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Merge remote-tracking branch 'upstream/master' into ros_messagelayer_merge2_attctrl_posctrl

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Conflicts:
	src/drivers/px4fmu/fmu.cpp
This commit is contained in:
Thomas Gubler
2015-02-01 11:06:47 +01:00
parent 7c958a2cca a2a244584e
commit 84ff3c671d
63 changed files with 807 additions and 484 deletions
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src/systemcmds/config/config.c
+13 -4
View File
@@ -81,7 +81,7 @@ config_main(int argc, char *argv[])
do_device(argc - 1, argv + 1);
}
}
errx(1, "expected a device, try '/dev/gyro', '/dev/accel', '/dev/mag'");
}
@@ -192,8 +192,12 @@ do_gyro(int argc, char *argv[])
int srate = ioctl(fd, GYROIOCGSAMPLERATE, 0);
int prate = ioctl(fd, SENSORIOCGPOLLRATE, 0);
int range = ioctl(fd, GYROIOCGRANGE, 0);
int id = ioctl(fd, DEVIOCGDEVICEID,0);
int32_t calibration_id = 0;
warnx("gyro: \n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d dps", srate, prate, range);
param_get(param_find("SENS_GYRO_ID"), &(calibration_id));
warnx("gyro: \n\tdevice id:\t0x%X\t(calibration is for device id 0x%X)\n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d dps", id, calibration_id, srate, prate, range);
close(fd);
}
@@ -267,9 +271,10 @@ do_mag(int argc, char *argv[])
int range = ioctl(fd, MAGIOCGRANGE, 0);
int id = ioctl(fd, DEVIOCGDEVICEID,0);
int32_t calibration_id = 0;
param_get(param_find("SENS_MAG_ID"), &(calibration_id));
warnx("mag: \n\tdevice id:\t%x\t(calibration is for device id %x)\n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d Ga", id, calibration_id, srate, prate, range);
warnx("mag: \n\tdevice id:\t0x%X\t(calibration is for device id 0x%X)\n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d Ga", id, calibration_id, srate, prate, range);
close(fd);
}
@@ -341,8 +346,12 @@ do_accel(int argc, char *argv[])
int srate = ioctl(fd, ACCELIOCGSAMPLERATE, 0);
int prate = ioctl(fd, SENSORIOCGPOLLRATE, 0);
int range = ioctl(fd, ACCELIOCGRANGE, 0);
int id = ioctl(fd, DEVIOCGDEVICEID,0);
int32_t calibration_id = 0;
warnx("accel: \n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d G", srate, prate, range);
param_get(param_find("SENS_ACC_ID"), &(calibration_id));
warnx("accel: \n\tdevice id:\t0x%X\t(calibration is for device id 0x%X)\n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d G", id, calibration_id, srate, prate, range);
close(fd);
}
src/systemcmds/preflight_check/preflight_check.c
+29 -9
View File
@@ -84,7 +84,7 @@ int preflight_check_main(int argc, char *argv[])
/* open text message output path */
int mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
int ret;
int32_t mag_devid,mag_calibration_devid;
int32_t devid, calibration_devid;
/* give the system some time to sample the sensors in the background */
usleep(150000);
@@ -98,9 +98,9 @@ int preflight_check_main(int argc, char *argv[])
goto system_eval;
}
mag_devid = ioctl(fd, DEVIOCGDEVICEID,0);
param_get(param_find("SENS_MAG_ID"), &(mag_calibration_devid));
if (mag_devid != mag_calibration_devid){
devid = ioctl(fd, DEVIOCGDEVICEID,0);
param_get(param_find("SENS_MAG_ID"), &(calibration_devid));
if (devid != calibration_devid){
warnx("magnetometer calibration is for a different device - calibrate magnetometer first");
mavlink_log_critical(mavlink_fd, "SENSOR FAIL: MAG CAL ID");
system_ok = false;
@@ -108,7 +108,7 @@ int preflight_check_main(int argc, char *argv[])
}
ret = ioctl(fd, MAGIOCSELFTEST, 0);
if (ret != OK) {
warnx("magnetometer calibration missing or bad - calibrate magnetometer first");
mavlink_log_critical(mavlink_fd, "SENSOR FAIL: MAG CHECK/CAL");
@@ -120,8 +120,18 @@ int preflight_check_main(int argc, char *argv[])
close(fd);
fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
devid = ioctl(fd, DEVIOCGDEVICEID,0);
param_get(param_find("SENS_ACC_ID"), &(calibration_devid));
if (devid != calibration_devid){
warnx("accelerometer calibration is for a different device - calibrate accelerometer first");
mavlink_log_critical(mavlink_fd, "SENSOR FAIL: ACC CAL ID");
system_ok = false;
goto system_eval;
}
ret = ioctl(fd, ACCELIOCSELFTEST, 0);
if (ret != OK) {
warnx("accel self test failed");
mavlink_log_critical(mavlink_fd, "SENSOR FAIL: ACCEL CHECK/CAL");
@@ -156,8 +166,18 @@ int preflight_check_main(int argc, char *argv[])
close(fd);
fd = open(GYRO_DEVICE_PATH, 0);
devid = ioctl(fd, DEVIOCGDEVICEID,0);
param_get(param_find("SENS_GYRO_ID"), &(calibration_devid));
if (devid != calibration_devid){
warnx("gyro calibration is for a different device - calibrate gyro first");
mavlink_log_critical(mavlink_fd, "SENSOR FAIL: GYRO CAL ID");
system_ok = false;
goto system_eval;
}
ret = ioctl(fd, GYROIOCSELFTEST, 0);
if (ret != OK) {
warnx("gyro self test failed");
mavlink_log_critical(mavlink_fd, "SENSOR FAIL: GYRO CHECK/CAL");
@@ -183,10 +203,10 @@ int preflight_check_main(int argc, char *argv[])
system_ok &= rc_ok;
system_eval:
if (system_ok) {
/* all good, exit silently */
exit(0);