From 9eea4f79d9588153b751b7ba6053840c94b89194 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Fri, 1 Nov 2013 13:58:03 +0400 Subject: [PATCH 01/13] sensors: support for Futaba RC failsafe --- src/modules/sensors/sensor_params.c | 4 ++++ src/modules/sensors/sensors.cpp | 27 +++++++++++++++++++++++++++ 2 files changed, 31 insertions(+) diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index 587b815886..2aa15420af 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -226,3 +226,7 @@ PARAM_DEFINE_INT32(RC_MAP_AUX3, 0); /**< default function: camera azimuth / yaw PARAM_DEFINE_FLOAT(RC_SCALE_ROLL, 0.6f); PARAM_DEFINE_FLOAT(RC_SCALE_PITCH, 0.6f); PARAM_DEFINE_FLOAT(RC_SCALE_YAW, 2.0f); + +PARAM_DEFINE_INT32(RC_FS_CH, 0); /**< RC failsafe channel, 0 = disable */ +PARAM_DEFINE_INT32(RC_FS_MODE, 0); /**< RC failsafe mode: 0 = too low means signal loss, 1 = too high means signal loss */ +PARAM_DEFINE_FLOAT(RC_FS_THR, 800); /**< RC failsafe PWM threshold */ diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index da0c11372c..21da44d101 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -260,6 +260,10 @@ private: float rc_scale_yaw; float rc_scale_flaps; + int rc_fs_ch; + int rc_fs_mode; + float rc_fs_thr; + float battery_voltage_scaling; } _parameters; /**< local copies of interesting parameters */ @@ -305,6 +309,10 @@ private: param_t rc_scale_yaw; param_t rc_scale_flaps; + param_t rc_fs_ch; + param_t rc_fs_mode; + param_t rc_fs_thr; + param_t battery_voltage_scaling; param_t board_rotation; @@ -517,6 +525,11 @@ Sensors::Sensors() : _parameter_handles.rc_scale_yaw = param_find("RC_SCALE_YAW"); _parameter_handles.rc_scale_flaps = param_find("RC_SCALE_FLAPS"); + /* RC failsafe */ + _parameter_handles.rc_fs_ch = param_find("RC_FS_CH"); + _parameter_handles.rc_fs_mode = param_find("RC_FS_MODE"); + _parameter_handles.rc_fs_thr = param_find("RC_FS_THR"); + /* gyro offsets */ _parameter_handles.gyro_offset[0] = param_find("SENS_GYRO_XOFF"); _parameter_handles.gyro_offset[1] = param_find("SENS_GYRO_YOFF"); @@ -668,6 +681,9 @@ Sensors::parameters_update() param_get(_parameter_handles.rc_scale_pitch, &(_parameters.rc_scale_pitch)); param_get(_parameter_handles.rc_scale_yaw, &(_parameters.rc_scale_yaw)); param_get(_parameter_handles.rc_scale_flaps, &(_parameters.rc_scale_flaps)); + param_get(_parameter_handles.rc_fs_ch, &(_parameters.rc_fs_ch)); + param_get(_parameter_handles.rc_fs_mode, &(_parameters.rc_fs_mode)); + param_get(_parameter_handles.rc_fs_thr, &(_parameters.rc_fs_thr)); /* update RC function mappings */ _rc.function[THROTTLE] = _parameters.rc_map_throttle - 1; @@ -1255,6 +1271,17 @@ Sensors::rc_poll() if (rc_input.channel_count < 4) return; + /* failsafe check */ + if (_parameters.rc_fs_ch != 0) { + if (_parameters.rc_fs_mode == 0) { + if (rc_input.values[_parameters.rc_fs_ch - 1] < _parameters.rc_fs_thr) + return; + } else if (_parameters.rc_fs_mode == 1) { + if (rc_input.values[_parameters.rc_fs_ch - 1] > _parameters.rc_fs_thr) + return; + } + } + unsigned channel_limit = rc_input.channel_count; if (channel_limit > _rc_max_chan_count) From 97acb49028da526ad9081e9eecea97ec0a822858 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Fri, 1 Nov 2013 13:58:23 +0400 Subject: [PATCH 02/13] commander: bug fixed in failsafe --- src/modules/commander/commander.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index ed090271ca..cbf900fce7 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1600,8 +1600,8 @@ check_navigation_state_machine(struct vehicle_status_s *status, struct vehicle_c /* switch to failsafe mode */ bool manual_control_old = control_mode->flag_control_manual_enabled; - if (!status->condition_landed) { - /* in air: try to hold position */ + if (!status->condition_landed && status->condition_local_position_valid) { + /* in air: try to hold position if possible */ res = navigation_state_transition(status, NAVIGATION_STATE_VECTOR, control_mode); } else { From af12065826060e3ac071869bf39a82695e1d88e8 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Fri, 1 Nov 2013 13:59:24 +0400 Subject: [PATCH 03/13] sensors: code style fixed --- src/modules/sensors/sensors.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 21da44d101..3b1460b73b 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -1276,6 +1276,7 @@ Sensors::rc_poll() if (_parameters.rc_fs_mode == 0) { if (rc_input.values[_parameters.rc_fs_ch - 1] < _parameters.rc_fs_thr) return; + } else if (_parameters.rc_fs_mode == 1) { if (rc_input.values[_parameters.rc_fs_ch - 1] > _parameters.rc_fs_thr) return; From f042ea162310783a5d58d32478371f2c32a0647e Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 17 Dec 2013 10:20:22 +0100 Subject: [PATCH 04/13] Removed whitespace --- ROMFS/px4fmu_common/init.d/rc.sensors | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors index 7f73acf859..070a4e7e35 100644 --- a/ROMFS/px4fmu_common/init.d/rc.sensors +++ b/ROMFS/px4fmu_common/init.d/rc.sensors @@ -23,7 +23,7 @@ fi if l3gd20 start then - echo "using L3GD20(H)" + echo "using L3GD20(H)" fi if lsm303d start From 6dce57170e3ceaa3316446086f8a0cd12cc5e90c Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 19 Dec 2013 17:12:46 +0100 Subject: [PATCH 05/13] Hotfix: Fixed mapping of override channel --- src/drivers/px4io/px4io.cpp | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index db882e6232..e898b3e605 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -1024,7 +1024,12 @@ PX4IO::io_set_rc_config() if ((ichan >= 0) && (ichan < (int)_max_rc_input)) input_map[ichan - 1] = 3; - ichan = 4; + param_get(param_find("RC_MAP_MODE_SW"), &ichan); + + if ((ichan >= 0) && (ichan < (int)_max_rc_input)) + input_map[ichan - 1] = 4; + + ichan = 5; for (unsigned i = 0; i < _max_rc_input; i++) if (input_map[i] == -1) From 9476ba522f0b174a64ff91061647bca30cf7b6ea Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 20 Dec 2013 08:48:45 +0100 Subject: [PATCH 06/13] PPM channel count detection is now using a more paranoid approach. --- src/drivers/drv_rc_input.h | 2 +- src/drivers/stm32/drv_hrt.c | 45 ++++++++++++++++++++++++++++++------- 2 files changed, 38 insertions(+), 9 deletions(-) diff --git a/src/drivers/drv_rc_input.h b/src/drivers/drv_rc_input.h index 86e5a149a0..7b18b5b15b 100644 --- a/src/drivers/drv_rc_input.h +++ b/src/drivers/drv_rc_input.h @@ -60,7 +60,7 @@ /** * Maximum number of R/C input channels in the system. S.Bus has up to 18 channels. */ -#define RC_INPUT_MAX_CHANNELS 18 +#define RC_INPUT_MAX_CHANNELS 20 /** * Input signal type, value is a control position from zero to 100 diff --git a/src/drivers/stm32/drv_hrt.c b/src/drivers/stm32/drv_hrt.c index 1bd251bc2a..36226c941f 100644 --- a/src/drivers/stm32/drv_hrt.c +++ b/src/drivers/stm32/drv_hrt.c @@ -338,7 +338,12 @@ static void hrt_call_invoke(void); # define PPM_MIN_START 2500 /* shortest valid start gap */ /* decoded PPM buffer */ -#define PPM_MAX_CHANNELS 12 +#define PPM_MIN_CHANNELS 5 +#define PPM_MAX_CHANNELS 20 + +/* Number of same-sized frames required to 'lock' */ +#define PPM_CHANNEL_LOCK 2 /* should be less than the input timeout */ + __EXPORT uint16_t ppm_buffer[PPM_MAX_CHANNELS]; __EXPORT unsigned ppm_decoded_channels = 0; __EXPORT uint64_t ppm_last_valid_decode = 0; @@ -440,7 +445,7 @@ hrt_ppm_decode(uint32_t status) if (status & SR_OVF_PPM) goto error; - /* how long since the last edge? */ + /* how long since the last edge? - this handles counter wrapping implicitely. */ width = count - ppm.last_edge; ppm.last_edge = count; @@ -455,14 +460,38 @@ hrt_ppm_decode(uint32_t status) */ if (width >= PPM_MIN_START) { - /* export the last set of samples if we got something sensible */ - if (ppm.next_channel > 4) { - for (i = 0; i < ppm.next_channel && i < PPM_MAX_CHANNELS; i++) - ppm_buffer[i] = ppm_temp_buffer[i]; + /* + * If the number of channels changes unexpectedly, we don't want + * to just immediately jump on the new count as it may be a result + * of noise or dropped edges. Instead, take a few frames to settle. + */ + if (ppm.next_channel != ppm_decoded_channels) { + static unsigned new_channel_count; + static unsigned new_channel_holdoff; - ppm_decoded_channels = i; - ppm_last_valid_decode = hrt_absolute_time(); + if (new_channel_count != ppm.next_channel) { + /* start the lock counter for the new channel count */ + new_channel_count = ppm.next_channel; + new_channel_holdoff = PPM_CHANNEL_LOCK; + } else if (new_channel_holdoff > 0) { + /* this frame matched the last one, decrement the lock counter */ + new_channel_holdoff--; + + } else { + /* we have seen PPM_CHANNEL_LOCK frames with the new count, accept it */ + ppm_decoded_channels = new_channel_count; + new_channel_count = 0; + } + + } else { + /* frame channel count matches expected, let's use it */ + if (ppm.next_channel > PPM_MIN_CHANNELS) { + for (i = 0; i < ppm.next_channel; i++) + ppm_buffer[i] = ppm_temp_buffer[i]; + + ppm_last_valid_decode = hrt_absolute_time(); + } } /* reset for the next frame */ From 8c518aa23710ba0b9ad0c7ad2c03428ce8ddb290 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 20 Dec 2013 14:25:35 +0100 Subject: [PATCH 07/13] Useful bits for high-rate logging --- ROMFS/px4fmu_common/init.d/rcS | 0 ROMFS/px4fmu_logging/init.d/rcS | 88 +++++++++++++++ ROMFS/px4fmu_test/init.d/rcS | 8 ++ makefiles/config_px4fmu-v2_logging.mk | 157 ++++++++++++++++++++++++++ src/systemcmds/tests/test_sensors.c | 87 ++++++++------ 5 files changed, 304 insertions(+), 36 deletions(-) mode change 100755 => 100644 ROMFS/px4fmu_common/init.d/rcS create mode 100644 ROMFS/px4fmu_logging/init.d/rcS mode change 100755 => 100644 ROMFS/px4fmu_test/init.d/rcS create mode 100644 makefiles/config_px4fmu-v2_logging.mk diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS old mode 100755 new mode 100644 diff --git a/ROMFS/px4fmu_logging/init.d/rcS b/ROMFS/px4fmu_logging/init.d/rcS new file mode 100644 index 0000000000..7b88567197 --- /dev/null +++ b/ROMFS/px4fmu_logging/init.d/rcS @@ -0,0 +1,88 @@ +#!nsh +# +# PX4FMU startup script for logging purposes +# + +# +# Try to mount the microSD card. +# +echo "[init] looking for microSD..." +if mount -t vfat /dev/mmcsd0 /fs/microsd +then + echo "[init] card mounted at /fs/microsd" + # Start playing the startup tune + tone_alarm start +else + echo "[init] no microSD card found" + # Play SOS + tone_alarm error +fi + +uorb start + +# +# Start sensor drivers here. +# + +ms5611 start +adc start + +# mag might be external +if hmc5883 start +then + echo "using HMC5883" +fi + +if mpu6000 start +then + echo "using MPU6000" +fi + +if l3gd20 start +then + echo "using L3GD20(H)" +fi + +if lsm303d start +then + set BOARD fmuv2 +else + set BOARD fmuv1 +fi + +# Start airspeed sensors +if meas_airspeed start +then + echo "using MEAS airspeed sensor" +else + if ets_airspeed start + then + echo "using ETS airspeed sensor (bus 3)" + else + if ets_airspeed start -b 1 + then + echo "Using ETS airspeed sensor (bus 1)" + fi + fi +fi + +# +# Start the sensor collection task. +# IMPORTANT: this also loads param offsets +# ALWAYS start this task before the +# preflight_check. +# +if sensors start +then + echo "SENSORS STARTED" +fi + +sdlog2 start -r 250 -e -b 16 + +if sercon +then + echo "[init] USB interface connected" + + # Try to get an USB console + nshterm /dev/ttyACM0 & +fi \ No newline at end of file diff --git a/ROMFS/px4fmu_test/init.d/rcS b/ROMFS/px4fmu_test/init.d/rcS old mode 100755 new mode 100644 index 7f161b053a..6aa1d3d46b --- a/ROMFS/px4fmu_test/init.d/rcS +++ b/ROMFS/px4fmu_test/init.d/rcS @@ -2,3 +2,11 @@ # # PX4FMU startup script for test hackery. # + +if sercon +then + echo "[init] USB interface connected" + + # Try to get an USB console + nshterm /dev/ttyACM0 & +fi \ No newline at end of file diff --git a/makefiles/config_px4fmu-v2_logging.mk b/makefiles/config_px4fmu-v2_logging.mk new file mode 100644 index 0000000000..ed90f6464c --- /dev/null +++ b/makefiles/config_px4fmu-v2_logging.mk @@ -0,0 +1,157 @@ +# +# Makefile for the px4fmu_default configuration +# + +# +# Use the configuration's ROMFS, copy the px4iov2 firmware into +# the ROMFS if it's available +# +ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_logging +ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v2_default.bin + +# +# Board support modules +# +MODULES += drivers/device +MODULES += drivers/stm32 +MODULES += drivers/stm32/adc +MODULES += drivers/stm32/tone_alarm +MODULES += drivers/led +MODULES += drivers/px4fmu +MODULES += drivers/px4io +MODULES += drivers/boards/px4fmu-v2 +MODULES += drivers/rgbled +MODULES += drivers/mpu6000 +MODULES += drivers/lsm303d +MODULES += drivers/l3gd20 +MODULES += drivers/hmc5883 +MODULES += drivers/ms5611 +MODULES += drivers/mb12xx +MODULES += drivers/gps +MODULES += drivers/hil +MODULES += drivers/hott/hott_telemetry +MODULES += drivers/hott/hott_sensors +MODULES += drivers/blinkm +MODULES += drivers/roboclaw +MODULES += drivers/airspeed +MODULES += drivers/ets_airspeed +MODULES += drivers/meas_airspeed +MODULES += modules/sensors + +# Needs to be burned to the ground and re-written; for now, +# just don't build it. +#MODULES += drivers/mkblctrl + +# +# System commands +# +MODULES += systemcmds/ramtron +MODULES += systemcmds/bl_update +MODULES += systemcmds/boardinfo +MODULES += systemcmds/mixer +MODULES += systemcmds/param +MODULES += systemcmds/perf +MODULES += systemcmds/preflight_check +MODULES += systemcmds/pwm +MODULES += systemcmds/esc_calib +MODULES += systemcmds/reboot +MODULES += systemcmds/top +MODULES += systemcmds/tests +MODULES += systemcmds/config +MODULES += systemcmds/nshterm + +# +# General system control +# +MODULES += modules/commander +MODULES += modules/navigator +MODULES += modules/mavlink +MODULES += modules/mavlink_onboard + +# +# Estimation modules (EKF/ SO3 / other filters) +# +MODULES += modules/attitude_estimator_ekf +MODULES += modules/attitude_estimator_so3 +MODULES += modules/att_pos_estimator_ekf +MODULES += modules/position_estimator_inav +MODULES += examples/flow_position_estimator + +# +# Vehicle Control +# +#MODULES += modules/segway # XXX Needs GCC 4.7 fix +MODULES += modules/fw_pos_control_l1 +MODULES += modules/fw_att_control +MODULES += modules/multirotor_att_control +MODULES += modules/multirotor_pos_control + +# +# Logging +# +MODULES += modules/sdlog2 + +# +# Unit tests +# +#MODULES += modules/unit_test +#MODULES += modules/commander/commander_tests + +# +# Library modules +# +MODULES += modules/systemlib +MODULES += modules/systemlib/mixer +MODULES += modules/controllib +MODULES += modules/uORB + +# +# Libraries +# +LIBRARIES += lib/mathlib/CMSIS +MODULES += lib/mathlib +MODULES += lib/mathlib/math/filter +MODULES += lib/ecl +MODULES += lib/external_lgpl +MODULES += lib/geo +MODULES += lib/conversion + +# +# Demo apps +# +#MODULES += examples/math_demo +# Tutorial code from +# https://pixhawk.ethz.ch/px4/dev/hello_sky +MODULES += examples/px4_simple_app + +# Tutorial code from +# https://pixhawk.ethz.ch/px4/dev/daemon +#MODULES += examples/px4_daemon_app + +# Tutorial code from +# https://pixhawk.ethz.ch/px4/dev/debug_values +#MODULES += examples/px4_mavlink_debug + +# Tutorial code from +# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control +#MODULES += examples/fixedwing_control + +# Hardware test +#MODULES += examples/hwtest + +# +# Transitional support - add commands from the NuttX export archive. +# +# In general, these should move to modules over time. +# +# Each entry here is ... but we use a helper macro +# to make the table a bit more readable. +# +define _B + $(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4) +endef + +# command priority stack entrypoint +BUILTIN_COMMANDS := \ + $(call _B, sercon, , 2048, sercon_main ) \ + $(call _B, serdis, , 2048, serdis_main ) diff --git a/src/systemcmds/tests/test_sensors.c b/src/systemcmds/tests/test_sensors.c index f6415b72f2..096106ff33 100644 --- a/src/systemcmds/tests/test_sensors.c +++ b/src/systemcmds/tests/test_sensors.c @@ -78,7 +78,8 @@ static int accel(int argc, char *argv[]); static int gyro(int argc, char *argv[]); static int mag(int argc, char *argv[]); static int baro(int argc, char *argv[]); -static int mpu6k(int argc, char *argv[]); +static int accel1(int argc, char *argv[]); +static int gyro1(int argc, char *argv[]); /**************************************************************************** * Private Data @@ -93,7 +94,8 @@ struct { {"gyro", "/dev/gyro", gyro}, {"mag", "/dev/mag", mag}, {"baro", "/dev/baro", baro}, - {"mpu6k", "/dev/mpu6k", mpu6k}, + {"accel1", "/dev/accel1", accel1}, + {"gyro1", "/dev/gyro1", gyro1}, {NULL, NULL, NULL} }; @@ -137,7 +139,7 @@ accel(int argc, char *argv[]) } if (fabsf(buf.x) > 30.0f || fabsf(buf.y) > 30.0f || fabsf(buf.z) > 30.0f) { - warnx("MPU6K acceleration values out of range!"); + warnx("ACCEL1 acceleration values out of range!"); return ERROR; } @@ -149,20 +151,19 @@ accel(int argc, char *argv[]) } static int -mpu6k(int argc, char *argv[]) +accel1(int argc, char *argv[]) { - printf("\tMPU6K: test start\n"); + printf("\tACCEL1: test start\n"); fflush(stdout); int fd; struct accel_report buf; - struct gyro_report gyro_buf; int ret; - fd = open("/dev/accel_mpu6k", O_RDONLY); + fd = open("/dev/accel1", O_RDONLY); if (fd < 0) { - printf("\tMPU6K: open fail, run first.\n"); + printf("\tACCEL1: open fail, run or first.\n"); return ERROR; } @@ -173,45 +174,21 @@ mpu6k(int argc, char *argv[]) ret = read(fd, &buf, sizeof(buf)); if (ret != sizeof(buf)) { - printf("\tMPU6K: read1 fail (%d)\n", ret); + printf("\tACCEL1: read1 fail (%d)\n", ret); return ERROR; } else { - printf("\tMPU6K accel: x:%8.4f\ty:%8.4f\tz:%8.4f m/s^2\n", (double)buf.x, (double)buf.y, (double)buf.z); + printf("\tACCEL1 accel: x:%8.4f\ty:%8.4f\tz:%8.4f m/s^2\n", (double)buf.x, (double)buf.y, (double)buf.z); } if (fabsf(buf.x) > 30.0f || fabsf(buf.y) > 30.0f || fabsf(buf.z) > 30.0f) { - warnx("MPU6K acceleration values out of range!"); + warnx("ACCEL1 acceleration values out of range!"); return ERROR; } /* Let user know everything is ok */ - printf("\tOK: MPU6K ACCEL passed all tests successfully\n"); + printf("\tOK: ACCEL1 passed all tests successfully\n"); - close(fd); - fd = open("/dev/gyro_mpu6k", O_RDONLY); - - if (fd < 0) { - printf("\tMPU6K GYRO: open fail, run or first.\n"); - return ERROR; - } - - /* wait at least 5 ms, sensor should have data after that */ - usleep(5000); - - /* read data - expect samples */ - ret = read(fd, &gyro_buf, sizeof(gyro_buf)); - - if (ret != sizeof(gyro_buf)) { - printf("\tMPU6K GYRO: read fail (%d)\n", ret); - return ERROR; - - } else { - printf("\tMPU6K GYRO rates: x:%8.4f\ty:%8.4f\tz:%8.4f rad/s\n", (double)gyro_buf.x, (double)gyro_buf.y, (double)gyro_buf.z); - } - - /* Let user know everything is ok */ - printf("\tOK: MPU6K GYRO passed all tests successfully\n"); close(fd); return OK; @@ -255,6 +232,44 @@ gyro(int argc, char *argv[]) return OK; } +static int +gyro1(int argc, char *argv[]) +{ + printf("\tGYRO1: test start\n"); + fflush(stdout); + + int fd; + struct gyro_report buf; + int ret; + + fd = open("/dev/gyro1", O_RDONLY); + + if (fd < 0) { + printf("\tGYRO1: open fail, run or first.\n"); + return ERROR; + } + + /* wait at least 5 ms, sensor should have data after that */ + usleep(5000); + + /* read data - expect samples */ + ret = read(fd, &buf, sizeof(buf)); + + if (ret != sizeof(buf)) { + printf("\tGYRO1: read fail (%d)\n", ret); + return ERROR; + + } else { + printf("\tGYRO1 rates: x:%8.4f\ty:%8.4f\tz:%8.4f rad/s\n", (double)buf.x, (double)buf.y, (double)buf.z); + } + + /* Let user know everything is ok */ + printf("\tOK: GYRO1 passed all tests successfully\n"); + close(fd); + + return OK; +} + static int mag(int argc, char *argv[]) { From 3ad9dd030c01e233a78aebfd2e20e67168962255 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 20 Dec 2013 21:10:33 +0100 Subject: [PATCH 08/13] Added performance counter for write IOCTL --- src/drivers/px4io/px4io.cpp | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index e898b3e605..9e84bf9291 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -244,7 +244,8 @@ private: int _mavlink_fd; /// 0) { + + perf_begin(_perf_write); int ret = io_reg_set(PX4IO_PAGE_DIRECT_PWM, 0, (uint16_t *)buffer, count); + perf_end(_perf_write); if (ret != OK) return ret; From f174ca3ce5dfe338b79f52de46f127abf1c3aca1 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 20 Dec 2013 21:52:10 +0100 Subject: [PATCH 09/13] Added average as direct output --- src/modules/systemlib/perf_counter.c | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/modules/systemlib/perf_counter.c b/src/modules/systemlib/perf_counter.c index bf84b79450..b4ca0ed3ec 100644 --- a/src/modules/systemlib/perf_counter.c +++ b/src/modules/systemlib/perf_counter.c @@ -295,10 +295,11 @@ perf_print_counter(perf_counter_t handle) case PC_ELAPSED: { struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle; - printf("%s: %llu events, %lluus elapsed, min %lluus max %lluus\n", + printf("%s: %llu events, %lluus elapsed, %llu avg, min %lluus max %lluus\n", handle->name, pce->event_count, pce->time_total, + pce->time_total / pce->event_count, pce->time_least, pce->time_most); break; From 0f0dc5ba068d24fb8b339acc8ef850f5f6ea9e47 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 21 Dec 2013 12:45:04 +0100 Subject: [PATCH 10/13] Allowed custom battery scaling on IO --- src/drivers/px4io/px4io.cpp | 17 +++++++++++++++-- src/modules/sensors/sensor_params.c | 1 + 2 files changed, 16 insertions(+), 2 deletions(-) diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 9e84bf9291..df96fa0bbd 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -896,8 +896,21 @@ PX4IO::task_main() /* re-upload RC input config as it may have changed */ io_set_rc_config(); - } - } + + /* re-set the battery scaling */ + int32_t voltage_scaling_val; + param_t voltage_scaling_param; + + /* see if bind parameter has been set, and reset it to -1 */ + param_get(voltage_scaling_param = param_find("BAT_V_SCALE_IO"), &voltage_scaling_val); + + /* send channel config to IO */ + uint16_t scaling = voltage_scaling_val; + int pret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE, &scaling, 1); + + if (pret != OK) { + log("voltage scaling upload failed"); + } perf_end(_perf_update); } diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index 2aa15420af..78d4b410a8 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -195,6 +195,7 @@ PARAM_DEFINE_INT32(RC_RL1_DSM_VCC, 0); /* Relay 1 controls DSM VCC */ #endif PARAM_DEFINE_INT32(RC_DSM_BIND, -1); /* -1 = Idle, 0 = Start DSM2 bind, 1 = Start DSMX bind */ +PARAM_DEFINE_INT32(BAT_V_SCALE_IO, 10000); #ifdef CONFIG_ARCH_BOARD_PX4FMU_V2 PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.0082f); #else From 3e037d40de2a68b99aa4600f060eab3555f75832 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 21 Dec 2013 12:46:06 +0100 Subject: [PATCH 11/13] Fixed bracketing error --- src/drivers/px4io/px4io.cpp | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index df96fa0bbd..a7f7fce453 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -901,16 +901,19 @@ PX4IO::task_main() int32_t voltage_scaling_val; param_t voltage_scaling_param; - /* see if bind parameter has been set, and reset it to -1 */ + /* set battery voltage scaling */ param_get(voltage_scaling_param = param_find("BAT_V_SCALE_IO"), &voltage_scaling_val); - /* send channel config to IO */ + /* send scaling voltage to IO */ uint16_t scaling = voltage_scaling_val; int pret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE, &scaling, 1); if (pret != OK) { log("voltage scaling upload failed"); } + } + + } perf_end(_perf_update); } From b2e527ffa6f24a67903048ea157ee572f59f98a1 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 21 Dec 2013 16:13:04 +0100 Subject: [PATCH 12/13] Counting channel count changes --- src/drivers/px4io/px4io.cpp | 13 +++++++++++-- 1 file changed, 11 insertions(+), 2 deletions(-) diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index a7f7fce453..b80844c5b4 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -237,6 +237,7 @@ private: unsigned _update_interval; ///< Subscription interval limiting send rate bool _rc_handling_disabled; ///< If set, IO does not evaluate, but only forward the RC values + unsigned _rc_chan_count; ///< Internal copy of the last seen number of RC channels volatile int _task; /// 9) { ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE + 9, ®s[prolog + 9], channel_count - 9); From 831f153b7385fecb180c977727eb6b2f8bef1317 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 21 Dec 2013 16:37:45 +0100 Subject: [PATCH 13/13] Add tight RC test --- src/systemcmds/tests/module.mk | 3 +- src/systemcmds/tests/test_rc.c | 146 ++++++++++++++++++++++++++++++ src/systemcmds/tests/tests.h | 1 + src/systemcmds/tests/tests_main.c | 1 + 4 files changed, 150 insertions(+), 1 deletion(-) create mode 100644 src/systemcmds/tests/test_rc.c diff --git a/src/systemcmds/tests/module.mk b/src/systemcmds/tests/module.mk index 5d5fe50d33..68a080c77c 100644 --- a/src/systemcmds/tests/module.mk +++ b/src/systemcmds/tests/module.mk @@ -27,4 +27,5 @@ SRCS = test_adc.c \ test_file.c \ tests_main.c \ test_param.c \ - test_ppm_loopback.c + test_ppm_loopback.c \ + test_rc.c diff --git a/src/systemcmds/tests/test_rc.c b/src/systemcmds/tests/test_rc.c new file mode 100644 index 0000000000..72619fc8ba --- /dev/null +++ b/src/systemcmds/tests/test_rc.c @@ -0,0 +1,146 @@ +/**************************************************************************** + * + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file test_ppm_loopback.c + * Tests the PWM outputs and PPM input + * + */ + +#include + +#include + +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +#include "tests.h" + +#include +#include + +int test_rc(int argc, char *argv[]) +{ + + int _rc_sub = orb_subscribe(ORB_ID(input_rc)); + + /* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */ + struct rc_input_values rc_input; + struct rc_input_values rc_last; + orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input); + usleep(100000); + + /* open PPM input and expect values close to the output values */ + + bool rc_updated; + orb_check(_rc_sub, &rc_updated); + + warnx("Reading PPM values - press any key to abort"); + warnx("This test guarantees: 10 Hz update rates, no glitches (channel values), no channel count changes."); + + if (rc_updated) { + + /* copy initial set */ + for (unsigned i = 0; i < rc_input.channel_count; i++) { + rc_last.values[i] = rc_input.values[i]; + } + + rc_last.channel_count = rc_input.channel_count; + + /* poll descriptor */ + struct pollfd fds[2]; + fds[0].fd = _rc_sub; + fds[0].events = POLLIN; + fds[1].fd = 0; + fds[1].events = POLLIN; + + while (true) { + + int ret = poll(fds, 2, 200); + + if (ret > 0) { + + if (fds[0].revents & POLLIN) { + + orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input); + + /* go and check values */ + for (unsigned i = 0; i < rc_input.channel_count; i++) { + if (fabsf(rc_input.values[i] - rc_last.values[i]) > 20) { + warnx("comparison fail: RC: %d, expected: %d", rc_input.values[i], rc_last.values[i]); + (void)close(_rc_sub); + return ERROR; + } + + rc_last.values[i] = rc_input.values[i]; + } + + if (rc_last.channel_count != rc_input.channel_count) { + warnx("channel count mismatch: last: %d, now: %d", rc_last.channel_count, rc_input.channel_count); + (void)close(_rc_sub); + return ERROR; + } + + if (hrt_absolute_time() - rc_input.timestamp > 100000) { + warnx("TIMEOUT, less than 10 Hz updates"); + (void)close(_rc_sub); + return ERROR; + } + + } else { + /* key pressed, bye bye */ + return 0; + } + + } + } + + } else { + warnx("failed reading RC input data"); + return ERROR; + } + + warnx("PPM CONTINUITY TEST PASSED SUCCESSFULLY!"); + + return 0; +} diff --git a/src/systemcmds/tests/tests.h b/src/systemcmds/tests/tests.h index 5cbc5ad88f..a57d04be37 100644 --- a/src/systemcmds/tests/tests.h +++ b/src/systemcmds/tests/tests.h @@ -108,6 +108,7 @@ extern int test_param(int argc, char *argv[]); extern int test_bson(int argc, char *argv[]); extern int test_file(int argc, char *argv[]); extern int test_mixer(int argc, char *argv[]); +extern int test_rc(int argc, char *argv[]); __END_DECLS diff --git a/src/systemcmds/tests/tests_main.c b/src/systemcmds/tests/tests_main.c index cd998dd18d..1088a44076 100644 --- a/src/systemcmds/tests/tests_main.c +++ b/src/systemcmds/tests/tests_main.c @@ -105,6 +105,7 @@ const struct { {"bson", test_bson, 0}, {"file", test_file, 0}, {"mixer", test_mixer, OPT_NOJIGTEST | OPT_NOALLTEST}, + {"rc", test_rc, OPT_NOJIGTEST | OPT_NOALLTEST}, {"help", test_help, OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST}, {NULL, NULL, 0} };