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Merge branch 'master' of https://github.com/PX4/Firmware into px4flow_integral_i2c

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This commit is contained in:
dominiho
2014-10-30 11:11:15 +01:00
parent 37d399f050 5500fcdf12
commit 93239e5018
11 changed files with 35 additions and 11 deletions
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src/drivers/drv_pwm_output.h
+3
View File
@@ -213,6 +213,9 @@ ORB_DECLARE(output_pwm);
/** make failsafe non-recoverable (termination) if it occurs */
#define PWM_SERVO_SET_TERMINATION_FAILSAFE _IOC(_PWM_SERVO_BASE, 25)
/** force safety switch on (to enable use of safety switch) */
#define PWM_SERVO_SET_FORCE_SAFETY_ON _IOC(_PWM_SERVO_BASE, 26)
/*
*
*
src/drivers/mpu6000/mpu6000.cpp
+11
View File
@@ -229,6 +229,7 @@ private:
perf_counter_t _gyro_reads;
perf_counter_t _sample_perf;
perf_counter_t _bad_transfers;
perf_counter_t _good_transfers;
math::LowPassFilter2p _accel_filter_x;
math::LowPassFilter2p _accel_filter_y;
@@ -404,6 +405,7 @@ MPU6000::MPU6000(int bus, const char *path_accel, const char *path_gyro, spi_dev
_gyro_reads(perf_alloc(PC_COUNT, "mpu6000_gyro_read")),
_sample_perf(perf_alloc(PC_ELAPSED, "mpu6000_read")),
_bad_transfers(perf_alloc(PC_COUNT, "mpu6000_bad_transfers")),
_good_transfers(perf_alloc(PC_COUNT, "mpu6000_good_transfers")),
_accel_filter_x(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
_accel_filter_y(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
_accel_filter_z(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
@@ -456,6 +458,7 @@ MPU6000::~MPU6000()
perf_free(_accel_reads);
perf_free(_gyro_reads);
perf_free(_bad_transfers);
perf_free(_good_transfers);
}
int
@@ -1279,8 +1282,14 @@ MPU6000::measure()
// all zero data - probably a SPI bus error
perf_count(_bad_transfers);
perf_end(_sample_perf);
// note that we don't call reset() here as a reset()
// costs 20ms with interrupts disabled. That means if
// the mpu6k does go bad it would cause a FMU failure,
// regardless of whether another sensor is available,
return;
}
perf_count(_good_transfers);
/*
@@ -1399,6 +1408,8 @@ MPU6000::print_info()
perf_print_counter(_sample_perf);
perf_print_counter(_accel_reads);
perf_print_counter(_gyro_reads);
perf_print_counter(_bad_transfers);
perf_print_counter(_good_transfers);
_accel_reports->print_info("accel queue");
_gyro_reports->print_info("gyro queue");
}
src/drivers/px4fmu/fmu.cpp
+1
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@@ -829,6 +829,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
case PWM_SERVO_SET_ARM_OK:
case PWM_SERVO_CLEAR_ARM_OK:
case PWM_SERVO_SET_FORCE_SAFETY_OFF:
case PWM_SERVO_SET_FORCE_SAFETY_ON:
// these are no-ops, as no safety switch
break;
src/drivers/px4io/px4io.cpp
+5
View File
@@ -2278,6 +2278,11 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, PX4IO_FORCE_SAFETY_MAGIC);
break;
case PWM_SERVO_SET_FORCE_SAFETY_ON:
/* force safety switch on */
ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_ON, PX4IO_FORCE_SAFETY_MAGIC);
break;
case PWM_SERVO_SET_FORCE_FAILSAFE:
/* force failsafe mode instantly */
if (arg == 0) {