fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-01 12:34:06 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge remote-tracking branch 'upstream/master' into ros

Browse Source
This commit is contained in:
Thomas Gubler 2015-01-09 08:07:00 +01:00
commit b2366aaa22
11 changed files with 150 additions and 33 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
NuttX

@ -1 +1 @@
Subproject commit 255dc96065ce1fdd7f0f56ca5afb6b6112abfc70
Subproject commit dbcccb2455d759b789d549d25e1fbf489b2d3c83

31
ROMFS/px4fmu_common/init.d/10019_sk450_deadcat Normal file
View File

@ -0,0 +1,31 @@
#!nsh
#
# HobbyKing SK450 DeadCat modification
#
# Anton Matosov <anton.matosov@gmail.com>
#
sh /etc/init.d/rc.mc_defaults
if [ $AUTOCNF == yes ]
then
param set MC_ROLL_P 6.0
param set MC_ROLLRATE_P 0.04
param set MC_ROLLRATE_I 0.1
param set MC_ROLLRATE_D 0.0015
param set MC_PITCH_P 6.0
param set MC_PITCHRATE_P 0.08
param set MC_PITCHRATE_I 0.2
param set MC_PITCHRATE_D 0.0015
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.1
param set MC_YAWRATE_I 0.07
param set MC_YAWRATE_D 0.0
fi
set MIXER sk450_deadcat
set PWM_OUT 1234
set PWM_MIN 1050

5
ROMFS/px4fmu_common/init.d/rc.autostart
View File

@ -226,6 +226,11 @@ then
sh /etc/init.d/10018_tbs_endurance
fi
if param compare SYS_AUTOSTART 10019
then
sh /etc/init.d/10019_sk450_deadcat
fi
#
# Hexa Coaxial
#

4
ROMFS/px4fmu_common/init.d/rcS
View File

@ -164,6 +164,7 @@ then
else
sh /etc/init.d/rc.autostart
fi
unset MODE
#
# Override parameters from user configuration file
@ -185,6 +186,7 @@ then
param set SYS_AUTOCONFIG 0
param save
fi
unset AUTOCNF
set IO_PRESENT no
@ -524,7 +526,7 @@ then
then
set MAV_TYPE 2
fi
if [ $MIXER == quad_w ]
if [ $MIXER == quad_w -o $MIXER == sk450_deadcat ]
then
set MAV_TYPE 2
fi

25
ROMFS/px4fmu_common/mixers/sk450_deadcat.main.mix Normal file
View File

@ -0,0 +1,25 @@
Multirotor mixer for PX4FMU
===========================
This file defines a single mixer for a quadrotor in SK450 DeadCat configuration. All controls are mixed 100%.
R: 4dc 10000 10000 10000 0
Gimbal / payload mixer for last four channels
-----------------------------------------------------
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

75
Tools/px_uploader.py
View File

@ -1,7 +1,7 @@
#!/usr/bin/env python
############################################################################
#
# Copyright (C) 2012, 2013 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
@ -227,16 +227,21 @@ class uploader(object):
+ uploader.EOC)
self.__getSync()
# def __trySync(self):
# c = self.__recv()
# if (c != self.INSYNC):
# #print("unexpected 0x%x instead of INSYNC" % ord(c))
# return False;
# c = self.__recv()
# if (c != self.OK):
# #print("unexpected 0x%x instead of OK" % ord(c))
# return False
# return True
def __trySync(self):
try:
self.port.flush()
if (self.__recv() != self.INSYNC):
#print("unexpected 0x%x instead of INSYNC" % ord(c))
return False;
if (self.__recv() != self.OK):
#print("unexpected 0x%x instead of OK" % ord(c))
return False
return True
except RuntimeError:
#timeout, no response yet
return False
# send the GET_DEVICE command and wait for an info parameter
def __getInfo(self, param):
@ -261,19 +266,37 @@ class uploader(object):
self.__getSync()
return value
def __drawProgressBar(self, progress, maxVal):
if maxVal < progress:
progress = maxVal
percent = (float(progress) / float(maxVal)) * 100.0
sys.stdout.write("\rprogress:[%-20s] %.2f%%" % ('='*int(percent/5.0), percent))
sys.stdout.flush()
# send the CHIP_ERASE command and wait for the bootloader to become ready
def __erase(self):
self.__send(uploader.CHIP_ERASE
+ uploader.EOC)
# erase is very slow, give it 20s
deadline = time.time() + 20
deadline = time.time() + 20.0
while time.time() < deadline:
try:
self.__getSync()
return
except RuntimeError:
# we timed out, that's OK
continue
#Draw progress bar (erase usually takes about 9 seconds to complete)
estimatedTimeRemaining = deadline-time.time()
if estimatedTimeRemaining > 0:
self.__drawProgressBar(20.0-estimatedTimeRemaining, 9.0)
else:
self.__drawProgressBar(10.0, 10.0)
sys.stdout.write(" (timeout: %d seconds) " % int(time.time()-deadline) )
if self.__trySync():
self.__drawProgressBar(10.0, 10.0)
sys.stdout.write("\nerase complete!\n")
return;
raise RuntimeError("timed out waiting for erase")
@ -329,9 +352,18 @@ class uploader(object):
def __program(self, fw):
code = fw.image
groups = self.__split_len(code, uploader.PROG_MULTI_MAX)
uploadProgress = 0
for bytes in groups:
self.__program_multi(bytes)
#Print upload progress (throttled, so it does not delay upload progress)
uploadProgress += 1
if uploadProgress % 256 == 0:
self.__drawProgressBar(uploadProgress, len(groups))
self.__drawProgressBar(100, 100)
print("\nprogram complete!")
# verify code
def __verify_v2(self, fw):
self.__send(uploader.CHIP_VERIFY
@ -434,8 +466,7 @@ class uploader(object):
self.__send(uploader.MAVLINK_REBOOT_ID0)
except:
return
# Detect python version
if sys.version_info[0] < 3:
@ -511,8 +542,10 @@ while True:
print("attempting reboot on %s..." % port)
print("if the board does not respond, unplug and re-plug the USB connector.")
up.send_reboot()
# wait for the reboot, without we might run into Serial I/O Error 5
time.sleep(0.5)
# always close the port
up.close()
continue
@ -524,7 +557,7 @@ while True:
except RuntimeError as ex:
# print the error
print("ERROR: %s" % ex.args)
print("\nERROR: %s" % ex.args)
finally:
# always close the port

6
makefiles/config_px4fmu-v2_default.mk
View File

@ -32,9 +32,9 @@ MODULES += drivers/ll40ls
# MODULES += drivers/trone
MODULES += drivers/gps
MODULES += drivers/hil
MODULES += drivers/hott
MODULES += drivers/hott/hott_telemetry
MODULES += drivers/hott/hott_sensors
# MODULES += drivers/hott
# MODULES += drivers/hott/hott_telemetry
# MODULES += drivers/hott/hott_sensors
# MODULES += drivers/blinkm
MODULES += drivers/airspeed
MODULES += drivers/ets_airspeed

2
nuttx-configs/px4fmu-v2/nsh/defconfig
View File

@ -389,7 +389,7 @@ CONFIG_ARCH_BOARD=""
#
CONFIG_NSH_MMCSDMINOR=0
CONFIG_NSH_MMCSDSLOTNO=0
CONFIG_MMCSD_HAVE_SDIOWAIT_WRCOMPLETE=y
#
# Board-Specific Options
#

3
src/modules/systemlib/mixer/mixer.h
View File

@ -441,7 +441,6 @@ private:
SimpleMixer operator=(const SimpleMixer&);
};
/**
* Supported multirotor geometries.
*
@ -460,12 +459,14 @@ class __EXPORT MultirotorMixer : public Mixer
{
public:
/**
* Precalculated rotor mix.
*/
struct Rotor {
float roll_scale; /**< scales roll for this rotor */
float pitch_scale; /**< scales pitch for this rotor */
float yaw_scale; /**< scales yaw for this rotor */
float out_scale; /**< scales total out for this rotor */
};
/**

9
src/modules/systemlib/mixer/mixer_multirotor.cpp
View File

@ -75,7 +75,8 @@ float constrain(float val, float min, float max)
{
return (val < min) ? min : ((val > max) ? max : val);
}
}
} // anonymous namespace
MultirotorMixer::MultirotorMixer(ControlCallback control_cb,
uintptr_t cb_handle,
@ -89,6 +90,7 @@ MultirotorMixer::MultirotorMixer(ControlCallback control_cb,
_pitch_scale(pitch_scale),
_yaw_scale(yaw_scale),
_idle_speed(-1.0f + idle_speed * 2.0f), /* shift to output range here to avoid runtime calculation */
_limits_pub(),
_rotor_count(_config_rotor_count[(MultirotorGeometryUnderlyingType)geometry]),
_rotors(_config_index[(MultirotorGeometryUnderlyingType)geometry])
{
@ -152,6 +154,9 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
} else if (!strcmp(geomname, "4w")) {
geometry = MultirotorGeometry::QUAD_WIDE;
} else if (!strcmp(geomname, "4dc")) {
geometry = MultirotorGeometry::QUAD_DEADCAT;
} else if (!strcmp(geomname, "6+")) {
geometry = MultirotorGeometry::HEX_PLUS;
@ -212,6 +217,8 @@ MultirotorMixer::mix(float *outputs, unsigned space)
pitch * _rotors[i].pitch_scale +
thrust;
out *= _rotors[i].out_scale;
/* limit yaw if it causes outputs clipping */
if (out >= 0.0f && out < -yaw * _rotors[i].yaw_scale) {
yaw = -out / _rotors[i].yaw_scale;

21
src/modules/systemlib/mixer/multi_tables.py
View File

@ -69,6 +69,13 @@ quad_plus = [
[ 180, CW],
]
quad_deadcat = [
[ 63, CCW, 1.0],
[-135, CCW, 0.964],
[ -63, CW, 1.0],
[ 135, CW, 0.964],
]
quad_v = [
[ 18.8, 0.4242],
[ -18.8, 1.0],
@ -148,13 +155,18 @@ twin_engine = [
[-90, 0.0],
]
tables = [quad_x, quad_plus, quad_v, quad_wide, quad_deadcat, hex_x, hex_plus, hex_cox, octa_x, octa_plus, octa_cox, twin_engine]
def variableName(variable):
for variableName, value in list(globals().items()):
if value is variable:
return variableName
tables = [quad_x, quad_plus, quad_v, quad_wide, hex_x, hex_plus, hex_cox, octa_x, octa_plus, octa_cox, twin_engine]
def unpackScales(scalesList):
if len(scalesList) == 2:
scalesList += [1.0] #Add thrust scale
return scalesList
def printEnum():
print("enum class MultirotorGeometry : MultirotorGeometryUnderlyingType {")
@ -167,10 +179,11 @@ def printEnum():
def printScaleTables():
for table in tables:
print("const MultirotorMixer::Rotor _config_{}[] = {{".format(variableName(table)))
for (angle, yawScale) in table:
for row in table:
angle, yawScale, thrustScale = unpackScales(row)
rollScale = rcos(angle + 90)
pitchScale = rcos(angle)
print("\t{{ {:9f}, {:9f}, {:9f} }},".format(rollScale, pitchScale, yawScale))
print("\t{{ {:9f}, {:9f}, {:9f}, {:9f} }},".format(rollScale, pitchScale, yawScale, thrustScale))
print("};\n")
def printScaleTablesIndex():