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This commit is contained in:
Lorenz Meier
2013-07-20 08:30:20 +02:00
parent 39d8847189 a8ac56b9e5
commit c88e8e335c
26 changed files with 717 additions and 161 deletions
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src/modules/att_pos_estimator_ekf/kalman_main.cpp
+2 -1
View File
@@ -121,12 +121,13 @@ int att_pos_estimator_ekf_main(int argc, char *argv[])
if (!strcmp(argv[1], "status")) {
if (thread_running) {
warnx("is running\n");
exit(0);
} else {
warnx("not started\n");
exit(1);
}
exit(0);
}
usage("unrecognized command");
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+4 -2
View File
@@ -139,10 +139,12 @@ int attitude_estimator_ekf_main(int argc, char *argv[])
if (!strcmp(argv[1], "status")) {
if (thread_running) {
printf("\tattitude_estimator_ekf app is running\n");
warnx("running");
exit(0);
} else {
printf("\tattitude_estimator_ekf app not started\n");
warnx("not started");
exit(1);
}
exit(0);
src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_main.cpp
+4 -2
View File
@@ -139,10 +139,12 @@ int attitude_estimator_so3_comp_main(int argc, char *argv[])
if (!strcmp(argv[1], "status")) {
if (thread_running) {
printf("\tattitude_estimator_so3_comp app is running\n");
warnx("running");
exit(0);
} else {
printf("\tattitude_estimator_so3_comp app not started\n");
warnx("not started");
exit(1);
}
exit(0);
src/modules/commander/accelerometer_calibration.c
+9 -4
View File
@@ -283,6 +283,9 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) {
hrt_abstime t = t_start;
hrt_abstime t_prev = t_start;
hrt_abstime t_still = 0;
unsigned poll_errcount = 0;
while (true) {
/* wait blocking for new data */
int poll_ret = poll(fds, 1, 1000);
@@ -327,12 +330,14 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) {
}
}
} else if (poll_ret == 0) {
/* any poll failure for 1s is a reason to abort */
mavlink_log_info(mavlink_fd, "ERROR: poll failure");
return -3;
poll_errcount++;
}
if (t > t_timeout) {
mavlink_log_info(mavlink_fd, "ERROR: timeout");
poll_errcount++;
}
if (poll_errcount > 1000) {
mavlink_log_info(mavlink_fd, "ERROR: failed reading accel");
return -1;
}
}
src/modules/mavlink/mavlink.c
+22 -25
View File
@@ -420,12 +420,12 @@ int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_conf
case 921600: speed = B921600; break;
default:
fprintf(stderr, "[mavlink] ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\n\t9600\n19200\n38400\n57600\n115200\n230400\n460800\n921600\n\n", baud);
warnx("ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\n\t9600\n19200\n38400\n57600\n115200\n230400\n460800\n921600\n\n", baud);
return -EINVAL;
}
/* open uart */
printf("[mavlink] UART is %s, baudrate is %d\n", uart_name, baud);
warnx("UART is %s, baudrate is %d\n", uart_name, baud);
uart = open(uart_name, O_RDWR | O_NOCTTY);
/* Try to set baud rate */
@@ -433,37 +433,35 @@ int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_conf
int termios_state;
*is_usb = false;
/* make some wild guesses including that USB serial is indicated by either /dev/ttyACM0 or /dev/console */
if (strcmp(uart_name, "/dev/ttyACM0") != OK && strcmp(uart_name, "/dev/console") != OK) {
/* Back up the original uart configuration to restore it after exit */
if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
fprintf(stderr, "[mavlink] ERROR getting baudrate / termios config for %s: %d\n", uart_name, termios_state);
close(uart);
return -1;
}
/* Back up the original uart configuration to restore it after exit */
if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
warnx("ERROR get termios config %s: %d\n", uart_name, termios_state);
close(uart);
return -1;
}
/* Fill the struct for the new configuration */
tcgetattr(uart, &uart_config);
/* Fill the struct for the new configuration */
tcgetattr(uart, &uart_config);
/* Clear ONLCR flag (which appends a CR for every LF) */
uart_config.c_oflag &= ~ONLCR;
/* Clear ONLCR flag (which appends a CR for every LF) */
uart_config.c_oflag &= ~ONLCR;
/* USB serial is indicated by /dev/ttyACM0*/
if (strcmp(uart_name, "/dev/ttyACM0") != OK && strcmp(uart_name, "/dev/ttyACM1") != OK) {
/* Set baud rate */
if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
fprintf(stderr, "[mavlink] ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
warnx("ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
close(uart);
return -1;
}
}
if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
fprintf(stderr, "[mavlink] ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name);
close(uart);
return -1;
}
} else {
*is_usb = true;
if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
warnx("ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name);
close(uart);
return -1;
}
return uart;
@@ -751,8 +749,7 @@ int mavlink_thread_main(int argc, char *argv[])
pthread_join(uorb_receive_thread, NULL);
/* Reset the UART flags to original state */
if (!usb_uart)
tcsetattr(uart, TCSANOW, &uart_config_original);
tcsetattr(uart, TCSANOW, &uart_config_original);
thread_running = false;
src/modules/mavlink/mavlink_log.c
+11
View File
@@ -41,16 +41,20 @@
#include <string.h>
#include <stdlib.h>
#include <stdio.h>
#include <stdarg.h>
#include <mavlink/mavlink_log.h>
static FILE* text_recorder_fd = NULL;
void mavlink_logbuffer_init(struct mavlink_logbuffer *lb, int size)
{
lb->size = size;
lb->start = 0;
lb->count = 0;
lb->elems = (struct mavlink_logmessage *)calloc(lb->size, sizeof(struct mavlink_logmessage));
text_recorder_fd = fopen("/fs/microsd/text_recorder.txt", "w");
}
int mavlink_logbuffer_is_full(struct mavlink_logbuffer *lb)
@@ -82,6 +86,13 @@ int mavlink_logbuffer_read(struct mavlink_logbuffer *lb, struct mavlink_logmessa
memcpy(elem, &(lb->elems[lb->start]), sizeof(struct mavlink_logmessage));
lb->start = (lb->start + 1) % lb->size;
--lb->count;
if (text_recorder_fd) {
fwrite(elem->text, 1, strnlen(elem->text, 50), text_recorder_fd);
fputc("\n", text_recorder_fd);
fsync(text_recorder_fd);
}
return 0;
} else {
src/modules/sensors/sensors.cpp
+7 -12
View File
@@ -139,14 +139,12 @@ public:
private:
static const unsigned _rc_max_chan_count = RC_CHANNELS_MAX; /**< maximum number of r/c channels we handle */
#if CONFIG_HRT_PPM
hrt_abstime _ppm_last_valid; /**< last time we got a valid ppm signal */
/**
* Gather and publish PPM input data.
*/
void ppm_poll();
#endif
/* XXX should not be here - should be own driver */
int _fd_adc; /**< ADC driver handle */
@@ -397,9 +395,7 @@ Sensors *g_sensors;
}
Sensors::Sensors() :
#ifdef CONFIG_HRT_PPM
_ppm_last_valid(0),
#endif
_fd_adc(-1),
_last_adc(0),
@@ -1135,16 +1131,18 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
}
}
#if CONFIG_HRT_PPM
void
Sensors::ppm_poll()
{
/* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */
bool rc_updated;
orb_check(_rc_sub, &rc_updated);
struct pollfd fds[1];
fds[0].fd = _rc_sub;
fds[0].events = POLLIN;
/* check non-blocking for new data */
int poll_ret = poll(fds, 1, 0);
if (rc_updated) {
if (poll_ret > 0) {
struct rc_input_values rc_input;
orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input);
@@ -1332,7 +1330,6 @@ Sensors::ppm_poll()
}
}
#endif
void
Sensors::task_main_trampoline(int argc, char *argv[])
@@ -1445,10 +1442,8 @@ Sensors::task_main()
if (_publishing)
orb_publish(ORB_ID(sensor_combined), _sensor_pub, &raw);
#ifdef CONFIG_HRT_PPM
/* Look for new r/c input data */
ppm_poll();
#endif
perf_end(_loop_perf);
}
@@ -1488,7 +1483,7 @@ int sensors_main(int argc, char *argv[])
if (!strcmp(argv[1], "start")) {
if (sensors::g_sensors != nullptr)
errx(1, "sensors task already running");
errx(0, "sensors task already running");
sensors::g_sensors = new Sensors;
src/modules/systemlib/module.mk
+2 -1
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@@ -47,4 +47,5 @@ SRCS = err.c \
pid/pid.c \
geo/geo.c \
systemlib.c \
airspeed.c
airspeed.c \
system_params.c
src/modules/systemlib/system_params.c
+47
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@@ -0,0 +1,47 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/*
* @file system_params.c
*
* System wide parameters
*/
#include <nuttx/config.h>
#include <systemlib/param/param.h>
// Auto-start script with index #n
PARAM_DEFINE_INT32(SYS_AUTOSTART, 0);
// Automatically configure default values
PARAM_DEFINE_INT32(SYS_AUTOCONFIG, 0);