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Merged origin/master into batt_fixes

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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
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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)