fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-15 23:23:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
Simon Wilks
2013-04-22 08:51:51 +02:00
parent 715e3e2ebe 462064ec89
commit 87c27ac243
22 changed files with 423 additions and 313 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ROMFS/Makefile
+2
View File
@@ -22,6 +22,8 @@ ROMFS_FSSPEC := $(SRCROOT)/scripts/rcS~init.d/rcS \
$(SRCROOT)/scripts/rc.PX4IO~init.d/rc.PX4IO \
$(SRCROOT)/scripts/rc.PX4IOAR~init.d/rc.PX4IOAR \
$(SRCROOT)/scripts/rc.FMU_quad_x~init.d/rc.FMU_quad_x \
$(SRCROOT)/scripts/rc.usb~init.d/rc.usb \
$(SRCROOT)/scripts/rc.hil~init.d/rc.hil \
$(SRCROOT)/mixers/FMU_pass.mix~mixers/FMU_pass.mix \
$(SRCROOT)/mixers/FMU_Q.mix~mixers/FMU_Q.mix \
$(SRCROOT)/mixers/FMU_X5.mix~mixers/FMU_X5.mix \
ROMFS/mixers/FMU_Q.mix
+2 -2
View File
@@ -25,12 +25,12 @@ for the elevons.
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 5000 8000 0 -10000 10000
S: 0 0 -5000 -8000 0 -10000 10000
S: 0 1 8000 8000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 8000 5000 0 -10000 10000
S: 0 0 -8000 -5000 0 -10000 10000
S: 0 1 -8000 -8000 0 -10000 10000
Output 2
ROMFS/scripts/rc.PX4IO
+47 -20
View File
@@ -5,7 +5,7 @@ set USB no
set MODE camflyer
#
# Start the ORB
# Start the ORB (first app to start)
#
uorb start
@@ -27,38 +27,65 @@ fi
param set MAV_TYPE 1
#
# Start the sensors.
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
#
sh /etc/init.d/rc.sensors
if [ -f /fs/microsd/px4io.bin ]
then
echo "PX4IO Firmware found. Checking Upgrade.."
if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
then
echo "No newer version, skipping upgrade."
else
echo "Loading /fs/microsd/px4io.bin"
if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log
then
cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log
else
echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log
echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode"
fi
fi
fi
#
# Start MAVLink
# Start MAVLink (depends on orb)
#
mavlink start -d /dev/ttyS1 -b 57600
usleep 5000
#
# Start the commander.
# Start the commander (depends on orb, mavlink)
#
commander start
#
# Start GPS interface
#
gps start
#
# Start the attitude estimator
#
kalman_demo start
#
# Start PX4IO interface
# Start PX4IO interface (depends on orb, commander)
#
px4io start
#
# Load mixer and start controllers
# Allow PX4IO to recover from midair restarts.
# this is very unlikely, but quite safe and robust.
px4io recovery
#
# Start the sensors (depends on orb, px4io)
#
sh /etc/init.d/rc.sensors
#
# Start GPS interface (depends on orb)
#
gps start
#
# Start the attitude estimator (depends on orb)
#
kalman_demo start
#
# Load mixer and start controllers (depends on px4io)
#
mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
control_demo start
@@ -66,8 +93,8 @@ control_demo start
#
# Start logging
#
sdlog start -s 10
#sdlog start -s 4
#
# Start system state
#
@@ -77,4 +104,4 @@ then
blinkm systemstate
else
echo "no BlinkM found, OK."
fi
fi
ROMFS/scripts/rc.PX4IOAR
+14 -13
View File
@@ -2,10 +2,10 @@
#
# Flight startup script for PX4FMU on PX4IOAR carrier board.
#
# Disable the USB interface
set USB no
# Disable autostarting other apps
set MODE ardrone
@@ -25,13 +25,18 @@ if [ -f /fs/microsd/parameters ]
then
param load /fs/microsd/parameters
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
#
param set MAV_TYPE 2
#
# Configure PX4FMU for operation with PX4IOAR
#
fmu mode_gpio_serial
#
# Start the sensors.
@@ -54,11 +59,6 @@ commander start
#
attitude_estimator_ekf start
#
# Configure PX4FMU for operation with PX4IOAR
#
fmu mode_gpio_serial
#
# Fire up the multi rotor attitude controller
#
@@ -68,17 +68,17 @@ multirotor_att_control start
# Fire up the AR.Drone interface.
#
ardrone_interface start -d /dev/ttyS1
#
# Start GPS capture
#
gps start
#
# Start logging
#
sdlog start -s 10
#
# Start GPS capture
#
gps start
#
# Start system state
#
@@ -95,4 +95,5 @@ fi
# use the same UART for telemetry
#
echo "[init] startup done"
exit
ROMFS/scripts/rc.hil
+68
View File
@@ -0,0 +1,68 @@
#!nsh
#
# USB HIL start
#
echo "[HIL] starting.."
uorb start
# Tell MAVLink that this link is "fast"
mavlink start -b 230400 -d /dev/console
# Create a fake HIL /dev/pwm_output interface
hil mode_pwm
#
# Load microSD params
#
echo "[init] loading microSD params"
param select /fs/microsd/parameters
if [ -f /fs/microsd/parameters ]
then
param load /fs/microsd/parameters
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
#
param set MAV_TYPE 1
#
# Start the commander (depends on orb, mavlink)
#
commander start
#
# Check if we got an IO
#
if [ px4io start ]
then
echo "IO started"
else
fmu mode_serial
echo "FMU started"
end
#
# Start the sensors (depends on orb, px4io)
#
sh /etc/init.d/rc.sensors
#
# Start the attitude estimator (depends on orb)
#
kalman_demo start
#
# Load mixer and start controllers (depends on px4io)
#
mixer load /dev/pwm_output /etc/mixers/FMU_AET.mix
control_demo start
echo "[HIL] setup done, running"
# Exit shell to make it available to MAVLink
exit
ROMFS/scripts/rc.usb
+14
View File
@@ -0,0 +1,14 @@
#!nsh
#
# USB MAVLink start
#
echo "Starting MAVLink on this USB console"
# Tell MAVLink that this link is "fast"
mavlink start -b 230400 -d /dev/console
echo "MAVLink started, exiting shell.."
# Exit shell to make it available to MAVLink
exit
ROMFS/scripts/rcS
+6 -2
View File
@@ -21,9 +21,9 @@ set MODE autostart
set USB autoconnect
#
# Start playing the startup tune
#
tone_alarm start
#
# Try to mount the microSD card.
@@ -32,8 +32,12 @@ echo "[init] looking for microSD..."
if mount -t vfat /dev/mmcsd0 /fs/microsd
then
echo "[init] card mounted at /fs/microsd"
# Start playing the startup tune
tone_alarm start
else
echo "[init] no microSD card found"
# Play SOS
tone_alarm 2
fi
#
apps/controllib/fixedwing.cpp
+104 -124
View File
@@ -86,113 +86,6 @@ void BlockStabilization::update(float pCmd, float qCmd, float rCmd,
_yawDamper.update(rCmd, r);
}
BlockHeadingHold::BlockHeadingHold(SuperBlock *parent, const char *name) :
SuperBlock(parent, name),
_psi2Phi(this, "PSI2PHI"),
_phi2P(this, "PHI2P"),
_phiLimit(this, "PHI_LIM")
{
}
BlockHeadingHold::~BlockHeadingHold() {};
float BlockHeadingHold::update(float psiCmd, float phi, float psi, float p)
{
float psiError = _wrap_pi(psiCmd - psi);
float phiCmd = _phiLimit.update(_psi2Phi.update(psiError));
return _phi2P.update(phiCmd - phi);
}
BlockVelocityHoldBackside::BlockVelocityHoldBackside(SuperBlock *parent, const char *name) :
SuperBlock(parent, name),
_v2Theta(this, "V2THE"),
_theta2Q(this, "THE2Q"),
_theLimit(this, "THE"),
_vLimit(this, "V")
{
}
BlockVelocityHoldBackside::~BlockVelocityHoldBackside() {};
float BlockVelocityHoldBackside::update(float vCmd, float v, float theta, float q)
{
// negative sign because nose over to increase speed
float thetaCmd = _theLimit.update(-_v2Theta.update(_vLimit.update(vCmd) - v));
return _theta2Q.update(thetaCmd - theta);
}
BlockVelocityHoldFrontside::BlockVelocityHoldFrontside(SuperBlock *parent, const char *name) :
SuperBlock(parent, name),
_v2Thr(this, "V2THR")
{
}
BlockVelocityHoldFrontside::~BlockVelocityHoldFrontside() {};
float BlockVelocityHoldFrontside::update(float vCmd, float v)
{
return _v2Thr.update(vCmd - v);
}
BlockAltitudeHoldBackside::BlockAltitudeHoldBackside(SuperBlock *parent, const char *name) :
SuperBlock(parent, name),
_h2Thr(this, "H2THR"),
_throttle(0)
{
}
BlockAltitudeHoldBackside::~BlockAltitudeHoldBackside() {};
void BlockAltitudeHoldBackside::update(float hCmd, float h)
{
_throttle = _h2Thr.update(hCmd - h);
}
BlockAltitudeHoldFrontside::BlockAltitudeHoldFrontside(SuperBlock *parent, const char *name) :
SuperBlock(parent, name),
_h2Theta(this, "H2THE"),
_theta2Q(this, "THE2Q")
{
}
BlockAltitudeHoldFrontside::~BlockAltitudeHoldFrontside() {};
float BlockAltitudeHoldFrontside::update(float hCmd, float h, float theta, float q)
{
float thetaCmd = _h2Theta.update(hCmd - h);
return _theta2Q.update(thetaCmd - theta);
}
BlockBacksideAutopilot::BlockBacksideAutopilot(SuperBlock *parent,
const char *name,
BlockStabilization *stabilization) :
SuperBlock(parent, name),
_stabilization(stabilization),
_headingHold(this, ""),
_velocityHold(this, ""),
_altitudeHold(this, ""),
_trimAil(this, "TRIM_ROLL", false), /* general roll trim (full name: TRIM_ROLL) */
_trimElv(this, "TRIM_PITCH", false), /* general pitch trim */
_trimRdr(this, "TRIM_YAW", false), /* general yaw trim */
_trimThr(this, "TRIM_THR", true) /* FWB_ specific throttle trim (full name: FWB_TRIM_THR) */
{
}
BlockBacksideAutopilot::~BlockBacksideAutopilot() {};
void BlockBacksideAutopilot::update(float hCmd, float vCmd, float rCmd, float psiCmd,
float h, float v,
float phi, float theta, float psi,
float p, float q, float r)
{
_altitudeHold.update(hCmd, h);
_stabilization->update(
_headingHold.update(psiCmd, phi, psi, p),
_velocityHold.update(vCmd, v, theta, q),
rCmd,
p, q, r);
}
BlockWaypointGuidance::BlockWaypointGuidance(SuperBlock *parent, const char *name) :
SuperBlock(parent, name),
_xtYawLimit(this, "XT2YAW"),
@@ -251,9 +144,33 @@ BlockUorbEnabledAutopilot::~BlockUorbEnabledAutopilot() {};
BlockMultiModeBacksideAutopilot::BlockMultiModeBacksideAutopilot(SuperBlock *parent, const char *name) :
BlockUorbEnabledAutopilot(parent, name),
_stabilization(this, ""), // no name needed, already unique
_backsideAutopilot(this, "", &_stabilization),
// heading hold
_psi2Phi(this, "PSI2PHI"),
_phi2P(this, "PHI2P"),
_phiLimit(this, "PHI_LIM"),
// velocity hold
_v2Theta(this, "V2THE"),
_theta2Q(this, "THE2Q"),
_theLimit(this, "THE"),
_vLimit(this, "V"),
// altitude/roc hold
_h2Thr(this, "H2THR"),
_roc2Thr(this, "ROC2THR"),
// guidance block
_guide(this, ""),
// block params
_trimAil(this, "TRIM_ROLL", false), /* general roll trim (full name: TRIM_ROLL) */
_trimElv(this, "TRIM_PITCH", false), /* general pitch trim */
_trimRdr(this, "TRIM_YAW", false), /* general yaw trim */
_trimThr(this, "TRIM_THR", true), /* FWB_ specific throttle trim (full name: FWB_TRIM_THR) */
_vCmd(this, "V_CMD"),
_rocMax(this, "ROC_MAX"),
_attPoll(),
_lastPosCmd(),
_timeStamp(0)
@@ -305,7 +222,7 @@ void BlockMultiModeBacksideAutopilot::update()
// handle autopilot modes
if (_status.state_machine == SYSTEM_STATE_AUTO ||
_status.state_machine == SYSTEM_STATE_STABILIZED) {
_status.state_machine == SYSTEM_STATE_STABILIZED) {
// update guidance
_guide.update(_pos, _att, _posCmd, _lastPosCmd);
@@ -313,19 +230,32 @@ void BlockMultiModeBacksideAutopilot::update()
// calculate velocity, XXX should be airspeed, but using ground speed for now
float v = sqrtf(_pos.vx * _pos.vx + _pos.vy * _pos.vy + _pos.vz * _pos.vz);
// commands
// altitude hold
float dThrottle = _h2Thr.update(_posCmd.altitude - _pos.alt);
// heading hold
float psiError = _wrap_pi(_guide.getPsiCmd() - _att.yaw);
float phiCmd = _phiLimit.update(_psi2Phi.update(psiError));
float pCmd = _phi2P.update(phiCmd - _att.roll);
// velocity hold
// negative sign because nose over to increase speed
float thetaCmd = _theLimit.update(-_v2Theta.update(
_vLimit.update(_vCmd.get()) - v));
float qCmd = _theta2Q.update(thetaCmd - _att.pitch);
// yaw rate cmd
float rCmd = 0;
_backsideAutopilot.update(
_posCmd.altitude, _vCmd.get(), rCmd, _guide.getPsiCmd(),
_pos.alt, v,
_att.roll, _att.pitch, _att.yaw,
_att.rollspeed, _att.pitchspeed, _att.yawspeed
);
_actuators.control[CH_AIL] = _backsideAutopilot.getAileron();
_actuators.control[CH_ELV] = _backsideAutopilot.getElevator();
_actuators.control[CH_RDR] = _backsideAutopilot.getRudder();
_actuators.control[CH_THR] = _backsideAutopilot.getThrottle();
// stabilization
_stabilization.update(pCmd, qCmd, rCmd,
_att.rollspeed, _att.pitchspeed, _att.yawspeed);
// output
_actuators.control[CH_AIL] = _stabilization.getAileron() + _trimAil.get();
_actuators.control[CH_ELV] = _stabilization.getElevator() + _trimElv.get();
_actuators.control[CH_RDR] = _stabilization.getRudder() + _trimRdr.get();
_actuators.control[CH_THR] = dThrottle + _trimThr.get();
// XXX limit throttle to manual setting (safety) for now.
// If it turns out to be confusing, it can be removed later once
@@ -336,14 +266,12 @@ void BlockMultiModeBacksideAutopilot::update()
if (!_status.flag_hil_enabled) {
/* limit to value of manual throttle */
_actuators.control[CH_THR] = (_actuators.control[CH_THR] < _manual.throttle) ?
_actuators.control[CH_THR] : _manual.throttle;
_actuators.control[CH_THR] : _manual.throttle;
}
} else if (_status.state_machine == SYSTEM_STATE_MANUAL) {
if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) {
_actuators.control[CH_AIL] = _manual.roll;
_actuators.control[CH_ELV] = _manual.pitch;
_actuators.control[CH_RDR] = _manual.yaw;
@@ -351,8 +279,60 @@ void BlockMultiModeBacksideAutopilot::update()
} else if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) {
// calculate velocity, XXX should be airspeed, but using ground speed for now
float v = sqrtf(_pos.vx * _pos.vx + _pos.vy * _pos.vy + _pos.vz * _pos.vz);
// pitch channel -> rate of climb
// TODO, might want to put a gain on this, otherwise commanding
// from +1 -> -1 m/s for rate of climb
//float dThrottle = _roc2Thr.update(
//_rocMax.get()*_manual.pitch - _pos.vz);
// roll channel -> bank angle
float phiCmd = _phiLimit.update(_manual.roll * _phiLimit.getMax());
float pCmd = _phi2P.update(phiCmd - _att.roll);
// throttle channel -> velocity
// negative sign because nose over to increase speed
float vCmd = _manual.throttle * (_vLimit.getMax() - _vLimit.getMin()) + _vLimit.getMin();
float thetaCmd = _theLimit.update(-_v2Theta.update(_vLimit.update(vCmd) - v));
float qCmd = _theta2Q.update(thetaCmd - _att.pitch);
// yaw rate cmd
float rCmd = 0;
// stabilization
_stabilization.update(pCmd, qCmd, rCmd,
_att.rollspeed, _att.pitchspeed, _att.yawspeed);
// output
_actuators.control[CH_AIL] = _stabilization.getAileron() + _trimAil.get();
_actuators.control[CH_ELV] = _stabilization.getElevator() + _trimElv.get();
_actuators.control[CH_RDR] = _stabilization.getRudder() + _trimRdr.get();
// currenlty using manual throttle
// XXX if you enable this watch out, vz might be very noisy
//_actuators.control[CH_THR] = dThrottle + _trimThr.get();
_actuators.control[CH_THR] = _manual.throttle;
// XXX limit throttle to manual setting (safety) for now.
// If it turns out to be confusing, it can be removed later once
// a first binary release can be targeted.
// This is not a hack, but a design choice.
/* do not limit in HIL */
if (!_status.flag_hil_enabled) {
/* limit to value of manual throttle */
_actuators.control[CH_THR] = (_actuators.control[CH_THR] < _manual.throttle) ?
_actuators.control[CH_THR] : _manual.throttle;
}
}
// body rates controller, disabled for now
else if (0 /*_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS*/) {
_stabilization.update(_manual.roll, _manual.pitch, _manual.yaw,
_att.rollspeed, _att.pitchspeed, _att.yawspeed);
_att.rollspeed, _att.pitchspeed, _att.yawspeed);
_actuators.control[CH_AIL] = _stabilization.getAileron();
_actuators.control[CH_ELV] = _stabilization.getElevator();
apps/controllib/fixedwing.hpp
+25 -121
View File
@@ -232,26 +232,6 @@ public:
float getRudder() { return _yawDamper.getRudder(); }
};
/**
* Heading hold autopilot block.
* Aircraft Control and Simulation, Stevens and Lewis
* Heading hold, pg. 348
*/
class __EXPORT BlockHeadingHold : public SuperBlock
{
private:
BlockP _psi2Phi;
BlockP _phi2P;
BlockLimitSym _phiLimit;
public:
BlockHeadingHold(SuperBlock *parent, const char *name);
virtual ~BlockHeadingHold();
/**
* returns pCmd
*/
float update(float psiCmd, float phi, float psi, float p);
};
/**
* Frontside/ Backside Control Systems
*
@@ -269,106 +249,6 @@ public:
* than frontside at high speeds.
*/
/**
* Backside velocity hold autopilot block.
* v -> theta -> q -> elevator
*/
class __EXPORT BlockVelocityHoldBackside : public SuperBlock
{
private:
BlockPID _v2Theta;
BlockPID _theta2Q;
BlockLimit _theLimit;
BlockLimit _vLimit;
public:
BlockVelocityHoldBackside(SuperBlock *parent, const char *name);
virtual ~BlockVelocityHoldBackside();
/**
* returns qCmd
*/
float update(float vCmd, float v, float theta, float q);
};
/**
* Frontside velocity hold autopilot block.
* v -> throttle
*/
class __EXPORT BlockVelocityHoldFrontside : public SuperBlock
{
private:
BlockPID _v2Thr;
public:
BlockVelocityHoldFrontside(SuperBlock *parent, const char *name);
virtual ~BlockVelocityHoldFrontside();
/**
* returns throttle
*/
float update(float vCmd, float v);
};
/**
* Backside altitude hold autopilot block.
* h -> throttle
*/
class __EXPORT BlockAltitudeHoldBackside : public SuperBlock
{
private:
BlockPID _h2Thr;
float _throttle;
public:
BlockAltitudeHoldBackside(SuperBlock *parent, const char *name);
virtual ~BlockAltitudeHoldBackside();
void update(float hCmd, float h);
float getThrottle() { return _throttle; }
};
/**
* Frontside altitude hold autopilot block.
* h -> theta > q -> elevator
*/
class __EXPORT BlockAltitudeHoldFrontside : public SuperBlock
{
private:
BlockPID _h2Theta;
BlockPID _theta2Q;
public:
BlockAltitudeHoldFrontside(SuperBlock *parent, const char *name);
virtual ~BlockAltitudeHoldFrontside();
/**
* return qCmd
*/
float update(float hCmd, float h, float theta, float q);
};
/**
* Backside autopilot
*/
class __EXPORT BlockBacksideAutopilot : public SuperBlock
{
private:
BlockStabilization *_stabilization;
BlockHeadingHold _headingHold;
BlockVelocityHoldBackside _velocityHold;
BlockAltitudeHoldBackside _altitudeHold;
BlockParam<float> _trimAil;
BlockParam<float> _trimElv;
BlockParam<float> _trimRdr;
BlockParam<float> _trimThr;
public:
BlockBacksideAutopilot(SuperBlock *parent,
const char *name,
BlockStabilization *stabilization);
virtual ~BlockBacksideAutopilot();
void update(float hCmd, float vCmd, float rCmd, float psiCmd,
float h, float v,
float phi, float theta, float psi,
float p, float q, float r);
float getRudder() { return _stabilization->getRudder() + _trimRdr.get(); }
float getAileron() { return _stabilization->getAileron() + _trimAil.get(); }
float getElevator() { return _stabilization->getElevator() + _trimElv.get(); }
float getThrottle() { return _altitudeHold.getThrottle() + _trimThr.get(); }
};
/**
* Waypoint Guidance block
*/
@@ -416,10 +296,34 @@ public:
class __EXPORT BlockMultiModeBacksideAutopilot : public BlockUorbEnabledAutopilot
{
private:
// stabilization
BlockStabilization _stabilization;
BlockBacksideAutopilot _backsideAutopilot;
// heading hold
BlockP _psi2Phi;
BlockP _phi2P;
BlockLimitSym _phiLimit;
// velocity hold
BlockPID _v2Theta;
BlockPID _theta2Q;
BlockLimit _theLimit;
BlockLimit _vLimit;
// altitude/ roc hold
BlockPID _h2Thr;
BlockPID _roc2Thr;
// guidance
BlockWaypointGuidance _guide;
// block params
BlockParam<float> _trimAil;
BlockParam<float> _trimElv;
BlockParam<float> _trimRdr;
BlockParam<float> _trimThr;
BlockParam<float> _vCmd;
BlockParam<float> _rocMax;
struct pollfd _attPoll;
vehicle_global_position_setpoint_s _lastPosCmd;
apps/drivers/boards/px4fmu/px4fmu_spi.c
+7 -7
View File
@@ -92,21 +92,21 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
case PX4_SPIDEV_GYRO:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
stm32_gpiowrite(GPIO_SPI_CS_MPU, selected);
stm32_gpiowrite(GPIO_SPI_CS_ACCEL, selected);
stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
stm32_gpiowrite(GPIO_SPI_CS_ACCEL, 1);
break;
case PX4_SPIDEV_ACCEL:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI_CS_ACCEL, !selected);
stm32_gpiowrite(GPIO_SPI_CS_MPU, selected);
stm32_gpiowrite(GPIO_SPI_CS_GYRO, selected);
stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
break;
case PX4_SPIDEV_MPU:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI_CS_ACCEL, selected);
stm32_gpiowrite(GPIO_SPI_CS_GYRO, selected);
stm32_gpiowrite(GPIO_SPI_CS_ACCEL, 1);
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
stm32_gpiowrite(GPIO_SPI_CS_MPU, !selected);
break;
@@ -125,7 +125,7 @@ __EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devi
__EXPORT void stm32_spi3select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
{
/* there can only be one device on this bus, so always select it */
stm32_gpiowrite(GPIO_SPI_CS_SDCARD, 0);
stm32_gpiowrite(GPIO_SPI_CS_SDCARD, !selected);
}
__EXPORT uint8_t stm32_spi3status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
apps/drivers/l3gd20/l3gd20.cpp
+4 -3
View File
@@ -684,9 +684,10 @@ L3GD20::measure()
* 74 from all measurements centers them around zero.
*/
report->timestamp = hrt_absolute_time();
/* XXX adjust for sensor alignment to board here */
report->x_raw = raw_report.x;
report->y_raw = raw_report.y;
/* swap x and y and negate y */
report->x_raw = raw_report.y;
report->y_raw = ((raw_report.x == -32768) ? 32767 : -raw_report.x);
report->z_raw = raw_report.z;
report->x = ((report->x_raw * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale;
apps/examples/control_demo/params.c
+12
View File
@@ -56,4 +56,16 @@ PARAM_DEFINE_FLOAT(FWB_V_MIN, 10.0f); // minimum commanded velocity
PARAM_DEFINE_FLOAT(FWB_V_CMD, 12.0f); // commanded velocity
PARAM_DEFINE_FLOAT(FWB_V_MAX, 16.0f); // maximum commanded velocity
// rate of climb
// this is what rate of climb is commanded (in m/s)
// when the pitch stick is fully defelcted in simple mode
PARAM_DEFINE_FLOAT(FWB_ROC_MAX, 1.0f);
// rate of climb -> thr
PARAM_DEFINE_FLOAT(FWB_ROC2THR_P, 0.01f); // rate of climb to throttle PID
PARAM_DEFINE_FLOAT(FWB_ROC2THR_I, 0.0f);
PARAM_DEFINE_FLOAT(FWB_ROC2THR_D, 0.0f);
PARAM_DEFINE_FLOAT(FWB_ROC2THR_D_LP, 0.0f);
PARAM_DEFINE_FLOAT(FWB_ROC2THR_I_MAX, 0.0f);
PARAM_DEFINE_FLOAT(FWB_TRIM_THR, 0.8f); // trim throttle (0,1)
apps/examples/kalman_demo/KalmanNav.cpp
+16 -8
View File
@@ -61,8 +61,8 @@ KalmanNav::KalmanNav(SuperBlock *parent, const char *name) :
HAtt(6, 9),
RAtt(6, 6),
// position measurement ekf matrices
HPos(5, 9),
RPos(5, 5),
HPos(6, 9),
RPos(6, 6),
// attitude representations
C_nb(),
q(),
@@ -95,6 +95,7 @@ KalmanNav::KalmanNav(SuperBlock *parent, const char *name) :
_rGpsVel(this, "R_GPS_VEL"),
_rGpsPos(this, "R_GPS_POS"),
_rGpsAlt(this, "R_GPS_ALT"),
_rPressAlt(this, "R_PRESS_ALT"),
_rAccel(this, "R_ACCEL"),
_magDip(this, "ENV_MAG_DIP"),
_magDec(this, "ENV_MAG_DEC"),
@@ -134,6 +135,7 @@ KalmanNav::KalmanNav(SuperBlock *parent, const char *name) :
HPos(2, 6) = 1.0e7f * M_RAD_TO_DEG_F;
HPos(3, 7) = 1.0e7f * M_RAD_TO_DEG_F;
HPos(4, 8) = 1.0f;
HPos(5, 8) = 1.0f;
// initialize all parameters
updateParams();
@@ -192,7 +194,7 @@ void KalmanNav::update()
gpsUpdate &&
_gps.fix_type > 2
//&& _gps.counter_pos_valid > 10
) {
) {
vN = _gps.vel_n_m_s;
vE = _gps.vel_e_m_s;
vD = _gps.vel_d_m_s;
@@ -630,12 +632,13 @@ int KalmanNav::correctPos()
using namespace math;
// residual
Vector y(5);
Vector y(6);
y(0) = _gps.vel_n_m_s - vN;
y(1) = _gps.vel_e_m_s - vE;
y(2) = double(_gps.lat) - lat * 1.0e7 * M_RAD_TO_DEG;
y(3) = double(_gps.lon) - lon * 1.0e7 * M_RAD_TO_DEG;
y(4) = double(_gps.alt) / 1.0e3 - alt;
y(5) = double(_sensors.baro_alt_meter) - alt;
// compute correction
// http://en.wikipedia.org/wiki/Extended_Kalman_filter
@@ -685,7 +688,8 @@ int KalmanNav::correctPos()
double(y(1) / sqrtf(RPos(1, 1))),
double(y(2) / sqrtf(RPos(2, 2))),
double(y(3) / sqrtf(RPos(3, 3))),
double(y(4) / sqrtf(RPos(4, 4))));
double(y(4) / sqrtf(RPos(4, 4))),
double(y(5) / sqrtf(RPos(5, 5))));
}
return ret_ok;
@@ -740,7 +744,8 @@ void KalmanNav::updateParams()
float noiseVel = _rGpsVel.get();
float noiseLatDegE7 = 1.0e7f * M_RAD_TO_DEG_F * _rGpsPos.get() / R;
float noiseLonDegE7 = noiseLatDegE7 / cosLSing;
float noiseAlt = _rGpsAlt.get();
float noiseGpsAlt = _rGpsAlt.get();
float noisePressAlt = _rPressAlt.get();
// bound noise to prevent singularities
if (noiseVel < noiseMin) noiseVel = noiseMin;
@@ -749,13 +754,16 @@ void KalmanNav::updateParams()
if (noiseLonDegE7 < noiseMin) noiseLonDegE7 = noiseMin;
if (noiseAlt < noiseMin) noiseAlt = noiseMin;
if (noiseGpsAlt < noiseMin) noiseGpsAlt = noiseMin;
if (noisePressAlt < noiseMin) noisePressAlt = noiseMin;
RPos(0, 0) = noiseVel * noiseVel; // vn
RPos(1, 1) = noiseVel * noiseVel; // ve
RPos(2, 2) = noiseLatDegE7 * noiseLatDegE7; // lat
RPos(3, 3) = noiseLonDegE7 * noiseLonDegE7; // lon
RPos(4, 4) = noiseAlt * noiseAlt; // h
RPos(4, 4) = noiseGpsAlt * noiseGpsAlt; // h
RPos(5, 5) = noisePressAlt * noisePressAlt; // h
// XXX, note that RPos depends on lat, so updateParams should
// be called if lat changes significantly
}
apps/examples/kalman_demo/KalmanNav.hpp
+1
View File
@@ -159,6 +159,7 @@ protected:
control::BlockParam<float> _rGpsVel; /**< gps velocity measurement noise */
control::BlockParam<float> _rGpsPos; /**< gps position measurement noise */
control::BlockParam<float> _rGpsAlt; /**< gps altitude measurement noise */
control::BlockParam<float> _rPressAlt; /**< press altitude measurement noise */
control::BlockParam<float> _rAccel; /**< accelerometer measurement noise */
control::BlockParam<float> _magDip; /**< magnetic inclination with level */
control::BlockParam<float> _magDec; /**< magnetic declination, clockwise rotation */
apps/examples/kalman_demo/params.c
+2 -2
View File
@@ -1,16 +1,16 @@
#include <systemlib/param/param.h>
/*PARAM_DEFINE_FLOAT(NAME,0.0f);*/
PARAM_DEFINE_FLOAT(KF_V_GYRO, 1.0f);
PARAM_DEFINE_FLOAT(KF_V_GYRO, 0.008f);
PARAM_DEFINE_FLOAT(KF_V_ACCEL, 1.0f);
PARAM_DEFINE_FLOAT(KF_R_MAG, 1.0f);
PARAM_DEFINE_FLOAT(KF_R_GPS_VEL, 1.0f);
PARAM_DEFINE_FLOAT(KF_R_GPS_POS, 5.0f);
PARAM_DEFINE_FLOAT(KF_R_GPS_ALT, 5.0f);
PARAM_DEFINE_FLOAT(KF_R_PRESS_ALT, 0.1f);
PARAM_DEFINE_FLOAT(KF_R_ACCEL, 1.0f);
PARAM_DEFINE_FLOAT(KF_FAULT_POS, 10.0f);
PARAM_DEFINE_FLOAT(KF_FAULT_ATT, 10.0f);
PARAM_DEFINE_FLOAT(KF_ENV_G, 9.765f);
PARAM_DEFINE_FLOAT(KF_ENV_MAG_DIP, 60.0f);
PARAM_DEFINE_FLOAT(KF_ENV_MAG_DEC, 0.0f);
apps/mavlink/mavlink.c
+2 -1
View File
@@ -442,7 +442,8 @@ int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_conf
int termios_state;
*is_usb = false;
if (strcmp(uart_name, "/dev/ttyACM0") != OK) {
/* make some wild guesses including that USB serial is indicated by either /dev/ttyACM0 or /dev/console */
if (strcmp(uart_name, "/dev/ttyACM0") != OK && strcmp(uart_name, "/dev/console") != OK) {
/* Back up the original uart configuration to restore it after exit */
if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
fprintf(stderr, "[mavlink] ERROR getting baudrate / termios config for %s: %d\n", uart_name, termios_state);
apps/mavlink/mavlink_receiver.c
+85 -7
View File
@@ -308,6 +308,14 @@ handle_message(mavlink_message_t *msg)
uint64_t timestamp = hrt_absolute_time();
/* TODO, set ground_press/ temp during calib */
static const float ground_press = 1013.25f; // mbar
static const float ground_tempC = 21.0f;
static const float ground_alt = 0.0f;
static const float T0 = 273.15;
static const float R = 287.05f;
static const float g = 9.806f;
if (msg->msgid == MAVLINK_MSG_ID_RAW_IMU) {
mavlink_raw_imu_t imu;
@@ -376,6 +384,83 @@ handle_message(mavlink_message_t *msg)
}
}
if (msg->msgid == MAVLINK_MSG_ID_HIGHRES_IMU) {
mavlink_highres_imu_t imu;
mavlink_msg_highres_imu_decode(msg, &imu);
/* packet counter */
static uint16_t hil_counter = 0;
static uint16_t hil_frames = 0;
static uint64_t old_timestamp = 0;
/* sensors general */
hil_sensors.timestamp = imu.time_usec;
/* hil gyro */
static const float mrad2rad = 1.0e-3f;
hil_sensors.gyro_counter = hil_counter;
hil_sensors.gyro_raw[0] = imu.xgyro / mrad2rad;
hil_sensors.gyro_raw[1] = imu.ygyro / mrad2rad;
hil_sensors.gyro_raw[2] = imu.zgyro / mrad2rad;
hil_sensors.gyro_rad_s[0] = imu.xgyro;
hil_sensors.gyro_rad_s[1] = imu.ygyro;
hil_sensors.gyro_rad_s[2] = imu.zgyro;
/* accelerometer */
hil_sensors.accelerometer_counter = hil_counter;
static const float mg2ms2 = 9.8f / 1000.0f;
hil_sensors.accelerometer_raw[0] = imu.xacc / mg2ms2;
hil_sensors.accelerometer_raw[1] = imu.yacc / mg2ms2;
hil_sensors.accelerometer_raw[2] = imu.zacc / mg2ms2;
hil_sensors.accelerometer_m_s2[0] = imu.xacc;
hil_sensors.accelerometer_m_s2[1] = imu.yacc;
hil_sensors.accelerometer_m_s2[2] = imu.zacc;
hil_sensors.accelerometer_mode = 0; // TODO what is this?
hil_sensors.accelerometer_range_m_s2 = 32.7f; // int16
/* adc */
hil_sensors.adc_voltage_v[0] = 0;
hil_sensors.adc_voltage_v[1] = 0;
hil_sensors.adc_voltage_v[2] = 0;
/* magnetometer */
float mga2ga = 1.0e-3f;
hil_sensors.magnetometer_counter = hil_counter;
hil_sensors.magnetometer_raw[0] = imu.xmag / mga2ga;
hil_sensors.magnetometer_raw[1] = imu.ymag / mga2ga;
hil_sensors.magnetometer_raw[2] = imu.zmag / mga2ga;
hil_sensors.magnetometer_ga[0] = imu.xmag;
hil_sensors.magnetometer_ga[1] = imu.ymag;
hil_sensors.magnetometer_ga[2] = imu.zmag;
hil_sensors.magnetometer_range_ga = 32.7f; // int16
hil_sensors.magnetometer_mode = 0; // TODO what is this
hil_sensors.magnetometer_cuttoff_freq_hz = 50.0f;
hil_sensors.baro_pres_mbar = imu.abs_pressure;
float tempC = imu.temperature;
float tempAvgK = T0 + (tempC + ground_tempC) / 2.0f;
float h = ground_alt + (R / g) * tempAvgK * logf(ground_press / imu.abs_pressure);
hil_sensors.baro_alt_meter = h;
hil_sensors.baro_temp_celcius = imu.temperature;
/* publish */
orb_publish(ORB_ID(sensor_combined), pub_hil_sensors, &hil_sensors);
// increment counters
hil_counter += 1 ;
hil_frames += 1 ;
// output
if ((timestamp - old_timestamp) > 10000000) {
printf("receiving hil imu at %d hz\n", hil_frames/10);
old_timestamp = timestamp;
hil_frames = 0;
}
}
if (msg->msgid == MAVLINK_MSG_ID_GPS_RAW_INT) {
mavlink_gps_raw_int_t gps;
@@ -435,13 +520,6 @@ handle_message(mavlink_message_t *msg)
hil_sensors.timestamp = press.time_usec;
/* baro */
/* TODO, set ground_press/ temp during calib */
static const float ground_press = 1013.25f; // mbar
static const float ground_tempC = 21.0f;
static const float ground_alt = 0.0f;
static const float T0 = 273.15;
static const float R = 287.05f;
static const float g = 9.806f;
float tempC = press.temperature / 100.0f;
float tempAvgK = T0 + (tempC + ground_tempC) / 2.0f;
apps/px4/tests/test_hott_telemetry.c
+1
View File
@@ -46,6 +46,7 @@
#include <drivers/drv_gpio.h>
#include <nuttx/config.h>
#include <sys/types.h>
#include <systemlib/err.h>
#include <debug.h>
#include <errno.h>
apps/px4io/controls.c
+1 -1
View File
@@ -177,7 +177,7 @@ controls_tick() {
scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_MAX] - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]));
} else if (raw < (conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])) {
scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE] - conf[PX4IO_P_RC_CONFIG_MIN]));
scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE] - conf[PX4IO_P_RC_CONFIG_MIN]));
} else {
/* in the configured dead zone, output zero */
apps/sensors/sensor_params.c
+1 -1
View File
@@ -88,7 +88,7 @@ PARAM_DEFINE_FLOAT(RC4_MIN, 1000);
PARAM_DEFINE_FLOAT(RC4_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC4_MAX, 2000);
PARAM_DEFINE_FLOAT(RC4_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC4_DZ, 0.0f);
PARAM_DEFINE_FLOAT(RC4_DZ, 30.0f);
PARAM_DEFINE_FLOAT(RC5_MIN, 1000);
PARAM_DEFINE_FLOAT(RC5_TRIM, 1500);
apps/sensors/sensors.cpp
+1 -1
View File
@@ -1190,7 +1190,7 @@ Sensors::ppm_poll()
_rc.chan[i].scaled = (rc_input.values[i] - _parameters.trim[i] - _parameters.dz[i]) / (float)(_parameters.max[i] - _parameters.trim[i] - _parameters.dz[i]);
} else if (rc_input.values[i] < (_parameters.trim[i] - _parameters.dz[i])) {
_rc.chan[i].scaled = (rc_input.values[i] - _parameters.trim[i] - _parameters.dz[i]) / (float)(_parameters.trim[i] - _parameters.min[i] - _parameters.dz[i]);
_rc.chan[i].scaled = (rc_input.values[i] - _parameters.trim[i] + _parameters.dz[i]) / (float)(_parameters.trim[i] - _parameters.min[i] - _parameters.dz[i]);
} else {
/* in the configured dead zone, output zero */
apps/systemcmds/preflight_check/preflight_check.c
+8
View File
@@ -54,6 +54,8 @@
#include <drivers/drv_accel.h>
#include <drivers/drv_baro.h>
#include <mavlink/mavlink_log.h>
__EXPORT int preflight_check_main(int argc, char *argv[]);
static int led_toggle(int leds, int led);
static int led_on(int leds, int led);
@@ -75,6 +77,8 @@ int preflight_check_main(int argc, char *argv[])
bool system_ok = true;
int fd;
/* open text message output path */
int mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
int ret;
/* give the system some time to sample the sensors in the background */
@@ -86,6 +90,7 @@ int preflight_check_main(int argc, char *argv[])
fd = open(MAG_DEVICE_PATH, 0);
if (fd < 0) {
warn("failed to open magnetometer - start with 'hmc5883 start' or 'lsm303d start'");
mavlink_log_critical(mavlink_fd, "SENSOR FAIL: NO MAG");
system_ok = false;
goto system_eval;
}
@@ -93,6 +98,7 @@ int preflight_check_main(int argc, char *argv[])
if (ret != OK) {
warnx("magnetometer calibration missing or bad - calibrate magnetometer first");
mavlink_log_critical(mavlink_fd, "SENSOR FAIL: MAG CALIBRATION");
system_ok = false;
goto system_eval;
}
@@ -105,6 +111,7 @@ int preflight_check_main(int argc, char *argv[])
if (ret != OK) {
warnx("accel self test failed");
mavlink_log_critical(mavlink_fd, "SENSOR FAIL: ACCEL CHECK");
system_ok = false;
goto system_eval;
}
@@ -117,6 +124,7 @@ int preflight_check_main(int argc, char *argv[])
if (ret != OK) {
warnx("gyro self test failed");
mavlink_log_critical(mavlink_fd, "SENSOR FAIL: GYRO CHECK");
system_ok = false;
goto system_eval;
}