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Merge remote-tracking branch 'upstream/master' into fw_autoland_att_tecs

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This commit is contained in:
Thomas Gubler
2013-11-01 14:38:11 +01:00
parent 8a95d3a57a 2fd1aed6be
commit 707e148b24
14 changed files with 163 additions and 137 deletions
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src/modules/commander/commander.cpp
+12 -6
View File
@@ -199,7 +199,7 @@ void handle_command(struct vehicle_status_s *status, struct vehicle_control_mode
*/
int commander_thread_main(int argc, char *argv[]);
void control_status_leds(vehicle_status_s *status, actuator_armed_s *armed, bool changed);
void control_status_leds(vehicle_status_s *status, const actuator_armed_s *actuator_armed, bool changed);
void check_valid(hrt_abstime timestamp, hrt_abstime timeout, bool valid_in, bool *valid_out, bool *changed);
@@ -843,6 +843,12 @@ int commander_thread_main(int argc, char *argv[])
if (updated) {
orb_copy(ORB_ID(safety), safety_sub, &safety);
// XXX this would be the right approach to do it, but do we *WANT* this?
// /* disarm if safety is now on and still armed */
// if (safety.safety_switch_available && !safety.safety_off) {
// (void)arming_state_transition(&status, &safety, &control_mode, ARMING_STATE_STANDBY, &armed);
// }
}
/* update global position estimate */
@@ -1219,7 +1225,7 @@ int commander_thread_main(int argc, char *argv[])
}
/* play arming and battery warning tunes */
if (!arm_tune_played && armed.armed) {
if (!arm_tune_played && armed.armed && (!safety.safety_switch_available || (safety.safety_switch_available && safety.safety_off))) {
/* play tune when armed */
if (tune_arm() == OK)
arm_tune_played = true;
@@ -1240,7 +1246,7 @@ int commander_thread_main(int argc, char *argv[])
}
/* reset arm_tune_played when disarmed */
if (!(armed.armed && (!safety.safety_switch_available || (safety.safety_off && safety.safety_switch_available)))) {
if (status.arming_state != ARMING_STATE_ARMED || (safety.safety_switch_available && !safety.safety_off)) {
arm_tune_played = false;
}
@@ -1309,7 +1315,7 @@ check_valid(hrt_abstime timestamp, hrt_abstime timeout, bool valid_in, bool *val
}
void
control_status_leds(vehicle_status_s *status, actuator_armed_s *armed, bool changed)
control_status_leds(vehicle_status_s *status, const actuator_armed_s *actuator_armed, bool changed)
{
/* driving rgbled */
if (changed) {
@@ -1356,11 +1362,11 @@ control_status_leds(vehicle_status_s *status, actuator_armed_s *armed, bool chan
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
/* this runs at around 20Hz, full cycle is 16 ticks = 10/16Hz */
if (armed->armed) {
if (actuator_armed->armed) {
/* armed, solid */
led_on(LED_BLUE);
} else if (armed->ready_to_arm) {
} else if (actuator_armed->ready_to_arm) {
/* ready to arm, blink at 1Hz */
if (leds_counter % 20 == 0)
led_toggle(LED_BLUE);
src/modules/px4iofirmware/registers.c
+14 -14
View File
@@ -207,7 +207,7 @@ uint16_t r_page_servo_failsafe[PX4IO_SERVO_COUNT] = { 0, 0, 0, 0, 0, 0, 0, 0 };
* minimum PWM values when armed
*
*/
uint16_t r_page_servo_control_min[PX4IO_SERVO_COUNT] = { PWM_MIN, PWM_MIN, PWM_MIN, PWM_MIN, PWM_MIN, PWM_MIN, PWM_MIN, PWM_MIN };
uint16_t r_page_servo_control_min[PX4IO_SERVO_COUNT] = { PWM_DEFAULT_MIN, PWM_DEFAULT_MIN, PWM_DEFAULT_MIN, PWM_DEFAULT_MIN, PWM_DEFAULT_MIN, PWM_DEFAULT_MIN, PWM_DEFAULT_MIN, PWM_DEFAULT_MIN };
/**
* PAGE 107
@@ -215,7 +215,7 @@ uint16_t r_page_servo_control_min[PX4IO_SERVO_COUNT] = { PWM_MIN, PWM_MIN, PWM_
* maximum PWM values when armed
*
*/
uint16_t r_page_servo_control_max[PX4IO_SERVO_COUNT] = { PWM_MAX, PWM_MAX, PWM_MAX, PWM_MAX, PWM_MAX, PWM_MAX, PWM_MAX, PWM_MAX };
uint16_t r_page_servo_control_max[PX4IO_SERVO_COUNT] = { PWM_DEFAULT_MAX, PWM_DEFAULT_MAX, PWM_DEFAULT_MAX, PWM_DEFAULT_MAX, PWM_DEFAULT_MAX, PWM_DEFAULT_MAX, PWM_DEFAULT_MAX, PWM_DEFAULT_MAX };
/**
* PAGE 108
@@ -278,10 +278,10 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
if (*values == 0) {
/* ignore 0 */
} else if (*values < PWM_MIN) {
r_page_servo_failsafe[offset] = PWM_MIN;
} else if (*values > PWM_MAX) {
r_page_servo_failsafe[offset] = PWM_MAX;
} else if (*values < PWM_LOWEST_MIN) {
r_page_servo_failsafe[offset] = PWM_LOWEST_MIN;
} else if (*values > PWM_HIGHEST_MAX) {
r_page_servo_failsafe[offset] = PWM_HIGHEST_MAX;
} else {
r_page_servo_failsafe[offset] = *values;
}
@@ -304,8 +304,8 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
/* ignore 0 */
} else if (*values > PWM_HIGHEST_MIN) {
r_page_servo_control_min[offset] = PWM_HIGHEST_MIN;
} else if (*values < PWM_MIN) {
r_page_servo_control_min[offset] = PWM_MIN;
} else if (*values < PWM_LOWEST_MIN) {
r_page_servo_control_min[offset] = PWM_LOWEST_MIN;
} else {
r_page_servo_control_min[offset] = *values;
}
@@ -323,8 +323,8 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
if (*values == 0) {
/* ignore 0 */
} else if (*values > PWM_MAX) {
r_page_servo_control_max[offset] = PWM_MAX;
} else if (*values > PWM_HIGHEST_MAX) {
r_page_servo_control_max[offset] = PWM_HIGHEST_MAX;
} else if (*values < PWM_LOWEST_MAX) {
r_page_servo_control_max[offset] = PWM_LOWEST_MAX;
} else {
@@ -348,11 +348,11 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
if (*values == 0) {
/* 0 means disabling always PWM */
r_page_servo_disarmed[offset] = 0;
} else if (*values < PWM_MIN) {
r_page_servo_disarmed[offset] = PWM_MIN;
} else if (*values < PWM_LOWEST_MIN) {
r_page_servo_disarmed[offset] = PWM_LOWEST_MIN;
all_disarmed_off = false;
} else if (*values > PWM_MAX) {
r_page_servo_disarmed[offset] = PWM_MAX;
} else if (*values > PWM_HIGHEST_MAX) {
r_page_servo_disarmed[offset] = PWM_HIGHEST_MAX;
all_disarmed_off = false;
} else {
r_page_servo_disarmed[offset] = *values;
src/modules/systemlib/mixer/mixer.h
+1
View File
@@ -449,6 +449,7 @@ public:
HEX_PLUS, /**< hex in + configuration */
OCTA_X,
OCTA_PLUS,
OCTA_COX,
MAX_GEOMETRY
};
src/modules/systemlib/mixer/mixer_multirotor.cpp
+15
View File
@@ -130,6 +130,16 @@ const MultirotorMixer::Rotor _config_octa_plus[] = {
{ 1.000000, 0.000000, -1.00 },
{ -1.000000, 0.000000, -1.00 },
};
const MultirotorMixer::Rotor _config_octa_cox[] = {
{ -0.707107, 0.707107, 1.00 },
{ 0.707107, 0.707107, -1.00 },
{ 0.707107, -0.707107, 1.00 },
{ -0.707107, -0.707107, -1.00 },
{ 0.707107, 0.707107, 1.00 },
{ -0.707107, 0.707107, -1.00 },
{ -0.707107, -0.707107, 1.00 },
{ 0.707107, -0.707107, -1.00 },
};
const MultirotorMixer::Rotor *_config_index[MultirotorMixer::MAX_GEOMETRY] = {
&_config_quad_x[0],
&_config_quad_plus[0],
@@ -139,6 +149,7 @@ const MultirotorMixer::Rotor *_config_index[MultirotorMixer::MAX_GEOMETRY] = {
&_config_hex_plus[0],
&_config_octa_x[0],
&_config_octa_plus[0],
&_config_octa_cox[0],
};
const unsigned _config_rotor_count[MultirotorMixer::MAX_GEOMETRY] = {
4, /* quad_x */
@@ -149,6 +160,7 @@ const unsigned _config_rotor_count[MultirotorMixer::MAX_GEOMETRY] = {
6, /* hex_plus */
8, /* octa_x */
8, /* octa_plus */
8, /* octa_cox */
};
}
@@ -240,6 +252,9 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
} else if (!strcmp(geomname, "8x")) {
geometry = MultirotorMixer::OCTA_X;
} else if (!strcmp(geomname, "8c")) {
geometry = MultirotorMixer::OCTA_COX;
} else {
debug("unrecognised geometry '%s'", geomname);
src/modules/systemlib/mixer/multi_tables
+12 -1
View File
@@ -74,7 +74,18 @@ set octa_plus {
90 CW
}
set tables {quad_x quad_plus quad_v quad_wide hex_x hex_plus octa_x octa_plus}
set octa_cox {
45 CCW
-45 CW
-135 CCW
135 CW
-45 CCW
45 CW
135 CCW
-135 CW
}
set tables {quad_x quad_plus quad_v quad_wide hex_x hex_plus octa_x octa_plus octa_cox}
proc factors {a d} { puts [format "\t{ %9.6f, %9.6f, %5.2f }," [rcos [expr $a + 90]] [rcos $a] [expr -$d]]}