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Merge branch 'master' of https://github.com/mstuettgen/Firmware

Browse Source
This commit is contained in:
Marcel Stuettgen
2015-03-03 18:48:01 +01:00
parent d0c6636b7f cf7f59e1f3
commit 62c22582b2
75 changed files with 2561 additions and 631 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/batt_smbus/batt_smbus.cpp
-3
View File
@@ -452,10 +452,7 @@ BATT_SMBUS::read_block(uint8_t reg, uint8_t *data, uint8_t max_len, bool append_
uint8_t pec = get_PEC(reg, true, buff, bufflen + 1);
if (pec != buff[bufflen + 1]) {
// debug
warnx("CurrPEC:%x vs MyPec:%x", (int)buff[bufflen + 1], (int)pec);
return 0;
}
// copy data
src/drivers/drv_gpio.h
+2
View File
@@ -159,4 +159,6 @@
#define GPIO_SENSOR_RAIL_RESET GPIOC(13)
#define GPIO_PERIPHERAL_RAIL_RESET GPIOC(14)
#endif /* _DRV_GPIO_H */
src/drivers/drv_oreoled.h
+4 -1
View File
@@ -58,6 +58,9 @@
/** run macro */
#define OREOLED_RUN_MACRO _OREOLEDIOC(2)
/** send bytes */
#define OREOLED_SEND_BYTES _OREOLEDIOC(3)
/* Oreo LED driver supports up to 4 leds */
#define OREOLED_NUM_LEDS 4
@@ -65,7 +68,7 @@
#define OREOLED_ALL_INSTANCES 0xff
/* maximum command length that can be sent to LEDs */
#define OREOLED_CMD_LENGTH_MAX 10
#define OREOLED_CMD_LENGTH_MAX 24
/* enum passed to OREOLED_SET_MODE ioctl()
* defined by hardware */
src/drivers/mkblctrl/mkblctrl.cpp
+1 -1
View File
@@ -296,7 +296,7 @@ MK::init(unsigned motors)
_task = task_spawn_cmd("mkblctrl",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 20,
2048,
1500,
(main_t)&MK::task_main_trampoline,
nullptr);
src/drivers/mpu6000/mpu6000.cpp
+36 -9
View File
@@ -1881,6 +1881,7 @@ MPU6000 *g_dev_int; // on internal bus
MPU6000 *g_dev_ext; // on external bus
void start(bool, enum Rotation);
void stop(bool);
void test(bool);
void reset(bool);
void info(bool);
@@ -1946,6 +1947,20 @@ fail:
errx(1, "driver start failed");
}
void
stop(bool external_bus)
{
MPU6000 **g_dev_ptr = external_bus?&g_dev_ext:&g_dev_int;
if (*g_dev_ptr != nullptr) {
delete *g_dev_ptr;
*g_dev_ptr = nullptr;
} else {
/* warn, but not an error */
warnx("already stopped.");
}
exit(0);
}
/**
* Perform some basic functional tests on the driver;
* make sure we can collect data from the sensor in polled
@@ -2111,7 +2126,7 @@ factorytest(bool external_bus)
void
usage()
{
warnx("missing command: try 'start', 'info', 'test', 'reset', 'regdump', 'factorytest', 'testerror'");
warnx("missing command: try 'start', 'info', 'test', 'stop',\n'reset', 'regdump', 'factorytest', 'testerror'");
warnx("options:");
warnx(" -X (external bus)");
warnx(" -R rotation");
@@ -2147,38 +2162,50 @@ mpu6000_main(int argc, char *argv[])
* Start/load the driver.
*/
if (!strcmp(verb, "start"))
if (!strcmp(verb, "start")) {
mpu6000::start(external_bus, rotation);
}
if (!strcmp(verb, "stop")) {
mpu6000::stop(external_bus);
}
/*
* Test the driver/device.
*/
if (!strcmp(verb, "test"))
if (!strcmp(verb, "test")) {
mpu6000::test(external_bus);
}
/*
* Reset the driver.
*/
if (!strcmp(verb, "reset"))
if (!strcmp(verb, "reset")) {
mpu6000::reset(external_bus);
}
/*
* Print driver information.
*/
if (!strcmp(verb, "info"))
if (!strcmp(verb, "info")) {
mpu6000::info(external_bus);
}
/*
* Print register information.
*/
if (!strcmp(verb, "regdump"))
if (!strcmp(verb, "regdump")) {
mpu6000::regdump(external_bus);
}
if (!strcmp(verb, "factorytest"))
if (!strcmp(verb, "factorytest")) {
mpu6000::factorytest(external_bus);
}
if (!strcmp(verb, "testerror"))
if (!strcmp(verb, "testerror")) {
mpu6000::testerror(external_bus);
}
errx(1, "unrecognized command, try 'start', 'test', 'reset', 'info', 'regdump', 'factorytest' or 'testerror'");
mpu6000::usage();
exit(1);
}
src/drivers/oreoled/oreoled.cpp
+25
View File
@@ -368,6 +368,31 @@ OREOLED::ioctl(struct file *filp, int cmd, unsigned long arg)
return ret;
case OREOLED_SEND_BYTES:
/* send bytes */
new_cmd = *((oreoled_cmd_t *) arg);
/* special handling for request to set all instances */
if (new_cmd.led_num == OREOLED_ALL_INSTANCES) {
for (uint8_t i = 0; i < OREOLED_NUM_LEDS; i++) {
/* add command to queue for all healthy leds */
if (_healthy[i]) {
new_cmd.led_num = i;
_cmd_queue->force(&new_cmd);
ret = OK;
}
}
} else if (new_cmd.led_num < OREOLED_NUM_LEDS) {
/* request to set individual instance's rgb value */
if (_healthy[new_cmd.led_num]) {
_cmd_queue->force(&new_cmd);
ret = OK;
}
}
return ret;
default:
/* see if the parent class can make any use of it */
ret = CDev::ioctl(filp, cmd, arg);
src/drivers/px4fmu/fmu.cpp
+59
View File
@@ -182,6 +182,7 @@ private:
void gpio_reset(void);
void sensor_reset(int ms);
void peripheral_reset(int ms);
void gpio_set_function(uint32_t gpios, int function);
void gpio_write(uint32_t gpios, int function);
uint32_t gpio_read(void);
@@ -1376,6 +1377,29 @@ PX4FMU::sensor_reset(int ms)
#endif
}
void
PX4FMU::peripheral_reset(int ms)
{
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
if (ms < 1) {
ms = 10;
}
/* set the peripheral rails off */
stm32_configgpio(GPIO_VDD_5V_PERIPH_EN);
stm32_gpiowrite(GPIO_VDD_5V_PERIPH_EN, 1);
/* wait for the peripheral rail to reach GND */
usleep(ms * 1000);
warnx("reset done, %d ms", ms);
/* re-enable power */
/* switch the peripheral rail back on */
stm32_gpiowrite(GPIO_VDD_5V_PERIPH_EN, 0);
#endif
}
void
PX4FMU::gpio_reset(void)
@@ -1488,6 +1512,10 @@ PX4FMU::gpio_ioctl(struct file *filp, int cmd, unsigned long arg)
sensor_reset(arg);
break;
case GPIO_PERIPHERAL_RAIL_RESET:
peripheral_reset(arg);
break;
case GPIO_SET_OUTPUT:
case GPIO_SET_INPUT:
case GPIO_SET_ALT_1:
@@ -1674,6 +1702,24 @@ sensor_reset(int ms)
close(fd);
}
void
peripheral_reset(int ms)
{
int fd;
fd = open(PX4FMU_DEVICE_PATH, O_RDWR);
if (fd < 0) {
errx(1, "open fail");
}
if (ioctl(fd, GPIO_PERIPHERAL_RAIL_RESET, ms) < 0) {
warnx("peripheral rail reset failed");
}
close(fd);
}
void
test(void)
{
@@ -1895,6 +1941,19 @@ fmu_main(int argc, char *argv[])
exit(0);
}
if (!strcmp(verb, "peripheral_reset")) {
if (argc > 2) {
int reset_time = strtol(argv[2], 0, 0);
peripheral_reset(reset_time);
} else {
peripheral_reset(0);
warnx("resettet default time");
}
exit(0);
}
if (!strcmp(verb, "i2c")) {
if (argc > 3) {
int bus = strtol(argv[2], 0, 0);
src/lib/mathlib/math/Quaternion.hpp
+29
View File
@@ -115,6 +115,35 @@ public:
return Vector<3>(&data[1]);
}
/**
* inverse of quaternion
*/
math::Quaternion inverse() {
Quaternion res;
memcpy(res.data,data,sizeof(res.data));
res.data[1] = -res.data[1];
res.data[2] = -res.data[2];
res.data[3] = -res.data[3];
return res;
}
/**
* rotate vector by quaternion
*/
Vector<3> rotate(const Vector<3> &w) {
Quaternion q_w; // extend vector to quaternion
Quaternion q = {data[0],data[1],data[2],data[3]};
Quaternion q_rotated; // quaternion representation of rotated vector
q_w(0) = 0;
q_w(1) = w.data[0];
q_w(2) = w.data[1];
q_w(3) = w.data[2];
q_rotated = q*q_w*q.inverse();
Vector<3> res = {q_rotated.data[1],q_rotated.data[2],q_rotated.data[3]};
return res;
}
/**
* set quaternion to rotation defined by euler angles
*/
src/modules/commander/accelerometer_calibration.cpp
+3 -1
View File
@@ -358,7 +358,7 @@ int do_accel_calibration_measurements(int mavlink_fd, float (&accel_offs)[max_se
if (orient < 0) {
mavlink_and_console_log_info(mavlink_fd, "invalid motion, hold still...");
sleep(3);
sleep(2);
continue;
}
@@ -372,6 +372,8 @@ int do_accel_calibration_measurements(int mavlink_fd, float (&accel_offs)[max_se
mavlink_and_console_log_info(mavlink_fd, "Hold still, starting to measure %s side", orientation_strs[orient]);
sleep(1);
read_accelerometer_avg(subs, accel_ref, orient, samples_num);
mavlink_and_console_log_info(mavlink_fd, "%s side done, rotate to a different side", orientation_strs[orient]);
usleep(100000);
mavlink_and_console_log_info(mavlink_fd, "result for %s side: [ %.2f %.2f %.2f ]", orientation_strs[orient],
(double)accel_ref[0][orient][0],
(double)accel_ref[0][orient][1],
src/modules/commander/commander.cpp
+30 -56
View File
@@ -65,7 +65,7 @@
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/offboard_control_setpoint.h>
#include <uORB/topics/offboard_control_mode.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_local_position.h>
@@ -180,7 +180,7 @@ static struct vehicle_status_s status;
static struct actuator_armed_s armed;
static struct safety_s safety;
static struct vehicle_control_mode_s control_mode;
static struct offboard_control_setpoint_s sp_offboard;
static struct offboard_control_mode_s offboard_control_mode;
/* tasks waiting for low prio thread */
typedef enum {
@@ -966,7 +966,7 @@ int commander_thread_main(int argc, char *argv[])
pthread_attr_t commander_low_prio_attr;
pthread_attr_init(&commander_low_prio_attr);
pthread_attr_setstacksize(&commander_low_prio_attr, 2900);
pthread_attr_setstacksize(&commander_low_prio_attr, 2400);
struct sched_param param;
(void)pthread_attr_getschedparam(&commander_low_prio_attr, &param);
@@ -1016,8 +1016,8 @@ int commander_thread_main(int argc, char *argv[])
memset(&sp_man, 0, sizeof(sp_man));
/* Subscribe to offboard control data */
int sp_offboard_sub = orb_subscribe(ORB_ID(offboard_control_setpoint));
memset(&sp_offboard, 0, sizeof(sp_offboard));
int offboard_control_mode_sub = orb_subscribe(ORB_ID(offboard_control_mode));
memset(&offboard_control_mode, 0, sizeof(offboard_control_mode));
/* Subscribe to telemetry status topics */
int telemetry_subs[TELEMETRY_STATUS_ORB_ID_NUM];
@@ -1227,14 +1227,14 @@ int commander_thread_main(int argc, char *argv[])
orb_copy(ORB_ID(manual_control_setpoint), sp_man_sub, &sp_man);
}
orb_check(sp_offboard_sub, &updated);
orb_check(offboard_control_mode_sub, &updated);
if (updated) {
orb_copy(ORB_ID(offboard_control_setpoint), sp_offboard_sub, &sp_offboard);
orb_copy(ORB_ID(offboard_control_mode), offboard_control_mode_sub, &offboard_control_mode);
}
if (sp_offboard.timestamp != 0 &&
sp_offboard.timestamp + OFFBOARD_TIMEOUT > hrt_absolute_time()) {
if (offboard_control_mode.timestamp != 0 &&
offboard_control_mode.timestamp + OFFBOARD_TIMEOUT > hrt_absolute_time()) {
if (status.offboard_control_signal_lost) {
status.offboard_control_signal_lost = false;
status_changed = true;
@@ -2051,7 +2051,7 @@ int commander_thread_main(int argc, char *argv[])
led_deinit();
buzzer_deinit();
close(sp_man_sub);
close(sp_offboard_sub);
close(offboard_control_mode_sub);
close(local_position_sub);
close(global_position_sub);
close(gps_sub);
@@ -2426,56 +2426,30 @@ set_control_mode()
control_mode.flag_control_auto_enabled = false;
control_mode.flag_control_offboard_enabled = true;
switch (sp_offboard.mode) {
case OFFBOARD_CONTROL_MODE_DIRECT_RATES:
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = false;
control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = false;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
break;
/*
* The control flags depend on what is ignored according to the offboard control mode topic
* Inner loop flags (e.g. attitude) also depend on outer loop ignore flags (e.g. position)
*/
control_mode.flag_control_rates_enabled = !offboard_control_mode.ignore_bodyrate ||
!offboard_control_mode.ignore_attitude ||
!offboard_control_mode.ignore_position ||
!offboard_control_mode.ignore_velocity ||
!offboard_control_mode.ignore_acceleration_force;
case OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE:
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 = false;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
break;
control_mode.flag_control_attitude_enabled = !offboard_control_mode.ignore_attitude ||
!offboard_control_mode.ignore_position ||
!offboard_control_mode.ignore_velocity ||
!offboard_control_mode.ignore_acceleration_force;
case OFFBOARD_CONTROL_MODE_DIRECT_FORCE:
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = false;
control_mode.flag_control_force_enabled = true;
control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = false;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
break;
control_mode.flag_control_velocity_enabled = !offboard_control_mode.ignore_velocity ||
!offboard_control_mode.ignore_position;
case OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED:
case OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_OFFSET_NED:
case OFFBOARD_CONTROL_MODE_DIRECT_BODY_NED:
case OFFBOARD_CONTROL_MODE_DIRECT_BODY_OFFSET_NED:
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;
//XXX: the flags could depend on sp_offboard.ignore
break;
control_mode.flag_control_climb_rate_enabled = !offboard_control_mode.ignore_velocity ||
!offboard_control_mode.ignore_position;
default:
control_mode.flag_control_rates_enabled = false;
control_mode.flag_control_attitude_enabled = false;
control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = false;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
}
control_mode.flag_control_position_enabled = !offboard_control_mode.ignore_position;
control_mode.flag_control_altitude_enabled = !offboard_control_mode.ignore_position;
break;
src/modules/commander/mag_calibration.cpp
+4 -1
View File
@@ -137,6 +137,9 @@ int do_mag_calibration(int mavlink_fd)
}
if (calibrated_ok) {
mavlink_and_console_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 100);
usleep(100000);
mavlink_and_console_log_info(mavlink_fd, CAL_DONE_MSG, sensor_name);
/* auto-save to EEPROM */
@@ -155,7 +158,7 @@ int do_mag_calibration(int mavlink_fd)
int calibrate_instance(int mavlink_fd, unsigned s, unsigned device_id)
{
/* 45 seconds */
uint64_t calibration_interval = 45 * 1000 * 1000;
uint64_t calibration_interval = 25 * 1000 * 1000;
/* maximum 500 values */
const unsigned int calibration_maxcount = 240;
src/modules/commander/state_machine_helper.cpp
+2 -2
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
* Copyright (c) 2013-2015 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
@@ -35,7 +35,7 @@
* @file state_machine_helper.cpp
* State machine helper functions implementations
*
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Thomas Gubler <thomas@px4.io>
* @author Julian Oes <julian@oes.ch>
*/
src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+8 -10
View File
@@ -457,9 +457,7 @@ int AttitudePositionEstimatorEKF::check_filter_state()
rep.states[i] = ekf_report.states[i];
}
for (size_t i = 0; i < rep.n_states; i++) {
rep.states[i] = ekf_report.states[i];
}
if (_estimator_status_pub > 0) {
orb_publish(ORB_ID(estimator_status), _estimator_status_pub, &rep);
@@ -774,14 +772,14 @@ void AttitudePositionEstimatorEKF::publishAttitude()
_att.pitch = euler(1);
_att.yaw = euler(2);
_att.rollspeed = _ekf->angRate.x - _ekf->states[10];
_att.pitchspeed = _ekf->angRate.y - _ekf->states[11];
_att.yawspeed = _ekf->angRate.z - _ekf->states[12];
_att.rollspeed = _ekf->angRate.x - _ekf->states[10] / _ekf->dtIMU;
_att.pitchspeed = _ekf->angRate.y - _ekf->states[11] / _ekf->dtIMU;
_att.yawspeed = _ekf->angRate.z - _ekf->states[12] / _ekf->dtIMU;
// gyro offsets
_att.rate_offsets[0] = _ekf->states[10];
_att.rate_offsets[1] = _ekf->states[11];
_att.rate_offsets[2] = _ekf->states[12];
_att.rate_offsets[0] = _ekf->states[10] / _ekf->dtIMU;
_att.rate_offsets[1] = _ekf->states[11] / _ekf->dtIMU;
_att.rate_offsets[2] = _ekf->states[12] / _ekf->dtIMU;
/* lazily publish the attitude only once available */
if (_att_pub > 0) {
@@ -1056,7 +1054,7 @@ void AttitudePositionEstimatorEKF::print_status()
// 4-6: Velocity - m/sec (North, East, Down)
// 7-9: Position - m (North, East, Down)
// 10-12: Delta Angle bias - rad (X,Y,Z)
// 13: Accelerometer offset
// 13: Delta Velocity Bias - m/s (Z)
// 14-15: Wind Vector - m/sec (North,East)
// 16-18: Earth Magnetic Field Vector - gauss (North, East, Down)
// 19-21: Body Magnetic Field Vector - gauss (X,Y,Z)
src/modules/fw_att_control/fw_att_control_main.cpp
+20 -15
View File
@@ -520,7 +520,7 @@ FixedwingAttitudeControl::vehicle_control_mode_poll()
orb_check(_vcontrol_mode_sub, &vcontrol_mode_updated);
if (vcontrol_mode_updated) {
orb_copy(ORB_ID(vehicle_control_mode), _vcontrol_mode_sub, &_vcontrol_mode);
}
}
@@ -795,10 +795,10 @@ FixedwingAttitudeControl::task_main()
/* Simple handling of failsafe: deploy parachute if failsafe is on */
if (_vcontrol_mode.flag_control_termination_enabled) {
_actuators_airframe.control[7] = 1.0f;
// warnx("_actuators_airframe.control[1] = 1.0f;");
//warnx("_actuators_airframe.control[1] = 1.0f;");
} else {
_actuators_airframe.control[7] = 0.0f;
// warnx("_actuators_airframe.control[1] = -1.0f;");
//warnx("_actuators_airframe.control[1] = -1.0f;");
}
/* decide if in stabilized or full manual control */
@@ -1077,20 +1077,25 @@ FixedwingAttitudeControl::task_main()
_actuators_airframe.timestamp = hrt_absolute_time();
_actuators_airframe.timestamp_sample = _att.timestamp;
/* publish the actuator controls */
if (_actuators_0_pub > 0) {
orb_publish(_actuators_id, _actuators_0_pub, &_actuators);
} else if (_actuators_id) {
_actuators_0_pub= orb_advertise(_actuators_id, &_actuators);
}
/* Only publish if any of the proper modes are enabled */
if(_vcontrol_mode.flag_control_rates_enabled ||
_vcontrol_mode.flag_control_attitude_enabled)
{
/* publish the actuator controls */
if (_actuators_0_pub > 0) {
orb_publish(_actuators_id, _actuators_0_pub, &_actuators);
} else if (_actuators_id) {
_actuators_0_pub= orb_advertise(_actuators_id, &_actuators);
}
if (_actuators_2_pub > 0) {
/* publish the actuator controls*/
orb_publish(ORB_ID(actuator_controls_2), _actuators_2_pub, &_actuators_airframe);
if (_actuators_2_pub > 0) {
/* publish the actuator controls*/
orb_publish(ORB_ID(actuator_controls_2), _actuators_2_pub, &_actuators_airframe);
} else {
/* advertise and publish */
_actuators_2_pub = orb_advertise(ORB_ID(actuator_controls_2), &_actuators_airframe);
} else {
/* advertise and publish */
_actuators_2_pub = orb_advertise(ORB_ID(actuator_controls_2), &_actuators_airframe);
}
}
}
src/modules/fw_att_control/fw_att_control_params.c
+6 -6
View File
@@ -302,10 +302,10 @@ PARAM_DEFINE_INT32(FW_YCO_METHOD, 0);
*
* @unit m/s
* @min 0.0
* @max 30.0
* @max 40
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_AIRSPD_MIN, 13.0f);
PARAM_DEFINE_FLOAT(FW_AIRSPD_MIN, 10.0f);
/**
* Trim Airspeed
@@ -314,10 +314,10 @@ PARAM_DEFINE_FLOAT(FW_AIRSPD_MIN, 13.0f);
*
* @unit m/s
* @min 0.0
* @max 30.0
* @max 40
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_AIRSPD_TRIM, 20.0f);
PARAM_DEFINE_FLOAT(FW_AIRSPD_TRIM, 15.0f);
/**
* Maximum Airspeed
@@ -327,10 +327,10 @@ PARAM_DEFINE_FLOAT(FW_AIRSPD_TRIM, 20.0f);
*
* @unit m/s
* @min 0.0
* @max 30.0
* @max 40
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_AIRSPD_MAX, 50.0f);
PARAM_DEFINE_FLOAT(FW_AIRSPD_MAX, 20.0f);
/**
* Roll Setpoint Offset
src/modules/land_detector/land_detector_main.cpp
+5 -4
View File
@@ -139,7 +139,7 @@ static int land_detector_start(const char *mode)
_landDetectorTaskID = task_spawn_cmd("land_detector",
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
1200,
1000,
(main_t)&land_detector_deamon_thread,
nullptr);
@@ -179,8 +179,7 @@ int land_detector_main(int argc, char *argv[])
{
if (argc < 1) {
warnx("usage: land_detector {start|stop|status} [mode]\nmode can either be 'fixedwing' or 'multicopter'");
exit(0);
goto exiterr;
}
if (argc >= 2 && !strcmp(argv[1], "start")) {
@@ -209,6 +208,8 @@ int land_detector_main(int argc, char *argv[])
}
}
warn("usage: land_detector {start|stop|status} [mode]\nmode can either be 'fixedwing' or 'multicopter'");
exiterr:
warnx("usage: land_detector {start|stop|status} [mode]");
warnx("mode can either be 'fixedwing' or 'multicopter'");
return 1;
}
src/modules/mavlink/mavlink_main.cpp
+1 -1
View File
@@ -1621,7 +1621,7 @@ Mavlink::start(int argc, char *argv[])
task_spawn_cmd(buf,
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
2800,
2400,
(main_t)&Mavlink::start_helper,
(char * const *)argv);
src/modules/mavlink/mavlink_messages.cpp
-1
View File
@@ -51,7 +51,6 @@
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/offboard_control_setpoint.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
#include <uORB/topics/vehicle_vicon_position.h>
src/modules/mavlink/mavlink_receiver.cpp
+151 -126
View File
@@ -108,7 +108,8 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_cmd_pub(-1),
_flow_pub(-1),
_range_pub(-1),
_offboard_control_sp_pub(-1),
_offboard_control_mode_pub(-1),
_actuator_controls_pub(-1),
_global_vel_sp_pub(-1),
_att_sp_pub(-1),
_rates_sp_pub(-1),
@@ -170,6 +171,10 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
handle_message_set_attitude_target(msg);
break;
case MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET:
handle_message_set_actuator_control_target(msg);
break;
case MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE:
handle_message_vision_position_estimate(msg);
break;
@@ -517,8 +522,8 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
mavlink_set_position_target_local_ned_t set_position_target_local_ned;
mavlink_msg_set_position_target_local_ned_decode(msg, &set_position_target_local_ned);
struct offboard_control_setpoint_s offboard_control_sp;
memset(&offboard_control_sp, 0, sizeof(offboard_control_sp));//XXX breaks compatibility with multiple setpoints
struct offboard_control_mode_s offboard_control_mode;
memset(&offboard_control_mode, 0, sizeof(offboard_control_mode));//XXX breaks compatibility with multiple setpoints
/* Only accept messages which are intended for this system */
if ((mavlink_system.sysid == set_position_target_local_ned.target_system ||
@@ -527,64 +532,22 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
set_position_target_local_ned.target_component == 0)) {
/* convert mavlink type (local, NED) to uORB offboard control struct */
switch (set_position_target_local_ned.coordinate_frame) {
case MAV_FRAME_LOCAL_NED:
offboard_control_sp.mode = OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED;
break;
case MAV_FRAME_LOCAL_OFFSET_NED:
offboard_control_sp.mode = OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_OFFSET_NED;
break;
case MAV_FRAME_BODY_NED:
offboard_control_sp.mode = OFFBOARD_CONTROL_MODE_DIRECT_BODY_NED;
break;
case MAV_FRAME_BODY_OFFSET_NED:
offboard_control_sp.mode = OFFBOARD_CONTROL_MODE_DIRECT_BODY_OFFSET_NED;
break;
default:
/* invalid setpoint, avoid publishing */
return;
}
offboard_control_sp.position[0] = set_position_target_local_ned.x;
offboard_control_sp.position[1] = set_position_target_local_ned.y;
offboard_control_sp.position[2] = set_position_target_local_ned.z;
offboard_control_sp.velocity[0] = set_position_target_local_ned.vx;
offboard_control_sp.velocity[1] = set_position_target_local_ned.vy;
offboard_control_sp.velocity[2] = set_position_target_local_ned.vz;
offboard_control_sp.acceleration[0] = set_position_target_local_ned.afx;
offboard_control_sp.acceleration[1] = set_position_target_local_ned.afy;
offboard_control_sp.acceleration[2] = set_position_target_local_ned.afz;
offboard_control_sp.yaw = set_position_target_local_ned.yaw;
offboard_control_sp.yaw_rate = set_position_target_local_ned.yaw_rate;
offboard_control_sp.isForceSetpoint = (bool)(set_position_target_local_ned.type_mask & (1 << 9));
offboard_control_mode.ignore_position = (bool)(set_position_target_local_ned.type_mask & 0x7);
offboard_control_mode.ignore_velocity = (bool)(set_position_target_local_ned.type_mask & 0x38);
offboard_control_mode.ignore_acceleration_force = (bool)(set_position_target_local_ned.type_mask & 0x1C0);
bool is_force_sp = (bool)(set_position_target_local_ned.type_mask & (1 << 9));
/* yaw ignore flag mapps to ignore_attitude */
offboard_control_mode.ignore_attitude = (bool)(set_position_target_local_ned.type_mask & 0x400);
/* yawrate ignore flag mapps to ignore_bodyrate */
offboard_control_mode.ignore_bodyrate = (bool)(set_position_target_local_ned.type_mask & 0x800);
/* If we are in force control mode, for now set offboard mode to force control */
if (offboard_control_sp.isForceSetpoint) {
offboard_control_sp.mode = OFFBOARD_CONTROL_MODE_DIRECT_FORCE;
}
offboard_control_mode.timestamp = hrt_absolute_time();
/* set ignore flags */
for (int i = 0; i < 9; i++) {
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);
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);
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();
if (_offboard_control_sp_pub < 0) {
_offboard_control_sp_pub = orb_advertise(ORB_ID(offboard_control_setpoint), &offboard_control_sp);
if (_offboard_control_mode_pub < 0) {
_offboard_control_mode_pub = orb_advertise(ORB_ID(offboard_control_mode), &offboard_control_mode);
} else {
orb_publish(ORB_ID(offboard_control_setpoint), _offboard_control_sp_pub, &offboard_control_sp);
orb_publish(ORB_ID(offboard_control_mode), _offboard_control_mode_pub, &offboard_control_mode);
}
/* If we are in offboard control mode and offboard control loop through is enabled
@@ -596,15 +559,14 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode);
}
if (_control_mode.flag_control_offboard_enabled) {
if (offboard_control_sp.isForceSetpoint &&
offboard_control_sp_ignore_position_all(offboard_control_sp) &&
offboard_control_sp_ignore_velocity_all(offboard_control_sp)) {
if (is_force_sp && offboard_control_mode.ignore_position &&
offboard_control_mode.ignore_velocity) {
/* The offboard setpoint is a force setpoint only, directly writing to the force
* setpoint topic and not publishing the setpoint triplet topic */
struct vehicle_force_setpoint_s force_sp;
force_sp.x = offboard_control_sp.acceleration[0];
force_sp.y = offboard_control_sp.acceleration[1];
force_sp.z = offboard_control_sp.acceleration[2];
force_sp.x = set_position_target_local_ned.afx;
force_sp.y = set_position_target_local_ned.afy;
force_sp.z = set_position_target_local_ned.afz;
//XXX: yaw
if (_force_sp_pub < 0) {
_force_sp_pub = orb_advertise(ORB_ID(vehicle_force_setpoint), &force_sp);
@@ -619,62 +581,53 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
pos_sp_triplet.current.valid = true;
pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_POSITION; //XXX support others
/* set the local pos values if the setpoint type is 'local pos' and none
* of the local pos fields is set to 'ignore' */
if (offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED &&
!offboard_control_sp_ignore_position_some(offboard_control_sp)) {
pos_sp_triplet.current.position_valid = true;
pos_sp_triplet.current.x = offboard_control_sp.position[0];
pos_sp_triplet.current.y = offboard_control_sp.position[1];
pos_sp_triplet.current.z = offboard_control_sp.position[2];
/* set the local pos values */
if (!offboard_control_mode.ignore_position) {
pos_sp_triplet.current.position_valid = true;
pos_sp_triplet.current.x = set_position_target_local_ned.x;
pos_sp_triplet.current.y = set_position_target_local_ned.y;
pos_sp_triplet.current.z = set_position_target_local_ned.z;
} else {
pos_sp_triplet.current.position_valid = false;
}
/* set the local vel values if the setpoint type is 'local pos' and none
* of the local vel fields is set to 'ignore' */
if (offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED &&
!offboard_control_sp_ignore_velocity_some(offboard_control_sp)) {
/* set the local vel values */
if (!offboard_control_mode.ignore_velocity) {
pos_sp_triplet.current.velocity_valid = true;
pos_sp_triplet.current.vx = offboard_control_sp.velocity[0];
pos_sp_triplet.current.vy = offboard_control_sp.velocity[1];
pos_sp_triplet.current.vz = offboard_control_sp.velocity[2];
pos_sp_triplet.current.vx = set_position_target_local_ned.vx;
pos_sp_triplet.current.vy = set_position_target_local_ned.vy;
pos_sp_triplet.current.vz = set_position_target_local_ned.vz;
} else {
pos_sp_triplet.current.velocity_valid = false;
}
/* set the local acceleration values if the setpoint type is 'local pos' and none
* of the accelerations fields is set to 'ignore' */
if (offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED &&
!offboard_control_sp_ignore_acceleration_some(offboard_control_sp)) {
if (!offboard_control_mode.ignore_acceleration_force) {
pos_sp_triplet.current.acceleration_valid = true;
pos_sp_triplet.current.a_x = offboard_control_sp.acceleration[0];
pos_sp_triplet.current.a_y = offboard_control_sp.acceleration[1];
pos_sp_triplet.current.a_z = offboard_control_sp.acceleration[2];
pos_sp_triplet.current.a_x = set_position_target_local_ned.afx;
pos_sp_triplet.current.a_y = set_position_target_local_ned.afy;
pos_sp_triplet.current.a_z = set_position_target_local_ned.afz;
pos_sp_triplet.current.acceleration_is_force =
offboard_control_sp.isForceSetpoint;
is_force_sp;
} else {
pos_sp_triplet.current.acceleration_valid = false;
}
/* set the yaw sp value if the setpoint type is 'local pos' and the yaw
* field is not set to 'ignore' */
if (offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED &&
!offboard_control_sp_ignore_yaw(offboard_control_sp)) {
/* set the yaw sp value */
if (!offboard_control_mode.ignore_attitude) {
pos_sp_triplet.current.yaw_valid = true;
pos_sp_triplet.current.yaw = offboard_control_sp.yaw;
pos_sp_triplet.current.yaw = set_position_target_local_ned.yaw;
} else {
pos_sp_triplet.current.yaw_valid = false;
}
/* set the yawrate sp value if the setpoint type is 'local pos' and the yawrate
* field is not set to 'ignore' */
if (offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED &&
!offboard_control_sp_ignore_yawrate(offboard_control_sp)) {
/* set the yawrate sp value */
if (!offboard_control_mode.ignore_bodyrate) {
pos_sp_triplet.current.yawspeed_valid = true;
pos_sp_triplet.current.yawspeed = offboard_control_sp.yaw_rate;
pos_sp_triplet.current.yawspeed = set_position_target_local_ned.yaw_rate;
} else {
pos_sp_triplet.current.yawspeed_valid = false;
@@ -698,6 +651,66 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
}
}
void
MavlinkReceiver::handle_message_set_actuator_control_target(mavlink_message_t *msg)
{
mavlink_set_actuator_control_target_t set_actuator_control_target;
mavlink_msg_set_actuator_control_target_decode(msg, &set_actuator_control_target);
struct offboard_control_mode_s offboard_control_mode;
memset(&offboard_control_mode, 0, sizeof(offboard_control_mode));//XXX breaks compatibility with multiple setpoints
struct actuator_controls_s actuator_controls;
memset(&actuator_controls, 0, sizeof(actuator_controls));//XXX breaks compatibility with multiple setpoints
if ((mavlink_system.sysid == set_actuator_control_target.target_system ||
set_actuator_control_target.target_system == 0) &&
(mavlink_system.compid == set_actuator_control_target.target_component ||
set_actuator_control_target.target_component == 0)) {
/* ignore all since we are setting raw actuators here */
offboard_control_mode.ignore_thrust = true;
offboard_control_mode.ignore_attitude = true;
offboard_control_mode.ignore_bodyrate = true;
offboard_control_mode.ignore_position = true;
offboard_control_mode.ignore_velocity = true;
offboard_control_mode.ignore_acceleration_force = true;
offboard_control_mode.timestamp = hrt_absolute_time();
if (_offboard_control_mode_pub < 0) {
_offboard_control_mode_pub = orb_advertise(ORB_ID(offboard_control_mode), &offboard_control_mode);
} else {
orb_publish(ORB_ID(offboard_control_mode), _offboard_control_mode_pub, &offboard_control_mode);
}
/* If we are in offboard control mode, publish the actuator controls */
bool updated;
orb_check(_control_mode_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode);
}
if (_control_mode.flag_control_offboard_enabled) {
actuator_controls.timestamp = hrt_absolute_time();
/* Set duty cycles for the servos in actuator_controls_0 */
for(size_t i = 0; i < 8; i++) {
actuator_controls.control[i] = set_actuator_control_target.controls[i];
}
if (_actuator_controls_pub < 0) {
_actuator_controls_pub = orb_advertise(ORB_ID(actuator_controls_0), &actuator_controls);
} else {
orb_publish(ORB_ID(actuator_controls_0), _actuator_controls_pub, &actuator_controls);
}
}
}
}
void
MavlinkReceiver::handle_message_vision_position_estimate(mavlink_message_t *msg)
{
@@ -743,42 +756,52 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
mavlink_set_attitude_target_t set_attitude_target;
mavlink_msg_set_attitude_target_decode(msg, &set_attitude_target);
struct offboard_control_setpoint_s offboard_control_sp;
memset(&offboard_control_sp, 0, sizeof(offboard_control_sp)); //XXX breaks compatibility with multiple setpoints
static struct offboard_control_mode_s offboard_control_mode = {};
/* Only accept messages which are intended for this system */
if ((mavlink_system.sysid == set_attitude_target.target_system ||
set_attitude_target.target_system == 0) &&
(mavlink_system.compid == set_attitude_target.target_component ||
set_attitude_target.target_component == 0)) {
for (int i = 0; i < 4; i++) {
offboard_control_sp.attitude[i] = set_attitude_target.q[i];
}
offboard_control_sp.attitude_rate[0] = set_attitude_target.body_roll_rate;
offboard_control_sp.attitude_rate[1] = set_attitude_target.body_pitch_rate;
offboard_control_sp.attitude_rate[2] = set_attitude_target.body_yaw_rate;
/* set correct ignore flags for body rate fields: copy from mavlink message */
for (int i = 0; i < 3; i++) {
offboard_control_sp.ignore &= ~(1 << (i + OFB_IGN_BIT_BODYRATE_X));
offboard_control_sp.ignore |= (set_attitude_target.type_mask & (1 << i)) << OFB_IGN_BIT_BODYRATE_X;
}
/* set correct ignore flags for thrust field: copy from mavlink message */
offboard_control_sp.ignore &= ~(1 << OFB_IGN_BIT_THRUST);
offboard_control_sp.ignore |= ((set_attitude_target.type_mask & (1 << 6)) << OFB_IGN_BIT_THRUST);
/* set correct ignore flags for attitude field: copy from mavlink message */
offboard_control_sp.ignore &= ~(1 << OFB_IGN_BIT_ATT);
offboard_control_sp.ignore |= ((set_attitude_target.type_mask & (1 << 7)) << OFB_IGN_BIT_ATT);
offboard_control_mode.ignore_thrust = (bool)(set_attitude_target.type_mask & (1 << 6));
/*
* The tricky part in parsing this message is that the offboard sender *can* set attitude and thrust
* using different messages. Eg.: First send set_attitude_target containing the attitude and ignore
* bits set for everything else and then send set_attitude_target containing the thrust and ignore bits
* set for everything else.
*/
offboard_control_sp.timestamp = hrt_absolute_time();
offboard_control_sp.mode =OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE; //XXX handle rate control mode
/*
* if attitude or body rate have been used (not ignored) previously and this message only sends
* throttle and has the ignore bits set for attitude and rates don't change the flags for attitude and
* body rates to keep the controllers running
*/
bool ignore_bodyrate = (bool)(set_attitude_target.type_mask & 0x7);
bool ignore_attitude = (bool)(set_attitude_target.type_mask & (1 << 7));
if (_offboard_control_sp_pub < 0) {
_offboard_control_sp_pub = orb_advertise(ORB_ID(offboard_control_setpoint), &offboard_control_sp);
if (ignore_bodyrate && ignore_attitude && !offboard_control_mode.ignore_thrust) {
/* Message want's us to ignore everything except thrust: only ignore if previously ignored */
offboard_control_mode.ignore_bodyrate = ignore_bodyrate && offboard_control_mode.ignore_bodyrate;
offboard_control_mode.ignore_attitude = ignore_attitude && offboard_control_mode.ignore_attitude;
} else {
offboard_control_mode.ignore_bodyrate = ignore_bodyrate;
offboard_control_mode.ignore_attitude = ignore_attitude;
}
offboard_control_mode.ignore_position = true;
offboard_control_mode.ignore_velocity = true;
offboard_control_mode.ignore_acceleration_force = true;
offboard_control_mode.timestamp = hrt_absolute_time();
if (_offboard_control_mode_pub < 0) {
_offboard_control_mode_pub = orb_advertise(ORB_ID(offboard_control_mode), &offboard_control_mode);
} else {
orb_publish(ORB_ID(offboard_control_setpoint), _offboard_control_sp_pub, &offboard_control_sp);
orb_publish(ORB_ID(offboard_control_mode), _offboard_control_mode_pub, &offboard_control_mode);
}
/* If we are in offboard control mode and offboard control loop through is enabled
@@ -793,15 +816,16 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
if (_control_mode.flag_control_offboard_enabled) {
/* Publish attitude setpoint if attitude and thrust ignore bits are not set */
if (!(offboard_control_sp_ignore_attitude(offboard_control_sp) ||
offboard_control_sp_ignore_thrust(offboard_control_sp))) {
struct vehicle_attitude_setpoint_s att_sp;
if (!(offboard_control_mode.ignore_attitude)) {
static struct vehicle_attitude_setpoint_s att_sp = {};
att_sp.timestamp = hrt_absolute_time();
mavlink_quaternion_to_euler(set_attitude_target.q,
&att_sp.roll_body, &att_sp.pitch_body, &att_sp.yaw_body);
mavlink_quaternion_to_dcm(set_attitude_target.q, (float(*)[3])att_sp.R_body);
att_sp.R_valid = true;
att_sp.thrust = set_attitude_target.thrust;
if (!offboard_control_mode.ignore_thrust) { // dont't overwrite thrust if it's invalid
att_sp.thrust = set_attitude_target.thrust;
}
att_sp.yaw_sp_move_rate = 0.0;
memcpy(att_sp.q_d, set_attitude_target.q, sizeof(att_sp.q_d));
att_sp.q_d_valid = true;
@@ -814,14 +838,15 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
/* Publish attitude rate setpoint if bodyrate and thrust ignore bits are not set */
///XXX add support for ignoring individual axes
if (!(offboard_control_sp_ignore_bodyrates_some(offboard_control_sp) ||
offboard_control_sp_ignore_thrust(offboard_control_sp))) {
struct vehicle_rates_setpoint_s rates_sp;
if (!(offboard_control_mode.ignore_bodyrate)) {
static struct vehicle_rates_setpoint_s rates_sp = {};
rates_sp.timestamp = hrt_absolute_time();
rates_sp.roll = set_attitude_target.body_roll_rate;
rates_sp.pitch = set_attitude_target.body_pitch_rate;
rates_sp.yaw = set_attitude_target.body_yaw_rate;
rates_sp.thrust = set_attitude_target.thrust;
if (!offboard_control_mode.ignore_thrust) { // dont't overwrite thrust if it's invalid
rates_sp.thrust = set_attitude_target.thrust;
}
if (_att_sp_pub < 0) {
_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp);
@@ -1524,7 +1549,7 @@ MavlinkReceiver::receive_start(Mavlink *parent)
param.sched_priority = SCHED_PRIORITY_MAX - 80;
(void)pthread_attr_setschedparam(&receiveloop_attr, &param);
pthread_attr_setstacksize(&receiveloop_attr, 2900);
pthread_attr_setstacksize(&receiveloop_attr, 2100);
pthread_t thread;
pthread_create(&thread, &receiveloop_attr, MavlinkReceiver::start_helper, (void *)parent);
src/modules/mavlink/mavlink_receiver.h
+5 -3
View File
@@ -53,7 +53,7 @@
#include <uORB/topics/vehicle_land_detected.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/offboard_control_setpoint.h>
#include <uORB/topics/offboard_control_mode.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
#include <uORB/topics/vehicle_global_velocity_setpoint.h>
@@ -122,6 +122,7 @@ private:
void handle_message_vision_position_estimate(mavlink_message_t *msg);
void handle_message_quad_swarm_roll_pitch_yaw_thrust(mavlink_message_t *msg);
void handle_message_set_position_target_local_ned(mavlink_message_t *msg);
void handle_message_set_actuator_control_target(mavlink_message_t *msg);
void handle_message_set_attitude_target(mavlink_message_t *msg);
void handle_message_radio_status(mavlink_message_t *msg);
void handle_message_manual_control(mavlink_message_t *msg);
@@ -142,7 +143,7 @@ private:
/**
* Exponential moving average filter to smooth time offset
*/
void smooth_time_offset(uint64_t offset_ns);
void smooth_time_offset(uint64_t offset_ns);
mavlink_status_t status;
struct vehicle_local_position_s hil_local_pos;
@@ -162,7 +163,8 @@ private:
orb_advert_t _cmd_pub;
orb_advert_t _flow_pub;
orb_advert_t _range_pub;
orb_advert_t _offboard_control_sp_pub;
orb_advert_t _offboard_control_mode_pub;
orb_advert_t _actuator_controls_pub;
orb_advert_t _global_vel_sp_pub;
orb_advert_t _att_sp_pub;
orb_advert_t _rates_sp_pub;
src/modules/mavlink/module.mk
+1 -1
View File
@@ -51,7 +51,7 @@ INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink
MAXOPTIMIZATION = -Os
MODULE_STACKSIZE = 1024
MODULE_STACKSIZE = 1200
EXTRACXXFLAGS = -Weffc++ -Wno-attributes -Wno-packed
src/modules/mc_att_control/mc_att_control_main.cpp
+1 -1
View File
@@ -835,7 +835,7 @@ MulticopterAttitudeControl::start()
_control_task = task_spawn_cmd("mc_att_control",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
2000,
1800,
(main_t)&MulticopterAttitudeControl::task_main_trampoline,
nullptr);
src/modules/mc_att_control_multiplatform/mc_att_control_start_nuttx.cpp
+1 -1
View File
@@ -71,7 +71,7 @@ int mc_att_control_m_main(int argc, char *argv[])
daemon_task = task_spawn_cmd("mc_att_control_m",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
3000,
1900,
main,
(argv) ? (char* const*)&argv[2] : (char* const*)NULL);
src/modules/mc_pos_control/mc_pos_control_main.cpp
+17 -10
View File
@@ -761,8 +761,8 @@ void MulticopterPositionControl::control_auto(float dt)
orb_copy(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_sub, &_pos_sp_triplet);
//Make sure that the position setpoint is valid
if (!isfinite(_pos_sp_triplet.current.lat) ||
!isfinite(_pos_sp_triplet.current.lon) ||
if (!isfinite(_pos_sp_triplet.current.lat) ||
!isfinite(_pos_sp_triplet.current.lon) ||
!isfinite(_pos_sp_triplet.current.alt)) {
_pos_sp_triplet.current.valid = false;
}
@@ -1367,7 +1367,7 @@ MulticopterPositionControl::task_main()
} else if (yaw_offs > YAW_OFFSET_MAX) {
_att_sp.yaw_body = _wrap_pi(_att.yaw + YAW_OFFSET_MAX);
}
}
}
//Control roll and pitch directly if we no aiding velocity controller is active
@@ -1388,15 +1388,22 @@ MulticopterPositionControl::task_main()
_att_sp.timestamp = hrt_absolute_time();
}
else {
reset_yaw_sp = true;
reset_yaw_sp = true;
}
// publish attitude setpoint
if (_att_sp_pub > 0) {
orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &_att_sp);
/* publish attitude setpoint
* Do not publish if offboard is enabled but position/velocity control is disabled,
* in this case the attitude setpoint is published by the mavlink app
*/
if (!(_control_mode.flag_control_offboard_enabled &&
!(_control_mode.flag_control_position_enabled ||
_control_mode.flag_control_velocity_enabled))) {
if (_att_sp_pub > 0) {
orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &_att_sp);
} else {
_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_att_sp);
} else {
_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_att_sp);
}
}
/* reset altitude controller integral (hovering throttle) to manual throttle after manual throttle control */
@@ -1419,7 +1426,7 @@ MulticopterPositionControl::start()
_control_task = task_spawn_cmd("mc_pos_control",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
2000,
1800,
(main_t)&MulticopterPositionControl::task_main_trampoline,
nullptr);
src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp
+12 -5
View File
@@ -1015,12 +1015,19 @@ void MulticopterPositionControl::handle_vehicle_attitude(const px4_vehicle_atti
reset_yaw_sp = true;
}
/* publish attitude setpoint */
if (_att_sp_pub != nullptr) {
_att_sp_pub->publish(_att_sp_msg);
/* publish attitude setpoint
* Do not publish if offboard is enabled but position/velocity control is disabled, in this case the attitude setpoint
* is published by the mavlink app
*/
if (!(_control_mode->data().flag_control_offboard_enabled &&
!(_control_mode->data().flag_control_position_enabled ||
_control_mode->data().flag_control_velocity_enabled))) {
if (_att_sp_pub != nullptr) {
_att_sp_pub->publish(_att_sp_msg);
} else {
_att_sp_pub = _n.advertise<px4_vehicle_attitude_setpoint>();
} else {
_att_sp_pub = _n.advertise<px4_vehicle_attitude_setpoint>();
}
}
/* reset altitude controller integral (hovering throttle) to manual throttle after manual throttle control */
src/modules/mc_pos_control_multiplatform/mc_pos_control_start_nuttx.cpp
+1 -1
View File
@@ -71,7 +71,7 @@ int mc_pos_control_m_main(int argc, char *argv[])
daemon_task = task_spawn_cmd("mc_pos_control_m",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
3000,
2500,
main,
(argv) ? (char* const*)&argv[2] : (char* const*)NULL);
src/modules/navigator/rtl_params.c
+1 -1
View File
@@ -83,7 +83,7 @@ PARAM_DEFINE_FLOAT(RTL_RETURN_ALT, 60);
* @max 100
* @group RTL
*/
PARAM_DEFINE_FLOAT(RTL_DESCEND_ALT, 20);
PARAM_DEFINE_FLOAT(RTL_DESCEND_ALT, 30);
/**
* RTL delay
src/modules/position_estimator_inav/position_estimator_inav_params.c
+14
View File
@@ -288,6 +288,20 @@ PARAM_DEFINE_FLOAT(INAV_DELAY_GPS, 0.2f);
*/
PARAM_DEFINE_INT32(CBRK_NO_VISION, 0);
/**
* INAV enabled
*
* If set to 1, use INAV for position estimation
* the system uses the compined attitude / position
* filter framework.
*
* @min 0.0
* @max 1.0
* @unit s
* @group Position Estimator INAV
*/
PARAM_DEFINE_INT32(INAV_ENABLED, 0);
int parameters_init(struct position_estimator_inav_param_handles *h)
{
h->w_z_baro = param_find("INAV_W_Z_BARO");
src/modules/sensors/sensor_params.c
+33 -3
View File
@@ -130,7 +130,7 @@ PARAM_DEFINE_INT32(CAL_MAG0_ID, 0);
* @max 30
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_MAG0_ROT, 0);
PARAM_DEFINE_INT32(CAL_MAG0_ROT, -1);
/**
* Magnetometer X-axis offset
@@ -308,7 +308,7 @@ PARAM_DEFINE_INT32(CAL_MAG1_ID, 0);
* @max 30
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_MAG1_ROT, 0);
PARAM_DEFINE_INT32(CAL_MAG1_ROT, -1);
/**
* Magnetometer X-axis offset
@@ -486,7 +486,7 @@ PARAM_DEFINE_INT32(CAL_MAG2_ID, 0);
* @max 30
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_MAG2_ROT, 0);
PARAM_DEFINE_INT32(CAL_MAG2_ROT, -1);
/**
* Magnetometer X-axis offset
@@ -993,6 +993,36 @@ PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.00459340659f);
PARAM_DEFINE_FLOAT(BAT_C_SCALING, 0.0124); /* scaling for 3DR power brick */
/**
* RC channel count
*
* This parameter is used by Ground Station software to save the number
* of channels which were used during RC calibration. It is only meant
* for ground station use.
*
* @min 0
* @max 18
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_CHAN_CNT, 0);
/**
* RC mode switch threshold automaic distribution
*
* This parameter is used by Ground Station software to specify whether
* the threshold values for flight mode switches were automatically calculated.
* 0 indicates that the threshold values were set by the user. Any other value
* indicates that the threshold value where automatically set by the ground
* station software. It is only meant for ground station use.
*
* @min 0
* @max 1
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_TH_USER, 1);
/**
* Roll control channel mapping.
*
src/modules/sensors/sensors.cpp
+12 -2
View File
@@ -1511,14 +1511,21 @@ Sensors::parameter_update_poll(bool forced)
if (ioctl(fd, MAGIOCGEXTERNAL, 0) <= 0) {
/* mag is internal */
_mag_rotation[s] = _board_rotation;
/* reset param to -1 to indicate external mag */
/* reset param to -1 to indicate internal mag */
int32_t minus_one = MAG_ROT_VAL_INTERNAL;
param_set_no_notification(param_find(str), &minus_one);
} else {
int32_t mag_rot = 0;
int32_t mag_rot;
param_get(param_find(str), &mag_rot);
/* check if this mag is still set as internal */
if (mag_rot < 0) {
/* it was marked as internal, change to external with no rotation */
mag_rot = 0;
param_set_no_notification(param_find(str), &mag_rot);
}
/* handling of old setups, will be removed later (noted Feb 2015) */
int32_t deprecated_mag_rot = 0;
param_get(param_find("SENS_EXT_MAG_ROT"), &deprecated_mag_rot);
@@ -1536,6 +1543,9 @@ Sensors::parameter_update_poll(bool forced)
if ((deprecated_mag_rot != 0) && (mag_rot <= 0)) {
mag_rot = deprecated_mag_rot;
param_set_no_notification(param_find(str), &mag_rot);
/* clear the old param, not supported in GUI anyway */
deprecated_mag_rot = 0;
param_set_no_notification(param_find("SENS_EXT_MAG_ROT"), &deprecated_mag_rot);
}
/* handling of transition from internal to external */
src/modules/uORB/objects_common.cpp
+2 -2
View File
@@ -163,8 +163,8 @@ ORB_DEFINE(manual_control_setpoint, struct manual_control_setpoint_s);
#include "topics/vehicle_control_debug.h"
ORB_DEFINE(vehicle_control_debug, struct vehicle_control_debug_s);
#include "topics/offboard_control_setpoint.h"
ORB_DEFINE(offboard_control_setpoint, struct offboard_control_setpoint_s);
#include "topics/offboard_control_mode.h"
ORB_DEFINE(offboard_control_mode, struct offboard_control_mode_s);
#include "topics/optical_flow.h"
ORB_DEFINE(optical_flow, struct optical_flow_s);
src/modules/uORB/topics/offboard_control_setpoint.h
-276
View File
@@ -1,276 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
*
* 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 offboard_control_setpoint.h
* Definition of the manual_control_setpoint uORB topic.
*/
#ifndef TOPIC_OFFBOARD_CONTROL_SETPOINT_H_
#define TOPIC_OFFBOARD_CONTROL_SETPOINT_H_
#include <stdint.h>
#include "../uORB.h"
/**
* Off-board control inputs.
*
* Typically sent by a ground control station / joystick or by
* some off-board controller via C or SIMULINK.
*/
enum OFFBOARD_CONTROL_MODE {
OFFBOARD_CONTROL_MODE_DIRECT = 0,
OFFBOARD_CONTROL_MODE_DIRECT_RATES = 1,
OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE = 2,
OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED = 3,
OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_OFFSET_NED = 4,
OFFBOARD_CONTROL_MODE_DIRECT_BODY_NED = 5,
OFFBOARD_CONTROL_MODE_DIRECT_BODY_OFFSET_NED = 6,
OFFBOARD_CONTROL_MODE_DIRECT_GLOBAL = 7,
OFFBOARD_CONTROL_MODE_DIRECT_FORCE = 8,
OFFBOARD_CONTROL_MODE_ATT_YAW_RATE = 9,
OFFBOARD_CONTROL_MODE_ATT_YAW_POS = 10,
OFFBOARD_CONTROL_MODE_MULTIROTOR_SIMPLE = 11 /**< roll / pitch rotated aligned to the takeoff orientation, throttle stabilized, yaw pos */
};
enum OFFBOARD_CONTROL_FRAME {
OFFBOARD_CONTROL_FRAME_LOCAL_NED = 0,
OFFBOARD_CONTROL_FRAME_LOCAL_OFFSET_NED = 1,
OFFBOARD_CONTROL_FRAME_BODY_NED = 2,
OFFBOARD_CONTROL_FRAME_BODY_OFFSET_NED = 3,
OFFBOARD_CONTROL_FRAME_GLOBAL = 4
};
/* mappings for the ignore bitmask */
enum {OFB_IGN_BIT_POS_X,
OFB_IGN_BIT_POS_Y,
OFB_IGN_BIT_POS_Z,
OFB_IGN_BIT_VEL_X,
OFB_IGN_BIT_VEL_Y,
OFB_IGN_BIT_VEL_Z,
OFB_IGN_BIT_ACC_X,
OFB_IGN_BIT_ACC_Y,
OFB_IGN_BIT_ACC_Z,
OFB_IGN_BIT_BODYRATE_X,
OFB_IGN_BIT_BODYRATE_Y,
OFB_IGN_BIT_BODYRATE_Z,
OFB_IGN_BIT_ATT,
OFB_IGN_BIT_THRUST,
OFB_IGN_BIT_YAW,
OFB_IGN_BIT_YAWRATE,
};
/**
* @addtogroup topics
* @{
*/
struct offboard_control_setpoint_s {
uint64_t timestamp;
enum OFFBOARD_CONTROL_MODE mode; /**< The current control inputs mode */
double position[3]; /**< lat, lon, alt / x, y, z */
float velocity[3]; /**< x vel, y vel, z vel */
float acceleration[3]; /**< x acc, y acc, z acc */
float attitude[4]; /**< attitude of vehicle (quaternion) */
float attitude_rate[3]; /**< body angular rates (x, y, z) */
float thrust; /**< thrust */
float yaw; /**< yaw: this is the yaw from the position_target message
(not from the full attitude_target message) */
float yaw_rate; /**< yaw rate: this is the yaw from the position_target message
(not from the full attitude_target message) */
uint16_t ignore; /**< if field i is set to true, the value should be ignored, see definition at top of file
for mapping */
bool isForceSetpoint; /**< the acceleration vector should be interpreted as force */
float override_mode_switch;
float aux1_cam_pan_flaps;
float aux2_cam_tilt;
float aux3_cam_zoom;
float aux4_cam_roll;
}; /**< offboard control inputs */
/**
* @}
*/
/**
* Returns true if the position setpoint at index should be ignored
*/
inline bool offboard_control_sp_ignore_position(const struct offboard_control_setpoint_s &offboard_control_sp, int index) {
return (bool)(offboard_control_sp.ignore & (1 << (OFB_IGN_BIT_POS_X + index)));
}
/**
* Returns true if all position setpoints should be ignored
*/
inline bool offboard_control_sp_ignore_position_all(const struct offboard_control_setpoint_s &offboard_control_sp) {
for (int i = 0; i < 3; i++) {
if (!offboard_control_sp_ignore_position(offboard_control_sp, i)) {
return false;
}
}
return true;
}
/**
* Returns true if some position setpoints should be ignored
*/
inline bool offboard_control_sp_ignore_position_some(const struct offboard_control_setpoint_s &offboard_control_sp) {
for (int i = 0; i < 3; i++) {
if (offboard_control_sp_ignore_position(offboard_control_sp, i)) {
return true;
}
}
return false;
}
/**
* Returns true if the velocity setpoint at index should be ignored
*/
inline bool offboard_control_sp_ignore_velocity(const struct offboard_control_setpoint_s &offboard_control_sp, int index) {
return (bool)(offboard_control_sp.ignore & (1 << (OFB_IGN_BIT_VEL_X + index)));
}
/**
* Returns true if all velocity setpoints should be ignored
*/
inline bool offboard_control_sp_ignore_velocity_all(const struct offboard_control_setpoint_s &offboard_control_sp) {
for (int i = 0; i < 3; i++) {
if (!offboard_control_sp_ignore_velocity(offboard_control_sp, i)) {
return false;
}
}
return true;
}
/**
* Returns true if some velocity setpoints should be ignored
*/
inline bool offboard_control_sp_ignore_velocity_some(const struct offboard_control_setpoint_s &offboard_control_sp) {
for (int i = 0; i < 3; i++) {
if (offboard_control_sp_ignore_velocity(offboard_control_sp, i)) {
return true;
}
}
return false;
}
/**
* Returns true if the acceleration setpoint at index should be ignored
*/
inline bool offboard_control_sp_ignore_acceleration(const struct offboard_control_setpoint_s &offboard_control_sp, int index) {
return (bool)(offboard_control_sp.ignore & (1 << (OFB_IGN_BIT_ACC_X + index)));
}
/**
* Returns true if all acceleration setpoints should be ignored
*/
inline bool offboard_control_sp_ignore_acceleration_all(const struct offboard_control_setpoint_s &offboard_control_sp) {
for (int i = 0; i < 3; i++) {
if (!offboard_control_sp_ignore_acceleration(offboard_control_sp, i)) {
return false;
}
}
return true;
}
/**
* Returns true if some acceleration setpoints should be ignored
*/
inline bool offboard_control_sp_ignore_acceleration_some(const struct offboard_control_setpoint_s &offboard_control_sp) {
for (int i = 0; i < 3; i++) {
if (offboard_control_sp_ignore_acceleration(offboard_control_sp, i)) {
return true;
}
}
return false;
}
/**
* Returns true if the bodyrate setpoint at index should be ignored
*/
inline bool offboard_control_sp_ignore_bodyrates(const struct offboard_control_setpoint_s &offboard_control_sp, int index) {
return (bool)(offboard_control_sp.ignore & (1 << (OFB_IGN_BIT_BODYRATE_X + index)));
}
/**
* Returns true if some of the bodyrate setpoints should be ignored
*/
inline bool offboard_control_sp_ignore_bodyrates_some(const struct offboard_control_setpoint_s &offboard_control_sp) {
for (int i = 0; i < 3; i++) {
if (offboard_control_sp_ignore_bodyrates(offboard_control_sp, i)) {
return true;
}
}
return false;
}
/**
* Returns true if the attitude setpoint should be ignored
*/
inline bool offboard_control_sp_ignore_attitude(const struct offboard_control_setpoint_s &offboard_control_sp) {
return (bool)(offboard_control_sp.ignore & (1 << OFB_IGN_BIT_ATT));
}
/**
* Returns true if the thrust setpoint should be ignored
*/
inline bool offboard_control_sp_ignore_thrust(const struct offboard_control_setpoint_s &offboard_control_sp) {
return (bool)(offboard_control_sp.ignore & (1 << OFB_IGN_BIT_THRUST));
}
/**
* Returns true if the yaw setpoint should be ignored
*/
inline bool offboard_control_sp_ignore_yaw(const struct offboard_control_setpoint_s &offboard_control_sp) {
return (bool)(offboard_control_sp.ignore & (1 << OFB_IGN_BIT_YAW));
}
/**
* Returns true if the yaw rate setpoint should be ignored
*/
inline bool offboard_control_sp_ignore_yawrate(const struct offboard_control_setpoint_s &offboard_control_sp) {
return (bool)(offboard_control_sp.ignore & (1 << OFB_IGN_BIT_YAWRATE));
}
/* register this as object request broker structure */
ORB_DECLARE(offboard_control_setpoint);
#endif
src/modules/uORB/uORB.cpp
+115 -10
View File
@@ -684,6 +684,8 @@ namespace
ORBDevMaster *g_dev;
bool pubsubtest_passed = false;
bool pubsubtest_print = false;
int pubsubtest_res = OK;
struct orb_test {
int val;
@@ -693,6 +695,22 @@ struct orb_test {
ORB_DEFINE(orb_test, struct orb_test);
ORB_DEFINE(orb_multitest, struct orb_test);
struct orb_test_medium {
int val;
hrt_abstime time;
char junk[64];
};
ORB_DEFINE(orb_test_medium, struct orb_test_medium);
struct orb_test_large {
int val;
hrt_abstime time;
char junk[512];
};
ORB_DEFINE(orb_test_large, struct orb_test_large);
int
test_fail(const char *fmt, ...)
{
@@ -727,21 +745,44 @@ int pubsublatency_main(void)
float latency_integral = 0.0f;
/* wakeup source(s) */
struct pollfd fds[1];
struct pollfd fds[3];
int test_multi_sub = orb_subscribe_multi(ORB_ID(orb_multitest), 0);
int test_multi_sub = orb_subscribe_multi(ORB_ID(orb_test), 0);
int test_multi_sub_medium = orb_subscribe_multi(ORB_ID(orb_test_medium), 0);
int test_multi_sub_large = orb_subscribe_multi(ORB_ID(orb_test_large), 0);
struct orb_test_large t;
/* clear all ready flags */
orb_copy(ORB_ID(orb_test), test_multi_sub, &t);
orb_copy(ORB_ID(orb_test_medium), test_multi_sub_medium, &t);
orb_copy(ORB_ID(orb_test_large), test_multi_sub_large, &t);
fds[0].fd = test_multi_sub;
fds[0].events = POLLIN;
fds[1].fd = test_multi_sub_medium;
fds[1].events = POLLIN;
fds[2].fd = test_multi_sub_large;
fds[2].events = POLLIN;
struct orb_test t;
const unsigned maxruns = 1000;
unsigned timingsgroup = 0;
const unsigned maxruns = 10;
unsigned *timings = new unsigned[maxruns];
for (unsigned i = 0; i < maxruns; i++) {
/* wait for up to 500ms for data */
int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 500);
orb_copy(ORB_ID(orb_multitest), test_multi_sub, &t);
if (fds[0].revents & POLLIN) {
orb_copy(ORB_ID(orb_test), test_multi_sub, &t);
timingsgroup = 0;
} else if (fds[1].revents & POLLIN) {
orb_copy(ORB_ID(orb_test_medium), test_multi_sub_medium, &t);
timingsgroup = 1;
} else if (fds[2].revents & POLLIN) {
orb_copy(ORB_ID(orb_test_large), test_multi_sub_large, &t);
timingsgroup = 2;
}
if (pret < 0) {
warn("poll error %d, %d", pret, errno);
@@ -750,17 +791,46 @@ int pubsublatency_main(void)
hrt_abstime elt = hrt_elapsed_time(&t.time);
latency_integral += elt;
timings[i] = elt;
}
orb_unsubscribe(test_multi_sub);
orb_unsubscribe(test_multi_sub_medium);
orb_unsubscribe(test_multi_sub_large);
if (pubsubtest_print) {
char fname[32];
sprintf(fname, "/fs/microsd/timings%u.txt", timingsgroup);
FILE *f = fopen(fname, "w");
if (f == NULL) {
warnx("Error opening file!\n");
return ERROR;
}
for (unsigned i = 0; i < maxruns; i++) {
fprintf(f, "%u\n", timings[i]);
}
fclose(f);
}
delete[] timings;
warnx("mean: %8.4f", static_cast<double>(latency_integral / maxruns));
pubsubtest_passed = true;
return OK;
if (static_cast<float>(latency_integral / maxruns) > 30.0f) {
pubsubtest_res = ERROR;
} else {
pubsubtest_res = OK;
}
return pubsubtest_res;
}
template<typename S> int latency_test(orb_id_t T, bool print);
int
test()
{
@@ -874,6 +944,25 @@ test()
if (prio != ORB_PRIO_MIN)
return test_fail("prio: %d", prio);
if (OK != latency_test<struct orb_test>(ORB_ID(orb_test), false))
return test_fail("latency test failed");
return test_note("PASS");
}
template<typename S> int
latency_test(orb_id_t T, bool print)
{
S t;
t.val = 308;
t.time = hrt_absolute_time();
int pfd0 = orb_advertise(T, &t);
pubsubtest_print = print;
pubsubtest_passed = false;
/* test pub / sub latency */
int pubsub_task = task_spawn_cmd("uorb_latency",
@@ -885,20 +974,22 @@ test()
/* give the test task some data */
while (!pubsubtest_passed) {
t.val = 303;
t.val = 308;
t.time = hrt_absolute_time();
if (OK != orb_publish(ORB_ID(orb_multitest), pfd0, &t))
if (OK != orb_publish(T, pfd0, &t))
return test_fail("mult. pub0 timing fail");
/* simulate >800 Hz system operation */
usleep(1000);
}
close(pfd0);
if (pubsub_task < 0) {
return test_fail("failed launching task");
}
return test_note("PASS");
return pubsubtest_res;
}
int
@@ -955,13 +1046,27 @@ uorb_main(int argc, char *argv[])
if (!strcmp(argv[1], "test"))
return test();
/*
* Test the latency.
*/
if (!strcmp(argv[1], "latency_test")) {
if (argc > 2 && !strcmp(argv[2], "medium")) {
return latency_test<struct orb_test_medium>(ORB_ID(orb_test_medium), true);
} else if (argc > 2 && !strcmp(argv[2], "large")) {
return latency_test<struct orb_test_large>(ORB_ID(orb_test_large), true);
} else {
return latency_test<struct orb_test>(ORB_ID(orb_test), true);
}
}
/*
* Print driver information.
*/
if (!strcmp(argv[1], "status"))
return info();
errx(-EINVAL, "unrecognized command, try 'start', 'test' or 'status'");
errx(-EINVAL, "unrecognized command, try 'start', 'test', 'latency_test' or 'status'");
}
/*
src/modules/vtol_att_control/vtol_att_control_main.cpp
+28 -18
View File
@@ -782,18 +782,23 @@ void VtolAttitudeControl::task_main()
fill_mc_att_control_output();
fill_mc_att_rates_sp();
if (_actuators_0_pub > 0) {
orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators_out_0);
/* Only publish if the proper mode(s) are enabled */
if(_v_control_mode.flag_control_attitude_enabled ||
_v_control_mode.flag_control_rates_enabled)
{
if (_actuators_0_pub > 0) {
orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators_out_0);
} else {
_actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators_out_0);
}
} else {
_actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators_out_0);
}
if (_actuators_1_pub > 0) {
orb_publish(ORB_ID(actuator_controls_1), _actuators_1_pub, &_actuators_out_1);
if (_actuators_1_pub > 0) {
orb_publish(ORB_ID(actuator_controls_1), _actuators_1_pub, &_actuators_out_1);
} else {
_actuators_1_pub = orb_advertise(ORB_ID(actuator_controls_1), &_actuators_out_1);
} else {
_actuators_1_pub = orb_advertise(ORB_ID(actuator_controls_1), &_actuators_out_1);
}
}
}
}
@@ -813,18 +818,23 @@ void VtolAttitudeControl::task_main()
fill_fw_att_control_output();
fill_fw_att_rates_sp();
if (_actuators_0_pub > 0) {
orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators_out_0);
/* Only publish if the proper mode(s) are enabled */
if(_v_control_mode.flag_control_attitude_enabled ||
_v_control_mode.flag_control_rates_enabled)
{
if (_actuators_0_pub > 0) {
orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators_out_0);
} else {
_actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators_out_0);
}
} else {
_actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators_out_0);
}
if (_actuators_1_pub > 0) {
orb_publish(ORB_ID(actuator_controls_1), _actuators_1_pub, &_actuators_out_1);
if (_actuators_1_pub > 0) {
orb_publish(ORB_ID(actuator_controls_1), _actuators_1_pub, &_actuators_out_1);
} else {
_actuators_1_pub = orb_advertise(ORB_ID(actuator_controls_1), &_actuators_out_1);
} else {
_actuators_1_pub = orb_advertise(ORB_ID(actuator_controls_1), &_actuators_out_1);
}
}
}
}
src/platforms/px4_includes.h
+4
View File
@@ -66,6 +66,8 @@
#include <px4_vehicle_global_velocity_setpoint.h>
#include <px4_vehicle_local_position.h>
#include <px4_position_setpoint_triplet.h>
#include <px4_offboard_control_mode.h>
#include <px4_vehicle_force_setpoint.h>
#endif
#else
@@ -93,6 +95,8 @@
#include <platforms/nuttx/px4_messages/px4_vehicle_global_velocity_setpoint.h>
#include <platforms/nuttx/px4_messages/px4_vehicle_local_position.h>
#include <platforms/nuttx/px4_messages/px4_position_setpoint_triplet.h>
#include <platforms/nuttx/px4_messages/px4_offboard_control_mode.h>
#include <platforms/nuttx/px4_messages/px4_vehicle_force_setpoint.h>
#endif
#include <systemlib/err.h>
#include <systemlib/param/param.h>
src/platforms/ros/nodes/commander/commander.cpp
+76 -1
View File
@@ -45,18 +45,25 @@
Commander::Commander() :
_n(),
_man_ctrl_sp_sub(_n.subscribe("manual_control_setpoint", 10, &Commander::ManualControlInputCallback, this)),
_offboard_control_mode_sub(_n.subscribe("offboard_control_mode", 10, &Commander::OffboardControlModeCallback, this)),
_vehicle_control_mode_pub(_n.advertise<px4::vehicle_control_mode>("vehicle_control_mode", 10)),
_actuator_armed_pub(_n.advertise<px4::actuator_armed>("actuator_armed", 10)),
_vehicle_status_pub(_n.advertise<px4::vehicle_status>("vehicle_status", 10)),
_parameter_update_pub(_n.advertise<px4::parameter_update>("parameter_update", 10)),
_msg_parameter_update(),
_msg_actuator_armed(),
_msg_vehicle_control_mode()
_msg_vehicle_control_mode(),
_msg_offboard_control_mode(),
_got_manual_control(false)
{
/* Default to offboard control: when no joystick is connected offboard control should just work */
}
void Commander::ManualControlInputCallback(const px4::manual_control_setpointConstPtr &msg)
{
_got_manual_control = true;
px4::vehicle_status msg_vehicle_status;
/* fill vehicle control mode based on (faked) stick positions*/
@@ -101,12 +108,51 @@ void Commander::ManualControlInputCallback(const px4::manual_control_setpointCon
}
}
void Commander::SetOffboardControl(const px4::offboard_control_mode &msg_offboard_control_mode,
px4::vehicle_control_mode &msg_vehicle_control_mode)
{
msg_vehicle_control_mode.flag_control_manual_enabled = false;
msg_vehicle_control_mode.flag_control_offboard_enabled = true;
msg_vehicle_control_mode.flag_control_auto_enabled = false;
msg_vehicle_control_mode.flag_control_rates_enabled = !msg_offboard_control_mode.ignore_bodyrate ||
!msg_offboard_control_mode.ignore_attitude ||
!msg_offboard_control_mode.ignore_position ||
!msg_offboard_control_mode.ignore_velocity ||
!msg_offboard_control_mode.ignore_acceleration_force;
msg_vehicle_control_mode.flag_control_attitude_enabled = !msg_offboard_control_mode.ignore_attitude ||
!msg_offboard_control_mode.ignore_position ||
!msg_offboard_control_mode.ignore_velocity ||
!msg_offboard_control_mode.ignore_acceleration_force;
msg_vehicle_control_mode.flag_control_velocity_enabled = !msg_offboard_control_mode.ignore_velocity ||
!msg_offboard_control_mode.ignore_position;
msg_vehicle_control_mode.flag_control_climb_rate_enabled = !msg_offboard_control_mode.ignore_velocity ||
!msg_offboard_control_mode.ignore_position;
msg_vehicle_control_mode.flag_control_position_enabled = !msg_offboard_control_mode.ignore_position;
msg_vehicle_control_mode.flag_control_altitude_enabled = !msg_offboard_control_mode.ignore_position;
}
void Commander::EvalSwitches(const px4::manual_control_setpointConstPtr &msg,
px4::vehicle_status &msg_vehicle_status,
px4::vehicle_control_mode &msg_vehicle_control_mode) {
// XXX this is a minimal implementation. If more advanced functionalities are
// needed consider a full port of the commander
if (msg->offboard_switch == px4::manual_control_setpoint::SWITCH_POS_ON)
{
SetOffboardControl(_msg_offboard_control_mode, msg_vehicle_control_mode);
return;
}
msg_vehicle_control_mode.flag_control_offboard_enabled = false;
switch (msg->mode_switch) {
case px4::manual_control_setpoint::SWITCH_POS_NONE:
ROS_WARN("Joystick button mapping error, main mode not set");
@@ -152,6 +198,35 @@ void Commander::EvalSwitches(const px4::manual_control_setpointConstPtr &msg,
}
void Commander::OffboardControlModeCallback(const px4::offboard_control_modeConstPtr &msg)
{
_msg_offboard_control_mode = *msg;
/* Force system into offboard control mode */
if (!_got_manual_control) {
SetOffboardControl(_msg_offboard_control_mode, _msg_vehicle_control_mode);
px4::vehicle_status msg_vehicle_status;
msg_vehicle_status.timestamp = px4::get_time_micros();
msg_vehicle_status.hil_state = msg_vehicle_status.HIL_STATE_OFF;
msg_vehicle_status.hil_state = msg_vehicle_status.VEHICLE_TYPE_QUADROTOR;
msg_vehicle_status.is_rotary_wing = true;
msg_vehicle_status.arming_state = msg_vehicle_status.ARMING_STATE_ARMED;
_msg_actuator_armed.armed = true;
_msg_actuator_armed.timestamp = px4::get_time_micros();
_msg_vehicle_control_mode.timestamp = px4::get_time_micros();
_msg_vehicle_control_mode.flag_armed = true;
_vehicle_control_mode_pub.publish(_msg_vehicle_control_mode);
_actuator_armed_pub.publish(_msg_actuator_armed);
_vehicle_status_pub.publish(msg_vehicle_status);
}
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "commander");
src/platforms/ros/nodes/commander/commander.h
+16
View File
@@ -44,6 +44,7 @@
#include <px4/vehicle_status.h>
#include <px4/parameter_update.h>
#include <px4/actuator_armed.h>
#include <px4/offboard_control_mode.h>
class Commander
{
@@ -58,6 +59,11 @@ protected:
*/
void ManualControlInputCallback(const px4::manual_control_setpointConstPtr &msg);
/**
* Stores the offboard control mode
*/
void OffboardControlModeCallback(const px4::offboard_control_modeConstPtr &msg);
/**
* Set control mode flags based on stick positions (equiv to code in px4 commander)
*/
@@ -65,8 +71,15 @@ protected:
px4::vehicle_status &msg_vehicle_status,
px4::vehicle_control_mode &msg_vehicle_control_mode);
/**
* Sets offboard controll flags in msg_vehicle_control_mode
*/
void SetOffboardControl(const px4::offboard_control_mode &msg_offboard_control_mode,
px4::vehicle_control_mode &msg_vehicle_control_mode);
ros::NodeHandle _n;
ros::Subscriber _man_ctrl_sp_sub;
ros::Subscriber _offboard_control_mode_sub;
ros::Publisher _vehicle_control_mode_pub;
ros::Publisher _actuator_armed_pub;
ros::Publisher _vehicle_status_pub;
@@ -75,5 +88,8 @@ protected:
px4::parameter_update _msg_parameter_update;
px4::actuator_armed _msg_actuator_armed;
px4::vehicle_control_mode _msg_vehicle_control_mode;
px4::offboard_control_mode _msg_offboard_control_mode;
bool _got_manual_control;
};
src/platforms/ros/nodes/demo_offboard_attitude_setpoints/demo_offboard_attitude_setpoints.cpp
+85
View File
@@ -0,0 +1,85 @@
/****************************************************************************
*
* Copyright (c) 2015 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 demo_offboard_position_Setpoints.cpp
*
* Demo for sending offboard position setpoints to mavros to show offboard position control in SITL
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include "demo_offboard_attitude_setpoints.h"
#include <platforms/px4_middleware.h>
#include <geometry_msgs/PoseStamped.h>
#include <std_msgs/Float64.h>
#include <math.h>
#include <tf/transform_datatypes.h>
DemoOffboardAttitudeSetpoints::DemoOffboardAttitudeSetpoints() :
_n(),
_attitude_sp_pub(_n.advertise<geometry_msgs::PoseStamped>("mavros/setpoint/attitude", 1)),
_thrust_sp_pub(_n.advertise<std_msgs::Float64>("mavros/setpoint/att_throttle", 1))
{
}
int DemoOffboardAttitudeSetpoints::main()
{
px4::Rate loop_rate(10);
while (ros::ok()) {
loop_rate.sleep();
ros::spinOnce();
/* Publish example offboard attitude setpoint */
geometry_msgs::PoseStamped pose;
tf::Quaternion q = tf::createQuaternionFromRPY(0.0, 0.1 * (sinf(0.5 * (float)px4::get_time_micros() / 1000000.0f)) , 0.0);
quaternionTFToMsg(q, pose.pose.orientation);
_attitude_sp_pub.publish(pose);
std_msgs::Float64 thrust;
thrust.data = 0.4f + 0.25 * (sinf((float)px4::get_time_micros() / 1000000.0f)); // just some example throttle input that makes the quad 'jump'
_thrust_sp_pub.publish(thrust);
}
return 0;
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "demo_offboard_position_setpoints");
DemoOffboardAttitudeSetpoints d;
return d.main();
}
src/modules/uORB/topics/vehicle_force_setpoint.h → src/platforms/ros/nodes/demo_offboard_attitude_setpoints/demo_offboard_attitude_setpoints.h
+19 -26
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2014 PX4 Development Team. All rights reserved.
* Copyright (c) 2015 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
@@ -32,34 +32,27 @@
****************************************************************************/
/**
* @file vehicle_force_setpoint.h
* @file demo_offboard_attitude_Setpoints.h
*
* Demo for sending offboard position setpoints to mavros to show offboard position control in SITL
*
* @author Thomas Gubler <thomasgubler@gmail.com>
* Definition of force (NED) setpoint uORB topic. Typically this can be used
* by a position control app together with an attitude control app.
*/
*/
#ifndef TOPIC_VEHICLE_FORCE_SETPOINT_H_
#define TOPIC_VEHICLE_FORCE_SETPOINT_H_
#include "ros/ros.h"
#include <px4/manual_control_setpoint.h>
#include "../uORB.h"
class DemoOffboardAttitudeSetpoints
{
public:
DemoOffboardAttitudeSetpoints();
/**
* @addtogroup topics
* @{
*/
~DemoOffboardAttitudeSetpoints() {}
struct vehicle_force_setpoint_s {
float x; /**< in N NED */
float y; /**< in N NED */
float z; /**< in N NED */
float yaw; /**< right-hand rotation around downward axis (rad, equivalent to Tait-Bryan yaw) */
}; /**< Desired force in NED frame */
int main();
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(vehicle_force_setpoint);
#endif
protected:
ros::NodeHandle _n;
ros::Publisher _attitude_sp_pub;
ros::Publisher _thrust_sp_pub;
};
src/platforms/ros/nodes/demo_offboard_position_setpoints/demo_offboard_position_setpoints.cpp
+77
View File
@@ -0,0 +1,77 @@
/****************************************************************************
*
* Copyright (c) 2015 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 demo_offboard_position_Setpoints.cpp
*
* Demo for sending offboard position setpoints to mavros to show offboard position control in SITL
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include "demo_offboard_position_setpoints.h"
#include <platforms/px4_middleware.h>
#include <geometry_msgs/PoseStamped.h>
DemoOffboardPositionSetpoints::DemoOffboardPositionSetpoints() :
_n(),
_local_position_sp_pub(_n.advertise<geometry_msgs::PoseStamped>("mavros/setpoint/local_position", 1))
{
}
int DemoOffboardPositionSetpoints::main()
{
px4::Rate loop_rate(10);
while (ros::ok()) {
loop_rate.sleep();
ros::spinOnce();
/* Publish example offboard position setpoint */
geometry_msgs::PoseStamped pose;
pose.pose.position.x = 0;
pose.pose.position.y = 0;
pose.pose.position.z = 1;
_local_position_sp_pub.publish(pose);
}
return 0;
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "demo_offboard_position_setpoints");
DemoOffboardPositionSetpoints d;
return d.main();
}
src/platforms/ros/nodes/demo_offboard_position_setpoints/demo_offboard_position_setpoints.h
+57
View File
@@ -0,0 +1,57 @@
/****************************************************************************
*
* Copyright (c) 2015 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 demo_offboard_position_Setpoints.h
*
* Demo for sending offboard position setpoints to mavros to show offboard position control in SITL
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include "ros/ros.h"
#include <px4/manual_control_setpoint.h>
class DemoOffboardPositionSetpoints
{
public:
DemoOffboardPositionSetpoints();
~DemoOffboardPositionSetpoints() {}
int main();
protected:
ros::NodeHandle _n;
ros::Publisher _local_position_sp_pub;
};
src/platforms/ros/nodes/manual_input/manual_input.cpp
+15 -2
View File
@@ -76,7 +76,8 @@ ManualInput::ManualInput() :
_n.param("map_posctl", _param_buttons_map[2], 2);
_n.param("map_auto_mission", _param_buttons_map[3], 3);
_n.param("map_auto_loiter", _param_buttons_map[4], 4);
_n.param("map_auto_rtl", _param_buttons_map[5], 4);
_n.param("map_auto_rtl", _param_buttons_map[5], 5);
_n.param("map_offboard", _param_buttons_map[6], 6);
/* Default to manual */
_msg_mc_sp.mode_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
@@ -84,6 +85,8 @@ ManualInput::ManualInput() :
_msg_mc_sp.posctl_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
_msg_mc_sp.loiter_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
_msg_mc_sp.return_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
_msg_mc_sp.offboard_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
_msg_mc_sp.acro_switch = px4::manual_control_setpoint::SWITCH_POS_NONE;
}
@@ -120,7 +123,6 @@ void ManualInput::MapAxis(const sensor_msgs::JoyConstPtr &msg, int map_index, do
void ManualInput::MapButtons(const sensor_msgs::JoyConstPtr &msg, px4::manual_control_setpoint &msg_mc_sp) {
msg_mc_sp.acro_switch = px4::manual_control_setpoint::SWITCH_POS_NONE;
msg_mc_sp.offboard_switch = px4::manual_control_setpoint::SWITCH_POS_NONE;
if (_buttons_state[MAIN_STATE_MANUAL] != msg->buttons[_param_buttons_map[MAIN_STATE_MANUAL]] == true) {
msg_mc_sp.mode_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
@@ -128,6 +130,7 @@ void ManualInput::MapButtons(const sensor_msgs::JoyConstPtr &msg, px4::manual_co
msg_mc_sp.posctl_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
msg_mc_sp.loiter_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
msg_mc_sp.return_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
msg_mc_sp.offboard_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
return;
} else if (_buttons_state[MAIN_STATE_ALTCTL] != msg->buttons[_param_buttons_map[MAIN_STATE_ALTCTL]] == true) {
@@ -136,6 +139,7 @@ void ManualInput::MapButtons(const sensor_msgs::JoyConstPtr &msg, px4::manual_co
msg_mc_sp.posctl_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
msg_mc_sp.loiter_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
msg_mc_sp.return_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
msg_mc_sp.offboard_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
return;
} else if (_buttons_state[MAIN_STATE_POSCTL] != msg->buttons[_param_buttons_map[MAIN_STATE_POSCTL]] == true) {
@@ -144,6 +148,15 @@ void ManualInput::MapButtons(const sensor_msgs::JoyConstPtr &msg, px4::manual_co
msg_mc_sp.posctl_switch = px4::manual_control_setpoint::SWITCH_POS_ON;
msg_mc_sp.loiter_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
msg_mc_sp.return_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
msg_mc_sp.offboard_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
return;
} else if (_buttons_state[MAIN_STATE_OFFBOARD] != msg->buttons[_param_buttons_map[MAIN_STATE_OFFBOARD]] == true) {
msg_mc_sp.mode_switch = px4::manual_control_setpoint::SWITCH_POS_MIDDLE;
msg_mc_sp.return_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
msg_mc_sp.posctl_switch = px4::manual_control_setpoint::SWITCH_POS_ON;
msg_mc_sp.loiter_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
msg_mc_sp.return_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
msg_mc_sp.offboard_switch = px4::manual_control_setpoint::SWITCH_POS_ON;
return;
}
src/platforms/ros/nodes/manual_input/manual_input.h
+2
View File
@@ -77,6 +77,8 @@ protected:
MAIN_STATE_AUTO_MISSION,
MAIN_STATE_AUTO_LOITER,
MAIN_STATE_AUTO_RTL,
// MAIN_STATE_ACRO,
MAIN_STATE_OFFBOARD,
MAIN_STATE_MAX
};
src/platforms/ros/nodes/mavlink/mavlink.cpp
+296
View File
@@ -0,0 +1,296 @@
/****************************************************************************
*
* Copyright (c) 2015 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 mavlink.cpp
* Dummy mavlink node that interfaces to a mavros node via UDP
* This simulates the onboard mavlink app to some degree. It should be possible to
* send offboard setpoints via mavros to the SITL setup the same way as on the real system
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include "mavlink.h"
#include <platforms/px4_middleware.h>
using namespace px4;
Mavlink::Mavlink() :
_n(),
_v_att_sub(_n.subscribe("vehicle_attitude", 1, &Mavlink::VehicleAttitudeCallback, this)),
_v_local_pos_sub(_n.subscribe("vehicle_local_position", 1, &Mavlink::VehicleLocalPositionCallback, this)),
_v_att_sp_pub(_n.advertise<vehicle_attitude_setpoint>("vehicle_attitude_setpoint", 1)),
_pos_sp_triplet_pub(_n.advertise<position_setpoint_triplet>("position_setpoint_triplet", 1)),
_offboard_control_mode_pub(_n.advertise<offboard_control_mode>("offboard_control_mode", 1)),
_force_sp_pub(_n.advertise<vehicle_force_setpoint>("vehicle_force_setpoint", 1))
{
_link = mavconn::MAVConnInterface::open_url("udp://localhost:14565@localhost:14560");
_link->message_received.connect(boost::bind(&Mavlink::handle_msg, this, _1, _2, _3));
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "mavlink");
Mavlink m;
ros::spin();
return 0;
}
void Mavlink::VehicleAttitudeCallback(const vehicle_attitudeConstPtr &msg)
{
mavlink_message_t msg_m;
mavlink_msg_attitude_quaternion_pack_chan(
_link->get_system_id(),
_link->get_component_id(),
_link->get_channel(),
&msg_m,
get_time_micros() / 1000,
msg->q[0],
msg->q[1],
msg->q[2],
msg->q[3],
msg->rollspeed,
msg->pitchspeed,
msg->yawspeed);
_link->send_message(&msg_m);
}
void Mavlink::VehicleLocalPositionCallback(const vehicle_local_positionConstPtr &msg)
{
mavlink_message_t msg_m;
mavlink_msg_local_position_ned_pack_chan(
_link->get_system_id(),
_link->get_component_id(),
_link->get_channel(),
&msg_m,
get_time_micros() / 1000,
msg->x,
msg->y,
msg->z,
msg->vx,
msg->vy,
msg->vz);
_link->send_message(&msg_m);
}
void Mavlink::handle_msg(const mavlink_message_t *mmsg, uint8_t sysid, uint8_t compid) {
(void)sysid;
(void)compid;
switch(mmsg->msgid) {
case MAVLINK_MSG_ID_SET_ATTITUDE_TARGET:
handle_msg_set_attitude_target(mmsg);
break;
case MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED:
handle_msg_set_position_target_local_ned(mmsg);
break;
default:
break;
}
}
void Mavlink::handle_msg_set_attitude_target(const mavlink_message_t *mmsg)
{
mavlink_set_attitude_target_t set_attitude_target;
mavlink_msg_set_attitude_target_decode(mmsg, &set_attitude_target);
static offboard_control_mode offboard_control_mode;
/* set correct ignore flags for thrust field: copy from mavlink message */
offboard_control_mode.ignore_thrust = (bool)(set_attitude_target.type_mask & (1 << 6));
/*
* if attitude or body rate have been used (not ignored) previously and this message only sends
* throttle and has the ignore bits set for attitude and rates don't change the flags for attitude and
* body rates to keep the controllers running
*/
bool ignore_bodyrate = (bool)(set_attitude_target.type_mask & 0x7);
bool ignore_attitude = (bool)(set_attitude_target.type_mask & (1 << 7));
if (ignore_bodyrate && ignore_attitude && !offboard_control_mode.ignore_thrust) {
/* Message want's us to ignore everything except thrust: only ignore if previously ignored */
offboard_control_mode.ignore_bodyrate = ignore_bodyrate && offboard_control_mode.ignore_bodyrate;
offboard_control_mode.ignore_attitude = ignore_attitude && offboard_control_mode.ignore_attitude;
} else {
offboard_control_mode.ignore_bodyrate = ignore_bodyrate;
offboard_control_mode.ignore_attitude = ignore_attitude;
}
offboard_control_mode.ignore_position = true;
offboard_control_mode.ignore_velocity = true;
offboard_control_mode.ignore_acceleration_force = true;
offboard_control_mode.timestamp = get_time_micros();
_offboard_control_mode_pub.publish(offboard_control_mode);
static vehicle_attitude_setpoint att_sp = {};
/* The real mavlink app has a ckeck at this location which makes sure that the attitude setpoint
* gets published only if in offboard mode. We leave that out for now.
*/
att_sp.timestamp = get_time_micros();
mavlink_quaternion_to_euler(set_attitude_target.q, &att_sp.roll_body, &att_sp.pitch_body,
&att_sp.yaw_body);
mavlink_quaternion_to_dcm(set_attitude_target.q, (float(*)[3])att_sp.R_body.data());
att_sp.R_valid = true;
if (!offboard_control_mode.ignore_thrust) {
att_sp.thrust = set_attitude_target.thrust;
}
if (!offboard_control_mode.ignore_attitude) {
for (ssize_t i = 0; i < 4; i++) {
att_sp.q_d[i] = set_attitude_target.q[i];
}
att_sp.q_d_valid = true;
}
_v_att_sp_pub.publish(att_sp);
//XXX real mavlink publishes rate sp here
}
void Mavlink::handle_msg_set_position_target_local_ned(const mavlink_message_t *mmsg)
{
mavlink_set_position_target_local_ned_t set_position_target_local_ned;
mavlink_msg_set_position_target_local_ned_decode(mmsg, &set_position_target_local_ned);
offboard_control_mode offboard_control_mode;
// memset(&offboard_control_mode, 0, sizeof(offboard_control_mode));//XXX breaks compatibility with multiple setpoints
/* Only accept messages which are intended for this system */
// XXX removed for sitl, makes maybe sense to re-introduce at some point
// if ((mavlink_system.sysid == set_position_target_local_ned.target_system ||
// set_position_target_local_ned.target_system == 0) &&
// (mavlink_system.compid == set_position_target_local_ned.target_component ||
// set_position_target_local_ned.target_component == 0)) {
/* convert mavlink type (local, NED) to uORB offboard control struct */
offboard_control_mode.ignore_position = (bool)(set_position_target_local_ned.type_mask & 0x7);
offboard_control_mode.ignore_velocity = (bool)(set_position_target_local_ned.type_mask & 0x38);
offboard_control_mode.ignore_acceleration_force = (bool)(set_position_target_local_ned.type_mask & 0x1C0);
bool is_force_sp = (bool)(set_position_target_local_ned.type_mask & (1 << 9));
/* yaw ignore flag mapps to ignore_attitude */
offboard_control_mode.ignore_attitude = (bool)(set_position_target_local_ned.type_mask & 0x400);
/* yawrate ignore flag mapps to ignore_bodyrate */
offboard_control_mode.ignore_bodyrate = (bool)(set_position_target_local_ned.type_mask & 0x800);
offboard_control_mode.timestamp = get_time_micros();
_offboard_control_mode_pub.publish(offboard_control_mode);
/* The real mavlink app has a ckeck at this location which makes sure that the position setpoint triplet
* gets published only if in offboard mode. We leave that out for now.
*/
if (is_force_sp && offboard_control_mode.ignore_position &&
offboard_control_mode.ignore_velocity) {
/* The offboard setpoint is a force setpoint only, directly writing to the force
* setpoint topic and not publishing the setpoint triplet topic */
vehicle_force_setpoint force_sp;
force_sp.x = set_position_target_local_ned.afx;
force_sp.y = set_position_target_local_ned.afy;
force_sp.z = set_position_target_local_ned.afz;
//XXX: yaw
_force_sp_pub.publish(force_sp);
} else {
/* It's not a pure force setpoint: publish to setpoint triplet topic */
position_setpoint_triplet pos_sp_triplet;
pos_sp_triplet.previous.valid = false;
pos_sp_triplet.next.valid = false;
pos_sp_triplet.current.valid = true;
pos_sp_triplet.current.type = position_setpoint::SETPOINT_TYPE_POSITION; //XXX support others
/* set the local pos values */
if (!offboard_control_mode.ignore_position) {
pos_sp_triplet.current.position_valid = true;
pos_sp_triplet.current.x = set_position_target_local_ned.x;
pos_sp_triplet.current.y = set_position_target_local_ned.y;
pos_sp_triplet.current.z = set_position_target_local_ned.z;
} else {
pos_sp_triplet.current.position_valid = false;
}
/* set the local vel values */
if (!offboard_control_mode.ignore_velocity) {
pos_sp_triplet.current.velocity_valid = true;
pos_sp_triplet.current.vx = set_position_target_local_ned.vx;
pos_sp_triplet.current.vy = set_position_target_local_ned.vy;
pos_sp_triplet.current.vz = set_position_target_local_ned.vz;
} else {
pos_sp_triplet.current.velocity_valid = false;
}
/* set the local acceleration values if the setpoint type is 'local pos' and none
* of the accelerations fields is set to 'ignore' */
if (!offboard_control_mode.ignore_acceleration_force) {
pos_sp_triplet.current.acceleration_valid = true;
pos_sp_triplet.current.a_x = set_position_target_local_ned.afx;
pos_sp_triplet.current.a_y = set_position_target_local_ned.afy;
pos_sp_triplet.current.a_z = set_position_target_local_ned.afz;
pos_sp_triplet.current.acceleration_is_force =
is_force_sp;
} else {
pos_sp_triplet.current.acceleration_valid = false;
}
/* set the yaw sp value */
if (!offboard_control_mode.ignore_attitude) {
pos_sp_triplet.current.yaw_valid = true;
pos_sp_triplet.current.yaw = set_position_target_local_ned.yaw;
} else {
pos_sp_triplet.current.yaw_valid = false;
}
/* set the yawrate sp value */
if (!offboard_control_mode.ignore_bodyrate) {
pos_sp_triplet.current.yawspeed_valid = true;
pos_sp_triplet.current.yawspeed = set_position_target_local_ned.yaw_rate;
} else {
pos_sp_triplet.current.yawspeed_valid = false;
}
//XXX handle global pos setpoints (different MAV frames)
_pos_sp_triplet_pub.publish(pos_sp_triplet);
}
}
src/platforms/ros/nodes/mavlink/mavlink.h
+113
View File
@@ -0,0 +1,113 @@
/****************************************************************************
*
* Copyright (c) 2015 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 mavlink.h
* Dummy mavlink node that interfaces to a mavros node via UDP
* This simulates the onboard mavlink app to some degree. It should be possible to
* send offboard setpoints via mavros to the SITL setup the same way as on the real system
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include "ros/ros.h"
#include <mavconn/interface.h>
#include <px4/vehicle_attitude.h>
#include <px4/vehicle_local_position.h>
#include <px4/vehicle_attitude_setpoint.h>
#include <px4/position_setpoint_triplet.h>
#include <px4/vehicle_force_setpoint.h>
#include <px4/offboard_control_mode.h>
namespace px4
{
class Mavlink
{
public:
Mavlink();
~Mavlink() {}
protected:
ros::NodeHandle _n;
mavconn::MAVConnInterface::Ptr _link;
ros::Subscriber _v_att_sub;
ros::Subscriber _v_local_pos_sub;
ros::Publisher _v_att_sp_pub;
ros::Publisher _pos_sp_triplet_pub;
ros::Publisher _offboard_control_mode_pub;
ros::Publisher _force_sp_pub;
/**
*
* Simulates output of attitude data from the FCU
* Equivalent to the mavlink stream ATTITUDE_QUATERNION
*
* */
void VehicleAttitudeCallback(const vehicle_attitudeConstPtr &msg);
/**
*
* Simulates output of local position data from the FCU
* Equivalent to the mavlink stream LOCAL_POSITION_NED
*
* */
void VehicleLocalPositionCallback(const vehicle_local_positionConstPtr &msg);
/**
*
* Handle incoming mavlink messages ant publish them to ROS ("Mavlink Receiver")
*
* */
void handle_msg(const mavlink_message_t *mmsg, uint8_t sysid, uint8_t compid);
/**
*
* Handle SET_ATTITUDE_TARGET mavlink messages
*
* */
void handle_msg_set_attitude_target(const mavlink_message_t *mmsg);
/**
*
* Handle SET_POSITION_TARGET_LOCAL_NED mavlink messages
*
* */
void handle_msg_set_position_target_local_ned(const mavlink_message_t *mmsg);
};
}