diff --git a/ROMFS/scripts/rc.FMU_quad_x b/ROMFS/scripts/rc.FMU_quad_x index 94ed2be18b..e9f07b4a29 100644 --- a/ROMFS/scripts/rc.FMU_quad_x +++ b/ROMFS/scripts/rc.FMU_quad_x @@ -9,7 +9,7 @@ echo "[init] eeprom" eeprom start if [ -f /eeprom/parameters ] then - eeprom load_param /eeprom/parameters + param load fi echo "[init] sensors" diff --git a/ROMFS/scripts/rc.PX4IOAR b/ROMFS/scripts/rc.PX4IOAR index 532dd6a256..382d8e25c0 100644 --- a/ROMFS/scripts/rc.PX4IOAR +++ b/ROMFS/scripts/rc.PX4IOAR @@ -19,7 +19,7 @@ echo "[init] eeprom" eeprom start if [ -f /eeprom/parameters ] then - eeprom load_param /eeprom/parameters + param load fi # diff --git a/ROMFS/scripts/rc.standalone b/ROMFS/scripts/rc.standalone index 7dfd98a166..8ccdb577b5 100644 --- a/ROMFS/scripts/rc.standalone +++ b/ROMFS/scripts/rc.standalone @@ -10,6 +10,16 @@ echo "[init] doing standalone PX4FMU startup..." # uorb start +# +# Init the EEPROM +# +echo "[init] eeprom" +eeprom start +if [ -f /eeprom/parameters ] +then + param load +fi + # # Start the sensors. # diff --git a/ROMFS/scripts/rcS b/ROMFS/scripts/rcS index 9e564e2cc7..3377abe77a 100755 --- a/ROMFS/scripts/rcS +++ b/ROMFS/scripts/rcS @@ -33,6 +33,7 @@ fi usleep 500 + # # Look for an init script on the microSD card. # diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c index 159a70701e..66c58f74fd 100644 --- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c +++ b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c @@ -389,9 +389,9 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[]) // } - printf("EKF attitude iteration: %d, runtime: %d us, dt: %d us (%d Hz)\n", loopcounter, (int)timing_diff, (int)(dt * 1000000.0f), (int)(1.0f / dt)); - printf("roll: %8.4f\tpitch: %8.4f\tyaw:%8.4f\n", (double)euler[0], (double)euler[1], (double)euler[2]); - printf("update rates gyro: %8.4f\taccel: %8.4f\tmag:%8.4f\n", (double)sensor_update_hz[0], (double)sensor_update_hz[1], (double)sensor_update_hz[2]); + //printf("EKF attitude iteration: %d, runtime: %d us, dt: %d us (%d Hz)\n", loopcounter, (int)timing_diff, (int)(dt * 1000000.0f), (int)(1.0f / dt)); + //printf("roll: %8.4f\tpitch: %8.4f\tyaw:%8.4f\n", (double)euler[0], (double)euler[1], (double)euler[2]); + //printf("update rates gyro: %8.4f\taccel: %8.4f\tmag:%8.4f\n", (double)sensor_update_hz[0], (double)sensor_update_hz[1], (double)sensor_update_hz[2]); // printf("\n%d\t%d\t%d\n%d\t%d\t%d\n%d\t%d\t%d\n", (int)(Rot_matrix[0] * 100), (int)(Rot_matrix[1] * 100), (int)(Rot_matrix[2] * 100), // (int)(Rot_matrix[3] * 100), (int)(Rot_matrix[4] * 100), (int)(Rot_matrix[5] * 100), // (int)(Rot_matrix[6] * 100), (int)(Rot_matrix[7] * 100), (int)(Rot_matrix[8] * 100)); diff --git a/apps/commander/state_machine_helper.c b/apps/commander/state_machine_helper.c index f9ec6ba915..57512bfd55 100644 --- a/apps/commander/state_machine_helper.c +++ b/apps/commander/state_machine_helper.c @@ -504,7 +504,7 @@ void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *c current_status->flag_control_manual_enabled = true; //XXX /* enable attitude control per default */ current_status->flag_control_attitude_enabled = true; - current_status->flag_control_rates_enabled = false; + current_status->flag_control_rates_enabled = true; if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd); if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_STABILIZED || current_status->state_machine == SYSTEM_STATE_AUTO) { @@ -519,7 +519,7 @@ void update_state_machine_mode_stabilized(int status_pub, struct vehicle_status_ current_status->flight_mode = VEHICLE_FLIGHT_MODE_STABILIZED; current_status->flag_control_manual_enabled = true; //XXX current_status->flag_control_attitude_enabled = true; - current_status->flag_control_rates_enabled = false; + current_status->flag_control_rates_enabled = true; if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd); if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_AUTO) { @@ -534,7 +534,7 @@ void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *cur current_status->flight_mode = VEHICLE_FLIGHT_MODE_AUTO; current_status->flag_control_manual_enabled = true; //XXX current_status->flag_control_attitude_enabled = true; - current_status->flag_control_rates_enabled = false; + current_status->flag_control_rates_enabled = true; if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd); if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_STABILIZED) { diff --git a/apps/drivers/bma180/bma180.cpp b/apps/drivers/bma180/bma180.cpp index 8cd7f6a7c7..c554df9ae9 100644 --- a/apps/drivers/bma180/bma180.cpp +++ b/apps/drivers/bma180/bma180.cpp @@ -410,8 +410,8 @@ BMA180::ioctl(struct file *filp, int cmd, unsigned long arg) /* set default/max polling rate */ case SENSOR_POLLRATE_MAX: case SENSOR_POLLRATE_DEFAULT: - /* XXX 500Hz is just a wild guess */ - return ioctl(filp, SENSORIOCSPOLLRATE, 500); + /* With internal low pass filters enabled, 250 Hz is sufficient */ + return ioctl(filp, SENSORIOCSPOLLRATE, 250); /* adjust to a legal polling interval in Hz */ default: { diff --git a/apps/drivers/l3gd20/l3gd20.cpp b/apps/drivers/l3gd20/l3gd20.cpp index bfdabe2734..9401fdd4a5 100644 --- a/apps/drivers/l3gd20/l3gd20.cpp +++ b/apps/drivers/l3gd20/l3gd20.cpp @@ -420,8 +420,8 @@ L3GD20::ioctl(struct file *filp, int cmd, unsigned long arg) /* set default/max polling rate */ case SENSOR_POLLRATE_MAX: case SENSOR_POLLRATE_DEFAULT: - /* XXX 500Hz is just a wild guess */ - return ioctl(filp, SENSORIOCSPOLLRATE, 500); + /* With internal low pass filters enabled, 250 Hz is sufficient */ + return ioctl(filp, SENSORIOCSPOLLRATE, 250); /* adjust to a legal polling interval in Hz */ default: { diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c index c13f462ea4..0592d03775 100644 --- a/apps/mavlink/mavlink.c +++ b/apps/mavlink/mavlink.c @@ -889,7 +889,7 @@ static void *uorb_receiveloop(void *arg) /* copy rc channels into local buffer */ orb_copy(ORB_ID(rc_channels), rc_sub, &rc); /* Channels are sent in MAVLink main loop at a fixed interval */ - mavlink_msg_rc_channels_raw_send(chan, rc.timestamp / 1000, 0, rc.chan[0].raw, rc.chan[1].raw, rc.chan[2].raw, rc.chan[3].raw, + mavlink_msg_rc_channels_raw_send(chan, rc.timestamp / 1000, 0, rc.chan[0].raw, rc.chan[1].raw, rc.chan[2].raw, rc.chan[3].raw, rc.chan[4].raw, rc.chan[5].raw, rc.chan[6].raw, rc.chan[7].raw, rc.rssi); } @@ -1272,7 +1272,8 @@ void handleMessage(mavlink_message_t *msg) if (msg->msgid == MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST) { mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t quad_motors_setpoint; mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_decode(msg, &quad_motors_setpoint); -// printf("got MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT target_system=%u, sysid = %u\n", quad_motors_setpoint.target_system, mavlink_system.sysid); + //printf("got message\n"); + //printf("got MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT target_system=%u, sysid = %u\n", mavlink_system.sysid, quad_motors_setpoint.mode); if (mavlink_system.sysid < 4) { /* @@ -1282,19 +1283,28 @@ void handleMessage(mavlink_message_t *msg) uint8_t ml_mode = 0; bool ml_armed = false; - if (quad_motors_setpoint.mode & MAVLINK_OFFBOARD_CONTROL_FLAG_ARMED) { - ml_armed = true; - } +// if (quad_motors_setpoint.mode & MAVLINK_OFFBOARD_CONTROL_FLAG_ARMED) { +// ml_armed = true; +// } switch (quad_motors_setpoint.mode) { case 0: + ml_armed = false; + break; case 1: + ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_RATES; - break; + ml_armed = true; + + break; case 2: + + ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE; - break; + ml_armed = true; + + break; case 3: ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY; break; @@ -1306,7 +1316,14 @@ void handleMessage(mavlink_message_t *msg) offboard_control_sp.p1 = quad_motors_setpoint.roll[mavlink_system.sysid] / (float)INT16_MAX; offboard_control_sp.p2 = quad_motors_setpoint.pitch[mavlink_system.sysid] / (float)INT16_MAX; offboard_control_sp.p3= quad_motors_setpoint.yaw[mavlink_system.sysid] / (float)INT16_MAX; - offboard_control_sp.p4 = quad_motors_setpoint.thrust[mavlink_system.sysid] / (float)UINT16_MAX; + offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid]/(float)UINT16_MAX; + //offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid] ; + + if (quad_motors_setpoint.thrust[mavlink_system.sysid] ==0){ + ml_armed = false; + + } + offboard_control_sp.armed = ml_armed; offboard_control_sp.mode = ml_mode; @@ -1720,14 +1737,6 @@ int mavlink_thread_main(int argc, char *argv[]) /* all subscriptions are now active, set up initial guess about rate limits */ if (baudrate >= 460800) { /* 200 Hz / 5 ms */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 5); - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 5); - /* 200 Hz / 5 ms */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 5); - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 3); - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 5); - /* 5 Hz */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 200); } else if (baudrate >= 230400) { /* 200 Hz / 5 ms */ set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 20); @@ -1741,13 +1750,13 @@ int mavlink_thread_main(int argc, char *argv[]) set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 100); } else if (baudrate >= 115200) { /* 50 Hz / 20 ms */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 20); - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 20); + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 200); + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 200); /* 20 Hz / 50 ms */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 20); - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 50); + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 200); + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 200); /* 10 Hz / 100 ms */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 100); + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 200); /* 1 Hz */ set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 1000); } else if (baudrate >= 57600) { diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c index c563dcce73..7d5821d3ff 100644 --- a/apps/multirotor_att_control/multirotor_att_control_main.c +++ b/apps/multirotor_att_control/multirotor_att_control_main.c @@ -165,8 +165,30 @@ mc_thread_main(int argc, char *argv[]) /** STEP 1: Define which input is the dominating control input */ + if (state.flag_control_offboard_enabled) { + /* offboard inputs */ + if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_RATES) { + rates_sp.roll = offboard_sp.p1; + rates_sp.pitch = offboard_sp.p2; + rates_sp.yaw = offboard_sp.p3; + rates_sp.thrust = offboard_sp.p4; + printf("thrust_rate=%8.4f\n",offboard_sp.p4); + rates_sp.timestamp = hrt_absolute_time(); + orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp); + } else if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE) { + att_sp.roll_body = offboard_sp.p1; + att_sp.pitch_body = offboard_sp.p2; + att_sp.yaw_body = offboard_sp.p3; + att_sp.thrust = offboard_sp.p4; + printf("thrust_att=%8.4f\n",offboard_sp.p4); + att_sp.timestamp = hrt_absolute_time(); + /* STEP 2: publish the result to the vehicle actuators */ + orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); + } - if (state.flag_control_manual_enabled) { + /* decide wether we want rate or position input */ + } + else if (state.flag_control_manual_enabled) { /* manual inputs, from RC control or joystick */ if (state.flag_control_rates_enabled && !state.flag_control_attitude_enabled) { @@ -188,7 +210,7 @@ mc_thread_main(int argc, char *argv[]) } /* STEP 2: publish the result to the vehicle actuators */ orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); - + if (motor_test_mode) { att_sp.roll_body = 0.0f; att_sp.pitch_body = 0.0f; @@ -199,39 +221,19 @@ mc_thread_main(int argc, char *argv[]) orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); } - } else if (state.flag_control_offboard_enabled) { - /* offboard inputs */ - if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_RATES) { - rates_sp.roll = offboard_sp.p1; - rates_sp.pitch = offboard_sp.p2; - rates_sp.yaw = offboard_sp.p3; - rates_sp.thrust = offboard_sp.p4; - rates_sp.timestamp = hrt_absolute_time(); - orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp); - } else if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE) { - att_sp.roll_body = offboard_sp.p1; - att_sp.pitch_body = offboard_sp.p2; - att_sp.yaw_body = offboard_sp.p3; - att_sp.thrust = offboard_sp.p4; - att_sp.timestamp = hrt_absolute_time(); - /* STEP 2: publish the result to the vehicle actuators */ - orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); - } - - /* decide wether we want rate or position input */ } /** STEP 3: Identify the controller setup to run and set up the inputs correctly */ /* run attitude controller */ - if (state.flag_control_attitude_enabled && !state.flag_control_rates_enabled) { - multirotor_control_attitude(&att_sp, &att, NULL, &actuators); - orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); - } else if (state.flag_control_attitude_enabled && state.flag_control_rates_enabled) { - multirotor_control_attitude(&att_sp, &att, &rates_sp, NULL); - orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp); - } + if (state.flag_control_attitude_enabled && !state.flag_control_rates_enabled) { + multirotor_control_attitude(&att_sp, &att, NULL, &actuators); + orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); + } else if (state.flag_control_attitude_enabled && state.flag_control_rates_enabled) { + multirotor_control_attitude(&att_sp, &att, &rates_sp, NULL); + orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp); + } if (state.flag_control_rates_enabled) { diff --git a/apps/multirotor_att_control/multirotor_rate_control.c b/apps/multirotor_att_control/multirotor_rate_control.c index 5a5bffca92..7532dffa26 100644 --- a/apps/multirotor_att_control/multirotor_rate_control.c +++ b/apps/multirotor_att_control/multirotor_rate_control.c @@ -144,6 +144,8 @@ static int parameters_update(const struct mc_rate_control_param_handles *h, stru void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, const float rates[], struct actuator_controls_s *actuators) { + static float roll_control_last=0; + static float pitch_control_last=0; static uint64_t last_run = 0; const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f; last_run = hrt_absolute_time(); @@ -166,17 +168,21 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, if (motor_skip_counter % 2500 == 0) { /* update parameters from storage */ parameters_update(&h, &p); + printf("p.yawrate_p: %8.4f\n", (double)p.yawrate_p); } /* calculate current control outputs */ /* control pitch (forward) output */ - float pitch_control = p.attrate_p * deltaT * (rate_sp->pitch - rates[1]); - /* control roll (left/right) output */ - float roll_control = p.attrate_p * deltaT * (rate_sp->roll - rates[0]); + float pitch_control = p.attrate_p * deltaT *(rate_sp->pitch-rates[1])-p.attrate_d*(pitch_control_last); + pitch_control_last=pitch_control; + /* control roll (left/right) output */ + + float roll_control = p.attrate_p * deltaT * (rate_sp->roll-rates[0])-p.attrate_d*(roll_control_last); + roll_control_last=roll_control; /* control yaw rate */ - float yaw_rate_control = p.yawrate_p * deltaT * (rate_sp->yaw - rates[2]); + float yaw_rate_control = p.yawrate_p * deltaT * (rate_sp->yaw-rates[2] ); actuators->control[0] = roll_control; actuators->control[1] = pitch_control; diff --git a/apps/sensors/sensors.cpp b/apps/sensors/sensors.cpp index 7106edc6bc..b84b58406f 100644 --- a/apps/sensors/sensors.cpp +++ b/apps/sensors/sensors.cpp @@ -101,8 +101,6 @@ extern "C" { /* PPM Settings */ # define PPM_MIN 1000 # define PPM_MAX 2000 -/* Internal resolution is 10000 */ -# define PPM_SCALE 10000/((PPM_MAX-PPM_MIN)/2) # define PPM_MID (PPM_MIN+PPM_MAX)/2 #endif @@ -136,10 +134,6 @@ public: private: static const unsigned _rc_max_chan_count = 8; /**< maximum number of r/c channels we handle */ - /* legacy sensor descriptors */ - int _fd_bma180; /**< old accel driver */ - int _fd_gyro_l3gd20; /**< old gyro driver */ - #if CONFIG_HRT_PPM hrt_abstime _ppm_last_valid; /**< last time we got a valid ppm signal */ @@ -334,8 +328,6 @@ Sensors *g_sensors; } Sensors::Sensors() : - _fd_bma180(-1), - _fd_gyro_l3gd20(-1), _ppm_last_valid(0), _fd_adc(-1), @@ -562,19 +554,7 @@ Sensors::accel_init() fd = open(ACCEL_DEVICE_PATH, 0); if (fd < 0) { warn("%s", ACCEL_DEVICE_PATH); - - /* fall back to bma180 here (new driver would be better...) */ - _fd_bma180 = open("/dev/bma180", O_RDONLY); - if (_fd_bma180 < 0) { - warn("/dev/bma180"); - warn("FATAL: no accelerometer found"); - } - - /* discard first (junk) reading */ - int16_t junk_buf[3]; - read(_fd_bma180, junk_buf, sizeof(junk_buf)); - - warnx("using BMA180"); + errx(1, "FATAL: no accelerometer found"); } else { /* set the accel internal sampling rate up to at leat 500Hz */ ioctl(fd, ACCELIOCSSAMPLERATE, 500); @@ -595,19 +575,7 @@ Sensors::gyro_init() fd = open(GYRO_DEVICE_PATH, 0); if (fd < 0) { warn("%s", GYRO_DEVICE_PATH); - - /* fall back to bma180 here (new driver would be better...) */ - _fd_gyro_l3gd20 = open("/dev/l3gd20", O_RDONLY); - if (_fd_gyro_l3gd20 < 0) { - warn("/dev/l3gd20"); - warn("FATAL: no gyro found"); - } - - /* discard first (junk) reading */ - int16_t junk_buf[3]; - read(_fd_gyro_l3gd20, junk_buf, sizeof(junk_buf)); - - warn("using L3GD20"); + errx(1, "FATAL: no gyro found"); } else { /* set the gyro internal sampling rate up to at leat 500Hz */ ioctl(fd, GYROIOCSSAMPLERATE, 500); @@ -648,7 +616,7 @@ Sensors::baro_init() fd = open(BARO_DEVICE_PATH, 0); if (fd < 0) { warn("%s", BARO_DEVICE_PATH); - errx(1, "FATAL: no barometer found"); + warnx("No barometer found, ignoring"); } /* set the driver to poll at 150Hz */ @@ -671,67 +639,36 @@ Sensors::adc_init() void Sensors::accel_poll(struct sensor_combined_s &raw) { - struct accel_report accel_report; + bool accel_updated; + orb_check(_accel_sub, &accel_updated); - if (_fd_bma180 >= 0) { - /* do ORB emulation for BMA180 */ - int16_t buf[3]; + if (accel_updated) { + struct accel_report accel_report; - read(_fd_bma180, buf, sizeof(buf)); + orb_copy(ORB_ID(sensor_accel), _accel_sub, &accel_report); - accel_report.timestamp = hrt_absolute_time(); + raw.accelerometer_m_s2[0] = accel_report.x; + raw.accelerometer_m_s2[1] = accel_report.y; + raw.accelerometer_m_s2[2] = accel_report.z; - accel_report.x_raw = (buf[1] == -32768) ? 32767 : -buf[1]; - accel_report.y_raw = buf[0]; - accel_report.z_raw = buf[2]; + raw.accelerometer_raw[0] = accel_report.x_raw; + raw.accelerometer_raw[1] = accel_report.y_raw; + raw.accelerometer_raw[2] = accel_report.z_raw; - const float range_g = 4.0f; - /* scale from 14 bit to m/s2 */ - accel_report.x = (((accel_report.x_raw - _parameters.accel_offset[0]) * range_g) / 8192.0f) / 9.81f; - accel_report.y = (((accel_report.y_raw - _parameters.accel_offset[0]) * range_g) / 8192.0f) / 9.81f; - accel_report.z = (((accel_report.z_raw - _parameters.accel_offset[0]) * range_g) / 8192.0f) / 9.81f; raw.accelerometer_counter++; - - } else { - bool accel_updated; - orb_check(_accel_sub, &accel_updated); - - if (accel_updated) { - orb_copy(ORB_ID(sensor_accel), _accel_sub, &accel_report); - raw.accelerometer_counter++; - } } - - raw.accelerometer_m_s2[0] = accel_report.x; - raw.accelerometer_m_s2[1] = accel_report.y; - raw.accelerometer_m_s2[2] = accel_report.z; - - raw.accelerometer_raw[0] = accel_report.x_raw; - raw.accelerometer_raw[1] = accel_report.y_raw; - raw.accelerometer_raw[2] = accel_report.z_raw; } void Sensors::gyro_poll(struct sensor_combined_s &raw) { - struct gyro_report gyro_report; + bool gyro_updated; + orb_check(_gyro_sub, &gyro_updated); - if (_fd_gyro_l3gd20 >= 0) { - /* do ORB emulation for L3GD20 */ - int16_t buf[3]; + if (gyro_updated) { + struct gyro_report gyro_report; - read(_fd_gyro_l3gd20, buf, sizeof(buf)); - - gyro_report.timestamp = hrt_absolute_time(); - - gyro_report.x_raw = buf[1]; - gyro_report.y_raw = ((buf[0] == -32768) ? 32767 : -buf[0]); - gyro_report.z_raw = buf[2]; - - /* scaling calculated as: raw * (1/(32768*(500/180*PI))) */ - gyro_report.x = (gyro_report.x_raw - _parameters.gyro_offset[0]) * 0.000266316109f; - gyro_report.y = (gyro_report.y_raw - _parameters.gyro_offset[1]) * 0.000266316109f; - gyro_report.z = (gyro_report.z_raw - _parameters.gyro_offset[2]) * 0.000266316109f; + orb_copy(ORB_ID(sensor_gyro), _gyro_sub, &gyro_report); raw.gyro_rad_s[0] = gyro_report.x; raw.gyro_rad_s[1] = gyro_report.y; @@ -742,25 +679,6 @@ Sensors::gyro_poll(struct sensor_combined_s &raw) raw.gyro_raw[2] = gyro_report.z_raw; raw.gyro_counter++; - - } else { - - bool gyro_updated; - orb_check(_gyro_sub, &gyro_updated); - - if (gyro_updated) { - orb_copy(ORB_ID(sensor_gyro), _gyro_sub, &gyro_report); - - raw.gyro_rad_s[0] = gyro_report.x; - raw.gyro_rad_s[1] = gyro_report.y; - raw.gyro_rad_s[2] = gyro_report.z; - - raw.gyro_raw[0] = gyro_report.x_raw; - raw.gyro_raw[1] = gyro_report.y_raw; - raw.gyro_raw[2] = gyro_report.z_raw; - - raw.gyro_counter++; - } } } @@ -974,7 +892,13 @@ Sensors::ppm_poll() } /* reverse channel if required */ - _rc.chan[i].scaled *= _parameters.rev[i]; + if (i == _rc.function[THROTTLE]) { + if ((int)_parameters.rev[i] == -1) { + _rc.chan[i].scaled = 1.0f + -1.0f * _rc.chan[i].scaled; + } + } else { + _rc.chan[i].scaled *= _parameters.rev[i]; + } /* handle any parameter-induced blowups */ if (isnan(_rc.chan[i].scaled) || isinf(_rc.chan[i].scaled)) diff --git a/apps/systemcmds/bl_update/bl_update.c b/apps/systemcmds/bl_update/bl_update.c index ac3e93be14..752c01986a 100644 --- a/apps/systemcmds/bl_update/bl_update.c +++ b/apps/systemcmds/bl_update/bl_update.c @@ -51,7 +51,6 @@ #include #include "systemlib/systemlib.h" -#include "systemlib/param/param.h" #include "systemlib/err.h" __EXPORT int bl_update_main(int argc, char *argv[]); diff --git a/apps/systemcmds/eeprom/eeprom.c b/apps/systemcmds/eeprom/eeprom.c index a0b15f77b7..fa88fa09e5 100644 --- a/apps/systemcmds/eeprom/eeprom.c +++ b/apps/systemcmds/eeprom/eeprom.c @@ -193,6 +193,8 @@ eeprom_save(const char *name) if (!name) err(1, "missing argument for device name, try '/eeprom/parameters'"); + warnx("WARNING: 'eeprom save_param' deprecated - use 'param save' instead"); + /* delete the file in case it exists */ unlink(name); @@ -222,6 +224,8 @@ eeprom_load(const char *name) if (!name) err(1, "missing argument for device name, try '/eeprom/parameters'"); + warnx("WARNING: 'eeprom load_param' deprecated - use 'param load' instead"); + int fd = open(name, O_RDONLY); if (fd < 0) diff --git a/apps/systemcmds/param/Makefile b/apps/systemcmds/param/Makefile new file mode 100644 index 0000000000..603746a206 --- /dev/null +++ b/apps/systemcmds/param/Makefile @@ -0,0 +1,42 @@ +############################################################################ +# +# Copyright (C) 2012 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. +# +############################################################################ + +# +# Build the parameters tool. +# + +APPNAME = param +PRIORITY = SCHED_PRIORITY_DEFAULT +STACKSIZE = 4096 + +include $(APPDIR)/mk/app.mk diff --git a/apps/systemcmds/param/param.c b/apps/systemcmds/param/param.c new file mode 100644 index 0000000000..199bffed5b --- /dev/null +++ b/apps/systemcmds/param/param.c @@ -0,0 +1,185 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Lorenz Meier + * + * 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 param.c + * + * Parameter tool. + */ + +#include + +#include +#include +#include +#include +#include +#include +#include + +#include + +#include "systemlib/systemlib.h" +#include "systemlib/param/param.h" +#include "systemlib/err.h" + +__EXPORT int param_main(int argc, char *argv[]); + +static void do_save(void); +static void do_load(void); +static void do_import(void); +static void do_show(void); +static void do_show_print(void *arg, param_t param); + +static const char *param_file_name = "/eeprom/parameters"; + +int +param_main(int argc, char *argv[]) +{ + if (argc >= 2) { + if (!strcmp(argv[1], "save")) + do_save(); + if (!strcmp(argv[1], "load")) + do_load(); + if (!strcmp(argv[1], "import")) + do_import(); + if (!strcmp(argv[1], "show")) + do_show(); + } + + errx(1, "expected a command, try 'load', 'import', 'show' or 'save'\n"); +} + +static void +do_save(void) +{ + /* delete the parameter file in case it exists */ + unlink(param_file_name); + + /* create the file */ + int fd = open(param_file_name, O_WRONLY | O_CREAT | O_EXCL); + + if (fd < 0) + err(1, "opening '%s' failed", param_file_name); + + int result = param_export(fd, false); + close(fd); + + if (result < 0) { + unlink(param_file_name); + errx(1, "error exporting to '%s'", param_file_name); + } + + exit(0); +} + +static void +do_load(void) +{ + int fd = open(param_file_name, O_RDONLY); + + if (fd < 0) + err(1, "open '%s'", param_file_name); + + int result = param_load(fd); + close(fd); + + if (result < 0) + errx(1, "error importing from '%s'", param_file_name); + + exit(0); +} + +static void +do_import(void) +{ + int fd = open(param_file_name, O_RDONLY); + + if (fd < 0) + err(1, "open '%s'", param_file_name); + + int result = param_import(fd); + close(fd); + + if (result < 0) + errx(1, "error importing from '%s'", param_file_name); + + exit(0); +} + +static void +do_show(void) +{ + printf(" + = saved, * = unsaved (warning, floating-point values are often printed with the decimal point wrong)\n"); + param_foreach(do_show_print, NULL, false); + + exit(0); +} + +static void +do_show_print(void *arg, param_t param) +{ + int32_t i; + float f; + + printf("%c %s: ", + param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'), + param_name(param)); + + /* + * This case can be expanded to handle printing common structure types. + */ + + switch (param_type(param)) { + case PARAM_TYPE_INT32: + if (!param_get(param, &i)) { + printf("%d\n", i); + return; + } + break; + case PARAM_TYPE_FLOAT: + if (!param_get(param, &f)) { + printf("%4.4f\n", (double)f); + return; + } + break; + case PARAM_TYPE_STRUCT ... PARAM_TYPE_STRUCT_MAX: + printf("\n", 0 + param_type(param), param_size(param)); + return; + default: + printf("\n", 0 + param_type(param)); + return; + } + printf("\n", param); +} diff --git a/apps/systemlib/bson/tinybson.c b/apps/systemlib/bson/tinybson.c index 46ced013d4..10b736fd6b 100644 --- a/apps/systemlib/bson/tinybson.c +++ b/apps/systemlib/bson/tinybson.c @@ -106,7 +106,9 @@ bson_decoder_next(bson_decoder_t decoder) /* if the nesting level is now zero, the top-level document is done */ if (decoder->nesting == 0) { - CODER_KILL(decoder, "nesting is zero, document is done"); + /* like kill but not an error */ + debug("nesting is zero, document is done"); + decoder->fd = -1; /* return end-of-file to the caller */ return 0; diff --git a/apps/systemlib/param/param.c b/apps/systemlib/param/param.c index 0ab7c0ea30..9e886ea651 100644 --- a/apps/systemlib/param/param.c +++ b/apps/systemlib/param/param.c @@ -242,6 +242,25 @@ param_name(param_t param) return NULL; } +bool +param_value_is_default(param_t param) +{ + return param_find_changed(param) ? false : true; +} + +bool +param_value_unsaved(param_t param) +{ + static struct param_wbuf_s *s; + + s = param_find_changed(param); + + if (s && s->unsaved) + return true; + + return false; +} + enum param_type_e param_type(param_t param) { @@ -330,8 +349,8 @@ param_get(param_t param, void *val) return result; } -int -param_set(param_t param, const void *val) +static int +param_set_internal(param_t param, const void *val, bool mark_saved) { int result = -1; bool params_changed = false; @@ -394,7 +413,7 @@ param_set(param_t param, const void *val) goto out; } - s->unsaved = true; + s->unsaved = !mark_saved; params_changed = true; result = 0; } @@ -412,6 +431,12 @@ out: return result; } +int +param_set(param_t param, const void *val) +{ + return param_set_internal(param, val, false); +} + void param_reset(param_t param) { @@ -535,6 +560,11 @@ out: return result; } +struct param_import_state +{ + bool mark_saved; +}; + static int param_import_callback(bson_decoder_t decoder, void *private, bson_node_t node) { @@ -542,13 +572,13 @@ param_import_callback(bson_decoder_t decoder, void *private, bson_node_t node) int32_t i; void *v, *tmp = NULL; int result = -1; + struct param_import_state *state = (struct param_import_state *)private; /* * EOO means the end of the parameter object. (Currently not supporting * nested BSON objects). */ if (node->type == BSON_EOO) { - *(bool *)private = true; debug("end of parameters"); return 0; } @@ -621,7 +651,7 @@ param_import_callback(bson_decoder_t decoder, void *private, bson_node_t node) goto out; } - if (param_set(param, v)) { + if (param_set_internal(param, v, state->mark_saved)) { debug("error setting value for '%s'", node->name); goto out; } @@ -642,19 +672,19 @@ out: return result; } -int -param_import(int fd) +static int +param_import_internal(int fd, bool mark_saved) { - bool done; struct bson_decoder_s decoder; int result = -1; + struct param_import_state state; - if (bson_decoder_init(&decoder, fd, param_import_callback, &done)) { + if (bson_decoder_init(&decoder, fd, param_import_callback, &state)) { debug("decoder init failed"); goto out; } - done = false; + state.mark_saved = mark_saved; do { result = bson_decoder_next(&decoder); @@ -668,11 +698,17 @@ out: return result; } +int +param_import(int fd) +{ + return param_import_internal(fd, false); +} + int param_load(int fd) { param_reset_all(); - return param_import(fd); + return param_import_internal(fd, true); } void diff --git a/apps/systemlib/param/param.h b/apps/systemlib/param/param.h index ffce07a4ed..41e268db08 100644 --- a/apps/systemlib/param/param.h +++ b/apps/systemlib/param/param.h @@ -121,6 +121,20 @@ __EXPORT int param_get_index(param_t param); */ __EXPORT const char *param_name(param_t param); +/** + * Test whether a parameter's value has changed from the default. + * + * @return If true, the parameter's value has not been changed from the default. + */ +__EXPORT bool param_value_is_default(param_t param); + +/** + * Test whether a parameter's value has been changed but not saved. + * + * @return If true, the parameter's value has not been saved. + */ +__EXPORT bool param_value_unsaved(param_t param); + /** * Obtain the type of a parameter. * @@ -160,7 +174,8 @@ __EXPORT int param_set(param_t param, const void *val); /** * Reset a parameter to its default value. * - * This function frees any storage used by struct parameters, but scalar parameters + * This function frees any storage used by struct parameters, and returns the parameter + * to its default value. * * @param param A handle returned by param_find or passed by param_foreach. */ diff --git a/nuttx/configs/px4fmu/nsh/appconfig b/nuttx/configs/px4fmu/nsh/appconfig index e76c4cf482..be0a3d1d71 100644 --- a/nuttx/configs/px4fmu/nsh/appconfig +++ b/nuttx/configs/px4fmu/nsh/appconfig @@ -53,6 +53,7 @@ CONFIGURED_APPS += systemcmds/boardinfo CONFIGURED_APPS += systemcmds/mixer CONFIGURED_APPS += systemcmds/eeprom CONFIGURED_APPS += systemcmds/led +CONFIGURED_APPS += systemcmds/param CONFIGURED_APPS += systemcmds/bl_update #CONFIGURED_APPS += systemcmds/calibration