Merge remote-tracking branch 'upstream/master' into obcfailsafe

Tools/px_uploader.py

@@ -178,9 +178,9 @@ class uploader(object):
         MAVLINK_REBOOT_ID1 = bytearray(b'\xfe\x21\x72\xff\x00\x4c\x00\x00\x80\x3f\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf6\x00\x01\x00\x00\x48\xf0')
         MAVLINK_REBOOT_ID0 = bytearray(b'\xfe\x21\x45\xff\x00\x4c\x00\x00\x80\x3f\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf6\x00\x00\x00\x00\xd7\xac')
 
-        def __init__(self, portname, baudrate):
+        def __init__(self, portname, baudrate, interCharTimeout=0.001, timeout=0.5):
                 # open the port, keep the default timeout short so we can poll quickly
-                self.port = serial.Serial(portname, baudrate, timeout=2.0)
+                self.port = serial.Serial(portname, baudrate)
                 self.otp = b''
                 self.sn = b''
 
@@ -195,7 +195,7 @@ class uploader(object):
         def __recv(self, count=1):
                 c = self.port.read(count)
                 if len(c) < 1:
-                        raise RuntimeError("timeout waiting for data")
+                        raise RuntimeError("timeout waiting for data (%u bytes)", count)
 #               print("recv " + binascii.hexlify(c))
                 return c
 

makefiles/config_px4fmu-v2_default.mk

@@ -41,6 +41,7 @@ MODULES		+= drivers/frsky_telemetry
 MODULES		+= modules/sensors
 MODULES		+= drivers/mkblctrl
 MODULES		+= drivers/pca8574
+MODULES		+= drivers/px4flow
 
 
 # Needs to be burned to the ground and re-written; for now,

src/drivers/drv_px4flow.h

@@ -46,37 +46,6 @@
 
 #define PX4FLOW_DEVICE_PATH	"/dev/px4flow"
 
-/**
- * @addtogroup topics
- * @{
- */
-
-/**
- * Optical flow in NED body frame in SI units.
- *
- * @see http://en.wikipedia.org/wiki/International_System_of_Units
- *
- * @warning If possible the usage of the raw flow and performing rotation-compensation
- *		using the autopilot angular rate estimate is recommended.
- */
-struct px4flow_report {
-
-	uint64_t timestamp;		/**< in microseconds since system start          */
-
-	int16_t flow_raw_x;		/**< flow in pixels in X direction, not rotation-compensated */
-	int16_t flow_raw_y;		/**< flow in pixels in Y direction, not rotation-compensated */
-	float flow_comp_x_m;		/**< speed over ground in meters per second, rotation-compensated */
-	float flow_comp_y_m;		/**< speed over ground in meters per second, rotation-compensated */
-	float ground_distance_m;	/**< Altitude / distance to ground in meters */
-	uint8_t	quality;		/**< Quality of the measurement, 0: bad quality, 255: maximum quality */
-	uint8_t sensor_id;		/**< id of the sensor emitting the flow value */
-
-};
-
-/**
- * @}
- */
-
 /*
  * ObjDev tag for px4flow data.
  */

src/drivers/px4flow/px4flow.cpp

@@ -37,7 +37,7 @@
  *
  * Driver for the PX4FLOW module connected via I2C.
  */
-	 
+
 #include <nuttx/config.h>
 
 #include <drivers/device/i2c.h>
@@ -68,7 +68,7 @@
 
 #include <uORB/uORB.h>
 #include <uORB/topics/subsystem_info.h>
-//#include <uORB/topics/optical_flow.h>
+#include <uORB/topics/optical_flow.h>
 
 #include <board_config.h>
 
@@ -80,7 +80,7 @@
 /* PX4FLOW Registers addresses */
 #define PX4FLOW_REG	0x00		/* Measure Register */
 
-#define PX4FLOW_CONVERSION_INTERVAL 8000 /* 8ms 125Hz
+#define PX4FLOW_CONVERSION_INTERVAL 8000 /* 8ms 125Hz */
 
 /* oddly, ERROR is not defined for c++ */
 #ifdef ERROR
@@ -115,17 +115,17 @@ class PX4FLOW : public device::I2C
 public:
 	PX4FLOW(int bus = PX4FLOW_BUS, int address = I2C_FLOW_ADDRESS);
 	virtual ~PX4FLOW();
-	
+
 	virtual int 		init();
-	
+
 	virtual ssize_t		read(struct file *filp, char *buffer, size_t buflen);
 	virtual int			ioctl(struct file *filp, int cmd, unsigned long arg);
-	
+
 	/**
 	* Diagnostics - print some basic information about the driver.
 	*/
 	void				print_info();
-	
+
 protected:
 	virtual int			probe();
 
@@ -136,13 +136,13 @@ private:
 	bool				_sensor_ok;
 	int					_measure_ticks;
 	bool				_collect_phase;
-	
+
 	orb_advert_t		_px4flow_topic;
 
 	perf_counter_t		_sample_perf;
 	perf_counter_t		_comms_errors;
 	perf_counter_t		_buffer_overflows;
-	
+
 	/**
 	* Test whether the device supported by the driver is present at a
 	* specific address.
@@ -151,7 +151,7 @@ private:
 	* @return		True if the device is present.
 	*/
 	int					probe_address(uint8_t address);
-	
+
 	/**
 	* Initialise the automatic measurement state machine and start it.
 	*
@@ -159,12 +159,12 @@ private:
 	*       to make it more aggressive about resetting the bus in case of errors.
 	*/
 	void				start();
-	
+
 	/**
 	* Stop the automatic measurement state machine.
 	*/
 	void				stop();
-	
+
 	/**
 	* Perform a poll cycle; collect from the previous measurement
 	* and start a new one.
@@ -179,8 +179,8 @@ private:
 	* @param arg		Instance pointer for the driver that is polling.
 	*/
 	static void		cycle_trampoline(void *arg);
-	
-	
+
+
 };
 
 /*
@@ -201,7 +201,7 @@ PX4FLOW::PX4FLOW(int bus, int address) :
 {
 	// enable debug() calls
 	_debug_enabled = true;
-	
+
 	// work_cancel in the dtor will explode if we don't do this...
 	memset(&_work, 0, sizeof(_work));
 }
@@ -226,13 +226,13 @@ PX4FLOW::init()
 		goto out;
 
 	/* allocate basic report buffers */
-	_reports = new RingBuffer(2, sizeof(px4flow_report));
+	_reports = new RingBuffer(2, sizeof(struct optical_flow_s));
 
 	if (_reports == nullptr)
 		goto out;
 
 	/* get a publish handle on the px4flow topic */
-	struct px4flow_report zero_report;
+	struct optical_flow_s zero_report;
 	memset(&zero_report, 0, sizeof(zero_report));
 	_px4flow_topic = orb_advertise(ORB_ID(optical_flow), &zero_report);
 
@@ -323,24 +323,24 @@ PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg)
 		/* lower bound is mandatory, upper bound is a sanity check */
 		if ((arg < 1) || (arg > 100))
 			return -EINVAL;
-		
+
 		irqstate_t flags = irqsave();
 		if (!_reports->resize(arg)) {
 			irqrestore(flags);
 			return -ENOMEM;
 		}
 		irqrestore(flags);
-		
+
 		return OK;
 	}
 
 	case SENSORIOCGQUEUEDEPTH:
 		return _reports->size();
-		
+
 	case SENSORIOCRESET:
 		/* XXX implement this */
 		return -EINVAL;
-	
+
 	default:
 		/* give it to the superclass */
 		return I2C::ioctl(filp, cmd, arg);
@@ -350,8 +350,8 @@ PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg)
 ssize_t
 PX4FLOW::read(struct file *filp, char *buffer, size_t buflen)
 {
-	unsigned count = buflen / sizeof(struct px4flow_report);
-	struct px4flow_report *rbuf = reinterpret_cast<struct px4flow_report *>(buffer);
+	unsigned count = buflen / sizeof(struct optical_flow_s);
+	struct optical_flow_s *rbuf = reinterpret_cast<struct optical_flow_s *>(buffer);
 	int ret = 0;
 
 	/* buffer must be large enough */
@@ -425,7 +425,7 @@ PX4FLOW::measure()
 		return ret;
 	}
 	ret = OK;
-	
+
 	return ret;
 }
 
@@ -433,14 +433,14 @@ int
 PX4FLOW::collect()
 {
 	int	ret = -EIO;
-	
+
 	/* read from the sensor */
 	uint8_t val[22] = {0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0};
-	
+
 	perf_begin(_sample_perf);
-	
+
 	ret = transfer(nullptr, 0, &val[0], 22);
-	
+
 	if (ret < 0)
 	{
 		log("error reading from sensor: %d", ret);
@@ -448,7 +448,7 @@ PX4FLOW::collect()
 		perf_end(_sample_perf);
 		return ret;
 	}
-	
+
 //	f.frame_count = val[1] << 8 | val[0];
 //	f.pixel_flow_x_sum= val[3] << 8 | val[2];
 //	f.pixel_flow_y_sum= val[5] << 8 | val[4];
@@ -466,7 +466,7 @@ PX4FLOW::collect()
 	int16_t flowcy = val[9] << 8 | val[8];
 	int16_t gdist = val[21] << 8 | val[20];
 
-	struct px4flow_report report;
+	struct optical_flow_s report;
 	report.flow_comp_x_m = float(flowcx)/1000.0f;
 	report.flow_comp_y_m = float(flowcy)/1000.0f;
 	report.flow_raw_x= val[3] << 8 | val[2];
@@ -503,7 +503,7 @@ PX4FLOW::start()
 
 	/* schedule a cycle to start things */
 	work_queue(HPWORK, &_work, (worker_t)&PX4FLOW::cycle_trampoline, this, 1);
-	
+
 	/* notify about state change */
 	struct subsystem_info_s info = {
 		true,
@@ -644,7 +644,7 @@ start()
 
 fail:
 
-	if (g_dev != nullptr) 
+	if (g_dev != nullptr)
 	{
 		delete g_dev;
 		g_dev = nullptr;
@@ -678,7 +678,7 @@ void stop()
 void
 test()
 {
-	struct px4flow_report report;
+	struct optical_flow_s report;
 	ssize_t sz;
 	int ret;
 
@@ -777,7 +777,7 @@ px4flow_main(int argc, char *argv[])
 	 */
 	if (!strcmp(argv[1], "start"))
 		px4flow::start();
-	
+
 	 /*
 	  * Stop the driver
 	  */

src/modules/fw_att_control/fw_att_control_main.cpp

@@ -145,6 +145,7 @@ private:
 	perf_counter_t	_nonfinite_output_perf;		/**< performance counter for non finite output */
 
 	bool		_setpoint_valid;		/**< flag if the position control setpoint is valid */
+	bool		_debug;				/**< if set to true, print debug output */
 
 	struct {
 		float tconst;
@@ -324,7 +325,8 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
 	_nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control nonfinite input")),
 	_nonfinite_output_perf(perf_alloc(PC_COUNT, "fw att control nonfinite output")),
 /* states */
-	_setpoint_valid(false)
+	_setpoint_valid(false),
+	_debug(false)
 {
 	/* safely initialize structs */
 	_att = {};
@@ -700,7 +702,8 @@ FixedwingAttitudeControl::task_main()
 						perf_count(_nonfinite_input_perf);
 					}
 				} else {
-					airspeed = _airspeed.true_airspeed_m_s;
+					/* prevent numerical drama by requiring 0.5 m/s minimal speed */
+					airspeed = math::max(0.5f, _airspeed.true_airspeed_m_s);
 				}
 
 				/*
@@ -792,7 +795,7 @@ FixedwingAttitudeControl::task_main()
 					speed_body_v = _att.R[0][1] * _global_pos.vel_n + _att.R[1][1] * _global_pos.vel_e + _att.R[2][1] * _global_pos.vel_d;
 					speed_body_w = _att.R[0][2] * _global_pos.vel_n + _att.R[1][2] * _global_pos.vel_e + _att.R[2][2] * _global_pos.vel_d;
 				} else	{
-					if (loop_counter % 10 == 0) {
+					if (_debug && loop_counter % 10 == 0) {
 						warnx("Did not get a valid R\n");
 					}
 				}
@@ -815,7 +818,7 @@ FixedwingAttitudeControl::task_main()
 						_roll_ctrl.reset_integrator();
 						perf_count(_nonfinite_output_perf);
 
-						if (loop_counter % 10 == 0) {
+						if (_debug && loop_counter % 10 == 0) {
 							warnx("roll_u %.4f", (double)roll_u);
 						}
 					}
@@ -828,7 +831,7 @@ FixedwingAttitudeControl::task_main()
 					if (!isfinite(pitch_u)) {
 						_pitch_ctrl.reset_integrator();
 						perf_count(_nonfinite_output_perf);
-						if (loop_counter % 10 == 0) {
+						if (_debug && loop_counter % 10 == 0) {
 							warnx("pitch_u %.4f, _yaw_ctrl.get_desired_rate() %.4f,"
 								" airspeed %.4f, airspeed_scaling %.4f,"
 								" roll_sp %.4f, pitch_sp %.4f,"
@@ -852,7 +855,7 @@ FixedwingAttitudeControl::task_main()
 					if (!isfinite(yaw_u)) {
 						_yaw_ctrl.reset_integrator();
 						perf_count(_nonfinite_output_perf);
-						if (loop_counter % 10 == 0) {
+						if (_debug && loop_counter % 10 == 0) {
 							warnx("yaw_u %.4f", (double)yaw_u);
 						}
 					}
@@ -860,13 +863,13 @@ FixedwingAttitudeControl::task_main()
 					/* throttle passed through */
 					_actuators.control[3] = (isfinite(throttle_sp)) ? throttle_sp : 0.0f;
 					if (!isfinite(throttle_sp)) {
-						if (loop_counter % 10 == 0) {
+						if (_debug && loop_counter % 10 == 0) {
 							warnx("throttle_sp %.4f", (double)throttle_sp);
 						}
 					}
 				} else {
 					perf_count(_nonfinite_input_perf);
-					if (loop_counter % 10 == 0) {
+					if (_debug && loop_counter % 10 == 0) {
 						warnx("Non-finite setpoint roll_sp: %.4f, pitch_sp %.4f", (double)roll_sp, (double)pitch_sp);
 					}
 				}

src/modules/mavlink/mavlink_main.cpp

@@ -1396,14 +1396,14 @@ Mavlink::task_main(int argc, char *argv[])
 		configure_stream("POSITION_TARGET_GLOBAL_INT", 3.0f);
 		configure_stream("ATTITUDE_TARGET", 3.0f);
 		configure_stream("DISTANCE_SENSOR", 0.5f);
-		configure_stream("OPTICAL_FLOW", 0.5f);
+		configure_stream("OPTICAL_FLOW", 20.0f);
 		break;
 
 	case MAVLINK_MODE_ONBOARD:
 		configure_stream("SYS_STATUS", 1.0f);
-		configure_stream("ATTITUDE", 15.0f);
-		configure_stream("GLOBAL_POSITION_INT", 15.0f);
-		configure_stream("CAMERA_CAPTURE", 1.0f);
+		configure_stream("ATTITUDE", 50.0f);
+		configure_stream("GLOBAL_POSITION_INT", 50.0f);
+		configure_stream("CAMERA_CAPTURE", 2.0f);
 		break;
 
 	default: