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

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This commit is contained in:
Thomas Gubler 2014-10-07 10:02:01 +02:00
commit b64e675d53
21 changed files with 777 additions and 294 deletions
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30
ROMFS/px4fmu_test/init.d/rcS
View File

@ -75,3 +75,33 @@ if [ -f /fs/microsd/mount_test_cmds.txt ]
then
tests mount
fi
#
# Run unit tests at board boot, reporting failure as needed.
# Add new unit tests using the same pattern as below.
#
set unit_test_failure 0
if mavlink_tests
then
else
set unit_test_failure 1
set unit_test_failure_list "${unit_test_failure_list} mavlink_tests"
fi
if commander_tests
then
else
set unit_test_failure 1
set unit_test_failure_list "${unit_test_failure_list} commander_tests"
fi
if [ $unit_test_failure == 0 ]
then
echo
echo "All Unit Tests PASSED"
else
echo
echo "Some Unit Tests FAILED:${unit_test_failure_list}"
fi

1
makefiles/config_px4fmu-v2_test.mk
View File

@ -56,6 +56,7 @@ LIBRARIES += lib/mathlib/CMSIS
MODULES += modules/unit_test
MODULES += modules/mavlink/mavlink_tests
MODULES += modules/commander/commander_tests
#
# Transitional support - add commands from the NuttX export archive.

4
src/modules/commander/commander_tests/commander_tests.cpp
View File

@ -48,7 +48,5 @@ extern "C" __EXPORT int commander_tests_main(int argc, char *argv[]);
int commander_tests_main(int argc, char *argv[])
{
stateMachineHelperTest();
return 0;
return stateMachineHelperTest() ? 0 : -1;
}

13
src/modules/commander/commander_tests/state_machine_helper_test.cpp
View File

@ -49,7 +49,7 @@ public:
StateMachineHelperTest();
virtual ~StateMachineHelperTest();
virtual void runTests(void);
virtual bool run_tests(void);
private:
bool armingStateTransitionTest();
@ -488,16 +488,13 @@ bool StateMachineHelperTest::isSafeTest(void)
return true;
}
void StateMachineHelperTest::runTests(void)
bool StateMachineHelperTest::run_tests(void)
{
ut_run_test(armingStateTransitionTest);
ut_run_test(mainStateTransitionTest);
ut_run_test(isSafeTest);
return (_tests_failed == 0);
}
void stateMachineHelperTest(void)
{
StateMachineHelperTest* test = new StateMachineHelperTest();
test->runTests();
test->printResults();
}
ut_declare_test(stateMachineHelperTest, StateMachineHelperTest)

2
src/modules/commander/commander_tests/state_machine_helper_test.h
View File

@ -39,6 +39,6 @@
#ifndef STATE_MACHINE_HELPER_TEST_H_
#define STATE_MACHINE_HELPER_TEST_
void stateMachineHelperTest(void);
bool stateMachineHelperTest(void);
#endif /* STATE_MACHINE_HELPER_TEST_H_ */

2
src/modules/dataman/module.mk
View File

@ -40,3 +40,5 @@ MODULE_COMMAND = dataman
SRCS = dataman.c
MODULE_STACKSIZE = 1200
MAXOPTIMIZATION = -Os

2
src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
View File

@ -1369,7 +1369,7 @@ FixedwingEstimator::task_main()
if (newRangeData) {
_ekf->fuseRngData = true;
_ekf->useRangeFinder = true;
_ekf->RecallStates(_ekf->statesAtRngTime, (IMUmsec - 500.0f));
_ekf->RecallStates(_ekf->statesAtRngTime, (IMUmsec - 100.0f));
_ekf->GroundEKF();
}

134
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
View File

@ -88,7 +88,6 @@
#include <launchdetection/LaunchDetector.h>
#include <ecl/l1/ecl_l1_pos_controller.h>
#include <external_lgpl/tecs/tecs.h>
#include <drivers/drv_range_finder.h>
#include "landingslope.h"
#include "mtecs/mTecs.h"
@ -146,7 +145,6 @@ private:
int _params_sub; /**< notification of parameter updates */
int _manual_control_sub; /**< notification of manual control updates */
int _sensor_combined_sub; /**< for body frame accelerations */
int _range_finder_sub; /**< range finder subscription */
orb_advert_t _attitude_sp_pub; /**< attitude setpoint */
orb_advert_t _tecs_status_pub; /**< TECS status publication */
@ -162,17 +160,16 @@ private:
struct vehicle_global_position_s _global_pos; /**< global vehicle position */
struct position_setpoint_triplet_s _pos_sp_triplet; /**< triplet of mission items */
struct sensor_combined_s _sensor_combined; /**< for body frame accelerations */
struct range_finder_report _range_finder; /**< range finder report */
perf_counter_t _loop_perf; /**< loop performance counter */
/* land states */
/* not in non-abort mode for landing yet */
bool land_noreturn_horizontal;
bool land_noreturn_vertical;
bool land_stayonground;
bool land_motor_lim;
bool land_onslope;
bool land_useterrain;
/* takeoff/launch states */
LaunchDetectionResult launch_detection_state;
@ -243,7 +240,9 @@ private:
float land_flare_alt_relative;
float land_thrust_lim_alt_relative;
float land_heading_hold_horizontal_distance;
float range_finder_rel_alt;
float land_flare_pitch_min_deg;
float land_flare_pitch_max_deg;
int land_use_terrain_estimate;
} _parameters; /**< local copies of interesting parameters */
@ -289,7 +288,9 @@ private:
param_t land_flare_alt_relative;
param_t land_thrust_lim_alt_relative;
param_t land_heading_hold_horizontal_distance;
param_t range_finder_rel_alt;
param_t land_flare_pitch_min_deg;
param_t land_flare_pitch_max_deg;
param_t land_use_terrain_estimate;
} _parameter_handles; /**< handles for interesting parameters */
@ -320,12 +321,6 @@ private:
*/
bool vehicle_airspeed_poll();
/**
* Check for range finder updates.
*/
bool range_finder_poll();
/**
* Check for position updates.
*/
@ -347,9 +342,9 @@ private:
void navigation_capabilities_publish();
/**
* Get the relative alt either from the difference between estimate and waypoint or from the laser range finder
* Return the terrain estimate during landing: uses the wp altitude value or the terrain estimate if available
*/
float get_relative_landingalt(float land_setpoint_alt, float current_alt, const struct range_finder_report &range_finder, float range_finder_use_relative_alt);
float get_terrain_altitude_landing(float land_setpoint_alt, const struct vehicle_global_position_s &global_pos);
/**
* Control position.
@ -423,7 +418,6 @@ FixedwingPositionControl::FixedwingPositionControl() :
_params_sub(-1),
_manual_control_sub(-1),
_sensor_combined_sub(-1),
_range_finder_sub(-1),
/* publications */
_attitude_sp_pub(-1),
@ -441,7 +435,6 @@ FixedwingPositionControl::FixedwingPositionControl() :
_global_pos(),
_pos_sp_triplet(),
_sensor_combined(),
_range_finder(),
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "fw l1 control")),
@ -451,6 +444,7 @@ FixedwingPositionControl::FixedwingPositionControl() :
land_stayonground(false),
land_motor_lim(false),
land_onslope(false),
land_useterrain(false),
launch_detection_state(LAUNCHDETECTION_RES_NONE),
last_manual(false),
landingslope(),
@ -489,7 +483,9 @@ FixedwingPositionControl::FixedwingPositionControl() :
_parameter_handles.land_flare_alt_relative = param_find("FW_LND_FLALT");
_parameter_handles.land_thrust_lim_alt_relative = param_find("FW_LND_TLALT");
_parameter_handles.land_heading_hold_horizontal_distance = param_find("FW_LND_HHDIST");
_parameter_handles.range_finder_rel_alt = param_find("FW_LND_RFRALT");
_parameter_handles.land_flare_pitch_min_deg = param_find("FW_FLARE_PMIN");
_parameter_handles.land_flare_pitch_max_deg = param_find("FW_FLARE_PMAX");
_parameter_handles.land_use_terrain_estimate= param_find("FW_LND_USETER");
_parameter_handles.time_const = param_find("FW_T_TIME_CONST");
_parameter_handles.time_const_throt = param_find("FW_T_THRO_CONST");
@ -590,8 +586,9 @@ FixedwingPositionControl::parameters_update()
}
param_get(_parameter_handles.land_heading_hold_horizontal_distance, &(_parameters.land_heading_hold_horizontal_distance));
param_get(_parameter_handles.range_finder_rel_alt, &(_parameters.range_finder_rel_alt));
param_get(_parameter_handles.land_flare_pitch_min_deg, &(_parameters.land_flare_pitch_min_deg));
param_get(_parameter_handles.land_flare_pitch_max_deg, &(_parameters.land_flare_pitch_max_deg));
param_get(_parameter_handles.land_use_terrain_estimate, &(_parameters.land_use_terrain_estimate));
_l1_control.set_l1_damping(_parameters.l1_damping);
_l1_control.set_l1_period(_parameters.l1_period);
@ -695,20 +692,6 @@ FixedwingPositionControl::vehicle_airspeed_poll()
return airspeed_updated;
}
bool
FixedwingPositionControl::range_finder_poll()
{
/* check if there is a range finder measurement */
bool range_finder_updated;
orb_check(_range_finder_sub, &range_finder_updated);
if (range_finder_updated) {
orb_copy(ORB_ID(sensor_range_finder), _range_finder_sub, &_range_finder);
}
return range_finder_updated;
}
void
FixedwingPositionControl::vehicle_attitude_poll()
{
@ -846,21 +829,23 @@ void FixedwingPositionControl::navigation_capabilities_publish()
}
}
float FixedwingPositionControl::get_relative_landingalt(float land_setpoint_alt, float current_alt, const struct range_finder_report &range_finder, float range_finder_use_relative_alt)
float FixedwingPositionControl::get_terrain_altitude_landing(float land_setpoint_alt, const struct vehicle_global_position_s &global_pos)
{
float rel_alt_estimated = current_alt - land_setpoint_alt;
/* only use range finder if:
* parameter (range_finder_use_relative_alt) > 0
* the measurement is valid
* the estimated relative altitude (from global altitude estimate and landing waypoint) <= range_finder_use_relative_alt
*/
if (range_finder_use_relative_alt < 0 || !range_finder.valid || range_finder.distance > range_finder_use_relative_alt ) {
return rel_alt_estimated;
if (!isfinite(global_pos.terrain_alt)) {
return land_setpoint_alt;
}
return range_finder.distance;
/* Decide if the terrain estimation can be used, once we switched to using the terrain we stick with it
* for the whole landing */
if (_parameters.land_use_terrain_estimate && (global_pos.terrain_alt_valid || land_useterrain)) {
if(!land_useterrain) {
mavlink_log_info(_mavlink_fd, "#audio: Landing, using terrain estimate");
land_useterrain = true;
}
return global_pos.terrain_alt;
} else {
return land_setpoint_alt;
}
}
bool
@ -965,10 +950,17 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
} else if (pos_sp_triplet.current.type == SETPOINT_TYPE_LAND) {
float bearing_lastwp_currwp = get_bearing_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1));
float bearing_airplane_currwp = get_bearing_to_next_waypoint(current_position(0), current_position(1), curr_wp(0), curr_wp(1));
/* Horizontal landing control */
/* switch to heading hold for the last meters, continue heading hold after */
float wp_distance = get_distance_to_next_waypoint(current_position(0), current_position(1), curr_wp(0), curr_wp(1));
/* calculate a waypoint distance value which is 0 when the aircraft is behind the waypoint */
float wp_distance_save = wp_distance;
if (fabsf(bearing_airplane_currwp - bearing_lastwp_currwp) >= math::radians(90.0f)) {
wp_distance_save = 0.0f;
}
//warnx("wp dist: %d, alt err: %d, noret: %s", (int)wp_distance, (int)altitude_error, (land_noreturn) ? "YES" : "NO");
if (wp_distance < _parameters.land_heading_hold_horizontal_distance || land_noreturn_horizontal) {
@ -1004,29 +996,30 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
/* Vertical landing control */
//xxx: using the tecs altitude controller for slope control for now
// /* do not go down too early */
// if (wp_distance > 50.0f) {
// altitude_error = (_global_triplet.current.alt + 25.0f) - _global_pos.alt;
// }
/* apply minimum pitch (flare) and limit roll if close to touch down, altitude error is negative (going down) */
// XXX this could make a great param
float flare_pitch_angle_rad = -math::radians(5.0f);//math::radians(pos_sp_triplet.current.param1)
float throttle_land = _parameters.throttle_min + (_parameters.throttle_max - _parameters.throttle_min) * 0.1f;
float airspeed_land = 1.3f * _parameters.airspeed_min;
float airspeed_approach = 1.3f * _parameters.airspeed_min;
/* Calculate distance (to landing waypoint) and altitude of last ordinary waypoint L */
float L_altitude_rel = _pos_sp_triplet.previous.valid ? _pos_sp_triplet.previous.alt - _pos_sp_triplet.current.alt : 0.0f;
/* Get an estimate of the terrain altitude if available, otherwise terrain_alt will be
* equal to _pos_sp_triplet.current.alt */
float terrain_alt = get_terrain_altitude_landing(_pos_sp_triplet.current.alt, _global_pos);
/* Calculate distance (to landing waypoint) and altitude of last ordinary waypoint L */
float L_altitude_rel = _pos_sp_triplet.previous.valid ?
_pos_sp_triplet.previous.alt - terrain_alt : 0.0f;
float bearing_airplane_currwp = get_bearing_to_next_waypoint(current_position(0), current_position(1), curr_wp(0), curr_wp(1));
float landing_slope_alt_rel_desired = landingslope.getLandingSlopeRelativeAltitudeSave(wp_distance, bearing_lastwp_currwp, bearing_airplane_currwp);
float relative_alt = get_relative_landingalt(_pos_sp_triplet.current.alt, _global_pos.alt, _range_finder, _parameters.range_finder_rel_alt);
if ( (relative_alt < landingslope.flare_relative_alt()) || land_noreturn_vertical) { //checking for land_noreturn to avoid unwanted climb out
/* Check if we should start flaring with a vertical and a
* horizontal limit (with some tolerance)
* The horizontal limit is only applied when we are in front of the wp
*/
if (((_global_pos.alt < terrain_alt + landingslope.flare_relative_alt()) &&
(wp_distance_save < landingslope.flare_length() + 5.0f)) ||
land_noreturn_vertical) { //checking for land_noreturn to avoid unwanted climb out
/* land with minimal speed */
// /* force TECS to only control speed with pitch, altitude is only implicitely controlled now */
@ -1035,7 +1028,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
/* kill the throttle if param requests it */
throttle_max = _parameters.throttle_max;
if (relative_alt < landingslope.motor_lim_relative_alt() || land_motor_lim) {
if (_global_pos.alt < terrain_alt + landingslope.motor_lim_relative_alt() || land_motor_lim) {
throttle_max = math::min(throttle_max, _parameters.throttle_land_max);
if (!land_motor_lim) {
land_motor_lim = true;
@ -1053,12 +1046,13 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
land_stayonground = true;
}
tecs_update_pitch_throttle(_pos_sp_triplet.current.alt + flare_curve_alt_rel,
tecs_update_pitch_throttle(terrain_alt + flare_curve_alt_rel,
calculate_target_airspeed(airspeed_land), eas2tas,
flare_pitch_angle_rad, math::radians(15.0f),
math::radians(_parameters.land_flare_pitch_min_deg),
math::radians(_parameters.land_flare_pitch_max_deg),
0.0f, throttle_max, throttle_land,
false, flare_pitch_angle_rad,
_pos_sp_triplet.current.alt + relative_alt, ground_speed,
false, land_motor_lim ? math::radians(_parameters.land_flare_pitch_min_deg) : math::radians(_parameters.pitch_limit_min),
_global_pos.alt, ground_speed,
land_motor_lim ? TECS_MODE_LAND_THROTTLELIM : TECS_MODE_LAND);
if (!land_noreturn_vertical) {
@ -1079,8 +1073,8 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
* if current position is below the slope continue at previous wp altitude
* until the intersection with slope
* */
float altitude_desired_rel = relative_alt;
if (relative_alt > landing_slope_alt_rel_desired || land_onslope) {
float altitude_desired_rel;
if (_global_pos.alt > terrain_alt + landing_slope_alt_rel_desired || land_onslope) {
/* stay on slope */
altitude_desired_rel = landing_slope_alt_rel_desired;
if (!land_onslope) {
@ -1089,10 +1083,11 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
}
} else {
/* continue horizontally */
altitude_desired_rel = _pos_sp_triplet.previous.valid ? L_altitude_rel : relative_alt;
altitude_desired_rel = _pos_sp_triplet.previous.valid ? L_altitude_rel :
_global_pos.alt - terrain_alt;
}
tecs_update_pitch_throttle(_pos_sp_triplet.current.alt + altitude_desired_rel,
tecs_update_pitch_throttle(terrain_alt + altitude_desired_rel,
calculate_target_airspeed(airspeed_approach), eas2tas,
math::radians(_parameters.pitch_limit_min),
math::radians(_parameters.pitch_limit_max),
@ -1101,7 +1096,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
_parameters.throttle_cruise,
false,
math::radians(_parameters.pitch_limit_min),
_pos_sp_triplet.current.alt + relative_alt,
_global_pos.alt,
ground_speed);
}
@ -1277,7 +1272,6 @@ FixedwingPositionControl::task_main()
_airspeed_sub = orb_subscribe(ORB_ID(airspeed));
_params_sub = orb_subscribe(ORB_ID(parameter_update));
_manual_control_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
_range_finder_sub = orb_subscribe(ORB_ID(sensor_range_finder));
/* rate limit control mode updates to 5Hz */
orb_set_interval(_control_mode_sub, 200);
@ -1356,7 +1350,6 @@ FixedwingPositionControl::task_main()
vehicle_setpoint_poll();
vehicle_sensor_combined_poll();
vehicle_airspeed_poll();
range_finder_poll();
// vehicle_baro_poll();
math::Vector<3> ground_speed(_global_pos.vel_n, _global_pos.vel_e, _global_pos.vel_d);
@ -1420,6 +1413,7 @@ void FixedwingPositionControl::reset_landing_state()
land_stayonground = false;
land_motor_lim = false;
land_onslope = false;
land_useterrain = false;
}
void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_sp, float eas2tas,

26
src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
View File

@ -412,12 +412,28 @@ PARAM_DEFINE_FLOAT(FW_LND_TLALT, -1.0f);
PARAM_DEFINE_FLOAT(FW_LND_HHDIST, 15.0f);
/**
* Relative altitude threshold for range finder measurements for use during landing
* Enable or disable usage of terrain estimate during landing
*
* range finder measurements will only be used if the estimated relative altitude (gobal_pos.alt - landing_waypoint.alt) is < FW_LND_RFRALT
* set to < 0 to disable
* the correct value of this parameter depends on your range measuring device as well as on the terrain at the landing location
* 0: disabled, 1: enabled
*
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_LND_RFRALT, -1.0f);
PARAM_DEFINE_INT32(FW_LND_USETER, 0);
/**
* Flare, minimum pitch
*
* Minimum pitch during flare, a positive sign means nose up
* Applied once FW_LND_TLALT is reached
*
*/
PARAM_DEFINE_FLOAT(FW_FLARE_PMIN, 2.5f);
/**
* Flare, maximum pitch
*
* Maximum pitch during flare, a positive sign means nose up
* Applied once FW_LND_TLALT is reached
*
*/
PARAM_DEFINE_FLOAT(FW_FLARE_PMAX, 15.0f);

292
src/modules/mavlink/mavlink_ftp.cpp
View File

@ -34,6 +34,7 @@
/// @file mavlink_ftp.cpp
/// @author px4dev, Don Gagne <don@thegagnes.com>
#include <crc32.h>
#include <unistd.h>
#include <stdio.h>
#include <fcntl.h>
@ -180,12 +181,16 @@ MavlinkFTP::_process_request(Request *req)
errorCode = _workList(payload);
break;
case kCmdOpenFile:
errorCode = _workOpen(payload, false);
case kCmdOpenFileRO:
errorCode = _workOpen(payload, O_RDONLY);
break;
case kCmdCreateFile:
errorCode = _workOpen(payload, true);
errorCode = _workOpen(payload, O_CREAT | O_EXCL | O_WRONLY);
break;
case kCmdOpenFileWO:
errorCode = _workOpen(payload, O_CREAT | O_WRONLY);
break;
case kCmdReadFile:
@ -200,6 +205,14 @@ MavlinkFTP::_process_request(Request *req)
errorCode = _workRemoveFile(payload);
break;
case kCmdRename:
errorCode = _workRename(payload);
break;
case kCmdTruncateFile:
errorCode = _workTruncateFile(payload);
break;
case kCmdCreateDirectory:
errorCode = _workCreateDirectory(payload);
break;
@ -208,6 +221,11 @@ MavlinkFTP::_process_request(Request *req)
errorCode = _workRemoveDirectory(payload);
break;
case kCmdCalcFileCRC32:
errorCode = _workCalcFileCRC32(payload);
break;
default:
errorCode = kErrUnknownCommand;
break;
@ -222,6 +240,7 @@ out:
warnx("FTP: ack\n");
#endif
} else {
int r_errno = errno;
warnx("FTP: nak %u", errorCode);
payload->req_opcode = payload->opcode;
payload->opcode = kRspNak;
@ -229,7 +248,7 @@ out:
payload->data[0] = errorCode;
if (errorCode == kErrFailErrno) {
payload->size = 2;
payload->data[1] = errno;
payload->data[1] = r_errno;
}
}
@ -396,27 +415,27 @@ MavlinkFTP::_workList(PayloadHeader* payload)
/// @brief Responds to an Open command
MavlinkFTP::ErrorCode
MavlinkFTP::_workOpen(PayloadHeader* payload, bool create)
MavlinkFTP::_workOpen(PayloadHeader* payload, int oflag)
{
int session_index = _find_unused_session();
if (session_index < 0) {
warnx("FTP: Open failed - out of sessions\n");
return kErrNoSessionsAvailable;
}
char *filename = _data_as_cstring(payload);
uint32_t fileSize = 0;
if (!create) {
struct stat st;
if (stat(filename, &st) != 0) {
return kErrFailErrno;
}
fileSize = st.st_size;
}
int oflag = create ? (O_CREAT | O_EXCL | O_APPEND) : O_RDONLY;
char *filename = _data_as_cstring(payload);
uint32_t fileSize = 0;
struct stat st;
if (stat(filename, &st) != 0) {
// fail only if requested open for read
if (oflag & O_RDONLY)
return kErrFailErrno;
else
st.st_size = 0;
}
fileSize = st.st_size;
int fd = ::open(filename, oflag);
if (fd < 0) {
return kErrFailErrno;
@ -424,12 +443,8 @@ MavlinkFTP::_workOpen(PayloadHeader* payload, bool create)
_session_fds[session_index] = fd;
payload->session = session_index;
if (create) {
payload->size = 0;
} else {
payload->size = sizeof(uint32_t);
*((uint32_t*)payload->data) = fileSize;
}
payload->size = sizeof(uint32_t);
*((uint32_t*)payload->data) = fileSize;
return kErrNone;
}
@ -470,29 +485,33 @@ MavlinkFTP::_workRead(PayloadHeader* payload)
MavlinkFTP::ErrorCode
MavlinkFTP::_workWrite(PayloadHeader* payload)
{
#if 0
// NYI: Coming soon
auto hdr = req->header();
int session_index = payload->session;
// look up session
auto session = getSession(hdr->session);
if (session == nullptr) {
return kErrNoSession;
if (!_valid_session(session_index)) {
return kErrInvalidSession;
}
// append to file
int result = session->append(hdr->offset, &hdr->data[0], hdr->size);
if (result < 0) {
// XXX might also be no space, I/O, etc.
return kErrNotAppend;
}
hdr->size = result;
return kErrNone;
#else
return kErrUnknownCommand;
// Seek to the specified position
#ifdef MAVLINK_FTP_DEBUG
warnx("seek %d", payload->offset);
#endif
if (lseek(_session_fds[session_index], payload->offset, SEEK_SET) < 0) {
// Unable to see to the specified location
warnx("seek fail");
return kErrFailErrno;
}
int bytes_written = ::write(_session_fds[session_index], &payload->data[0], payload->size);
if (bytes_written < 0) {
// Negative return indicates error other than eof
warnx("write fail %d", bytes_written);
return kErrFailErrno;
}
payload->size = sizeof(uint32_t);
*((uint32_t*)payload->data) = bytes_written;
return kErrNone;
}
/// @brief Responds to a RemoveFile command
@ -510,6 +529,81 @@ MavlinkFTP::_workRemoveFile(PayloadHeader* payload)
}
}
/// @brief Responds to a TruncateFile command
MavlinkFTP::ErrorCode
MavlinkFTP::_workTruncateFile(PayloadHeader* payload)
{
char file[kMaxDataLength];
const char temp_file[] = "/fs/microsd/.trunc.tmp";
strncpy(file, _data_as_cstring(payload), kMaxDataLength);
payload->size = 0;
// emulate truncate(file, payload->offset) by
// copying to temp and overwrite with O_TRUNC flag.
struct stat st;
if (stat(file, &st) != 0) {
return kErrFailErrno;
}
if (!S_ISREG(st.st_mode)) {
errno = EISDIR;
return kErrFailErrno;
}
// check perms allow us to write (not romfs)
if (!(st.st_mode & (S_IWUSR | S_IWGRP | S_IWOTH))) {
errno = EROFS;
return kErrFailErrno;
}
if (payload->offset == (unsigned)st.st_size) {
// nothing to do
return kErrNone;
}
else if (payload->offset == 0) {
// 1: truncate all data
int fd = ::open(file, O_TRUNC | O_WRONLY);
if (fd < 0) {
return kErrFailErrno;
}
::close(fd);
return kErrNone;
}
else if (payload->offset > (unsigned)st.st_size) {
// 2: extend file
int fd = ::open(file, O_WRONLY);
if (fd < 0) {
return kErrFailErrno;
}
if (lseek(fd, payload->offset - 1, SEEK_SET) < 0) {
::close(fd);
return kErrFailErrno;
}
bool ok = 1 == ::write(fd, "", 1);
::close(fd);
return (ok)? kErrNone : kErrFailErrno;
}
else {
// 3: truncate
if (_copy_file(file, temp_file, payload->offset) != 0) {
return kErrFailErrno;
}
if (_copy_file(temp_file, file, payload->offset) != 0) {
return kErrFailErrno;
}
if (::unlink(temp_file) != 0) {
return kErrFailErrno;
}
return kErrNone;
}
}
/// @brief Responds to a Terminate command
MavlinkFTP::ErrorCode
MavlinkFTP::_workTerminate(PayloadHeader* payload)
@ -542,6 +636,33 @@ MavlinkFTP::_workReset(PayloadHeader* payload)
return kErrNone;
}
/// @brief Responds to a Rename command
MavlinkFTP::ErrorCode
MavlinkFTP::_workRename(PayloadHeader* payload)
{
char oldpath[kMaxDataLength];
char newpath[kMaxDataLength];
char *ptr = _data_as_cstring(payload);
size_t oldpath_sz = strlen(ptr);
if (oldpath_sz == payload->size) {
// no newpath
errno = EINVAL;
return kErrFailErrno;
}
strncpy(oldpath, ptr, kMaxDataLength);
strncpy(newpath, ptr + oldpath_sz + 1, kMaxDataLength);
if (rename(oldpath, newpath) == 0) {
payload->size = 0;
return kErrNone;
} else {
return kErrFailErrno;
}
}
/// @brief Responds to a RemoveDirectory command
MavlinkFTP::ErrorCode
MavlinkFTP::_workRemoveDirectory(PayloadHeader* payload)
@ -572,6 +693,39 @@ MavlinkFTP::_workCreateDirectory(PayloadHeader* payload)
}
}
/// @brief Responds to a CalcFileCRC32 command
MavlinkFTP::ErrorCode
MavlinkFTP::_workCalcFileCRC32(PayloadHeader* payload)
{
char file_buf[256];
uint32_t checksum = 0;
ssize_t bytes_read;
strncpy(file_buf, _data_as_cstring(payload), kMaxDataLength);
int fd = ::open(file_buf, O_RDONLY);
if (fd < 0) {
return kErrFailErrno;
}
do {
bytes_read = ::read(fd, file_buf, sizeof(file_buf));
if (bytes_read < 0) {
int r_errno = errno;
::close(fd);
errno = r_errno;
return kErrFailErrno;
}
checksum = crc32part((uint8_t*)file_buf, bytes_read, checksum);
} while (bytes_read == sizeof(file_buf));
::close(fd);
payload->size = sizeof(uint32_t);
*((uint32_t*)payload->data) = checksum;
return kErrNone;
}
/// @brief Returns true if the specified session is a valid open session
bool
MavlinkFTP::_valid_session(unsigned index)
@ -645,3 +799,55 @@ MavlinkFTP::_return_request(Request *req)
_unlock_request_queue();
}
/// @brief Copy file (with limited space)
int
MavlinkFTP::_copy_file(const char *src_path, const char *dst_path, ssize_t length)
{
char buff[512];
int src_fd = -1, dst_fd = -1;
int op_errno = 0;
src_fd = ::open(src_path, O_RDONLY);
if (src_fd < 0) {
return -1;
}
dst_fd = ::open(dst_path, O_CREAT | O_TRUNC | O_WRONLY);
if (dst_fd < 0) {
op_errno = errno;
::close(src_fd);
errno = op_errno;
return -1;
}
while (length > 0) {
ssize_t bytes_read, bytes_written;
size_t blen = (length > sizeof(buff))? sizeof(buff) : length;
bytes_read = ::read(src_fd, buff, blen);
if (bytes_read == 0) {
// EOF
break;
}
else if (bytes_read < 0) {
warnx("cp: read");
op_errno = errno;
break;
}
bytes_written = ::write(dst_fd, buff, bytes_read);
if (bytes_written != bytes_read) {
warnx("cp: short write");
op_errno = errno;
break;
}
length -= bytes_written;
}
::close(src_fd);
::close(dst_fd);
errno = op_errno;
return (length > 0)? -1 : 0;
}

14
src/modules/mavlink/mavlink_ftp.h
View File

@ -89,13 +89,17 @@ public:
kCmdTerminateSession, ///< Terminates open Read session
kCmdResetSessions, ///< Terminates all open Read sessions
kCmdListDirectory, ///< List files in <path> from <offset>
kCmdOpenFile, ///< Opens file at <path> for reading, returns <session>
kCmdOpenFileRO, ///< Opens file at <path> for reading, returns <session>
kCmdReadFile, ///< Reads <size> bytes from <offset> in <session>
kCmdCreateFile, ///< Creates file at <path> for writing, returns <session>
kCmdWriteFile, ///< Appends <size> bytes to file in <session>
kCmdWriteFile, ///< Writes <size> bytes to <offset> in <session>
kCmdRemoveFile, ///< Remove file at <path>
kCmdCreateDirectory, ///< Creates directory at <path>
kCmdRemoveDirectory, ///< Removes Directory at <path>, must be empty
kCmdOpenFileWO, ///< Opens file at <path> for writing, returns <session>
kCmdTruncateFile, ///< Truncate file at <path> to <offset> length
kCmdRename, ///< Rename <path1> to <path2>
kCmdCalcFileCRC32, ///< Calculate CRC32 for file at <path>
kRspAck = 128, ///< Ack response
kRspNak ///< Nak response
@ -138,9 +142,10 @@ private:
static void _worker_trampoline(void *arg);
void _process_request(Request *req);
void _reply(Request *req);
int _copy_file(const char *src_path, const char *dst_path, ssize_t length);
ErrorCode _workList(PayloadHeader *payload);
ErrorCode _workOpen(PayloadHeader *payload, bool create);
ErrorCode _workOpen(PayloadHeader *payload, int oflag);
ErrorCode _workRead(PayloadHeader *payload);
ErrorCode _workWrite(PayloadHeader *payload);
ErrorCode _workTerminate(PayloadHeader *payload);
@ -148,6 +153,9 @@ private:
ErrorCode _workRemoveDirectory(PayloadHeader *payload);
ErrorCode _workCreateDirectory(PayloadHeader *payload);
ErrorCode _workRemoveFile(PayloadHeader *payload);
ErrorCode _workTruncateFile(PayloadHeader *payload);
ErrorCode _workRename(PayloadHeader *payload);
ErrorCode _workCalcFileCRC32(PayloadHeader *payload);
static const unsigned kRequestQueueSize = 2; ///< Max number of queued requests
Request _request_bufs[kRequestQueueSize]; ///< Request buffers which hold work

20
src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp
View File

@ -65,7 +65,7 @@ MavlinkFtpTest::~MavlinkFtpTest()
}
/// @brief Called before every test to initialize the FTP Server.
void MavlinkFtpTest::init(void)
void MavlinkFtpTest::_init(void)
{
_ftp_server = new MavlinkFTP;;
_ftp_server->set_unittest_worker(MavlinkFtpTest::receive_message, this);
@ -74,7 +74,7 @@ void MavlinkFtpTest::init(void)
}
/// @brief Called after every test to take down the FTP Server.
void MavlinkFtpTest::cleanup(void)
void MavlinkFtpTest::_cleanup(void)
{
delete _ftp_server;
@ -265,7 +265,7 @@ bool MavlinkFtpTest::_open_badfile_test(void)
MavlinkFTP::PayloadHeader *reply;
const char *dir = "/foo"; // non-existent file
payload.opcode = MavlinkFTP::kCmdOpenFile;
payload.opcode = MavlinkFTP::kCmdOpenFileRO;
payload.offset = 0;
bool success = _send_receive_msg(&payload, // FTP payload header
@ -295,7 +295,7 @@ bool MavlinkFtpTest::_open_terminate_test(void)
struct stat st;
const ReadTestCase *test = &_rgReadTestCases[i];
payload.opcode = MavlinkFTP::kCmdOpenFile;
payload.opcode = MavlinkFTP::kCmdOpenFileRO;
payload.offset = 0;
bool success = _send_receive_msg(&payload, // FTP payload header
@ -342,7 +342,7 @@ bool MavlinkFtpTest::_terminate_badsession_test(void)
MavlinkFTP::PayloadHeader *reply;
const char *file = _rgReadTestCases[0].file;
payload.opcode = MavlinkFTP::kCmdOpenFile;
payload.opcode = MavlinkFTP::kCmdOpenFileRO;
payload.offset = 0;
bool success = _send_receive_msg(&payload, // FTP payload header
@ -400,7 +400,7 @@ bool MavlinkFtpTest::_read_test(void)
// Test case data files are created for specific boundary conditions
ut_compare("Test case data files are out of date", test->length, st.st_size);
payload.opcode = MavlinkFTP::kCmdOpenFile;
payload.opcode = MavlinkFTP::kCmdOpenFileRO;
payload.offset = 0;
bool success = _send_receive_msg(&payload, // FTP payload header
@ -463,7 +463,7 @@ bool MavlinkFtpTest::_read_badsession_test(void)
MavlinkFTP::PayloadHeader *reply;
const char *file = _rgReadTestCases[0].file;
payload.opcode = MavlinkFTP::kCmdOpenFile;
payload.opcode = MavlinkFTP::kCmdOpenFileRO;
payload.offset = 0;
bool success = _send_receive_msg(&payload, // FTP payload header
@ -738,7 +738,7 @@ void MavlinkFtpTest::_cleanup_microsd(void)
}
/// @brief Runs all the unit tests
void MavlinkFtpTest::runTests(void)
bool MavlinkFtpTest::run_tests(void)
{
ut_run_test(_ack_test);
ut_run_test(_bad_opcode_test);
@ -753,5 +753,9 @@ void MavlinkFtpTest::runTests(void)
ut_run_test(_removedirectory_test);
ut_run_test(_createdirectory_test);
ut_run_test(_removefile_test);
return (_tests_failed == 0);
}
ut_declare_test(mavlink_ftp_test, MavlinkFtpTest)

9
src/modules/mavlink/mavlink_tests/mavlink_ftp_test.h
View File

@ -46,10 +46,7 @@ public:
MavlinkFtpTest();
virtual ~MavlinkFtpTest();
virtual void init(void);
virtual void cleanup(void);
virtual void runTests(void);
virtual bool run_tests(void);
static void receive_message(const mavlink_message_t *msg, MavlinkFtpTest* ftpTest);
@ -65,6 +62,9 @@ public:
MavlinkFtpTest& operator=(const MavlinkFtpTest&);
private:
virtual void _init(void);
virtual void _cleanup(void);
bool _ack_test(void);
bool _bad_opcode_test(void);
bool _bad_datasize_test(void);
@ -105,3 +105,4 @@ private:
static const char _unittest_microsd_file[];
};
bool mavlink_ftp_test(void);

7
src/modules/mavlink/mavlink_tests/mavlink_tests.cpp
View File

@ -43,10 +43,5 @@ extern "C" __EXPORT int mavlink_tests_main(int argc, char *argv[]);
int mavlink_tests_main(int argc, char *argv[])
{
MavlinkFtpTest* test = new MavlinkFtpTest;
test->runTests();
test->printResults();
return 0;
return mavlink_ftp_test() ? 0 : -1;
}

2
src/modules/mavlink/mavlink_tests/module.mk
View File

@ -45,4 +45,6 @@ INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink
MODULE_STACKSIZE = 5000
MAXOPTIMIZATION = -Os
EXTRACXXFLAGS = -Weffc++ -DMAVLINK_FTP_UNIT_TEST

248
src/modules/mc_pos_control/mc_pos_control_main.cpp
View File

@ -76,6 +76,7 @@
#define TILT_COS_MAX 0.7f
#define SIGMA 0.000001f
#define MIN_DIST 0.01f
/**
* Multicopter position control app start / stop handling function
@ -179,6 +180,7 @@ private:
bool _reset_pos_sp;
bool _reset_alt_sp;
bool _mode_auto;
math::Vector<3> _pos;
math::Vector<3> _pos_sp;
@ -219,6 +221,11 @@ private:
*/
void reset_alt_sp();
/**
* Check if position setpoint is too far from current position and adjust it if needed.
*/
void limit_pos_sp_offset();
/**
* Set position setpoint using manual control
*/
@ -229,6 +236,14 @@ private:
*/
void control_offboard(float dt);
bool cross_sphere_line(const math::Vector<3>& sphere_c, float sphere_r,
const math::Vector<3> line_a, const math::Vector<3> line_b, math::Vector<3>& res);
/**
* Set position setpoint for AUTO
*/
void control_auto(float dt);
/**
* Select between barometric and global (AMSL) altitudes
*/
@ -283,7 +298,8 @@ MulticopterPositionControl::MulticopterPositionControl() :
_ref_timestamp(0),
_reset_pos_sp(true),
_reset_alt_sp(true)
_reset_alt_sp(true),
_mode_auto(false)
{
memset(&_att, 0, sizeof(_att));
memset(&_att_sp, 0, sizeof(_att_sp));
@ -533,6 +549,29 @@ MulticopterPositionControl::reset_alt_sp()
}
}
void
MulticopterPositionControl::limit_pos_sp_offset()
{
math::Vector<3> pos_sp_offs;
pos_sp_offs.zero();
if (_control_mode.flag_control_position_enabled) {
pos_sp_offs(0) = (_pos_sp(0) - _pos(0)) / _params.sp_offs_max(0);
pos_sp_offs(1) = (_pos_sp(1) - _pos(1)) / _params.sp_offs_max(1);
}
if (_control_mode.flag_control_altitude_enabled) {
pos_sp_offs(2) = (_pos_sp(2) - _pos(2)) / _params.sp_offs_max(2);
}
float pos_sp_offs_norm = pos_sp_offs.length();
if (pos_sp_offs_norm > 1.0f) {
pos_sp_offs /= pos_sp_offs_norm;
_pos_sp = _pos + pos_sp_offs.emult(_params.sp_offs_max);
}
}
void
MulticopterPositionControl::control_manual(float dt)
{
@ -647,6 +686,170 @@ MulticopterPositionControl::control_offboard(float dt)
}
}
bool
MulticopterPositionControl::cross_sphere_line(const math::Vector<3>& sphere_c, float sphere_r,
const math::Vector<3> line_a, const math::Vector<3> line_b, math::Vector<3>& res)
{
/* project center of sphere on line */
/* normalized AB */
math::Vector<3> ab_norm = line_b - line_a;
ab_norm.normalize();
math::Vector<3> d = line_a + ab_norm * ((sphere_c - line_a) * ab_norm);
float cd_len = (sphere_c - d).length();
/* we have triangle CDX with known CD and CX = R, find DX */
if (sphere_r > cd_len) {
/* have two roots, select one in A->B direction from D */
float dx_len = sqrtf(sphere_r * sphere_r - cd_len * cd_len);
res = d + ab_norm * dx_len;
return true;
} else {
/* have no roots, return D */
res = d;
return false;
}
}
void
MulticopterPositionControl::control_auto(float dt)
{
if (!_mode_auto) {
_mode_auto = true;
/* reset position setpoint on AUTO mode activation */
reset_pos_sp();
reset_alt_sp();
}
bool updated;
orb_check(_pos_sp_triplet_sub, &updated);
if (updated) {
orb_copy(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_sub, &_pos_sp_triplet);
}
if (_pos_sp_triplet.current.valid) {
/* in case of interrupted mission don't go to waypoint but stay at current position */
_reset_pos_sp = true;
_reset_alt_sp = true;
/* project setpoint to local frame */
math::Vector<3> curr_sp;
map_projection_project(&_ref_pos,
_pos_sp_triplet.current.lat, _pos_sp_triplet.current.lon,
&curr_sp.data[0], &curr_sp.data[1]);
curr_sp(2) = -(_pos_sp_triplet.current.alt - _ref_alt);
/* scaled space: 1 == position error resulting max allowed speed, L1 = 1 in this space */
math::Vector<3> scale = _params.pos_p.edivide(_params.vel_max); // TODO add mult param here
/* convert current setpoint to scaled space */
math::Vector<3> curr_sp_s = curr_sp.emult(scale);
/* by default use current setpoint as is */
math::Vector<3> pos_sp_s = curr_sp_s;
if (_pos_sp_triplet.current.type == SETPOINT_TYPE_POSITION && _pos_sp_triplet.previous.valid) {
/* follow "previous - current" line */
math::Vector<3> prev_sp;
map_projection_project(&_ref_pos,
_pos_sp_triplet.previous.lat, _pos_sp_triplet.previous.lon,
&prev_sp.data[0], &prev_sp.data[1]);
prev_sp(2) = -(_pos_sp_triplet.previous.alt - _ref_alt);
if ((curr_sp - prev_sp).length() > MIN_DIST) {
/* find X - cross point of L1 sphere and trajectory */
math::Vector<3> pos_s = _pos.emult(scale);
math::Vector<3> prev_sp_s = prev_sp.emult(scale);
math::Vector<3> prev_curr_s = curr_sp_s - prev_sp_s;
math::Vector<3> curr_pos_s = pos_s - curr_sp_s;
float curr_pos_s_len = curr_pos_s.length();
if (curr_pos_s_len < 1.0f) {
/* copter is closer to waypoint than L1 radius */
/* check next waypoint and use it to avoid slowing down when passing via waypoint */
if (_pos_sp_triplet.next.valid) {
math::Vector<3> next_sp;
map_projection_project(&_ref_pos,
_pos_sp_triplet.next.lat, _pos_sp_triplet.next.lon,
&next_sp.data[0], &next_sp.data[1]);
next_sp(2) = -(_pos_sp_triplet.next.alt - _ref_alt);
if ((next_sp - curr_sp).length() > MIN_DIST) {
math::Vector<3> next_sp_s = next_sp.emult(scale);
/* calculate angle prev - curr - next */
math::Vector<3> curr_next_s = next_sp_s - curr_sp_s;
math::Vector<3> prev_curr_s_norm = prev_curr_s.normalized();
/* cos(a) * curr_next, a = angle between current and next trajectory segments */
float cos_a_curr_next = prev_curr_s_norm * curr_next_s;
/* cos(b), b = angle pos - curr_sp - prev_sp */
float cos_b = -curr_pos_s * prev_curr_s_norm / curr_pos_s_len;
if (cos_a_curr_next > 0.0f && cos_b > 0.0f) {
float curr_next_s_len = curr_next_s.length();
/* if curr - next distance is larger than L1 radius, limit it */
if (curr_next_s_len > 1.0f) {
cos_a_curr_next /= curr_next_s_len;
}
/* feed forward position setpoint offset */
math::Vector<3> pos_ff = prev_curr_s_norm *
cos_a_curr_next * cos_b * cos_b * (1.0f - curr_pos_s_len) *
(1.0f - expf(-curr_pos_s_len * curr_pos_s_len * 20.0f));
pos_sp_s += pos_ff;
}
}
}
} else {
bool near = cross_sphere_line(pos_s, 1.0f, prev_sp_s, curr_sp_s, pos_sp_s);
if (near) {
/* L1 sphere crosses trajectory */
} else {
/* copter is too far from trajectory */
/* if copter is behind prev waypoint, go directly to prev waypoint */
if ((pos_sp_s - prev_sp_s) * prev_curr_s < 0.0f) {
pos_sp_s = prev_sp_s;
}
/* if copter is in front of curr waypoint, go directly to curr waypoint */
if ((pos_sp_s - curr_sp_s) * prev_curr_s > 0.0f) {
pos_sp_s = curr_sp_s;
}
pos_sp_s = pos_s + (pos_sp_s - pos_s).normalized();
}
}
}
}
/* move setpoint not faster than max allowed speed */
math::Vector<3> pos_sp_old_s = _pos_sp.emult(scale);
/* difference between current and desired position setpoints, 1 = max speed */
math::Vector<3> d_pos_m = (pos_sp_s - pos_sp_old_s).edivide(_params.pos_p);
float d_pos_m_len = d_pos_m.length();
if (d_pos_m_len > dt) {
pos_sp_s = pos_sp_old_s + (d_pos_m / d_pos_m_len * dt).emult(_params.pos_p);
}
/* scale result back to normal space */
_pos_sp = pos_sp_s.edivide(scale);
/* update yaw setpoint if needed */
if (isfinite(_pos_sp_triplet.current.yaw)) {
_att_sp.yaw_body = _pos_sp_triplet.current.yaw;
}
} else {
/* no waypoint, do nothing, setpoint was already reset */
}
}
void
MulticopterPositionControl::task_main()
{
@ -750,41 +953,16 @@ MulticopterPositionControl::task_main()
if (_control_mode.flag_control_manual_enabled) {
/* manual control */
control_manual(dt);
_mode_auto = false;
} else if (_control_mode.flag_control_offboard_enabled) {
/* offboard control */
control_offboard(dt);
_mode_auto = false;
} else {
/* AUTO */
bool updated;
orb_check(_pos_sp_triplet_sub, &updated);
if (updated) {
orb_copy(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_sub, &_pos_sp_triplet);
}
if (_pos_sp_triplet.current.valid) {
/* in case of interrupted mission don't go to waypoint but stay at current position */
_reset_pos_sp = true;
_reset_alt_sp = true;
/* project setpoint to local frame */
map_projection_project(&_ref_pos,
_pos_sp_triplet.current.lat, _pos_sp_triplet.current.lon,
&_pos_sp.data[0], &_pos_sp.data[1]);
_pos_sp(2) = -(_pos_sp_triplet.current.alt - _ref_alt);
/* update yaw setpoint if needed */
if (isfinite(_pos_sp_triplet.current.yaw)) {
_att_sp.yaw_body = _pos_sp_triplet.current.yaw;
}
} else {
/* no waypoint, loiter, reset position setpoint if needed */
reset_pos_sp();
reset_alt_sp();
}
control_auto(dt);
}
/* fill local position setpoint */
@ -846,16 +1024,6 @@ MulticopterPositionControl::task_main()
_vel_sp(2) = _params.land_speed;
}
if (!_control_mode.flag_control_manual_enabled) {
/* limit 3D speed only in non-manual modes */
float vel_sp_norm = _vel_sp.edivide(_params.vel_max).length();
if (vel_sp_norm > 1.0f) {
_vel_sp /= vel_sp_norm;
}
}
_global_vel_sp.vx = _vel_sp(0);
_global_vel_sp.vy = _vel_sp(1);
_global_vel_sp.vz = _vel_sp(2);
@ -1132,9 +1300,9 @@ MulticopterPositionControl::task_main()
/* position controller disabled, reset setpoints */
_reset_alt_sp = true;
_reset_pos_sp = true;
_mode_auto = false;
reset_int_z = true;
reset_int_xy = true;
}
/* reset altitude controller integral (hovering throttle) to manual throttle after manual throttle control */

97
src/modules/navigator/mission.cpp
View File

@ -37,6 +37,7 @@
*
* @author Julian Oes <julian@oes.ch>
* @author Thomas Gubler <thomasgubler@gmail.com>
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#include <sys/types.h>
@ -113,6 +114,7 @@ Mission::on_inactive()
update_offboard_mission();
}
/* require takeoff after non-loiter or landing */
if (!_navigator->get_can_loiter_at_sp() || _navigator->get_vstatus()->condition_landed) {
_need_takeoff = true;
}
@ -147,8 +149,19 @@ Mission::on_active()
/* lets check if we reached the current mission item */
if (_mission_type != MISSION_TYPE_NONE && is_mission_item_reached()) {
advance_mission();
set_mission_items();
if (_mission_item.autocontinue) {
/* switch to next waypoint if 'autocontinue' flag set */
advance_mission();
set_mission_items();
} else {
/* else just report that item reached */
if (_mission_type == MISSION_TYPE_OFFBOARD) {
if (!(_navigator->get_mission_result()->seq_reached == _current_offboard_mission_index && _navigator->get_mission_result()->reached)) {
set_mission_item_reached();
}
}
}
} else if (_mission_type != MISSION_TYPE_NONE &&_param_altmode.get() == MISSION_ALTMODE_FOH) {
altitude_sp_foh_update();
@ -221,7 +234,7 @@ Mission::update_offboard_mission()
_current_offboard_mission_index = 0;
}
report_current_offboard_mission_item();
set_current_offboard_mission_item();
}
@ -359,6 +372,10 @@ Mission::set_mission_items()
/* no mission available or mission finished, switch to loiter */
if (_mission_type != MISSION_TYPE_NONE) {
mavlink_log_critical(_navigator->get_mavlink_fd(), "mission finished, loitering");
/* use last setpoint for loiter */
_navigator->set_can_loiter_at_sp(true);
} else if (!user_feedback_done) {
/* only tell users that we got no mission if there has not been any
* better, more specific feedback yet
@ -375,10 +392,11 @@ Mission::set_mission_items()
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
pos_sp_triplet->next.valid = false;
/* reuse setpoint for LOITER only if it's not IDLE */
_navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == SETPOINT_TYPE_LOITER);
reset_mission_item_reached();
report_mission_finished();
set_mission_finished();
_navigator->set_position_setpoint_triplet_updated();
return;
@ -415,7 +433,7 @@ Mission::set_mission_items()
takeoff_alt += _navigator->get_home_position()->alt;
}
/* perform takeoff at least to NAV_TAKEOFF_ALT above home/ground, even if first waypoint is lower */
/* takeoff to at least NAV_TAKEOFF_ALT above home/ground, even if first waypoint is lower */
if (_navigator->get_vstatus()->condition_landed) {
takeoff_alt = fmaxf(takeoff_alt, _navigator->get_global_position()->alt + _param_takeoff_alt.get());
@ -423,32 +441,46 @@ Mission::set_mission_items()
takeoff_alt = fmaxf(takeoff_alt, _navigator->get_home_position()->alt + _param_takeoff_alt.get());
}
mavlink_log_critical(_navigator->get_mavlink_fd(), "takeoff to %.1f meters above home", (double)(takeoff_alt - _navigator->get_home_position()->alt));
/* check if we already above takeoff altitude */
if (_navigator->get_global_position()->alt < takeoff_alt - _navigator->get_acceptance_radius()) {
mavlink_log_critical(_navigator->get_mavlink_fd(), "takeoff to %.1f meters above home", (double)(takeoff_alt - _navigator->get_home_position()->alt));
_mission_item.lat = _navigator->get_global_position()->lat;
_mission_item.lon = _navigator->get_global_position()->lon;
_mission_item.altitude = takeoff_alt;
_mission_item.altitude_is_relative = false;
_mission_item.nav_cmd = NAV_CMD_TAKEOFF;
_mission_item.lat = _navigator->get_global_position()->lat;
_mission_item.lon = _navigator->get_global_position()->lon;
_mission_item.altitude = takeoff_alt;
_mission_item.altitude_is_relative = false;
_mission_item.autocontinue = true;
_mission_item.time_inside = 0;
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
} else {
/* set current position setpoint from mission item */
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
_navigator->set_position_setpoint_triplet_updated();
return;
/* require takeoff after landing or idle */
if (pos_sp_triplet->current.type == SETPOINT_TYPE_LAND || pos_sp_triplet->current.type == SETPOINT_TYPE_IDLE) {
_need_takeoff = true;
} else {
/* skip takeoff */
_takeoff = false;
}
}
_navigator->set_can_loiter_at_sp(false);
reset_mission_item_reached();
/* set current position setpoint from mission item */
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
if (_mission_type == MISSION_TYPE_OFFBOARD) {
report_current_offboard_mission_item();
}
// TODO: report onboard mission item somehow
/* require takeoff after landing or idle */
if (pos_sp_triplet->current.type == SETPOINT_TYPE_LAND || pos_sp_triplet->current.type == SETPOINT_TYPE_IDLE) {
_need_takeoff = true;
}
_navigator->set_can_loiter_at_sp(false);
reset_mission_item_reached();
if (_mission_type == MISSION_TYPE_OFFBOARD) {
set_current_offboard_mission_item();
}
// TODO: report onboard mission item somehow
if (_mission_item.autocontinue && _mission_item.time_inside <= 0.001f) {
/* try to read next mission item */
struct mission_item_s mission_item_next;
@ -460,6 +492,10 @@ Mission::set_mission_items()
/* next mission item is not available */
pos_sp_triplet->next.valid = false;
}
} else {
/* vehicle will be paused on current waypoint, don't set next item */
pos_sp_triplet->next.valid = false;
}
/* Save the distance between the current sp and the previous one */
@ -666,19 +702,19 @@ Mission::save_offboard_mission_state()
}
void
Mission::report_mission_item_reached()
Mission::set_mission_item_reached()
{
if (_mission_type == MISSION_TYPE_OFFBOARD) {
_navigator->get_mission_result()->reached = true;
_navigator->get_mission_result()->seq_reached = _current_offboard_mission_index;
}
_navigator->get_mission_result()->reached = true;
_navigator->get_mission_result()->seq_reached = _current_offboard_mission_index;
_navigator->publish_mission_result();
}
void
Mission::report_current_offboard_mission_item()
Mission::set_current_offboard_mission_item()
{
warnx("current offboard mission index: %d", _current_offboard_mission_index);
_navigator->get_mission_result()->reached = false;
_navigator->get_mission_result()->finished = false;
_navigator->get_mission_result()->seq_current = _current_offboard_mission_index;
_navigator->publish_mission_result();
@ -686,9 +722,8 @@ Mission::report_current_offboard_mission_item()
}
void
Mission::report_mission_finished()
Mission::set_mission_finished()
{
_navigator->get_mission_result()->finished = true;
_navigator->publish_mission_result();
}

17
src/modules/navigator/mission.h
View File

@ -37,6 +37,7 @@
*
* @author Julian Oes <julian@oes.ch>
* @author Thomas Gubler <thomasgubler@gmail.com>
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#ifndef NAVIGATOR_MISSION_H
@ -130,19 +131,19 @@ private:
void save_offboard_mission_state();
/**
* Report that a mission item has been reached
* Set a mission item as reached
*/
void report_mission_item_reached();
void set_mission_item_reached();
/**
* Rport the current mission item
* Set the current offboard mission item
*/
void report_current_offboard_mission_item();
void set_current_offboard_mission_item();
/**
* Report that the mission is finished if one exists or that none exists
* Set that the mission is finished if one exists or that none exists
*/
void report_mission_finished();
void set_mission_finished();
control::BlockParamInt _param_onboard_enabled;
control::BlockParamFloat _param_takeoff_alt;
@ -154,8 +155,8 @@ private:
int _current_onboard_mission_index;
int _current_offboard_mission_index;
bool _need_takeoff;
bool _takeoff;
bool _need_takeoff; /**< if true, then takeoff must be performed before going to the first waypoint (if needed) */
bool _takeoff; /**< takeoff state flag */
enum {
MISSION_TYPE_NONE,

2
src/modules/navigator/module.mk
View File

@ -63,3 +63,5 @@ INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink
MODULE_STACKSIZE = 1200
EXTRACXXFLAGS = -Weffc++
MAXOPTIMIZATION = -Os

24
src/modules/unit_test/unit_test.cpp
View File

@ -36,7 +36,11 @@
#include <systemlib/err.h>
UnitTest::UnitTest()
UnitTest::UnitTest() :
_tests_run(0),
_tests_failed(0),
_tests_passed(0),
_assertions(0)
{
}
@ -44,20 +48,22 @@ UnitTest::~UnitTest()
{
}
void UnitTest::printResults(void)
void UnitTest::print_results(void)
{
warnx(mu_tests_failed() ? "SOME TESTS FAILED" : "ALL TESTS PASSED");
warnx(" Tests passed : %d", mu_tests_passed());
warnx(" Tests failed : %d", mu_tests_failed());
warnx(" Assertions : %d", mu_assertion());
warnx(_tests_failed ? "SOME TESTS FAILED" : "ALL TESTS PASSED");
warnx(" Tests passed : %d", _tests_passed);
warnx(" Tests failed : %d", _tests_failed);
warnx(" Assertions : %d", _assertions);
}
void UnitTest::printAssert(const char* msg, const char* test, const char* file, int line)
/// @brief Used internally to the ut_assert macro to print assert failures.
void UnitTest::_print_assert(const char* msg, const char* test, const char* file, int line)
{
warnx("Assertion failed: %s - %s (%s:%d)", msg, test, file, line);
warnx("Assertion failed: %s - %s (%s:%d)", msg, test, file, line);
}
void UnitTest::printCompare(const char* msg, const char *v1_text, int v1, const char *v2_text, int v2, const char* file, int line)
/// @brief Used internally to the ut_compare macro to print assert failures.
void UnitTest::_print_compare(const char* msg, const char *v1_text, int v1, const char *v2_text, int v2, const char* file, int line)
{
warnx("Compare failed: %s - (%s:%d) (%s:%d) (%s:%d)", msg, v1_text, v1, v2_text, v2, file, line);
}

125
src/modules/unit_test/unit_test.h
View File

@ -37,68 +37,85 @@
#include <systemlib/err.h>
/// @brief Base class to be used for unit tests.
class __EXPORT UnitTest
{
public:
#define INLINE_GLOBAL(type,func) inline type& func() { static type x; return x; }
INLINE_GLOBAL(int, mu_tests_run)
INLINE_GLOBAL(int, mu_tests_failed)
INLINE_GLOBAL(int, mu_tests_passed)
INLINE_GLOBAL(int, mu_assertion)
INLINE_GLOBAL(int, mu_line)
INLINE_GLOBAL(const char*, mu_last_test)
UnitTest();
virtual ~UnitTest();
virtual ~UnitTest();
virtual void init(void) { };
virtual void cleanup(void) { };
virtual void runTests(void) = 0;
void printResults(void);
void printAssert(const char* msg, const char* test, const char* file, int line);
void printCompare(const char* msg, const char *v1_text, int v1, const char *v2_text, int v2, const char* file, int line);
#define ut_assert(message, test) \
do { \
if (!(test)) { \
printAssert(message, #test, __FILE__, __LINE__); \
return false; \
} else { \
mu_assertion()++; \
} \
} while (0)
#define ut_compare(message, v1, v2) \
do { \
int _v1 = v1; \
int _v2 = v2; \
if (_v1 != _v2) { \
printCompare(message, #v1, _v1, #v2, _v2, __FILE__, __LINE__); \
return false; \
} else { \
mu_assertion()++; \
} \
/// @brief Override to run your unit tests. Unit tests should be called using ut_run_test macro.
/// @return true: all unit tests succeeded, false: one or more unit tests failed
virtual bool run_tests(void) = 0;
/// @brief Prints results from running of unit tests.
void print_results(void);
/// @brief Macro to create a function which will run a unit test class and print results.
#define ut_declare_test(test_function, test_class) \
bool test_function(void) \
{ \
test_class* test = new test_class(); \
bool success = test->run_tests(); \
test->print_results(); \
return success; \
}
protected:
/// @brief Runs a single unit test. Unit tests must have the function signature of bool test(void). The unit
/// test should return true if it succeeded, false for fail.
#define ut_run_test(test) \
do { \
warnx("RUNNING TEST: %s", #test); \
_tests_run++; \
_init(); \
if (!test()) { \
warnx("TEST FAILED: %s", #test); \
_tests_failed++; \
} else { \
warnx("TEST PASSED: %s", #test); \
_tests_passed++; \
} \
_cleanup(); \
} while (0)
#define ut_run_test(test) \
do { \
warnx("RUNNING TEST: %s", #test); \
mu_tests_run()++; \
init(); \
if (!test()) { \
warnx("TEST FAILED: %s", #test); \
mu_tests_failed()++; \
} else { \
warnx("TEST PASSED: %s", #test); \
mu_tests_passed()++; \
} \
cleanup(); \
} while (0)
/// @brief Used to assert a value within a unit test.
#define ut_assert(message, test) \
do { \
if (!(test)) { \
_print_assert(message, #test, __FILE__, __LINE__); \
return false; \
} else { \
_assertions++; \
} \
} while (0)
/// @brief Used to compare two integer values within a unit test. If possible use ut_compare instead of ut_assert
/// since it will give you better error reporting of the actual values being compared.
#define ut_compare(message, v1, v2) \
do { \
int _v1 = v1; \
int _v2 = v2; \
if (_v1 != _v2) { \
_print_compare(message, #v1, _v1, #v2, _v2, __FILE__, __LINE__); \
return false; \
} else { \
_assertions++; \
} \
} while (0)
virtual void _init(void) { }; ///< Run before each unit test. Override to provide custom behavior.
virtual void _cleanup(void) { }; ///< Run after each unit test. Override to provide custom behavior.
void _print_assert(const char* msg, const char* test, const char* file, int line);
void _print_compare(const char* msg, const char *v1_text, int v1, const char *v2_text, int v2, const char* file, int line);
int _tests_run; ///< The number of individual unit tests run
int _tests_failed; ///< The number of unit tests which failed
int _tests_passed; ///< The number of unit tests which passed
int _assertions; ///< Total number of assertions tested by all unit tests
};
#endif /* UNIT_TEST_H_ */