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supports MindPXv2 borad which is a product from AirMind.

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This commit is contained in:
Felix Hu
2016-03-12 12:50:14 +08:00
committed by Lorenz Meier
parent adab451013
commit bd580e09bf
49 changed files with 9941 additions and 49 deletions
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src/modules/commander/esc_calibration.cpp
+14 -1
View File
@@ -36,7 +36,7 @@
*
* Definition of esc calibration
*
* @author Roman Bapst <bapstr@ethz.ch>
* @author Roman Bapst <roman@px4.io>
*/
#include "esc_calibration.h"
@@ -65,6 +65,19 @@
#endif
static const int ERROR = -1;
int check_if_batt_disconnected(orb_advert_t *mavlink_log_pub) {
struct battery_status_s battery;
memset(&battery,0,sizeof(battery));
int batt_sub = orb_subscribe(ORB_ID(battery_status));
orb_copy(ORB_ID(battery_status), batt_sub, &battery);
if (battery.voltage_filtered_v > 3.0f && !(hrt_absolute_time() - battery.timestamp > 500000)) {
mavlink_log_info(mavlink_log_pub, "Please disconnect battery and try again!");
return ERROR;
}
return OK;
}
int do_esc_calibration(orb_advert_t *mavlink_log_pub, struct actuator_armed_s* armed)
{
int return_code = OK;
src/modules/commander/esc_calibration.h
+2 -1
View File
@@ -36,7 +36,7 @@
*
* Definition of esc calibration
*
* @author Roman Bapst <bapstr@ethz.ch>
* @author Roman Bapst <roman@px4.io>
*/
#ifndef ESC_CALIBRATION_H_
@@ -44,6 +44,7 @@
#include <uORB/topics/actuator_armed.h>
int check_if_batt_disconnected(orb_advert_t *mavlink_log_pub);
int do_esc_calibration(orb_advert_t *mavlink_log_pub, struct actuator_armed_s* armed);
#endif
src/modules/commander/state_machine_helper.cpp
+10 -2
View File
@@ -71,6 +71,14 @@
using namespace DriverFramework;
#endif
#ifdef CONFIG_ARCH_BOARD_MINDPX_V2
#define AVIONICS_ERROR_VOLTAGE 3.75f
#define AVIONICS_WARN_VOLTAGE 3.9f
#else
#define AVIONICS_ERROR_VOLTAGE 4.5f
#define AVIONICS_WARN_VOLTAGE 4.9f
#endif
// This array defines the arming state transitions. The rows are the new state, and the columns
// are the current state. Using new state and current state you can index into the array which
// will be true for a valid transition or false for a invalid transition. In some cases even
@@ -213,11 +221,11 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s
// are measured but are insufficient
if (status->condition_power_input_valid && (status->avionics_power_rail_voltage > 0.0f)) {
// Check avionics rail voltages
if (status->avionics_power_rail_voltage < 4.5f) {
if (status->avionics_power_rail_voltage < AVIONICS_ERROR_VOLTAGE) {
mavlink_and_console_log_critical(mavlink_log_pub, "NOT ARMING: Avionics power low: %6.2f Volt", (double)status->avionics_power_rail_voltage);
feedback_provided = true;
valid_transition = false;
} else if (status->avionics_power_rail_voltage < 4.9f) {
} else if (status->avionics_power_rail_voltage < AVIONICS_WARN_VOLTAGE) {
mavlink_and_console_log_critical(mavlink_log_pub, "CAUTION: Avionics power low: %6.2f Volt", (double)status->avionics_power_rail_voltage);
feedback_provided = true;
} else if (status->avionics_power_rail_voltage > 5.4f) {