fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-16 06:53:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge remote-tracking branch 'upstream/master'

Browse Source
This commit is contained in:
unknown
2013-07-09 17:10:49 -04:00
parent a9b327b1fe c3d07030dd
commit c264267814
7 changed files with 346 additions and 215 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
+24 -24
View File
@@ -44,42 +44,42 @@
/* Extended Kalman Filter covariances */
/* gyro process noise */
PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q0, 1e-4f);
PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q1, 0.08f);
PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q2, 0.009f);
PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q0, 1e-4f);
PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q1, 0.08f);
PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q2, 0.009f);
/* gyro offsets process noise */
PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q3, 0.005f);
PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q4, 0.0f);
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_V2_R0, 0.0008f);
PARAM_DEFINE_FLOAT(EKF_ATT_V2_R1, 0.8f);
PARAM_DEFINE_FLOAT(EKF_ATT_V2_R2, 1.0f);
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_V2_R3, 0.0f);
PARAM_DEFINE_FLOAT(EKF_ATT_V3_R3, 0.0f);
/* offsets in roll, pitch and yaw of sensor plane and body */
PARAM_DEFINE_FLOAT(ATT_ROLL_OFFS, 0.0f);
PARAM_DEFINE_FLOAT(ATT_PITCH_OFFS, 0.0f);
PARAM_DEFINE_FLOAT(ATT_YAW_OFFS, 0.0f);
PARAM_DEFINE_FLOAT(ATT_ROLL_OFF3, 0.0f);
PARAM_DEFINE_FLOAT(ATT_PITCH_OFF3, 0.0f);
PARAM_DEFINE_FLOAT(ATT_YAW_OFF3, 0.0f);
int parameters_init(struct attitude_estimator_ekf_param_handles *h)
{
/* PID parameters */
h->q0 = param_find("EKF_ATT_V2_Q0");
h->q1 = param_find("EKF_ATT_V2_Q1");
h->q2 = param_find("EKF_ATT_V2_Q2");
h->q3 = param_find("EKF_ATT_V2_Q3");
h->q4 = param_find("EKF_ATT_V2_Q4");
h->q0 = param_find("EKF_ATT_V3_Q0");
h->q1 = param_find("EKF_ATT_V3_Q1");
h->q2 = param_find("EKF_ATT_V3_Q2");
h->q3 = param_find("EKF_ATT_V3_Q3");
h->q4 = param_find("EKF_ATT_V3_Q4");
h->r0 = param_find("EKF_ATT_V2_R0");
h->r1 = param_find("EKF_ATT_V2_R1");
h->r2 = param_find("EKF_ATT_V2_R2");
h->r3 = param_find("EKF_ATT_V2_R3");
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->roll_off = param_find("ATT_ROLL_OFFS");
h->pitch_off = param_find("ATT_PITCH_OFFS");
h->yaw_off = param_find("ATT_YAW_OFFS");
h->roll_off = param_find("ATT_ROLL_OFF3");
h->pitch_off = param_find("ATT_PITCH_OFF3");
h->yaw_off = param_find("ATT_YAW_OFF3");
return OK;
}
src/modules/gpio_led/gpio_led.c
+89 -21
View File
@@ -54,9 +54,15 @@
#include <poll.h>
#include <drivers/drv_gpio.h>
#define PX4IO_RELAY1 (1<<0)
#define PX4IO_RELAY2 (1<<1)
#define PX4IO_ACC1 (1<<2)
#define PX4IO_ACC2 (1<<3)
struct gpio_led_s {
struct work_s work;
int gpio_fd;
bool use_io;
int pin;
struct vehicle_status_s status;
int vehicle_status_sub;
@@ -75,51 +81,97 @@ void gpio_led_cycle(FAR void *arg);
int gpio_led_main(int argc, char *argv[])
{
int pin = GPIO_EXT_1;
if (argc < 2) {
errx(1, "no argument provided. Try 'start' or 'stop' [-p 1/2]");
errx(1, "usage: gpio_led {start|stop} [-p <1|2|a1|a2|r1|r2>]\n"
"\t-p\tUse pin:\n"
"\t\t1\tPX4FMU GPIO_EXT1 (default)\n"
"\t\t2\tPX4FMU GPIO_EXT2\n"
"\t\ta1\tPX4IO ACC1\n"
"\t\ta2\tPX4IO ACC2\n"
"\t\tr1\tPX4IO RELAY1\n"
"\t\tr2\tPX4IO RELAY2");
} else {
/* START COMMAND HANDLING */
if (!strcmp(argv[1], "start")) {
if (gpio_led_started) {
errx(1, "already running");
}
bool use_io = false;
int pin = GPIO_EXT_1;
if (argc > 2) {
if (!strcmp(argv[1], "-p")) {
if (!strcmp(argv[2], "1")) {
if (!strcmp(argv[2], "-p")) {
if (!strcmp(argv[3], "1")) {
use_io = false;
pin = GPIO_EXT_1;
} else if (!strcmp(argv[2], "2")) {
} else if (!strcmp(argv[3], "2")) {
use_io = false;
pin = GPIO_EXT_2;
} else if (!strcmp(argv[3], "a1")) {
use_io = true;
pin = PX4IO_ACC1;
} else if (!strcmp(argv[3], "a2")) {
use_io = true;
pin = PX4IO_ACC2;
} else if (!strcmp(argv[3], "r1")) {
use_io = true;
pin = PX4IO_RELAY1;
} else if (!strcmp(argv[3], "r2")) {
use_io = true;
pin = PX4IO_RELAY2;
} else {
warnx("[gpio_led] Unsupported pin: %s\n", argv[2]);
exit(1);
errx(1, "unsupported pin: %s", argv[3]);
}
}
}
memset(&gpio_led_data, 0, sizeof(gpio_led_data));
gpio_led_data.use_io = use_io;
gpio_led_data.pin = pin;
int ret = work_queue(LPWORK, &gpio_led_data.work, gpio_led_start, &gpio_led_data, 0);
if (ret != 0) {
warnx("[gpio_led] Failed to queue work: %d\n", ret);
exit(1);
errx(1, "failed to queue work: %d", ret);
} else {
gpio_led_started = true;
char pin_name[24];
if (use_io) {
if (pin & (PX4IO_ACC1 | PX4IO_ACC2)) {
sprintf(pin_name, "PX4IO ACC%i", (pin >> 3));
} else {
sprintf(pin_name, "PX4IO RELAY%i", pin);
}
} else {
sprintf(pin_name, "PX4FMU GPIO_EXT%i", pin);
}
warnx("start, using pin: %s", pin_name);
}
exit(0);
/* STOP COMMAND HANDLING */
} else if (!strcmp(argv[1], "stop")) {
gpio_led_started = false;
if (gpio_led_started) {
gpio_led_started = false;
warnx("stop");
/* INVALID COMMAND */
} else {
errx(1, "not running");
}
} else {
errx(1, "unrecognized command '%s', only supporting 'start' or 'stop'", argv[1]);
@@ -131,11 +183,22 @@ void gpio_led_start(FAR void *arg)
{
FAR struct gpio_led_s *priv = (FAR struct gpio_led_s *)arg;
char *gpio_dev;
if (priv->use_io) {
gpio_dev = "/dev/px4io";
} else {
gpio_dev = "/dev/px4fmu";
}
/* open GPIO device */
priv->gpio_fd = open(GPIO_DEVICE_PATH, 0);
priv->gpio_fd = open(gpio_dev, 0);
if (priv->gpio_fd < 0) {
warnx("[gpio_led] GPIO: open fail\n");
// TODO find way to print errors
//printf("gpio_led: GPIO device \"%s\" open fail\n", gpio_dev);
gpio_led_started = false;
return;
}
@@ -150,11 +213,11 @@ void gpio_led_start(FAR void *arg)
int ret = work_queue(LPWORK, &priv->work, gpio_led_cycle, priv, 0);
if (ret != 0) {
warnx("[gpio_led] Failed to queue work: %d\n", ret);
// TODO find way to print errors
//printf("gpio_led: failed to queue work: %d\n", ret);
gpio_led_started = false;
return;
}
warnx("[gpio_led] Started, using pin GPIO_EXT%i\n", priv->pin);
}
void gpio_led_cycle(FAR void *arg)
@@ -211,7 +274,12 @@ void gpio_led_cycle(FAR void *arg)
if (priv->counter > 5)
priv->counter = 0;
/* repeat cycle at 5 Hz*/
if (gpio_led_started)
/* repeat cycle at 5 Hz */
if (gpio_led_started) {
work_queue(LPWORK, &priv->work, gpio_led_cycle, priv, USEC2TICK(200000));
} else {
/* switch off LED on stop */
ioctl(priv->gpio_fd, GPIO_CLEAR, priv->pin);
}
}
src/modules/systemlib/cpuload.c
+20 -20
View File
@@ -71,8 +71,6 @@ extern FAR struct _TCB *sched_gettcb(pid_t pid);
void cpuload_initialize_once()
{
// if (!system_load.initialized)
// {
system_load.start_time = hrt_absolute_time();
int i;
@@ -80,27 +78,29 @@ void cpuload_initialize_once()
system_load.tasks[i].valid = false;
}
system_load.total_count = 0;
uint64_t now = hrt_absolute_time();
/* initialize idle thread statically */
system_load.tasks[0].start_time = now;
system_load.tasks[0].total_runtime = 0;
system_load.tasks[0].curr_start_time = 0;
system_load.tasks[0].tcb = sched_gettcb(0);
system_load.tasks[0].valid = true;
system_load.total_count++;
int static_tasks_count = 2; // there are at least 2 threads that should be initialized statically - "idle" and "init"
/* initialize init thread statically */
system_load.tasks[1].start_time = now;
system_load.tasks[1].total_runtime = 0;
system_load.tasks[1].curr_start_time = 0;
system_load.tasks[1].tcb = sched_gettcb(1);
system_load.tasks[1].valid = true;
/* count init thread */
system_load.total_count++;
// }
#ifdef CONFIG_PAGING
static_tasks_count++; // include paging thread in initialization
#endif /* CONFIG_PAGING */
#if CONFIG_SCHED_WORKQUEUE
static_tasks_count++; // include high priority work0 thread in initialization
#endif /* CONFIG_SCHED_WORKQUEUE */
#if CONFIG_SCHED_LPWORK
static_tasks_count++; // include low priority work1 thread in initialization
#endif /* CONFIG_SCHED_WORKQUEUE */
// perform static initialization of "system" threads
for (system_load.total_count = 0; system_load.total_count < static_tasks_count; system_load.total_count++)
{
system_load.tasks[system_load.total_count].start_time = now;
system_load.tasks[system_load.total_count].total_runtime = 0;
system_load.tasks[system_load.total_count].curr_start_time = 0;
system_load.tasks[system_load.total_count].tcb = sched_gettcb(system_load.total_count); // it is assumed that these static threads have consecutive PIDs
system_load.tasks[system_load.total_count].valid = true;
}
}
void sched_note_start(FAR struct tcb_s *tcb)