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Simon Wilks
2013-05-06 19:06:38 +02:00
parent 1dbbdcfa48 012a0bbc0d
commit 6388608b72
37 changed files with 18788 additions and 175 deletions
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Documentation/control_flow.graffle
+16650
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File diff suppressed because it is too large Load Diff
ROMFS/Makefile
+1
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@@ -24,6 +24,7 @@ ROMFS_FSSPEC := $(SRCROOT)/scripts/rcS~init.d/rcS \
$(SRCROOT)/scripts/rc.FMU_quad_x~init.d/rc.FMU_quad_x \
$(SRCROOT)/scripts/rc.usb~init.d/rc.usb \
$(SRCROOT)/scripts/rc.hil~init.d/rc.hil \
$(SRCROOT)/scripts/rc.IO_QUAD~scripts/rc.IO_QUAD \
$(SRCROOT)/mixers/FMU_pass.mix~mixers/FMU_pass.mix \
$(SRCROOT)/mixers/FMU_Q.mix~mixers/FMU_Q.mix \
$(SRCROOT)/mixers/FMU_X5.mix~mixers/FMU_X5.mix \
ROMFS/scripts/rc.IO_QUAD
+107
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@@ -0,0 +1,107 @@
#!nsh
# Disable USB and autostart
set USB no
set MODE quad
#
# Start the ORB (first app to start)
#
uorb start
#
# Load microSD params
#
echo "[init] loading microSD params"
param select /fs/microsd/parameters
if [ -f /fs/microsd/parameters ]
then
param load /fs/microsd/parameters
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
#
param set MAV_TYPE 2
#
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
#
if [ -f /fs/microsd/px4io.bin ]
then
echo "PX4IO Firmware found. Checking Upgrade.."
if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
then
echo "No newer version, skipping upgrade."
else
echo "Loading /fs/microsd/px4io.bin"
if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log
then
cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log
else
echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log
echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode"
fi
fi
fi
#
# Start MAVLink (depends on orb)
#
mavlink start -d /dev/ttyS1 -b 57600
usleep 5000
#
# Start the commander (depends on orb, mavlink)
#
commander start
#
# Start PX4IO interface (depends on orb, commander)
#
px4io start
#
# Allow PX4IO to recover from midair restarts.
# this is very unlikely, but quite safe and robust.
px4io recovery
#
# Start the sensors (depends on orb, px4io)
#
sh /etc/init.d/rc.sensors
#
# Start GPS interface (depends on orb)
#
gps start
#
# Start the attitude estimator (depends on orb)
#
attitude_estimator_ekf start
#
# Load mixer and start controllers (depends on px4io)
#
mixer load /dev/pwm_output /etc/mixers/FMU_quad_+.mix
multirotor_att_control start
#
# Start logging
#
#sdlog start -s 4
#
# Start system state
#
if blinkm start
then
echo "using BlinkM for state indication"
blinkm systemstate
else
echo "no BlinkM found, OK."
fi
apps/attitude_estimator_ekf/Makefile
+3 -2
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@@ -35,8 +35,9 @@ APPNAME = attitude_estimator_ekf
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 2048
CSRCS = attitude_estimator_ekf_main.c \
attitude_estimator_ekf_params.c \
CXXSRCS = attitude_estimator_ekf_main.cpp
CSRCS = attitude_estimator_ekf_params.c \
codegen/eye.c \
codegen/attitudeKalmanfilter.c \
codegen/mrdivide.c \
apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c → apps/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+12 -5
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@@ -66,11 +66,17 @@
#include <systemlib/perf_counter.h>
#include <systemlib/err.h>
#ifdef __cplusplus
extern "C" {
#endif
#include "codegen/attitudeKalmanfilter_initialize.h"
#include "codegen/attitudeKalmanfilter.h"
#include "attitude_estimator_ekf_params.h"
#ifdef __cplusplus
}
#endif
__EXPORT int attitude_estimator_ekf_main(int argc, char *argv[]);
extern "C" __EXPORT int attitude_estimator_ekf_main(int argc, char *argv[]);
static bool thread_should_exit = false; /**< Deamon exit flag */
static bool thread_running = false; /**< Deamon status flag */
@@ -265,10 +271,11 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
/* Main loop*/
while (!thread_should_exit) {
struct pollfd fds[2] = {
{ .fd = sub_raw, .events = POLLIN },
{ .fd = sub_params, .events = POLLIN }
};
struct pollfd fds[2];
fds[0].fd = sub_raw;
fds[0].events = POLLIN;
fds[1].fd = sub_params;
fds[1].events = POLLIN;
int ret = poll(fds, 2, 1000);
if (ret < 0) {
apps/commander/accelerometer_calibration.c
+414
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@@ -0,0 +1,414 @@
/*
* accelerometer_calibration.c
*
* Copyright (C) 2013 Anton Babushkin. All rights reserved.
* Author: Anton Babushkin <rk3dov@gmail.com>
*
* Transform acceleration vector to true orientation and scale
*
* * * * Model * * *
* accel_corr = accel_T * (accel_raw - accel_offs)
*
* accel_corr[3] - fully corrected acceleration vector in body frame
* accel_T[3][3] - accelerometers transform matrix, rotation and scaling transform
* accel_raw[3] - raw acceleration vector
* accel_offs[3] - acceleration offset vector
*
* * * * Calibration * * *
*
* Reference vectors
* accel_corr_ref[6][3] = [ g 0 0 ] // nose up
* | -g 0 0 | // nose down
* | 0 g 0 | // left side down
* | 0 -g 0 | // right side down
* | 0 0 g | // on back
* [ 0 0 -g ] // level
* accel_raw_ref[6][3]
*
* accel_corr_ref[i] = accel_T * (accel_raw_ref[i] - accel_offs), i = 0...5
*
* 6 reference vectors * 3 axes = 18 equations
* 9 (accel_T) + 3 (accel_offs) = 12 unknown constants
*
* Find accel_offs
*
* accel_offs[i] = (accel_raw_ref[i*2][i] + accel_raw_ref[i*2+1][i]) / 2
*
*
* Find accel_T
*
* 9 unknown constants
* need 9 equations -> use 3 of 6 measurements -> 3 * 3 = 9 equations
*
* accel_corr_ref[i*2] = accel_T * (accel_raw_ref[i*2] - accel_offs), i = 0...2
*
* Solve separate system for each row of accel_T:
*
* accel_corr_ref[j*2][i] = accel_T[i] * (accel_raw_ref[j*2] - accel_offs), j = 0...2
*
* A * x = b
*
* x = [ accel_T[0][i] ]
* | accel_T[1][i] |
* [ accel_T[2][i] ]
*
* b = [ accel_corr_ref[0][i] ] // One measurement per axis is enough
* | accel_corr_ref[2][i] |
* [ accel_corr_ref[4][i] ]
*
* a[i][j] = accel_raw_ref[i][j] - accel_offs[j], i = 0;2;4, j = 0...2
*
* Matrix A is common for all three systems:
* A = [ a[0][0] a[0][1] a[0][2] ]
* | a[2][0] a[2][1] a[2][2] |
* [ a[4][0] a[4][1] a[4][2] ]
*
* x = A^-1 * b
*
* accel_T = A^-1 * g
* g = 9.80665
*/
#include "accelerometer_calibration.h"
#include <poll.h>
#include <drivers/drv_hrt.h>
#include <uORB/topics/sensor_combined.h>
#include <drivers/drv_accel.h>
#include <systemlib/conversions.h>
#include <mavlink/mavlink_log.h>
void do_accel_calibration(int status_pub, struct vehicle_status_s *status, int mavlink_fd);
int do_accel_calibration_mesurements(int mavlink_fd, float accel_offs[3], float accel_scale[3]);
int detect_orientation(int mavlink_fd, int sub_sensor_combined);
int read_accelerometer_avg(int sensor_combined_sub, float accel_avg[3], int samples_num);
int mat_invert3(float src[3][3], float dst[3][3]);
int calculate_calibration_values(float accel_ref[6][3], float accel_T[3][3], float accel_offs[3], float g);
void do_accel_calibration(int status_pub, struct vehicle_status_s *status, int mavlink_fd) {
/* announce change */
mavlink_log_info(mavlink_fd, "accel calibration started");
/* set to accel calibration mode */
status->flag_preflight_accel_calibration = true;
state_machine_publish(status_pub, status, mavlink_fd);
/* measure and calculate offsets & scales */
float accel_offs[3];
float accel_scale[3];
int res = do_accel_calibration_mesurements(mavlink_fd, accel_offs, accel_scale);
if (res == OK) {
/* measurements complete successfully, set parameters */
if (param_set(param_find("SENS_ACC_XOFF"), &(accel_offs[0]))
|| param_set(param_find("SENS_ACC_YOFF"), &(accel_offs[1]))
|| param_set(param_find("SENS_ACC_ZOFF"), &(accel_offs[2]))
|| param_set(param_find("SENS_ACC_XSCALE"), &(accel_scale[0]))
|| param_set(param_find("SENS_ACC_YSCALE"), &(accel_scale[1]))
|| param_set(param_find("SENS_ACC_ZSCALE"), &(accel_scale[2]))) {
mavlink_log_critical(mavlink_fd, "ERROR: setting offs or scale failed");
}
int fd = open(ACCEL_DEVICE_PATH, 0);
struct accel_scale ascale = {
accel_offs[0],
accel_scale[0],
accel_offs[1],
accel_scale[1],
accel_offs[2],
accel_scale[2],
};
if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale))
warn("WARNING: failed to set scale / offsets for accel");
close(fd);
/* auto-save to EEPROM */
int save_ret = param_save_default();
if (save_ret != 0) {
warn("WARNING: auto-save of params to storage failed");
}
mavlink_log_info(mavlink_fd, "accel calibration done");
tune_confirm();
sleep(2);
tune_confirm();
sleep(2);
/* third beep by cal end routine */
} else {
/* measurements error */
mavlink_log_info(mavlink_fd, "accel calibration aborted");
tune_error();
sleep(2);
}
/* exit accel calibration mode */
status->flag_preflight_accel_calibration = false;
state_machine_publish(status_pub, status, mavlink_fd);
}
int do_accel_calibration_mesurements(int mavlink_fd, float accel_offs[3], float accel_scale[3]) {
const int samples_num = 2500;
float accel_ref[6][3];
bool data_collected[6] = { false, false, false, false, false, false };
const char *orientation_strs[6] = { "x+", "x-", "y+", "y-", "z+", "z-" };
/* reset existing calibration */
int fd = open(ACCEL_DEVICE_PATH, 0);
struct accel_scale ascale_null = {
0.0f,
1.0f,
0.0f,
1.0f,
0.0f,
1.0f,
};
int ioctl_res = ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale_null);
close(fd);
if (OK != ioctl_res) {
warn("ERROR: failed to set scale / offsets for accel");
return ERROR;
}
int sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined));
while (true) {
bool done = true;
char str[80];
int str_ptr;
str_ptr = sprintf(str, "keep vehicle still:");
for (int i = 0; i < 6; i++) {
if (!data_collected[i]) {
str_ptr += sprintf(&(str[str_ptr]), " %s", orientation_strs[i]);
done = false;
}
}
if (done)
break;
mavlink_log_info(mavlink_fd, str);
int orient = detect_orientation(mavlink_fd, sensor_combined_sub);
if (orient < 0)
return ERROR;
sprintf(str, "meas started: %s", orientation_strs[orient]);
mavlink_log_info(mavlink_fd, str);
read_accelerometer_avg(sensor_combined_sub, &(accel_ref[orient][0]), samples_num);
str_ptr = sprintf(str, "meas result for %s: [ %.2f %.2f %.2f ]", orientation_strs[orient], accel_ref[orient][0], accel_ref[orient][1], accel_ref[orient][2]);
mavlink_log_info(mavlink_fd, str);
data_collected[orient] = true;
tune_confirm();
}
close(sensor_combined_sub);
/* calculate offsets and rotation+scale matrix */
float accel_T[3][3];
int res = calculate_calibration_values(accel_ref, accel_T, accel_offs, CONSTANTS_ONE_G);
if (res != 0) {
mavlink_log_info(mavlink_fd, "ERROR: calibration values calc error");
return ERROR;
}
/* convert accel transform matrix to scales,
* rotation part of transform matrix is not used by now
*/
for (int i = 0; i < 3; i++) {
accel_scale[i] = accel_T[i][i];
}
return OK;
}
/*
* Wait for vehicle become still and detect it's orientation.
*
* @return 0..5 according to orientation when vehicle is still and ready for measurements,
* ERROR if vehicle is not still after 30s or orientation error is more than 5m/s^2
*/
int detect_orientation(int mavlink_fd, int sub_sensor_combined) {
struct sensor_combined_s sensor;
/* exponential moving average of accel */
float accel_ema[3] = { 0.0f, 0.0f, 0.0f };
/* max-hold dispersion of accel */
float accel_disp[3] = { 0.0f, 0.0f, 0.0f };
/* EMA time constant in seconds*/
float ema_len = 0.2f;
/* set "still" threshold to 0.1 m/s^2 */
float still_thr2 = pow(0.1f, 2);
/* set accel error threshold to 5m/s^2 */
float accel_err_thr = 5.0f;
/* still time required in us */
int64_t still_time = 2000000;
struct pollfd fds[1] = { { .fd = sub_sensor_combined, .events = POLLIN } };
hrt_abstime t_start = hrt_absolute_time();
/* set timeout to 30s */
hrt_abstime timeout = 30000000;
hrt_abstime t_timeout = t_start + timeout;
hrt_abstime t = t_start;
hrt_abstime t_prev = t_start;
hrt_abstime t_still = 0;
while (true) {
/* wait blocking for new data */
int poll_ret = poll(fds, 1, 1000);
if (poll_ret) {
orb_copy(ORB_ID(sensor_combined), sub_sensor_combined, &sensor);
t = hrt_absolute_time();
float dt = (t - t_prev) / 1000000.0f;
t_prev = t;
float w = dt / ema_len;
for (int i = 0; i < 3; i++) {
accel_ema[i] = accel_ema[i] * (1.0f - w) + sensor.accelerometer_m_s2[i] * w;
float d = (float) sensor.accelerometer_m_s2[i] - accel_ema[i];
d = d * d;
accel_disp[i] = accel_disp[i] * (1.0f - w);
if (d > accel_disp[i])
accel_disp[i] = d;
}
/* still detector with hysteresis */
if ( accel_disp[0] < still_thr2 &&
accel_disp[1] < still_thr2 &&
accel_disp[2] < still_thr2 ) {
/* is still now */
if (t_still == 0) {
/* first time */
mavlink_log_info(mavlink_fd, "still...");
t_still = t;
t_timeout = t + timeout;
} else {
/* still since t_still */
if ((int64_t) t - (int64_t) t_still > still_time) {
/* vehicle is still, exit from the loop to detection of its orientation */
break;
}
}
} else if ( accel_disp[0] > still_thr2 * 2.0f ||
accel_disp[1] > still_thr2 * 2.0f ||
accel_disp[2] > still_thr2 * 2.0f) {
/* not still, reset still start time */
if (t_still != 0) {
mavlink_log_info(mavlink_fd, "moving...");
t_still = 0;
}
}
} else if (poll_ret == 0) {
/* any poll failure for 1s is a reason to abort */
mavlink_log_info(mavlink_fd, "ERROR: poll failure");
return -3;
}
if (t > t_timeout) {
mavlink_log_info(mavlink_fd, "ERROR: timeout");
return -1;
}
}
if ( fabs(accel_ema[0] - CONSTANTS_ONE_G) < accel_err_thr &&
fabs(accel_ema[1]) < accel_err_thr &&
fabs(accel_ema[2]) < accel_err_thr )
return 0; // [ g, 0, 0 ]
if ( fabs(accel_ema[0] + CONSTANTS_ONE_G) < accel_err_thr &&
fabs(accel_ema[1]) < accel_err_thr &&
fabs(accel_ema[2]) < accel_err_thr )
return 1; // [ -g, 0, 0 ]
if ( fabs(accel_ema[0]) < accel_err_thr &&
fabs(accel_ema[1] - CONSTANTS_ONE_G) < accel_err_thr &&
fabs(accel_ema[2]) < accel_err_thr )
return 2; // [ 0, g, 0 ]
if ( fabs(accel_ema[0]) < accel_err_thr &&
fabs(accel_ema[1] + CONSTANTS_ONE_G) < accel_err_thr &&
fabs(accel_ema[2]) < accel_err_thr )
return 3; // [ 0, -g, 0 ]
if ( fabs(accel_ema[0]) < accel_err_thr &&
fabs(accel_ema[1]) < accel_err_thr &&
fabs(accel_ema[2] - CONSTANTS_ONE_G) < accel_err_thr )
return 4; // [ 0, 0, g ]
if ( fabs(accel_ema[0]) < accel_err_thr &&
fabs(accel_ema[1]) < accel_err_thr &&
fabs(accel_ema[2] + CONSTANTS_ONE_G) < accel_err_thr )
return 5; // [ 0, 0, -g ]
mavlink_log_info(mavlink_fd, "ERROR: invalid orientation");
return -2; // Can't detect orientation
}
/*
* Read specified number of accelerometer samples, calculate average and dispersion.
*/
int read_accelerometer_avg(int sensor_combined_sub, float accel_avg[3], int samples_num) {
struct pollfd fds[1] = { { .fd = sensor_combined_sub, .events = POLLIN } };
int count = 0;
float accel_sum[3] = { 0.0f, 0.0f, 0.0f };
while (count < samples_num) {
int poll_ret = poll(fds, 1, 1000);
if (poll_ret == 1) {
struct sensor_combined_s sensor;
orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor);
for (int i = 0; i < 3; i++)
accel_sum[i] += sensor.accelerometer_m_s2[i];
count++;
} else {
return ERROR;
}
}
for (int i = 0; i < 3; i++) {
accel_avg[i] = accel_sum[i] / count;
}
return OK;
}
int mat_invert3(float src[3][3], float dst[3][3]) {
float det = src[0][0] * (src[1][1] * src[2][2] - src[1][2] * src[2][1]) -
src[0][1] * (src[1][0] * src[2][2] - src[1][2] * src[2][0]) +
src[0][2] * (src[1][0] * src[2][1] - src[1][1] * src[2][0]);
if (det == 0.0)
return ERROR; // Singular matrix
dst[0][0] = (src[1][1] * src[2][2] - src[1][2] * src[2][1]) / det;
dst[1][0] = (src[1][2] * src[2][0] - src[1][0] * src[2][2]) / det;
dst[2][0] = (src[1][0] * src[2][1] - src[1][1] * src[2][0]) / det;
dst[0][1] = (src[0][2] * src[2][1] - src[0][1] * src[2][2]) / det;
dst[1][1] = (src[0][0] * src[2][2] - src[0][2] * src[2][0]) / det;
dst[2][1] = (src[0][1] * src[2][0] - src[0][0] * src[2][1]) / det;
dst[0][2] = (src[0][1] * src[1][2] - src[0][2] * src[1][1]) / det;
dst[1][2] = (src[0][2] * src[1][0] - src[0][0] * src[1][2]) / det;
dst[2][2] = (src[0][0] * src[1][1] - src[0][1] * src[1][0]) / det;
return OK;
}
int calculate_calibration_values(float accel_ref[6][3], float accel_T[3][3], float accel_offs[3], float g) {
/* calculate offsets */
for (int i = 0; i < 3; i++) {
accel_offs[i] = (accel_ref[i * 2][i] + accel_ref[i * 2 + 1][i]) / 2;
}
/* fill matrix A for linear equations system*/
float mat_A[3][3];
memset(mat_A, 0, sizeof(mat_A));
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 3; j++) {
float a = accel_ref[i * 2][j] - accel_offs[j];
mat_A[i][j] = a;
}
}
/* calculate inverse matrix for A */
float mat_A_inv[3][3];
if (mat_invert3(mat_A, mat_A_inv) != OK)
return ERROR;
/* copy results to accel_T */
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 3; j++) {
/* simplify matrices mult because b has only one non-zero element == g at index i */
accel_T[j][i] = mat_A_inv[j][i] * g;
}
}
return OK;
}
apps/commander/accelerometer_calibration.h
+16
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@@ -0,0 +1,16 @@
/*
* accelerometer_calibration.h
*
* Copyright (C) 2013 Anton Babushkin. All rights reserved.
* Author: Anton Babushkin <rk3dov@gmail.com>
*/
#ifndef ACCELEROMETER_CALIBRATION_H_
#define ACCELEROMETER_CALIBRATION_H_
#include <stdint.h>
#include <uORB/topics/vehicle_status.h>
void do_accel_calibration(int status_pub, struct vehicle_status_s *status, int mavlink_fd);
#endif /* ACCELEROMETER_CALIBRATION_H_ */
apps/commander/commander.c
+2 -123
View File
@@ -94,7 +94,7 @@
#include <drivers/drv_baro.h>
#include "calibration_routines.h"
#include "accelerometer_calibration.h"
PARAM_DEFINE_INT32(SYS_FAILSAVE_LL, 0); /**< Go into low-level failsafe after 0 ms */
//PARAM_DEFINE_INT32(SYS_FAILSAVE_HL, 0); /**< Go into high-level failsafe after 0 ms */
@@ -158,7 +158,6 @@ static int led_off(int led);
static void do_gyro_calibration(int status_pub, struct vehicle_status_s *status);
static void do_mag_calibration(int status_pub, struct vehicle_status_s *status);
static void do_rc_calibration(int status_pub, struct vehicle_status_s *status);
static void do_accel_calibration(int status_pub, struct vehicle_status_s *status);
static void handle_command(int status_pub, struct vehicle_status_s *current_status, struct vehicle_command_s *cmd);
int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, uint8_t new_state);
@@ -666,126 +665,6 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
close(sub_sensor_combined);
}
void do_accel_calibration(int status_pub, struct vehicle_status_s *status)
{
/* announce change */
mavlink_log_info(mavlink_fd, "keep it level and still");
/* set to accel calibration mode */
status->flag_preflight_accel_calibration = true;
state_machine_publish(status_pub, status, mavlink_fd);
const int calibration_count = 2500;
int sub_sensor_combined = orb_subscribe(ORB_ID(sensor_combined));
struct sensor_combined_s raw;
int calibration_counter = 0;
float accel_offset[3] = {0.0f, 0.0f, 0.0f};
int fd = open(ACCEL_DEVICE_PATH, 0);
struct accel_scale ascale_null = {
0.0f,
1.0f,
0.0f,
1.0f,
0.0f,
1.0f,
};
if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale_null))
warn("WARNING: failed to set scale / offsets for accel");
close(fd);
while (calibration_counter < calibration_count) {
/* wait blocking for new data */
struct pollfd fds[1] = { { .fd = sub_sensor_combined, .events = POLLIN } };
int poll_ret = poll(fds, 1, 1000);
if (poll_ret) {
orb_copy(ORB_ID(sensor_combined), sub_sensor_combined, &raw);
accel_offset[0] += raw.accelerometer_m_s2[0];
accel_offset[1] += raw.accelerometer_m_s2[1];
accel_offset[2] += raw.accelerometer_m_s2[2];
calibration_counter++;
} else if (poll_ret == 0) {
/* any poll failure for 1s is a reason to abort */
mavlink_log_info(mavlink_fd, "acceleration calibration aborted");
return;
}
}
accel_offset[0] = accel_offset[0] / calibration_count;
accel_offset[1] = accel_offset[1] / calibration_count;
accel_offset[2] = accel_offset[2] / calibration_count;
if (isfinite(accel_offset[0]) && isfinite(accel_offset[1]) && isfinite(accel_offset[2])) {
/* add the removed length from x / y to z, since we induce a scaling issue else */
float total_len = sqrtf(accel_offset[0] * accel_offset[0] + accel_offset[1] * accel_offset[1] + accel_offset[2] * accel_offset[2]);
/* if length is correct, zero results here */
accel_offset[2] = accel_offset[2] + total_len;
float scale = 9.80665f / total_len;
if (param_set(param_find("SENS_ACC_XOFF"), &(accel_offset[0]))
|| param_set(param_find("SENS_ACC_YOFF"), &(accel_offset[1]))
|| param_set(param_find("SENS_ACC_ZOFF"), &(accel_offset[2]))
|| param_set(param_find("SENS_ACC_XSCALE"), &(scale))
|| param_set(param_find("SENS_ACC_YSCALE"), &(scale))
|| param_set(param_find("SENS_ACC_ZSCALE"), &(scale))) {
mavlink_log_critical(mavlink_fd, "Setting offs or scale failed!");
}
fd = open(ACCEL_DEVICE_PATH, 0);
struct accel_scale ascale = {
accel_offset[0],
scale,
accel_offset[1],
scale,
accel_offset[2],
scale,
};
if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale))
warn("WARNING: failed to set scale / offsets for accel");
close(fd);
/* auto-save to EEPROM */
int save_ret = param_save_default();
if (save_ret != 0) {
warn("WARNING: auto-save of params to storage failed");
}
//char buf[50];
//sprintf(buf, "[cmd] accel cal: x:%8.4f y:%8.4f z:%8.4f\n", (double)accel_offset[0], (double)accel_offset[1], (double)accel_offset[2]);
//mavlink_log_info(mavlink_fd, buf);
mavlink_log_info(mavlink_fd, "accel calibration done");
tune_confirm();
sleep(2);
tune_confirm();
sleep(2);
/* third beep by cal end routine */
} else {
mavlink_log_info(mavlink_fd, "accel calibration FAILED (NaN)");
}
/* exit accel calibration mode */
status->flag_preflight_accel_calibration = false;
state_machine_publish(status_pub, status, mavlink_fd);
close(sub_sensor_combined);
}
void do_airspeed_calibration(int status_pub, struct vehicle_status_s *status)
{
/* announce change */
@@ -1040,7 +919,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) {
mavlink_log_info(mavlink_fd, "CMD starting accel cal");
tune_confirm();
do_accel_calibration(status_pub, &current_status);
do_accel_calibration(status_pub, &current_status, mavlink_fd);
tune_confirm();
mavlink_log_info(mavlink_fd, "CMD finished accel cal");
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
apps/drivers/blinkm/blinkm.cpp
+2 -1
View File
@@ -92,6 +92,7 @@
#include <nuttx/config.h>
#include <arch/board/board.h>
#include <drivers/device/i2c.h>
#include <sys/types.h>
@@ -841,7 +842,7 @@ int
blinkm_main(int argc, char *argv[])
{
int i2cdevice = 3;
int i2cdevice = PX4_I2C_BUS_EXPANSION;
int blinkmadr = 9;
int x;
apps/drivers/gps/ubx.cpp
+13 -5
View File
@@ -33,7 +33,14 @@
*
****************************************************************************/
/* @file U-Blox protocol implementation */
/**
* @file ubx.cpp
*
* U-Blox protocol implementation. Following u-blox 6/7 Receiver Description
* including Prototol Specification.
*
* @see http://www.u-blox.com/images/downloads/Product_Docs/u-blox6_ReceiverDescriptionProtocolSpec_%28GPS.G6-SW-10018%29.pdf
*/
#include <unistd.h>
#include <stdio.h>
@@ -633,16 +640,17 @@ UBX::handle_message()
}
case NAV_VELNED: {
// printf("GOT NAV_VELNED MESSAGE\n");
if (!_waiting_for_ack) {
/* 35.15 NAV-VELNED (0x01 0x12) message (page 181 / 210 of reference manual */
gps_bin_nav_velned_packet_t *packet = (gps_bin_nav_velned_packet_t *) _rx_buffer;
_gps_position->vel_m_s = (float)packet->speed * 1e-2f;
_gps_position->vel_n_m_s = (float)packet->velN * 1e-2f;
_gps_position->vel_e_m_s = (float)packet->velE * 1e-2f;
_gps_position->vel_d_m_s = (float)packet->velD * 1e-2f;
_gps_position->vel_n_m_s = (float)packet->velN * 1e-2f; /* NED NORTH velocity */
_gps_position->vel_e_m_s = (float)packet->velE * 1e-2f; /* NED EAST velocity */
_gps_position->vel_d_m_s = (float)packet->velD * 1e-2f; /* NED DOWN velocity */
_gps_position->cog_rad = (float)packet->heading * M_DEG_TO_RAD_F * 1e-5f;
_gps_position->c_variance_rad = (float)packet->cAcc * M_DEG_TO_RAD_F * 1e-5f;
_gps_position->vel_ned_valid = true;
_gps_position->timestamp_velocity = hrt_absolute_time();
}
apps/drivers/mkblctrl/Makefile
+44
View File
@@ -0,0 +1,44 @@
############################################################################
#
# Copyright (C) 2012 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.
#
############################################################################
#
# Interface driver for the Mikrokopter BLCtrl
#
APPNAME = mkblctrl
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 2048
INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
include $(APPDIR)/mk/app.mk
apps/drivers/mkblctrl/mkblctrl.cpp
+1442
View File
File diff suppressed because it is too large Load Diff
apps/drivers/stm32/drv_hrt.c
+1 -1
View File
@@ -125,7 +125,7 @@
# define HRT_TIMER_VECTOR STM32_IRQ_TIM8CC
# define HRT_TIMER_CLOCK STM32_APB2_TIM8_CLKIN
# if CONFIG_STM32_TIM8
# error must not set CONFIG_STM32_TIM8=y and HRT_TIMER=6
# error must not set CONFIG_STM32_TIM8=y and HRT_TIMER=8
# endif
#elif HRT_TIMER == 9
# define HRT_TIMER_BASE STM32_TIM9_BASE
apps/drivers/stm32/tone_alarm/tone_alarm.cpp
+4 -4
View File
@@ -494,7 +494,7 @@ ToneAlarm::init()
return ret;
/* configure the GPIO to the idle state */
stm32_configgpio(GPIO_TONE_ALARM);
stm32_configgpio(GPIO_TONE_ALARM_IDLE);
/* clock/power on our timer */
modifyreg32(STM32_RCC_APB1ENR, 0, TONE_ALARM_CLOCK_ENABLE);
@@ -606,6 +606,8 @@ ToneAlarm::start_note(unsigned note)
rEGR = GTIM_EGR_UG; // force a reload of the period
rCCER |= TONE_CCER; // enable the output
// configure the GPIO to enable timer output
stm32_configgpio(GPIO_TONE_ALARM);
}
void
@@ -616,10 +618,8 @@ ToneAlarm::stop_note()
/*
* Make sure the GPIO is not driving the speaker.
*
* XXX this presumes PX4FMU and the onboard speaker driver FET.
*/
stm32_gpiowrite(GPIO_TONE_ALARM, 0);
stm32_configgpio(GPIO_TONE_ALARM_IDLE);
}
void
apps/examples/kalman_demo/KalmanNav.cpp
+2
View File
@@ -355,6 +355,8 @@ int KalmanNav::predictState(float dt)
float LDot = vN / R;
float lDot = vE / (cosLSing * R);
float rotRate = 2 * omega + lDot;
// XXX position prediction using speed
float vNDot = fN - vE * rotRate * sinL +
vD * LDot;
float vDDot = fD - vE * rotRate * cosL -
apps/examples/kalman_demo/Makefile
+2 -2
View File
@@ -1,6 +1,6 @@
############################################################################
#
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
@@ -32,7 +32,7 @@
############################################################################
#
# Basic example application
# Full attitude / position Extended Kalman Filter
#
APPNAME = kalman_demo
apps/examples/nsh/Makefile
+2
View File
@@ -64,6 +64,8 @@ ROOTDEPPATH = --dep-path .
VPATH =
MAXOPTIMIZATION = -Os
all: .built
.PHONY: clean depend distclean
apps/mavlink/mavlink_receiver.c
+8 -6
View File
@@ -477,25 +477,27 @@ handle_message(mavlink_message_t *msg)
/* gps */
hil_gps.timestamp_position = gps.time_usec;
// hil_gps.counter = hil_counter++;
hil_gps.time_gps_usec = gps.time_usec;
hil_gps.lat = gps.lat;
hil_gps.lon = gps.lon;
hil_gps.alt = gps.alt;
// hil_gps.counter_pos_valid = hil_counter++;
hil_gps.eph_m = (float)gps.eph * 1e-2f; // from cm to m
hil_gps.epv_m = (float)gps.epv * 1e-2f; // from cm to m
hil_gps.s_variance_m_s = 5.0f;
hil_gps.p_variance_m = hil_gps.eph_m * hil_gps.eph_m;
hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s
/* gps.cog is in degrees 0..360 * 100, heading is -PI..PI */
float heading_rad = gps.cog * M_DEG_TO_RAD_F * 1e-2f - M_PI_F;
/* gps.cog is in degrees 0..360 * 100, heading is -PI..+PI */
float heading_rad = gps.cog * M_DEG_TO_RAD_F * 1e-2f;
/* go back to -PI..PI */
if (heading_rad > M_PI_F)
heading_rad -= 2.0f * M_PI_F;
hil_gps.vel_n_m_s = (float)gps.vel * 1e-2f * cosf(heading_rad);
hil_gps.vel_e_m_s = (float)gps.vel * 1e-2f * sinf(heading_rad);
hil_gps.vel_d_m_s = 0.0f;
/* COG (course over ground) is speced as 0..360 degrees (compass) */
hil_gps.cog_rad = heading_rad + M_PI_F; // from deg*100 to rad
hil_gps.vel_ned_valid = true;
/* COG (course over ground) is speced as -PI..+PI */
hil_gps.cog_rad = heading_rad;
hil_gps.fix_type = gps.fix_type;
hil_gps.satellites_visible = gps.satellites_visible;
apps/mavlink/orb_listener.c
+13 -5
View File
@@ -229,6 +229,13 @@ l_vehicle_gps_position(const struct listener *l)
/* copy gps data into local buffer */
orb_copy(ORB_ID(vehicle_gps_position), mavlink_subs.gps_sub, &gps);
/* GPS COG is 0..2PI in degrees * 1e2 */
float cog_deg = gps.cog_rad;
if (cog_deg > M_PI_F)
cog_deg -= 2.0f * M_PI_F;
cog_deg *= M_RAD_TO_DEG_F;
/* GPS position */
mavlink_msg_gps_raw_int_send(MAVLINK_COMM_0,
gps.timestamp_position,
@@ -236,13 +243,14 @@ l_vehicle_gps_position(const struct listener *l)
gps.lat,
gps.lon,
gps.alt,
(uint16_t)(gps.eph_m * 1e2f), // from m to cm
(uint16_t)(gps.epv_m * 1e2f), // from m to cm
(uint16_t)(gps.vel_m_s * 1e2f), // from m/s to cm/s
(uint16_t)(gps.cog_rad * M_RAD_TO_DEG_F * 1e2f), // from rad to deg * 100
gps.eph_m * 1e2f, // from m to cm
gps.epv_m * 1e2f, // from m to cm
gps.vel_m_s * 1e2f, // from m/s to cm/s
cog_deg * 1e2f, // from rad to deg * 100
gps.satellites_visible);
if (gps.satellite_info_available && (gps_counter % 4 == 0)) {
/* update SAT info every 10 seconds */
if (gps.satellite_info_available && (gps_counter % 50 == 0)) {
mavlink_msg_gps_status_send(MAVLINK_COMM_0,
gps.satellites_visible,
gps.satellite_prn,
apps/nshlib/Makefile
+2
View File
@@ -107,6 +107,8 @@ endif
ROOTDEPPATH = --dep-path .
VPATH =
MAXOPTIMIZATION = -Os
# Build targets
all: .built
apps/px4/tests/Makefile
+2
View File
@@ -40,3 +40,5 @@ PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 12000
include $(APPDIR)/mk/app.mk
MAXOPTIMIZATION = -Os
apps/system/i2c/Makefile
+1
View File
@@ -64,6 +64,7 @@ VPATH =
APPNAME = i2c
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 2048
MAXOPTIMIZATION = -Os
# Build targets
apps/systemcmds/bl_update/Makefile
+2
View File
@@ -40,3 +40,5 @@ PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 4096
include $(APPDIR)/mk/app.mk
MAXOPTIMIZATION = -Os
apps/systemcmds/boardinfo/Makefile
+2
View File
@@ -40,3 +40,5 @@ PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 2048
include $(APPDIR)/mk/app.mk
MAXOPTIMIZATION = -Os
apps/systemcmds/calibration/Makefile
+2
View File
@@ -40,3 +40,5 @@ PRIORITY = SCHED_PRIORITY_MAX - 1
STACKSIZE = 4096
include $(APPDIR)/mk/app.mk
MAXOPTIMIZATION = -Os
apps/systemcmds/delay_test/Makefile
+2
View File
@@ -40,3 +40,5 @@ PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 2048
include $(APPDIR)/mk/app.mk
MAXOPTIMIZATION = -Os
apps/systemcmds/eeprom/Makefile
+2
View File
@@ -40,3 +40,5 @@ PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 4096
include $(APPDIR)/mk/app.mk
MAXOPTIMIZATION = -Os
apps/systemcmds/mixer/Makefile
+2
View File
@@ -40,3 +40,5 @@ PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 4096
include $(APPDIR)/mk/app.mk
MAXOPTIMIZATION = -Os
apps/systemcmds/param/Makefile
+2
View File
@@ -40,3 +40,5 @@ PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 4096
include $(APPDIR)/mk/app.mk
MAXOPTIMIZATION = -Os
apps/systemcmds/perf/Makefile
+2
View File
@@ -40,3 +40,5 @@ PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 2048
include $(APPDIR)/mk/app.mk
MAXOPTIMIZATION = -Os
apps/systemcmds/preflight_check/Makefile
+2
View File
@@ -40,3 +40,5 @@ PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 2048
include $(APPDIR)/mk/app.mk
MAXOPTIMIZATION = -Os
apps/systemcmds/reboot/Makefile
+2
View File
@@ -40,3 +40,5 @@ PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 2048
include $(APPDIR)/mk/app.mk
MAXOPTIMIZATION = -Os
apps/systemcmds/top/Makefile
+2
View File
@@ -40,3 +40,5 @@ PRIORITY = SCHED_PRIORITY_DEFAULT - 10
STACKSIZE = 3000
include $(APPDIR)/mk/app.mk
MAXOPTIMIZATION = -Os
apps/uORB/topics/vehicle_gps_position.h
+20 -19
View File
@@ -55,38 +55,39 @@
*/
struct vehicle_gps_position_s
{
uint64_t timestamp_position; /**< Timestamp for position information */
int32_t lat; /**< Latitude in 1E7 degrees */
int32_t lon; /**< Longitude in 1E7 degrees */
int32_t alt; /**< Altitude in 1E3 meters (millimeters) above MSL */
uint64_t timestamp_position; /**< Timestamp for position information */
int32_t lat; /**< Latitude in 1E7 degrees */
int32_t lon; /**< Longitude in 1E7 degrees */
int32_t alt; /**< Altitude in 1E3 meters (millimeters) above MSL */
uint64_t timestamp_variance;
float s_variance_m_s; /**< speed accuracy estimate m/s */
float p_variance_m; /**< position accuracy estimate m */
uint8_t fix_type; /**< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. */
float p_variance_m; /**< position accuracy estimate m */
float c_variance_rad; /**< course accuracy estimate rad */
uint8_t fix_type; /**< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. */
float eph_m; /**< GPS HDOP horizontal dilution of position in m */
float epv_m; /**< GPS VDOP horizontal dilution of position in m */
float eph_m; /**< GPS HDOP horizontal dilution of position in m */
float epv_m; /**< GPS VDOP horizontal dilution of position in m */
uint64_t timestamp_velocity; /**< Timestamp for velocity informations */
float vel_m_s; /**< GPS ground speed (m/s) */
float vel_n_m_s; /**< GPS ground speed in m/s */
float vel_e_m_s; /**< GPS ground speed in m/s */
float vel_d_m_s; /**< GPS ground speed in m/s */
float cog_rad; /**< Course over ground (NOT heading, but direction of movement) in rad */
bool vel_ned_valid; /**< Flag to indicate if NED speed is valid */
uint64_t timestamp_velocity; /**< Timestamp for velocity informations */
float vel_m_s; /**< GPS ground speed (m/s) */
float vel_n_m_s; /**< GPS ground speed in m/s */
float vel_e_m_s; /**< GPS ground speed in m/s */
float vel_d_m_s; /**< GPS ground speed in m/s */
float cog_rad; /**< Course over ground (NOT heading, but direction of movement) in rad, -PI..PI */
bool vel_ned_valid; /**< Flag to indicate if NED speed is valid */
uint64_t timestamp_time; /**< Timestamp for time information */
uint64_t time_gps_usec; /**< Timestamp (microseconds in GPS format), this is the timestamp which comes from the gps module */
uint64_t timestamp_satellites; /**< Timestamp for sattelite information */
uint64_t timestamp_satellites; /**< Timestamp for sattelite information */
uint8_t satellites_visible; /**< Number of satellites visible. If unknown, set to 255 */
uint8_t satellite_prn[20]; /**< Global satellite ID */
uint8_t satellite_used[20]; /**< 0: Satellite not used, 1: used for localization */
uint8_t satellite_elevation[20]; /**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */
uint8_t satellite_azimuth[20]; /**< Direction of satellite, 0: 0 deg, 255: 360 deg. */
uint8_t satellite_elevation[20]; /**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */
uint8_t satellite_azimuth[20]; /**< Direction of satellite, 0: 0 deg, 255: 360 deg. */
uint8_t satellite_snr[20]; /**< Signal to noise ratio of satellite */
bool satellite_info_available; /**< 0 for no info, 1 for info available */
bool satellite_info_available; /**< 0 for no info, 1 for info available */
};
/**
nuttx/configs/px4fmu/include/board.h
+1
View File
@@ -326,6 +326,7 @@
*/
#define TONE_ALARM_TIMER 3 /* timer 3 */
#define TONE_ALARM_CHANNEL 3 /* channel 3 */
#define GPIO_TONE_ALARM_IDLE (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN8)
#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF2|GPIO_SPEED_2MHz|GPIO_FLOAT|GPIO_PUSHPULL|GPIO_PORTC|GPIO_PIN8)
/************************************************************************************
nuttx/configs/px4fmu/nsh/appconfig
+1
View File
@@ -124,6 +124,7 @@ CONFIGURED_APPS += drivers/blinkm
CONFIGURED_APPS += drivers/stm32/tone_alarm
CONFIGURED_APPS += drivers/stm32/adc
CONFIGURED_APPS += drivers/px4fmu
CONFIGURED_APPS += drivers/mkblctrl
CONFIGURED_APPS += drivers/hil
CONFIGURED_APPS += drivers/gps
CONFIGURED_APPS += drivers/mb12xx
nuttx/configs/px4io/common/Make.defs
+1 -2
View File
@@ -112,7 +112,6 @@ ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \
ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
ARCHOPTIMIZATION += -g
ARCHSCRIPT += -g
endif
ARCHCFLAGS = -std=gnu99
@@ -145,7 +144,7 @@ ARCHDEFINES =
ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10
# this seems to be the only way to add linker flags
ARCHSCRIPT += --warn-common \
EXTRA_LIBS += --warn-common \
--gc-sections
CFLAGS = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common