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Merge commit '857b843d445f59f2dc393e4d5f879fc56f77a0e0' into navigator_rewrite_drton

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This commit is contained in:
Anton Babushkin
2014-06-30 11:01:40 +02:00
parent a4315aee2e 857b843d44
commit 8495c44053
70 changed files with 3982 additions and 1057 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ROMFS/px4fmu_common/init.d/rcS
+4 -5
View File
@@ -428,11 +428,10 @@ then
#
sh /etc/init.d/rc.sensors
if [ $HIL == no ]
then
echo "[init] Start logging"
sh /etc/init.d/rc.logging
fi
#
# Start logging in all modes, including HIL
#
sh /etc/init.d/rc.logging
if [ $GPS == yes ]
then
src/drivers/boards/px4fmu-v2/px4fmu2_led.c
+1 -1
View File
@@ -54,7 +54,7 @@
* CONFIG_ARCH_LEDS configuration switch.
*/
__BEGIN_DECLS
extern void led_init();
extern void led_init(void);
extern void led_on(int led);
extern void led_off(int led);
extern void led_toggle(int led);
src/drivers/ets_airspeed/ets_airspeed.cpp
+2 -2
View File
@@ -364,7 +364,7 @@ test()
err(1, "immediate read failed");
warnx("single read");
warnx("diff pressure: %d pa", report.differential_pressure_pa);
warnx("diff pressure: %f pa", (double)report.differential_pressure_pa);
/* start the sensor polling at 2Hz */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2))
@@ -389,7 +389,7 @@ test()
err(1, "periodic read failed");
warnx("periodic read %u", i);
warnx("diff pressure: %d pa", report.differential_pressure_pa);
warnx("diff pressure: %f pa", (double)report.differential_pressure_pa);
}
/* reset the sensor polling to its default rate */
src/drivers/gps/gps.cpp
+3 -3
View File
@@ -357,7 +357,7 @@ GPS::task_main()
}
if (!_healthy) {
char *mode_str = "unknown";
const char *mode_str = "unknown";
switch (_mode) {
case GPS_DRIVER_MODE_UBX:
@@ -449,7 +449,7 @@ GPS::print_info()
if (_report.timestamp_position != 0) {
warnx("position lock: %dD, satellites: %d, last update: %8.4fms ago", (int)_report.fix_type,
_report.satellites_visible, (double)(hrt_absolute_time() - _report.timestamp_position) / 1000.0f);
_report.satellites_visible, (double)(hrt_absolute_time() - _report.timestamp_position) / 1000.0d);
warnx("lat: %d, lon: %d, alt: %d", _report.lat, _report.lon, _report.alt);
warnx("eph: %.2fm, epv: %.2fm", (double)_report.eph, (double)_report.epv);
warnx("rate position: \t%6.2f Hz", (double)_Helper->get_position_update_rate());
@@ -578,7 +578,7 @@ gps_main(int argc, char *argv[])
{
/* set to default */
char *device_name = GPS_DEFAULT_UART_PORT;
const char *device_name = GPS_DEFAULT_UART_PORT;
bool fake_gps = false;
/*
src/drivers/hmc5883/hmc5883.cpp
+2 -2
View File
@@ -326,9 +326,9 @@ HMC5883::HMC5883(int bus) :
_range_scale(0), /* default range scale from counts to gauss */
_range_ga(1.3f),
_collect_phase(false),
_class_instance(-1),
_mag_topic(-1),
_subsystem_pub(-1),
_class_instance(-1),
_sample_perf(perf_alloc(PC_ELAPSED, "hmc5883_read")),
_comms_errors(perf_alloc(PC_COUNT, "hmc5883_comms_errors")),
_buffer_overflows(perf_alloc(PC_COUNT, "hmc5883_buffer_overflows")),
@@ -1228,7 +1228,7 @@ HMC5883::print_info()
printf("offsets (%.2f %.2f %.2f)\n", (double)_scale.x_offset, (double)_scale.y_offset, (double)_scale.z_offset);
printf("scaling (%.2f %.2f %.2f) 1/range_scale %.2f range_ga %.2f\n",
(double)_scale.x_scale, (double)_scale.y_scale, (double)_scale.z_scale,
(double)1.0/_range_scale, (double)_range_ga);
(double)(1.0f/_range_scale), (double)_range_ga);
_reports->print_info("report queue");
}
src/drivers/mkblctrl/mkblctrl.cpp
+12 -17
View File
@@ -131,8 +131,8 @@ public:
int set_motor_count(unsigned count);
int set_motor_test(bool motortest);
int set_overrideSecurityChecks(bool overrideSecurityChecks);
int set_px4mode(int px4mode);
int set_frametype(int frametype);
void set_px4mode(int px4mode);
void set_frametype(int frametype);
unsigned int mk_check_for_blctrl(unsigned int count, bool showOutput, bool initI2C);
private:
@@ -222,15 +222,15 @@ MK::MK(int bus, const char *_device_path) :
_task(-1),
_t_actuators(-1),
_t_actuator_armed(-1),
_t_outputs(0),
_t_esc_status(0),
_num_outputs(0),
_motortest(false),
_overrideSecurityChecks(false),
_motor(-1),
_px4mode(MAPPING_MK),
_frametype(FRAME_PLUS),
_t_outputs(0),
_t_esc_status(0),
_num_outputs(0),
_primary_pwm_device(false),
_motortest(false),
_overrideSecurityChecks(false),
_task_should_exit(false),
_armed(false),
_mixers(nullptr)
@@ -330,13 +330,13 @@ MK::set_update_rate(unsigned rate)
return OK;
}
int
void
MK::set_px4mode(int px4mode)
{
_px4mode = px4mode;
}
int
void
MK::set_frametype(int frametype)
{
_frametype = frametype;
@@ -440,9 +440,6 @@ MK::scaling(float val, float inMin, float inMax, float outMin, float outMax)
void
MK::task_main()
{
long update_rate_in_us = 0;
float tmpVal = 0;
/*
* Subscribe to the appropriate PWM output topic based on whether we are the
* primary PWM output or not.
@@ -483,7 +480,6 @@ MK::task_main()
/* handle update rate changes */
if (_current_update_rate != _update_rate) {
int update_rate_in_ms = int(1000 / _update_rate);
update_rate_in_us = long(1000000 / _update_rate);
/* reject faster than 500 Hz updates */
if (update_rate_in_ms < 2) {
@@ -735,7 +731,6 @@ MK::mk_servo_set(unsigned int chan, short val)
_retries = 0;
uint8_t result[3] = { 0, 0, 0 };
uint8_t msg[2] = { 0, 0 };
uint8_t rod = 0;
uint8_t bytesToSendBL2 = 2;
tmpVal = val;
@@ -824,7 +819,7 @@ MK::mk_servo_set(unsigned int chan, short val)
if (debugCounter == 2000) {
debugCounter = 0;
for (int i = 0; i < _num_outputs; i++) {
for (unsigned int i = 0; i < _num_outputs; i++) {
if (Motor[i].State & MOTOR_STATE_PRESENT_MASK) {
fprintf(stderr, "[mkblctrl] #%i:\tVer: %i\tVal: %i\tCurr: %i\tMaxPWM: %i\tTemp: %i\tState: %i\n", i, Motor[i].Version, Motor[i].SetPoint, Motor[i].Current, Motor[i].MaxPWM, Motor[i].Temperature, Motor[i].State);
}
@@ -1169,7 +1164,7 @@ mk_new_mode(int update_rate, int motorcount, bool motortest, int px4mode, int fr
}
int
mk_start(unsigned motors, char *device_path)
mk_start(unsigned motors, const char *device_path)
{
int ret;
@@ -1228,7 +1223,7 @@ mkblctrl_main(int argc, char *argv[])
bool overrideSecurityChecks = false;
bool showHelp = false;
bool newMode = false;
char *devicepath = "";
const char *devicepath = "";
/*
* optional parameters
src/drivers/mpu6000/mpu6000.cpp
+1 -1
View File
@@ -544,7 +544,7 @@ void MPU6000::reset()
write_reg(MPUREG_USER_CTRL, BIT_I2C_IF_DIS);
irqrestore(state);
up_udelay(1000);
usleep(1000);
// SAMPLE RATE
_set_sample_rate(_sample_rate);
src/drivers/px4fmu/fmu.cpp
+7 -7
View File
@@ -240,8 +240,6 @@ PX4FMU::PX4FMU() :
_pwm_alt_rate_channels(0),
_current_update_rate(0),
_task(-1),
_control_subs({-1}),
_poll_fds_num(0),
_armed_sub(-1),
_outputs_pub(-1),
_num_outputs(0),
@@ -252,10 +250,12 @@ PX4FMU::PX4FMU() :
_mixers(nullptr),
_groups_required(0),
_groups_subscribed(0),
_failsafe_pwm({0}),
_disarmed_pwm({0}),
_num_failsafe_set(0),
_num_disarmed_set(0)
_control_subs{-1},
_poll_fds_num(0),
_failsafe_pwm{0},
_disarmed_pwm{0},
_num_failsafe_set(0),
_num_disarmed_set(0)
{
for (unsigned i = 0; i < _max_actuators; i++) {
_min_pwm[i] = PWM_DEFAULT_MIN;
@@ -741,7 +741,7 @@ PX4FMU::task_main()
}
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_control_subs > 0) {
if (_control_subs[i] > 0) {
::close(_control_subs[i]);
_control_subs[i] = -1;
}
src/drivers/px4io/px4io_serial.cpp
+1 -1
View File
@@ -639,7 +639,7 @@ PX4IO_serial::_do_interrupt()
if (_rx_dma_status == _dma_status_waiting) {
/* verify that the received packet is complete */
int length = sizeof(_dma_buffer) - stm32_dmaresidual(_rx_dma);
size_t length = sizeof(_dma_buffer) - stm32_dmaresidual(_rx_dma);
if ((length < 1) || (length < PKT_SIZE(_dma_buffer))) {
perf_count(_pc_badidle);
src/drivers/roboclaw/RoboClaw.cpp
+8 -2
View File
@@ -182,7 +182,10 @@ float RoboClaw::getMotorPosition(e_motor motor)
return _motor1Position;
} else if (motor == MOTOR_2) {
return _motor2Position;
}
} else {
warnx("Unknown motor value passed to RoboClaw::getMotorPosition");
return NAN;
}
}
float RoboClaw::getMotorSpeed(e_motor motor)
@@ -191,7 +194,10 @@ float RoboClaw::getMotorSpeed(e_motor motor)
return _motor1Speed;
} else if (motor == MOTOR_2) {
return _motor2Speed;
}
} else {
warnx("Unknown motor value passed to RoboClaw::getMotorPosition");
return NAN;
}
}
int RoboClaw::setMotorSpeed(e_motor motor, float value)
src/drivers/sf0x/sf0x.cpp
+1 -1
View File
@@ -616,7 +616,7 @@ SF0X::collect()
}
}
debug("val (float): %8.4f, raw: %s, valid: %s\n", si_units, _linebuf, ((valid) ? "OK" : "NO"));
debug("val (float): %8.4f, raw: %s, valid: %s\n", (double)si_units, _linebuf, ((valid) ? "OK" : "NO"));
/* done with this chunk, resetting - even if invalid */
_linebuf_index = 0;
src/examples/px4_simple_app/px4_simple_app.c
+1
View File
@@ -41,6 +41,7 @@
#include <unistd.h>
#include <stdio.h>
#include <poll.h>
#include <string.h>
#include <uORB/uORB.h>
#include <uORB/topics/sensor_combined.h>
src/lib/geo/geo.c
+16 -17
View File
@@ -82,8 +82,8 @@ __EXPORT void map_projection_project(struct map_projection_reference_s *ref, dou
__EXPORT void map_projection_reproject(struct map_projection_reference_s *ref, float x, float y, double *lat, double *lon)
{
float x_rad = x / CONSTANTS_RADIUS_OF_EARTH;
float y_rad = y / CONSTANTS_RADIUS_OF_EARTH;
double x_rad = x / CONSTANTS_RADIUS_OF_EARTH;
double y_rad = y / CONSTANTS_RADIUS_OF_EARTH;
double c = sqrtf(x_rad * x_rad + y_rad * y_rad);
double sin_c = sin(c);
double cos_c = cos(c);
@@ -146,7 +146,6 @@ __EXPORT void get_vector_to_next_waypoint(double lat_now, double lon_now, double
double lat_next_rad = lat_next * M_DEG_TO_RAD;
double lon_next_rad = lon_next * M_DEG_TO_RAD;
double d_lat = lat_next_rad - lat_now_rad;
double d_lon = lon_next_rad - lon_now_rad;
/* conscious mix of double and float trig function to maximize speed and efficiency */
@@ -174,8 +173,8 @@ __EXPORT void add_vector_to_global_position(double lat_now, double lon_now, floa
double lat_now_rad = lat_now * M_DEG_TO_RAD;
double lon_now_rad = lon_now * M_DEG_TO_RAD;
*lat_res = (lat_now_rad + v_n / CONSTANTS_RADIUS_OF_EARTH) * M_RAD_TO_DEG;
*lon_res = (lon_now_rad + v_e / (CONSTANTS_RADIUS_OF_EARTH * cos(lat_now_rad))) * M_RAD_TO_DEG;
*lat_res = (lat_now_rad + (double)v_n / CONSTANTS_RADIUS_OF_EARTH) * M_RAD_TO_DEG;
*lon_res = (lon_now_rad + (double)v_e / (CONSTANTS_RADIUS_OF_EARTH * cos(lat_now_rad))) * M_RAD_TO_DEG;
}
// Additional functions - @author Doug Weibel <douglas.weibel@colorado.edu>
@@ -197,7 +196,7 @@ __EXPORT int get_distance_to_line(struct crosstrack_error_s *crosstrack_error, d
crosstrack_error->bearing = 0.0f;
// Return error if arguments are bad
if (lat_now == 0.0d || lon_now == 0.0d || lat_start == 0.0d || lon_start == 0.0d || lat_end == 0.0d || lon_end == 0.0d) { return return_value; }
if (lat_now == 0.0 || lon_now == 0.0 || lat_start == 0.0 || lon_start == 0.0 || lat_end == 0.0d || lon_end == 0.0d) { return return_value; }
bearing_end = get_bearing_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
bearing_track = get_bearing_to_next_waypoint(lat_start, lon_start, lat_end, lon_end);
@@ -212,7 +211,7 @@ __EXPORT int get_distance_to_line(struct crosstrack_error_s *crosstrack_error, d
}
dist_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
crosstrack_error->distance = (dist_to_end) * sin(bearing_diff);
crosstrack_error->distance = (dist_to_end) * sinf(bearing_diff);
if (sin(bearing_diff) >= 0) {
crosstrack_error->bearing = _wrap_pi(bearing_track - M_PI_2_F);
@@ -248,7 +247,7 @@ __EXPORT int get_distance_to_arc(struct crosstrack_error_s *crosstrack_error, do
crosstrack_error->bearing = 0.0f;
// Return error if arguments are bad
if (lat_now == 0.0d || lon_now == 0.0d || lat_center == 0.0d || lon_center == 0.0d || radius == 0.0d) { return return_value; }
if (lat_now == 0.0 || lon_now == 0.0 || lat_center == 0.0 || lon_center == 0.0 || radius == 0.0f) { return return_value; }
if (arc_sweep >= 0) {
@@ -296,14 +295,14 @@ __EXPORT int get_distance_to_arc(struct crosstrack_error_s *crosstrack_error, do
// as this function generally will not be called repeatedly when we are out of the sector.
// TO DO - this is messed up and won't compile
float start_disp_x = radius * sin(arc_start_bearing);
float start_disp_y = radius * cos(arc_start_bearing);
float end_disp_x = radius * sin(_wrapPI(arc_start_bearing + arc_sweep));
float end_disp_y = radius * cos(_wrapPI(arc_start_bearing + arc_sweep));
float lon_start = lon_now + start_disp_x / 111111.0d;
float lat_start = lat_now + start_disp_y * cos(lat_now) / 111111.0d;
float lon_end = lon_now + end_disp_x / 111111.0d;
float lat_end = lat_now + end_disp_y * cos(lat_now) / 111111.0d;
float start_disp_x = radius * sinf(arc_start_bearing);
float start_disp_y = radius * cosf(arc_start_bearing);
float end_disp_x = radius * sinf(_wrapPI(arc_start_bearing + arc_sweep));
float end_disp_y = radius * cosf(_wrapPI(arc_start_bearing + arc_sweep));
float lon_start = lon_now + start_disp_x / 111111.0f;
float lat_start = lat_now + start_disp_y * cosf(lat_now) / 111111.0f;
float lon_end = lon_now + end_disp_x / 111111.0f;
float lat_end = lat_now + end_disp_y * cosf(lat_now) / 111111.0f;
float dist_to_start = get_distance_to_next_waypoint(lat_now, lon_now, lat_start, lon_start);
float dist_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
@@ -337,7 +336,7 @@ __EXPORT float get_distance_to_point_global_wgs84(double lat_now, double lon_now
double d_lat = x_rad - current_x_rad;
double d_lon = y_rad - current_y_rad;
double a = sin(d_lat / 2.0) * sin(d_lat / 2.0) + sin(d_lon / 2.0) * sin(d_lon / 2.0f) * cos(current_x_rad) * cos(x_rad);
double a = sin(d_lat / 2.0) * sin(d_lat / 2.0) + sin(d_lon / 2.0) * sin(d_lon / 2.0) * cos(current_x_rad) * cos(x_rad);
double c = 2 * atan2(sqrt(a), sqrt(1 - a));
float dxy = CONSTANTS_RADIUS_OF_EARTH * c;
src/lib/geo_lookup/geo_mag_declination.c
+13 -18
View File
@@ -54,24 +54,19 @@
static const int8_t declination_table[13][37] = \
{
46, 45, 44, 42, 41, 40, 38, 36, 33, 28, 23, 16, 10, 4, -1, -5, -9, -14, -19, -26, -33, -40, -48, -55, -61, \
-66, -71, -74, -75, -72, -61, -25, 22, 40, 45, 47, 46, 30, 30, 30, 30, 29, 29, 29, 29, 27, 24, 18, 11, 3, \
-3, -9, -12, -15, -17, -21, -26, -32, -39, -45, -51, -55, -57, -56, -53, -44, -31, -14, 0, 13, 21, 26, \
29, 30, 21, 22, 22, 22, 22, 22, 22, 22, 21, 18, 13, 5, -3, -11, -17, -20, -21, -22, -23, -25, -29, -35, \
-40, -44, -45, -44, -40, -32, -22, -12, -3, 3, 9, 14, 18, 20, 21, 16, 17, 17, 17, 17, 17, 16, 16, 16, 13, \
8, 0, -9, -16, -21, -24, -25, -25, -23, -20, -21, -24, -28, -31, -31, -29, -24, -17, -9, -3, 0, 4, 7, \
10, 13, 15, 16, 12, 13, 13, 13, 13, 13, 12, 12, 11, 9, 3, -4, -12, -19, -23, -24, -24, -22, -17, -12, -9, \
-10, -13, -17, -18, -16, -13, -8, -3, 0, 1, 3, 6, 8, 10, 12, 12, 10, 10, 10, 10, 10, 10, 10, 9, 9, 6, 0, -6, \
-14, -20, -22, -22, -19, -15, -10, -6, -2, -2, -4, -7, -8, -8, -7, -4, 0, 1, 1, 2, 4, 6, 8, 10, 10, 9, 9, 9, \
9, 9, 9, 8, 8, 7, 4, -1, -8, -15, -19, -20, -18, -14, -9, -5, -2, 0, 1, 0, -2, -3, -4, -3, -2, 0, 0, 0, 1, 3, 5, \
7, 8, 9, 8, 8, 8, 9, 9, 9, 8, 8, 6, 2, -3, -9, -15, -18, -17, -14, -10, -6, -2, 0, 1, 2, 2, 0, -1, -1, -2, -1, 0, \
0, 0, 0, 1, 3, 5, 7, 8, 8, 9, 9, 10, 10, 10, 10, 8, 5, 0, -5, -11, -15, -16, -15, -12, -8, -4, -1, 0, 2, 3, 2, 1, 0, \
0, 0, 0, 0, -1, -2, -2, -1, 0, 3, 6, 8, 6, 9, 10, 11, 12, 12, 11, 9, 5, 0, -7, -12, -15, -15, -13, -10, -7, -3, \
0, 1, 2, 3, 3, 3, 2, 1, 0, 0, -1, -3, -4, -5, -5, -2, 0, 3, 6, 5, 8, 11, 13, 15, 15, 14, 11, 5, -1, -9, -14, -17, \
-16, -14, -11, -7, -3, 0, 1, 3, 4, 5, 5, 5, 4, 3, 1, -1, -4, -7, -8, -8, -6, -2, 1, 5, 4, 8, 12, 15, 17, 18, 16, \
12, 5, -3, -12, -18, -20, -19, -16, -13, -8, -4, -1, 1, 4, 6, 8, 9, 9, 9, 7, 3, -1, -6, -10, -12, -11, -9, -5, \
0, 4, 3, 9, 14, 17, 20, 21, 19, 14, 4, -8, -19, -25, -26, -25, -21, -17, -12, -7, -2, 1, 5, 9, 13, 15, 16, 16, \
13, 7, 0, -7, -12, -15, -14, -11, -6, -1, 3
{ 46, 45, 44, 42, 41, 40, 38, 36, 33, 28, 23, 16, 10, 4, -1, -5, -9, -14, -19, -26, -33, -40, -48, -55, -61, -66, -71, -74, -75, -72, -61, -25, 22, 40, 45, 47, 46 },
{ 30, 30, 30, 30, 29, 29, 29, 29, 27, 24, 18, 11, 3, -3, -9, -12, -15, -17, -21, -26, -32, -39, -45, -51, -55, -57, -56, -53, -44, -31, -14, 0, 13, 21, 26, 29, 30 },
{ 21, 22, 22, 22, 22, 22, 22, 22, 21, 18, 13, 5, -3, -11, -17, -20, -21, -22, -23, -25, -29, -35, -40, -44, -45, -44, -40, -32, -22, -12, -3, 3, 9, 14, 18, 20, 21 },
{ 16, 17, 17, 17, 17, 17, 16, 16, 16, 13, 8, 0, -9, -16, -21, -24, -25, -25, -23, -20, -21, -24, -28, -31, -31, -29, -24, -17, -9, -3, 0, 4, 7, 10, 13, 15, 16 },
{ 12, 13, 13, 13, 13, 13, 12, 12, 11, 9, 3, -4, -12, -19, -23, -24, -24, -22, -17, -12, -9, -10, -13, -17, -18, -16, -13, -8, -3, 0, 1, 3, 6, 8, 10, 12, 12 },
{ 10, 10, 10, 10, 10, 10, 10, 9, 9, 6, 0, -6, -14, -20, -22, -22, -19, -15, -10, -6, -2, -2, -4, -7, -8, -8, -7, -4, 0, 1, 1, 2, 4, 6, 8, 10, 10 },
{ 9, 9, 9, 9, 9, 9, 8, 8, 7, 4, -1, -8, -15, -19, -20, -18, -14, -9, -5, -2, 0, 1, 0, -2, -3, -4, -3, -2, 0, 0, 0, 1, 3, 5, 7, 8, 9 },
{ 8, 8, 8, 9, 9, 9, 8, 8, 6, 2, -3, -9, -15, -18, -17, -14, -10, -6, -2, 0, 1, 2, 2, 0, -1, -1, -2, -1, 0, 0, 0, 0, 1, 3, 5, 7, 8 },
{ 8, 9, 9, 10, 10, 10, 10, 8, 5, 0, -5, -11, -15, -16, -15, -12, -8, -4, -1, 0, 2, 3, 2, 1, 0, 0, 0, 0, 0, -1, -2, -2, -1, 0, 3, 6, 8 },
{ 6, 9, 10, 11, 12, 12, 11, 9, 5, 0, -7, -12, -15, -15, -13, -10, -7, -3, 0, 1, 2, 3, 3, 3, 2, 1, 0, 0, -1, -3, -4, -5, -5, -2, 0, 3, 6 },
{ 5, 8, 11, 13, 15, 15, 14, 11, 5, -1, -9, -14, -17, -16, -14, -11, -7, -3, 0, 1, 3, 4, 5, 5, 5, 4, 3, 1, -1, -4, -7, -8, -8, -6, -2, 1, 5 },
{ 4, 8, 12, 15, 17, 18, 16, 12, 5, -3, -12, -18, -20, -19, -16, -13, -8, -4, -1, 1, 4, 6, 8, 9, 9, 9, 7, 3, -1, -6, -10, -12, -11, -9, -5, 0, 4 },
{ 3, 9, 14, 17, 20, 21, 19, 14, 4, -8, -19, -25, -26, -25, -21, -17, -12, -7, -2, 1, 5, 9, 13, 15, 16, 16, 13, 7, 0, -7, -12, -15, -14, -11, -6, -1, 3 },
};
static float get_lookup_table_val(unsigned lat, unsigned lon);
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
+1 -1
View File
@@ -101,7 +101,7 @@ int parameters_update(const struct attitude_estimator_ekf_param_handles *h, stru
param_get(h->r3, &(p->r[3]));
param_get(h->mag_decl, &(p->mag_decl));
p->mag_decl *= M_PI / 180.0f;
p->mag_decl *= M_PI_F / 180.0f;
param_get(h->acc_comp, &(p->acc_comp));
src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp
+4 -17
View File
@@ -392,8 +392,6 @@ void NonlinearSO3AHRSupdate(float gx, float gy, float gz, float ax, float ay, fl
*/
int attitude_estimator_so3_thread_main(int argc, char *argv[])
{
const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
//! Time constant
float dt = 0.005f;
@@ -438,11 +436,9 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[])
orb_advert_t att_pub = orb_advertise(ORB_ID(vehicle_attitude), &att);
int loopcounter = 0;
int printcounter = 0;
thread_running = true;
float sensor_update_hz[3] = {0.0f, 0.0f, 0.0f};
// XXX write this out to perf regs
/* keep track of sensor updates */
@@ -513,7 +509,7 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[])
gyro_offsets[0] /= offset_count;
gyro_offsets[1] /= offset_count;
gyro_offsets[2] /= offset_count;
warnx("gyro initialized, offsets: %.5f %.5f %.5f", gyro_offsets[0], gyro_offsets[1], gyro_offsets[2]);
warnx("gyro initialized, offsets: %.5f %.5f %.5f", (double)gyro_offsets[0], (double)gyro_offsets[1], (double)gyro_offsets[2]);
}
} else {
@@ -523,12 +519,9 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[])
/* Calculate data time difference in seconds */
dt = (raw.timestamp - last_measurement) / 1000000.0f;
last_measurement = raw.timestamp;
uint8_t update_vect[3] = {0, 0, 0};
/* Fill in gyro measurements */
if (sensor_last_timestamp[0] != raw.timestamp) {
update_vect[0] = 1;
sensor_update_hz[0] = 1e6f / (raw.timestamp - sensor_last_timestamp[0]);
sensor_last_timestamp[0] = raw.timestamp;
}
@@ -538,8 +531,6 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[])
/* update accelerometer measurements */
if (sensor_last_timestamp[1] != raw.accelerometer_timestamp) {
update_vect[1] = 1;
sensor_update_hz[1] = 1e6f / (raw.timestamp - sensor_last_timestamp[1]);
sensor_last_timestamp[1] = raw.accelerometer_timestamp;
}
@@ -549,8 +540,6 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[])
/* update magnetometer measurements */
if (sensor_last_timestamp[2] != raw.magnetometer_timestamp) {
update_vect[2] = 1;
sensor_update_hz[2] = 1e6f / (raw.timestamp - sensor_last_timestamp[2]);
sensor_last_timestamp[2] = raw.magnetometer_timestamp;
}
@@ -569,8 +558,6 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[])
continue;
}
uint64_t timing_start = hrt_absolute_time();
// NOTE : Accelerometer is reversed.
// Because proper mount of PX4 will give you a reversed accelerometer readings.
NonlinearSO3AHRSupdate(gyro[0], gyro[1], gyro[2],
@@ -609,9 +596,9 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[])
/* due to inputs or numerical failure the output is invalid, skip it */
// Due to inputs or numerical failure the output is invalid
warnx("infinite euler angles, rotation matrix:");
warnx("%.3f %.3f %.3f", Rot_matrix[0], Rot_matrix[1], Rot_matrix[2]);
warnx("%.3f %.3f %.3f", Rot_matrix[3], Rot_matrix[4], Rot_matrix[5]);
warnx("%.3f %.3f %.3f", Rot_matrix[6], Rot_matrix[7], Rot_matrix[8]);
warnx("%.3f %.3f %.3f", (double)Rot_matrix[0], (double)Rot_matrix[1], (double)Rot_matrix[2]);
warnx("%.3f %.3f %.3f", (double)Rot_matrix[3], (double)Rot_matrix[4], (double)Rot_matrix[5]);
warnx("%.3f %.3f %.3f", (double)Rot_matrix[6], (double)Rot_matrix[7], (double)Rot_matrix[8]);
// Don't publish anything
continue;
}
src/modules/commander/accelerometer_calibration.cpp
+4 -2
View File
@@ -158,6 +158,8 @@ int calculate_calibration_values(float accel_ref[6][3], float accel_T[3][3], flo
int do_accel_calibration(int mavlink_fd)
{
int fd;
mavlink_log_info(mavlink_fd, CAL_STARTED_MSG, sensor_name);
struct accel_scale accel_scale = {
@@ -172,7 +174,7 @@ int do_accel_calibration(int mavlink_fd)
int res = OK;
/* reset all offsets to zero and all scales to one */
int fd = open(ACCEL_DEVICE_PATH, 0);
fd = open(ACCEL_DEVICE_PATH, 0);
res = ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&accel_scale);
close(fd);
@@ -223,7 +225,7 @@ int do_accel_calibration(int mavlink_fd)
if (res == OK) {
/* apply new scaling and offsets */
int fd = open(ACCEL_DEVICE_PATH, 0);
fd = open(ACCEL_DEVICE_PATH, 0);
res = ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&accel_scale);
close(fd);
src/modules/commander/calibration_routines.cpp
+1 -1
View File
@@ -170,7 +170,7 @@ int sphere_fit_least_squares(const float x[], const float y[], const float z[],
float aA, aB, aC, nA, nB, nC, dA, dB, dC;
//Iterate N times, ignore stop condition.
int n = 0;
unsigned int n = 0;
while (n < max_iterations) {
n++;
src/modules/commander/commander.cpp
+1 -1
View File
@@ -603,6 +603,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
// XXX TODO
}
return true;
}
int commander_thread_main(int argc, char *argv[])
@@ -1590,7 +1591,6 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin
switch (sp_man->mode_switch) {
case SWITCH_POS_NONE:
res = TRANSITION_NOT_CHANGED;
warnx("NONE");
break;
case SWITCH_POS_OFF: // MANUAL
src/modules/dataman/dataman.c
+2 -1
View File
@@ -50,6 +50,7 @@
#include <string.h>
#include "dataman.h"
#include <systemlib/param/param.h>
/**
* data manager app start / stop handling function
@@ -187,7 +188,7 @@ create_work_item(void)
if (item) {
item->first = 1;
lock_queue(&g_free_q);
for (int i = 1; i < k_work_item_allocation_chunk_size; i++) {
for (size_t i = 1; i < k_work_item_allocation_chunk_size; i++) {
(item + i)->first = 0;
sq_addfirst(&(item + i)->link, &(g_free_q.q));
}
src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+562 -399
View File
File diff suppressed because it is too large Load Diff
src/modules/ekf_att_pos_estimator/estimator_21states.cpp
+2142
View File
File diff suppressed because it is too large Load Diff
src/modules/ekf_att_pos_estimator/estimator_21states.h
+247
View File
@@ -0,0 +1,247 @@
#pragma once
#include "estimator_utilities.h"
class AttPosEKF {
public:
AttPosEKF();
~AttPosEKF();
/* ##############################################
*
* M A I N F I L T E R P A R A M E T E R S
*
* ########################################### */
/*
* parameters are defined here and initialised in
* the InitialiseParameters() (which is just 20 lines down)
*/
float covTimeStepMax; // maximum time allowed between covariance predictions
float covDelAngMax; // maximum delta angle between covariance predictions
float rngFinderPitch; // pitch angle of laser range finder in radians. Zero is aligned with the Z body axis. Positive is RH rotation about Y body axis.
float yawVarScale;
float windVelSigma;
float dAngBiasSigma;
float dVelBiasSigma;
float magEarthSigma;
float magBodySigma;
float gndHgtSigma;
float vneSigma;
float vdSigma;
float posNeSigma;
float posDSigma;
float magMeasurementSigma;
float airspeedMeasurementSigma;
float gyroProcessNoise;
float accelProcessNoise;
float EAS2TAS; // ratio f true to equivalent airspeed
void InitialiseParameters()
{
covTimeStepMax = 0.07f; // maximum time allowed between covariance predictions
covDelAngMax = 0.02f; // maximum delta angle between covariance predictions
rngFinderPitch = 0.0f; // pitch angle of laser range finder in radians. Zero is aligned with the Z body axis. Positive is RH rotation about Y body axis.
EAS2TAS = 1.0f;
yawVarScale = 1.0f;
windVelSigma = 0.1f;
dAngBiasSigma = 5.0e-7f;
dVelBiasSigma = 1e-4f;
magEarthSigma = 3.0e-4f;
magBodySigma = 3.0e-4f;
gndHgtSigma = 0.02f; // assume 2% terrain gradient 1-sigma
vneSigma = 0.2f;
vdSigma = 0.3f;
posNeSigma = 2.0f;
posDSigma = 2.0f;
magMeasurementSigma = 0.05;
airspeedMeasurementSigma = 1.4f;
gyroProcessNoise = 1.4544411e-2f;
accelProcessNoise = 0.5f;
}
// Global variables
float KH[n_states][n_states]; // intermediate result used for covariance updates
float KHP[n_states][n_states]; // intermediate result used for covariance updates
float P[n_states][n_states]; // covariance matrix
float Kfusion[n_states]; // Kalman gains
float states[n_states]; // state matrix
float storedStates[n_states][data_buffer_size]; // state vectors stored for the last 50 time steps
uint32_t statetimeStamp[data_buffer_size]; // time stamp for each state vector stored
float statesAtVelTime[n_states]; // States at the effective measurement time for posNE and velNED measurements
float statesAtPosTime[n_states]; // States at the effective measurement time for posNE and velNED measurements
float statesAtHgtTime[n_states]; // States at the effective measurement time for the hgtMea measurement
float statesAtMagMeasTime[n_states]; // filter satates at the effective measurement time
float statesAtVtasMeasTime[n_states]; // filter states at the effective measurement time
Vector3f correctedDelAng; // delta angles about the xyz body axes corrected for errors (rad)
Vector3f correctedDelVel; // delta velocities along the XYZ body axes corrected for errors (m/s)
Vector3f summedDelAng; // summed delta angles about the xyz body axes corrected for errors (rad)
Vector3f summedDelVel; // summed delta velocities along the XYZ body axes corrected for errors (m/s)
float accNavMag; // magnitude of navigation accel (- used to adjust GPS obs variance (m/s^2)
Vector3f earthRateNED; // earths angular rate vector in NED (rad/s)
Vector3f angRate; // angular rate vector in XYZ body axes measured by the IMU (rad/s)
Vector3f accel; // acceleration vector in XYZ body axes measured by the IMU (m/s^2)
Vector3f dVelIMU;
Vector3f dAngIMU;
float dtIMU; // time lapsed since the last IMU measurement or covariance update (sec)
uint8_t fusionModeGPS; // 0 = GPS outputs 3D velocity, 1 = GPS outputs 2D velocity, 2 = GPS outputs no velocity
float innovVelPos[6]; // innovation output
float varInnovVelPos[6]; // innovation variance output
float velNED[3]; // North, East, Down velocity obs (m/s)
float posNE[2]; // North, East position obs (m)
float hgtMea; // measured height (m)
float posNED[3]; // North, East Down position (m)
float innovMag[3]; // innovation output
float varInnovMag[3]; // innovation variance output
Vector3f magData; // magnetometer flux radings in X,Y,Z body axes
float innovVtas; // innovation output
float varInnovVtas; // innovation variance output
float VtasMeas; // true airspeed measurement (m/s)
float magDeclination;
float latRef; // WGS-84 latitude of reference point (rad)
float lonRef; // WGS-84 longitude of reference point (rad)
float hgtRef; // WGS-84 height of reference point (m)
Vector3f magBias; // states representing magnetometer bias vector in XYZ body axes
uint8_t covSkipCount; // Number of state prediction frames (IMU daya updates to skip before doing the covariance prediction
// GPS input data variables
float gpsCourse;
float gpsVelD;
float gpsLat;
float gpsLon;
float gpsHgt;
uint8_t GPSstatus;
// Baro input
float baroHgt;
bool statesInitialised;
bool fuseVelData; // this boolean causes the posNE and velNED obs to be fused
bool fusePosData; // this boolean causes the posNE and velNED obs to be fused
bool fuseHgtData; // this boolean causes the hgtMea obs to be fused
bool fuseMagData; // boolean true when magnetometer data is to be fused
bool fuseVtasData; // boolean true when airspeed data is to be fused
bool onGround; ///< boolean true when the flight vehicle is on the ground (not flying)
bool staticMode; ///< boolean true if no position feedback is fused
bool useAirspeed; ///< boolean true if airspeed data is being used
bool useCompass; ///< boolean true if magnetometer data is being used
struct ekf_status_report current_ekf_state;
struct ekf_status_report last_ekf_error;
bool numericalProtection;
unsigned storeIndex;
void UpdateStrapdownEquationsNED();
void CovariancePrediction(float dt);
void FuseVelposNED();
void FuseMagnetometer();
void FuseAirspeed();
void zeroRows(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last);
void zeroCols(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last);
void quatNorm(float (&quatOut)[4], const float quatIn[4]);
// store staes along with system time stamp in msces
void StoreStates(uint64_t timestamp_ms);
/**
* Recall the state vector.
*
* Recalls the vector stored at closest time to the one specified by msec
*
* @return zero on success, integer indicating the number of invalid states on failure.
* Does only copy valid states, if the statesForFusion vector was initialized
* correctly by the caller, the result can be safely used, but is a mixture
* time-wise where valid states were updated and invalid remained at the old
* value.
*/
int RecallStates(float statesForFusion[n_states], uint64_t msec);
void ResetStoredStates();
void quat2Tbn(Mat3f &Tbn, const float (&quat)[4]);
void calcEarthRateNED(Vector3f &omega, float latitude);
static void eul2quat(float (&quat)[4], const float (&eul)[3]);
static void quat2eul(float (&eul)[3], const float (&quat)[4]);
static void calcvelNED(float (&velNED)[3], float gpsCourse, float gpsGndSpd, float gpsVelD);
static void calcposNED(float (&posNED)[3], float lat, float lon, float hgt, float latRef, float lonRef, float hgtRef);
static void calcLLH(float (&posNED)[3], float lat, float lon, float hgt, float latRef, float lonRef, float hgtRef);
static void quat2Tnb(Mat3f &Tnb, const float (&quat)[4]);
static float sq(float valIn);
void OnGroundCheck();
void CovarianceInit();
void InitialiseFilter(float (&initvelNED)[3], double referenceLat, double referenceLon, float referenceHgt, float declination);
float ConstrainFloat(float val, float min, float max);
void ConstrainVariances();
void ConstrainStates();
void ForceSymmetry();
int CheckAndBound();
void ResetPosition();
void ResetVelocity();
void ZeroVariables();
void GetFilterState(struct ekf_status_report *state);
void GetLastErrorState(struct ekf_status_report *last_error);
bool StatesNaN(struct ekf_status_report *err_report);
void FillErrorReport(struct ekf_status_report *err);
void InitializeDynamic(float (&initvelNED)[3], float declination);
protected:
bool FilterHealthy();
void ResetHeight(void);
void AttitudeInit(float ax, float ay, float az, float mx, float my, float mz, float declination, float *initQuat);
};
uint32_t millis();
src/modules/ekf_att_pos_estimator/estimator.cpp → src/modules/ekf_att_pos_estimator/estimator_23states.cpp
+290 -258
View File
@@ -1,143 +1,9 @@
#include "estimator.h"
#include "estimator_23states.h"
#include <string.h>
#include <stdio.h>
#include <stdarg.h>
// Define EKF_DEBUG here to enable the debug print calls
// if the macro is not set, these will be completely
// optimized out by the compiler.
//#define EKF_DEBUG
#ifdef EKF_DEBUG
#include <stdio.h>
static void
ekf_debug_print(const char *fmt, va_list args)
{
fprintf(stderr, "%s: ", "[ekf]");
vfprintf(stderr, fmt, args);
fprintf(stderr, "\n");
}
static void
ekf_debug(const char *fmt, ...)
{
va_list args;
va_start(args, fmt);
ekf_debug_print(fmt, args);
}
#else
static void ekf_debug(const char *fmt, ...) { while(0){} }
#endif
float Vector3f::length(void) const
{
return sqrt(x*x + y*y + z*z);
}
void Vector3f::zero(void)
{
x = 0.0f;
y = 0.0f;
z = 0.0f;
}
Mat3f::Mat3f() {
identity();
}
void Mat3f::identity() {
x.x = 1.0f;
x.y = 0.0f;
x.z = 0.0f;
y.x = 0.0f;
y.y = 1.0f;
y.z = 0.0f;
z.x = 0.0f;
z.y = 0.0f;
z.z = 1.0f;
}
Mat3f Mat3f::transpose(void) const
{
Mat3f ret = *this;
swap_var(ret.x.y, ret.y.x);
swap_var(ret.x.z, ret.z.x);
swap_var(ret.y.z, ret.z.y);
return ret;
}
// overload + operator to provide a vector addition
Vector3f operator+( Vector3f vecIn1, Vector3f vecIn2)
{
Vector3f vecOut;
vecOut.x = vecIn1.x + vecIn2.x;
vecOut.y = vecIn1.y + vecIn2.y;
vecOut.z = vecIn1.z + vecIn2.z;
return vecOut;
}
// overload - operator to provide a vector subtraction
Vector3f operator-( Vector3f vecIn1, Vector3f vecIn2)
{
Vector3f vecOut;
vecOut.x = vecIn1.x - vecIn2.x;
vecOut.y = vecIn1.y - vecIn2.y;
vecOut.z = vecIn1.z - vecIn2.z;
return vecOut;
}
// overload * operator to provide a matrix vector product
Vector3f operator*( Mat3f matIn, Vector3f vecIn)
{
Vector3f vecOut;
vecOut.x = matIn.x.x*vecIn.x + matIn.x.y*vecIn.y + matIn.x.z*vecIn.z;
vecOut.y = matIn.y.x*vecIn.x + matIn.y.y*vecIn.y + matIn.y.z*vecIn.z;
vecOut.z = matIn.x.x*vecIn.x + matIn.z.y*vecIn.y + matIn.z.z*vecIn.z;
return vecOut;
}
// overload % operator to provide a vector cross product
Vector3f operator%( Vector3f vecIn1, Vector3f vecIn2)
{
Vector3f vecOut;
vecOut.x = vecIn1.y*vecIn2.z - vecIn1.z*vecIn2.y;
vecOut.y = vecIn1.z*vecIn2.x - vecIn1.x*vecIn2.z;
vecOut.z = vecIn1.x*vecIn2.y - vecIn1.y*vecIn2.x;
return vecOut;
}
// overload * operator to provide a vector scaler product
Vector3f operator*(Vector3f vecIn1, float sclIn1)
{
Vector3f vecOut;
vecOut.x = vecIn1.x * sclIn1;
vecOut.y = vecIn1.y * sclIn1;
vecOut.z = vecIn1.z * sclIn1;
return vecOut;
}
// overload * operator to provide a vector scaler product
Vector3f operator*(float sclIn1, Vector3f vecIn1)
{
Vector3f vecOut;
vecOut.x = vecIn1.x * sclIn1;
vecOut.y = vecIn1.y * sclIn1;
vecOut.z = vecIn1.z * sclIn1;
return vecOut;
}
void swap_var(float &d1, float &d2)
{
float tmp = d1;
d1 = d2;
d2 = tmp;
}
#define EKF_COVARIANCE_DIVERGED 1.0e8f
AttPosEKF::AttPosEKF()
@@ -145,7 +11,42 @@ AttPosEKF::AttPosEKF()
* instead to allow clean in-air re-initialization.
*/
{
summedDelAng.zero();
summedDelVel.zero();
fusionModeGPS = 0;
fuseVelData = false;
fusePosData = false;
fuseHgtData = false;
fuseMagData = false;
fuseVtasData = false;
onGround = true;
staticMode = true;
useAirspeed = true;
useCompass = true;
useRangeFinder = true;
numericalProtection = true;
refSet = false;
storeIndex = 0;
gpsHgt = 0.0f;
baroHgt = 0.0f;
GPSstatus = 0;
VtasMeas = 0.0f;
magDeclination = 0.0f;
dAngIMU.zero();
dVelIMU.zero();
velNED[0] = 0.0f;
velNED[1] = 0.0f;
velNED[2] = 0.0f;
accelGPSNED[0] = 0.0f;
accelGPSNED[1] = 0.0f;
accelGPSNED[2] = 0.0f;
delAngTotal.zero();
ekfDiverged = false;
lastReset = 0;
memset(&last_ekf_error, 0, sizeof(last_ekf_error));
memset(&current_ekf_state, 0, sizeof(current_ekf_state));
ZeroVariables();
InitialiseParameters();
}
@@ -181,6 +82,10 @@ void AttPosEKF::UpdateStrapdownEquationsNED()
dVelIMU.y = dVelIMU.y;
dVelIMU.z = dVelIMU.z - states[13];
delAngTotal.x += correctedDelAng.x;
delAngTotal.y += correctedDelAng.y;
delAngTotal.z += correctedDelAng.z;
// Save current measurements
Vector3f prevDelAng = correctedDelAng;
@@ -199,8 +104,12 @@ void AttPosEKF::UpdateStrapdownEquationsNED()
}
else
{
deltaQuat[0] = cosf(0.5f*rotationMag);
float rotScaler = (sinf(0.5f*rotationMag))/rotationMag;
// We are using double here as we are unsure how small
// the angle differences are and if we get into numeric
// issues with float. The runtime impact is not measurable
// for these quantities.
deltaQuat[0] = cos(0.5*(double)rotationMag);
float rotScaler = (sin(0.5*(double)rotationMag))/(double)rotationMag;
deltaQuat[1] = correctedDelAng.x*rotScaler;
deltaQuat[2] = correctedDelAng.y*rotScaler;
deltaQuat[3] = correctedDelAng.z*rotScaler;
@@ -312,7 +221,8 @@ void AttPosEKF::CovariancePrediction(float dt)
float nextP[n_states][n_states];
// calculate covariance prediction process noise
for (uint8_t i= 0; i<=9; i++) processNoise[i] = 1.0e-9f;
for (uint8_t i= 0; i<4; i++) processNoise[i] = 1.0e-9f;
for (uint8_t i= 4; i<10; i++) processNoise[i] = 1.0e-9f;
for (uint8_t i=10; i<=12; i++) processNoise[i] = dt * dAngBiasSigma;
// scale gyro bias noise when on ground to allow for faster bias estimation
for (uint8_t i=10; i<=12; i++) processNoise[i] = dt * dAngBiasSigma;
@@ -977,20 +887,20 @@ void AttPosEKF::CovariancePrediction(float dt)
// propagate
for (unsigned i = 0; i <= 13; i++) {
P[i][i] = nextP[i][i];
}
// force symmetry for observable states
// force zero for non-observable states
for (unsigned i = 1; i < n_states; i++)
// force symmetry for observable states
// force zero for non-observable states
for (unsigned i = 1; i < n_states; i++)
{
for (uint8_t j = 0; j < i; j++)
{
for (uint8_t j = 0; j < i; j++)
{
if ((i > 13) || (j > 13)) {
P[i][j] = 0.0f;
} else {
P[i][j] = 0.5f * (nextP[i][j] + nextP[j][i]);
}
P[j][i] = P[i][j];
if ((i > 13) || (j > 13)) {
P[i][j] = 0.0f;
} else {
P[i][j] = 0.5f * (nextP[i][j] + nextP[j][i]);
}
P[j][i] = P[i][j];
}
}
@@ -1020,9 +930,9 @@ void AttPosEKF::FuseVelposNED()
{
// declare variables used by fault isolation logic
uint32_t gpsRetryTime = 30000; // time in msec before GPS fusion will be retried following innovation consistency failure
uint32_t gpsRetryTimeNoTAS = 5000; // retry time if no TAS measurement available
uint32_t hgtRetryTime = 5000; // height measurement retry time
uint32_t gpsRetryTime = 3000; // time in msec before GPS fusion will be retried following innovation consistency failure
uint32_t gpsRetryTimeNoTAS = 500; // retry time if no TAS measurement available
uint32_t hgtRetryTime = 500; // height measurement retry time
uint32_t horizRetryTime;
// declare variables used to check measurement errors
@@ -1178,7 +1088,7 @@ void AttPosEKF::FuseVelposNED()
stateIndex = 4 + obsIndex;
// Calculate the measurement innovation, using states from a
// different time coordinate if fusing height data
if (obsIndex >= 0 && obsIndex <= 2)
if (obsIndex <= 2)
{
innovVelPos[obsIndex] = statesAtVelTime[stateIndex] - observation[obsIndex];
}
@@ -1193,7 +1103,7 @@ void AttPosEKF::FuseVelposNED()
// Calculate the Kalman Gain
// Calculate innovation variances - also used for data logging
varInnovVelPos[obsIndex] = P[stateIndex][stateIndex] + R_OBS[obsIndex];
SK = 1.0/varInnovVelPos[obsIndex];
SK = 1.0/(double)varInnovVelPos[obsIndex];
for (uint8_t i= 0; i<=indexLimit; i++)
{
Kfusion[i] = P[i][stateIndex]*SK;
@@ -1277,7 +1187,7 @@ void AttPosEKF::FuseMagnetometer()
// data fit is the only assumption we can make
// so we might as well take advantage of the computational efficiencies
// associated with sequential fusion
if (useCompass && (fuseMagData || obsIndex == 1 || obsIndex == 2))
if (useCompass && fuseMagData && (obsIndex < 3))
{
// Limit range of states modified when on ground
if(!onGround)
@@ -1293,7 +1203,7 @@ void AttPosEKF::FuseMagnetometer()
// three prediction time steps.
// Calculate observation jacobians and Kalman gains
if (fuseMagData)
if (obsIndex == 0)
{
// Copy required states to local variable names
q0 = statesAtMagMeasTime[0];
@@ -1388,11 +1298,6 @@ void AttPosEKF::FuseMagnetometer()
Kfusion[22] = SK_MX[0]*(P[22][19] + P[22][1]*SH_MAG[0] + P[22][3]*SH_MAG[2] + P[22][0]*SK_MX[3] - P[22][2]*SK_MX[2] - P[22][16]*SK_MX[1] + P[22][17]*SK_MX[5] - P[22][18]*SK_MX[4]);
varInnovMag[0] = 1.0f/SK_MX[0];
innovMag[0] = MagPred[0] - magData.x;
// reset the observation index to 0 (we start by fusing the X
// measurement)
obsIndex = 0;
fuseMagData = false;
}
else if (obsIndex == 1) // we are now fusing the Y measurement
{
@@ -1508,7 +1413,7 @@ void AttPosEKF::FuseMagnetometer()
}
// Check the innovation for consistency and don't fuse if > 5Sigma
if ((innovMag[obsIndex]*innovMag[obsIndex]/varInnovMag[obsIndex]) < 25.0)
if ((innovMag[obsIndex]*innovMag[obsIndex]/varInnovMag[obsIndex]) < 25.0f)
{
// correct the state vector
for (uint8_t j= 0; j < indexLimit; j++)
@@ -1517,7 +1422,7 @@ void AttPosEKF::FuseMagnetometer()
}
// normalise the quaternion states
float quatMag = sqrt(states[0]*states[0] + states[1]*states[1] + states[2]*states[2] + states[3]*states[3]);
if (quatMag > 1e-12)
if (quatMag > 1e-12f)
{
for (uint8_t j= 0; j<=3; j++)
{
@@ -1612,7 +1517,7 @@ void AttPosEKF::FuseAirspeed()
SH_TAS[0] = 1/(sqrt(sq(ve - vwe) + sq(vn - vwn) + sq(vd)));
SH_TAS[1] = (SH_TAS[0]*(2.0f*ve - 2*vwe))/2.0f;
SH_TAS[2] = (SH_TAS[0]*(2.0f*vn - 2*vwn))/2.0f;
float H_TAS[n_states];
for (uint8_t i = 0; i < n_states; i++) H_TAS[i] = 0.0f;
H_TAS[4] = SH_TAS[2];
@@ -1661,7 +1566,7 @@ void AttPosEKF::FuseAirspeed()
// Calculate the measurement innovation
innovVtas = VtasPred - VtasMeas;
// Check the innovation for consistency and don't fuse if > 5Sigma
if ((innovVtas*innovVtas*SK_TAS) < 25.0)
if ((innovVtas*innovVtas*SK_TAS) < 25.0f)
{
// correct the state vector
for (uint8_t j=0; j <= 22; j++)
@@ -1758,7 +1663,7 @@ void AttPosEKF::FuseRangeFinder()
// Need to check that our range finder tilt angle is less than 30 degrees and we are using range finder data
SH_RNG[4] = sin(rngFinderPitch);
cosRngTilt = - Tbn.z.x * SH_RNG[4] + Tbn.z.z * cos(rngFinderPitch);
cosRngTilt = - Tbn.z.x * SH_RNG[4] + Tbn.z.z * cosf(rngFinderPitch);
if (useRangeFinder && cosRngTilt > 0.87f)
{
// Calculate observation jacobian and Kalman gain ignoring all states other than the terrain offset
@@ -1855,21 +1760,21 @@ int AttPosEKF::RecallStates(float* statesForFusion, uint64_t msec)
int64_t bestTimeDelta = 200;
unsigned bestStoreIndex = 0;
for (unsigned storeIndex = 0; storeIndex < data_buffer_size; storeIndex++)
for (unsigned storeIndexLocal = 0; storeIndexLocal < data_buffer_size; storeIndexLocal++)
{
// Work around a GCC compiler bug - we know 64bit support on ARM is
// sketchy in GCC.
uint64_t timeDelta;
if (msec > statetimeStamp[storeIndex]) {
timeDelta = msec - statetimeStamp[storeIndex];
if (msec > statetimeStamp[storeIndexLocal]) {
timeDelta = msec - statetimeStamp[storeIndexLocal];
} else {
timeDelta = statetimeStamp[storeIndex] - msec;
timeDelta = statetimeStamp[storeIndexLocal] - msec;
}
if (timeDelta < bestTimeDelta)
if (timeDelta < (uint64_t)bestTimeDelta)
{
bestStoreIndex = storeIndex;
bestStoreIndex = storeIndexLocal;
bestTimeDelta = timeDelta;
}
}
@@ -1926,7 +1831,7 @@ void AttPosEKF::quat2Tnb(Mat3f &Tnb, const float (&quat)[4])
Tnb.y.z = 2*(q23 + q01);
}
void AttPosEKF::quat2Tbn(Mat3f &Tbn, const float (&quat)[4])
void AttPosEKF::quat2Tbn(Mat3f &Tbn_ret, const float (&quat)[4])
{
// Calculate the body to nav cosine matrix
float q00 = sq(quat[0]);
@@ -1940,15 +1845,15 @@ void AttPosEKF::quat2Tbn(Mat3f &Tbn, const float (&quat)[4])
float q13 = quat[1]*quat[3];
float q23 = quat[2]*quat[3];
Tbn.x.x = q00 + q11 - q22 - q33;
Tbn.y.y = q00 - q11 + q22 - q33;
Tbn.z.z = q00 - q11 - q22 + q33;
Tbn.x.y = 2*(q12 - q03);
Tbn.x.z = 2*(q13 + q02);
Tbn.y.x = 2*(q12 + q03);
Tbn.y.z = 2*(q23 - q01);
Tbn.z.x = 2*(q13 - q02);
Tbn.z.y = 2*(q23 + q01);
Tbn_ret.x.x = q00 + q11 - q22 - q33;
Tbn_ret.y.y = q00 - q11 + q22 - q33;
Tbn_ret.z.z = q00 - q11 - q22 + q33;
Tbn_ret.x.y = 2*(q12 - q03);
Tbn_ret.x.z = 2*(q13 + q02);
Tbn_ret.y.x = 2*(q12 + q03);
Tbn_ret.y.z = 2*(q23 - q01);
Tbn_ret.z.x = 2*(q13 - q02);
Tbn_ret.z.y = 2*(q23 + q01);
}
void AttPosEKF::eul2quat(float (&quat)[4], const float (&eul)[3])
@@ -1979,17 +1884,17 @@ void AttPosEKF::calcvelNED(float (&velNED)[3], float gpsCourse, float gpsGndSpd,
velNED[2] = gpsVelD;
}
void AttPosEKF::calcposNED(float (&posNED)[3], double lat, double lon, float hgt, double latRef, double lonRef, float hgtRef)
void AttPosEKF::calcposNED(float (&posNED)[3], double lat, double lon, float hgt, double latReference, double lonReference, float hgtReference)
{
posNED[0] = earthRadius * (lat - latRef);
posNED[1] = earthRadius * cos(latRef) * (lon - lonRef);
posNED[2] = -(hgt - hgtRef);
posNED[0] = earthRadius * (lat - latReference);
posNED[1] = earthRadius * cos(latReference) * (lon - lonReference);
posNED[2] = -(hgt - hgtReference);
}
void AttPosEKF::calcLLH(float (&posNED)[3], float lat, float lon, float hgt, float latRef, float lonRef, float hgtRef)
void AttPosEKF::calcLLH(float posNED[3], double &lat, double &lon, float &hgt, double latRef, double lonRef, float hgtRef)
{
lat = latRef + posNED[0] * earthRadiusInv;
lon = lonRef + posNED[1] * earthRadiusInv / cos(latRef);
lat = latRef + (double)posNED[0] * earthRadiusInv;
lon = lonRef + (double)posNED[1] * earthRadiusInv / cos(latRef);
hgt = hgtRef - posNED[2];
}
@@ -2194,10 +2099,71 @@ void AttPosEKF::ForceSymmetry()
{
P[i][j] = 0.5f * (P[i][j] + P[j][i]);
P[j][i] = P[i][j];
if ((fabsf(P[i][j]) > EKF_COVARIANCE_DIVERGED) ||
(fabsf(P[j][i]) > EKF_COVARIANCE_DIVERGED)) {
current_ekf_state.covariancesExcessive = true;
current_ekf_state.error |= true;
InitializeDynamic(velNED, magDeclination);
return;
}
float symmetric = 0.5f * (P[i][j] + P[j][i]);
P[i][j] = symmetric;
P[j][i] = symmetric;
}
}
}
bool AttPosEKF::GyroOffsetsDiverged()
{
// Detect divergence by looking for rapid changes of the gyro offset
Vector3f current_bias;
current_bias.x = states[10];
current_bias.y = states[11];
current_bias.z = states[12];
Vector3f delta = current_bias - lastGyroOffset;
float delta_len = delta.length();
float delta_len_scaled = 0.0f;
// Protect against division by zero
if (delta_len > 0.0f) {
float cov_mag = ConstrainFloat((P[10][10] + P[11][11] + P[12][12]), 1e-12f, 1e-8f);
delta_len_scaled = (5e-7 / (double)cov_mag) * (double)delta_len / (double)dtIMU;
}
bool diverged = (delta_len_scaled > 1.0f);
lastGyroOffset = current_bias;
current_ekf_state.error |= diverged;
current_ekf_state.gyroOffsetsExcessive = diverged;
return diverged;
}
bool AttPosEKF::VelNEDDiverged()
{
Vector3f current_vel;
current_vel.x = states[4];
current_vel.y = states[5];
current_vel.z = states[6];
Vector3f gps_vel;
gps_vel.x = velNED[0];
gps_vel.y = velNED[1];
gps_vel.z = velNED[2];
Vector3f delta = current_vel - gps_vel;
float delta_len = delta.length();
bool excessive = (delta_len > 20.0f);
current_ekf_state.error |= excessive;
current_ekf_state.velOffsetExcessive = excessive;
return excessive;
}
bool AttPosEKF::FilterHealthy()
{
if (!statesInitialised) {
@@ -2262,42 +2228,26 @@ void AttPosEKF::ResetVelocity(void)
}
}
void AttPosEKF::FillErrorReport(struct ekf_status_report *err)
{
for (unsigned i = 0; i < n_states; i++)
{
err->states[i] = states[i];
}
err->velHealth = current_ekf_state.velHealth;
err->posHealth = current_ekf_state.posHealth;
err->hgtHealth = current_ekf_state.hgtHealth;
err->velTimeout = current_ekf_state.velTimeout;
err->posTimeout = current_ekf_state.posTimeout;
err->hgtTimeout = current_ekf_state.hgtTimeout;
}
bool AttPosEKF::StatesNaN(struct ekf_status_report *err_report) {
bool AttPosEKF::StatesNaN() {
bool err = false;
// check all integrators
if (!isfinite(summedDelAng.x) || !isfinite(summedDelAng.y) || !isfinite(summedDelAng.z)) {
err_report->statesNaN = true;
current_ekf_state.angNaN = true;
ekf_debug("summedDelAng NaN: x: %f y: %f z: %f", (double)summedDelAng.x, (double)summedDelAng.y, (double)summedDelAng.z);
err = true;
goto out;
} // delta angles
if (!isfinite(correctedDelAng.x) || !isfinite(correctedDelAng.y) || !isfinite(correctedDelAng.z)) {
err_report->statesNaN = true;
current_ekf_state.angNaN = true;
ekf_debug("correctedDelAng NaN: x: %f y: %f z: %f", (double)correctedDelAng.x, (double)correctedDelAng.y, (double)correctedDelAng.z);
err = true;
goto out;
} // delta angles
if (!isfinite(summedDelVel.x) || !isfinite(summedDelVel.y) || !isfinite(summedDelVel.z)) {
err_report->statesNaN = true;
current_ekf_state.summedDelVelNaN = true;
ekf_debug("summedDelVel NaN: x: %f y: %f z: %f", (double)summedDelVel.x, (double)summedDelVel.y, (double)summedDelVel.z);
err = true;
goto out;
@@ -2308,7 +2258,7 @@ bool AttPosEKF::StatesNaN(struct ekf_status_report *err_report) {
for (unsigned j = 0; j < n_states; j++) {
if (!isfinite(KH[i][j])) {
err_report->covarianceNaN = true;
current_ekf_state.KHNaN = true;
err = true;
ekf_debug("KH NaN");
goto out;
@@ -2316,7 +2266,7 @@ bool AttPosEKF::StatesNaN(struct ekf_status_report *err_report) {
if (!isfinite(KHP[i][j])) {
err_report->covarianceNaN = true;
current_ekf_state.KHPNaN = true;
err = true;
ekf_debug("KHP NaN");
goto out;
@@ -2324,7 +2274,7 @@ bool AttPosEKF::StatesNaN(struct ekf_status_report *err_report) {
if (!isfinite(P[i][j])) {
err_report->covarianceNaN = true;
current_ekf_state.covarianceNaN = true;
err = true;
ekf_debug("P NaN");
} // covariance matrix
@@ -2332,7 +2282,7 @@ bool AttPosEKF::StatesNaN(struct ekf_status_report *err_report) {
if (!isfinite(Kfusion[i])) {
err_report->kalmanGainsNaN = true;
current_ekf_state.kalmanGainsNaN = true;
ekf_debug("Kfusion NaN");
err = true;
goto out;
@@ -2340,7 +2290,7 @@ bool AttPosEKF::StatesNaN(struct ekf_status_report *err_report) {
if (!isfinite(states[i])) {
err_report->statesNaN = true;
current_ekf_state.statesNaN = true;
ekf_debug("states NaN: i: %u val: %f", i, (double)states[i]);
err = true;
goto out;
@@ -2349,7 +2299,7 @@ bool AttPosEKF::StatesNaN(struct ekf_status_report *err_report) {
out:
if (err) {
FillErrorReport(err_report);
current_ekf_state.error |= true;
}
return err;
@@ -2365,47 +2315,105 @@ out:
* updated, but before any of the fusion steps are
* executed.
*/
int AttPosEKF::CheckAndBound()
int AttPosEKF::CheckAndBound(struct ekf_status_report *last_error)
{
// Store the old filter state
bool currStaticMode = staticMode;
// Limit reset rate to 5 Hz to allow the filter
// to settle
if (millis() - lastReset < 200) {
return 0;
}
if (ekfDiverged) {
ekfDiverged = false;
}
int ret = 0;
// Check if we're on ground - this also sets static mode.
OnGroundCheck();
// Reset the filter if the states went NaN
if (StatesNaN(&last_ekf_error)) {
if (StatesNaN()) {
ekf_debug("re-initializing dynamic");
InitializeDynamic(velNED, magDeclination);
// Reset and fill error report
InitializeDynamic(velNED, magDeclination);
return 1;
ret = 1;
}
// Reset the filter if the IMU data is too old
if (dtIMU > 0.3f) {
current_ekf_state.imuTimeout = true;
// Fill error report
GetFilterState(&last_ekf_error);
ResetVelocity();
ResetPosition();
ResetHeight();
ResetStoredStates();
// that's all we can do here, return
return 2;
}
// Timeout cleared with this reset
current_ekf_state.imuTimeout = false;
// Check if we're on ground - this also sets static mode.
OnGroundCheck();
// that's all we can do here, return
ret = 2;
}
// Check if we switched between states
if (currStaticMode != staticMode) {
// Fill error report, but not setting error flag
GetFilterState(&last_ekf_error);
ResetVelocity();
ResetPosition();
ResetHeight();
ResetStoredStates();
return 3;
ret = 3;
}
return 0;
// Reset the filter if gyro offsets are excessive
if (GyroOffsetsDiverged()) {
// Reset and fill error report
InitializeDynamic(velNED, magDeclination);
// that's all we can do here, return
ret = 4;
}
// Reset the filter if it diverges too far from GPS
if (VelNEDDiverged()) {
// Reset and fill error report
InitializeDynamic(velNED, magDeclination);
// that's all we can do here, return
ret = 5;
}
// The excessive covariance detection already
// reset the filter. Just need to report here.
if (last_ekf_error.covariancesExcessive) {
ret = 6;
}
if (ret) {
ekfDiverged = true;
lastReset = millis();
// This reads the last error and clears it
GetLastErrorState(last_error);
}
return ret;
}
void AttPosEKF::AttitudeInit(float ax, float ay, float az, float mx, float my, float mz, float declination, float *initQuat)
@@ -2456,6 +2464,30 @@ void AttPosEKF::AttitudeInit(float ax, float ay, float az, float mx, float my, f
void AttPosEKF::InitializeDynamic(float (&initvelNED)[3], float declination)
{
if (current_ekf_state.error) {
GetFilterState(&last_ekf_error);
}
ZeroVariables();
// Reset error states
current_ekf_state.error = false;
current_ekf_state.angNaN = false;
current_ekf_state.summedDelVelNaN = false;
current_ekf_state.KHNaN = false;
current_ekf_state.KHPNaN = false;
current_ekf_state.PNaN = false;
current_ekf_state.covarianceNaN = false;
current_ekf_state.kalmanGainsNaN = false;
current_ekf_state.statesNaN = false;
current_ekf_state.velHealth = true;
//current_ekf_state.posHealth = ?;
//current_ekf_state.hgtHealth = ?;
current_ekf_state.velTimeout = false;
//current_ekf_state.posTimeout = ?;
//current_ekf_state.hgtTimeout = ?;
// Fill variables with valid data
velNED[0] = initvelNED[0];
@@ -2494,7 +2526,11 @@ void AttPosEKF::InitializeDynamic(float (&initvelNED)[3], float declination)
// write to state vector
for (uint8_t j=0; j<=3; j++) states[j] = initQuat[j]; // quaternions
for (uint8_t j=4; j<=6; j++) states[j] = initvelNED[j-4]; // velocities
for (uint8_t j=7; j<=15; j++) states[j] = 0.0f; // positions, dAngBias, dVelBias, windVel
// positions:
states[7] = posNE[0];
states[8] = posNE[1];
states[9] = -hgtMea;
for (uint8_t j=10; j<=15; j++) states[j] = 0.0f; // dAngBias, dVelBias, windVel
states[16] = initMagNED.x; // Magnetic Field North
states[17] = initMagNED.y; // Magnetic Field East
states[18] = initMagNED.z; // Magnetic Field Down
@@ -2525,14 +2561,16 @@ void AttPosEKF::InitialiseFilter(float (&initvelNED)[3], double referenceLat, do
hgtRef = referenceHgt;
refSet = true;
// we are at reference altitude, so measurement must be zero
hgtMea = 0.0f;
// we are at reference position, so measurement must be zero
posNE[0] = 0.0f;
posNE[1] = 0.0f;
// we are at an unknown, possibly non-zero altitude - so altitude
// is not reset (hgtMea)
// the baro offset must be this difference now
baroHgtOffset = baroHgt - referenceHgt;
memset(&last_ekf_error, 0, sizeof(last_ekf_error));
InitializeDynamic(initvelNED, declination);
}
@@ -2540,27 +2578,8 @@ void AttPosEKF::ZeroVariables()
{
// Initialize on-init initialized variables
fusionModeGPS = 0;
covSkipCount = 0;
statesInitialised = false;
fuseVelData = false;
fusePosData = false;
fuseHgtData = false;
fuseMagData = false;
fuseVtasData = false;
onGround = true;
staticMode = true;
useAirspeed = true;
useCompass = true;
useRangeFinder = true;
numericalProtection = true;
refSet = false;
storeIndex = 0;
gpsHgt = 0.0f;
baroHgt = 0.0f;
GPSstatus = 0;
VtasMeas = 0.0f;
magDeclination = 0.0f;
// Do the data structure init
for (unsigned i = 0; i < n_states; i++) {
@@ -2577,9 +2596,7 @@ void AttPosEKF::ZeroVariables()
correctedDelAng.zero();
summedDelAng.zero();
summedDelVel.zero();
dAngIMU.zero();
dVelIMU.zero();
lastGyroOffset.zero();
for (unsigned i = 0; i < data_buffer_size; i++) {
@@ -2598,12 +2615,27 @@ void AttPosEKF::ZeroVariables()
}
void AttPosEKF::GetFilterState(struct ekf_status_report *state)
void AttPosEKF::GetFilterState(struct ekf_status_report *err)
{
memcpy(state, &current_ekf_state, sizeof(*state));
// Copy states
for (unsigned i = 0; i < n_states; i++) {
current_ekf_state.states[i] = states[i];
}
current_ekf_state.n_states = n_states;
memcpy(err, &current_ekf_state, sizeof(*err));
// err->velHealth = current_ekf_state.velHealth;
// err->posHealth = current_ekf_state.posHealth;
// err->hgtHealth = current_ekf_state.hgtHealth;
// err->velTimeout = current_ekf_state.velTimeout;
// err->posTimeout = current_ekf_state.posTimeout;
// err->hgtTimeout = current_ekf_state.hgtTimeout;
}
void AttPosEKF::GetLastErrorState(struct ekf_status_report *last_error)
{
memcpy(last_error, &last_ekf_error, sizeof(*last_error));
memset(&last_ekf_error, 0, sizeof(last_ekf_error));
}
src/modules/ekf_att_pos_estimator/estimator.h → src/modules/ekf_att_pos_estimator/estimator_23states.h
+24 -76
View File
@@ -1,76 +1,10 @@
#include <math.h>
#include <stdint.h>
#pragma once
#define GRAVITY_MSS 9.80665f
#define deg2rad 0.017453292f
#define rad2deg 57.295780f
#define pi 3.141592657f
#define earthRate 0.000072921f
#define earthRadius 6378145.0f
#define earthRadiusInv 1.5678540e-7f
class Vector3f
{
private:
public:
float x;
float y;
float z;
float length(void) const;
void zero(void);
};
class Mat3f
{
private:
public:
Vector3f x;
Vector3f y;
Vector3f z;
Mat3f();
void identity();
Mat3f transpose(void) const;
};
Vector3f operator*(float sclIn1, Vector3f vecIn1);
Vector3f operator+( Vector3f vecIn1, Vector3f vecIn2);
Vector3f operator-( Vector3f vecIn1, Vector3f vecIn2);
Vector3f operator*( Mat3f matIn, Vector3f vecIn);
Vector3f operator%( Vector3f vecIn1, Vector3f vecIn2);
Vector3f operator*(Vector3f vecIn1, float sclIn1);
void swap_var(float &d1, float &d2);
#include "estimator_utilities.h"
const unsigned int n_states = 23;
const unsigned int data_buffer_size = 50;
enum GPS_FIX {
GPS_FIX_NOFIX = 0,
GPS_FIX_2D = 2,
GPS_FIX_3D = 3
};
struct ekf_status_report {
bool velHealth;
bool posHealth;
bool hgtHealth;
bool velTimeout;
bool posTimeout;
bool hgtTimeout;
uint32_t velFailTime;
uint32_t posFailTime;
uint32_t hgtFailTime;
float states[n_states];
bool statesNaN;
bool covarianceNaN;
bool kalmanGainsNaN;
};
class AttPosEKF {
public:
@@ -141,7 +75,7 @@ public:
accelProcessNoise = 0.5f;
}
struct {
struct mag_state_struct {
unsigned obsIndex;
float MagPred[3];
float SH_MAG[9];
@@ -157,7 +91,12 @@ public:
float magZbias;
float R_MAG;
Mat3f DCM;
} magstate;
};
struct mag_state_struct magstate;
struct mag_state_struct resetMagState;
// Global variables
@@ -166,6 +105,7 @@ public:
float P[n_states][n_states]; // covariance matrix
float Kfusion[n_states]; // Kalman gains
float states[n_states]; // state matrix
float resetStates[n_states];
float storedStates[n_states][data_buffer_size]; // state vectors stored for the last 50 time steps
uint32_t statetimeStamp[data_buffer_size]; // time stamp for each state vector stored
@@ -183,6 +123,8 @@ public:
float accNavMag; // magnitude of navigation accel (- used to adjust GPS obs variance (m/s^2)
Vector3f earthRateNED; // earths angular rate vector in NED (rad/s)
Vector3f angRate; // angular rate vector in XYZ body axes measured by the IMU (rad/s)
Vector3f lastGyroOffset; // Last gyro offset
Vector3f delAngTotal;
Mat3f Tbn; // transformation matrix from body to NED coordinates
Mat3f Tnb; // transformation amtrix from NED to body coordinates
@@ -196,11 +138,11 @@ public:
float varInnovVelPos[6]; // innovation variance output
float velNED[3]; // North, East, Down velocity obs (m/s)
float accelGPSNED[3]; // Acceleration predicted by GPS in earth frame
float posNE[2]; // North, East position obs (m)
float hgtMea; // measured height (m)
float baroHgtOffset; ///< the baro (weather) offset from normalized altitude
float rngMea; // Ground distance
float posNED[3]; // North, East Down position (m)
float innovMag[3]; // innovation output
float varInnovMag[3]; // innovation variance output
@@ -243,6 +185,9 @@ public:
bool useCompass; ///< boolean true if magnetometer data is being used
bool useRangeFinder; ///< true when rangefinder is being used
bool ekfDiverged;
uint64_t lastReset;
struct ekf_status_report current_ekf_state;
struct ekf_status_report last_ekf_error;
@@ -289,7 +234,7 @@ int RecallStates(float *statesForFusion, uint64_t msec);
void ResetStoredStates();
void quat2Tbn(Mat3f &Tbn, const float (&quat)[4]);
void quat2Tbn(Mat3f &TBodyNed, const float (&quat)[4]);
void calcEarthRateNED(Vector3f &omega, float latitude);
@@ -299,9 +244,9 @@ static void quat2eul(float (&eul)[3], const float (&quat)[4]);
static void calcvelNED(float (&velNED)[3], float gpsCourse, float gpsGndSpd, float gpsVelD);
static void calcposNED(float (&posNED)[3], double lat, double lon, float hgt, double latRef, double lonRef, float hgtRef);
void calcposNED(float (&posNED)[3], double lat, double lon, float hgt, double latRef, double lonRef, float hgtRef);
static void calcLLH(float (&posNED)[3], float lat, float lon, float hgt, float latRef, float lonRef, float hgtRef);
static void calcLLH(float posNED[3], double &lat, double &lon, float &hgt, double latRef, double lonRef, float hgtRef);
static void quat2Tnb(Mat3f &Tnb, const float (&quat)[4]);
@@ -321,7 +266,7 @@ void ConstrainStates();
void ForceSymmetry();
int CheckAndBound();
int CheckAndBound(struct ekf_status_report *last_error);
void ResetPosition();
@@ -333,8 +278,7 @@ void GetFilterState(struct ekf_status_report *state);
void GetLastErrorState(struct ekf_status_report *last_error);
bool StatesNaN(struct ekf_status_report *err_report);
void FillErrorReport(struct ekf_status_report *err);
bool StatesNaN();
void InitializeDynamic(float (&initvelNED)[3], float declination);
@@ -342,6 +286,10 @@ protected:
bool FilterHealthy();
bool GyroOffsetsDiverged();
bool VelNEDDiverged();
void ResetHeight(void);
void AttitudeInit(float ax, float ay, float az, float mx, float my, float mz, float declination, float *initQuat);
src/modules/ekf_att_pos_estimator/estimator_utilities.cpp
+139
View File
@@ -0,0 +1,139 @@
#include "estimator_utilities.h"
// Define EKF_DEBUG here to enable the debug print calls
// if the macro is not set, these will be completely
// optimized out by the compiler.
//#define EKF_DEBUG
#ifdef EKF_DEBUG
#include <stdio.h>
static void
ekf_debug_print(const char *fmt, va_list args)
{
fprintf(stderr, "%s: ", "[ekf]");
vfprintf(stderr, fmt, args);
fprintf(stderr, "\n");
}
void
ekf_debug(const char *fmt, ...)
{
va_list args;
va_start(args, fmt);
ekf_debug_print(fmt, args);
}
#else
void ekf_debug(const char *fmt, ...) { while(0){} }
#endif
float Vector3f::length(void) const
{
return sqrt(x*x + y*y + z*z);
}
void Vector3f::zero(void)
{
x = 0.0f;
y = 0.0f;
z = 0.0f;
}
Mat3f::Mat3f() {
identity();
}
void Mat3f::identity() {
x.x = 1.0f;
x.y = 0.0f;
x.z = 0.0f;
y.x = 0.0f;
y.y = 1.0f;
y.z = 0.0f;
z.x = 0.0f;
z.y = 0.0f;
z.z = 1.0f;
}
Mat3f Mat3f::transpose(void) const
{
Mat3f ret = *this;
swap_var(ret.x.y, ret.y.x);
swap_var(ret.x.z, ret.z.x);
swap_var(ret.y.z, ret.z.y);
return ret;
}
// overload + operator to provide a vector addition
Vector3f operator+( Vector3f vecIn1, Vector3f vecIn2)
{
Vector3f vecOut;
vecOut.x = vecIn1.x + vecIn2.x;
vecOut.y = vecIn1.y + vecIn2.y;
vecOut.z = vecIn1.z + vecIn2.z;
return vecOut;
}
// overload - operator to provide a vector subtraction
Vector3f operator-( Vector3f vecIn1, Vector3f vecIn2)
{
Vector3f vecOut;
vecOut.x = vecIn1.x - vecIn2.x;
vecOut.y = vecIn1.y - vecIn2.y;
vecOut.z = vecIn1.z - vecIn2.z;
return vecOut;
}
// overload * operator to provide a matrix vector product
Vector3f operator*( Mat3f matIn, Vector3f vecIn)
{
Vector3f vecOut;
vecOut.x = matIn.x.x*vecIn.x + matIn.x.y*vecIn.y + matIn.x.z*vecIn.z;
vecOut.y = matIn.y.x*vecIn.x + matIn.y.y*vecIn.y + matIn.y.z*vecIn.z;
vecOut.z = matIn.x.x*vecIn.x + matIn.z.y*vecIn.y + matIn.z.z*vecIn.z;
return vecOut;
}
// overload % operator to provide a vector cross product
Vector3f operator%( Vector3f vecIn1, Vector3f vecIn2)
{
Vector3f vecOut;
vecOut.x = vecIn1.y*vecIn2.z - vecIn1.z*vecIn2.y;
vecOut.y = vecIn1.z*vecIn2.x - vecIn1.x*vecIn2.z;
vecOut.z = vecIn1.x*vecIn2.y - vecIn1.y*vecIn2.x;
return vecOut;
}
// overload * operator to provide a vector scaler product
Vector3f operator*(Vector3f vecIn1, float sclIn1)
{
Vector3f vecOut;
vecOut.x = vecIn1.x * sclIn1;
vecOut.y = vecIn1.y * sclIn1;
vecOut.z = vecIn1.z * sclIn1;
return vecOut;
}
// overload * operator to provide a vector scaler product
Vector3f operator*(float sclIn1, Vector3f vecIn1)
{
Vector3f vecOut;
vecOut.x = vecIn1.x * sclIn1;
vecOut.y = vecIn1.y * sclIn1;
vecOut.z = vecIn1.z * sclIn1;
return vecOut;
}
void swap_var(float &d1, float &d2)
{
float tmp = d1;
d1 = d2;
d2 = tmp;
}
src/modules/ekf_att_pos_estimator/estimator_utilities.h
+82
View File
@@ -0,0 +1,82 @@
#include <math.h>
#include <stdint.h>
#pragma once
#define GRAVITY_MSS 9.80665f
#define deg2rad 0.017453292f
#define rad2deg 57.295780f
#define pi 3.141592657f
#define earthRate 0.000072921f
#define earthRadius 6378145.0
#define earthRadiusInv 1.5678540e-7
class Vector3f
{
private:
public:
float x;
float y;
float z;
float length(void) const;
void zero(void);
};
class Mat3f
{
private:
public:
Vector3f x;
Vector3f y;
Vector3f z;
Mat3f();
void identity();
Mat3f transpose(void) const;
};
Vector3f operator*(float sclIn1, Vector3f vecIn1);
Vector3f operator+( Vector3f vecIn1, Vector3f vecIn2);
Vector3f operator-( Vector3f vecIn1, Vector3f vecIn2);
Vector3f operator*( Mat3f matIn, Vector3f vecIn);
Vector3f operator%( Vector3f vecIn1, Vector3f vecIn2);
Vector3f operator*(Vector3f vecIn1, float sclIn1);
void swap_var(float &d1, float &d2);
enum GPS_FIX {
GPS_FIX_NOFIX = 0,
GPS_FIX_2D = 2,
GPS_FIX_3D = 3
};
struct ekf_status_report {
bool error;
bool velHealth;
bool posHealth;
bool hgtHealth;
bool velTimeout;
bool posTimeout;
bool hgtTimeout;
bool imuTimeout;
uint32_t velFailTime;
uint32_t posFailTime;
uint32_t hgtFailTime;
float states[32];
unsigned n_states;
bool angNaN;
bool summedDelVelNaN;
bool KHNaN;
bool KHPNaN;
bool PNaN;
bool covarianceNaN;
bool kalmanGainsNaN;
bool statesNaN;
bool gyroOffsetsExcessive;
bool covariancesExcessive;
bool velOffsetExcessive;
};
void ekf_debug(const char *fmt, ...);
src/modules/ekf_att_pos_estimator/module.mk
+2 -1
View File
@@ -39,4 +39,5 @@ MODULE_COMMAND = ekf_att_pos_estimator
SRCS = ekf_att_pos_estimator_main.cpp \
ekf_att_pos_estimator_params.c \
estimator.cpp
estimator_23states.cpp \
estimator_utilities.cpp
src/modules/fw_pos_control_l1/landingslope.cpp
+8 -8
View File
@@ -46,16 +46,16 @@
#include <unistd.h>
#include <mathlib/mathlib.h>
void Landingslope::update(float landing_slope_angle_rad,
float flare_relative_alt,
float motor_lim_relative_alt,
float H1_virt)
void Landingslope::update(float landing_slope_angle_rad_new,
float flare_relative_alt_new,
float motor_lim_relative_alt_new,
float H1_virt_new)
{
_landing_slope_angle_rad = landing_slope_angle_rad;
_flare_relative_alt = flare_relative_alt;
_motor_lim_relative_alt = motor_lim_relative_alt;
_H1_virt = H1_virt;
_landing_slope_angle_rad = landing_slope_angle_rad_new;
_flare_relative_alt = flare_relative_alt_new;
_motor_lim_relative_alt = motor_lim_relative_alt_new;
_H1_virt = H1_virt_new;
calculateSlopeValues();
}
src/modules/fw_pos_control_l1/landingslope.h
+4 -4
View File
@@ -123,10 +123,10 @@ public:
float getFlareCurveAbsoluteAltitudeSave(float wp_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp, float wp_altitude);
void update(float landing_slope_angle_rad,
float flare_relative_alt,
float motor_lim_relative_alt,
float H1_virt);
void update(float landing_slope_angle_rad_new,
float flare_relative_alt_new,
float motor_lim_relative_alt_new,
float H1_virt_new);
inline float landing_slope_angle_rad() {return _landing_slope_angle_rad;}
src/modules/fw_pos_control_l1/mtecs/mTecs.cpp
+12 -7
View File
@@ -58,6 +58,7 @@ mTecs::mTecs() :
_controlEnergyDistribution(this, "PIT", true),
_controlAltitude(this, "FPA", true),
_controlAirSpeed(this, "ACC"),
_flightPathAngleLowpass(this, "FPA_LP"),
_airspeedLowpass(this, "A_LP"),
_airspeedDerivative(this, "AD"),
_throttleSp(0.0f),
@@ -123,7 +124,7 @@ int mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAng
/* time measurement */
updateTimeMeasurement();
/* Filter arispeed */
/* Filter airspeed */
float airspeedFiltered = _airspeedLowpass.update(airspeed);
/* calculate longitudinal acceleration setpoint from airspeed setpoint*/
@@ -138,8 +139,6 @@ int mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAng
}
/* Write part of the status message */
_status.flightPathAngleSp = flightPathAngleSp;
_status.flightPathAngle = flightPathAngle;
_status.airspeedSp = airspeedSp;
_status.airspeed = airspeed;
_status.airspeedFiltered = airspeedFiltered;
@@ -164,8 +163,11 @@ int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flight
/* update parameters first */
updateParams();
/* Filter flightpathangle */
float flightPathAngleFiltered = _flightPathAngleLowpass.update(flightPathAngle);
/* calculate values (energies) */
float flightPathAngleError = flightPathAngleSp - flightPathAngle;
float flightPathAngleError = flightPathAngleSp - flightPathAngleFiltered;
float airspeedDerivative = 0.0f;
if(_airspeedDerivative.getDt() > 0.0f) {
airspeedDerivative = _airspeedDerivative.update(airspeedFiltered);
@@ -175,12 +177,12 @@ int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flight
float airspeedDerivativeNormSp = airspeedDerivativeSp / CONSTANTS_ONE_G;
float airspeedDerivativeNormError = airspeedDerivativeNormSp - airspeedDerivativeNorm;
float totalEnergyRate = flightPathAngle + airspeedDerivativeNorm;
float totalEnergyRate = flightPathAngleFiltered + airspeedDerivativeNorm;
float totalEnergyRateError = flightPathAngleError + airspeedDerivativeNormError;
float totalEnergyRateSp = flightPathAngleSp + airspeedDerivativeNormSp;
float totalEnergyRateError2 = totalEnergyRateSp - totalEnergyRate;
float energyDistributionRate = flightPathAngle - airspeedDerivativeNorm;
float energyDistributionRate = flightPathAngleFiltered - airspeedDerivativeNorm;
float energyDistributionRateError = flightPathAngleError - airspeedDerivativeNormError;
float energyDistributionRateSp = flightPathAngleSp - airspeedDerivativeNormSp;
float energyDistributionRateError2 = energyDistributionRateSp - energyDistributionRate;
@@ -202,7 +204,7 @@ int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flight
BlockOutputLimiter *outputLimiterThrottle = &_controlTotalEnergy.getOutputLimiter();
BlockOutputLimiter *outputLimiterPitch = &_controlEnergyDistribution.getOutputLimiter();
if (mode == TECS_MODE_TAKEOFF) {
outputLimiterThrottle = &_BlockOutputLimiterTakeoffThrottle; //XXX: accept prelaunch values from launchdetector
outputLimiterThrottle = &_BlockOutputLimiterTakeoffThrottle;
outputLimiterPitch = &_BlockOutputLimiterTakeoffPitch;
} else if (mode == TECS_MODE_LAND) {
// only limit pitch but do not limit throttle
@@ -221,6 +223,9 @@ int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flight
bool limitApplied = limitOverride.applyOverride(*outputLimiterThrottle, *outputLimiterPitch);
/* Write part of the status message */
_status.flightPathAngleSp = flightPathAngleSp;
_status.flightPathAngle = flightPathAngle;
_status.flightPathAngleFiltered = flightPathAngleFiltered;
_status.airspeedDerivativeSp = airspeedDerivativeSp;
_status.airspeedDerivative = airspeedDerivative;
_status.totalEnergyRateSp = totalEnergyRateSp;
src/modules/fw_pos_control_l1/mtecs/mTecs.h
+20 -14
View File
@@ -104,12 +104,17 @@ protected:
uORB::Publication<tecs_status_s> _status; /**< publish internal values for logging */
/* control blocks */
BlockFFPILimitedCustom _controlTotalEnergy; /**< FFPI controller for total energy control: output is throttle */
BlockFFPILimitedCustom _controlEnergyDistribution; /**< FFPI controller for energy distribution control: output is pitch */
BlockPDLimited _controlAltitude; /**< PD controller for altitude: output is the flight path angle setpoint */
BlockPDLimited _controlAirSpeed; /**< PD controller for airspeed: output is acceleration setpoint */
BlockFFPILimitedCustom _controlTotalEnergy; /**< FFPI controller for total energy control: output
is throttle */
BlockFFPILimitedCustom _controlEnergyDistribution; /**< FFPI controller for energy distribution control:
output is pitch */
BlockPDLimited _controlAltitude; /**< PD controller for altitude: output is the flight
path angle setpoint */
BlockPDLimited _controlAirSpeed; /**< PD controller for airspeed: output is acceleration
setpoint */
/* Other calculation Blocks */
control::BlockLowPass _flightPathAngleLowpass; /**< low pass filter for the flight path angle */
control::BlockLowPass _airspeedLowpass; /**< low pass filter for airspeed */
control::BlockDerivative _airspeedDerivative; /**< airspeed derivative calulation */
@@ -118,21 +123,22 @@ protected:
float _pitchSp; /**< Pitch Setpoint from -pi to pi */
/* Output Limits in special modes */
BlockOutputLimiter _BlockOutputLimiterTakeoffThrottle; /**< Throttle Limits during takeoff */
BlockOutputLimiter _BlockOutputLimiterTakeoffPitch; /**< Pitch Limit during takeoff */
BlockOutputLimiter _BlockOutputLimiterUnderspeedThrottle; /**< Throttle Limits when underspeed is detected */
BlockOutputLimiter _BlockOutputLimiterUnderspeedPitch; /**< Pitch Limit when underspeed is detected */
BlockOutputLimiter _BlockOutputLimiterLandThrottle; /**< Throttle Limits during landing (only in last phase)*/
BlockOutputLimiter _BlockOutputLimiterLandPitch; /**< Pitch Limit during landing */
BlockOutputLimiter _BlockOutputLimiterTakeoffThrottle; /**< Throttle Limits during takeoff */
BlockOutputLimiter _BlockOutputLimiterTakeoffPitch; /**< Pitch Limit during takeoff */
BlockOutputLimiter _BlockOutputLimiterUnderspeedThrottle; /**< Throttle Limits when underspeed is detected */
BlockOutputLimiter _BlockOutputLimiterUnderspeedPitch; /**< Pitch Limit when underspeed is detected */
BlockOutputLimiter _BlockOutputLimiterLandThrottle; /**< Throttle Limits during landing (only in
last phase)*/
BlockOutputLimiter _BlockOutputLimiterLandPitch; /**< Pitch Limit during landing */
/* Time measurements */
hrt_abstime timestampLastIteration; /**< Saves the result of hrt_absolute_time() of the last iteration */
hrt_abstime timestampLastIteration; /**< Saves the result of hrt_absolute_time() of the last iteration */
bool _firstIterationAfterReset; /**< True during the first iteration after a reset */
bool _dtCalculated; /**< True if dt has been calculated in this iteration */
bool _firstIterationAfterReset; /**< True during the first iteration after a reset */
bool _dtCalculated; /**< True if dt has been calculated in this iteration */
int _counter;
bool _debug; ///< Set true to enable debug output
bool _debug; ///< Set true to enable debug output
static void debug_print(const char *fmt, va_list args);
src/modules/fw_pos_control_l1/mtecs/mTecs_params.c
+7
View File
@@ -174,6 +174,13 @@ PARAM_DEFINE_FLOAT(MT_PIT_MIN, -45.0f);
*/
PARAM_DEFINE_FLOAT(MT_PIT_MAX, 20.0f);
/**
* Lowpass (cutoff freq.) for the flight path angle
*
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_FPA_LP, 1.0f);
/**
* P gain for the altitude control
* Maps the altitude error to the flight path angle setpoint
src/modules/gpio_led/gpio_led.c
+2 -5
View File
@@ -181,16 +181,13 @@ int gpio_led_main(int argc, char *argv[])
} else {
gpio_led_started = true;
warnx("start, using pin: %s", pin_name);
exit(0);
}
exit(0);
} else if (!strcmp(argv[1], "stop")) {
if (gpio_led_started) {
gpio_led_started = false;
warnx("stop");
exit(0);
} else {
errx(1, "not running");
}
src/modules/mavlink/mavlink_ftp.cpp
+42 -42
View File
@@ -127,7 +127,7 @@ MavlinkFTP::_worker(Request *req)
break;
case kCmdTerminate:
errorCode = _workTerminate(req);
errorCode = _workTerminate(req);
break;
case kCmdReset:
@@ -222,12 +222,12 @@ MavlinkFTP::_workList(Request *req)
// no more entries?
if (result == nullptr) {
if (hdr->offset != 0 && offset == 0) {
// User is requesting subsequent dir entries but there were none. This means the user asked
// to seek past EOF.
errorCode = kErrEOF;
}
// Otherwise we are just at the last directory entry, so we leave the errorCode at kErrorNone to signal that
if (hdr->offset != 0 && offset == 0) {
// User is requesting subsequent dir entries but there were none. This means the user asked
// to seek past EOF.
errorCode = kErrEOF;
}
// Otherwise we are just at the last directory entry, so we leave the errorCode at kErrorNone to signal that
break;
}
@@ -266,18 +266,18 @@ MavlinkFTP::_workOpen(Request *req, bool create)
{
auto hdr = req->header();
int session_index = _findUnusedSession();
int session_index = _findUnusedSession();
if (session_index < 0) {
return kErrNoSession;
}
int oflag = create ? (O_CREAT | O_EXCL | O_APPEND) : O_RDONLY;
int fd = ::open(req->dataAsCString(), oflag);
int fd = ::open(req->dataAsCString(), oflag);
if (fd < 0) {
return create ? kErrPerm : kErrNotFile;
}
_session_fds[session_index] = fd;
_session_fds[session_index] = fd;
hdr->session = session_index;
hdr->size = 0;
@@ -290,28 +290,28 @@ MavlinkFTP::_workRead(Request *req)
{
auto hdr = req->header();
int session_index = hdr->session;
if (!_validSession(session_index)) {
int session_index = hdr->session;
if (!_validSession(session_index)) {
return kErrNoSession;
}
// Seek to the specified position
printf("Seek %d\n", hdr->offset);
}
// Seek to the specified position
printf("Seek %d\n", hdr->offset);
if (lseek(_session_fds[session_index], hdr->offset, SEEK_SET) < 0) {
// Unable to see to the specified location
// Unable to see to the specified location
return kErrEOF;
}
int bytes_read = ::read(_session_fds[session_index], &hdr->data[0], kMaxDataLength);
if (bytes_read < 0) {
// Negative return indicates error other than eof
// Negative return indicates error other than eof
return kErrIO;
}
printf("Read success %d\n", bytes_read);
printf("Read success %d\n", bytes_read);
hdr->size = bytes_read;
return kErrNone;
}
@@ -357,26 +357,26 @@ MavlinkFTP::_workTerminate(Request *req)
{
auto hdr = req->header();
if (!_validSession(hdr->session)) {
if (!_validSession(hdr->session)) {
return kErrNoSession;
}
}
::close(_session_fds[hdr->session]);
::close(_session_fds[hdr->session]);
return kErrNone;
return kErrNone;
}
MavlinkFTP::ErrorCode
MavlinkFTP::_workReset(void)
{
for (size_t i=0; i<kMaxSession; i++) {
if (_session_fds[i] != -1) {
::close(_session_fds[i]);
_session_fds[i] = -1;
}
}
return kErrNone;
for (size_t i=0; i<kMaxSession; i++) {
if (_session_fds[i] != -1) {
::close(_session_fds[i]);
_session_fds[i] = -1;
}
}
return kErrNone;
}
bool
@@ -391,13 +391,13 @@ MavlinkFTP::_validSession(unsigned index)
int
MavlinkFTP::_findUnusedSession(void)
{
for (size_t i=0; i<kMaxSession; i++) {
if (_session_fds[i] == -1) {
return i;
}
}
return -1;
for (size_t i=0; i<kMaxSession; i++) {
if (_session_fds[i] == -1) {
return i;
}
}
return -1;
}
char *
src/modules/mavlink/mavlink_ftp.h
+2 -2
View File
@@ -199,8 +199,8 @@ private:
ErrorCode _workRead(Request *req);
ErrorCode _workWrite(Request *req);
ErrorCode _workRemove(Request *req);
ErrorCode _workTerminate(Request *req);
ErrorCode _workReset();
ErrorCode _workTerminate(Request *req);
ErrorCode _workReset();
// work freelist
Request _workBufs[kRequestQueueSize];
src/modules/mavlink/mavlink_main.cpp
+27 -9
View File
@@ -197,13 +197,14 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length
if (buf_free < desired) {
/* we don't want to send anything just in half, so return */
instance->count_txerr();
return;
}
}
ssize_t ret = write(uart, ch, desired);
if (ret != desired) {
// XXX overflow perf
instance->count_txerr();
} else {
last_write_success_times[(unsigned)channel] = last_write_try_times[(unsigned)channel];
}
@@ -249,7 +250,8 @@ Mavlink::Mavlink() :
_param_use_hil_gps(0),
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "mavlink"))
_loop_perf(perf_alloc(PC_ELAPSED, "mavlink_el")),
_txerr_perf(perf_alloc(PC_COUNT, "mavlink_txe"))
{
_wpm = &_wpm_s;
mission.count = 0;
@@ -302,6 +304,7 @@ Mavlink::Mavlink() :
Mavlink::~Mavlink()
{
perf_free(_loop_perf);
perf_free(_txerr_perf);
if (_task_running) {
/* task wakes up every 10ms or so at the longest */
@@ -326,6 +329,12 @@ Mavlink::~Mavlink()
LL_DELETE(_mavlink_instances, this);
}
void
Mavlink::count_txerr()
{
perf_count(_txerr_perf);
}
void
Mavlink::set_mode(enum MAVLINK_MODE mode)
{
@@ -2193,11 +2202,20 @@ int Mavlink::start_helper(int argc, char *argv[])
/* create the instance in task context */
Mavlink *instance = new Mavlink();
/* this will actually only return once MAVLink exits */
int res = instance->task_main(argc, argv);
int res;
/* delete instance on main thread end */
delete instance;
if (!instance) {
/* out of memory */
res = -ENOMEM;
warnx("OUT OF MEM");
} else {
/* this will actually only return once MAVLink exits */
res = instance->task_main(argc, argv);
/* delete instance on main thread end */
delete instance;
}
return res;
}
@@ -2248,13 +2266,13 @@ Mavlink::start(int argc, char *argv[])
}
void
Mavlink::status()
Mavlink::display_status()
{
warnx("running");
}
int
Mavlink::stream(int argc, char *argv[])
Mavlink::stream_command(int argc, char *argv[])
{
const char *device_name = DEFAULT_DEVICE_NAME;
float rate = -1.0f;
@@ -2342,7 +2360,7 @@ int mavlink_main(int argc, char *argv[])
// mavlink::g_mavlink->status();
} else if (!strcmp(argv[1], "stream")) {
return Mavlink::stream(argc, argv);
return Mavlink::stream_command(argc, argv);
} else {
usage();
src/modules/mavlink/mavlink_main.h
+12 -3
View File
@@ -123,9 +123,9 @@ public:
/**
* Display the mavlink status.
*/
void status();
void display_status();
static int stream(int argc, char *argv[]);
static int stream_command(int argc, char *argv[]);
static int instance_count();
@@ -215,10 +215,14 @@ public:
const mavlink_channel_t get_channel();
void configure_stream_threadsafe(const char *stream_name, const float rate);
bool _task_should_exit; /**< if true, mavlink task should exit */
int get_mavlink_fd() { return _mavlink_fd; }
MavlinkStream * get_streams() { return _streams; } const
/* Functions for waiting to start transmission until message received. */
void set_has_received_messages(bool received_messages) { _received_messages = received_messages; }
@@ -232,6 +236,11 @@ public:
void lockMessageBufferMutex(void) { pthread_mutex_lock(&_message_buffer_mutex); }
void unlockMessageBufferMutex(void) { pthread_mutex_unlock(&_message_buffer_mutex); }
/**
* Count a transmision error
*/
void count_txerr();
protected:
Mavlink *next;
@@ -303,6 +312,7 @@ private:
pthread_mutex_t _message_buffer_mutex;
perf_counter_t _loop_perf; /**< loop performance counter */
perf_counter_t _txerr_perf; /**< TX error counter */
bool _param_initialized;
param_t _param_system_id;
@@ -371,7 +381,6 @@ private:
int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb);
int configure_stream(const char *stream_name, const float rate);
void configure_stream_threadsafe(const char *stream_name, const float rate);
int message_buffer_init(int size);
src/modules/mavlink/mavlink_messages.cpp
+120
View File
@@ -232,6 +232,11 @@ public:
return "HEARTBEAT";
}
uint8_t get_id()
{
return MAVLINK_MSG_ID_HEARTBEAT;
}
static MavlinkStream *new_instance()
{
return new MavlinkStreamHeartbeat();
@@ -292,6 +297,11 @@ public:
return "SYS_STATUS";
}
uint8_t get_id()
{
return MAVLINK_MSG_ID_SYS_STATUS;
}
static MavlinkStream *new_instance()
{
return new MavlinkStreamSysStatus();
@@ -343,6 +353,11 @@ public:
return "HIGHRES_IMU";
}
uint8_t get_id()
{
return MAVLINK_MSG_ID_HIGHRES_IMU;
}
static MavlinkStream *new_instance()
{
return new MavlinkStreamHighresIMU();
@@ -428,6 +443,11 @@ public:
return "ATTITUDE";
}
uint8_t get_id()
{
return MAVLINK_MSG_ID_ATTITUDE;
}
static MavlinkStream *new_instance()
{
return new MavlinkStreamAttitude();
@@ -474,6 +494,11 @@ public:
return "ATTITUDE_QUATERNION";
}
uint8_t get_id()
{
return MAVLINK_MSG_ID_ATTITUDE_QUATERNION;
}
static MavlinkStream *new_instance()
{
return new MavlinkStreamAttitudeQuaternion();
@@ -526,6 +551,11 @@ public:
return "VFR_HUD";
}
uint8_t get_id()
{
return MAVLINK_MSG_ID_VFR_HUD;
}
static MavlinkStream *new_instance()
{
return new MavlinkStreamVFRHUD();
@@ -609,6 +639,11 @@ public:
return "GPS_RAW_INT";
}
uint8_t get_id()
{
return MAVLINK_MSG_ID_GPS_RAW_INT;
}
static MavlinkStream *new_instance()
{
return new MavlinkStreamGPSRawInt();
@@ -662,6 +697,11 @@ public:
return "GLOBAL_POSITION_INT";
}
uint8_t get_id()
{
return MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
}
static MavlinkStream *new_instance()
{
return new MavlinkStreamGlobalPositionInt();
@@ -723,6 +763,11 @@ public:
return "LOCAL_POSITION_NED";
}
uint8_t get_id()
{
return MAVLINK_MSG_ID_LOCAL_POSITION_NED;
}
static MavlinkStream *new_instance()
{
return new MavlinkStreamLocalPositionNED();
@@ -774,6 +819,11 @@ public:
return "VICON_POSITION_ESTIMATE";
}
uint8_t get_id()
{
return MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE;
}
static MavlinkStream *new_instance()
{
return new MavlinkStreamViconPositionEstimate();
@@ -824,6 +874,11 @@ public:
return "GPS_GLOBAL_ORIGIN";
}
uint8_t get_id()
{
return MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN;
}
static MavlinkStream *new_instance()
{
return new MavlinkStreamGPSGlobalOrigin();
@@ -864,6 +919,11 @@ public:
return MavlinkStreamServoOutputRaw<N>::get_name_static();
}
uint8_t get_id()
{
return MAVLINK_MSG_ID_SERVO_OUTPUT_RAW;
}
static const char *get_name_static()
{
switch (N) {
@@ -941,6 +1001,11 @@ public:
return "HIL_CONTROLS";
}
uint8_t get_id()
{
return MAVLINK_MSG_ID_HIL_CONTROLS;
}
static MavlinkStream *new_instance()
{
return new MavlinkStreamHILControls();
@@ -1078,6 +1143,11 @@ public:
return "GLOBAL_POSITION_SETPOINT_INT";
}
uint8_t get_id()
{
return MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT;
}
static MavlinkStream *new_instance()
{
return new MavlinkStreamGlobalPositionSetpointInt();
@@ -1121,6 +1191,11 @@ public:
return "LOCAL_POSITION_SETPOINT";
}
uint8_t get_id()
{
return MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT;
}
static MavlinkStream *new_instance()
{
return new MavlinkStreamLocalPositionSetpoint();
@@ -1169,6 +1244,11 @@ public:
return "ROLL_PITCH_YAW_THRUST_SETPOINT";
}
uint8_t get_id()
{
return MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT;
}
static MavlinkStream *new_instance()
{
return new MavlinkStreamRollPitchYawThrustSetpoint();
@@ -1217,6 +1297,11 @@ public:
return "ROLL_PITCH_YAW_RATES_THRUST_SETPOINT";
}
uint8_t get_id()
{
return MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT;
}
static MavlinkStream *new_instance()
{
return new MavlinkStreamRollPitchYawRatesThrustSetpoint();
@@ -1265,6 +1350,11 @@ public:
return "RC_CHANNELS_RAW";
}
uint8_t get_id()
{
return MAVLINK_MSG_ID_RC_CHANNELS_RAW;
}
static MavlinkStream *new_instance()
{
return new MavlinkStreamRCChannelsRaw();
@@ -1349,6 +1439,11 @@ public:
return "MANUAL_CONTROL";
}
uint8_t get_id()
{
return MAVLINK_MSG_ID_MANUAL_CONTROL;
}
static MavlinkStream *new_instance()
{
return new MavlinkStreamManualControl();
@@ -1398,6 +1493,11 @@ public:
return "OPTICAL_FLOW";
}
uint8_t get_id()
{
return MAVLINK_MSG_ID_OPTICAL_FLOW;
}
static MavlinkStream *new_instance()
{
return new MavlinkStreamOpticalFlow();
@@ -1446,6 +1546,11 @@ public:
return "ATTITUDE_CONTROLS";
}
uint8_t get_id()
{
return 0;
}
static MavlinkStream *new_instance()
{
return new MavlinkStreamAttitudeControls();
@@ -1504,6 +1609,11 @@ public:
return "NAMED_VALUE_FLOAT";
}
uint8_t get_id()
{
return MAVLINK_MSG_ID_NAMED_VALUE_FLOAT;
}
static MavlinkStream *new_instance()
{
return new MavlinkStreamNamedValueFloat();
@@ -1552,6 +1662,11 @@ public:
return "CAMERA_CAPTURE";
}
uint8_t get_id()
{
return 0;
}
static MavlinkStream *new_instance()
{
return new MavlinkStreamCameraCapture();
@@ -1597,6 +1712,11 @@ public:
return "DISTANCE_SENSOR";
}
uint8_t get_id()
{
return MAVLINK_MSG_ID_DISTANCE_SENSOR;
}
static MavlinkStream *new_instance()
{
return new MavlinkStreamDistanceSensor();
src/modules/mavlink/mavlink_orb_subscription.cpp
+3 -3
View File
@@ -47,10 +47,10 @@
#include "mavlink_orb_subscription.h"
MavlinkOrbSubscription::MavlinkOrbSubscription(const orb_id_t topic) :
_fd(orb_subscribe(_topic)),
_published(false),
next(nullptr),
_topic(topic),
next(nullptr)
_fd(orb_subscribe(_topic)),
_published(false)
{
}
src/modules/mavlink/mavlink_receiver.cpp
+22
View File
@@ -159,6 +159,10 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
handle_message_heartbeat(msg);
break;
case MAVLINK_MSG_ID_REQUEST_DATA_STREAM:
handle_message_request_data_stream(msg);
break;
case MAVLINK_MSG_ID_ENCAPSULATED_DATA:
MavlinkFTP::getServer()->handle_message(_mavlink, msg);
break;
@@ -498,6 +502,24 @@ MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg)
}
}
void
MavlinkReceiver::handle_message_request_data_stream(mavlink_message_t *msg)
{
mavlink_request_data_stream_t req;
mavlink_msg_request_data_stream_decode(msg, &req);
if (req.target_system == mavlink_system.sysid && req.target_component == mavlink_system.compid) {
float rate = req.start_stop ? (1000.0f / req.req_message_rate) : 0.0f;
MavlinkStream *stream;
LL_FOREACH(_mavlink->get_streams(), stream) {
if (req.req_stream_id == stream->get_id()) {
_mavlink->configure_stream_threadsafe(stream->get_name(), rate);
}
}
}
}
void
MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
{
src/modules/mavlink/mavlink_receiver.h
+1
View File
@@ -115,6 +115,7 @@ private:
void handle_message_radio_status(mavlink_message_t *msg);
void handle_message_manual_control(mavlink_message_t *msg);
void handle_message_heartbeat(mavlink_message_t *msg);
void handle_message_request_data_stream(mavlink_message_t *msg);
void handle_message_hil_sensor(mavlink_message_t *msg);
void handle_message_hil_gps(mavlink_message_t *msg);
void handle_message_hil_state_quaternion(mavlink_message_t *msg);
src/modules/mavlink/mavlink_stream.cpp
+5 -1
View File
@@ -43,7 +43,11 @@
#include "mavlink_stream.h"
#include "mavlink_main.h"
MavlinkStream::MavlinkStream() : _interval(1000000), _last_sent(0), _channel(MAVLINK_COMM_0), next(nullptr)
MavlinkStream::MavlinkStream() :
_last_sent(0),
_channel(MAVLINK_COMM_0),
_interval(1000000),
next(nullptr)
{
}
src/modules/mavlink/mavlink_stream.h
+1
View File
@@ -67,6 +67,7 @@ public:
static const char *get_name_static();
virtual void subscribe(Mavlink *mavlink) = 0;
virtual const char *get_name() const = 0;
virtual uint8_t get_id() = 0;
protected:
mavlink_channel_t _channel;
src/modules/mc_pos_control/mc_pos_control_main.cpp
+1 -2
View File
@@ -545,7 +545,6 @@ MulticopterPositionControl::task_main()
hrt_abstime t_prev = 0;
const float alt_ctl_dz = 0.2f;
const float pos_ctl_dz = 0.05f;
math::Vector<3> sp_move_rate;
sp_move_rate.zero();
@@ -862,7 +861,7 @@ MulticopterPositionControl::task_main()
if (_control_mode.flag_control_velocity_enabled) {
/* limit max tilt */
if (thr_min >= 0.0f && tilt_max < M_PI / 2 - 0.05f) {
if (thr_min >= 0.0f && tilt_max < M_PI_F / 2 - 0.05f) {
/* absolute horizontal thrust */
float thrust_sp_xy_len = math::Vector<2>(thrust_sp(0), thrust_sp(1)).length();
src/modules/position_estimator_inav/position_estimator_inav_main.c
+19 -22
View File
@@ -179,15 +179,21 @@ int position_estimator_inav_main(int argc, char *argv[])
exit(1);
}
void write_debug_log(const char *msg, float dt, float x_est[2], float y_est[2], float z_est[2], float x_est_prev[2], float y_est_prev[2], float z_est_prev[2], float acc[3], float corr_gps[3][2], float w_xy_gps_p, float w_xy_gps_v)
static void write_debug_log(const char *msg, float dt, float x_est[2], float y_est[2], float z_est[2], float x_est_prev[2], float y_est_prev[2], float z_est_prev[2], float acc[3], float corr_gps[3][2], float w_xy_gps_p, float w_xy_gps_v)
{
FILE *f = fopen("/fs/microsd/inav.log", "a");
if (f) {
char *s = malloc(256);
unsigned n = snprintf(s, 256, "%llu %s\n\tdt=%.5f x_est=[%.5f %.5f] y_est=[%.5f %.5f] z_est=[%.5f %.5f] x_est_prev=[%.5f %.5f] y_est_prev=[%.5f %.5f] z_est_prev=[%.5f %.5f]\n", hrt_absolute_time(), msg, dt, x_est[0], x_est[1], y_est[0], y_est[1], z_est[0], z_est[1], x_est_prev[0], x_est_prev[1], y_est_prev[0], y_est_prev[1], z_est_prev[0], z_est_prev[1]);
unsigned n = snprintf(s, 256, "%llu %s\n\tdt=%.5f x_est=[%.5f %.5f] y_est=[%.5f %.5f] z_est=[%.5f %.5f] x_est_prev=[%.5f %.5f] y_est_prev=[%.5f %.5f] z_est_prev=[%.5f %.5f]\n",
hrt_absolute_time(), msg, (double)dt,
(double)x_est[0], (double)x_est[1], (double)y_est[0], (double)y_est[1], (double)z_est[0], (double)z_est[1],
(double)x_est_prev[0], (double)x_est_prev[1], (double)y_est_prev[0], (double)y_est_prev[1], (double)z_est_prev[0], (double)z_est_prev[1]);
fwrite(s, 1, n, f);
n = snprintf(s, 256, "\tacc=[%.5f %.5f %.5f] gps_pos_corr=[%.5f %.5f %.5f] gps_vel_corr=[%.5f %.5f %.5f] w_xy_gps_p=%.5f w_xy_gps_v=%.5f\n", acc[0], acc[1], acc[2], corr_gps[0][0], corr_gps[1][0], corr_gps[2][0], corr_gps[0][1], corr_gps[1][1], corr_gps[2][1], w_xy_gps_p, w_xy_gps_v);
n = snprintf(s, 256, "\tacc=[%.5f %.5f %.5f] gps_pos_corr=[%.5f %.5f %.5f] gps_vel_corr=[%.5f %.5f %.5f] w_xy_gps_p=%.5f w_xy_gps_v=%.5f\n",
(double)acc[0], (double)acc[1], (double)acc[2],
(double)corr_gps[0][0], (double)corr_gps[1][0], (double)corr_gps[2][0], (double)corr_gps[0][1], (double)corr_gps[1][1], (double)corr_gps[2][1],
(double)w_xy_gps_p, (double)w_xy_gps_v);
fwrite(s, 1, n, f);
free(s);
}
@@ -261,9 +267,6 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
hrt_abstime t_prev = 0;
/* acceleration in NED frame */
float accel_NED[3] = { 0.0f, 0.0f, -CONSTANTS_ONE_G };
/* store error when sensor updates, but correct on each time step to avoid jumps in estimated value */
float acc[] = { 0.0f, 0.0f, 0.0f }; // N E D
float acc_bias[] = { 0.0f, 0.0f, 0.0f }; // body frame
@@ -285,7 +288,6 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
hrt_abstime flow_prev = 0; // time of last flow measurement
hrt_abstime sonar_time = 0; // time of last sonar measurement (not filtered)
hrt_abstime sonar_valid_time = 0; // time of last sonar measurement used for correction (filtered)
hrt_abstime xy_src_time = 0; // time of last available position data
bool gps_valid = false; // GPS is valid
bool sonar_valid = false; // sonar is valid
@@ -370,8 +372,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
} else {
wait_baro = false;
baro_offset /= (float) baro_init_cnt;
warnx("baro offs: %.2f", baro_offset);
mavlink_log_info(mavlink_fd, "[inav] baro offs: %.2f", baro_offset);
warnx("baro offs: %.2f", (double)baro_offset);
mavlink_log_info(mavlink_fd, "[inav] baro offs: %.2f", (double)baro_offset);
local_pos.z_valid = true;
local_pos.v_z_valid = true;
}
@@ -475,7 +477,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
float flow_dt = flow_prev > 0 ? (flow.flow_timestamp - flow_prev) * 1e-6f : 0.1f;
flow_prev = flow.flow_timestamp;
if (flow.ground_distance_m > 0.31f && flow.ground_distance_m < 4.0f && att.R[2][2] > 0.7 && flow.ground_distance_m != sonar_prev) {
if (flow.ground_distance_m > 0.31f && flow.ground_distance_m < 4.0f && att.R[2][2] > 0.7f && flow.ground_distance_m != sonar_prev) {
sonar_time = t;
sonar_prev = flow.ground_distance_m;
corr_sonar = flow.ground_distance_m + surface_offset + z_est[0];
@@ -497,7 +499,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
sonar_valid_time = t;
sonar_valid = true;
local_pos.surface_bottom_timestamp = t;
mavlink_log_info(mavlink_fd, "[inav] new surface level: %.2f", surface_offset);
mavlink_log_info(mavlink_fd, "[inav] new surface level: %.2f", (double)surface_offset);
}
} else {
@@ -510,7 +512,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
float flow_q = flow.quality / 255.0f;
float dist_bottom = - z_est[0] - surface_offset;
if (dist_bottom > 0.3f && flow_q > params.flow_q_min && (t < sonar_valid_time + sonar_valid_timeout) && att.R[2][2] > 0.7) {
if (dist_bottom > 0.3f && flow_q > params.flow_q_min && (t < sonar_valid_time + sonar_valid_timeout) && att.R[2][2] > 0.7f) {
/* distance to surface */
float flow_dist = dist_bottom / att.R[2][2];
/* check if flow if too large for accurate measurements */
@@ -558,7 +560,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
}
/* under ideal conditions, on 1m distance assume EPH = 10cm */
eph_flow = 0.1 / w_flow;
eph_flow = 0.1f / w_flow;
flow_valid = true;
@@ -661,8 +663,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
/* initialize projection */
map_projection_init(&ref, lat, lon);
warnx("init ref: lat=%.7f, lon=%.7f, alt=%.2f", lat, lon, alt);
mavlink_log_info(mavlink_fd, "[inav] init ref: lat=%.7f, lon=%.7f, alt=%.2f", lat, lon, alt);
warnx("init ref: lat=%.7f, lon=%.7f, alt=%.2f", (double)lat, (double)lon, (double)alt);
mavlink_log_info(mavlink_fd, "[inav] init ref: lat=%.7f, lon=%.7f, alt=%.2f", (double)lat, (double)lon, (double)alt);
}
}
@@ -746,10 +748,10 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
/* increase EPH/EPV on each step */
if (eph < max_eph_epv) {
eph *= 1.0 + dt;
eph *= 1.0f + dt;
}
if (epv < max_eph_epv) {
epv += 0.005 * dt; // add 1m to EPV each 200s (baro drift)
epv += 0.005f * dt; // add 1m to EPV each 200s (baro drift)
}
/* use GPS if it's valid and reference position initialized */
@@ -758,11 +760,6 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
/* use flow if it's valid and (accurate or no GPS available) */
bool use_flow = flow_valid && (flow_accurate || !use_gps_xy);
/* try to estimate position during some time after position sources lost */
if (use_gps_xy || use_flow) {
xy_src_time = t;
}
bool can_estimate_xy = (eph < max_eph_epv) || use_gps_xy || use_flow;
bool dist_bottom_valid = (t < sonar_valid_time + sonar_valid_timeout);
src/modules/px4iofirmware/protocol.h
+1 -1
View File
@@ -312,7 +312,7 @@ struct IOPacket {
#define PKT_COUNT(_p) ((_p).count_code & PKT_COUNT_MASK)
#define PKT_CODE(_p) ((_p).count_code & PKT_CODE_MASK)
#define PKT_SIZE(_p) ((uint8_t *)&((_p).regs[PKT_COUNT(_p)]) - ((uint8_t *)&(_p)))
#define PKT_SIZE(_p) ((size_t)((uint8_t *)&((_p).regs[PKT_COUNT(_p)]) - ((uint8_t *)&(_p))))
static const uint8_t crc8_tab[256] __attribute__((unused)) =
{
src/modules/px4iofirmware/px4io.c
+2 -3
View File
@@ -37,6 +37,7 @@
*/
#include <nuttx/config.h>
#include <nuttx/arch.h>
#include <stdio.h> // required for task_create
#include <stdbool.h>
@@ -303,14 +304,12 @@ user_start(int argc, char *argv[])
*/
if (hrt_absolute_time() - last_debug_time > (1000 * 1000)) {
struct mallinfo minfo = mallinfo();
isr_debug(1, "d:%u s=0x%x a=0x%x f=0x%x m=%u",
(unsigned)r_page_setup[PX4IO_P_SETUP_SET_DEBUG],
(unsigned)r_status_flags,
(unsigned)r_setup_arming,
(unsigned)r_setup_features,
(unsigned)minfo.mxordblk);
(unsigned)mallinfo().mxordblk);
last_debug_time = hrt_absolute_time();
}
}
src/modules/px4iofirmware/registers.c
+1 -2
View File
@@ -119,7 +119,6 @@ uint16_t r_page_raw_rc_input[] =
[PX4IO_P_RAW_RC_DATA] = 0,
[PX4IO_P_RAW_FRAME_COUNT] = 0,
[PX4IO_P_RAW_LOST_FRAME_COUNT] = 0,
[PX4IO_P_RAW_RC_DATA] = 0,
[PX4IO_P_RAW_RC_BASE ... (PX4IO_P_RAW_RC_BASE + PX4IO_RC_INPUT_CHANNELS)] = 0
};
@@ -670,7 +669,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] == UINT8_MAX) {
disabled = true;
} else if ((int)(conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]) < 0 || conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_RC_MAPPED_CONTROL_CHANNELS) {
} else if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_RC_MAPPED_CONTROL_CHANNELS) {
count++;
}
src/modules/sdlog2/sdlog2.c
+18 -10
View File
@@ -976,7 +976,8 @@ int sdlog2_thread_main(int argc, char *argv[])
struct log_BATT_s log_BATT;
struct log_DIST_s log_DIST;
struct log_TELE_s log_TELE;
struct log_ESTM_s log_ESTM;
struct log_EST0_s log_EST0;
struct log_EST1_s log_EST1;
struct log_PWR_s log_PWR;
struct log_VICN_s log_VICN;
struct log_GS0A_s log_GS0A;
@@ -1489,15 +1490,21 @@ int sdlog2_thread_main(int argc, char *argv[])
/* --- ESTIMATOR STATUS --- */
if (copy_if_updated(ORB_ID(estimator_status), subs.estimator_status_sub, &buf.estimator_status)) {
log_msg.msg_type = LOG_ESTM_MSG;
unsigned maxcopy = (sizeof(buf.estimator_status.states) < sizeof(log_msg.body.log_ESTM.s)) ? sizeof(buf.estimator_status.states) : sizeof(log_msg.body.log_ESTM.s);
memset(&(log_msg.body.log_ESTM.s), 0, sizeof(log_msg.body.log_ESTM.s));
memcpy(&(log_msg.body.log_ESTM.s), buf.estimator_status.states, maxcopy);
log_msg.body.log_ESTM.n_states = buf.estimator_status.n_states;
log_msg.body.log_ESTM.states_nan = buf.estimator_status.states_nan;
log_msg.body.log_ESTM.covariance_nan = buf.estimator_status.covariance_nan;
log_msg.body.log_ESTM.kalman_gain_nan = buf.estimator_status.kalman_gain_nan;
LOGBUFFER_WRITE_AND_COUNT(ESTM);
log_msg.msg_type = LOG_EST0_MSG;
unsigned maxcopy0 = (sizeof(buf.estimator_status.states) < sizeof(log_msg.body.log_EST0.s)) ? sizeof(buf.estimator_status.states) : sizeof(log_msg.body.log_EST0.s);
memset(&(log_msg.body.log_EST0.s), 0, sizeof(log_msg.body.log_EST0.s));
memcpy(&(log_msg.body.log_EST0.s), buf.estimator_status.states, maxcopy0);
log_msg.body.log_EST0.n_states = buf.estimator_status.n_states;
log_msg.body.log_EST0.nan_flags = buf.estimator_status.nan_flags;
log_msg.body.log_EST0.health_flags = buf.estimator_status.health_flags;
log_msg.body.log_EST0.timeout_flags = buf.estimator_status.timeout_flags;
LOGBUFFER_WRITE_AND_COUNT(EST0);
log_msg.msg_type = LOG_EST1_MSG;
unsigned maxcopy1 = ((sizeof(buf.estimator_status.states) - maxcopy0) < sizeof(log_msg.body.log_EST1.s)) ? (sizeof(buf.estimator_status.states) - maxcopy0) : sizeof(log_msg.body.log_EST1.s);
memset(&(log_msg.body.log_EST1.s), 0, sizeof(log_msg.body.log_EST1.s));
memcpy(&(log_msg.body.log_EST1.s), buf.estimator_status.states + maxcopy0, maxcopy1);
LOGBUFFER_WRITE_AND_COUNT(EST1);
}
/* --- TECS STATUS --- */
@@ -1507,6 +1514,7 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_TECS.altitude = buf.tecs_status.altitude;
log_msg.body.log_TECS.flightPathAngleSp = buf.tecs_status.flightPathAngleSp;
log_msg.body.log_TECS.flightPathAngle = buf.tecs_status.flightPathAngle;
log_msg.body.log_TECS.flightPathAngleFiltered = buf.tecs_status.flightPathAngleFiltered;
log_msg.body.log_TECS.airspeedSp = buf.tecs_status.airspeedSp;
log_msg.body.log_TECS.airspeed = buf.tecs_status.airspeed;
log_msg.body.log_TECS.airspeedFiltered = buf.tecs_status.airspeedFiltered;
src/modules/sdlog2/sdlog2_messages.h
+21 -11
View File
@@ -288,15 +288,7 @@ struct log_TELE_s {
uint8_t txbuf;
};
/* --- ESTM - ESTIMATOR STATUS --- */
#define LOG_ESTM_MSG 23
struct log_ESTM_s {
float s[10];
uint8_t n_states;
uint8_t states_nan;
uint8_t covariance_nan;
uint8_t kalman_gain_nan;
};
// ID 23 available
/* --- PWR - ONBOARD POWER SYSTEM --- */
#define LOG_PWR_MSG 24
@@ -353,6 +345,7 @@ struct log_TECS_s {
float altitude;
float flightPathAngleSp;
float flightPathAngle;
float flightPathAngleFiltered;
float airspeedSp;
float airspeed;
float airspeedFiltered;
@@ -376,6 +369,22 @@ struct log_WIND_s {
float cov_y;
};
/* --- EST0 - ESTIMATOR STATUS --- */
#define LOG_EST0_MSG 32
struct log_EST0_s {
float s[12];
uint8_t n_states;
uint8_t nan_flags;
uint8_t health_flags;
uint8_t timeout_flags;
};
/* --- EST1 - ESTIMATOR STATUS --- */
#define LOG_EST1_MSG 33
struct log_EST1_s {
float s[16];
};
/********** SYSTEM MESSAGES, ID > 0x80 **********/
/* --- TIME - TIME STAMP --- */
@@ -424,14 +433,15 @@ static const struct log_format_s log_formats[] = {
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(ESTM, "ffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,nStat,statNaN,covNaN,kGainNaN"),
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"),
LOG_FORMAT(VICN, "ffffff", "X,Y,Z,Roll,Pitch,Yaw"),
LOG_FORMAT(GS0A, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
LOG_FORMAT(GS0B, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
LOG_FORMAT(GS1A, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
LOG_FORMAT(GS1B, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
LOG_FORMAT(TECS, "fffffffffffffB", "AltSP,Alt,FpaSP,Fpa,AsSP,As,AsF,AsDSP,AsD,TERSP,TER,EDRSP,EDR,M"),
LOG_FORMAT(TECS, "ffffffffffffffB", "AltSP,Alt,FSP,F,FF,AsSP,As,AsF,AsDSP,AsD,TERSP,TER,EDRSP,EDR,M"),
LOG_FORMAT(WIND, "ffff", "X,Y,CovX,CovY"),
/* system-level messages, ID >= 0x80 */
src/modules/sensors/sensors.cpp
+1 -1
View File
@@ -649,7 +649,7 @@ Sensors::parameters_update()
if (!isfinite(tmpScaleFactor) ||
(tmpRevFactor < 0.000001f) ||
(tmpRevFactor > 0.2f)) {
warnx("RC chan %u not sane, scaling: %8.6f, rev: %d", i, tmpScaleFactor, (int)(_parameters.rev[i]));
warnx("RC chan %u not sane, scaling: %8.6f, rev: %d", i, (double)tmpScaleFactor, (int)(_parameters.rev[i]));
/* scaling factors do not make sense, lock them down */
_parameters.scaling_factor[i] = 0.0f;
rc_valid = false;
src/modules/systemlib/hx_stream.c
+1 -1
View File
@@ -63,7 +63,7 @@ struct hx_stream {
/* TX state */
int fd;
bool tx_error;
uint8_t *tx_buf;
const uint8_t *tx_buf;
unsigned tx_resid;
uint32_t tx_crc;
enum {
src/modules/systemlib/mixer/mixer_multirotor.cpp
+1 -3
View File
@@ -208,7 +208,6 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
char geomname[8];
int s[4];
int used;
const char *end = buf + buflen;
/* enforce that the mixer ends with space or a new line */
for (int i = buflen - 1; i >= 0; i--) {
@@ -302,7 +301,6 @@ MultirotorMixer::mix(float *outputs, unsigned space)
//lowsyslog("thrust: %d, get_control3: %d\n", (int)(thrust), (int)(get_control(0, 3)));
float min_out = 0.0f;
float max_out = 0.0f;
float scale_yaw = 1.0f;
/* perform initial mix pass yielding unbounded outputs, ignore yaw */
for (unsigned i = 0; i < _rotor_count; i++) {
@@ -327,7 +325,7 @@ MultirotorMixer::mix(float *outputs, unsigned space)
}
/* scale down roll/pitch controls if some outputs are negative, don't add yaw, keep total thrust */
if (min_out < 0.0) {
if (min_out < 0.0f) {
float scale_in = thrust / (thrust - min_out);
/* mix again with adjusted controls */
src/modules/systemlib/otp.c
+1 -1
View File
@@ -133,7 +133,7 @@ int lock_otp(void)
// COMPLETE, BUSY, or other flash error?
int F_GetStatus(void)
static int F_GetStatus(void)
{
int fs = F_COMPLETE;
src/modules/systemlib/param/param.c
-2
View File
@@ -96,8 +96,6 @@ ORB_DEFINE(parameter_update, struct parameter_update_s);
/** parameter update topic handle */
static orb_advert_t param_topic = -1;
static sem_t param_sem = { .semcount = 1 };
/** lock the parameter store */
static void
param_lock(void)
src/modules/systemlib/pwm_limit/pwm_limit.c
-1
View File
@@ -97,7 +97,6 @@ void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_
}
unsigned progress;
uint16_t temp_pwm;
/* then set effective_pwm based on state */
switch (limit->state) {
src/modules/uORB/topics/estimator_status.h
+3 -3
View File
@@ -64,9 +64,9 @@ struct estimator_status_report {
uint64_t timestamp; /**< Timestamp in microseconds since boot */
float states[32]; /**< Internal filter states */
float n_states; /**< Number of states effectively used */
bool states_nan; /**< If set to true, one of the states is NaN */
bool covariance_nan; /**< If set to true, the covariance matrix went NaN */
bool kalman_gain_nan; /**< If set to true, the Kalman gain matrix went NaN */
uint8_t nan_flags; /**< Bitmask to indicate NaN states */
uint8_t health_flags; /**< Bitmask to indicate sensor health states (vel, pos, hgt) */
uint8_t timeout_flags; /**< Bitmask to indicate timeout flags (vel, pos, hgt) */
};
src/modules/uORB/topics/tecs_status.h
+1
View File
@@ -68,6 +68,7 @@ struct tecs_status_s {
float altitude;
float flightPathAngleSp;
float flightPathAngle;
float flightPathAngleFiltered;
float airspeedSp;
float airspeed;
float airspeedFiltered;
src/systemcmds/mtd/mtd.c
+21 -17
View File
@@ -91,7 +91,7 @@ static void mtd_test(void);
static void mtd_erase(char *partition_names[], unsigned n_partitions);
static void mtd_readtest(char *partition_names[], unsigned n_partitions);
static void mtd_rwtest(char *partition_names[], unsigned n_partitions);
static void mtd_print_info();
static void mtd_print_info(void);
static int mtd_get_geometry(unsigned long *blocksize, unsigned long *erasesize, unsigned long *neraseblocks,
unsigned *blkpererase, unsigned *nblocks, unsigned *partsize, unsigned n_partitions);
@@ -104,6 +104,16 @@ static unsigned n_partitions_current = 0;
static char *partition_names_default[] = {"/fs/mtd_params", "/fs/mtd_waypoints"};
static const int n_partitions_default = sizeof(partition_names_default) / sizeof(partition_names_default[0]);
static void
mtd_status(void)
{
if (!attached)
errx(1, "MTD driver not started");
mtd_print_info();
exit(0);
}
int mtd_main(int argc, char *argv[])
{
if (argc >= 2) {
@@ -193,8 +203,12 @@ ramtron_attach(void)
errx(1, "failed to initialize mtd driver");
int ret = mtd_dev->ioctl(mtd_dev, MTDIOC_SETSPEED, (unsigned long)10*1000*1000);
if (ret != OK)
warnx(1, "failed to set bus speed");
if (ret != OK) {
// FIXME: From the previous warnx call, it looked like this should have been an errx instead. Tried
// that but setting the bug speed does fail all the time. Which was then exiting and the board would
// not run correctly. So changed to warnx.
warnx("failed to set bus speed");
}
attached = true;
}
@@ -351,7 +365,7 @@ static ssize_t mtd_get_partition_size(void)
return partsize;
}
void mtd_print_info()
void mtd_print_info(void)
{
if (!attached)
exit(1);
@@ -381,16 +395,6 @@ mtd_test(void)
exit(1);
}
void
mtd_status(void)
{
if (!attached)
errx(1, "MTD driver not started");
mtd_print_info();
exit(0);
}
void
mtd_erase(char *partition_names[], unsigned n_partitions)
{
@@ -424,7 +428,7 @@ mtd_readtest(char *partition_names[], unsigned n_partitions)
uint8_t v[128];
for (uint8_t i = 0; i < n_partitions; i++) {
uint32_t count = 0;
ssize_t count = 0;
printf("reading %s expecting %u bytes\n", partition_names[i], expected_size);
int fd = open(partition_names[i], O_RDONLY);
if (fd == -1) {
@@ -455,8 +459,8 @@ mtd_rwtest(char *partition_names[], unsigned n_partitions)
uint8_t v[128], v2[128];
for (uint8_t i = 0; i < n_partitions; i++) {
uint32_t count = 0;
off_t offset = 0;
ssize_t count = 0;
off_t offset = 0;
printf("rwtest %s testing %u bytes\n", partition_names[i], expected_size);
int fd = open(partition_names[i], O_RDWR);
if (fd == -1) {
src/systemcmds/param/param.c
+2 -2
View File
@@ -63,7 +63,7 @@ static void do_show(const char* search_string);
static void do_show_print(void *arg, param_t param);
static void do_set(const char* name, const char* val, bool fail_on_not_found);
static void do_compare(const char* name, const char* vals[], unsigned comparisons);
static void do_reset();
static void do_reset(void);
int
param_main(int argc, char *argv[])
@@ -416,7 +416,7 @@ do_compare(const char* name, const char* vals[], unsigned comparisons)
}
static void
do_reset()
do_reset(void)
{
param_reset_all();
src/systemcmds/tests/test_conv.cpp
+1 -1
View File
@@ -65,7 +65,7 @@ int test_conv(int argc, char *argv[])
float f = i/10000.0f;
float fres = REG_TO_FLOAT(FLOAT_TO_REG(f));
if (fabsf(f - fres) > 0.0001f) {
warnx("conversion fail: input: %8.4f, intermediate: %d, result: %8.4f", f, REG_TO_SIGNED(FLOAT_TO_REG(f)), fres);
warnx("conversion fail: input: %8.4f, intermediate: %d, result: %8.4f", f, REG_TO_SIGNED(FLOAT_TO_REG(f)), (double)fres);
return 1;
}
}
src/systemcmds/tests/test_file.c
+2 -5
View File
@@ -102,7 +102,7 @@ test_file(int argc, char *argv[])
}
/* perform tests for a range of chunk sizes */
unsigned chunk_sizes[] = {1, 5, 8, 13, 16, 32, 33, 64, 70, 128, 133, 256, 300, 512, 555, 1024, 1500};
int chunk_sizes[] = {1, 5, 8, 13, 16, 32, 33, 64, 70, 128, 133, 256, 300, 512, 555, 1024, 1500};
for (unsigned c = 0; c < (sizeof(chunk_sizes) / sizeof(chunk_sizes[0])); c++) {
@@ -116,7 +116,7 @@ test_file(int argc, char *argv[])
uint8_t write_buf[chunk_sizes[c] + alignments] __attribute__((aligned(64)));
/* fill write buffer with known values */
for (int i = 0; i < sizeof(write_buf); i++) {
for (size_t i = 0; i < sizeof(write_buf); i++) {
/* this will wrap, but we just need a known value with spacing */
write_buf[i] = i+11;
}
@@ -224,9 +224,6 @@ test_file(int argc, char *argv[])
return 1;
}
/* compare value */
bool compare_ok = true;
for (int j = 0; j < chunk_sizes[c]; j++) {
if (read_buf[j] != write_buf[j]) {
warnx("COMPARISON ERROR: byte %d: %u != %u", j, (unsigned int)read_buf[j], (unsigned int)write_buf[j]);
src/systemcmds/tests/test_file2.c
+6 -4
View File
@@ -49,6 +49,8 @@
#include <stdlib.h>
#include <getopt.h>
#include "tests.h"
#define FLAG_FSYNC 1
#define FLAG_LSEEK 2
@@ -85,9 +87,9 @@ static void test_corruption(const char *filename, uint32_t write_chunk, uint32_t
buffer[j] = get_value(ofs);
ofs++;
}
if (write(fd, buffer, sizeof(buffer)) != sizeof(buffer)) {
printf("write failed at offset %u\n", ofs);
exit(1);
if (write(fd, buffer, sizeof(buffer)) != (int)sizeof(buffer)) {
printf("write failed at offset %u\n", ofs);
exit(1);
}
if (flags & FLAG_FSYNC) {
fsync(fd);
@@ -116,7 +118,7 @@ static void test_corruption(const char *filename, uint32_t write_chunk, uint32_t
printf("read ofs=%u\r", ofs);
}
counter++;
if (read(fd, buffer, sizeof(buffer)) != sizeof(buffer)) {
if (read(fd, buffer, sizeof(buffer)) != (int)sizeof(buffer)) {
printf("read failed at offset %u\n", ofs);
exit(1);
}
src/systemcmds/tests/test_float.c
+5 -5
View File
@@ -94,7 +94,7 @@ int test_float(int argc, char *argv[])
printf("\t success: asinf(1.0f) == 1.57079f\n");
} else {
printf("\t FAIL: asinf(1.0f) != 1.57079f, result: %f\n", asinf_one);
printf("\t FAIL: asinf(1.0f) != 1.57079f, result: %f\n", (double)asinf_one);
ret = -1;
}
@@ -128,7 +128,7 @@ int test_float(int argc, char *argv[])
float sinf_zero_one = sinf(0.1f);
if (fabs(sinf_zero_one - 0.0998334166f) < FLT_EPSILON) {
if (fabsf(sinf_zero_one - 0.0998334166f) < FLT_EPSILON) {
printf("\t success: sinf(0.1f) == 0.09983f\n");
} else {
@@ -155,7 +155,7 @@ int test_float(int argc, char *argv[])
}
char sbuf[30];
sprintf(sbuf, "%8.4f", 0.553415f);
sprintf(sbuf, "%8.4f", (double)0.553415f);
if (sbuf[0] == ' ' && sbuf[1] == ' ' && sbuf[2] == '0' &&
sbuf[3] == '.' && sbuf[4] == '5' && sbuf[5] == '5'
@@ -166,7 +166,7 @@ int test_float(int argc, char *argv[])
ret = -5;
}
sprintf(sbuf, "%8.4f", -0.553415f);
sprintf(sbuf, "%8.4f", (double)-0.553415f);
if (sbuf[0] == ' ' && sbuf[1] == '-' && sbuf[2] == '0' &&
sbuf[3] == '.' && sbuf[4] == '5' && sbuf[5] == '5'
@@ -205,7 +205,7 @@ int test_float(int argc, char *argv[])
printf("\t success: (float) 1.55f == 1.55 (double)\n");
} else {
printf("\t FAIL: (float) 1.55f != 1.55 (double), result: %8.4f\n", f1);
printf("\t FAIL: (float) 1.55f != 1.55 (double), result: %8.4f\n", (double)f1);
ret = -8;
}
src/systemcmds/tests/test_mathlib.cpp
-4
View File
@@ -52,10 +52,6 @@
using namespace math;
const char* formatResult(bool res) {
return res ? "OK" : "ERROR";
}
int test_mathlib(int argc, char *argv[])
{
warnx("testing mathlib");
src/systemcmds/tests/test_mixer.cpp
+11 -23
View File
@@ -81,7 +81,7 @@ int test_mixer(int argc, char *argv[])
warnx("testing mixer");
char *filename = "/etc/mixers/IO_pass.mix";
const char *filename = "/etc/mixers/IO_pass.mix";
if (argc > 1)
filename = argv[1];
@@ -100,8 +100,6 @@ int test_mixer(int argc, char *argv[])
* e.g. on PX4IO.
*/
unsigned nused = 0;
const unsigned chunk_size = 64;
MixerGroup mixer_group(mixer_callback, 0);
@@ -124,7 +122,6 @@ int test_mixer(int argc, char *argv[])
return 1;
/* FIRST mark the mixer as invalid */
bool mixer_ok = false;
/* THEN actually delete it */
mixer_group.reset();
char mixer_text[256]; /* large enough for one mixer */
@@ -140,7 +137,6 @@ int test_mixer(int argc, char *argv[])
/* check for overflow - this would be really fatal */
if ((mixer_text_length + text_length + 1) > sizeof(mixer_text)) {
bool mixer_ok = false;
return 1;
}
@@ -156,15 +152,6 @@ int test_mixer(int argc, char *argv[])
/* if anything was parsed */
if (resid != mixer_text_length) {
/* only set mixer ok if no residual is left over */
if (resid == 0) {
mixer_ok = true;
} else {
/* not yet reached the end of the mixer, set as not ok */
mixer_ok = false;
}
warnx("used %u", mixer_text_length - resid);
/* copy any leftover text to the base of the buffer for re-use */
@@ -192,7 +179,7 @@ int test_mixer(int argc, char *argv[])
should_arm = true;
/* run through arming phase */
for (int i = 0; i < output_max; i++) {
for (unsigned i = 0; i < output_max; i++) {
actuator_controls[i] = 0.1f;
r_page_servo_disarmed[i] = PWM_LOWEST_MIN;
r_page_servo_control_min[i] = PWM_DEFAULT_MIN;
@@ -213,7 +200,7 @@ int test_mixer(int argc, char *argv[])
pwm_limit_calc(should_arm, mixed, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
//warnx("mixed %d outputs (max %d), values:", mixed, output_max);
for (int i = 0; i < mixed; i++)
for (unsigned i = 0; i < mixed; i++)
{
/* check mixed outputs to be zero during init phase */
if (hrt_elapsed_time(&starttime) < INIT_TIME_US &&
@@ -228,7 +215,7 @@ int test_mixer(int argc, char *argv[])
return 1;
}
//printf("\t %d: %8.4f limited: %8.4f, servo: %d\n", i, outputs_unlimited[i], outputs[i], (int)r_page_servos[i]);
//printf("\t %d: %8.4f limited: %8.4f, servo: %d\n", i, (double)outputs_unlimited[i], (double)outputs[i], (int)r_page_servos[i]);
}
usleep(sleep_quantum_us);
sleepcount++;
@@ -244,7 +231,7 @@ int test_mixer(int argc, char *argv[])
for (int j = -jmax; j <= jmax; j++) {
for (int i = 0; i < output_max; i++) {
for (unsigned i = 0; i < output_max; i++) {
actuator_controls[i] = j/10.0f + 0.1f * i;
r_page_servo_disarmed[i] = PWM_LOWEST_MIN;
r_page_servo_control_min[i] = PWM_DEFAULT_MIN;
@@ -257,11 +244,11 @@ int test_mixer(int argc, char *argv[])
pwm_limit_calc(should_arm, mixed, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
warnx("mixed %d outputs (max %d)", mixed, output_max);
for (int i = 0; i < mixed; i++)
for (unsigned i = 0; i < mixed; i++)
{
servo_predicted[i] = 1500 + outputs[i] * (r_page_servo_control_max[i] - r_page_servo_control_min[i]) / 2.0f;
if (fabsf(servo_predicted[i] - r_page_servos[i]) > 2) {
printf("\t %d: %8.4f predicted: %d, servo: %d\n", i, outputs[i], servo_predicted[i], (int)r_page_servos[i]);
printf("\t %d: %8.4f predicted: %d, servo: %d\n", i, (double)outputs[i], servo_predicted[i], (int)r_page_servos[i]);
warnx("mixer violated predicted value");
return 1;
}
@@ -282,7 +269,7 @@ int test_mixer(int argc, char *argv[])
pwm_limit_calc(should_arm, mixed, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
//warnx("mixed %d outputs (max %d), values:", mixed, output_max);
for (int i = 0; i < mixed; i++)
for (unsigned i = 0; i < mixed; i++)
{
/* check mixed outputs to be zero during init phase */
if (r_page_servos[i] != r_page_servo_disarmed[i]) {
@@ -316,7 +303,7 @@ int test_mixer(int argc, char *argv[])
pwm_limit_calc(should_arm, mixed, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
//warnx("mixed %d outputs (max %d), values:", mixed, output_max);
for (int i = 0; i < mixed; i++)
for (unsigned i = 0; i < mixed; i++)
{
/* predict value */
servo_predicted[i] = 1500 + outputs[i] * (r_page_servo_control_max[i] - r_page_servo_control_min[i]) / 2.0f;
@@ -333,7 +320,7 @@ int test_mixer(int argc, char *argv[])
/* check post ramp phase */
if (hrt_elapsed_time(&starttime) > RAMP_TIME_US &&
fabsf(servo_predicted[i] - r_page_servos[i]) > 2) {
printf("\t %d: %8.4f predicted: %d, servo: %d\n", i, outputs[i], servo_predicted[i], (int)r_page_servos[i]);
printf("\t %d: %8.4f predicted: %d, servo: %d\n", i, (double)outputs[i], servo_predicted[i], (int)r_page_servos[i]);
warnx("mixer violated predicted value");
return 1;
}
@@ -372,6 +359,7 @@ int test_mixer(int argc, char *argv[])
}
warnx("SUCCESS: No errors in mixer test");
return 0;
}
static int
src/systemcmds/tests/test_ppm_loopback.c
-1
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@@ -65,7 +65,6 @@ int test_ppm_loopback(int argc, char *argv[])
int _rc_sub = orb_subscribe(ORB_ID(input_rc));
int servo_fd, result;
servo_position_t data[PWM_OUTPUT_MAX_CHANNELS];
servo_position_t pos;
servo_fd = open(PWM_OUTPUT_DEVICE_PATH, O_RDWR);
src/systemcmds/tests/test_rc.c
+1
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@@ -52,6 +52,7 @@
#include <arch/board/board.h>
#include <drivers/drv_pwm_output.h>
#include <drivers/drv_rc_input.h>
#include <drivers/drv_hrt.h>
#include <systemlib/err.h>
#include "tests.h"
src/systemcmds/tests/test_servo.c
+1
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@@ -51,6 +51,7 @@
#include <arch/board/board.h>
#include <drivers/drv_pwm_output.h>
#include <systemlib/err.h>
#include <nuttx/spi.h>