From 8a6698b6e6f274ee0be86b81548089d638f1cbc9 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 11 Jan 2015 21:07:35 +0100 Subject: [PATCH 01/18] drivers/servo_gimbal: Added servo gimbal --- makefiles/config_px4fmu-v2_default.mk | 1 + src/drivers/servo_gimbal/gimbal.cpp | 534 ++++++++++++++++++++++++++ src/drivers/servo_gimbal/module.mk | 42 ++ 3 files changed, 577 insertions(+) create mode 100644 src/drivers/servo_gimbal/gimbal.cpp create mode 100644 src/drivers/servo_gimbal/module.mk diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk index 86925f9ff4..bdaae240f1 100644 --- a/makefiles/config_px4fmu-v2_default.mk +++ b/makefiles/config_px4fmu-v2_default.mk @@ -44,6 +44,7 @@ MODULES += modules/sensors MODULES += drivers/mkblctrl MODULES += drivers/px4flow MODULES += drivers/oreoled +MODULES += drivers/servo_gimbal # # System commands diff --git a/src/drivers/servo_gimbal/gimbal.cpp b/src/drivers/servo_gimbal/gimbal.cpp new file mode 100644 index 0000000000..01a1712a23 --- /dev/null +++ b/src/drivers/servo_gimbal/gimbal.cpp @@ -0,0 +1,534 @@ +/**************************************************************************** + * + * Copyright (c) 2014, 2015 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 gimbal.cpp + * @author Lorenz Meier + * + * Driver to control a gimbal - relies on input via telemetry or RC + * and output via the standardized control group #2 and a mixer. + */ + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#include +#include + +#include +#include +#include +#include + +#include +#include +#include +#include + +#include + +/* Configuration Constants */ + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + +#ifndef CONFIG_SCHED_WORKQUEUE +# error This requires CONFIG_SCHED_WORKQUEUE. +#endif + +#define GIMBAL_DEVICE_PATH "/dev/gimbal" + +#define GIMBAL_UPDATE_INTERVAL (50 * 1000) + +#define GIMBALIOCATTCOMPENSATE 1 + +class Gimbal : public device::CDev +{ +public: + Gimbal(); + virtual ~Gimbal(); + + virtual int init(); + + virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); + virtual int ioctl(struct file *filp, int cmd, unsigned long arg); + + /** + * Diagnostics - print some basic information about the driver. + */ + void print_info(); + +protected: + virtual int probe(); + +private: + float _min_distance; + float _max_distance; + work_s _work; + int _vehicle_command_sub; + int _att_sub; + + bool _attitude_compensation; + bool _initialized; + + orb_advert_t _actuator_controls_2_topic; + + perf_counter_t _sample_perf; + perf_counter_t _comms_errors; + perf_counter_t _buffer_overflows; + + /** + * Initialise the automatic measurement state machine and start it. + * + * @note This function is called at open and error time. It might make sense + * to make it more aggressive about resetting the bus in case of errors. + */ + void start(); + + /** + * Stop the automatic measurement state machine. + */ + void stop(); + + /** + * Perform a poll cycle; collect from the previous measurement + * and start a new one. + */ + void cycle(); + + /** + * Static trampoline from the workq context; because we don't have a + * generic workq wrapper yet. + * + * @param arg Instance pointer for the driver that is polling. + */ + static void cycle_trampoline(void *arg); + + +}; + +/* + * Driver 'main' command. + */ +extern "C" __EXPORT int gimbal_main(int argc, char *argv[]); + +Gimbal::Gimbal() : + CDev("Gimbal", GIMBAL_DEVICE_PATH), + _vehicle_command_sub(-1), + _att_sub(-1), + _attitude_compensation(false), + _initialized(false), + _actuator_controls_2_topic(-1), + _sample_perf(perf_alloc(PC_ELAPSED, "gimbal_read")), + _comms_errors(perf_alloc(PC_COUNT, "gimbal_comms_errors")), + _buffer_overflows(perf_alloc(PC_COUNT, "gimbal_buffer_overflows")) +{ + // disable debug() calls + _debug_enabled = false; + + // work_cancel in the dtor will explode if we don't do this... + memset(&_work, 0, sizeof(_work)); +} + +Gimbal::~Gimbal() +{ + /* make sure we are truly inactive */ + stop(); + + ::close(_actuator_controls_2_topic); + ::close(_vehicle_command_sub); +} + +int +Gimbal::init() +{ + int ret = ERROR; + + /* do regular cdev init */ + if (CDev::init() != OK) { + goto out; + } + + start(); + ret = OK; + +out: + return ret; +} + +int +Gimbal::probe() +{ + return OK; +} + +int +Gimbal::ioctl(struct file *filp, int cmd, unsigned long arg) +{ + switch (cmd) { + + case GIMBALIOCATTCOMPENSATE: + _attitude_compensation = (arg != 0); + return OK; + + default: + /* give it to the superclass */ + return CDev::ioctl(filp, cmd, arg); + } +} + +ssize_t +Gimbal::read(struct file *filp, char *buffer, size_t buflen) +{ + return 0; +} + +void +Gimbal::start() +{ + + /* schedule a cycle to start things */ + work_queue(LPWORK, &_work, (worker_t)&Gimbal::cycle_trampoline, this, 1); +} + +void +Gimbal::stop() +{ + work_cancel(LPWORK, &_work); +} + +void +Gimbal::cycle_trampoline(void *arg) +{ + Gimbal *dev = static_cast(arg); + + dev->cycle(); +} + +void +Gimbal::cycle() +{ + + if (!_initialized) { + /* get a subscription handle on the vehicle command topic */ + _vehicle_command_sub = orb_subscribe(ORB_ID(vehicle_command)); + + /* get a publication handle on actuator output topic */ + struct actuator_controls_s zero_report; + memset(&zero_report, 0, sizeof(zero_report)); + zero_report.timestamp = hrt_absolute_time(); + _actuator_controls_2_topic = orb_advertise(ORB_ID(actuator_controls_2), &zero_report); + + if (_actuator_controls_2_topic < 0) { + warnx("advert err"); + } + + _initialized = true; + } + + bool updated = false; + + perf_begin(_sample_perf); + + float roll = 0.0f; + float pitch = 0.0f; + + + if (_attitude_compensation) { + if (_att_sub < 0) { + _att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); + } + + vehicle_attitude_s att; + + orb_copy(ORB_ID(vehicle_attitude), _att_sub, &att); + + roll = -att.roll; + pitch = -att.pitch; + + updated = true; + + } + + struct vehicle_command_s cmd; + + bool cmd_updated; + + orb_check(_vehicle_command_sub, &cmd_updated); + + if (cmd_updated) { + + orb_copy(ORB_ID(vehicle_command), _vehicle_command_sub, &cmd); + + //debug("cmd: %d, param1: %8.4f param2: %8.4f", (double)cmd.command, (double)cmd.param1, (double)cmd.param2); + + if (cmd.command == VEHICLE_CMD_DO_MOUNT_CONTROL && cmd.param7 == 2) { + + /* Convert to range -1 ... 1, which corresponds to -180deg ... 180deg */ + roll += 1.0f / M_PI_F * M_DEG_TO_RAD_F * cmd.param1; + pitch += 1.0f / M_PI_F * M_DEG_TO_RAD_F * cmd.param2; + + updated = true; + + } + + // XXX change this to the real quaternion command + if (cmd.command == VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT && cmd.param7 == 2) { + + /* Convert to range -1 ... 1, which corresponds to -180deg ... 180deg */ + roll += 1.0f / M_PI_F * M_DEG_TO_RAD_F * cmd.param1; + pitch += 1.0f / M_PI_F * M_DEG_TO_RAD_F * cmd.param2; + + updated = true; + + } + } + + if (updated) { + + struct actuator_controls_s controls; + + /* fill in the final control values */ + controls.timestamp = hrt_absolute_time(); + controls.control[0] = roll; + controls.control[1] = pitch; + + /* publish it */ + orb_publish(ORB_ID(actuator_controls_2), _actuator_controls_2_topic, &controls); + + } + + /* notify anyone waiting for data */ + poll_notify(POLLIN); + + perf_end(_sample_perf); + + /* schedule a fresh cycle call when the measurement is done */ + work_queue(LPWORK, + &_work, + (worker_t)&Gimbal::cycle_trampoline, + this, + USEC2TICK(GIMBAL_UPDATE_INTERVAL)); +} + +void +Gimbal::print_info() +{ + perf_print_counter(_sample_perf); + perf_print_counter(_comms_errors); + perf_print_counter(_buffer_overflows); +} + +/** + * Local functions in support of the shell command. + */ +namespace gimbal +{ + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +const int ERROR = -1; + +Gimbal *g_dev; + +void start(); +void stop(); +void test(); +void reset(); +void info(); + +/** + * Start the driver. + */ +void +start() +{ + if (g_dev != nullptr) { + errx(1, "already started"); + } + + /* create the driver */ + g_dev = new Gimbal(); + + if (g_dev == nullptr) { + goto fail; + } + + if (OK != g_dev->init()) { + goto fail; + } + + exit(0); + +fail: + + if (g_dev != nullptr) { + delete g_dev; + g_dev = nullptr; + } + + errx(1, "driver start failed"); +} + +/** + * Stop the driver + */ +void stop() +{ + if (g_dev != nullptr) { + delete g_dev; + g_dev = nullptr; + + } else { + errx(1, "driver not running"); + } + + exit(0); +} + +/** + * Perform some basic functional tests on the driver; + * make sure we can collect data from the sensor in polled + * and automatic modes. + */ +void +test() +{ + int fd = open(GIMBAL_DEVICE_PATH, O_RDONLY); + + if (ioctl(fd, GIMBALIOCATTCOMPENSATE, 1) < 0) { + err(1, "failed enabling compensation"); + } + + errx(0, "PASS"); +} + +/** + * Reset the driver. + */ +void +reset() +{ + int fd = open(GIMBAL_DEVICE_PATH, O_RDONLY); + + if (fd < 0) { + err(1, "failed "); + } + + // if (ioctl(fd, GIMBALIOCATTCOMPENSATE, 1) < 0) { + // err(1, "failed enabling compensation"); + // } + + exit(0); +} + +/** + * Print a little info about the driver. + */ +void +info() +{ + if (g_dev == nullptr) { + errx(1, "driver not running"); + } + + printf("state @ %p\n", g_dev); + g_dev->print_info(); + + exit(0); +} + +} // namespace + +int +gimbal_main(int argc, char *argv[]) +{ + /* + * Start/load the driver. + */ + if (!strcmp(argv[1], "start")) { + gimbal::start(); + } + + /* + * Stop the driver + */ + if (!strcmp(argv[1], "stop")) { + gimbal::stop(); + } + + /* + * Test the driver/device. + */ + if (!strcmp(argv[1], "test")) { + gimbal::test(); + } + + /* + * Reset the driver. + */ + if (!strcmp(argv[1], "reset")) { + gimbal::reset(); + } + + /* + * Print driver information. + */ + if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) { + gimbal::info(); + } + + errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'"); +} \ No newline at end of file diff --git a/src/drivers/servo_gimbal/module.mk b/src/drivers/servo_gimbal/module.mk new file mode 100644 index 0000000000..5699b702ac --- /dev/null +++ b/src/drivers/servo_gimbal/module.mk @@ -0,0 +1,42 @@ +############################################################################ +# +# Copyright (c) 2014, 2015 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. +# +############################################################################ + +# +# Makefile to build the gimbal high-level controller +# + +MODULE_COMMAND = servo_gimbal + +SRCS = gimbal.cpp + +MAXOPTIMIZATION = -Os From 7b54f968a2fa5292280d30231020885764b299f3 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 11 Jan 2015 21:09:40 +0100 Subject: [PATCH 02/18] drivers/servo_gimbal: Formatting fix --- src/drivers/servo_gimbal/gimbal.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/drivers/servo_gimbal/gimbal.cpp b/src/drivers/servo_gimbal/gimbal.cpp index 01a1712a23..47b43e3fe2 100644 --- a/src/drivers/servo_gimbal/gimbal.cpp +++ b/src/drivers/servo_gimbal/gimbal.cpp @@ -531,4 +531,4 @@ gimbal_main(int argc, char *argv[]) } errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'"); -} \ No newline at end of file +} From 415846b48640ffd52a38e18801de8c40a60cb6a7 Mon Sep 17 00:00:00 2001 From: Anton Matosov Date: Wed, 7 Jan 2015 01:13:01 +0200 Subject: [PATCH 03/18] Added aux mixer for SK450 --- .../mixers/sk450_deadcat.aux.mix | 26 +++++++++++++++++++ 1 file changed, 26 insertions(+) create mode 100644 ROMFS/px4fmu_common/mixers/sk450_deadcat.aux.mix diff --git a/ROMFS/px4fmu_common/mixers/sk450_deadcat.aux.mix b/ROMFS/px4fmu_common/mixers/sk450_deadcat.aux.mix new file mode 100644 index 0000000000..ac33094308 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/sk450_deadcat.aux.mix @@ -0,0 +1,26 @@ +Gimbal / payload mixer for all 6 aux outputs +----------------------------------------------------- + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 0 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 1 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 2 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 3 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 1 0 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 1 1 10000 10000 0 -10000 10000 From 076180a9838c69d6a31f081b536e155ad13cdc7a Mon Sep 17 00:00:00 2001 From: Anton Matosov Date: Sat, 17 Jan 2015 01:38:34 +0200 Subject: [PATCH 04/18] Added missing enum definitions Fixed float equality checks --- src/drivers/servo_gimbal/gimbal.cpp | 5 +++-- src/modules/uORB/topics/vehicle_command.h | 27 ++++++++++++++++++++++- 2 files changed, 29 insertions(+), 3 deletions(-) diff --git a/src/drivers/servo_gimbal/gimbal.cpp b/src/drivers/servo_gimbal/gimbal.cpp index 47b43e3fe2..133c8d5adb 100644 --- a/src/drivers/servo_gimbal/gimbal.cpp +++ b/src/drivers/servo_gimbal/gimbal.cpp @@ -73,6 +73,7 @@ #include #include +#include /* Configuration Constants */ @@ -312,7 +313,7 @@ Gimbal::cycle() //debug("cmd: %d, param1: %8.4f param2: %8.4f", (double)cmd.command, (double)cmd.param1, (double)cmd.param2); - if (cmd.command == VEHICLE_CMD_DO_MOUNT_CONTROL && cmd.param7 == 2) { + if (cmd.command == VEHICLE_CMD_DO_MOUNT_CONTROL && equal(cmd.param7, VEHICLE_MOUNT_MODE_MAVLINK_TARGETING)) { /* Convert to range -1 ... 1, which corresponds to -180deg ... 180deg */ roll += 1.0f / M_PI_F * M_DEG_TO_RAD_F * cmd.param1; @@ -323,7 +324,7 @@ Gimbal::cycle() } // XXX change this to the real quaternion command - if (cmd.command == VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT && cmd.param7 == 2) { + if (cmd.command == VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT && equal(cmd.param7, VEHICLE_MOUNT_MODE_MAVLINK_TARGETING)) { /* Convert to range -1 ... 1, which corresponds to -180deg ... 180deg */ roll += 1.0f / M_PI_F * M_DEG_TO_RAD_F * cmd.param1; diff --git a/src/modules/uORB/topics/vehicle_command.h b/src/modules/uORB/topics/vehicle_command.h index 6b4cb483bd..4ad4983f4b 100644 --- a/src/modules/uORB/topics/vehicle_command.h +++ b/src/modules/uORB/topics/vehicle_command.h @@ -85,6 +85,15 @@ enum VEHICLE_CMD { VEHICLE_CMD_DO_REPEAT_SERVO = 184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty| */ VEHICLE_CMD_DO_FLIGHTTERMINATION=185, /* Terminate flight immediately |Flight termination activated if > 0.5| Empty| Empty| Empty| Empty| Empty| Empty| */ VEHICLE_CMD_DO_CONTROL_VIDEO = 200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| */ + VEHICLE_CMD_DO_MOUNT_CONFIGURE=204, /* Mission command to configure a camera or antenna mount |Mount operation mode (see MAV_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty| */ + VEHICLE_CMD_DO_MOUNT_CONTROL=205, /* Mission command to control a camera or antenna mount |pitch or lat in degrees, depending on mount mode.| roll or lon in degrees depending on mount mode| yaw or alt (in meters) depending on mount mode| reserved| reserved| reserved| MAV_MOUNT_MODE enum value| */ + VEHICLE_CMD_DO_SET_CAM_TRIGG_DIST=206, /* Mission command to set CAM_TRIGG_DIST for this flight |Camera trigger distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty| */ + VEHICLE_CMD_DO_FENCE_ENABLE=207, /* Mission command to enable the geofence |enable? (0=disable, 1=enable)| Empty| Empty| Empty| Empty| Empty| Empty| */ + VEHICLE_CMD_DO_PARACHUTE=208, /* Mission command to trigger a parachute |action (0=disable, 1=enable, 2=release, for some systems see PARACHUTE_ACTION enum, not in general message set.)| Empty| Empty| Empty| Empty| Empty| Empty| */ + VEHICLE_CMD_DO_INVERTED_FLIGHT=210, /* Change to/from inverted flight |inverted (0=normal, 1=inverted)| Empty| Empty| Empty| Empty| Empty| Empty| */ + VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT=220, /* Mission command to control a camera or antenna mount, using a quaternion as reference. |q1 - quaternion param #1, w (1 in null-rotation)| q2 - quaternion param #2, x (0 in null-rotation)| q3 - quaternion param #3, y (0 in null-rotation)| q4 - quaternion param #4, z (0 in null-rotation)| Empty| Empty| Empty| */ + VEHICLE_CMD_DO_GUIDED_MASTER=221, /* set id of master controller |System ID| Component ID| Empty| Empty| Empty| Empty| Empty| */ + VEHICLE_CMD_DO_GUIDED_LIMITS=222, /* set limits for external control |timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout| absolute altitude min (in meters, AMSL) - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit| absolute altitude max (in meters)- if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit| horizontal move limit (in meters, AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit| Empty| Empty| Empty| */ VEHICLE_CMD_DO_LAST = 240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ VEHICLE_CMD_PREFLIGHT_CALIBRATION = 241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Empty| Empty| */ VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS = 242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units| */ @@ -101,7 +110,7 @@ enum VEHICLE_CMD { /** * Commands for commander app. * - * Should contain all of MAVLink's VEHICLE_CMD_RESULT values + * Should contain all of MAVLink's MAV_CMD_RESULT values * but can contain additional ones. */ enum VEHICLE_CMD_RESULT { @@ -113,6 +122,22 @@ enum VEHICLE_CMD_RESULT { VEHICLE_CMD_RESULT_ENUM_END = 5, /* | */ }; +/** + * Commands for gimbal app. + * + * Should contain all of MAVLink's MAV_MOUNT_MODE values + * but can contain additional ones. + */ +typedef enum VEHICLE_MOUNT_MODE +{ + VEHICLE_MOUNT_MODE_RETRACT=0, /* Load and keep safe position (Roll,Pitch,Yaw) from permant memory and stop stabilization | */ + VEHICLE_MOUNT_MODE_NEUTRAL=1, /* Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory. | */ + VEHICLE_MOUNT_MODE_MAVLINK_TARGETING=2, /* Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization | */ + VEHICLE_MOUNT_MODE_RC_TARGETING=3, /* Load neutral position and start RC Roll,Pitch,Yaw control with stabilization | */ + VEHICLE_MOUNT_MODE_GPS_POINT=4, /* Load neutral position and start to point to Lat,Lon,Alt | */ + VEHICLE_MOUNT_MODE_ENUM_END=5, /* | */ +} VEHICLE_MOUNT_MODE; + /** * @addtogroup topics * @{ From 72274062c1b80d063d31dab28cb1cd84937eb3a5 Mon Sep 17 00:00:00 2001 From: Anton Matosov Date: Sat, 17 Jan 2015 01:39:44 +0200 Subject: [PATCH 05/18] Renamed servo_gimbal to simply 'gimbal' as HW is behind the scene and doesn't really matter here --- makefiles/config_px4fmu-v2_default.mk | 2 +- src/drivers/{servo_gimbal => gimbal}/gimbal.cpp | 0 src/drivers/{servo_gimbal => gimbal}/module.mk | 2 +- 3 files changed, 2 insertions(+), 2 deletions(-) rename src/drivers/{servo_gimbal => gimbal}/gimbal.cpp (100%) rename src/drivers/{servo_gimbal => gimbal}/module.mk (98%) diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk index bdaae240f1..f414186d15 100644 --- a/makefiles/config_px4fmu-v2_default.mk +++ b/makefiles/config_px4fmu-v2_default.mk @@ -44,7 +44,7 @@ MODULES += modules/sensors MODULES += drivers/mkblctrl MODULES += drivers/px4flow MODULES += drivers/oreoled -MODULES += drivers/servo_gimbal +MODULES += drivers/gimbal # # System commands diff --git a/src/drivers/servo_gimbal/gimbal.cpp b/src/drivers/gimbal/gimbal.cpp similarity index 100% rename from src/drivers/servo_gimbal/gimbal.cpp rename to src/drivers/gimbal/gimbal.cpp diff --git a/src/drivers/servo_gimbal/module.mk b/src/drivers/gimbal/module.mk similarity index 98% rename from src/drivers/servo_gimbal/module.mk rename to src/drivers/gimbal/module.mk index 5699b702ac..cc0a10c6e3 100644 --- a/src/drivers/servo_gimbal/module.mk +++ b/src/drivers/gimbal/module.mk @@ -35,7 +35,7 @@ # Makefile to build the gimbal high-level controller # -MODULE_COMMAND = servo_gimbal +MODULE_COMMAND = gimbal SRCS = gimbal.cpp From 3647b7530392aca8177aa2991db8b8dbf00825f8 Mon Sep 17 00:00:00 2001 From: Anton Matosov Date: Sat, 17 Jan 2015 22:52:51 +0200 Subject: [PATCH 06/18] Updated @author --- src/drivers/gimbal/gimbal.cpp | 1 + src/modules/uORB/topics/vehicle_command.h | 1 + 2 files changed, 2 insertions(+) diff --git a/src/drivers/gimbal/gimbal.cpp b/src/drivers/gimbal/gimbal.cpp index 133c8d5adb..b4f24cceb6 100644 --- a/src/drivers/gimbal/gimbal.cpp +++ b/src/drivers/gimbal/gimbal.cpp @@ -34,6 +34,7 @@ /** * @file gimbal.cpp * @author Lorenz Meier + * @author Anton Matosov * * Driver to control a gimbal - relies on input via telemetry or RC * and output via the standardized control group #2 and a mixer. diff --git a/src/modules/uORB/topics/vehicle_command.h b/src/modules/uORB/topics/vehicle_command.h index 4ad4983f4b..35161a3260 100644 --- a/src/modules/uORB/topics/vehicle_command.h +++ b/src/modules/uORB/topics/vehicle_command.h @@ -38,6 +38,7 @@ * @author Thomas Gubler * @author Julian Oes * @author Lorenz Meier + * @author Anton Matosov */ #ifndef TOPIC_VEHICLE_COMMAND_H_ From 6d51da2ff117de329d55d203bcdba6013f348e73 Mon Sep 17 00:00:00 2001 From: Anton Matosov Date: Sun, 18 Jan 2015 00:27:43 +0200 Subject: [PATCH 07/18] Adopted SK450 mixer for the gimbal control group Added start of the gimbal driver for SK450 --- ROMFS/px4fmu_common/init.d/10019_sk450_deadcat | 2 ++ .../px4fmu_common/mixers/sk450_deadcat.aux.mix | 18 ++++++++++++------ 2 files changed, 14 insertions(+), 6 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/10019_sk450_deadcat b/ROMFS/px4fmu_common/init.d/10019_sk450_deadcat index e68f57f252..8a90c9169d 100644 --- a/ROMFS/px4fmu_common/init.d/10019_sk450_deadcat +++ b/ROMFS/px4fmu_common/init.d/10019_sk450_deadcat @@ -29,3 +29,5 @@ set MIXER sk450_deadcat set PWM_OUT 1234 set PWM_MIN 1050 + +gimbal start diff --git a/ROMFS/px4fmu_common/mixers/sk450_deadcat.aux.mix b/ROMFS/px4fmu_common/mixers/sk450_deadcat.aux.mix index ac33094308..b5e666a56d 100644 --- a/ROMFS/px4fmu_common/mixers/sk450_deadcat.aux.mix +++ b/ROMFS/px4fmu_common/mixers/sk450_deadcat.aux.mix @@ -1,26 +1,32 @@ Gimbal / payload mixer for all 6 aux outputs ----------------------------------------------------- +# gimbal roll M: 1 O: 10000 10000 0 -10000 10000 -S: 0 0 10000 10000 0 -10000 10000 +S: 2 0 10000 10000 0 -10000 10000 +# gimbal pitch M: 1 O: 10000 10000 0 -10000 10000 -S: 0 1 10000 10000 0 -10000 10000 +S: 2 1 10000 10000 0 -10000 10000 +# gimbal yaw M: 1 O: 10000 10000 0 -10000 10000 -S: 0 2 10000 10000 0 -10000 10000 +S: 2 2 10000 10000 0 -10000 10000 +# gimbal shutter M: 1 O: 10000 10000 0 -10000 10000 -S: 0 3 10000 10000 0 -10000 10000 +S: 2 3 10000 10000 0 -10000 10000 +# reserved and not used, yet M: 1 O: 10000 10000 0 -10000 10000 -S: 1 0 10000 10000 0 -10000 10000 +S: 2 4 10000 10000 0 -10000 10000 +# parachute M: 1 O: 10000 10000 0 -10000 10000 -S: 1 1 10000 10000 0 -10000 10000 +S: 2 7 10000 10000 0 -10000 10000 From 3f9a4ce00e8c703e0434950724cda82f4bdc08ca Mon Sep 17 00:00:00 2001 From: Anton Matosov Date: Sat, 28 Feb 2015 21:16:47 -0800 Subject: [PATCH 08/18] SK450 gimbal tuning --- .../px4fmu_common/mixers/sk450_deadcat.aux.mix | 17 ++++++++++------- 1 file changed, 10 insertions(+), 7 deletions(-) diff --git a/ROMFS/px4fmu_common/mixers/sk450_deadcat.aux.mix b/ROMFS/px4fmu_common/mixers/sk450_deadcat.aux.mix index b5e666a56d..8e4cdb4233 100644 --- a/ROMFS/px4fmu_common/mixers/sk450_deadcat.aux.mix +++ b/ROMFS/px4fmu_common/mixers/sk450_deadcat.aux.mix @@ -1,27 +1,29 @@ -Gimbal / payload mixer for all 6 aux outputs +Gimbal / payload mixer for SK450 DeadCat configuration with 2 gimbals: + - inline GoPro gimbal + - ----------------------------------------------------- # gimbal roll M: 1 O: 10000 10000 0 -10000 10000 -S: 2 0 10000 10000 0 -10000 10000 +S: 2 0 -11500 -10000 900 -10000 10000 # gimbal pitch M: 1 O: 10000 10000 0 -10000 10000 -S: 2 1 10000 10000 0 -10000 10000 +S: 2 1 12000 12000 2000 -10000 10000 -# gimbal yaw +# FPV gimbal yaw (not implemented, yet) M: 1 O: 10000 10000 0 -10000 10000 S: 2 2 10000 10000 0 -10000 10000 -# gimbal shutter +# FPV gimbal pitch M: 1 O: 10000 10000 0 -10000 10000 -S: 2 3 10000 10000 0 -10000 10000 +S: 2 1 -12000 -12000 -3000 -10000 10000 -# reserved and not used, yet +# reserved, not used M: 1 O: 10000 10000 0 -10000 10000 S: 2 4 10000 10000 0 -10000 10000 @@ -30,3 +32,4 @@ S: 2 4 10000 10000 0 -10000 10000 M: 1 O: 10000 10000 0 -10000 10000 S: 2 7 10000 10000 0 -10000 10000 + From db6ad147d562f2fc8ef493062854d68f58140da7 Mon Sep 17 00:00:00 2001 From: Anton Matosov Date: Sun, 1 Mar 2015 20:14:41 -0800 Subject: [PATCH 09/18] Removed extra space --- ROMFS/px4fmu_common/init.d/rc.interface | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface index eceff0f99a..767a4564e5 100644 --- a/ROMFS/px4fmu_common/init.d/rc.interface +++ b/ROMFS/px4fmu_common/init.d/rc.interface @@ -11,7 +11,7 @@ then # Load main mixer # - if [ $MIXER_AUX == none -a $USE_IO == yes ] + if [ $MIXER_AUX == none -a $USE_IO == yes ] then set MIXER_AUX $MIXER.aux fi From 3db6d08b5c3de15db8af75dc3608c204e8be525c Mon Sep 17 00:00:00 2001 From: Anton Matosov Date: Tue, 3 Mar 2015 22:30:52 -0800 Subject: [PATCH 10/18] Enabled attitude compensation by default as that is all the gimbal driver is about --- src/drivers/gimbal/gimbal.cpp | 7 ++----- 1 file changed, 2 insertions(+), 5 deletions(-) diff --git a/src/drivers/gimbal/gimbal.cpp b/src/drivers/gimbal/gimbal.cpp index b4f24cceb6..6a9398698a 100644 --- a/src/drivers/gimbal/gimbal.cpp +++ b/src/drivers/gimbal/gimbal.cpp @@ -168,7 +168,7 @@ Gimbal::Gimbal() : CDev("Gimbal", GIMBAL_DEVICE_PATH), _vehicle_command_sub(-1), _att_sub(-1), - _attitude_compensation(false), + _attitude_compensation(true), _initialized(false), _actuator_controls_2_topic(-1), _sample_perf(perf_alloc(PC_ELAPSED, "gimbal_read")), @@ -238,7 +238,6 @@ Gimbal::read(struct file *filp, char *buffer, size_t buflen) void Gimbal::start() { - /* schedule a cycle to start things */ work_queue(LPWORK, &_work, (worker_t)&Gimbal::cycle_trampoline, this, 1); } @@ -260,7 +259,6 @@ Gimbal::cycle_trampoline(void *arg) void Gimbal::cycle() { - if (!_initialized) { /* get a subscription handle on the vehicle command topic */ _vehicle_command_sub = orb_subscribe(ORB_ID(vehicle_command)); @@ -299,7 +297,6 @@ Gimbal::cycle() pitch = -att.pitch; updated = true; - } struct vehicle_command_s cmd; @@ -312,7 +309,7 @@ Gimbal::cycle() orb_copy(ORB_ID(vehicle_command), _vehicle_command_sub, &cmd); - //debug("cmd: %d, param1: %8.4f param2: %8.4f", (double)cmd.command, (double)cmd.param1, (double)cmd.param2); + debug("cmd: %d, param7 %d | param1: %8.4f param2: %8.4f", cmd.command, (int)cmd.param7, (double)cmd.param1, (double)cmd.param2); if (cmd.command == VEHICLE_CMD_DO_MOUNT_CONTROL && equal(cmd.param7, VEHICLE_MOUNT_MODE_MAVLINK_TARGETING)) { From 610a714e8593b5c5f8beba5e67a245aa3ad77d49 Mon Sep 17 00:00:00 2001 From: Anton Matosov Date: Tue, 3 Mar 2015 22:36:05 -0800 Subject: [PATCH 11/18] Added sublime build system that uploads just built product Renamed existing build system to be more verbose --- Firmware.sublime-project | 12 ++++++++++-- 1 file changed, 10 insertions(+), 2 deletions(-) diff --git a/Firmware.sublime-project b/Firmware.sublime-project index 7292307d5b..e02348eb5e 100644 --- a/Firmware.sublime-project +++ b/Firmware.sublime-project @@ -38,10 +38,18 @@ "build_systems": [ { - "name": "PX4", + "name": "PX4: make all", "working_dir": "${project_path}", "file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$", - "cmd": ["make"] + "cmd": ["make -j8"], + "shell": true + }, + { + "name": "PX4: make and upload", + "working_dir": "${project_path}", + "file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$", + "cmd": ["make upload px4fmu-v2_default -j8"], + "shell": true } ] } From c76839df73b018db8435ecf011b4812561241667 Mon Sep 17 00:00:00 2001 From: Anton Matosov Date: Tue, 3 Mar 2015 23:21:31 -0800 Subject: [PATCH 12/18] Implemented yaw componsation --- src/drivers/gimbal/gimbal.cpp | 21 +++++++++++++++------ 1 file changed, 15 insertions(+), 6 deletions(-) diff --git a/src/drivers/gimbal/gimbal.cpp b/src/drivers/gimbal/gimbal.cpp index 6a9398698a..a7e03ad39e 100644 --- a/src/drivers/gimbal/gimbal.cpp +++ b/src/drivers/gimbal/gimbal.cpp @@ -92,7 +92,7 @@ static const int ERROR = -1; #define GIMBAL_UPDATE_INTERVAL (50 * 1000) -#define GIMBALIOCATTCOMPENSATE 1 +#define GIMBALIOCATTCOMPENSATE 1 class Gimbal : public device::CDev { @@ -282,6 +282,7 @@ Gimbal::cycle() float roll = 0.0f; float pitch = 0.0f; + float yaw = 0.0f; if (_attitude_compensation) { @@ -295,6 +296,7 @@ Gimbal::cycle() roll = -att.roll; pitch = -att.pitch; + yaw = att.yaw; updated = true; } @@ -311,36 +313,43 @@ Gimbal::cycle() debug("cmd: %d, param7 %d | param1: %8.4f param2: %8.4f", cmd.command, (int)cmd.param7, (double)cmd.param1, (double)cmd.param2); - if (cmd.command == VEHICLE_CMD_DO_MOUNT_CONTROL && equal(cmd.param7, VEHICLE_MOUNT_MODE_MAVLINK_TARGETING)) { + VEHICLE_MOUNT_MODE mountMode = (VEHICLE_MOUNT_MODE)cmd.param7; + if (cmd.command == VEHICLE_CMD_DO_MOUNT_CONTROL && mountMode == VEHICLE_MOUNT_MODE_MAVLINK_TARGETING) { /* Convert to range -1 ... 1, which corresponds to -180deg ... 180deg */ roll += 1.0f / M_PI_F * M_DEG_TO_RAD_F * cmd.param1; pitch += 1.0f / M_PI_F * M_DEG_TO_RAD_F * cmd.param2; - + yaw += 1.0f / M_PI_F * M_DEG_TO_RAD_F * cmd.param3; + updated = true; } +#if 0 // XXX change this to the real quaternion command - if (cmd.command == VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT && equal(cmd.param7, VEHICLE_MOUNT_MODE_MAVLINK_TARGETING)) { + if (cmd.command == VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT && mountMode == VEHICLE_MOUNT_MODE_MAVLINK_TARGETING) { /* Convert to range -1 ... 1, which corresponds to -180deg ... 180deg */ roll += 1.0f / M_PI_F * M_DEG_TO_RAD_F * cmd.param1; pitch += 1.0f / M_PI_F * M_DEG_TO_RAD_F * cmd.param2; + yaw += 1.0f / M_PI_F * M_DEG_TO_RAD_F * cmd.param3; updated = true; - } +#endif } if (updated) { struct actuator_controls_s controls; + debug("publishing | roll: %8.4f pitch: %8.4f yaw: %8.4f", (double)roll, (double)pitch, (double)yaw); + /* fill in the final control values */ controls.timestamp = hrt_absolute_time(); controls.control[0] = roll; controls.control[1] = pitch; + controls.control[2] = yaw; /* publish it */ orb_publish(ORB_ID(actuator_controls_2), _actuator_controls_2_topic, &controls); @@ -529,5 +538,5 @@ gimbal_main(int argc, char *argv[]) gimbal::info(); } - errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'"); + errx(1, "unrecognized command, try 'start', 'stop', 'reset', 'test' or 'info'"); } From c5bb12be3bd0d2e864a7596be14d99cb3912991d Mon Sep 17 00:00:00 2001 From: Anton Matosov Date: Tue, 3 Mar 2015 23:23:43 -0800 Subject: [PATCH 13/18] Disabled logging of the each componsated value --- src/drivers/gimbal/gimbal.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/drivers/gimbal/gimbal.cpp b/src/drivers/gimbal/gimbal.cpp index a7e03ad39e..536226a01a 100644 --- a/src/drivers/gimbal/gimbal.cpp +++ b/src/drivers/gimbal/gimbal.cpp @@ -311,9 +311,9 @@ Gimbal::cycle() orb_copy(ORB_ID(vehicle_command), _vehicle_command_sub, &cmd); - debug("cmd: %d, param7 %d | param1: %8.4f param2: %8.4f", cmd.command, (int)cmd.param7, (double)cmd.param1, (double)cmd.param2); - VEHICLE_MOUNT_MODE mountMode = (VEHICLE_MOUNT_MODE)cmd.param7; + debug("cmd: %d, mountMode %d | param1: %8.4f param2: %8.4f", cmd.command, mountMode, (double)cmd.param1, (double)cmd.param2); + if (cmd.command == VEHICLE_CMD_DO_MOUNT_CONTROL && mountMode == VEHICLE_MOUNT_MODE_MAVLINK_TARGETING) { /* Convert to range -1 ... 1, which corresponds to -180deg ... 180deg */ @@ -343,7 +343,7 @@ Gimbal::cycle() struct actuator_controls_s controls; - debug("publishing | roll: %8.4f pitch: %8.4f yaw: %8.4f", (double)roll, (double)pitch, (double)yaw); + // debug("publishing | roll: %8.4f pitch: %8.4f yaw: %8.4f", (double)roll, (double)pitch, (double)yaw); /* fill in the final control values */ controls.timestamp = hrt_absolute_time(); From 7bf6c3bae867e3ed350043a89e7e1ad4b87b9236 Mon Sep 17 00:00:00 2001 From: Anton Matosov Date: Tue, 3 Mar 2015 23:31:23 -0800 Subject: [PATCH 14/18] Increased update rate to get rid of glitches in servo movements --- src/drivers/gimbal/gimbal.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/drivers/gimbal/gimbal.cpp b/src/drivers/gimbal/gimbal.cpp index 536226a01a..441e5b40cd 100644 --- a/src/drivers/gimbal/gimbal.cpp +++ b/src/drivers/gimbal/gimbal.cpp @@ -90,7 +90,7 @@ static const int ERROR = -1; #define GIMBAL_DEVICE_PATH "/dev/gimbal" -#define GIMBAL_UPDATE_INTERVAL (50 * 1000) +#define GIMBAL_UPDATE_INTERVAL (5 * 1000) #define GIMBALIOCATTCOMPENSATE 1 From e191958ce656dbc31bc0029b9d0e1ed2fd4db72c Mon Sep 17 00:00:00 2001 From: Anton Matosov Date: Tue, 3 Mar 2015 23:53:48 -0800 Subject: [PATCH 15/18] Made aux output pwm rate, min, max, disarmed and failsafe values configurable the same way as for the main outputs --- .../px4fmu_common/init.d/10019_sk450_deadcat | 5 +++ ROMFS/px4fmu_common/init.d/rc.interface | 36 ++++++++++++++++++- ROMFS/px4fmu_common/init.d/rcS | 5 +++ 3 files changed, 45 insertions(+), 1 deletion(-) diff --git a/ROMFS/px4fmu_common/init.d/10019_sk450_deadcat b/ROMFS/px4fmu_common/init.d/10019_sk450_deadcat index 8a90c9169d..c6861c2d45 100644 --- a/ROMFS/px4fmu_common/init.d/10019_sk450_deadcat +++ b/ROMFS/px4fmu_common/init.d/10019_sk450_deadcat @@ -30,4 +30,9 @@ set MIXER sk450_deadcat set PWM_OUT 1234 set PWM_MIN 1050 +set PWM_AUX_OUT 1234 +# set PWM_AUX_MIN 900 +# set PWM_AUX_MAX 2100 +set PWM_AUX_RATE 100 + gimbal start diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface index 767a4564e5..5101acc07f 100644 --- a/ROMFS/px4fmu_common/init.d/rc.interface +++ b/ROMFS/px4fmu_common/init.d/rc.interface @@ -103,6 +103,7 @@ then # set MIXER_AUX_FILE none + set OUTPUT_AUX_DEV /dev/pwm_output1 if [ -f $SDCARD_MIXERS_PATH/$MIXER_AUX.mix ] then @@ -119,10 +120,43 @@ then then if fmu mode_pwm then - mixer load /dev/pwm_output1 $MIXER_AUX_FILE + mixer load $OUTPUT_AUX_DEV $MIXER_AUX_FILE else tone_alarm $TUNE_ERR fi + + if [ $PWM_AUX_OUT != none ] + then + # + # Set PWM_AUX output frequency + # + if [ $PWM_AUX_RATE != none ] + then + pwm rate -c $PWM_AUX_OUT -r $PWM_AUX_RATE -d $OUTPUT_AUX_DEV + fi + + # + # Set disarmed, min and max PWM_AUX values + # + if [ $PWM_AUX_DISARMED != none ] + then + pwm disarmed -c $PWM_AUX_OUT -p $PWM_AUX_DISARMED -d $OUTPUT_AUX_DEV + fi + if [ $PWM_AUX_MIN != none ] + then + pwm min -c $PWM_AUX_OUT -p $PWM_AUX_MIN -d $OUTPUT_AUX_DEV + fi + if [ $PWM_AUX_MAX != none ] + then + pwm max -c $PWM_AUX_OUT -p $PWM_AUX_MAX -d $OUTPUT_AUX_DEV + fi + fi + + if [ $FAILSAFE_AUX != none ] + then + pwm failsafe -d $OUTPUT_AUX_DEV $FAILSAFE + fi + fi fi unset OUTPUT_DEV diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 1d21d77727..59abdc8e33 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -109,6 +109,11 @@ then set PWM_DISARMED none set PWM_MIN none set PWM_MAX none + set PWM_AUX_OUT none + set PWM_AUX_RATE none + set PWM_AUX_DISARMED none + set PWM_AUX_MIN none + set PWM_AUX_MAX none set MK_MODE none set FMU_MODE pwm set MAVLINK_F default From 38171121fb8cbcc5d96a09aaafa4ffaaabaf8413 Mon Sep 17 00:00:00 2001 From: Anton Matosov Date: Wed, 4 Mar 2015 07:07:48 -0800 Subject: [PATCH 16/18] Fixed comments --- ROMFS/px4fmu_common/mixers/sk450_deadcat.aux.mix | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/ROMFS/px4fmu_common/mixers/sk450_deadcat.aux.mix b/ROMFS/px4fmu_common/mixers/sk450_deadcat.aux.mix index 8e4cdb4233..11f3813ad7 100644 --- a/ROMFS/px4fmu_common/mixers/sk450_deadcat.aux.mix +++ b/ROMFS/px4fmu_common/mixers/sk450_deadcat.aux.mix @@ -1,6 +1,9 @@ -Gimbal / payload mixer for SK450 DeadCat configuration with 2 gimbals: - - inline GoPro gimbal - - +Gimbal / payload mixer for PX4FMU +=========================== + +Configuration with 2 gimbals: + - 2 axes inline GoPro gimbal (pitch, roll) + - 2 axes FPV gimbal (pitch, yaw), physically attached GoPro gimbal's roll stabilization ----------------------------------------------------- # gimbal roll From e5a73f07951c21cefc5e8d6544d84c691903453c Mon Sep 17 00:00:00 2001 From: Anton Matosov Date: Fri, 6 Mar 2015 18:52:26 -0800 Subject: [PATCH 17/18] Disambiguate comment of main mixer --- ROMFS/px4fmu_common/mixers/sk450_deadcat.main.mix | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ROMFS/px4fmu_common/mixers/sk450_deadcat.main.mix b/ROMFS/px4fmu_common/mixers/sk450_deadcat.main.mix index a8c5b716d6..8daf810050 100644 --- a/ROMFS/px4fmu_common/mixers/sk450_deadcat.main.mix +++ b/ROMFS/px4fmu_common/mixers/sk450_deadcat.main.mix @@ -1,4 +1,4 @@ -Multirotor mixer for PX4FMU +Multirotor mixer for PX4IO =========================== This file defines a single mixer for a quadrotor in SK450 DeadCat configuration. All controls are mixed 100%. From f8e471d95cbca9434e99b68a9f3e146c0a597b53 Mon Sep 17 00:00:00 2001 From: Anton Matosov Date: Fri, 6 Mar 2015 18:52:52 -0800 Subject: [PATCH 18/18] Implemented Quaternion position for Gimbal (not tested) --- src/drivers/gimbal/gimbal.cpp | 13 ++++++------- 1 file changed, 6 insertions(+), 7 deletions(-) diff --git a/src/drivers/gimbal/gimbal.cpp b/src/drivers/gimbal/gimbal.cpp index 441e5b40cd..ccda4c0a56 100644 --- a/src/drivers/gimbal/gimbal.cpp +++ b/src/drivers/gimbal/gimbal.cpp @@ -75,6 +75,7 @@ #include #include +#include /* Configuration Constants */ @@ -325,18 +326,16 @@ Gimbal::cycle() } -#if 0 - // XXX change this to the real quaternion command if (cmd.command == VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT && mountMode == VEHICLE_MOUNT_MODE_MAVLINK_TARGETING) { + float gimbalDirectionQuat[] = {cmd.param1, cmd.param2, cmd.param3, cmd.param4}; + math::Vector<3> gimablDirectionEuler = math::Quaternion(gimbalDirectionQuat).to_dcm().to_euler(); - /* Convert to range -1 ... 1, which corresponds to -180deg ... 180deg */ - roll += 1.0f / M_PI_F * M_DEG_TO_RAD_F * cmd.param1; - pitch += 1.0f / M_PI_F * M_DEG_TO_RAD_F * cmd.param2; - yaw += 1.0f / M_PI_F * M_DEG_TO_RAD_F * cmd.param3; + roll += gimablDirectionEuler(0); + pitch += gimablDirectionEuler(1); + yaw += gimablDirectionEuler(2); updated = true; } -#endif } if (updated) {