Merge branch 'master' into mpc_local_pos

src/modules/commander/commander.cpp

@@ -119,6 +119,7 @@ extern struct system_load_s system_load;
 
 #define POSITION_TIMEOUT 20000 /**< consider the local or global position estimate invalid after 20ms */
 #define RC_TIMEOUT 100000
+#define RC_TIMEOUT_HIL 500000
 #define DIFFPRESS_TIMEOUT 2000000
 
 #define PRINT_INTERVAL	5000000
@@ -1099,8 +1100,16 @@ int commander_thread_main(int argc, char *argv[])
 			orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps_position);
 		}
 
+
+		/*
+		 * XXX workaround:
+		 * Prevent RC loss in HIL when sensors.cpp is only publishing sp_man at a low rate (e.g. 30Hz)
+		 * which can trigger RC loss if the computer/simulator lags.
+		 */
+		uint64_t rc_timeout = status.hil_state == HIL_STATE_ON ? RC_TIMEOUT_HIL : RC_TIMEOUT;
+
 		/* start RC input check */
-		if (!status.rc_input_blocked && sp_man.timestamp != 0 && hrt_absolute_time() < sp_man.timestamp + RC_TIMEOUT) {
+		if (!status.rc_input_blocked && sp_man.timestamp != 0 && hrt_absolute_time() < sp_man.timestamp + rc_timeout) {
 			/* handle the case where RC signal was regained */
 			if (!status.rc_signal_found_once) {
 				status.rc_signal_found_once = true;

src/modules/mavlink/mavlink_messages.cpp

@@ -71,6 +71,7 @@
 #include <uORB/topics/battery_status.h>
 #include <uORB/topics/navigation_capabilities.h>
 #include <drivers/drv_rc_input.h>
+#include <drivers/drv_pwm_output.h>
 
 #include "mavlink_messages.h"
 
@@ -788,47 +789,79 @@ protected:
 			uint32_t mavlink_custom_mode;
 			get_mavlink_mode_state(status, pos_sp_triplet, &mavlink_state, &mavlink_base_mode, &mavlink_custom_mode);
 
-			/* set number of valid outputs depending on vehicle type */
-			unsigned n;
+			if (mavlink_system.type == MAV_TYPE_QUADROTOR ||
+				mavlink_system.type == MAV_TYPE_HEXAROTOR ||
+				mavlink_system.type == MAV_TYPE_OCTOROTOR) {
+				/* set number of valid outputs depending on vehicle type */
+				unsigned n;
 
-			switch (mavlink_system.type) {
-			case MAV_TYPE_QUADROTOR:
-				n = 4;
-				break;
+				switch (mavlink_system.type) {
+				case MAV_TYPE_QUADROTOR:
+					n = 4;
+					break;
 
-			case MAV_TYPE_HEXAROTOR:
-				n = 6;
-				break;
+				case MAV_TYPE_HEXAROTOR:
+					n = 6;
+					break;
 
-			default:
-				n = 8;
-				break;
-			}
+				default:
+					n = 8;
+					break;
+				}
 
-			/* scale / assign outputs depending on system type */
-			float out[8];
+				/* scale / assign outputs depending on system type */
+				float out[8];
 
-			for (unsigned i = 0; i < 8; i++) {
-				if (i < n) {
-					if (mavlink_base_mode & MAV_MODE_FLAG_SAFETY_ARMED) {
-						/* scale fake PWM out 900..1200 us to 0..1*/
-						out[i] = (act->output[i] - 900.0f) / 1200.0f;
+				for (unsigned i = 0; i < 8; i++) {
+					if (i < n) {
+						if (mavlink_base_mode & MAV_MODE_FLAG_SAFETY_ARMED) {
+							/* scale fake PWM out 900..2100 us to 0..1 for normal multirotors */
+							out[i] = (act->output[i] - PWM_LOWEST_MIN) / (PWM_HIGHEST_MAX - PWM_LOWEST_MIN);
+
+						} else {
+							/* send 0 when disarmed */
+							out[i] = 0.0f;
+						}
 
 					} else {
-						/* send 0 when disarmed */
-						out[i] = 0.0f;
+						out[i] = -1.0f;
+					}
+				}
+
+				mavlink_msg_hil_controls_send(_channel,
+							      hrt_absolute_time(),
+							      out[0], out[1], out[2], out[3], out[4], out[5], out[6], out[7],
+							      mavlink_base_mode,
+							      0);
+			} else {
+
+				/* fixed wing: scale all channels except throttle -1 .. 1
+				 * because we know that we set the mixers up this way
+				 */
+
+				float out[8];
+
+				const float pwm_center = (PWM_HIGHEST_MAX + PWM_LOWEST_MIN) / 2;
+
+				for (unsigned i = 0; i < 8; i++) {
+					if (i != 3) {
+						/* scale fake PWM out 900..2100 us to -1..+1 for normal channels */
+						out[i] = (act->output[i] - pwm_center) / ((PWM_HIGHEST_MAX - PWM_LOWEST_MIN) / 2);
+
+					} else {
+
+						/* scale fake PWM out 900..2100 us to 0..1 for throttle */
+						out[i] = (act->output[i] - PWM_LOWEST_MIN) / (PWM_HIGHEST_MAX - PWM_LOWEST_MIN);
 					}
 
-				} else {
-					out[i] = -1.0f;
 				}
-			}
 
-			mavlink_msg_hil_controls_send(_channel,
-						      hrt_absolute_time(),
-						      out[0], out[1], out[2], out[3], out[4], out[5], out[6], out[7],
-						      mavlink_base_mode,
-						      0);
+				mavlink_msg_hil_controls_send(_channel,
+							      hrt_absolute_time(),
+							      out[0], out[1], out[2], out[3], out[4], out[5], out[6], out[7],
+							      mavlink_base_mode,
+							      0);
+			}
 		}
 	}
 };

src/modules/mavlink/mavlink_receiver.cpp

@@ -635,13 +635,15 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
 
 		hil_battery_status.timestamp = timestamp;
 		hil_battery_status.voltage_v = 11.1f;
+		hil_battery_status.voltage_filtered_v = 11.1f;
 		hil_battery_status.current_a = 10.0f;
+		hil_battery_status.discharged_mah = -1.0f;
 
 		if (_battery_pub > 0) {
 			orb_publish(ORB_ID(battery_status), _battery_pub, &hil_battery_status);
 
 		} else {
-			_baro_pub = orb_advertise(ORB_ID(battery_status), &hil_battery_status);
+			_battery_pub = orb_advertise(ORB_ID(battery_status), &hil_battery_status);
 		}
 	}
 

src/modules/sdlog2/sdlog2.c

@@ -1021,6 +1021,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 				log_msg.body.log_SENS.baro_alt = buf.sensor.baro_alt_meter;
 				log_msg.body.log_SENS.baro_temp = buf.sensor.baro_temp_celcius;
 				log_msg.body.log_SENS.diff_pres = buf.sensor.differential_pressure_pa;
+				log_msg.body.log_SENS.diff_pres_filtered = buf.sensor.differential_pressure_filtered_pa;
 				LOGBUFFER_WRITE_AND_COUNT(SENS);
 			}
 

src/modules/sdlog2/sdlog2_messages.h

@@ -92,6 +92,7 @@ struct log_SENS_s {
 	float baro_alt;
 	float baro_temp;
 	float diff_pres;
+	float diff_pres_filtered;
 };
 
 /* --- LPOS - LOCAL POSITION --- */
@@ -306,7 +307,7 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(ATT, "fffffffff", "Roll,Pitch,Yaw,RollRate,PitchRate,YawRate,GX,GY,GZ"),
 	LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"),
 	LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"),
-	LOG_FORMAT(SENS, "ffff", "BaroPres,BaroAlt,BaroTemp,DiffPres"),
+	LOG_FORMAT(SENS, "fffff", "BaroPres,BaroAlt,BaroTemp,DiffPres,DiffPresFilt"),
 	LOG_FORMAT(LPOS, "ffffffLLfBBB", "X,Y,Z,VX,VY,VZ,RefLat,RefLon,RefAlt,XYFlags,ZFlags,Landed"),
 	LOG_FORMAT(LPSP, "ffff", "X,Y,Z,Yaw"),
 	LOG_FORMAT(GPS, "QBffLLfffff", "GPSTime,FixType,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog"),

src/modules/sensors/sensors.cpp

@@ -1029,10 +1029,11 @@ Sensors::diff_pres_poll(struct sensor_combined_s &raw)
 
 		raw.differential_pressure_pa = _diff_pres.differential_pressure_pa;
 		raw.differential_pressure_timestamp = _diff_pres.timestamp;
+		raw.differential_pressure_filtered_pa = _diff_pres.differential_pressure_filtered_pa;
 
-		_airspeed.timestamp = hrt_absolute_time();
-		_airspeed.indicated_airspeed_m_s = calc_indicated_airspeed(_diff_pres.differential_pressure_pa);
-		_airspeed.true_airspeed_m_s = calc_true_airspeed(_diff_pres.differential_pressure_pa + raw.baro_pres_mbar * 1e2f,
+		_airspeed.timestamp = _diff_pres.timestamp;
+		_airspeed.indicated_airspeed_m_s = calc_indicated_airspeed(_diff_pres.differential_pressure_filtered_pa);
+		_airspeed.true_airspeed_m_s = calc_true_airspeed(_diff_pres.differential_pressure_filtered_pa + raw.baro_pres_mbar * 1e2f,
 					      raw.baro_pres_mbar * 1e2f, raw.baro_temp_celcius - PCB_TEMP_ESTIMATE_DEG);
 
 		/* announce the airspeed if needed, just publish else */

src/modules/uORB/topics/differential_pressure.h

@@ -54,8 +54,9 @@
 struct differential_pressure_s {
 	uint64_t	timestamp;			/**< microseconds since system boot, needed to integrate */
 	uint64_t	error_count;
-	float	differential_pressure_pa;	/**< Differential pressure reading */
-	float	max_differential_pressure_pa;	/**< Maximum differential pressure reading */
+	float	differential_pressure_pa;		/**< Differential pressure reading */
+	float	differential_pressure_filtered_pa;	/**< Low pass filtered differential pressure reading */
+	float	max_differential_pressure_pa;		/**< Maximum differential pressure reading */
 	float		voltage;			/**< Voltage from analog airspeed sensors (voltage divider already compensated) */
 	float		temperature;			/**< Temperature provided by sensor */
 

src/modules/uORB/topics/sensor_combined.h

@@ -104,6 +104,8 @@ struct sensor_combined_s {
 
 	float differential_pressure_pa;				/**< Airspeed sensor differential pressure                  */
 	uint64_t differential_pressure_timestamp;		/**< Last measurement timestamp */
+	float differential_pressure_filtered_pa;	/**< Low pass filtered airspeed sensor differential pressure reading */
+
 };
 
 /**