fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-18 15:43:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Enable UART6 and enable S.BUS. Tested to work.

Browse Source
This commit is contained in:
Lorenz Meier
2015-11-28 09:13:15 +01:00
parent 193cf888f5
commit a3eeafebeb
7 changed files with 27 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/boards/px4fmu-v4/board_config.h
+2 -2
View File
@@ -214,7 +214,7 @@ __BEGIN_DECLS
#define HRT_PPM_CHANNEL 3 /* use capture/compare channel 2 */
#define GPIO_PPM_IN (GPIO_ALT|GPIO_AF2|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0)
#define SBUS_SERIAL_PORT "/dev/ttyS4" /* XXX not vetted */
#define SBUS_SERIAL_PORT "/dev/ttyS4"
/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
#define PWMIN_TIMER 4
@@ -225,7 +225,7 @@ __BEGIN_DECLS
#define GPIO_LED_SAFETY (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN3)
#define GPIO_SAFETY_SWITCH_IN (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN4)
#define GPIO_PERIPH_3V3_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN5)
#define GPIO_SBUS_INV (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
#define GPIO_SBUS_INV (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
#define GPIO_8266_GPIO0 (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN2)
#define GPIO_SPEKTRUM_POWER (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
src/drivers/px4fmu/fmu.cpp
+14 -11
View File
@@ -327,12 +327,9 @@ PX4FMU::PX4FMU() :
_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_PPM;
#endif
#ifdef SBUS_SERIAL_PORT
_sbus_fd = sbus_init(SBUS_SERIAL_PORT, true);
#endif
#ifdef DSM_SERIAL_PORT
_dsm_fd = dsm_init(DSM_SERIAL_PORT);
#ifdef GPIO_SBUS_INV
// this board has a GPIO to control SBUS inversion
stm32_configgpio(GPIO_SBUS_INV);
#endif
/* only enable this during development */
@@ -648,6 +645,15 @@ PX4FMU::cycle()
update_pwm_rev_mask();
#ifdef SBUS_SERIAL_PORT
_sbus_fd = sbus_init(SBUS_SERIAL_PORT, true);
#endif
#ifdef DSM_SERIAL_PORT
// XXX rather than opening it we need to cycle between protocols until one is locked in
//_dsm_fd = dsm_init(DSM_SERIAL_PORT);
#endif
_initialized = true;
}
@@ -839,14 +845,11 @@ PX4FMU::cycle()
}
#endif
#ifdef DSM_SERIAL_PORT
//_dsm_fd = dsm_init(DSM_SERIAL_PORT);
#endif
#ifdef HRT_PPM_CHANNEL
// see if we have new PPM input data
if (ppm_last_valid_decode != _rc_in.timestamp_last_signal) {
if ((ppm_last_valid_decode != _rc_in.timestamp_last_signal) &&
ppm_decoded_channels > 3) {
// we have a new PPM frame. Publish it.
_rc_in.channel_count = ppm_decoded_channels;
src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
+4
View File
@@ -206,6 +206,8 @@ private:
AttitudeEstimatorQ::AttitudeEstimatorQ() :
_vel_prev(0, 0, 0),
_pos_acc(0, 0, 0),
_voter_gyro(3),
_voter_accel(3),
_voter_mag(3),
@@ -725,6 +727,8 @@ bool AttitudeEstimatorQ::update(float dt)
corr += _q.conjugate_inversed(Vector<3>(0.0f, 0.0f, -mag_err)) * _w_mag;
}
_q.normalize();
// Accelerometer correction
// Project 'k' unit vector of earth frame to body frame
// Vector<3> k = _q.conjugate_inversed(Vector<3>(0.0f, 0.0f, 1.0f));
src/modules/sensors/sensors.cpp
+1 -1
View File
@@ -846,7 +846,7 @@ Sensors::parameters_update()
} else if (_parameters.battery_voltage_scaling < 0.0f) {
/* apply scaling according to defaults if set to default */
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
#if defined (CONFIG_ARCH_BOARD_PX4FMU_V2) || defined (CONFIG_ARCH_BOARD_PX4FMU_V4)
_parameters.battery_voltage_scaling = 0.0082f;
#elif CONFIG_ARCH_BOARD_AEROCORE
_parameters.battery_voltage_scaling = 0.0063f;