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Merge branch 'beta' into offboard2

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This commit is contained in:
Anton Babushkin
2014-02-14 13:41:03 +01:00
parent 66f270dd7e 51b7c27363
commit 66f00d056f
80 changed files with 923 additions and 1295 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/airspeed/airspeed.cpp
+21 -7
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -86,6 +86,7 @@ Airspeed::Airspeed(int bus, int address, unsigned conversion_interval) :
_collect_phase(false),
_diff_pres_offset(0.0f),
_airspeed_pub(-1),
_class_instance(-1),
_conversion_interval(conversion_interval),
_sample_perf(perf_alloc(PC_ELAPSED, "airspeed_read")),
_comms_errors(perf_alloc(PC_COUNT, "airspeed_comms_errors"))
@@ -102,6 +103,9 @@ Airspeed::~Airspeed()
/* make sure we are truly inactive */
stop();
if (_class_instance != -1)
unregister_class_devname(AIRSPEED_DEVICE_PATH, _class_instance);
/* free any existing reports */
if (_reports != nullptr)
delete _reports;
@@ -126,13 +130,23 @@ Airspeed::init()
if (_reports == nullptr)
goto out;
/* get a publish handle on the airspeed topic */
differential_pressure_s zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &zero_report);
/* register alternate interfaces if we have to */
_class_instance = register_class_devname(AIRSPEED_DEVICE_PATH);
if (_airspeed_pub < 0)
warnx("failed to create airspeed sensor object. Did you start uOrb?");
/* publication init */
if (_class_instance == CLASS_DEVICE_PRIMARY) {
/* advertise sensor topic, measure manually to initialize valid report */
struct differential_pressure_s arp;
measure();
_reports->get(&arp);
/* measurement will have generated a report, publish */
_airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &arp);
if (_airspeed_pub < 0)
warnx("failed to create airspeed sensor object. uORB started?");
}
ret = OK;
/* sensor is ok, but we don't really know if it is within range */
src/drivers/airspeed/airspeed.h
+3 -1
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -127,6 +127,8 @@ protected:
orb_advert_t _airspeed_pub;
int _class_instance;
unsigned _conversion_interval;
perf_counter_t _sample_perf;
src/drivers/bma180/bma180.cpp
+18 -7
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -153,6 +153,7 @@ private:
float _accel_range_scale;
float _accel_range_m_s2;
orb_advert_t _accel_topic;
int _class_instance;
unsigned _current_lowpass;
unsigned _current_range;
@@ -238,6 +239,7 @@ BMA180::BMA180(int bus, spi_dev_e device) :
_accel_range_scale(0.0f),
_accel_range_m_s2(0.0f),
_accel_topic(-1),
_class_instance(-1),
_current_lowpass(0),
_current_range(0),
_sample_perf(perf_alloc(PC_ELAPSED, "bma180_read"))
@@ -282,11 +284,6 @@ BMA180::init()
if (_reports == nullptr)
goto out;
/* advertise sensor topic */
struct accel_report zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_accel_topic = orb_advertise(ORB_ID(sensor_accel), &zero_report);
/* perform soft reset (p48) */
write_reg(ADDR_RESET, SOFT_RESET);
@@ -322,6 +319,19 @@ BMA180::init()
ret = ERROR;
}
_class_instance = register_class_devname(ACCEL_DEVICE_PATH);
/* advertise sensor topic, measure manually to initialize valid report */
measure();
if (_class_instance == CLASS_DEVICE_PRIMARY) {
struct accel_report arp;
_reports->get(&arp);
/* measurement will have generated a report, publish */
_accel_topic = orb_advertise(ORB_ID(sensor_accel), &arp);
}
out:
return ret;
}
@@ -723,7 +733,8 @@ BMA180::measure()
poll_notify(POLLIN);
/* publish for subscribers */
orb_publish(ORB_ID(sensor_accel), _accel_topic, &report);
if (_accel_topic > 0 && !(_pub_blocked))
orb_publish(ORB_ID(sensor_accel), _accel_topic, &report);
/* stop the perf counter */
perf_end(_sample_perf);
src/drivers/device/cdev.cpp
+11 -1
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -38,6 +38,7 @@
*/
#include "device.h"
#include "drivers/drv_device.h"
#include <sys/ioctl.h>
#include <arch/irq.h>
@@ -93,6 +94,7 @@ CDev::CDev(const char *name,
Device(name, irq),
// public
// protected
_pub_blocked(false),
// private
_devname(devname),
_registered(false),
@@ -256,6 +258,14 @@ CDev::ioctl(struct file *filp, int cmd, unsigned long arg)
case DIOC_GETPRIV:
*(void **)(uintptr_t)arg = (void *)this;
return OK;
break;
case DEVIOCSPUBBLOCK:
_pub_blocked = (arg != 0);
return OK;
break;
case DEVIOCGPUBBLOCK:
return _pub_blocked;
break;
}
return -ENOTTY;
src/drivers/device/device.cpp
+1 -1
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
src/drivers/device/device.h
+3 -1
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -415,6 +415,8 @@ protected:
*/
virtual int unregister_class_devname(const char *class_devname, unsigned class_instance);
bool _pub_blocked; /**< true if publishing should be blocked */
private:
static const unsigned _max_pollwaiters = 8;
src/drivers/drv_device.h
+62
View File
@@ -0,0 +1,62 @@
/****************************************************************************
*
* Copyright (c) 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file drv_device.h
*
* Generic device / sensor interface.
*/
#ifndef _DRV_DEVICE_H
#define _DRV_DEVICE_H
#include <stdint.h>
#include <sys/ioctl.h>
#include "drv_sensor.h"
#include "drv_orb_dev.h"
/*
* ioctl() definitions
*/
#define _DEVICEIOCBASE (0x100)
#define _DEVICEIOC(_n) (_IOC(_DEVICEIOCBASE, _n))
/** ask device to stop publishing */
#define DEVIOCSPUBBLOCK _DEVICEIOC(0)
/** check publication block status */
#define DEVIOCGPUBBLOCK _DEVICEIOC(1)
#endif /* _DRV_DEVICE_H */
src/drivers/ets_airspeed/ets_airspeed.cpp
+5 -3
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -184,8 +184,10 @@ ETSAirspeed::collect()
report.voltage = 0;
report.max_differential_pressure_pa = _max_differential_pressure_pa;
/* announce the airspeed if needed, just publish else */
orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report);
if (_airspeed_pub > 0 && !(_pub_blocked)) {
/* publish it */
orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report);
}
new_report(report);
src/drivers/gps/gps.cpp
+13 -8
View File
@@ -289,11 +289,13 @@ GPS::task_main()
//no time and satellite information simulated
if (_report_pub > 0) {
orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report);
if (!(_pub_blocked)) {
if (_report_pub > 0) {
orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report);
} else {
_report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report);
} else {
_report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report);
}
}
usleep(2e5);
@@ -330,11 +332,14 @@ GPS::task_main()
while (_Helper->receive(TIMEOUT_5HZ) > 0 && !_task_should_exit) {
// lock();
/* opportunistic publishing - else invalid data would end up on the bus */
if (_report_pub > 0) {
orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report);
} else {
_report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report);
if (!(_pub_blocked)) {
if (_report_pub > 0) {
orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report);
} else {
_report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report);
}
}
last_rate_count++;
src/drivers/gps/gps_helper.cpp
+4 -3
View File
@@ -1,8 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012,2013 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -41,6 +39,9 @@
/**
* @file gps_helper.cpp
*
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
*/
float
src/drivers/gps/gps_helper.h
+3 -3
View File
@@ -1,8 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -35,6 +33,8 @@
/**
* @file gps_helper.h
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
*/
#ifndef GPS_HELPER_H
src/drivers/gps/module.mk
+1 -1
View File
@@ -1,6 +1,6 @@
############################################################################
#
# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
# Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
src/drivers/gps/mtk.cpp
+7 -4
View File
@@ -1,8 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
* 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
@@ -33,7 +31,12 @@
*
****************************************************************************/
/* @file mkt.cpp */
/**
* @file mtk.cpp
*
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
*/
#include <unistd.h>
#include <stdio.h>
src/drivers/gps/mtk.h
+7 -4
View File
@@ -1,8 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
* 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
@@ -33,7 +31,12 @@
*
****************************************************************************/
/* @file mtk.h */
/**
* @file mtk.cpp
*
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
*/
#ifndef MTK_H_
#define MTK_H_
src/drivers/gps/ubx.cpp
+6 -4
View File
@@ -1,9 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
* Anton Babushkin <anton.babushkin@me.com>
* 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
@@ -40,8 +37,13 @@
* U-Blox protocol implementation. Following u-blox 6/7 Receiver Description
* including Prototol Specification.
*
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*
* @see http://www.u-blox.com/images/downloads/Product_Docs/u-blox6_ReceiverDescriptionProtocolSpec_%28GPS.G6-SW-10018%29.pdf
*/
#include <assert.h>
#include <math.h>
#include <poll.h>
src/drivers/gps/ubx.h
+12 -5
View File
@@ -1,9 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
* Anton Babushkin <anton.babushkin@me.com>
* 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
@@ -34,7 +31,17 @@
*
****************************************************************************/
/* @file U-Blox protocol definitions */
/**
* @file ubx.h
*
* U-Blox protocol definition. Following u-blox 6/7 Receiver Description
* including Prototol Specification.
*
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*
*/
#ifndef UBX_H_
#define UBX_H_
src/drivers/hmc5883/hmc5883.cpp
+18 -18
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -381,16 +381,6 @@ HMC5883::init()
reset();
_class_instance = register_class_devname(MAG_DEVICE_PATH);
if (_class_instance == CLASS_DEVICE_PRIMARY) {
/* get a publish handle on the mag topic if we are
* the primary mag */
struct mag_report zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_mag_topic = orb_advertise(ORB_ID(sensor_mag), &zero_report);
if (_mag_topic < 0)
debug("failed to create sensor_mag object");
}
ret = OK;
/* sensor is ok, but not calibrated */
@@ -867,9 +857,17 @@ HMC5883::collect()
/* z remains z */
new_report.z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale;
if (_mag_topic != -1) {
/* publish it */
orb_publish(ORB_ID(sensor_mag), _mag_topic, &new_report);
if (_class_instance == CLASS_DEVICE_PRIMARY && !(_pub_blocked)) {
if (_mag_topic != -1) {
/* publish it */
orb_publish(ORB_ID(sensor_mag), _mag_topic, &new_report);
} else {
_mag_topic = orb_advertise(ORB_ID(sensor_mag), &new_report);
if (_mag_topic < 0)
debug("failed to create sensor_mag publication");
}
}
/* post a report to the ring */
@@ -1140,10 +1138,12 @@ int HMC5883::check_calibration()
SUBSYSTEM_TYPE_MAG};
static orb_advert_t pub = -1;
if (pub > 0) {
orb_publish(ORB_ID(subsystem_info), pub, &info);
} else {
pub = orb_advertise(ORB_ID(subsystem_info), &info);
if (!(_pub_blocked)) {
if (pub > 0) {
orb_publish(ORB_ID(subsystem_info), pub, &info);
} else {
pub = orb_advertise(ORB_ID(subsystem_info), &info);
}
}
}
src/drivers/l3gd20/l3gd20.cpp
+19 -8
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -379,15 +379,24 @@ L3GD20::init()
goto out;
_class_instance = register_class_devname(GYRO_DEVICE_PATH);
if (_class_instance == CLASS_DEVICE_PRIMARY) {
/* advertise sensor topic */
struct gyro_report zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &zero_report);
}
reset();
measure();
if (_class_instance == CLASS_DEVICE_PRIMARY) {
/* advertise sensor topic, measure manually to initialize valid report */
struct gyro_report grp;
_reports->get(&grp);
_gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &grp);
if (_gyro_topic < 0)
debug("failed to create sensor_gyro publication");
}
ret = OK;
out:
return ret;
@@ -894,8 +903,10 @@ L3GD20::measure()
poll_notify(POLLIN);
/* publish for subscribers */
if (_gyro_topic > 0)
if (_gyro_topic > 0 && !(_pub_blocked)) {
/* publish it */
orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &report);
}
_read++;
src/drivers/lsm303d/lsm303d.cpp
+44 -27
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -277,15 +277,15 @@ private:
unsigned _mag_samplerate;
orb_advert_t _accel_topic;
int _class_instance;
int _accel_class_instance;
unsigned _accel_read;
unsigned _mag_read;
perf_counter_t _accel_sample_perf;
perf_counter_t _mag_sample_perf;
perf_counter_t _reg7_resets;
perf_counter_t _reg1_resets;
perf_counter_t _reg7_resets;
perf_counter_t _extreme_values;
perf_counter_t _accel_reschedules;
@@ -295,8 +295,8 @@ private:
// expceted values of reg1 and reg7 to catch in-flight
// brownouts of the sensor
uint8_t _reg7_expected;
uint8_t _reg1_expected;
uint8_t _reg7_expected;
// accel logging
int _accel_log_fd;
@@ -500,7 +500,7 @@ LSM303D::LSM303D(int bus, const char* path, spi_dev_e device) :
_mag_range_scale(0.0f),
_mag_samplerate(0),
_accel_topic(-1),
_class_instance(-1),
_accel_class_instance(-1),
_accel_read(0),
_mag_read(0),
_accel_sample_perf(perf_alloc(PC_ELAPSED, "lsm303d_accel_read")),
@@ -551,8 +551,8 @@ LSM303D::~LSM303D()
if (_mag_reports != nullptr)
delete _mag_reports;
if (_class_instance != -1)
unregister_class_devname(ACCEL_DEVICE_PATH, _class_instance);
if (_accel_class_instance != -1)
unregister_class_devname(ACCEL_DEVICE_PATH, _accel_class_instance);
delete _mag;
@@ -562,13 +562,13 @@ LSM303D::~LSM303D()
perf_free(_reg1_resets);
perf_free(_reg7_resets);
perf_free(_extreme_values);
perf_free(_accel_reschedules);
}
int
LSM303D::init()
{
int ret = ERROR;
int mag_ret;
/* do SPI init (and probe) first */
if (SPI::init() != OK) {
@@ -597,13 +597,37 @@ LSM303D::init()
goto out;
}
_class_instance = register_class_devname(ACCEL_DEVICE_PATH);
if (_class_instance == CLASS_DEVICE_PRIMARY) {
// we are the primary accel device, so advertise to
// the ORB
struct accel_report zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_accel_topic = orb_advertise(ORB_ID(sensor_accel), &zero_report);
/* fill report structures */
measure();
if (_mag->_mag_class_instance == CLASS_DEVICE_PRIMARY) {
/* advertise sensor topic, measure manually to initialize valid report */
struct mag_report mrp;
_mag_reports->get(&mrp);
/* measurement will have generated a report, publish */
_mag->_mag_topic = orb_advertise(ORB_ID(sensor_mag), &mrp);
if (_mag->_mag_topic < 0)
debug("failed to create sensor_mag publication");
}
_accel_class_instance = register_class_devname(ACCEL_DEVICE_PATH);
if (_accel_class_instance == CLASS_DEVICE_PRIMARY) {
/* advertise sensor topic, measure manually to initialize valid report */
struct accel_report arp;
_accel_reports->get(&arp);
/* measurement will have generated a report, publish */
_accel_topic = orb_advertise(ORB_ID(sensor_accel), &arp);
if (_accel_topic < 0)
debug("failed to create sensor_accel publication");
}
out:
@@ -727,7 +751,7 @@ LSM303D::check_extremes(const accel_report *arb)
_last_log_us = now;
::dprintf(_accel_log_fd, "ARB %llu %.3f %.3f %.3f %d %d %d boot_ok=%u\r\n",
(unsigned long long)arb->timestamp,
arb->x, arb->y, arb->z,
(double)arb->x, (double)arb->y, (double)arb->z,
(int)arb->x_raw,
(int)arb->y_raw,
(int)arb->z_raw,
@@ -1517,8 +1541,8 @@ LSM303D::measure()
/* notify anyone waiting for data */
poll_notify(POLLIN);
if (_accel_topic != -1) {
/* publish for subscribers */
if (_accel_topic > 0 && !(_pub_blocked)) {
/* publish it */
orb_publish(ORB_ID(sensor_accel), _accel_topic, &accel_report);
}
@@ -1591,8 +1615,8 @@ LSM303D::mag_measure()
/* notify anyone waiting for data */
poll_notify(POLLIN);
if (_mag->_mag_topic != -1) {
/* publish for subscribers */
if (_mag->_mag_topic > 0 && !(_pub_blocked)) {
/* publish it */
orb_publish(ORB_ID(sensor_mag), _mag->_mag_topic, &mag_report);
}
@@ -1707,13 +1731,6 @@ LSM303D_mag::init()
goto out;
_mag_class_instance = register_class_devname(MAG_DEVICE_PATH);
if (_mag_class_instance == CLASS_DEVICE_PRIMARY) {
// we are the primary mag device, so advertise to
// the ORB
struct mag_report zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_mag_topic = orb_advertise(ORB_ID(sensor_mag), &zero_report);
}
out:
return ret;
src/drivers/meas_airspeed/meas_airspeed.cpp
+5 -3
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -208,8 +208,10 @@ MEASAirspeed::collect()
report.voltage = 0;
report.max_differential_pressure_pa = _max_differential_pressure_pa;
/* announce the airspeed if needed, just publish else */
orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report);
if (_airspeed_pub > 0 && !(_pub_blocked)) {
/* publish it */
orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report);
}
new_report(report);
src/drivers/mkblctrl/mkblctrl.cpp
+94 -364
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012,2013 PX4 Development Team. All rights reserved.
* Copyright (C) 2012-2014 PX4 Development Team. All rights reserved.
* Author: Marco Bauer <marco@wtns.de>
*
* Redistribution and use in source and binary forms, with or without
@@ -65,7 +65,6 @@
#include <drivers/device/device.h>
#include <drivers/drv_pwm_output.h>
#include <drivers/drv_gpio.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_rc_input.h>
@@ -93,16 +92,12 @@
#define MOTOR_SPINUP_COUNTER 30
#define ESC_UORB_PUBLISH_DELAY 500000
class MK : public device::I2C
{
public:
enum Mode {
MODE_NONE,
MODE_2PWM,
MODE_4PWM,
MODE_6PWM,
};
enum MappingMode {
MAPPING_MK = 0,
MAPPING_PX4,
@@ -120,8 +115,7 @@ public:
virtual int init(unsigned motors);
virtual ssize_t write(file *filp, const char *buffer, size_t len);
int set_mode(Mode mode);
int set_pwm_rate(unsigned rate);
int set_update_rate(unsigned rate);
int set_motor_count(unsigned count);
int set_motor_test(bool motortest);
int set_overrideSecurityChecks(bool overrideSecurityChecks);
@@ -133,7 +127,6 @@ private:
static const unsigned _max_actuators = MAX_MOTORS;
static const bool showDebug = false;
Mode _mode;
int _update_rate;
int _current_update_rate;
int _task;
@@ -180,33 +173,15 @@ private:
static const GPIOConfig _gpio_tab[];
static const unsigned _ngpio;
void gpio_reset(void);
void gpio_set_function(uint32_t gpios, int function);
void gpio_write(uint32_t gpios, int function);
uint32_t gpio_read(void);
int gpio_ioctl(file *filp, int cmd, unsigned long arg);
int mk_servo_arm(bool status);
int mk_servo_set(unsigned int chan, short val);
int mk_servo_set_value(unsigned int chan, short val);
int mk_servo_test(unsigned int chan);
short scaling(float val, float inMin, float inMax, float outMin, float outMax);
};
const MK::GPIOConfig MK::_gpio_tab[] = {
{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0},
{GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0},
{GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, GPIO_USART2_CTS_1},
{GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, GPIO_USART2_RTS_1},
{GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, GPIO_USART2_TX_1},
{GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, GPIO_USART2_RX_1},
{GPIO_GPIO6_INPUT, GPIO_GPIO6_OUTPUT, GPIO_CAN2_TX_2},
{GPIO_GPIO7_INPUT, GPIO_GPIO7_OUTPUT, GPIO_CAN2_RX_2},
};
const unsigned MK::_ngpio = sizeof(MK::_gpio_tab) / sizeof(MK::_gpio_tab[0]);
const int blctrlAddr_quad_plus[] = { 2, 2, -2, -2, 0, 0, 0, 0 }; // Addresstranslator for Quad + configuration
const int blctrlAddr_hexa_plus[] = { 0, 2, 2, -2, 1, -3, 0, 0 }; // Addresstranslator for Hexa + configuration
@@ -247,8 +222,7 @@ MK *g_mk;
MK::MK(int bus, const char *_device_path) :
I2C("mkblctrl", "/dev/mkblctrl", bus, 0, I2C_BUS_SPEED),
_mode(MODE_NONE),
_update_rate(50),
_update_rate(400),
_task(-1),
_t_actuators(-1),
_t_actuator_armed(-1),
@@ -317,26 +291,23 @@ MK::init(unsigned motors)
usleep(500000);
if (sizeof(_device) > 0) {
ret = register_driver(_device, &fops, 0666, (void *)this);
if (sizeof(_device) > 0) {
ret = register_driver(_device, &fops, 0666, (void *)this);
if (ret == OK) {
if (ret == OK) {
log("creating alternate output device");
_primary_pwm_device = true;
}
}
/* reset GPIOs */
gpio_reset();
}
/* start the IO interface task */
_task = task_spawn_cmd("mkblctrl",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 20,
2048,
(main_t)&MK::task_main_trampoline,
nullptr);
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 20,
2048,
(main_t)&MK::task_main_trampoline,
nullptr);
if (_task < 0) {
@@ -354,43 +325,7 @@ MK::task_main_trampoline(int argc, char *argv[])
}
int
MK::set_mode(Mode mode)
{
/*
* Configure for PWM output.
*
* Note that regardless of the configured mode, the task is always
* listening and mixing; the mode just selects which of the channels
* are presented on the output pins.
*/
switch (mode) {
case MODE_2PWM:
up_pwm_servo_deinit();
_update_rate = UPDATE_RATE; /* default output rate */
break;
case MODE_4PWM:
up_pwm_servo_deinit();
_update_rate = UPDATE_RATE; /* default output rate */
break;
case MODE_NONE:
debug("MODE_NONE");
/* disable servo outputs and set a very low update rate */
up_pwm_servo_deinit();
_update_rate = UPDATE_RATE;
break;
default:
return -EINVAL;
}
_mode = mode;
return OK;
}
int
MK::set_pwm_rate(unsigned rate)
MK::set_update_rate(unsigned rate)
{
if ((rate > 500) || (rate < 10))
return -EINVAL;
@@ -621,11 +556,13 @@ MK::task_main()
}
}
if(!_overrideSecurityChecks) {
if (!_overrideSecurityChecks) {
/* don't go under BLCTRL_MIN_VALUE */
if (outputs.output[i] < BLCTRL_MIN_VALUE) {
outputs.output[i] = BLCTRL_MIN_VALUE;
}
}
/* output to BLCtrl's */
@@ -675,21 +612,24 @@ MK::task_main()
esc.esc[i].esc_current = (uint16_t) Motor[i].Current;
esc.esc[i].esc_rpm = (uint16_t) 0;
esc.esc[i].esc_setpoint = (float) Motor[i].SetPoint_PX4;
if (Motor[i].Version == 1) {
// BLCtrl 2.0 (11Bit)
esc.esc[i].esc_setpoint_raw = (uint16_t) (Motor[i].SetPoint<<3) | Motor[i].SetPointLowerBits;
esc.esc[i].esc_setpoint_raw = (uint16_t)(Motor[i].SetPoint << 3) | Motor[i].SetPointLowerBits;
} else {
// BLCtrl < 2.0 (8Bit)
esc.esc[i].esc_setpoint_raw = (uint16_t) Motor[i].SetPoint;
}
esc.esc[i].esc_temperature = (uint16_t) Motor[i].Temperature;
esc.esc[i].esc_state = (uint16_t) Motor[i].State;
esc.esc[i].esc_errorcount = (uint16_t) 0;
// if motortest is requested - do it...
if (_motortest == true) {
mk_servo_test(i);
}
// if motortest is requested - do it...
if (_motortest == true) {
mk_servo_test(i);
}
}
@@ -728,7 +668,7 @@ MK::mk_servo_arm(bool status)
unsigned int
MK::mk_check_for_blctrl(unsigned int count, bool showOutput, bool initI2C)
{
if(initI2C) {
if (initI2C) {
I2C::init();
}
@@ -781,8 +721,8 @@ MK::mk_check_for_blctrl(unsigned int count, bool showOutput, bool initI2C)
fprintf(stderr, "[mkblctrl] blctrl[%i] : found=%i\tversion=%i\tcurrent=%i\tmaxpwm=%i\ttemperature=%i\n", i, Motor[i].State, Motor[i].Version, Motor[i].Current, Motor[i].MaxPWM, Motor[i].Temperature);
}
if(!_overrideSecurityChecks) {
if (!_overrideSecurityChecks) {
if (foundMotorCount != 4 && foundMotorCount != 6 && foundMotorCount != 8) {
_task_should_exit = true;
}
@@ -811,8 +751,8 @@ MK::mk_servo_set(unsigned int chan, short val)
tmpVal = 0;
}
Motor[chan].SetPoint = (uint8_t)(tmpVal>>3)&0xff;
Motor[chan].SetPointLowerBits = ((uint8_t)tmpVal%8)&0x07;
Motor[chan].SetPoint = (uint8_t)(tmpVal >> 3) & 0xff;
Motor[chan].SetPointLowerBits = ((uint8_t)tmpVal % 8) & 0x07;
if (_armed == false) {
Motor[chan].SetPoint = 0;
@@ -1019,28 +959,6 @@ MK::ioctl(file *filp, int cmd, unsigned long arg)
{
int ret;
// XXX disabled, confusing users
/* try it as a GPIO ioctl first */
ret = gpio_ioctl(filp, cmd, arg);
if (ret != -ENOTTY)
return ret;
/* if we are in valid PWM mode, try it as a PWM ioctl as well */
/*
switch (_mode) {
case MODE_2PWM:
case MODE_4PWM:
case MODE_6PWM:
ret = pwm_ioctl(filp, cmd, arg);
break;
default:
debug("not in a PWM mode");
break;
}
*/
ret = pwm_ioctl(filp, cmd, arg);
/* if nobody wants it, let CDev have it */
@@ -1075,6 +993,10 @@ MK::pwm_ioctl(file *filp, int cmd, unsigned long arg)
ret = OK;
break;
case PWM_SERVO_GET_UPDATE_RATE:
*(uint32_t *)arg = _update_rate;
break;
case PWM_SERVO_SET_SELECT_UPDATE_RATE:
ret = OK;
break;
@@ -1084,6 +1006,7 @@ MK::pwm_ioctl(file *filp, int cmd, unsigned long arg)
if (arg < 2150) {
Motor[cmd - PWM_SERVO_SET(0)].RawPwmValue = (unsigned short)arg;
mk_servo_set(cmd - PWM_SERVO_SET(0), scaling(arg, 1010, 2100, 0, 2047));
} else {
ret = -EINVAL;
}
@@ -1198,139 +1121,10 @@ MK::write(file *filp, const char *buffer, size_t len)
return count * 2;
}
void
MK::gpio_reset(void)
{
/*
* Setup default GPIO config - all pins as GPIOs, GPIO driver chip
* to input mode.
*/
for (unsigned i = 0; i < _ngpio; i++)
stm32_configgpio(_gpio_tab[i].input);
stm32_gpiowrite(GPIO_GPIO_DIR, 0);
stm32_configgpio(GPIO_GPIO_DIR);
}
void
MK::gpio_set_function(uint32_t gpios, int function)
{
/*
* GPIOs 0 and 1 must have the same direction as they are buffered
* by a shared 2-port driver. Any attempt to set either sets both.
*/
if (gpios & 3) {
gpios |= 3;
/* flip the buffer to output mode if required */
if (GPIO_SET_OUTPUT == function)
stm32_gpiowrite(GPIO_GPIO_DIR, 1);
}
/* configure selected GPIOs as required */
for (unsigned i = 0; i < _ngpio; i++) {
if (gpios & (1 << i)) {
switch (function) {
case GPIO_SET_INPUT:
stm32_configgpio(_gpio_tab[i].input);
break;
case GPIO_SET_OUTPUT:
stm32_configgpio(_gpio_tab[i].output);
break;
case GPIO_SET_ALT_1:
if (_gpio_tab[i].alt != 0)
stm32_configgpio(_gpio_tab[i].alt);
break;
}
}
}
/* flip buffer to input mode if required */
if ((GPIO_SET_INPUT == function) && (gpios & 3))
stm32_gpiowrite(GPIO_GPIO_DIR, 0);
}
void
MK::gpio_write(uint32_t gpios, int function)
{
int value = (function == GPIO_SET) ? 1 : 0;
for (unsigned i = 0; i < _ngpio; i++)
if (gpios & (1 << i))
stm32_gpiowrite(_gpio_tab[i].output, value);
}
uint32_t
MK::gpio_read(void)
{
uint32_t bits = 0;
for (unsigned i = 0; i < _ngpio; i++)
if (stm32_gpioread(_gpio_tab[i].input))
bits |= (1 << i);
return bits;
}
int
MK::gpio_ioctl(struct file *filp, int cmd, unsigned long arg)
{
int ret = OK;
lock();
switch (cmd) {
case GPIO_RESET:
gpio_reset();
break;
case GPIO_SET_OUTPUT:
case GPIO_SET_INPUT:
case GPIO_SET_ALT_1:
gpio_set_function(arg, cmd);
break;
case GPIO_SET_ALT_2:
case GPIO_SET_ALT_3:
case GPIO_SET_ALT_4:
ret = -EINVAL;
break;
case GPIO_SET:
case GPIO_CLEAR:
gpio_write(arg, cmd);
break;
case GPIO_GET:
*(uint32_t *)arg = gpio_read();
break;
default:
ret = -ENOTTY;
}
unlock();
return ret;
}
namespace
{
enum PortMode {
PORT_MODE_UNSET = 0,
PORT_FULL_GPIO,
PORT_FULL_SERIAL,
PORT_FULL_PWM,
PORT_GPIO_AND_SERIAL,
PORT_PWM_AND_SERIAL,
PORT_PWM_AND_GPIO,
};
enum MappingMode {
MAPPING_MK = 0,
MAPPING_PX4,
@@ -1341,20 +1135,11 @@ enum FrameType {
FRAME_X,
};
PortMode g_port_mode;
int
mk_new_mode(PortMode new_mode, int update_rate, int motorcount, bool motortest, int px4mode, int frametype, bool overrideSecurityChecks)
mk_new_mode(int update_rate, int motorcount, bool motortest, int px4mode, int frametype, bool overrideSecurityChecks)
{
uint32_t gpio_bits;
int shouldStop = 0;
MK::Mode servo_mode;
/* reset to all-inputs */
g_mk->ioctl(0, GPIO_RESET, 0);
gpio_bits = 0;
servo_mode = MK::MODE_NONE;
/* native PX4 addressing) */
g_mk->set_px4mode(px4mode);
@@ -1368,7 +1153,6 @@ mk_new_mode(PortMode new_mode, int update_rate, int motorcount, bool motortest,
/* ovveride security checks if enabled */
g_mk->set_overrideSecurityChecks(overrideSecurityChecks);
/* count used motors */
do {
if (g_mk->mk_check_for_blctrl(8, false, false) != 0) {
@@ -1383,86 +1167,54 @@ mk_new_mode(PortMode new_mode, int update_rate, int motorcount, bool motortest,
g_mk->set_motor_count(g_mk->mk_check_for_blctrl(8, true, false));
/* (re)set the PWM output mode */
g_mk->set_mode(servo_mode);
if ((servo_mode != MK::MODE_NONE) && (update_rate != 0))
g_mk->set_pwm_rate(update_rate);
g_mk->set_update_rate(update_rate);
return OK;
}
int
mk_start(unsigned bus, unsigned motors, char *device_path)
{
int ret = OK;
if (g_mk == nullptr) {
g_mk = new MK(bus, device_path);
if (g_mk == nullptr) {
ret = -ENOMEM;
} else {
ret = g_mk->init(motors);
if (ret != OK) {
delete g_mk;
g_mk = nullptr;
}
}
}
return ret;
}
int
mk_check_for_i2c_esc_bus(char *device_path, int motors)
mk_start(unsigned motors, char *device_path)
{
int ret;
if (g_mk == nullptr) {
// try i2c3 first
g_mk = new MK(3, device_path);
g_mk = new MK(3, device_path);
if (!g_mk)
return -ENOMEM;
if (g_mk == nullptr) {
return -1;
} else {
ret = g_mk->mk_check_for_blctrl(8, false, true);
delete g_mk;
g_mk = nullptr;
if (ret > 0) {
return 3;
}
}
g_mk = new MK(1, device_path);
if (g_mk == nullptr) {
return -1;
} else {
ret = g_mk->mk_check_for_blctrl(8, false, true);
delete g_mk;
g_mk = nullptr;
if (ret > 0) {
return 1;
}
if (OK == g_mk->init(motors)) {
warnx("[mkblctrl] scanning i2c3...\n");
ret = g_mk->mk_check_for_blctrl(8, false, true);
if (ret > 0) {
return OK;
}
}
return -1;
}
delete g_mk;
g_mk = nullptr;
// fallback to bus 1
g_mk = new MK(1, device_path);
if (!g_mk)
return -ENOMEM;
if (OK == g_mk->init(motors)) {
warnx("[mkblctrl] scanning i2c1...\n");
ret = g_mk->mk_check_for_blctrl(8, false, true);
if (ret > 0) {
return OK;
}
}
delete g_mk;
g_mk = nullptr;
return -ENXIO;
}
} // namespace
@@ -1472,10 +1224,8 @@ extern "C" __EXPORT int mkblctrl_main(int argc, char *argv[]);
int
mkblctrl_main(int argc, char *argv[])
{
PortMode port_mode = PORT_FULL_PWM;
int pwm_update_rate_in_hz = UPDATE_RATE;
int motorcount = 8;
int bus = -1;
int px4mode = MAPPING_PX4;
int frametype = FRAME_PLUS; // + plus is default
bool motortest = false;
@@ -1489,18 +1239,6 @@ mkblctrl_main(int argc, char *argv[])
*/
for (int i = 1; i < argc; i++) {
/* look for the optional i2c bus parameter */
if (strcmp(argv[i], "-b") == 0 || strcmp(argv[i], "--bus") == 0) {
if (argc > i + 1) {
bus = atoi(argv[i + 1]);
newMode = true;
} else {
errx(1, "missing argument for i2c bus (-b)");
return 1;
}
}
/* look for the optional frame parameter */
if (strcmp(argv[i], "-mkmode") == 0 || strcmp(argv[i], "--mkmode") == 0) {
if (argc > i + 1) {
@@ -1560,51 +1298,43 @@ mkblctrl_main(int argc, char *argv[])
fprintf(stderr, "mkblctrl: help:\n");
fprintf(stderr, " [-mkmode {+/x}] [-b i2c_bus_number] [-d devicename] [--override-security-checks] [-h / --help]\n\n");
fprintf(stderr, "\t -mkmode {+/x} \t\t Type of frame, if Mikrokopter motor order is used.\n");
fprintf(stderr, "\t -b {i2c_bus_number} \t\t Set the i2c bus where the ESCs are connected to (default autoscan).\n");
fprintf(stderr, "\t -d {devicepath & name}\t\t Create alternate pwm device.\n");
fprintf(stderr, "\t --override-security-checks \t\t Disable all security checks (arming and number of ESCs). Used to test single Motors etc. (DANGER !!!)\n");
fprintf(stderr, "\n");
fprintf(stderr, "Motortest:\n");
fprintf(stderr, "First you have to start mkblctrl, the you can enter Motortest Mode with:\n");
fprintf(stderr, "mkblctrl -t\n");
fprintf(stderr, "This will spin up once every motor in order of motoraddress. (DANGER !!!)\n");
fprintf(stderr, "This will spin up once every motor in order of motoraddress. (DANGER !!!)\n");
exit(1);
}
if (!motortest) {
if (g_mk == nullptr) {
if (bus == -1) {
bus = mk_check_for_i2c_esc_bus(devicepath, motorcount);
}
if (g_mk == nullptr) {
if (mk_start(motorcount, devicepath) != OK) {
errx(1, "failed to start the MK-BLCtrl driver");
}
if (bus != -1) {
if (mk_start(bus, motorcount, devicepath) != OK) {
errx(1, "failed to start the MK-BLCtrl driver");
}
} else {
errx(1, "failed to start the MK-BLCtrl driver (cannot find i2c esc's)");
}
/* parameter set ? */
if (newMode) {
/* switch parameter */
return mk_new_mode(pwm_update_rate_in_hz, motorcount, motortest, px4mode, frametype, overrideSecurityChecks);
}
/* parameter set ? */
if (newMode) {
/* switch parameter */
return mk_new_mode(port_mode, pwm_update_rate_in_hz, motorcount, motortest, px4mode, frametype, overrideSecurityChecks);
}
exit(0);
exit(0);
} else {
errx(1, "MK-BLCtrl driver already running");
}
} else {
errx(1, "MK-BLCtrl driver already running");
}
} else {
if (g_mk == nullptr) {
errx(1, "MK-BLCtrl driver not running. You have to start it first.");
} else {
if (g_mk == nullptr) {
errx(1, "MK-BLCtrl driver not running. You have to start it first.");
} else {
g_mk->set_motor_test(motortest);
exit(0);
} else {
g_mk->set_motor_test(motortest);
exit(0);
}
}
}
}
}
src/drivers/mpu6000/mpu6000.cpp
+33 -16
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -443,7 +443,6 @@ int
MPU6000::init()
{
int ret;
int gyro_ret;
/* do SPI init (and probe) first */
ret = SPI::init();
@@ -488,16 +487,36 @@ MPU6000::init()
return ret;
}
/* fetch an initial set of measurements for advertisement */
_accel_class_instance = register_class_devname(ACCEL_DEVICE_PATH);
measure();
_accel_class_instance = register_class_devname(ACCEL_DEVICE_PATH);
if (_accel_class_instance == CLASS_DEVICE_PRIMARY) {
/* advertise accel topic */
accel_report ar;
_accel_reports->get(&ar);
_accel_topic = orb_advertise(ORB_ID(sensor_accel), &ar);
}
/* advertise sensor topic, measure manually to initialize valid report */
struct accel_report arp;
_accel_reports->get(&arp);
/* measurement will have generated a report, publish */
_accel_topic = orb_advertise(ORB_ID(sensor_accel), &arp);
if (_accel_topic < 0)
debug("failed to create sensor_accel publication");
}
if (_gyro->_gyro_class_instance == CLASS_DEVICE_PRIMARY) {
/* advertise sensor topic, measure manually to initialize valid report */
struct gyro_report grp;
_gyro_reports->get(&grp);
_gyro->_gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &grp);
if (_gyro->_gyro_topic < 0)
debug("failed to create sensor_gyro publication");
}
out:
return ret;
@@ -1307,10 +1326,13 @@ MPU6000::measure()
poll_notify(POLLIN);
_gyro->parent_poll_notify();
if (_accel_topic != -1) {
if (_accel_topic > 0 && !(_pub_blocked)) {
/* publish it */
orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb);
}
if (_gyro->_gyro_topic != -1) {
if (_gyro->_gyro_topic > 0 && !(_pub_blocked)) {
/* publish it */
orb_publish(ORB_ID(sensor_gyro), _gyro->_gyro_topic, &grb);
}
@@ -1356,11 +1378,6 @@ MPU6000_gyro::init()
}
_gyro_class_instance = register_class_devname(GYRO_DEVICE_PATH);
if (_gyro_class_instance == CLASS_DEVICE_PRIMARY) {
gyro_report gr;
memset(&gr, 0, sizeof(gr));
_gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &gr);
}
out:
return ret;
src/drivers/ms5611/ms5611.cpp
+68 -19
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -90,6 +90,7 @@ static const int ERROR = -1;
/* internal conversion time: 9.17 ms, so should not be read at rates higher than 100 Hz */
#define MS5611_CONVERSION_INTERVAL 10000 /* microseconds */
#define MS5611_MEASUREMENT_RATIO 3 /* pressure measurements per temperature measurement */
#define MS5611_BARO_DEVICE_PATH "/dev/ms5611"
class MS5611 : public device::CDev
{
@@ -132,6 +133,8 @@ protected:
orb_advert_t _baro_topic;
int _class_instance;
perf_counter_t _sample_perf;
perf_counter_t _measure_perf;
perf_counter_t _comms_errors;
@@ -192,7 +195,7 @@ protected:
extern "C" __EXPORT int ms5611_main(int argc, char *argv[]);
MS5611::MS5611(device::Device *interface, ms5611::prom_u &prom_buf) :
CDev("MS5611", BARO_DEVICE_PATH),
CDev("MS5611", MS5611_BARO_DEVICE_PATH),
_interface(interface),
_prom(prom_buf.s),
_measure_ticks(0),
@@ -204,6 +207,7 @@ MS5611::MS5611(device::Device *interface, ms5611::prom_u &prom_buf) :
_SENS(0),
_msl_pressure(101325),
_baro_topic(-1),
_class_instance(-1),
_sample_perf(perf_alloc(PC_ELAPSED, "ms5611_read")),
_measure_perf(perf_alloc(PC_ELAPSED, "ms5611_measure")),
_comms_errors(perf_alloc(PC_COUNT, "ms5611_comms_errors")),
@@ -218,6 +222,9 @@ MS5611::~MS5611()
/* make sure we are truly inactive */
stop_cycle();
if (_class_instance != -1)
unregister_class_devname(MS5611_BARO_DEVICE_PATH, _class_instance);
/* free any existing reports */
if (_reports != nullptr)
delete _reports;
@@ -251,18 +258,57 @@ MS5611::init()
goto out;
}
/* get a publish handle on the baro topic */
struct baro_report zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_baro_topic = orb_advertise(ORB_ID(sensor_baro), &zero_report);
/* register alternate interfaces if we have to */
_class_instance = register_class_devname(BARO_DEVICE_PATH);
if (_baro_topic < 0) {
debug("failed to create sensor_baro object");
ret = -ENOSPC;
goto out;
}
struct baro_report brp;
/* do a first measurement cycle to populate reports with valid data */
_measure_phase = 0;
_reports->flush();
/* this do..while is goto without goto */
do {
/* do temperature first */
if (OK != measure()) {
ret = -EIO;
break;
}
usleep(MS5611_CONVERSION_INTERVAL);
if (OK != collect()) {
ret = -EIO;
break;
}
/* now do a pressure measurement */
if (OK != measure()) {
ret = -EIO;
break;
}
usleep(MS5611_CONVERSION_INTERVAL);
if (OK != collect()) {
ret = -EIO;
break;
}
/* state machine will have generated a report, copy it out */
_reports->get(&brp);
ret = OK;
if (_class_instance == CLASS_DEVICE_PRIMARY) {
_baro_topic = orb_advertise(ORB_ID(sensor_baro), &brp);
if (_baro_topic < 0)
debug("failed to create sensor_baro publication");
}
} while (0);
ret = OK;
out:
return ret;
}
@@ -670,7 +716,10 @@ MS5611::collect()
report.altitude = (((pow((p / p1), (-(a * R) / g))) * T1) - T1) / a;
/* publish it */
orb_publish(ORB_ID(sensor_baro), _baro_topic, &report);
if (_baro_topic > 0 && !(_pub_blocked)) {
/* publish it */
orb_publish(ORB_ID(sensor_baro), _baro_topic, &report);
}
if (_reports->force(&report)) {
perf_count(_buffer_overflows);
@@ -812,7 +861,7 @@ start()
goto fail;
/* set the poll rate to default, starts automatic data collection */
fd = open(BARO_DEVICE_PATH, O_RDONLY);
fd = open(MS5611_BARO_DEVICE_PATH, O_RDONLY);
if (fd < 0) {
warnx("can't open baro device");
goto fail;
@@ -846,10 +895,10 @@ test()
ssize_t sz;
int ret;
int fd = open(BARO_DEVICE_PATH, O_RDONLY);
int fd = open(MS5611_BARO_DEVICE_PATH, O_RDONLY);
if (fd < 0)
err(1, "%s open failed (try 'ms5611 start' if the driver is not running)", BARO_DEVICE_PATH);
err(1, "%s open failed (try 'ms5611 start' if the driver is not running)", MS5611_BARO_DEVICE_PATH);
/* do a simple demand read */
sz = read(fd, &report, sizeof(report));
@@ -905,7 +954,7 @@ test()
void
reset()
{
int fd = open(BARO_DEVICE_PATH, O_RDONLY);
int fd = open(MS5611_BARO_DEVICE_PATH, O_RDONLY);
if (fd < 0)
err(1, "failed ");
@@ -944,10 +993,10 @@ calibrate(unsigned altitude)
float pressure;
float p1;
int fd = open(BARO_DEVICE_PATH, O_RDONLY);
int fd = open(MS5611_BARO_DEVICE_PATH, O_RDONLY);
if (fd < 0)
err(1, "%s open failed (try 'ms5611 start' if the driver is not running)", BARO_DEVICE_PATH);
err(1, "%s open failed (try 'ms5611 start' if the driver is not running)", MS5611_BARO_DEVICE_PATH);
/* start the sensor polling at max */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX))
src/modules/commander/commander.cpp
+9 -5
View File
@@ -153,6 +153,7 @@ static uint64_t last_print_mode_reject_time = 0;
static bool on_usb_power = false;
static float takeoff_alt = 5.0f;
static int parachute_enabled = 0;
static struct vehicle_status_s status;
static struct actuator_armed_s armed;
@@ -568,7 +569,9 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
/* Flight termination */
case VEHICLE_CMD_DO_SET_SERVO: { //xxx: needs its own mavlink command
if (armed->armed && cmd->param3 > 0.5) { //xxx: for safety only for now, param3 is unused by VEHICLE_CMD_DO_SET_SERVO
//XXX: to enable the parachute, a param needs to be set
//xxx: for safety only for now, param3 is unused by VEHICLE_CMD_DO_SET_SERVO
if (armed->armed && cmd->param3 > 0.5 && parachute_enabled) {
transition_result_t failsafe_res = failsafe_state_transition(status, FAILSAFE_STATE_TERMINATION);
result = VEHICLE_CMD_RESULT_ACCEPTED;
ret = true;
@@ -620,6 +623,7 @@ int commander_thread_main(int argc, char *argv[])
param_t _param_system_id = param_find("MAV_SYS_ID");
param_t _param_component_id = param_find("MAV_COMP_ID");
param_t _param_takeoff_alt = param_find("NAV_TAKEOFF_ALT");
param_t _param_enable_parachute = param_find("NAV_PARACHUTE_EN");
/* welcome user */
warnx("starting");
@@ -866,10 +870,10 @@ int commander_thread_main(int argc, char *argv[])
/* re-check RC calibration */
rc_calibration_ok = (OK == rc_calibration_check(mavlink_fd));
/* navigation parameters */
param_get(_param_takeoff_alt, &takeoff_alt);
}
/* navigation parameters */
param_get(_param_takeoff_alt, &takeoff_alt);
param_get(_param_enable_parachute, &parachute_enabled);
}
orb_check(sp_man_sub, &updated);
@@ -1321,7 +1325,7 @@ int commander_thread_main(int argc, char *argv[])
// TODO remove this hack
/* flight termination in manual mode if assisted switch is on easy position */
if (!status.is_rotary_wing && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.assisted_switch > STICK_ON_OFF_LIMIT) {
if (!status.is_rotary_wing && parachute_enabled && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.assisted_switch > STICK_ON_OFF_LIMIT) {
if (TRANSITION_CHANGED == failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION)) {
tune_positive();
}
src/modules/commander/state_machine_helper.cpp
+30
View File
@@ -42,6 +42,8 @@
#include <unistd.h>
#include <stdint.h>
#include <stdbool.h>
#include <dirent.h>
#include <fcntl.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
@@ -50,6 +52,7 @@
#include <systemlib/param/param.h>
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_device.h>
#include <mavlink/mavlink_log.h>
#include "state_machine_helper.h"
@@ -344,6 +347,33 @@ int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_s
mavlink_log_critical(mavlink_fd, "Switched to ON hil state");
valid_transition = true;
// Disable publication of all attached sensors
/* list directory */
DIR *d;
struct dirent *direntry;
d = opendir("/dev");
if (d) {
while ((direntry = readdir(d)) != NULL) {
int sensfd = ::open(direntry->d_name, 0);
int block_ret = ::ioctl(sensfd, DEVIOCSPUBBLOCK, 0);
close(sensfd);
printf("Disabling %s\n: %s", direntry->d_name, (!block_ret) ? "OK" : "FAIL");
}
closedir(d);
warnx("directory listing ok (FS mounted and readable)");
} else {
/* failed opening dir */
warnx("FAILED LISTING DEVICE ROOT DIRECTORY");
return 1;
}
}
break;
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+13 -12
View File
@@ -236,7 +236,7 @@ private:
float land_slope_length;
float land_H1_virt;
float land_flare_alt_relative;
float land_thrust_lim_horizontal_distance;
float land_thrust_lim_alt_relative;
float land_heading_hold_horizontal_distance;
} _parameters; /**< local copies of interesting parameters */
@@ -281,7 +281,7 @@ private:
param_t land_slope_length;
param_t land_H1_virt;
param_t land_flare_alt_relative;
param_t land_thrust_lim_horizontal_distance;
param_t land_thrust_lim_alt_relative;
param_t land_heading_hold_horizontal_distance;
} _parameter_handles; /**< handles for interesting parameters */
@@ -434,7 +434,7 @@ FixedwingPositionControl::FixedwingPositionControl() :
_parameter_handles.land_slope_length = param_find("FW_LND_SLLR");
_parameter_handles.land_H1_virt = param_find("FW_LND_HVIRT");
_parameter_handles.land_flare_alt_relative = param_find("FW_LND_FLALT");
_parameter_handles.land_thrust_lim_horizontal_distance = param_find("FW_LND_TLDIST");
_parameter_handles.land_thrust_lim_alt_relative = param_find("FW_LND_TLALT");
_parameter_handles.land_heading_hold_horizontal_distance = param_find("FW_LND_HHDIST");
_parameter_handles.time_const = param_find("FW_T_TIME_CONST");
@@ -523,7 +523,7 @@ FixedwingPositionControl::parameters_update()
param_get(_parameter_handles.land_slope_length, &(_parameters.land_slope_length));
param_get(_parameter_handles.land_H1_virt, &(_parameters.land_H1_virt));
param_get(_parameter_handles.land_flare_alt_relative, &(_parameters.land_flare_alt_relative));
param_get(_parameter_handles.land_thrust_lim_horizontal_distance, &(_parameters.land_thrust_lim_horizontal_distance));
param_get(_parameter_handles.land_thrust_lim_alt_relative, &(_parameters.land_thrust_lim_alt_relative));
param_get(_parameter_handles.land_heading_hold_horizontal_distance, &(_parameters.land_heading_hold_horizontal_distance));
_l1_control.set_l1_damping(_parameters.l1_damping);
@@ -558,7 +558,7 @@ FixedwingPositionControl::parameters_update()
}
/* Update the landing slope */
landingslope.update(math::radians(_parameters.land_slope_angle), _parameters.land_flare_alt_relative, _parameters.land_thrust_lim_horizontal_distance, _parameters.land_H1_virt);
landingslope.update(math::radians(_parameters.land_slope_angle), _parameters.land_flare_alt_relative, _parameters.land_thrust_lim_alt_relative, _parameters.land_H1_virt);
/* Update and publish the navigation capabilities */
_nav_capabilities.landing_slope_angle_rad = landingslope.landing_slope_angle_rad();
@@ -836,6 +836,8 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
} else if (pos_sp_triplet.current.type == SETPOINT_TYPE_LAND) {
float bearing_lastwp_currwp = get_bearing_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1));
/* Horizontal landing control */
/* switch to heading hold for the last meters, continue heading hold after */
float wp_distance = get_distance_to_next_waypoint(current_position(0), current_position(1), curr_wp(0), curr_wp(1));
@@ -846,7 +848,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
if (!land_noreturn_horizontal) {//set target_bearing in first occurrence
if (pos_sp_triplet.previous.valid) {
target_bearing = get_bearing_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1));
target_bearing = bearing_lastwp_currwp;
} else {
target_bearing = _att.yaw;
}
@@ -888,10 +890,9 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
float airspeed_approach = 1.3f * _parameters.airspeed_min;
float L_wp_distance = get_distance_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1)) * _parameters.land_slope_length;
float L_altitude = landingslope.getLandingSlopeAbsoluteAltitude(L_wp_distance, _pos_sp_triplet.current.alt);//getLandingSlopeAbsoluteAltitude(L_wp_distance, _pos_sp_triplet.current.alt, landing_slope_angle_rad, horizontal_slope_displacement);
float landing_slope_alt_desired = landingslope.getLandingSlopeAbsoluteAltitude(wp_distance, _pos_sp_triplet.current.alt);//getLandingSlopeAbsoluteAltitude(wp_distance, _pos_sp_triplet.current.alt, landing_slope_angle_rad, horizontal_slope_displacement);
float L_altitude = landingslope.getLandingSlopeAbsoluteAltitude(L_wp_distance, _pos_sp_triplet.current.alt);
float bearing_airplane_currwp = get_bearing_to_next_waypoint(current_position(0), current_position(1), curr_wp(0), curr_wp(1));
float landing_slope_alt_desired = landingslope.getLandingSlopeAbsoluteAltitudeSave(wp_distance, bearing_lastwp_currwp, bearing_airplane_currwp, _pos_sp_triplet.current.alt);
if ( (_global_pos.alt < _pos_sp_triplet.current.alt + landingslope.flare_relative_alt()) || land_noreturn_vertical) { //checking for land_noreturn to avoid unwanted climb out
@@ -903,7 +904,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
/* kill the throttle if param requests it */
throttle_max = _parameters.throttle_max;
if (wp_distance < landingslope.motor_lim_horizontal_distance() || land_motor_lim) {
if (_global_pos.alt < _pos_sp_triplet.current.alt + landingslope.motor_lim_relative_alt() || land_motor_lim) {
throttle_max = math::min(throttle_max, _parameters.throttle_land_max);
if (!land_motor_lim) {
land_motor_lim = true;
@@ -912,7 +913,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
}
float flare_curve_alt = landingslope.getFlareCurveAltitude(wp_distance, _pos_sp_triplet.current.alt);
float flare_curve_alt = landingslope.getFlareCurveAltitudeSave(wp_distance, bearing_lastwp_currwp, bearing_airplane_currwp, _pos_sp_triplet.current.alt);
/* avoid climbout */
if (flare_curve_alt_last < flare_curve_alt && land_noreturn_vertical || land_stayonground)
src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
+2 -2
View File
@@ -168,9 +168,9 @@ PARAM_DEFINE_FLOAT(FW_T_SINK_MAX, 5.0f);
PARAM_DEFINE_FLOAT(FW_T_HRATE_P, 0.05f);
PARAM_DEFINE_FLOAT(FW_T_SRATE_P, 0.05f);
PARAM_DEFINE_FLOAT(FW_LND_ANG, 10.0f);
PARAM_DEFINE_FLOAT(FW_LND_ANG, 5.0f);
PARAM_DEFINE_FLOAT(FW_LND_SLLR, 0.9f);
PARAM_DEFINE_FLOAT(FW_LND_HVIRT, 10.0f);
PARAM_DEFINE_FLOAT(FW_LND_FLALT, 15.0f);
PARAM_DEFINE_FLOAT(FW_LND_TLDIST, 30.0f);
PARAM_DEFINE_FLOAT(FW_LND_TLALT, 5.0f);
PARAM_DEFINE_FLOAT(FW_LND_HHDIST, 15.0f);
src/modules/fw_pos_control_l1/landingslope.cpp
+17 -5
View File
@@ -48,13 +48,13 @@
void Landingslope::update(float landing_slope_angle_rad,
float flare_relative_alt,
float motor_lim_horizontal_distance,
float motor_lim_relative_alt,
float H1_virt)
{
_landing_slope_angle_rad = landing_slope_angle_rad;
_flare_relative_alt = flare_relative_alt;
_motor_lim_horizontal_distance = motor_lim_horizontal_distance;
_motor_lim_relative_alt = motor_lim_relative_alt;
_H1_virt = H1_virt;
calculateSlopeValues();
@@ -74,9 +74,21 @@ float Landingslope::getLandingSlopeAbsoluteAltitude(float wp_distance, float wp_
return Landingslope::getLandingSlopeAbsoluteAltitude(wp_distance, wp_altitude, _horizontal_slope_displacement, _landing_slope_angle_rad);
}
float Landingslope::getFlareCurveAltitude(float wp_landing_distance, float wp_landing_altitude)
float Landingslope::getLandingSlopeAbsoluteAltitudeSave(float wp_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp, float wp_altitude)
{
return wp_landing_altitude + _H0 * expf(-math::max(0.0f, _flare_length - wp_landing_distance)/_flare_constant) - _H1_virt;
/* If airplane is in front of waypoint return slope altitude, else return waypoint altitude */
if (fabsf(bearing_airplane_currwp - bearing_lastwp_currwp) < math::radians(90.0f))
return getLandingSlopeAbsoluteAltitude(wp_distance, wp_altitude);
else
return wp_altitude;
}
float Landingslope::getFlareCurveAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp, float wp_landing_altitude)
{
/* If airplane is in front of waypoint return flare curve altitude, else return waypoint altitude */
if (fabsf(bearing_airplane_currwp - bearing_lastwp_currwp) < math::radians(90.0f))
return wp_landing_altitude + _H0 * expf(-math::max(0.0f, _flare_length - wp_landing_distance)/_flare_constant) - _H1_virt;
else
return wp_landing_altitude;
}
src/modules/fw_pos_control_l1/landingslope.h
+16 -5
View File
@@ -49,7 +49,7 @@ private:
/* see Documentation/fw_landing.png for a plot of the landing slope */
float _landing_slope_angle_rad; /**< phi in the plot */
float _flare_relative_alt; /**< h_flare,rel in the plot */
float _motor_lim_horizontal_distance;
float _motor_lim_relative_alt;
float _H1_virt; /**< H1 in the plot */
float _H0; /**< h_flare,rel + H1 in the plot */
float _d1; /**< d1 in the plot */
@@ -63,7 +63,18 @@ public:
Landingslope() {}
~Landingslope() {}
float getLandingSlopeAbsoluteAltitude(float wp_landing_distance, float wp_landing_altitude);
/**
*
* @return Absolute altitude of point on landing slope at distance to landing waypoint=wp_landing_distance
*/
float getLandingSlopeAbsoluteAltitude(float wp_distance, float wp_altitude);
/**
*
* @return Absolute altitude of point on landing slope at distance to landing waypoint=wp_landing_distance
* Performs check if aircraft is in front of waypoint to avoid climbout
*/
float getLandingSlopeAbsoluteAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp, float wp_landing_altitude);
/**
*
@@ -85,17 +96,17 @@ public:
}
float getFlareCurveAltitude(float wp_distance, float wp_altitude);
float getFlareCurveAltitudeSave(float wp_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp, float wp_altitude);
void update(float landing_slope_angle_rad,
float flare_relative_alt,
float motor_lim_horizontal_distance,
float motor_lim_relative_alt,
float H1_virt);
inline float landing_slope_angle_rad() {return _landing_slope_angle_rad;}
inline float flare_relative_alt() {return _flare_relative_alt;}
inline float motor_lim_horizontal_distance() {return _motor_lim_horizontal_distance;}
inline float motor_lim_relative_alt() {return _motor_lim_relative_alt;}
inline float H1_virt() {return _H1_virt;}
inline float H0() {return _H0;}
inline float d1() {return _d1;}
src/modules/mavlink/mavlink_receiver.cpp
+1 -1
View File
@@ -381,7 +381,7 @@ handle_message(mavlink_message_t *msg)
tstatus.rxerrors = rstatus.rxerrors;
tstatus.fixed = rstatus.fixed;
if (telemetry_status_pub == 0) {
if (telemetry_status_pub <= 0) {
telemetry_status_pub = orb_advertise(ORB_ID(telemetry_status), &tstatus);
} else {
src/modules/navigator/navigator_main.cpp
+1 -2
View File
@@ -1080,9 +1080,8 @@ Navigator::start_loiter()
mavlink_log_info(_mavlink_fd, "[navigator] loiter at current altitude");
}
_pos_sp_triplet.current.type = SETPOINT_TYPE_LOITER;
}
_pos_sp_triplet.current.type = SETPOINT_TYPE_LOITER;
_pos_sp_triplet.current.loiter_radius = _parameters.loiter_radius;
_pos_sp_triplet.current.loiter_direction = 1;
_pos_sp_triplet.previous.valid = false;
src/modules/navigator/navigator_params.c
+2 -1
View File
@@ -55,9 +55,10 @@
PARAM_DEFINE_FLOAT(NAV_MIN_ALT, 50.0f);
PARAM_DEFINE_FLOAT(NAV_ACCEPT_RAD, 10.0f);
PARAM_DEFINE_FLOAT(NAV_LOITER_RAD, 100.0f);
PARAM_DEFINE_FLOAT(NAV_LOITER_RAD, 50.0f);
PARAM_DEFINE_INT32(NAV_ONB_MIS_EN, 0);
PARAM_DEFINE_FLOAT(NAV_TAKEOFF_ALT, 10.0f); // default TAKEOFF altitude
PARAM_DEFINE_FLOAT(NAV_LAND_ALT, 5.0f); // slow descend from this altitude when landing
PARAM_DEFINE_FLOAT(NAV_RTL_ALT, 30.0f); // min altitude for going home in RTL mode
PARAM_DEFINE_FLOAT(NAV_RTL_LAND_T, -1.0f); // delay after descend before landing, if set to -1 the system will not land but loiter at NAV_LAND_ALT
PARAM_DEFINE_INT32(NAV_PARACHUTE_EN, 0); // enable parachute deployment
src/modules/position_estimator_inav/position_estimator_inav_main.c
+4 -4
View File
@@ -527,13 +527,13 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
if (gps.fix_type >= 3) {
/* hysteresis for GPS quality */
if (gps_valid) {
if (gps.eph_m > 10.0f || gps.epv_m > 10.0f) {
if (gps.eph_m > 10.0f || gps.epv_m > 20.0f) {
gps_valid = false;
mavlink_log_info(mavlink_fd, "[inav] GPS signal lost");
}
} else {
if (gps.eph_m < 5.0f && gps.epv_m < 5.0f) {
if (gps.eph_m < 5.0f && gps.epv_m < 10.0f) {
gps_valid = true;
mavlink_log_info(mavlink_fd, "[inav] GPS signal found");
}
@@ -589,8 +589,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
corr_gps[2][1] = 0.0f;
}
w_gps_xy = 1.0f / fmaxf(1.0f, gps.eph_m);
w_gps_z = 1.0f / fmaxf(1.0f, gps.epv_m);
w_gps_xy = 2.0f / fmaxf(2.0f, gps.eph_m);
w_gps_z = 4.0f / fmaxf(4.0f, gps.epv_m);
}
} else {
src/modules/position_estimator_inav/position_estimator_inav_params.c
+1 -1
View File
@@ -40,7 +40,7 @@
#include "position_estimator_inav_params.h"
PARAM_DEFINE_FLOAT(INAV_W_Z_BARO, 1.0f);
PARAM_DEFINE_FLOAT(INAV_W_Z_BARO, 0.5f);
PARAM_DEFINE_FLOAT(INAV_W_Z_GPS_P, 0.005f);
PARAM_DEFINE_FLOAT(INAV_W_Z_ACC, 20.0f);
PARAM_DEFINE_FLOAT(INAV_W_Z_SONAR, 3.0f);
src/modules/sdlog2/sdlog2.c
+24
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@@ -82,6 +82,7 @@
#include <uORB/topics/airspeed.h>
#include <uORB/topics/rc_channels.h>
#include <uORB/topics/esc_status.h>
#include <uORB/topics/telemetry_status.h>
#include <systemlib/systemlib.h>
#include <systemlib/param/param.h>
@@ -758,6 +759,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct esc_status_s esc;
struct vehicle_global_velocity_setpoint_s global_vel_sp;
struct battery_status_s battery;
struct telemetry_status_s telemetry;
} buf;
memset(&buf, 0, sizeof(buf));
@@ -783,6 +785,7 @@ int sdlog2_thread_main(int argc, char *argv[])
int esc_sub;
int global_vel_sp_sub;
int battery_sub;
int telemetry_sub;
} subs;
/* log message buffer: header + body */
@@ -811,6 +814,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct log_GVSP_s log_GVSP;
struct log_BATT_s log_BATT;
struct log_DIST_s log_DIST;
struct log_TELE_s log_TELE;
} body;
} log_msg = {
LOG_PACKET_HEADER_INIT(0)
@@ -946,6 +950,12 @@ int sdlog2_thread_main(int argc, char *argv[])
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- TELEMETRY STATUS --- */
subs.telemetry_sub = orb_subscribe(ORB_ID(telemetry_status));
fds[fdsc_count].fd = subs.telemetry_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* WARNING: If you get the error message below,
* then the number of registered messages (fdsc)
* differs from the number of messages in the above list.
@@ -1347,6 +1357,20 @@ int sdlog2_thread_main(int argc, char *argv[])
LOGBUFFER_WRITE_AND_COUNT(BATT);
}
/* --- TELEMETRY --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(telemetry_status), subs.telemetry_sub, &buf.telemetry);
log_msg.msg_type = LOG_TELE_MSG;
log_msg.body.log_TELE.rssi = buf.telemetry.rssi;
log_msg.body.log_TELE.remote_rssi = buf.telemetry.remote_rssi;
log_msg.body.log_TELE.noise = buf.telemetry.noise;
log_msg.body.log_TELE.remote_noise = buf.telemetry.remote_noise;
log_msg.body.log_TELE.rxerrors = buf.telemetry.rxerrors;
log_msg.body.log_TELE.fixed = buf.telemetry.fixed;
log_msg.body.log_TELE.txbuf = buf.telemetry.txbuf;
LOGBUFFER_WRITE_AND_COUNT(TELE);
}
/* signal the other thread new data, but not yet unlock */
if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) {
/* only request write if several packets can be written at once */
src/modules/sdlog2/sdlog2_messages.h
+14
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@@ -264,6 +264,18 @@ struct log_DIST_s {
uint8_t flags;
};
/* --- TELE - TELEMETRY STATUS --- */
#define LOG_TELE_MSG 22
struct log_TELE_s {
uint8_t rssi;
uint8_t remote_rssi;
uint8_t noise;
uint8_t remote_noise;
uint16_t rxerrors;
uint16_t fixed;
uint8_t txbuf;
};
/********** SYSTEM MESSAGES, ID > 0x80 **********/
/* --- TIME - TIME STAMP --- */
@@ -311,6 +323,8 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"),
LOG_FORMAT(BATT, "ffff", "V,VFilt,C,Discharged"),
LOG_FORMAT(DIST, "ffB", "Bottom,BottomRate,Flags"),
LOG_FORMAT(TELE, "BBBBHHB", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf"),
/* system-level messages, ID >= 0x80 */
// FMT: don't write format of format message, it's useless
LOG_FORMAT(TIME, "Q", "StartTime"),
src/modules/uORB/topics/telemetry_status.h
+5 -5
View File
@@ -58,10 +58,10 @@ enum TELEMETRY_STATUS_RADIO_TYPE {
struct telemetry_status_s {
uint64_t timestamp;
enum TELEMETRY_STATUS_RADIO_TYPE type; /**< type of the radio hardware */
unsigned rssi; /**< local signal strength */
unsigned remote_rssi; /**< remote signal strength */
unsigned rxerrors; /**< receive errors */
unsigned fixed; /**< count of error corrected packets */
uint8_t rssi; /**< local signal strength */
uint8_t remote_rssi; /**< remote signal strength */
uint16_t rxerrors; /**< receive errors */
uint16_t fixed; /**< count of error corrected packets */
uint8_t noise; /**< background noise level */
uint8_t remote_noise; /**< remote background noise level */
uint8_t txbuf; /**< how full the tx buffer is as a percentage */
@@ -73,4 +73,4 @@ struct telemetry_status_s {
ORB_DECLARE(telemetry_status);
#endif /* TOPIC_TELEMETRY_STATUS_H */
#endif /* TOPIC_TELEMETRY_STATUS_H */
src/systemcmds/config/config.c
+49 -7
View File
@@ -56,6 +56,7 @@
#include <drivers/drv_gyro.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_mag.h>
#include <drivers/drv_device.h>
#include "systemlib/systemlib.h"
#include "systemlib/err.h"
@@ -65,6 +66,7 @@ __EXPORT int config_main(int argc, char *argv[]);
static void do_gyro(int argc, char *argv[]);
static void do_accel(int argc, char *argv[]);
static void do_mag(int argc, char *argv[]);
static void do_device(int argc, char *argv[]);
int
config_main(int argc, char *argv[])
@@ -72,20 +74,60 @@ config_main(int argc, char *argv[])
if (argc >= 2) {
if (!strcmp(argv[1], "gyro")) {
do_gyro(argc - 2, argv + 2);
}
if (!strcmp(argv[1], "accel")) {
} else if (!strcmp(argv[1], "accel")) {
do_accel(argc - 2, argv + 2);
}
if (!strcmp(argv[1], "mag")) {
} else if (!strcmp(argv[1], "mag")) {
do_mag(argc - 2, argv + 2);
} else {
do_device(argc - 1, argv + 1);
}
}
errx(1, "expected a command, try 'gyro', 'accel', 'mag'");
}
static void
do_device(int argc, char *argv[])
{
if (argc < 2) {
errx(1, "no device path provided and command provided.");
}
int fd;
int ret;
fd = open(argv[0], 0);
if (fd < 0) {
warn("%s", argv[0]);
errx(1, "FATAL: no device found");
} else {
if (argc == 2 && !strcmp(argv[1], "block")) {
/* disable the device publications */
ret = ioctl(fd, DEVIOCSPUBBLOCK, 1);
if (ret)
errx(ret,"uORB publications could not be blocked");
} else if (argc == 2 && !strcmp(argv[1], "unblock")) {
/* enable the device publications */
ret = ioctl(fd, DEVIOCSPUBBLOCK, 0);
if (ret)
errx(ret,"uORB publications could not be unblocked");
} else {
errx("no valid command: %s", argv[1]);
}
}
exit(0);
}
static void
do_gyro(int argc, char *argv[])
{
@@ -124,7 +166,7 @@ do_gyro(int argc, char *argv[])
if (ret)
errx(ret,"range could not be set");
} else if(argc == 1 && !strcmp(argv[0], "check")) {
} else if (argc == 1 && !strcmp(argv[0], "check")) {
ret = ioctl(fd, GYROIOCSELFTEST, 0);
if (ret) {