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Merge branch 'master' into vector_control2

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This commit is contained in:
Anton Babushkin
2013-12-19 19:47:31 +04:00
parent 084287132a b9a533acae
commit 948acd28cc
7 changed files with 80 additions and 39 deletions
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ROMFS/px4fmu_common/init.d/rc.sensors
+1 -1
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@@ -23,7 +23,7 @@ fi
if l3gd20 start
then
echo "using L3GD20(H)"
echo "using L3GD20(H)"
fi
if lsm303d start
nuttx-configs/px4fmu-v2/nsh/defconfig
+1 -1
View File
@@ -308,7 +308,7 @@ CONFIG_UART4_RXDMA=y
# CONFIG_UART7_RS485 is not set
# CONFIG_UART7_RXDMA is not set
# CONFIG_UART8_RS485 is not set
# CONFIG_UART8_RXDMA is not set
CONFIG_UART8_RXDMA=y
CONFIG_SERIAL_DISABLE_REORDERING=y
CONFIG_STM32_USART_SINGLEWIRE=y
src/drivers/mpu6000/mpu6000.cpp
+11 -2
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@@ -505,17 +505,26 @@ out:
void MPU6000::reset()
{
// if the mpu6000 is initialised after the l3gd20 and lsm303d
// then if we don't do an irqsave/irqrestore here the mpu6000
// frequenctly comes up in a bad state where all transfers
// come as zero
irqstate_t state;
state = irqsave();
// Chip reset
write_reg(MPUREG_PWR_MGMT_1, BIT_H_RESET);
up_udelay(10000);
// Wake up device and select GyroZ clock (better performance)
// Wake up device and select GyroZ clock. Note that the
// MPU6000 starts up in sleep mode, and it can take some time
// for it to come out of sleep
write_reg(MPUREG_PWR_MGMT_1, MPU_CLK_SEL_PLLGYROZ);
up_udelay(1000);
// Disable I2C bus (recommended on datasheet)
write_reg(MPUREG_USER_CTRL, BIT_I2C_IF_DIS);
irqrestore(state);
up_udelay(1000);
// SAMPLE RATE
src/drivers/px4io/px4io.cpp
+33 -33
View File
@@ -2562,6 +2562,39 @@ px4io_main(int argc, char *argv[])
if_test((argc > 2) ? strtol(argv[2], NULL, 0) : 0);
}
if (!strcmp(argv[1], "forceupdate")) {
/*
force update of the IO firmware without requiring
the user to hold the safety switch down
*/
if (argc <= 3) {
warnx("usage: px4io forceupdate MAGIC filename");
exit(1);
}
if (g_dev == nullptr) {
warnx("px4io is not started, still attempting upgrade");
} else {
uint16_t arg = atol(argv[2]);
int ret = g_dev->ioctl(nullptr, PX4IO_REBOOT_BOOTLOADER, arg);
if (ret != OK) {
printf("reboot failed - %d\n", ret);
exit(1);
}
// tear down the px4io instance
delete g_dev;
}
// upload the specified firmware
const char *fn[2];
fn[0] = argv[3];
fn[1] = nullptr;
PX4IO_Uploader *up = new PX4IO_Uploader;
up->upload(&fn[0]);
delete up;
exit(0);
}
/* commands below here require a started driver */
if (g_dev == nullptr)
@@ -2647,39 +2680,6 @@ px4io_main(int argc, char *argv[])
exit(0);
}
if (!strcmp(argv[1], "forceupdate")) {
/*
force update of the IO firmware without requiring
the user to hold the safety switch down
*/
if (argc <= 3) {
warnx("usage: px4io forceupdate MAGIC filename");
exit(1);
}
if (g_dev == nullptr) {
warnx("px4io is not started, still attempting upgrade");
} else {
uint16_t arg = atol(argv[2]);
int ret = g_dev->ioctl(nullptr, PX4IO_REBOOT_BOOTLOADER, arg);
if (ret != OK) {
printf("reboot failed - %d\n", ret);
exit(1);
}
// tear down the px4io instance
delete g_dev;
}
// upload the specified firmware
const char *fn[2];
fn[0] = argv[3];
fn[1] = nullptr;
PX4IO_Uploader *up = new PX4IO_Uploader;
up->upload(&fn[0]);
delete up;
exit(0);
}
if (!strcmp(argv[1], "checkcrc")) {
/*
check IO CRC against CRC of a file
src/modules/commander/commander.cpp
+2 -2
View File
@@ -1598,8 +1598,8 @@ check_navigation_state_machine(struct vehicle_status_s *status, struct vehicle_c
/* switch to failsafe mode */
bool manual_control_old = control_mode->flag_control_manual_enabled;
if (!status->condition_landed) {
/* in air: try to hold position */
if (!status->condition_landed && status->condition_local_position_valid) {
/* in air: try to hold position if possible */
res = navigation_state_transition(status, NAVIGATION_STATE_VECTOR, control_mode);
} else {
src/modules/sensors/sensor_params.c
+4
View File
@@ -226,3 +226,7 @@ PARAM_DEFINE_INT32(RC_MAP_AUX3, 0); /**< default function: camera azimuth / yaw
PARAM_DEFINE_FLOAT(RC_SCALE_ROLL, 0.6f);
PARAM_DEFINE_FLOAT(RC_SCALE_PITCH, 0.6f);
PARAM_DEFINE_FLOAT(RC_SCALE_YAW, 2.0f);
PARAM_DEFINE_INT32(RC_FS_CH, 0); /**< RC failsafe channel, 0 = disable */
PARAM_DEFINE_INT32(RC_FS_MODE, 0); /**< RC failsafe mode: 0 = too low means signal loss, 1 = too high means signal loss */
PARAM_DEFINE_FLOAT(RC_FS_THR, 800); /**< RC failsafe PWM threshold */
src/modules/sensors/sensors.cpp
+28
View File
@@ -260,6 +260,10 @@ private:
float rc_scale_yaw;
float rc_scale_flaps;
int rc_fs_ch;
int rc_fs_mode;
float rc_fs_thr;
float battery_voltage_scaling;
} _parameters; /**< local copies of interesting parameters */
@@ -305,6 +309,10 @@ private:
param_t rc_scale_yaw;
param_t rc_scale_flaps;
param_t rc_fs_ch;
param_t rc_fs_mode;
param_t rc_fs_thr;
param_t battery_voltage_scaling;
param_t board_rotation;
@@ -517,6 +525,11 @@ Sensors::Sensors() :
_parameter_handles.rc_scale_yaw = param_find("RC_SCALE_YAW");
_parameter_handles.rc_scale_flaps = param_find("RC_SCALE_FLAPS");
/* RC failsafe */
_parameter_handles.rc_fs_ch = param_find("RC_FS_CH");
_parameter_handles.rc_fs_mode = param_find("RC_FS_MODE");
_parameter_handles.rc_fs_thr = param_find("RC_FS_THR");
/* gyro offsets */
_parameter_handles.gyro_offset[0] = param_find("SENS_GYRO_XOFF");
_parameter_handles.gyro_offset[1] = param_find("SENS_GYRO_YOFF");
@@ -668,6 +681,9 @@ Sensors::parameters_update()
param_get(_parameter_handles.rc_scale_pitch, &(_parameters.rc_scale_pitch));
param_get(_parameter_handles.rc_scale_yaw, &(_parameters.rc_scale_yaw));
param_get(_parameter_handles.rc_scale_flaps, &(_parameters.rc_scale_flaps));
param_get(_parameter_handles.rc_fs_ch, &(_parameters.rc_fs_ch));
param_get(_parameter_handles.rc_fs_mode, &(_parameters.rc_fs_mode));
param_get(_parameter_handles.rc_fs_thr, &(_parameters.rc_fs_thr));
/* update RC function mappings */
_rc.function[THROTTLE] = _parameters.rc_map_throttle - 1;
@@ -1256,6 +1272,18 @@ Sensors::rc_poll()
if (rc_input.channel_count < 4)
return;
/* failsafe check */
if (_parameters.rc_fs_ch != 0) {
if (_parameters.rc_fs_mode == 0) {
if (rc_input.values[_parameters.rc_fs_ch - 1] < _parameters.rc_fs_thr)
return;
} else if (_parameters.rc_fs_mode == 1) {
if (rc_input.values[_parameters.rc_fs_ch - 1] > _parameters.rc_fs_thr)
return;
}
}
unsigned channel_limit = rc_input.channel_count;
if (channel_limit > _rc_max_chan_count)