mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-18 05:23:34 +08:00
Merge branch 'release_v1.0.0' into stable
This commit is contained in:
Lorenz Meier
+2
-2
@@ -4,9 +4,9 @@
|
||||
[submodule "NuttX"]
|
||||
path = NuttX
|
||||
url = git://github.com/PX4/NuttX.git
|
||||
[submodule "uavcan"]
|
||||
[submodule "libuavcan"]
|
||||
path = src/lib/uavcan
|
||||
url = git://github.com/pavel-kirienko/uavcan.git
|
||||
url = git://github.com/UAVCAN/libuavcan.git
|
||||
[submodule "Tools/genmsg"]
|
||||
path = Tools/genmsg
|
||||
url = https://github.com/ros/genmsg.git
|
||||
|
||||
@@ -51,10 +51,6 @@ endif
|
||||
|
||||
GIT_DESC_SHORT := $(shell echo $(GIT_DESC) | cut -c1-16)
|
||||
|
||||
$(shell echo "#include <systemlib/git_version.h>" > $(BUILD_DIR)git_version.c)
|
||||
$(shell echo "const char* px4_git_version = \"$(GIT_DESC)\";" >> $(BUILD_DIR)git_version.c)
|
||||
$(shell echo "const uint64_t px4_git_version_binary = 0x$(GIT_DESC_SHORT);" >> $(BUILD_DIR)git_version.c)
|
||||
|
||||
#
|
||||
# Canned firmware configurations that we (know how to) build.
|
||||
#
|
||||
@@ -129,7 +125,7 @@ $(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4
|
||||
.PHONY: $(FIRMWARES)
|
||||
$(BUILD_DIR)%.build/firmware.px4: config = $(patsubst $(BUILD_DIR)%.build/firmware.px4,%,$@)
|
||||
$(BUILD_DIR)%.build/firmware.px4: work_dir = $(BUILD_DIR)$(config).build/
|
||||
$(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4: generateuorbtopicheaders checksubmodules
|
||||
$(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4: checkgitversion generateuorbtopicheaders checksubmodules
|
||||
@$(ECHO) %%%%
|
||||
@$(ECHO) %%%% Building $(config) in $(work_dir)
|
||||
@$(ECHO) %%%%
|
||||
@@ -216,11 +212,53 @@ menuconfig:
|
||||
@$(ECHO) ""
|
||||
endif
|
||||
|
||||
$(NUTTX_SRC): checksubmodules
|
||||
$(NUTTX_SRC): checkgitversion checksubmodules
|
||||
|
||||
$(UAVCAN_DIR):
|
||||
$(Q) (./Tools/check_submodules.sh)
|
||||
|
||||
|
||||
ifeq ($(PX4_TARGET_OS),nuttx)
|
||||
# TODO
|
||||
# Move the above nuttx specific rules into $(PX4_BASE)makefiles/firmware_nuttx.mk
|
||||
endif
|
||||
ifeq ($(PX4_TARGET_OS),posix)
|
||||
include $(PX4_BASE)makefiles/firmware_posix.mk
|
||||
endif
|
||||
ifeq ($(PX4_TARGET_OS),posix-arm)
|
||||
include $(PX4_BASE)makefiles/firmware_posix.mk
|
||||
endif
|
||||
ifeq ($(PX4_TARGET_OS),qurt)
|
||||
include $(PX4_BASE)makefiles/firmware_qurt.mk
|
||||
endif
|
||||
|
||||
#
|
||||
# Versioning
|
||||
#
|
||||
|
||||
GIT_VER_FILE = $(PX4_VERSIONING_DIR).build_git_ver
|
||||
GIT_HEADER_FILE = $(PX4_VERSIONING_DIR)build_git_version.h
|
||||
|
||||
$(GIT_VER_FILE) :
|
||||
$(Q) if [ ! -f $(GIT_VER_FILE) ]; then \
|
||||
$(MKDIR) -p $(PX4_VERSIONING_DIR); \
|
||||
$(ECHO) "" > $(GIT_VER_FILE); \
|
||||
fi
|
||||
|
||||
.PHONY: checkgitversion
|
||||
checkgitversion: $(GIT_VER_FILE)
|
||||
$(Q) if [ "$(GIT_DESC)" != "$(shell cat $(GIT_VER_FILE))" ]; then \
|
||||
$(ECHO) "/* Auto Magically Generated file */" > $(GIT_HEADER_FILE); \
|
||||
$(ECHO) "/* Do not edit! */" >> $(GIT_HEADER_FILE); \
|
||||
$(ECHO) "#define PX4_GIT_VERSION_STR \"$(GIT_DESC)\"" >> $(GIT_HEADER_FILE); \
|
||||
$(ECHO) "#define PX4_GIT_VERSION_BINARY 0x$(GIT_DESC_SHORT)" >> $(GIT_HEADER_FILE); \
|
||||
$(ECHO) $(GIT_DESC) > $(GIT_VER_FILE); \
|
||||
fi
|
||||
|
||||
#
|
||||
# Submodule Checks
|
||||
#
|
||||
|
||||
.PHONY: checksubmodules
|
||||
checksubmodules:
|
||||
$(Q) ($(PX4_BASE)/Tools/check_submodules.sh)
|
||||
@@ -280,6 +318,7 @@ check_format:
|
||||
clean:
|
||||
@echo > /dev/null
|
||||
$(Q) $(RMDIR) $(BUILD_DIR)*.build
|
||||
$(Q) $(RMDIR) $(PX4_VERSIONING_DIR)
|
||||
$(Q) $(REMOVE) $(IMAGE_DIR)*.px4
|
||||
|
||||
.PHONY: distclean
|
||||
|
||||
@@ -101,9 +101,10 @@ then
|
||||
fi
|
||||
fi
|
||||
|
||||
if pca8574 start
|
||||
then
|
||||
fi
|
||||
# Currently unused, but might be useful down the road
|
||||
#if pca8574 start
|
||||
#then
|
||||
#fi
|
||||
|
||||
#
|
||||
# Set default values
|
||||
|
||||
@@ -27,13 +27,13 @@ for the elevons.
|
||||
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 0 7500 7500 0 -10000 10000
|
||||
S: 0 1 8000 8000 0 -10000 10000
|
||||
S: 0 0 8500 8500 0 -10000 10000
|
||||
S: 0 1 9500 9500 0 -10000 10000
|
||||
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 0 7500 7500 0 -10000 10000
|
||||
S: 0 1 -8000 -8000 0 -10000 10000
|
||||
S: 0 0 8500 8500 0 -10000 10000
|
||||
S: 0 1 -9500 -9500 0 -10000 10000
|
||||
|
||||
Output 2
|
||||
--------
|
||||
@@ -51,19 +51,3 @@ range. Inputs below zero are treated as zero.
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
||||
|
||||
Inputs to the mixer come from channel group 2 (payload), channels 0
|
||||
(bay servo 1), 1 (bay servo 2) and 3 (drop release).
|
||||
-----------------------------------------------------
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 2 0 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 2 1 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 2 2 -10000 -10000 0 -10000 10000
|
||||
|
||||
+3
-1
@@ -55,6 +55,7 @@ export ROMFS_SRC = $(abspath $(PX4_BASE)/ROMFS)/
|
||||
export IMAGE_DIR = $(abspath $(PX4_BASE)/Images)/
|
||||
export BUILD_DIR = $(abspath $(PX4_BASE)/Build)/
|
||||
export ARCHIVE_DIR = $(abspath $(PX4_BASE)/Archives)/
|
||||
export PX4_VERSIONING_DIR = $(BUILD_DIR)versioning/
|
||||
|
||||
#
|
||||
# Default include paths
|
||||
@@ -63,7 +64,8 @@ export INCLUDE_DIRS := $(PX4_MODULE_SRC) \
|
||||
$(PX4_MODULE_SRC)/modules/ \
|
||||
$(PX4_INCLUDE_DIR) \
|
||||
$(PX4_LIB_DIR) \
|
||||
$(PX4_PLATFORMS_DIR)
|
||||
$(PX4_PLATFORMS_DIR) \
|
||||
$(PX4_VERSIONING_DIR)
|
||||
|
||||
#
|
||||
# Tools
|
||||
|
||||
@@ -331,10 +331,9 @@ HIL::task_main()
|
||||
/* advertise the mixed control outputs */
|
||||
actuator_outputs_s outputs;
|
||||
memset(&outputs, 0, sizeof(outputs));
|
||||
/* advertise the mixed control outputs */
|
||||
int dummy;
|
||||
_t_outputs = orb_advertise_multi(ORB_ID(actuator_outputs),
|
||||
&outputs, &dummy, ORB_PRIO_LOW);
|
||||
/* advertise the mixed control outputs, insist on the first group output */
|
||||
_t_outputs = orb_advertise(ORB_ID(actuator_outputs),
|
||||
&outputs);
|
||||
|
||||
pollfd fds[2];
|
||||
fds[0].fd = _t_actuators;
|
||||
|
||||
@@ -147,6 +147,9 @@ static constexpr uint8_t COMMANDER_MAX_GPS_NOISE = 60; /**< Maximum percentage
|
||||
|
||||
#define INAIR_RESTART_HOLDOFF_INTERVAL 2000000
|
||||
|
||||
#define HIL_ID_MIN 1000
|
||||
#define HIL_ID_MAX 1999
|
||||
|
||||
enum MAV_MODE_FLAG {
|
||||
MAV_MODE_FLAG_CUSTOM_MODE_ENABLED = 1, /* 0b00000001 Reserved for future use. | */
|
||||
MAV_MODE_FLAG_TEST_ENABLED = 2, /* 0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations. | */
|
||||
@@ -253,6 +256,15 @@ void *commander_low_prio_loop(void *arg);
|
||||
|
||||
void answer_command(struct vehicle_command_s &cmd, unsigned result);
|
||||
|
||||
/**
|
||||
* check whether autostart ID is in the reserved range for HIL setups
|
||||
*/
|
||||
bool is_hil_setup(int id);
|
||||
|
||||
bool is_hil_setup(int id) {
|
||||
return (id >= HIL_ID_MIN) && (id <= HIL_ID_MAX);
|
||||
}
|
||||
|
||||
|
||||
int commander_main(int argc, char *argv[])
|
||||
{
|
||||
@@ -437,6 +449,12 @@ transition_result_t arm_disarm(bool arm, const int mavlink_fd_local, const char
|
||||
{
|
||||
transition_result_t arming_res = TRANSITION_NOT_CHANGED;
|
||||
|
||||
// For HIL platforms, require that simulated sensors are connected
|
||||
if (is_hil_setup(autostart_id) && status.hil_state != vehicle_status_s::HIL_STATE_ON) {
|
||||
mavlink_and_console_log_critical(mavlink_fd_local, "HIL platform: Connect to simulator before arming");
|
||||
return TRANSITION_DENIED;
|
||||
}
|
||||
|
||||
// Transition the armed state. By passing mavlink_fd to arming_state_transition it will
|
||||
// output appropriate error messages if the state cannot transition.
|
||||
arming_res = arming_state_transition(&status, &safety, arm ? vehicle_status_s::ARMING_STATE_ARMED : vehicle_status_s::ARMING_STATE_STANDBY, &armed,
|
||||
@@ -481,10 +499,14 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
|
||||
transition_result_t hil_ret = hil_state_transition(new_hil_state, status_pub, status_local, mavlink_fd);
|
||||
|
||||
// Transition the arming state
|
||||
arming_ret = arm_disarm(base_mode & MAV_MODE_FLAG_SAFETY_ARMED, mavlink_fd, "set mode command");
|
||||
bool cmd_arm = base_mode & MAV_MODE_FLAG_SAFETY_ARMED;
|
||||
|
||||
arming_ret = arm_disarm(cmd_arm, mavlink_fd, "set mode command");
|
||||
|
||||
/* update home position on arming if at least 2s from commander start spent to avoid setting home on in-air restart */
|
||||
if (arming_ret == TRANSITION_CHANGED && hrt_absolute_time() > commander_boot_timestamp + INAIR_RESTART_HOLDOFF_INTERVAL) {
|
||||
if (cmd_arm && (arming_ret == TRANSITION_CHANGED) &&
|
||||
(hrt_absolute_time() > (commander_boot_timestamp + INAIR_RESTART_HOLDOFF_INTERVAL))) {
|
||||
|
||||
commander_set_home_position(*home_pub, *home, *local_pos, *global_pos);
|
||||
}
|
||||
|
||||
@@ -1156,7 +1178,11 @@ int commander_thread_main(int argc, char *argv[])
|
||||
|
||||
// Run preflight check
|
||||
param_get(_param_autostart_id, &autostart_id);
|
||||
if (autostart_id > 1999) {
|
||||
if (is_hil_setup(autostart_id)) {
|
||||
// HIL configuration selected: real sensors will be disabled
|
||||
status.condition_system_sensors_initialized = false;
|
||||
set_tune_override(TONE_STARTUP_TUNE); //normal boot tune
|
||||
} else {
|
||||
status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, !status.rc_input_mode, !status.circuit_breaker_engaged_gpsfailure_check);
|
||||
if (!status.condition_system_sensors_initialized) {
|
||||
set_tune_override(TONE_GPS_WARNING_TUNE); //sensor fail tune
|
||||
@@ -1164,11 +1190,6 @@ int commander_thread_main(int argc, char *argv[])
|
||||
else {
|
||||
set_tune_override(TONE_STARTUP_TUNE); //normal boot tune
|
||||
}
|
||||
} else {
|
||||
// HIL configuration selected: real sensors will be disabled
|
||||
warnx("HIL configuration; autostart_id: %d, onboard IMU sensors disabled", autostart_id);
|
||||
status.condition_system_sensors_initialized = false;
|
||||
set_tune_override(TONE_STARTUP_TUNE); //normal boot tune
|
||||
}
|
||||
|
||||
commander_boot_timestamp = hrt_absolute_time();
|
||||
@@ -1339,14 +1360,14 @@ int commander_thread_main(int argc, char *argv[])
|
||||
}
|
||||
|
||||
/* provide RC and sensor status feedback to the user */
|
||||
if (autostart_id > 1999) {
|
||||
(void)Commander::preflightCheck(mavlink_fd, true, true, true, true, chAirspeed,
|
||||
!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), !status.circuit_breaker_engaged_gpsfailure_check);
|
||||
} else {
|
||||
if (is_hil_setup(autostart_id)) {
|
||||
/* HIL configuration: check only RC input */
|
||||
warnx("new telemetry link connected: checking RC status");
|
||||
(void)Commander::preflightCheck(mavlink_fd, false, false, false, false, false,
|
||||
!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), false);
|
||||
} else {
|
||||
/* check sensors also */
|
||||
(void)Commander::preflightCheck(mavlink_fd, true, true, true, true, chAirspeed,
|
||||
!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), !status.circuit_breaker_engaged_gpsfailure_check);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -2024,11 +2045,11 @@ int commander_thread_main(int argc, char *argv[])
|
||||
}
|
||||
}
|
||||
|
||||
//Get current timestamp
|
||||
/* Get current timestamp */
|
||||
const hrt_abstime now = hrt_absolute_time();
|
||||
|
||||
//First time home position update
|
||||
if (!status.condition_home_position_valid) {
|
||||
/* First time home position update - but only if disarmed */
|
||||
if (!status.condition_home_position_valid && !armed.armed) {
|
||||
commander_set_home_position(home_pub, _home, local_position, global_position);
|
||||
}
|
||||
|
||||
|
||||
@@ -68,16 +68,26 @@ int do_trim_calibration(int mavlink_fd)
|
||||
|
||||
orb_copy(ORB_ID(manual_control_setpoint), sub_man, &sp);
|
||||
|
||||
/* set parameters */
|
||||
float p = sp.y;
|
||||
/* load trim values which are active */
|
||||
float roll_trim_active;
|
||||
param_get(param_find("TRIM_ROLL"), &roll_trim_active);
|
||||
float pitch_trim_active;
|
||||
param_get(param_find("TRIM_PITCH"), &pitch_trim_active);
|
||||
float yaw_trim_active;
|
||||
param_get(param_find("TRIM_YAW"), &yaw_trim_active);
|
||||
|
||||
/* set parameters: the new trim values are the combination of active trim values
|
||||
and the values coming from the remote control of the user
|
||||
*/
|
||||
float p = sp.y + roll_trim_active;
|
||||
int p1r = param_set(param_find("TRIM_ROLL"), &p);
|
||||
/*
|
||||
we explicitly swap sign here because the trim is added to the actuator controls
|
||||
which are moving in an inverse sense to manual pitch inputs
|
||||
*/
|
||||
p = -sp.x;
|
||||
p = -sp.x + pitch_trim_active;
|
||||
int p2r = param_set(param_find("TRIM_PITCH"), &p);
|
||||
p = sp.r;
|
||||
p = sp.r + yaw_trim_active;
|
||||
int p3r = param_set(param_find("TRIM_YAW"), &p);
|
||||
|
||||
/* store to permanent storage */
|
||||
|
||||
@@ -494,7 +494,7 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
|
||||
case vehicle_status_s::MAIN_STATE_ALTCTL:
|
||||
case vehicle_status_s::MAIN_STATE_POSCTL:
|
||||
/* require RC for all manual modes */
|
||||
if ((status->rc_signal_lost || status->rc_signal_lost_cmd) && armed) {
|
||||
if ((status->rc_signal_lost || status->rc_signal_lost_cmd) && armed && !status->condition_landed) {
|
||||
status->failsafe = true;
|
||||
|
||||
if (status->condition_global_position_valid && status->condition_home_position_valid) {
|
||||
|
||||
@@ -72,6 +72,8 @@ static constexpr float rc = 10.0f; // RC time constant of 1st order LPF in secon
|
||||
static constexpr uint64_t FILTER_INIT_DELAY = 1 * 1000 * 1000; ///< units: microseconds
|
||||
static constexpr float POS_RESET_THRESHOLD = 5.0f; ///< Seconds before we signal a total GPS failure
|
||||
static constexpr unsigned MAG_SWITCH_HYSTERESIS = 10; ///< Ignore the first few mag failures (which amounts to a few milliseconds)
|
||||
static constexpr unsigned GYRO_SWITCH_HYSTERESIS = 5; ///< Ignore the first few gyro failures (which amounts to a few milliseconds)
|
||||
static constexpr unsigned ACCEL_SWITCH_HYSTERESIS = 5; ///< Ignore the first few accel failures (which amounts to a few milliseconds)
|
||||
|
||||
/**
|
||||
* estimator app start / stop handling function
|
||||
@@ -631,7 +633,10 @@ void AttitudePositionEstimatorEKF::task_main()
|
||||
// gps sample rate is 5Hz and altitude is assumed accurate when averaged over 30 seconds
|
||||
// maintain heavily filtered values for both baro and gps altitude
|
||||
// Assume the filtered output should be identical for both sensors
|
||||
_baro_gps_offset = _baro_alt_filt - _gps_alt_filt;
|
||||
|
||||
if (_gpsIsGood) {
|
||||
_baro_gps_offset = _baro_alt_filt - _gps_alt_filt;
|
||||
}
|
||||
// if (hrt_elapsed_time(&_last_debug_print) >= 5e6) {
|
||||
// _last_debug_print = hrt_absolute_time();
|
||||
// perf_print_counter(_perf_baro);
|
||||
@@ -658,6 +663,8 @@ void AttitudePositionEstimatorEKF::task_main()
|
||||
|
||||
_ekf->InitialiseFilter(initVelNED, 0.0, 0.0, 0.0f, 0.0f);
|
||||
|
||||
_filter_ref_offset = -_baro.altitude;
|
||||
|
||||
warnx("filter ref off: baro_alt: %8.4f", (double)_filter_ref_offset);
|
||||
|
||||
} else {
|
||||
@@ -1219,7 +1226,7 @@ void AttitudePositionEstimatorEKF::pollData()
|
||||
if (isfinite(_sensor_combined.gyro_rad_s[0]) &&
|
||||
isfinite(_sensor_combined.gyro_rad_s[1]) &&
|
||||
isfinite(_sensor_combined.gyro_rad_s[2]) &&
|
||||
(_sensor_combined.gyro_errcount <= _sensor_combined.gyro1_errcount)) {
|
||||
(_sensor_combined.gyro_errcount <= (_sensor_combined.gyro1_errcount + GYRO_SWITCH_HYSTERESIS))) {
|
||||
|
||||
_ekf->angRate.x = _sensor_combined.gyro_rad_s[0];
|
||||
_ekf->angRate.y = _sensor_combined.gyro_rad_s[1];
|
||||
@@ -1258,7 +1265,7 @@ void AttitudePositionEstimatorEKF::pollData()
|
||||
int last_accel_main = _accel_main;
|
||||
|
||||
/* fail over to the 2nd accel if we know the first is down */
|
||||
if (_sensor_combined.accelerometer_errcount <= _sensor_combined.accelerometer1_errcount) {
|
||||
if (_sensor_combined.accelerometer_errcount <= (_sensor_combined.accelerometer1_errcount + ACCEL_SWITCH_HYSTERESIS)) {
|
||||
_ekf->accel.x = _sensor_combined.accelerometer_m_s2[0];
|
||||
_ekf->accel.y = _sensor_combined.accelerometer_m_s2[1];
|
||||
_ekf->accel.z = _sensor_combined.accelerometer_m_s2[2];
|
||||
|
||||
@@ -85,9 +85,16 @@ bool FixedwingLandDetector::update()
|
||||
bool landDetected = false;
|
||||
|
||||
if (hrt_elapsed_time(&_vehicleLocalPosition.timestamp) < 500 * 1000) {
|
||||
_velocity_xy_filtered = 0.95f * _velocity_xy_filtered + 0.05f * sqrtf(_vehicleLocalPosition.vx *
|
||||
float val = 0.95f * _velocity_xy_filtered + 0.05f * sqrtf(_vehicleLocalPosition.vx *
|
||||
_vehicleLocalPosition.vx + _vehicleLocalPosition.vy * _vehicleLocalPosition.vy);
|
||||
_velocity_z_filtered = 0.95f * _velocity_z_filtered + 0.05f * fabsf(_vehicleLocalPosition.vz);
|
||||
if (isfinite(val)) {
|
||||
_velocity_xy_filtered = val;
|
||||
}
|
||||
val = 0.95f * _velocity_z_filtered + 0.05f * fabsf(_vehicleLocalPosition.vz);
|
||||
|
||||
if (isfinite(val)) {
|
||||
_velocity_z_filtered = val;
|
||||
}
|
||||
}
|
||||
|
||||
if (hrt_elapsed_time(&_airspeed.timestamp) < 500 * 1000) {
|
||||
|
||||
@@ -621,7 +621,7 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
|
||||
}
|
||||
|
||||
/* set the yaw sp value */
|
||||
if (!offboard_control_mode.ignore_attitude) {
|
||||
if (!offboard_control_mode.ignore_attitude && !isnan(set_position_target_local_ned.yaw)) {
|
||||
pos_sp_triplet.current.yaw_valid = true;
|
||||
pos_sp_triplet.current.yaw = set_position_target_local_ned.yaw;
|
||||
|
||||
@@ -630,7 +630,7 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
|
||||
}
|
||||
|
||||
/* set the yawrate sp value */
|
||||
if (!offboard_control_mode.ignore_bodyrate) {
|
||||
if (!offboard_control_mode.ignore_bodyrate && !isnan(set_position_target_local_ned.yaw)) {
|
||||
pos_sp_triplet.current.yawspeed_valid = true;
|
||||
pos_sp_triplet.current.yawspeed = set_position_target_local_ned.yaw_rate;
|
||||
|
||||
|
||||
@@ -55,13 +55,16 @@ PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.1f);
|
||||
/**
|
||||
* Maximum thrust
|
||||
*
|
||||
* Limit max allowed thrust.
|
||||
* Limit max allowed thrust. Setting a value of one can put
|
||||
* the system into actuator saturation as no spread between
|
||||
* the motors is possible any more. A value of 0.8 - 0.9
|
||||
* is recommended.
|
||||
*
|
||||
* @min 0.0
|
||||
* @max 1.0
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_THR_MAX, 1.0f);
|
||||
PARAM_DEFINE_FLOAT(MPC_THR_MAX, 0.9f);
|
||||
|
||||
/**
|
||||
* Proportional gain for vertical position error
|
||||
|
||||
@@ -230,9 +230,9 @@ Mission::update_offboard_mission()
|
||||
* however warnings are issued to the gcs via mavlink from inside the MissionFeasiblityChecker */
|
||||
dm_item_t dm_current = DM_KEY_WAYPOINTS_OFFBOARD(_offboard_mission.dataman_id);
|
||||
|
||||
failed = !_missionFeasiblityChecker.checkMissionFeasible(_navigator->get_vstatus()->is_rotary_wing,
|
||||
failed = !_missionFeasiblityChecker.checkMissionFeasible(_navigator->get_mavlink_fd(), _navigator->get_vstatus()->is_rotary_wing,
|
||||
dm_current, (size_t) _offboard_mission.count, _navigator->get_geofence(),
|
||||
_navigator->get_home_position()->alt);
|
||||
_navigator->get_home_position()->alt, _navigator->home_position_valid());
|
||||
|
||||
} else {
|
||||
warnx("offboard mission update failed");
|
||||
@@ -271,6 +271,16 @@ Mission::advance_mission()
|
||||
}
|
||||
}
|
||||
|
||||
int
|
||||
Mission::get_absolute_altitude_for_item(struct mission_item_s &mission_item)
|
||||
{
|
||||
if (_mission_item.altitude_is_relative) {
|
||||
return _mission_item.altitude + _navigator->get_home_position()->alt;
|
||||
} else {
|
||||
return _mission_item.altitude;
|
||||
}
|
||||
}
|
||||
|
||||
bool
|
||||
Mission::check_dist_1wp()
|
||||
{
|
||||
@@ -354,7 +364,7 @@ Mission::set_mission_items()
|
||||
|
||||
/* Copy previous mission item altitude (can be extended to a copy of the full mission item if needed) */
|
||||
if (pos_sp_triplet->previous.valid) {
|
||||
_mission_item_previous_alt = _mission_item.altitude;
|
||||
_mission_item_previous_alt = get_absolute_altitude_for_item(_mission_item);
|
||||
}
|
||||
|
||||
/* get home distance state */
|
||||
@@ -374,13 +384,14 @@ Mission::set_mission_items()
|
||||
} else if (home_dist_ok && read_mission_item(false, true, &_mission_item)) {
|
||||
/* if mission type changed, notify */
|
||||
if (_mission_type != MISSION_TYPE_OFFBOARD) {
|
||||
mavlink_log_critical(_navigator->get_mavlink_fd(), "offboard mission now running");
|
||||
mavlink_log_info(_navigator->get_mavlink_fd(), "offboard mission now running");
|
||||
}
|
||||
_mission_type = MISSION_TYPE_OFFBOARD;
|
||||
} else {
|
||||
/* no mission available or mission finished, switch to loiter */
|
||||
if (_mission_type != MISSION_TYPE_NONE) {
|
||||
mavlink_log_critical(_navigator->get_mavlink_fd(), "mission finished");
|
||||
/* https://en.wikipedia.org/wiki/Loiter_(aeronautics) */
|
||||
mavlink_log_critical(_navigator->get_mavlink_fd(), "mission finished, loitering");
|
||||
|
||||
/* use last setpoint for loiter */
|
||||
_navigator->set_can_loiter_at_sp(true);
|
||||
@@ -388,8 +399,9 @@ Mission::set_mission_items()
|
||||
} else if (!user_feedback_done) {
|
||||
/* only tell users that we got no mission if there has not been any
|
||||
* better, more specific feedback yet
|
||||
* https://en.wikipedia.org/wiki/Loiter_(aeronautics)
|
||||
*/
|
||||
mavlink_log_critical(_navigator->get_mavlink_fd(), "no valid mission available");
|
||||
mavlink_log_critical(_navigator->get_mavlink_fd(), "no valid mission available, loitering");
|
||||
}
|
||||
_mission_type = MISSION_TYPE_NONE;
|
||||
|
||||
@@ -440,10 +452,7 @@ Mission::set_mission_items()
|
||||
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->next);
|
||||
|
||||
/* calculate takeoff altitude */
|
||||
float takeoff_alt = _mission_item.altitude;
|
||||
if (_mission_item.altitude_is_relative) {
|
||||
takeoff_alt += _navigator->get_home_position()->alt;
|
||||
}
|
||||
float takeoff_alt = get_absolute_altitude_for_item(_mission_item);
|
||||
|
||||
/* takeoff to at least NAV_TAKEOFF_ALT above home/ground, even if first waypoint is lower */
|
||||
if (_navigator->get_vstatus()->condition_landed) {
|
||||
@@ -609,14 +618,14 @@ Mission::altitude_sp_foh_update()
|
||||
/* if the minimal distance is smaller then the acceptance radius, we should be at waypoint alt
|
||||
* navigator will soon switch to the next waypoint item (if there is one) as soon as we reach this altitude */
|
||||
if (_min_current_sp_distance_xy < _navigator->get_acceptance_radius(_mission_item.acceptance_radius)) {
|
||||
pos_sp_triplet->current.alt = _mission_item.altitude;
|
||||
pos_sp_triplet->current.alt = get_absolute_altitude_for_item(_mission_item);
|
||||
} else {
|
||||
/* update the altitude sp of the 'current' item in the sp triplet, but do not update the altitude sp
|
||||
* of the mission item as it is used to check if the mission item is reached
|
||||
* The setpoint is set linearly and such that the system reaches the current altitude at the acceptance
|
||||
* radius around the current waypoint
|
||||
**/
|
||||
float delta_alt = (_mission_item.altitude - _mission_item_previous_alt);
|
||||
float delta_alt = (get_absolute_altitude_for_item(_mission_item) - _mission_item_previous_alt);
|
||||
float grad = -delta_alt/(_distance_current_previous - _navigator->get_acceptance_radius(_mission_item.acceptance_radius));
|
||||
float a = _mission_item_previous_alt - grad * _distance_current_previous;
|
||||
pos_sp_triplet->current.alt = a + grad * _min_current_sp_distance_xy;
|
||||
|
||||
@@ -132,6 +132,8 @@ private:
|
||||
*/
|
||||
void altitude_sp_foh_reset();
|
||||
|
||||
int get_absolute_altitude_for_item(struct mission_item_s &mission_item);
|
||||
|
||||
/**
|
||||
* Read current or next mission item from the dataman and watch out for DO_JUMPS
|
||||
* @return true if successful
|
||||
|
||||
@@ -63,42 +63,43 @@ MissionFeasibilityChecker::MissionFeasibilityChecker() : _mavlink_fd(-1), _capab
|
||||
}
|
||||
|
||||
|
||||
bool MissionFeasibilityChecker::checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt)
|
||||
bool MissionFeasibilityChecker::checkMissionFeasible(int mavlink_fd, bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt, bool home_valid)
|
||||
{
|
||||
bool failed = false;
|
||||
/* Init if not done yet */
|
||||
init();
|
||||
|
||||
/* Open mavlink fd */
|
||||
if (_mavlink_fd < 0) {
|
||||
/* try to open the mavlink log device every once in a while */
|
||||
_mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
|
||||
}
|
||||
_mavlink_fd = mavlink_fd;
|
||||
|
||||
// check if all mission item commands are supported
|
||||
failed |= !checkMissionItemValidity(dm_current, nMissionItems);
|
||||
|
||||
|
||||
if (isRotarywing)
|
||||
failed |= !checkMissionFeasibleRotarywing(dm_current, nMissionItems, geofence, home_alt);
|
||||
else
|
||||
failed |= !checkMissionFeasibleFixedwing(dm_current, nMissionItems, geofence, home_alt);
|
||||
if (isRotarywing) {
|
||||
failed |= !checkMissionFeasibleRotarywing(dm_current, nMissionItems, geofence, home_alt, home_valid);
|
||||
} else {
|
||||
failed |= !checkMissionFeasibleFixedwing(dm_current, nMissionItems, geofence, home_alt, home_valid);
|
||||
}
|
||||
|
||||
if (!failed) {
|
||||
mavlink_log_info(_mavlink_fd, "Mission checked and ready.");
|
||||
}
|
||||
|
||||
return !failed;
|
||||
}
|
||||
|
||||
bool MissionFeasibilityChecker::checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt)
|
||||
bool MissionFeasibilityChecker::checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt, bool home_valid)
|
||||
{
|
||||
|
||||
/* Perform checks and issue feedback to the user for all checks */
|
||||
bool resGeofence = checkGeofence(dm_current, nMissionItems, geofence);
|
||||
bool resHomeAltitude = checkHomePositionAltitude(dm_current, nMissionItems, home_alt);
|
||||
bool resHomeAltitude = checkHomePositionAltitude(dm_current, nMissionItems, home_alt, home_valid);
|
||||
|
||||
/* Mission is only marked as feasible if all checks return true */
|
||||
return (resGeofence && resHomeAltitude);
|
||||
}
|
||||
|
||||
bool MissionFeasibilityChecker::checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt)
|
||||
bool MissionFeasibilityChecker::checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt, bool home_valid)
|
||||
{
|
||||
/* Update fixed wing navigation capabilites */
|
||||
updateNavigationCapabilities();
|
||||
@@ -107,7 +108,7 @@ bool MissionFeasibilityChecker::checkMissionFeasibleFixedwing(dm_item_t dm_curre
|
||||
/* Perform checks and issue feedback to the user for all checks */
|
||||
bool resLanding = checkFixedWingLanding(dm_current, nMissionItems);
|
||||
bool resGeofence = checkGeofence(dm_current, nMissionItems, geofence);
|
||||
bool resHomeAltitude = checkHomePositionAltitude(dm_current, nMissionItems, home_alt);
|
||||
bool resHomeAltitude = checkHomePositionAltitude(dm_current, nMissionItems, home_alt, home_valid);
|
||||
|
||||
/* Mission is only marked as feasible if all checks return true */
|
||||
return (resLanding && resGeofence && resHomeAltitude);
|
||||
@@ -136,7 +137,7 @@ bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMiss
|
||||
return true;
|
||||
}
|
||||
|
||||
bool MissionFeasibilityChecker::checkHomePositionAltitude(dm_item_t dm_current, size_t nMissionItems, float home_alt, bool throw_error)
|
||||
bool MissionFeasibilityChecker::checkHomePositionAltitude(dm_item_t dm_current, size_t nMissionItems, float home_alt, bool home_valid, bool throw_error)
|
||||
{
|
||||
/* Check if all all waypoints are above the home altitude, only return false if bool throw_error = true */
|
||||
for (size_t i = 0; i < nMissionItems; i++) {
|
||||
@@ -152,6 +153,12 @@ bool MissionFeasibilityChecker::checkHomePositionAltitude(dm_item_t dm_current,
|
||||
}
|
||||
}
|
||||
|
||||
/* always reject relative alt without home set */
|
||||
if (missionitem.altitude_is_relative && !home_valid) {
|
||||
mavlink_log_critical(_mavlink_fd, "Rejecting Mission: No home pos, WP %d uses rel alt", i);
|
||||
return false;
|
||||
}
|
||||
|
||||
/* calculate the global waypoint altitude */
|
||||
float wp_alt = (missionitem.altitude_is_relative) ? missionitem.altitude + home_alt : missionitem.altitude;
|
||||
|
||||
@@ -197,7 +204,6 @@ bool MissionFeasibilityChecker::checkMissionItemValidity(dm_item_t dm_current, s
|
||||
return false;
|
||||
}
|
||||
}
|
||||
mavlink_log_info(_mavlink_fd, "Mission ready.");
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
@@ -61,16 +61,16 @@ private:
|
||||
|
||||
/* Checks for all airframes */
|
||||
bool checkGeofence(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence);
|
||||
bool checkHomePositionAltitude(dm_item_t dm_current, size_t nMissionItems, float home_alt, bool throw_error = false);
|
||||
bool checkHomePositionAltitude(dm_item_t dm_current, size_t nMissionItems, float home_alt, bool home_valid, bool throw_error = false);
|
||||
bool checkMissionItemValidity(dm_item_t dm_current, size_t nMissionItems);
|
||||
|
||||
/* Checks specific to fixedwing airframes */
|
||||
bool checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt);
|
||||
bool checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt, bool home_valid);
|
||||
bool checkFixedWingLanding(dm_item_t dm_current, size_t nMissionItems);
|
||||
void updateNavigationCapabilities();
|
||||
|
||||
/* Checks specific to rotarywing airframes */
|
||||
bool checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt);
|
||||
bool checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt, bool home_valid);
|
||||
public:
|
||||
|
||||
MissionFeasibilityChecker();
|
||||
@@ -79,8 +79,8 @@ public:
|
||||
/*
|
||||
* Returns true if mission is feasible and false otherwise
|
||||
*/
|
||||
bool checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence,
|
||||
float home_alt);
|
||||
bool checkMissionFeasible(int mavlink_fd, bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence,
|
||||
float home_alt, bool home_valid);
|
||||
|
||||
};
|
||||
|
||||
|
||||
@@ -134,6 +134,7 @@ public:
|
||||
struct vehicle_gps_position_s* get_gps_position() { return &_gps_pos; }
|
||||
struct sensor_combined_s* get_sensor_combined() { return &_sensor_combined; }
|
||||
struct home_position_s* get_home_position() { return &_home_pos; }
|
||||
bool home_position_valid() { return _home_position_set; }
|
||||
struct position_setpoint_triplet_s* get_position_setpoint_triplet() { return &_pos_sp_triplet; }
|
||||
struct mission_result_s* get_mission_result() { return &_mission_result; }
|
||||
struct geofence_result_s* get_geofence_result() { return &_geofence_result; }
|
||||
|
||||
@@ -209,7 +209,10 @@ Navigator::home_position_update()
|
||||
|
||||
if (updated) {
|
||||
orb_copy(ORB_ID(home_position), _home_pos_sub, &_home_pos);
|
||||
_home_position_set = true;
|
||||
|
||||
if (_home_pos.timestamp > 0) {
|
||||
_home_position_set = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -311,13 +311,6 @@ mixer_callback(uintptr_t handle,
|
||||
case MIX_FMU:
|
||||
if (control_index < PX4IO_CONTROL_CHANNELS && control_group < PX4IO_CONTROL_GROUPS ) {
|
||||
control = REG_TO_FLOAT(r_page_controls[CONTROL_PAGE_INDEX(control_group, control_index)]);
|
||||
if (control_group == 0 && control_index == 0) {
|
||||
control += REG_TO_FLOAT(r_setup_trim_roll);
|
||||
} else if (control_group == 0 && control_index == 1) {
|
||||
control += REG_TO_FLOAT(r_setup_trim_pitch);
|
||||
} else if (control_group == 0 && control_index == 2) {
|
||||
control += REG_TO_FLOAT(r_setup_trim_yaw);
|
||||
}
|
||||
break;
|
||||
}
|
||||
return -1;
|
||||
@@ -360,6 +353,13 @@ mixer_callback(uintptr_t handle,
|
||||
return -1;
|
||||
}
|
||||
|
||||
/* limit output */
|
||||
if (control > 1.0f) {
|
||||
control = 1.0f;
|
||||
} else if (control < -1.0f) {
|
||||
control = -1.0f;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
@@ -1285,7 +1285,7 @@ PARAM_DEFINE_FLOAT(RC_AUTO_TH, 0.75f);
|
||||
*
|
||||
* @min -1
|
||||
* @max 1
|
||||
*
|
||||
* @group Radio Switches
|
||||
*
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(RC_POSCTL_TH, 0.5f);
|
||||
|
||||
@@ -41,6 +41,8 @@
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
#include "build_git_version.h"
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
__EXPORT extern const char* px4_git_version;
|
||||
|
||||
@@ -56,7 +56,7 @@ SRCS = err.c \
|
||||
circuit_breaker.cpp \
|
||||
circuit_breaker_params.c \
|
||||
mcu_version.c \
|
||||
$(BUILD_DIR)git_version.c
|
||||
circuit_breaker_params.c
|
||||
|
||||
MAXOPTIMIZATION = -Os
|
||||
|
||||
|
||||
@@ -273,7 +273,7 @@ void Mavlink::handle_msg_set_position_target_local_ned(const mavlink_message_t *
|
||||
}
|
||||
|
||||
/* set the yaw sp value */
|
||||
if (!offboard_control_mode.ignore_attitude) {
|
||||
if (!offboard_control_mode.ignore_attitude && !isnan(set_position_target_local_ned.yaw)) {
|
||||
pos_sp_triplet.current.yaw_valid = true;
|
||||
pos_sp_triplet.current.yaw = set_position_target_local_ned.yaw;
|
||||
|
||||
@@ -282,7 +282,7 @@ void Mavlink::handle_msg_set_position_target_local_ned(const mavlink_message_t *
|
||||
}
|
||||
|
||||
/* set the yawrate sp value */
|
||||
if (!offboard_control_mode.ignore_bodyrate) {
|
||||
if (!offboard_control_mode.ignore_bodyrate && !isnan(set_position_target_local_ned.yaw)) {
|
||||
pos_sp_triplet.current.yawspeed_valid = true;
|
||||
pos_sp_triplet.current.yawspeed = set_position_target_local_ned.yaw_rate;
|
||||
|
||||
|
||||
@@ -57,6 +57,9 @@ static const char sz_ver_all_str[] = "all";
|
||||
static const char mcu_ver_str[] = "mcu";
|
||||
static const char mcu_uid_str[] = "uid";
|
||||
|
||||
const char* px4_git_version = PX4_GIT_VERSION_STR;
|
||||
const uint64_t px4_git_version_binary = PX4_GIT_VERSION_BINARY;
|
||||
|
||||
static void usage(const char *reason)
|
||||
{
|
||||
if (reason != NULL) {
|
||||
|
||||
Reference in New Issue
Block a user