fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-06 15:28:52 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merged origin/master into batt_fixes

Browse Source
This commit is contained in:
Lorenz Meier
2014-01-07 15:34:13 +01:00
parent 2a2c8337e8 94b539dfdd
commit 9b711d6a72
152 changed files with 8832 additions and 2762 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/att_pos_estimator_ekf/KalmanNav.cpp
+51 -18
View File
@@ -41,6 +41,7 @@
#include "KalmanNav.hpp"
#include <systemlib/err.h>
#include <geo/geo.h>
// constants
// Titterton pg. 52
@@ -67,15 +68,13 @@ KalmanNav::KalmanNav(SuperBlock *parent, const char *name) :
// attitude representations
C_nb(),
q(),
_accel_sub(-1),
_gyro_sub(-1),
_mag_sub(-1),
// subscriptions
_sensors(&getSubscriptions(), ORB_ID(sensor_combined), 5), // limit to 200 Hz
_gps(&getSubscriptions(), ORB_ID(vehicle_gps_position), 100), // limit to 10 Hz
_param_update(&getSubscriptions(), ORB_ID(parameter_update), 1000), // limit to 1 Hz
// publications
_pos(&getPublications(), ORB_ID(vehicle_global_position)),
_localPos(&getPublications(), ORB_ID(vehicle_local_position)),
_att(&getPublications(), ORB_ID(vehicle_attitude)),
// timestamps
_pubTimeStamp(hrt_absolute_time()),
@@ -92,6 +91,7 @@ KalmanNav::KalmanNav(SuperBlock *parent, const char *name) :
phi(0), theta(0), psi(0),
vN(0), vE(0), vD(0),
lat(0), lon(0), alt(0),
lat0(0), lon0(0), alt0(0),
// parameters for ground station
_vGyro(this, "V_GYRO"),
_vAccel(this, "V_ACCEL"),
@@ -127,19 +127,15 @@ KalmanNav::KalmanNav(SuperBlock *parent, const char *name) :
lon = 0.0f;
alt = 0.0f;
// gyro, accel and mag subscriptions
_gyro_sub = orb_subscribe(ORB_ID(sensor_gyro));
_accel_sub = orb_subscribe(ORB_ID(sensor_accel));
_mag_sub = orb_subscribe(ORB_ID(sensor_mag));
struct accel_report accel;
orb_copy(ORB_ID(sensor_accel), _accel_sub, &accel);
struct mag_report mag;
orb_copy(ORB_ID(sensor_mag), _mag_sub, &mag);
// initialize rotation quaternion with a single raw sensor measurement
q = init(accel.x, accel.y, accel.z, mag.x, mag.y, mag.z);
_sensors.update();
q = init(
_sensors.accelerometer_m_s2[0],
_sensors.accelerometer_m_s2[1],
_sensors.accelerometer_m_s2[2],
_sensors.magnetometer_ga[0],
_sensors.magnetometer_ga[1],
_sensors.magnetometer_ga[2]);
// initialize dcm
C_nb = Dcm(q);
@@ -252,11 +248,21 @@ void KalmanNav::update()
setLatDegE7(_gps.lat);
setLonDegE7(_gps.lon);
setAltE3(_gps.alt);
// set reference position for
// local position
lat0 = lat;
lon0 = lon;
alt0 = alt;
// XXX map_projection has internal global
// states that multiple things could change,
// should make map_projection take reference
// lat/lon and not have init
map_projection_init(lat0, lon0);
_positionInitialized = true;
warnx("initialized EKF state with GPS\n");
warnx("vN: %8.4f, vE: %8.4f, vD: %8.4f, lat: %8.4f, lon: %8.4f, alt: %8.4f\n",
double(vN), double(vE), double(vD),
lat, lon, alt);
lat, lon, double(alt));
}
// prediction step
@@ -311,7 +317,7 @@ void KalmanNav::updatePublications()
{
using namespace math;
// position publication
// global position publication
_pos.timestamp = _pubTimeStamp;
_pos.time_gps_usec = _gps.timestamp_position;
_pos.valid = true;
@@ -324,6 +330,31 @@ void KalmanNav::updatePublications()
_pos.vz = vD;
_pos.yaw = psi;
// local position publication
float x;
float y;
bool landed = alt < (alt0 + 0.1); // XXX improve?
map_projection_project(lat, lon, &x, &y);
_localPos.timestamp = _pubTimeStamp;
_localPos.xy_valid = true;
_localPos.z_valid = true;
_localPos.v_xy_valid = true;
_localPos.v_z_valid = true;
_localPos.x = x;
_localPos.y = y;
_localPos.z = alt0 - alt;
_localPos.vx = vN;
_localPos.vy = vE;
_localPos.vz = vD;
_localPos.yaw = psi;
_localPos.xy_global = true;
_localPos.z_global = true;
_localPos.ref_timestamp = _pubTimeStamp;
_localPos.ref_lat = getLatDegE7();
_localPos.ref_lon = getLonDegE7();
_localPos.ref_alt = 0;
_localPos.landed = landed;
// attitude publication
_att.timestamp = _pubTimeStamp;
_att.roll = phi;
@@ -347,8 +378,10 @@ void KalmanNav::updatePublications()
// selectively update publications,
// do NOT call superblock do-all method
if (_positionInitialized)
if (_positionInitialized) {
_pos.update();
_localPos.update();
}
if (_attitudeInitialized)
_att.update();
src/modules/att_pos_estimator_ekf/KalmanNav.hpp
+5 -6
View File
@@ -52,6 +52,7 @@
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/parameter_update.h>
@@ -142,12 +143,8 @@ protected:
control::UOrbSubscription<parameter_update_s> _param_update; /**< parameter update sub. */
// publications
control::UOrbPublication<vehicle_global_position_s> _pos; /**< position pub. */
control::UOrbPublication<vehicle_local_position_s> _localPos; /**< local position pub. */
control::UOrbPublication<vehicle_attitude_s> _att; /**< attitude pub. */
int _accel_sub; /**< Accelerometer subscription */
int _gyro_sub; /**< Gyroscope subscription */
int _mag_sub; /**< Magnetometer subscription */
// time stamps
uint64_t _pubTimeStamp; /**< output data publication time stamp */
uint64_t _predictTimeStamp; /**< prediction time stamp */
@@ -164,8 +161,10 @@ protected:
float phi, theta, psi; /**< 3-2-1 euler angles */
float vN, vE, vD; /**< navigation velocity, m/s */
double lat, lon; /**< lat, lon radians */
float alt; /**< altitude, meters */
// parameters
float alt; /**< altitude, meters */
double lat0, lon0; /**< reference latitude and longitude */
float alt0; /**< refeerence altitude (ground height) */
control::BlockParamFloat _vGyro; /**< gyro process noise */
control::BlockParamFloat _vAccel; /**< accelerometer process noise */
control::BlockParamFloat _rMag; /**< magnetometer measurement noise */
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
+11 -9
View File
@@ -52,11 +52,13 @@ PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q3, 0.005f);
PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q4, 0.0f);
/* gyro measurement noise */
PARAM_DEFINE_FLOAT(EKF_ATT_V3_R0, 0.0008f);
PARAM_DEFINE_FLOAT(EKF_ATT_V3_R1, 10000.0f);
PARAM_DEFINE_FLOAT(EKF_ATT_V3_R2, 1.0f);
/* accelerometer measurement noise */
PARAM_DEFINE_FLOAT(EKF_ATT_V3_R3, 0.0f);
PARAM_DEFINE_FLOAT(EKF_ATT_V4_R0, 0.0008f);
/* accel measurement noise */
PARAM_DEFINE_FLOAT(EKF_ATT_V4_R1, 10000.0f);
/* mag measurement noise */
PARAM_DEFINE_FLOAT(EKF_ATT_V4_R2, 100.0f);
/* offset estimation - UNUSED */
PARAM_DEFINE_FLOAT(EKF_ATT_V4_R3, 0.0f);
/* offsets in roll, pitch and yaw of sensor plane and body */
PARAM_DEFINE_FLOAT(ATT_ROLL_OFF3, 0.0f);
@@ -72,10 +74,10 @@ int parameters_init(struct attitude_estimator_ekf_param_handles *h)
h->q3 = param_find("EKF_ATT_V3_Q3");
h->q4 = param_find("EKF_ATT_V3_Q4");
h->r0 = param_find("EKF_ATT_V3_R0");
h->r1 = param_find("EKF_ATT_V3_R1");
h->r2 = param_find("EKF_ATT_V3_R2");
h->r3 = param_find("EKF_ATT_V3_R3");
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->roll_off = param_find("ATT_ROLL_OFF3");
h->pitch_off = param_find("ATT_PITCH_OFF3");
src/modules/attitude_estimator_so3/README
+3
View File
@@ -0,0 +1,3 @@
Synopsis
nsh> attitude_estimator_so3_comp start
src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_main.cpp → src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp
+171 -328
View File
@@ -1,16 +1,49 @@
/*
* Author: Hyon Lim <limhyon@gmail.com, hyonlim@snu.ac.kr>
/****************************************************************************
*
* @file attitude_estimator_so3_comp_main.c
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Author: Hyon Lim <limhyon@gmail.com>
* Anton Babushkin <anton.babushkin@me.com>
*
* 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 attitude_estimator_so3_main.cpp
*
* Implementation of nonlinear complementary filters on the SO(3).
* This code performs attitude estimation by using accelerometer, gyroscopes and magnetometer.
* Result is provided as quaternion, 1-2-3 Euler angle and rotation matrix.
*
*
* Theory of nonlinear complementary filters on the SO(3) is based on [1].
* Quaternion realization of [1] is based on [2].
* Optmized quaternion update code is based on Sebastian Madgwick's implementation.
*
*
* References
* [1] Mahony, R.; Hamel, T.; Pflimlin, Jean-Michel, "Nonlinear Complementary Filters on the Special Orthogonal Group," Automatic Control, IEEE Transactions on , vol.53, no.5, pp.1203,1218, June 2008
* [2] Euston, M.; Coote, P.; Mahony, R.; Jonghyuk Kim; Hamel, T., "A complementary filter for attitude estimation of a fixed-wing UAV," Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on , vol., no., pp.340,345, 22-26 Sept. 2008
@@ -46,94 +79,91 @@
#ifdef __cplusplus
extern "C" {
#endif
#include "attitude_estimator_so3_comp_params.h"
#include "attitude_estimator_so3_params.h"
#ifdef __cplusplus
}
#endif
extern "C" __EXPORT int attitude_estimator_so3_comp_main(int argc, char *argv[]);
extern "C" __EXPORT int attitude_estimator_so3_main(int argc, char *argv[]);
static bool thread_should_exit = false; /**< Deamon exit flag */
static bool thread_running = false; /**< Deamon status flag */
static int attitude_estimator_so3_comp_task; /**< Handle of deamon task / thread */
static int attitude_estimator_so3_task; /**< Handle of deamon task / thread */
//! Auxiliary variables to reduce number of repeated operations
static float q0 = 1.0f, q1 = 0.0f, q2 = 0.0f, q3 = 0.0f; /** quaternion of sensor frame relative to auxiliary frame */
static float dq0 = 0.0f, dq1 = 0.0f, dq2 = 0.0f, dq3 = 0.0f; /** quaternion of sensor frame relative to auxiliary frame */
static float gyro_bias[3] = {0.0f, 0.0f, 0.0f}; /** bias estimation */
static bool bFilterInit = false;
//! Auxiliary variables to reduce number of repeated operations
static float q0q0, q0q1, q0q2, q0q3;
static float q1q1, q1q2, q1q3;
static float q2q2, q2q3;
static float q3q3;
//! Serial packet related
static int uart;
static int baudrate;
static bool bFilterInit = false;
/**
* Mainloop of attitude_estimator_so3_comp.
* Mainloop of attitude_estimator_so3.
*/
int attitude_estimator_so3_comp_thread_main(int argc, char *argv[]);
int attitude_estimator_so3_thread_main(int argc, char *argv[]);
/**
* Print the correct usage.
*/
static void usage(const char *reason);
/* Function prototypes */
float invSqrt(float number);
void NonlinearSO3AHRSinit(float ax, float ay, float az, float mx, float my, float mz);
void NonlinearSO3AHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz, float twoKp, float twoKi, float dt);
static void
usage(const char *reason)
{
if (reason)
fprintf(stderr, "%s\n", reason);
fprintf(stderr, "usage: attitude_estimator_so3_comp {start|stop|status} [-d <devicename>] [-b <baud rate>]\n"
"-d and -b options are for separate visualization with raw data (quaternion packet) transfer\n"
"ex) attitude_estimator_so3_comp start -d /dev/ttyS1 -b 115200\n");
fprintf(stderr, "usage: attitude_estimator_so3 {start|stop|status}\n");
exit(1);
}
/**
* The attitude_estimator_so3_comp app only briefly exists to start
* The attitude_estimator_so3 app only briefly exists to start
* the background job. The stack size assigned in the
* Makefile does only apply to this management task.
*
* The actual stack size should be set in the call
* to task_create().
*/
int attitude_estimator_so3_comp_main(int argc, char *argv[])
int attitude_estimator_so3_main(int argc, char *argv[])
{
if (argc < 1)
usage("missing command");
if (!strcmp(argv[1], "start")) {
if (thread_running) {
printf("attitude_estimator_so3_comp already running\n");
warnx("already running\n");
/* this is not an error */
exit(0);
}
thread_should_exit = false;
attitude_estimator_so3_comp_task = task_spawn_cmd("attitude_estimator_so3_comp",
attitude_estimator_so3_task = task_spawn_cmd("attitude_estimator_so3",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
12400,
attitude_estimator_so3_comp_thread_main,
(const char **)argv);
14000,
attitude_estimator_so3_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
exit(0);
}
if (!strcmp(argv[1], "stop")) {
thread_should_exit = true;
while(thread_running){
while (thread_running){
usleep(200000);
printf(".");
}
printf("terminated.");
warnx("stopped");
exit(0);
}
@@ -157,7 +187,8 @@ int attitude_estimator_so3_comp_main(int argc, char *argv[])
//---------------------------------------------------------------------------------------------------
// Fast inverse square-root
// See: http://en.wikipedia.org/wiki/Fast_inverse_square_root
float invSqrt(float number) {
float invSqrt(float number)
{
volatile long i;
volatile float x, y;
volatile const float f = 1.5F;
@@ -221,48 +252,47 @@ void NonlinearSO3AHRSinit(float ax, float ay, float az, float mx, float my, floa
q3q3 = q3 * q3;
}
void NonlinearSO3AHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz, float twoKp, float twoKi, float dt) {
void NonlinearSO3AHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz, float twoKp, float twoKi, float dt)
{
float recipNorm;
float halfex = 0.0f, halfey = 0.0f, halfez = 0.0f;
//! Make filter converge to initial solution faster
//! This function assumes you are in static position.
//! WARNING : in case air reboot, this can cause problem. But this is very
//! unlikely happen.
if(bFilterInit == false)
{
// Make filter converge to initial solution faster
// This function assumes you are in static position.
// WARNING : in case air reboot, this can cause problem. But this is very unlikely happen.
if(bFilterInit == false) {
NonlinearSO3AHRSinit(ax,ay,az,mx,my,mz);
bFilterInit = true;
}
//! If magnetometer measurement is available, use it.
if((mx == 0.0f) && (my == 0.0f) && (mz == 0.0f)) {
if(!((mx == 0.0f) && (my == 0.0f) && (mz == 0.0f))) {
float hx, hy, hz, bx, bz;
float halfwx, halfwy, halfwz;
// Normalise magnetometer measurement
// Will sqrt work better? PX4 system is powerful enough?
recipNorm = invSqrt(mx * mx + my * my + mz * mz);
mx *= recipNorm;
my *= recipNorm;
mz *= recipNorm;
recipNorm = invSqrt(mx * mx + my * my + mz * mz);
mx *= recipNorm;
my *= recipNorm;
mz *= recipNorm;
// Reference direction of Earth's magnetic field
hx = 2.0f * (mx * (0.5f - q2q2 - q3q3) + my * (q1q2 - q0q3) + mz * (q1q3 + q0q2));
hy = 2.0f * (mx * (q1q2 + q0q3) + my * (0.5f - q1q1 - q3q3) + mz * (q2q3 - q0q1));
hz = 2 * mx * (q1q3 - q0q2) + 2 * my * (q2q3 + q0q1) + 2 * mz * (0.5 - q1q1 - q2q2);
bx = sqrt(hx * hx + hy * hy);
bz = hz;
// Reference direction of Earth's magnetic field
hx = 2.0f * (mx * (0.5f - q2q2 - q3q3) + my * (q1q2 - q0q3) + mz * (q1q3 + q0q2));
hy = 2.0f * (mx * (q1q2 + q0q3) + my * (0.5f - q1q1 - q3q3) + mz * (q2q3 - q0q1));
hz = 2.0f * mx * (q1q3 - q0q2) + 2.0f * my * (q2q3 + q0q1) + 2.0f * mz * (0.5f - q1q1 - q2q2);
bx = sqrt(hx * hx + hy * hy);
bz = hz;
// Estimated direction of magnetic field
halfwx = bx * (0.5f - q2q2 - q3q3) + bz * (q1q3 - q0q2);
halfwy = bx * (q1q2 - q0q3) + bz * (q0q1 + q2q3);
halfwz = bx * (q0q2 + q1q3) + bz * (0.5f - q1q1 - q2q2);
// Estimated direction of magnetic field
halfwx = bx * (0.5f - q2q2 - q3q3) + bz * (q1q3 - q0q2);
halfwy = bx * (q1q2 - q0q3) + bz * (q0q1 + q2q3);
halfwz = bx * (q0q2 + q1q3) + bz * (0.5f - q1q1 - q2q2);
// Error is sum of cross product between estimated direction and measured direction of field vectors
halfex += (my * halfwz - mz * halfwy);
halfey += (mz * halfwx - mx * halfwz);
halfez += (mx * halfwy - my * halfwx);
// Error is sum of cross product between estimated direction and measured direction of field vectors
halfex += (my * halfwz - mz * halfwy);
halfey += (mz * halfwx - mx * halfwz);
halfez += (mx * halfwy - my * halfwx);
}
// Compute feedback only if accelerometer measurement valid (avoids NaN in accelerometer normalisation)
@@ -293,7 +323,9 @@ void NonlinearSO3AHRSupdate(float gx, float gy, float gz, float ax, float ay, fl
gyro_bias[0] += twoKi * halfex * dt; // integral error scaled by Ki
gyro_bias[1] += twoKi * halfey * dt;
gyro_bias[2] += twoKi * halfez * dt;
gx += gyro_bias[0]; // apply integral feedback
// apply integral feedback
gx += gyro_bias[0];
gy += gyro_bias[1];
gz += gyro_bias[2];
}
@@ -337,208 +369,43 @@ void NonlinearSO3AHRSupdate(float gx, float gy, float gz, float ax, float ay, fl
q3 *= recipNorm;
// Auxiliary variables to avoid repeated arithmetic
q0q0 = q0 * q0;
q0q1 = q0 * q1;
q0q2 = q0 * q2;
q0q3 = q0 * q3;
q1q1 = q1 * q1;
q1q2 = q1 * q2;
q0q0 = q0 * q0;
q0q1 = q0 * q1;
q0q2 = q0 * q2;
q0q3 = q0 * q3;
q1q1 = q1 * q1;
q1q2 = q1 * q2;
q1q3 = q1 * q3;
q2q2 = q2 * q2;
q2q3 = q2 * q3;
q3q3 = q3 * q3;
}
void send_uart_byte(char c)
{
write(uart,&c,1);
}
void send_uart_bytes(uint8_t *data, int length)
{
write(uart,data,(size_t)(sizeof(uint8_t)*length));
}
void send_uart_float(float f) {
uint8_t * b = (uint8_t *) &f;
//! Assume float is 4-bytes
for(int i=0; i<4; i++) {
uint8_t b1 = (b[i] >> 4) & 0x0f;
uint8_t b2 = (b[i] & 0x0f);
uint8_t c1 = (b1 < 10) ? ('0' + b1) : 'A' + b1 - 10;
uint8_t c2 = (b2 < 10) ? ('0' + b2) : 'A' + b2 - 10;
send_uart_bytes(&c1,1);
send_uart_bytes(&c2,1);
}
}
void send_uart_float_arr(float *arr, int length)
{
for(int i=0;i<length;++i)
{
send_uart_float(arr[i]);
send_uart_byte(',');
}
}
int open_uart(int baud, const char *uart_name, struct termios *uart_config_original, bool *is_usb)
{
int speed;
switch (baud) {
case 0: speed = B0; break;
case 50: speed = B50; break;
case 75: speed = B75; break;
case 110: speed = B110; break;
case 134: speed = B134; break;
case 150: speed = B150; break;
case 200: speed = B200; break;
case 300: speed = B300; break;
case 600: speed = B600; break;
case 1200: speed = B1200; break;
case 1800: speed = B1800; break;
case 2400: speed = B2400; break;
case 4800: speed = B4800; break;
case 9600: speed = B9600; break;
case 19200: speed = B19200; break;
case 38400: speed = B38400; break;
case 57600: speed = B57600; break;
case 115200: speed = B115200; break;
case 230400: speed = B230400; break;
case 460800: speed = B460800; break;
case 921600: speed = B921600; break;
default:
printf("ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\n\t9600\n19200\n38400\n57600\n115200\n230400\n460800\n921600\n\n", baud);
return -EINVAL;
}
printf("[so3_comp_filt] UART is %s, baudrate is %d\n", uart_name, baud);
uart = open(uart_name, O_RDWR | O_NOCTTY);
/* Try to set baud rate */
struct termios uart_config;
int termios_state;
*is_usb = false;
/* make some wild guesses including that USB serial is indicated by either /dev/ttyACM0 or /dev/console */
if (strcmp(uart_name, "/dev/ttyACM0") != OK && strcmp(uart_name, "/dev/console") != OK) {
/* Back up the original uart configuration to restore it after exit */
if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
printf("ERROR getting baudrate / termios config for %s: %d\n", uart_name, termios_state);
close(uart);
return -1;
}
/* Fill the struct for the new configuration */
tcgetattr(uart, &uart_config);
/* Clear ONLCR flag (which appends a CR for every LF) */
uart_config.c_oflag &= ~ONLCR;
/* Set baud rate */
if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
printf("ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
close(uart);
return -1;
}
if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
printf("ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name);
close(uart);
return -1;
}
} else {
*is_usb = true;
}
return uart;
q2q2 = q2 * q2;
q2q3 = q2 * q3;
q3q3 = q3 * q3;
}
/*
* [Rot_matrix,x_aposteriori,P_aposteriori] = attitudeKalmanfilter(dt,z_k,x_aposteriori_k,P_aposteriori_k,knownConst)
*/
/*
* EKF Attitude Estimator main function.
* Nonliner complementary filter on SO(3), attitude estimator main function.
*
* Estimates the attitude recursively once started.
* Estimates the attitude once started.
*
* @param argc number of commandline arguments (plus command name)
* @param argv strings containing the arguments
*/
int attitude_estimator_so3_comp_thread_main(int argc, char *argv[])
int attitude_estimator_so3_thread_main(int argc, char *argv[])
{
const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
//! Serial debug related
int ch;
struct termios uart_config_original;
bool usb_uart;
bool debug_mode = false;
char *device_name = "/dev/ttyS2";
baudrate = 115200;
const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
//! Time constant
float dt = 0.005f;
/* output euler angles */
float euler[3] = {0.0f, 0.0f, 0.0f};
float Rot_matrix[9] = {1.f, 0, 0,
0, 1.f, 0,
0, 0, 1.f
}; /**< init: identity matrix */
/* Initialization */
float Rot_matrix[9] = {1.f, 0.0f, 0.0f, 0.0f, 1.f, 0.0f, 0.0f, 0.0f, 1.f }; /**< init: identity matrix */
float acc[3] = {0.0f, 0.0f, 0.0f};
float gyro[3] = {0.0f, 0.0f, 0.0f};
float mag[3] = {0.0f, 0.0f, 0.0f};
/* work around some stupidity in task_create's argv handling */
argc -= 2;
argv += 2;
//! -d <device_name>, default : /dev/ttyS2
//! -b <baud_rate>, default : 115200
while ((ch = getopt(argc,argv,"d:b:")) != EOF){
switch(ch){
case 'b':
baudrate = strtoul(optarg, NULL, 10);
if(baudrate == 0)
printf("invalid baud rate '%s'",optarg);
break;
case 'd':
device_name = optarg;
debug_mode = true;
break;
default:
usage("invalid argument");
}
}
if(debug_mode){
printf("Opening debugging port for 3D visualization\n");
uart = open_uart(baudrate, device_name, &uart_config_original, &usb_uart);
if (uart < 0)
printf("could not open %s", device_name);
else
printf("Open port success\n");
}
// print text
printf("Nonlinear SO3 Attitude Estimator initialized..\n\n");
fflush(stdout);
int overloadcounter = 19;
/* store start time to guard against too slow update rates */
uint64_t last_run = hrt_absolute_time();
warnx("main thread started");
struct sensor_combined_s raw;
memset(&raw, 0, sizeof(raw));
@@ -555,8 +422,8 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
/* subscribe to raw data */
int sub_raw = orb_subscribe(ORB_ID(sensor_combined));
/* rate-limit raw data updates to 200Hz */
orb_set_interval(sub_raw, 4);
/* rate-limit raw data updates to 333 Hz (sensors app publishes at 200, so this is just paranoid) */
orb_set_interval(sub_raw, 3);
/* subscribe to param changes */
int sub_params = orb_subscribe(ORB_ID(parameter_update));
@@ -565,17 +432,15 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
int sub_control_mode = orb_subscribe(ORB_ID(vehicle_control_mode));
/* advertise attitude */
orb_advert_t pub_att = orb_advertise(ORB_ID(vehicle_attitude), &att);
//orb_advert_t pub_att = orb_advertise(ORB_ID(vehicle_attitude), &att);
//orb_advert_t att_pub = -1;
orb_advert_t att_pub = orb_advertise(ORB_ID(vehicle_attitude), &att);
int loopcounter = 0;
int printcounter = 0;
thread_running = true;
/* advertise debug value */
// struct debug_key_value_s dbg = { .key = "", .value = 0.0f };
// orb_advert_t pub_dbg = -1;
float sensor_update_hz[3] = {0.0f, 0.0f, 0.0f};
// XXX write this out to perf regs
@@ -583,20 +448,22 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
uint32_t sensor_last_count[3] = {0, 0, 0};
uint64_t sensor_last_timestamp[3] = {0, 0, 0};
struct attitude_estimator_so3_comp_params so3_comp_params;
struct attitude_estimator_so3_comp_param_handles so3_comp_param_handles;
struct attitude_estimator_so3_params so3_comp_params;
struct attitude_estimator_so3_param_handles so3_comp_param_handles;
/* initialize parameter handles */
parameters_init(&so3_comp_param_handles);
parameters_update(&so3_comp_param_handles, &so3_comp_params);
uint64_t start_time = hrt_absolute_time();
bool initialized = false;
bool state_initialized = false;
float gyro_offsets[3] = { 0.0f, 0.0f, 0.0f };
unsigned offset_count = 0;
/* register the perf counter */
perf_counter_t so3_comp_loop_perf = perf_alloc(PC_ELAPSED, "attitude_estimator_so3_comp");
perf_counter_t so3_comp_loop_perf = perf_alloc(PC_ELAPSED, "attitude_estimator_so3");
/* Main loop*/
while (!thread_should_exit) {
@@ -615,12 +482,9 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
orb_copy(ORB_ID(vehicle_control_mode), sub_control_mode, &control_mode);
if (!control_mode.flag_system_hil_enabled) {
fprintf(stderr,
"[att so3_comp] WARNING: Not getting sensors - sensor app running?\n");
warnx("WARNING: Not getting sensors - sensor app running?");
}
} else {
/* only update parameters if they changed */
if (fds[1].revents & POLLIN) {
/* read from param to clear updated flag */
@@ -644,11 +508,12 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
gyro_offsets[2] += raw.gyro_rad_s[2];
offset_count++;
if (hrt_absolute_time() - start_time > 3000000LL) {
if (hrt_absolute_time() > start_time + 3000000l) {
initialized = true;
gyro_offsets[0] /= offset_count;
gyro_offsets[1] /= offset_count;
gyro_offsets[2] /= offset_count;
warnx("gyro initialized, offsets: %.5f %.5f %.5f", gyro_offsets[0], gyro_offsets[1], gyro_offsets[2]);
}
} else {
@@ -668,9 +533,9 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
sensor_last_timestamp[0] = raw.timestamp;
}
gyro[0] = raw.gyro_rad_s[0] - gyro_offsets[0];
gyro[1] = raw.gyro_rad_s[1] - gyro_offsets[1];
gyro[2] = raw.gyro_rad_s[2] - gyro_offsets[2];
gyro[0] = raw.gyro_rad_s[0] - gyro_offsets[0];
gyro[1] = raw.gyro_rad_s[1] - gyro_offsets[1];
gyro[2] = raw.gyro_rad_s[2] - gyro_offsets[2];
/* update accelerometer measurements */
if (sensor_last_count[1] != raw.accelerometer_counter) {
@@ -696,31 +561,14 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
mag[1] = raw.magnetometer_ga[1];
mag[2] = raw.magnetometer_ga[2];
uint64_t now = hrt_absolute_time();
unsigned int time_elapsed = now - last_run;
last_run = now;
if (time_elapsed > loop_interval_alarm) {
//TODO: add warning, cpu overload here
// if (overloadcounter == 20) {
// printf("CPU OVERLOAD DETECTED IN ATTITUDE ESTIMATOR EKF (%lu > %lu)\n", time_elapsed, loop_interval_alarm);
// overloadcounter = 0;
// }
overloadcounter++;
}
static bool const_initialized = false;
/* initialize with good values once we have a reasonable dt estimate */
if (!const_initialized && dt < 0.05f && dt > 0.005f) {
dt = 0.005f;
parameters_update(&so3_comp_param_handles, &so3_comp_params);
const_initialized = true;
if (!state_initialized && dt < 0.05f && dt > 0.001f) {
state_initialized = true;
warnx("state initialized");
}
/* do not execute the filter if not initialized */
if (!const_initialized) {
if (!state_initialized) {
continue;
}
@@ -728,18 +576,23 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
// NOTE : Accelerometer is reversed.
// Because proper mount of PX4 will give you a reversed accelerometer readings.
NonlinearSO3AHRSupdate(gyro[0],gyro[1],gyro[2],-acc[0],-acc[1],-acc[2],mag[0],mag[1],mag[2],so3_comp_params.Kp,so3_comp_params.Ki, dt);
NonlinearSO3AHRSupdate(gyro[0], gyro[1], gyro[2],
-acc[0], -acc[1], -acc[2],
mag[0], mag[1], mag[2],
so3_comp_params.Kp,
so3_comp_params.Ki,
dt);
// Convert q->R, This R converts inertial frame to body frame.
Rot_matrix[0] = q0q0 + q1q1 - q2q2 - q3q3;// 11
Rot_matrix[1] = 2.0 * (q1*q2 + q0*q3); // 12
Rot_matrix[2] = 2.0 * (q1*q3 - q0*q2); // 13
Rot_matrix[3] = 2.0 * (q1*q2 - q0*q3); // 21
Rot_matrix[4] = q0q0 - q1q1 + q2q2 - q3q3;// 22
Rot_matrix[5] = 2.0 * (q2*q3 + q0*q1); // 23
Rot_matrix[6] = 2.0 * (q1*q3 + q0*q2); // 31
Rot_matrix[7] = 2.0 * (q2*q3 - q0*q1); // 32
Rot_matrix[8] = q0q0 - q1q1 - q2q2 + q3q3;// 33
Rot_matrix[1] = 2.f * (q1*q2 + q0*q3); // 12
Rot_matrix[2] = 2.f * (q1*q3 - q0*q2); // 13
Rot_matrix[3] = 2.f * (q1*q2 - q0*q3); // 21
Rot_matrix[4] = q0q0 - q1q1 + q2q2 - q3q3;// 22
Rot_matrix[5] = 2.f * (q2*q3 + q0*q1); // 23
Rot_matrix[6] = 2.f * (q1*q3 + q0*q2); // 31
Rot_matrix[7] = 2.f * (q2*q3 - q0*q1); // 32
Rot_matrix[8] = q0q0 - q1q1 - q2q2 + q3q3;// 33
//1-2-3 Representation.
//Equation (290)
@@ -747,29 +600,42 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
// Existing PX4 EKF code was generated by MATLAB which uses coloum major order matrix.
euler[0] = atan2f(Rot_matrix[5], Rot_matrix[8]); //! Roll
euler[1] = -asinf(Rot_matrix[2]); //! Pitch
euler[2] = atan2f(Rot_matrix[1],Rot_matrix[0]); //! Yaw
euler[2] = atan2f(Rot_matrix[1], Rot_matrix[0]); //! Yaw
/* swap values for next iteration, check for fatal inputs */
if (isfinite(euler[0]) && isfinite(euler[1]) && isfinite(euler[2])) {
/* Do something */
// Publish only finite euler angles
att.roll = euler[0] - so3_comp_params.roll_off;
att.pitch = euler[1] - so3_comp_params.pitch_off;
att.yaw = euler[2] - so3_comp_params.yaw_off;
} else {
/* due to inputs or numerical failure the output is invalid, skip it */
// Due to inputs or numerical failure the output is invalid
warnx("infinite euler angles, rotation matrix:");
warnx("%.3f %.3f %.3f", Rot_matrix[0], Rot_matrix[1], Rot_matrix[2]);
warnx("%.3f %.3f %.3f", Rot_matrix[3], Rot_matrix[4], Rot_matrix[5]);
warnx("%.3f %.3f %.3f", Rot_matrix[6], Rot_matrix[7], Rot_matrix[8]);
// Don't publish anything
continue;
}
if (last_data > 0 && raw.timestamp - last_data > 12000) printf("[attitude estimator so3_comp] sensor data missed! (%llu)\n", raw.timestamp - last_data);
if (last_data > 0 && raw.timestamp > last_data + 12000) {
warnx("sensor data missed");
}
last_data = raw.timestamp;
/* send out */
att.timestamp = raw.timestamp;
// Quaternion
att.q[0] = q0;
att.q[1] = q1;
att.q[2] = q2;
att.q[3] = q3;
att.q_valid = true;
// XXX Apply the same transformation to the rotation matrix
att.roll = euler[0] - so3_comp_params.roll_off;
att.pitch = euler[1] - so3_comp_params.pitch_off;
att.yaw = euler[2] - so3_comp_params.yaw_off;
//! Euler angle rate. But it needs to be investigated again.
// Euler angle rate. But it needs to be investigated again.
/*
att.rollspeed = 2.0f*(-q1*dq0 + q0*dq1 - q3*dq2 + q2*dq3);
att.pitchspeed = 2.0f*(-q2*dq0 + q3*dq1 + q0*dq2 - q1*dq3);
@@ -783,53 +649,30 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
att.pitchacc = 0;
att.yawacc = 0;
//! Quaternion
att.q[0] = q0;
att.q[1] = q1;
att.q[2] = q2;
att.q[3] = q3;
att.q_valid = true;
/* TODO: Bias estimation required */
memcpy(&att.rate_offsets, &(gyro_bias), sizeof(att.rate_offsets));
/* copy rotation matrix */
memcpy(&att.R, Rot_matrix, sizeof(float)*9);
att.R_valid = true;
if (isfinite(att.roll) && isfinite(att.pitch) && isfinite(att.yaw)) {
// Broadcast
orb_publish(ORB_ID(vehicle_attitude), pub_att, &att);
// Publish
if (att_pub > 0) {
orb_publish(ORB_ID(vehicle_attitude), att_pub, &att);
} else {
warnx("NaN in roll/pitch/yaw estimate!");
orb_advertise(ORB_ID(vehicle_attitude), &att);
}
perf_end(so3_comp_loop_perf);
//! This will print out debug packet to visualization software
if(debug_mode)
{
float quat[4];
quat[0] = q0;
quat[1] = q1;
quat[2] = q2;
quat[3] = q3;
send_uart_float_arr(quat,4);
send_uart_byte('\n');
}
}
}
}
loopcounter++;
}// while
}
thread_running = false;
/* Reset the UART flags to original state */
if (!usb_uart)
tcsetattr(uart, TCSANOW, &uart_config_original);
return 0;
}
src/modules/attitude_estimator_so3/attitude_estimator_so3_params.c
Executable
+86
View File
@@ -0,0 +1,86 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Author: Hyon Lim <limhyon@gmail.com>
* Anton Babushkin <anton.babushkin@me.com>
*
* 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 attitude_estimator_so3_params.c
*
* Parameters for nonlinear complementary filters on the SO(3).
*/
#include "attitude_estimator_so3_params.h"
/* This is filter gain for nonlinear SO3 complementary filter */
/* NOTE : How to tune the gain? First of all, stick with this default gain. And let the quad in stable place.
Log the steady state reponse of filter. If it is too slow, increase SO3_COMP_KP.
If you are flying from ground to high altitude in short amount of time, please increase SO3_COMP_KI which
will compensate gyro bias which depends on temperature and vibration of your vehicle */
PARAM_DEFINE_FLOAT(SO3_COMP_KP, 1.0f); //! This parameter will give you about 15 seconds convergence time.
//! You can set this gain higher if you want more fast response.
//! But note that higher gain will give you also higher overshoot.
PARAM_DEFINE_FLOAT(SO3_COMP_KI, 0.05f); //! This gain will incorporate slow time-varying bias (e.g., temperature change)
//! This gain is depend on your vehicle status.
/* offsets in roll, pitch and yaw of sensor plane and body */
PARAM_DEFINE_FLOAT(SO3_ROLL_OFFS, 0.0f);
PARAM_DEFINE_FLOAT(SO3_PITCH_OFFS, 0.0f);
PARAM_DEFINE_FLOAT(SO3_YAW_OFFS, 0.0f);
int parameters_init(struct attitude_estimator_so3_param_handles *h)
{
/* Filter gain parameters */
h->Kp = param_find("SO3_COMP_KP");
h->Ki = param_find("SO3_COMP_KI");
/* Attitude offset (WARNING: Do not change if you do not know what exactly this variable wil lchange) */
h->roll_off = param_find("SO3_ROLL_OFFS");
h->pitch_off = param_find("SO3_PITCH_OFFS");
h->yaw_off = param_find("SO3_YAW_OFFS");
return OK;
}
int parameters_update(const struct attitude_estimator_so3_param_handles *h, struct attitude_estimator_so3_params *p)
{
/* Update filter gain */
param_get(h->Kp, &(p->Kp));
param_get(h->Ki, &(p->Ki));
/* Update attitude offset */
param_get(h->roll_off, &(p->roll_off));
param_get(h->pitch_off, &(p->pitch_off));
param_get(h->yaw_off, &(p->yaw_off));
return OK;
}
src/modules/attitude_estimator_so3/attitude_estimator_so3_params.h
Executable
+67
View File
@@ -0,0 +1,67 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Author: Hyon Lim <limhyon@gmail.com>
* Anton Babushkin <anton.babushkin@me.com>
*
* 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 attitude_estimator_so3_params.h
*
* Parameters for nonlinear complementary filters on the SO(3).
*/
#include <systemlib/param/param.h>
struct attitude_estimator_so3_params {
float Kp;
float Ki;
float roll_off;
float pitch_off;
float yaw_off;
};
struct attitude_estimator_so3_param_handles {
param_t Kp, Ki;
param_t roll_off, pitch_off, yaw_off;
};
/**
* Initialize all parameter handles and values
*
*/
int parameters_init(struct attitude_estimator_so3_param_handles *h);
/**
* Update all parameters
*
*/
int parameters_update(const struct attitude_estimator_so3_param_handles *h, struct attitude_estimator_so3_params *p);
src/modules/attitude_estimator_so3/module.mk
+8
View File
@@ -0,0 +1,8 @@
#
# Attitude estimator (Nonlinear SO(3) complementary Filter)
#
MODULE_COMMAND = attitude_estimator_so3
SRCS = attitude_estimator_so3_main.cpp \
attitude_estimator_so3_params.c
src/modules/attitude_estimator_so3_comp/README
-5
View File
@@ -1,5 +0,0 @@
Synopsis
nsh> attitude_estimator_so3_comp start -d /dev/ttyS1 -b 115200
Option -d is for debugging packet. See code for detailed packet structure.
src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_params.c
-63
View File
@@ -1,63 +0,0 @@
/*
* Author: Hyon Lim <limhyon@gmail.com, hyonlim@snu.ac.kr>
*
* @file attitude_estimator_so3_comp_params.c
*
* Implementation of nonlinear complementary filters on the SO(3).
* This code performs attitude estimation by using accelerometer, gyroscopes and magnetometer.
* Result is provided as quaternion, 1-2-3 Euler angle and rotation matrix.
*
* Theory of nonlinear complementary filters on the SO(3) is based on [1].
* Quaternion realization of [1] is based on [2].
* Optmized quaternion update code is based on Sebastian Madgwick's implementation.
*
* References
* [1] Mahony, R.; Hamel, T.; Pflimlin, Jean-Michel, "Nonlinear Complementary Filters on the Special Orthogonal Group," Automatic Control, IEEE Transactions on , vol.53, no.5, pp.1203,1218, June 2008
* [2] Euston, M.; Coote, P.; Mahony, R.; Jonghyuk Kim; Hamel, T., "A complementary filter for attitude estimation of a fixed-wing UAV," Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on , vol., no., pp.340,345, 22-26 Sept. 2008
*/
#include "attitude_estimator_so3_comp_params.h"
/* This is filter gain for nonlinear SO3 complementary filter */
/* NOTE : How to tune the gain? First of all, stick with this default gain. And let the quad in stable place.
Log the steady state reponse of filter. If it is too slow, increase SO3_COMP_KP.
If you are flying from ground to high altitude in short amount of time, please increase SO3_COMP_KI which
will compensate gyro bias which depends on temperature and vibration of your vehicle */
PARAM_DEFINE_FLOAT(SO3_COMP_KP, 1.0f); //! This parameter will give you about 15 seconds convergence time.
//! You can set this gain higher if you want more fast response.
//! But note that higher gain will give you also higher overshoot.
PARAM_DEFINE_FLOAT(SO3_COMP_KI, 0.05f); //! This gain will incorporate slow time-varying bias (e.g., temperature change)
//! This gain is depend on your vehicle status.
/* offsets in roll, pitch and yaw of sensor plane and body */
PARAM_DEFINE_FLOAT(ATT_ROLL_OFFS, 0.0f);
PARAM_DEFINE_FLOAT(ATT_PITCH_OFFS, 0.0f);
PARAM_DEFINE_FLOAT(ATT_YAW_OFFS, 0.0f);
int parameters_init(struct attitude_estimator_so3_comp_param_handles *h)
{
/* Filter gain parameters */
h->Kp = param_find("SO3_COMP_KP");
h->Ki = param_find("SO3_COMP_KI");
/* Attitude offset (WARNING: Do not change if you do not know what exactly this variable wil lchange) */
h->roll_off = param_find("ATT_ROLL_OFFS");
h->pitch_off = param_find("ATT_PITCH_OFFS");
h->yaw_off = param_find("ATT_YAW_OFFS");
return OK;
}
int parameters_update(const struct attitude_estimator_so3_comp_param_handles *h, struct attitude_estimator_so3_comp_params *p)
{
/* Update filter gain */
param_get(h->Kp, &(p->Kp));
param_get(h->Ki, &(p->Ki));
/* Update attitude offset */
param_get(h->roll_off, &(p->roll_off));
param_get(h->pitch_off, &(p->pitch_off));
param_get(h->yaw_off, &(p->yaw_off));
return OK;
}
src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_params.h
-44
View File
@@ -1,44 +0,0 @@
/*
* Author: Hyon Lim <limhyon@gmail.com, hyonlim@snu.ac.kr>
*
* @file attitude_estimator_so3_comp_params.h
*
* Implementation of nonlinear complementary filters on the SO(3).
* This code performs attitude estimation by using accelerometer, gyroscopes and magnetometer.
* Result is provided as quaternion, 1-2-3 Euler angle and rotation matrix.
*
* Theory of nonlinear complementary filters on the SO(3) is based on [1].
* Quaternion realization of [1] is based on [2].
* Optmized quaternion update code is based on Sebastian Madgwick's implementation.
*
* References
* [1] Mahony, R.; Hamel, T.; Pflimlin, Jean-Michel, "Nonlinear Complementary Filters on the Special Orthogonal Group," Automatic Control, IEEE Transactions on , vol.53, no.5, pp.1203,1218, June 2008
* [2] Euston, M.; Coote, P.; Mahony, R.; Jonghyuk Kim; Hamel, T., "A complementary filter for attitude estimation of a fixed-wing UAV," Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on , vol., no., pp.340,345, 22-26 Sept. 2008
*/
#include <systemlib/param/param.h>
struct attitude_estimator_so3_comp_params {
float Kp;
float Ki;
float roll_off;
float pitch_off;
float yaw_off;
};
struct attitude_estimator_so3_comp_param_handles {
param_t Kp, Ki;
param_t roll_off, pitch_off, yaw_off;
};
/**
* Initialize all parameter handles and values
*
*/
int parameters_init(struct attitude_estimator_so3_comp_param_handles *h);
/**
* Update all parameters
*
*/
int parameters_update(const struct attitude_estimator_so3_comp_param_handles *h, struct attitude_estimator_so3_comp_params *p);
src/modules/attitude_estimator_so3_comp/module.mk
-8
View File
@@ -1,8 +0,0 @@
#
# Attitude estimator (Nonlinear SO3 complementary Filter)
#
MODULE_COMMAND = attitude_estimator_so3_comp
SRCS = attitude_estimator_so3_comp_main.cpp \
attitude_estimator_so3_comp_params.c
src/modules/commander/commander.cpp
+6 -5
View File
@@ -863,7 +863,7 @@ int commander_thread_main(int argc, char *argv[])
check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.xy_valid, &(status.condition_local_position_valid), &status_changed);
check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.z_valid, &(status.condition_local_altitude_valid), &status_changed);
if (status.condition_local_altitude_valid) {
if (status.is_rotary_wing && status.condition_local_altitude_valid) {
if (status.condition_landed != local_position.landed) {
status.condition_landed = local_position.landed;
status_changed = true;
@@ -1512,7 +1512,8 @@ check_navigation_state_machine(struct vehicle_status_s *status, struct vehicle_c
// TODO AUTO_LAND handling
if (status->navigation_state == NAVIGATION_STATE_AUTO_TAKEOFF) {
/* don't switch to other states until takeoff not completed */
if (local_pos->z > -takeoff_alt || status->condition_landed) {
// XXX: only respect the condition_landed when the local position is actually valid
if (status->is_rotary_wing && status->condition_local_altitude_valid && (local_pos->z > -takeoff_alt || status->condition_landed)) {
return TRANSITION_NOT_CHANGED;
}
}
@@ -1522,7 +1523,7 @@ check_navigation_state_machine(struct vehicle_status_s *status, struct vehicle_c
status->navigation_state != NAVIGATION_STATE_AUTO_MISSION &&
status->navigation_state != NAVIGATION_STATE_AUTO_RTL) {
/* possibly on ground, switch to TAKEOFF if needed */
if (local_pos->z > -takeoff_alt || status->condition_landed) {
if (status->is_rotary_wing && status->condition_local_altitude_valid && (local_pos->z > -takeoff_alt || status->condition_landed)) {
res = navigation_state_transition(status, NAVIGATION_STATE_AUTO_TAKEOFF, control_mode);
return res;
}
@@ -1570,8 +1571,8 @@ 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/fixedwing_backside/fixedwing.cpp
+12 -11
View File
@@ -156,7 +156,8 @@ void BlockMultiModeBacksideAutopilot::update()
_actuators.control[i] = 0.0f;
// only update guidance in auto mode
if (_status.navigation_state == NAVIGATION_STATE_AUTO_MISSION) { // TODO use vehicle_control_mode here?
if (_status.main_state == MAIN_STATE_AUTO) {
// TODO use vehicle_control_mode here?
// update guidance
_guide.update(_pos, _att, _posCmd.current, _lastPosCmd.current);
}
@@ -166,14 +167,11 @@ void BlockMultiModeBacksideAutopilot::update()
// the setpoint should update to loitering around this position
// handle autopilot modes
if (_status.navigation_state == NAVIGATION_STATE_AUTO_MISSION ||
_status.navigation_state == NAVIGATION_STATE_STABILIZE) { // TODO use vehicle_control_mode here?
if (_status.main_state == MAIN_STATE_AUTO) {
// update guidance
_guide.update(_pos, _att, _posCmd.current, _lastPosCmd.current);
// calculate velocity, XXX should be airspeed, but using ground speed for now
// for the purpose of control we will limit the velocity feedback between
// calculate velocity, XXX should be airspeed,
// but using ground speed for now for the purpose
// of control we will limit the velocity feedback between
// the min/max velocity
float v = _vLimit.update(sqrtf(
_pos.vx * _pos.vx +
@@ -218,19 +216,22 @@ void BlockMultiModeBacksideAutopilot::update()
// a first binary release can be targeted.
// This is not a hack, but a design choice.
/* do not limit in HIL */
// do not limit in HIL
if (_status.hil_state != HIL_STATE_ON) {
/* limit to value of manual throttle */
_actuators.control[CH_THR] = (_actuators.control[CH_THR] < _manual.throttle) ?
_actuators.control[CH_THR] : _manual.throttle;
}
} else if (_status.navigation_state == NAVIGATION_STATE_DIRECT) { // TODO use vehicle_control_mode here?
} else if (_status.main_state == MAIN_STATE_MANUAL) {
_actuators.control[CH_AIL] = _manual.roll;
_actuators.control[CH_ELV] = _manual.pitch;
_actuators.control[CH_RDR] = _manual.yaw;
_actuators.control[CH_THR] = _manual.throttle;
} else if (_status.navigation_state == NAVIGATION_STATE_STABILIZE) { // TODO use vehicle_control_mode here?
} else if (_status.main_state == MAIN_STATE_SEATBELT ||
_status.main_state == MAIN_STATE_EASY /* TODO, implement easy */) {
// calculate velocity, XXX should be airspeed, but using ground speed for now
// for the purpose of control we will limit the velocity feedback between
// the min/max velocity
src/modules/fixedwing_backside/fixedwing.hpp
+7 -7
View File
@@ -255,13 +255,13 @@ private:
BlockWaypointGuidance _guide;
// block params
BlockParam<float> _trimAil;
BlockParam<float> _trimElv;
BlockParam<float> _trimRdr;
BlockParam<float> _trimThr;
BlockParam<float> _trimV;
BlockParam<float> _vCmd;
BlockParam<float> _crMax;
BlockParamFloat _trimAil;
BlockParamFloat _trimElv;
BlockParamFloat _trimRdr;
BlockParamFloat _trimThr;
BlockParamFloat _trimV;
BlockParamFloat _vCmd;
BlockParamFloat _crMax;
struct pollfd _attPoll;
vehicle_global_position_set_triplet_s _lastPosCmd;
src/modules/fw_att_control/fw_att_control_main.cpp
+2 -1
View File
@@ -479,7 +479,8 @@ FixedwingAttitudeControl::task_main()
/* rate limit vehicle status updates to 5Hz */
orb_set_interval(_vcontrol_mode_sub, 200);
orb_set_interval(_att_sub, 100);
/* rate limit attitude control to 50 Hz (with some margin, so 17 ms) */
orb_set_interval(_att_sub, 17);
parameters_update();
src/modules/fw_att_control/fw_att_control_params.c
+2 -2
View File
@@ -33,9 +33,9 @@
****************************************************************************/
/**
* @file fw_pos_control_l1_params.c
* @file fw_att_control_params.c
*
* Parameters defined by the L1 position control task
* Parameters defined by the fixed-wing attitude control task
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
src/modules/mavlink/mavlink_receiver.cpp
+59 -17
View File
@@ -72,6 +72,7 @@
#include <systemlib/airspeed.h>
#include <mavlink/mavlink_log.h>
#include <commander/px4_custom_mode.h>
#include <geo/geo.h>
__BEGIN_DECLS
@@ -99,11 +100,13 @@ static struct vehicle_command_s vcmd;
static struct offboard_control_setpoint_s offboard_control_sp;
struct vehicle_global_position_s hil_global_pos;
struct vehicle_local_position_s hil_local_pos;
struct vehicle_attitude_s hil_attitude;
struct vehicle_gps_position_s hil_gps;
struct sensor_combined_s hil_sensors;
struct battery_status_s hil_battery_status;
static orb_advert_t pub_hil_global_pos = -1;
static orb_advert_t pub_hil_local_pos = -1;
static orb_advert_t pub_hil_attitude = -1;
static orb_advert_t pub_hil_gps = -1;
static orb_advert_t pub_hil_sensors = -1;
@@ -126,6 +129,11 @@ static orb_advert_t offboard_control_sp_pub = -1;
static orb_advert_t vicon_position_pub = -1;
static orb_advert_t telemetry_status_pub = -1;
// variables for HIL reference position
static int32_t lat0 = 0;
static int32_t lon0 = 0;
static double alt0 = 0;
static void
handle_message(mavlink_message_t *msg)
{
@@ -374,16 +382,15 @@ handle_message(mavlink_message_t *msg)
/* hil gyro */
static const float mrad2rad = 1.0e-3f;
hil_sensors.gyro_counter = hil_counter;
hil_sensors.gyro_raw[0] = imu.xgyro / mrad2rad;
hil_sensors.gyro_raw[1] = imu.ygyro / mrad2rad;
hil_sensors.gyro_raw[2] = imu.zgyro / mrad2rad;
hil_sensors.gyro_rad_s[0] = imu.xgyro;
hil_sensors.gyro_rad_s[1] = imu.ygyro;
hil_sensors.gyro_rad_s[2] = imu.zgyro;
hil_sensors.gyro_counter = hil_counter;
/* accelerometer */
hil_sensors.accelerometer_counter = hil_counter;
static const float mg2ms2 = 9.8f / 1000.0f;
hil_sensors.accelerometer_raw[0] = imu.xacc / mg2ms2;
hil_sensors.accelerometer_raw[1] = imu.yacc / mg2ms2;
@@ -393,6 +400,7 @@ handle_message(mavlink_message_t *msg)
hil_sensors.accelerometer_m_s2[2] = imu.zacc;
hil_sensors.accelerometer_mode = 0; // TODO what is this?
hil_sensors.accelerometer_range_m_s2 = 32.7f; // int16
hil_sensors.accelerometer_counter = hil_counter;
/* adc */
hil_sensors.adc_voltage_v[0] = 0.0f;
@@ -401,7 +409,6 @@ handle_message(mavlink_message_t *msg)
/* magnetometer */
float mga2ga = 1.0e-3f;
hil_sensors.magnetometer_counter = hil_counter;
hil_sensors.magnetometer_raw[0] = imu.xmag / mga2ga;
hil_sensors.magnetometer_raw[1] = imu.ymag / mga2ga;
hil_sensors.magnetometer_raw[2] = imu.zmag / mga2ga;
@@ -411,15 +418,13 @@ handle_message(mavlink_message_t *msg)
hil_sensors.magnetometer_range_ga = 32.7f; // int16
hil_sensors.magnetometer_mode = 0; // TODO what is this
hil_sensors.magnetometer_cuttoff_freq_hz = 50.0f;
hil_sensors.magnetometer_counter = hil_counter;
/* baro */
hil_sensors.baro_pres_mbar = imu.abs_pressure;
hil_sensors.baro_alt_meter = imu.pressure_alt;
hil_sensors.baro_temp_celcius = imu.temperature;
hil_sensors.gyro_counter = hil_counter;
hil_sensors.magnetometer_counter = hil_counter;
hil_sensors.accelerometer_counter = hil_counter;
hil_sensors.baro_counter = hil_counter;
/* differential pressure */
hil_sensors.differential_pressure_pa = imu.diff_pressure * 1e2f; //from hPa to Pa
@@ -621,24 +626,61 @@ handle_message(mavlink_message_t *msg)
orb_publish(ORB_ID(airspeed), pub_hil_airspeed, &airspeed);
}
hil_global_pos.valid = true;
hil_global_pos.lat = hil_state.lat;
hil_global_pos.lon = hil_state.lon;
hil_global_pos.alt = hil_state.alt / 1000.0f;
hil_global_pos.vx = hil_state.vx / 100.0f;
hil_global_pos.vy = hil_state.vy / 100.0f;
hil_global_pos.vz = hil_state.vz / 100.0f;
/* set timestamp and notify processes (broadcast) */
hil_global_pos.timestamp = hrt_absolute_time();
uint64_t timestamp = hrt_absolute_time();
// publish global position
if (pub_hil_global_pos > 0) {
orb_publish(ORB_ID(vehicle_global_position), pub_hil_global_pos, &hil_global_pos);
// global position packet
hil_global_pos.timestamp = timestamp;
hil_global_pos.valid = true;
hil_global_pos.lat = hil_state.lat;
hil_global_pos.lon = hil_state.lon;
hil_global_pos.alt = hil_state.alt / 1000.0f;
hil_global_pos.vx = hil_state.vx / 100.0f;
hil_global_pos.vy = hil_state.vy / 100.0f;
hil_global_pos.vz = hil_state.vz / 100.0f;
} else {
pub_hil_global_pos = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos);
}
// publish local position
if (pub_hil_local_pos > 0) {
float x;
float y;
bool landed = hil_state.alt/1000.0f < (alt0 + 0.1); // XXX improve?
double lat = hil_state.lat*1e-7;
double lon = hil_state.lon*1e-7;
map_projection_project(lat, lon, &x, &y);
hil_local_pos.timestamp = timestamp;
hil_local_pos.xy_valid = true;
hil_local_pos.z_valid = true;
hil_local_pos.v_xy_valid = true;
hil_local_pos.v_z_valid = true;
hil_local_pos.x = x;
hil_local_pos.y = y;
hil_local_pos.z = alt0 - hil_state.alt/1000.0f;
hil_local_pos.vx = hil_state.vx/100.0f;
hil_local_pos.vy = hil_state.vy/100.0f;
hil_local_pos.vz = hil_state.vz/100.0f;
hil_local_pos.yaw = hil_attitude.yaw;
hil_local_pos.xy_global = true;
hil_local_pos.z_global = true;
hil_local_pos.ref_timestamp = timestamp;
hil_local_pos.ref_lat = hil_state.lat;
hil_local_pos.ref_lon = hil_state.lon;
hil_local_pos.ref_alt = alt0;
hil_local_pos.landed = landed;
orb_publish(ORB_ID(vehicle_local_position), pub_hil_local_pos, &hil_local_pos);
} else {
pub_hil_local_pos = orb_advertise(ORB_ID(vehicle_local_position), &hil_local_pos);
lat0 = hil_state.lat;
lon0 = hil_state.lon;
alt0 = hil_state.alt / 1000.0f;
map_projection_init(hil_state.lat, hil_state.lon);
}
/* Calculate Rotation Matrix */
math::Quaternion q(hil_state.attitude_quaternion);
math::Dcm C_nb(q);
src/modules/mavlink/missionlib.c
+5 -5
View File
@@ -276,7 +276,7 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
next_setpoint_index = index + 1;
}
while (next_setpoint_index < wpm->size - 1) {
while (next_setpoint_index < wpm->size) {
if (wpm->waypoints[next_setpoint_index].frame == (int)MAV_FRAME_GLOBAL && (wpm->waypoints[next_setpoint_index].command == (int)MAV_CMD_NAV_WAYPOINT ||
wpm->waypoints[next_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_TURNS ||
@@ -301,7 +301,7 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
sp.lon = wpm->waypoints[last_setpoint_index].y * 1e7f;
sp.altitude = wpm->waypoints[last_setpoint_index].z;
sp.altitude_is_relative = false;
sp.yaw = (wpm->waypoints[last_setpoint_index].param4 / 180.0f) * M_PI_F - M_PI_F;
sp.yaw = _wrap_pi(wpm->waypoints[last_setpoint_index].param4 / 180.0f * M_PI_F);
set_special_fields(wpm->waypoints[last_setpoint_index].param1,
wpm->waypoints[last_setpoint_index].param2,
wpm->waypoints[last_setpoint_index].param3,
@@ -317,7 +317,7 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
sp.lon = wpm->waypoints[next_setpoint_index].y * 1e7f;
sp.altitude = wpm->waypoints[next_setpoint_index].z;
sp.altitude_is_relative = false;
sp.yaw = (wpm->waypoints[next_setpoint_index].param4 / 180.0f) * M_PI_F - M_PI_F;
sp.yaw = _wrap_pi(wpm->waypoints[next_setpoint_index].param4 / 180.0f * M_PI_F);
set_special_fields(wpm->waypoints[next_setpoint_index].param1,
wpm->waypoints[next_setpoint_index].param2,
wpm->waypoints[next_setpoint_index].param3,
@@ -343,7 +343,7 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
sp.lon = param6_lon_y * 1e7f;
sp.altitude = param7_alt_z;
sp.altitude_is_relative = true;
sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F;
sp.yaw = _wrap_pi(param4 / 180.0f * M_PI_F);
set_special_fields(param1, param2, param3, param4, command, &sp);
/* Initialize publication if necessary */
@@ -364,7 +364,7 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
sp.x = param5_lat_x;
sp.y = param6_lon_y;
sp.z = param7_alt_z;
sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F;
sp.yaw = _wrap_pi(param4 / 180.0f * M_PI_F);
/* Initialize publication if necessary */
if (local_position_setpoint_pub < 0) {
src/modules/mavlink/orb_listener.c
+66 -91
View File
@@ -54,6 +54,7 @@
#include <sys/prctl.h>
#include <stdlib.h>
#include <poll.h>
#include <lib/geo/geo.h>
#include <mavlink/mavlink_log.h>
@@ -72,9 +73,9 @@ struct vehicle_status_s v_status;
struct rc_channels_s rc;
struct rc_input_values rc_raw;
struct actuator_armed_s armed;
struct actuator_controls_effective_s actuators_effective_0;
struct actuator_controls_s actuators_0;
struct vehicle_attitude_s att;
struct airspeed_s airspeed;
struct mavlink_subscriptions mavlink_subs;
@@ -92,6 +93,8 @@ static unsigned int gps_counter;
*/
static uint64_t last_sensor_timestamp;
static hrt_abstime last_sent_vfr = 0;
static void *uorb_receive_thread(void *arg);
struct listener {
@@ -116,7 +119,6 @@ static void l_attitude_setpoint(const struct listener *l);
static void l_actuator_outputs(const struct listener *l);
static void l_actuator_armed(const struct listener *l);
static void l_manual_control_setpoint(const struct listener *l);
static void l_vehicle_attitude_controls_effective(const struct listener *l);
static void l_vehicle_attitude_controls(const struct listener *l);
static void l_debug_key_value(const struct listener *l);
static void l_optical_flow(const struct listener *l);
@@ -144,7 +146,6 @@ static const struct listener listeners[] = {
{l_actuator_armed, &mavlink_subs.armed_sub, 0},
{l_manual_control_setpoint, &mavlink_subs.man_control_sp_sub, 0},
{l_vehicle_attitude_controls, &mavlink_subs.actuators_sub, 0},
{l_vehicle_attitude_controls_effective, &mavlink_subs.actuators_effective_sub, 0},
{l_debug_key_value, &mavlink_subs.debug_key_value, 0},
{l_optical_flow, &mavlink_subs.optical_flow, 0},
{l_vehicle_rates_setpoint, &mavlink_subs.rates_setpoint_sub, 0},
@@ -229,7 +230,7 @@ l_vehicle_attitude(const struct listener *l)
/* copy attitude data into local buffer */
orb_copy(ORB_ID(vehicle_attitude), mavlink_subs.att_sub, &att);
if (gcs_link)
if (gcs_link) {
/* send sensor values */
mavlink_msg_attitude_send(MAVLINK_COMM_0,
last_sensor_timestamp / 1000,
@@ -239,6 +240,30 @@ l_vehicle_attitude(const struct listener *l)
att.rollspeed,
att.pitchspeed,
att.yawspeed);
/* limit VFR message rate to 10Hz */
hrt_abstime t = hrt_absolute_time();
if (t >= last_sent_vfr + 100000) {
last_sent_vfr = t;
float groundspeed = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy);
uint16_t heading = _wrap_2pi(att.yaw) * M_RAD_TO_DEG_F;
float throttle = armed.armed ? actuators_0.control[3] * 100.0f : 0.0f;
mavlink_msg_vfr_hud_send(MAVLINK_COMM_0, airspeed.true_airspeed_m_s, groundspeed, heading, throttle, global_pos.alt, -global_pos.vz);
}
/* send quaternion values if it exists */
if(att.q_valid) {
mavlink_msg_attitude_quaternion_send(MAVLINK_COMM_0,
last_sensor_timestamp / 1000,
att.q[0],
att.q[1],
att.q[2],
att.q[3],
att.rollspeed,
att.pitchspeed,
att.yawspeed);
}
}
attitude_counter++;
}
@@ -252,13 +277,7 @@ l_vehicle_gps_position(const struct listener *l)
orb_copy(ORB_ID(vehicle_gps_position), mavlink_subs.gps_sub, &gps);
/* GPS COG is 0..2PI in degrees * 1e2 */
float cog_deg = gps.cog_rad;
if (cog_deg > M_PI_F)
cog_deg -= 2.0f * M_PI_F;
cog_deg *= M_RAD_TO_DEG_F;
float cog_deg = _wrap_2pi(gps.cog_rad) * M_RAD_TO_DEG_F;
/* GPS position */
mavlink_msg_gps_raw_int_send(MAVLINK_COMM_0,
@@ -329,20 +348,26 @@ l_input_rc(const struct listener *l)
/* copy rc channels into local buffer */
orb_copy(ORB_ID(input_rc), mavlink_subs.input_rc_sub, &rc_raw);
if (gcs_link)
/* Channels are sent in MAVLink main loop at a fixed interval */
mavlink_msg_rc_channels_raw_send(chan,
rc_raw.timestamp / 1000,
0,
(rc_raw.channel_count > 0) ? rc_raw.values[0] : UINT16_MAX,
(rc_raw.channel_count > 1) ? rc_raw.values[1] : UINT16_MAX,
(rc_raw.channel_count > 2) ? rc_raw.values[2] : UINT16_MAX,
(rc_raw.channel_count > 3) ? rc_raw.values[3] : UINT16_MAX,
(rc_raw.channel_count > 4) ? rc_raw.values[4] : UINT16_MAX,
(rc_raw.channel_count > 5) ? rc_raw.values[5] : UINT16_MAX,
(rc_raw.channel_count > 6) ? rc_raw.values[6] : UINT16_MAX,
(rc_raw.channel_count > 7) ? rc_raw.values[7] : UINT16_MAX,
255);
if (gcs_link) {
const unsigned port_width = 8;
for (unsigned i = 0; (i * port_width) < (rc_raw.channel_count + port_width); i++) {
/* Channels are sent in MAVLink main loop at a fixed interval */
mavlink_msg_rc_channels_raw_send(chan,
rc_raw.timestamp / 1000,
i,
(rc_raw.channel_count > (i * port_width) + 0) ? rc_raw.values[(i * port_width) + 0] : UINT16_MAX,
(rc_raw.channel_count > (i * port_width) + 1) ? rc_raw.values[(i * port_width) + 1] : UINT16_MAX,
(rc_raw.channel_count > (i * port_width) + 2) ? rc_raw.values[(i * port_width) + 2] : UINT16_MAX,
(rc_raw.channel_count > (i * port_width) + 3) ? rc_raw.values[(i * port_width) + 3] : UINT16_MAX,
(rc_raw.channel_count > (i * port_width) + 4) ? rc_raw.values[(i * port_width) + 4] : UINT16_MAX,
(rc_raw.channel_count > (i * port_width) + 5) ? rc_raw.values[(i * port_width) + 5] : UINT16_MAX,
(rc_raw.channel_count > (i * port_width) + 6) ? rc_raw.values[(i * port_width) + 6] : UINT16_MAX,
(rc_raw.channel_count > (i * port_width) + 7) ? rc_raw.values[(i * port_width) + 7] : UINT16_MAX,
rc_raw.rssi);
}
}
}
void
@@ -351,28 +376,16 @@ l_global_position(const struct listener *l)
/* copy global position data into local buffer */
orb_copy(ORB_ID(vehicle_global_position), mavlink_subs.global_pos_sub, &global_pos);
uint64_t timestamp = global_pos.timestamp;
int32_t lat = global_pos.lat;
int32_t lon = global_pos.lon;
int32_t alt = (int32_t)(global_pos.alt * 1000);
int32_t relative_alt = (int32_t)(global_pos.relative_alt * 1000.0f);
int16_t vx = (int16_t)(global_pos.vx * 100.0f);
int16_t vy = (int16_t)(global_pos.vy * 100.0f);
int16_t vz = (int16_t)(global_pos.vz * 100.0f);
/* heading in degrees * 10, from 0 to 36.000) */
uint16_t hdg = (global_pos.yaw / M_PI_F) * (180.0f * 10.0f) + (180.0f * 10.0f);
mavlink_msg_global_position_int_send(MAVLINK_COMM_0,
timestamp / 1000,
lat,
lon,
alt,
relative_alt,
vx,
vy,
vz,
hdg);
global_pos.timestamp / 1000,
global_pos.lat,
global_pos.lon,
global_pos.alt * 1000.0f,
global_pos.relative_alt * 1000.0f,
global_pos.vx * 100.0f,
global_pos.vy * 100.0f,
global_pos.vz * 100.0f,
_wrap_2pi(global_pos.yaw) * M_RAD_TO_DEG_F * 100.0f);
}
void
@@ -410,8 +423,8 @@ l_global_position_setpoint(const struct listener *l)
coordinate_frame,
global_sp.lat,
global_sp.lon,
global_sp.altitude,
global_sp.yaw);
global_sp.altitude * 1000.0f,
global_sp.yaw * M_RAD_TO_DEG_F * 100.0f);
}
void
@@ -482,7 +495,8 @@ l_actuator_outputs(const struct listener *l)
if (gcs_link) {
mavlink_msg_servo_output_raw_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000,
l->arg /* port number */,
l->arg /* port number - needs GCS support */,
/* QGC has port number support already */
act_outputs.output[0],
act_outputs.output[1],
act_outputs.output[2],
@@ -492,8 +506,8 @@ l_actuator_outputs(const struct listener *l)
act_outputs.output[6],
act_outputs.output[7]);
/* only send in HIL mode */
if (mavlink_hil_enabled && armed.armed) {
/* only send in HIL mode and only send first group for HIL */
if (mavlink_hil_enabled && armed.armed && ids[l->arg] == ORB_ID(actuator_outputs_0)) {
/* translate the current syste state to mavlink state and mode */
uint8_t mavlink_state = 0;
@@ -589,32 +603,6 @@ l_manual_control_setpoint(const struct listener *l)
0);
}
void
l_vehicle_attitude_controls_effective(const struct listener *l)
{
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, mavlink_subs.actuators_effective_sub, &actuators_effective_0);
if (gcs_link) {
/* send, add spaces so that string buffer is at least 10 chars long */
mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
last_sensor_timestamp / 1000,
"eff ctrl0 ",
actuators_effective_0.control_effective[0]);
mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
last_sensor_timestamp / 1000,
"eff ctrl1 ",
actuators_effective_0.control_effective[1]);
mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
last_sensor_timestamp / 1000,
"eff ctrl2 ",
actuators_effective_0.control_effective[2]);
mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
last_sensor_timestamp / 1000,
"eff ctrl3 ",
actuators_effective_0.control_effective[3]);
}
}
void
l_vehicle_attitude_controls(const struct listener *l)
{
@@ -681,17 +669,7 @@ l_home(const struct listener *l)
void
l_airspeed(const struct listener *l)
{
struct airspeed_s airspeed;
orb_copy(ORB_ID(airspeed), mavlink_subs.airspeed_sub, &airspeed);
float groundspeed = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy);
uint16_t heading = (att.yaw + M_PI_F) / M_PI_F * 180.0f;
float throttle = actuators_effective_0.control_effective[3] * (UINT16_MAX - 1);
float alt = global_pos.relative_alt;
float climb = -global_pos.vz;
mavlink_msg_vfr_hud_send(MAVLINK_COMM_0, airspeed.true_airspeed_m_s, groundspeed, heading, throttle, alt, climb);
}
void
@@ -835,9 +813,6 @@ uorb_receive_start(void)
orb_set_interval(mavlink_subs.man_control_sp_sub, 100); /* 10Hz updates */
/* --- ACTUATOR CONTROL VALUE --- */
mavlink_subs.actuators_effective_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE);
orb_set_interval(mavlink_subs.actuators_effective_sub, 100); /* 10Hz updates */
mavlink_subs.actuators_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
orb_set_interval(mavlink_subs.actuators_sub, 100); /* 10Hz updates */
@@ -849,7 +824,7 @@ uorb_receive_start(void)
mavlink_subs.optical_flow = orb_subscribe(ORB_ID(optical_flow));
orb_set_interval(mavlink_subs.optical_flow, 200); /* 5Hz updates */
/* --- AIRSPEED / VFR / HUD --- */
/* --- AIRSPEED --- */
mavlink_subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed));
orb_set_interval(mavlink_subs.airspeed_sub, 200); /* 5Hz updates */
src/modules/multirotor_att_control/multirotor_rate_control.c
+11 -41
View File
@@ -59,31 +59,23 @@
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>
PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.3f); /* same on Flamewheel */
PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.3f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.005f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.2f);
//PARAM_DEFINE_FLOAT(MC_YAWRATE_AWU, 0.0f);
//PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 1.0f);
PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.09f); /* 0.15 F405 Flamewheel */
PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.09f);
PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.002f);
PARAM_DEFINE_FLOAT(MC_ATTRATE_I, 0.0f);
//PARAM_DEFINE_FLOAT(MC_ATTRATE_AWU, 0.05f);
//PARAM_DEFINE_FLOAT(MC_ATTRATE_LIM, 1.0f); /**< roughly < 500 deg/s limit */
struct mc_rate_control_params {
float yawrate_p;
float yawrate_d;
float yawrate_i;
//float yawrate_awu;
//float yawrate_lim;
float attrate_p;
float attrate_d;
float attrate_i;
//float attrate_awu;
//float attrate_lim;
float rate_lim;
};
@@ -93,14 +85,10 @@ struct mc_rate_control_param_handles {
param_t yawrate_p;
param_t yawrate_i;
param_t yawrate_d;
//param_t yawrate_awu;
//param_t yawrate_lim;
param_t attrate_p;
param_t attrate_i;
param_t attrate_d;
//param_t attrate_awu;
//param_t attrate_lim;
};
/**
@@ -122,14 +110,10 @@ static int parameters_init(struct mc_rate_control_param_handles *h)
h->yawrate_p = param_find("MC_YAWRATE_P");
h->yawrate_i = param_find("MC_YAWRATE_I");
h->yawrate_d = param_find("MC_YAWRATE_D");
//h->yawrate_awu = param_find("MC_YAWRATE_AWU");
//h->yawrate_lim = param_find("MC_YAWRATE_LIM");
h->attrate_p = param_find("MC_ATTRATE_P");
h->attrate_i = param_find("MC_ATTRATE_I");
h->attrate_d = param_find("MC_ATTRATE_D");
//h->attrate_awu = param_find("MC_ATTRATE_AWU");
//h->attrate_lim = param_find("MC_ATTRATE_LIM");
return OK;
}
@@ -139,14 +123,10 @@ static int parameters_update(const struct mc_rate_control_param_handles *h, stru
param_get(h->yawrate_p, &(p->yawrate_p));
param_get(h->yawrate_i, &(p->yawrate_i));
param_get(h->yawrate_d, &(p->yawrate_d));
//param_get(h->yawrate_awu, &(p->yawrate_awu));
//param_get(h->yawrate_lim, &(p->yawrate_lim));
param_get(h->attrate_p, &(p->attrate_p));
param_get(h->attrate_i, &(p->attrate_i));
param_get(h->attrate_d, &(p->attrate_d));
//param_get(h->attrate_awu, &(p->attrate_awu));
//param_get(h->attrate_lim, &(p->attrate_lim));
return OK;
}
@@ -168,6 +148,7 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
static PID_t pitch_rate_controller;
static PID_t roll_rate_controller;
static PID_t yaw_rate_controller;
static struct mc_rate_control_params p;
static struct mc_rate_control_param_handles h;
@@ -182,7 +163,7 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
pid_init(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, PID_MODE_DERIVATIV_CALC_NO_SP, 0.003f);
pid_init(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, PID_MODE_DERIVATIV_CALC_NO_SP, 0.003f);
pid_init(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, p.yawrate_d, 1.0f, 1.0f, PID_MODE_DERIVATIV_CALC_NO_SP, 0.003f);
}
/* load new parameters with lower rate */
@@ -191,35 +172,24 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
parameters_update(&h, &p);
pid_set_parameters(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f);
pid_set_parameters(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f);
pid_set_parameters(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, p.yawrate_d, 1.0f, 1.0f);
}
/* reset integrals if needed */
if (reset_integral) {
pid_reset_integral(&pitch_rate_controller);
pid_reset_integral(&roll_rate_controller);
// TODO pid_reset_integral(&yaw_rate_controller);
pid_reset_integral(&yaw_rate_controller);
}
/* control pitch (forward) output */
float pitch_control = pid_calculate(&pitch_rate_controller, rate_sp->pitch ,
rates[1], 0.0f, deltaT);
/* control roll (left/right) output */
float roll_control = pid_calculate(&roll_rate_controller, rate_sp->roll ,
rates[0], 0.0f, deltaT);
/* control yaw rate */ //XXX use library here
float yaw_rate_control = p.yawrate_p * (rate_sp->yaw - rates[2]);
/* increase resilience to faulty control inputs */
if (!isfinite(yaw_rate_control)) {
yaw_rate_control = 0.0f;
warnx("rej. NaN ctrl yaw");
}
/* run pitch, roll and yaw controllers */
float pitch_control = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0.0f, deltaT);
float roll_control = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0.0f, deltaT);
float yaw_control = pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0.0f, deltaT);
actuators->control[0] = roll_control;
actuators->control[1] = pitch_control;
actuators->control[2] = yaw_rate_control;
actuators->control[2] = yaw_control;
actuators->control[3] = rate_sp->thrust;
motor_skip_counter++;
src/modules/multirotor_pos_control/multirotor_pos_control.c
+4 -1
View File
@@ -471,7 +471,10 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
} else {
local_pos_sp.z = local_pos.ref_alt - global_pos_sp.altitude;
}
att_sp.yaw_body = global_pos_sp.yaw;
/* update yaw setpoint only if value is valid */
if (isfinite(global_pos_sp.yaw) && fabsf(global_pos_sp.yaw) < M_TWOPI) {
att_sp.yaw_body = global_pos_sp.yaw;
}
mavlink_log_info(mavlink_fd, "[mpc] new sp: %.7f, %.7f (%.2f, %.2f)", (double)sp_lat, sp_lon, (double)local_pos_sp.x, (double)local_pos_sp.y);
src/modules/position_estimator_inav/position_estimator_inav_main.c
+5 -6
View File
@@ -236,13 +236,13 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
if (ret < 0) {
/* poll error */
errx(1, "subscriptions poll error on init.");
mavlink_log_info(mavlink_fd, "[inav] poll error on init");
} else if (ret > 0) {
if (fds_init[0].revents & POLLIN) {
orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor);
if (wait_baro && sensor.baro_counter > baro_counter) {
if (wait_baro && sensor.baro_counter != baro_counter) {
baro_counter = sensor.baro_counter;
/* mean calculation over several measurements */
@@ -320,8 +320,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
if (ret < 0) {
/* poll error */
warnx("subscriptions poll error.");
thread_should_exit = true;
mavlink_log_info(mavlink_fd, "[inav] poll error on init");
continue;
} else if (ret > 0) {
@@ -355,7 +354,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
if (fds[4].revents & POLLIN) {
orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor);
if (sensor.accelerometer_counter > accel_counter) {
if (sensor.accelerometer_counter != accel_counter) {
if (att.R_valid) {
/* correct accel bias, now only for Z */
sensor.accelerometer_m_s2[2] -= accel_bias[2];
@@ -381,7 +380,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
accel_updates++;
}
if (sensor.baro_counter > baro_counter) {
if (sensor.baro_counter != baro_counter) {
baro_corr = - sensor.baro_alt_meter - z_est[0];
baro_counter = sensor.baro_counter;
baro_updates++;
src/modules/px4iofirmware/controls.c
+35 -16
View File
@@ -50,7 +50,7 @@
#define RC_CHANNEL_HIGH_THRESH 5000
#define RC_CHANNEL_LOW_THRESH -5000
static bool ppm_input(uint16_t *values, uint16_t *num_values);
static bool ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len);
static perf_counter_t c_gather_dsm;
static perf_counter_t c_gather_sbus;
@@ -66,7 +66,7 @@ controls_init(void)
sbus_init("/dev/ttyS2");
/* default to a 1:1 input map, all enabled */
for (unsigned i = 0; i < PX4IO_CONTROL_CHANNELS; i++) {
for (unsigned i = 0; i < PX4IO_RC_INPUT_CHANNELS; i++) {
unsigned base = PX4IO_P_RC_CONFIG_STRIDE * i;
r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_OPTIONS] = 0;
@@ -94,6 +94,9 @@ controls_tick() {
* other. Don't do that.
*/
/* receive signal strenght indicator (RSSI). 0 = no connection, 255: perfect connection */
uint16_t rssi = 0;
perf_begin(c_gather_dsm);
uint16_t temp_count = r_raw_rc_count;
bool dsm_updated = dsm_input(r_raw_rc_values, &temp_count);
@@ -104,14 +107,15 @@ controls_tick() {
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM11;
else
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_RC_DSM11;
rssi = 255;
}
perf_end(c_gather_dsm);
perf_begin(c_gather_sbus);
bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count, PX4IO_CONTROL_CHANNELS /* XXX this should be INPUT channels, once untangled */);
bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count, &rssi, PX4IO_RC_INPUT_CHANNELS);
if (sbus_updated) {
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_SBUS;
r_raw_rc_count = 8;
}
perf_end(c_gather_sbus);
@@ -121,11 +125,20 @@ controls_tick() {
* disable the PPM decoder completely if we have S.bus signal.
*/
perf_begin(c_gather_ppm);
bool ppm_updated = ppm_input(r_raw_rc_values, &r_raw_rc_count);
if (ppm_updated)
bool ppm_updated = ppm_input(r_raw_rc_values, &r_raw_rc_count, &r_page_status[PX4IO_P_STATUS_RC_DATA]);
if (ppm_updated) {
/* XXX sample RSSI properly here */
rssi = 255;
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_PPM;
}
perf_end(c_gather_ppm);
/* limit number of channels to allowable data size */
if (r_raw_rc_count > PX4IO_RC_INPUT_CHANNELS)
r_raw_rc_count = PX4IO_RC_INPUT_CHANNELS;
/*
* In some cases we may have received a frame, but input has still
* been lost.
@@ -197,14 +210,16 @@ controls_tick() {
/* and update the scaled/mapped version */
unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT];
ASSERT(mapped < PX4IO_CONTROL_CHANNELS);
if (mapped < PX4IO_CONTROL_CHANNELS) {
/* invert channel if pitch - pulling the lever down means pitching up by convention */
if (mapped == 1) /* roll, pitch, yaw, throttle, override is the standard order */
scaled = -scaled;
/* invert channel if pitch - pulling the lever down means pitching up by convention */
if (mapped == 1) /* roll, pitch, yaw, throttle, override is the standard order */
scaled = -scaled;
r_rc_values[mapped] = SIGNED_TO_REG(scaled);
assigned_channels |= (1 << mapped);
r_rc_values[mapped] = SIGNED_TO_REG(scaled);
assigned_channels |= (1 << mapped);
}
}
}
@@ -221,7 +236,7 @@ controls_tick() {
* This might happen if a protocol-based receiver returns an update
* that contains no channels that we have mapped.
*/
if (assigned_channels == 0) {
if (assigned_channels == 0 || rssi == 0) {
rc_input_lost = true;
} else {
/* set RC OK flag */
@@ -306,7 +321,7 @@ controls_tick() {
}
static bool
ppm_input(uint16_t *values, uint16_t *num_values)
ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len)
{
bool result = false;
@@ -321,8 +336,8 @@ ppm_input(uint16_t *values, uint16_t *num_values)
/* PPM data exists, copy it */
*num_values = ppm_decoded_channels;
if (*num_values > PX4IO_CONTROL_CHANNELS)
*num_values = PX4IO_CONTROL_CHANNELS;
if (*num_values > PX4IO_RC_INPUT_CHANNELS)
*num_values = PX4IO_RC_INPUT_CHANNELS;
for (unsigned i = 0; i < *num_values; i++)
values[i] = ppm_buffer[i];
@@ -330,6 +345,10 @@ ppm_input(uint16_t *values, uint16_t *num_values)
/* clear validity */
ppm_last_valid_decode = 0;
/* store PPM frame length */
if (num_values)
*frame_len = ppm_frame_length;
/* good if we got any channels */
result = (*num_values > 0);
}
src/modules/px4iofirmware/dsm.c
+7 -1
View File
@@ -203,6 +203,12 @@ dsm_guess_format(bool reset)
int
dsm_init(const char *device)
{
#ifdef CONFIG_ARCH_BOARD_PX4IO_V2
// enable power on DSM connector
POWER_SPEKTRUM(true);
#endif
if (dsm_fd < 0)
dsm_fd = open(device, O_RDONLY | O_NONBLOCK);
@@ -355,7 +361,7 @@ dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values)
continue;
/* ignore channels out of range */
if (channel >= PX4IO_INPUT_CHANNELS)
if (channel >= PX4IO_RC_INPUT_CHANNELS)
continue;
/* update the decoded channel count */
src/modules/px4iofirmware/mixer.cpp
+32 -7
View File
@@ -77,7 +77,8 @@ enum mixer_source {
MIX_NONE,
MIX_FMU,
MIX_OVERRIDE,
MIX_FAILSAFE
MIX_FAILSAFE,
MIX_OVERRIDE_FMU_OK
};
static mixer_source source;
@@ -135,10 +136,19 @@ mixer_tick(void)
if ( (r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) &&
!(r_setup_arming & PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED)) {
!(r_setup_arming & PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED) &&
!(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK)) {
/* if allowed, mix from RC inputs directly */
source = MIX_OVERRIDE;
} else if ( (r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) &&
!(r_setup_arming & PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED) &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK)) {
/* if allowed, mix from RC inputs directly up to available rc channels */
source = MIX_OVERRIDE_FMU_OK;
}
}
@@ -185,7 +195,7 @@ mixer_tick(void)
r_page_servos[i] = r_page_servo_failsafe[i];
/* safe actuators for FMU feedback */
r_page_actuators[i] = (r_page_servos[i] - 1500) / 600.0f;
r_page_actuators[i] = FLOAT_TO_REG((r_page_servos[i] - 1500) / 600.0f);
}
@@ -201,6 +211,10 @@ mixer_tick(void)
for (unsigned i = mixed; i < PX4IO_SERVO_COUNT; i++)
r_page_servos[i] = 0;
for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) {
r_page_actuators[i] = FLOAT_TO_REG(outputs[i]);
}
}
if ((should_arm || should_always_enable_pwm) && !mixer_servos_armed) {
@@ -236,24 +250,35 @@ mixer_callback(uintptr_t handle,
uint8_t control_index,
float &control)
{
if (control_group != 0)
if (control_group > 3)
return -1;
switch (source) {
case MIX_FMU:
if (control_index < PX4IO_CONTROL_CHANNELS) {
control = REG_TO_FLOAT(r_page_controls[control_index]);
if (control_index < PX4IO_CONTROL_CHANNELS && control_group < PX4IO_CONTROL_GROUPS ) {
control = REG_TO_FLOAT(r_page_controls[CONTROL_PAGE_INDEX(control_group, control_index)]);
break;
}
return -1;
case MIX_OVERRIDE:
if (r_page_rc_input[PX4IO_P_RC_VALID] & (1 << control_index)) {
if (r_page_rc_input[PX4IO_P_RC_VALID] & (1 << CONTROL_PAGE_INDEX(control_group, control_index))) {
control = REG_TO_FLOAT(r_page_rc_input[PX4IO_P_RC_BASE + control_index]);
break;
}
return -1;
case MIX_OVERRIDE_FMU_OK:
/* FMU is ok but we are in override mode, use direct rc control for the available rc channels. The remaining channels are still controlled by the fmu */
if (r_page_rc_input[PX4IO_P_RC_VALID] & (1 << CONTROL_PAGE_INDEX(control_group, control_index))) {
control = REG_TO_FLOAT(r_page_rc_input[PX4IO_P_RC_BASE + control_index]);
break;
} else if (control_index < PX4IO_CONTROL_CHANNELS && control_group < PX4IO_CONTROL_GROUPS) {
control = REG_TO_FLOAT(r_page_controls[CONTROL_PAGE_INDEX(control_group, control_index)]);
break;
}
return -1;
case MIX_FAILSAFE:
case MIX_NONE:
control = 0.0f;
src/modules/px4iofirmware/protocol.h
+41 -20
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Copyright (c) 2012, 2013 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
@@ -63,7 +63,7 @@
* readable pages to be densely packed. Page numbers do not need to be
* packed.
*
* Definitions marked 1 are only valid on PX4IOv1 boards. Likewise,
* Definitions marked [1] are only valid on PX4IOv1 boards. Likewise,
* [2] denotes definitions specific to the PX4IOv2 board.
*/
@@ -76,6 +76,9 @@
#define PX4IO_PROTOCOL_VERSION 4
/* maximum allowable sizes on this protocol version */
#define PX4IO_PROTOCOL_MAX_CONTROL_COUNT 8 /**< The protocol does not support more than set here, individual units might support less - see PX4IO_P_CONFIG_CONTROL_COUNT */
/* static configuration page */
#define PX4IO_PAGE_CONFIG 0
#define PX4IO_P_CONFIG_PROTOCOL_VERSION 0 /* PX4IO_PROTOCOL_VERSION */
@@ -87,6 +90,7 @@
#define PX4IO_P_CONFIG_RC_INPUT_COUNT 6 /* hardcoded max R/C input count supported */
#define PX4IO_P_CONFIG_ADC_INPUT_COUNT 7 /* hardcoded max ADC inputs */
#define PX4IO_P_CONFIG_RELAY_COUNT 8 /* hardcoded # of relay outputs */
#define PX4IO_P_CONFIG_CONTROL_GROUP_COUNT 8 /**< hardcoded # of control groups*/
/* dynamic status page */
#define PX4IO_PAGE_STATUS 1
@@ -124,6 +128,8 @@
#define PX4IO_P_STATUS_VSERVO 6 /* [2] servo rail voltage in mV */
#define PX4IO_P_STATUS_VRSSI 7 /* [2] RSSI voltage */
#define PX4IO_P_STATUS_PRSSI 8 /* [2] RSSI PWM value */
#define PX4IO_P_STATUS_NRSSI 9 /* [2] Normalized RSSI value, 0: no reception, 255: perfect reception */
#define PX4IO_P_STATUS_RC_DATA 10 /* [1] + [2] Details about the RC source (PPM frame length, Spektrum protocol type) */
/* array of post-mix actuator outputs, -10000..10000 */
#define PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */
@@ -184,44 +190,59 @@ enum { /* DSM bind states */
dsm_bind_reinit_uart
};
/* 8 */
#define PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */
#define PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */
#define PX4IO_P_SETUP_REBOOT_BL 10 /* reboot IO into bootloader */
#define PX4IO_REBOOT_BL_MAGIC 14662 /* required argument for reboot (random) */
#define PX4IO_P_SETUP_CRC 11 /* get CRC of IO firmware */
/* autopilot control values, -10000..10000 */
#define PX4IO_PAGE_CONTROLS 51 /* 0..CONFIG_CONTROL_COUNT */
#define PX4IO_PAGE_CONTROLS 51 /**< actuator control groups, one after the other, 8 wide */
#define PX4IO_P_CONTROLS_GROUP_0 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 0) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
#define PX4IO_P_CONTROLS_GROUP_1 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 1) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
#define PX4IO_P_CONTROLS_GROUP_2 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 2) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
#define PX4IO_P_CONTROLS_GROUP_3 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 3) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
#define PX4IO_P_CONTROLS_GROUP_VALID 64
#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP0 (1 << 0) /* group 0 is valid / received */
#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP1 (1 << 1) /* group 1 is valid / received */
#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP2 (1 << 2) /* group 2 is valid / received */
#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP3 (1 << 3) /* group 3 is valid / received */
/* raw text load to the mixer parser - ignores offset */
#define PX4IO_PAGE_MIXERLOAD 52
#define PX4IO_PAGE_MIXERLOAD 52
/* R/C channel config */
#define PX4IO_PAGE_RC_CONFIG 53 /* R/C input configuration */
#define PX4IO_P_RC_CONFIG_MIN 0 /* lowest input value */
#define PX4IO_P_RC_CONFIG_CENTER 1 /* center input value */
#define PX4IO_P_RC_CONFIG_MAX 2 /* highest input value */
#define PX4IO_P_RC_CONFIG_DEADZONE 3 /* band around center that is ignored */
#define PX4IO_P_RC_CONFIG_ASSIGNMENT 4 /* mapped input value */
#define PX4IO_P_RC_CONFIG_OPTIONS 5 /* channel options bitmask */
#define PX4IO_PAGE_RC_CONFIG 53 /**< R/C input configuration */
#define PX4IO_P_RC_CONFIG_MIN 0 /**< lowest input value */
#define PX4IO_P_RC_CONFIG_CENTER 1 /**< center input value */
#define PX4IO_P_RC_CONFIG_MAX 2 /**< highest input value */
#define PX4IO_P_RC_CONFIG_DEADZONE 3 /**< band around center that is ignored */
#define PX4IO_P_RC_CONFIG_ASSIGNMENT 4 /**< mapped input value */
#define PX4IO_P_RC_CONFIG_OPTIONS 5 /**< channel options bitmask */
#define PX4IO_P_RC_CONFIG_OPTIONS_ENABLED (1 << 0)
#define PX4IO_P_RC_CONFIG_OPTIONS_REVERSE (1 << 1)
#define PX4IO_P_RC_CONFIG_STRIDE 6 /* spacing between channel config data */
#define PX4IO_P_RC_CONFIG_STRIDE 6 /**< spacing between channel config data */
/* PWM output - overrides mixer */
#define PX4IO_PAGE_DIRECT_PWM 54 /* 0..CONFIG_ACTUATOR_COUNT-1 */
#define PX4IO_PAGE_DIRECT_PWM 54 /**< 0..CONFIG_ACTUATOR_COUNT-1 */
/* PWM failsafe values - zero disables the output */
#define PX4IO_PAGE_FAILSAFE_PWM 55 /* 0..CONFIG_ACTUATOR_COUNT-1 */
#define PX4IO_PAGE_FAILSAFE_PWM 55 /**< 0..CONFIG_ACTUATOR_COUNT-1 */
/* Debug and test page - not used in normal operation */
#define PX4IO_PAGE_TEST 127
#define PX4IO_P_TEST_LED 0 /* set the amber LED on/off */
#define PX4IO_PAGE_TEST 127
#define PX4IO_P_TEST_LED 0 /**< set the amber LED on/off */
/* PWM minimum values for certain ESCs */
#define PX4IO_PAGE_CONTROL_MIN_PWM 106 /* 0..CONFIG_ACTUATOR_COUNT-1 */
#define PX4IO_PAGE_CONTROL_MIN_PWM 106 /**< 0..CONFIG_ACTUATOR_COUNT-1 */
/* PWM maximum values for certain ESCs */
#define PX4IO_PAGE_CONTROL_MAX_PWM 107 /* 0..CONFIG_ACTUATOR_COUNT-1 */
#define PX4IO_PAGE_CONTROL_MAX_PWM 107 /**< 0..CONFIG_ACTUATOR_COUNT-1 */
/* PWM disarmed values that are active, even when SAFETY_SAFE */
#define PX4IO_PAGE_DISARMED_PWM 108 /* 0..CONFIG_ACTUATOR_COUNT-1 */
#define PX4IO_PAGE_DISARMED_PWM 108 /* 0..CONFIG_ACTUATOR_COUNT-1 */
/**
* As-needed mixer data upload.
src/modules/px4iofirmware/px4io.c
+54
View File
@@ -45,6 +45,7 @@
#include <string.h>
#include <poll.h>
#include <signal.h>
#include <crc32.h>
#include <drivers/drv_pwm_output.h>
#include <drivers/drv_hrt.h>
@@ -117,6 +118,48 @@ show_debug_messages(void)
}
}
static void
heartbeat_blink(void)
{
static bool heartbeat = false;
LED_BLUE(heartbeat = !heartbeat);
}
static uint64_t reboot_time;
/**
schedule a reboot in time_delta_usec microseconds
*/
void schedule_reboot(uint32_t time_delta_usec)
{
reboot_time = hrt_absolute_time() + time_delta_usec;
}
/**
check for a scheduled reboot
*/
static void check_reboot(void)
{
if (reboot_time != 0 && hrt_absolute_time() > reboot_time) {
up_systemreset();
}
}
static void
calculate_fw_crc(void)
{
#define APP_SIZE_MAX 0xf000
#define APP_LOAD_ADDRESS 0x08001000
// compute CRC of the current firmware
uint32_t sum = 0;
for (unsigned p = 0; p < APP_SIZE_MAX; p += 4) {
uint32_t bytes = *(uint32_t *)(p + APP_LOAD_ADDRESS);
sum = crc32part((uint8_t *)&bytes, sizeof(bytes), sum);
}
r_page_setup[PX4IO_P_SETUP_CRC] = sum & 0xFFFF;
r_page_setup[PX4IO_P_SETUP_CRC+1] = sum >> 16;
}
int
user_start(int argc, char *argv[])
{
@@ -129,6 +172,9 @@ user_start(int argc, char *argv[])
/* configure the high-resolution time/callout interface */
hrt_init();
/* calculate our fw CRC so FMU can decide if we need to update */
calculate_fw_crc();
/*
* Poll at 1ms intervals for received bytes that have not triggered
* a DMA event.
@@ -201,6 +247,7 @@ user_start(int argc, char *argv[])
*/
uint64_t last_debug_time = 0;
uint64_t last_heartbeat_time = 0;
for (;;) {
/* track the rate at which the loop is running */
@@ -216,6 +263,13 @@ user_start(int argc, char *argv[])
controls_tick();
perf_end(controls_perf);
if ((hrt_absolute_time() - last_heartbeat_time) > 250*1000) {
last_heartbeat_time = hrt_absolute_time();
heartbeat_blink();
}
check_reboot();
#if 0
/* check for debug activity */
show_debug_messages();
src/modules/px4iofirmware/px4io.h
+10 -2
View File
@@ -53,7 +53,9 @@
*/
#define PX4IO_SERVO_COUNT 8
#define PX4IO_CONTROL_CHANNELS 8
#define PX4IO_INPUT_CHANNELS 8 // XXX this should be 18 channels
#define PX4IO_CONTROL_GROUPS 2
#define PX4IO_RC_INPUT_CHANNELS 18
#define PX4IO_RC_MAPPED_CONTROL_CHANNELS 8 /**< This is the maximum number of channels mapped/used */
/*
* Debug logging
@@ -169,6 +171,8 @@ extern pwm_limit_t pwm_limit;
#define BUTTON_SAFETY stm32_gpioread(GPIO_BTN_SAFETY)
#define CONTROL_PAGE_INDEX(_group, _channel) (_group * PX4IO_CONTROL_CHANNELS + _channel)
/*
* Mixer
*/
@@ -209,10 +213,14 @@ extern int dsm_init(const char *device);
extern bool dsm_input(uint16_t *values, uint16_t *num_values);
extern void dsm_bind(uint16_t cmd, int pulses);
extern int sbus_init(const char *device);
extern bool sbus_input(uint16_t *values, uint16_t *num_values, uint16_t max_channels);
extern bool sbus_input(uint16_t *values, uint16_t *num_values, uint16_t *rssi, uint16_t max_channels);
/** global debug level for isr_debug() */
extern volatile uint8_t debug_level;
/** send a debug message to the console */
extern void isr_debug(uint8_t level, const char *fmt, ...);
/** schedule a reboot */
extern void schedule_reboot(uint32_t time_delta_usec);
src/modules/px4iofirmware/registers.c
+39 -11
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Copyright (c) 2012, 2013 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
@@ -45,6 +45,8 @@
#include <drivers/drv_hrt.h>
#include <drivers/drv_pwm_output.h>
#include <systemlib/systemlib.h>
#include <stm32_pwr.h>
#include "px4io.h"
#include "protocol.h"
@@ -68,7 +70,7 @@ static const uint16_t r_page_config[] = {
[PX4IO_P_CONFIG_MAX_TRANSFER] = 64, /* XXX hardcoded magic number */
[PX4IO_P_CONFIG_CONTROL_COUNT] = PX4IO_CONTROL_CHANNELS,
[PX4IO_P_CONFIG_ACTUATOR_COUNT] = PX4IO_SERVO_COUNT,
[PX4IO_P_CONFIG_RC_INPUT_COUNT] = PX4IO_CONTROL_CHANNELS,
[PX4IO_P_CONFIG_RC_INPUT_COUNT] = PX4IO_RC_INPUT_CHANNELS,
[PX4IO_P_CONFIG_ADC_INPUT_COUNT] = PX4IO_ADC_CHANNEL_COUNT,
[PX4IO_P_CONFIG_RELAY_COUNT] = PX4IO_RELAY_CHANNELS,
};
@@ -87,7 +89,9 @@ uint16_t r_page_status[] = {
[PX4IO_P_STATUS_IBATT] = 0,
[PX4IO_P_STATUS_VSERVO] = 0,
[PX4IO_P_STATUS_VRSSI] = 0,
[PX4IO_P_STATUS_PRSSI] = 0
[PX4IO_P_STATUS_PRSSI] = 0,
[PX4IO_P_STATUS_NRSSI] = 0,
[PX4IO_P_STATUS_RC_DATA] = 0
};
/**
@@ -112,7 +116,7 @@ uint16_t r_page_servos[PX4IO_SERVO_COUNT];
uint16_t r_page_raw_rc_input[] =
{
[PX4IO_P_RAW_RC_COUNT] = 0,
[PX4IO_P_RAW_RC_BASE ... (PX4IO_P_RAW_RC_BASE + PX4IO_CONTROL_CHANNELS)] = 0
[PX4IO_P_RAW_RC_BASE ... (PX4IO_P_RAW_RC_BASE + PX4IO_RC_INPUT_CHANNELS)] = 0
};
/**
@@ -122,7 +126,7 @@ uint16_t r_page_raw_rc_input[] =
*/
uint16_t r_page_rc_input[] = {
[PX4IO_P_RC_VALID] = 0,
[PX4IO_P_RC_BASE ... (PX4IO_P_RC_BASE + PX4IO_CONTROL_CHANNELS)] = 0
[PX4IO_P_RC_BASE ... (PX4IO_P_RC_BASE + PX4IO_RC_MAPPED_CONTROL_CHANNELS)] = 0
};
/**
@@ -154,6 +158,8 @@ volatile uint16_t r_page_setup[] =
[PX4IO_P_SETUP_VBATT_SCALE] = 10000,
#endif
[PX4IO_P_SETUP_SET_DEBUG] = 0,
[PX4IO_P_SETUP_REBOOT_BL] = 0,
[PX4IO_P_SETUP_CRC ... (PX4IO_P_SETUP_CRC+1)] = 0,
};
#define PX4IO_P_SETUP_FEATURES_VALID (0)
@@ -172,7 +178,7 @@ volatile uint16_t r_page_setup[] =
*
* Control values from the FMU.
*/
volatile uint16_t r_page_controls[PX4IO_CONTROL_CHANNELS];
volatile uint16_t r_page_controls[PX4IO_CONTROL_GROUPS * PX4IO_CONTROL_CHANNELS];
/*
* PAGE 102 does not have a buffer.
@@ -183,7 +189,7 @@ volatile uint16_t r_page_controls[PX4IO_CONTROL_CHANNELS];
*
* R/C channel input configuration.
*/
uint16_t r_page_rc_input_config[PX4IO_CONTROL_CHANNELS * PX4IO_P_RC_CONFIG_STRIDE];
uint16_t r_page_rc_input_config[PX4IO_RC_INPUT_CHANNELS * PX4IO_P_RC_CONFIG_STRIDE];
/* valid options */
#define PX4IO_P_RC_CONFIG_OPTIONS_VALID (PX4IO_P_RC_CONFIG_OPTIONS_REVERSE | PX4IO_P_RC_CONFIG_OPTIONS_ENABLED)
@@ -235,7 +241,7 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
case PX4IO_PAGE_CONTROLS:
/* copy channel data */
while ((offset < PX4IO_CONTROL_CHANNELS) && (num_values > 0)) {
while ((offset < PX4IO_CONTROL_GROUPS * PX4IO_CONTROL_CHANNELS) && (num_values > 0)) {
/* XXX range-check value? */
r_page_controls[offset] = *values;
@@ -501,6 +507,24 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
isr_debug(0, "set debug %u\n", (unsigned)r_page_setup[PX4IO_P_SETUP_SET_DEBUG]);
break;
case PX4IO_P_SETUP_REBOOT_BL:
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) ||
(r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) ||
(r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)) {
// don't allow reboot while armed
break;
}
// check the magic value
if (value != PX4IO_REBOOT_BL_MAGIC)
break;
// we schedule a reboot rather than rebooting
// immediately to allow the IO board to ACK
// the reboot command
schedule_reboot(100000);
break;
case PX4IO_P_SETUP_DSM:
dsm_bind(value & 0x0f, (value >> 4) & 7);
break;
@@ -525,7 +549,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
unsigned index = offset - channel * PX4IO_P_RC_CONFIG_STRIDE;
uint16_t *conf = &r_page_rc_input_config[channel * PX4IO_P_RC_CONFIG_STRIDE];
if (channel >= PX4IO_CONTROL_CHANNELS)
if (channel >= PX4IO_RC_INPUT_CHANNELS)
return -1;
/* disable the channel until we have a chance to sanity-check it */
@@ -555,6 +579,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
/* this option is normally set last */
if (value & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) {
uint8_t count = 0;
bool disabled = false;
/* assert min..center..max ordering */
if (conf[PX4IO_P_RC_CONFIG_MIN] < 500) {
@@ -573,7 +598,10 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
if (conf[PX4IO_P_RC_CONFIG_DEADZONE] > 500) {
count++;
}
if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_CONTROL_CHANNELS) {
if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] == UINT8_MAX) {
disabled = true;
} else if ((int)(conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]) < 0 || conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_RC_MAPPED_CONTROL_CHANNELS) {
count++;
}
@@ -581,7 +609,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
if (count) {
isr_debug(0, "ERROR: %d config error(s) for RC%d.\n", count, (channel + 1));
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_INIT_OK;
} else {
} else if (!disabled) {
conf[index] |= PX4IO_P_RC_CONFIG_OPTIONS_ENABLED;
}
}
src/modules/px4iofirmware/safety.c
+1 -15
View File
@@ -77,7 +77,6 @@ static unsigned blink_counter = 0;
static bool safety_button_pressed;
static void safety_check_button(void *arg);
static void heartbeat_blink(void *arg);
static void failsafe_blink(void *arg);
void
@@ -86,9 +85,6 @@ safety_init(void)
/* arrange for the button handler to be called at 10Hz */
hrt_call_every(&arming_call, 1000, 100000, safety_check_button, NULL);
/* arrange for the heartbeat handler to be called at 4Hz */
hrt_call_every(&heartbeat_call, 1000, 250000, heartbeat_blink, NULL);
/* arrange for the failsafe blinker to be called at 8Hz */
hrt_call_every(&failsafe_call, 1000, 125000, failsafe_blink, NULL);
}
@@ -163,16 +159,6 @@ safety_check_button(void *arg)
}
}
static void
heartbeat_blink(void *arg)
{
static bool heartbeat = false;
/* XXX add flags here that need to be frobbed by various loops */
LED_BLUE(heartbeat = !heartbeat);
}
static void
failsafe_blink(void *arg)
{
@@ -192,4 +178,4 @@ failsafe_blink(void *arg)
}
LED_AMBER(failsafe);
}
}
src/modules/px4iofirmware/sbus.c
+49 -18
View File
@@ -54,6 +54,27 @@
#define SBUS_FRAME_SIZE 25
#define SBUS_INPUT_CHANNELS 16
#define SBUS_FLAGS_BYTE 23
#define SBUS_FAILSAFE_BIT 3
#define SBUS_FRAMELOST_BIT 2
/*
Measured values with Futaba FX-30/R6108SB:
-+100% on TX: PCM 1.100/1.520/1.950ms -> SBus raw values: 350/1024/1700 (100% ATV)
-+140% on TX: PCM 0.930/1.520/2.112ms -> SBus raw values: 78/1024/1964 (140% ATV)
-+152% on TX: PCM 0.884/1.520/2.160ms -> SBus raw values: 1/1024/2047 (140% ATV plus dirty tricks)
*/
/* define range mapping here, -+100% -> 1000..2000 */
#define SBUS_RANGE_MIN 200.0f
#define SBUS_RANGE_MAX 1800.0f
#define SBUS_TARGET_MIN 1000.0f
#define SBUS_TARGET_MAX 2000.0f
/* pre-calculate the floating point stuff as far as possible at compile time */
#define SBUS_SCALE_FACTOR ((SBUS_TARGET_MAX - SBUS_TARGET_MIN) / (SBUS_RANGE_MAX - SBUS_RANGE_MIN))
#define SBUS_SCALE_OFFSET (int)(SBUS_TARGET_MIN - (SBUS_SCALE_FACTOR * SBUS_RANGE_MIN + 0.5f))
static int sbus_fd = -1;
@@ -66,7 +87,7 @@ static unsigned partial_frame_count;
unsigned sbus_frame_drops;
static bool sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint16_t max_channels);
static bool sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint16_t *rssi, uint16_t max_channels);
int
sbus_init(const char *device)
@@ -97,7 +118,7 @@ sbus_init(const char *device)
}
bool
sbus_input(uint16_t *values, uint16_t *num_values, uint16_t max_channels)
sbus_input(uint16_t *values, uint16_t *num_values, uint16_t *rssi, uint16_t max_channels)
{
ssize_t ret;
hrt_abstime now;
@@ -154,7 +175,7 @@ sbus_input(uint16_t *values, uint16_t *num_values, uint16_t max_channels)
* decode it.
*/
partial_frame_count = 0;
return sbus_decode(now, values, num_values, max_channels);
return sbus_decode(now, values, num_values, rssi, max_channels);
}
/*
@@ -194,7 +215,7 @@ static const struct sbus_bit_pick sbus_decoder[SBUS_INPUT_CHANNELS][3] = {
};
static bool
sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint16_t max_values)
sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint16_t *rssi, uint16_t max_values)
{
/* check frame boundary markers to avoid out-of-sync cases */
if ((frame[0] != 0x0f) || (frame[24] != 0x00)) {
@@ -202,15 +223,6 @@ sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint
return false;
}
/* if the failsafe or connection lost bit is set, we consider the frame invalid */
if ((frame[23] & (1 << 2)) && /* signal lost */
(frame[23] & (1 << 3))) { /* failsafe */
/* actively announce signal loss */
*values = 0;
return false;
}
/* we have received something we think is a frame */
last_frame_time = frame_time;
@@ -234,22 +246,41 @@ sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint
}
}
/* convert 0-2048 values to 1000-2000 ppm encoding in a very sloppy fashion */
values[channel] = (value / 2) + 998;
/* convert 0-2048 values to 1000-2000 ppm encoding in a not too sloppy fashion */
values[channel] = (uint16_t)(value * SBUS_SCALE_FACTOR +.5f) + SBUS_SCALE_OFFSET;
}
/* decode switch channels if data fields are wide enough */
if (PX4IO_INPUT_CHANNELS > 17 && chancount > 15) {
if (PX4IO_RC_INPUT_CHANNELS > 17 && chancount > 15) {
chancount = 18;
/* channel 17 (index 16) */
values[16] = (frame[23] & (1 << 0)) * 1000 + 998;
values[16] = (frame[SBUS_FLAGS_BYTE] & (1 << 0)) * 1000 + 998;
/* channel 18 (index 17) */
values[17] = (frame[23] & (1 << 1)) * 1000 + 998;
values[17] = (frame[SBUS_FLAGS_BYTE] & (1 << 1)) * 1000 + 998;
}
/* note the number of channels decoded */
*num_values = chancount;
/* decode and handle failsafe and frame-lost flags */
if (frame[SBUS_FLAGS_BYTE] & (1 << SBUS_FAILSAFE_BIT)) { /* failsafe */
/* report that we failed to read anything valid off the receiver */
*rssi = 0;
return false;
}
else if (frame[SBUS_FLAGS_BYTE] & (1 << SBUS_FRAMELOST_BIT)) { /* a frame was lost */
/* set a special warning flag or try to calculate some kind of RSSI information - to be implemented
*
* Attention! This flag indicates a skipped frame only, not a total link loss! Handling this
* condition as fail-safe greatly reduces the reliability and range of the radio link,
* e.g. by prematurely issueing return-to-launch!!! */
*rssi = 100; // XXX magic number indicating bad signal, but not a signal loss (yet)
}
*rssi = 255;
return true;
}
src/modules/sdlog2/sdlog2.c
+3 -17
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
* Anton Babushkin <anton.babushkin@me.com>
*
@@ -68,7 +68,6 @@
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_effective.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
@@ -691,7 +690,6 @@ int sdlog2_thread_main(int argc, char *argv[])
struct vehicle_rates_setpoint_s rates_sp;
struct actuator_outputs_s act_outputs;
struct actuator_controls_s act_controls;
struct actuator_controls_effective_s act_controls_effective;
struct vehicle_local_position_s local_pos;
struct vehicle_local_position_setpoint_s local_pos_sp;
struct vehicle_global_position_s global_pos;
@@ -718,7 +716,6 @@ int sdlog2_thread_main(int argc, char *argv[])
int rates_sp_sub;
int act_outputs_sub;
int act_controls_sub;
int act_controls_effective_sub;
int local_pos_sub;
int local_pos_sp_sub;
int global_pos_sub;
@@ -767,7 +764,7 @@ int sdlog2_thread_main(int argc, char *argv[])
/* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */
/* number of messages */
const ssize_t fdsc = 21;
const ssize_t fdsc = 25;
/* Sanity check variable and index */
ssize_t fdsc_count = 0;
/* file descriptors to wait for */
@@ -827,12 +824,6 @@ int sdlog2_thread_main(int argc, char *argv[])
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- ACTUATOR CONTROL EFFECTIVE --- */
subs.act_controls_effective_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE);
fds[fdsc_count].fd = subs.act_controls_effective_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- LOCAL POSITION --- */
subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
fds[fdsc_count].fd = subs.local_pos_sub;
@@ -1121,12 +1112,6 @@ int sdlog2_thread_main(int argc, char *argv[])
LOGBUFFER_WRITE_AND_COUNT(ATTC);
}
/* --- ACTUATOR CONTROL EFFECTIVE --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, subs.act_controls_effective_sub, &buf.act_controls_effective);
// TODO not implemented yet
}
/* --- LOCAL POSITION --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos);
@@ -1215,6 +1200,7 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.msg_type = LOG_RC_MSG;
/* Copy only the first 8 channels of 14 */
memcpy(log_msg.body.log_RC.channel, buf.rc.chan, sizeof(log_msg.body.log_RC.channel));
log_msg.body.log_RC.channel_count = buf.rc.chan_count;
LOGBUFFER_WRITE_AND_COUNT(RC);
}
src/modules/sdlog2/sdlog2_messages.h
+2 -1
View File
@@ -157,6 +157,7 @@ struct log_STAT_s {
#define LOG_RC_MSG 11
struct log_RC_s {
float channel[8];
uint8_t channel_count;
};
/* --- OUT0 - ACTUATOR_0 OUTPUT --- */
@@ -288,7 +289,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(GPS, "QBffLLfffff", "GPSTime,FixType,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog"),
LOG_FORMAT(ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"),
LOG_FORMAT(STAT, "BBBfBB", "MainState,NavState,ArmState,BatRem,BatWarn,Landed"),
LOG_FORMAT(RC, "ffffffff", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7"),
LOG_FORMAT(RC, "ffffffffB", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7,Count"),
LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"),
LOG_FORMAT(AIRS, "ff", "IndSpeed,TrueSpeed"),
LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"),
src/modules/sensors/sensor_params.c
+31 -8
View File
@@ -104,49 +104,49 @@ PARAM_DEFINE_FLOAT(RC1_MIN, 1000.0f);
PARAM_DEFINE_FLOAT(RC1_TRIM, 1500.0f);
PARAM_DEFINE_FLOAT(RC1_MAX, 2000.0f);
PARAM_DEFINE_FLOAT(RC1_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC1_DZ, 0.0f);
PARAM_DEFINE_FLOAT(RC1_DZ, 10.0f);
PARAM_DEFINE_FLOAT(RC2_MIN, 1000);
PARAM_DEFINE_FLOAT(RC2_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC2_MAX, 2000);
PARAM_DEFINE_FLOAT(RC2_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC2_DZ, 0.0f);
PARAM_DEFINE_FLOAT(RC2_DZ, 10.0f);
PARAM_DEFINE_FLOAT(RC3_MIN, 1000);
PARAM_DEFINE_FLOAT(RC3_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC3_MAX, 2000);
PARAM_DEFINE_FLOAT(RC3_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC3_DZ, 0.0f);
PARAM_DEFINE_FLOAT(RC3_DZ, 10.0f);
PARAM_DEFINE_FLOAT(RC4_MIN, 1000);
PARAM_DEFINE_FLOAT(RC4_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC4_MAX, 2000);
PARAM_DEFINE_FLOAT(RC4_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC4_DZ, 30.0f);
PARAM_DEFINE_FLOAT(RC4_DZ, 10.0f);
PARAM_DEFINE_FLOAT(RC5_MIN, 1000);
PARAM_DEFINE_FLOAT(RC5_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC5_MAX, 2000);
PARAM_DEFINE_FLOAT(RC5_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC5_DZ, 0.0f);
PARAM_DEFINE_FLOAT(RC5_DZ, 10.0f);
PARAM_DEFINE_FLOAT(RC6_MIN, 1000);
PARAM_DEFINE_FLOAT(RC6_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC6_MAX, 2000);
PARAM_DEFINE_FLOAT(RC6_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC6_DZ, 0.0f);
PARAM_DEFINE_FLOAT(RC6_DZ, 10.0f);
PARAM_DEFINE_FLOAT(RC7_MIN, 1000);
PARAM_DEFINE_FLOAT(RC7_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC7_MAX, 2000);
PARAM_DEFINE_FLOAT(RC7_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC7_DZ, 0.0f);
PARAM_DEFINE_FLOAT(RC7_DZ, 10.0f);
PARAM_DEFINE_FLOAT(RC8_MIN, 1000);
PARAM_DEFINE_FLOAT(RC8_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC8_MAX, 2000);
PARAM_DEFINE_FLOAT(RC8_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC8_DZ, 0.0f);
PARAM_DEFINE_FLOAT(RC8_DZ, 10.0f);
PARAM_DEFINE_FLOAT(RC9_MIN, 1000);
PARAM_DEFINE_FLOAT(RC9_TRIM, 1500);
@@ -190,11 +190,30 @@ PARAM_DEFINE_FLOAT(RC15_MAX, 2000);
PARAM_DEFINE_FLOAT(RC15_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC15_DZ, 0.0f);
PARAM_DEFINE_FLOAT(RC16_MIN, 1000);
PARAM_DEFINE_FLOAT(RC16_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC16_MAX, 2000);
PARAM_DEFINE_FLOAT(RC16_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC16_DZ, 0.0f);
PARAM_DEFINE_FLOAT(RC17_MIN, 1000);
PARAM_DEFINE_FLOAT(RC17_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC17_MAX, 2000);
PARAM_DEFINE_FLOAT(RC17_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC17_DZ, 0.0f);
PARAM_DEFINE_FLOAT(RC18_MIN, 1000);
PARAM_DEFINE_FLOAT(RC18_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC18_MAX, 2000);
PARAM_DEFINE_FLOAT(RC18_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC18_DZ, 0.0f);
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
PARAM_DEFINE_INT32(RC_RL1_DSM_VCC, 0); /* Relay 1 controls DSM VCC */
#endif
PARAM_DEFINE_INT32(RC_DSM_BIND, -1); /* -1 = Idle, 0 = Start DSM2 bind, 1 = Start DSMX bind */
PARAM_DEFINE_INT32(BAT_V_SCALE_IO, 10000);
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.0082f);
PARAM_DEFINE_FLOAT(BAT_C_SCALING, 0.001f); // TODO set correct default value
@@ -228,3 +247,7 @@ 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
+30 -2
View File
@@ -164,7 +164,7 @@ public:
int start();
private:
static const unsigned _rc_max_chan_count = RC_CHANNELS_MAX; /**< maximum number of r/c channels we handle */
static const unsigned _rc_max_chan_count = RC_INPUT_MAX_CHANNELS; /**< maximum number of r/c channels we handle */
hrt_abstime _rc_last_valid; /**< last time we got a valid RC signal */
@@ -262,6 +262,10 @@ 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;
float battery_current_scaling;
@@ -308,6 +312,10 @@ 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 battery_current_scaling;
@@ -523,6 +531,11 @@ 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");
@@ -596,7 +609,7 @@ Sensors::parameters_update()
float tmpRevFactor = 0.0f;
/* rc values */
for (unsigned int i = 0; i < RC_CHANNELS_MAX; i++) {
for (unsigned int i = 0; i < _rc_max_chan_count; i++) {
param_get(_parameter_handles.min[i], &(_parameters.min[i]));
param_get(_parameter_handles.trim[i], &(_parameters.trim[i]));
@@ -675,6 +688,9 @@ 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;
@@ -1288,6 +1304,18 @@ 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)
src/modules/systemlib/perf_counter.c
+2 -1
View File
@@ -295,10 +295,11 @@ perf_print_counter(perf_counter_t handle)
case PC_ELAPSED: {
struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle;
printf("%s: %llu events, %lluus elapsed, min %lluus max %lluus\n",
printf("%s: %llu events, %lluus elapsed, %llu avg, min %lluus max %lluus\n",
handle->name,
pce->event_count,
pce->time_total,
pce->time_total / pce->event_count,
pce->time_least,
pce->time_most);
break;
src/modules/systemlib/ppm_decode.h
+1
View File
@@ -57,6 +57,7 @@ __BEGIN_DECLS
* PPM decoder state
*/
__EXPORT extern uint16_t ppm_buffer[PPM_MAX_CHANNELS]; /**< decoded PPM channel values */
__EXPORT extern uint16_t ppm_frame_length; /**< length of the decoded PPM frame (includes gap) */
__EXPORT extern unsigned ppm_decoded_channels; /**< count of decoded channels */
__EXPORT extern hrt_abstime ppm_last_valid_decode; /**< timestamp of the last valid decode */
src/modules/systemlib/rc_check.c
+2 -2
View File
@@ -45,7 +45,7 @@
#include <systemlib/rc_check.h>
#include <systemlib/param/param.h>
#include <mavlink/mavlink_log.h>
#include <uORB/topics/rc_channels.h>
#include <drivers/drv_rc_input.h>
int rc_calibration_check(int mavlink_fd) {
@@ -66,7 +66,7 @@ int rc_calibration_check(int mavlink_fd) {
int channel_fail_count = 0;
for (int i = 0; i < RC_CHANNELS_MAX; i++) {
for (int i = 0; i < RC_INPUT_MAX_CHANNELS; i++) {
/* should the channel be enabled? */
uint8_t count = 0;
src/modules/uORB/objects_common.cpp
-7
View File
@@ -169,13 +169,6 @@ ORB_DEFINE(actuator_controls_3, struct actuator_controls_s);
#include "topics/actuator_armed.h"
ORB_DEFINE(actuator_armed, struct actuator_armed_s);
/* actuator controls, as set by actuators / mixers after limiting */
#include "topics/actuator_controls_effective.h"
ORB_DEFINE(actuator_controls_effective_0, struct actuator_controls_effective_s);
ORB_DEFINE(actuator_controls_effective_1, struct actuator_controls_effective_s);
ORB_DEFINE(actuator_controls_effective_2, struct actuator_controls_effective_s);
ORB_DEFINE(actuator_controls_effective_3, struct actuator_controls_effective_s);
#include "topics/actuator_outputs.h"
ORB_DEFINE(actuator_outputs_0, struct actuator_outputs_s);
ORB_DEFINE(actuator_outputs_1, struct actuator_outputs_s);
src/modules/uORB/topics/actuator_controls_effective.h
+30 -30
View File
@@ -46,34 +46,34 @@
#ifndef TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H
#define TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H
#include <stdint.h>
#include "../uORB.h"
#include "actuator_controls.h"
//#include <stdint.h>
//#include "../uORB.h"
//#include "actuator_controls.h"
//
//#define NUM_ACTUATOR_CONTROLS_EFFECTIVE NUM_ACTUATOR_CONTROLS
//#define NUM_ACTUATOR_CONTROL_GROUPS_EFFECTIVE NUM_ACTUATOR_CONTROL_GROUPS /**< for sanity checking */
//
///**
// * @addtogroup topics
// * @{
// */
//
//struct actuator_controls_effective_s {
// uint64_t timestamp;
// float control_effective[NUM_ACTUATOR_CONTROLS_EFFECTIVE];
//};
//
///**
// * @}
// */
//
///* actuator control sets; this list can be expanded as more controllers emerge */
//ORB_DECLARE(actuator_controls_effective_0);
//ORB_DECLARE(actuator_controls_effective_1);
//ORB_DECLARE(actuator_controls_effective_2);
//ORB_DECLARE(actuator_controls_effective_3);
//
///* control sets with pre-defined applications */
//#define ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE ORB_ID(actuator_controls_effective_0)
#define NUM_ACTUATOR_CONTROLS_EFFECTIVE NUM_ACTUATOR_CONTROLS
#define NUM_ACTUATOR_CONTROL_GROUPS_EFFECTIVE NUM_ACTUATOR_CONTROL_GROUPS /**< for sanity checking */
/**
* @addtogroup topics
* @{
*/
struct actuator_controls_effective_s {
uint64_t timestamp;
float control_effective[NUM_ACTUATOR_CONTROLS_EFFECTIVE];
};
/**
* @}
*/
/* actuator control sets; this list can be expanded as more controllers emerge */
ORB_DECLARE(actuator_controls_effective_0);
ORB_DECLARE(actuator_controls_effective_1);
ORB_DECLARE(actuator_controls_effective_2);
ORB_DECLARE(actuator_controls_effective_3);
/* control sets with pre-defined applications */
#define ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE ORB_ID(actuator_controls_effective_0)
#endif /* TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H */
#endif /* TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H */
src/modules/uORB/topics/rc_channels.h
+4 -7
View File
@@ -1,9 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
* Author: @author Nils Wenzler <wenzlern@student.ethz.ch>
* @author Ivan Ovinnikov <oivan@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* Copyright (c) 2012, 2013 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
@@ -47,13 +44,13 @@
/**
* The number of RC channel inputs supported.
* Current (Q1/2013) radios support up to 18 channels,
* Current (Q4/2013) radios support up to 18 channels,
* leaving at a sane value of 15.
* This number can be greater then number of RC channels,
* because single RC channel can be mapped to multiple
* functions, e.g. for various mode switches.
*/
#define RC_CHANNELS_MAX 15
#define RC_CHANNELS_MAPPED_MAX 15
/**
* This defines the mapping of the RC functions.
@@ -91,7 +88,7 @@ struct rc_channels_s {
uint64_t timestamp_last_valid; /**< timestamp of last valid RC signal. */
struct {
float scaled; /**< Scaled to -1..1 (throttle: 0..1) */
} chan[RC_CHANNELS_MAX];
} chan[RC_CHANNELS_MAPPED_MAX];
uint8_t chan_count; /**< number of valid channels */
/*String array to store the names of the functions*/