as a backup - const baroSample &baro_newest = _baro_buffer.get_newest(); - _baro_hgt_offset = baro_newest.hgt + _state.pos(2); + if (_baro_buffer) { + const baroSample &baro_newest = _baro_buffer->get_newest(); + _baro_hgt_offset = baro_newest.hgt + _state.pos(2); + } } else { // TODO: reset to last known gps based estimate @@ -312,20 +315,23 @@ void Ekf::resetHeight() } else if (_control_status.flags.ev_hgt) { // initialize vertical position with newest measurement - const extVisionSample &ev_newest = _ext_vision_buffer.get_newest(); + if (_ext_vision_buffer) { + const extVisionSample &ev_newest = _ext_vision_buffer->get_newest(); - // use the most recent data if it's time offset from the fusion time horizon is smaller - if (ev_newest.time_us >= _ev_sample_delayed.time_us) { - resetVerticalPositionTo(ev_newest.pos(2)); + // use the most recent data if it's time offset from the fusion time horizon is smaller + if (ev_newest.time_us >= _ev_sample_delayed.time_us) { + resetVerticalPositionTo(ev_newest.pos(2)); - } else { - resetVerticalPositionTo(_ev_sample_delayed.pos(2)); + } else { + resetVerticalPositionTo(_ev_sample_delayed.pos(2)); + } } } // reset the vertical velocity state - if (_control_status.flags.gps && !_gps_hgt_intermittent) { + if (_control_status.flags.gps && !_gps_hgt_intermittent && _gps_buffer) { // If we are using GPS, then use it to reset the vertical velocity + const gpsSample &gps_newest = _gps_buffer->get_newest(); resetVerticalVelocityTo(gps_newest.vel(2)); // the state variance is the same as the observation @@ -400,7 +406,7 @@ bool Ekf::realignYawGPS() const bool badMagYaw = (badYawErr && badVelInnov); if (badMagYaw) { - _num_bad_flight_yaw_events ++; + _num_bad_flight_yaw_events++; } // correct yaw angle using GPS ground course if compass yaw bad or yaw is previously not aligned @@ -719,6 +725,7 @@ void Ekf::setEkfGlobalOrigin(const double latitude, const double longitude, cons // reinitialize map projection to latitude, longitude, altitude, and reset position _pos_ref.initReference(latitude, longitude, _time_last_imu); + if (current_pos_available) { // reset horizontal position Vector2f position = _pos_ref.project(current_lat, current_lon); @@ -1337,7 +1344,7 @@ void Ekf::updateBaroHgtOffset() { // calculate a filtered offset between the baro origin and local NED origin if we are not // using the baro as a height reference - if (!_control_status.flags.baro_hgt && _baro_data_ready) { + if (!_control_status.flags.baro_hgt && _baro_data_ready && (_delta_time_baro_us != 0)) { const float local_time_step = math::constrain(1e-6f * _delta_time_baro_us, 0.0f, 1.0f); // apply a 10 second first order low pass filter to baro offset @@ -1361,7 +1368,7 @@ float Ekf::getGpsHeightVariance() void Ekf::updateBaroHgtBias() { // Baro bias estimation using GPS altitude - if (_baro_data_ready) { + if (_baro_data_ready && (_delta_time_baro_us != 0)) { const float dt = math::constrain(1e-6f * _delta_time_baro_us, 0.0f, 1.0f); _baro_b_est.setMaxStateNoise(_params.baro_noise); _baro_b_est.setProcessNoiseStdDev(_params.baro_drift_rate); diff --git a/src/modules/ekf2/EKF/estimator_interface.cpp b/src/modules/ekf2/EKF/estimator_interface.cpp index b68c034988..ac3053dd12 100644 --- a/src/modules/ekf2/EKF/estimator_interface.cpp +++ b/src/modules/ekf2/EKF/estimator_interface.cpp @@ -44,6 +44,19 @@ #include +EstimatorInterface::~EstimatorInterface() +{ + delete _gps_buffer; + delete _mag_buffer; + delete _baro_buffer; + delete _range_buffer; + delete _airspeed_buffer; + delete _flow_buffer; + delete _ext_vision_buffer; + delete _drag_buffer; + delete _auxvel_buffer; +} + // Accumulate imu data and store to buffer at desired rate void EstimatorInterface::setIMUData(const imuSample &imu_sample) { @@ -104,70 +117,59 @@ bool EstimatorInterface::checkIfVehicleAtRest(float dt, const imuSample &imu) void EstimatorInterface::setMagData(const magSample &mag_sample) { - if (!_initialised || _mag_buffer_fail) { + if (!_initialised) { return; } // Allocate the required buffer size if not previously done - // Do not retry if allocation has failed previously - if (_mag_buffer.get_length() < _obs_buffer_length) { - _mag_buffer_fail = !_mag_buffer.allocate(_obs_buffer_length); + if (_mag_buffer == nullptr) { + _mag_buffer = new RingBuffer(_obs_buffer_length); - if (_mag_buffer_fail) { + if (_mag_buffer == nullptr || !_mag_buffer->valid()) { + delete _mag_buffer; + _mag_buffer = nullptr; printBufferAllocationFailed("mag"); return; } } - // downsample to highest possible sensor rate - // by taking the average of incoming sample - _mag_sample_count++; - _mag_data_sum += mag_sample.mag; - _mag_timestamp_sum += mag_sample.time_us / 1000; // Dividing by 1000 to avoid overflow - // limit data rate to prevent data being lost if ((mag_sample.time_us - _time_last_mag) > _min_obs_interval_us) { _time_last_mag = mag_sample.time_us; magSample mag_sample_new; - // Use the time in the middle of the downsampling interval for the sample - mag_sample_new.time_us = 1000 * (_mag_timestamp_sum / _mag_sample_count); + mag_sample_new.time_us = mag_sample.time_us; mag_sample_new.time_us -= static_cast(_params.mag_delay_ms * 1000); mag_sample_new.time_us -= FILTER_UPDATE_PERIOD_MS * 1000 / 2; - mag_sample_new.mag = _mag_data_sum / _mag_sample_count; + mag_sample_new.mag = mag_sample.mag; - _mag_buffer.push(mag_sample_new); - - _mag_sample_count = 0; - _mag_data_sum.setZero(); - _mag_timestamp_sum = 0; + _mag_buffer->push(mag_sample_new); + } else { + ECL_ERR("mag data too fast %" PRIu64, mag_sample.time_us - _time_last_mag); } } void EstimatorInterface::setGpsData(const gps_message &gps) { - if (!_initialised || _gps_buffer_fail) { + if (!_initialised) { return; } // Allocate the required buffer size if not previously done - // Do not retry if allocation has failed previously - if (_gps_buffer.get_length() < _obs_buffer_length) { - _gps_buffer_fail = !_gps_buffer.allocate(_obs_buffer_length); + if (_gps_buffer == nullptr) { + _gps_buffer = new RingBuffer(_obs_buffer_length); - if (_gps_buffer_fail) { + if (_gps_buffer == nullptr || !_gps_buffer->valid()) { + delete _gps_buffer; + _gps_buffer = nullptr; printBufferAllocationFailed("GPS"); return; } } - // limit data rate to prevent data being lost - const bool need_gps = (_params.fusion_mode & MASK_USE_GPS) || (_params.vdist_sensor_type == VDIST_SENSOR_GPS); - - // TODO: remove checks that are not timing related - if (((gps.time_usec - _time_last_gps) > _min_obs_interval_us) && need_gps && gps.fix_type > 2) { + if ((gps.time_usec - _time_last_gps) > _min_obs_interval_us) { _time_last_gps = gps.time_usec; gpsSample gps_sample_new; @@ -202,67 +204,60 @@ void EstimatorInterface::setGpsData(const gps_message &gps) gps_sample_new.pos(1) = 0.0f; } - _gps_buffer.push(gps_sample_new); + _gps_buffer->push(gps_sample_new); + } else { + ECL_ERR("GPS data too fast %" PRIu64, gps.time_usec - _time_last_gps); } } void EstimatorInterface::setBaroData(const baroSample &baro_sample) { - if (!_initialised || _baro_buffer_fail) { + if (!_initialised) { return; } // Allocate the required buffer size if not previously done - // Do not retry if allocation has failed previously - if (_baro_buffer.get_length() < _obs_buffer_length) { - _baro_buffer_fail = !_baro_buffer.allocate(_obs_buffer_length); + if (_baro_buffer == nullptr) { + _baro_buffer = new RingBuffer(_obs_buffer_length); - if (_baro_buffer_fail) { + if (_baro_buffer == nullptr || !_baro_buffer->valid()) { + delete _baro_buffer; + _baro_buffer = nullptr; printBufferAllocationFailed("baro"); return; } } - // downsample to highest possible sensor rate - // by baro data by taking the average of incoming sample - _baro_sample_count++; - _baro_alt_sum += baro_sample.hgt; - _baro_timestamp_sum += baro_sample.time_us / 1000; // Dividing by 1000 to avoid overflow - // limit data rate to prevent data being lost if ((baro_sample.time_us - _time_last_baro) > _min_obs_interval_us) { _time_last_baro = baro_sample.time_us; - const float baro_alt_avg = _baro_alt_sum / (float)_baro_sample_count; - baroSample baro_sample_new; - baro_sample_new.hgt = compensateBaroForDynamicPressure(baro_alt_avg); + baro_sample_new.hgt = compensateBaroForDynamicPressure(baro_sample.hgt); - // Use the time in the middle of the downsampling interval for the sample - baro_sample_new.time_us = 1000 * (_baro_timestamp_sum / _baro_sample_count); + baro_sample_new.time_us = baro_sample.time_us; baro_sample_new.time_us -= static_cast(_params.baro_delay_ms * 1000); baro_sample_new.time_us -= FILTER_UPDATE_PERIOD_MS * 1000 / 2; - _baro_buffer.push(baro_sample_new); - - _baro_sample_count = 0; - _baro_alt_sum = 0.0f; - _baro_timestamp_sum = 0; + _baro_buffer->push(baro_sample_new); + } else { + ECL_ERR("baro data too fast %" PRIu64, baro_sample.time_us - _time_last_baro); } } void EstimatorInterface::setAirspeedData(const airspeedSample &airspeed_sample) { - if (!_initialised || _airspeed_buffer_fail) { + if (!_initialised) { return; } // Allocate the required buffer size if not previously done - // Do not retry if allocation has failed previously - if (_airspeed_buffer.get_length() < _obs_buffer_length) { - _airspeed_buffer_fail = !_airspeed_buffer.allocate(_obs_buffer_length); + if (_airspeed_buffer == nullptr) { + _airspeed_buffer = new RingBuffer(_obs_buffer_length); - if (_airspeed_buffer_fail) { + if (_airspeed_buffer == nullptr || !_airspeed_buffer->valid()) { + delete _airspeed_buffer; + _airspeed_buffer = nullptr; printBufferAllocationFailed("airspeed"); return; } @@ -277,22 +272,23 @@ void EstimatorInterface::setAirspeedData(const airspeedSample &airspeed_sample) airspeed_sample_new.time_us -= static_cast(_params.airspeed_delay_ms * 1000); airspeed_sample_new.time_us -= FILTER_UPDATE_PERIOD_MS * 1000 / 2; - _airspeed_buffer.push(airspeed_sample_new); + _airspeed_buffer->push(airspeed_sample_new); } } void EstimatorInterface::setRangeData(const rangeSample &range_sample) { - if (!_initialised || _range_buffer_fail) { + if (!_initialised) { return; } // Allocate the required buffer size if not previously done - // Do not retry if allocation has failed previously - if (_range_buffer.get_length() < _obs_buffer_length) { - _range_buffer_fail = !_range_buffer.allocate(_obs_buffer_length); + if (_range_buffer == nullptr) { + _range_buffer = new RingBuffer(_obs_buffer_length); - if (_range_buffer_fail) { + if (_range_buffer == nullptr || !_range_buffer->valid()) { + delete _range_buffer; + _range_buffer = nullptr; printBufferAllocationFailed("range"); return; } @@ -306,22 +302,23 @@ void EstimatorInterface::setRangeData(const rangeSample &range_sample) range_sample_new.time_us -= static_cast(_params.range_delay_ms * 1000); range_sample_new.time_us -= FILTER_UPDATE_PERIOD_MS * 1000 / 2; - _range_buffer.push(range_sample_new); + _range_buffer->push(range_sample_new); } } void EstimatorInterface::setOpticalFlowData(const flowSample &flow) { - if (!_initialised || _flow_buffer_fail) { + if (!_initialised) { return; } // Allocate the required buffer size if not previously done - // Do not retry if allocation has failed previously - if (_flow_buffer.get_length() < _imu_buffer_length) { - _flow_buffer_fail = !_flow_buffer.allocate(_imu_buffer_length); + if (_flow_buffer == nullptr) { + _flow_buffer = new RingBuffer(_imu_buffer_length); - if (_flow_buffer_fail) { + if (_flow_buffer == nullptr || !_flow_buffer->valid()) { + delete _flow_buffer; + _flow_buffer = nullptr; printBufferAllocationFailed("flow"); return; } @@ -336,23 +333,24 @@ void EstimatorInterface::setOpticalFlowData(const flowSample &flow) optflow_sample_new.time_us -= static_cast(_params.flow_delay_ms * 1000); optflow_sample_new.time_us -= FILTER_UPDATE_PERIOD_MS * 1000 / 2; - _flow_buffer.push(optflow_sample_new); + _flow_buffer->push(optflow_sample_new); } } // set attitude and position data derived from an external vision system void EstimatorInterface::setExtVisionData(const extVisionSample &evdata) { - if (!_initialised || _ev_buffer_fail) { + if (!_initialised) { return; } // Allocate the required buffer size if not previously done - // Do not retry if allocation has failed previously - if (_ext_vision_buffer.get_length() < _obs_buffer_length) { - _ev_buffer_fail = !_ext_vision_buffer.allocate(_obs_buffer_length); + if (_ext_vision_buffer == nullptr) { + _ext_vision_buffer = new RingBuffer(_obs_buffer_length); - if (_ev_buffer_fail) { + if (_ext_vision_buffer == nullptr || !_ext_vision_buffer->valid()) { + delete _ext_vision_buffer; + _ext_vision_buffer = nullptr; printBufferAllocationFailed("vision"); return; } @@ -367,22 +365,23 @@ void EstimatorInterface::setExtVisionData(const extVisionSample &evdata) ev_sample_new.time_us -= static_cast(_params.ev_delay_ms * 1000); ev_sample_new.time_us -= FILTER_UPDATE_PERIOD_MS * 1000 / 2; - _ext_vision_buffer.push(ev_sample_new); + _ext_vision_buffer->push(ev_sample_new); } } void EstimatorInterface::setAuxVelData(const auxVelSample &auxvel_sample) { - if (!_initialised || _auxvel_buffer_fail) { + if (!_initialised) { return; } // Allocate the required buffer size if not previously done - // Do not retry if allocation has failed previously - if (_auxvel_buffer.get_length() < _obs_buffer_length) { - _auxvel_buffer_fail = !_auxvel_buffer.allocate(_obs_buffer_length); + if (_auxvel_buffer == nullptr) { + _auxvel_buffer = new RingBuffer(_obs_buffer_length); - if (_auxvel_buffer_fail) { + if (_auxvel_buffer == nullptr || !_auxvel_buffer->valid()) { + delete _auxvel_buffer; + _auxvel_buffer = nullptr; printBufferAllocationFailed("aux vel"); return; } @@ -397,7 +396,7 @@ void EstimatorInterface::setAuxVelData(const auxVelSample &auxvel_sample) auxvel_sample_new.time_us -= static_cast(_params.auxvel_delay_ms * 1000); auxvel_sample_new.time_us -= FILTER_UPDATE_PERIOD_MS * 1000 / 2; - _auxvel_buffer.push(auxvel_sample_new); + _auxvel_buffer->push(auxvel_sample_new); } } @@ -405,14 +404,15 @@ void EstimatorInterface::setDragData(const imuSample &imu) { // down-sample the drag specific force data by accumulating and calculating the mean when // sufficient samples have been collected - if ((_params.fusion_mode & MASK_USE_DRAG) && !_drag_buffer_fail) { + if ((_params.fusion_mode & MASK_USE_DRAG)) { // Allocate the required buffer size if not previously done - // Do not retry if allocation has failed previously - if (_drag_buffer.get_length() < _obs_buffer_length) { - _drag_buffer_fail = !_drag_buffer.allocate(_obs_buffer_length); + if (_drag_buffer == nullptr) { + _drag_buffer = new RingBuffer(_obs_buffer_length); - if (_drag_buffer_fail) { + if (_drag_buffer == nullptr || !_drag_buffer->valid()) { + delete _drag_buffer; + _drag_buffer = nullptr; printBufferAllocationFailed("drag"); return; } @@ -440,7 +440,7 @@ void EstimatorInterface::setDragData(const imuSample &imu) _drag_down_sampled.time_us /= _drag_sample_count; // write to buffer - _drag_buffer.push(_drag_down_sampled); + _drag_buffer->push(_drag_down_sampled); // reset accumulators _drag_sample_count = 0; @@ -454,9 +454,14 @@ void EstimatorInterface::setDragData(const imuSample &imu) bool EstimatorInterface::initialise_interface(uint64_t timestamp) { // find the maximum time delay the buffers are required to handle - // it's reasonable to assume that barometer is always used, and its delay is low + // it's reasonable to assume that aux velocity device has low delay. TODO: check the delay only if the aux device is used - float max_time_delay_ms = math::max(_params.baro_delay_ms, _params.auxvel_delay_ms); + float max_time_delay_ms = math::max((float)_params.sensor_interval_max_ms, _params.auxvel_delay_ms); + + // using baro + if (_params.vdist_sensor_type == 0) { + max_time_delay_ms = math::max(_params.baro_delay_ms, max_time_delay_ms); + } // using airspeed if (_params.arsp_thr > FLT_EPSILON) { @@ -485,18 +490,20 @@ bool EstimatorInterface::initialise_interface(uint64_t timestamp) max_time_delay_ms = math::max(_params.ev_delay_ms, max_time_delay_ms); } - // calculate the IMU buffer length required to accomodate the maximum delay with some allowance for jitter - _imu_buffer_length = ceilf(max_time_delay_ms / FILTER_UPDATE_PERIOD_MS) + 1; + // calculate the IMU buffer length required to accommodate the maximum delay with some allowance for jitter + _imu_buffer_length = ceilf(max_time_delay_ms / FILTER_UPDATE_PERIOD_MS); // set the observation buffer length to handle the minimum time of arrival between observations in combination // with the worst case delay from current time to ekf fusion time // allow for worst case 50% extension of the ekf fusion time horizon delay due to timing jitter const float ekf_delay_ms = max_time_delay_ms * 1.5f; - _obs_buffer_length = ceilf(ekf_delay_ms / _params.sensor_interval_min_ms); + _obs_buffer_length = roundf(ekf_delay_ms / FILTER_UPDATE_PERIOD_MS); // limit to be no longer than the IMU buffer (we can't process data faster than the EKF prediction rate) _obs_buffer_length = math::min(_obs_buffer_length, _imu_buffer_length); + ECL_DEBUG("EKF max time delay %.1f ms, OBS length %d\n", (double)ekf_delay_ms, _obs_buffer_length); + if (!_imu_buffer.allocate(_imu_buffer_length) || !_output_buffer.allocate(_imu_buffer_length) || !_output_vert_buffer.allocate(_imu_buffer_length)) { @@ -550,15 +557,43 @@ void EstimatorInterface::printBufferAllocationFailed(const char *buffer_name) void EstimatorInterface::print_status() { - ECL_INFO("imu buffer: %d (%d Bytes)", _imu_buffer.get_length(), _imu_buffer.get_total_size()); - ECL_INFO("gps buffer: %d (%d Bytes)", _gps_buffer.get_length(), _gps_buffer.get_total_size()); - ECL_INFO("mag buffer: %d (%d Bytes)", _mag_buffer.get_length(), _mag_buffer.get_total_size()); - ECL_INFO("baro buffer: %d (%d Bytes)", _baro_buffer.get_length(), _baro_buffer.get_total_size()); - ECL_INFO("range buffer: %d (%d Bytes)", _range_buffer.get_length(), _range_buffer.get_total_size()); - ECL_INFO("airspeed buffer: %d (%d Bytes)", _airspeed_buffer.get_length(), _airspeed_buffer.get_total_size()); - ECL_INFO("flow buffer: %d (%d Bytes)", _flow_buffer.get_length(), _flow_buffer.get_total_size()); - ECL_INFO("vision buffer: %d (%d Bytes)", _ext_vision_buffer.get_length(), _ext_vision_buffer.get_total_size()); - ECL_INFO("output buffer: %d (%d Bytes)", _output_buffer.get_length(), _output_buffer.get_total_size()); - ECL_INFO("output vert buffer: %d (%d Bytes)", _output_vert_buffer.get_length(), _output_vert_buffer.get_total_size()); - ECL_INFO("drag buffer: %d (%d Bytes)", _drag_buffer.get_length(), _drag_buffer.get_total_size()); + printf("IMU average dt: %.6f seconds\n", (double)_dt_imu_avg); + printf("IMU buffer: %d (%d Bytes)\n", _imu_buffer.get_length(), _imu_buffer.get_total_size()); + + printf("minimum observation interval %d us\n", _min_obs_interval_us); + + if (_gps_buffer) { + printf("gps buffer: %d/%d (%d Bytes)\n", _gps_buffer->entries(), _gps_buffer->get_length(), _gps_buffer->get_total_size()); + } + + if (_mag_buffer) { + printf("mag buffer: %d/%d (%d Bytes)\n", _mag_buffer->entries(), _mag_buffer->get_length(), _mag_buffer->get_total_size()); + } + + if (_baro_buffer) { + printf("baro buffer: %d/%d (%d Bytes)\n", _baro_buffer->entries(), _baro_buffer->get_length(), _baro_buffer->get_total_size()); + } + + if (_range_buffer) { + printf("range buffer: %d/%d (%d Bytes)\n", _range_buffer->entries(), _range_buffer->get_length(), _range_buffer->get_total_size()); + } + + if (_airspeed_buffer) { + printf("airspeed buffer: %d/%d (%d Bytes)\n", _airspeed_buffer->entries(), _airspeed_buffer->get_length(), _airspeed_buffer->get_total_size()); + } + + if (_flow_buffer) { + printf("flow buffer: %d/%d (%d Bytes)\n", _flow_buffer->entries(), _flow_buffer->get_length(), _flow_buffer->get_total_size()); + } + + if (_ext_vision_buffer) { + printf("vision buffer: %d/%d (%d Bytes)\n", _ext_vision_buffer->entries(), _ext_vision_buffer->get_length(), _ext_vision_buffer->get_total_size()); + } + + if (_drag_buffer) { + printf("drag buffer: %d/%d (%d Bytes)\n", _drag_buffer->entries(), _drag_buffer->get_length(), _drag_buffer->get_total_size()); + } + + printf("output buffer: %d/%d (%d Bytes)\n", _output_buffer.entries(), _output_buffer.get_length(), _output_buffer.get_total_size()); + printf("output vert buffer: %d/%d (%d Bytes)\n", _output_vert_buffer.entries(), _output_vert_buffer.get_length(), _output_vert_buffer.get_total_size()); } diff --git a/src/modules/ekf2/EKF/estimator_interface.h b/src/modules/ekf2/EKF/estimator_interface.h index bfd23da1ce..65f1430b46 100644 --- a/src/modules/ekf2/EKF/estimator_interface.h +++ b/src/modules/ekf2/EKF/estimator_interface.h @@ -46,11 +46,18 @@ # define ECL_INFO PX4_DEBUG # define ECL_WARN PX4_DEBUG # define ECL_ERR PX4_DEBUG +# define ECL_DEBUG PX4_DEBUG #else # define ECL_INFO(X, ...) printf(X "\n", ##__VA_ARGS__) # define ECL_WARN(X, ...) fprintf(stderr, X "\n", ##__VA_ARGS__) # define ECL_ERR(X, ...) fprintf(stderr, X "\n", ##__VA_ARGS__) +# if defined(DEBUG_BUILD) +# define ECL_DEBUG(X, ...) fprintf(stderr, X "\n", ##__VA_ARGS__) +# else +# define ECL_DEBUG(X, ...) +#endif + #endif #include "common.h" @@ -263,7 +270,7 @@ public: protected: EstimatorInterface() = default; - virtual ~EstimatorInterface() = default; + virtual ~EstimatorInterface(); virtual bool init(uint64_t timestamp) = 0; @@ -365,15 +372,15 @@ protected: RingBuffer _output_buffer{12}; RingBuffer _output_vert_buffer{12}; - RingBuffer _gps_buffer; - RingBuffer _mag_buffer; - RingBuffer _baro_buffer; - RingBuffer _range_buffer; - RingBuffer _airspeed_buffer; - RingBuffer _flow_buffer; - RingBuffer _ext_vision_buffer; - RingBuffer _drag_buffer; - RingBuffer _auxvel_buffer; + RingBuffer *_gps_buffer{nullptr}; + RingBuffer *_mag_buffer{nullptr}; + RingBuffer *_baro_buffer{nullptr}; + RingBuffer *_range_buffer{nullptr}; + RingBuffer *_airspeed_buffer{nullptr}; + RingBuffer *_flow_buffer{nullptr}; + RingBuffer *_ext_vision_buffer{nullptr}; + RingBuffer *_drag_buffer{nullptr}; + RingBuffer *_auxvel_buffer{nullptr}; // timestamps of latest in buffer saved measurement in microseconds uint64_t _time_last_imu{0}; @@ -429,30 +436,11 @@ private: // [1] high frequency vibration level in the IMU delta angle data (rad) // [2] high frequency vibration level in the IMU delta velocity data (m/s) - // Used to down sample barometer data - uint64_t _baro_timestamp_sum{0}; // summed timestamp to provide the timestamp of the averaged sample - float _baro_alt_sum{0.0f}; // summed pressure altitude readings (m) - uint8_t _baro_sample_count{0}; // number of barometric altitude measurements summed - // Used by the multi-rotor specific drag force fusion uint8_t _drag_sample_count{0}; // number of drag specific force samples assumulated at the filter prediction rate float _drag_sample_time_dt{0.0f}; // time integral across all samples used to form _drag_down_sampled (sec) - // Used to downsample magnetometer data - uint64_t _mag_timestamp_sum{0}; - Vector3f _mag_data_sum{}; - uint8_t _mag_sample_count{0}; - // observation buffer final allocation failed - bool _gps_buffer_fail{false}; - bool _mag_buffer_fail{false}; - bool _baro_buffer_fail{false}; - bool _range_buffer_fail{false}; - bool _airspeed_buffer_fail{false}; - bool _flow_buffer_fail{false}; - bool _ev_buffer_fail{false}; - bool _drag_buffer_fail{false}; - bool _auxvel_buffer_fail{false}; - + uint64_t _last_allocation_fail_print{0}; }; #endif // !EKF_ESTIMATOR_INTERFACE_H diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp index ff8d442520..9d16b2aa6d 100644 --- a/src/modules/ekf2/EKF2.cpp +++ b/src/modules/ekf2/EKF2.cpp @@ -57,7 +57,6 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode): _odometry_pub(multi_mode ? ORB_ID(estimator_odometry) : ORB_ID(vehicle_odometry)), _wind_pub(multi_mode ? ORB_ID(estimator_wind) : ORB_ID(wind)), _params(_ekf.getParamHandle()), - _param_ekf2_min_obs_dt(_params->sensor_interval_min_ms), _param_ekf2_mag_delay(_params->mag_delay_ms), _param_ekf2_baro_delay(_params->baro_delay_ms), _param_ekf2_gps_delay(_params->gps_delay_ms), @@ -243,6 +242,10 @@ int EKF2::print_status() perf_print_counter(_msg_missed_odometry_perf); perf_print_counter(_msg_missed_optical_flow_perf); +#if defined(DEBUG_BUILD) + _ekf.print_status(); +#endif // DEBUG_BUILD + return 0; } @@ -272,6 +275,38 @@ void EKF2::Run() if (param_aspd_scale != PARAM_INVALID) { param_get(param_aspd_scale, &_airspeed_scale_factor); } + + // if using baro ensure sensor interval minimum is sufficient to accommodate system averaged baro output + if (_params->vdist_sensor_type == 0) { + float sens_baro_rate = 0.f; + + if (param_get(param_find("SENS_BARO_RATE"), &sens_baro_rate) == PX4_OK) { + if (sens_baro_rate > 0) { + float interval_ms = roundf(1000.f / sens_baro_rate); + + if (PX4_ISFINITE(interval_ms) && (interval_ms > _params->sensor_interval_max_ms)) { + PX4_DEBUG("updating sensor_interval_max_ms %.3f -> %.3f", (double)_params->sensor_interval_max_ms, (double)interval_ms); + _params->sensor_interval_max_ms = interval_ms; + } + } + } + } + + // if using mag ensure sensor interval minimum is sufficient to accommodate system averaged mag output + if (_params->mag_fusion_type != MAG_FUSE_TYPE_NONE) { + float sens_mag_rate = 0.f; + + if (param_get(param_find("SENS_MAG_RATE"), &sens_mag_rate) == PX4_OK) { + if (sens_mag_rate > 0) { + float interval_ms = roundf(1000.f / sens_mag_rate); + + if (PX4_ISFINITE(interval_ms) && (interval_ms > _params->sensor_interval_max_ms)) { + PX4_DEBUG("updating sensor_interval_max_ms %.3f -> %.3f", (double)_params->sensor_interval_max_ms, (double)interval_ms); + _params->sensor_interval_max_ms = interval_ms; + } + } + } + } } if (!_callback_registered) { diff --git a/src/modules/ekf2/EKF2.hpp b/src/modules/ekf2/EKF2.hpp index 55e9754c00..7e09533bd2 100644 --- a/src/modules/ekf2/EKF2.hpp +++ b/src/modules/ekf2/EKF2.hpp @@ -315,8 +315,6 @@ private: parameters *_params; ///< pointer to ekf parameter struct (located in _ekf class instance) DEFINE_PARAMETERS( - (ParamExtInt) - _param_ekf2_min_obs_dt, ///< Maximum time delay of any sensor used to increase buffer length to handle large timing jitter (mSec) (ParamExtFloat) _param_ekf2_mag_delay, ///< magnetometer measurement delay relative to the IMU (mSec) (ParamExtFloat) diff --git a/src/modules/ekf2/ekf2_params.c b/src/modules/ekf2/ekf2_params.c index 29f7a56ac8..ba474d1566 100644 --- a/src/modules/ekf2/ekf2_params.c +++ b/src/modules/ekf2/ekf2_params.c @@ -39,19 +39,6 @@ * */ -/** - * Minimum time of arrival delta between non-IMU observations before data is downsampled. - * - * Baro and Magnetometer data will be averaged before downsampling, other data will be point sampled resulting in loss of information. - * - * @group EKF2 - * @min 10 - * @max 50 - * @reboot_required true - * @unit ms - */ -PARAM_DEFINE_INT32(EKF2_MIN_OBS_DT, 20); - /** * Magnetometer measurement delay relative to IMU measurements * diff --git a/src/modules/ekf2/test/test_EKF_ringbuffer.cpp b/src/modules/ekf2/test/test_EKF_ringbuffer.cpp index 0839a9ea18..44cf3a2e43 100644 --- a/src/modules/ekf2/test/test_EKF_ringbuffer.cpp +++ b/src/modules/ekf2/test/test_EKF_ringbuffer.cpp @@ -46,11 +46,11 @@ class EkfRingBufferTest : public ::testing::Test public: sample _x, _y, _z; - RingBuffer *_buffer; + RingBuffer *_buffer{nullptr}; void SetUp() override { - _buffer = new RingBuffer(); + _buffer = new RingBuffer(3); _x.time_us = 1000000; _x.data[0] = _x.data[1] = _x.data[2] = 1.5f; From ffebd8e771c3f474ce08e9ad77d91155107cbff6 Mon Sep 17 00:00:00 2001 From: bresch Date: Tue, 18 Jan 2022 15:52:30 +0100 Subject: [PATCH 014/116] ekf2: initialize cos tilt variable assuming no tilt --- src/modules/ekf2/EKF/sensor_range_finder.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/ekf2/EKF/sensor_range_finder.hpp b/src/modules/ekf2/EKF/sensor_range_finder.hpp index c9dcaa03aa..f8935358a2 100644 --- a/src/modules/ekf2/EKF/sensor_range_finder.hpp +++ b/src/modules/ekf2/EKF/sensor_range_finder.hpp @@ -141,7 +141,7 @@ private: /* * Tilt check */ - float _cos_tilt_rng_to_earth{}; ///< 2,2 element of the rotation matrix from sensor frame to earth frame + float _cos_tilt_rng_to_earth{1.f}; ///< 2,2 element of the rotation matrix from sensor frame to earth frame float _range_cos_max_tilt{0.7071f}; ///< cosine of the maximum tilt angle from the vertical that permits use of range finder and flow data float _pitch_offset_rad{3.14f}; ///< range finder tilt rotation about the Y body axis float _sin_pitch_offset{0.0f}; ///< sine of the range finder tilt rotation about the Y body axis From 476c1e5c09c4a41727de76ad4fbccb0c1bf7a6f6 Mon Sep 17 00:00:00 2001 From: dagar Date: Wed, 19 Jan 2022 00:05:31 +0000 Subject: [PATCH 015/116] [AUTO COMMIT] update change indication --- .../test/change_indication/ekf_gsf_reset.csv | 778 +++++++++--------- .../ekf2/test/change_indication/iris_gps.csv | 698 ++++++++-------- 2 files changed, 738 insertions(+), 738 deletions(-) diff --git a/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv b/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv index 24772d3eb0..c6e4a5d5c4 100644 --- a/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv +++ b/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv @@ -1,391 +1,391 @@ 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00:00:00 2001 From: bresch Date: Tue, 18 Jan 2022 16:15:51 +0100 Subject: [PATCH 016/116] ekf2: split yaw estimator state getter into several functions --- src/modules/ekf2/EKF/EKFGSF_yaw.cpp | 11 ----------- src/modules/ekf2/EKF/EKFGSF_yaw.h | 6 +++--- src/modules/ekf2/EKF/ekf_helper.cpp | 6 +++--- 3 files changed, 6 insertions(+), 17 deletions(-) diff --git a/src/modules/ekf2/EKF/EKFGSF_yaw.cpp b/src/modules/ekf2/EKF/EKFGSF_yaw.cpp index ab6786f115..c02fa64763 100644 --- a/src/modules/ekf2/EKF/EKFGSF_yaw.cpp +++ b/src/modules/ekf2/EKF/EKFGSF_yaw.cpp @@ -533,17 +533,6 @@ Matrix3f EKFGSF_yaw::ahrsPredictRotMat(const Matrix3f &R, const Vector3f &g) return ret; } -bool EKFGSF_yaw::getYawData(float *yaw, float *yaw_variance) const -{ - if (_ekf_gsf_vel_fuse_started) { - *yaw = _gsf_yaw; - *yaw_variance = _gsf_yaw_variance; - return true; - } - - return false; -} - void EKFGSF_yaw::setVelocity(const Vector2f &velocity, float accuracy) { _vel_NE = velocity; diff --git a/src/modules/ekf2/EKF/EKFGSF_yaw.h b/src/modules/ekf2/EKF/EKFGSF_yaw.h index ebc28a77ed..55dc4f8cca 100644 --- a/src/modules/ekf2/EKF/EKFGSF_yaw.h +++ b/src/modules/ekf2/EKF/EKFGSF_yaw.h @@ -48,9 +48,9 @@ public: float innov_VE[N_MODELS_EKFGSF], float weight[N_MODELS_EKFGSF]) const; - // get yaw estimate and the corresponding variance - // return false if no yaw estimate available - bool getYawData(float *yaw, float *yaw_variance) const; + bool isActive() const { return _ekf_gsf_vel_fuse_started; } + float getYaw() const { return _gsf_yaw; } + float getYawVar() const { return _gsf_yaw_variance; } private: diff --git a/src/modules/ekf2/EKF/ekf_helper.cpp b/src/modules/ekf2/EKF/ekf_helper.cpp index df74794247..ce2514dd26 100644 --- a/src/modules/ekf2/EKF/ekf_helper.cpp +++ b/src/modules/ekf2/EKF/ekf_helper.cpp @@ -1729,18 +1729,18 @@ bool Ekf::resetYawToEKFGSF() { // don't allow reet using the EKF-GSF estimate until the filter has started fusing velocity // data and the yaw estimate has converged - float new_yaw, new_yaw_variance; - - if (!_yawEstimator.getYawData(&new_yaw, &new_yaw_variance)) { + if (!_yawEstimator.isActive()) { return false; } + const float new_yaw_variance = _yawEstimator.getYawVar(); const bool has_converged = new_yaw_variance < sq(_params.EKFGSF_yaw_err_max); if (!has_converged) { return false; } + const float new_yaw = _yawEstimator.getYaw(); resetQuatStateYaw(new_yaw, new_yaw_variance, true); // reset velocity and position states to GPS - if yaw is fixed then the filter should start to operate correctly From e89e3c1b0ca965c4e72a56e09cd13404af00b930 Mon Sep 17 00:00:00 2001 From: bresch Date: Tue, 18 Jan 2022 16:53:58 +0100 Subject: [PATCH 017/116] ekf2: extract logic to test yaw emergency estimate quality --- src/modules/ekf2/EKF/ekf.h | 3 +++ src/modules/ekf2/EKF/ekf_helper.cpp | 25 +++++++++++++------------ 2 files changed, 16 insertions(+), 12 deletions(-) diff --git a/src/modules/ekf2/EKF/ekf.h b/src/modules/ekf2/EKF/ekf.h index 27026f531f..a9269bdcb1 100644 --- a/src/modules/ekf2/EKF/ekf.h +++ b/src/modules/ekf2/EKF/ekf.h @@ -1036,6 +1036,9 @@ private: // Returns true if the reset was successful bool resetYawToEKFGSF(); + // Returns true if the output of the yaw emergency estimator can be used for a reset + bool isYawEmergencyEstimateAvailable() const; + void resetGpsDriftCheckFilters(); }; diff --git a/src/modules/ekf2/EKF/ekf_helper.cpp b/src/modules/ekf2/EKF/ekf_helper.cpp index ce2514dd26..f4ea06d8f5 100644 --- a/src/modules/ekf2/EKF/ekf_helper.cpp +++ b/src/modules/ekf2/EKF/ekf_helper.cpp @@ -1727,21 +1727,11 @@ void Ekf::resetQuatStateYaw(float yaw, float yaw_variance, bool update_buffer) // Returns true if the reset was successful bool Ekf::resetYawToEKFGSF() { - // don't allow reet using the EKF-GSF estimate until the filter has started fusing velocity - // data and the yaw estimate has converged - if (!_yawEstimator.isActive()) { + if (!isYawEmergencyEstimateAvailable()) { return false; } - const float new_yaw_variance = _yawEstimator.getYawVar(); - const bool has_converged = new_yaw_variance < sq(_params.EKFGSF_yaw_err_max); - - if (!has_converged) { - return false; - } - - const float new_yaw = _yawEstimator.getYaw(); - resetQuatStateYaw(new_yaw, new_yaw_variance, true); + resetQuatStateYaw(_yawEstimator.getYaw(), _yawEstimator.getYawVar(), true); // reset velocity and position states to GPS - if yaw is fixed then the filter should start to operate correctly resetVelocity(); @@ -1782,6 +1772,17 @@ bool Ekf::resetYawToEKFGSF() return true; } +bool Ekf::isYawEmergencyEstimateAvailable() const +{ + // don't allow reet using the EKF-GSF estimate until the filter has started fusing velocity + // data and the yaw estimate has converged + if (!_yawEstimator.isActive()) { + return false; + } + + return _yawEstimator.getYawVar() < sq(_params.EKFGSF_yaw_err_max); +} + bool Ekf::getDataEKFGSF(float *yaw_composite, float *yaw_variance, float yaw[N_MODELS_EKFGSF], float innov_VN[N_MODELS_EKFGSF], float innov_VE[N_MODELS_EKFGSF], float weight[N_MODELS_EKFGSF]) { From 19c98b8841cf43c2a3c43fa0f6ed5460f563c9da Mon Sep 17 00:00:00 2001 From: Thomas Stastny Date: Wed, 19 Jan 2022 14:52:28 +0100 Subject: [PATCH 018/116] npfg: fix typo in Vector2f indexing --- src/lib/npfg/npfg.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/lib/npfg/npfg.cpp b/src/lib/npfg/npfg.cpp index 54a21625a0..870a0b4065 100644 --- a/src/lib/npfg/npfg.cpp +++ b/src/lib/npfg/npfg.cpp @@ -318,7 +318,7 @@ Vector2f NPFG::bearingVec(const Vector2f &unit_path_tangent, const float look_ah const float cos_look_ahead_ang = cosf(look_ahead_ang); const float sin_look_ahead_ang = sinf(look_ahead_ang); - Vector2f unit_path_normal(-unit_path_tangent(1.0f), unit_path_tangent(0.0f)); // right handed 90 deg (clockwise) turn + Vector2f unit_path_normal(-unit_path_tangent(1), unit_path_tangent(0)); // right handed 90 deg (clockwise) turn Vector2f unit_track_error = -((signed_track_error < 0.0f) ? -1.0f : 1.0f) * unit_path_normal; return cos_look_ahead_ang * unit_track_error + sin_look_ahead_ang * unit_path_tangent; From dec5e7e9c842bf631d3778c96417e7bf603bf294 Mon Sep 17 00:00:00 2001 From: Jaeyoung-Lim Date: Wed, 19 Jan 2022 11:57:55 +0100 Subject: [PATCH 019/116] Publish orbit status whenever the vehicle is in loiter This commit moves the publish orbit status to be published whenever the vehicle is considering a loiter setpoint --- src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp index 6b79350f98..235f6ab159 100644 --- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp +++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp @@ -843,10 +843,6 @@ FixedwingPositionControl::control_auto(const hrt_abstime &now, const Vector2d &c _att_sp.pitch_reset_integral = false; _att_sp.yaw_reset_integral = false; - if (pos_sp_curr.valid && pos_sp_curr.type == position_setpoint_s::SETPOINT_TYPE_LOITER) { - publishOrbitStatus(pos_sp_curr); - } - position_setpoint_s current_sp = pos_sp_curr; if (_vehicle_status.in_transition_to_fw) { @@ -893,6 +889,8 @@ FixedwingPositionControl::control_auto(const hrt_abstime &now, const Vector2d &c case position_setpoint_s::SETPOINT_TYPE_LOITER: control_auto_loiter(now, dt, curr_pos, ground_speed, pos_sp_prev, current_sp, pos_sp_next); + publishOrbitStatus(pos_sp_curr); + break; case position_setpoint_s::SETPOINT_TYPE_LAND: From 0dea56f88b80bb8ef74c3503cc47cceb53e7f7d2 Mon Sep 17 00:00:00 2001 From: Jaeyoung Lim Date: Wed, 19 Jan 2022 14:39:59 +0100 Subject: [PATCH 020/116] Use current_sp for publishing orbit status --- src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp index 235f6ab159..68d24fad2a 100644 --- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp +++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp @@ -884,12 +884,12 @@ FixedwingPositionControl::control_auto(const hrt_abstime &now, const Vector2d &c break; case position_setpoint_s::SETPOINT_TYPE_VELOCITY: - control_auto_velocity(now, dt, curr_pos, ground_speed, pos_sp_prev, pos_sp_curr); + control_auto_velocity(now, dt, curr_pos, ground_speed, pos_sp_prev, current_sp); break; case position_setpoint_s::SETPOINT_TYPE_LOITER: control_auto_loiter(now, dt, curr_pos, ground_speed, pos_sp_prev, current_sp, pos_sp_next); - publishOrbitStatus(pos_sp_curr); + publishOrbitStatus(current_sp); break; From 446729566d3a14ebe3574f19d39abd1d5fc4693b Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Wed, 19 Jan 2022 16:22:11 -0500 Subject: [PATCH 021/116] platforms/nuttx: px4io_serial always cleanup DMA before next bus exchange - this really shouldn't be necessary, but worst case it's harmless and much better than potentially falling out of the sky --- .../nuttx/src/px4/stm/stm32f4/px4io_serial/px4io_serial.cpp | 3 +++ .../nuttx/src/px4/stm/stm32f7/px4io_serial/px4io_serial.cpp | 3 +++ .../nuttx/src/px4/stm/stm32h7/px4io_serial/px4io_serial.cpp | 3 +++ 3 files changed, 9 insertions(+) diff --git a/platforms/nuttx/src/px4/stm/stm32f4/px4io_serial/px4io_serial.cpp b/platforms/nuttx/src/px4/stm/stm32f4/px4io_serial/px4io_serial.cpp index bb0c6a8d16..c86b67c73f 100644 --- a/platforms/nuttx/src/px4/stm/stm32f4/px4io_serial/px4io_serial.cpp +++ b/platforms/nuttx/src/px4/stm/stm32f4/px4io_serial/px4io_serial.cpp @@ -225,6 +225,9 @@ ArchPX4IOSerial::ioctl(unsigned operation, unsigned &arg) int ArchPX4IOSerial::_bus_exchange(IOPacket *_packet) { + // to be paranoid ensure all previous DMA transfers are cleared + _abort_dma(); + _current_packet = _packet; /* clear any lingering error status */ diff --git a/platforms/nuttx/src/px4/stm/stm32f7/px4io_serial/px4io_serial.cpp b/platforms/nuttx/src/px4/stm/stm32f7/px4io_serial/px4io_serial.cpp index fab13855c3..a640166e05 100644 --- a/platforms/nuttx/src/px4/stm/stm32f7/px4io_serial/px4io_serial.cpp +++ b/platforms/nuttx/src/px4/stm/stm32f7/px4io_serial/px4io_serial.cpp @@ -237,6 +237,9 @@ ArchPX4IOSerial::ioctl(unsigned operation, unsigned &arg) int ArchPX4IOSerial::_bus_exchange(IOPacket *_packet) { + // to be paranoid ensure all previous DMA transfers are cleared + _abort_dma(); + _current_packet = _packet; /* clear data that may be in the RDR and clear overrun error: */ diff --git a/platforms/nuttx/src/px4/stm/stm32h7/px4io_serial/px4io_serial.cpp b/platforms/nuttx/src/px4/stm/stm32h7/px4io_serial/px4io_serial.cpp index b6bd7e6414..1492a7fc19 100644 --- a/platforms/nuttx/src/px4/stm/stm32h7/px4io_serial/px4io_serial.cpp +++ b/platforms/nuttx/src/px4/stm/stm32h7/px4io_serial/px4io_serial.cpp @@ -275,6 +275,9 @@ ArchPX4IOSerial::ioctl(unsigned operation, unsigned &arg) int ArchPX4IOSerial::_bus_exchange(IOPacket *_packet) { + // to be paranoid ensure all previous DMA transfers are cleared + _abort_dma(); + _current_packet = _packet; /* clear data that may be in the RDR and clear overrun error: */ From a2260e53da48495644e128562ad80c1c276e7bef Mon Sep 17 00:00:00 2001 From: bresch Date: Tue, 18 Jan 2022 16:55:45 +0100 Subject: [PATCH 022/116] ekf2: replace yaw failure detection criteria The existing logic using the angle between velocity vectors failed to determine a yaw failure in practice because the state velocity is often too small compared to its uncertainty to be used. In all the failures reported, the yaw emergency estimator converged properly and yaw reset would have fixed the issue. A much simpler check using the yaw difference between the main EKF and the emergency estimator is now used to tell if the vel/pos update failure is most likely caused by a wrong heading. --- src/modules/ekf2/EKF/control.cpp | 26 -------------------------- src/modules/ekf2/EKF/ekf.h | 2 +- src/modules/ekf2/EKF/gps_control.cpp | 17 +++++++++++++++-- 3 files changed, 16 insertions(+), 29 deletions(-) diff --git a/src/modules/ekf2/EKF/control.cpp b/src/modules/ekf2/EKF/control.cpp index e3fe101ac5..e1bc47a721 100644 --- a/src/modules/ekf2/EKF/control.cpp +++ b/src/modules/ekf2/EKF/control.cpp @@ -1150,32 +1150,6 @@ void Ekf::controlAuxVelFusion() } } - -bool Ekf::isVelStateAlignedWithObs() const -{ - /* Do sanity check to see if the innovation failures is likely caused by a yaw angle error - * by measuring the angle between the velocity estimate and the last velocity observation - * Only use those vectors if their norm if they are larger than 4 times their noise standard deviation - */ - const float vel_obs_xy_norm_sq = _last_vel_obs.xy().norm_squared(); - const float vel_state_xy_norm_sq = _state.vel.xy().norm_squared(); - - const float vel_obs_threshold_sq = fmaxf(sq(4.f) * (_last_vel_obs_var(0) + _last_vel_obs_var(1)), sq(0.4f)); - const float vel_state_threshold_sq = fmaxf(sq(4.f) * (P(4, 4) + P(5, 5)), sq(0.4f)); - - if (vel_obs_xy_norm_sq > vel_obs_threshold_sq && vel_state_xy_norm_sq > vel_state_threshold_sq) { - const float obs_dot_vel = Vector2f(_last_vel_obs).dot(_state.vel.xy()); - const float cos_sq = sq(obs_dot_vel) / (vel_state_xy_norm_sq * vel_obs_xy_norm_sq); - - if (cos_sq < sq(cosf(math::radians(25.f))) || obs_dot_vel < 0.f) { - // The angle between the observation and the velocity estimate is greater than 25 degrees - return false; - } - } - - return true; -} - bool Ekf::hasHorizontalAidingTimedOut() const { return isTimedOut(_time_last_hor_pos_fuse, _params.reset_timeout_max) diff --git a/src/modules/ekf2/EKF/ekf.h b/src/modules/ekf2/EKF/ekf.h index a9269bdcb1..60ffdffd69 100644 --- a/src/modules/ekf2/EKF/ekf.h +++ b/src/modules/ekf2/EKF/ekf.h @@ -822,7 +822,7 @@ private: void controlGpsFusion(); bool shouldResetGpsFusion() const; bool hasHorizontalAidingTimedOut() const; - bool isVelStateAlignedWithObs() const; + bool isYawFailure() const; void processYawEstimatorResetRequest(); void processVelPosResetRequest(); diff --git a/src/modules/ekf2/EKF/gps_control.cpp b/src/modules/ekf2/EKF/gps_control.cpp index 4ad248a1b5..eade218a4e 100644 --- a/src/modules/ekf2/EKF/gps_control.cpp +++ b/src/modules/ekf2/EKF/gps_control.cpp @@ -71,14 +71,13 @@ void Ekf::controlGpsFusion() fuseGpsVelPos(); if (shouldResetGpsFusion()){ - const bool is_yaw_failure = !isVelStateAlignedWithObs(); const bool was_gps_signal_lost = isTimedOut(_time_prev_gps_us, 1000000); /* A reset is not performed when getting GPS back after a significant period of no data * because the timeout could have been caused by bad GPS. * The total number of resets allowed per boot cycle is limited. */ - if (is_yaw_failure + if (isYawFailure() && _control_status.flags.in_air && !was_gps_signal_lost && _ekfgsf_yaw_reset_count < _params.EKFGSF_reset_count_limit) { @@ -188,6 +187,20 @@ bool Ekf::shouldResetGpsFusion() const return (is_reset_required || is_recent_takeoff_nav_failure || is_inflight_nav_failure); } +bool Ekf::isYawFailure() const +{ + if (!isYawEmergencyEstimateAvailable()) { + return false; + } + + const float euler_yaw = shouldUse321RotationSequence(_R_to_earth) + ? getEuler321Yaw(_R_to_earth) + : getEuler312Yaw(_R_to_earth); + const float yaw_error = wrap_pi(euler_yaw - _yawEstimator.getYaw()); + + return fabsf(yaw_error) > math::radians(25.f); +} + void Ekf::processYawEstimatorResetRequest() { /* The yaw reset to the EKF-GSF estimate can be requested externally at any time during flight. From bcd057ac3eb77ca4f1afef532a74843ada1bbe18 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Thu, 20 Jan 2022 16:34:41 +0100 Subject: [PATCH 023/116] uORB: fix copy-paste mistake in orb_print_message_internal Could have led to invalid memory access. --- platforms/common/uORB/uORB.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/platforms/common/uORB/uORB.cpp b/platforms/common/uORB/uORB.cpp index 31efad523c..786106235f 100644 --- a/platforms/common/uORB/uORB.cpp +++ b/platforms/common/uORB/uORB.cpp @@ -439,7 +439,7 @@ void orb_print_message_internal(const orb_metadata *meta, const void *data, bool } memcpy(topic_name, meta->o_fields + format_idx, topic_name_len); - field_name[topic_name_len] = '\0'; + topic_name[topic_name_len] = '\0'; // find the metadata const orb_metadata *const *topics = orb_get_topics(); From 0607982b234f4ddc0f8037829fcb051d8cb34b98 Mon Sep 17 00:00:00 2001 From: JaeyoungLim Date: Fri, 21 Jan 2022 09:13:03 +0100 Subject: [PATCH 024/116] Publish orbit status also when the waypoint is a loiter waypoint (#19048) * Publish orbit status also when the waypoint is a loiter waypoint * Remove redundant orbit status publishing --- src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp index 68d24fad2a..92e24042c1 100644 --- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp +++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp @@ -872,6 +872,11 @@ FixedwingPositionControl::control_auto(const hrt_abstime &now, const Vector2d &c _position_sp_type = position_sp_type; + if (position_sp_type == position_setpoint_s::SETPOINT_TYPE_LOITER + || current_sp.type == position_setpoint_s::SETPOINT_TYPE_LOITER) { + publishOrbitStatus(current_sp); + } + switch (position_sp_type) { case position_setpoint_s::SETPOINT_TYPE_IDLE: _att_sp.thrust_body[0] = 0.0f; @@ -889,8 +894,6 @@ FixedwingPositionControl::control_auto(const hrt_abstime &now, const Vector2d &c case position_setpoint_s::SETPOINT_TYPE_LOITER: control_auto_loiter(now, dt, curr_pos, ground_speed, pos_sp_prev, current_sp, pos_sp_next); - publishOrbitStatus(current_sp); - break; case position_setpoint_s::SETPOINT_TYPE_LAND: From 7cb8ed3a1f953e70a345df4d1180d53d7dd67305 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Tue, 18 Jan 2022 10:35:31 -0500 Subject: [PATCH 025/116] sensors/vehicle_gps_position: don't work with 64 time with 32 bit floats --- .../vehicle_gps_position/gps_blending.cpp | 17 +++++++++++++---- 1 file changed, 13 insertions(+), 4 deletions(-) diff --git a/src/modules/sensors/vehicle_gps_position/gps_blending.cpp b/src/modules/sensors/vehicle_gps_position/gps_blending.cpp index 72ab461c9e..b37d91c6ba 100644 --- a/src/modules/sensors/vehicle_gps_position/gps_blending.cpp +++ b/src/modules/sensors/vehicle_gps_position/gps_blending.cpp @@ -105,14 +105,23 @@ bool GpsBlending::blend_gps_data(uint64_t hrt_now_us) _np_gps_suitable_for_blending = 0; for (uint8_t i = 0; i < GPS_MAX_RECEIVERS_BLEND; i++) { - const float raw_dt = 1e-6f * ((float)_gps_state[i].timestamp - (float)_time_prev_us[i]); - const float present_dt = 1e-6f * ((float)hrt_now_us - (float)_gps_state[i].timestamp); + + float raw_dt = 0.f; + + if (_gps_state[i].timestamp > _time_prev_us[i]) { + raw_dt = 1e-6f * (_gps_state[i].timestamp - _time_prev_us[i]); + } + + float present_dt = 0.f; + + if (hrt_now_us > _gps_state[i].timestamp) { + present_dt = 1e-6f * (hrt_now_us - _gps_state[i].timestamp); + } if (raw_dt > 0.0f && raw_dt < GPS_TIMEOUT_S) { _gps_dt[i] = 0.1f * raw_dt + 0.9f * _gps_dt[i]; - } else if ((present_dt >= GPS_TIMEOUT_S) - && (_gps_state[i].timestamp > 0)) { + } else if ((present_dt >= GPS_TIMEOUT_S) && (_gps_state[i].timestamp > 0)) { // Timed out - kill the stored fix for this receiver and don't track its (stale) gps_dt _gps_state[i].timestamp = 0; _gps_state[i].fix_type = 0; From a11fe60135074f2ec992c08495c369701d01d742 Mon Sep 17 00:00:00 2001 From: David Sidrane Date: Fri, 21 Jan 2022 09:24:03 -0800 Subject: [PATCH 026/116] imxrt:ADC extend timeout --- platforms/nuttx/src/px4/nxp/imxrt/adc/adc.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/platforms/nuttx/src/px4/nxp/imxrt/adc/adc.cpp b/platforms/nuttx/src/px4/nxp/imxrt/adc/adc.cpp index bf1da72f69..be8992e516 100644 --- a/platforms/nuttx/src/px4/nxp/imxrt/adc/adc.cpp +++ b/platforms/nuttx/src/px4/nxp/imxrt/adc/adc.cpp @@ -180,7 +180,7 @@ uint32_t px4_arch_adc_sample(uint32_t base_address, unsigned channel) /* don't wait for more than 10us, since that means something broke * should reset here if we see this */ - if ((hrt_absolute_time() - now) > 10) { + if ((hrt_absolute_time() - now) > 30) { px4_leave_critical_section(flags); return UINT32_MAX; } From 4de9c598fa0a1a68b9b0d47253d8f686d7d23c14 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Thu, 20 Jan 2022 18:54:30 -0500 Subject: [PATCH 027/116] bmm150: retry probe up to 3 times --- .../magnetometer/bosch/bmm150/BMM150.cpp | 21 +++++++++++-------- .../magnetometer/bosch/bmm150/BMM150.hpp | 2 +- .../bosch/bmm150/Bosch_BMM150_registers.hpp | 2 +- .../magnetometer/bosch/bmm150/bmm150_main.cpp | 2 +- 4 files changed, 15 insertions(+), 12 deletions(-) diff --git a/src/drivers/magnetometer/bosch/bmm150/BMM150.cpp b/src/drivers/magnetometer/bosch/bmm150/BMM150.cpp index 74ee6c4d26..6d3dcb5b1d 100644 --- a/src/drivers/magnetometer/bosch/bmm150/BMM150.cpp +++ b/src/drivers/magnetometer/bosch/bmm150/BMM150.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2020-2022 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 @@ -84,17 +84,20 @@ void BMM150::print_status() int BMM150::probe() { - const uint8_t POWER_CONTROL = RegisterRead(Register::POWER_CONTROL); - const uint8_t CHIP_ID = RegisterRead(Register::CHIP_ID); + // 3 retries + for (int i = 0; i < 3; i++) { + const uint8_t POWER_CONTROL = RegisterRead(Register::POWER_CONTROL); + const uint8_t CHIP_ID = RegisterRead(Register::CHIP_ID); - PX4_DEBUG("POWER_CONTROL: 0x%02hhX, CHIP_ID: 0x%02hhX", POWER_CONTROL, CHIP_ID); + PX4_DEBUG("POWER_CONTROL: 0x%02hhX, CHIP_ID: 0x%02hhX", POWER_CONTROL, CHIP_ID); - // either power control bit is set and chip ID can be read, or both registers are 0x00 - if ((POWER_CONTROL & POWER_CONTROL_BIT::PowerControl) && (CHIP_ID == chip_identification_number)) { - return PX4_OK; + // either power control bit is set and chip ID can be read, or both registers are 0x00 + if ((POWER_CONTROL & POWER_CONTROL_BIT::PowerControl) && (CHIP_ID == chip_identification_number)) { + return PX4_OK; - } else if ((POWER_CONTROL == 0) && (CHIP_ID == 0)) { - return PX4_OK; + } else if ((POWER_CONTROL == 0) && (CHIP_ID == 0)) { + return PX4_OK; + } } return PX4_ERROR; diff --git a/src/drivers/magnetometer/bosch/bmm150/BMM150.hpp b/src/drivers/magnetometer/bosch/bmm150/BMM150.hpp index 9e3e201caa..2b715e1c09 100644 --- a/src/drivers/magnetometer/bosch/bmm150/BMM150.hpp +++ b/src/drivers/magnetometer/bosch/bmm150/BMM150.hpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2020-2022 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 diff --git a/src/drivers/magnetometer/bosch/bmm150/Bosch_BMM150_registers.hpp b/src/drivers/magnetometer/bosch/bmm150/Bosch_BMM150_registers.hpp index a3e89fa837..6248bb4ca3 100644 --- a/src/drivers/magnetometer/bosch/bmm150/Bosch_BMM150_registers.hpp +++ b/src/drivers/magnetometer/bosch/bmm150/Bosch_BMM150_registers.hpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2020-2022 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 diff --git a/src/drivers/magnetometer/bosch/bmm150/bmm150_main.cpp b/src/drivers/magnetometer/bosch/bmm150/bmm150_main.cpp index a388935338..50ad12df3a 100644 --- a/src/drivers/magnetometer/bosch/bmm150/bmm150_main.cpp +++ b/src/drivers/magnetometer/bosch/bmm150/bmm150_main.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020, 2021 PX4 Development Team. All rights reserved. + * Copyright (c) 2020-2022 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 From 92769bd2b299e5369e4265fb6804cbc1c7af7a79 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Tue, 18 Jan 2022 11:49:00 +0100 Subject: [PATCH 028/116] dshot: remove BOARD_DSHOT_MOTOR_ASSIGNMENT & handle timer channel gaps --- .../cubepilot/cubeorange/src/board_config.h | 1 - .../cubepilot/cubeyellow/src/board_config.h | 1 - boards/holybro/durandal-v1/src/board_config.h | 1 - boards/holybro/pix32v5/src/board_config.h | 1 - boards/modalai/fc-v1/src/board_config.h | 1 - boards/modalai/fc-v2/src/board_config.h | 1 - .../mro/ctrl-zero-h7-oem/src/board_config.h | 1 - boards/mro/ctrl-zero-h7/src/board_config.h | 1 - boards/mro/pixracerpro/src/board_config.h | 1 - boards/omnibus/f4sd/src/board_config.h | 1 - boards/px4/fmu-v2/src/board_config.h | 1 - boards/px4/fmu-v3/src/board_config.h | 1 - boards/px4/fmu-v4/src/board_config.h | 1 - boards/px4/fmu-v5/src/board_config.h | 1 - boards/px4/fmu-v5x/src/board_config.h | 1 - boards/px4/fmu-v6u/src/board_config.h | 1 - boards/px4/fmu-v6x/src/board_config.h | 1 - boards/spracing/h7extreme/src/board_config.h | 1 - boards/uvify/core/src/board_config.h | 1 - .../include/px4_platform/io_timer_init.h | 14 ++++++++++++ .../px4/nxp/imxrt/include/px4_arch/io_timer.h | 3 +++ .../nxp/kinetis/include/px4_arch/io_timer.h | 2 ++ .../nxp/s32k1xx/include/px4_arch/io_timer.h | 2 ++ .../rpi_common/include/px4_arch/io_timer.h | 2 ++ .../src/px4/stm/stm32_common/dshot/dshot.c | 22 +++++++------------ .../stm32_common/include/px4_arch/io_timer.h | 2 ++ 26 files changed, 33 insertions(+), 33 deletions(-) diff --git a/boards/cubepilot/cubeorange/src/board_config.h b/boards/cubepilot/cubeorange/src/board_config.h index 15e60d4400..b5e19ea752 100644 --- a/boards/cubepilot/cubeorange/src/board_config.h +++ b/boards/cubepilot/cubeorange/src/board_config.h @@ -149,7 +149,6 @@ #define BOARD_HAS_STATIC_MANIFEST 1 -#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5}; #define BOARD_ENABLE_CONSOLE_BUFFER diff --git a/boards/cubepilot/cubeyellow/src/board_config.h b/boards/cubepilot/cubeyellow/src/board_config.h index dfa27265c0..53fff3ac6e 100644 --- a/boards/cubepilot/cubeyellow/src/board_config.h +++ b/boards/cubepilot/cubeyellow/src/board_config.h @@ -144,7 +144,6 @@ #define BOARD_HAS_STATIC_MANIFEST 1 -#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5}; #define BOARD_ENABLE_CONSOLE_BUFFER diff --git a/boards/holybro/durandal-v1/src/board_config.h b/boards/holybro/durandal-v1/src/board_config.h index f18a2591e1..55a3b52238 100644 --- a/boards/holybro/durandal-v1/src/board_config.h +++ b/boards/holybro/durandal-v1/src/board_config.h @@ -181,7 +181,6 @@ #define BOARD_NUM_IO_TIMERS 4 -#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7, 9, 8}; /* Power supply control and monitoring GPIOs */ diff --git a/boards/holybro/pix32v5/src/board_config.h b/boards/holybro/pix32v5/src/board_config.h index 879a7ad168..61adf5d679 100644 --- a/boards/holybro/pix32v5/src/board_config.h +++ b/boards/holybro/pix32v5/src/board_config.h @@ -430,7 +430,6 @@ #define BOARD_NUM_IO_TIMERS 5 -#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7, 8, 9, 10}; __BEGIN_DECLS diff --git a/boards/modalai/fc-v1/src/board_config.h b/boards/modalai/fc-v1/src/board_config.h index 91411b9398..11e46d6586 100644 --- a/boards/modalai/fc-v1/src/board_config.h +++ b/boards/modalai/fc-v1/src/board_config.h @@ -262,7 +262,6 @@ #define BOARD_NUM_IO_TIMERS 5 -#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7}; __BEGIN_DECLS diff --git a/boards/modalai/fc-v2/src/board_config.h b/boards/modalai/fc-v2/src/board_config.h index caadee90b7..26f22e4b73 100644 --- a/boards/modalai/fc-v2/src/board_config.h +++ b/boards/modalai/fc-v2/src/board_config.h @@ -199,7 +199,6 @@ */ #define DIRECT_PWM_OUTPUT_CHANNELS 8 -#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7}; /* Power supply control and monitoring GPIOs */ #define GPIO_nVDD_USB_VALID /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13) /* Low for USB power, High for DC power */ diff --git a/boards/mro/ctrl-zero-h7-oem/src/board_config.h b/boards/mro/ctrl-zero-h7-oem/src/board_config.h index 7978f97427..c573b6522e 100644 --- a/boards/mro/ctrl-zero-h7-oem/src/board_config.h +++ b/boards/mro/ctrl-zero-h7-oem/src/board_config.h @@ -157,7 +157,6 @@ #define BOARD_NUM_IO_TIMERS 3 -#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7}; #define BOARD_ENABLE_CONSOLE_BUFFER diff --git a/boards/mro/ctrl-zero-h7/src/board_config.h b/boards/mro/ctrl-zero-h7/src/board_config.h index 15e6183d1a..cd8f5921ef 100644 --- a/boards/mro/ctrl-zero-h7/src/board_config.h +++ b/boards/mro/ctrl-zero-h7/src/board_config.h @@ -157,7 +157,6 @@ #define BOARD_NUM_IO_TIMERS 3 -#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7}; #define BOARD_ENABLE_CONSOLE_BUFFER diff --git a/boards/mro/pixracerpro/src/board_config.h b/boards/mro/pixracerpro/src/board_config.h index d2aeacf48a..95f5de5288 100644 --- a/boards/mro/pixracerpro/src/board_config.h +++ b/boards/mro/pixracerpro/src/board_config.h @@ -146,7 +146,6 @@ #define BOARD_ADC_BRICK_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID)) #define BOARD_NUM_IO_TIMERS 3 -#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7}; #define BOARD_DMA_ALLOC_POOL_SIZE 5120 /* This board provides a DMA pool and APIs */ #define BOARD_HAS_ON_RESET 1 /* This board provides the board_on_reset interface */ #define BOARD_ENABLE_CONSOLE_BUFFER diff --git a/boards/omnibus/f4sd/src/board_config.h b/boards/omnibus/f4sd/src/board_config.h index 78c89478ce..627a42e9c0 100644 --- a/boards/omnibus/f4sd/src/board_config.h +++ b/boards/omnibus/f4sd/src/board_config.h @@ -147,7 +147,6 @@ #define BOARD_ENABLE_CONSOLE_BUFFER #define BOARD_CONSOLE_BUFFER_SIZE (1024*3) -#define BOARD_DSHOT_MOTOR_ASSIGNMENT {0, 1, 3, 2}; __BEGIN_DECLS diff --git a/boards/px4/fmu-v2/src/board_config.h b/boards/px4/fmu-v2/src/board_config.h index f3b462e42c..643e175c7a 100644 --- a/boards/px4/fmu-v2/src/board_config.h +++ b/boards/px4/fmu-v2/src/board_config.h @@ -158,7 +158,6 @@ #define BOARD_HAS_ON_RESET 1 -#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5}; __BEGIN_DECLS diff --git a/boards/px4/fmu-v3/src/board_config.h b/boards/px4/fmu-v3/src/board_config.h index c986ecb714..3c12d70e13 100644 --- a/boards/px4/fmu-v3/src/board_config.h +++ b/boards/px4/fmu-v3/src/board_config.h @@ -158,7 +158,6 @@ #define BOARD_HAS_ON_RESET 1 -#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5}; /* Internal IMU Heater * diff --git a/boards/px4/fmu-v4/src/board_config.h b/boards/px4/fmu-v4/src/board_config.h index 99b238d011..ef6571d84d 100644 --- a/boards/px4/fmu-v4/src/board_config.h +++ b/boards/px4/fmu-v4/src/board_config.h @@ -179,7 +179,6 @@ #define BOARD_HAS_ON_RESET 1 -#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5}; __BEGIN_DECLS diff --git a/boards/px4/fmu-v5/src/board_config.h b/boards/px4/fmu-v5/src/board_config.h index c6eedce45a..56e4870fbd 100644 --- a/boards/px4/fmu-v5/src/board_config.h +++ b/boards/px4/fmu-v5/src/board_config.h @@ -433,7 +433,6 @@ #define BOARD_NUM_IO_TIMERS 5 -#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7, 8, 9, 10}; __BEGIN_DECLS diff --git a/boards/px4/fmu-v5x/src/board_config.h b/boards/px4/fmu-v5x/src/board_config.h index b5fba07d0d..05a0d54477 100644 --- a/boards/px4/fmu-v5x/src/board_config.h +++ b/boards/px4/fmu-v5x/src/board_config.h @@ -218,7 +218,6 @@ */ #define DIRECT_PWM_OUTPUT_CHANNELS 9 -#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7, 8}; /* Power supply control and monitoring GPIOs */ diff --git a/boards/px4/fmu-v6u/src/board_config.h b/boards/px4/fmu-v6u/src/board_config.h index 399a1a881f..890986ea0e 100644 --- a/boards/px4/fmu-v6u/src/board_config.h +++ b/boards/px4/fmu-v6u/src/board_config.h @@ -196,7 +196,6 @@ */ #define DIRECT_PWM_OUTPUT_CHANNELS 9 -#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7, 8}; /* Power supply control and monitoring GPIOs */ diff --git a/boards/px4/fmu-v6x/src/board_config.h b/boards/px4/fmu-v6x/src/board_config.h index f2966995bf..9291fcdfa9 100644 --- a/boards/px4/fmu-v6x/src/board_config.h +++ b/boards/px4/fmu-v6x/src/board_config.h @@ -236,7 +236,6 @@ */ #define DIRECT_PWM_OUTPUT_CHANNELS 9 -#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7, 8}; /* Power supply control and monitoring GPIOs */ diff --git a/boards/spracing/h7extreme/src/board_config.h b/boards/spracing/h7extreme/src/board_config.h index 570d6e8785..9c1ea8e431 100644 --- a/boards/spracing/h7extreme/src/board_config.h +++ b/boards/spracing/h7extreme/src/board_config.h @@ -133,7 +133,6 @@ #define BOARD_NUM_IO_TIMERS 3 -#define BOARD_DSHOT_MOTOR_ASSIGNMENT {1, 2, 3, 0, 4, 5, 6, 7}; __BEGIN_DECLS diff --git a/boards/uvify/core/src/board_config.h b/boards/uvify/core/src/board_config.h index d10535d5e6..22708b23e2 100644 --- a/boards/uvify/core/src/board_config.h +++ b/boards/uvify/core/src/board_config.h @@ -178,7 +178,6 @@ #define BOARD_HAS_ON_RESET 1 -#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5}; #define BOARD_ENABLE_CONSOLE_BUFFER #define BOARD_CONSOLE_BUFFER_SIZE (1024*3) diff --git a/platforms/nuttx/src/px4/common/include/px4_platform/io_timer_init.h b/platforms/nuttx/src/px4/common/include/px4_platform/io_timer_init.h index eafe54654b..f348b6017e 100644 --- a/platforms/nuttx/src/px4/common/include/px4_platform/io_timer_init.h +++ b/platforms/nuttx/src/px4/common/include/px4_platform/io_timer_init.h @@ -58,6 +58,8 @@ static inline constexpr io_timers_channel_mapping_t initIOTimerChannelMapping(co } uint32_t first_channel = UINT32_MAX; + uint32_t min_timer_channel = UINT32_MAX; + uint32_t max_timer_channel = 0; uint32_t channel_count = 0; for (uint32_t channel = 0; channel < MAX_TIMER_IO_CHANNELS; ++channel) { @@ -74,11 +76,23 @@ static inline constexpr io_timers_channel_mapping_t initIOTimerChannelMapping(co } ++channel_count; + + if (timer_io_channels_conf[channel].timer_channel < min_timer_channel) { + min_timer_channel = timer_io_channels_conf[channel].timer_channel; + } + + if (timer_io_channels_conf[channel].timer_channel > max_timer_channel) { + max_timer_channel = timer_io_channels_conf[channel].timer_channel; + } } } if (first_channel == UINT32_MAX) { //unused timer, channel_count is 0 first_channel = 0; + + } else { + ret.element[i].lowest_timer_channel = min_timer_channel; + ret.element[i].channel_count_including_gaps = max_timer_channel - min_timer_channel + 1; } ret.element[i].first_channel_index = first_channel; diff --git a/platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/io_timer.h b/platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/io_timer.h index f54bc9bc0a..3efb8101b0 100644 --- a/platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/io_timer.h +++ b/platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/io_timer.h @@ -86,6 +86,8 @@ typedef struct io_timers_t { typedef struct io_timers_channel_mapping_element_t { uint32_t first_channel_index; uint32_t channel_count; + uint32_t lowest_timer_channel; + uint32_t channel_count_including_gaps; } io_timers_channel_mapping_element_t; /* mapping for each io_timers to timer_io_channels */ @@ -102,6 +104,7 @@ typedef struct timer_io_channels_t { uint8_t val_offset; /* IMXRT_FLEXPWM_SM0VAL3_OFFSET or IMXRT_FLEXPWM_SM0VAL5_OFFSET */ uint8_t sub_module; /* 0 based sub module offset */ uint8_t sub_module_bits; /* LDOK and CLDOK bits */ + uint8_t timer_channel; /* Unused */ } timer_io_channels_t; #define SM0 0 diff --git a/platforms/nuttx/src/px4/nxp/kinetis/include/px4_arch/io_timer.h b/platforms/nuttx/src/px4/nxp/kinetis/include/px4_arch/io_timer.h index 8d24a75e3f..f6cd7427be 100644 --- a/platforms/nuttx/src/px4/nxp/kinetis/include/px4_arch/io_timer.h +++ b/platforms/nuttx/src/px4/nxp/kinetis/include/px4_arch/io_timer.h @@ -91,6 +91,8 @@ typedef struct io_timers_t { typedef struct io_timers_channel_mapping_element_t { uint32_t first_channel_index; uint32_t channel_count; + uint32_t lowest_timer_channel; + uint32_t channel_count_including_gaps; } io_timers_channel_mapping_element_t; /* mapping for each io_timers to timer_io_channels */ diff --git a/platforms/nuttx/src/px4/nxp/s32k1xx/include/px4_arch/io_timer.h b/platforms/nuttx/src/px4/nxp/s32k1xx/include/px4_arch/io_timer.h index bc31b0bfd5..71a026b5c5 100644 --- a/platforms/nuttx/src/px4/nxp/s32k1xx/include/px4_arch/io_timer.h +++ b/platforms/nuttx/src/px4/nxp/s32k1xx/include/px4_arch/io_timer.h @@ -87,6 +87,8 @@ typedef struct io_timers_t { typedef struct io_timers_channel_mapping_element_t { uint32_t first_channel_index; uint32_t channel_count; + uint32_t lowest_timer_channel; + uint32_t channel_count_including_gaps; } io_timers_channel_mapping_element_t; /* mapping for each io_timers to timer_io_channels */ diff --git a/platforms/nuttx/src/px4/rpi/rpi_common/include/px4_arch/io_timer.h b/platforms/nuttx/src/px4/rpi/rpi_common/include/px4_arch/io_timer.h index e5901703a2..c9fbedd8f0 100644 --- a/platforms/nuttx/src/px4/rpi/rpi_common/include/px4_arch/io_timer.h +++ b/platforms/nuttx/src/px4/rpi/rpi_common/include/px4_arch/io_timer.h @@ -97,6 +97,8 @@ typedef struct io_timers_t { typedef struct io_timers_channel_mapping_element_t { uint32_t first_channel_index; uint32_t channel_count; + uint32_t lowest_timer_channel; + uint32_t channel_count_including_gaps; } io_timers_channel_mapping_element_t; /* mapping for each io_timers to timer_io_channels */ diff --git a/platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c b/platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c index 00e60fe65a..d9b8d013b0 100644 --- a/platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c +++ b/platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c @@ -82,10 +82,6 @@ static uint8_t dshot_burst_buffer_array[DSHOT_TIMERS * DSHOT_BURST_BUFFER_SIZE(M px4_cache_aligned_data() = {}; static uint32_t *dshot_burst_buffer[DSHOT_TIMERS] = {}; -#ifdef BOARD_DSHOT_MOTOR_ASSIGNMENT -static const uint8_t motor_assignment[MOTORS_NUMBER] = BOARD_DSHOT_MOTOR_ASSIGNMENT; -#endif /* BOARD_DSHOT_MOTOR_ASSIGNMENT */ - int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq) { unsigned buffer_offset = 0; @@ -104,7 +100,7 @@ int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq) #pragma GCC diagnostic ignored "-Wcast-align" dshot_burst_buffer[timer] = (uint32_t *)&dshot_burst_buffer_array[buffer_offset]; #pragma GCC diagnostic pop - buffer_offset += DSHOT_BURST_BUFFER_SIZE(io_timers_channel_mapping.element[timer].channel_count); + buffer_offset += DSHOT_BURST_BUFFER_SIZE(io_timers_channel_mapping.element[timer].channel_count_including_gaps); if (buffer_offset > sizeof(dshot_burst_buffer_array)) { return -EINVAL; // something is wrong with the board configuration or some other logic @@ -140,9 +136,10 @@ int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq) for (uint8_t timer_index = 0; (timer_index < DSHOT_TIMERS) && (OK == ret_val); timer_index++) { if (true == dshot_handler[timer_index].init) { - dshot_handler[timer_index].dma_size = io_timers_channel_mapping.element[timer_index].channel_count * + dshot_handler[timer_index].dma_size = io_timers_channel_mapping.element[timer_index].channel_count_including_gaps * ONE_MOTOR_BUFF_SIZE; - io_timer_set_dshot_mode(timer_index, dshot_pwm_freq, io_timers_channel_mapping.element[timer_index].channel_count); + io_timer_set_dshot_mode(timer_index, dshot_pwm_freq, + io_timers_channel_mapping.element[timer_index].channel_count_including_gaps); dshot_handler[timer_index].dma_handle = stm32_dmachannel(io_timers[timer_index].dshot.dmamap); @@ -164,7 +161,7 @@ void up_dshot_trigger(void) // Flush cache so DMA sees the data up_clean_dcache((uintptr_t)dshot_burst_buffer[timer], (uintptr_t)dshot_burst_buffer[timer] + - DSHOT_BURST_BUFFER_SIZE(io_timers_channel_mapping.element[timer].channel_count)); + DSHOT_BURST_BUFFER_SIZE(io_timers_channel_mapping.element[timer].channel_count_including_gaps)); px4_stm32_dmasetup(dshot_handler[timer].dma_handle, io_timers[timer].base + STM32_GTIM_DMAR_OFFSET, @@ -192,10 +189,6 @@ void dshot_motor_data_set(unsigned motor_number, uint16_t throttle, bool telemet uint16_t packet = 0; uint16_t checksum = 0; -#ifdef BOARD_DSHOT_MOTOR_ASSIGNMENT - motor_number = motor_assignment[motor_number]; -#endif /* BOARD_DSHOT_MOTOR_ASSIGNMENT */ - packet |= throttle << DSHOT_THROTTLE_POSITION; packet |= ((uint16_t)telemetry & 0x01) << DSHOT_TELEMETRY_POSITION; @@ -213,8 +206,9 @@ void dshot_motor_data_set(unsigned motor_number, uint16_t throttle, bool telemet unsigned timer = timer_io_channels[motor_number].timer_index; uint32_t *buffer = dshot_burst_buffer[timer]; - unsigned num_motors = io_timers_channel_mapping.element[timer].channel_count; - unsigned timer_channel_index = motor_number - io_timers_channel_mapping.element[timer].first_channel_index; + const io_timers_channel_mapping_element_t *mapping = &io_timers_channel_mapping.element[timer]; + unsigned num_motors = mapping->channel_count_including_gaps; + unsigned timer_channel_index = timer_io_channels[motor_number].timer_channel - mapping->lowest_timer_channel; for (unsigned motor_data_index = 0; motor_data_index < ONE_MOTOR_DATA_SIZE; motor_data_index++) { buffer[motor_data_index * num_motors + timer_channel_index] = diff --git a/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/io_timer.h b/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/io_timer.h index cbf69d432a..3f5d6676b7 100644 --- a/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/io_timer.h +++ b/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/io_timer.h @@ -102,6 +102,8 @@ typedef struct io_timers_t { typedef struct io_timers_channel_mapping_element_t { uint32_t first_channel_index; uint32_t channel_count; + uint32_t lowest_timer_channel; + uint32_t channel_count_including_gaps; } io_timers_channel_mapping_element_t; /* mapping for each io_timers to timer_io_channels */ From 6203ad25c70f197cfe6a4614e3f02fb927725239 Mon Sep 17 00:00:00 2001 From: PX4 BuildBot Date: Sat, 22 Jan 2022 00:39:17 +0000 Subject: [PATCH 029/116] Update submodule mavlink to latest Sat Jan 22 00:39:17 UTC 2022 - mavlink in PX4/Firmware (a16a8dceb1b2d234ae963c74621c147f521abce9): https://github.com/mavlink/mavlink/commit/3d8092006ec1b2321f74e84039dadb1ebd3d1f37 - mavlink current upstream: https://github.com/mavlink/mavlink/commit/51abf3c82b3d7137406459dc9b337e57637711ae - Changes: https://github.com/mavlink/mavlink/compare/3d8092006ec1b2321f74e84039dadb1ebd3d1f37...51abf3c82b3d7137406459dc9b337e57637711ae 51abf3c8 2022-01-21 Julian Oes - Component information: add note (#1785) f5694b29 2022-01-19 Julian Oes - component_info: re-use protocol capabilities (#1786) --- src/modules/mavlink/mavlink | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/mavlink/mavlink b/src/modules/mavlink/mavlink index 3d8092006e..51abf3c82b 160000 --- a/src/modules/mavlink/mavlink +++ b/src/modules/mavlink/mavlink @@ -1 +1 @@ -Subproject commit 3d8092006ec1b2321f74e84039dadb1ebd3d1f37 +Subproject commit 51abf3c82b3d7137406459dc9b337e57637711ae From ed28b216c7f904c2e2f95cd494fa1b0c82e6f4e0 Mon Sep 17 00:00:00 2001 From: PX4 BuildBot Date: Sat, 22 Jan 2022 12:38:57 +0000 Subject: [PATCH 030/116] Update submodule sitl_gazebo to latest Sat Jan 22 12:38:57 UTC 2022 - sitl_gazebo in PX4/Firmware (6203ad25c70f197cfe6a4614e3f02fb927725239): https://github.com/PX4/PX4-SITL_gazebo/commit/27298574ce33a79ba6cfc31ed4604974605e7257 - sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/831aa36fea6a1b53d083e0bbad2faf9b31807669 - Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/27298574ce33a79ba6cfc31ed4604974605e7257...831aa36fea6a1b53d083e0bbad2faf9b31807669 831aa36 2021-10-09 Shaochang Tan - fix imu noise model. --- Tools/sitl_gazebo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Tools/sitl_gazebo b/Tools/sitl_gazebo index 27298574ce..831aa36fea 160000 --- a/Tools/sitl_gazebo +++ b/Tools/sitl_gazebo @@ -1 +1 @@ -Subproject commit 27298574ce33a79ba6cfc31ed4604974605e7257 +Subproject commit 831aa36fea6a1b53d083e0bbad2faf9b31807669 From 07e6c274d55621f5e15dbceb41e42b6c9489be6f Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Thu, 20 Jan 2022 21:00:18 -0500 Subject: [PATCH 031/116] uavcan/uavcannode: bridge LogMessage and PX4 ORB_ID(log_message_s) --- src/drivers/uavcan/CMakeLists.txt | 2 + src/drivers/uavcan/logmessage.hpp | 92 +++++++++++++++++++++++++++ src/drivers/uavcan/uavcan_main.cpp | 7 ++ src/drivers/uavcan/uavcan_main.hpp | 4 +- src/drivers/uavcannode/UavcanNode.cpp | 59 ++++++++++++++++- src/drivers/uavcannode/UavcanNode.hpp | 4 +- 6 files changed, 165 insertions(+), 3 deletions(-) create mode 100644 src/drivers/uavcan/logmessage.hpp diff --git a/src/drivers/uavcan/CMakeLists.txt b/src/drivers/uavcan/CMakeLists.txt index 74cb613942..07ba27b3a3 100644 --- a/src/drivers/uavcan/CMakeLists.txt +++ b/src/drivers/uavcan/CMakeLists.txt @@ -127,6 +127,8 @@ px4_add_module( MODULE drivers__uavcan MAIN uavcan STACK_MAIN 4096 + COMPILE_FLAGS + -Wno-format-security # logmessage.hpp INCLUDES ${DSDLC_OUTPUT} ${LIBUAVCAN_DIR}/libuavcan/include diff --git a/src/drivers/uavcan/logmessage.hpp b/src/drivers/uavcan/logmessage.hpp new file mode 100644 index 0000000000..53f2aacb6a --- /dev/null +++ b/src/drivers/uavcan/logmessage.hpp @@ -0,0 +1,92 @@ +/**************************************************************************** + * + * Copyright (c) 2022 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. + * + ****************************************************************************/ + +#pragma once + +#include + +#include +#include + +class UavcanLogMessage +{ +public: + UavcanLogMessage(uavcan::INode &node) : _sub_logmessage(node) {} + ~UavcanLogMessage() = default; + + int init() + { + int res = _sub_logmessage.start(LogMessageCbBinder(this, &UavcanLogMessage::logmessage_sub_cb)); + + if (res < 0) { + PX4_ERR("LogMessage sub failed %i", res); + return res; + } + + return 0; + } + +private: + typedef uavcan::MethodBinder < UavcanLogMessage *, + void (UavcanLogMessage::*)(const uavcan::ReceivedDataStructure &) > + LogMessageCbBinder; + + void logmessage_sub_cb(const uavcan::ReceivedDataStructure &msg) + { + int px4_level = _PX4_LOG_LEVEL_INFO; + + switch (msg.level.value) { + case uavcan::protocol::debug::LogLevel::DEBUG: + px4_level = _PX4_LOG_LEVEL_DEBUG; + break; + + case uavcan::protocol::debug::LogLevel::INFO: + px4_level = _PX4_LOG_LEVEL_INFO; + break; + + case uavcan::protocol::debug::LogLevel::WARNING: + px4_level = _PX4_LOG_LEVEL_WARN; + break; + + case uavcan::protocol::debug::LogLevel::ERROR: + px4_level = _PX4_LOG_LEVEL_ERROR; + break; + } + + char module_name_buffer[80]; + snprintf(module_name_buffer, sizeof(module_name_buffer), "uavcan:%d:%s", msg.getSrcNodeID().get(), msg.source.c_str()); + px4_log_modulename(px4_level, module_name_buffer, msg.text.c_str()); + } + + uavcan::Subscriber _sub_logmessage; +}; diff --git a/src/drivers/uavcan/uavcan_main.cpp b/src/drivers/uavcan/uavcan_main.cpp index fb094d0ed6..42724c6212 100644 --- a/src/drivers/uavcan/uavcan_main.cpp +++ b/src/drivers/uavcan/uavcan_main.cpp @@ -86,6 +86,7 @@ UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &sys _servo_controller(_node), _hardpoint_controller(_node), _safety_state_controller(_node), + _log_message_controller(_node), _rgbled_controller(_node), _time_sync_master(_node), _time_sync_slave(_node), @@ -532,6 +533,12 @@ UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events) return ret; } + ret = _log_message_controller.init(); + + if (ret < 0) { + return ret; + } + ret = _rgbled_controller.init(); if (ret < 0) { diff --git a/src/drivers/uavcan/uavcan_main.hpp b/src/drivers/uavcan/uavcan_main.hpp index 57b78aeaf0..f8524ba96c 100644 --- a/src/drivers/uavcan/uavcan_main.hpp +++ b/src/drivers/uavcan/uavcan_main.hpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2014-2021 PX4 Development Team. All rights reserved. + * Copyright (c) 2014-2022 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 @@ -51,6 +51,7 @@ #include "actuators/servo.hpp" #include "allocator.hpp" #include "beep.hpp" +#include "logmessage.hpp" #include "rgbled.hpp" #include "safety_state.hpp" #include "sensors/sensor_bridge.hpp" @@ -233,6 +234,7 @@ private: UavcanMixingInterfaceServo _mixing_interface_servo{_node_mutex, _servo_controller}; UavcanHardpointController _hardpoint_controller; UavcanSafetyState _safety_state_controller; + UavcanLogMessage _log_message_controller; UavcanRGBController _rgbled_controller; uavcan::GlobalTimeSyncMaster _time_sync_master; diff --git a/src/drivers/uavcannode/UavcanNode.cpp b/src/drivers/uavcannode/UavcanNode.cpp index 4c785fe787..d6c3fa43b2 100644 --- a/src/drivers/uavcannode/UavcanNode.cpp +++ b/src/drivers/uavcannode/UavcanNode.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2015-2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2015-2022 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 @@ -405,6 +405,8 @@ void UavcanNode::Run() _task_should_exit.store(true); } + _node.getLogger().setLevel(uavcan::protocol::debug::LogLevel::DEBUG); + _node.setModeOperational(); _initialized = true; @@ -428,6 +430,61 @@ void UavcanNode::Run() publisher->BroadcastAnyUpdates(); } + if (_log_message_sub.updated()) { + log_message_s log_message; + + if (_log_message_sub.copy(&log_message)) { + char source[31] {}; + char text[90] {}; + + bool text_copied = false; + + if (log_message.text[0] == '[') { + // find closing bracket ] + for (size_t i = 0; i < strlen(log_message.text); i++) { + if (log_message.text[i] == ']') { + // copy [MODULE_NAME] to source + memcpy(source, &log_message.text[1], i - 1); + // copy remaining text (skipping space after []) + memcpy(text, &log_message.text[i + 2], math::min(sizeof(log_message.text) - (i + 2), sizeof(text))); + + text_copied = true; + } + } + } + + if (!text_copied) { + memcpy(text, log_message.text, sizeof(text)); + } + + switch (log_message.severity) { + case 7: // debug + _node.getLogger().logDebug(source, text); + break; + + case 6: // info + _node.getLogger().logInfo(source, text); + break; + + case 4: // warn + _node.getLogger().logWarning(source, text); + break; + + case 3: // error + _node.getLogger().logError(source, text); + break; + + case 0: // panic + _node.getLogger().logError(source, text); + break; + + default: + _node.getLogger().logInfo(source, text); + break; + } + } + } + _node.spinOnce(); // This is done only once to signify the node has run 30 seconds diff --git a/src/drivers/uavcannode/UavcanNode.hpp b/src/drivers/uavcannode/UavcanNode.hpp index 3bee1eb276..06d44bc2a2 100644 --- a/src/drivers/uavcannode/UavcanNode.hpp +++ b/src/drivers/uavcannode/UavcanNode.hpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2015-2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2015-2022 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 @@ -67,6 +67,7 @@ #include #include +#include #include #include "Publishers/UavcanPublisherBase.hpp" @@ -170,6 +171,7 @@ private: IntrusiveSortedList _subscriber_list; uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; + uORB::Subscription _log_message_sub{ORB_ID(log_message)}; UavcanNodeParamManager _param_manager; uavcan::ParamServer _param_server; From ee98a3336de0a71d562391b9e8a43ffeeaf47710 Mon Sep 17 00:00:00 2001 From: Jaeyoung-Lim Date: Mon, 24 Jan 2022 01:46:54 +0100 Subject: [PATCH 032/116] Spawn at different height for multivehicle simulation This commit fixes the spawn location of the multivehicle gazebo sitl script --- Tools/gazebo_sitl_multiple_run.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Tools/gazebo_sitl_multiple_run.sh b/Tools/gazebo_sitl_multiple_run.sh index 793fc28b73..292272e2bd 100755 --- a/Tools/gazebo_sitl_multiple_run.sh +++ b/Tools/gazebo_sitl_multiple_run.sh @@ -39,7 +39,7 @@ function spawn_model() { echo "Spawning ${MODEL}_${N} at ${X} ${Y}" - gz model --spawn-file=/tmp/${MODEL}_${N}.sdf --model-name=${MODEL}_${N} -x ${X} -y ${Y} -z 0.0 + gz model --spawn-file=/tmp/${MODEL}_${N}.sdf --model-name=${MODEL}_${N} -x ${X} -y ${Y} -z 0.83 popd &>/dev/null From 4c6e7463606fa475a9e327bfaa9729e49cf5a972 Mon Sep 17 00:00:00 2001 From: SungTae Moon Date: Mon, 24 Jan 2022 17:18:21 +0900 Subject: [PATCH 033/116] uorb graph: fix the link problem for multi topics (#19062) --- Tools/uorb_graph/create.py | 18 ++++++++++++++++-- 1 file changed, 16 insertions(+), 2 deletions(-) diff --git a/Tools/uorb_graph/create.py b/Tools/uorb_graph/create.py index 58b7f5ae51..34ef4a4204 100755 --- a/Tools/uorb_graph/create.py +++ b/Tools/uorb_graph/create.py @@ -56,6 +56,21 @@ def get_N_colors(N, s=0.8, v=0.9): hex_out.append("#"+"".join(map(lambda x: format(x, '02x'), rgb))) return hex_out +def topic_filename(topic): + MSG_PATH = 'msg/' + + file_list = os.listdir(MSG_PATH) + msg_files = [file.replace('.msg', '') for file in file_list if file.endswith(".msg")] + + if topic in msg_files: + return topic + else: + for msg_file in msg_files: + with open(f'{MSG_PATH}/{msg_file}.msg') as f: + ret = re.findall(f'^# TOPICS.*{topic}.*',f.read(),re.MULTILINE) + if len(ret) > 0: + return msg_file + return "no_file" class PubSub(object): """ Collects either publication or subscription information for nodes @@ -679,8 +694,7 @@ class OutputJSON(object): node['type'] = 'topic' node['color'] = topic_colors[topic] # url is opened when double-clicking on the node - # TODO: does not work for multi-topics - node['url'] = 'https://github.com/PX4/PX4-Autopilot/blob/master/msg/'+topic+'.msg' + node['url'] = 'https://github.com/PX4/PX4-Autopilot/blob/master/msg/'+topic_filename(topic)+'.msg' nodes.append(node) data['nodes'] = nodes From 5ded1aedcb0d429cce55fa9138c6acabcaa37ed7 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Wed, 12 Jan 2022 23:39:09 -0500 Subject: [PATCH 034/116] sensors/vehicle_angular_velocity: add IMU_GYRO_DNF_HMC to configure number of ESC RPM notch filter harmonics --- .../VehicleAngularVelocity.cpp | 94 +++++++++++-------- .../VehicleAngularVelocity.hpp | 26 ++--- .../imu_gyro_parameters.c | 11 +++ 3 files changed, 83 insertions(+), 48 deletions(-) diff --git a/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp b/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp index c658f1fa50..9efaf550e1 100644 --- a/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp +++ b/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2019-2021 PX4 Development Team. All rights reserved. + * Copyright (c) 2019-2022 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 @@ -57,6 +57,7 @@ VehicleAngularVelocity::~VehicleAngularVelocity() perf_free(_selection_changed_perf); #if !defined(CONSTRAINED_FLASH) + delete[] _dynamic_notch_filter_esc_rpm; perf_free(_dynamic_notch_filter_esc_rpm_disable_perf); perf_free(_dynamic_notch_filter_esc_rpm_update_perf); @@ -387,11 +388,41 @@ void VehicleAngularVelocity::ParametersUpdate(bool force) #if !defined(CONSTRAINED_FLASH) if (_param_imu_gyro_dnf_en.get() & DynamicNotch::EscRpm) { - if (_dynamic_notch_filter_esc_rpm_disable_perf == nullptr) { - _dynamic_notch_filter_esc_rpm_disable_perf = perf_alloc(PC_COUNT, - MODULE_NAME": gyro dynamic notch filter ESC RPM disable"); - _dynamic_notch_filter_esc_rpm_update_perf = perf_alloc(PC_COUNT, - MODULE_NAME": gyro dynamic notch filter ESC RPM update"); + + const int32_t esc_rpm_harmonics = math::constrain(_param_imu_gyro_dnf_hmc.get(), (int32_t)1, (int32_t)10); + + if (_dynamic_notch_filter_esc_rpm && (esc_rpm_harmonics != _esc_rpm_harmonics)) { + delete[] _dynamic_notch_filter_esc_rpm; + _dynamic_notch_filter_esc_rpm = nullptr; + _esc_rpm_harmonics = 0; + } + + if (_dynamic_notch_filter_esc_rpm == nullptr) { + + _dynamic_notch_filter_esc_rpm = new NotchFilterHarmonic[esc_rpm_harmonics]; + + if (_dynamic_notch_filter_esc_rpm) { + _esc_rpm_harmonics = esc_rpm_harmonics; + + if (_dynamic_notch_filter_esc_rpm_disable_perf == nullptr) { + _dynamic_notch_filter_esc_rpm_disable_perf = perf_alloc(PC_COUNT, + MODULE_NAME": gyro dynamic notch filter ESC RPM disable"); + } + + if (_dynamic_notch_filter_esc_rpm_update_perf == nullptr) { + _dynamic_notch_filter_esc_rpm_update_perf = perf_alloc(PC_COUNT, + MODULE_NAME": gyro dynamic notch filter ESC RPM update"); + } + + } else { + _esc_rpm_harmonics = 0; + + perf_free(_dynamic_notch_filter_esc_rpm_disable_perf); + perf_free(_dynamic_notch_filter_esc_rpm_update_perf); + + _dynamic_notch_filter_esc_rpm_disable_perf = nullptr; + _dynamic_notch_filter_esc_rpm_update_perf = nullptr; + } } } else { @@ -452,19 +483,16 @@ void VehicleAngularVelocity::DisableDynamicNotchEscRpm() { #if !defined(CONSTRAINED_FLASH) - if (_dynamic_notch_esc_rpm_available) { - for (int axis = 0; axis < 3; axis++) { - for (int esc = 0; esc < MAX_NUM_ESC_RPM; esc++) { - for (int harmonic = 0; harmonic < MAX_NUM_ESC_RPM_HARMONICS; harmonic++) { - _dynamic_notch_filter_esc_rpm[axis][esc][harmonic].disable(); + if (_dynamic_notch_filter_esc_rpm) { + for (int harmonic = 0; harmonic < _esc_rpm_harmonics; harmonic++) { + for (int axis = 0; axis < 3; axis++) { + for (int esc = 0; esc < MAX_NUM_ESCS; esc++) { + _dynamic_notch_filter_esc_rpm[harmonic][axis][esc].disable(); + _esc_available.set(esc, false); perf_count(_dynamic_notch_filter_esc_rpm_disable_perf); } - - _esc_available.set(esc, false); } } - - _dynamic_notch_esc_rpm_available = false; } #endif // !CONSTRAINED_FLASH @@ -491,22 +519,17 @@ void VehicleAngularVelocity::DisableDynamicNotchFFT() void VehicleAngularVelocity::UpdateDynamicNotchEscRpm(const hrt_abstime &time_now_us, bool force) { #if !defined(CONSTRAINED_FLASH) - const bool enabled = _param_imu_gyro_dnf_en.get() & DynamicNotch::EscRpm; + const bool enabled = _dynamic_notch_filter_esc_rpm && (_param_imu_gyro_dnf_en.get() & DynamicNotch::EscRpm); if (enabled && (_esc_status_sub.updated() || force)) { - if (!_dynamic_notch_esc_rpm_available) { - // force update filters if previously disabled - force = true; - } - esc_status_s esc_status; if (_esc_status_sub.copy(&esc_status) && (time_now_us < esc_status.timestamp + DYNAMIC_NOTCH_FITLER_TIMEOUT)) { static constexpr float FREQ_MIN = 10.f; // TODO: configurable - for (size_t esc = 0; esc < math::min(esc_status.esc_count, (uint8_t)MAX_NUM_ESC_RPM); esc++) { + for (size_t esc = 0; esc < math::min(esc_status.esc_count, (uint8_t)MAX_NUM_ESCS); esc++) { const esc_report_s &esc_report = esc_status.esc[esc]; // only update if ESC RPM range seems valid @@ -517,17 +540,17 @@ void VehicleAngularVelocity::UpdateDynamicNotchEscRpm(const hrt_abstime &time_no const float esc_hz = abs(esc_report.esc_rpm) / 60.f; - for (int harmonic = 0; harmonic < MAX_NUM_ESC_RPM_HARMONICS; harmonic++) { + for (int harmonic = 0; harmonic < _esc_rpm_harmonics; harmonic++) { const float frequency_hz = esc_hz * (harmonic + 1); // for each ESC harmonic determine if enabled/disabled from first notch (x axis) - auto &nfx = _dynamic_notch_filter_esc_rpm[0][esc][harmonic]; + auto &nfx = _dynamic_notch_filter_esc_rpm[harmonic][0][esc]; if (frequency_hz > FREQ_MIN) { // update filter parameters if frequency changed or forced if (update || !nfx.initialized() || (fabsf(nfx.getNotchFreq() - frequency_hz) > 0.1f)) { for (int axis = 0; axis < 3; axis++) { - auto &nf = _dynamic_notch_filter_esc_rpm[axis][esc][harmonic]; + auto &nf = _dynamic_notch_filter_esc_rpm[harmonic][axis][esc]; nf.setParameters(_filter_sample_rate_hz, frequency_hz, _param_imu_gyro_dnf_bw.get()); perf_count(_dynamic_notch_filter_esc_rpm_update_perf); } @@ -539,7 +562,7 @@ void VehicleAngularVelocity::UpdateDynamicNotchEscRpm(const hrt_abstime &time_no // disable these notch filters (if they aren't already) if (nfx.getNotchFreq() > 0.f) { for (int axis = 0; axis < 3; axis++) { - auto &nf = _dynamic_notch_filter_esc_rpm[axis][esc][harmonic]; + auto &nf = _dynamic_notch_filter_esc_rpm[harmonic][axis][esc]; nf.disable(); perf_count(_dynamic_notch_filter_esc_rpm_disable_perf); } @@ -548,7 +571,6 @@ void VehicleAngularVelocity::UpdateDynamicNotchEscRpm(const hrt_abstime &time_no } if (esc_enabled) { - _dynamic_notch_esc_rpm_available = true; _esc_available.set(esc, true); _last_esc_rpm_notch_update[esc] = esc_report.timestamp; @@ -560,14 +582,14 @@ void VehicleAngularVelocity::UpdateDynamicNotchEscRpm(const hrt_abstime &time_no } // check ESC feedback timeout - for (size_t esc = 0; esc < MAX_NUM_ESC_RPM; esc++) { + for (size_t esc = 0; esc < MAX_NUM_ESCS; esc++) { if (_esc_available[esc] && (time_now_us > _last_esc_rpm_notch_update[esc] + DYNAMIC_NOTCH_FITLER_TIMEOUT)) { _esc_available.set(esc, false); - for (int axis = 0; axis < 3; axis++) { - for (int harmonic = 0; harmonic < MAX_NUM_ESC_RPM_HARMONICS; harmonic++) { - _dynamic_notch_filter_esc_rpm[axis][esc][harmonic].disable(); + for (int harmonic = 0; harmonic < _esc_rpm_harmonics; harmonic++) { + for (int axis = 0; axis < 3; axis++) { + _dynamic_notch_filter_esc_rpm[harmonic][axis][esc].disable(); perf_count(_dynamic_notch_filter_esc_rpm_disable_perf); } } @@ -642,13 +664,11 @@ float VehicleAngularVelocity::FilterAngularVelocity(int axis, float data[], int #if !defined(CONSTRAINED_FLASH) // Apply dynamic notch filter from ESC RPM - if (_dynamic_notch_esc_rpm_available) { - - for (int esc = 0; esc < MAX_NUM_ESC_RPM; esc++) { + if (_dynamic_notch_filter_esc_rpm) { + for (int esc = 0; esc < MAX_NUM_ESCS; esc++) { if (_esc_available[esc]) { - // apply notch filters higher -> lowest frequency - for (int harmonic = MAX_NUM_ESC_RPM_HARMONICS - 1; harmonic >= 0; harmonic--) { - _dynamic_notch_filter_esc_rpm[axis][esc][harmonic].applyArray(data, N); + for (int harmonic = 0; harmonic < _esc_rpm_harmonics; harmonic++) { + _dynamic_notch_filter_esc_rpm[harmonic][axis][esc].applyArray(data, N); } } } diff --git a/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp b/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp index f9c292e6e7..66b1191a29 100644 --- a/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp +++ b/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2019-2021 PX4 Development Team. All rights reserved. + * Copyright (c) 2019-2022 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 @@ -143,25 +143,28 @@ private: static constexpr hrt_abstime DYNAMIC_NOTCH_FITLER_TIMEOUT = 1_s; - static constexpr int MAX_NUM_ESC_RPM = sizeof(esc_status_s::esc) / sizeof(esc_status_s::esc[0]); - static constexpr int MAX_NUM_ESC_RPM_HARMONICS = 3; + // ESC RPM + static constexpr int MAX_NUM_ESCS = sizeof(esc_status_s::esc) / sizeof(esc_status_s::esc[0]); - static constexpr int MAX_NUM_FFT_PEAKS = sizeof(sensor_gyro_fft_s::peak_frequencies_x) / sizeof( - sensor_gyro_fft_s::peak_frequencies_x[0]); + using NotchFilterHarmonic = math::NotchFilter[3][MAX_NUM_ESCS]; + NotchFilterHarmonic *_dynamic_notch_filter_esc_rpm{nullptr}; - math::NotchFilter _dynamic_notch_filter_esc_rpm[3][MAX_NUM_ESC_RPM][MAX_NUM_ESC_RPM_HARMONICS] {}; - math::NotchFilter _dynamic_notch_filter_fft[3][MAX_NUM_FFT_PEAKS] {}; - - px4::Bitset _esc_available{}; - hrt_abstime _last_esc_rpm_notch_update[MAX_NUM_ESC_RPM] {}; + int _esc_rpm_harmonics{0}; + px4::Bitset _esc_available{}; + hrt_abstime _last_esc_rpm_notch_update[MAX_NUM_ESCS] {}; perf_counter_t _dynamic_notch_filter_esc_rpm_update_perf{nullptr}; perf_counter_t _dynamic_notch_filter_esc_rpm_disable_perf{nullptr}; + // FFT + static constexpr int MAX_NUM_FFT_PEAKS = sizeof(sensor_gyro_fft_s::peak_frequencies_x) + / sizeof(sensor_gyro_fft_s::peak_frequencies_x[0]); + + math::NotchFilter _dynamic_notch_filter_fft[3][MAX_NUM_FFT_PEAKS] {}; + perf_counter_t _dynamic_notch_filter_fft_disable_perf{nullptr}; perf_counter_t _dynamic_notch_filter_fft_update_perf{nullptr}; - bool _dynamic_notch_esc_rpm_available{false}; bool _dynamic_notch_fft_available{false}; #endif // !CONSTRAINED_FLASH @@ -181,6 +184,7 @@ private: DEFINE_PARAMETERS( #if !defined(CONSTRAINED_FLASH) (ParamInt) _param_imu_gyro_dnf_en, + (ParamInt) _param_imu_gyro_dnf_hmc, (ParamFloat) _param_imu_gyro_dnf_bw, #endif // !CONSTRAINED_FLASH (ParamFloat) _param_imu_gyro_cutoff, diff --git a/src/modules/sensors/vehicle_angular_velocity/imu_gyro_parameters.c b/src/modules/sensors/vehicle_angular_velocity/imu_gyro_parameters.c index b0bcaa25d1..708b8971e6 100644 --- a/src/modules/sensors/vehicle_angular_velocity/imu_gyro_parameters.c +++ b/src/modules/sensors/vehicle_angular_velocity/imu_gyro_parameters.c @@ -147,3 +147,14 @@ PARAM_DEFINE_INT32(IMU_GYRO_DNF_EN, 0); * @max 30 */ PARAM_DEFINE_FLOAT(IMU_GYRO_DNF_BW, 15.f); + +/** +* IMU gyro dynamic notch filter harmonics +* +* ESC RPM number of harmonics (multiples of RPM) for ESC RPM dynamic notch filtering. +* +* @group Sensors +* @min 1 +* @max 7 +*/ +PARAM_DEFINE_INT32(IMU_GYRO_DNF_HMC, 3); From 8217e0f335c0b42a0a088b9dce7835a5b5244d32 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Mon, 24 Jan 2022 12:05:37 -0500 Subject: [PATCH 035/116] drivers/magnetometer/bosch/bmm150: add self test fail perf counter to status --- src/drivers/magnetometer/bosch/bmm150/BMM150.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/src/drivers/magnetometer/bosch/bmm150/BMM150.cpp b/src/drivers/magnetometer/bosch/bmm150/BMM150.cpp index 6d3dcb5b1d..8540039765 100644 --- a/src/drivers/magnetometer/bosch/bmm150/BMM150.cpp +++ b/src/drivers/magnetometer/bosch/bmm150/BMM150.cpp @@ -80,6 +80,7 @@ void BMM150::print_status() perf_print_counter(_bad_register_perf); perf_print_counter(_bad_transfer_perf); perf_print_counter(_overflow_perf); + perf_print_counter(_self_test_failed_perf); } int BMM150::probe() From 8d03e71c1651681ecaccf87fdd0e5ad0b3272ae0 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Mon, 24 Jan 2022 12:58:13 -0500 Subject: [PATCH 036/116] drivers/magnetometer/bosch/bmm150: init and self test improvements - if self test fails consistently proceed with startup, but report failure --- .../magnetometer/bosch/bmm150/BMM150.cpp | 65 +++++++++++++------ 1 file changed, 45 insertions(+), 20 deletions(-) diff --git a/src/drivers/magnetometer/bosch/bmm150/BMM150.cpp b/src/drivers/magnetometer/bosch/bmm150/BMM150.cpp index 8540039765..cfadf3cff2 100644 --- a/src/drivers/magnetometer/bosch/bmm150/BMM150.cpp +++ b/src/drivers/magnetometer/bosch/bmm150/BMM150.cpp @@ -92,11 +92,11 @@ int BMM150::probe() PX4_DEBUG("POWER_CONTROL: 0x%02hhX, CHIP_ID: 0x%02hhX", POWER_CONTROL, CHIP_ID); - // either power control bit is set and chip ID can be read, or both registers are 0x00 - if ((POWER_CONTROL & POWER_CONTROL_BIT::PowerControl) && (CHIP_ID == chip_identification_number)) { + if (CHIP_ID == chip_identification_number) { return PX4_OK; - } else if ((POWER_CONTROL == 0) && (CHIP_ID == 0)) { + } else if ((CHIP_ID == 0) && !(POWER_CONTROL & POWER_CONTROL_BIT::PowerControl)) { + // in suspend Chip ID read (register 0x40) returns “0x00” (I²C) or high-Z (SPI). return PX4_OK; } } @@ -185,14 +185,15 @@ void BMM150::RunImpl() _failure_count = 0; _state = STATE::WAIT_FOR_RESET; perf_count(_reset_perf); - ScheduleDelayed(3_ms); // 3.0 ms start-up time from suspend to sleep + ScheduleDelayed(10_ms); // 3.0 ms start-up time from suspend to sleep break; case STATE::WAIT_FOR_RESET: // Soft reset always brings the device into sleep mode (power off -> suspend -> sleep) if ((RegisterRead(Register::CHIP_ID) == chip_identification_number) - && (RegisterRead(Register::POWER_CONTROL) == POWER_CONTROL_BIT::PowerControl) + && (RegisterRead(Register::POWER_CONTROL) & POWER_CONTROL_BIT::PowerControl) + && !(RegisterRead(Register::POWER_CONTROL) & POWER_CONTROL_BIT::SoftReset) && (RegisterRead(Register::OP_MODE) == OP_MODE_BIT::Opmode_Sleep)) { // if reset succeeded then start self test @@ -220,23 +221,46 @@ void BMM150::RunImpl() // After performing self test OpMode "Self test" bit is set to 0 const bool opmode_self_test_cleared = ((RegisterRead(Register::OP_MODE) & OP_MODE_BIT::Self_Test) == 0); - // When self-test is successful, the corresponding self-test result bits are set - // “X-Self-Test” register 0x42 bit0 - // “Y-Self-Test” register 0x44 bit0 - // “Z-Self-Test” register 0x46 bit0 - const bool x_success = RegisterRead(Register::DATAX_LSB) & Bit0; - const bool y_success = RegisterRead(Register::DATAY_LSB) & Bit0; - const bool z_success = RegisterRead(Register::DATAZ_LSB) & Bit0; + if (opmode_self_test_cleared) { + // When self-test is successful, the corresponding self-test result bits are set + // “X-Self-Test” register 0x42 bit0 + // “Y-Self-Test” register 0x44 bit0 + // “Z-Self-Test” register 0x46 bit0 + const bool x_success = RegisterRead(Register::DATAX_LSB) & Bit0; + const bool y_success = RegisterRead(Register::DATAY_LSB) & Bit0; + const bool z_success = RegisterRead(Register::DATAZ_LSB) & Bit0; - if (opmode_self_test_cleared && (!x_success || !y_success || !z_success)) { - PX4_DEBUG("self test failed, resetting"); - perf_count(_self_test_failed_perf); - _state = STATE::RESET; - ScheduleDelayed(1000_ms); + if (x_success && y_success && z_success) { + _state = STATE::READ_TRIM; + ScheduleDelayed(10_ms); + + } else { + if (perf_event_count(_self_test_failed_perf) >= 5) { + PX4_ERR("self test still failing after 5 attempts"); + + // reluctantly proceed + _state = STATE::READ_TRIM; + ScheduleDelayed(10_ms); + + } else { + PX4_ERR("self test failed, resetting"); + perf_count(_self_test_failed_perf); + _state = STATE::RESET; + ScheduleDelayed(1_s); + } + } } else { - _state = STATE::READ_TRIM; - ScheduleDelayed(1_ms); + if (hrt_elapsed_time(&_reset_timestamp) < 3_s) { + // self test not complete, check again in 100 milliseconds + _state = STATE::SELF_TEST_CHECK; + ScheduleDelayed(100_ms); + + } else { + // full reset + _state = STATE::RESET; + ScheduleDelayed(10_ms); + } } } @@ -353,7 +377,8 @@ void BMM150::RunImpl() perf_count(_overflow_perf); } else { - _px4_mag.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf)); + _px4_mag.set_error_count(perf_event_count(_bad_register_perf) + + perf_event_count(_bad_transfer_perf) + perf_event_count(_self_test_failed_perf)); _px4_mag.update(now, compensate_x(x, rhall), compensate_y(y, rhall), compensate_z(z, rhall)); success = true; From bbc2b703c399dccea0d50b23600d0cca2882cd3d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Thu, 20 Jan 2022 13:45:56 +0100 Subject: [PATCH 037/116] mavsdk_tests: update catch2 to 2.13.8 Fixes this issue on Fedora: https://github.com/catchorg/Catch2/issues/2178 --- test/mavsdk_tests/catch2/catch.hpp | 2996 ++++++++++++++++++---------- 1 file changed, 1944 insertions(+), 1052 deletions(-) diff --git a/test/mavsdk_tests/catch2/catch.hpp b/test/mavsdk_tests/catch2/catch.hpp index bc2dbd3f90..db1fed3b98 100644 --- a/test/mavsdk_tests/catch2/catch.hpp +++ b/test/mavsdk_tests/catch2/catch.hpp @@ -1,9 +1,9 @@ /* - * Catch v2.9.2 - * Generated: 2019-08-08 13:35:12.279703 + * Catch v2.13.8 + * Generated: 2022-01-03 21:20:09.589503 * ---------------------------------------------------------- * This file has been merged from multiple headers. Please don't edit it directly - * Copyright (c) 2019 Two Blue Cubes Ltd. All rights reserved. + * Copyright (c) 2022 Two Blue Cubes Ltd. All rights reserved. * * Distributed under the Boost Software License, Version 1.0. (See accompanying * file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt) @@ -14,8 +14,8 @@ #define CATCH_VERSION_MAJOR 2 -#define CATCH_VERSION_MINOR 9 -#define CATCH_VERSION_PATCH 2 +#define CATCH_VERSION_MINOR 13 +#define CATCH_VERSION_PATCH 8 #ifdef __clang__ # pragma clang system_header @@ -66,13 +66,16 @@ #if !defined(CATCH_CONFIG_IMPL_ONLY) // start catch_platform.h +// See e.g.: +// https://opensource.apple.com/source/CarbonHeaders/CarbonHeaders-18.1/TargetConditionals.h.auto.html #ifdef __APPLE__ -# include -# if TARGET_OS_OSX == 1 -# define CATCH_PLATFORM_MAC -# elif TARGET_OS_IPHONE == 1 -# define CATCH_PLATFORM_IPHONE -# endif +# include +# if (defined(TARGET_OS_OSX) && TARGET_OS_OSX == 1) || \ + (defined(TARGET_OS_MAC) && TARGET_OS_MAC == 1) +# define CATCH_PLATFORM_MAC +# elif (defined(TARGET_OS_IPHONE) && TARGET_OS_IPHONE == 1) +# define CATCH_PLATFORM_IPHONE +# endif #elif defined(linux) || defined(__linux) || defined(__linux__) # define CATCH_PLATFORM_LINUX @@ -132,36 +135,51 @@ namespace Catch { #endif -#if defined(CATCH_CPP17_OR_GREATER) -# define CATCH_INTERNAL_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS +// Only GCC compiler should be used in this block, so other compilers trying to +// mask themselves as GCC should be ignored. +#if defined(__GNUC__) && !defined(__clang__) && !defined(__ICC) && !defined(__CUDACC__) && !defined(__LCC__) +# define CATCH_INTERNAL_START_WARNINGS_SUPPRESSION _Pragma( "GCC diagnostic push" ) +# define CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION _Pragma( "GCC diagnostic pop" ) + +# define CATCH_INTERNAL_IGNORE_BUT_WARN(...) (void)__builtin_constant_p(__VA_ARGS__) + #endif -#ifdef __clang__ +#if defined(__clang__) -# define CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \ - _Pragma( "clang diagnostic push" ) \ - _Pragma( "clang diagnostic ignored \"-Wexit-time-destructors\"" ) \ - _Pragma( "clang diagnostic ignored \"-Wglobal-constructors\"") -# define CATCH_INTERNAL_UNSUPPRESS_GLOBALS_WARNINGS \ - _Pragma( "clang diagnostic pop" ) +# define CATCH_INTERNAL_START_WARNINGS_SUPPRESSION _Pragma( "clang diagnostic push" ) +# define CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION _Pragma( "clang diagnostic pop" ) -# define CATCH_INTERNAL_SUPPRESS_PARENTHESES_WARNINGS \ - _Pragma( "clang diagnostic push" ) \ - _Pragma( "clang diagnostic ignored \"-Wparentheses\"" ) -# define CATCH_INTERNAL_UNSUPPRESS_PARENTHESES_WARNINGS \ - _Pragma( "clang diagnostic pop" ) +// As of this writing, IBM XL's implementation of __builtin_constant_p has a bug +// which results in calls to destructors being emitted for each temporary, +// without a matching initialization. In practice, this can result in something +// like `std::string::~string` being called on an uninitialized value. +// +// For example, this code will likely segfault under IBM XL: +// ``` +// REQUIRE(std::string("12") + "34" == "1234") +// ``` +// +// Therefore, `CATCH_INTERNAL_IGNORE_BUT_WARN` is not implemented. +# if !defined(__ibmxl__) && !defined(__CUDACC__) +# define CATCH_INTERNAL_IGNORE_BUT_WARN(...) (void)__builtin_constant_p(__VA_ARGS__) /* NOLINT(cppcoreguidelines-pro-type-vararg, hicpp-vararg) */ +# endif -# define CATCH_INTERNAL_SUPPRESS_UNUSED_WARNINGS \ - _Pragma( "clang diagnostic push" ) \ - _Pragma( "clang diagnostic ignored \"-Wunused-variable\"" ) -# define CATCH_INTERNAL_UNSUPPRESS_UNUSED_WARNINGS \ - _Pragma( "clang diagnostic pop" ) +# define CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \ + _Pragma( "clang diagnostic ignored \"-Wexit-time-destructors\"" ) \ + _Pragma( "clang diagnostic ignored \"-Wglobal-constructors\"") -# define CATCH_INTERNAL_SUPPRESS_ZERO_VARIADIC_WARNINGS \ - _Pragma( "clang diagnostic push" ) \ - _Pragma( "clang diagnostic ignored \"-Wgnu-zero-variadic-macro-arguments\"" ) -# define CATCH_INTERNAL_UNSUPPRESS_ZERO_VARIADIC_WARNINGS \ - _Pragma( "clang diagnostic pop" ) +# define CATCH_INTERNAL_SUPPRESS_PARENTHESES_WARNINGS \ + _Pragma( "clang diagnostic ignored \"-Wparentheses\"" ) + +# define CATCH_INTERNAL_SUPPRESS_UNUSED_WARNINGS \ + _Pragma( "clang diagnostic ignored \"-Wunused-variable\"" ) + +# define CATCH_INTERNAL_SUPPRESS_ZERO_VARIADIC_WARNINGS \ + _Pragma( "clang diagnostic ignored \"-Wgnu-zero-variadic-macro-arguments\"" ) + +# define CATCH_INTERNAL_SUPPRESS_UNUSED_TEMPLATE_WARNINGS \ + _Pragma( "clang diagnostic ignored \"-Wunused-template\"" ) #endif // __clang__ @@ -186,6 +204,7 @@ namespace Catch { // Android somehow still does not support std::to_string #if defined(__ANDROID__) # define CATCH_INTERNAL_CONFIG_NO_CPP11_TO_STRING +# define CATCH_INTERNAL_CONFIG_ANDROID_LOGWRITE #endif //////////////////////////////////////////////////////////////////////////////// @@ -219,11 +238,7 @@ namespace Catch { //////////////////////////////////////////////////////////////////////////////// // Visual C++ -#ifdef _MSC_VER - -# if _MSC_VER >= 1900 // Visual Studio 2015 or newer -# define CATCH_INTERNAL_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS -# endif +#if defined(_MSC_VER) // Universal Windows platform does not support SEH // Or console colours (or console at all...) @@ -233,12 +248,20 @@ namespace Catch { # define CATCH_INTERNAL_CONFIG_WINDOWS_SEH # endif +# if !defined(__clang__) // Handle Clang masquerading for msvc + // MSVC traditional preprocessor needs some workaround for __VA_ARGS__ // _MSVC_TRADITIONAL == 0 means new conformant preprocessor // _MSVC_TRADITIONAL == 1 means old traditional non-conformant preprocessor -# if !defined(_MSVC_TRADITIONAL) || (defined(_MSVC_TRADITIONAL) && _MSVC_TRADITIONAL) -# define CATCH_INTERNAL_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR -# endif +# if !defined(_MSVC_TRADITIONAL) || (defined(_MSVC_TRADITIONAL) && _MSVC_TRADITIONAL) +# define CATCH_INTERNAL_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR +# endif // MSVC_TRADITIONAL + +// Only do this if we're not using clang on Windows, which uses `diagnostic push` & `diagnostic pop` +# define CATCH_INTERNAL_START_WARNINGS_SUPPRESSION __pragma( warning(push) ) +# define CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION __pragma( warning(pop) ) +# endif // __clang__ + #endif // _MSC_VER #if defined(_REENTRANT) || defined(_MSC_VER) @@ -286,49 +309,46 @@ namespace Catch { #define CATCH_CONFIG_COLOUR_NONE #endif -//////////////////////////////////////////////////////////////////////////////// -// Check if string_view is available and usable -// The check is split apart to work around v140 (VS2015) preprocessor issue... -#if defined(__has_include) -#if __has_include() && defined(CATCH_CPP17_OR_GREATER) -# define CATCH_INTERNAL_CONFIG_CPP17_STRING_VIEW -#endif +#if !defined(_GLIBCXX_USE_C99_MATH_TR1) +#define CATCH_INTERNAL_CONFIG_GLOBAL_NEXTAFTER #endif -//////////////////////////////////////////////////////////////////////////////// -// Check if optional is available and usable +// Various stdlib support checks that require __has_include #if defined(__has_include) -# if __has_include() && defined(CATCH_CPP17_OR_GREATER) -# define CATCH_INTERNAL_CONFIG_CPP17_OPTIONAL -# endif // __has_include() && defined(CATCH_CPP17_OR_GREATER) -#endif // __has_include + // Check if string_view is available and usable + #if __has_include() && defined(CATCH_CPP17_OR_GREATER) + # define CATCH_INTERNAL_CONFIG_CPP17_STRING_VIEW + #endif -//////////////////////////////////////////////////////////////////////////////// -// Check if byte is available and usable -#if defined(__has_include) -# if __has_include() && defined(CATCH_CPP17_OR_GREATER) -# define CATCH_INTERNAL_CONFIG_CPP17_BYTE -# endif // __has_include() && defined(CATCH_CPP17_OR_GREATER) -#endif // __has_include + // Check if optional is available and usable + # if __has_include() && defined(CATCH_CPP17_OR_GREATER) + # define CATCH_INTERNAL_CONFIG_CPP17_OPTIONAL + # endif // __has_include() && defined(CATCH_CPP17_OR_GREATER) -//////////////////////////////////////////////////////////////////////////////// -// Check if variant is available and usable -#if defined(__has_include) -# if __has_include() && defined(CATCH_CPP17_OR_GREATER) -# if defined(__clang__) && (__clang_major__ < 8) - // work around clang bug with libstdc++ https://bugs.llvm.org/show_bug.cgi?id=31852 - // fix should be in clang 8, workaround in libstdc++ 8.2 -# include -# if defined(__GLIBCXX__) && defined(_GLIBCXX_RELEASE) && (_GLIBCXX_RELEASE < 9) -# define CATCH_CONFIG_NO_CPP17_VARIANT -# else -# define CATCH_INTERNAL_CONFIG_CPP17_VARIANT -# endif // defined(__GLIBCXX__) && defined(_GLIBCXX_RELEASE) && (_GLIBCXX_RELEASE < 9) -# else -# define CATCH_INTERNAL_CONFIG_CPP17_VARIANT -# endif // defined(__clang__) && (__clang_major__ < 8) -# endif // __has_include() && defined(CATCH_CPP17_OR_GREATER) -#endif // __has_include + // Check if byte is available and usable + # if __has_include() && defined(CATCH_CPP17_OR_GREATER) + # include + # if defined(__cpp_lib_byte) && (__cpp_lib_byte > 0) + # define CATCH_INTERNAL_CONFIG_CPP17_BYTE + # endif + # endif // __has_include() && defined(CATCH_CPP17_OR_GREATER) + + // Check if variant is available and usable + # if __has_include() && defined(CATCH_CPP17_OR_GREATER) + # if defined(__clang__) && (__clang_major__ < 8) + // work around clang bug with libstdc++ https://bugs.llvm.org/show_bug.cgi?id=31852 + // fix should be in clang 8, workaround in libstdc++ 8.2 + # include + # if defined(__GLIBCXX__) && defined(_GLIBCXX_RELEASE) && (_GLIBCXX_RELEASE < 9) + # define CATCH_CONFIG_NO_CPP17_VARIANT + # else + # define CATCH_INTERNAL_CONFIG_CPP17_VARIANT + # endif // defined(__GLIBCXX__) && defined(_GLIBCXX_RELEASE) && (_GLIBCXX_RELEASE < 9) + # else + # define CATCH_INTERNAL_CONFIG_CPP17_VARIANT + # endif // defined(__clang__) && (__clang_major__ < 8) + # endif // __has_include() && defined(CATCH_CPP17_OR_GREATER) +#endif // defined(__has_include) #if defined(CATCH_INTERNAL_CONFIG_COUNTER) && !defined(CATCH_CONFIG_NO_COUNTER) && !defined(CATCH_CONFIG_COUNTER) # define CATCH_CONFIG_COUNTER @@ -353,10 +373,6 @@ namespace Catch { # define CATCH_CONFIG_CPP17_OPTIONAL #endif -#if defined(CATCH_INTERNAL_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS) && !defined(CATCH_CONFIG_NO_CPP17_UNCAUGHT_EXCEPTIONS) && !defined(CATCH_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS) -# define CATCH_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS -#endif - #if defined(CATCH_INTERNAL_CONFIG_CPP17_STRING_VIEW) && !defined(CATCH_CONFIG_NO_CPP17_STRING_VIEW) && !defined(CATCH_CONFIG_CPP17_STRING_VIEW) # define CATCH_CONFIG_CPP17_STRING_VIEW #endif @@ -389,21 +405,49 @@ namespace Catch { # define CATCH_CONFIG_USE_ASYNC #endif +#if defined(CATCH_INTERNAL_CONFIG_ANDROID_LOGWRITE) && !defined(CATCH_CONFIG_NO_ANDROID_LOGWRITE) && !defined(CATCH_CONFIG_ANDROID_LOGWRITE) +# define CATCH_CONFIG_ANDROID_LOGWRITE +#endif + +#if defined(CATCH_INTERNAL_CONFIG_GLOBAL_NEXTAFTER) && !defined(CATCH_CONFIG_NO_GLOBAL_NEXTAFTER) && !defined(CATCH_CONFIG_GLOBAL_NEXTAFTER) +# define CATCH_CONFIG_GLOBAL_NEXTAFTER +#endif + +// Even if we do not think the compiler has that warning, we still have +// to provide a macro that can be used by the code. +#if !defined(CATCH_INTERNAL_START_WARNINGS_SUPPRESSION) +# define CATCH_INTERNAL_START_WARNINGS_SUPPRESSION +#endif +#if !defined(CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION) +# define CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION +#endif #if !defined(CATCH_INTERNAL_SUPPRESS_PARENTHESES_WARNINGS) # define CATCH_INTERNAL_SUPPRESS_PARENTHESES_WARNINGS -# define CATCH_INTERNAL_UNSUPPRESS_PARENTHESES_WARNINGS #endif #if !defined(CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS) # define CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS -# define CATCH_INTERNAL_UNSUPPRESS_GLOBALS_WARNINGS #endif #if !defined(CATCH_INTERNAL_SUPPRESS_UNUSED_WARNINGS) # define CATCH_INTERNAL_SUPPRESS_UNUSED_WARNINGS -# define CATCH_INTERNAL_UNSUPPRESS_UNUSED_WARNINGS #endif #if !defined(CATCH_INTERNAL_SUPPRESS_ZERO_VARIADIC_WARNINGS) # define CATCH_INTERNAL_SUPPRESS_ZERO_VARIADIC_WARNINGS -# define CATCH_INTERNAL_UNSUPPRESS_ZERO_VARIADIC_WARNINGS +#endif + +// The goal of this macro is to avoid evaluation of the arguments, but +// still have the compiler warn on problems inside... +#if !defined(CATCH_INTERNAL_IGNORE_BUT_WARN) +# define CATCH_INTERNAL_IGNORE_BUT_WARN(...) +#endif + +#if defined(__APPLE__) && defined(__apple_build_version__) && (__clang_major__ < 10) +# undef CATCH_INTERNAL_SUPPRESS_UNUSED_TEMPLATE_WARNINGS +#elif defined(__clang__) && (__clang_major__ < 5) +# undef CATCH_INTERNAL_SUPPRESS_UNUSED_TEMPLATE_WARNINGS +#endif + +#if !defined(CATCH_INTERNAL_SUPPRESS_UNUSED_TEMPLATE_WARNINGS) +# define CATCH_INTERNAL_SUPPRESS_UNUSED_TEMPLATE_WARNINGS #endif #if defined(CATCH_CONFIG_DISABLE_EXCEPTIONS) @@ -468,7 +512,7 @@ namespace Catch { SourceLineInfo( SourceLineInfo&& ) noexcept = default; SourceLineInfo& operator = ( SourceLineInfo&& ) noexcept = default; - bool empty() const noexcept; + bool empty() const noexcept { return file[0] == '\0'; } bool operator == ( SourceLineInfo const& other ) const noexcept; bool operator < ( SourceLineInfo const& other ) const noexcept; @@ -509,9 +553,10 @@ namespace Catch { } // end namespace Catch #define CATCH_REGISTER_TAG_ALIAS( alias, spec ) \ + CATCH_INTERNAL_START_WARNINGS_SUPPRESSION \ CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \ namespace{ Catch::RegistrarForTagAliases INTERNAL_CATCH_UNIQUE_NAME( AutoRegisterTagAlias )( alias, spec, CATCH_INTERNAL_LINEINFO ); } \ - CATCH_INTERNAL_UNSUPPRESS_GLOBALS_WARNINGS + CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION // end catch_tag_alias_autoregistrar.h // start catch_test_registry.h @@ -551,53 +596,30 @@ namespace Catch { #include #include #include +#include namespace Catch { /// A non-owning string class (similar to the forthcoming std::string_view) /// Note that, because a StringRef may be a substring of another string, - /// it may not be null terminated. c_str() must return a null terminated - /// string, however, and so the StringRef will internally take ownership - /// (taking a copy), if necessary. In theory this ownership is not externally - /// visible - but it does mean (substring) StringRefs should not be shared between - /// threads. + /// it may not be null terminated. class StringRef { public: using size_type = std::size_t; + using const_iterator = const char*; private: - friend struct StringRefTestAccess; - - char const* m_start; - size_type m_size; - - char* m_data = nullptr; - - void takeOwnership(); - static constexpr char const* const s_empty = ""; - public: // construction/ assignment - StringRef() noexcept - : StringRef( s_empty, 0 ) - {} + char const* m_start = s_empty; + size_type m_size = 0; - StringRef( StringRef const& other ) noexcept - : m_start( other.m_start ), - m_size( other.m_size ) - {} - - StringRef( StringRef&& other ) noexcept - : m_start( other.m_start ), - m_size( other.m_size ), - m_data( other.m_data ) - { - other.m_data = nullptr; - } + public: // construction + constexpr StringRef() noexcept = default; StringRef( char const* rawChars ) noexcept; - StringRef( char const* rawChars, size_type size ) noexcept + constexpr StringRef( char const* rawChars, size_type size ) noexcept : m_start( rawChars ), m_size( size ) {} @@ -607,101 +629,64 @@ namespace Catch { m_size( stdString.size() ) {} - ~StringRef() noexcept { - delete[] m_data; + explicit operator std::string() const { + return std::string(m_start, m_size); } - auto operator = ( StringRef const &other ) noexcept -> StringRef& { - delete[] m_data; - m_data = nullptr; - m_start = other.m_start; - m_size = other.m_size; - return *this; - } - - operator std::string() const; - - void swap( StringRef& other ) noexcept; - public: // operators auto operator == ( StringRef const& other ) const noexcept -> bool; - auto operator != ( StringRef const& other ) const noexcept -> bool; + auto operator != (StringRef const& other) const noexcept -> bool { + return !(*this == other); + } - auto operator[] ( size_type index ) const noexcept -> char; + auto operator[] ( size_type index ) const noexcept -> char { + assert(index < m_size); + return m_start[index]; + } public: // named queries - auto empty() const noexcept -> bool { + constexpr auto empty() const noexcept -> bool { return m_size == 0; } - auto size() const noexcept -> size_type { + constexpr auto size() const noexcept -> size_type { return m_size; } - auto numberOfCharacters() const noexcept -> size_type; + // Returns the current start pointer. If the StringRef is not + // null-terminated, throws std::domain_exception auto c_str() const -> char const*; public: // substrings and searches - auto substr( size_type start, size_type size ) const noexcept -> StringRef; + // Returns a substring of [start, start + length). + // If start + length > size(), then the substring is [start, size()). + // If start > size(), then the substring is empty. + auto substr( size_type start, size_type length ) const noexcept -> StringRef; - // Returns the current start pointer. - // Note that the pointer can change when if the StringRef is a substring - auto currentData() const noexcept -> char const*; + // Returns the current start pointer. May not be null-terminated. + auto data() const noexcept -> char const*; - private: // ownership queries - may not be consistent between calls - auto isOwned() const noexcept -> bool; - auto isSubstring() const noexcept -> bool; + constexpr auto isNullTerminated() const noexcept -> bool { + return m_start[m_size] == '\0'; + } + + public: // iterators + constexpr const_iterator begin() const { return m_start; } + constexpr const_iterator end() const { return m_start + m_size; } }; - auto operator + ( StringRef const& lhs, StringRef const& rhs ) -> std::string; - auto operator + ( StringRef const& lhs, char const* rhs ) -> std::string; - auto operator + ( char const* lhs, StringRef const& rhs ) -> std::string; - auto operator += ( std::string& lhs, StringRef const& sr ) -> std::string&; auto operator << ( std::ostream& os, StringRef const& sr ) -> std::ostream&; - inline auto operator "" _sr( char const* rawChars, std::size_t size ) noexcept -> StringRef { + constexpr auto operator "" _sr( char const* rawChars, std::size_t size ) noexcept -> StringRef { return StringRef( rawChars, size ); } - } // namespace Catch -inline auto operator "" _catch_sr( char const* rawChars, std::size_t size ) noexcept -> Catch::StringRef { +constexpr auto operator "" _catch_sr( char const* rawChars, std::size_t size ) noexcept -> Catch::StringRef { return Catch::StringRef( rawChars, size ); } // end catch_stringref.h -// start catch_type_traits.hpp - - -#include - -namespace Catch{ - -#ifdef CATCH_CPP17_OR_GREATER - template - inline constexpr auto is_unique = std::true_type{}; - - template - inline constexpr auto is_unique = std::bool_constant< - (!std::is_same_v && ...) && is_unique - >{}; -#else - -template -struct is_unique : std::true_type{}; - -template -struct is_unique : std::integral_constant -::value - && is_unique::value - && is_unique::value ->{}; - -#endif -} - -// end catch_type_traits.hpp // start catch_preprocessor.hpp @@ -786,7 +771,7 @@ struct is_unique : std::integral_constant #define INTERNAL_CATCH_REMOVE_PARENS_4_ARG(_0, _1, _2, _3) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_3_ARG(_1, _2, _3) #define INTERNAL_CATCH_REMOVE_PARENS_5_ARG(_0, _1, _2, _3, _4) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_4_ARG(_1, _2, _3, _4) #define INTERNAL_CATCH_REMOVE_PARENS_6_ARG(_0, _1, _2, _3, _4, _5) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_5_ARG(_1, _2, _3, _4, _5) -#define INTERNAL_CATCH_REMOVE_PARENS_7_ARG(_0, _1, _2, _3, _4, _5, _6) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_6_ARG(_1, _2, _4, _5, _6) +#define INTERNAL_CATCH_REMOVE_PARENS_7_ARG(_0, _1, _2, _3, _4, _5, _6) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_6_ARG(_1, _2, _3, _4, _5, _6) #define INTERNAL_CATCH_REMOVE_PARENS_8_ARG(_0, _1, _2, _3, _4, _5, _6, _7) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_7_ARG(_1, _2, _3, _4, _5, _6, _7) #define INTERNAL_CATCH_REMOVE_PARENS_9_ARG(_0, _1, _2, _3, _4, _5, _6, _7, _8) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_8_ARG(_1, _2, _3, _4, _5, _6, _7, _8) #define INTERNAL_CATCH_REMOVE_PARENS_10_ARG(_0, _1, _2, _3, _4, _5, _6, _7, _8, _9) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_9_ARG(_1, _2, _3, _4, _5, _6, _7, _8, _9) @@ -798,35 +783,49 @@ struct is_unique : std::integral_constant template struct TypeList {};\ template\ constexpr auto get_wrapper() noexcept -> TypeList { return {}; }\ + template class...> struct TemplateTypeList{};\ + template class...Cs>\ + constexpr auto get_wrapper() noexcept -> TemplateTypeList { return {}; }\ + template\ + struct append;\ + template\ + struct rewrap;\ + template class, typename...>\ + struct create;\ + template class, typename>\ + struct convert;\ \ - template class L1, typename...E1, template class L2, typename...E2> \ - constexpr auto append(L1, L2) noexcept -> L1 { return {}; }\ + template \ + struct append { using type = T; };\ template< template class L1, typename...E1, template class L2, typename...E2, typename...Rest>\ - constexpr auto append(L1, L2, Rest...) noexcept -> decltype(append(L1{}, Rest{}...)) { return {}; }\ + struct append, L2, Rest...> { using type = typename append, Rest...>::type; };\ template< template class L1, typename...E1, typename...Rest>\ - constexpr auto append(L1, TypeList, Rest...) noexcept -> L1 { return {}; }\ + struct append, TypeList, Rest...> { using type = L1; };\ \ template< template class Container, template class List, typename...elems>\ - constexpr auto rewrap(List) noexcept -> TypeList> { return {}; }\ + struct rewrap, List> { using type = TypeList>; };\ template< template class Container, template class List, class...Elems, typename...Elements>\ - constexpr auto rewrap(List,Elements...) noexcept -> decltype(append(TypeList>{}, rewrap(Elements{}...))) { return {}; }\ + struct rewrap, List, Elements...> { using type = typename append>, typename rewrap, Elements...>::type>::type; };\ \ template