fly316/PX4-Autopilot
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Merge remote-tracking branch 'upstream/master' into mtecs

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This commit is contained in:
Thomas Gubler
2014-05-01 11:43:35 +02:00
parent bfb2b8f8a0 c904f875d9
commit 76e47c3135
17 changed files with 132 additions and 58 deletions
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src/modules/commander/commander_helper.cpp
+3 -13
View File
@@ -199,15 +199,9 @@ int led_init()
}
/* the blue LED is only available on FMUv1 but not FMUv2 */
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
if (ioctl(leds, LED_ON, LED_BLUE)) {
warnx("Blue LED: ioctl fail\n");
return ERROR;
}
#endif
(void)ioctl(leds, LED_ON, LED_BLUE);
/* we consider the amber led mandatory */
if (ioctl(leds, LED_ON, LED_AMBER)) {
warnx("Amber LED: ioctl fail\n");
return ERROR;
@@ -217,11 +211,7 @@ int led_init()
rgbleds = open(RGBLED_DEVICE_PATH, 0);
if (rgbleds == -1) {
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
errx(1, "Unable to open " RGBLED_DEVICE_PATH);
#else
warnx("No RGB LED found");
#endif
warnx("No RGB LED found at " RGBLED_DEVICE_PATH);
}
return 0;
src/modules/dataman/dataman.c
+25 -8
View File
@@ -416,26 +416,26 @@ static int
_restart(dm_reset_reason reason)
{
unsigned char buffer[2];
int offset, result = 0;
int offset = 0, result = 0;
/* We need to scan the entire file and invalidate and data that should not persist after the last reset */
/* Loop through all of the data segments and delete those that are not persistent */
offset = 0;
while (1) {
size_t len;
/* Get data segment at current offset */
if (lseek(g_task_fd, offset, SEEK_SET) != offset) {
result = -1;
/* must be at eof */
break;
}
len = read(g_task_fd, buffer, sizeof(buffer));
if (len == 0)
if (len != sizeof(buffer)) {
/* must be at eof */
break;
}
/* check if segment contains data */
if (buffer[0]) {
@@ -443,12 +443,12 @@ _restart(dm_reset_reason reason)
/* Whether data gets deleted depends on reset type and data segment's persistence setting */
if (reason == DM_INIT_REASON_POWER_ON) {
if (buffer[1] != DM_PERSIST_POWER_ON_RESET) {
if (buffer[1] > DM_PERSIST_POWER_ON_RESET) {
clear_entry = 1;
}
} else {
if ((buffer[1] != DM_PERSIST_POWER_ON_RESET) && (buffer[1] != DM_PERSIST_IN_FLIGHT_RESET)) {
if (buffer[1] > DM_PERSIST_IN_FLIGHT_RESET) {
clear_entry = 1;
}
}
@@ -628,6 +628,23 @@ task_main(int argc, char *argv[])
fsync(g_task_fd);
/* see if we need to erase any items based on restart type */
int sys_restart_val;
if (param_get(param_find("SYS_RESTART_TYPE"), &sys_restart_val) == OK) {
if (sys_restart_val == DM_INIT_REASON_POWER_ON) {
warnx("Power on restart");
_restart(DM_INIT_REASON_POWER_ON);
}
else if (sys_restart_val == DM_INIT_REASON_IN_FLIGHT) {
warnx("In flight restart");
_restart(DM_INIT_REASON_IN_FLIGHT);
}
else
warnx("Unknown restart");
}
else
warnx("Unknown restart");
/* We use two file descriptors, one for the caller context and one for the worker thread */
/* They are actually the same but we need to some way to reject caller request while the */
/* worker thread is shutting down but still processing requests */
@@ -724,7 +741,7 @@ start(void)
return -1;
}
/* wait for the thread to actuall initialize */
/* wait for the thread to actually initialize */
sem_wait(&g_init_sema);
sem_destroy(&g_init_sema);
src/modules/dataman/dataman.h
+3 -2
View File
@@ -75,7 +75,8 @@ extern "C" {
/* The reason for the last reset */
typedef enum {
DM_INIT_REASON_POWER_ON = 0, /* Data survives resets */
DM_INIT_REASON_IN_FLIGHT /* Data survives in-flight resets only */
DM_INIT_REASON_IN_FLIGHT, /* Data survives in-flight resets only */
DM_INIT_REASON_VOLATILE /* Data does not survive reset */
} dm_reset_reason;
/* Maximum size in bytes of a single item instance */
@@ -100,7 +101,7 @@ extern "C" {
size_t buflen /* Length in bytes of data to retrieve */
);
/* Retrieve from the data manager store */
/* Erase all items of this type */
__EXPORT int
dm_clear(
dm_item_t item /* The item type to clear */
src/modules/mc_att_control/mc_att_control_main.cpp
+2 -1
View File
@@ -496,7 +496,8 @@ MulticopterAttitudeControl::control_attitude(float dt)
//}
} else {
/* move yaw setpoint */
_v_att_sp.yaw_body = _wrap_pi(_v_att_sp.yaw_body + _manual_control_sp.yaw * _params.man_yaw_max * dt);
yaw_sp_move_rate = _manual_control_sp.yaw * _params.man_yaw_max;
_v_att_sp.yaw_body = _wrap_pi(_v_att_sp.yaw_body + yaw_sp_move_rate * dt);
_v_att_sp.R_valid = false;
publish_att_sp = true;
}
src/modules/mc_pos_control/mc_pos_control_main.cpp
+12 -12
View File
@@ -148,17 +148,17 @@ private:
param_t xy_vel_d;
param_t xy_vel_max;
param_t xy_ff;
param_t tilt_max;
param_t tilt_max_air;
param_t land_speed;
param_t land_tilt_max;
param_t tilt_max_land;
} _params_handles; /**< handles for interesting parameters */
struct {
float thr_min;
float thr_max;
float tilt_max;
float tilt_max_air;
float land_speed;
float land_tilt_max;
float tilt_max_land;
math::Vector<3> pos_p;
math::Vector<3> vel_p;
@@ -308,9 +308,9 @@ MulticopterPositionControl::MulticopterPositionControl() :
_params_handles.xy_vel_d = param_find("MPC_XY_VEL_D");
_params_handles.xy_vel_max = param_find("MPC_XY_VEL_MAX");
_params_handles.xy_ff = param_find("MPC_XY_FF");
_params_handles.tilt_max = param_find("MPC_TILT_MAX");
_params_handles.tilt_max_air = param_find("MPC_TILTMAX_AIR");
_params_handles.land_speed = param_find("MPC_LAND_SPEED");
_params_handles.land_tilt_max = param_find("MPC_LAND_TILT");
_params_handles.tilt_max_land = param_find("MPC_TILTMAX_LND");
/* fetch initial parameter values */
parameters_update(true);
@@ -355,11 +355,11 @@ MulticopterPositionControl::parameters_update(bool force)
if (updated || force) {
param_get(_params_handles.thr_min, &_params.thr_min);
param_get(_params_handles.thr_max, &_params.thr_max);
param_get(_params_handles.tilt_max, &_params.tilt_max);
_params.tilt_max = math::radians(_params.tilt_max);
param_get(_params_handles.tilt_max_air, &_params.tilt_max_air);
_params.tilt_max_air = math::radians(_params.tilt_max_air);
param_get(_params_handles.land_speed, &_params.land_speed);
param_get(_params_handles.land_tilt_max, &_params.land_tilt_max);
_params.land_tilt_max = math::radians(_params.land_tilt_max);
param_get(_params_handles.tilt_max_land, &_params.tilt_max_land);
_params.tilt_max_land = math::radians(_params.tilt_max_land);
float v;
param_get(_params_handles.xy_p, &v);
@@ -841,13 +841,13 @@ MulticopterPositionControl::task_main()
thr_min = 0.0f;
}
float tilt_max = _params.tilt_max;
float tilt_max = _params.tilt_max_air;
/* adjust limits for landing mode */
if (!_control_mode.flag_control_manual_enabled && _pos_sp_triplet.current.valid &&
_pos_sp_triplet.current.type == SETPOINT_TYPE_LAND) {
/* limit max tilt and min lift when landing */
tilt_max = _params.land_tilt_max;
tilt_max = _params.tilt_max_land;
if (thr_min < 0.0f) {
thr_min = 0.0f;
src/modules/px4iofirmware/protocol.h
+4
View File
@@ -211,6 +211,10 @@ enum { /* DSM bind states */
/* 12 occupied by CRC */
#define PX4IO_P_SETUP_RC_THR_FAILSAFE_US 13 /**< the throttle failsafe pulse length in microseconds */
#define PX4IO_P_SETUP_FORCE_SAFETY_OFF 12 /* force safety switch into
'armed' (PWM enabled) state */
#define PX4IO_FORCE_SAFETY_MAGIC 22027 /* required argument for force safety (random) */
/* autopilot control values, -10000..10000 */
#define PX4IO_PAGE_CONTROLS 51 /**< actuator control groups, one after the other, 8 wide */
#define PX4IO_P_CONTROLS_GROUP_0 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 0) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
src/modules/px4iofirmware/registers.c
+6
View File
@@ -570,6 +570,12 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
dsm_bind(value & 0x0f, (value >> 4) & 0xF);
break;
case PX4IO_P_SETUP_FORCE_SAFETY_OFF:
if (value == PX4IO_FORCE_SAFETY_MAGIC) {
r_status_flags |= PX4IO_P_STATUS_FLAGS_SAFETY_OFF;
}
break;
default:
return -1;
}
src/modules/systemlib/system_params.c
+19 -8
View File
@@ -62,12 +62,23 @@ PARAM_DEFINE_INT32(SYS_AUTOSTART, 0);
PARAM_DEFINE_INT32(SYS_AUTOCONFIG, 0);
/**
* Set usage of IO board
*
* Can be used to use a standard startup script but with a FMU only set-up. Set to 0 to force the FMU only set-up.
*
* @min 0
* @max 1
* @group System
*/
* Set usage of IO board
*
* Can be used to use a standard startup script but with a FMU only set-up. Set to 0 to force the FMU only set-up.
*
* @min 0
* @max 1
* @group System
*/
PARAM_DEFINE_INT32(SYS_USE_IO, 1);
/**
* Set restart type
*
* Set by px4io to indicate type of restart
*
* @min 0
* @max 2
* @group System
*/
PARAM_DEFINE_INT32(SYS_RESTART_TYPE, 2);