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

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Conflicts:
	makefiles/config_px4fmu-v1_backside.mk
	src/modules/commander/commander.cpp
	src/modules/sdlog2/sdlog2.c
This commit is contained in:
Thomas Gubler
2014-01-17 09:50:22 +01:00
parent 14c0fae175 e691bab71a
commit 73546b6645
55 changed files with 1965 additions and 1133 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/systemlib/bson/tinybson.c
+3
View File
@@ -407,6 +407,9 @@ bson_encoder_fini(bson_encoder_t encoder)
memcpy(encoder->buf, &len, sizeof(len));
}
/* sync file */
fsync(encoder->fd);
return 0;
}
src/modules/systemlib/module.mk
+2 -1
View File
@@ -51,5 +51,6 @@ SRCS = err.c \
mavlink_log.c \
rc_check.c \
otp.c \
board_serial.c
board_serial.c \
pwm_limit/pwm_limit.c
src/modules/systemlib/param/param.c
+29 -6
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
@@ -61,7 +61,7 @@
#include "uORB/uORB.h"
#include "uORB/topics/parameter_update.h"
#if 1
#if 0
# define debug(fmt, args...) do { warnx(fmt, ##args); } while(0)
#else
# define debug(fmt, args...) do { } while(0)
@@ -512,6 +512,28 @@ param_save_default(void)
int fd;
const char *filename = param_get_default_file();
/* write parameters to temp file */
fd = open(filename, O_WRONLY | O_CREAT);
if (fd < 0) {
warn("failed to open param file: %s", filename);
return ERROR;
}
if (res == OK) {
res = param_export(fd, false);
if (res != OK) {
warnx("failed to write parameters to file: %s", filename);
}
}
close(fd);
return res;
#if 0
const char *filename_tmp = malloc(strlen(filename) + 5);
sprintf(filename_tmp, "%s.tmp", filename);
@@ -565,6 +587,7 @@ param_save_default(void)
free(filename_tmp);
return res;
#endif
}
/**
@@ -573,9 +596,9 @@ param_save_default(void)
int
param_load_default(void)
{
int fd = open(param_get_default_file(), O_RDONLY);
int fd_load = open(param_get_default_file(), O_RDONLY);
if (fd < 0) {
if (fd_load < 0) {
/* no parameter file is OK, otherwise this is an error */
if (errno != ENOENT) {
warn("open '%s' for reading failed", param_get_default_file());
@@ -584,8 +607,8 @@ param_load_default(void)
return 1;
}
int result = param_load(fd);
close(fd);
int result = param_load(fd_load);
close(fd_load);
if (result != 0) {
warn("error reading parameters from '%s'", param_get_default_file());
src/modules/systemlib/pwm_limit/pwm_limit.c
+64 -46
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.
* Author: Julian Oes <joes@student.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
@@ -44,38 +44,53 @@
#include <math.h>
#include <stdbool.h>
#include <drivers/drv_hrt.h>
#include <stdio.h>
void pwm_limit_init(pwm_limit_t *limit)
{
limit->state = LIMIT_STATE_OFF;
limit->state = PWM_LIMIT_STATE_INIT;
limit->time_armed = 0;
return;
}
void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_t *disarmed_pwm, const uint16_t *min_pwm, const uint16_t *max_pwm, float *output, uint16_t *effective_pwm, pwm_limit_t *limit)
void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_t *disarmed_pwm, const uint16_t *min_pwm, const uint16_t *max_pwm, const float *output, uint16_t *effective_pwm, pwm_limit_t *limit)
{
/* first evaluate state changes */
switch (limit->state) {
case LIMIT_STATE_OFF:
if (armed)
limit->state = LIMIT_STATE_RAMP;
limit->time_armed = hrt_absolute_time();
case PWM_LIMIT_STATE_INIT:
if (armed) {
/* set arming time for the first call */
if (limit->time_armed == 0) {
limit->time_armed = hrt_absolute_time();
}
if (hrt_elapsed_time(&limit->time_armed) >= INIT_TIME_US) {
limit->state = PWM_LIMIT_STATE_OFF;
}
}
break;
case LIMIT_STATE_INIT:
if (!armed)
limit->state = LIMIT_STATE_OFF;
else if (hrt_absolute_time() - limit->time_armed >= INIT_TIME_US)
limit->state = LIMIT_STATE_RAMP;
case PWM_LIMIT_STATE_OFF:
if (armed) {
limit->state = PWM_LIMIT_STATE_RAMP;
/* reset arming time, used for ramp timing */
limit->time_armed = hrt_absolute_time();
}
break;
case LIMIT_STATE_RAMP:
if (!armed)
limit->state = LIMIT_STATE_OFF;
else if (hrt_absolute_time() - limit->time_armed >= INIT_TIME_US + RAMP_TIME_US)
limit->state = LIMIT_STATE_ON;
case PWM_LIMIT_STATE_RAMP:
if (!armed) {
limit->state = PWM_LIMIT_STATE_OFF;
} else if (hrt_elapsed_time(&limit->time_armed) >= RAMP_TIME_US) {
limit->state = PWM_LIMIT_STATE_ON;
}
break;
case LIMIT_STATE_ON:
if (!armed)
limit->state = LIMIT_STATE_OFF;
case PWM_LIMIT_STATE_ON:
if (!armed) {
limit->state = PWM_LIMIT_STATE_OFF;
}
break;
default:
break;
@@ -86,44 +101,47 @@ void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_
/* then set effective_pwm based on state */
switch (limit->state) {
case LIMIT_STATE_OFF:
case LIMIT_STATE_INIT:
case PWM_LIMIT_STATE_OFF:
case PWM_LIMIT_STATE_INIT:
for (unsigned i=0; i<num_channels; i++) {
effective_pwm[i] = disarmed_pwm[i];
output[i] = 0.0f;
}
break;
case LIMIT_STATE_RAMP:
case PWM_LIMIT_STATE_RAMP:
{
hrt_abstime diff = hrt_elapsed_time(&limit->time_armed);
progress = (hrt_absolute_time() - INIT_TIME_US - limit->time_armed)*10000 / RAMP_TIME_US;
for (unsigned i=0; i<num_channels; i++) {
uint16_t ramp_min_pwm;
/* if a disarmed pwm value was set, blend between disarmed and min */
if (disarmed_pwm[i] > 0) {
progress = diff * 10000 / RAMP_TIME_US;
/* safeguard against overflows */
uint16_t disarmed = disarmed_pwm[i];
if (disarmed > min_pwm[i])
disarmed = min_pwm[i];
for (unsigned i=0; i<num_channels; i++) {
uint16_t ramp_min_pwm;
/* if a disarmed pwm value was set, blend between disarmed and min */
if (disarmed_pwm[i] > 0) {
uint16_t disarmed_min_diff = min_pwm[i] - disarmed;
ramp_min_pwm = disarmed + (disarmed_min_diff * progress) / 10000;
} else {
/* no disarmed pwm value set, choose min pwm */
ramp_min_pwm = min_pwm[i];
/* safeguard against overflows */
unsigned disarmed = disarmed_pwm[i];
if (disarmed > min_pwm[i]) {
disarmed = min_pwm[i];
}
unsigned disarmed_min_diff = min_pwm[i] - disarmed;
ramp_min_pwm = disarmed + (disarmed_min_diff * progress) / 10000;
} else {
/* no disarmed pwm value set, choose min pwm */
ramp_min_pwm = min_pwm[i];
}
effective_pwm[i] = output[i] * (max_pwm[i] - ramp_min_pwm)/2 + (max_pwm[i] + ramp_min_pwm)/2;
}
effective_pwm[i] = output[i] * (max_pwm[i] - ramp_min_pwm)/2 + (max_pwm[i] + ramp_min_pwm)/2;
output[i] = (float)progress/10000.0f * output[i];
}
break;
case LIMIT_STATE_ON:
case PWM_LIMIT_STATE_ON:
for (unsigned i=0; i<num_channels; i++) {
effective_pwm[i] = output[i] * (max_pwm[i] - min_pwm[i])/2 + (max_pwm[i] + min_pwm[i])/2;
/* effective_output stays the same */
}
break;
default:
src/modules/systemlib/pwm_limit/pwm_limit.h
+11 -9
View File
@@ -46,6 +46,8 @@
#include <stdint.h>
#include <stdbool.h>
__BEGIN_DECLS
/*
* time for the ESCs to initialize
* (this is not actually needed if PWM is sent right after boot)
@@ -56,21 +58,21 @@
*/
#define RAMP_TIME_US 2500000
enum pwm_limit_state {
PWM_LIMIT_STATE_OFF = 0,
PWM_LIMIT_STATE_INIT,
PWM_LIMIT_STATE_RAMP,
PWM_LIMIT_STATE_ON
};
typedef struct {
enum {
LIMIT_STATE_OFF = 0,
LIMIT_STATE_INIT,
LIMIT_STATE_RAMP,
LIMIT_STATE_ON
} state;
enum pwm_limit_state state;
uint64_t time_armed;
} pwm_limit_t;
__BEGIN_DECLS
__EXPORT void pwm_limit_init(pwm_limit_t *limit);
__EXPORT void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_t *disarmed_pwm, const uint16_t *min_pwm, const uint16_t *max_pwm, float *output, uint16_t *effective_pwm, pwm_limit_t *limit);
__EXPORT void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_t *disarmed_pwm, const uint16_t *min_pwm, const uint16_t *max_pwm, const float *output, uint16_t *effective_pwm, pwm_limit_t *limit);
__END_DECLS