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Merge branch 'master' of github.com:jgoppert/Firmware into md25_dev

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This commit is contained in:
James Goppert
2013-08-03 12:18:41 -04:00
parent a569cd834c 24c43ad62d
commit 8f1487b157
35 changed files with 2395 additions and 512 deletions
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src/modules/commander/accelerometer_calibration.c
+2 -2
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@@ -268,8 +268,8 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) {
float accel_disp[3] = { 0.0f, 0.0f, 0.0f };
/* EMA time constant in seconds*/
float ema_len = 0.2f;
/* set "still" threshold to 0.1 m/s^2 */
float still_thr2 = pow(0.1f, 2);
/* set "still" threshold to 0.25 m/s^2 */
float still_thr2 = pow(0.25f, 2);
/* set accel error threshold to 5m/s^2 */
float accel_err_thr = 5.0f;
/* still time required in us */
src/modules/commander/commander.c
+8 -2
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@@ -587,6 +587,8 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
close(fd);
int errcount = 0;
while (calibration_counter < calibration_count) {
/* wait blocking for new data */
@@ -602,8 +604,12 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
calibration_counter++;
} else if (poll_ret == 0) {
/* any poll failure for 1s is a reason to abort */
mavlink_log_info(mavlink_fd, "gyro calibration aborted, retry");
errcount++;
}
if (errcount > 1000) {
/* any persisting poll error is a reason to abort */
mavlink_log_info(mavlink_fd, "permanent gyro error, aborted.");
return;
}
}
src/modules/sensors/sensor_params.c
+1 -1
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@@ -68,7 +68,7 @@ PARAM_DEFINE_FLOAT(SENS_ACC_XSCALE, 1.0f);
PARAM_DEFINE_FLOAT(SENS_ACC_YSCALE, 1.0f);
PARAM_DEFINE_FLOAT(SENS_ACC_ZSCALE, 1.0f);
PARAM_DEFINE_INT32(SENS_DPRES_OFF, 1667);
PARAM_DEFINE_FLOAT(SENS_DPRES_OFF, 1667);
PARAM_DEFINE_FLOAT(RC1_MIN, 1000.0f);
PARAM_DEFINE_FLOAT(RC1_TRIM, 1500.0f);
src/modules/sensors/sensors.cpp
+28 -36
View File
@@ -60,6 +60,7 @@
#include <drivers/drv_baro.h>
#include <drivers/drv_rc_input.h>
#include <drivers/drv_adc.h>
#include <drivers/drv_airspeed.h>
#include <systemlib/systemlib.h>
#include <systemlib/param/param.h>
@@ -197,7 +198,7 @@ private:
float mag_scale[3];
float accel_offset[3];
float accel_scale[3];
int diff_pres_offset_pa;
float diff_pres_offset_pa;
int rc_type;
@@ -230,6 +231,7 @@ private:
float battery_voltage_scaling;
int rc_rl1_DSM_VCC_control;
} _parameters; /**< local copies of interesting parameters */
struct {
@@ -280,6 +282,7 @@ private:
param_t battery_voltage_scaling;
param_t rc_rl1_DSM_VCC_control;
} _parameter_handles; /**< handles for interesting parameters */
@@ -391,7 +394,7 @@ namespace sensors
#endif
static const int ERROR = -1;
Sensors *g_sensors;
Sensors *g_sensors = nullptr;
}
Sensors::Sensors() :
@@ -554,25 +557,11 @@ Sensors::parameters_update()
/* rc values */
for (unsigned int i = 0; i < RC_CHANNELS_MAX; i++) {
if (param_get(_parameter_handles.min[i], &(_parameters.min[i])) != OK) {
warnx("Failed getting min for chan %d", i);
}
if (param_get(_parameter_handles.trim[i], &(_parameters.trim[i])) != OK) {
warnx("Failed getting trim for chan %d", i);
}
if (param_get(_parameter_handles.max[i], &(_parameters.max[i])) != OK) {
warnx("Failed getting max for chan %d", i);
}
if (param_get(_parameter_handles.rev[i], &(_parameters.rev[i])) != OK) {
warnx("Failed getting rev for chan %d", i);
}
if (param_get(_parameter_handles.dz[i], &(_parameters.dz[i])) != OK) {
warnx("Failed getting dead zone for chan %d", i);
}
param_get(_parameter_handles.min[i], &(_parameters.min[i]));
param_get(_parameter_handles.trim[i], &(_parameters.trim[i]));
param_get(_parameter_handles.max[i], &(_parameters.max[i]));
param_get(_parameter_handles.rev[i], &(_parameters.rev[i]));
param_get(_parameter_handles.dz[i], &(_parameters.dz[i]));
_parameters.scaling_factor[i] = (1.0f / ((_parameters.max[i] - _parameters.min[i]) / 2.0f) * _parameters.rev[i]);
@@ -662,21 +651,10 @@ Sensors::parameters_update()
warnx("Failed getting mode aux 5 index");
}
if (param_get(_parameter_handles.rc_scale_roll, &(_parameters.rc_scale_roll)) != OK) {
warnx("Failed getting rc scaling for roll");
}
if (param_get(_parameter_handles.rc_scale_pitch, &(_parameters.rc_scale_pitch)) != OK) {
warnx("Failed getting rc scaling for pitch");
}
if (param_get(_parameter_handles.rc_scale_yaw, &(_parameters.rc_scale_yaw)) != OK) {
warnx("Failed getting rc scaling for yaw");
}
if (param_get(_parameter_handles.rc_scale_flaps, &(_parameters.rc_scale_flaps)) != OK) {
warnx("Failed getting rc scaling for flaps");
}
param_get(_parameter_handles.rc_scale_roll, &(_parameters.rc_scale_roll));
param_get(_parameter_handles.rc_scale_pitch, &(_parameters.rc_scale_pitch));
param_get(_parameter_handles.rc_scale_yaw, &(_parameters.rc_scale_yaw));
param_get(_parameter_handles.rc_scale_flaps, &(_parameters.rc_scale_flaps));
/* update RC function mappings */
_rc.function[THROTTLE] = _parameters.rc_map_throttle - 1;
@@ -1041,6 +1019,20 @@ Sensors::parameter_update_poll(bool forced)
close(fd);
fd = open(AIRSPEED_DEVICE_PATH, 0);
/* this sensor is optional, abort without error */
if (fd > 0) {
struct airspeed_scale airscale = {
_parameters.diff_pres_offset_pa,
1.0f,
};
if (OK != ioctl(fd, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale))
warn("WARNING: failed to set scale / offsets for airspeed sensor");
}
#if 0
printf("CH0: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[0], (int)_parameters.min[0], (int)(_rc.chan[0].scaling_factor * 10000), (int)(_rc.chan[0].mid), (int)_rc.function[0]);
printf("CH1: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[1], (int)_parameters.min[1], (int)(_rc.chan[1].scaling_factor * 10000), (int)(_rc.chan[1].mid), (int)_rc.function[1]);