Merge branch 'release_v1.0.0' of github.com:PX4/Firmware into stable

ROMFS/px4fmu_common/init.d/rcS

@@ -457,13 +457,13 @@ then
 		if [ $TTYS1_BUSY == yes ]
 		then
 			# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else
-			set MAVLINK_F "-r 1000 -d /dev/ttyS0"
+			set MAVLINK_F "-r 5000 -d /dev/ttyS0"
 
 			# Exit from nsh to free port for mavlink
 			set EXIT_ON_END yes
 		else
 			# Start MAVLink on default port: ttyS1
-			set MAVLINK_F "-r 1000"
+			set MAVLINK_F "-r 5000"
 		fi
 	fi
 
@@ -479,11 +479,11 @@ then
 		# but this works for now
 		if param compare SYS_COMPANION 921600
 		then
-			mavlink start -d /dev/ttyS2 -b 921600 -m onboard -r 20000 -x
+			mavlink start -d /dev/ttyS2 -b 921600 -m onboard -r 80000 -x
 		fi
 		if param compare SYS_COMPANION 57600
 		then
-			mavlink start -d /dev/ttyS2 -b 57600 -m onboard -r 1000 -x
+			mavlink start -d /dev/ttyS2 -b 57600 -m onboard -r 5000 -x
 		fi
 		if param compare SYS_COMPANION 157600
 		then

ROMFS/px4fmu_test/mixers/IO_pass.mix

@@ -0,0 +1,24 @@
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 0  10000  10000      0 -10000  10000
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 1  10000  10000      0 -10000  10000
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 2  10000  10000      0 -10000  10000
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3  10000  10000      0 -10000  10000
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000

msg/actuator_controls.msg

@@ -1,5 +1,11 @@
 uint8 NUM_ACTUATOR_CONTROLS = 8
 uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4
+uint8 INDEX_ROLL = 0
+uint8 INDEX_PITCH = 1
+uint8 INDEX_YAW = 2
+uint8 INDEX_THROTTLE = 3
+uint8 INDEX_FLAPS = 4
+uint8 GROUP_INDEX_ATTITUDE = 0
 uint64 timestamp
 uint64 timestamp_sample	    # the timestamp the data this control response is based on was sampled
 float32[8] control

src/drivers/px4fmu/fmu.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012-2015 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -155,7 +155,7 @@ private:
 	pollfd	_poll_fds[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
 	unsigned	_poll_fds_num;
 
-	pwm_limit_t	_pwm_limit;
+	static pwm_limit_t	_pwm_limit;
 	uint16_t	_failsafe_pwm[_max_actuators];
 	uint16_t	_disarmed_pwm[_max_actuators];
 	uint16_t	_min_pwm[_max_actuators];
@@ -241,6 +241,7 @@ const PX4FMU::GPIOConfig PX4FMU::_gpio_tab[] = {
 };
 
 const unsigned PX4FMU::_ngpio = sizeof(PX4FMU::_gpio_tab) / sizeof(PX4FMU::_gpio_tab[0]);
+pwm_limit_t	PX4FMU::_pwm_limit;
 
 namespace
 {
@@ -272,7 +273,6 @@ PX4FMU::PX4FMU() :
 	_control_subs{-1},
 	_actuator_output_topic_instance(-1),
 	_poll_fds_num(0),
-	_pwm_limit{},
 	_failsafe_pwm{0},
 	_disarmed_pwm{0},
 	_reverse_pwm_mask(0),
@@ -827,6 +827,18 @@ PX4FMU::control_callback(uintptr_t handle,
 	const actuator_controls_s *controls = (actuator_controls_s *)handle;
 
 	input = controls[control_group].control[control_index];
+
+	/* motor spinup phase - lock throttle to zero */
+	if (_pwm_limit.state == PWM_LIMIT_STATE_RAMP) {
+		if (control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE &&
+			control_index == actuator_controls_s::INDEX_THROTTLE) {
+			/* limit the throttle output to zero during motor spinup,
+			 * as the motors cannot follow any demand yet
+			 */
+			input = 0.0f;
+		}
+	}
+
 	return 0;
 }
 

src/modules/land_detector/MulticopterLandDetector.cpp

@@ -100,6 +100,14 @@ bool MulticopterLandDetector::update()
 		return true;
 	}
 
+	// return status based on armed state if no position lock is available
+	if (_vehicleGlobalPosition.timestamp == 0 ||
+		hrt_elapsed_time(&_vehicleGlobalPosition.timestamp) > 500000) {
+
+		// no position lock - not landed if armed
+		return !_arming.armed;
+	}
+
 	const uint64_t now = hrt_absolute_time();
 
 	// check if we are moving vertically

src/modules/land_detector/land_detector_params.c

@@ -43,29 +43,29 @@
 /**
  * Multicopter max climb rate
  *
- * Maximum vertical velocity allowed to trigger a land (m/s up and down)
+ * Maximum vertical velocity allowed in the landed state (m/s up and down)
  *
  * @unit m/s
  *
  * @group Land Detector
  */
-PARAM_DEFINE_FLOAT(LNDMC_Z_VEL_MAX, 0.30f);
+PARAM_DEFINE_FLOAT(LNDMC_Z_VEL_MAX, 0.60f);
 
 /**
  * Multicopter max horizontal velocity
  *
- * Maximum horizontal velocity allowed to trigger a land (m/s)
+ * Maximum horizontal velocity allowed in the landed state (m/s)
  *
  * @unit m/s
  *
  * @group Land Detector
  */
-PARAM_DEFINE_FLOAT(LNDMC_XY_VEL_MAX, 1.00f);
+PARAM_DEFINE_FLOAT(LNDMC_XY_VEL_MAX, 1.50f);
 
 /**
  * Multicopter max rotation
  *
- * Maximum allowed around each axis to trigger a land (degrees per second)
+ * Maximum allowed around each axis allowed in the landed state (degrees per second)
  *
  * @unit deg/s
  *
@@ -76,19 +76,19 @@ PARAM_DEFINE_FLOAT(LNDMC_ROT_MAX, 20.0f);
 /**
  * Multicopter max throttle
  *
- * Maximum actuator output on throttle before triggering a land
+ * Maximum actuator output on throttle allowed in the landed state
  *
  * @min 0.1
  * @max 0.5
  *
  * @group Land Detector
  */
-PARAM_DEFINE_FLOAT(LNDMC_THR_MAX, 0.20f);
+PARAM_DEFINE_FLOAT(LNDMC_THR_MAX, 0.15f);
 
 /**
  * Fixedwing max horizontal velocity
  *
- * Maximum horizontal velocity allowed to trigger a land (m/s)
+ * Maximum horizontal velocity allowed in the landed state (m/s)
  *
  * @min 0.5
  * @max 10
@@ -101,7 +101,7 @@ PARAM_DEFINE_FLOAT(LNDFW_VEL_XY_MAX, 5.0f);
 /**
  * Fixedwing max climb rate
  *
- * Maximum vertical velocity allowed to trigger a land (m/s up and down)
+ * Maximum vertical velocity allowed in the landed state (m/s up and down)
  *
  * @min 5
  * @max 20
@@ -114,7 +114,7 @@ PARAM_DEFINE_FLOAT(LNDFW_VEL_Z_MAX, 10.0f);
 /**
  * Airspeed max
  *
- * Maximum airspeed allowed to trigger a land (m/s)
+ * Maximum airspeed allowed in the landed state (m/s)
  *
  * @min 4
  * @max 20

src/modules/mavlink/mavlink.c

@@ -33,9 +33,9 @@
 
 /**
  * @file mavlink.c
- * Adapter functions expected by the protocol library
+ * Define MAVLink specific parameters
  *
- * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Lorenz Meier <lorenz@px4.io>
  */
 
 #include <nuttx/config.h>
@@ -46,7 +46,6 @@
 #include "mavlink_bridge_header.h"
 #include <systemlib/param/param.h>
 
-/* define MAVLink specific parameters */
 /**
  * MAVLink system ID
  * @group MAVLink
@@ -63,19 +62,32 @@ PARAM_DEFINE_INT32(MAV_SYS_ID, 1);
  */
 PARAM_DEFINE_INT32(MAV_COMP_ID, 50);
 
+/**
+ * MAVLink Radio ID
+ *
+ * When non-zero the MAVLink app will attempt to configure the
+ * radio to this ID and re-set the parameter to 0. If the value
+ * is negative it will reset the complete radio config to
+ * factory defaults.
+ *
+ * @group MAVLink
+ * @min -1
+ * @max 240
+ */
+PARAM_DEFINE_INT32(MAV_RADIO_ID, 0);
+
 /**
  * MAVLink airframe type
  *
- * 
- * @min 0
+ * @min 1
  * @group MAVLink
  */
 PARAM_DEFINE_INT32(MAV_TYPE, 1);
 
 /**
- * Use/Accept HIL GPS message (even if not in HIL mode)
+ * Use/Accept HIL GPS message even if not in HIL mode
  *
- * If set to 1 incomming HIL GPS messages are parsed.
+ * If set to 1 incoming HIL GPS messages are parsed.
  *
  * @group MAVLink
  */
@@ -84,8 +96,8 @@ PARAM_DEFINE_INT32(MAV_USEHILGPS, 0);
 /**
  * Forward external setpoint messages
  *
- * If set to 1 incomming external setpoint messages will be directly forwarded to the controllers if in offboard
- * control mode
+ * If set to 1 incoming external setpoint messages will be directly forwarded
+ * to the controllers if in offboard control mode
  *
  * @group MAVLink
  */

src/modules/mavlink/mavlink_main.cpp

@@ -137,6 +137,7 @@ Mavlink::Mavlink() :
 	_mavlink_ftp(nullptr),
 	_mode(MAVLINK_MODE_NORMAL),
 	_channel(MAVLINK_COMM_0),
+	_radio_id(0),
 	_logbuffer {},
 	_total_counter(0),
 	_receive_thread {},
@@ -170,6 +171,7 @@ Mavlink::Mavlink() :
 	_param_initialized(false),
 	_param_system_id(0),
 	_param_component_id(0),
+	_param_radio_id(0),
 	_param_system_type(MAV_TYPE_FIXED_WING),
 	_param_use_hil_gps(0),
 	_param_forward_externalsp(0),
@@ -489,6 +491,7 @@ void Mavlink::mavlink_update_system(void)
 	if (!_param_initialized) {
 		_param_system_id = param_find("MAV_SYS_ID");
 		_param_component_id = param_find("MAV_COMP_ID");
+		_param_radio_id = param_find("MAV_RADIO_ID");
 		_param_system_type = param_find("MAV_TYPE");
 		_param_use_hil_gps = param_find("MAV_USEHILGPS");
 		_param_forward_externalsp = param_find("MAV_FWDEXTSP");
@@ -504,6 +507,7 @@ void Mavlink::mavlink_update_system(void)
 	int32_t component_id;
 	param_get(_param_component_id, &component_id);
 
+	param_get(_param_radio_id, &_radio_id);
 
 	/* only allow system ID and component ID updates
 	 * after reboot - not during operation */
@@ -1508,6 +1512,50 @@ Mavlink::task_main(int argc, char *argv[])
 			mavlink_update_system();
 		}
 
+		/* radio config check */
+		if (_radio_id != 0 && _rstatus.type == TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO) {
+			/* request to configure radio and radio is present */
+			FILE *fs = fdopen(_uart_fd, "w");
+			
+			if (fs) {
+				/* switch to AT command mode */
+				usleep(1200000);
+				fprintf(fs, "+++\n");
+				usleep(1200000);
+
+				if (_radio_id > 0) {
+					/* set channel */
+					fprintf(fs, "ATS3=%u\n", _radio_id);
+					usleep(200000);
+				} else {
+					/* reset to factory defaults */
+					fprintf(fs, "AT&F\n");
+					usleep(200000);
+				}
+
+				/* write config */
+				fprintf(fs, "AT&W");
+				usleep(200000);
+
+				/* reboot */
+				fprintf(fs, "ATZ");
+				usleep(200000);
+
+				// XXX NuttX suffers from a bug where
+				// fclose() also closes the fd, not just
+				// the file stream. Since this is a one-time
+				// config thing, we leave the file struct
+				// allocated.
+				//fclose(fs);
+			} else {
+				warnx("open fd %d failed", _uart_fd);
+			}
+
+			/* reset param and save */
+			_radio_id = 0;
+			param_set(_param_radio_id, &_radio_id);
+		}
+
 		if (status_sub->update(&status_time, &status)) {
 			/* switch HIL mode if required */
 			set_hil_enabled(status.hil_state == vehicle_status_s::HIL_STATE_ON);

src/modules/mavlink/mavlink_main.h

@@ -324,6 +324,7 @@ private:
 	MAVLINK_MODE 		_mode;
 
 	mavlink_channel_t	_channel;
+	int32_t			_radio_id;
 
 	struct mavlink_logbuffer _logbuffer;
 	unsigned int		_total_counter;
@@ -381,6 +382,7 @@ private:
 	bool			_param_initialized;
 	param_t			_param_system_id;
 	param_t			_param_component_id;
+	param_t			_param_radio_id;
 	param_t			_param_system_type;
 	param_t			_param_use_hil_gps;
 	param_t			_param_forward_externalsp;

src/modules/mc_pos_control/mc_pos_control_main.cpp

@@ -1414,7 +1414,11 @@ MulticopterPositionControl::task_main()
 			/* control throttle directly if no climb rate controller is active */
 			if (!_control_mode.flag_control_climb_rate_enabled) {
 				_att_sp.thrust = math::min(_manual.z, _params.thr_max);
-				_att_sp.thrust = math::max(_att_sp.thrust, _params.thr_min);
+
+				/* enforce minimum throttle if not landed */
+				if (!_vehicle_status.condition_landed) {
+					_att_sp.thrust = math::max(_att_sp.thrust, _params.thr_min);
+				}
 			}
 
 			/* construct attitude setpoint rotation matrix */

src/modules/px4iofirmware/mixer.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -49,6 +49,7 @@
 
 #include <systemlib/pwm_limit/pwm_limit.h>
 #include <systemlib/mixer/mixer.h>
+#include <uORB/topics/actuator_controls.h>
 
 extern "C" {
 //#define DEBUG
@@ -318,13 +319,6 @@ mixer_callback(uintptr_t handle,
 	case MIX_OVERRIDE:
 		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]);
-			if (control_group == 0 && control_index == 0) {
-				control += REG_TO_FLOAT(r_setup_trim_roll);
-			} else if (control_group == 0 && control_index == 1) {
-				control += REG_TO_FLOAT(r_setup_trim_pitch);
-			} else if (control_group == 0 && control_index == 2) {
-				control += REG_TO_FLOAT(r_setup_trim_yaw);
-			}
 			break;
 		}
 		return -1;
@@ -333,13 +327,6 @@ mixer_callback(uintptr_t handle,
 		/* 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]);
-			if (control_group == 0 && control_index == 0) {
-				control += REG_TO_FLOAT(r_setup_trim_roll);
-			} else if (control_group == 0 && control_index == 1) {
-				control += REG_TO_FLOAT(r_setup_trim_pitch);
-			} else if (control_group == 0 && control_index == 2) {
-				control += REG_TO_FLOAT(r_setup_trim_yaw);
-			}
 			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)]);
@@ -353,6 +340,33 @@ mixer_callback(uintptr_t handle,
 		return -1;
 	}
 
+	/* apply trim offsets for override channels */
+	if (source == MIX_OVERRIDE || source == MIX_OVERRIDE_FMU_OK) {
+		if (control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE &&
+			control_index == actuator_controls_s::INDEX_ROLL) {
+			control += REG_TO_FLOAT(r_setup_trim_roll);
+
+		} else if (control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE &&
+			control_index == actuator_controls_s::INDEX_PITCH) {
+			control += REG_TO_FLOAT(r_setup_trim_pitch);
+
+		} else if (control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE &&
+			control_index == actuator_controls_s::INDEX_YAW) {
+			control += REG_TO_FLOAT(r_setup_trim_yaw);
+		}
+	}
+
+	/* motor spinup phase - lock throttle to zero */
+	if (pwm_limit.state == PWM_LIMIT_STATE_RAMP) {
+		if (control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE &&
+			control_index == actuator_controls_s::INDEX_THROTTLE) {
+			/* limit the throttle output to zero during motor spinup,
+			 * as the motors cannot follow any demand yet
+			 */
+			control = 0.0f;
+		}
+	}
+
 	/* limit output */
 	if (control > 1.0f) {
 		control = 1.0f;

src/modules/systemlib/pwm_limit/pwm_limit.c

@@ -1,7 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
- *   Author: Julian Oes <joes@student.ethz.ch>
+ *   Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -35,9 +34,9 @@
 /**
  * @file pwm_limit.c
  *
- * Lib to limit PWM output
+ * Library for PWM output limiting
  *
- * @author Julian Oes <joes@student.ethz.ch>
+ * @author Julian Oes <julian@px4.io>
  */
 
 #include "pwm_limit.h"
@@ -46,6 +45,8 @@
 #include <drivers/drv_hrt.h>
 #include <stdio.h>
 
+#define PROGRESS_INT_SCALING	10000
+
 void pwm_limit_init(pwm_limit_t *limit)
 {
 	limit->state = PWM_LIMIT_STATE_INIT;
@@ -112,7 +113,11 @@ void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_
 			{
 				hrt_abstime diff = hrt_elapsed_time(&limit->time_armed);
 
-				progress = diff * 10000 / RAMP_TIME_US;
+				progress = diff * PROGRESS_INT_SCALING / RAMP_TIME_US;
+
+				if (progress > PROGRESS_INT_SCALING) {
+					progress = PROGRESS_INT_SCALING;
+				}
 
 				for (unsigned i=0; i<num_channels; i++) {
 	                
@@ -128,7 +133,7 @@ void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_
 						}
 
 						unsigned disarmed_min_diff = min_pwm[i] - disarmed;
-						ramp_min_pwm = disarmed + (disarmed_min_diff * progress) / 10000;
+						ramp_min_pwm = disarmed + (disarmed_min_diff * progress) / PROGRESS_INT_SCALING;
 
 					} else {
 	                    

src/modules/systemlib/pwm_limit/pwm_limit.h

@@ -1,7 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
- *   Author: Julian Oes <joes@student.ethz.ch>
+ *   Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -33,11 +32,11 @@
  ****************************************************************************/
 
 /**
- * @file pwm_limit.h
+ * @file pwm_limit.c
  *
- * Lib to limit PWM output
+ * Library for PWM output limiting
  *
- * @author Julian Oes <joes@student.ethz.ch>
+ * @author Julian Oes <julian@px4.io>
  */
 
 #ifndef PWM_LIMIT_H_

src/systemcmds/tests/test_mixer.cpp

@@ -200,7 +200,7 @@ int test_mixer(int argc, char *argv[])
 	hrt_abstime starttime = hrt_absolute_time();
 	unsigned sleepcount = 0;
 
-	while (hrt_elapsed_time(&starttime) < INIT_TIME_US + RAMP_TIME_US) {
+	while (hrt_elapsed_time(&starttime) < INIT_TIME_US + RAMP_TIME_US + 2 * sleep_quantum_us) {
 
 		/* mix */
 		mixed = mixer_group.mix(&outputs[0], output_max, NULL);
@@ -259,7 +259,7 @@ int test_mixer(int argc, char *argv[])
 		for (unsigned i = 0; i < mixed; i++) {
 			servo_predicted[i] = 1500 + outputs[i] * (r_page_servo_control_max[i] - r_page_servo_control_min[i]) / 2.0f;
 
-			if (fabsf(servo_predicted[i] - r_page_servos[i]) > 2) {
+			if (abs(servo_predicted[i] - r_page_servos[i]) > 2) {
 				printf("\t %d: %8.4f predicted: %d, servo: %d\n", i, (double)outputs[i], servo_predicted[i], (int)r_page_servos[i]);
 				warnx("mixer violated predicted value");
 				return 1;
@@ -333,7 +333,7 @@ int test_mixer(int argc, char *argv[])
 
 			/* check post ramp phase */
 			if (hrt_elapsed_time(&starttime) > RAMP_TIME_US &&
-			    fabsf(servo_predicted[i] - r_page_servos[i]) > 2) {
+			    abs(servo_predicted[i] - r_page_servos[i]) > 2) {
 				printf("\t %d: %8.4f predicted: %d, servo: %d\n", i, (double)outputs[i], servo_predicted[i], (int)r_page_servos[i]);
 				warnx("mixer violated predicted value");
 				return 1;

unittests/param_test.cpp

@@ -52,8 +52,8 @@ void _assert_parameter_int_value(param_t param, int32_t expected)
 {
 	int32_t value;
 	int result = param_get(param, &value);
-	ASSERT_EQ(0, result) << printf("param_get (%i) did not return parameter\n", param);
-	ASSERT_EQ(expected, value) << printf("value for param (%i) doesn't match default value\n", param);
+	ASSERT_EQ(0, result) << printf("param_get (%lu) did not return parameter\n", param);
+	ASSERT_EQ(expected, value) << printf("value for param (%lu) doesn't match default value\n", param);
 }
 
 void _set_all_int_parameters_to(int32_t value)