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merged with PX4 master

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This commit is contained in:
Roman Bapst
2014-12-01 11:13:24 +01:00
parent c7a5dfdab2 8cc59ca01a
commit 629c3fdc5b
150 changed files with 3263 additions and 948 deletions
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Debug/NuttX
+30 -8
View File
@@ -78,7 +78,7 @@ end
################################################################################
define showfiles
set $task = (struct _TCB *)$arg0
set $task = (struct tcb_s *)$arg0
set $nfiles = sizeof((*(struct filelist*)0).fl_files) / sizeof(struct file)
printf "%d files\n", $nfiles
set $index = 0
@@ -102,7 +102,7 @@ end
################################################################################
define _showtask_oneline
set $task = (struct _TCB *)$arg0
set $task = (struct tcb_s *)$arg0
printf " %p %.2d %.3d %s\n", $task, $task->pid, $task->sched_priority, $task->name
end
@@ -139,7 +139,7 @@ end
# Print task registers for a NuttX v7em target with FPU enabled.
#
define _showtaskregs_v7em
set $task = (struct _TCB *)$arg0
set $task = (struct tcb_s *)$arg0
set $regs = (uint32_t *)&($task->xcp.regs[0])
printf " r0: 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x\n", $regs[27], $regs[28], $regs[29], $regs[30], $regs[2], $regs[3], $regs[4], $regs[5]
@@ -162,7 +162,7 @@ end
define _showsemaphore
printf "count %d ", $arg0->semcount
if $arg0->holder.htcb != 0
set $_task = (struct _TCB *)$arg0->holder.htcb
set $_task = (struct tcb_s *)$arg0->holder.htcb
printf "held by %s", $_task->name
end
printf "\n"
@@ -172,7 +172,7 @@ end
# Print information about a task's stack usage
#
define showtaskstack
set $task = (struct _TCB *)$arg0
set $task = (struct tcb_s *)$arg0
if $task == &g_idletcb
printf "can't measure idle stack\n"
@@ -189,7 +189,7 @@ end
# Print details of a task
#
define showtask
set $task = (struct _TCB *)$arg0
set $task = (struct tcb_s *)$arg0
printf "%p %.2d ", $task, $task->pid
_showtaskstate $task
@@ -204,7 +204,7 @@ define showtask
if $task->task_state != TSTATE_TASK_RUNNING
_showtaskregs_v7em $task
else
_showcurrentregs_v7em
_showtaskregs_v7em $task
end
# XXX print registers here
@@ -247,8 +247,10 @@ define showtasks
_showtasklist &g_pendingtasks
printf "RUNNABLE\n"
_showtasklist &g_readytorun
printf "WAITING\n"
printf "WAITING for Semaphore\n"
_showtasklist &g_waitingforsemaphore
printf "WAITING for Signal\n"
_showtasklist &g_waitingforsignal
printf "INACTIVE\n"
_showtasklist &g_inactivetasks
end
@@ -257,3 +259,23 @@ document showtasks
. showtasks
. Print a list of all tasks in the system, separated into their respective queues.
end
define my_mem
set $start = $arg0
set $end = $arg1
set $cursor = $start
if $start < $end
while $cursor != $end
set *$cursor = 0x0000
set $cursor = $cursor + 4
printf "0x%x of 0x%x\n",$cursor,$end
end
else
while $cursor != $end
set *$cursor = 0x0000
set $cursor = $cursor - 4
end
end
end
Debug/Nuttx.py
+386 -47
View File
@@ -59,30 +59,42 @@ class NX_register_set(object):
def __init__(self, xcpt_regs):
if xcpt_regs is None:
self.regs['R0'] = long(gdb.parse_and_eval('$r0'))
self.regs['R1'] = long(gdb.parse_and_eval('$r1'))
self.regs['R2'] = long(gdb.parse_and_eval('$r2'))
self.regs['R3'] = long(gdb.parse_and_eval('$r3'))
self.regs['R4'] = long(gdb.parse_and_eval('$r4'))
self.regs['R5'] = long(gdb.parse_and_eval('$r5'))
self.regs['R6'] = long(gdb.parse_and_eval('$r6'))
self.regs['R7'] = long(gdb.parse_and_eval('$r7'))
self.regs['R8'] = long(gdb.parse_and_eval('$r8'))
self.regs['R9'] = long(gdb.parse_and_eval('$r9'))
self.regs['R10'] = long(gdb.parse_and_eval('$r10'))
self.regs['R11'] = long(gdb.parse_and_eval('$r11'))
self.regs['R12'] = long(gdb.parse_and_eval('$r12'))
self.regs['R13'] = long(gdb.parse_and_eval('$r13'))
self.regs['SP'] = long(gdb.parse_and_eval('$sp'))
self.regs['R14'] = long(gdb.parse_and_eval('$r14'))
self.regs['LR'] = long(gdb.parse_and_eval('$lr'))
self.regs['R15'] = long(gdb.parse_and_eval('$r15'))
self.regs['PC'] = long(gdb.parse_and_eval('$pc'))
self.regs['XPSR'] = long(gdb.parse_and_eval('$xpsr'))
self.regs['R0'] = self.mon_reg_call('r0')
self.regs['R1'] = self.mon_reg_call('r1')
self.regs['R2'] = self.mon_reg_call('r2')
self.regs['R3'] = self.mon_reg_call('r3')
self.regs['R4'] = self.mon_reg_call('r4')
self.regs['R5'] = self.mon_reg_call('r5')
self.regs['R6'] = self.mon_reg_call('r6')
self.regs['R7'] = self.mon_reg_call('r7')
self.regs['R8'] = self.mon_reg_call('r8')
self.regs['R9'] = self.mon_reg_call('r9')
self.regs['R10'] = self.mon_reg_call('r10')
self.regs['R11'] = self.mon_reg_call('r11')
self.regs['R12'] = self.mon_reg_call('r12')
self.regs['R13'] = self.mon_reg_call('r13')
self.regs['SP'] = self.mon_reg_call('sp')
self.regs['R14'] = self.mon_reg_call('r14')
self.regs['LR'] = self.mon_reg_call('lr')
self.regs['R15'] = self.mon_reg_call('r15')
self.regs['PC'] = self.mon_reg_call('pc')
self.regs['XPSR'] = self.mon_reg_call('xPSR')
else:
for key in self.v7em_regmap.keys():
self.regs[key] = int(xcpt_regs[self.v7em_regmap[key]])
def mon_reg_call(self,register):
"""
register is the register as a string e.g. 'pc'
return integer containing the value of the register
"""
str_to_eval = "mon reg "+register
resp = gdb.execute(str_to_eval,to_string = True)
content = resp.split()[-1];
try:
return int(content,16)
except:
return 0
@classmethod
def with_xcpt_regs(cls, xcpt_regs):
@@ -172,7 +184,7 @@ class NX_task(object):
self.__dict__['stack_used'] = 0
else:
stack_limit = self._tcb['adj_stack_size']
for offset in range(0, stack_limit):
for offset in range(0, int(stack_limit)):
if stack_base[offset] != 0xff:
break
self.__dict__['stack_used'] = stack_limit - offset
@@ -187,7 +199,7 @@ class NX_task(object):
def state(self):
"""return the name of the task's current state"""
statenames = gdb.types.make_enum_dict(gdb.lookup_type('enum tstate_e'))
for name,value in statenames.iteritems():
for name,value in statenames.items():
if value == self._tcb['task_state']:
return name
return 'UNKNOWN'
@@ -196,16 +208,19 @@ class NX_task(object):
def waiting_for(self):
"""return a description of what the task is waiting for, if it is waiting"""
if self._state_is('TSTATE_WAIT_SEM'):
waitsem = self._tcb['waitsem'].dereference()
waitsem_holder = waitsem['holder']
holder = NX_task.for_tcb(waitsem_holder['htcb'])
if holder is not None:
return '{}({})'.format(waitsem.address, holder.name)
else:
return '{}(<bad holder>)'.format(waitsem.address)
try:
waitsem = self._tcb['waitsem'].dereference()
waitsem_holder = waitsem['holder']
holder = NX_task.for_tcb(waitsem_holder['htcb'])
if holder is not None:
return '{}({})'.format(waitsem.address, holder.name)
else:
return '{}(<bad holder>)'.format(waitsem.address)
except:
return 'EXCEPTION'
if self._state_is('TSTATE_WAIT_SIG'):
return 'signal'
return None
return ""
@property
def is_waiting(self):
@@ -229,7 +244,7 @@ class NX_task(object):
filearray = filelist['fl_files']
result = dict()
for i in range(filearray.type.range()[0],filearray.type.range()[1]):
inode = long(filearray[i]['f_inode'])
inode = int(filearray[i]['f_inode'])
if inode != 0:
result[i] = inode
return result
@@ -253,7 +268,18 @@ class NX_task(object):
def __str__(self):
return "{}:{}".format(self.pid, self.name)
def showoff(self):
print("-------")
print(self.pid,end = ", ")
print(self.name,end = ", ")
print(self.state,end = ", ")
print(self.waiting_for,end = ", ")
print(self.stack_used,end = ", ")
print(self._tcb['adj_stack_size'],end = ", ")
print(self.file_descriptors)
print(self.registers)
def __format__(self, format_spec):
return format_spec.format(
pid = self.pid,
@@ -265,7 +291,7 @@ class NX_task(object):
file_descriptors = self.file_descriptors,
registers = self.registers
)
class NX_show_task (gdb.Command):
"""(NuttX) prints information about a task"""
@@ -285,7 +311,7 @@ class NX_show_task (gdb.Command):
my_fmt += ' R8 {registers[R8]:#010x} {registers[R9]:#010x} {registers[R10]:#010x} {registers[R11]:#010x}\n'
my_fmt += ' R12 {registers[PC]:#010x}\n'
my_fmt += ' SP {registers[SP]:#010x} LR {registers[LR]:#010x} PC {registers[PC]:#010x} XPSR {registers[XPSR]:#010x}\n'
print format(t, my_fmt)
print(format(t, my_fmt))
class NX_show_tasks (gdb.Command):
"""(NuttX) prints a list of tasks"""
@@ -295,8 +321,10 @@ class NX_show_tasks (gdb.Command):
def invoke(self, args, from_tty):
tasks = NX_task.tasks()
print ('Number of tasks: ' + str(len(tasks)))
for t in tasks:
print format(t, '{pid:<2} {name:<16} {state:<20} {stack_used:>4}/{stack_limit:<4}')
#t.showoff()
print(format(t, 'Task: {pid} {name} {state} {stack_used}/{stack_limit}'))
NX_show_task()
NX_show_tasks()
@@ -306,15 +334,15 @@ class NX_show_heap (gdb.Command):
def __init__(self):
super(NX_show_heap, self).__init__('show heap', gdb.COMMAND_USER)
struct_mm_allocnode_s = gdb.lookup_type('struct mm_allocnode_s')
preceding_size = struct_mm_allocnode_s['preceding'].type.sizeof
if preceding_size == 2:
struct_mm_allocnode_s = gdb.lookup_type('struct mm_allocnode_s')
preceding_size = struct_mm_allocnode_s['preceding'].type.sizeof
if preceding_size == 2:
self._allocflag = 0x8000
elif preceding_size == 4:
elif preceding_size == 4:
self._allocflag = 0x80000000
else:
raise gdb.GdbError('invalid mm_allocnode_s.preceding size %u' % preceding_size)
self._allocnodesize = struct_mm_allocnode_s.sizeof
else:
raise gdb.GdbError('invalid mm_allocnode_s.preceding size %u' % preceding_size)
self._allocnodesize = struct_mm_allocnode_s.sizeof
def _node_allocated(self, allocnode):
if allocnode['preceding'] & self._allocflag:
@@ -328,7 +356,7 @@ class NX_show_heap (gdb.Command):
if region_start >= region_end:
raise gdb.GdbError('heap region {} corrupt'.format(hex(region_start)))
nodecount = region_end - region_start
print 'heap {} - {}'.format(region_start, region_end)
print ('heap {} - {}'.format(region_start, region_end))
cursor = 1
while cursor < nodecount:
allocnode = region_start[cursor]
@@ -336,8 +364,8 @@ class NX_show_heap (gdb.Command):
state = ''
else:
state = '(free)'
print ' {} {} {}'.format(allocnode.address + self._allocnodesize,
self._node_size(allocnode), state)
print( ' {} {} {}'.format(allocnode.address + self._allocnodesize,
self._node_size(allocnode), state))
cursor += self._node_size(allocnode) / self._allocnodesize
def invoke(self, args, from_tty):
@@ -345,7 +373,7 @@ class NX_show_heap (gdb.Command):
nregions = heap['mm_nregions']
region_starts = heap['mm_heapstart']
region_ends = heap['mm_heapend']
print '{} heap(s)'.format(nregions)
print( '{} heap(s)'.format(nregions))
# walk the heaps
for i in range(0, nregions):
self._print_allocations(region_starts[i], region_ends[i])
@@ -370,6 +398,317 @@ class NX_show_interrupted_thread (gdb.Command):
my_fmt += ' R8 {registers[R8]:#010x} {registers[R9]:#010x} {registers[R10]:#010x} {registers[R11]:#010x}\n'
my_fmt += ' R12 {registers[PC]:#010x}\n'
my_fmt += ' SP {registers[SP]:#010x} LR {registers[LR]:#010x} PC {registers[PC]:#010x} XPSR {registers[XPSR]:#010x}\n'
print format(registers, my_fmt)
print (format(registers, my_fmt))
NX_show_interrupted_thread()
class NX_check_tcb(gdb.Command):
""" check the tcb of a task from a address """
def __init__(self):
super(NX_check_tcb,self).__init__('show tcb', gdb.COMMAND_USER)
def invoke(self,args,sth):
tasks = NX_task.tasks()
print("tcb int: ",int(args))
print(tasks[int(args)]._tcb)
a =tasks[int(args)]._tcb['xcp']['regs']
print("relevant registers:")
for reg in regmap:
hex_addr= hex(int(a[regmap[reg]]))
eval_string = 'info line *'+str(hex_addr)
print(reg,": ",hex_addr,)
NX_check_tcb()
class NX_tcb(object):
def __init__(self):
pass
def is_in(self,arg,list):
for i in list:
if arg == i:
return True;
return False
def find_tcb_list(self,dq_entry_t):
tcb_list = []
tcb_ptr = dq_entry_t.cast(gdb.lookup_type('struct tcb_s').pointer())
first_tcb = tcb_ptr.dereference()
tcb_list.append(first_tcb);
next_tcb = first_tcb['flink'].dereference()
while not self.is_in(int(next_tcb['pid']),[int(t['pid']) for t in tcb_list]):
tcb_list.append(next_tcb);
old_tcb = next_tcb;
next_tcb = old_tcb['flink'].dereference()
return [t for t in tcb_list if int(t['pid'])<2000]
def getTCB(self):
list_of_listsnames = ['g_pendingtasks','g_readytorun','g_waitingforsemaphore','g_waitingforsignal','g_inactivetasks']
tcb_list = [];
for l in list_of_listsnames:
li = gdb.lookup_global_symbol(l)
print(li)
cursor = li.value()['head']
tcb_list = tcb_list + self.find_tcb_list(cursor)
class NX_check_stack_order(gdb.Command):
""" Check the Stack order corresponding to the tasks """
def __init__(self):
super(NX_check_stack_order,self).__init__('show check_stack', gdb.COMMAND_USER)
def is_in(self,arg,list):
for i in list:
if arg == i:
return True;
return False
def find_tcb_list(self,dq_entry_t):
tcb_list = []
tcb_ptr = dq_entry_t.cast(gdb.lookup_type('struct tcb_s').pointer())
first_tcb = tcb_ptr.dereference()
tcb_list.append(first_tcb);
next_tcb = first_tcb['flink'].dereference()
while not self.is_in(int(next_tcb['pid']),[int(t['pid']) for t in tcb_list]):
tcb_list.append(next_tcb);
old_tcb = next_tcb;
next_tcb = old_tcb['flink'].dereference()
return [t for t in tcb_list if int(t['pid'])<2000]
def getTCB(self):
list_of_listsnames = ['g_pendingtasks','g_readytorun','g_waitingforsemaphore','g_waitingforsignal','g_inactivetasks']
tcb_list = [];
for l in list_of_listsnames:
li = gdb.lookup_global_symbol(l)
cursor = li.value()['head']
tcb_list = tcb_list + self.find_tcb_list(cursor)
return tcb_list
def getSPfromTask(self,tcb):
regmap = NX_register_set.v7em_regmap
a =tcb['xcp']['regs']
return int(a[regmap['SP']])
def find_closest(self,list,val):
tmp_list = [abs(i-val) for i in list]
tmp_min = min(tmp_list)
idx = tmp_list.index(tmp_min)
return idx,list[idx]
def find_next_stack(self,address,_dict_in):
add_list = []
name_list = []
for key in _dict_in.keys():
for i in range(3):
if _dict_in[key][i] < address:
add_list.append(_dict_in[key][i])
if i == 2: # the last one is the processes stack pointer
name_list.append(self.check_name(key)+"_SP")
else:
name_list.append(self.check_name(key))
idx,new_address = self.find_closest(add_list,address)
return new_address,name_list[idx]
def check_name(self,name):
if isinstance(name,(list)):
name = name[0];
idx = name.find("\\")
newname = name[:idx]
return newname
def invoke(self,args,sth):
tcb = self.getTCB();
stackadresses={};
for t in tcb:
p = [];
#print(t.name,t._tcb['stack_alloc_ptr'])
p.append(int(t['stack_alloc_ptr']))
p.append(int(t['adj_stack_ptr']))
p.append(self.getSPfromTask(t))
stackadresses[str(t['name'])] = p;
address = int("0x30000000",0)
print("stack address : process")
for i in range(len(stackadresses)*3):
address,name = self.find_next_stack(address,stackadresses)
print(hex(address),": ",name)
NX_check_stack_order()
class NX_run_debug_util(gdb.Command):
""" show the registers of a task corresponding to a tcb address"""
def __init__(self):
super(NX_run_debug_util,self).__init__('show regs', gdb.COMMAND_USER)
def printRegisters(self,task):
regmap = NX_register_set.v7em_regmap
a =task._tcb['xcp']['regs']
print("relevant registers in ",task.name,":")
for reg in regmap:
hex_addr= hex(int(a[regmap[reg]]))
eval_string = 'info line *'+str(hex_addr)
print(reg,": ",hex_addr,)
def getPCfromTask(self,task):
regmap = NX_register_set.v7em_regmap
a =task._tcb['xcp']['regs']
return hex(int(a[regmap['PC']]))
def invoke(self,args,sth):
tasks = NX_task.tasks()
if args == '':
for t in tasks:
self.printRegisters(t)
eval_str = "list *"+str(self.getPCfromTask(t))
print("this is the location in code where the current threads $pc is:")
gdb.execute(eval_str)
else:
tcb_nr = int(args);
print("tcb_nr = ",tcb_nr)
t = tasks[tcb_nr]
self.printRegisters(t)
eval_str = "list *"+str(self.getPCfromTask(t))
print("this is the location in code where the current threads $pc is:")
gdb.execute(eval_str)
NX_run_debug_util()
class NX_search_tcb(gdb.Command):
""" shot PID's of all running tasks """
def __init__(self):
super(NX_search_tcb,self).__init__('show alltcb', gdb.COMMAND_USER)
def is_in(self,arg,list):
for i in list:
if arg == i:
return True;
return False
def find_tcb_list(self,dq_entry_t):
tcb_list = []
tcb_ptr = dq_entry_t.cast(gdb.lookup_type('struct tcb_s').pointer())
first_tcb = tcb_ptr.dereference()
tcb_list.append(first_tcb);
next_tcb = first_tcb['flink'].dereference()
while not self.is_in(int(next_tcb['pid']),[int(t['pid']) for t in tcb_list]):
tcb_list.append(next_tcb);
old_tcb = next_tcb;
next_tcb = old_tcb['flink'].dereference()
return [t for t in tcb_list if int(t['pid'])<2000]
def invoke(self,args,sth):
list_of_listsnames = ['g_pendingtasks','g_readytorun','g_waitingforsemaphore','g_waitingforsignal','g_inactivetasks']
tasks = [];
for l in list_of_listsnames:
li = gdb.lookup_global_symbol(l)
cursor = li.value()['head']
tasks = tasks + self.find_tcb_list(cursor)
# filter for tasks that are listed twice
tasks_filt = {}
for t in tasks:
pid = int(t['pid']);
if not pid in tasks_filt.keys():
tasks_filt[pid] = t['name'];
print('{num_t} Tasks found:'.format(num_t = len(tasks_filt)))
for pid in tasks_filt.keys():
print("PID: ",pid," ",tasks_filt[pid])
NX_search_tcb()
class NX_my_bt(gdb.Command):
""" 'fake' backtrace: backtrace the stack of a process and check every suspicious address for the list
arg: tcb_address$
(can easily be found by typing 'showtask').
"""
def __init__(self):
super(NX_my_bt,self).__init__('show mybt', gdb.COMMAND_USER)
def readmem(self,addr):
'''
read memory at addr and return nr
'''
str_to_eval = "x/x "+hex(addr)
resp = gdb.execute(str_to_eval,to_string = True)
idx = resp.find('\t')
return int(resp[idx:],16)
def is_in_bounds(self,val):
lower_bound = int("08004000",16)
upper_bound = int("080ae0c0",16);
#print(lower_bound," ",val," ",upper_bound)
if val>lower_bound and val<upper_bound:
return True;
else:
return False;
def get_tcb_from_address(self,addr):
addr_value = gdb.Value(addr)
tcb_ptr = addr_value.cast(gdb.lookup_type('struct tcb_s').pointer())
return tcb_ptr.dereference()
def print_instruction_at(self,addr,stack_percentage):
gdb.write(str(round(stack_percentage,2))+":")
str_to_eval = "info line *"+hex(addr)
#gdb.execute(str_to_eval)
res = gdb.execute(str_to_eval,to_string = True)
# get information from results string:
words = res.split()
valid = False
if words[0] == 'No':
#no line info...
pass
else:
valid = True
line = int(words[1])
idx = words[3].rfind("/"); #find first backslash
if idx>0:
name = words[3][idx+1:];
path = words[3][:idx];
else:
name = words[3];
path = "";
block = gdb.block_for_pc(addr)
func = block.function
if str(func) == "None":
func = block.superblock.function
if valid:
print("Line: ",line," in ",path,"/",name,"in ",func)
return name,path,line,func
def invoke(self,args,sth):
addr_dec = int(args[2:],16)
_tcb = self.get_tcb_from_address(addr_dec)
print("found task with PID: ",_tcb["pid"])
up_stack = int(_tcb['adj_stack_ptr'])
curr_sp = int(_tcb['xcp']['regs'][0]) #curr stack pointer
other_sp = int(_tcb['xcp']['regs'][8]) # other stack pointer
stacksize = int(_tcb['adj_stack_size']) # other stack pointer
print("tasks current SP = ",hex(curr_sp),"stack max ptr is at ",hex(up_stack))
if curr_sp == up_stack:
sp = other_sp
else:
sp = curr_sp;
while(sp < up_stack):
mem = self.readmem(sp)
#print(hex(sp)," : ",hex(mem))
if self.is_in_bounds(mem):
# this is a potential instruction ptr
stack_percentage = (up_stack-sp)/stacksize
name,path,line,func = self.print_instruction_at(mem,stack_percentage)
sp = sp + 4; # jump up one word
NX_my_bt()
Documentation/versionfilter.sh
Regular → Executable
View File
NuttX
+1 -1
Submodule NuttX updated: 41fffa0df1...ae4b05e2c5
ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil
+2 -6
View File
@@ -1,14 +1,10 @@
#!nsh
#
# HILStar / X-Plane
#
# Lorenz Meier <lm@inf.ethz.ch>
# HILStar
# <lorenz@px4.io>
#
sh /etc/init.d/rc.fw_defaults
echo "X Plane HIL starting.."
set HIL yes
set MIXER FMU_AERT
ROMFS/px4fmu_common/init.d/10015_tbs_discovery
+1 -1
View File
@@ -2,7 +2,7 @@
#
# Team Blacksheep Discovery Quadcopter
#
# Anton Babushkin <anton.babushkin@me.com>, Simon Wilks <sjwilks@gmail.com>, Thomas Gubler <thomasgubler@gmail.com>
# Anton Babushkin <anton@px4.io>, Simon Wilks <simon@px4.io>
#
sh /etc/init.d/rc.mc_defaults
ROMFS/px4fmu_common/init.d/10016_3dr_iris
+1 -1
View File
@@ -2,7 +2,7 @@
#
# 3DR Iris Quadcopter
#
# Anton Babushkin <anton.babushkin@me.com>
# Anton Babushkin <anton@px4.io>
#
sh /etc/init.d/rc.mc_defaults
ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d
+1 -2
View File
@@ -2,8 +2,7 @@
#
# Steadidrone QU4D
#
# Thomas Gubler <thomasgubler@gmail.com>
# Lorenz Meier <lm@inf.ethz.ch>
# Thomas Gubler <thomas@px4.io>
#
sh /etc/init.d/rc.mc_defaults
ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil
+1 -1
View File
@@ -2,7 +2,7 @@
#
# HIL Quadcopter X
#
# Anton Babushkin <anton.babushkin@me.com>
# Anton Babushkin <anton@px4.io>
#
sh /etc/init.d/rc.mc_defaults
ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil
+1 -1
View File
@@ -2,7 +2,7 @@
#
# HIL Quadcopter +
#
# Anton Babushkin <anton.babushkin@me.com>
# Anton Babushkin <anton@px4.io>
#
sh /etc/init.d/rc.mc_defaults
ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil
+1 -3
View File
@@ -2,13 +2,11 @@
#
# HIL Rascal 110 (Flightgear)
#
# Thomas Gubler <thomasgubler@gmail.com>
# Thomas Gubler <thomas@px4.io>
#
sh /etc/init.d/rc.fw_defaults
echo "HIL Rascal 110 starting.."
set HIL yes
set MIXER FMU_AERT
ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil
+1 -1
View File
@@ -2,7 +2,7 @@
#
# HIL Malolo 1 (Flightgear)
#
# Thomas Gubler <thomasgubler@gmail.com>
# Thomas Gubler <thomas@px4.io>
#
sh /etc/init.d/rc.fw_defaults
ROMFS/px4fmu_common/init.d/11001_hexa_cox
+2 -2
View File
@@ -2,12 +2,12 @@
#
# Generic 10" Hexa coaxial geometry
#
# Lorenz Meier <lm@inf.ethz.ch>
# Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/rc.mc_defaults
set MIXER FMU_hexa_cox
# We only can run one channel group with one rate, so set all 8 channels
# Need to set all 8 channels
set PWM_OUTPUTS 12345678
ROMFS/px4fmu_common/init.d/12001_octo_cox
+1 -1
View File
@@ -2,7 +2,7 @@
#
# Generic 10" Octo coaxial geometry
#
# Lorenz Meier <lm@inf.ethz.ch>
# Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/rc.mc_defaults
ROMFS/px4fmu_common/init.d/3030_io_camflyer
+3
View File
@@ -3,3 +3,6 @@
sh /etc/init.d/rc.fw_defaults
set MIXER FMU_Q
# Provide ESC a constant 1000 us pulse while disarmed
set PWM_OUTPUTS 4
set PWM_DISARMED 1000
ROMFS/px4fmu_common/init.d/3031_phantom
+1 -3
View File
@@ -2,7 +2,7 @@
#
# Phantom FPV Flying Wing
#
# Simon Wilks <sjwilks@gmail.com>, Thomas Gubler <thomasgubler@gmail.com>
# Simon Wilks <simon@px4.io>
#
sh /etc/init.d/rc.fw_defaults
@@ -21,8 +21,6 @@ then
param set FW_PR_P 0.03
param set FW_P_LIM_MAX 50
param set FW_P_LIM_MIN -50
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 1
param set FW_RR_FF 0.5
param set FW_RR_I 0.02
ROMFS/px4fmu_common/init.d/3032_skywalker_x5
+1 -5
View File
@@ -2,7 +2,7 @@
#
# Skywalker X5 Flying Wing
#
# Thomas Gubler <thomasgubler@gmail.com>, Julian Oes <joes@student.ethz.ch>
# Thomas Gubler <thomas@px4.io>, Julian Oes <julian@px4.io>
#
sh /etc/init.d/rc.fw_defaults
@@ -19,10 +19,6 @@ then
param set FW_PR_I 0
param set FW_PR_IMAX 0.2
param set FW_PR_P 0.03
param set FW_P_LIM_MAX 45
param set FW_P_LIM_MIN -45
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 1
param set FW_RR_FF 0.3
param set FW_RR_I 0
ROMFS/px4fmu_common/init.d/3033_wingwing
+1 -1
View File
@@ -2,7 +2,7 @@
#
# Wing Wing (aka Z-84) Flying Wing
#
# Simon Wilks <sjwilks@gmail.com>
# Simon Wilks <simon@px4.io>
#
sh /etc/init.d/rc.fw_defaults
ROMFS/px4fmu_common/init.d/3034_fx79
+1 -1
View File
@@ -2,7 +2,7 @@
#
# FX-79 Buffalo Flying Wing
#
# Simon Wilks <sjwilks@gmail.com>
# Simon Wilks <simon@px4.io>
#
sh /etc/init.d/rc.fw_defaults
ROMFS/px4fmu_common/init.d/3035_viper
+1 -1
View File
@@ -2,7 +2,7 @@
#
# Viper
#
# Simon Wilks <sjwilks@gmail.com>
# Simon Wilks <simon@px4.io>
#
sh /etc/init.d/rc.fw_defaults
ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
+2 -6
View File
@@ -1,8 +1,8 @@
#!nsh
#
# TBS Caipirinha Flying Wing
# TBS Caipirinha
#
# Thomas Gubler <thomasgubler@gmail.com>
# Thomas Gubler <thomas@px4.io>
#
sh /etc/init.d/rc.fw_defaults
@@ -22,10 +22,6 @@ then
param set FW_PR_I 0
param set FW_PR_IMAX 0.2
param set FW_PR_P 0.03
param set FW_P_LIM_MAX 45
param set FW_P_LIM_MIN -45
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 0
param set FW_RR_FF 0.3
param set FW_RR_I 0
ROMFS/px4fmu_common/init.d/4001_quad_x
+1 -1
View File
@@ -2,7 +2,7 @@
#
# Generic 10" Quad X geometry
#
# Lorenz Meier <lm@inf.ethz.ch>
# Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/rc.mc_defaults
ROMFS/px4fmu_common/init.d/4008_ardrone
-3
View File
@@ -3,9 +3,6 @@
# ARDrone
#
echo "[init] 4008_ardrone: PX4FMU on PX4IOAR carrier board"
# Just use the default multicopter settings.
sh /etc/init.d/rc.mc_defaults
#
ROMFS/px4fmu_common/init.d/4010_dji_f330
+2 -2
View File
@@ -1,8 +1,8 @@
#!nsh
#
# DJI Flame Wheel F330 Quadcopter
# DJI Flame Wheel F330
#
# Anton Babushkin <anton.babushkin@me.com>
# Anton Babushkin <anton@px4.io>
#
sh /etc/init.d/4001_quad_x
ROMFS/px4fmu_common/init.d/4011_dji_f450
+2 -2
View File
@@ -1,8 +1,8 @@
#!nsh
#
# DJI Flame Wheel F450 Quadcopter
# DJI Flame Wheel F450
#
# Lorenz Meier <lm@inf.ethz.ch>
# Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/4001_quad_x
ROMFS/px4fmu_common/init.d/4012_quad_x_can
+1 -1
View File
@@ -2,7 +2,7 @@
#
# F450-sized quadrotor with CAN
#
# Lorenz Meier <lm@inf.ethz.ch>
# Pavel Kirienko <pavel@px4.io>
#
sh /etc/init.d/4001_quad_x
ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb
+1 -1
View File
@@ -3,7 +3,7 @@
# Hobbyking Micro Integrated PCB Quadcopter
# with SimonK ESC firmware and Mystery A1510 motors
#
# Thomas Gubler <thomasgubler@gmail.com>
# Thomas Gubler <thomas@px4.io>
#
echo "HK Micro PCB Quad"
ROMFS/px4fmu_common/init.d/5001_quad_+
+1 -1
View File
@@ -2,7 +2,7 @@
#
# Generic 10" Quad + geometry
#
# Anton Babushkin <anton.babushkin@me.com>
# Anton Babushkin <anton@px4.io>
#
sh /etc/init.d/rc.mc_defaults
ROMFS/px4fmu_common/init.d/6001_hexa_x
+2 -2
View File
@@ -2,12 +2,12 @@
#
# Generic 10" Hexa X geometry
#
# Anton Babushkin <anton.babushkin@me.com>
# Anton Babushkin <anton@px4.io>
#
sh /etc/init.d/rc.mc_defaults
set MIXER FMU_hexa_x
# We only can run one channel group with one rate, so set all 8 channels
# Need to set all 8 channels
set PWM_OUTPUTS 12345678
ROMFS/px4fmu_common/init.d/7001_hexa_+
+2 -2
View File
@@ -2,12 +2,12 @@
#
# Generic 10" Hexa + geometry
#
# Anton Babushkin <anton.babushkin@me.com>
# Anton Babushkin <anton@px4.io>
#
sh /etc/init.d/rc.mc_defaults
set MIXER FMU_hexa_+
# We only can run one channel group with one rate, so set all 8 channels
# Need to set all 8 channels
set PWM_OUTPUTS 12345678
ROMFS/px4fmu_common/init.d/8001_octo_x
+1 -1
View File
@@ -2,7 +2,7 @@
#
# Generic 10" Octo X geometry
#
# Anton Babushkin <anton.babushkin@me.com>
# Anton Babushkin <anton@px4.io>
#
sh /etc/init.d/rc.mc_defaults
ROMFS/px4fmu_common/init.d/9001_octo_+
+1 -1
View File
@@ -2,7 +2,7 @@
#
# Generic 10" Octo + geometry
#
# Anton Babushkin <anton.babushkin@me.com>
# Anton Babushkin <anton@px4.io>
#
sh /etc/init.d/rc.mc_defaults
ROMFS/px4fmu_common/init.d/rc.autostart
+2 -3
View File
@@ -1,5 +1,4 @@
#
# Check if auto-setup from one of the standard scripts is wanted
# SYS_AUTOSTART = 0 means no autostart (default)
#
# AUTOSTART PARTITION:
@@ -18,7 +17,7 @@
# 12000 .. 12999 Octo Cox
#
# Simulation setups
# Simulation
#
if param compare SYS_AUTOSTART 901
@@ -53,7 +52,7 @@ then
fi
#
# Standard plane
# Plane
#
if param compare SYS_AUTOSTART 2100 100
ROMFS/px4fmu_common/init.d/rc.interface
+1 -5
View File
@@ -10,7 +10,7 @@ then
#
set MIXERSD /fs/microsd/etc/mixers/$MIXER.mix
#Use the mixer file from the SD-card if it exists
# Use the mixer file from the SD-card if it exists
if [ -f $MIXERSD ]
then
set MIXER_FILE $MIXERSD
@@ -54,7 +54,6 @@ then
#
if [ $PWM_RATE != none ]
then
echo "[init] Set PWM rate: $PWM_RATE"
pwm rate -c $PWM_OUTPUTS -r $PWM_RATE
fi
@@ -63,17 +62,14 @@ then
#
if [ $PWM_DISARMED != none ]
then
echo "[init] Set PWM disarmed: $PWM_DISARMED"
pwm disarmed -c $PWM_OUTPUTS -p $PWM_DISARMED
fi
if [ $PWM_MIN != none ]
then
echo "[init] Set PWM min: $PWM_MIN"
pwm min -c $PWM_OUTPUTS -p $PWM_MIN
fi
if [ $PWM_MAX != none ]
then
echo "[init] Set PWM max: $PWM_MAX"
pwm max -c $PWM_OUTPUTS -p $PWM_MAX
fi
fi
ROMFS/px4fmu_common/init.d/rc.jig
-10
View File
@@ -1,10 +0,0 @@
#!nsh
#
# Test jig startup script
#
echo "[testing] doing production test.."
tests jig
echo "[testing] testing done"
ROMFS/px4fmu_common/init.d/rc.sensors
+1 -6
View File
@@ -54,7 +54,6 @@ then
fi
fi
# Start airspeed sensors
if meas_airspeed start
then
echo "[init] Using MEAS airspeed sensor"
@@ -68,16 +67,12 @@ else
fi
fi
# Check for flow sensor
if px4flow start
then
fi
#
# Start the sensor collection task.
# IMPORTANT: this also loads param offsets
# ALWAYS start this task before the
# preflight_check.
# Start sensors -> preflight_check
#
if sensors start
then
ROMFS/px4fmu_common/init.d/rcS
+3 -27
View File
@@ -137,9 +137,7 @@ then
#
if param compare SYS_AUTOCONFIG 1
then
# We can't be sure the defaults haven't changed, so
# if someone requests a re-configuration, we do it
# cleanly from scratch (except autostart / autoconfig)
# Wipe out params
param reset_nostart
set DO_AUTOCONFIG yes
else
@@ -202,12 +200,10 @@ then
if px4io checkcrc $IO_FILE
then
echo "[init] PX4IO CRC OK"
echo "PX4IO CRC OK" >> $LOG_FILE
set IO_PRESENT yes
else
echo "[init] Trying to update"
echo "PX4IO Trying to update" >> $LOG_FILE
tone_alarm MLL32CP8MB
@@ -217,18 +213,15 @@ then
usleep 500000
if px4io checkcrc $IO_FILE
then
echo "[init] PX4IO CRC OK, update successful"
echo "PX4IO CRC OK after updating" >> $LOG_FILE
tone_alarm MLL8CDE
set IO_PRESENT yes
else
echo "[init] ERROR: PX4IO update failed"
echo "PX4IO update failed" >> $LOG_FILE
tone_alarm $TUNE_OUT_ERROR
fi
else
echo "[init] ERROR: PX4IO update failed"
echo "PX4IO update failed" >> $LOG_FILE
tone_alarm $TUNE_OUT_ERROR
fi
@@ -281,16 +274,12 @@ then
fi
fi
#
# Start the datamanager (and do not abort boot if it fails)
#
# waypoint storage
if dataman start
then
fi
#
# Start the Commander (needs to be this early for in-air-restarts)
#
# Needs to be this early for in-air-restarts
commander start
#
@@ -312,7 +301,6 @@ then
if [ $OUTPUT_MODE == io -o $OUTPUT_MODE == uavcan_esc ]
then
echo "[init] Use PX4IO PWM as primary output"
if px4io start
then
echo "[init] PX4IO started"
@@ -325,7 +313,6 @@ then
if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == ardrone ]
then
echo "[init] Use FMU as primary output"
if fmu mode_$FMU_MODE
then
echo "[init] FMU mode_$FMU_MODE started"
@@ -349,7 +336,6 @@ then
if [ $OUTPUT_MODE == mkblctrl ]
then
echo "[init] Use MKBLCTRL as primary output"
set MKBLCTRL_ARG ""
if [ $MKBLCTRL_MODE == x ]
then
@@ -372,7 +358,6 @@ then
if [ $OUTPUT_MODE == hil ]
then
echo "[init] Use HIL as primary output"
if hil mode_port2_pwm8
then
echo "[init] HIL output started"
@@ -391,7 +376,6 @@ then
then
if px4io start
then
echo "[init] PX4IO started"
sh /etc/init.d/rc.io
else
echo "[init] ERROR: PX4IO start failed"
@@ -424,9 +408,6 @@ then
fi
fi
#
# MAVLink
#
if [ $MAVLINK_FLAGS == default ]
then
# Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s
@@ -454,15 +435,10 @@ then
# Sensors, Logging, GPS
#
sh /etc/init.d/rc.sensors
#
# Start logging in all modes, including HIL
#
sh /etc/init.d/rc.logging
if [ $GPS == yes ]
then
echo "[init] Start GPS"
if [ $GPS_FAKE == yes ]
then
echo "[init] Faking GPS"
Tools/px_generate_xml.sh
Regular → Executable
View File
Tools/px_mkfw.py
+5
View File
@@ -73,6 +73,7 @@ parser.add_argument("--version", action="store", help="set a version string")
parser.add_argument("--summary", action="store", help="set a brief description")
parser.add_argument("--description", action="store", help="set a longer description")
parser.add_argument("--git_identity", action="store", help="the working directory to check for git identity")
parser.add_argument("--parameter_xml", action="store", help="the parameters.xml file")
parser.add_argument("--image", action="store", help="the firmware image")
args = parser.parse_args()
@@ -101,6 +102,10 @@ if args.git_identity != None:
p = subprocess.Popen(cmd, shell=True, stdout=subprocess.PIPE).stdout
desc['git_identity'] = str(p.read().strip())
p.close()
if args.parameter_xml != None:
f = open(args.parameter_xml, "rb")
bytes = f.read()
desc['parameter_xml'] = base64.b64encode(zlib.compress(bytes,9)).decode('utf-8')
if args.image != None:
f = open(args.image, "rb")
bytes = f.read()
Tools/px_update_wiki.sh
Regular → Executable
View File
Tools/px_uploader.py
+1 -1
View File
@@ -458,7 +458,7 @@ if os.path.exists("/usr/sbin/ModemManager"):
# Load the firmware file
fw = firmware(args.firmware)
print("Loaded firmware for %x,%x, waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision')))
print("Loaded firmware for %x,%x, size: %d bytes, waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size')))
print("If the board does not respond within 1-2 seconds, unplug and re-plug the USB connector.")
# Spin waiting for a device to show up
Tools/upload.sh
Executable
+28
View File
@@ -0,0 +1,28 @@
#!/bin/bash
EXEDIR=`pwd`
BASEDIR=$(dirname $0)
SYSTYPE=`uname -s`
#
# Serial port defaults.
#
# XXX The uploader should be smarter than this.
#
if [ $SYSTYPE = "Darwin" ];
then
SERIAL_PORTS="/dev/tty.usbmodemPX*,/dev/tty.usbmodem*"
fi
if [ $SYSTYPE = "Linux" ];
then
SERIAL_PORTS="/dev/serial/by-id/usb-3D_Robotics*"
fi
if [ $SYSTYPE = "" ];
then
SERIAL_PORTS="COM32,COM31,COM30,COM29,COM28,COM27,COM26,COM25,COM24,COM23,COM22,COM21,COM20,COM19,COM18,COM17,COM16,COM15,COM14,COM13,COM12,COM11,COM10,COM9,COM8,COM7,COM6,COM5,COM4,COM3,COM2,COM1,COM0"
fi
python $BASEDIR/px_uploader.py --port $SERIAL_PORTS $1
makefiles/config_px4fmu-v1_default.mk
+5
View File
@@ -24,6 +24,8 @@ MODULES += drivers/l3gd20
MODULES += drivers/mpu6000
MODULES += drivers/hmc5883
MODULES += drivers/ms5611
#MODULES += drivers/ll40ls
MODULES += drivers/trone
#MODULES += drivers/mb12xx
MODULES += drivers/gps
MODULES += drivers/hil
@@ -132,6 +134,9 @@ MODULES += lib/launchdetection
# Hardware test
#MODULES += examples/hwtest
# Generate parameter XML file
GEN_PARAM_XML = 1
#
# Transitional support - add commands from the NuttX export archive.
#
makefiles/config_px4fmu-v2_default.mk
+7 -18
View File
@@ -27,27 +27,22 @@ MODULES += drivers/l3gd20
MODULES += drivers/hmc5883
MODULES += drivers/ms5611
MODULES += drivers/mb12xx
MODULES += drivers/sf0x
# MODULES += drivers/sf0x
MODULES += drivers/ll40ls
# MODULES += drivers/trone
MODULES += drivers/gps
MODULES += drivers/hil
MODULES += drivers/hott/hott_telemetry
MODULES += drivers/hott/hott_sensors
MODULES += drivers/blinkm
# MODULES += drivers/blinkm
MODULES += drivers/airspeed
MODULES += drivers/ets_airspeed
MODULES += drivers/meas_airspeed
MODULES += drivers/frsky_telemetry
MODULES += modules/sensors
MODULES += drivers/mkblctrl
MODULES += drivers/pca8574
MODULES += drivers/px4flow
# Needs to be burned to the ground and re-written; for now,
# just don't build it.
#MODULES += drivers/mkblctrl
#
# System commands
#
@@ -61,7 +56,6 @@ MODULES += systemcmds/pwm
MODULES += systemcmds/esc_calib
MODULES += systemcmds/reboot
MODULES += systemcmds/top
MODULES += systemcmds/tests
MODULES += systemcmds/config
MODULES += systemcmds/nshterm
MODULES += systemcmds/mtd
@@ -81,10 +75,8 @@ MODULES += modules/uavcan
# Estimation modules (EKF/ SO3 / other filters)
#
MODULES += modules/attitude_estimator_ekf
MODULES += modules/attitude_estimator_so3
MODULES += modules/ekf_att_pos_estimator
MODULES += modules/position_estimator_inav
MODULES += examples/flow_position_estimator
#
# Vehicle Control
@@ -100,12 +92,6 @@ MODULES += modules/mc_pos_control
#
MODULES += modules/sdlog2
#
# Unit tests
#
#MODULES += modules/unit_test
#MODULES += modules/commander/commander_tests
#
# Library modules
#
@@ -139,7 +125,7 @@ MODULES += modules/bottle_drop
#MODULES += examples/math_demo
# Tutorial code from
# https://pixhawk.ethz.ch/px4/dev/hello_sky
MODULES += examples/px4_simple_app
#MODULES += examples/px4_simple_app
# Tutorial code from
# https://pixhawk.ethz.ch/px4/dev/daemon
@@ -156,6 +142,9 @@ MODULES += examples/px4_simple_app
# Hardware test
#MODULES += examples/hwtest
# Generate parameter XML file
GEN_PARAM_XML = 1
#
# Transitional support - add commands from the NuttX export archive.
#
makefiles/config_px4fmu-v2_test.mk
+7
View File
@@ -49,6 +49,13 @@ MODULES += lib/mathlib
MODULES += lib/mathlib/math/filter
MODULES += lib/conversion
#
# Modules to test-build, but not useful for test environment
#
MODULES += modules/attitude_estimator_so3
MODULES += drivers/pca8574
MODULES += examples/flow_position_estimator
#
# Libraries
#
makefiles/firmware.mk
+9
View File
@@ -467,6 +467,7 @@ endif
PRODUCT_BUNDLE = $(WORK_DIR)firmware.px4
PRODUCT_BIN = $(WORK_DIR)firmware.bin
PRODUCT_ELF = $(WORK_DIR)firmware.elf
PRODUCT_PARAMXML = $(WORK_DIR)/parameters.xml
.PHONY: firmware
firmware: $(PRODUCT_BUNDLE)
@@ -497,9 +498,17 @@ $(filter %.S.o,$(OBJS)): $(WORK_DIR)%.S.o: %.S $(GLOBAL_DEPS)
$(PRODUCT_BUNDLE): $(PRODUCT_BIN)
@$(ECHO) %% Generating $@
ifdef GEN_PARAM_XML
python $(PX4_BASE)/Tools/px_process_params.py --src-path $(PX4_BASE)/src --xml
$(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(BOARD).prototype \
--git_identity $(PX4_BASE) \
--parameter_xml $(PRODUCT_PARAMXML) \
--image $< > $@
else
$(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(BOARD).prototype \
--git_identity $(PX4_BASE) \
--image $< > $@
endif
$(PRODUCT_BIN): $(PRODUCT_ELF)
$(call SYM_TO_BIN,$<,$@)
makefiles/toolchain_gnu-arm-eabi.mk
+3 -3
View File
@@ -50,11 +50,11 @@ OBJDUMP = $(CROSSDEV)objdump
# Check if the right version of the toolchain is available
#
CROSSDEV_VER_SUPPORTED = 4.7
CROSSDEV_VER_SUPPORTED = 4.7.4 4.7.5 4.7.6 4.8.4
CROSSDEV_VER_FOUND = $(shell $(CC) -dumpversion)
ifeq (,$(findstring $(CROSSDEV_VER_SUPPORTED),$(CROSSDEV_VER_FOUND)))
$(error Unsupported version of $(CC), found: $(CROSSDEV_VER_FOUND) instead of $(CROSSDEV_VER_SUPPORTED).x)
ifeq (,$(findstring $(CROSSDEV_VER_FOUND), $(CROSSDEV_VER_SUPPORTED)))
$(error Unsupported version of $(CC), found: $(CROSSDEV_VER_FOUND) instead of one in: $(CROSSDEV_VER_SUPPORTED))
endif
mavlink/include/mavlink/v1.0
+1 -1
Submodule mavlink/include/mavlink/v1.0 updated: 90383fac84...ad5e5a645d
nuttx-configs/px4fmu-v1/nsh/Make.defs
+1 -1
View File
@@ -53,7 +53,7 @@ NM = $(CROSSDEV)nm
OBJCOPY = $(CROSSDEV)objcopy
OBJDUMP = $(CROSSDEV)objdump
MAXOPTIMIZATION = -O3
MAXOPTIMIZATION = -Os
ARCHCPUFLAGS = -mcpu=cortex-m4 \
-mthumb \
-march=armv7e-m \
nuttx-configs/px4fmu-v2/nsh/Make.defs
+1 -1
View File
@@ -53,7 +53,7 @@ NM = $(CROSSDEV)nm
OBJCOPY = $(CROSSDEV)objcopy
OBJDUMP = $(CROSSDEV)objdump
MAXOPTIMIZATION = -O3
MAXOPTIMIZATION = -Os
ARCHCPUFLAGS = -mcpu=cortex-m4 \
-mthumb \
-march=armv7e-m \
nuttx-configs/px4fmu-v2/scripts/ld.script
+2 -1
View File
@@ -50,7 +50,8 @@
MEMORY
{
flash (rx) : ORIGIN = 0x08004000, LENGTH = 2032K
/* disabled due to silicon errata flash (rx) : ORIGIN = 0x08004000, LENGTH = 2032K */
flash (rx) : ORIGIN = 0x08004000, LENGTH = 1008K
sram (rwx) : ORIGIN = 0x20000000, LENGTH = 192K
ccsram (rwx) : ORIGIN = 0x10000000, LENGTH = 64K
}
nuttx-configs/px4io-v1/nsh/Make.defs
+1 -1
View File
@@ -53,7 +53,7 @@ NM = $(CROSSDEV)nm
OBJCOPY = $(CROSSDEV)objcopy
OBJDUMP = $(CROSSDEV)objdump
MAXOPTIMIZATION = -O3
MAXOPTIMIZATION = -Os
ARCHCPUFLAGS = -mcpu=cortex-m3 \
-mthumb \
-march=armv7-m
nuttx-configs/px4io-v2/nsh/Make.defs
+1 -5
View File
@@ -53,15 +53,11 @@ NM = $(CROSSDEV)nm
OBJCOPY = $(CROSSDEV)objcopy
OBJDUMP = $(CROSSDEV)objdump
MAXOPTIMIZATION = -O3
MAXOPTIMIZATION = -Os
ARCHCPUFLAGS = -mcpu=cortex-m3 \
-mthumb \
-march=armv7-m
# enable precise stack overflow tracking
#INSTRUMENTATIONDEFINES = -finstrument-functions \
# -ffixed-r10
# use our linker script
LDSCRIPT = ld.script
src/drivers/airspeed/airspeed.cpp
+7 -5
View File
@@ -147,7 +147,7 @@ Airspeed::init()
_airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &arp);
if (_airspeed_pub < 0)
warnx("failed to create airspeed sensor object. uORB started?");
warnx("uORB started?");
}
ret = OK;
@@ -159,13 +159,15 @@ out:
int
Airspeed::probe()
{
/* on initial power up the device needs more than one retry
for detection. Once it is running then retries aren't
needed
/* on initial power up the device may need more than one retry
for detection. Once it is running the number of retries can
be reduced
*/
_retries = 4;
int ret = measure();
_retries = 0;
// drop back to 2 retries once initialised
_retries = 2;
return ret;
}
src/drivers/ardrone_interface/ardrone_interface.c
+14 -22
View File
@@ -89,8 +89,8 @@ static void
usage(const char *reason)
{
if (reason)
fprintf(stderr, "%s\n", reason);
fprintf(stderr, "usage: ardrone_interface {start|stop|status} [-d <UART>]\n\n");
warnx("%s\n", reason);
warnx("usage: {start|stop|status} [-d <UART>]\n\n");
exit(1);
}
@@ -110,7 +110,7 @@ int ardrone_interface_main(int argc, char *argv[])
if (!strcmp(argv[1], "start")) {
if (thread_running) {
printf("ardrone_interface already running\n");
warnx("already running\n");
/* this is not an error */
exit(0);
}
@@ -132,9 +132,9 @@ int ardrone_interface_main(int argc, char *argv[])
if (!strcmp(argv[1], "status")) {
if (thread_running) {
printf("\tardrone_interface is running\n");
warnx("running");
} else {
printf("\tardrone_interface not started\n");
warnx("not started");
}
exit(0);
}
@@ -158,7 +158,7 @@ static int ardrone_open_uart(char *uart_name, struct termios *uart_config_origin
/* Back up the original uart configuration to restore it after exit */
if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
fprintf(stderr, "[ardrone_interface] ERROR getting baudrate / termios config for %s: %d\n", uart_name, termios_state);
warnx("ERR: TCGETATTR %s: %d", uart_name, termios_state);
close(uart);
return -1;
}
@@ -171,14 +171,14 @@ static int ardrone_open_uart(char *uart_name, struct termios *uart_config_origin
/* Set baud rate */
if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
fprintf(stderr, "[ardrone_interface] ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
warnx("ERR: cfsetispeed %s: %d", uart_name, termios_state);
close(uart);
return -1;
}
if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
fprintf(stderr, "[ardrone_interface] ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name);
warnx("ERR: tcsetattr: %s", uart_name);
close(uart);
return -1;
}
@@ -192,9 +192,6 @@ int ardrone_interface_thread_main(int argc, char *argv[])
char *device = "/dev/ttyS1";
/* welcome user */
printf("[ardrone_interface] Control started, taking over motors\n");
/* File descriptors */
int gpios;
@@ -237,7 +234,7 @@ int ardrone_interface_thread_main(int argc, char *argv[])
struct termios uart_config_original;
if (motor_test_mode) {
printf("[ardrone_interface] Motor test mode enabled, setting 10 %% thrust.\n");
warnx("setting 10 %% thrust.\n");
}
/* Led animation */
@@ -255,9 +252,6 @@ int ardrone_interface_thread_main(int argc, char *argv[])
int actuator_controls_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
int armed_sub = orb_subscribe(ORB_ID(actuator_armed));
printf("[ardrone_interface] Motors initialized - ready.\n");
fflush(stdout);
/* enable UART, writes potentially an empty buffer, but multiplexing is disabled */
ardrone_write = ardrone_open_uart(device, &uart_config_original);
@@ -265,7 +259,7 @@ int ardrone_interface_thread_main(int argc, char *argv[])
gpios = ar_multiplexing_init();
if (ardrone_write < 0) {
fprintf(stderr, "[ardrone_interface] Failed opening AR.Drone UART, exiting.\n");
warnx("No UART, exiting.");
thread_running = false;
exit(ERROR);
}
@@ -273,7 +267,7 @@ int ardrone_interface_thread_main(int argc, char *argv[])
/* initialize motors */
if (OK != ar_init_motors(ardrone_write, gpios)) {
close(ardrone_write);
fprintf(stderr, "[ardrone_interface] Failed initializing AR.Drone motors, exiting.\n");
warnx("motor init fail");
thread_running = false;
exit(ERROR);
}
@@ -294,7 +288,7 @@ int ardrone_interface_thread_main(int argc, char *argv[])
gpios = ar_multiplexing_init();
if (ardrone_write < 0) {
fprintf(stderr, "[ardrone_interface] Failed opening AR.Drone UART, exiting.\n");
warnx("write fail");
thread_running = false;
exit(ERROR);
}
@@ -302,7 +296,7 @@ int ardrone_interface_thread_main(int argc, char *argv[])
/* initialize motors */
if (OK != ar_init_motors(ardrone_write, gpios)) {
close(ardrone_write);
fprintf(stderr, "[ardrone_interface] Failed initializing AR.Drone motors, exiting.\n");
warnx("motor init fail");
thread_running = false;
exit(ERROR);
}
@@ -378,11 +372,9 @@ int ardrone_interface_thread_main(int argc, char *argv[])
int termios_state;
if ((termios_state = tcsetattr(ardrone_write, TCSANOW, &uart_config_original)) < 0) {
fprintf(stderr, "[ardrone_interface] ERROR setting baudrate / termios config for (tcsetattr)\n");
warnx("ERR: tcsetattr");
}
printf("[ardrone_interface] Restored original UART config, exiting..\n");
/* close uarts */
close(ardrone_write);
ar_multiplexing_deinit(gpios);
src/drivers/ardrone_interface/ardrone_motor_control.c
+1 -1
View File
@@ -301,7 +301,7 @@ int ar_init_motors(int ardrone_uart, int gpios)
ardrone_write_motor_commands(ardrone_uart, 0, 0, 0, 0);
if (errcounter != 0) {
fprintf(stderr, "[ardrone_interface] init sequence incomplete, failed %d times", -errcounter);
warnx("Failed %d times", -errcounter);
fflush(stdout);
}
return errcounter;
src/drivers/boards/aerocore/module.mk
+2
View File
@@ -6,3 +6,5 @@ SRCS = aerocore_init.c \
aerocore_pwm_servo.c \
aerocore_spi.c \
aerocore_led.c
MAXOPTIMIZATION = -Os
src/drivers/boards/px4fmu-v1/module.mk
+2
View File
@@ -8,3 +8,5 @@ SRCS = px4fmu_can.c \
px4fmu_spi.c \
px4fmu_usb.c \
px4fmu_led.c
MAXOPTIMIZATION = -Os
src/drivers/boards/px4fmu-v2/module.mk
+2
View File
@@ -8,3 +8,5 @@ SRCS = px4fmu_can.c \
px4fmu_spi.c \
px4fmu_usb.c \
px4fmu2_led.c
MAXOPTIMIZATION = -Os
src/drivers/boards/px4io-v1/module.mk
+2
View File
@@ -4,3 +4,5 @@
SRCS = px4io_init.c \
px4io_pwm_servo.c
MAXOPTIMIZATION = -Os
src/drivers/boards/px4io-v2/module.mk
+2
View File
@@ -4,3 +4,5 @@
SRCS = px4iov2_init.c \
px4iov2_pwm_servo.c
MAXOPTIMIZATION = -Os
src/drivers/device/device.h
+2 -1
View File
@@ -130,7 +130,8 @@ public:
enum DeviceBusType {
DeviceBusType_UNKNOWN = 0,
DeviceBusType_I2C = 1,
DeviceBusType_SPI = 2
DeviceBusType_SPI = 2,
DeviceBusType_UAVCAN = 3,
};
/*
src/drivers/drv_pwm_output.h
+30 -1
View File
@@ -117,6 +117,23 @@ struct pwm_output_values {
unsigned channel_count;
};
/**
* RC config values for a channel
*
* This allows for PX4IO_PAGE_RC_CONFIG values to be set without a
* param_get() dependency
*/
struct pwm_output_rc_config {
uint8_t channel;
uint16_t rc_min;
uint16_t rc_trim;
uint16_t rc_max;
uint16_t rc_dz;
uint16_t rc_assignment;
bool rc_reverse;
};
/*
* ORB tag for PWM outputs.
*/
@@ -214,7 +231,19 @@ ORB_DECLARE(output_pwm);
#define PWM_SERVO_SET_TERMINATION_FAILSAFE _IOC(_PWM_SERVO_BASE, 25)
/** force safety switch on (to enable use of safety switch) */
#define PWM_SERVO_SET_FORCE_SAFETY_ON _IOC(_PWM_SERVO_BASE, 26)
#define PWM_SERVO_SET_FORCE_SAFETY_ON _IOC(_PWM_SERVO_BASE, 26)
/** set RC config for a channel. This takes a pointer to pwm_output_rc_config */
#define PWM_SERVO_SET_RC_CONFIG _IOC(_PWM_SERVO_BASE, 27)
/** set the 'OVERRIDE OK' bit, which allows for RC control on FMU loss */
#define PWM_SERVO_SET_OVERRIDE_OK _IOC(_PWM_SERVO_BASE, 28)
/** clear the 'OVERRIDE OK' bit, which allows for RC control on FMU loss */
#define PWM_SERVO_CLEAR_OVERRIDE_OK _IOC(_PWM_SERVO_BASE, 29)
/** setup OVERRIDE_IMMEDIATE behaviour on FMU fail */
#define PWM_SERVO_SET_OVERRIDE_IMMEDIATE _IOC(_PWM_SERVO_BASE, 30)
/*
*
src/drivers/frsky_telemetry/frsky_telemetry.c
+3 -6
View File
@@ -84,7 +84,7 @@ static int frsky_open_uart(const char *uart_name, struct termios *uart_config_or
/* Back up the original UART configuration to restore it after exit */
int termios_state;
if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
warnx("ERROR get termios config %s: %d\n", uart_name, termios_state);
warnx("ERR: tcgetattr%s: %d\n", uart_name, termios_state);
close(uart);
return -1;
}
@@ -100,13 +100,13 @@ static int frsky_open_uart(const char *uart_name, struct termios *uart_config_or
static const speed_t speed = B9600;
if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
warnx("ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
warnx("ERR: %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
close(uart);
return -1;
}
if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
warnx("ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name);
warnx("ERR: %s (tcsetattr)\n", uart_name);
close(uart);
return -1;
}
@@ -151,9 +151,6 @@ static int frsky_telemetry_thread_main(int argc, char *argv[])
}
}
/* Print welcome text */
warnx("FrSky telemetry interface starting...");
/* Open UART */
struct termios uart_config_original;
const int uart = frsky_open_uart(device_name, &uart_config_original);
src/drivers/gps/gps.cpp
-1
View File
@@ -274,7 +274,6 @@ GPS::task_main_trampoline(void *arg)
void
GPS::task_main()
{
log("starting");
/* open the serial port */
_serial_fd = ::open(_port, O_RDWR);
src/drivers/hil/hil.cpp
-2
View File
@@ -442,8 +442,6 @@ HIL::task_main()
/* make sure servos are off */
// up_pwm_servo_deinit();
log("stopping");
/* note - someone else is responsible for restoring the GPIO config */
/* tell the dtor that we are exiting */
src/drivers/hmc5883/hmc5883.cpp
+44 -44
View File
@@ -1049,11 +1049,9 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
* LSM/Ga, giving 1.16 and 1.08 */
float expected_cal[3] = { 1.16f, 1.08f, 1.08f };
warnx("starting mag scale calibration");
/* start the sensor polling at 50 Hz */
if (OK != ioctl(filp, SENSORIOCSPOLLRATE, 50)) {
warn("failed to set 2Hz poll rate");
warn("FAILED: SENSORIOCSPOLLRATE 2Hz");
ret = 1;
goto out;
}
@@ -1061,25 +1059,25 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
/* Set to 2.5 Gauss. We ask for 3 to get the right part of
* the chained if statement above. */
if (OK != ioctl(filp, MAGIOCSRANGE, 3)) {
warnx("failed to set 2.5 Ga range");
warnx("FAILED: MAGIOCSRANGE 3.3 Ga");
ret = 1;
goto out;
}
if (OK != ioctl(filp, MAGIOCEXSTRAP, 1)) {
warnx("failed to enable sensor calibration mode");
warnx("FAILED: MAGIOCEXSTRAP 1");
ret = 1;
goto out;
}
if (OK != ioctl(filp, MAGIOCGSCALE, (long unsigned int)&mscale_previous)) {
warn("WARNING: failed to get scale / offsets for mag");
warn("FAILED: MAGIOCGSCALE 1");
ret = 1;
goto out;
}
if (OK != ioctl(filp, MAGIOCSSCALE, (long unsigned int)&mscale_null)) {
warn("WARNING: failed to set null scale / offsets for mag");
warn("FAILED: MAGIOCSSCALE 1");
ret = 1;
goto out;
}
@@ -1094,7 +1092,7 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
ret = ::poll(&fds, 1, 2000);
if (ret != 1) {
warn("timed out waiting for sensor data");
warn("ERROR: TIMEOUT 1");
goto out;
}
@@ -1102,7 +1100,7 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
sz = ::read(fd, &report, sizeof(report));
if (sz != sizeof(report)) {
warn("periodic read failed");
warn("ERROR: READ 1");
ret = -EIO;
goto out;
}
@@ -1118,7 +1116,7 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
ret = ::poll(&fds, 1, 2000);
if (ret != 1) {
warn("timed out waiting for sensor data");
warn("ERROR: TIMEOUT 2");
goto out;
}
@@ -1126,7 +1124,7 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
sz = ::read(fd, &report, sizeof(report));
if (sz != sizeof(report)) {
warn("periodic read failed");
warn("ERROR: READ 2");
ret = -EIO;
goto out;
}
@@ -1142,33 +1140,19 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
sum_excited[1] += cal[1];
sum_excited[2] += cal[2];
}
//warnx("periodic read %u", i);
//warnx("measurement: %.6f %.6f %.6f", (double)report.x, (double)report.y, (double)report.z);
//warnx("cal: %.6f %.6f %.6f", (double)cal[0], (double)cal[1], (double)cal[2]);
}
if (good_count < 5) {
warn("failed calibration");
ret = -EIO;
goto out;
}
#if 0
warnx("measurement avg: %.6f %.6f %.6f",
(double)sum_excited[0]/good_count,
(double)sum_excited[1]/good_count,
(double)sum_excited[2]/good_count);
#endif
float scaling[3];
scaling[0] = sum_excited[0] / good_count;
scaling[1] = sum_excited[1] / good_count;
scaling[2] = sum_excited[2] / good_count;
warnx("axes scaling: %.6f %.6f %.6f", (double)scaling[0], (double)scaling[1], (double)scaling[2]);
/* set scaling in device */
mscale_previous.x_scale = scaling[0];
mscale_previous.y_scale = scaling[1];
@@ -1179,29 +1163,26 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
out:
if (OK != ioctl(filp, MAGIOCSSCALE, (long unsigned int)&mscale_previous)) {
warn("failed to set new scale / offsets for mag");
warn("FAILED: MAGIOCSSCALE 2");
}
/* set back to normal mode */
/* Set to 1.1 Gauss */
if (OK != ::ioctl(fd, MAGIOCSRANGE, 1)) {
warnx("failed to set 1.1 Ga range");
warnx("FAILED: MAGIOCSRANGE 1.1 Ga");
}
if (OK != ::ioctl(fd, MAGIOCEXSTRAP, 0)) {
warnx("failed to disable sensor calibration mode");
warnx("FAILED: MAGIOCEXSTRAP 0");
}
if (ret == OK) {
if (!check_scale()) {
warnx("mag scale calibration successfully finished.");
} else {
warnx("mag scale calibration finished with invalid results.");
if (check_scale()) {
/* failed */
warnx("FAILED: SCALE");
ret = ERROR;
}
} else {
warnx("mag scale calibration failed.");
}
return ret;
@@ -1368,7 +1349,7 @@ HMC5883 *g_dev_ext = nullptr;
void start(int bus, enum Rotation rotation);
void test(int bus);
void reset(int bus);
void info(int bus);
int info(int bus);
int calibrate(int bus);
void usage();
@@ -1614,17 +1595,23 @@ reset(int bus)
/**
* Print a little info about the driver.
*/
void
int
info(int bus)
{
HMC5883 *g_dev = (bus == PX4_I2C_BUS_ONBOARD?g_dev_int:g_dev_ext);
if (g_dev == nullptr)
errx(1, "driver not running");
int ret = 1;
printf("state @ %p\n", g_dev);
g_dev->print_info();
HMC5883 *g_dev = (bus == PX4_I2C_BUS_ONBOARD ? g_dev_int : g_dev_ext);
if (g_dev == nullptr) {
warnx("not running on bus %d", bus);
} else {
exit(0);
warnx("running on bus: %d (%s)\n", bus, ((PX4_I2C_BUS_ONBOARD) ? "onboard" : "offboard"));
g_dev->print_info();
ret = 0;
}
return ret;
}
void
@@ -1704,8 +1691,21 @@ hmc5883_main(int argc, char *argv[])
/*
* Print driver information.
*/
if (!strcmp(verb, "info") || !strcmp(verb, "status"))
hmc5883::info(bus);
if (!strcmp(verb, "info") || !strcmp(verb, "status")) {
if (bus == -1) {
int ret = 0;
if (hmc5883::info(PX4_I2C_BUS_ONBOARD)) {
ret = 1;
}
if (hmc5883::info(PX4_I2C_BUS_EXPANSION)) {
ret = 1;
}
exit(ret);
} else {
exit(hmc5883::info(bus));
}
}
/*
* Autocalibrate the scaling
src/drivers/hmc5883/module.mk
+2
View File
@@ -42,3 +42,5 @@ SRCS = hmc5883.cpp
MODULE_STACKSIZE = 1200
EXTRACXXFLAGS = -Weffc++
MAXOPTIMIZATION = -Os
src/drivers/hott/comms.cpp
+4 -4
View File
@@ -55,7 +55,7 @@ open_uart(const char *device)
const int uart = open(device, O_RDWR | O_NOCTTY);
if (uart < 0) {
err(1, "Error opening port: %s", device);
err(1, "ERR: opening %s", device);
}
/* Back up the original uart configuration to restore it after exit */
@@ -63,7 +63,7 @@ open_uart(const char *device)
struct termios uart_config_original;
if ((termios_state = tcgetattr(uart, &uart_config_original)) < 0) {
close(uart);
err(1, "Error getting baudrate / termios config for %s: %d", device, termios_state);
err(1, "ERR: %s: %d", device, termios_state);
}
/* Fill the struct for the new configuration */
@@ -76,13 +76,13 @@ open_uart(const char *device)
/* Set baud rate */
if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
close(uart);
err(1, "Error setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)",
err(1, "ERR: %s: %d (cfsetispeed, cfsetospeed)",
device, termios_state);
}
if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
close(uart);
err(1, "Error setting baudrate / termios config for %s (tcsetattr)", device);
err(1, "ERR: %s (tcsetattr)", device);
}
/* Activate single wire mode */
src/drivers/hott/hott_sensors/hott_sensors.cpp
+3 -3
View File
@@ -204,7 +204,7 @@ hott_sensors_main(int argc, char *argv[])
if (!strcmp(argv[1], "start")) {
if (thread_running) {
warnx("deamon already running");
warnx("already running");
exit(0);
}
@@ -225,10 +225,10 @@ hott_sensors_main(int argc, char *argv[])
if (!strcmp(argv[1], "status")) {
if (thread_running) {
warnx("daemon is running");
warnx("is running");
} else {
warnx("daemon not started");
warnx("not started");
}
exit(0);
src/drivers/hott/hott_telemetry/hott_telemetry.cpp
+3 -3
View File
@@ -230,7 +230,7 @@ hott_telemetry_main(int argc, char *argv[])
if (!strcmp(argv[1], "start")) {
if (thread_running) {
warnx("deamon already running");
warnx("already running");
exit(0);
}
@@ -251,10 +251,10 @@ hott_telemetry_main(int argc, char *argv[])
if (!strcmp(argv[1], "status")) {
if (thread_running) {
warnx("daemon is running");
warnx("is running");
} else {
warnx("daemon not started");
warnx("not started");
}
exit(0);
src/drivers/l3gd20/module.mk
+2
View File
@@ -8,3 +8,5 @@ SRCS = l3gd20.cpp
MODULE_STACKSIZE = 1200
EXTRACXXFLAGS = -Weffc++
MAXOPTIMIZATION = -Os
src/drivers/lsm303d/module.mk
+2
View File
@@ -8,3 +8,5 @@ SRCS = lsm303d.cpp
MODULE_STACKSIZE = 1200
EXTRACXXFLAGS = -Weffc++
MAXOPTIMIZATION = -Os
src/drivers/meas_airspeed/meas_airspeed.cpp
+1 -1
View File
@@ -519,7 +519,7 @@ test()
ret = poll(&fds, 1, 2000);
if (ret != 1) {
errx(1, "timed out waiting for sensor data");
errx(1, "timed out");
}
/* now go get it */
src/drivers/mpu6000/module.mk
+2
View File
@@ -42,3 +42,5 @@ SRCS = mpu6000.cpp
MODULE_STACKSIZE = 1200
EXTRACXXFLAGS = -Weffc++
MAXOPTIMIZATION = -Os
src/drivers/px4flow/px4flow.cpp
+204 -149
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -73,15 +73,13 @@
#include <board_config.h>
/* Configuration Constants */
#define PX4FLOW_BUS PX4_I2C_BUS_EXPANSION
#define I2C_FLOW_ADDRESS 0x42 //* 7-bit address. 8-bit address is 0x84
//range 0x42 - 0x49
/* PX4FLOW Registers addresses */
#define PX4FLOW_REG 0x00 /* Measure Register */
#define PX4FLOW_CONVERSION_INTERVAL 8000 /* 8ms 125Hz */
#define PX4FLOW_REG 0x16 /* Measure Register 22*/
#define PX4FLOW_CONVERSION_INTERVAL 20000 //in microseconds! 20000 = 50 Hz 100000 = 10Hz
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
@@ -92,28 +90,42 @@ static const int ERROR = -1;
# error This requires CONFIG_SCHED_WORKQUEUE.
#endif
//struct i2c_frame
//{
// uint16_t frame_count;
// int16_t pixel_flow_x_sum;
// int16_t pixel_flow_y_sum;
// int16_t flow_comp_m_x;
// int16_t flow_comp_m_y;
// int16_t qual;
// int16_t gyro_x_rate;
// int16_t gyro_y_rate;
// int16_t gyro_z_rate;
// uint8_t gyro_range;
// uint8_t sonar_timestamp;
// int16_t ground_distance;
//};
//
//struct i2c_frame f;
struct i2c_frame {
uint16_t frame_count;
int16_t pixel_flow_x_sum;
int16_t pixel_flow_y_sum;
int16_t flow_comp_m_x;
int16_t flow_comp_m_y;
int16_t qual;
int16_t gyro_x_rate;
int16_t gyro_y_rate;
int16_t gyro_z_rate;
uint8_t gyro_range;
uint8_t sonar_timestamp;
int16_t ground_distance;
};
struct i2c_frame f;
class PX4FLOW : public device::I2C
typedef struct i2c_integral_frame {
uint16_t frame_count_since_last_readout;
int16_t pixel_flow_x_integral;
int16_t pixel_flow_y_integral;
int16_t gyro_x_rate_integral;
int16_t gyro_y_rate_integral;
int16_t gyro_z_rate_integral;
uint32_t integration_timespan;
uint32_t time_since_last_sonar_update;
uint16_t ground_distance;
int16_t gyro_temperature;
uint8_t qual;
} __attribute__((packed));
struct i2c_integral_frame f_integral;
class PX4FLOW: public device::I2C
{
public:
PX4FLOW(int bus = PX4FLOW_BUS, int address = I2C_FLOW_ADDRESS);
PX4FLOW(int bus, int address = I2C_FLOW_ADDRESS);
virtual ~PX4FLOW();
virtual int init();
@@ -122,8 +134,8 @@ public:
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
/**
* Diagnostics - print some basic information about the driver.
*/
* Diagnostics - print some basic information about the driver.
*/
void print_info();
protected:
@@ -144,42 +156,41 @@ private:
perf_counter_t _buffer_overflows;
/**
* Test whether the device supported by the driver is present at a
* specific address.
*
* @param address The I2C bus address to probe.
* @return True if the device is present.
*/
* Test whether the device supported by the driver is present at a
* specific address.
*
* @param address The I2C bus address to probe.
* @return True if the device is present.
*/
int probe_address(uint8_t address);
/**
* Initialise the automatic measurement state machine and start it.
*
* @note This function is called at open and error time. It might make sense
* to make it more aggressive about resetting the bus in case of errors.
*/
* Initialise the automatic measurement state machine and start it.
*
* @note This function is called at open and error time. It might make sense
* to make it more aggressive about resetting the bus in case of errors.
*/
void start();
/**
* Stop the automatic measurement state machine.
*/
* Stop the automatic measurement state machine.
*/
void stop();
/**
* Perform a poll cycle; collect from the previous measurement
* and start a new one.
*/
* Perform a poll cycle; collect from the previous measurement
* and start a new one.
*/
void cycle();
int measure();
int collect();
/**
* Static trampoline from the workq context; because we don't have a
* generic workq wrapper yet.
*
* @param arg Instance pointer for the driver that is polling.
*/
static void cycle_trampoline(void *arg);
* Static trampoline from the workq context; because we don't have a
* generic workq wrapper yet.
*
* @param arg Instance pointer for the driver that is polling.
*/
static void cycle_trampoline(void *arg);
};
@@ -189,7 +200,7 @@ private:
extern "C" __EXPORT int px4flow_main(int argc, char *argv[]);
PX4FLOW::PX4FLOW(int bus, int address) :
I2C("PX4FLOW", PX4FLOW_DEVICE_PATH, bus, address, 400000),//400khz
I2C("PX4FLOW", PX4FLOW_DEVICE_PATH, bus, address, 400000), //400khz
_reports(nullptr),
_sensor_ok(false),
_measure_ticks(0),
@@ -200,7 +211,7 @@ PX4FLOW::PX4FLOW(int bus, int address) :
_buffer_overflows(perf_alloc(PC_COUNT, "px4flow_buffer_overflows"))
{
// enable debug() calls
_debug_enabled = true;
_debug_enabled = false;
// work_cancel in the dtor will explode if we don't do this...
memset(&_work, 0, sizeof(_work));
@@ -228,21 +239,12 @@ PX4FLOW::init()
}
/* allocate basic report buffers */
_reports = new RingBuffer(2, sizeof(struct optical_flow_s));
_reports = new RingBuffer(2, sizeof(optical_flow_s));
if (_reports == nullptr) {
goto out;
}
/* get a publish handle on the px4flow topic */
struct optical_flow_s zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_px4flow_topic = orb_advertise(ORB_ID(optical_flow), &zero_report);
if (_px4flow_topic < 0) {
debug("failed to create px4flow object. Did you start uOrb?");
}
ret = OK;
/* sensor is ok, but we don't really know if it is within range */
_sensor_ok = true;
@@ -410,9 +412,6 @@ PX4FLOW::read(struct file *filp, char *buffer, size_t buflen)
break;
}
/* wait for it to complete */
usleep(PX4FLOW_CONVERSION_INTERVAL);
/* run the collection phase */
if (OK != collect()) {
ret = -EIO;
@@ -442,8 +441,7 @@ PX4FLOW::measure()
if (OK != ret) {
perf_count(_comms_errors);
log("i2c::transfer returned %d", ret);
printf("i2c::transfer flow returned %d");
debug("i2c::transfer returned %d", ret);
return ret;
}
@@ -455,52 +453,96 @@ PX4FLOW::measure()
int
PX4FLOW::collect()
{
int ret = -EIO;
int ret = -EIO;
/* read from the sensor */
uint8_t val[22] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
uint8_t val[47] = { 0 };
perf_begin(_sample_perf);
ret = transfer(nullptr, 0, &val[0], 22);
if (PX4FLOW_REG == 0x00) {
ret = transfer(nullptr, 0, &val[0], 47); // read 47 bytes (22+25 : frame1 + frame2)
}
if (PX4FLOW_REG == 0x16) {
ret = transfer(nullptr, 0, &val[0], 25); // read 25 bytes (only frame2)
}
if (ret < 0) {
log("error reading from sensor: %d", ret);
debug("error reading from sensor: %d", ret);
perf_count(_comms_errors);
perf_end(_sample_perf);
return ret;
}
// f.frame_count = val[1] << 8 | val[0];
// f.pixel_flow_x_sum= val[3] << 8 | val[2];
// f.pixel_flow_y_sum= val[5] << 8 | val[4];
// f.flow_comp_m_x= val[7] << 8 | val[6];
// f.flow_comp_m_y= val[9] << 8 | val[8];
// f.qual= val[11] << 8 | val[10];
// f.gyro_x_rate= val[13] << 8 | val[12];
// f.gyro_y_rate= val[15] << 8 | val[14];
// f.gyro_z_rate= val[17] << 8 | val[16];
// f.gyro_range= val[18];
// f.sonar_timestamp= val[19];
// f.ground_distance= val[21] << 8 | val[20];
if (PX4FLOW_REG == 0) {
f.frame_count = val[1] << 8 | val[0];
f.pixel_flow_x_sum = val[3] << 8 | val[2];
f.pixel_flow_y_sum = val[5] << 8 | val[4];
f.flow_comp_m_x = val[7] << 8 | val[6];
f.flow_comp_m_y = val[9] << 8 | val[8];
f.qual = val[11] << 8 | val[10];
f.gyro_x_rate = val[13] << 8 | val[12];
f.gyro_y_rate = val[15] << 8 | val[14];
f.gyro_z_rate = val[17] << 8 | val[16];
f.gyro_range = val[18];
f.sonar_timestamp = val[19];
f.ground_distance = val[21] << 8 | val[20];
f_integral.frame_count_since_last_readout = val[23] << 8 | val[22];
f_integral.pixel_flow_x_integral = val[25] << 8 | val[24];
f_integral.pixel_flow_y_integral = val[27] << 8 | val[26];
f_integral.gyro_x_rate_integral = val[29] << 8 | val[28];
f_integral.gyro_y_rate_integral = val[31] << 8 | val[30];
f_integral.gyro_z_rate_integral = val[33] << 8 | val[32];
f_integral.integration_timespan = val[37] << 24 | val[36] << 16
| val[35] << 8 | val[34];
f_integral.time_since_last_sonar_update = val[41] << 24 | val[40] << 16
| val[39] << 8 | val[38];
f_integral.ground_distance = val[43] << 8 | val[42];
f_integral.gyro_temperature = val[45] << 8 | val[44];
f_integral.qual = val[46];
}
if (PX4FLOW_REG == 0x16) {
f_integral.frame_count_since_last_readout = val[1] << 8 | val[0];
f_integral.pixel_flow_x_integral = val[3] << 8 | val[2];
f_integral.pixel_flow_y_integral = val[5] << 8 | val[4];
f_integral.gyro_x_rate_integral = val[7] << 8 | val[6];
f_integral.gyro_y_rate_integral = val[9] << 8 | val[8];
f_integral.gyro_z_rate_integral = val[11] << 8 | val[10];
f_integral.integration_timespan = val[15] << 24 | val[14] << 16 | val[13] << 8 | val[12];
f_integral.time_since_last_sonar_update = val[19] << 24 | val[18] << 16 | val[17] << 8 | val[16];
f_integral.ground_distance = val[21] << 8 | val[20];
f_integral.gyro_temperature = val[23] << 8 | val[22];
f_integral.qual = val[24];
}
int16_t flowcx = val[7] << 8 | val[6];
int16_t flowcy = val[9] << 8 | val[8];
int16_t gdist = val[21] << 8 | val[20];
struct optical_flow_s report;
report.flow_comp_x_m = float(flowcx) / 1000.0f;
report.flow_comp_y_m = float(flowcy) / 1000.0f;
report.flow_raw_x = val[3] << 8 | val[2];
report.flow_raw_y = val[5] << 8 | val[4];
report.ground_distance_m = float(gdist) / 1000.0f;
report.quality = val[10];
report.sensor_id = 0;
report.timestamp = hrt_absolute_time();
report.pixel_flow_x_integral = static_cast<float>(f_integral.pixel_flow_x_integral) / 10000.0f;//convert to radians
report.pixel_flow_y_integral = static_cast<float>(f_integral.pixel_flow_y_integral) / 10000.0f;//convert to radians
report.frame_count_since_last_readout = f_integral.frame_count_since_last_readout;
report.ground_distance_m = static_cast<float>(f_integral.ground_distance) / 1000.0f;//convert to meters
report.quality = f_integral.qual; //0:bad ; 255 max quality
report.gyro_x_rate_integral = static_cast<float>(f_integral.gyro_x_rate_integral) / 10000.0f; //convert to radians
report.gyro_y_rate_integral = static_cast<float>(f_integral.gyro_y_rate_integral) / 10000.0f; //convert to radians
report.gyro_z_rate_integral = static_cast<float>(f_integral.gyro_z_rate_integral) / 10000.0f; //convert to radians
report.integration_timespan = f_integral.integration_timespan; //microseconds
report.time_since_last_sonar_update = f_integral.time_since_last_sonar_update;//microseconds
report.gyro_temperature = f_integral.gyro_temperature;//Temperature * 100 in centi-degrees Celsius
report.sensor_id = 0;
/* publish it */
orb_publish(ORB_ID(optical_flow), _px4flow_topic, &report);
if (_px4flow_topic < 0) {
_px4flow_topic = orb_advertise(ORB_ID(optical_flow), &report);
} else {
/* publish it */
orb_publish(ORB_ID(optical_flow), _px4flow_topic, &report);
}
/* post a report to the ring */
if (_reports->force(&report)) {
@@ -560,50 +602,21 @@ PX4FLOW::cycle_trampoline(void *arg)
void
PX4FLOW::cycle()
{
/* collection phase? */
if (_collect_phase) {
/* perform collection */
if (OK != collect()) {
log("collection error");
/* restart the measurement state machine */
start();
return;
}
/* next phase is measurement */
_collect_phase = false;
/*
* Is there a collect->measure gap?
*/
if (_measure_ticks > USEC2TICK(PX4FLOW_CONVERSION_INTERVAL)) {
/* schedule a fresh cycle call when we are ready to measure again */
work_queue(HPWORK,
&_work,
(worker_t)&PX4FLOW::cycle_trampoline,
this,
_measure_ticks - USEC2TICK(PX4FLOW_CONVERSION_INTERVAL));
return;
}
}
/* measurement phase */
if (OK != measure()) {
log("measure error");
debug("measure error");
}
/* next phase is collection */
_collect_phase = true;
/* perform collection */
if (OK != collect()) {
debug("collection error");
/* restart the measurement state machine */
start();
return;
}
work_queue(HPWORK, &_work, (worker_t)&PX4FLOW::cycle_trampoline, this,
_measure_ticks);
/* schedule a fresh cycle call when the measurement is done */
work_queue(HPWORK,
&_work,
(worker_t)&PX4FLOW::cycle_trampoline,
this,
USEC2TICK(PX4FLOW_CONVERSION_INTERVAL));
}
void
@@ -649,14 +662,41 @@ start()
}
/* create the driver */
g_dev = new PX4FLOW(PX4FLOW_BUS);
g_dev = new PX4FLOW(PX4_I2C_BUS_EXPANSION);
if (g_dev == nullptr) {
goto fail;
}
if (OK != g_dev->init()) {
goto fail;
#ifdef PX4_I2C_BUS_ESC
delete g_dev;
/* try 2nd bus */
g_dev = new PX4FLOW(PX4_I2C_BUS_ESC);
if (g_dev == nullptr) {
goto fail;
}
if (OK != g_dev->init()) {
#endif
delete g_dev;
/* try 3rd bus */
g_dev = new PX4FLOW(PX4_I2C_BUS_ONBOARD);
if (g_dev == nullptr) {
goto fail;
}
if (OK != g_dev->init()) {
goto fail;
}
#ifdef PX4_I2C_BUS_ESC
}
#endif
}
/* set the poll rate to default, starts automatic data collection */
@@ -685,7 +725,8 @@ fail:
/**
* Stop the driver
*/
void stop()
void
stop()
{
if (g_dev != nullptr) {
delete g_dev;
@@ -716,6 +757,7 @@ test()
err(1, "%s open failed (try 'px4flow start' if the driver is not running", PX4FLOW_DEVICE_PATH);
}
/* do a simple demand read */
sz = read(fd, &report, sizeof(report));
@@ -725,18 +767,18 @@ test()
}
warnx("single read");
warnx("flowx: %0.2f m/s", (double)report.flow_comp_x_m);
warnx("flowy: %0.2f m/s", (double)report.flow_comp_y_m);
warnx("time: %lld", report.timestamp);
warnx("pixel_flow_x_integral: %i", f_integral.pixel_flow_x_integral);
warnx("pixel_flow_y_integral: %i", f_integral.pixel_flow_y_integral);
warnx("framecount_integral: %u",
f_integral.frame_count_since_last_readout);
/* start the sensor polling at 2Hz */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
errx(1, "failed to set 2Hz poll rate");
/* start the sensor polling at 10Hz */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 10)) {
errx(1, "failed to set 10Hz poll rate");
}
/* read the sensor 5x and report each value */
for (unsigned i = 0; i < 5; i++) {
for (unsigned i = 0; i < 10; i++) {
struct pollfd fds;
/* wait for data to be ready */
@@ -756,9 +798,22 @@ test()
}
warnx("periodic read %u", i);
warnx("flowx: %0.2f m/s", (double)report.flow_comp_x_m);
warnx("flowy: %0.2f m/s", (double)report.flow_comp_y_m);
warnx("time: %lld", report.timestamp);
warnx("framecount_total: %u", f.frame_count);
warnx("framecount_integral: %u",
f_integral.frame_count_since_last_readout);
warnx("pixel_flow_x_integral: %i", f_integral.pixel_flow_x_integral);
warnx("pixel_flow_y_integral: %i", f_integral.pixel_flow_y_integral);
warnx("gyro_x_rate_integral: %i", f_integral.gyro_x_rate_integral);
warnx("gyro_y_rate_integral: %i", f_integral.gyro_y_rate_integral);
warnx("gyro_z_rate_integral: %i", f_integral.gyro_z_rate_integral);
warnx("integration_timespan [us]: %u", f_integral.integration_timespan);
warnx("ground_distance: %0.2f m",
(double) f_integral.ground_distance / 1000);
warnx("time since last sonar update [us]: %i",
f_integral.time_since_last_sonar_update);
warnx("quality integration average : %i", f_integral.qual);
warnx("quality : %i", f.qual);
}
src/drivers/px4fmu/module.mk
+2
View File
@@ -8,3 +8,5 @@ SRCS = fmu.cpp
MODULE_STACKSIZE = 1200
EXTRACXXFLAGS = -Weffc++
MAXOPTIMIZATION = -Os
src/drivers/px4io/module.mk
+2
View File
@@ -48,3 +48,5 @@ INCLUDE_DIRS += $(NUTTX_SRC)/arch/arm/src/stm32 $(NUTTX_SRC)/arch/arm/src/com
MODULE_STACKSIZE = 1200
EXTRACXXFLAGS = -Weffc++
MAXOPTIMIZATION = -Os
src/drivers/px4io/px4io.cpp
+120 -61
View File
@@ -817,6 +817,11 @@ PX4IO::init()
}
/* set safety to off if circuit breaker enabled */
if (circuit_breaker_enabled("CBRK_IO_SAFETY", CBRK_IO_SAFETY_KEY)) {
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, PX4IO_FORCE_SAFETY_MAGIC);
}
/* try to claim the generic PWM output device node as well - it's OK if we fail at this */
ret = register_driver(PWM_OUTPUT_DEVICE_PATH, &fops, 0666, (void *)this);
@@ -1155,52 +1160,54 @@ PX4IO::io_set_arming_state()
actuator_armed_s armed; ///< system armed state
vehicle_control_mode_s control_mode; ///< vehicle_control_mode
orb_copy(ORB_ID(actuator_armed), _t_actuator_armed, &armed);
orb_copy(ORB_ID(vehicle_control_mode), _t_vehicle_control_mode, &control_mode);
int have_armed = orb_copy(ORB_ID(actuator_armed), _t_actuator_armed, &armed);
int have_control_mode = orb_copy(ORB_ID(vehicle_control_mode), _t_vehicle_control_mode, &control_mode);
uint16_t set = 0;
uint16_t clear = 0;
if (armed.armed) {
set |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
if (have_armed == OK) {
if (armed.armed) {
set |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
} else {
clear |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
}
} else {
clear |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
if (armed.lockdown && !_lockdown_override) {
set |= PX4IO_P_SETUP_ARMING_LOCKDOWN;
} else {
clear |= PX4IO_P_SETUP_ARMING_LOCKDOWN;
}
/* Do not set failsafe if circuit breaker is enabled */
if (armed.force_failsafe && !_cb_flighttermination) {
set |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
} else {
clear |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
}
// XXX this is for future support in the commander
// but can be removed if unneeded
// if (armed.termination_failsafe) {
// set |= PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE;
// } else {
// clear |= PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE;
// }
if (armed.ready_to_arm) {
set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
} else {
clear |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
}
}
if (armed.lockdown && !_lockdown_override) {
set |= PX4IO_P_SETUP_ARMING_LOCKDOWN;
} else {
clear |= PX4IO_P_SETUP_ARMING_LOCKDOWN;
}
/* Do not set failsafe if circuit breaker is enabled */
if (armed.force_failsafe && !_cb_flighttermination) {
set |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
} else {
clear |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
}
// XXX this is for future support in the commander
// but can be removed if unneeded
// if (armed.termination_failsafe) {
// set |= PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE;
// } else {
// clear |= PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE;
// }
if (armed.ready_to_arm) {
set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
} else {
clear |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
}
if (control_mode.flag_external_manual_override_ok) {
set |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
} else {
clear |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
if (have_control_mode == OK) {
if (control_mode.flag_external_manual_override_ok) {
set |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
} else {
clear |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
}
}
return io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, clear, set);
@@ -1245,34 +1252,40 @@ PX4IO::io_set_rc_config()
* for compatibility reasons with existing
* autopilots / GCS'.
*/
/* ROLL */
param_get(param_find("RC_MAP_ROLL"), &ichan);
if ((ichan >= 0) && (ichan < (int)_max_rc_input))
if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
input_map[ichan - 1] = 0;
}
/* PITCH */
param_get(param_find("RC_MAP_PITCH"), &ichan);
if ((ichan >= 0) && (ichan < (int)_max_rc_input))
if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
input_map[ichan - 1] = 1;
}
/* YAW */
param_get(param_find("RC_MAP_YAW"), &ichan);
if ((ichan >= 0) && (ichan < (int)_max_rc_input))
if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
input_map[ichan - 1] = 2;
}
/* THROTTLE */
param_get(param_find("RC_MAP_THROTTLE"), &ichan);
if ((ichan >= 0) && (ichan < (int)_max_rc_input))
if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
input_map[ichan - 1] = 3;
}
/* FLAPS */
param_get(param_find("RC_MAP_FLAPS"), &ichan);
if ((ichan >= 0) && (ichan < (int)_max_rc_input))
if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
input_map[ichan - 1] = 4;
}
/* MAIN MODE SWITCH */
param_get(param_find("RC_MAP_MODE_SW"), &ichan);
if ((ichan >= 0) && (ichan < (int)_max_rc_input)) {
if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
/* use out of normal bounds index to indicate special channel */
input_map[ichan - 1] = PX4IO_P_RC_CONFIG_ASSIGNMENT_MODESWITCH;
}
@@ -1651,10 +1664,6 @@ PX4IO::io_publish_raw_rc()
int
PX4IO::io_publish_pwm_outputs()
{
/* if no FMU comms(!) just don't publish */
if (!(_status & PX4IO_P_STATUS_FLAGS_FMU_OK))
return OK;
/* data we are going to fetch */
actuator_outputs_s outputs;
outputs.timestamp = hrt_absolute_time();
@@ -2055,7 +2064,7 @@ PX4IO::print_status(bool extended_status)
((features & PX4IO_P_SETUP_FEATURES_ADC_RSSI) ? " RSSI_ADC" : "")
);
uint16_t arming = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING);
printf("arming 0x%04x%s%s%s%s%s%s%s%s\n",
printf("arming 0x%04x%s%s%s%s%s%s%s%s%s%s\n",
arming,
((arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) ? " FMU_ARMED" : " FMU_DISARMED"),
((arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK) ? " IO_ARM_OK" : " IO_ARM_DENIED"),
@@ -2065,7 +2074,8 @@ PX4IO::print_status(bool extended_status)
((arming & PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE) ? " ALWAYS_PWM_ENABLE" : ""),
((arming & PX4IO_P_SETUP_ARMING_LOCKDOWN) ? " LOCKDOWN" : ""),
((arming & PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE) ? " FORCE_FAILSAFE" : ""),
((arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE) ? " TERM_FAILSAFE" : "")
((arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE) ? " TERM_FAILSAFE" : ""),
((arming & PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE) ? " OVERRIDE_IMMEDIATE" : "")
);
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
printf("rates 0x%04x default %u alt %u relays 0x%04x\n",
@@ -2190,7 +2200,7 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
struct pwm_output_values* pwm = (struct pwm_output_values*)arg;
if (pwm->channel_count > _max_actuators)
/* fail with error */
return E2BIG;
return -E2BIG;
/* copy values to registers in IO */
ret = io_reg_set(PX4IO_PAGE_FAILSAFE_PWM, 0, pwm->values, pwm->channel_count);
@@ -2209,7 +2219,7 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
struct pwm_output_values* pwm = (struct pwm_output_values*)arg;
if (pwm->channel_count > _max_actuators)
/* fail with error */
return E2BIG;
return -E2BIG;
/* copy values to registers in IO */
ret = io_reg_set(PX4IO_PAGE_DISARMED_PWM, 0, pwm->values, pwm->channel_count);
@@ -2228,7 +2238,7 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
struct pwm_output_values* pwm = (struct pwm_output_values*)arg;
if (pwm->channel_count > _max_actuators)
/* fail with error */
return E2BIG;
return -E2BIG;
/* copy values to registers in IO */
ret = io_reg_set(PX4IO_PAGE_CONTROL_MIN_PWM, 0, pwm->values, pwm->channel_count);
@@ -2247,7 +2257,7 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
struct pwm_output_values* pwm = (struct pwm_output_values*)arg;
if (pwm->channel_count > _max_actuators)
/* fail with error */
return E2BIG;
return -E2BIG;
/* copy values to registers in IO */
ret = io_reg_set(PX4IO_PAGE_CONTROL_MAX_PWM, 0, pwm->values, pwm->channel_count);
@@ -2305,6 +2315,19 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
}
break;
case PWM_SERVO_SET_OVERRIDE_IMMEDIATE:
/* control whether override on FMU failure is
immediate or waits for override threshold on mode
switch */
if (arg == 0) {
/* clear override immediate flag */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE, 0);
} else {
/* set override immediate flag */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE);
}
break;
case DSM_BIND_START:
/* only allow DSM2, DSM-X and DSM-X with more than 7 channels */
@@ -2566,6 +2589,42 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
break;
case PWM_SERVO_SET_RC_CONFIG: {
/* enable setting of RC configuration without relying
on param_get()
*/
struct pwm_output_rc_config* config = (struct pwm_output_rc_config*)arg;
if (config->channel >= RC_INPUT_MAX_CHANNELS) {
/* fail with error */
return -E2BIG;
}
/* copy values to registers in IO */
uint16_t regs[PX4IO_P_RC_CONFIG_STRIDE];
uint16_t offset = config->channel * PX4IO_P_RC_CONFIG_STRIDE;
regs[PX4IO_P_RC_CONFIG_MIN] = config->rc_min;
regs[PX4IO_P_RC_CONFIG_CENTER] = config->rc_trim;
regs[PX4IO_P_RC_CONFIG_MAX] = config->rc_max;
regs[PX4IO_P_RC_CONFIG_DEADZONE] = config->rc_dz;
regs[PX4IO_P_RC_CONFIG_ASSIGNMENT] = config->rc_assignment;
regs[PX4IO_P_RC_CONFIG_OPTIONS] = PX4IO_P_RC_CONFIG_OPTIONS_ENABLED;
if (config->rc_reverse) {
regs[PX4IO_P_RC_CONFIG_OPTIONS] |= PX4IO_P_RC_CONFIG_OPTIONS_REVERSE;
}
ret = io_reg_set(PX4IO_PAGE_RC_CONFIG, offset, regs, PX4IO_P_RC_CONFIG_STRIDE);
break;
}
case PWM_SERVO_SET_OVERRIDE_OK:
/* set the 'OVERRIDE OK' bit */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK);
break;
case PWM_SERVO_CLEAR_OVERRIDE_OK:
/* clear the 'OVERRIDE OK' bit */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK, 0);
break;
default:
/* see if the parent class can make any use of it */
ret = CDev::ioctl(filep, cmd, arg);
src/drivers/stm32/adc/module.mk
+2
View File
@@ -40,3 +40,5 @@ MODULE_COMMAND = adc
SRCS = adc.cpp
INCLUDE_DIRS += $(NUTTX_SRC)/arch/arm/src/stm32 $(NUTTX_SRC)/arch/arm/src/common
MAXOPTIMIZATION = -Os
src/drivers/stm32/module.mk
+2
View File
@@ -41,3 +41,5 @@ SRCS = drv_hrt.c \
drv_pwm_servo.c
INCLUDE_DIRS += $(NUTTX_SRC)/arch/arm/src/stm32 $(NUTTX_SRC)/arch/arm/src/common
MAXOPTIMIZATION = -Os
src/drivers/stm32/tone_alarm/module.mk
+2
View File
@@ -40,3 +40,5 @@ MODULE_COMMAND = tone_alarm
SRCS = tone_alarm.cpp
INCLUDE_DIRS += $(NUTTX_SRC)/arch/arm/src/stm32 $(NUTTX_SRC)/arch/arm/src/common
MAXOPTIMIZATION = -Os
src/drivers/trone/module.mk
+44
View File
@@ -0,0 +1,44 @@
############################################################################
#
# Copyright (c) 2014 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
#
# Makefile to build the TeraRanger One range finder driver
#
MODULE_COMMAND = trone
SRCS = trone.cpp
MODULE_STACKSIZE = 1200
MAXOPTIMIZATION = -Os
src/drivers/trone/trone.cpp
+913
View File
@@ -0,0 +1,913 @@
/****************************************************************************
*
* Copyright (c) 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 trone.cpp
* @author Luis Rodrigues
*
* Driver for the TeraRanger One range finders connected via I2C.
*/
#include <nuttx/config.h>
#include <drivers/device/i2c.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdlib.h>
#include <stdbool.h>
#include <semaphore.h>
#include <string.h>
#include <fcntl.h>
#include <poll.h>
#include <errno.h>
#include <stdio.h>
#include <math.h>
#include <unistd.h>
#include <nuttx/arch.h>
#include <nuttx/wqueue.h>
#include <nuttx/clock.h>
#include <systemlib/perf_counter.h>
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_range_finder.h>
#include <drivers/device/ringbuffer.h>
#include <uORB/uORB.h>
#include <uORB/topics/subsystem_info.h>
#include <board_config.h>
/* Configuration Constants */
#define TRONE_BUS PX4_I2C_BUS_EXPANSION
#define TRONE_BASEADDR 0x30 /* 7-bit address */
#define TRONE_DEVICE_PATH "/dev/trone"
/* TRONE Registers addresses */
#define TRONE_MEASURE_REG 0x00 /* Measure range register */
/* Device limits */
#define TRONE_MIN_DISTANCE (0.20f)
#define TRONE_MAX_DISTANCE (14.00f)
#define TRONE_CONVERSION_INTERVAL 50000 /* 50ms */
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;
#ifndef CONFIG_SCHED_WORKQUEUE
# error This requires CONFIG_SCHED_WORKQUEUE.
#endif
class TRONE : public device::I2C
{
public:
TRONE(int bus = TRONE_BUS, int address = TRONE_BASEADDR);
virtual ~TRONE();
virtual int init();
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
/**
* Diagnostics - print some basic information about the driver.
*/
void print_info();
protected:
virtual int probe();
private:
float _min_distance;
float _max_distance;
work_s _work;
RingBuffer *_reports;
bool _sensor_ok;
int _measure_ticks;
bool _collect_phase;
int _class_instance;
orb_advert_t _range_finder_topic;
perf_counter_t _sample_perf;
perf_counter_t _comms_errors;
perf_counter_t _buffer_overflows;
/**
* Test whether the device supported by the driver is present at a
* specific address.
*
* @param address The I2C bus address to probe.
* @return True if the device is present.
*/
int probe_address(uint8_t address);
/**
* Initialise the automatic measurement state machine and start it.
*
* @note This function is called at open and error time. It might make sense
* to make it more aggressive about resetting the bus in case of errors.
*/
void start();
/**
* Stop the automatic measurement state machine.
*/
void stop();
/**
* Set the min and max distance thresholds if you want the end points of the sensors
* range to be brought in at all, otherwise it will use the defaults TRONE_MIN_DISTANCE
* and TRONE_MAX_DISTANCE
*/
void set_minimum_distance(float min);
void set_maximum_distance(float max);
float get_minimum_distance();
float get_maximum_distance();
/**
* Perform a poll cycle; collect from the previous measurement
* and start a new one.
*/
void cycle();
int measure();
int collect();
/**
* Static trampoline from the workq context; because we don't have a
* generic workq wrapper yet.
*
* @param arg Instance pointer for the driver that is polling.
*/
static void cycle_trampoline(void *arg);
};
static const uint8_t crc_table[] = {
0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31,
0x24, 0x23, 0x2a, 0x2d, 0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65,
0x48, 0x4f, 0x46, 0x41, 0x54, 0x53, 0x5a, 0x5d, 0xe0, 0xe7, 0xee, 0xe9,
0xfc, 0xfb, 0xf2, 0xf5, 0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd,
0x90, 0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85, 0xa8, 0xaf, 0xa6, 0xa1,
0xb4, 0xb3, 0xba, 0xbd, 0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5, 0xd2,
0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea, 0xb7, 0xb0, 0xb9, 0xbe,
0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9d, 0x9a,
0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32, 0x1f, 0x18, 0x11, 0x16,
0x03, 0x04, 0x0d, 0x0a, 0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42,
0x6f, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7d, 0x7a, 0x89, 0x8e, 0x87, 0x80,
0x95, 0x92, 0x9b, 0x9c, 0xb1, 0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3, 0xa4,
0xf9, 0xfe, 0xf7, 0xf0, 0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6, 0xcf, 0xc8,
0xdd, 0xda, 0xd3, 0xd4, 0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c,
0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44, 0x19, 0x1e, 0x17, 0x10,
0x05, 0x02, 0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34,
0x4e, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78, 0x7f,
0x6a, 0x6d, 0x64, 0x63, 0x3e, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b,
0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13, 0xae, 0xa9, 0xa0, 0xa7,
0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f, 0x8a, 0x8d, 0x84, 0x83,
0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef,
0xfa, 0xfd, 0xf4, 0xf3
};
uint8_t crc8(uint8_t *p, uint8_t len){
uint16_t i;
uint16_t crc = 0x0;
while (len--) {
i = (crc ^ *p++) & 0xFF;
crc = (crc_table[i] ^ (crc << 8)) & 0xFF;
}
return crc & 0xFF;
}
/*
* Driver 'main' command.
*/
extern "C" __EXPORT int trone_main(int argc, char *argv[]);
TRONE::TRONE(int bus, int address) :
I2C("TRONE", TRONE_DEVICE_PATH, bus, address, 100000),
_min_distance(TRONE_MIN_DISTANCE),
_max_distance(TRONE_MAX_DISTANCE),
_reports(nullptr),
_sensor_ok(false),
_measure_ticks(0),
_collect_phase(false),
_class_instance(-1),
_range_finder_topic(-1),
_sample_perf(perf_alloc(PC_ELAPSED, "trone_read")),
_comms_errors(perf_alloc(PC_COUNT, "trone_comms_errors")),
_buffer_overflows(perf_alloc(PC_COUNT, "trone_buffer_overflows"))
{
// up the retries since the device misses the first measure attempts
I2C::_retries = 3;
// enable debug() calls
_debug_enabled = false;
// work_cancel in the dtor will explode if we don't do this...
memset(&_work, 0, sizeof(_work));
}
TRONE::~TRONE()
{
/* make sure we are truly inactive */
stop();
/* free any existing reports */
if (_reports != nullptr) {
delete _reports;
}
if (_class_instance != -1) {
unregister_class_devname(RANGE_FINDER_DEVICE_PATH, _class_instance);
}
// free perf counters
perf_free(_sample_perf);
perf_free(_comms_errors);
perf_free(_buffer_overflows);
}
int
TRONE::init()
{
int ret = ERROR;
/* do I2C init (and probe) first */
if (I2C::init() != OK) {
goto out;
}
/* allocate basic report buffers */
_reports = new RingBuffer(2, sizeof(range_finder_report));
if (_reports == nullptr) {
goto out;
}
_class_instance = register_class_devname(RANGE_FINDER_DEVICE_PATH);
if (_class_instance == CLASS_DEVICE_PRIMARY) {
/* get a publish handle on the range finder topic */
struct range_finder_report rf_report;
measure();
_reports->get(&rf_report);
_range_finder_topic = orb_advertise(ORB_ID(sensor_range_finder), &rf_report);
if (_range_finder_topic < 0) {
debug("failed to create sensor_range_finder object. Did you start uOrb?");
}
}
ret = OK;
/* sensor is ok, but we don't really know if it is within range */
_sensor_ok = true;
out:
return ret;
}
int
TRONE::probe()
{
return measure();
}
void
TRONE::set_minimum_distance(float min)
{
_min_distance = min;
}
void
TRONE::set_maximum_distance(float max)
{
_max_distance = max;
}
float
TRONE::get_minimum_distance()
{
return _min_distance;
}
float
TRONE::get_maximum_distance()
{
return _max_distance;
}
int
TRONE::ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
case SENSORIOCSPOLLRATE: {
switch (arg) {
/* switching to manual polling */
case SENSOR_POLLRATE_MANUAL:
stop();
_measure_ticks = 0;
return OK;
/* external signalling (DRDY) not supported */
case SENSOR_POLLRATE_EXTERNAL:
/* zero would be bad */
case 0:
return -EINVAL;
/* set default/max polling rate */
case SENSOR_POLLRATE_MAX:
case SENSOR_POLLRATE_DEFAULT: {
/* do we need to start internal polling? */
bool want_start = (_measure_ticks == 0);
/* set interval for next measurement to minimum legal value */
_measure_ticks = USEC2TICK(TRONE_CONVERSION_INTERVAL);
/* if we need to start the poll state machine, do it */
if (want_start) {
start();
}
return OK;
}
/* adjust to a legal polling interval in Hz */
default: {
/* do we need to start internal polling? */
bool want_start = (_measure_ticks == 0);
/* convert hz to tick interval via microseconds */
unsigned ticks = USEC2TICK(1000000 / arg);
/* check against maximum rate */
if (ticks < USEC2TICK(TRONE_CONVERSION_INTERVAL)) {
return -EINVAL;
}
/* update interval for next measurement */
_measure_ticks = ticks;
/* if we need to start the poll state machine, do it */
if (want_start) {
start();
}
return OK;
}
}
}
case SENSORIOCGPOLLRATE:
if (_measure_ticks == 0) {
return SENSOR_POLLRATE_MANUAL;
}
return (1000 / _measure_ticks);
case SENSORIOCSQUEUEDEPTH: {
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 1) || (arg > 100)) {
return -EINVAL;
}
irqstate_t flags = irqsave();
if (!_reports->resize(arg)) {
irqrestore(flags);
return -ENOMEM;
}
irqrestore(flags);
return OK;
}
case SENSORIOCGQUEUEDEPTH:
return _reports->size();
case SENSORIOCRESET:
/* XXX implement this */
return -EINVAL;
case RANGEFINDERIOCSETMINIUMDISTANCE: {
set_minimum_distance(*(float *)arg);
return 0;
}
break;
case RANGEFINDERIOCSETMAXIUMDISTANCE: {
set_maximum_distance(*(float *)arg);
return 0;
}
break;
default:
/* give it to the superclass */
return I2C::ioctl(filp, cmd, arg);
}
}
ssize_t
TRONE::read(struct file *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(struct range_finder_report);
struct range_finder_report *rbuf = reinterpret_cast<struct range_finder_report *>(buffer);
int ret = 0;
/* buffer must be large enough */
if (count < 1) {
return -ENOSPC;
}
/* if automatic measurement is enabled */
if (_measure_ticks > 0) {
/*
* While there is space in the caller's buffer, and reports, copy them.
* Note that we may be pre-empted by the workq thread while we are doing this;
* we are careful to avoid racing with them.
*/
while (count--) {
if (_reports->get(rbuf)) {
ret += sizeof(*rbuf);
rbuf++;
}
}
/* if there was no data, warn the caller */
return ret ? ret : -EAGAIN;
}
/* manual measurement - run one conversion */
do {
_reports->flush();
/* trigger a measurement */
if (OK != measure()) {
ret = -EIO;
break;
}
/* wait for it to complete */
usleep(TRONE_CONVERSION_INTERVAL);
/* run the collection phase */
if (OK != collect()) {
ret = -EIO;
break;
}
/* state machine will have generated a report, copy it out */
if (_reports->get(rbuf)) {
ret = sizeof(*rbuf);
}
} while (0);
return ret;
}
int
TRONE::measure()
{
int ret;
/*
* Send the command to begin a measurement.
*/
const uint8_t cmd = TRONE_MEASURE_REG;
ret = transfer(&cmd, sizeof(cmd), nullptr, 0);
if (OK != ret) {
perf_count(_comms_errors);
log("i2c::transfer returned %d", ret);
return ret;
}
ret = OK;
return ret;
}
int
TRONE::collect()
{
int ret = -EIO;
/* read from the sensor */
uint8_t val[3] = {0, 0, 0};
perf_begin(_sample_perf);
ret = transfer(nullptr, 0, &val[0], 3);
if (ret < 0) {
log("error reading from sensor: %d", ret);
perf_count(_comms_errors);
perf_end(_sample_perf);
return ret;
}
uint16_t distance = (val[0] << 8) | val[1];
float si_units = distance * 0.001f; /* mm to m */
struct range_finder_report report;
/* this should be fairly close to the end of the measurement, so the best approximation of the time */
report.timestamp = hrt_absolute_time();
report.error_count = perf_event_count(_comms_errors);
report.distance = si_units;
report.valid = crc8(val, 2) == val[2] && si_units > get_minimum_distance() && si_units < get_maximum_distance() ? 1 : 0;
/* publish it, if we are the primary */
if (_range_finder_topic >= 0) {
orb_publish(ORB_ID(sensor_range_finder), _range_finder_topic, &report);
}
if (_reports->force(&report)) {
perf_count(_buffer_overflows);
}
/* notify anyone waiting for data */
poll_notify(POLLIN);
ret = OK;
perf_end(_sample_perf);
return ret;
}
void
TRONE::start()
{
/* reset the report ring and state machine */
_collect_phase = false;
_reports->flush();
/* schedule a cycle to start things */
work_queue(HPWORK, &_work, (worker_t)&TRONE::cycle_trampoline, this, 1);
/* notify about state change */
struct subsystem_info_s info = {
true,
true,
true,
SUBSYSTEM_TYPE_RANGEFINDER
};
static orb_advert_t pub = -1;
if (pub > 0) {
orb_publish(ORB_ID(subsystem_info), pub, &info);
} else {
pub = orb_advertise(ORB_ID(subsystem_info), &info);
}
}
void
TRONE::stop()
{
work_cancel(HPWORK, &_work);
}
void
TRONE::cycle_trampoline(void *arg)
{
TRONE *dev = (TRONE *)arg;
dev->cycle();
}
void
TRONE::cycle()
{
/* collection phase? */
if (_collect_phase) {
/* perform collection */
if (OK != collect()) {
log("collection error");
/* restart the measurement state machine */
start();
return;
}
/* next phase is measurement */
_collect_phase = false;
/*
* Is there a collect->measure gap?
*/
if (_measure_ticks > USEC2TICK(TRONE_CONVERSION_INTERVAL)) {
/* schedule a fresh cycle call when we are ready to measure again */
work_queue(HPWORK,
&_work,
(worker_t)&TRONE::cycle_trampoline,
this,
_measure_ticks - USEC2TICK(TRONE_CONVERSION_INTERVAL));
return;
}
}
/* measurement phase */
if (OK != measure()) {
log("measure error");
}
/* next phase is collection */
_collect_phase = true;
/* schedule a fresh cycle call when the measurement is done */
work_queue(HPWORK,
&_work,
(worker_t)&TRONE::cycle_trampoline,
this,
USEC2TICK(TRONE_CONVERSION_INTERVAL));
}
void
TRONE::print_info()
{
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
perf_print_counter(_buffer_overflows);
printf("poll interval: %u ticks\n", _measure_ticks);
_reports->print_info("report queue");
}
/**
* Local functions in support of the shell command.
*/
namespace trone
{
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
const int ERROR = -1;
TRONE *g_dev;
void start();
void stop();
void test();
void reset();
void info();
/**
* Start the driver.
*/
void
start()
{
int fd;
if (g_dev != nullptr) {
errx(1, "already started");
}
/* create the driver */
g_dev = new TRONE(TRONE_BUS);
if (g_dev == nullptr) {
goto fail;
}
if (OK != g_dev->init()) {
goto fail;
}
/* set the poll rate to default, starts automatic data collection */
fd = open(TRONE_DEVICE_PATH, O_RDONLY);
if (fd < 0) {
goto fail;
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
goto fail;
}
exit(0);
fail:
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
}
errx(1, "driver start failed");
}
/**
* Stop the driver
*/
void stop()
{
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
} else {
errx(1, "driver not running");
}
exit(0);
}
/**
* Perform some basic functional tests on the driver;
* make sure we can collect data from the sensor in polled
* and automatic modes.
*/
void
test()
{
struct range_finder_report report;
ssize_t sz;
int ret;
int fd = open(TRONE_DEVICE_PATH, O_RDONLY);
if (fd < 0) {
err(1, "%s open failed (try 'trone start' if the driver is not running", TRONE_DEVICE_PATH);
}
/* do a simple demand read */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report)) {
err(1, "immediate read failed");
}
warnx("single read");
warnx("measurement: %0.2f m", (double)report.distance);
warnx("time: %lld", report.timestamp);
/* start the sensor polling at 2Hz */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
errx(1, "failed to set 2Hz poll rate");
}
/* read the sensor 50x and report each value */
for (unsigned i = 0; i < 50; i++) {
struct pollfd fds;
/* wait for data to be ready */
fds.fd = fd;
fds.events = POLLIN;
ret = poll(&fds, 1, 2000);
if (ret != 1) {
errx(1, "timed out waiting for sensor data");
}
/* now go get it */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report)) {
err(1, "periodic read failed");
}
warnx("periodic read %u", i);
warnx("valid %u", report.valid);
warnx("measurement: %0.3f", (double)report.distance);
warnx("time: %lld", report.timestamp);
}
/* reset the sensor polling to default rate */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) {
errx(1, "failed to set default poll rate");
}
errx(0, "PASS");
}
/**
* Reset the driver.
*/
void
reset()
{
int fd = open(TRONE_DEVICE_PATH, O_RDONLY);
if (fd < 0) {
err(1, "failed ");
}
if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
err(1, "driver reset failed");
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
err(1, "driver poll restart failed");
}
exit(0);
}
/**
* Print a little info about the driver.
*/
void
info()
{
if (g_dev == nullptr) {
errx(1, "driver not running");
}
printf("state @ %p\n", g_dev);
g_dev->print_info();
exit(0);
}
} // namespace
int
trone_main(int argc, char *argv[])
{
/*
* Start/load the driver.
*/
if (!strcmp(argv[1], "start")) {
trone::start();
}
/*
* Stop the driver
*/
if (!strcmp(argv[1], "stop")) {
trone::stop();
}
/*
* Test the driver/device.
*/
if (!strcmp(argv[1], "test")) {
trone::test();
}
/*
* Reset the driver.
*/
if (!strcmp(argv[1], "reset")) {
trone::reset();
}
/*
* Print driver information.
*/
if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) {
trone::info();
}
errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
}
src/examples/flow_position_estimator/flow_position_estimator_main.c
+2 -2
View File
@@ -308,8 +308,8 @@ int flow_position_estimator_thread_main(int argc, char *argv[])
if (vehicle_liftoff || params.debug)
{
/* copy flow */
flow_speed[0] = flow.flow_comp_x_m;
flow_speed[1] = flow.flow_comp_y_m;
flow_speed[0] = flow.pixel_flow_x_integral / (flow.integration_timespan / 1e6f) * flow.ground_distance_m;
flow_speed[1] = flow.pixel_flow_y_integral / (flow.integration_timespan / 1e6f) * flow.ground_distance_m;
flow_speed[2] = 0.0f;
/* convert to bodyframe velocity */
src/lib/external_lgpl/tecs/tecs.cpp
+6 -8
View File
@@ -321,31 +321,29 @@ void TECS::_update_throttle(float throttle_cruise, const math::Matrix<3,3> &rotM
ff_throttle = nomThr - STEdot_dem / _STEdot_min * nomThr;
}
// Calculate PD + FF throttle
// Calculate PD + FF throttle and constrain to avoid blow-up of the integrator later
_throttle_dem = (_STE_error + STEdot_error * _thrDamp) * K_STE2Thr + ff_throttle;
_throttle_dem = constrain(_throttle_dem, _THRminf, _THRmaxf);
// Rate limit PD + FF throttle
// Calculate the throttle increment from the specified slew time
if (fabsf(_throttle_slewrate) > 0.01f) {
float thrRateIncr = _DT * (_THRmaxf - _THRminf) * _throttle_slewrate;
_throttle_dem = constrain(_throttle_dem,
_last_throttle_dem - thrRateIncr,
_last_throttle_dem + thrRateIncr);
_last_throttle_dem - thrRateIncr,
_last_throttle_dem + thrRateIncr);
}
// Ensure _last_throttle_dem is always initialized properly
// Also: The throttle_slewrate limit is only applied to throttle_dem, but does not limit the integrator!!
_last_throttle_dem = _throttle_dem;
// Calculate integrator state upper and lower limits
// Set to a value thqat will allow 0.1 (10%) throttle saturation to allow for noise on the demand
// Set to a value that will allow 0.1 (10%) throttle saturation to allow for noise on the demand
float integ_max = (_THRmaxf - _throttle_dem + 0.1f);
float integ_min = (_THRminf - _throttle_dem - 0.1f);
// Calculate integrator state, constraining state
// Set integrator to a max throttle value dduring climbout
// Set integrator to a max throttle value during climbout
_integ6_state = _integ6_state + (_STE_error * _integGain) * _DT * K_STE2Thr;
if (_climbOutDem) {
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
-4
View File
@@ -206,10 +206,6 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
0, 0, 1.f
}; /**< init: identity matrix */
// print text
printf("Extended Kalman Filter Attitude Estimator initialized..\n\n");
fflush(stdout);
int overloadcounter = 19;
/* Initialize filter */
src/modules/bottle_drop/bottle_drop.cpp
+10 -11
View File
@@ -223,7 +223,7 @@ BottleDrop::start()
_main_task = task_spawn_cmd("bottle_drop",
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT + 15,
2048,
1500,
(main_t)&BottleDrop::task_main_trampoline,
nullptr);
@@ -283,7 +283,6 @@ BottleDrop::drop()
// force the door open if we have to
if (_doors_opened == 0) {
open_bay();
warnx("bay not ready, forced open");
}
while (hrt_elapsed_time(&_doors_opened) < 500 * 1000 && hrt_elapsed_time(&starttime) < 2000000) {
@@ -723,16 +722,16 @@ BottleDrop::handle_command(struct vehicle_command_s *cmd)
if (cmd->param1 > 0.5f && cmd->param2 > 0.5f) {
open_bay();
drop();
mavlink_log_info(_mavlink_fd, "#audio: drop bottle");
mavlink_log_critical(_mavlink_fd, "drop bottle");
} else if (cmd->param1 > 0.5f) {
open_bay();
mavlink_log_info(_mavlink_fd, "#audio: opening bay");
mavlink_log_critical(_mavlink_fd, "opening bay");
} else {
lock_release();
close_bay();
mavlink_log_info(_mavlink_fd, "#audio: closing bay");
mavlink_log_critical(_mavlink_fd, "closing bay");
}
answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
@@ -743,12 +742,12 @@ BottleDrop::handle_command(struct vehicle_command_s *cmd)
switch ((int)(cmd->param1 + 0.5f)) {
case 0:
_drop_approval = false;
mavlink_log_info(_mavlink_fd, "#audio: got drop position, no approval");
mavlink_log_critical(_mavlink_fd, "got drop position, no approval");
break;
case 1:
_drop_approval = true;
mavlink_log_info(_mavlink_fd, "#audio: got drop position and approval");
mavlink_log_critical(_mavlink_fd, "got drop position and approval");
break;
default:
@@ -818,19 +817,19 @@ BottleDrop::answer_command(struct vehicle_command_s *cmd, enum VEHICLE_CMD_RESUL
break;
case VEHICLE_CMD_RESULT_DENIED:
mavlink_log_critical(_mavlink_fd, "#audio: command denied: %u", cmd->command);
mavlink_log_critical(_mavlink_fd, "command denied: %u", cmd->command);
break;
case VEHICLE_CMD_RESULT_FAILED:
mavlink_log_critical(_mavlink_fd, "#audio: command failed: %u", cmd->command);
mavlink_log_critical(_mavlink_fd, "command failed: %u", cmd->command);
break;
case VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED:
mavlink_log_critical(_mavlink_fd, "#audio: command temporarily rejected: %u", cmd->command);
mavlink_log_critical(_mavlink_fd, "command temporarily rejected: %u", cmd->command);
break;
case VEHICLE_CMD_RESULT_UNSUPPORTED:
mavlink_log_critical(_mavlink_fd, "#audio: command unsupported: %u", cmd->command);
mavlink_log_critical(_mavlink_fd, "command unsupported: %u", cmd->command);
break;
default:
src/modules/bottle_drop/module.mk
+4
View File
@@ -39,3 +39,7 @@ MODULE_COMMAND = bottle_drop
SRCS = bottle_drop.cpp \
bottle_drop_params.c
MAXOPTIMIZATION = -Os
MODULE_STACKSIZE = 1200
src/modules/commander/commander.cpp
+101 -77
View File
@@ -220,8 +220,6 @@ void control_status_leds(vehicle_status_s *status, const actuator_armed_s *actua
void check_valid(hrt_abstime timestamp, hrt_abstime timeout, bool valid_in, bool *valid_out, bool *changed);
void check_mode_switches(struct manual_control_setpoint_s *sp_man, struct vehicle_status_s *status);
transition_result_t set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoint_s *sp_man);
void set_control_mode();
@@ -312,12 +310,16 @@ int commander_main(int argc, char *argv[])
}
if (!strcmp(argv[1], "arm")) {
arm_disarm(true, mavlink_fd, "command line");
int mavlink_fd_local = open(MAVLINK_LOG_DEVICE, 0);
arm_disarm(true, mavlink_fd_local, "command line");
close(mavlink_fd_local);
exit(0);
}
if (!strcmp(argv[1], "disarm")) {
arm_disarm(false, mavlink_fd, "command line");
int mavlink_fd_local = open(MAVLINK_LOG_DEVICE, 0);
arm_disarm(false, mavlink_fd_local, "command line");
close(mavlink_fd_local);
exit(0);
}
@@ -760,7 +762,10 @@ int commander_thread_main(int argc, char *argv[])
nav_states_str[NAVIGATION_STATE_AUTO_MISSION] = "AUTO_MISSION";
nav_states_str[NAVIGATION_STATE_AUTO_LOITER] = "AUTO_LOITER";
nav_states_str[NAVIGATION_STATE_AUTO_RTL] = "AUTO_RTL";
nav_states_str[NAVIGATION_STATE_AUTO_RCRECOVER] = "AUTO_RCRECOVER";
nav_states_str[NAVIGATION_STATE_AUTO_RTGS] = "AUTO_RTGS";
nav_states_str[NAVIGATION_STATE_AUTO_LANDENGFAIL] = "AUTO_LANDENGFAIL";
nav_states_str[NAVIGATION_STATE_AUTO_LANDGPSFAIL] = "AUTO_LANDGPSFAIL";
nav_states_str[NAVIGATION_STATE_ACRO] = "ACRO";
nav_states_str[NAVIGATION_STATE_LAND] = "LAND";
nav_states_str[NAVIGATION_STATE_DESCEND] = "DESCEND";
@@ -1543,7 +1548,7 @@ int commander_thread_main(int argc, char *argv[])
} else {
if (status.rc_signal_lost) {
mavlink_log_critical(mavlink_fd, "RC signal regained");
mavlink_log_critical(mavlink_fd, "RC SIGNAL REGAINED after %llums",(hrt_absolute_time()-status.rc_signal_lost_timestamp)/1000);
status_changed = true;
}
}
@@ -1644,8 +1649,9 @@ int commander_thread_main(int argc, char *argv[])
} else {
if (!status.rc_signal_lost) {
mavlink_log_critical(mavlink_fd, "RC SIGNAL LOST");
mavlink_log_critical(mavlink_fd, "RC SIGNAL LOST (at t=%llums)",hrt_absolute_time()/1000);
status.rc_signal_lost = true;
status.rc_signal_lost_timestamp=sp_man.timestamp;
status_changed = true;
}
}
@@ -1848,7 +1854,11 @@ int commander_thread_main(int argc, char *argv[])
if (status.failsafe != failsafe_old) {
status_changed = true;
mavlink_log_info(mavlink_fd, "[cmd] failsafe state: %i", status.failsafe);
if (status.failsafe) {
mavlink_log_critical(mavlink_fd, "failsafe mode on");
} else {
mavlink_log_critical(mavlink_fd, "failsafe mode off");
}
failsafe_old = status.failsafe;
}
@@ -2196,6 +2206,59 @@ set_control_mode()
control_mode.flag_control_termination_enabled = false;
break;
case NAVIGATION_STATE_ALTCTL:
control_mode.flag_control_manual_enabled = true;
control_mode.flag_control_auto_enabled = false;
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
control_mode.flag_control_altitude_enabled = true;
control_mode.flag_control_climb_rate_enabled = true;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
control_mode.flag_control_termination_enabled = false;
break;
case NAVIGATION_STATE_POSCTL:
control_mode.flag_control_manual_enabled = true;
control_mode.flag_control_auto_enabled = false;
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
control_mode.flag_control_altitude_enabled = true;
control_mode.flag_control_climb_rate_enabled = true;
control_mode.flag_control_position_enabled = true;
control_mode.flag_control_velocity_enabled = true;
control_mode.flag_control_termination_enabled = false;
break;
case NAVIGATION_STATE_AUTO_MISSION:
case NAVIGATION_STATE_AUTO_LOITER:
case NAVIGATION_STATE_AUTO_RTL:
case NAVIGATION_STATE_AUTO_RCRECOVER:
case NAVIGATION_STATE_AUTO_RTGS:
case NAVIGATION_STATE_AUTO_LANDENGFAIL:
control_mode.flag_control_manual_enabled = false;
control_mode.flag_control_auto_enabled = true;
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
control_mode.flag_control_altitude_enabled = true;
control_mode.flag_control_climb_rate_enabled = true;
control_mode.flag_control_position_enabled = true;
control_mode.flag_control_velocity_enabled = true;
control_mode.flag_control_termination_enabled = false;
break;
case NAVIGATION_STATE_AUTO_LANDGPSFAIL:
control_mode.flag_control_manual_enabled = false;
control_mode.flag_control_auto_enabled = false;
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = true;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
control_mode.flag_control_termination_enabled = false;
break;
case NAVIGATION_STATE_ACRO:
control_mode.flag_control_manual_enabled = true;
control_mode.flag_control_auto_enabled = false;
@@ -2208,18 +2271,46 @@ set_control_mode()
control_mode.flag_control_termination_enabled = false;
break;
case NAVIGATION_STATE_ALTCTL:
control_mode.flag_control_manual_enabled = true;
control_mode.flag_control_auto_enabled = false;
case NAVIGATION_STATE_LAND:
control_mode.flag_control_manual_enabled = false;
control_mode.flag_control_auto_enabled = true;
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
/* in failsafe LAND mode position may be not available */
control_mode.flag_control_position_enabled = status.condition_local_position_valid;
control_mode.flag_control_velocity_enabled = status.condition_local_position_valid;
control_mode.flag_control_altitude_enabled = true;
control_mode.flag_control_climb_rate_enabled = true;
control_mode.flag_control_termination_enabled = false;
break;
case NAVIGATION_STATE_DESCEND:
/* TODO: check if this makes sense */
control_mode.flag_control_manual_enabled = false;
control_mode.flag_control_auto_enabled = true;
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = true;
control_mode.flag_control_termination_enabled = false;
break;
case NAVIGATION_STATE_TERMINATION:
/* disable all controllers on termination */
control_mode.flag_control_manual_enabled = false;
control_mode.flag_control_auto_enabled = false;
control_mode.flag_control_rates_enabled = false;
control_mode.flag_control_attitude_enabled = false;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = false;
control_mode.flag_control_termination_enabled = true;
break;
case NAVIGATION_STATE_OFFBOARD:
control_mode.flag_control_manual_enabled = false;
control_mode.flag_control_auto_enabled = false;
@@ -2275,73 +2366,6 @@ set_control_mode()
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
}
break;
case NAVIGATION_STATE_POSCTL:
control_mode.flag_control_manual_enabled = true;
control_mode.flag_control_auto_enabled = false;
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
control_mode.flag_control_altitude_enabled = true;
control_mode.flag_control_climb_rate_enabled = true;
control_mode.flag_control_position_enabled = true;
control_mode.flag_control_velocity_enabled = true;
control_mode.flag_control_termination_enabled = false;
break;
case NAVIGATION_STATE_AUTO_MISSION:
case NAVIGATION_STATE_AUTO_LOITER:
case NAVIGATION_STATE_AUTO_RTL:
case NAVIGATION_STATE_AUTO_RTGS:
case NAVIGATION_STATE_AUTO_LANDENGFAIL:
control_mode.flag_control_manual_enabled = false;
control_mode.flag_control_auto_enabled = true;
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
control_mode.flag_control_altitude_enabled = true;
control_mode.flag_control_climb_rate_enabled = true;
control_mode.flag_control_position_enabled = true;
control_mode.flag_control_velocity_enabled = true;
control_mode.flag_control_termination_enabled = false;
break;
case NAVIGATION_STATE_AUTO_LANDGPSFAIL:
control_mode.flag_control_manual_enabled = false;
control_mode.flag_control_auto_enabled = false;
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = true;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
control_mode.flag_control_termination_enabled = false;
break;
case NAVIGATION_STATE_LAND:
control_mode.flag_control_manual_enabled = false;
control_mode.flag_control_auto_enabled = true;
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
/* in failsafe LAND mode position may be not available */
control_mode.flag_control_position_enabled = status.condition_local_position_valid;
control_mode.flag_control_velocity_enabled = status.condition_local_position_valid;
control_mode.flag_control_altitude_enabled = true;
control_mode.flag_control_climb_rate_enabled = true;
control_mode.flag_control_termination_enabled = false;
break;
case NAVIGATION_STATE_TERMINATION:
/* disable all controllers on termination */
control_mode.flag_control_manual_enabled = false;
control_mode.flag_control_auto_enabled = false;
control_mode.flag_control_rates_enabled = false;
control_mode.flag_control_attitude_enabled = false;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = false;
control_mode.flag_control_termination_enabled = true;
break;
default:
src/modules/commander/state_machine_helper.cpp
+20 -17
View File
@@ -444,7 +444,7 @@ transition_result_t hil_state_transition(hil_state_t new_state, int status_pub,
* Check failsafe and main status and set navigation status for navigator accordingly
*/
bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_enabled, const bool mission_finished,
const bool stay_in_failsafe)
const bool stay_in_failsafe)
{
navigation_state_t nav_state_old = status->nav_state;
@@ -497,11 +497,13 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
break;
case MAIN_STATE_AUTO_MISSION:
/* go into failsafe
* - if commanded to do so
* - if we have an engine failure
* - if either the datalink is enabled and lost as well as RC is lost
* - if there is no datalink and the mission is finished */
* - depending on datalink, RC and if the mission is finished */
/* first look at the commands */
if (status->engine_failure_cmd) {
status->nav_state = NAVIGATION_STATE_AUTO_LANDENGFAIL;
} else if (status->data_link_lost_cmd) {
@@ -509,14 +511,17 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
} else if (status->gps_failure_cmd) {
status->nav_state = NAVIGATION_STATE_AUTO_LANDGPSFAIL;
} else if (status->rc_signal_lost_cmd) {
status->nav_state = NAVIGATION_STATE_AUTO_RTGS; //XXX
/* Finished handling commands which have priority , now handle failures */
status->nav_state = NAVIGATION_STATE_AUTO_RCRECOVER;
/* finished handling commands which have priority, now handle failures */
} else if (status->gps_failure) {
status->nav_state = NAVIGATION_STATE_AUTO_LANDGPSFAIL;
} else if (status->engine_failure) {
status->nav_state = NAVIGATION_STATE_AUTO_LANDENGFAIL;
} else if (((status->data_link_lost && data_link_loss_enabled) && status->rc_signal_lost) ||
(!data_link_loss_enabled && status->rc_signal_lost && mission_finished)) {
/* datalink loss enabled:
* check for datalink lost: this should always trigger RTGS */
} else if (data_link_loss_enabled && status->data_link_lost) {
status->failsafe = true;
if (status->condition_global_position_valid && status->condition_home_position_valid) {
@@ -529,12 +534,15 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
status->nav_state = NAVIGATION_STATE_TERMINATION;
}
/* also go into failsafe if just datalink is lost */
} else if (status->data_link_lost && data_link_loss_enabled) {
/* datalink loss disabled:
* check if both, RC and datalink are lost during the mission
* or RC is lost after the mission is finished: this should always trigger RCRECOVER */
} else if (!data_link_loss_enabled && ((status->rc_signal_lost && status->data_link_lost) ||
(status->rc_signal_lost && mission_finished))) {
status->failsafe = true;
if (status->condition_global_position_valid && status->condition_home_position_valid) {
status->nav_state = NAVIGATION_STATE_AUTO_RTGS;
status->nav_state = NAVIGATION_STATE_AUTO_RCRECOVER;
} else if (status->condition_local_position_valid) {
status->nav_state = NAVIGATION_STATE_LAND;
} else if (status->condition_local_altitude_valid) {
@@ -543,13 +551,8 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
status->nav_state = NAVIGATION_STATE_TERMINATION;
}
/* don't bother if RC is lost and mission is not yet finished */
} else if (status->rc_signal_lost && !stay_in_failsafe) {
/* this mode is ok, we don't need RC for missions */
status->nav_state = NAVIGATION_STATE_AUTO_MISSION;
/* stay where you are if you should stay in failsafe, otherwise everything is perfect */
} else if (!stay_in_failsafe){
/* everything is perfect */
status->nav_state = NAVIGATION_STATE_AUTO_MISSION;
}
break;
@@ -703,7 +706,7 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
}
if (fabsf(airspeed.indicated_airspeed_m_s > 6.0f)) {
mavlink_log_critical(mavlink_fd, "AIRSPEED WARNING: WIND OR CALIBRATION MISSING");
mavlink_log_critical(mavlink_fd, "AIRSPEED WARNING: WIND OR CALIBRATION ISSUE");
// XXX do not make this fatal yet
}
}
src/modules/controllib/module.mk
+2
View File
@@ -39,3 +39,5 @@ SRCS = test_params.c \
block/BlockParam.cpp \
uorb/blocks.cpp \
blocks.cpp
MAXOPTIMIZATION = -Os
src/modules/dataman/dataman.c
+5 -9
View File
@@ -629,9 +629,6 @@ task_main(int argc, char *argv[])
{
work_q_item_t *work;
/* inform about start */
warnx("Initializing..");
/* Initialize global variables */
g_key_offsets[0] = 0;
@@ -694,16 +691,15 @@ task_main(int argc, char *argv[])
if (sys_restart_val == DM_INIT_REASON_POWER_ON) {
warnx("Power on restart");
_restart(DM_INIT_REASON_POWER_ON);
}
else if (sys_restart_val == DM_INIT_REASON_IN_FLIGHT) {
} else if (sys_restart_val == DM_INIT_REASON_IN_FLIGHT) {
warnx("In flight restart");
_restart(DM_INIT_REASON_IN_FLIGHT);
}
else
} else {
warnx("Unknown restart");
}
else
}
} else {
warnx("Unknown restart");
}
/* We use two file descriptors, one for the caller context and one for the worker thread */
/* They are actually the same but we need to some way to reject caller request while the */
src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+6 -3
View File
@@ -613,8 +613,11 @@ FixedwingEstimator::check_filter_state()
warn_index = max_warn_index;
}
warnx("reset: %s", feedback[warn_index]);
mavlink_log_critical(_mavlink_fd, "[ekf check] %s", feedback[warn_index]);
// Do not warn about accel offset if we have no position updates
if (!(warn_index == 5 && _ekf->staticMode)) {
warnx("reset: %s", feedback[warn_index]);
mavlink_log_critical(_mavlink_fd, "[ekf check] %s", feedback[warn_index]);
}
}
struct estimator_status_report rep;
@@ -1557,7 +1560,7 @@ FixedwingEstimator::start()
_estimator_task = task_spawn_cmd("ekf_att_pos_estimator",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 40,
5000,
7500,
(main_t)&FixedwingEstimator::task_main_trampoline,
nullptr);
src/modules/mavlink/mavlink.c
+1 -5
View File
@@ -78,11 +78,7 @@ PARAM_DEFINE_INT32(MAV_FWDEXTSP, 1);
mavlink_system_t mavlink_system = {
100,
50,
MAV_TYPE_FIXED_WING,
0,
0,
0
50
}; // System ID, 1-255, Component/Subsystem ID, 1-255
/*
src/modules/mavlink/mavlink_main.cpp
+9 -7
View File
@@ -167,8 +167,10 @@ Mavlink::Mavlink() :
_param_initialized(false),
_param_system_id(0),
_param_component_id(0),
_param_system_type(0),
_param_system_type(MAV_TYPE_FIXED_WING),
_param_use_hil_gps(0),
_param_forward_externalsp(0),
_system_type(0),
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "mavlink_el")),
@@ -524,7 +526,7 @@ void Mavlink::mavlink_update_system(void)
param_get(_param_system_type, &system_type);
if (system_type >= 0 && system_type < MAV_TYPE_ENUM_END) {
mavlink_system.type = system_type;
_system_type = system_type;
}
int32_t use_hil_gps;
@@ -755,7 +757,7 @@ Mavlink::send_message(const uint8_t msgid, const void *msg)
pthread_mutex_lock(&_send_mutex);
int buf_free = get_free_tx_buf();
unsigned buf_free = get_free_tx_buf();
uint8_t payload_len = mavlink_message_lengths[msgid];
unsigned packet_len = payload_len + MAVLINK_NUM_NON_PAYLOAD_BYTES;
@@ -820,14 +822,14 @@ Mavlink::resend_message(mavlink_message_t *msg)
pthread_mutex_lock(&_send_mutex);
int buf_free = get_free_tx_buf();
unsigned buf_free = get_free_tx_buf();
_last_write_try_time = hrt_absolute_time();
unsigned packet_len = msg->len + MAVLINK_NUM_NON_PAYLOAD_BYTES;
/* check if there is space in the buffer, let it overflow else */
if (buf_free < TX_BUFFER_GAP) {
if ((buf_free < TX_BUFFER_GAP) || (buf_free < packet_len)) {
/* no enough space in buffer to send */
count_txerr();
count_txerrbytes(packet_len);
@@ -1403,7 +1405,7 @@ Mavlink::task_main(int argc, char *argv[])
configure_stream("POSITION_TARGET_GLOBAL_INT", 3.0f);
configure_stream("ATTITUDE_TARGET", 3.0f);
configure_stream("DISTANCE_SENSOR", 0.5f);
configure_stream("OPTICAL_FLOW", 5.0f);
configure_stream("OPTICAL_FLOW_RAD", 5.0f);
break;
case MAVLINK_MODE_ONBOARD:
@@ -1634,7 +1636,7 @@ Mavlink::start(int argc, char *argv[])
task_spawn_cmd(buf,
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
2900,
2800,
(main_t)&Mavlink::start_helper,
(const char **)argv);
src/modules/mavlink/mavlink_main.h
+4
View File
@@ -265,6 +265,8 @@ public:
struct mavlink_logbuffer *get_logbuffer() { return &_logbuffer; }
unsigned get_system_type() { return _system_type; }
protected:
Mavlink *next;
@@ -354,6 +356,8 @@ private:
param_t _param_use_hil_gps;
param_t _param_forward_externalsp;
unsigned _system_type;
perf_counter_t _loop_perf; /**< loop performance counter */
perf_counter_t _txerr_perf; /**< TX error counter */
src/modules/mavlink/mavlink_messages.cpp
+79 -27
View File
@@ -302,7 +302,7 @@ protected:
msg.base_mode = 0;
msg.custom_mode = 0;
get_mavlink_mode_state(&status, &pos_sp_triplet, &msg.system_status, &msg.base_mode, &msg.custom_mode);
msg.type = mavlink_system.type;
msg.type = _mavlink->get_system_type();
msg.autopilot = MAV_AUTOPILOT_PX4;
msg.mavlink_version = 3;
@@ -382,11 +382,11 @@ protected:
clock_gettime(CLOCK_REALTIME, &ts);
/* use GPS time for log file naming, e.g. /fs/microsd/2014-01-19/19_37_52.bin */
time_t gps_time_sec = ts.tv_sec + (ts.tv_nsec / 1e9);
struct tm t;
gmtime_r(&gps_time_sec, &t);
struct tm tt;
gmtime_r(&gps_time_sec, &tt);
// XXX we do not want to interfere here with the SD log app
strftime(log_file_name, sizeof(log_file_name), "msgs_%Y_%m_%d_%H_%M_%S.txt", &t);
strftime(log_file_name, sizeof(log_file_name), "msgs_%Y_%m_%d_%H_%M_%S.txt", &tt);
snprintf(log_file_path, sizeof(log_file_path), "/fs/microsd/%s", log_file_name);
fp = fopen(log_file_path, "ab");
}
@@ -1353,15 +1353,17 @@ protected:
const float pwm_center = (PWM_HIGHEST_MAX + PWM_LOWEST_MIN) / 2;
unsigned system_type = _mavlink->get_system_type();
/* scale outputs depending on system type */
if (mavlink_system.type == MAV_TYPE_QUADROTOR ||
mavlink_system.type == MAV_TYPE_HEXAROTOR ||
mavlink_system.type == MAV_TYPE_OCTOROTOR) {
if (system_type == MAV_TYPE_QUADROTOR ||
system_type == MAV_TYPE_HEXAROTOR ||
system_type == MAV_TYPE_OCTOROTOR) {
/* multirotors: set number of rotor outputs depending on type */
unsigned n;
switch (mavlink_system.type) {
switch (system_type) {
case MAV_TYPE_QUADROTOR:
n = 4;
break;
@@ -1717,7 +1719,53 @@ protected:
msg.chan16_raw = (rc.channel_count > 15) ? rc.values[15] : UINT16_MAX;
msg.chan17_raw = (rc.channel_count > 16) ? rc.values[16] : UINT16_MAX;
msg.chan18_raw = (rc.channel_count > 17) ? rc.values[17] : UINT16_MAX;
msg.rssi = rc.rssi;
/* RSSI has a max value of 100, and when Spektrum or S.BUS are
* available, the RSSI field is invalid, as they do not provide
* an RSSI measurement. Use an out of band magic value to signal
* these digital ports. XXX revise MAVLink spec to address this.
* One option would be to use the top bit to toggle between RSSI
* and input source mode.
*
* Full RSSI field: 0b 1 111 1111
*
* ^ If bit is set, RSSI encodes type + RSSI
*
* ^ These three bits encode a total of 8
* digital RC input types.
* 0: PPM, 1: SBUS, 2: Spektrum, 2: ST24
* ^ These four bits encode a total of
* 16 RSSI levels. 15 = full, 0 = no signal
*
*/
/* Initialize RSSI with the special mode level flag */
msg.rssi = (1 << 7);
/* Set RSSI */
msg.rssi |= (rc.rssi <= 100) ? ((rc.rssi / 7) + 1) : 15;
switch (rc.input_source) {
case RC_INPUT_SOURCE_PX4FMU_PPM:
/* fallthrough */
case RC_INPUT_SOURCE_PX4IO_PPM:
msg.rssi |= (0 << 4);
break;
case RC_INPUT_SOURCE_PX4IO_SPEKTRUM:
msg.rssi |= (1 << 4);
break;
case RC_INPUT_SOURCE_PX4IO_SBUS:
msg.rssi |= (2 << 4);
break;
case RC_INPUT_SOURCE_PX4IO_ST24:
msg.rssi |= (3 << 4);
break;
}
if (rc.rc_lost) {
/* RSSI is by definition zero */
msg.rssi = 0;
}
_mavlink->send_message(MAVLINK_MSG_ID_RC_CHANNELS, &msg);
}
@@ -1786,33 +1834,32 @@ protected:
}
};
class MavlinkStreamOpticalFlow : public MavlinkStream
class MavlinkStreamOpticalFlowRad : public MavlinkStream
{
public:
const char *get_name() const
{
return MavlinkStreamOpticalFlow::get_name_static();
return MavlinkStreamOpticalFlowRad::get_name_static();
}
static const char *get_name_static()
{
return "OPTICAL_FLOW";
return "OPTICAL_FLOW_RAD";
}
uint8_t get_id()
{
return MAVLINK_MSG_ID_OPTICAL_FLOW;
return MAVLINK_MSG_ID_OPTICAL_FLOW_RAD;
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamOpticalFlow(mavlink);
return new MavlinkStreamOpticalFlowRad(mavlink);
}
unsigned get_size()
{
return _flow_sub->is_published() ? (MAVLINK_MSG_ID_OPTICAL_FLOW_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
return _flow_sub->is_published() ? (MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
}
private:
@@ -1820,11 +1867,11 @@ private:
uint64_t _flow_time;
/* do not allow top copying this class */
MavlinkStreamOpticalFlow(MavlinkStreamOpticalFlow &);
MavlinkStreamOpticalFlow& operator = (const MavlinkStreamOpticalFlow &);
MavlinkStreamOpticalFlowRad(MavlinkStreamOpticalFlowRad &);
MavlinkStreamOpticalFlowRad& operator = (const MavlinkStreamOpticalFlowRad &);
protected:
explicit MavlinkStreamOpticalFlow(Mavlink *mavlink) : MavlinkStream(mavlink),
explicit MavlinkStreamOpticalFlowRad(Mavlink *mavlink) : MavlinkStream(mavlink),
_flow_sub(_mavlink->add_orb_subscription(ORB_ID(optical_flow))),
_flow_time(0)
{}
@@ -1834,18 +1881,23 @@ protected:
struct optical_flow_s flow;
if (_flow_sub->update(&_flow_time, &flow)) {
mavlink_optical_flow_t msg;
mavlink_optical_flow_rad_t msg;
msg.time_usec = flow.timestamp;
msg.sensor_id = flow.sensor_id;
msg.flow_x = flow.flow_raw_x;
msg.flow_y = flow.flow_raw_y;
msg.flow_comp_m_x = flow.flow_comp_x_m;
msg.flow_comp_m_y = flow.flow_comp_y_m;
msg.integrated_x = flow.pixel_flow_x_integral;
msg.integrated_y = flow.pixel_flow_y_integral;
msg.integrated_xgyro = flow.gyro_x_rate_integral;
msg.integrated_ygyro = flow.gyro_y_rate_integral;
msg.integrated_zgyro = flow.gyro_z_rate_integral;
msg.distance = flow.ground_distance_m;
msg.quality = flow.quality;
msg.ground_distance = flow.ground_distance_m;
msg.integration_time_us = flow.integration_timespan;
msg.sensor_id = flow.sensor_id;
msg.time_delta_distance_us = flow.time_since_last_sonar_update;
msg.temperature = flow.gyro_temperature;
_mavlink->send_message(MAVLINK_MSG_ID_OPTICAL_FLOW, &msg);
_mavlink->send_message(MAVLINK_MSG_ID_OPTICAL_FLOW_RAD, &msg);
}
}
};
@@ -2151,7 +2203,7 @@ StreamListItem *streams_list[] = {
new StreamListItem(&MavlinkStreamAttitudeTarget::new_instance, &MavlinkStreamAttitudeTarget::get_name_static),
new StreamListItem(&MavlinkStreamRCChannelsRaw::new_instance, &MavlinkStreamRCChannelsRaw::get_name_static),
new StreamListItem(&MavlinkStreamManualControl::new_instance, &MavlinkStreamManualControl::get_name_static),
new StreamListItem(&MavlinkStreamOpticalFlow::new_instance, &MavlinkStreamOpticalFlow::get_name_static),
new StreamListItem(&MavlinkStreamOpticalFlowRad::new_instance, &MavlinkStreamOpticalFlowRad::get_name_static),
new StreamListItem(&MavlinkStreamAttitudeControls::new_instance, &MavlinkStreamAttitudeControls::get_name_static),
new StreamListItem(&MavlinkStreamNamedValueFloat::new_instance, &MavlinkStreamNamedValueFloat::get_name_static),
new StreamListItem(&MavlinkStreamCameraCapture::new_instance, &MavlinkStreamCameraCapture::get_name_static),
src/modules/mavlink/mavlink_receiver.cpp
+32 -20
View File
@@ -144,8 +144,8 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
handle_message_command_int(msg);
break;
case MAVLINK_MSG_ID_OPTICAL_FLOW:
handle_message_optical_flow(msg);
case MAVLINK_MSG_ID_OPTICAL_FLOW_RAD:
handle_message_optical_flow_rad(msg);
break;
case MAVLINK_MSG_ID_SET_MODE:
@@ -352,24 +352,27 @@ MavlinkReceiver::handle_message_command_int(mavlink_message_t *msg)
}
void
MavlinkReceiver::handle_message_optical_flow(mavlink_message_t *msg)
MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
{
/* optical flow */
mavlink_optical_flow_t flow;
mavlink_msg_optical_flow_decode(msg, &flow);
mavlink_optical_flow_rad_t flow;
mavlink_msg_optical_flow_rad_decode(msg, &flow);
struct optical_flow_s f;
memset(&f, 0, sizeof(f));
f.timestamp = hrt_absolute_time();
f.flow_timestamp = flow.time_usec;
f.flow_raw_x = flow.flow_x;
f.flow_raw_y = flow.flow_y;
f.flow_comp_x_m = flow.flow_comp_m_x;
f.flow_comp_y_m = flow.flow_comp_m_y;
f.ground_distance_m = flow.ground_distance;
f.timestamp = flow.time_usec;
f.integration_timespan = flow.integration_time_us;
f.pixel_flow_x_integral = flow.integrated_x;
f.pixel_flow_y_integral = flow.integrated_y;
f.gyro_x_rate_integral = flow.integrated_xgyro;
f.gyro_y_rate_integral = flow.integrated_ygyro;
f.gyro_z_rate_integral = flow.integrated_zgyro;
f.time_since_last_sonar_update = flow.time_delta_distance_us;
f.ground_distance_m = flow.distance;
f.quality = flow.quality;
f.sensor_id = flow.sensor_id;
f.gyro_temperature = flow.temperature;
if (_flow_pub < 0) {
_flow_pub = orb_advertise(ORB_ID(optical_flow), &f);
@@ -389,13 +392,18 @@ MavlinkReceiver::handle_message_hil_optical_flow(mavlink_message_t *msg)
struct optical_flow_s f;
memset(&f, 0, sizeof(f));
f.timestamp = hrt_absolute_time();
f.flow_timestamp = flow.time_usec;
f.flow_raw_x = flow.integrated_x;
f.flow_raw_y = flow.integrated_y;
f.timestamp = hrt_absolute_time(); // XXX we rely on the system time for now and not flow.time_usec;
f.integration_timespan = flow.integration_time_us;
f.pixel_flow_x_integral = flow.integrated_x;
f.pixel_flow_y_integral = flow.integrated_y;
f.gyro_x_rate_integral = flow.integrated_xgyro;
f.gyro_y_rate_integral = flow.integrated_ygyro;
f.gyro_z_rate_integral = flow.integrated_zgyro;
f.time_since_last_sonar_update = flow.time_delta_distance_us;
f.ground_distance_m = flow.distance;
f.quality = flow.quality;
f.sensor_id = flow.sensor_id;
f.gyro_temperature = flow.temperature;
if (_flow_pub < 0) {
_flow_pub = orb_advertise(ORB_ID(optical_flow), &f);
@@ -538,12 +546,16 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
offboard_control_sp.ignore &= ~(1 << i);
offboard_control_sp.ignore |= (set_position_target_local_ned.type_mask & (1 << i));
}
offboard_control_sp.ignore &= ~(1 << OFB_IGN_BIT_YAW);
offboard_control_sp.ignore |= (set_position_target_local_ned.type_mask & (1 << 10)) <<
OFB_IGN_BIT_YAW;
if (set_position_target_local_ned.type_mask & (1 << 10)) {
offboard_control_sp.ignore |= (1 << OFB_IGN_BIT_YAW);
}
offboard_control_sp.ignore &= ~(1 << OFB_IGN_BIT_YAWRATE);
offboard_control_sp.ignore |= (set_position_target_local_ned.type_mask & (1 << 11)) <<
OFB_IGN_BIT_YAWRATE;
if (set_position_target_local_ned.type_mask & (1 << 11)) {
offboard_control_sp.ignore |= (1 << OFB_IGN_BIT_YAWRATE);
}
offboard_control_sp.timestamp = hrt_absolute_time();
src/modules/mavlink/mavlink_receiver.h
+1 -1
View File
@@ -112,7 +112,7 @@ private:
void handle_message(mavlink_message_t *msg);
void handle_message_command_long(mavlink_message_t *msg);
void handle_message_command_int(mavlink_message_t *msg);
void handle_message_optical_flow(mavlink_message_t *msg);
void handle_message_optical_flow_rad(mavlink_message_t *msg);
void handle_message_hil_optical_flow(mavlink_message_t *msg);
void handle_message_set_mode(mavlink_message_t *msg);
void handle_message_vicon_position_estimate(mavlink_message_t *msg);

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