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Merge branch 'master' into offboard2_merge

Browse Source 
Conflicts:
	src/modules/commander/commander.cpp
This commit is contained in:
Julian Oes
2014-07-07 14:49:58 +02:00
parent 57f707af56 509180abf6
commit 79cbf15d26
33 changed files with 420 additions and 172 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/commander.cpp
+56 -27
View File
@@ -478,7 +478,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
// Follow exactly what the mavlink spec says for values: 0.0f for disarm, 1.0f for arm.
// We use an float epsilon delta to test float equality.
if (cmd->param1 != 0.0f && (fabsf(cmd->param1 - 1.0f) > 2.0f * FLT_EPSILON)) {
mavlink_log_info(mavlink_fd, "Unsupported ARM_DISARM parameter: %.6f", cmd->param1);
mavlink_log_info(mavlink_fd, "Unsupported ARM_DISARM parameter: %.6f", (double)cmd->param1);
} else {
@@ -640,7 +640,7 @@ int commander_thread_main(int argc, char *argv[])
/* welcome user */
warnx("starting");
char *main_states_str[MAIN_STATE_MAX];
const char *main_states_str[MAIN_STATE_MAX];
main_states_str[MAIN_STATE_MANUAL] = "MANUAL";
main_states_str[MAIN_STATE_ALTCTL] = "ALTCTL";
main_states_str[MAIN_STATE_POSCTL] = "POSCTL";
@@ -650,7 +650,7 @@ int commander_thread_main(int argc, char *argv[])
main_states_str[MAIN_STATE_ACRO] = "ACRO";
main_states_str[MAIN_STATE_OFFBOARD] = "OFFBOARD";
char *arming_states_str[ARMING_STATE_MAX];
const char *arming_states_str[ARMING_STATE_MAX];
arming_states_str[ARMING_STATE_INIT] = "INIT";
arming_states_str[ARMING_STATE_STANDBY] = "STANDBY";
arming_states_str[ARMING_STATE_ARMED] = "ARMED";
@@ -659,7 +659,7 @@ int commander_thread_main(int argc, char *argv[])
arming_states_str[ARMING_STATE_REBOOT] = "REBOOT";
arming_states_str[ARMING_STATE_IN_AIR_RESTORE] = "IN_AIR_RESTORE";
char *nav_states_str[NAVIGATION_STATE_MAX];
const char *nav_states_str[NAVIGATION_STATE_MAX];
nav_states_str[NAVIGATION_STATE_MANUAL] = "MANUAL";
nav_states_str[NAVIGATION_STATE_ALTCTL] = "ALTCTL";
nav_states_str[NAVIGATION_STATE_POSCTL] = "POSCTL";
@@ -781,7 +781,7 @@ int commander_thread_main(int argc, char *argv[])
bool updated = false;
bool rc_calibration_ok = (OK == rc_calibration_check(mavlink_fd));
rc_calibration_check(mavlink_fd);
/* Subscribe to safety topic */
int safety_sub = orb_subscribe(ORB_ID(safety));
@@ -803,10 +803,16 @@ int commander_thread_main(int argc, char *argv[])
int sp_offboard_sub = orb_subscribe(ORB_ID(offboard_control_setpoint));
memset(&sp_offboard, 0, sizeof(sp_offboard));
/* Subscribe to telemetry status */
int telemetry_sub = orb_subscribe(ORB_ID(telemetry_status));
struct telemetry_status_s telemetry;
memset(&telemetry, 0, sizeof(telemetry));
/* Subscribe to telemetry status topics */
int telemetry_subs[TELEMETRY_STATUS_ORB_ID_NUM];
uint64_t telemetry_last_heartbeat[TELEMETRY_STATUS_ORB_ID_NUM];
bool telemetry_lost[TELEMETRY_STATUS_ORB_ID_NUM];
for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
telemetry_subs[i] = orb_subscribe(telemetry_status_orb_id[i]);
telemetry_last_heartbeat[i] = 0;
telemetry_lost[i] = true;
}
/* Subscribe to global position */
int global_position_sub = orb_subscribe(ORB_ID(vehicle_global_position));
@@ -888,7 +894,6 @@ int commander_thread_main(int argc, char *argv[])
bool arming_state_changed = false;
bool main_state_changed = false;
bool failsafe_old = false;
bool system_checked = false;
while (!thread_should_exit) {
@@ -936,7 +941,7 @@ int commander_thread_main(int argc, char *argv[])
status_changed = true;
/* re-check RC calibration */
rc_calibration_ok = (OK == rc_calibration_check(mavlink_fd));
rc_calibration_check(mavlink_fd);
}
/* navigation parameters */
@@ -945,15 +950,6 @@ int commander_thread_main(int argc, char *argv[])
param_get(_param_enable_datalink_loss, &datalink_loss_enabled);
}
/* Perform system checks (again) once params are loaded and MAVLink is up. */
if (!system_checked && mavlink_fd &&
(telemetry.heartbeat_time > 0) &&
(hrt_elapsed_time(&telemetry.heartbeat_time) < 1 * 1000 * 1000)) {
(void)rc_calibration_check(mavlink_fd);
system_checked = true;
}
orb_check(sp_man_sub, &updated);
if (updated) {
@@ -979,10 +975,26 @@ int commander_thread_main(int argc, char *argv[])
}
}
orb_check(telemetry_sub, &updated);
for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
orb_check(telemetry_subs[i], &updated);
if (updated) {
orb_copy(ORB_ID(telemetry_status), telemetry_sub, &telemetry);
if (updated) {
struct telemetry_status_s telemetry;
memset(&telemetry, 0, sizeof(telemetry));
orb_copy(telemetry_status_orb_id[i], telemetry_subs[i], &telemetry);
/* perform system checks when new telemetry link connected */
if (mavlink_fd &&
telemetry_last_heartbeat[i] == 0 &&
telemetry.heartbeat_time > 0 &&
hrt_elapsed_time(&telemetry.heartbeat_time) < DL_TIMEOUT) {
(void)rc_calibration_check(mavlink_fd);
}
telemetry_last_heartbeat[i] = telemetry.heartbeat_time;
}
}
orb_check(sensor_sub, &updated);
@@ -1386,18 +1398,35 @@ int commander_thread_main(int argc, char *argv[])
}
}
/* data link check */
if (hrt_absolute_time() < telemetry.heartbeat_time + DL_TIMEOUT) {
/* data links check */
bool have_link = false;
for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
if (hrt_elapsed_time(&telemetry_last_heartbeat[i]) < DL_TIMEOUT) {
/* handle the case where data link was regained */
if (telemetry_lost[i]) {
mavlink_log_critical(mavlink_fd, "#audio: data link %i regained", i);
telemetry_lost[i] = false;
}
have_link = true;
} else {
if (!telemetry_lost[i]) {
mavlink_log_critical(mavlink_fd, "#audio: data link %i lost", i);
telemetry_lost[i] = true;
}
}
}
if (have_link) {
/* handle the case where data link was regained */
if (status.data_link_lost) {
mavlink_log_critical(mavlink_fd, "#audio: data link regained");
status.data_link_lost = false;
status_changed = true;
}
} else {
if (!status.data_link_lost) {
mavlink_log_critical(mavlink_fd, "#audio: CRITICAL: DATA LINK LOST");
mavlink_log_critical(mavlink_fd, "#audio: CRITICAL: ALL DATA LINKS LOST");
status.data_link_lost = true;
status_changed = true;
}
src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+1 -1
View File
@@ -1533,7 +1533,7 @@ FixedwingEstimator::start()
_estimator_task = task_spawn_cmd("ekf_att_pos_estimator",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 40,
6000,
5000,
(main_t)&FixedwingEstimator::task_main_trampoline,
nullptr);
src/modules/ekf_att_pos_estimator/estimator_23states.cpp
+6 -6
View File
@@ -2503,12 +2503,12 @@ void AttPosEKF::InitializeDynamic(float (&initvelNED)[3], float declination)
// Calculate initial Tbn matrix and rotate Mag measurements into NED
// to set initial NED magnetic field states
Mat3f DCM;
quat2Tbn(DCM, initQuat);
quat2Tbn(Tbn, initQuat);
Tnb = Tbn.transpose();
Vector3f initMagNED;
initMagNED.x = DCM.x.x*initMagXYZ.x + DCM.x.y*initMagXYZ.y + DCM.x.z*initMagXYZ.z;
initMagNED.y = DCM.y.x*initMagXYZ.x + DCM.y.y*initMagXYZ.y + DCM.y.z*initMagXYZ.z;
initMagNED.z = DCM.z.x*initMagXYZ.x + DCM.z.y*initMagXYZ.y + DCM.z.z*initMagXYZ.z;
initMagNED.x = Tbn.x.x*initMagXYZ.x + Tbn.x.y*initMagXYZ.y + Tbn.x.z*initMagXYZ.z;
initMagNED.y = Tbn.y.x*initMagXYZ.x + Tbn.y.y*initMagXYZ.y + Tbn.y.z*initMagXYZ.z;
initMagNED.z = Tbn.z.x*initMagXYZ.x + Tbn.z.y*initMagXYZ.y + Tbn.z.z*initMagXYZ.z;
magstate.q0 = initQuat[0];
magstate.q1 = initQuat[1];
@@ -2521,7 +2521,7 @@ void AttPosEKF::InitializeDynamic(float (&initvelNED)[3], float declination)
magstate.magYbias = magBias.y;
magstate.magZbias = magBias.z;
magstate.R_MAG = sq(magMeasurementSigma);
magstate.DCM = DCM;
magstate.DCM = Tbn;
// write to state vector
for (uint8_t j=0; j<=3; j++) states[j] = initQuat[j]; // quaternions
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+14 -18
View File
@@ -414,6 +414,17 @@ FixedwingPositionControl::FixedwingPositionControl() :
_attitude_sp_pub(-1),
_nav_capabilities_pub(-1),
_att(),
_att_sp(),
_nav_capabilities(),
_manual(),
_airspeed(),
_control_mode(),
_global_pos(),
_pos_sp_triplet(),
_sensor_combined(),
_range_finder(),
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "fw l1 control")),
@@ -433,18 +444,8 @@ FixedwingPositionControl::FixedwingPositionControl() :
_airspeed_valid(false),
_groundspeed_undershoot(0.0f),
_global_pos_valid(false),
_att(),
_att_sp(),
_nav_capabilities(),
_manual(),
_airspeed(),
_control_mode(),
_global_pos(),
_pos_sp_triplet(),
_sensor_combined(),
_mTecs(),
_was_pos_control_mode(false),
_range_finder()
_was_pos_control_mode(false)
{
_nav_capabilities.turn_distance = 0.0f;
@@ -806,12 +807,8 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
float eas2tas = 1.0f; // XXX calculate actual number based on current measurements
// XXX re-visit
float baro_altitude = _global_pos.alt;
/* filter speed and altitude for controller */
math::Vector<3> accel_body(_sensor_combined.accelerometer_m_s2);
math::Vector<3> accel_earth = _R_nb * accel_body;
float altitude_error = _pos_sp_triplet.current.alt - _global_pos.alt;
@@ -944,8 +941,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
float airspeed_land = 1.3f * _parameters.airspeed_min;
float airspeed_approach = 1.3f * _parameters.airspeed_min;
/* Calculate distance (to landing waypoint) and altitude of last ordinary waypoint L */
float L_wp_distance = get_distance_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1));
/* Calculate altitude of last ordinary waypoint L */
float L_altitude_rel = _pos_sp_triplet.previous.valid ? _pos_sp_triplet.previous.alt - _pos_sp_triplet.current.alt : 0.0f;
float bearing_airplane_currwp = get_bearing_to_next_waypoint(current_position(0), current_position(1), curr_wp(0), curr_wp(1));
@@ -1449,7 +1445,7 @@ FixedwingPositionControl::start()
_control_task = task_spawn_cmd("fw_pos_control_l1",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
4048,
3500,
(main_t)&FixedwingPositionControl::task_main_trampoline,
nullptr);
src/modules/fw_pos_control_l1/mtecs/mTecs.cpp
+1 -1
View File
@@ -220,7 +220,7 @@ int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flight
/* Apply overrride given by the limitOverride argument (this is used for limits which are not given by
* parameters such as pitch limits with takeoff waypoints or throttle limits when the launchdetector
* is running) */
bool limitApplied = limitOverride.applyOverride(*outputLimiterThrottle, *outputLimiterPitch);
limitOverride.applyOverride(*outputLimiterThrottle, *outputLimiterPitch);
/* Write part of the status message */
_status.flightPathAngleSp = flightPathAngleSp;
src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h
+2 -2
View File
@@ -56,9 +56,9 @@ class BlockOutputLimiter: public SuperBlock
{
public:
// methods
BlockOutputLimiter(SuperBlock *parent, const char *name, bool isAngularLimit = false) :
BlockOutputLimiter(SuperBlock *parent, const char *name, bool fAngularLimit = false) :
SuperBlock(parent, name),
_isAngularLimit(isAngularLimit),
_isAngularLimit(fAngularLimit),
_min(this, "MIN"),
_max(this, "MAX")
{};
src/modules/mavlink/mavlink_ftp.cpp
+1 -1
View File
@@ -346,7 +346,7 @@ MavlinkFTP::_workWrite(Request *req)
MavlinkFTP::ErrorCode
MavlinkFTP::_workRemove(Request *req)
{
auto hdr = req->header();
//auto hdr = req->header();
// for now, send error reply
return kErrPerm;
src/modules/mavlink/mavlink_main.cpp
+1 -1
View File
@@ -2238,7 +2238,7 @@ Mavlink::start(int argc, char *argv[])
task_spawn_cmd(buf,
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
1950,
2700,
(main_t)&Mavlink::start_helper,
(const char **)argv);
src/modules/mavlink/mavlink_receiver.cpp
+43 -38
View File
@@ -396,32 +396,35 @@ MavlinkReceiver::handle_message_quad_swarm_roll_pitch_yaw_thrust(mavlink_message
void
MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg)
{
mavlink_radio_status_t rstatus;
mavlink_msg_radio_status_decode(msg, &rstatus);
/* telemetry status supported only on first TELEMETRY_STATUS_ORB_ID_NUM mavlink channels */
if (_mavlink->get_channel() < TELEMETRY_STATUS_ORB_ID_NUM) {
mavlink_radio_status_t rstatus;
mavlink_msg_radio_status_decode(msg, &rstatus);
struct telemetry_status_s tstatus;
memset(&tstatus, 0, sizeof(tstatus));
struct telemetry_status_s tstatus;
memset(&tstatus, 0, sizeof(tstatus));
tstatus.timestamp = hrt_absolute_time();
tstatus.heartbeat_time = _telemetry_heartbeat_time;
tstatus.type = TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO;
tstatus.rssi = rstatus.rssi;
tstatus.remote_rssi = rstatus.remrssi;
tstatus.txbuf = rstatus.txbuf;
tstatus.noise = rstatus.noise;
tstatus.remote_noise = rstatus.remnoise;
tstatus.rxerrors = rstatus.rxerrors;
tstatus.fixed = rstatus.fixed;
tstatus.timestamp = hrt_absolute_time();
tstatus.heartbeat_time = _telemetry_heartbeat_time;
tstatus.type = TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO;
tstatus.rssi = rstatus.rssi;
tstatus.remote_rssi = rstatus.remrssi;
tstatus.txbuf = rstatus.txbuf;
tstatus.noise = rstatus.noise;
tstatus.remote_noise = rstatus.remnoise;
tstatus.rxerrors = rstatus.rxerrors;
tstatus.fixed = rstatus.fixed;
if (_telemetry_status_pub < 0) {
_telemetry_status_pub = orb_advertise(ORB_ID(telemetry_status), &tstatus);
if (_telemetry_status_pub < 0) {
_telemetry_status_pub = orb_advertise(telemetry_status_orb_id[_mavlink->get_channel()], &tstatus);
} else {
orb_publish(ORB_ID(telemetry_status), _telemetry_status_pub, &tstatus);
} else {
orb_publish(telemetry_status_orb_id[_mavlink->get_channel()], _telemetry_status_pub, &tstatus);
}
/* this means that heartbeats alone won't be published to the radio status no more */
_radio_status_available = true;
}
/* this means that heartbeats alone won't be published to the radio status no more */
_radio_status_available = true;
}
void
@@ -452,28 +455,31 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
void
MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg)
{
mavlink_heartbeat_t hb;
mavlink_msg_heartbeat_decode(msg, &hb);
/* telemetry status supported only on first TELEMETRY_STATUS_ORB_ID_NUM mavlink channels */
if (_mavlink->get_channel() < TELEMETRY_STATUS_ORB_ID_NUM) {
mavlink_heartbeat_t hb;
mavlink_msg_heartbeat_decode(msg, &hb);
/* ignore own heartbeats, accept only heartbeats from GCS */
if (msg->sysid != mavlink_system.sysid && hb.type == MAV_TYPE_GCS) {
_telemetry_heartbeat_time = hrt_absolute_time();
/* ignore own heartbeats, accept only heartbeats from GCS */
if (msg->sysid != mavlink_system.sysid && hb.type == MAV_TYPE_GCS) {
_telemetry_heartbeat_time = hrt_absolute_time();
/* if no radio status messages arrive, lets at least publish that heartbeats were received */
if (!_radio_status_available) {
/* if no radio status messages arrive, lets at least publish that heartbeats were received */
if (!_radio_status_available) {
struct telemetry_status_s tstatus;
memset(&tstatus, 0, sizeof(tstatus));
struct telemetry_status_s tstatus;
memset(&tstatus, 0, sizeof(tstatus));
tstatus.timestamp = _telemetry_heartbeat_time;
tstatus.heartbeat_time = _telemetry_heartbeat_time;
tstatus.type = TELEMETRY_STATUS_RADIO_TYPE_GENERIC;
tstatus.timestamp = _telemetry_heartbeat_time;
tstatus.heartbeat_time = _telemetry_heartbeat_time;
tstatus.type = TELEMETRY_STATUS_RADIO_TYPE_GENERIC;
if (_telemetry_status_pub < 0) {
_telemetry_status_pub = orb_advertise(ORB_ID(telemetry_status), &tstatus);
if (_telemetry_status_pub < 0) {
_telemetry_status_pub = orb_advertise(telemetry_status_orb_id[_mavlink->get_channel()], &tstatus);
} else {
orb_publish(ORB_ID(telemetry_status), _telemetry_status_pub, &tstatus);
} else {
orb_publish(telemetry_status_orb_id[_mavlink->get_channel()], _telemetry_status_pub, &tstatus);
}
}
}
}
@@ -718,7 +724,6 @@ MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg)
hil_gps.timestamp_variance = timestamp;
hil_gps.s_variance_m_s = 5.0f;
hil_gps.p_variance_m = hil_gps.eph * hil_gps.eph;
hil_gps.timestamp_velocity = timestamp;
hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s
src/modules/px4iofirmware/i2c.c
+3
View File
@@ -64,12 +64,15 @@
#define rCCR REG(STM32_I2C_CCR_OFFSET)
#define rTRISE REG(STM32_I2C_TRISE_OFFSET)
void i2c_reset(void);
static int i2c_interrupt(int irq, void *context);
static void i2c_rx_setup(void);
static void i2c_tx_setup(void);
static void i2c_rx_complete(void);
static void i2c_tx_complete(void);
#ifdef DEBUG
static void i2c_dump(void);
#endif
static DMA_HANDLE rx_dma;
static DMA_HANDLE tx_dma;
src/modules/px4iofirmware/px4io.h
+2 -2
View File
@@ -219,8 +219,8 @@ extern bool dsm_input(uint16_t *values, uint16_t *num_values);
extern void dsm_bind(uint16_t cmd, int pulses);
extern int sbus_init(const char *device);
extern bool sbus_input(uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_channels);
extern bool sbus1_output(uint16_t *values, uint16_t num_values);
extern bool sbus2_output(uint16_t *values, uint16_t num_values);
extern void sbus1_output(uint16_t *values, uint16_t num_values);
extern void sbus2_output(uint16_t *values, uint16_t num_values);
/** global debug level for isr_debug() */
extern volatile uint8_t debug_level;
src/modules/px4iofirmware/registers.c
+1 -1
View File
@@ -711,7 +711,7 @@ registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_val
{
#define SELECT_PAGE(_page_name) \
do { \
*values = &_page_name[0]; \
*values = (uint16_t *)&_page_name[0]; \
*num_values = sizeof(_page_name) / sizeof(_page_name[0]); \
} while(0)
src/modules/px4iofirmware/sbus.c
+2 -2
View File
@@ -116,14 +116,14 @@ sbus_init(const char *device)
return sbus_fd;
}
bool
void
sbus1_output(uint16_t *values, uint16_t num_values)
{
char a = 'A';
write(sbus_fd, &a, 1);
}
bool
void
sbus2_output(uint16_t *values, uint16_t num_values)
{
char b = 'B';
src/modules/sdlog2/sdlog2.c
+18 -13
View File
@@ -979,7 +979,7 @@ 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;
struct log_TEL_s log_TEL;
struct log_EST0_s log_EST0;
struct log_EST1_s log_EST1;
struct log_PWR_s log_PWR;
@@ -1019,7 +1019,7 @@ int sdlog2_thread_main(int argc, char *argv[])
int esc_sub;
int global_vel_sp_sub;
int battery_sub;
int telemetry_sub;
int telemetry_subs[TELEMETRY_STATUS_ORB_ID_NUM];
int range_finder_sub;
int estimator_status_sub;
int tecs_status_sub;
@@ -1049,7 +1049,9 @@ int sdlog2_thread_main(int argc, char *argv[])
subs.esc_sub = orb_subscribe(ORB_ID(esc_status));
subs.global_vel_sp_sub = orb_subscribe(ORB_ID(vehicle_global_velocity_setpoint));
subs.battery_sub = orb_subscribe(ORB_ID(battery_status));
subs.telemetry_sub = orb_subscribe(ORB_ID(telemetry_status));
for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
subs.telemetry_subs[i] = orb_subscribe(telemetry_status_orb_id[i]);
}
subs.range_finder_sub = orb_subscribe(ORB_ID(sensor_range_finder));
subs.estimator_status_sub = orb_subscribe(ORB_ID(estimator_status));
subs.tecs_status_sub = orb_subscribe(ORB_ID(tecs_status));
@@ -1479,16 +1481,19 @@ int sdlog2_thread_main(int argc, char *argv[])
}
/* --- TELEMETRY --- */
if (copy_if_updated(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);
for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
if (copy_if_updated(telemetry_status_orb_id[i], subs.telemetry_subs[i], &buf.telemetry)) {
log_msg.msg_type = LOG_TEL0_MSG + i;
log_msg.body.log_TEL.rssi = buf.telemetry.rssi;
log_msg.body.log_TEL.remote_rssi = buf.telemetry.remote_rssi;
log_msg.body.log_TEL.noise = buf.telemetry.noise;
log_msg.body.log_TEL.remote_noise = buf.telemetry.remote_noise;
log_msg.body.log_TEL.rxerrors = buf.telemetry.rxerrors;
log_msg.body.log_TEL.fixed = buf.telemetry.fixed;
log_msg.body.log_TEL.txbuf = buf.telemetry.txbuf;
log_msg.body.log_TEL.heartbeat_time = buf.telemetry.heartbeat_time;
LOGBUFFER_WRITE_AND_COUNT(TEL);
}
}
/* --- BOTTOM DISTANCE --- */
src/modules/sdlog2/sdlog2_format.h
+8
View File
@@ -91,6 +91,14 @@ struct log_format_s {
.labels = _labels \
}
#define LOG_FORMAT_S(_name, _struct_name, _format, _labels) { \
.type = LOG_##_name##_MSG, \
.length = sizeof(struct log_##_struct_name##_s) + LOG_PACKET_HEADER_LEN, \
.name = #_name, \
.format = _format, \
.labels = _labels \
}
#define LOG_FORMAT_MSG 0x80
#define LOG_PACKET_SIZE(_name) LOG_PACKET_HEADER_LEN + sizeof(struct log_##_name##_s)
src/modules/sdlog2/sdlog2_messages.h
+22 -13
View File
@@ -276,18 +276,7 @@ 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;
};
// ID 22 available
// ID 23 available
/* --- PWR - ONBOARD POWER SYSTEM --- */
@@ -385,6 +374,23 @@ struct log_EST1_s {
float s[16];
};
/* --- TEL0..3 - TELEMETRY STATUS --- */
#define LOG_TEL0_MSG 34
#define LOG_TEL1_MSG 35
#define LOG_TEL2_MSG 36
#define LOG_TEL3_MSG 37
struct log_TEL_s {
uint8_t rssi;
uint8_t remote_rssi;
uint8_t noise;
uint8_t remote_noise;
uint16_t rxerrors;
uint16_t fixed;
uint8_t txbuf;
uint64_t heartbeat_time;
};
/********** SYSTEM MESSAGES, ID > 0x80 **********/
/* --- TIME - TIME STAMP --- */
@@ -432,7 +438,10 @@ 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"),
LOG_FORMAT_S(TEL0, TEL, "BBBBHHBQ", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),
LOG_FORMAT_S(TEL1, TEL, "BBBBHHBQ", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),
LOG_FORMAT_S(TEL2, TEL, "BBBBHHBQ", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),
LOG_FORMAT_S(TEL3, TEL, "BBBBHHBQ", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),
LOG_FORMAT(EST0, "ffffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,nStat,fNaN,fHealth,fTOut"),
LOG_FORMAT(EST1, "ffffffffffffffff", "s12,s13,s14,s15,s16,s17,s18,s19,s20,s21,s22,s23,s24,s25,s26,s27"),
LOG_FORMAT(PWR, "fffBBBBB", "Periph5V,Servo5V,RSSI,UsbOk,BrickOk,ServoOk,PeriphOC,HipwrOC"),
src/modules/systemlib/cpuload.c
+1 -1
View File
@@ -67,7 +67,7 @@ __EXPORT void sched_note_switch(FAR struct tcb_s *pFromTcb, FAR struct tcb_s *pT
__EXPORT struct system_load_s system_load;
extern FAR struct _TCB *sched_gettcb(pid_t pid);
extern FAR struct tcb_s *sched_gettcb(pid_t pid);
void cpuload_initialize_once()
{
src/modules/systemlib/systemlib.c
+3
View File
@@ -54,6 +54,9 @@
#include "systemlib.h"
// Didn't seem right to include up_internal.h, so direct extern instead.
extern void up_systemreset(void) noreturn_function;
void
systemreset(bool to_bootloader)
{
src/modules/uORB/objects_common.cpp
+4 -1
View File
@@ -186,7 +186,10 @@ ORB_DEFINE(actuator_outputs_2, struct actuator_outputs_s);
ORB_DEFINE(actuator_outputs_3, struct actuator_outputs_s);
#include "topics/telemetry_status.h"
ORB_DEFINE(telemetry_status, struct telemetry_status_s);
ORB_DEFINE(telemetry_status_0, struct telemetry_status_s);
ORB_DEFINE(telemetry_status_1, struct telemetry_status_s);
ORB_DEFINE(telemetry_status_2, struct telemetry_status_s);
ORB_DEFINE(telemetry_status_3, struct telemetry_status_s);
#include "topics/debug_key_value.h"
ORB_DEFINE(debug_key_value, struct debug_key_value_s);
src/modules/uORB/topics/telemetry_status.h
+13 -1
View File
@@ -72,6 +72,18 @@ struct telemetry_status_s {
* @}
*/
ORB_DECLARE(telemetry_status);
ORB_DECLARE(telemetry_status_0);
ORB_DECLARE(telemetry_status_1);
ORB_DECLARE(telemetry_status_2);
ORB_DECLARE(telemetry_status_3);
#define TELEMETRY_STATUS_ORB_ID_NUM 4
static const struct orb_metadata *telemetry_status_orb_id[TELEMETRY_STATUS_ORB_ID_NUM] = {
ORB_ID(telemetry_status_0),
ORB_ID(telemetry_status_1),
ORB_ID(telemetry_status_2),
ORB_ID(telemetry_status_3),
};
#endif /* TOPIC_TELEMETRY_STATUS_H */
src/modules/uORB/topics/vehicle_gps_position.h
-1
View File
@@ -61,7 +61,6 @@ struct vehicle_gps_position_s {
uint64_t timestamp_variance;
float s_variance_m_s; /**< speed accuracy estimate m/s */
float p_variance_m; /**< position accuracy estimate m */
float c_variance_rad; /**< course accuracy estimate rad */
uint8_t fix_type; /**< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. */