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

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Thomas Gubler
2014-12-05 09:34:22 +01:00
parent 0f1a7e7b5b 6bd586c837
commit 92135d155d
181 changed files with 5786 additions and 3598 deletions
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src/modules/attitude_estimator_ekf/AttitudeEKF.m
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function [xa_apo,Pa_apo,Rot_matrix,eulerAngles,debugOutput]...
= AttitudeEKF(approx_prediction,use_inertia_matrix,zFlag,dt,z,q_rotSpeed,q_rotAcc,q_acc,q_mag,r_gyro,r_accel,r_mag,J)
%LQG Postion Estimator and Controller
% Observer:
% x[n|n] = x[n|n-1] + M(y[n] - Cx[n|n-1] - Du[n])
% x[n+1|n] = Ax[n|n] + Bu[n]
%
% $Author: Tobias Naegeli $ $Date: 2014 $ $Revision: 3 $
%
%
% Arguments:
% approx_prediction: if 1 then the exponential map is approximated with a
% first order taylor approximation. has at the moment not a big influence
% (just 1st or 2nd order approximation) we should change it to rodriquez
% approximation.
% use_inertia_matrix: set to true if you have the inertia matrix J for your
% quadrotor
% xa_apo_k: old state vectotr
% zFlag: if sensor measurement is available [gyro, acc, mag]
% dt: dt in s
% z: measurements [gyro, acc, mag]
% q_rotSpeed: process noise gyro
% q_rotAcc: process noise gyro acceleration
% q_acc: process noise acceleration
% q_mag: process noise magnetometer
% r_gyro: measurement noise gyro
% r_accel: measurement noise accel
% r_mag: measurement noise mag
% J: moment of inertia matrix
% Output:
% xa_apo: updated state vectotr
% Pa_apo: updated state covariance matrix
% Rot_matrix: rotation matrix
% eulerAngles: euler angles
% debugOutput: not used
%% model specific parameters
% compute once the inverse of the Inertia
persistent Ji;
if isempty(Ji)
Ji=single(inv(J));
end
%% init
persistent x_apo
if(isempty(x_apo))
gyro_init=single([0;0;0]);
gyro_acc_init=single([0;0;0]);
acc_init=single([0;0;-9.81]);
mag_init=single([1;0;0]);
x_apo=single([gyro_init;gyro_acc_init;acc_init;mag_init]);
end
persistent P_apo
if(isempty(P_apo))
% P_apo = single(eye(NSTATES) * 1000);
P_apo = single(200*ones(12));
end
debugOutput = single(zeros(4,1));
%% copy the states
wx= x_apo(1); % x body angular rate
wy= x_apo(2); % y body angular rate
wz= x_apo(3); % z body angular rate
wax= x_apo(4); % x body angular acceleration
way= x_apo(5); % y body angular acceleration
waz= x_apo(6); % z body angular acceleration
zex= x_apo(7); % x component gravity vector
zey= x_apo(8); % y component gravity vector
zez= x_apo(9); % z component gravity vector
mux= x_apo(10); % x component magnetic field vector
muy= x_apo(11); % y component magnetic field vector
muz= x_apo(12); % z component magnetic field vector
%% prediction section
% compute the apriori state estimate from the previous aposteriori estimate
%body angular accelerations
if (use_inertia_matrix==1)
wak =[wax;way;waz]+Ji*(-cross([wax;way;waz],J*[wax;way;waz]))*dt;
else
wak =[wax;way;waz];
end
%body angular rates
wk =[wx; wy; wz] + dt*wak;
%derivative of the prediction rotation matrix
O=[0,-wz,wy;wz,0,-wx;-wy,wx,0]';
%prediction of the earth z vector
if (approx_prediction==1)
%e^(Odt)=I+dt*O+dt^2/2!O^2
% so we do a first order approximation of the exponential map
zek =(O*dt+single(eye(3)))*[zex;zey;zez];
else
zek =(single(eye(3))+O*dt+dt^2/2*O^2)*[zex;zey;zez];
%zek =expm2(O*dt)*[zex;zey;zez]; not working because use double
%precision
end
%prediction of the magnetic vector
if (approx_prediction==1)
%e^(Odt)=I+dt*O+dt^2/2!O^2
% so we do a first order approximation of the exponential map
muk =(O*dt+single(eye(3)))*[mux;muy;muz];
else
muk =(single(eye(3))+O*dt+dt^2/2*O^2)*[mux;muy;muz];
%muk =expm2(O*dt)*[mux;muy;muz]; not working because use double
%precision
end
x_apr=[wk;wak;zek;muk];
% compute the apriori error covariance estimate from the previous
%aposteriori estimate
EZ=[0,zez,-zey;
-zez,0,zex;
zey,-zex,0]';
MA=[0,muz,-muy;
-muz,0,mux;
muy,-mux,0]';
E=single(eye(3));
Z=single(zeros(3));
A_lin=[ Z, E, Z, Z
Z, Z, Z, Z
EZ, Z, O, Z
MA, Z, Z, O];
A_lin=eye(12)+A_lin*dt;
%process covariance matrix
persistent Q
if (isempty(Q))
Q=diag([ q_rotSpeed,q_rotSpeed,q_rotSpeed,...
q_rotAcc,q_rotAcc,q_rotAcc,...
q_acc,q_acc,q_acc,...
q_mag,q_mag,q_mag]);
end
P_apr=A_lin*P_apo*A_lin'+Q;
%% update
if zFlag(1)==1&&zFlag(2)==1&&zFlag(3)==1
% R=[r_gyro,0,0,0,0,0,0,0,0;
% 0,r_gyro,0,0,0,0,0,0,0;
% 0,0,r_gyro,0,0,0,0,0,0;
% 0,0,0,r_accel,0,0,0,0,0;
% 0,0,0,0,r_accel,0,0,0,0;
% 0,0,0,0,0,r_accel,0,0,0;
% 0,0,0,0,0,0,r_mag,0,0;
% 0,0,0,0,0,0,0,r_mag,0;
% 0,0,0,0,0,0,0,0,r_mag];
R_v=[r_gyro,r_gyro,r_gyro,r_accel,r_accel,r_accel,r_mag,r_mag,r_mag];
%observation matrix
%[zw;ze;zmk];
H_k=[ E, Z, Z, Z;
Z, Z, E, Z;
Z, Z, Z, E];
y_k=z(1:9)-H_k*x_apr;
%S_k=H_k*P_apr*H_k'+R;
S_k=H_k*P_apr*H_k';
S_k(1:9+1:end) = S_k(1:9+1:end) + R_v;
K_k=(P_apr*H_k'/(S_k));
x_apo=x_apr+K_k*y_k;
P_apo=(eye(12)-K_k*H_k)*P_apr;
else
if zFlag(1)==1&&zFlag(2)==0&&zFlag(3)==0
R=[r_gyro,0,0;
0,r_gyro,0;
0,0,r_gyro];
R_v=[r_gyro,r_gyro,r_gyro];
%observation matrix
H_k=[ E, Z, Z, Z];
y_k=z(1:3)-H_k(1:3,1:12)*x_apr;
% S_k=H_k(1:3,1:12)*P_apr*H_k(1:3,1:12)'+R(1:3,1:3);
S_k=H_k(1:3,1:12)*P_apr*H_k(1:3,1:12)';
S_k(1:3+1:end) = S_k(1:3+1:end) + R_v;
K_k=(P_apr*H_k(1:3,1:12)'/(S_k));
x_apo=x_apr+K_k*y_k;
P_apo=(eye(12)-K_k*H_k(1:3,1:12))*P_apr;
else
if zFlag(1)==1&&zFlag(2)==1&&zFlag(3)==0
% R=[r_gyro,0,0,0,0,0;
% 0,r_gyro,0,0,0,0;
% 0,0,r_gyro,0,0,0;
% 0,0,0,r_accel,0,0;
% 0,0,0,0,r_accel,0;
% 0,0,0,0,0,r_accel];
R_v=[r_gyro,r_gyro,r_gyro,r_accel,r_accel,r_accel];
%observation matrix
H_k=[ E, Z, Z, Z;
Z, Z, E, Z];
y_k=z(1:6)-H_k(1:6,1:12)*x_apr;
% S_k=H_k(1:6,1:12)*P_apr*H_k(1:6,1:12)'+R(1:6,1:6);
S_k=H_k(1:6,1:12)*P_apr*H_k(1:6,1:12)';
S_k(1:6+1:end) = S_k(1:6+1:end) + R_v;
K_k=(P_apr*H_k(1:6,1:12)'/(S_k));
x_apo=x_apr+K_k*y_k;
P_apo=(eye(12)-K_k*H_k(1:6,1:12))*P_apr;
else
if zFlag(1)==1&&zFlag(2)==0&&zFlag(3)==1
% R=[r_gyro,0,0,0,0,0;
% 0,r_gyro,0,0,0,0;
% 0,0,r_gyro,0,0,0;
% 0,0,0,r_mag,0,0;
% 0,0,0,0,r_mag,0;
% 0,0,0,0,0,r_mag];
R_v=[r_gyro,r_gyro,r_gyro,r_mag,r_mag,r_mag];
%observation matrix
H_k=[ E, Z, Z, Z;
Z, Z, Z, E];
y_k=[z(1:3);z(7:9)]-H_k(1:6,1:12)*x_apr;
%S_k=H_k(1:6,1:12)*P_apr*H_k(1:6,1:12)'+R(1:6,1:6);
S_k=H_k(1:6,1:12)*P_apr*H_k(1:6,1:12)';
S_k(1:6+1:end) = S_k(1:6+1:end) + R_v;
K_k=(P_apr*H_k(1:6,1:12)'/(S_k));
x_apo=x_apr+K_k*y_k;
P_apo=(eye(12)-K_k*H_k(1:6,1:12))*P_apr;
else
x_apo=x_apr;
P_apo=P_apr;
end
end
end
end
%% euler anglels extraction
z_n_b = -x_apo(7:9)./norm(x_apo(7:9));
m_n_b = x_apo(10:12)./norm(x_apo(10:12));
y_n_b=cross(z_n_b,m_n_b);
y_n_b=y_n_b./norm(y_n_b);
x_n_b=(cross(y_n_b,z_n_b));
x_n_b=x_n_b./norm(x_n_b);
xa_apo=x_apo;
Pa_apo=P_apo;
% rotation matrix from earth to body system
Rot_matrix=[x_n_b,y_n_b,z_n_b];
phi=atan2(Rot_matrix(2,3),Rot_matrix(3,3));
theta=-asin(Rot_matrix(1,3));
psi=atan2(Rot_matrix(1,2),Rot_matrix(1,1));
eulerAngles=[phi;theta;psi];
src/modules/attitude_estimator_ekf/attitudeKalmanfilter.prj
+502
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<param.HardwareLongLongMode.Production />
<param.HardwareDivisionRounding.Production />
<var.instance.enabled.Target />
<param.HardwareSizeChar.Target />
<param.HardwareSizeShort.Target />
<param.HardwareSizeInt.Target />
<param.HardwareSizeLongLong.Target />
<param.HardwareSizeFloat.Target />
<param.HardwareSizeDouble.Target />
<param.HardwareEndianness.Target />
<param.HardwareAtomicFloatSize.Target />
<param.CustomToolchainOptions />
<param.ConstantFoldingTimeout />
<param.RecursionLimit />
<param.IncludeTerminateFcn />
<param.TargetLang />
<param.CCompilerCustomOptimizations />
<param.GenerateMakefile />
<param.BuildToolEnable />
<param.MakeCommand />
<param.TemplateMakefile />
<param.BuildToolConfiguration />
<param.InlineThreshold />
<param.InlineThresholdMax />
<param.InlineStackLimit />
<param.EnableMemcpy />
<param.MemcpyThreshold />
<param.EnableOpenMP />
<param.InitFltsAndDblsToZero />
<param.UseECoderFeatures />
</unset>
</profile>
<param.outputfile>/opt/matlab/r2013b/bin/codegen/codegen/lib/AttitudeEKF/AttitudeEKF.a</param.outputfile>
<param.version>R2012a</param.version>
<param.HasECoderFeatures>true</param.HasECoderFeatures>
<param.mex.mainhtml>t:\private\desktop-dinfk-xp\Attitude_Kalmanfilter\codegen\mex\attitudeKalmanfilter\html\index.html</param.mex.mainhtml>
<param.grt.mainhtml>/home/thomasgubler/src/Firmware/src/modules/attitude_estimator_ekf/codegen/html/index.html</param.grt.mainhtml>
<param.CallGeneratedCodeFromTest>true</param.CallGeneratedCodeFromTest>
<param.VerificationMode>option.VerificationMode.None</param.VerificationMode>
<param.SILDebugging>false</param.SILDebugging>
<param.DefaultTestFile>${PROJECT_ROOT}/AttitudeEKF_Test.m</param.DefaultTestFile>
<param.AutoInferDefaultFile>${PROJECT_ROOT}/AttitudeEKF_Test.m</param.AutoInferDefaultFile>
<param.AutoInferUseVariableSize>false</param.AutoInferUseVariableSize>
<param.AutoInferUseUnboundedSize>false</param.AutoInferUseUnboundedSize>
<param.AutoInferVariableSizeThreshold>1024</param.AutoInferVariableSizeThreshold>
<param.AutoInferUnboundedSizeThreshold>2048</param.AutoInferUnboundedSizeThreshold>
<param.mex.outputfile>AttitudeEKF_mex</param.mex.outputfile>
<param.grt.outputfile>AttitudeEKF</param.grt.outputfile>
<param.artifact>option.target.artifact.lib</param.artifact>
<param.FixedPointTypeProposalMode>option.FixedPointTypeProposalMode.ProposeFractionLengths</param.FixedPointTypeProposalMode>
<param.DefaultProposedFixedPointType>numerictype([],16,12)</param.DefaultProposedFixedPointType>
<param.MinMaxSafetyMargin>0</param.MinMaxSafetyMargin>
<param.OptimizeWholeNumbers>true</param.OptimizeWholeNumbers>
<param.LaunchInstrumentationReport>false</param.LaunchInstrumentationReport>
<param.OpenInstrumentationReportInBrowser>false</param.OpenInstrumentationReportInBrowser>
<param.CreatePrintableInstrumentationReport>false</param.CreatePrintableInstrumentationReport>
<param.EnableAutoExtrinsicCalls>true</param.EnableAutoExtrinsicCalls>
<param.UsePreconditions>false</param.UsePreconditions>
<param.FeatureFlags />
<param.FixedPointMode>option.FixedPointMode.None</param.FixedPointMode>
<param.AutoScaleLoopIndexVariables>false</param.AutoScaleLoopIndexVariables>
<param.ComputedFixedPointData />
<param.UserFixedPointData />
<param.DefaultWordLength>16</param.DefaultWordLength>
<param.DefaultFractionLength>4</param.DefaultFractionLength>
<param.FixedPointSafetyMargin>0</param.FixedPointSafetyMargin>
<param.FixedPointFimath>fimath('RoundingMethod', 'Floor', 'OverflowAction', 'Wrap', 'ProductMode', 'FullPrecision', 'MaxProductWordLength', 128, 'SumMode', 'FullPrecision', 'MaxSumWordLength', 128)</param.FixedPointFimath>
<param.FixedPointTypeSource>option.FixedPointTypeSource.SimAndDerived</param.FixedPointTypeSource>
<param.StaticAnalysisTimeout />
<param.StaticAnalysisGlobalRangesOnly>false</param.StaticAnalysisGlobalRangesOnly>
<param.LogAllIOValues>false</param.LogAllIOValues>
<param.LogHistogram>false</param.LogHistogram>
<param.ShowCoverage>true</param.ShowCoverage>
<param.ExcludedFixedPointVerificationFiles />
<param.ExcludedFixedPointSimulationFiles />
<param.InstrumentedBuildChecksum />
<param.FixedPointStaticAnalysisChecksum />
<param.InstrumentedMexFile />
<param.FixedPointValidationChecksum />
<param.FixedPointSourceCodeChecksum />
<param.FixedPointFunctionReplacements />
<param.OptimizeWholeNumbers>true</param.OptimizeWholeNumbers>
<param.GeneratedFixedPointFileSuffix>_fixpt</param.GeneratedFixedPointFileSuffix>
<param.DefaultFixedPointSignedness>option.DefaultFixedPointSignedness.Automatic</param.DefaultFixedPointSignedness>
<unset>
<param.outputfile />
<param.version />
<param.HasECoderFeatures />
<param.CallGeneratedCodeFromTest />
<param.VerificationMode />
<param.SILDebugging />
<param.AutoInferUseVariableSize />
<param.AutoInferUseUnboundedSize />
<param.AutoInferVariableSizeThreshold />
<param.AutoInferUnboundedSizeThreshold />
<param.mex.outputfile />
<param.grt.outputfile />
<param.FixedPointTypeProposalMode />
<param.DefaultProposedFixedPointType />
<param.MinMaxSafetyMargin />
<param.OptimizeWholeNumbers />
<param.LaunchInstrumentationReport />
<param.OpenInstrumentationReportInBrowser />
<param.CreatePrintableInstrumentationReport />
<param.EnableAutoExtrinsicCalls />
<param.UsePreconditions />
<param.FeatureFlags />
<param.FixedPointMode />
<param.AutoScaleLoopIndexVariables />
<param.ComputedFixedPointData />
<param.UserFixedPointData />
<param.DefaultWordLength />
<param.DefaultFractionLength />
<param.FixedPointSafetyMargin />
<param.FixedPointFimath />
<param.FixedPointTypeSource />
<param.StaticAnalysisTimeout />
<param.StaticAnalysisGlobalRangesOnly />
<param.LogAllIOValues />
<param.LogHistogram />
<param.ShowCoverage />
<param.ExcludedFixedPointVerificationFiles />
<param.ExcludedFixedPointSimulationFiles />
<param.InstrumentedBuildChecksum />
<param.FixedPointStaticAnalysisChecksum />
<param.InstrumentedMexFile />
<param.FixedPointValidationChecksum />
<param.FixedPointSourceCodeChecksum />
<param.FixedPointFunctionReplacements />
<param.GeneratedFixedPointFileSuffix />
<param.DefaultFixedPointSignedness />
</unset>
<fileset.entrypoints>
<file value="${PROJECT_ROOT}/AttitudeEKF.m" custom-data-expanded="true">
<Inputs fileName="AttitudeEKF.m" functionName="AttitudeEKF">
<Input Name="approx_prediction">
<Class>uint8</Class>
<UserDefined>false</UserDefined>
<Size>1 x 1</Size>
<Complex>false</Complex>
</Input>
<Input Name="use_inertia_matrix">
<Class>uint8</Class>
<UserDefined>false</UserDefined>
<Size>1 x 1</Size>
<Complex>false</Complex>
</Input>
<Input Name="zFlag">
<Class>uint8</Class>
<UserDefined>false</UserDefined>
<Size>3 x 1</Size>
<Complex>false</Complex>
</Input>
<Input Name="dt">
<Class>single</Class>
<UserDefined>false</UserDefined>
<Size>1 x 1</Size>
<Complex>false</Complex>
</Input>
<Input Name="z">
<Class>single</Class>
<UserDefined>false</UserDefined>
<Size>9 x 1</Size>
<Complex>false</Complex>
</Input>
<Input Name="q_rotSpeed">
<Class>single</Class>
<UserDefined>false</UserDefined>
<Size>1 x 1</Size>
<Complex>false</Complex>
</Input>
<Input Name="q_rotAcc">
<Class>single</Class>
<UserDefined>false</UserDefined>
<Size>1 x 1</Size>
<Complex>false</Complex>
</Input>
<Input Name="q_acc">
<Class>single</Class>
<UserDefined>false</UserDefined>
<Size>1 x 1</Size>
<Complex>false</Complex>
</Input>
<Input Name="q_mag">
<Class>single</Class>
<UserDefined>false</UserDefined>
<Size>1 x 1</Size>
<Complex>false</Complex>
</Input>
<Input Name="r_gyro">
<Class>single</Class>
<UserDefined>false</UserDefined>
<Size>1 x 1</Size>
<Complex>false</Complex>
</Input>
<Input Name="r_accel">
<Class>single</Class>
<UserDefined>false</UserDefined>
<Size>1 x 1</Size>
<Complex>false</Complex>
</Input>
<Input Name="r_mag">
<Class>single</Class>
<UserDefined>false</UserDefined>
<Size>1 x 1</Size>
<Complex>false</Complex>
</Input>
<Input Name="J">
<Class>single</Class>
<UserDefined>false</UserDefined>
<Size>3 x 3</Size>
<Complex>false</Complex>
</Input>
</Inputs>
</file>
</fileset.entrypoints>
<fileset.testbench>
<file>${PROJECT_ROOT}/AttitudeEKF_Test.m</file>
</fileset.testbench>
<fileset.package />
<build-deliverables>
<file name="AttitudeEKF.a" location="${MATLAB_ROOT}/bin/codegen/codegen/lib/AttitudeEKF" optional="false">/opt/matlab/r2013b/bin/codegen/codegen/lib/AttitudeEKF/AttitudeEKF.a</file>
</build-deliverables>
<workflow />
<matlab>
<root>/opt/matlab/r2013b</root>
<toolboxes>
<toolbox name="fixedpoint" />
</toolboxes>
</matlab>
<platform>
<unix>true</unix>
<mac>false</mac>
<windows>false</windows>
<win2k>false</win2k>
<winxp>false</winxp>
<vista>false</vista>
<linux>true</linux>
<solaris>false</solaris>
<osver>3.16.1-1-ARCH</osver>
<os32>false</os32>
<os64>true</os64>
<arch>glnxa64</arch>
<matlab>true</matlab>
</platform>
</configuration>
</deployment-project>
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+26 -11
View File
@@ -38,6 +38,7 @@
*
* @author Tobias Naegeli <naegelit@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include <nuttx/config.h>
@@ -74,8 +75,7 @@
#ifdef __cplusplus
extern "C" {
#endif
#include "codegen/attitudeKalmanfilter_initialize.h"
#include "codegen/attitudeKalmanfilter.h"
#include "codegen/AttitudeEKF.h"
#include "attitude_estimator_ekf_params.h"
#ifdef __cplusplus
}
@@ -132,7 +132,7 @@ int attitude_estimator_ekf_main(int argc, char *argv[])
attitude_estimator_ekf_task = task_spawn_cmd("attitude_estimator_ekf",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
14000,
7200,
attitude_estimator_ekf_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
exit(0);
@@ -206,14 +206,12 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
0, 0, 1.f
}; /**< init: identity matrix */
// print text
printf("Extended Kalman Filter Attitude Estimator initialized..\n\n");
fflush(stdout);
float debugOutput[4] = { 0.0f };
int overloadcounter = 19;
/* Initialize filter */
attitudeKalmanfilter_initialize();
AttitudeEKF_initialize();
/* store start time to guard against too slow update rates */
uint64_t last_run = hrt_absolute_time();
@@ -277,9 +275,9 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
/* keep track of sensor updates */
uint64_t sensor_last_timestamp[3] = {0, 0, 0};
struct attitude_estimator_ekf_params ekf_params;
struct attitude_estimator_ekf_params ekf_params = { 0 };
struct attitude_estimator_ekf_param_handles ekf_param_handles;
struct attitude_estimator_ekf_param_handles ekf_param_handles = { 0 };
/* initialize parameter handles */
parameters_init(&ekf_param_handles);
@@ -508,8 +506,25 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
continue;
}
attitudeKalmanfilter(update_vect, dt, z_k, x_aposteriori_k, P_aposteriori_k, ekf_params.q, ekf_params.r,
euler, Rot_matrix, x_aposteriori, P_aposteriori);
/* Call the estimator */
AttitudeEKF(false, // approx_prediction
(unsigned char)ekf_params.use_moment_inertia,
update_vect,
dt,
z_k,
ekf_params.q[0], // q_rotSpeed,
ekf_params.q[1], // q_rotAcc
ekf_params.q[2], // q_acc
ekf_params.q[3], // q_mag
ekf_params.r[0], // r_gyro
ekf_params.r[1], // r_accel
ekf_params.r[2], // r_mag
ekf_params.moment_inertia_J,
x_aposteriori,
P_aposteriori,
Rot_matrix,
euler,
debugOutput);
/* swap values for next iteration, check for fatal inputs */
if (isfinite(euler[0]) && isfinite(euler[1]) && isfinite(euler[2])) {
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
+90 -16
View File
@@ -44,28 +44,96 @@
/* Extended Kalman Filter covariances */
/* gyro process noise */
PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q0, 1e-4f);
PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q1, 0.08f);
PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q2, 0.009f);
/* gyro offsets process noise */
PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q3, 0.005f);
PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q4, 0.0f);
/* gyro measurement noise */
/**
* Body angular rate process noise
*
* @group attitude_ekf
*/
PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q0, 1e-4f);
/**
* Body angular acceleration process noise
*
* @group attitude_ekf
*/
PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q1, 0.08f);
/**
* Acceleration process noise
*
* @group attitude_ekf
*/
PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q2, 0.009f);
/**
* Magnet field vector process noise
*
* @group attitude_ekf
*/
PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q3, 0.005f);
/**
* Gyro measurement noise
*
* @group attitude_ekf
*/
PARAM_DEFINE_FLOAT(EKF_ATT_V4_R0, 0.0008f);
/* accel measurement noise */
/**
* Accel measurement noise
*
* @group attitude_ekf
*/
PARAM_DEFINE_FLOAT(EKF_ATT_V4_R1, 10000.0f);
/* mag measurement noise */
/**
* Mag measurement noise
*
* @group attitude_ekf
*/
PARAM_DEFINE_FLOAT(EKF_ATT_V4_R2, 100.0f);
/* offset estimation - UNUSED */
PARAM_DEFINE_FLOAT(EKF_ATT_V4_R3, 0.0f);
/* magnetic declination, in degrees */
PARAM_DEFINE_FLOAT(ATT_MAG_DECL, 0.0f);
PARAM_DEFINE_INT32(ATT_ACC_COMP, 2);
/**
* Moment of inertia matrix diagonal entry (1, 1)
*
* @group attitude_ekf
* @unit kg*m^2
*/
PARAM_DEFINE_FLOAT(ATT_J11, 0.0018);
/**
* Moment of inertia matrix diagonal entry (2, 2)
*
* @group attitude_ekf
* @unit kg*m^2
*/
PARAM_DEFINE_FLOAT(ATT_J22, 0.0018);
/**
* Moment of inertia matrix diagonal entry (3, 3)
*
* @group attitude_ekf
* @unit kg*m^2
*/
PARAM_DEFINE_FLOAT(ATT_J33, 0.0037);
/**
* Moment of inertia enabled in estimator
*
* If set to != 0 the moment of inertia will be used in the estimator
*
* @group attitude_ekf
* @min 0
* @max 1
*/
PARAM_DEFINE_INT32(ATT_J_EN, 0);
int parameters_init(struct attitude_estimator_ekf_param_handles *h)
{
/* PID parameters */
@@ -73,17 +141,20 @@ int parameters_init(struct attitude_estimator_ekf_param_handles *h)
h->q1 = param_find("EKF_ATT_V3_Q1");
h->q2 = param_find("EKF_ATT_V3_Q2");
h->q3 = param_find("EKF_ATT_V3_Q3");
h->q4 = param_find("EKF_ATT_V3_Q4");
h->r0 = param_find("EKF_ATT_V4_R0");
h->r1 = param_find("EKF_ATT_V4_R1");
h->r2 = param_find("EKF_ATT_V4_R2");
h->r3 = param_find("EKF_ATT_V4_R3");
h->mag_decl = param_find("ATT_MAG_DECL");
h->acc_comp = param_find("ATT_ACC_COMP");
h->moment_inertia_J[0] = param_find("ATT_J11");
h->moment_inertia_J[1] = param_find("ATT_J22");
h->moment_inertia_J[2] = param_find("ATT_J33");
h->use_moment_inertia = param_find("ATT_J_EN");
return OK;
}
@@ -93,17 +164,20 @@ int parameters_update(const struct attitude_estimator_ekf_param_handles *h, stru
param_get(h->q1, &(p->q[1]));
param_get(h->q2, &(p->q[2]));
param_get(h->q3, &(p->q[3]));
param_get(h->q4, &(p->q[4]));
param_get(h->r0, &(p->r[0]));
param_get(h->r1, &(p->r[1]));
param_get(h->r2, &(p->r[2]));
param_get(h->r3, &(p->r[3]));
param_get(h->mag_decl, &(p->mag_decl));
p->mag_decl *= M_PI_F / 180.0f;
param_get(h->acc_comp, &(p->acc_comp));
for (int i = 0; i < 3; i++) {
param_get(h->moment_inertia_J[i], &(p->moment_inertia_J[3 * i + i]));
}
param_get(h->use_moment_inertia, &(p->use_moment_inertia));
return OK;
}
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h
+8 -4
View File
@@ -42,8 +42,10 @@
#include <systemlib/param/param.h>
struct attitude_estimator_ekf_params {
float r[9];
float q[12];
float r[3];
float q[4];
float moment_inertia_J[9];
int32_t use_moment_inertia;
float roll_off;
float pitch_off;
float yaw_off;
@@ -52,8 +54,10 @@ struct attitude_estimator_ekf_params {
};
struct attitude_estimator_ekf_param_handles {
param_t r0, r1, r2, r3;
param_t q0, q1, q2, q3, q4;
param_t r0, r1, r2;
param_t q0, q1, q2, q3;
param_t moment_inertia_J[3]; /**< diagonal entries of the matrix */
param_t use_moment_inertia;
param_t mag_decl;
param_t acc_comp;
};
src/modules/attitude_estimator_ekf/codegen/AttitudeEKF.c
+1456
View File
File diff suppressed because it is too large Load Diff
src/modules/attitude_estimator_ekf/codegen/AttitudeEKF.h
+26
View File
@@ -0,0 +1,26 @@
/*
* AttitudeEKF.h
*
* Code generation for function 'AttitudeEKF'
*
* C source code generated on: Thu Aug 21 11:17:28 2014
*
*/
#ifndef __ATTITUDEEKF_H__
#define __ATTITUDEEKF_H__
/* Include files */
#include <math.h>
#include <stddef.h>
#include <stdlib.h>
#include <string.h>
#include "rtwtypes.h"
#include "AttitudeEKF_types.h"
/* Function Declarations */
extern void AttitudeEKF(unsigned char approx_prediction, unsigned char use_inertia_matrix, const unsigned char zFlag[3], float dt, const float z[9], float q_rotSpeed, float q_rotAcc, float q_acc, float q_mag, float r_gyro, float r_accel, float r_mag, const float J[9], float xa_apo[12], float Pa_apo[144], float Rot_matrix[9], float eulerAngles[3], float debugOutput[4]);
extern void AttitudeEKF_initialize(void);
extern void AttitudeEKF_terminate(void);
#endif
/* End of code generation (AttitudeEKF.h) */
src/modules/attitude_estimator_ekf/codegen/AttitudeEKF_types.h
+17
View File
@@ -0,0 +1,17 @@
/*
* AttitudeEKF_types.h
*
* Code generation for function 'AttitudeEKF'
*
* C source code generated on: Thu Aug 21 11:17:28 2014
*
*/
#ifndef __ATTITUDEEKF_TYPES_H__
#define __ATTITUDEEKF_TYPES_H__
/* Include files */
#include "rtwtypes.h"
#endif
/* End of code generation (AttitudeEKF_types.h) */
src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c
-1148
View File
File diff suppressed because it is too large Load Diff
src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h
-34
View File
@@ -1,34 +0,0 @@
/*
* attitudeKalmanfilter.h
*
* Code generation for function 'attitudeKalmanfilter'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
#ifndef __ATTITUDEKALMANFILTER_H__
#define __ATTITUDEKALMANFILTER_H__
/* Include files */
#include <math.h>
#include <stddef.h>
#include <stdlib.h>
#include <string.h>
#include "rt_defines.h"
#include "rt_nonfinite.h"
#include "rtwtypes.h"
#include "attitudeKalmanfilter_types.h"
/* Type Definitions */
/* Named Constants */
/* Variable Declarations */
/* Variable Definitions */
/* Function Declarations */
extern void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const real32_T z[9], const real32_T x_aposteriori_k[12], const real32_T P_aposteriori_k[144], const real32_T q[12], real32_T r[9], real32_T eulerAngles[3], real32_T Rot_matrix[9], real32_T x_aposteriori[12], real32_T P_aposteriori[144]);
#endif
/* End of code generation (attitudeKalmanfilter.h) */
src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.c
-31
View File
@@ -1,31 +0,0 @@
/*
* attitudeKalmanfilter_initialize.c
*
* Code generation for function 'attitudeKalmanfilter_initialize'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
/* Include files */
#include "rt_nonfinite.h"
#include "attitudeKalmanfilter.h"
#include "attitudeKalmanfilter_initialize.h"
/* Type Definitions */
/* Named Constants */
/* Variable Declarations */
/* Variable Definitions */
/* Function Declarations */
/* Function Definitions */
void attitudeKalmanfilter_initialize(void)
{
rt_InitInfAndNaN(8U);
}
/* End of code generation (attitudeKalmanfilter_initialize.c) */
src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.h
-34
View File
@@ -1,34 +0,0 @@
/*
* attitudeKalmanfilter_initialize.h
*
* Code generation for function 'attitudeKalmanfilter_initialize'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
#ifndef __ATTITUDEKALMANFILTER_INITIALIZE_H__
#define __ATTITUDEKALMANFILTER_INITIALIZE_H__
/* Include files */
#include <math.h>
#include <stddef.h>
#include <stdlib.h>
#include <string.h>
#include "rt_defines.h"
#include "rt_nonfinite.h"
#include "rtwtypes.h"
#include "attitudeKalmanfilter_types.h"
/* Type Definitions */
/* Named Constants */
/* Variable Declarations */
/* Variable Definitions */
/* Function Declarations */
extern void attitudeKalmanfilter_initialize(void);
#endif
/* End of code generation (attitudeKalmanfilter_initialize.h) */
src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.c
-31
View File
@@ -1,31 +0,0 @@
/*
* attitudeKalmanfilter_terminate.c
*
* Code generation for function 'attitudeKalmanfilter_terminate'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
/* Include files */
#include "rt_nonfinite.h"
#include "attitudeKalmanfilter.h"
#include "attitudeKalmanfilter_terminate.h"
/* Type Definitions */
/* Named Constants */
/* Variable Declarations */
/* Variable Definitions */
/* Function Declarations */
/* Function Definitions */
void attitudeKalmanfilter_terminate(void)
{
/* (no terminate code required) */
}
/* End of code generation (attitudeKalmanfilter_terminate.c) */
src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.h
-34
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@@ -1,34 +0,0 @@
/*
* attitudeKalmanfilter_terminate.h
*
* Code generation for function 'attitudeKalmanfilter_terminate'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
#ifndef __ATTITUDEKALMANFILTER_TERMINATE_H__
#define __ATTITUDEKALMANFILTER_TERMINATE_H__
/* Include files */
#include <math.h>
#include <stddef.h>
#include <stdlib.h>
#include <string.h>
#include "rt_defines.h"
#include "rt_nonfinite.h"
#include "rtwtypes.h"
#include "attitudeKalmanfilter_types.h"
/* Type Definitions */
/* Named Constants */
/* Variable Declarations */
/* Variable Definitions */
/* Function Declarations */
extern void attitudeKalmanfilter_terminate(void);
#endif
/* End of code generation (attitudeKalmanfilter_terminate.h) */
src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_types.h
-16
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@@ -1,16 +0,0 @@
/*
* attitudeKalmanfilter_types.h
*
* Code generation for function 'attitudeKalmanfilter'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
#ifndef __ATTITUDEKALMANFILTER_TYPES_H__
#define __ATTITUDEKALMANFILTER_TYPES_H__
/* Type Definitions */
#endif
/* End of code generation (attitudeKalmanfilter_types.h) */
src/modules/attitude_estimator_ekf/codegen/cross.c
-37
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@@ -1,37 +0,0 @@
/*
* cross.c
*
* Code generation for function 'cross'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
/* Include files */
#include "rt_nonfinite.h"
#include "attitudeKalmanfilter.h"
#include "cross.h"
/* Type Definitions */
/* Named Constants */
/* Variable Declarations */
/* Variable Definitions */
/* Function Declarations */
/* Function Definitions */
/*
*
*/
void cross(const real32_T a[3], const real32_T b[3], real32_T c[3])
{
c[0] = a[1] * b[2] - a[2] * b[1];
c[1] = a[2] * b[0] - a[0] * b[2];
c[2] = a[0] * b[1] - a[1] * b[0];
}
/* End of code generation (cross.c) */
src/modules/attitude_estimator_ekf/codegen/cross.h
-34
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@@ -1,34 +0,0 @@
/*
* cross.h
*
* Code generation for function 'cross'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
#ifndef __CROSS_H__
#define __CROSS_H__
/* Include files */
#include <math.h>
#include <stddef.h>
#include <stdlib.h>
#include <string.h>
#include "rt_defines.h"
#include "rt_nonfinite.h"
#include "rtwtypes.h"
#include "attitudeKalmanfilter_types.h"
/* Type Definitions */
/* Named Constants */
/* Variable Declarations */
/* Variable Definitions */
/* Function Declarations */
extern void cross(const real32_T a[3], const real32_T b[3], real32_T c[3]);
#endif
/* End of code generation (cross.h) */
src/modules/attitude_estimator_ekf/codegen/eye.c
-51
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@@ -1,51 +0,0 @@
/*
* eye.c
*
* Code generation for function 'eye'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
/* Include files */
#include "rt_nonfinite.h"
#include "attitudeKalmanfilter.h"
#include "eye.h"
/* Type Definitions */
/* Named Constants */
/* Variable Declarations */
/* Variable Definitions */
/* Function Declarations */
/* Function Definitions */
/*
*
*/
void b_eye(real_T I[144])
{
int32_T i;
memset(&I[0], 0, 144U * sizeof(real_T));
for (i = 0; i < 12; i++) {
I[i + 12 * i] = 1.0;
}
}
/*
*
*/
void eye(real_T I[9])
{
int32_T i;
memset(&I[0], 0, 9U * sizeof(real_T));
for (i = 0; i < 3; i++) {
I[i + 3 * i] = 1.0;
}
}
/* End of code generation (eye.c) */
src/modules/attitude_estimator_ekf/codegen/eye.h
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@@ -1,35 +0,0 @@
/*
* eye.h
*
* Code generation for function 'eye'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
#ifndef __EYE_H__
#define __EYE_H__
/* Include files */
#include <math.h>
#include <stddef.h>
#include <stdlib.h>
#include <string.h>
#include "rt_defines.h"
#include "rt_nonfinite.h"
#include "rtwtypes.h"
#include "attitudeKalmanfilter_types.h"
/* Type Definitions */
/* Named Constants */
/* Variable Declarations */
/* Variable Definitions */
/* Function Declarations */
extern void b_eye(real_T I[144]);
extern void eye(real_T I[9]);
#endif
/* End of code generation (eye.h) */
src/modules/attitude_estimator_ekf/codegen/mrdivide.c
-357
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@@ -1,357 +0,0 @@
/*
* mrdivide.c
*
* Code generation for function 'mrdivide'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
/* Include files */
#include "rt_nonfinite.h"
#include "attitudeKalmanfilter.h"
#include "mrdivide.h"
/* Type Definitions */
/* Named Constants */
/* Variable Declarations */
/* Variable Definitions */
/* Function Declarations */
/* Function Definitions */
/*
*
*/
void b_mrdivide(const real32_T A[36], const real32_T B[9], real32_T y[36])
{
real32_T b_A[9];
int32_T rtemp;
int32_T k;
real32_T b_B[36];
int32_T r1;
int32_T r2;
int32_T r3;
real32_T maxval;
real32_T a21;
real32_T Y[36];
for (rtemp = 0; rtemp < 3; rtemp++) {
for (k = 0; k < 3; k++) {
b_A[k + 3 * rtemp] = B[rtemp + 3 * k];
}
}
for (rtemp = 0; rtemp < 12; rtemp++) {
for (k = 0; k < 3; k++) {
b_B[k + 3 * rtemp] = A[rtemp + 12 * k];
}
}
r1 = 0;
r2 = 1;
r3 = 2;
maxval = (real32_T)fabs(b_A[0]);
a21 = (real32_T)fabs(b_A[1]);
if (a21 > maxval) {
maxval = a21;
r1 = 1;
r2 = 0;
}
if ((real32_T)fabs(b_A[2]) > maxval) {
r1 = 2;
r2 = 1;
r3 = 0;
}
b_A[r2] /= b_A[r1];
b_A[r3] /= b_A[r1];
b_A[3 + r2] -= b_A[r2] * b_A[3 + r1];
b_A[3 + r3] -= b_A[r3] * b_A[3 + r1];
b_A[6 + r2] -= b_A[r2] * b_A[6 + r1];
b_A[6 + r3] -= b_A[r3] * b_A[6 + r1];
if ((real32_T)fabs(b_A[3 + r3]) > (real32_T)fabs(b_A[3 + r2])) {
rtemp = r2;
r2 = r3;
r3 = rtemp;
}
b_A[3 + r3] /= b_A[3 + r2];
b_A[6 + r3] -= b_A[3 + r3] * b_A[6 + r2];
for (k = 0; k < 12; k++) {
Y[3 * k] = b_B[r1 + 3 * k];
Y[1 + 3 * k] = b_B[r2 + 3 * k] - Y[3 * k] * b_A[r2];
Y[2 + 3 * k] = (b_B[r3 + 3 * k] - Y[3 * k] * b_A[r3]) - Y[1 + 3 * k] * b_A[3
+ r3];
Y[2 + 3 * k] /= b_A[6 + r3];
Y[3 * k] -= Y[2 + 3 * k] * b_A[6 + r1];
Y[1 + 3 * k] -= Y[2 + 3 * k] * b_A[6 + r2];
Y[1 + 3 * k] /= b_A[3 + r2];
Y[3 * k] -= Y[1 + 3 * k] * b_A[3 + r1];
Y[3 * k] /= b_A[r1];
}
for (rtemp = 0; rtemp < 3; rtemp++) {
for (k = 0; k < 12; k++) {
y[k + 12 * rtemp] = Y[rtemp + 3 * k];
}
}
}
/*
*
*/
void c_mrdivide(const real32_T A[72], const real32_T B[36], real32_T y[72])
{
real32_T b_A[36];
int8_T ipiv[6];
int32_T i3;
int32_T iy;
int32_T j;
int32_T c;
int32_T ix;
real32_T temp;
int32_T k;
real32_T s;
int32_T jy;
int32_T ijA;
real32_T Y[72];
for (i3 = 0; i3 < 6; i3++) {
for (iy = 0; iy < 6; iy++) {
b_A[iy + 6 * i3] = B[i3 + 6 * iy];
}
ipiv[i3] = (int8_T)(1 + i3);
}
for (j = 0; j < 5; j++) {
c = j * 7;
iy = 0;
ix = c;
temp = (real32_T)fabs(b_A[c]);
for (k = 2; k <= 6 - j; k++) {
ix++;
s = (real32_T)fabs(b_A[ix]);
if (s > temp) {
iy = k - 1;
temp = s;
}
}
if (b_A[c + iy] != 0.0F) {
if (iy != 0) {
ipiv[j] = (int8_T)((j + iy) + 1);
ix = j;
iy += j;
for (k = 0; k < 6; k++) {
temp = b_A[ix];
b_A[ix] = b_A[iy];
b_A[iy] = temp;
ix += 6;
iy += 6;
}
}
i3 = (c - j) + 6;
for (jy = c + 1; jy + 1 <= i3; jy++) {
b_A[jy] /= b_A[c];
}
}
iy = c;
jy = c + 6;
for (k = 1; k <= 5 - j; k++) {
temp = b_A[jy];
if (b_A[jy] != 0.0F) {
ix = c + 1;
i3 = (iy - j) + 12;
for (ijA = 7 + iy; ijA + 1 <= i3; ijA++) {
b_A[ijA] += b_A[ix] * -temp;
ix++;
}
}
jy += 6;
iy += 6;
}
}
for (i3 = 0; i3 < 12; i3++) {
for (iy = 0; iy < 6; iy++) {
Y[iy + 6 * i3] = A[i3 + 12 * iy];
}
}
for (jy = 0; jy < 6; jy++) {
if (ipiv[jy] != jy + 1) {
for (j = 0; j < 12; j++) {
temp = Y[jy + 6 * j];
Y[jy + 6 * j] = Y[(ipiv[jy] + 6 * j) - 1];
Y[(ipiv[jy] + 6 * j) - 1] = temp;
}
}
}
for (j = 0; j < 12; j++) {
c = 6 * j;
for (k = 0; k < 6; k++) {
iy = 6 * k;
if (Y[k + c] != 0.0F) {
for (jy = k + 2; jy < 7; jy++) {
Y[(jy + c) - 1] -= Y[k + c] * b_A[(jy + iy) - 1];
}
}
}
}
for (j = 0; j < 12; j++) {
c = 6 * j;
for (k = 5; k > -1; k += -1) {
iy = 6 * k;
if (Y[k + c] != 0.0F) {
Y[k + c] /= b_A[k + iy];
for (jy = 0; jy + 1 <= k; jy++) {
Y[jy + c] -= Y[k + c] * b_A[jy + iy];
}
}
}
}
for (i3 = 0; i3 < 6; i3++) {
for (iy = 0; iy < 12; iy++) {
y[iy + 12 * i3] = Y[i3 + 6 * iy];
}
}
}
/*
*
*/
void mrdivide(const real32_T A[108], const real32_T B[81], real32_T y[108])
{
real32_T b_A[81];
int8_T ipiv[9];
int32_T i2;
int32_T iy;
int32_T j;
int32_T c;
int32_T ix;
real32_T temp;
int32_T k;
real32_T s;
int32_T jy;
int32_T ijA;
real32_T Y[108];
for (i2 = 0; i2 < 9; i2++) {
for (iy = 0; iy < 9; iy++) {
b_A[iy + 9 * i2] = B[i2 + 9 * iy];
}
ipiv[i2] = (int8_T)(1 + i2);
}
for (j = 0; j < 8; j++) {
c = j * 10;
iy = 0;
ix = c;
temp = (real32_T)fabs(b_A[c]);
for (k = 2; k <= 9 - j; k++) {
ix++;
s = (real32_T)fabs(b_A[ix]);
if (s > temp) {
iy = k - 1;
temp = s;
}
}
if (b_A[c + iy] != 0.0F) {
if (iy != 0) {
ipiv[j] = (int8_T)((j + iy) + 1);
ix = j;
iy += j;
for (k = 0; k < 9; k++) {
temp = b_A[ix];
b_A[ix] = b_A[iy];
b_A[iy] = temp;
ix += 9;
iy += 9;
}
}
i2 = (c - j) + 9;
for (jy = c + 1; jy + 1 <= i2; jy++) {
b_A[jy] /= b_A[c];
}
}
iy = c;
jy = c + 9;
for (k = 1; k <= 8 - j; k++) {
temp = b_A[jy];
if (b_A[jy] != 0.0F) {
ix = c + 1;
i2 = (iy - j) + 18;
for (ijA = 10 + iy; ijA + 1 <= i2; ijA++) {
b_A[ijA] += b_A[ix] * -temp;
ix++;
}
}
jy += 9;
iy += 9;
}
}
for (i2 = 0; i2 < 12; i2++) {
for (iy = 0; iy < 9; iy++) {
Y[iy + 9 * i2] = A[i2 + 12 * iy];
}
}
for (jy = 0; jy < 9; jy++) {
if (ipiv[jy] != jy + 1) {
for (j = 0; j < 12; j++) {
temp = Y[jy + 9 * j];
Y[jy + 9 * j] = Y[(ipiv[jy] + 9 * j) - 1];
Y[(ipiv[jy] + 9 * j) - 1] = temp;
}
}
}
for (j = 0; j < 12; j++) {
c = 9 * j;
for (k = 0; k < 9; k++) {
iy = 9 * k;
if (Y[k + c] != 0.0F) {
for (jy = k + 2; jy < 10; jy++) {
Y[(jy + c) - 1] -= Y[k + c] * b_A[(jy + iy) - 1];
}
}
}
}
for (j = 0; j < 12; j++) {
c = 9 * j;
for (k = 8; k > -1; k += -1) {
iy = 9 * k;
if (Y[k + c] != 0.0F) {
Y[k + c] /= b_A[k + iy];
for (jy = 0; jy + 1 <= k; jy++) {
Y[jy + c] -= Y[k + c] * b_A[jy + iy];
}
}
}
}
for (i2 = 0; i2 < 9; i2++) {
for (iy = 0; iy < 12; iy++) {
y[iy + 12 * i2] = Y[i2 + 9 * iy];
}
}
}
/* End of code generation (mrdivide.c) */
src/modules/attitude_estimator_ekf/codegen/mrdivide.h
-36
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@@ -1,36 +0,0 @@
/*
* mrdivide.h
*
* Code generation for function 'mrdivide'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
#ifndef __MRDIVIDE_H__
#define __MRDIVIDE_H__
/* Include files */
#include <math.h>
#include <stddef.h>
#include <stdlib.h>
#include <string.h>
#include "rt_defines.h"
#include "rt_nonfinite.h"
#include "rtwtypes.h"
#include "attitudeKalmanfilter_types.h"
/* Type Definitions */
/* Named Constants */
/* Variable Declarations */
/* Variable Definitions */
/* Function Declarations */
extern void b_mrdivide(const real32_T A[36], const real32_T B[9], real32_T y[36]);
extern void c_mrdivide(const real32_T A[72], const real32_T B[36], real32_T y[72]);
extern void mrdivide(const real32_T A[108], const real32_T B[81], real32_T y[108]);
#endif
/* End of code generation (mrdivide.h) */
src/modules/attitude_estimator_ekf/codegen/norm.c
-54
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@@ -1,54 +0,0 @@
/*
* norm.c
*
* Code generation for function 'norm'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
/* Include files */
#include "rt_nonfinite.h"
#include "attitudeKalmanfilter.h"
#include "norm.h"
/* Type Definitions */
/* Named Constants */
/* Variable Declarations */
/* Variable Definitions */
/* Function Declarations */
/* Function Definitions */
/*
*
*/
real32_T norm(const real32_T x[3])
{
real32_T y;
real32_T scale;
int32_T k;
real32_T absxk;
real32_T t;
y = 0.0F;
scale = 1.17549435E-38F;
for (k = 0; k < 3; k++) {
absxk = (real32_T)fabs(x[k]);
if (absxk > scale) {
t = scale / absxk;
y = 1.0F + y * t * t;
scale = absxk;
} else {
t = absxk / scale;
y += t * t;
}
}
return scale * (real32_T)sqrt(y);
}
/* End of code generation (norm.c) */
src/modules/attitude_estimator_ekf/codegen/norm.h
-34
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@@ -1,34 +0,0 @@
/*
* norm.h
*
* Code generation for function 'norm'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
#ifndef __NORM_H__
#define __NORM_H__
/* Include files */
#include <math.h>
#include <stddef.h>
#include <stdlib.h>
#include <string.h>
#include "rt_defines.h"
#include "rt_nonfinite.h"
#include "rtwtypes.h"
#include "attitudeKalmanfilter_types.h"
/* Type Definitions */
/* Named Constants */
/* Variable Declarations */
/* Variable Definitions */
/* Function Declarations */
extern real32_T norm(const real32_T x[3]);
#endif
/* End of code generation (norm.h) */
src/modules/attitude_estimator_ekf/codegen/rdivide.c
-38
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@@ -1,38 +0,0 @@
/*
* rdivide.c
*
* Code generation for function 'rdivide'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
/* Include files */
#include "rt_nonfinite.h"
#include "attitudeKalmanfilter.h"
#include "rdivide.h"
/* Type Definitions */
/* Named Constants */
/* Variable Declarations */
/* Variable Definitions */
/* Function Declarations */
/* Function Definitions */
/*
*
*/
void rdivide(const real32_T x[3], real32_T y, real32_T z[3])
{
int32_T i;
for (i = 0; i < 3; i++) {
z[i] = x[i] / y;
}
}
/* End of code generation (rdivide.c) */
src/modules/attitude_estimator_ekf/codegen/rdivide.h
-34
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@@ -1,34 +0,0 @@
/*
* rdivide.h
*
* Code generation for function 'rdivide'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
#ifndef __RDIVIDE_H__
#define __RDIVIDE_H__
/* Include files */
#include <math.h>
#include <stddef.h>
#include <stdlib.h>
#include <string.h>
#include "rt_defines.h"
#include "rt_nonfinite.h"
#include "rtwtypes.h"
#include "attitudeKalmanfilter_types.h"
/* Type Definitions */
/* Named Constants */
/* Variable Declarations */
/* Variable Definitions */
/* Function Declarations */
extern void rdivide(const real32_T x[3], real32_T y, real32_T z[3]);
#endif
/* End of code generation (rdivide.h) */
src/modules/attitude_estimator_ekf/codegen/rtGetInf.c
-139
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@@ -1,139 +0,0 @@
/*
* rtGetInf.c
*
* Code generation for function 'attitudeKalmanfilter'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
/*
* Abstract:
* MATLAB for code generation function to initialize non-finite, Inf and MinusInf
*/
#include "rtGetInf.h"
#define NumBitsPerChar 8U
/* Function: rtGetInf ==================================================
* Abstract:
* Initialize rtInf needed by the generated code.
* Inf is initialized as non-signaling. Assumes IEEE.
*/
real_T rtGetInf(void)
{
size_t bitsPerReal = sizeof(real_T) * (NumBitsPerChar);
real_T inf = 0.0;
if (bitsPerReal == 32U) {
inf = rtGetInfF();
} else {
uint16_T one = 1U;
enum {
LittleEndian,
BigEndian
} machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian;
switch (machByteOrder) {
case LittleEndian:
{
union {
LittleEndianIEEEDouble bitVal;
real_T fltVal;
} tmpVal;
tmpVal.bitVal.words.wordH = 0x7FF00000U;
tmpVal.bitVal.words.wordL = 0x00000000U;
inf = tmpVal.fltVal;
break;
}
case BigEndian:
{
union {
BigEndianIEEEDouble bitVal;
real_T fltVal;
} tmpVal;
tmpVal.bitVal.words.wordH = 0x7FF00000U;
tmpVal.bitVal.words.wordL = 0x00000000U;
inf = tmpVal.fltVal;
break;
}
}
}
return inf;
}
/* Function: rtGetInfF ==================================================
* Abstract:
* Initialize rtInfF needed by the generated code.
* Inf is initialized as non-signaling. Assumes IEEE.
*/
real32_T rtGetInfF(void)
{
IEEESingle infF;
infF.wordL.wordLuint = 0x7F800000U;
return infF.wordL.wordLreal;
}
/* Function: rtGetMinusInf ==================================================
* Abstract:
* Initialize rtMinusInf needed by the generated code.
* Inf is initialized as non-signaling. Assumes IEEE.
*/
real_T rtGetMinusInf(void)
{
size_t bitsPerReal = sizeof(real_T) * (NumBitsPerChar);
real_T minf = 0.0;
if (bitsPerReal == 32U) {
minf = rtGetMinusInfF();
} else {
uint16_T one = 1U;
enum {
LittleEndian,
BigEndian
} machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian;
switch (machByteOrder) {
case LittleEndian:
{
union {
LittleEndianIEEEDouble bitVal;
real_T fltVal;
} tmpVal;
tmpVal.bitVal.words.wordH = 0xFFF00000U;
tmpVal.bitVal.words.wordL = 0x00000000U;
minf = tmpVal.fltVal;
break;
}
case BigEndian:
{
union {
BigEndianIEEEDouble bitVal;
real_T fltVal;
} tmpVal;
tmpVal.bitVal.words.wordH = 0xFFF00000U;
tmpVal.bitVal.words.wordL = 0x00000000U;
minf = tmpVal.fltVal;
break;
}
}
}
return minf;
}
/* Function: rtGetMinusInfF ==================================================
* Abstract:
* Initialize rtMinusInfF needed by the generated code.
* Inf is initialized as non-signaling. Assumes IEEE.
*/
real32_T rtGetMinusInfF(void)
{
IEEESingle minfF;
minfF.wordL.wordLuint = 0xFF800000U;
return minfF.wordL.wordLreal;
}
/* End of code generation (rtGetInf.c) */
src/modules/attitude_estimator_ekf/codegen/rtGetInf.h
-23
View File
@@ -1,23 +0,0 @@
/*
* rtGetInf.h
*
* Code generation for function 'attitudeKalmanfilter'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
#ifndef __RTGETINF_H__
#define __RTGETINF_H__
#include <stddef.h>
#include "rtwtypes.h"
#include "rt_nonfinite.h"
extern real_T rtGetInf(void);
extern real32_T rtGetInfF(void);
extern real_T rtGetMinusInf(void);
extern real32_T rtGetMinusInfF(void);
#endif
/* End of code generation (rtGetInf.h) */
src/modules/attitude_estimator_ekf/codegen/rtGetNaN.c
-96
View File
@@ -1,96 +0,0 @@
/*
* rtGetNaN.c
*
* Code generation for function 'attitudeKalmanfilter'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
/*
* Abstract:
* MATLAB for code generation function to initialize non-finite, NaN
*/
#include "rtGetNaN.h"
#define NumBitsPerChar 8U
/* Function: rtGetNaN ==================================================
* Abstract:
* Initialize rtNaN needed by the generated code.
* NaN is initialized as non-signaling. Assumes IEEE.
*/
real_T rtGetNaN(void)
{
size_t bitsPerReal = sizeof(real_T) * (NumBitsPerChar);
real_T nan = 0.0;
if (bitsPerReal == 32U) {
nan = rtGetNaNF();
} else {
uint16_T one = 1U;
enum {
LittleEndian,
BigEndian
} machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian;
switch (machByteOrder) {
case LittleEndian:
{
union {
LittleEndianIEEEDouble bitVal;
real_T fltVal;
} tmpVal;
tmpVal.bitVal.words.wordH = 0xFFF80000U;
tmpVal.bitVal.words.wordL = 0x00000000U;
nan = tmpVal.fltVal;
break;
}
case BigEndian:
{
union {
BigEndianIEEEDouble bitVal;
real_T fltVal;
} tmpVal;
tmpVal.bitVal.words.wordH = 0x7FFFFFFFU;
tmpVal.bitVal.words.wordL = 0xFFFFFFFFU;
nan = tmpVal.fltVal;
break;
}
}
}
return nan;
}
/* Function: rtGetNaNF ==================================================
* Abstract:
* Initialize rtNaNF needed by the generated code.
* NaN is initialized as non-signaling. Assumes IEEE.
*/
real32_T rtGetNaNF(void)
{
IEEESingle nanF = { { 0 } };
uint16_T one = 1U;
enum {
LittleEndian,
BigEndian
} machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian;
switch (machByteOrder) {
case LittleEndian:
{
nanF.wordL.wordLuint = 0xFFC00000U;
break;
}
case BigEndian:
{
nanF.wordL.wordLuint = 0x7FFFFFFFU;
break;
}
}
return nanF.wordL.wordLreal;
}
/* End of code generation (rtGetNaN.c) */
src/modules/attitude_estimator_ekf/codegen/rtGetNaN.h
-21
View File
@@ -1,21 +0,0 @@
/*
* rtGetNaN.h
*
* Code generation for function 'attitudeKalmanfilter'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
#ifndef __RTGETNAN_H__
#define __RTGETNAN_H__
#include <stddef.h>
#include "rtwtypes.h"
#include "rt_nonfinite.h"
extern real_T rtGetNaN(void);
extern real32_T rtGetNaNF(void);
#endif
/* End of code generation (rtGetNaN.h) */
src/modules/attitude_estimator_ekf/codegen/rt_defines.h
-24
View File
@@ -1,24 +0,0 @@
/*
* rt_defines.h
*
* Code generation for function 'attitudeKalmanfilter'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
#ifndef __RT_DEFINES_H__
#define __RT_DEFINES_H__
#include <stdlib.h>
#define RT_PI 3.14159265358979323846
#define RT_PIF 3.1415927F
#define RT_LN_10 2.30258509299404568402
#define RT_LN_10F 2.3025851F
#define RT_LOG10E 0.43429448190325182765
#define RT_LOG10EF 0.43429449F
#define RT_E 2.7182818284590452354
#define RT_EF 2.7182817F
#endif
/* End of code generation (rt_defines.h) */
src/modules/attitude_estimator_ekf/codegen/rt_nonfinite.c
-87
View File
@@ -1,87 +0,0 @@
/*
* rt_nonfinite.c
*
* Code generation for function 'attitudeKalmanfilter'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
/*
* Abstract:
* MATLAB for code generation function to initialize non-finites,
* (Inf, NaN and -Inf).
*/
#include "rt_nonfinite.h"
#include "rtGetNaN.h"
#include "rtGetInf.h"
real_T rtInf;
real_T rtMinusInf;
real_T rtNaN;
real32_T rtInfF;
real32_T rtMinusInfF;
real32_T rtNaNF;
/* Function: rt_InitInfAndNaN ==================================================
* Abstract:
* Initialize the rtInf, rtMinusInf, and rtNaN needed by the
* generated code. NaN is initialized as non-signaling. Assumes IEEE.
*/
void rt_InitInfAndNaN(size_t realSize)
{
(void) (realSize);
rtNaN = rtGetNaN();
rtNaNF = rtGetNaNF();
rtInf = rtGetInf();
rtInfF = rtGetInfF();
rtMinusInf = rtGetMinusInf();
rtMinusInfF = rtGetMinusInfF();
}
/* Function: rtIsInf ==================================================
* Abstract:
* Test if value is infinite
*/
boolean_T rtIsInf(real_T value)
{
return ((value==rtInf || value==rtMinusInf) ? 1U : 0U);
}
/* Function: rtIsInfF =================================================
* Abstract:
* Test if single-precision value is infinite
*/
boolean_T rtIsInfF(real32_T value)
{
return(((value)==rtInfF || (value)==rtMinusInfF) ? 1U : 0U);
}
/* Function: rtIsNaN ==================================================
* Abstract:
* Test if value is not a number
*/
boolean_T rtIsNaN(real_T value)
{
#if defined(_MSC_VER) && (_MSC_VER <= 1200)
return _isnan(value)? TRUE:FALSE;
#else
return (value!=value)? 1U:0U;
#endif
}
/* Function: rtIsNaNF =================================================
* Abstract:
* Test if single-precision value is not a number
*/
boolean_T rtIsNaNF(real32_T value)
{
#if defined(_MSC_VER) && (_MSC_VER <= 1200)
return _isnan((real_T)value)? true:false;
#else
return (value!=value)? 1U:0U;
#endif
}
/* End of code generation (rt_nonfinite.c) */
src/modules/attitude_estimator_ekf/codegen/rt_nonfinite.h
-53
View File
@@ -1,53 +0,0 @@
/*
* rt_nonfinite.h
*
* Code generation for function 'attitudeKalmanfilter'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
#ifndef __RT_NONFINITE_H__
#define __RT_NONFINITE_H__
#if defined(_MSC_VER) && (_MSC_VER <= 1200)
#include <float.h>
#endif
#include <stddef.h>
#include "rtwtypes.h"
extern real_T rtInf;
extern real_T rtMinusInf;
extern real_T rtNaN;
extern real32_T rtInfF;
extern real32_T rtMinusInfF;
extern real32_T rtNaNF;
extern void rt_InitInfAndNaN(size_t realSize);
extern boolean_T rtIsInf(real_T value);
extern boolean_T rtIsInfF(real32_T value);
extern boolean_T rtIsNaN(real_T value);
extern boolean_T rtIsNaNF(real32_T value);
typedef struct {
struct {
uint32_T wordH;
uint32_T wordL;
} words;
} BigEndianIEEEDouble;
typedef struct {
struct {
uint32_T wordL;
uint32_T wordH;
} words;
} LittleEndianIEEEDouble;
typedef struct {
union {
real32_T wordLreal;
uint32_T wordLuint;
} wordL;
} IEEESingle;
#endif
/* End of code generation (rt_nonfinite.h) */
src/modules/attitude_estimator_ekf/codegen/rtwtypes.h
Executable → Regular
+160 -159
View File
@@ -1,159 +1,160 @@
/*
* rtwtypes.h
*
* Code generation for function 'attitudeKalmanfilter'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
#ifndef __RTWTYPES_H__
#define __RTWTYPES_H__
#ifndef TRUE
# define TRUE (1U)
#endif
#ifndef FALSE
# define FALSE (0U)
#endif
#ifndef __TMWTYPES__
#define __TMWTYPES__
#include <limits.h>
/*=======================================================================*
* Target hardware information
* Device type: Generic->MATLAB Host Computer
* Number of bits: char: 8 short: 16 int: 32
* long: 32 native word size: 32
* Byte ordering: LittleEndian
* Signed integer division rounds to: Zero
* Shift right on a signed integer as arithmetic shift: on
*=======================================================================*/
/*=======================================================================*
* Fixed width word size data types: *
* int8_T, int16_T, int32_T - signed 8, 16, or 32 bit integers *
* uint8_T, uint16_T, uint32_T - unsigned 8, 16, or 32 bit integers *
* real32_T, real64_T - 32 and 64 bit floating point numbers *
*=======================================================================*/
typedef signed char int8_T;
typedef unsigned char uint8_T;
typedef short int16_T;
typedef unsigned short uint16_T;
typedef int int32_T;
typedef unsigned int uint32_T;
typedef float real32_T;
typedef double real64_T;
/*===========================================================================*
* Generic type definitions: real_T, time_T, boolean_T, int_T, uint_T, *
* ulong_T, char_T and byte_T. *
*===========================================================================*/
typedef double real_T;
typedef double time_T;
typedef unsigned char boolean_T;
typedef int int_T;
typedef unsigned int uint_T;
typedef unsigned long ulong_T;
typedef char char_T;
typedef char_T byte_T;
/*===========================================================================*
* Complex number type definitions *
*===========================================================================*/
#define CREAL_T
typedef struct {
real32_T re;
real32_T im;
} creal32_T;
typedef struct {
real64_T re;
real64_T im;
} creal64_T;
typedef struct {
real_T re;
real_T im;
} creal_T;
typedef struct {
int8_T re;
int8_T im;
} cint8_T;
typedef struct {
uint8_T re;
uint8_T im;
} cuint8_T;
typedef struct {
int16_T re;
int16_T im;
} cint16_T;
typedef struct {
uint16_T re;
uint16_T im;
} cuint16_T;
typedef struct {
int32_T re;
int32_T im;
} cint32_T;
typedef struct {
uint32_T re;
uint32_T im;
} cuint32_T;
/*=======================================================================*
* Min and Max: *
* int8_T, int16_T, int32_T - signed 8, 16, or 32 bit integers *
* uint8_T, uint16_T, uint32_T - unsigned 8, 16, or 32 bit integers *
*=======================================================================*/
#define MAX_int8_T ((int8_T)(127))
#define MIN_int8_T ((int8_T)(-128))
#define MAX_uint8_T ((uint8_T)(255))
#define MIN_uint8_T ((uint8_T)(0))
#define MAX_int16_T ((int16_T)(32767))
#define MIN_int16_T ((int16_T)(-32768))
#define MAX_uint16_T ((uint16_T)(65535))
#define MIN_uint16_T ((uint16_T)(0))
#define MAX_int32_T ((int32_T)(2147483647))
#define MIN_int32_T ((int32_T)(-2147483647-1))
#define MAX_uint32_T ((uint32_T)(0xFFFFFFFFU))
#define MIN_uint32_T ((uint32_T)(0))
/* Logical type definitions */
#if !defined(__cplusplus) && !defined(__true_false_are_keywords)
# ifndef false
# define false (0U)
# endif
# ifndef true
# define true (1U)
# endif
#endif
/*
* MATLAB for code generation assumes the code is compiled on a target using a 2's compliment representation
* for signed integer values.
*/
#if ((SCHAR_MIN + 1) != -SCHAR_MAX)
#error "This code must be compiled using a 2's complement representation for signed integer values"
#endif
/*
* Maximum length of a MATLAB identifier (function/variable)
* including the null-termination character. Referenced by
* rt_logging.c and rt_matrx.c.
*/
#define TMW_NAME_LENGTH_MAX 64
#endif
#endif
/* End of code generation (rtwtypes.h) */
/*
* rtwtypes.h
*
* Code generation for function 'AttitudeEKF'
*
* C source code generated on: Thu Aug 21 11:17:28 2014
*
*/
#ifndef __RTWTYPES_H__
#define __RTWTYPES_H__
#ifndef TRUE
# define TRUE (1U)
#endif
#ifndef FALSE
# define FALSE (0U)
#endif
#ifndef __TMWTYPES__
#define __TMWTYPES__
#include <limits.h>
/*=======================================================================*
* Target hardware information
* Device type: ARM Compatible->ARM Cortex
* Number of bits: char: 8 short: 16 int: 32
* long: 32
* native word size: 32
* Byte ordering: LittleEndian
* Signed integer division rounds to: Undefined
* Shift right on a signed integer as arithmetic shift: on
*=======================================================================*/
/*=======================================================================*
* Fixed width word size data types: *
* int8_T, int16_T, int32_T - signed 8, 16, or 32 bit integers *
* uint8_T, uint16_T, uint32_T - unsigned 8, 16, or 32 bit integers *
* real32_T, real64_T - 32 and 64 bit floating point numbers *
*=======================================================================*/
typedef signed char int8_T;
typedef unsigned char uint8_T;
typedef short int16_T;
typedef unsigned short uint16_T;
typedef int int32_T;
typedef unsigned int uint32_T;
typedef float real32_T;
typedef double real64_T;
/*===========================================================================*
* Generic type definitions: real_T, time_T, boolean_T, int_T, uint_T, *
* ulong_T, char_T and byte_T. *
*===========================================================================*/
typedef double real_T;
typedef double time_T;
typedef unsigned char boolean_T;
typedef int int_T;
typedef unsigned int uint_T;
typedef unsigned long ulong_T;
typedef char char_T;
typedef char_T byte_T;
/*===========================================================================*
* Complex number type definitions *
*===========================================================================*/
#define CREAL_T
typedef struct {
real32_T re;
real32_T im;
} creal32_T;
typedef struct {
real64_T re;
real64_T im;
} creal64_T;
typedef struct {
real_T re;
real_T im;
} creal_T;
typedef struct {
int8_T re;
int8_T im;
} cint8_T;
typedef struct {
uint8_T re;
uint8_T im;
} cuint8_T;
typedef struct {
int16_T re;
int16_T im;
} cint16_T;
typedef struct {
uint16_T re;
uint16_T im;
} cuint16_T;
typedef struct {
int32_T re;
int32_T im;
} cint32_T;
typedef struct {
uint32_T re;
uint32_T im;
} cuint32_T;
/*=======================================================================*
* Min and Max: *
* int8_T, int16_T, int32_T - signed 8, 16, or 32 bit integers *
* uint8_T, uint16_T, uint32_T - unsigned 8, 16, or 32 bit integers *
*=======================================================================*/
#define MAX_int8_T ((int8_T)(127))
#define MIN_int8_T ((int8_T)(-128))
#define MAX_uint8_T ((uint8_T)(255))
#define MIN_uint8_T ((uint8_T)(0))
#define MAX_int16_T ((int16_T)(32767))
#define MIN_int16_T ((int16_T)(-32768))
#define MAX_uint16_T ((uint16_T)(65535))
#define MIN_uint16_T ((uint16_T)(0))
#define MAX_int32_T ((int32_T)(2147483647))
#define MIN_int32_T ((int32_T)(-2147483647-1))
#define MAX_uint32_T ((uint32_T)(0xFFFFFFFFU))
#define MIN_uint32_T ((uint32_T)(0))
/* Logical type definitions */
#if !defined(__cplusplus) && !defined(__true_false_are_keywords)
# ifndef false
# define false (0U)
# endif
# ifndef true
# define true (1U)
# endif
#endif
/*
* MATLAB for code generation assumes the code is compiled on a target using a 2's compliment representation
* for signed integer values.
*/
#if ((SCHAR_MIN + 1) != -SCHAR_MAX)
#error "This code must be compiled using a 2's complement representation for signed integer values"
#endif
/*
* Maximum length of a MATLAB identifier (function/variable)
* including the null-termination character. Referenced by
* rt_logging.c and rt_matrx.c.
*/
#define TMW_NAME_LENGTH_MAX 64
#endif
#endif
/* End of code generation (rtwtypes.h) */
src/modules/attitude_estimator_ekf/module.mk
+1 -11
View File
@@ -39,16 +39,6 @@ MODULE_COMMAND = attitude_estimator_ekf
SRCS = attitude_estimator_ekf_main.cpp \
attitude_estimator_ekf_params.c \
codegen/eye.c \
codegen/attitudeKalmanfilter.c \
codegen/mrdivide.c \
codegen/rdivide.c \
codegen/attitudeKalmanfilter_initialize.c \
codegen/attitudeKalmanfilter_terminate.c \
codegen/rt_nonfinite.c \
codegen/rtGetInf.c \
codegen/rtGetNaN.c \
codegen/norm.c \
codegen/cross.c
codegen/AttitudeEKF.c
MODULE_STACKSIZE = 1200
src/modules/bottle_drop/bottle_drop.cpp
+10 -11
View File
@@ -223,7 +223,7 @@ BottleDrop::start()
_main_task = task_spawn_cmd("bottle_drop",
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT + 15,
2048,
1500,
(main_t)&BottleDrop::task_main_trampoline,
nullptr);
@@ -283,7 +283,6 @@ BottleDrop::drop()
// force the door open if we have to
if (_doors_opened == 0) {
open_bay();
warnx("bay not ready, forced open");
}
while (hrt_elapsed_time(&_doors_opened) < 500 * 1000 && hrt_elapsed_time(&starttime) < 2000000) {
@@ -723,16 +722,16 @@ BottleDrop::handle_command(struct vehicle_command_s *cmd)
if (cmd->param1 > 0.5f && cmd->param2 > 0.5f) {
open_bay();
drop();
mavlink_log_info(_mavlink_fd, "#audio: drop bottle");
mavlink_log_critical(_mavlink_fd, "drop bottle");
} else if (cmd->param1 > 0.5f) {
open_bay();
mavlink_log_info(_mavlink_fd, "#audio: opening bay");
mavlink_log_critical(_mavlink_fd, "opening bay");
} else {
lock_release();
close_bay();
mavlink_log_info(_mavlink_fd, "#audio: closing bay");
mavlink_log_critical(_mavlink_fd, "closing bay");
}
answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
@@ -743,12 +742,12 @@ BottleDrop::handle_command(struct vehicle_command_s *cmd)
switch ((int)(cmd->param1 + 0.5f)) {
case 0:
_drop_approval = false;
mavlink_log_info(_mavlink_fd, "#audio: got drop position, no approval");
mavlink_log_critical(_mavlink_fd, "got drop position, no approval");
break;
case 1:
_drop_approval = true;
mavlink_log_info(_mavlink_fd, "#audio: got drop position and approval");
mavlink_log_critical(_mavlink_fd, "got drop position and approval");
break;
default:
@@ -818,19 +817,19 @@ BottleDrop::answer_command(struct vehicle_command_s *cmd, enum VEHICLE_CMD_RESUL
break;
case VEHICLE_CMD_RESULT_DENIED:
mavlink_log_critical(_mavlink_fd, "#audio: command denied: %u", cmd->command);
mavlink_log_critical(_mavlink_fd, "command denied: %u", cmd->command);
break;
case VEHICLE_CMD_RESULT_FAILED:
mavlink_log_critical(_mavlink_fd, "#audio: command failed: %u", cmd->command);
mavlink_log_critical(_mavlink_fd, "command failed: %u", cmd->command);
break;
case VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED:
mavlink_log_critical(_mavlink_fd, "#audio: command temporarily rejected: %u", cmd->command);
mavlink_log_critical(_mavlink_fd, "command temporarily rejected: %u", cmd->command);
break;
case VEHICLE_CMD_RESULT_UNSUPPORTED:
mavlink_log_critical(_mavlink_fd, "#audio: command unsupported: %u", cmd->command);
mavlink_log_critical(_mavlink_fd, "command unsupported: %u", cmd->command);
break;
default:
src/modules/bottle_drop/module.mk
+4
View File
@@ -39,3 +39,7 @@ MODULE_COMMAND = bottle_drop
SRCS = bottle_drop.cpp \
bottle_drop_params.c
MAXOPTIMIZATION = -Os
MODULE_STACKSIZE = 1200
src/modules/commander/accelerometer_calibration.cpp
+5 -5
View File
@@ -263,7 +263,7 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float
const int samples_num = 2500;
float accel_ref[6][3];
bool data_collected[6] = { false, false, false, false, false, false };
const char *orientation_strs[6] = { "front", "back", "left", "right", "top", "bottom" };
const char *orientation_strs[6] = { "back", "front", "left", "right", "up", "down" };
int sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined));
@@ -294,12 +294,12 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float
/* inform user which axes are still needed */
mavlink_log_info(mavlink_fd, "pending: %s%s%s%s%s%s",
(!data_collected[0]) ? "front " : "",
(!data_collected[1]) ? "back " : "",
(!data_collected[5]) ? "down " : "",
(!data_collected[0]) ? "back " : "",
(!data_collected[1]) ? "front " : "",
(!data_collected[2]) ? "left " : "",
(!data_collected[3]) ? "right " : "",
(!data_collected[4]) ? "up " : "",
(!data_collected[5]) ? "down " : "");
(!data_collected[4]) ? "up " : "");
/* allow user enough time to read the message */
sleep(3);
src/modules/commander/commander.cpp
+101 -77
View File
@@ -220,8 +220,6 @@ void control_status_leds(vehicle_status_s *status, const actuator_armed_s *actua
void check_valid(hrt_abstime timestamp, hrt_abstime timeout, bool valid_in, bool *valid_out, bool *changed);
void check_mode_switches(struct manual_control_setpoint_s *sp_man, struct vehicle_status_s *status);
transition_result_t set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoint_s *sp_man);
void set_control_mode();
@@ -312,12 +310,16 @@ int commander_main(int argc, char *argv[])
}
if (!strcmp(argv[1], "arm")) {
arm_disarm(true, mavlink_fd, "command line");
int mavlink_fd_local = open(MAVLINK_LOG_DEVICE, 0);
arm_disarm(true, mavlink_fd_local, "command line");
close(mavlink_fd_local);
exit(0);
}
if (!strcmp(argv[1], "disarm")) {
arm_disarm(false, mavlink_fd, "command line");
int mavlink_fd_local = open(MAVLINK_LOG_DEVICE, 0);
arm_disarm(false, mavlink_fd_local, "command line");
close(mavlink_fd_local);
exit(0);
}
@@ -760,7 +762,10 @@ int commander_thread_main(int argc, char *argv[])
nav_states_str[NAVIGATION_STATE_AUTO_MISSION] = "AUTO_MISSION";
nav_states_str[NAVIGATION_STATE_AUTO_LOITER] = "AUTO_LOITER";
nav_states_str[NAVIGATION_STATE_AUTO_RTL] = "AUTO_RTL";
nav_states_str[NAVIGATION_STATE_AUTO_RCRECOVER] = "AUTO_RCRECOVER";
nav_states_str[NAVIGATION_STATE_AUTO_RTGS] = "AUTO_RTGS";
nav_states_str[NAVIGATION_STATE_AUTO_LANDENGFAIL] = "AUTO_LANDENGFAIL";
nav_states_str[NAVIGATION_STATE_AUTO_LANDGPSFAIL] = "AUTO_LANDGPSFAIL";
nav_states_str[NAVIGATION_STATE_ACRO] = "ACRO";
nav_states_str[NAVIGATION_STATE_LAND] = "LAND";
nav_states_str[NAVIGATION_STATE_DESCEND] = "DESCEND";
@@ -1543,7 +1548,7 @@ int commander_thread_main(int argc, char *argv[])
} else {
if (status.rc_signal_lost) {
mavlink_log_critical(mavlink_fd, "RC signal regained");
mavlink_log_critical(mavlink_fd, "RC SIGNAL REGAINED after %llums",(hrt_absolute_time()-status.rc_signal_lost_timestamp)/1000);
status_changed = true;
}
}
@@ -1644,8 +1649,9 @@ int commander_thread_main(int argc, char *argv[])
} else {
if (!status.rc_signal_lost) {
mavlink_log_critical(mavlink_fd, "RC SIGNAL LOST");
mavlink_log_critical(mavlink_fd, "RC SIGNAL LOST (at t=%llums)",hrt_absolute_time()/1000);
status.rc_signal_lost = true;
status.rc_signal_lost_timestamp=sp_man.timestamp;
status_changed = true;
}
}
@@ -1848,7 +1854,11 @@ int commander_thread_main(int argc, char *argv[])
if (status.failsafe != failsafe_old) {
status_changed = true;
mavlink_log_info(mavlink_fd, "[cmd] failsafe state: %i", status.failsafe);
if (status.failsafe) {
mavlink_log_critical(mavlink_fd, "failsafe mode on");
} else {
mavlink_log_critical(mavlink_fd, "failsafe mode off");
}
failsafe_old = status.failsafe;
}
@@ -2196,6 +2206,59 @@ set_control_mode()
control_mode.flag_control_termination_enabled = false;
break;
case NAVIGATION_STATE_ALTCTL:
control_mode.flag_control_manual_enabled = true;
control_mode.flag_control_auto_enabled = false;
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
control_mode.flag_control_altitude_enabled = true;
control_mode.flag_control_climb_rate_enabled = true;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
control_mode.flag_control_termination_enabled = false;
break;
case NAVIGATION_STATE_POSCTL:
control_mode.flag_control_manual_enabled = true;
control_mode.flag_control_auto_enabled = false;
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
control_mode.flag_control_altitude_enabled = true;
control_mode.flag_control_climb_rate_enabled = true;
control_mode.flag_control_position_enabled = true;
control_mode.flag_control_velocity_enabled = true;
control_mode.flag_control_termination_enabled = false;
break;
case NAVIGATION_STATE_AUTO_MISSION:
case NAVIGATION_STATE_AUTO_LOITER:
case NAVIGATION_STATE_AUTO_RTL:
case NAVIGATION_STATE_AUTO_RCRECOVER:
case NAVIGATION_STATE_AUTO_RTGS:
case NAVIGATION_STATE_AUTO_LANDENGFAIL:
control_mode.flag_control_manual_enabled = false;
control_mode.flag_control_auto_enabled = true;
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
control_mode.flag_control_altitude_enabled = true;
control_mode.flag_control_climb_rate_enabled = true;
control_mode.flag_control_position_enabled = true;
control_mode.flag_control_velocity_enabled = true;
control_mode.flag_control_termination_enabled = false;
break;
case NAVIGATION_STATE_AUTO_LANDGPSFAIL:
control_mode.flag_control_manual_enabled = false;
control_mode.flag_control_auto_enabled = false;
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = true;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
control_mode.flag_control_termination_enabled = false;
break;
case NAVIGATION_STATE_ACRO:
control_mode.flag_control_manual_enabled = true;
control_mode.flag_control_auto_enabled = false;
@@ -2208,18 +2271,46 @@ set_control_mode()
control_mode.flag_control_termination_enabled = false;
break;
case NAVIGATION_STATE_ALTCTL:
control_mode.flag_control_manual_enabled = true;
control_mode.flag_control_auto_enabled = false;
case NAVIGATION_STATE_LAND:
control_mode.flag_control_manual_enabled = false;
control_mode.flag_control_auto_enabled = true;
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
/* in failsafe LAND mode position may be not available */
control_mode.flag_control_position_enabled = status.condition_local_position_valid;
control_mode.flag_control_velocity_enabled = status.condition_local_position_valid;
control_mode.flag_control_altitude_enabled = true;
control_mode.flag_control_climb_rate_enabled = true;
control_mode.flag_control_termination_enabled = false;
break;
case NAVIGATION_STATE_DESCEND:
/* TODO: check if this makes sense */
control_mode.flag_control_manual_enabled = false;
control_mode.flag_control_auto_enabled = true;
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = true;
control_mode.flag_control_termination_enabled = false;
break;
case NAVIGATION_STATE_TERMINATION:
/* disable all controllers on termination */
control_mode.flag_control_manual_enabled = false;
control_mode.flag_control_auto_enabled = false;
control_mode.flag_control_rates_enabled = false;
control_mode.flag_control_attitude_enabled = false;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = false;
control_mode.flag_control_termination_enabled = true;
break;
case NAVIGATION_STATE_OFFBOARD:
control_mode.flag_control_manual_enabled = false;
control_mode.flag_control_auto_enabled = false;
@@ -2275,73 +2366,6 @@ set_control_mode()
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
}
break;
case NAVIGATION_STATE_POSCTL:
control_mode.flag_control_manual_enabled = true;
control_mode.flag_control_auto_enabled = false;
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
control_mode.flag_control_altitude_enabled = true;
control_mode.flag_control_climb_rate_enabled = true;
control_mode.flag_control_position_enabled = true;
control_mode.flag_control_velocity_enabled = true;
control_mode.flag_control_termination_enabled = false;
break;
case NAVIGATION_STATE_AUTO_MISSION:
case NAVIGATION_STATE_AUTO_LOITER:
case NAVIGATION_STATE_AUTO_RTL:
case NAVIGATION_STATE_AUTO_RTGS:
case NAVIGATION_STATE_AUTO_LANDENGFAIL:
control_mode.flag_control_manual_enabled = false;
control_mode.flag_control_auto_enabled = true;
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
control_mode.flag_control_altitude_enabled = true;
control_mode.flag_control_climb_rate_enabled = true;
control_mode.flag_control_position_enabled = true;
control_mode.flag_control_velocity_enabled = true;
control_mode.flag_control_termination_enabled = false;
break;
case NAVIGATION_STATE_AUTO_LANDGPSFAIL:
control_mode.flag_control_manual_enabled = false;
control_mode.flag_control_auto_enabled = false;
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = true;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
control_mode.flag_control_termination_enabled = false;
break;
case NAVIGATION_STATE_LAND:
control_mode.flag_control_manual_enabled = false;
control_mode.flag_control_auto_enabled = true;
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
/* in failsafe LAND mode position may be not available */
control_mode.flag_control_position_enabled = status.condition_local_position_valid;
control_mode.flag_control_velocity_enabled = status.condition_local_position_valid;
control_mode.flag_control_altitude_enabled = true;
control_mode.flag_control_climb_rate_enabled = true;
control_mode.flag_control_termination_enabled = false;
break;
case NAVIGATION_STATE_TERMINATION:
/* disable all controllers on termination */
control_mode.flag_control_manual_enabled = false;
control_mode.flag_control_auto_enabled = false;
control_mode.flag_control_rates_enabled = false;
control_mode.flag_control_attitude_enabled = false;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = false;
control_mode.flag_control_termination_enabled = true;
break;
default:
src/modules/commander/state_machine_helper.cpp
+20 -17
View File
@@ -444,7 +444,7 @@ transition_result_t hil_state_transition(hil_state_t new_state, int status_pub,
* Check failsafe and main status and set navigation status for navigator accordingly
*/
bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_enabled, const bool mission_finished,
const bool stay_in_failsafe)
const bool stay_in_failsafe)
{
navigation_state_t nav_state_old = status->nav_state;
@@ -497,11 +497,13 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
break;
case MAIN_STATE_AUTO_MISSION:
/* go into failsafe
* - if commanded to do so
* - if we have an engine failure
* - if either the datalink is enabled and lost as well as RC is lost
* - if there is no datalink and the mission is finished */
* - depending on datalink, RC and if the mission is finished */
/* first look at the commands */
if (status->engine_failure_cmd) {
status->nav_state = NAVIGATION_STATE_AUTO_LANDENGFAIL;
} else if (status->data_link_lost_cmd) {
@@ -509,14 +511,17 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
} else if (status->gps_failure_cmd) {
status->nav_state = NAVIGATION_STATE_AUTO_LANDGPSFAIL;
} else if (status->rc_signal_lost_cmd) {
status->nav_state = NAVIGATION_STATE_AUTO_RTGS; //XXX
/* Finished handling commands which have priority , now handle failures */
status->nav_state = NAVIGATION_STATE_AUTO_RCRECOVER;
/* finished handling commands which have priority, now handle failures */
} else if (status->gps_failure) {
status->nav_state = NAVIGATION_STATE_AUTO_LANDGPSFAIL;
} else if (status->engine_failure) {
status->nav_state = NAVIGATION_STATE_AUTO_LANDENGFAIL;
} else if (((status->data_link_lost && data_link_loss_enabled) && status->rc_signal_lost) ||
(!data_link_loss_enabled && status->rc_signal_lost && mission_finished)) {
/* datalink loss enabled:
* check for datalink lost: this should always trigger RTGS */
} else if (data_link_loss_enabled && status->data_link_lost) {
status->failsafe = true;
if (status->condition_global_position_valid && status->condition_home_position_valid) {
@@ -529,12 +534,15 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
status->nav_state = NAVIGATION_STATE_TERMINATION;
}
/* also go into failsafe if just datalink is lost */
} else if (status->data_link_lost && data_link_loss_enabled) {
/* datalink loss disabled:
* check if both, RC and datalink are lost during the mission
* or RC is lost after the mission is finished: this should always trigger RCRECOVER */
} else if (!data_link_loss_enabled && ((status->rc_signal_lost && status->data_link_lost) ||
(status->rc_signal_lost && mission_finished))) {
status->failsafe = true;
if (status->condition_global_position_valid && status->condition_home_position_valid) {
status->nav_state = NAVIGATION_STATE_AUTO_RTGS;
status->nav_state = NAVIGATION_STATE_AUTO_RCRECOVER;
} else if (status->condition_local_position_valid) {
status->nav_state = NAVIGATION_STATE_LAND;
} else if (status->condition_local_altitude_valid) {
@@ -543,13 +551,8 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
status->nav_state = NAVIGATION_STATE_TERMINATION;
}
/* don't bother if RC is lost and mission is not yet finished */
} else if (status->rc_signal_lost && !stay_in_failsafe) {
/* this mode is ok, we don't need RC for missions */
status->nav_state = NAVIGATION_STATE_AUTO_MISSION;
/* stay where you are if you should stay in failsafe, otherwise everything is perfect */
} else if (!stay_in_failsafe){
/* everything is perfect */
status->nav_state = NAVIGATION_STATE_AUTO_MISSION;
}
break;
@@ -703,7 +706,7 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
}
if (fabsf(airspeed.indicated_airspeed_m_s > 6.0f)) {
mavlink_log_critical(mavlink_fd, "AIRSPEED WARNING: WIND OR CALIBRATION MISSING");
mavlink_log_critical(mavlink_fd, "AIRSPEED WARNING: WIND OR CALIBRATION ISSUE");
// XXX do not make this fatal yet
}
}
src/modules/controllib/module.mk
+2
View File
@@ -39,3 +39,5 @@ SRCS = test_params.c \
block/BlockParam.cpp \
uorb/blocks.cpp \
blocks.cpp
MAXOPTIMIZATION = -Os
src/modules/dataman/dataman.c
+5 -9
View File
@@ -629,9 +629,6 @@ task_main(int argc, char *argv[])
{
work_q_item_t *work;
/* inform about start */
warnx("Initializing..");
/* Initialize global variables */
g_key_offsets[0] = 0;
@@ -694,16 +691,15 @@ task_main(int argc, char *argv[])
if (sys_restart_val == DM_INIT_REASON_POWER_ON) {
warnx("Power on restart");
_restart(DM_INIT_REASON_POWER_ON);
}
else if (sys_restart_val == DM_INIT_REASON_IN_FLIGHT) {
} else if (sys_restart_val == DM_INIT_REASON_IN_FLIGHT) {
warnx("In flight restart");
_restart(DM_INIT_REASON_IN_FLIGHT);
}
else
} else {
warnx("Unknown restart");
}
else
}
} else {
warnx("Unknown restart");
}
/* We use two file descriptors, one for the caller context and one for the worker thread */
/* They are actually the same but we need to some way to reject caller request while the */
src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+6 -3
View File
@@ -613,8 +613,11 @@ FixedwingEstimator::check_filter_state()
warn_index = max_warn_index;
}
warnx("reset: %s", feedback[warn_index]);
mavlink_log_critical(_mavlink_fd, "[ekf check] %s", feedback[warn_index]);
// Do not warn about accel offset if we have no position updates
if (!(warn_index == 5 && _ekf->staticMode)) {
warnx("reset: %s", feedback[warn_index]);
mavlink_log_critical(_mavlink_fd, "[ekf check] %s", feedback[warn_index]);
}
}
struct estimator_status_report rep;
@@ -1557,7 +1560,7 @@ FixedwingEstimator::start()
_estimator_task = task_spawn_cmd("ekf_att_pos_estimator",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 40,
5000,
7500,
(main_t)&FixedwingEstimator::task_main_trampoline,
nullptr);
src/modules/mavlink/mavlink_main.cpp
+2 -2
View File
@@ -1405,7 +1405,7 @@ Mavlink::task_main(int argc, char *argv[])
configure_stream("POSITION_TARGET_GLOBAL_INT", 3.0f);
configure_stream("ATTITUDE_TARGET", 3.0f);
configure_stream("DISTANCE_SENSOR", 0.5f);
configure_stream("OPTICAL_FLOW", 5.0f);
configure_stream("OPTICAL_FLOW_RAD", 5.0f);
break;
case MAVLINK_MODE_ONBOARD:
@@ -1636,7 +1636,7 @@ Mavlink::start(int argc, char *argv[])
task_spawn_cmd(buf,
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
2900,
2800,
(main_t)&Mavlink::start_helper,
(const char **)argv);
src/modules/mavlink/mavlink_messages.cpp
+72 -22
View File
@@ -382,11 +382,11 @@ protected:
clock_gettime(CLOCK_REALTIME, &ts);
/* use GPS time for log file naming, e.g. /fs/microsd/2014-01-19/19_37_52.bin */
time_t gps_time_sec = ts.tv_sec + (ts.tv_nsec / 1e9);
struct tm t;
gmtime_r(&gps_time_sec, &t);
struct tm tt;
gmtime_r(&gps_time_sec, &tt);
// XXX we do not want to interfere here with the SD log app
strftime(log_file_name, sizeof(log_file_name), "msgs_%Y_%m_%d_%H_%M_%S.txt", &t);
strftime(log_file_name, sizeof(log_file_name), "msgs_%Y_%m_%d_%H_%M_%S.txt", &tt);
snprintf(log_file_path, sizeof(log_file_path), "/fs/microsd/%s", log_file_name);
fp = fopen(log_file_path, "ab");
}
@@ -1719,7 +1719,53 @@ protected:
msg.chan16_raw = (rc.channel_count > 15) ? rc.values[15] : UINT16_MAX;
msg.chan17_raw = (rc.channel_count > 16) ? rc.values[16] : UINT16_MAX;
msg.chan18_raw = (rc.channel_count > 17) ? rc.values[17] : UINT16_MAX;
msg.rssi = rc.rssi;
/* RSSI has a max value of 100, and when Spektrum or S.BUS are
* available, the RSSI field is invalid, as they do not provide
* an RSSI measurement. Use an out of band magic value to signal
* these digital ports. XXX revise MAVLink spec to address this.
* One option would be to use the top bit to toggle between RSSI
* and input source mode.
*
* Full RSSI field: 0b 1 111 1111
*
* ^ If bit is set, RSSI encodes type + RSSI
*
* ^ These three bits encode a total of 8
* digital RC input types.
* 0: PPM, 1: SBUS, 2: Spektrum, 2: ST24
* ^ These four bits encode a total of
* 16 RSSI levels. 15 = full, 0 = no signal
*
*/
/* Initialize RSSI with the special mode level flag */
msg.rssi = (1 << 7);
/* Set RSSI */
msg.rssi |= (rc.rssi <= 100) ? ((rc.rssi / 7) + 1) : 15;
switch (rc.input_source) {
case RC_INPUT_SOURCE_PX4FMU_PPM:
/* fallthrough */
case RC_INPUT_SOURCE_PX4IO_PPM:
msg.rssi |= (0 << 4);
break;
case RC_INPUT_SOURCE_PX4IO_SPEKTRUM:
msg.rssi |= (1 << 4);
break;
case RC_INPUT_SOURCE_PX4IO_SBUS:
msg.rssi |= (2 << 4);
break;
case RC_INPUT_SOURCE_PX4IO_ST24:
msg.rssi |= (3 << 4);
break;
}
if (rc.rc_lost) {
/* RSSI is by definition zero */
msg.rssi = 0;
}
_mavlink->send_message(MAVLINK_MSG_ID_RC_CHANNELS, &msg);
}
@@ -1788,33 +1834,32 @@ protected:
}
};
class MavlinkStreamOpticalFlow : public MavlinkStream
class MavlinkStreamOpticalFlowRad : public MavlinkStream
{
public:
const char *get_name() const
{
return MavlinkStreamOpticalFlow::get_name_static();
return MavlinkStreamOpticalFlowRad::get_name_static();
}
static const char *get_name_static()
{
return "OPTICAL_FLOW";
return "OPTICAL_FLOW_RAD";
}
uint8_t get_id()
{
return MAVLINK_MSG_ID_OPTICAL_FLOW;
return MAVLINK_MSG_ID_OPTICAL_FLOW_RAD;
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamOpticalFlow(mavlink);
return new MavlinkStreamOpticalFlowRad(mavlink);
}
unsigned get_size()
{
return _flow_sub->is_published() ? (MAVLINK_MSG_ID_OPTICAL_FLOW_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
return _flow_sub->is_published() ? (MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
}
private:
@@ -1822,11 +1867,11 @@ private:
uint64_t _flow_time;
/* do not allow top copying this class */
MavlinkStreamOpticalFlow(MavlinkStreamOpticalFlow &);
MavlinkStreamOpticalFlow& operator = (const MavlinkStreamOpticalFlow &);
MavlinkStreamOpticalFlowRad(MavlinkStreamOpticalFlowRad &);
MavlinkStreamOpticalFlowRad& operator = (const MavlinkStreamOpticalFlowRad &);
protected:
explicit MavlinkStreamOpticalFlow(Mavlink *mavlink) : MavlinkStream(mavlink),
explicit MavlinkStreamOpticalFlowRad(Mavlink *mavlink) : MavlinkStream(mavlink),
_flow_sub(_mavlink->add_orb_subscription(ORB_ID(optical_flow))),
_flow_time(0)
{}
@@ -1836,18 +1881,23 @@ protected:
struct optical_flow_s flow;
if (_flow_sub->update(&_flow_time, &flow)) {
mavlink_optical_flow_t msg;
mavlink_optical_flow_rad_t msg;
msg.time_usec = flow.timestamp;
msg.sensor_id = flow.sensor_id;
msg.flow_x = flow.flow_raw_x;
msg.flow_y = flow.flow_raw_y;
msg.flow_comp_m_x = flow.flow_comp_x_m;
msg.flow_comp_m_y = flow.flow_comp_y_m;
msg.integrated_x = flow.pixel_flow_x_integral;
msg.integrated_y = flow.pixel_flow_y_integral;
msg.integrated_xgyro = flow.gyro_x_rate_integral;
msg.integrated_ygyro = flow.gyro_y_rate_integral;
msg.integrated_zgyro = flow.gyro_z_rate_integral;
msg.distance = flow.ground_distance_m;
msg.quality = flow.quality;
msg.ground_distance = flow.ground_distance_m;
msg.integration_time_us = flow.integration_timespan;
msg.sensor_id = flow.sensor_id;
msg.time_delta_distance_us = flow.time_since_last_sonar_update;
msg.temperature = flow.gyro_temperature;
_mavlink->send_message(MAVLINK_MSG_ID_OPTICAL_FLOW, &msg);
_mavlink->send_message(MAVLINK_MSG_ID_OPTICAL_FLOW_RAD, &msg);
}
}
};
@@ -2153,7 +2203,7 @@ StreamListItem *streams_list[] = {
new StreamListItem(&MavlinkStreamAttitudeTarget::new_instance, &MavlinkStreamAttitudeTarget::get_name_static),
new StreamListItem(&MavlinkStreamRCChannelsRaw::new_instance, &MavlinkStreamRCChannelsRaw::get_name_static),
new StreamListItem(&MavlinkStreamManualControl::new_instance, &MavlinkStreamManualControl::get_name_static),
new StreamListItem(&MavlinkStreamOpticalFlow::new_instance, &MavlinkStreamOpticalFlow::get_name_static),
new StreamListItem(&MavlinkStreamOpticalFlowRad::new_instance, &MavlinkStreamOpticalFlowRad::get_name_static),
new StreamListItem(&MavlinkStreamAttitudeControls::new_instance, &MavlinkStreamAttitudeControls::get_name_static),
new StreamListItem(&MavlinkStreamNamedValueFloat::new_instance, &MavlinkStreamNamedValueFloat::get_name_static),
new StreamListItem(&MavlinkStreamCameraCapture::new_instance, &MavlinkStreamCameraCapture::get_name_static),
src/modules/mavlink/mavlink_receiver.cpp
+32 -20
View File
@@ -144,8 +144,8 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
handle_message_command_int(msg);
break;
case MAVLINK_MSG_ID_OPTICAL_FLOW:
handle_message_optical_flow(msg);
case MAVLINK_MSG_ID_OPTICAL_FLOW_RAD:
handle_message_optical_flow_rad(msg);
break;
case MAVLINK_MSG_ID_SET_MODE:
@@ -352,24 +352,27 @@ MavlinkReceiver::handle_message_command_int(mavlink_message_t *msg)
}
void
MavlinkReceiver::handle_message_optical_flow(mavlink_message_t *msg)
MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
{
/* optical flow */
mavlink_optical_flow_t flow;
mavlink_msg_optical_flow_decode(msg, &flow);
mavlink_optical_flow_rad_t flow;
mavlink_msg_optical_flow_rad_decode(msg, &flow);
struct optical_flow_s f;
memset(&f, 0, sizeof(f));
f.timestamp = hrt_absolute_time();
f.flow_timestamp = flow.time_usec;
f.flow_raw_x = flow.flow_x;
f.flow_raw_y = flow.flow_y;
f.flow_comp_x_m = flow.flow_comp_m_x;
f.flow_comp_y_m = flow.flow_comp_m_y;
f.ground_distance_m = flow.ground_distance;
f.timestamp = flow.time_usec;
f.integration_timespan = flow.integration_time_us;
f.pixel_flow_x_integral = flow.integrated_x;
f.pixel_flow_y_integral = flow.integrated_y;
f.gyro_x_rate_integral = flow.integrated_xgyro;
f.gyro_y_rate_integral = flow.integrated_ygyro;
f.gyro_z_rate_integral = flow.integrated_zgyro;
f.time_since_last_sonar_update = flow.time_delta_distance_us;
f.ground_distance_m = flow.distance;
f.quality = flow.quality;
f.sensor_id = flow.sensor_id;
f.gyro_temperature = flow.temperature;
if (_flow_pub < 0) {
_flow_pub = orb_advertise(ORB_ID(optical_flow), &f);
@@ -389,13 +392,18 @@ MavlinkReceiver::handle_message_hil_optical_flow(mavlink_message_t *msg)
struct optical_flow_s f;
memset(&f, 0, sizeof(f));
f.timestamp = hrt_absolute_time();
f.flow_timestamp = flow.time_usec;
f.flow_raw_x = flow.integrated_x;
f.flow_raw_y = flow.integrated_y;
f.timestamp = hrt_absolute_time(); // XXX we rely on the system time for now and not flow.time_usec;
f.integration_timespan = flow.integration_time_us;
f.pixel_flow_x_integral = flow.integrated_x;
f.pixel_flow_y_integral = flow.integrated_y;
f.gyro_x_rate_integral = flow.integrated_xgyro;
f.gyro_y_rate_integral = flow.integrated_ygyro;
f.gyro_z_rate_integral = flow.integrated_zgyro;
f.time_since_last_sonar_update = flow.time_delta_distance_us;
f.ground_distance_m = flow.distance;
f.quality = flow.quality;
f.sensor_id = flow.sensor_id;
f.gyro_temperature = flow.temperature;
if (_flow_pub < 0) {
_flow_pub = orb_advertise(ORB_ID(optical_flow), &f);
@@ -538,12 +546,16 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
offboard_control_sp.ignore &= ~(1 << i);
offboard_control_sp.ignore |= (set_position_target_local_ned.type_mask & (1 << i));
}
offboard_control_sp.ignore &= ~(1 << OFB_IGN_BIT_YAW);
offboard_control_sp.ignore |= (set_position_target_local_ned.type_mask & (1 << 10)) <<
OFB_IGN_BIT_YAW;
if (set_position_target_local_ned.type_mask & (1 << 10)) {
offboard_control_sp.ignore |= (1 << OFB_IGN_BIT_YAW);
}
offboard_control_sp.ignore &= ~(1 << OFB_IGN_BIT_YAWRATE);
offboard_control_sp.ignore |= (set_position_target_local_ned.type_mask & (1 << 11)) <<
OFB_IGN_BIT_YAWRATE;
if (set_position_target_local_ned.type_mask & (1 << 11)) {
offboard_control_sp.ignore |= (1 << OFB_IGN_BIT_YAWRATE);
}
offboard_control_sp.timestamp = hrt_absolute_time();
src/modules/mavlink/mavlink_receiver.h
+1 -1
View File
@@ -112,7 +112,7 @@ private:
void handle_message(mavlink_message_t *msg);
void handle_message_command_long(mavlink_message_t *msg);
void handle_message_command_int(mavlink_message_t *msg);
void handle_message_optical_flow(mavlink_message_t *msg);
void handle_message_optical_flow_rad(mavlink_message_t *msg);
void handle_message_hil_optical_flow(mavlink_message_t *msg);
void handle_message_set_mode(mavlink_message_t *msg);
void handle_message_vicon_position_estimate(mavlink_message_t *msg);
src/modules/mc_att_control/mc_att_control_main.cpp
-2
View File
@@ -458,8 +458,6 @@ MulticopterAttitudeControl::task_main_trampoline(int argc, char *argv[])
void
MulticopterAttitudeControl::task_main()
{
warnx("started");
fflush(stdout);
/*
* do subscriptions
src/modules/mc_pos_control/mc_pos_control_main.cpp
+2 -4
View File
@@ -535,7 +535,7 @@ MulticopterPositionControl::reset_pos_sp()
- _params.vel_ff(0) * _sp_move_rate(0)) / _params.pos_p(0);
_pos_sp(1) = _pos(1) + (_vel(1) - _att_sp.R_body[1][2] * _att_sp.thrust / _params.vel_p(1)
- _params.vel_ff(1) * _sp_move_rate(1)) / _params.pos_p(1);
mavlink_log_info(_mavlink_fd, "[mpc] reset pos sp: %.2f, %.2f", (double)_pos_sp(0), (double)_pos_sp(1));
mavlink_log_info(_mavlink_fd, "[mpc] reset pos sp: %d, %d", (int)_pos_sp(0), (int)_pos_sp(1));
}
}
@@ -545,7 +545,7 @@ MulticopterPositionControl::reset_alt_sp()
if (_reset_alt_sp) {
_reset_alt_sp = false;
_pos_sp(2) = _pos(2) + (_vel(2) - _params.vel_ff(2) * _sp_move_rate(2)) / _params.pos_p(2);
mavlink_log_info(_mavlink_fd, "[mpc] reset alt sp: %.2f", -(double)_pos_sp(2));
mavlink_log_info(_mavlink_fd, "[mpc] reset alt sp: %d", -(int)_pos_sp(2));
}
}
@@ -857,10 +857,8 @@ MulticopterPositionControl::control_auto(float dt)
void
MulticopterPositionControl::task_main()
{
warnx("started");
_mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
mavlink_log_info(_mavlink_fd, "[mpc] started");
/*
* do subscriptions
src/modules/navigator/datalinkloss.cpp
+4
View File
@@ -156,6 +156,7 @@ DataLinkLoss::set_dll_item()
/* Request flight termination from the commander */
_navigator->get_mission_result()->flight_termination = true;
_navigator->publish_mission_result();
reset_mission_item_reached();
warnx("not switched to manual: request flight termination");
pos_sp_triplet->previous.valid = false;
pos_sp_triplet->current.valid = false;
@@ -188,6 +189,7 @@ DataLinkLoss::advance_dll()
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: too many DL losses, fly to airfield home");
_navigator->get_mission_result()->stay_in_failsafe = true;
_navigator->publish_mission_result();
reset_mission_item_reached();
_dll_state = DLL_STATE_FLYTOAIRFIELDHOMEWP;
} else {
if (!_param_skipcommshold.get()) {
@@ -208,6 +210,7 @@ DataLinkLoss::advance_dll()
_dll_state = DLL_STATE_FLYTOAIRFIELDHOMEWP;
_navigator->get_mission_result()->stay_in_failsafe = true;
_navigator->publish_mission_result();
reset_mission_item_reached();
break;
case DLL_STATE_FLYTOAIRFIELDHOMEWP:
_dll_state = DLL_STATE_TERMINATE;
@@ -215,6 +218,7 @@ DataLinkLoss::advance_dll()
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: no manual control, terminating");
_navigator->get_mission_result()->stay_in_failsafe = true;
_navigator->publish_mission_result();
reset_mission_item_reached();
break;
case DLL_STATE_TERMINATE:
warnx("dll end");
src/modules/navigator/mission.cpp
+17 -11
View File
@@ -371,7 +371,7 @@ Mission::set_mission_items()
} else {
/* no mission available or mission finished, switch to loiter */
if (_mission_type != MISSION_TYPE_NONE) {
mavlink_log_critical(_navigator->get_mavlink_fd(), "mission finished, loitering");
mavlink_log_critical(_navigator->get_mavlink_fd(), "mission finished");
/* use last setpoint for loiter */
_navigator->set_can_loiter_at_sp(true);
@@ -595,13 +595,15 @@ Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s
dm_item = DM_KEY_WAYPOINTS_OFFBOARD(_offboard_mission.dataman_id);
}
if (*mission_index_ptr < 0 || *mission_index_ptr >= (int)mission->count) {
/* mission item index out of bounds */
return false;
}
/* repeat several to get the mission item because we might have to follow multiple DO_JUMPS */
/* Repeat this several times in case there are several DO JUMPS that we need to follow along, however, after
* 10 iterations we have to assume that the DO JUMPS are probably cycling and give up. */
for (int i = 0; i < 10; i++) {
if (*mission_index_ptr < 0 || *mission_index_ptr >= (int)mission->count) {
/* mission item index out of bounds */
return false;
}
const ssize_t len = sizeof(struct mission_item_s);
/* read mission item to temp storage first to not overwrite current mission item if data damaged */
@@ -626,11 +628,12 @@ Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s
if (is_current) {
(mission_item_tmp.do_jump_current_count)++;
/* save repeat count */
if (dm_write(dm_item, *mission_index_ptr, DM_PERSIST_IN_FLIGHT_RESET, &mission_item_tmp, len) != len) {
if (dm_write(dm_item, *mission_index_ptr, DM_PERSIST_POWER_ON_RESET,
&mission_item_tmp, len) != len) {
/* not supposed to happen unless the datamanager can't access the
* dataman */
mavlink_log_critical(_navigator->get_mavlink_fd(),
"ERROR DO JUMP waypoint could not be written");
"ERROR DO JUMP waypoint could not be written");
return false;
}
}
@@ -639,8 +642,10 @@ Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s
*mission_index_ptr = mission_item_tmp.do_jump_mission_index;
} else {
mavlink_log_critical(_navigator->get_mavlink_fd(),
"DO JUMP repetitions completed");
if (is_current) {
mavlink_log_critical(_navigator->get_mavlink_fd(),
"DO JUMP repetitions completed");
}
/* no more DO_JUMPS, therefore just try to continue with next mission item */
(*mission_index_ptr)++;
}
@@ -707,6 +712,7 @@ Mission::set_mission_item_reached()
_navigator->get_mission_result()->reached = true;
_navigator->get_mission_result()->seq_reached = _current_offboard_mission_index;
_navigator->publish_mission_result();
reset_mission_item_reached();
}
void
src/modules/navigator/navigator.h
+1
View File
@@ -205,6 +205,7 @@ private:
bool _can_loiter_at_sp; /**< flags if current position SP can be used to loiter */
bool _pos_sp_triplet_updated; /**< flags if position SP triplet needs to be published */
bool _pos_sp_triplet_published_invalid_once; /**< flags if position SP triplet has been published once to UORB */
control::BlockParamFloat _param_loiter_radius; /**< loiter radius for fixedwing */
control::BlockParamFloat _param_acceptance_radius; /**< acceptance for takeoff */
src/modules/navigator/navigator_main.cpp
+16 -10
View File
@@ -137,6 +137,7 @@ Navigator::Navigator() :
_gpsFailure(this, "GPSF"),
_can_loiter_at_sp(false),
_pos_sp_triplet_updated(false),
_pos_sp_triplet_published_invalid_once(false),
_param_loiter_radius(this, "LOITER_RAD"),
_param_acceptance_radius(this, "ACC_RAD"),
_param_datalinkloss_obc(this, "DLL_OBC"),
@@ -289,8 +290,9 @@ Navigator::task_main()
navigation_capabilities_update();
params_update();
/* rate limit position updates to 50 Hz */
/* rate limit position and sensor updates to 50 Hz */
orb_set_interval(_global_pos_sub, 20);
orb_set_interval(_sensor_combined_sub, 20);
hrt_abstime mavlink_open_time = 0;
const hrt_abstime mavlink_open_interval = 500000;
@@ -426,12 +428,15 @@ Navigator::task_main()
_can_loiter_at_sp = false;
break;
case NAVIGATION_STATE_AUTO_MISSION:
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_mission;
break;
case NAVIGATION_STATE_AUTO_LOITER:
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_loiter;
break;
case NAVIGATION_STATE_AUTO_RCRECOVER:
_pos_sp_triplet_published_invalid_once = false;
if (_param_rcloss_obc.get() != 0) {
_navigation_mode = &_rcLoss;
} else {
@@ -439,11 +444,13 @@ Navigator::task_main()
}
break;
case NAVIGATION_STATE_AUTO_RTL:
_navigation_mode = &_rtl;
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_rtl;
break;
case NAVIGATION_STATE_AUTO_RTGS:
/* Use complex data link loss mode only when enabled via param
* otherwise use rtl */
_pos_sp_triplet_published_invalid_once = false;
if (_param_datalinkloss_obc.get() != 0) {
_navigation_mode = &_dataLinkLoss;
} else {
@@ -451,9 +458,11 @@ Navigator::task_main()
}
break;
case NAVIGATION_STATE_AUTO_LANDENGFAIL:
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_engineFailure;
break;
case NAVIGATION_STATE_AUTO_LANDGPSFAIL:
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_gpsFailure;
break;
default:
@@ -467,9 +476,9 @@ Navigator::task_main()
_navigation_mode_array[i]->run(_navigation_mode == _navigation_mode_array[i]);
}
/* if nothing is running, set position setpoint triplet invalid */
if (_navigation_mode == nullptr) {
// TODO publish empty sp only once
/* if nothing is running, set position setpoint triplet invalid once */
if (_navigation_mode == nullptr && !_pos_sp_triplet_published_invalid_once) {
_pos_sp_triplet_published_invalid_once = true;
_pos_sp_triplet.previous.valid = false;
_pos_sp_triplet.current.valid = false;
_pos_sp_triplet.next.valid = false;
@@ -497,8 +506,8 @@ Navigator::start()
/* start the task */
_navigator_task = task_spawn_cmd("navigator",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
2000,
SCHED_PRIORITY_DEFAULT + 20,
1800,
(main_t)&Navigator::task_main_trampoline,
nullptr);
@@ -630,9 +639,6 @@ Navigator::publish_mission_result()
/* advertise and publish */
_mission_result_pub = orb_advertise(ORB_ID(mission_result), &_mission_result);
}
/* reset reached bool */
_mission_result.reached = false;
_mission_result.finished = false;
}
void
src/modules/navigator/rcloss.cpp
+2
View File
@@ -163,6 +163,7 @@ RCLoss::advance_rcl()
_rcl_state = RCL_STATE_TERMINATE;
_navigator->get_mission_result()->stay_in_failsafe = true;
_navigator->publish_mission_result();
reset_mission_item_reached();
}
break;
case RCL_STATE_LOITER:
@@ -171,6 +172,7 @@ RCLoss::advance_rcl()
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RC not regained, terminating");
_navigator->get_mission_result()->stay_in_failsafe = true;
_navigator->publish_mission_result();
reset_mission_item_reached();
break;
case RCL_STATE_TERMINATE:
warnx("rcl end");
src/modules/position_estimator_inav/position_estimator_inav_main.c
+15 -15
View File
@@ -161,7 +161,7 @@ int position_estimator_inav_main(int argc, char *argv[])
thread_should_exit = true;
} else {
warnx("app not started");
warnx("not started");
}
exit(0);
@@ -169,10 +169,10 @@ int position_estimator_inav_main(int argc, char *argv[])
if (!strcmp(argv[1], "status")) {
if (thread_running) {
warnx("app is running");
warnx("is running");
} else {
warnx("app not started");
warnx("not started");
}
exit(0);
@@ -210,10 +210,8 @@ static void write_debug_log(const char *msg, float dt, float x_est[2], float y_e
****************************************************************************/
int position_estimator_inav_thread_main(int argc, char *argv[])
{
warnx("started");
int mavlink_fd;
mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
mavlink_log_info(mavlink_fd, "[inav] started");
float x_est[2] = { 0.0f, 0.0f }; // pos, vel
float y_est[2] = { 0.0f, 0.0f }; // pos, vel
@@ -298,7 +296,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
float w_flow = 0.0f;
float sonar_prev = 0.0f;
hrt_abstime flow_prev = 0; // time of last flow measurement
//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)
@@ -389,8 +387,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
} else {
wait_baro = false;
baro_offset /= (float) baro_init_cnt;
warnx("baro offs: %.2f", (double)baro_offset);
mavlink_log_info(mavlink_fd, "[inav] baro offs: %.2f", (double)baro_offset);
warnx("baro offs: %d", (int)baro_offset);
mavlink_log_info(mavlink_fd, "[inav] baro offs: %d", (int)baro_offset);
local_pos.z_valid = true;
local_pos.v_z_valid = true;
}
@@ -491,8 +489,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
orb_copy(ORB_ID(optical_flow), optical_flow_sub, &flow);
/* calculate time from previous update */
float flow_dt = flow_prev > 0 ? (flow.flow_timestamp - flow_prev) * 1e-6f : 0.1f;
flow_prev = flow.flow_timestamp;
// 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) &&
@@ -520,7 +518,7 @@ 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", (double)surface_offset);
mavlink_log_info(mavlink_fd, "[inav] new surface level: %d", (int)surface_offset);
}
} else {
@@ -550,8 +548,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
/* convert raw flow to angular flow (rad/s) */
float flow_ang[2];
flow_ang[0] = flow.flow_raw_x * params.flow_k / 1000.0f / flow_dt;
flow_ang[1] = flow.flow_raw_y * params.flow_k / 1000.0f / flow_dt;
//todo check direction of x und y axis
flow_ang[0] = flow.pixel_flow_x_integral/(float)flow.integration_timespan*1000000.0f;//flow.flow_raw_x * params.flow_k / 1000.0f / flow_dt;
flow_ang[1] = flow.pixel_flow_y_integral/(float)flow.integration_timespan*1000000.0f;//flow.flow_raw_y * params.flow_k / 1000.0f / flow_dt;
/* flow measurements vector */
float flow_m[3];
flow_m[0] = -flow_ang[0] * flow_dist;
@@ -721,8 +720,9 @@ 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", (double)lat, (double)lon, (double)alt);
mavlink_log_info(mavlink_fd, "[inav] init ref: %.7f, %.7f, %.2f", (double)lat, (double)lon, (double)alt);
// XXX replace this print
warnx("init ref: lat=%.7f, lon=%.7f, alt=%8.4f", (double)lat, (double)lon, (double)alt);
mavlink_log_info(mavlink_fd, "[inav] init ref: %.7f, %.7f, %8.4f", (double)lat, (double)lon, (double)alt);
}
}
src/modules/px4iofirmware/controls.c
+17 -1
View File
@@ -41,6 +41,7 @@
#include <stdbool.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_rc_input.h>
#include <systemlib/perf_counter.h>
#include <systemlib/ppm_decode.h>
#include <rc/st24.h>
@@ -70,7 +71,6 @@ bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated)
uint8_t *bytes;
*dsm_updated = dsm_input(r_raw_rc_values, &temp_count, &n_bytes, &bytes);
if (*dsm_updated) {
r_raw_rc_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM;
r_raw_rc_count = temp_count & 0x7fff;
if (temp_count & 0x8000)
r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_RC_DSM11;
@@ -91,6 +91,7 @@ bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated)
for (unsigned i = 0; i < n_bytes; i++) {
/* set updated flag if one complete packet was parsed */
st24_rssi = RC_INPUT_RSSI_MAX;
*st24_updated |= (OK == st24_decode(bytes[i], &st24_rssi, &rx_count,
&st24_channel_count, r_raw_rc_values, PX4IO_RC_INPUT_CHANNELS));
}
@@ -170,6 +171,12 @@ controls_tick() {
perf_begin(c_gather_dsm);
bool dsm_updated, st24_updated;
(void)dsm_port_input(&rssi, &dsm_updated, &st24_updated);
if (dsm_updated) {
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM;
}
if (st24_updated) {
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_ST24;
}
perf_end(c_gather_dsm);
perf_begin(c_gather_sbus);
@@ -417,6 +424,15 @@ controls_tick() {
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && (REG_TO_SIGNED(rc_value_override) < RC_CHANNEL_LOW_THRESH))
override = true;
/*
if the FMU is dead then enable override if we have a
mixer and OVERRIDE_IMMEDIATE is set
*/
if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) &&
(r_setup_arming & PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE) &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK))
override = true;
if (override) {
r_status_flags |= PX4IO_P_STATUS_FLAGS_OVERRIDE;
src/modules/px4iofirmware/mixer.cpp
+10 -10
View File
@@ -353,12 +353,16 @@ static unsigned mixer_text_length = 0;
int
mixer_handle_text(const void *buffer, size_t length)
{
/* do not allow a mixer change while safety off */
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)) {
/* do not allow a mixer change while safety off and FMU armed */
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) &&
(r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)) {
return 1;
}
/* abort if we're in the mixer */
/* disable mixing, will be enabled once load is complete */
r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_MIXER_OK);
/* abort if we're in the mixer - the caller is expected to retry */
if (in_mixer) {
return 1;
}
@@ -367,17 +371,16 @@ mixer_handle_text(const void *buffer, size_t length)
isr_debug(2, "mix txt %u", length);
if (length < sizeof(px4io_mixdata))
if (length < sizeof(px4io_mixdata)) {
return 0;
}
unsigned text_length = length - sizeof(px4io_mixdata);
unsigned text_length = length - sizeof(px4io_mixdata);
switch (msg->action) {
case F2I_MIXER_ACTION_RESET:
isr_debug(2, "reset");
/* FIRST mark the mixer as invalid */
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK;
/* THEN actually delete it */
mixer_group.reset();
mixer_text_length = 0;
@@ -386,9 +389,6 @@ mixer_handle_text(const void *buffer, size_t length)
case F2I_MIXER_ACTION_APPEND:
isr_debug(2, "append %d", length);
/* disable mixing during the update */
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK;
/* check for overflow - this would be really fatal */
if ((mixer_text_length + text_length + 1) > sizeof(mixer_text)) {
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK;
src/modules/px4iofirmware/protocol.h
+1
View File
@@ -183,6 +183,7 @@
#define PX4IO_P_SETUP_ARMING_LOCKDOWN (1 << 7) /* If set, the system operates normally, but won't actuate any servos */
#define PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE (1 << 8) /* If set, the system will always output the failsafe values */
#define PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE (1 << 9) /* If set, the system will never return from a failsafe, but remain in failsafe once triggered. */
#define PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE (1 << 10) /* If set then on FMU failure override is immediate. Othewise it waits for the mode switch to go past the override thrshold */
#define PX4IO_P_SETUP_PWM_RATES 2 /* bitmask, 0 = low rate, 1 = high rate */
#define PX4IO_P_SETUP_PWM_DEFAULTRATE 3 /* 'low' PWM frame output rate in Hz */
src/modules/px4iofirmware/px4io.c
+62 -1
View File
@@ -85,6 +85,9 @@ static volatile uint8_t msg_next_out, msg_next_in;
#define NUM_MSG 2
static char msg[NUM_MSG][40];
static void heartbeat_blink(void);
static void ring_blink(void);
/*
* add a debug message to be printed on the console
*/
@@ -124,8 +127,64 @@ heartbeat_blink(void)
{
static bool heartbeat = false;
LED_BLUE(heartbeat = !heartbeat);
}
static void
ring_blink(void)
{
#ifdef GPIO_LED4
LED_RING(heartbeat);
if (/* IO armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)
/* and FMU is armed */ && (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)) {
LED_RING(1);
return;
}
// XXX this led code does have
// intentionally a few magic numbers.
const unsigned max_brightness = 118;
static unsigned counter = 0;
static unsigned brightness = max_brightness;
static unsigned brightness_counter = 0;
static unsigned on_counter = 0;
if (brightness_counter < max_brightness) {
bool on = ((on_counter * 100) / brightness_counter+1) <= ((brightness * 100) / max_brightness+1);
// XXX once led is PWM driven,
// remove the ! in the line below
// to return to the proper breathe
// animation / pattern (currently inverted)
LED_RING(!on);
brightness_counter++;
if (on) {
on_counter++;
}
} else {
if (counter >= 62) {
counter = 0;
}
int n;
if (counter < 32) {
n = counter;
} else {
n = 62 - counter;
}
brightness = (n * n) / 8;
brightness_counter = 0;
on_counter = 0;
counter++;
}
#endif
}
@@ -300,6 +359,8 @@ user_start(int argc, char *argv[])
heartbeat_blink();
}
ring_blink();
check_reboot();
/* check for debug activity (default: none) */
src/modules/px4iofirmware/px4io.h
+1 -1
View File
@@ -140,7 +140,7 @@ extern pwm_limit_t pwm_limit;
#define LED_BLUE(_s) stm32_gpiowrite(GPIO_LED1, !(_s))
#define LED_AMBER(_s) stm32_gpiowrite(GPIO_LED2, !(_s))
#define LED_SAFETY(_s) stm32_gpiowrite(GPIO_LED3, !(_s))
#define LED_RING(_s) stm32_gpiowrite(GPIO_LED4, !(_s))
#define LED_RING(_s) stm32_gpiowrite(GPIO_LED4, (_s))
#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
src/modules/px4iofirmware/registers.c
+10 -11
View File
@@ -191,7 +191,8 @@ volatile uint16_t r_page_setup[] =
PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED | \
PX4IO_P_SETUP_ARMING_LOCKDOWN | \
PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE | \
PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE)
PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE | \
PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE)
#define PX4IO_P_SETUP_RATES_VALID ((1 << PX4IO_SERVO_COUNT) - 1)
#define PX4IO_P_SETUP_RELAYS_VALID ((1 << PX4IO_RELAY_CHANNELS) - 1)
@@ -406,11 +407,11 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
/* handle text going to the mixer parser */
case PX4IO_PAGE_MIXERLOAD:
if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) ||
(r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) {
return mixer_handle_text(values, num_values * sizeof(*values));
}
break;
/* do not change the mixer if FMU is armed and IO's safety is off
* this state defines an active system. This check is done in the
* text handling function.
*/
return mixer_handle_text(values, num_values * sizeof(*values));
default:
/* avoid offset wrap */
@@ -582,8 +583,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
break;
case PX4IO_P_SETUP_REBOOT_BL:
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) ||
(r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) {
if (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) {
// don't allow reboot while armed
break;
}
@@ -629,10 +629,9 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
case PX4IO_PAGE_RC_CONFIG: {
/**
* do not allow a RC config change while outputs armed
* do not allow a RC config change while safety is off
*/
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) ||
(r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) {
if (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) {
break;
}
src/modules/sdlog2/module.mk
+2
View File
@@ -43,3 +43,5 @@ SRCS = sdlog2.c \
logbuffer.c
MODULE_STACKSIZE = 1200
MAXOPTIMIZATION = -Os
src/modules/sdlog2/sdlog2.c
+15 -5
View File
@@ -496,6 +496,8 @@ static void *logwriter_thread(void *arg)
/* set name */
prctl(PR_SET_NAME, "sdlog2_writer", 0);
perf_counter_t perf_write = perf_alloc(PC_ELAPSED, "sd write");
int log_fd = open_log_file();
if (log_fd < 0) {
@@ -553,7 +555,9 @@ static void *logwriter_thread(void *arg)
n = available;
}
perf_begin(perf_write);
n = write(log_fd, read_ptr, n);
perf_end(perf_write);
should_wait = (n == available) && !is_part;
@@ -586,6 +590,9 @@ static void *logwriter_thread(void *arg)
fsync(log_fd);
close(log_fd);
/* free performance counter */
perf_free(perf_write);
return NULL;
}
@@ -1511,11 +1518,14 @@ int sdlog2_thread_main(int argc, char *argv[])
/* --- FLOW --- */
if (copy_if_updated(ORB_ID(optical_flow), subs.flow_sub, &buf.flow)) {
log_msg.msg_type = LOG_FLOW_MSG;
log_msg.body.log_FLOW.flow_raw_x = buf.flow.flow_raw_x;
log_msg.body.log_FLOW.flow_raw_y = buf.flow.flow_raw_y;
log_msg.body.log_FLOW.flow_comp_x = buf.flow.flow_comp_x_m;
log_msg.body.log_FLOW.flow_comp_y = buf.flow.flow_comp_y_m;
log_msg.body.log_FLOW.distance = buf.flow.ground_distance_m;
log_msg.body.log_FLOW.ground_distance_m = buf.flow.ground_distance_m;
log_msg.body.log_FLOW.gyro_temperature = buf.flow.gyro_temperature;
log_msg.body.log_FLOW.gyro_x_rate_integral = buf.flow.gyro_x_rate_integral;
log_msg.body.log_FLOW.gyro_y_rate_integral = buf.flow.gyro_y_rate_integral;
log_msg.body.log_FLOW.gyro_z_rate_integral = buf.flow.gyro_z_rate_integral;
log_msg.body.log_FLOW.integration_timespan = buf.flow.integration_timespan;
log_msg.body.log_FLOW.pixel_flow_x_integral = buf.flow.pixel_flow_x_integral;
log_msg.body.log_FLOW.pixel_flow_y_integral = buf.flow.pixel_flow_y_integral;
log_msg.body.log_FLOW.quality = buf.flow.quality;
log_msg.body.log_FLOW.sensor_id = buf.flow.sensor_id;
LOGBUFFER_WRITE_AND_COUNT(FLOW);
src/modules/sdlog2/sdlog2_messages.h
+12 -6
View File
@@ -200,13 +200,19 @@ struct log_ARSP_s {
/* --- FLOW - OPTICAL FLOW --- */
#define LOG_FLOW_MSG 15
struct log_FLOW_s {
int16_t flow_raw_x;
int16_t flow_raw_y;
float flow_comp_x;
float flow_comp_y;
float distance;
uint8_t quality;
uint64_t timestamp;
uint8_t sensor_id;
float pixel_flow_x_integral;
float pixel_flow_y_integral;
float gyro_x_rate_integral;
float gyro_y_rate_integral;
float gyro_z_rate_integral;
float ground_distance_m;
uint32_t integration_timespan;
uint32_t time_since_last_sonar_update;
uint16_t frame_count_since_last_readout;
int16_t gyro_temperature;
uint8_t quality;
};
/* --- GPOS - GLOBAL POSITION ESTIMATE --- */
src/modules/sensors/module.mk
+2
View File
@@ -42,3 +42,5 @@ SRCS = sensors.cpp \
sensor_params.c
MODULE_STACKSIZE = 1200
MAXOPTIMIZATION = -Os
src/modules/systemlib/mcu_version.c
+109
View File
@@ -0,0 +1,109 @@
/****************************************************************************
*
* Copyright (c) 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file mcu_version.c
*
* Read out the microcontroller version from the board
*
* @author Lorenz Meier <lorenz@px4.io>
*
*/
#include "mcu_version.h"
#include <nuttx/config.h>
#ifdef CONFIG_ARCH_CHIP_STM32
#include <up_arch.h>
#define DBGMCU_IDCODE 0xE0042000
#define STM32F40x_41x 0x413
#define STM32F42x_43x 0x419
#define REVID_MASK 0xFFFF0000
#define DEVID_MASK 0xFFF
#endif
int mcu_version(char* rev, char** revstr)
{
#ifdef CONFIG_ARCH_CHIP_STM32
uint32_t abc = getreg32(DBGMCU_IDCODE);
int32_t chip_version = abc & DEVID_MASK;
enum MCU_REV revid = (abc & REVID_MASK) >> 16;
switch (chip_version) {
case STM32F40x_41x:
*revstr = "STM32F40x";
break;
case STM32F42x_43x:
*revstr = "STM32F42x";
break;
default:
*revstr = "STM32F???";
break;
}
switch (revid) {
case MCU_REV_STM32F4_REV_A:
*rev = 'A';
break;
case MCU_REV_STM32F4_REV_Z:
*rev = 'Z';
break;
case MCU_REV_STM32F4_REV_Y:
*rev = 'Y';
break;
case MCU_REV_STM32F4_REV_1:
*rev = '1';
break;
case MCU_REV_STM32F4_REV_3:
*rev = '3';
break;
default:
*rev = '?';
revid = -1;
break;
}
return revid;
#else
return -1;
#endif
}
src/modules/systemlib/mcu_version.h
+52
View File
@@ -0,0 +1,52 @@
/****************************************************************************
*
* Copyright (c) 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
/* magic numbers from reference manual */
enum MCU_REV {
MCU_REV_STM32F4_REV_A = 0x1000,
MCU_REV_STM32F4_REV_Z = 0x1001,
MCU_REV_STM32F4_REV_Y = 0x1003,
MCU_REV_STM32F4_REV_1 = 0x1007,
MCU_REV_STM32F4_REV_3 = 0x2001
};
/**
* Reports the microcontroller version of the main CPU.
*
* @param rev The silicon revision character
* @param revstr The full chip name string
* @return The silicon revision / version number as integer
*/
__EXPORT int mcu_version(char* rev, char** revstr);
src/modules/systemlib/mixer/mixer_load.c
+2
View File
@@ -91,6 +91,7 @@ int load_mixer_file(const char *fname, char *buf, unsigned maxlen)
/* if the line is too long to fit in the buffer, bail */
if ((strlen(line) + strlen(buf) + 1) >= maxlen) {
warnx("line too long");
fclose(fp);
return -1;
}
@@ -98,6 +99,7 @@ int load_mixer_file(const char *fname, char *buf, unsigned maxlen)
strcat(buf, line);
}
fclose(fp);
return 0;
}
src/modules/systemlib/module.mk
+3 -1
View File
@@ -53,5 +53,7 @@ SRCS = err.c \
otp.c \
board_serial.c \
pwm_limit/pwm_limit.c \
circuit_breaker.c
circuit_breaker.c \
mcu_version.c
MAXOPTIMIZATION = -Os
src/modules/uORB/Publication.cpp
+2
View File
@@ -46,6 +46,7 @@
#include "topics/vehicle_attitude_setpoint.h"
#include "topics/vehicle_rates_setpoint.h"
#include "topics/actuator_outputs.h"
#include "topics/actuator_direct.h"
#include "topics/encoders.h"
#include "topics/tecs_status.h"
@@ -76,6 +77,7 @@ template class __EXPORT Publication<vehicle_global_velocity_setpoint_s>;
template class __EXPORT Publication<vehicle_attitude_setpoint_s>;
template class __EXPORT Publication<vehicle_rates_setpoint_s>;
template class __EXPORT Publication<actuator_outputs_s>;
template class __EXPORT Publication<actuator_direct_s>;
template class __EXPORT Publication<encoders_s>;
template class __EXPORT Publication<tecs_status_s>;
src/modules/uORB/module.mk
+2
View File
@@ -44,3 +44,5 @@ SRCS = uORB.cpp \
objects_common.cpp \
Publication.cpp \
Subscription.cpp
MAXOPTIMIZATION = -Os
src/modules/uORB/objects_common.cpp
+3
View File
@@ -192,6 +192,9 @@ ORB_DEFINE(actuator_outputs_1, struct actuator_outputs_s);
ORB_DEFINE(actuator_outputs_2, struct actuator_outputs_s);
ORB_DEFINE(actuator_outputs_3, struct actuator_outputs_s);
#include "topics/actuator_direct.h"
ORB_DEFINE(actuator_direct, struct actuator_direct_s);
#include "topics/multirotor_motor_limits.h"
ORB_DEFINE(multirotor_motor_limits, struct multirotor_motor_limits_s);
src/modules/uORB/topics/actuator_direct.h
+69
View File
@@ -0,0 +1,69 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file actuator_direct.h
*
* Actuator direct values.
*
* Values published to this topic are the direct actuator values which
* should be passed to actuators, bypassing mixing
*/
#ifndef TOPIC_ACTUATOR_DIRECT_H
#define TOPIC_ACTUATOR_DIRECT_H
#include <stdint.h>
#include "../uORB.h"
#define NUM_ACTUATORS_DIRECT 16
/**
* @addtogroup topics
* @{
*/
struct actuator_direct_s {
uint64_t timestamp; /**< timestamp in us since system boot */
float values[NUM_ACTUATORS_DIRECT]; /**< actuator values, from -1 to 1 */
unsigned nvalues; /**< number of valid values */
};
/**
* @}
*/
/* actuator direct ORB */
ORB_DECLARE(actuator_direct);
#endif // TOPIC_ACTUATOR_DIRECT_H
src/modules/uORB/topics/manual_control_setpoint.h
+8 -8
View File
@@ -47,7 +47,7 @@
* Switch position
*/
typedef enum {
SWITCH_POS_NONE = 0, /**< switch is not mapped */
SWITCH_POS_NONE = 0, /**< switch is not mapped */
SWITCH_POS_ON, /**< switch activated (value = 1) */
SWITCH_POS_MIDDLE, /**< middle position (value = 0) */
SWITCH_POS_OFF /**< switch not activated (value = -1) */
@@ -93,13 +93,13 @@ struct manual_control_setpoint_s {
float aux4; /**< default function: camera roll */
float aux5; /**< default function: payload drop */
switch_pos_t mode_switch; /**< main mode 3 position switch (mandatory): _MANUAL_, ASSIST, AUTO */
switch_pos_t return_switch; /**< return to launch 2 position switch (mandatory): _NORMAL_, RTL */
switch_pos_t posctl_switch; /**< position control 2 position switch (optional): _ALTCTL_, POSCTL */
switch_pos_t loiter_switch; /**< loiter 2 position switch (optional): _MISSION_, LOITER */
switch_pos_t acro_switch; /**< acro 2 position switch (optional): _MANUAL_, ACRO */
switch_pos_t offboard_switch; /**< offboard 2 position switch (optional): _NORMAL_, OFFBOARD */
}; /**< manual control inputs */
switch_pos_t mode_switch; /**< main mode 3 position switch (mandatory): _MANUAL_, ASSIST, AUTO */
switch_pos_t return_switch; /**< return to launch 2 position switch (mandatory): _NORMAL_, RTL */
switch_pos_t posctl_switch; /**< position control 2 position switch (optional): _ALTCTL_, POSCTL */
switch_pos_t loiter_switch; /**< loiter 2 position switch (optional): _MISSION_, LOITER */
switch_pos_t acro_switch; /**< acro 2 position switch (optional): _MANUAL_, ACRO */
switch_pos_t offboard_switch; /**< offboard 2 position switch (optional): _NORMAL_, OFFBOARD */
};
/**
* @}
src/modules/uORB/topics/optical_flow.h
+15 -9
View File
@@ -55,16 +55,22 @@
*/
struct optical_flow_s {
uint64_t timestamp; /**< in microseconds since system start */
uint64_t flow_timestamp; /**< timestamp from flow sensor */
int16_t flow_raw_x; /**< flow in pixels in X direction, not rotation-compensated */
int16_t flow_raw_y; /**< flow in pixels in Y direction, not rotation-compensated */
float flow_comp_x_m; /**< speed over ground in meters, rotation-compensated */
float flow_comp_y_m; /**< speed over ground in meters, rotation-compensated */
float ground_distance_m; /**< Altitude / distance to ground in meters */
uint8_t quality; /**< Quality of the measurement, 0: bad quality, 255: maximum quality */
uint64_t timestamp; /**< in microseconds since system start */
uint8_t sensor_id; /**< id of the sensor emitting the flow value */
float pixel_flow_x_integral; /**< accumulated optical flow in radians around x axis */
float pixel_flow_y_integral; /**< accumulated optical flow in radians around y axis */
float gyro_x_rate_integral; /**< accumulated gyro value in radians around x axis */
float gyro_y_rate_integral; /**< accumulated gyro value in radians around y axis */
float gyro_z_rate_integral; /**< accumulated gyro value in radians around z axis */
float ground_distance_m; /**< Altitude / distance to ground in meters */
uint32_t integration_timespan; /**<accumulation timespan in microseconds */
uint32_t time_since_last_sonar_update;/**< time since last sonar update in microseconds */
uint16_t frame_count_since_last_readout;/**< number of accumulated frames in timespan */
int16_t gyro_temperature;/**< Temperature * 100 in centi-degrees Celsius */
uint8_t quality; /**< Average of quality of accumulated frames, 0: bad quality, 255: maximum quality */
};
src/modules/uORB/topics/test_motor.h
+1 -1
View File
@@ -57,7 +57,7 @@
struct test_motor_s {
uint64_t timestamp; /**< output timestamp in us since system boot */
unsigned motor_number; /**< number of motor to spin */
float value; /**< output data, in natural output units */
float value; /**< output power, range [0..1] */
};
/**
src/modules/uORB/topics/vehicle_gps_position.h
+1 -1
View File
@@ -79,7 +79,7 @@ struct vehicle_gps_position_s {
bool vel_ned_valid; /**< Flag to indicate if NED speed is valid */
uint64_t timestamp_time; /**< Timestamp for time information */
uint64_t time_gps_usec; /**< Timestamp (microseconds in GPS format), this is the timestamp which comes from the gps module */
uint64_t time_gps_usec; /**< Timestamp (microseconds in GPS format), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0 */
uint8_t satellites_used; /**< Number of satellites used */
};
src/modules/uORB/topics/vehicle_status.h
+2 -1
View File
@@ -108,7 +108,7 @@ typedef enum {
NAVIGATION_STATE_AUTO_LANDGPSFAIL, /**< Auto land on gps failure (e.g. open loop loiter down) */
NAVIGATION_STATE_ACRO, /**< Acro mode */
NAVIGATION_STATE_LAND, /**< Land mode */
NAVIGATION_STATE_DESCEND, /**< Descend mode (no position control) */
NAVIGATION_STATE_DESCEND, /**< Descend mode (no position control) */
NAVIGATION_STATE_TERMINATION, /**< Termination mode */
NAVIGATION_STATE_OFFBOARD,
NAVIGATION_STATE_MAX,
@@ -201,6 +201,7 @@ struct vehicle_status_s {
bool rc_signal_found_once;
bool rc_signal_lost; /**< true if RC reception lost */
uint64_t rc_signal_lost_timestamp; /**< Time at which the RC reception was lost */
bool rc_signal_lost_cmd; /**< true if RC lost mode is commanded */
bool rc_input_blocked; /**< set if RC input should be ignored */
src/modules/uavcan/actuators/esc.cpp
+34 -10
View File
@@ -40,6 +40,9 @@
#include "esc.hpp"
#include <systemlib/err.h>
#define MOTOR_BIT(x) (1<<(x))
UavcanEscController::UavcanEscController(uavcan::INode &node) :
_node(node),
_uavcan_pub_raw_cmd(node),
@@ -73,7 +76,9 @@ int UavcanEscController::init()
void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
{
if ((outputs == nullptr) || (num_outputs > uavcan::equipment::esc::RawCommand::FieldTypes::cmd::MaxSize)) {
if ((outputs == nullptr) ||
(num_outputs > uavcan::equipment::esc::RawCommand::FieldTypes::cmd::MaxSize) ||
(num_outputs > CONNECTED_ESC_MAX)) {
perf_count(_perfcnt_invalid_input);
return;
}
@@ -95,14 +100,18 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
static const int cmd_max = uavcan::equipment::esc::RawCommand::FieldTypes::cmd::RawValueType::max();
if (_armed) {
for (unsigned i = 0; i < num_outputs; i++) {
for (unsigned i = 0; i < num_outputs; i++) {
if (_armed_mask & MOTOR_BIT(i)) {
float scaled = (outputs[i] + 1.0F) * 0.5F * cmd_max;
if (scaled < 1.0F) {
scaled = 1.0F; // Since we're armed, we don't want to stop it completely
}
// trim negative values back to 0. Previously
// we set this to 0.1, which meant motors kept
// spinning when armed, but that should be a
// policy decision for a specific vehicle
// type, as it is not appropriate for all
// types of vehicles (eg. fixed wing).
if (scaled < 0.0F) {
scaled = 0.0F;
}
if (scaled > cmd_max) {
scaled = cmd_max;
perf_count(_perfcnt_scaling_error);
@@ -111,6 +120,8 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
msg.cmd.push_back(static_cast<int>(scaled));
_esc_status.esc[i].esc_setpoint_raw = abs(static_cast<int>(scaled));
} else {
msg.cmd.push_back(static_cast<unsigned>(0));
}
}
@@ -121,9 +132,22 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
(void)_uavcan_pub_raw_cmd.broadcast(msg);
}
void UavcanEscController::arm_esc(bool arm)
void UavcanEscController::arm_all_escs(bool arm)
{
_armed = arm;
if (arm) {
_armed_mask = -1;
} else {
_armed_mask = 0;
}
}
void UavcanEscController::arm_single_esc(int num, bool arm)
{
if (arm) {
_armed_mask = MOTOR_BIT(num);
} else {
_armed_mask = 0;
}
}
void UavcanEscController::esc_status_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status> &msg)
src/modules/uavcan/actuators/esc.hpp
+7 -1
View File
@@ -61,7 +61,8 @@ public:
void update_outputs(float *outputs, unsigned num_outputs);
void arm_esc(bool arm);
void arm_all_escs(bool arm);
void arm_single_esc(int num, bool arm);
private:
/**
@@ -98,6 +99,11 @@ private:
uavcan::Subscriber<uavcan::equipment::esc::Status, StatusCbBinder> _uavcan_sub_status;
uavcan::TimerEventForwarder<TimerCbBinder> _orb_timer;
/*
* ESC states
*/
uint32_t _armed_mask = 0;
/*
* Perf counters
*/
src/modules/uavcan/sensors/baro.cpp
+1 -5
View File
@@ -91,11 +91,7 @@ void UavcanBarometerBridge::air_data_sub_cb(const uavcan::ReceivedDataStructure<
{
auto report = ::baro_report();
report.timestamp = msg.getUtcTimestamp().toUSec();
if (report.timestamp == 0) {
report.timestamp = msg.getMonotonicTimestamp().toUSec();
}
report.timestamp = msg.getMonotonicTimestamp().toUSec();
report.temperature = msg.static_temperature;
report.pressure = msg.static_pressure / 100.0F; // Convert to millibar
src/modules/uavcan/sensors/gnss.cpp
+1 -1
View File
@@ -92,7 +92,7 @@ void UavcanGnssBridge::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavca
auto report = ::vehicle_gps_position_s();
report.timestamp_position = hrt_absolute_time();
report.timestamp_position = msg.getMonotonicTimestamp().toUSec();
report.lat = msg.latitude_deg_1e8 / 10;
report.lon = msg.longitude_deg_1e8 / 10;
report.alt = msg.height_msl_mm;
src/modules/uavcan/sensors/gnss.hpp
-2
View File
@@ -43,8 +43,6 @@
#pragma once
#include <drivers/drv_hrt.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_gps_position.h>
src/modules/uavcan/sensors/mag.cpp
+40 -13
View File
@@ -37,6 +37,8 @@
#include "mag.hpp"
#include <systemlib/err.h>
static const orb_id_t MAG_TOPICS[3] = {
ORB_ID(sensor_mag0),
ORB_ID(sensor_mag1),
@@ -49,6 +51,8 @@ UavcanMagnetometerBridge::UavcanMagnetometerBridge(uavcan::INode& node) :
UavcanCDevSensorBridgeBase("uavcan_mag", "/dev/uavcan/mag", MAG_DEVICE_PATH, MAG_TOPICS),
_sub_mag(node)
{
_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_HMC5883;
_scale.x_scale = 1.0F;
_scale.y_scale = 1.0F;
_scale.z_scale = 1.0F;
@@ -69,9 +73,36 @@ int UavcanMagnetometerBridge::init()
return 0;
}
ssize_t UavcanMagnetometerBridge::read(struct file *filp, char *buffer, size_t buflen)
{
static uint64_t last_read = 0;
struct mag_report *mag_buf = reinterpret_cast<struct mag_report *>(buffer);
/* buffer must be large enough */
unsigned count = buflen / sizeof(struct mag_report);
if (count < 1) {
return -ENOSPC;
}
if (last_read < _report.timestamp) {
/* copy report */
lock();
*mag_buf = _report;
last_read = _report.timestamp;
unlock();
return sizeof(struct mag_report);
} else {
/* no new data available, warn caller */
return -EAGAIN;
}
}
int UavcanMagnetometerBridge::ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
case SENSORIOCSQUEUEDEPTH: {
return OK; // Pretend that this stuff is supported to keep APM happy
}
case MAGIOCSSCALE: {
std::memcpy(&_scale, reinterpret_cast<const void*>(arg), sizeof(_scale));
return 0;
@@ -84,7 +115,7 @@ int UavcanMagnetometerBridge::ioctl(struct file *filp, int cmd, unsigned long ar
return 0; // Nothing to do
}
case MAGIOCGEXTERNAL: {
return 0; // We don't want anyone to transform the coordinate frame, so we declare it onboard
return 1; // declare it external rise it's priority and to allow for correct orientation compensation
}
case MAGIOCSSAMPLERATE: {
return 0; // Pretend that this stuff is supported to keep the sensor app happy
@@ -106,18 +137,14 @@ int UavcanMagnetometerBridge::ioctl(struct file *filp, int cmd, unsigned long ar
void UavcanMagnetometerBridge::mag_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::Magnetometer> &msg)
{
auto report = ::mag_report();
lock();
_report.range_ga = 1.3F; // Arbitrary number, doesn't really mean anything
_report.timestamp = msg.getMonotonicTimestamp().toUSec();
report.range_ga = 1.3F; // Arbitrary number, doesn't really mean anything
_report.x = (msg.magnetic_field[0] - _scale.x_offset) * _scale.x_scale;
_report.y = (msg.magnetic_field[1] - _scale.y_offset) * _scale.y_scale;
_report.z = (msg.magnetic_field[2] - _scale.z_offset) * _scale.z_scale;
unlock();
report.timestamp = msg.getUtcTimestamp().toUSec();
if (report.timestamp == 0) {
report.timestamp = msg.getMonotonicTimestamp().toUSec();
}
report.x = (msg.magnetic_field[0] - _scale.x_offset) * _scale.x_scale;
report.y = (msg.magnetic_field[1] - _scale.y_offset) * _scale.y_scale;
report.z = (msg.magnetic_field[2] - _scale.z_offset) * _scale.z_scale;
publish(msg.getSrcNodeID().get(), &report);
publish(msg.getSrcNodeID().get(), &_report);
}
src/modules/uavcan/sensors/mag.hpp
+2
View File
@@ -54,6 +54,7 @@ public:
int init() override;
private:
ssize_t read(struct file *filp, char *buffer, size_t buflen);
int ioctl(struct file *filp, int cmd, unsigned long arg) override;
void mag_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::Magnetometer> &msg);
@@ -65,4 +66,5 @@ private:
uavcan::Subscriber<uavcan::equipment::ahrs::Magnetometer, MagCbBinder> _sub_mag;
mag_scale _scale = {};
mag_report _report = {};
};
src/modules/uavcan/sensors/sensor_bridge.cpp
+3
View File
@@ -103,6 +103,9 @@ void UavcanCDevSensorBridgeBase::publish(const int node_id, const void *report)
return;
}
// update device id as we now know our device node_id
_device_id.devid_s.address = static_cast<uint8_t>(node_id);
// Ask the CDev helper which class instance we can take
const int class_instance = register_class_devname(_class_devname);
if (class_instance < 0 || class_instance >= int(_max_channels)) {
src/modules/uavcan/sensors/sensor_bridge.hpp
+2
View File
@@ -112,6 +112,8 @@ protected:
_channels(new Channel[MaxChannels])
{
memcpy(_orb_topics, orb_topics, sizeof(orb_id_t) * MaxChannels);
_device_id.devid_s.bus_type = DeviceBusType_UAVCAN;
_device_id.devid_s.bus = 0;
}
/**
src/modules/uavcan/uavcan_main.cpp
+148 -49
View File
@@ -46,6 +46,8 @@
#include <arch/board/board.h>
#include <arch/chip/chip.h>
#include <uORB/topics/esc_status.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_pwm_output.h>
@@ -269,6 +271,24 @@ void UavcanNode::node_spin_once()
}
}
/*
add a fd to the list of polled events. This assumes you want
POLLIN for now.
*/
int UavcanNode::add_poll_fd(int fd)
{
int ret = _poll_fds_num;
if (_poll_fds_num >= UAVCAN_NUM_POLL_FDS) {
errx(1, "uavcan: too many poll fds, exiting");
}
_poll_fds[_poll_fds_num] = ::pollfd();
_poll_fds[_poll_fds_num].fd = fd;
_poll_fds[_poll_fds_num].events = POLLIN;
_poll_fds_num += 1;
return ret;
}
int UavcanNode::run()
{
(void)pthread_mutex_lock(&_node_mutex);
@@ -279,9 +299,10 @@ int UavcanNode::run()
_output_count = 2;
_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
_test_motor_sub = orb_subscribe(ORB_ID(test_motor));
_actuator_direct_sub = orb_subscribe(ORB_ID(actuator_direct));
actuator_outputs_s outputs;
memset(&outputs, 0, sizeof(outputs));
memset(&_outputs, 0, sizeof(_outputs));
const int busevent_fd = ::open(uavcan_stm32::BusEvent::DevName, 0);
if (busevent_fd < 0)
@@ -303,11 +324,15 @@ int UavcanNode::run()
* the value returned from poll() to detect whether actuator control has timed out or not.
* Instead, all ORB events need to be checked individually (see below).
*/
_poll_fds_num = 0;
_poll_fds[_poll_fds_num] = ::pollfd();
_poll_fds[_poll_fds_num].fd = busevent_fd;
_poll_fds[_poll_fds_num].events = POLLIN;
_poll_fds_num += 1;
add_poll_fd(busevent_fd);
/*
* setup poll to look for actuator direct input if we are
* subscribed to the topic
*/
if (_actuator_direct_sub != -1) {
_actuator_direct_poll_fd_num = add_poll_fd(_actuator_direct_sub);
}
while (!_task_should_exit) {
// update actuator controls subscriptions if needed
@@ -325,6 +350,8 @@ int UavcanNode::run()
node_spin_once(); // Non-blocking
bool new_output = false;
// this would be bad...
if (poll_ret < 0) {
log("poll error %d", errno);
@@ -332,67 +359,102 @@ int UavcanNode::run()
} else {
// get controls for required topics
bool controls_updated = false;
unsigned poll_id = 1;
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_control_subs[i] > 0) {
if (_poll_fds[poll_id].revents & POLLIN) {
if (_poll_fds[_poll_ids[i]].revents & POLLIN) {
controls_updated = true;
orb_copy(_control_topics[i], _control_subs[i], &_controls[i]);
}
poll_id++;
}
}
/*
see if we have any direct actuator updates
*/
if (_actuator_direct_sub != -1 &&
(_poll_fds[_actuator_direct_poll_fd_num].revents & POLLIN) &&
orb_copy(ORB_ID(actuator_direct), _actuator_direct_sub, &_actuator_direct) == OK &&
!_test_in_progress) {
if (_actuator_direct.nvalues > NUM_ACTUATOR_OUTPUTS) {
_actuator_direct.nvalues = NUM_ACTUATOR_OUTPUTS;
}
memcpy(&_outputs.output[0], &_actuator_direct.values[0],
_actuator_direct.nvalues*sizeof(float));
_outputs.noutputs = _actuator_direct.nvalues;
new_output = true;
}
// can we mix?
if (controls_updated && (_mixers != nullptr)) {
if (_test_in_progress) {
memset(&_outputs, 0, sizeof(_outputs));
if (_test_motor.motor_number < NUM_ACTUATOR_OUTPUTS) {
_outputs.output[_test_motor.motor_number] = _test_motor.value*2.0f-1.0f;
_outputs.noutputs = _test_motor.motor_number+1;
}
new_output = true;
} else if (controls_updated && (_mixers != nullptr)) {
// XXX one output group has 8 outputs max,
// but this driver could well serve multiple groups.
unsigned num_outputs_max = 8;
// Do mixing
outputs.noutputs = _mixers->mix(&outputs.output[0], num_outputs_max);
outputs.timestamp = hrt_absolute_time();
_outputs.noutputs = _mixers->mix(&_outputs.output[0], num_outputs_max);
// iterate actuators
for (unsigned i = 0; i < outputs.noutputs; i++) {
// last resort: catch NaN, INF and out-of-band errors
if (!isfinite(outputs.output[i])) {
/*
* Value is NaN, INF or out of band - set to the minimum value.
* This will be clearly visible on the servo status and will limit the risk of accidentally
* spinning motors. It would be deadly in flight.
*/
outputs.output[i] = -1.0f;
}
// limit outputs to valid range
// never go below min
if (outputs.output[i] < -1.0f) {
outputs.output[i] = -1.0f;
}
// never go below max
if (outputs.output[i] > 1.0f) {
outputs.output[i] = 1.0f;
}
}
// Output to the bus
_esc_controller.update_outputs(outputs.output, outputs.noutputs);
new_output = true;
}
}
// Check arming state
if (new_output) {
// iterate actuators, checking for valid values
for (uint8_t i = 0; i < _outputs.noutputs; i++) {
// last resort: catch NaN, INF and out-of-band errors
if (!isfinite(_outputs.output[i])) {
/*
* Value is NaN, INF or out of band - set to the minimum value.
* This will be clearly visible on the servo status and will limit the risk of accidentally
* spinning motors. It would be deadly in flight.
*/
_outputs.output[i] = -1.0f;
}
// never go below min
if (_outputs.output[i] < -1.0f) {
_outputs.output[i] = -1.0f;
}
// never go above max
if (_outputs.output[i] > 1.0f) {
_outputs.output[i] = 1.0f;
}
}
// Output to the bus
_outputs.timestamp = hrt_absolute_time();
_esc_controller.update_outputs(_outputs.output, _outputs.noutputs);
}
// Check motor test state
bool updated = false;
orb_check(_test_motor_sub, &updated);
if (updated) {
orb_copy(ORB_ID(test_motor), _test_motor_sub, &_test_motor);
// Update the test status and check that we're not locked down
_test_in_progress = (_test_motor.value > 0);
_esc_controller.arm_single_esc(_test_motor.motor_number, _test_in_progress);
}
// Check arming state
orb_check(_armed_sub, &updated);
if (updated) {
orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed);
// Update the armed status and check that we're not locked down
bool set_armed = _armed.armed && !_armed.lockdown;
// Update the armed status and check that we're not locked down and motor
// test is not running
bool set_armed = _armed.armed && !_armed.lockdown && !_test_in_progress;
arm_actuators(set_armed);
}
@@ -429,7 +491,7 @@ int
UavcanNode::arm_actuators(bool arm)
{
_is_armed = arm;
_esc_controller.arm_esc(arm);
_esc_controller.arm_all_escs(arm);
return OK;
}
@@ -440,7 +502,6 @@ UavcanNode::subscribe()
uint32_t sub_groups = _groups_required & ~_groups_subscribed;
uint32_t unsub_groups = _groups_subscribed & ~_groups_required;
// the first fd used by CAN
_poll_fds_num = 1;
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (sub_groups & (1 << i)) {
warnx("subscribe to actuator_controls_%d", i);
@@ -453,9 +514,7 @@ UavcanNode::subscribe()
}
if (_control_subs[i] > 0) {
_poll_fds[_poll_fds_num].fd = _control_subs[i];
_poll_fds[_poll_fds_num].events = POLLIN;
_poll_fds_num++;
_poll_ids[i] = add_poll_fd(_control_subs[i]);
}
}
}
@@ -553,6 +612,36 @@ UavcanNode::print_info()
(unsigned)_groups_subscribed, (unsigned)_groups_required, _poll_fds_num);
printf("ESC mixer: %s\n", (_mixers == nullptr) ? "NONE" : "OK");
if (_outputs.noutputs != 0) {
printf("ESC output: ");
for (uint8_t i=0; i<_outputs.noutputs; i++) {
printf("%d ", (int)(_outputs.output[i]*1000));
}
printf("\n");
// ESC status
int esc_sub = orb_subscribe(ORB_ID(esc_status));
struct esc_status_s esc;
memset(&esc, 0, sizeof(esc));
orb_copy(ORB_ID(esc_status), esc_sub, &esc);
printf("ESC Status:\n");
printf("Addr\tV\tA\tTemp\tSetpt\tRPM\tErr\n");
for (uint8_t i=0; i<_outputs.noutputs; i++) {
printf("%d\t", esc.esc[i].esc_address);
printf("%3.2f\t", (double)esc.esc[i].esc_voltage);
printf("%3.2f\t", (double)esc.esc[i].esc_current);
printf("%3.2f\t", (double)esc.esc[i].esc_temperature);
printf("%3.2f\t", (double)esc.esc[i].esc_setpoint);
printf("%d\t", esc.esc[i].esc_rpm);
printf("%d", esc.esc[i].esc_errorcount);
printf("\n");
}
orb_unsubscribe(esc_sub);
}
// Sensor bridges
auto br = _sensor_bridges.getHead();
while (br != nullptr) {
@@ -571,7 +660,7 @@ UavcanNode::print_info()
static void print_usage()
{
warnx("usage: \n"
"\tuavcan {start|status|stop}");
"\tuavcan {start|status|stop|arm|disarm}");
}
extern "C" __EXPORT int uavcan_main(int argc, char *argv[]);
@@ -618,6 +707,16 @@ int uavcan_main(int argc, char *argv[])
::exit(0);
}
if (!std::strcmp(argv[1], "arm")) {
inst->arm_actuators(true);
::exit(0);
}
if (!std::strcmp(argv[1], "disarm")) {
inst->arm_actuators(false);
::exit(0);
}
if (!std::strcmp(argv[1], "stop")) {
delete inst;
::exit(0);
src/modules/uavcan/uavcan_main.hpp
+21 -1
View File
@@ -41,6 +41,8 @@
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/test_motor.h>
#include <uORB/topics/actuator_direct.h>
#include "actuators/esc.hpp"
#include "sensors/sensor_bridge.hpp"
@@ -56,6 +58,9 @@
#define NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN 4
#define UAVCAN_DEVICE_PATH "/dev/uavcan/esc"
// we add two to allow for actuator_direct and busevent
#define UAVCAN_NUM_POLL_FDS (NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN+2)
/**
* A UAVCAN node.
*/
@@ -96,6 +101,8 @@ private:
int init(uavcan::NodeID node_id);
void node_spin_once();
int run();
int add_poll_fd(int fd); ///< add a fd to poll list, returning index into _poll_fds[]
int _task = -1; ///< handle to the OS task
bool _task_should_exit = false; ///< flag to indicate to tear down the CAN driver
@@ -103,6 +110,10 @@ private:
actuator_armed_s _armed; ///< the arming request of the system
bool _is_armed = false; ///< the arming status of the actuators on the bus
int _test_motor_sub = -1; ///< uORB subscription of the test_motor status
test_motor_s _test_motor;
bool _test_in_progress = false;
unsigned _output_count = 0; ///< number of actuators currently available
static UavcanNode *_instance; ///< singleton pointer
@@ -120,6 +131,15 @@ private:
int _control_subs[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN] = {};
actuator_controls_s _controls[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN] = {};
orb_id_t _control_topics[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN] = {};
pollfd _poll_fds[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN + 1] = {}; ///< +1 for /dev/uavcan/busevent
pollfd _poll_fds[UAVCAN_NUM_POLL_FDS] = {};
unsigned _poll_fds_num = 0;
int _actuator_direct_sub = -1; ///< uORB subscription of the actuator_direct topic
uint8_t _actuator_direct_poll_fd_num;
actuator_direct_s _actuator_direct;
actuator_outputs_s _outputs;
// index into _poll_fds for each _control_subs handle
uint8_t _poll_ids[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN];
};