fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'multirotor' of github.com:cvg/Firmware_Private into multirotor

Browse Source
This commit is contained in:
Lorenz Meier 2013-08-25 16:33:24 +02:00
commit bb5819a13f
3 changed files with 80 additions and 57 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

33
ROMFS/px4fmu_common/init.d/01_fmu_quad_x
View File

@ -62,44 +62,21 @@ param set MAV_TYPE 2
#
mavlink start -d /dev/ttyS0 -b 57600
usleep 5000
#
# Start the sensors and test them.
#
sh /etc/init.d/rc.sensors
#
# Start the commander.
#
commander start
#
# Start GPS interface (depends on orb)
# Start common for all multirotors apps
#
gps start
sh /etc/init.d/rc.multirotor
#
# Start the attitude estimator
# Start PWM output
#
attitude_estimator_ekf start
echo "[init] starting PWM output"
fmu mode_pwm
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
pwm -u 400 -m 0xff
#
# Start attitude control
#
multirotor_att_control start
#
# Start logging
#
sdlog2 start -r 50 -a -b 14
# Try to get an USB console
nshterm /dev/ttyACM0 &
# Exit, because /dev/ttyS0 is needed for MAVLink
exit
#exit

49
ROMFS/px4fmu_common/init.d/rc.multirotor Normal file
View File

@ -0,0 +1,49 @@
#!nsh
#
# Standard everything needed for multirotors except mixer, output and mavlink
#
#
# Start the sensors and test them.
#
sh /etc/init.d/rc.sensors
#
# Start the commander.
#
commander start
#
# Start GPS interface (depends on orb)
#
gps start
#
# Start the attitude estimator
#
attitude_estimator_ekf start
#
# Start position estimator
#
position_estimator_inav start
#
# Start attitude control
#
multirotor_att_control start
#
# Start position control
#
multirotor_pos_control start
#
# Start logging
#
if [ $BOARD == fmuv1 ]
then
sdlog2 start -r 50 -a -b 16
else
sdlog2 start -r 200 -a -b 16
fi

55
src/modules/commander/commander.cpp
View File

@ -1023,46 +1023,42 @@ int commander_thread_main(int argc, char *argv[])
/* arm/disarm by RC */
res = TRANSITION_NOT_CHANGED;
/* check if left stick is in lower left position and we are in MANUAL or AUTO mode -> disarm
/* check if left stick is in lower left position and we are in MANUAL or AUTO_READY mode or (ASSISTED mode and landed) -> disarm
* do it only for rotary wings */
if (status.is_rotary_wing &&
(status.arming_state == ARMING_STATE_ARMED || status.arming_state == ARMING_STATE_ARMED_ERROR) &&
(status.main_state == MAIN_STATE_MANUAL || status.navigation_state == NAVIGATION_STATE_AUTO_READY)) {
if (sp_man.yaw < -STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.1f) {
if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) {
/* disarm to STANDBY if ARMED or to STANDBY_ERROR if ARMED_ERROR */
arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR);
res = arming_state_transition(&status, &safety, new_arming_state, &armed);
stick_off_counter = 0;
} else {
stick_off_counter++;
}
stick_on_counter = 0;
(status.main_state == MAIN_STATE_MANUAL || status.navigation_state == NAVIGATION_STATE_AUTO_READY ||
(status.condition_landed && (
status.navigation_state == NAVIGATION_STATE_ALTHOLD ||
status.navigation_state == NAVIGATION_STATE_VECTOR
))) && sp_man.yaw < -STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.1f) {
if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) {
/* disarm to STANDBY if ARMED or to STANDBY_ERROR if ARMED_ERROR */
arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR);
res = arming_state_transition(&status, &safety, new_arming_state, &armed);
stick_off_counter = 0;
} else {
stick_off_counter = 0;
stick_off_counter++;
}
} else {
stick_off_counter = 0;
}
/* check if left stick is in lower right position and we're in manual mode -> arm */
/* check if left stick is in lower right position and we're in MANUAL mode -> arm */
if (status.arming_state == ARMING_STATE_STANDBY &&
status.main_state == MAIN_STATE_MANUAL) {
if (sp_man.yaw > STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.1f) {
if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) {
res = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed);
stick_on_counter = 0;
} else {
stick_on_counter++;
}
stick_off_counter = 0;
status.main_state == MAIN_STATE_MANUAL &&
sp_man.yaw > STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.1f) {
if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) {
res = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed);
stick_on_counter = 0;
} else {
stick_on_counter = 0;
stick_on_counter++;
}
} else {
stick_on_counter = 0;
}
if (res == TRANSITION_CHANGED) {
@ -1708,7 +1704,8 @@ void *commander_low_prio_loop(void *arg)
/* ignore commands the high-prio loop handles */
if (cmd.command == VEHICLE_CMD_DO_SET_MODE ||
cmd.command == VEHICLE_CMD_COMPONENT_ARM_DISARM)
cmd.command == VEHICLE_CMD_COMPONENT_ARM_DISARM ||
cmd.command == VEHICLE_CMD_NAV_TAKEOFF)
continue;
/* only handle low-priority commands here */