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Merge remote-tracking branch 'px4/master' into navigator_new

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This commit is contained in:
Julian Oes
2013-12-29 14:48:54 +01:00
parent 7e29028429 31f808d872
commit c1e50b8a1f
16 changed files with 477 additions and 98 deletions
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src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
+11 -9
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@@ -52,11 +52,13 @@ PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q3, 0.005f);
PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q4, 0.0f);
/* gyro measurement noise */
PARAM_DEFINE_FLOAT(EKF_ATT_V3_R0, 0.0008f);
PARAM_DEFINE_FLOAT(EKF_ATT_V3_R1, 10000.0f);
PARAM_DEFINE_FLOAT(EKF_ATT_V3_R2, 1.0f);
/* accelerometer measurement noise */
PARAM_DEFINE_FLOAT(EKF_ATT_V3_R3, 0.0f);
PARAM_DEFINE_FLOAT(EKF_ATT_V4_R0, 0.0008f);
/* accel measurement noise */
PARAM_DEFINE_FLOAT(EKF_ATT_V4_R1, 10000.0f);
/* mag measurement noise */
PARAM_DEFINE_FLOAT(EKF_ATT_V4_R2, 100.0f);
/* offset estimation - UNUSED */
PARAM_DEFINE_FLOAT(EKF_ATT_V4_R3, 0.0f);
/* offsets in roll, pitch and yaw of sensor plane and body */
PARAM_DEFINE_FLOAT(ATT_ROLL_OFF3, 0.0f);
@@ -72,10 +74,10 @@ int parameters_init(struct attitude_estimator_ekf_param_handles *h)
h->q3 = param_find("EKF_ATT_V3_Q3");
h->q4 = param_find("EKF_ATT_V3_Q4");
h->r0 = param_find("EKF_ATT_V3_R0");
h->r1 = param_find("EKF_ATT_V3_R1");
h->r2 = param_find("EKF_ATT_V3_R2");
h->r3 = param_find("EKF_ATT_V3_R3");
h->r0 = param_find("EKF_ATT_V4_R0");
h->r1 = param_find("EKF_ATT_V4_R1");
h->r2 = param_find("EKF_ATT_V4_R2");
h->r3 = param_find("EKF_ATT_V4_R3");
h->roll_off = param_find("ATT_ROLL_OFF3");
h->pitch_off = param_find("ATT_PITCH_OFF3");
src/modules/px4iofirmware/controls.c
+10 -6
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@@ -50,7 +50,7 @@
#define RC_CHANNEL_HIGH_THRESH 5000
#define RC_CHANNEL_LOW_THRESH -5000
static bool ppm_input(uint16_t *values, uint16_t *num_values);
static bool ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len);
static perf_counter_t c_gather_dsm;
static perf_counter_t c_gather_sbus;
@@ -94,7 +94,7 @@ controls_tick() {
* other. Don't do that.
*/
/* receive signal strenght indicator (RSSI). 0 = no connection, 1000: perfect connection */
/* receive signal strenght indicator (RSSI). 0 = no connection, 255: perfect connection */
uint16_t rssi = 0;
perf_begin(c_gather_dsm);
@@ -108,7 +108,7 @@ controls_tick() {
else
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_RC_DSM11;
rssi = 1000;
rssi = 255;
}
perf_end(c_gather_dsm);
@@ -125,11 +125,11 @@ controls_tick() {
* disable the PPM decoder completely if we have S.bus signal.
*/
perf_begin(c_gather_ppm);
bool ppm_updated = ppm_input(r_raw_rc_values, &r_raw_rc_count);
bool ppm_updated = ppm_input(r_raw_rc_values, &r_raw_rc_count, &r_page_status[PX4IO_P_STATUS_RC_DATA]);
if (ppm_updated) {
/* XXX sample RSSI properly here */
rssi = 1000;
rssi = 255;
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_PPM;
}
@@ -321,7 +321,7 @@ controls_tick() {
}
static bool
ppm_input(uint16_t *values, uint16_t *num_values)
ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len)
{
bool result = false;
@@ -345,6 +345,10 @@ ppm_input(uint16_t *values, uint16_t *num_values)
/* clear validity */
ppm_last_valid_decode = 0;
/* store PPM frame length */
if (num_values)
*frame_len = ppm_frame_length;
/* good if we got any channels */
result = (*num_values > 0);
}
src/modules/px4iofirmware/protocol.h
+2 -1
View File
@@ -128,7 +128,8 @@
#define PX4IO_P_STATUS_VSERVO 6 /* [2] servo rail voltage in mV */
#define PX4IO_P_STATUS_VRSSI 7 /* [2] RSSI voltage */
#define PX4IO_P_STATUS_PRSSI 8 /* [2] RSSI PWM value */
#define PX4IO_P_STATUS_NRSSI 9 /* [2] Normalized RSSI value, 0: no reception, 1000: perfect reception */
#define PX4IO_P_STATUS_NRSSI 9 /* [2] Normalized RSSI value, 0: no reception, 255: perfect reception */
#define PX4IO_P_STATUS_RC_DATA 10 /* [1] + [2] Details about the RC source (PPM frame length, Spektrum protocol type) */
/* array of post-mix actuator outputs, -10000..10000 */
#define PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */
src/modules/px4iofirmware/registers.c
+9 -3
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@@ -89,7 +89,9 @@ uint16_t r_page_status[] = {
[PX4IO_P_STATUS_IBATT] = 0,
[PX4IO_P_STATUS_VSERVO] = 0,
[PX4IO_P_STATUS_VRSSI] = 0,
[PX4IO_P_STATUS_PRSSI] = 0
[PX4IO_P_STATUS_PRSSI] = 0,
[PX4IO_P_STATUS_NRSSI] = 0,
[PX4IO_P_STATUS_RC_DATA] = 0
};
/**
@@ -582,6 +584,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
/* this option is normally set last */
if (value & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) {
uint8_t count = 0;
bool disabled = false;
/* assert min..center..max ordering */
if (conf[PX4IO_P_RC_CONFIG_MIN] < 500) {
@@ -600,7 +603,10 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
if (conf[PX4IO_P_RC_CONFIG_DEADZONE] > 500) {
count++;
}
if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_RC_MAPPED_CONTROL_CHANNELS) {
if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] == UINT8_MAX) {
disabled = true;
} else if ((int)(conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]) < 0 || conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_RC_MAPPED_CONTROL_CHANNELS) {
count++;
}
@@ -608,7 +614,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
if (count) {
isr_debug(0, "ERROR: %d config error(s) for RC%d.\n", count, (channel + 1));
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_INIT_OK;
} else {
} else if (!disabled) {
conf[index] |= PX4IO_P_RC_CONFIG_OPTIONS_ENABLED;
}
}
src/modules/px4iofirmware/sbus.c
+1 -1
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@@ -280,7 +280,7 @@ sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint
*rssi = 100; // XXX magic number indicating bad signal, but not a signal loss (yet)
}
*rssi = 1000;
*rssi = 255;
return true;
}
src/modules/sensors/sensor_params.c
+8 -8
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@@ -104,49 +104,49 @@ PARAM_DEFINE_FLOAT(RC1_MIN, 1000.0f);
PARAM_DEFINE_FLOAT(RC1_TRIM, 1500.0f);
PARAM_DEFINE_FLOAT(RC1_MAX, 2000.0f);
PARAM_DEFINE_FLOAT(RC1_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC1_DZ, 0.0f);
PARAM_DEFINE_FLOAT(RC1_DZ, 10.0f);
PARAM_DEFINE_FLOAT(RC2_MIN, 1000);
PARAM_DEFINE_FLOAT(RC2_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC2_MAX, 2000);
PARAM_DEFINE_FLOAT(RC2_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC2_DZ, 0.0f);
PARAM_DEFINE_FLOAT(RC2_DZ, 10.0f);
PARAM_DEFINE_FLOAT(RC3_MIN, 1000);
PARAM_DEFINE_FLOAT(RC3_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC3_MAX, 2000);
PARAM_DEFINE_FLOAT(RC3_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC3_DZ, 0.0f);
PARAM_DEFINE_FLOAT(RC3_DZ, 10.0f);
PARAM_DEFINE_FLOAT(RC4_MIN, 1000);
PARAM_DEFINE_FLOAT(RC4_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC4_MAX, 2000);
PARAM_DEFINE_FLOAT(RC4_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC4_DZ, 30.0f);
PARAM_DEFINE_FLOAT(RC4_DZ, 10.0f);
PARAM_DEFINE_FLOAT(RC5_MIN, 1000);
PARAM_DEFINE_FLOAT(RC5_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC5_MAX, 2000);
PARAM_DEFINE_FLOAT(RC5_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC5_DZ, 0.0f);
PARAM_DEFINE_FLOAT(RC5_DZ, 10.0f);
PARAM_DEFINE_FLOAT(RC6_MIN, 1000);
PARAM_DEFINE_FLOAT(RC6_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC6_MAX, 2000);
PARAM_DEFINE_FLOAT(RC6_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC6_DZ, 0.0f);
PARAM_DEFINE_FLOAT(RC6_DZ, 10.0f);
PARAM_DEFINE_FLOAT(RC7_MIN, 1000);
PARAM_DEFINE_FLOAT(RC7_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC7_MAX, 2000);
PARAM_DEFINE_FLOAT(RC7_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC7_DZ, 0.0f);
PARAM_DEFINE_FLOAT(RC7_DZ, 10.0f);
PARAM_DEFINE_FLOAT(RC8_MIN, 1000);
PARAM_DEFINE_FLOAT(RC8_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC8_MAX, 2000);
PARAM_DEFINE_FLOAT(RC8_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC8_DZ, 0.0f);
PARAM_DEFINE_FLOAT(RC8_DZ, 10.0f);
PARAM_DEFINE_FLOAT(RC9_MIN, 1000);
PARAM_DEFINE_FLOAT(RC9_TRIM, 1500);
src/modules/systemlib/ppm_decode.h
+1
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@@ -57,6 +57,7 @@ __BEGIN_DECLS
* PPM decoder state
*/
__EXPORT extern uint16_t ppm_buffer[PPM_MAX_CHANNELS]; /**< decoded PPM channel values */
__EXPORT extern uint16_t ppm_frame_length; /**< length of the decoded PPM frame (includes gap) */
__EXPORT extern unsigned ppm_decoded_channels; /**< count of decoded channels */
__EXPORT extern hrt_abstime ppm_last_valid_decode; /**< timestamp of the last valid decode */