From 88fe2d3052eccd542ffb5d3473d720b66b8679fd Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Mon, 24 Feb 2014 19:04:26 +0100 Subject: [PATCH 01/30] mission feasibility checker: add check for waypoint altitude relative to home position altitude --- .../navigator/mission_feasibility_checker.cpp | 43 +++++++++++++++---- .../navigator/mission_feasibility_checker.h | 7 +-- src/modules/navigator/navigator_main.cpp | 2 +- 3 files changed, 40 insertions(+), 12 deletions(-) diff --git a/src/modules/navigator/mission_feasibility_checker.cpp b/src/modules/navigator/mission_feasibility_checker.cpp index eaafa217de..41670e2474 100644 --- a/src/modules/navigator/mission_feasibility_checker.cpp +++ b/src/modules/navigator/mission_feasibility_checker.cpp @@ -62,7 +62,7 @@ MissionFeasibilityChecker::MissionFeasibilityChecker() : _mavlink_fd(-1), _capab } -bool MissionFeasibilityChecker::checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence) +bool MissionFeasibilityChecker::checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt) { /* Init if not done yet */ init(); @@ -75,24 +75,24 @@ bool MissionFeasibilityChecker::checkMissionFeasible(bool isRotarywing, dm_item_ if (isRotarywing) - return checkMissionFeasibleRotarywing(dm_current, nMissionItems, geofence); + return checkMissionFeasibleRotarywing(dm_current, nMissionItems, geofence, home_alt); else - return checkMissionFeasibleFixedwing(dm_current, nMissionItems, geofence); + return checkMissionFeasibleFixedwing(dm_current, nMissionItems, geofence, home_alt); } -bool MissionFeasibilityChecker::checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence) +bool MissionFeasibilityChecker::checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt) { - return checkGeofence(dm_current, nMissionItems, geofence); + return (checkGeofence(dm_current, nMissionItems, geofence) && checkHomePositionAltitude(dm_current, nMissionItems, home_alt)); } -bool MissionFeasibilityChecker::checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence) +bool MissionFeasibilityChecker::checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt) { /* Update fixed wing navigation capabilites */ updateNavigationCapabilities(); // warnx("_nav_caps.landing_slope_angle_rad %.4f, _nav_caps.landing_horizontal_slope_displacement %.4f", _nav_caps.landing_slope_angle_rad, _nav_caps.landing_horizontal_slope_displacement); - return (checkFixedWingLanding(dm_current, nMissionItems) && checkGeofence(dm_current, nMissionItems, geofence)); + return (checkFixedWingLanding(dm_current, nMissionItems) && checkGeofence(dm_current, nMissionItems, geofence) && checkHomePositionAltitude(dm_current, nMissionItems, home_alt)); } bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence) @@ -108,7 +108,7 @@ bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMiss return false; } - if (!geofence.inside(missionitem.lat, missionitem.lon, missionitem.altitude)) { //xxx: handle relative altitude + if (!geofence.inside(missionitem.lat, missionitem.lon, missionitem.altitude)) { mavlink_log_info(_mavlink_fd, "#audio: Geofence violation waypoint %d", i); return false; } @@ -118,6 +118,33 @@ bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMiss return true; } +bool MissionFeasibilityChecker::checkHomePositionAltitude(dm_item_t dm_current, size_t nMissionItems, float home_alt, bool throw_error) +{ + /* Check if all all waypoints are above the home altitude, only return false if bool throw_error = true */ + for (size_t i = 0; i < nMissionItems; i++) { + static struct mission_item_s missionitem; + const ssize_t len = sizeof(struct mission_item_s); + + if (dm_read(dm_current, i, &missionitem, len) != len) { + /* not supposed to happen unless the datamanager can't access the SD card, etc. */ + if (throw_error) { + return false; + } else { + return true; + } + } + + if (home_alt > missionitem.altitude) { + mavlink_log_info(_mavlink_fd, "#audio: warning waypoint %d below home", i); + if (throw_error) { + return false; + } else { + return true; + } + } + } +} + bool MissionFeasibilityChecker::checkFixedWingLanding(dm_item_t dm_current, size_t nMissionItems) { /* Go through all mission items and search for a landing waypoint diff --git a/src/modules/navigator/mission_feasibility_checker.h b/src/modules/navigator/mission_feasibility_checker.h index 7a0b2a2966..819dcf9c3a 100644 --- a/src/modules/navigator/mission_feasibility_checker.h +++ b/src/modules/navigator/mission_feasibility_checker.h @@ -59,14 +59,15 @@ private: /* Checks for all airframes */ bool checkGeofence(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence); + bool checkHomePositionAltitude(dm_item_t dm_current, size_t nMissionItems, float home_alt, bool throw_error = false); /* Checks specific to fixedwing airframes */ - bool checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence); + bool checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt); bool checkFixedWingLanding(dm_item_t dm_current, size_t nMissionItems); void updateNavigationCapabilities(); /* Checks specific to rotarywing airframes */ - bool checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence); + bool checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt); public: MissionFeasibilityChecker(); @@ -75,7 +76,7 @@ public: /* * Returns true if mission is feasible and false otherwise */ - bool checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence); + bool checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt); }; diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index c572972b58..11181ff642 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -521,7 +521,7 @@ Navigator::offboard_mission_update(bool isrotaryWing) dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1; } - missionFeasiblityChecker.checkMissionFeasible(isrotaryWing, dm_current, (size_t)offboard_mission.count, _geofence); + missionFeasiblityChecker.checkMissionFeasible(isrotaryWing, dm_current, (size_t)offboard_mission.count, _geofence, _home_pos.alt); _mission.set_offboard_dataman_id(offboard_mission.dataman_id); _mission.set_current_offboard_mission_index(offboard_mission.current_index); From 053ad5b6388ef653d1dfe255ea4f3eb00aeccaba Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Mon, 24 Feb 2014 22:19:21 +0100 Subject: [PATCH 02/30] mission feasibility checker: remove audio warning for waypoint below home altitude --- src/modules/navigator/mission_feasibility_checker.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/modules/navigator/mission_feasibility_checker.cpp b/src/modules/navigator/mission_feasibility_checker.cpp index 41670e2474..b41e9d355d 100644 --- a/src/modules/navigator/mission_feasibility_checker.cpp +++ b/src/modules/navigator/mission_feasibility_checker.cpp @@ -135,10 +135,11 @@ bool MissionFeasibilityChecker::checkHomePositionAltitude(dm_item_t dm_current, } if (home_alt > missionitem.altitude) { - mavlink_log_info(_mavlink_fd, "#audio: warning waypoint %d below home", i); if (throw_error) { + mavlink_log_info(_mavlink_fd, "Waypoint %d below home", i); return false; } else { + mavlink_log_info(_mavlink_fd, "#audio: warning waypoint %d below home", i); return true; } } From c6e2ad918b50f01ec9e26ccd7fdb88c7c0d2a60c Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Tue, 25 Feb 2014 00:34:51 +0100 Subject: [PATCH 03/30] mission feasibility checker: add missing default return in checkHomePositionAltitude --- src/modules/navigator/mission_feasibility_checker.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/modules/navigator/mission_feasibility_checker.cpp b/src/modules/navigator/mission_feasibility_checker.cpp index b41e9d355d..02e35f1a8b 100644 --- a/src/modules/navigator/mission_feasibility_checker.cpp +++ b/src/modules/navigator/mission_feasibility_checker.cpp @@ -144,6 +144,8 @@ bool MissionFeasibilityChecker::checkHomePositionAltitude(dm_item_t dm_current, } } } + + return true; } bool MissionFeasibilityChecker::checkFixedWingLanding(dm_item_t dm_current, size_t nMissionItems) From af1af1e22ddd4bcd55fe9eaaf98f4a640329a4c7 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 29 Apr 2014 18:38:30 +0200 Subject: [PATCH 04/30] Port expander driver first hacky version --- makefiles/config_px4fmu-v2_default.mk | 1 + makefiles/config_px4fmu-v2_test.mk | 1 + src/drivers/drv_io_expander.h | 65 +++ src/drivers/pca8574/module.mk | 6 + src/drivers/pca8574/pca8574.cpp | 569 ++++++++++++++++++++++++++ 5 files changed, 642 insertions(+) create mode 100644 src/drivers/drv_io_expander.h create mode 100644 src/drivers/pca8574/module.mk create mode 100644 src/drivers/pca8574/pca8574.cpp diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk index e13421acc5..602b0af3fb 100644 --- a/makefiles/config_px4fmu-v2_default.mk +++ b/makefiles/config_px4fmu-v2_default.mk @@ -40,6 +40,7 @@ MODULES += drivers/meas_airspeed MODULES += drivers/frsky_telemetry MODULES += modules/sensors MODULES += drivers/mkblctrl +MODULES += drivers/pca8574 # Needs to be burned to the ground and re-written; for now, diff --git a/makefiles/config_px4fmu-v2_test.mk b/makefiles/config_px4fmu-v2_test.mk index 79922374d7..0dcfd04f22 100644 --- a/makefiles/config_px4fmu-v2_test.mk +++ b/makefiles/config_px4fmu-v2_test.mk @@ -24,6 +24,7 @@ MODULES += drivers/lsm303d MODULES += drivers/l3gd20 MODULES += drivers/hmc5883 MODULES += drivers/ms5611 +MODULES += drivers/pca8574 MODULES += systemcmds/perf MODULES += systemcmds/reboot MODULES += systemcmds/tests diff --git a/src/drivers/drv_io_expander.h b/src/drivers/drv_io_expander.h new file mode 100644 index 0000000000..2705d6f9e1 --- /dev/null +++ b/src/drivers/drv_io_expander.h @@ -0,0 +1,65 @@ +/**************************************************************************** + * + * Copyright (c) 2014 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 drv_io_expander.h + * + * IO expander device API + */ + +#pragma once + +#include +#include + +/* + * ioctl() definitions + */ + +#define _IOXIOCBASE (0x2800) +#define _IOXIOC(_n) (_IOC(_IOXIOCBASE, _n)) + +/** enable the device */ +#define IOX_ENABLE _IOXIOC(1) + +/** set constant values */ +#define IOX_SET_VALUE _IOXIOC(2) + +/** set constant values */ +#define IOX_SET_MODE _IOXIOC(3) + +/* enum passed to RGBLED_SET_MODE ioctl()*/ +enum IOX_MODE { + IOX_MODE_OFF, + IOX_MODE_ON +}; diff --git a/src/drivers/pca8574/module.mk b/src/drivers/pca8574/module.mk new file mode 100644 index 0000000000..825ee9bb7a --- /dev/null +++ b/src/drivers/pca8574/module.mk @@ -0,0 +1,6 @@ +# +# PCA8574 driver for RGB LED +# + +MODULE_COMMAND = pca8574 +SRCS = pca8574.cpp diff --git a/src/drivers/pca8574/pca8574.cpp b/src/drivers/pca8574/pca8574.cpp new file mode 100644 index 0000000000..ce882b6367 --- /dev/null +++ b/src/drivers/pca8574/pca8574.cpp @@ -0,0 +1,569 @@ +/**************************************************************************** + * + * Copyright (C) 2012, 2013 PX4 Development Team. All rights reserved. + * Author: Julian Oes + * Anton Babushkin + * + * 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 pca8574.cpp + * + * Driver for the onboard RGB LED controller (TCA62724FMG) connected via I2C. + * + */ + +#include + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +#include +#include +#include + +#include + +#include + +#define PCA8574_ONTIME 120 +#define PCA8574_OFFTIME 120 +#define PCA8574_DEVICE_PATH "/dev/pca8574" + +#define ADDR 0x20 /**< I2C adress of PCA8574 (default, A0-A2 pulled to GND) */ +#define SUB_ADDR_START 0x01 /**< write everything (with auto-increment) */ +#define SUB_ADDR_PWM0 0x81 /**< blue (without auto-increment) */ +#define SUB_ADDR_PWM1 0x82 /**< green (without auto-increment) */ +#define SUB_ADDR_PWM2 0x83 /**< red (without auto-increment) */ +#define SUB_ADDR_SETTINGS 0x84 /**< settings (without auto-increment)*/ + +#define SETTING_NOT_POWERSAVE 0x01 /**< power-save mode not off */ +#define SETTING_ENABLE 0x02 /**< on */ + + +class PCA8574 : public device::I2C +{ +public: + PCA8574(int bus, int pca8574); + virtual ~PCA8574(); + + + virtual int init(); + virtual int probe(); + virtual int info(); + virtual int ioctl(struct file *filp, int cmd, unsigned long arg); + +private: + work_s _work; + + uint8_t _values[8]; + float _brightness; + + enum IOX_MODE _mode; + bool _running; + int _led_interval; + bool _should_run; + int _counter; + + static void led_trampoline(void *arg); + void led(); + + int send_led_enable(bool enable); + int send_led_values(); +}; + +/* for now, we only support one PCA8574 */ +namespace +{ +PCA8574 *g_pca8574; +} + +void pca8574_usage(); + +extern "C" __EXPORT int pca8574_main(int argc, char *argv[]); + +PCA8574::PCA8574(int bus, int pca8574) : + I2C("pca8574", PCA8574_DEVICE_PATH, bus, pca8574, 100000), + _mode(IOX_MODE_OFF), + _values({}), + _brightness(1.0f), + _running(false), + _led_interval(0), + _should_run(false), + _counter(0) +{ + memset(&_work, 0, sizeof(_work)); +} + +PCA8574::~PCA8574() +{ +} + +int +PCA8574::init() +{ + int ret; + ret = I2C::init(); + + if (ret != OK) { + return ret; + } + + /* switch off LED on start */ + send_led_enable(false); + + /* kick it in */ + _should_run = true; + _led_interval = 80; + work_queue(LPWORK, &_work, (worker_t)&PCA8574::led_trampoline, this, 1); + + return OK; +} + +int +PCA8574::probe() +{ + + return send_led_enable(false); +} + +int +PCA8574::info() +{ + int ret = OK; + + return ret; +} + +int +PCA8574::ioctl(struct file *filp, int cmd, unsigned long arg) +{ + int ret = ENOTTY; + + switch (cmd) { + case IOX_SET_VALUE ... (IOX_SET_VALUE + 8): + { + /* set the specified color */ + unsigned prev = _values[cmd - IOX_SET_VALUE]; + _values[cmd - IOX_SET_VALUE] = arg; + if (_values[cmd - IOX_SET_VALUE] != prev) { + // XXX will be done with a change flag + send_led_values(); + } + return OK; + } + + case IOX_ENABLE: + send_led_enable(arg); + return OK; + + default: + /* see if the parent class can make any use of it */ + ret = CDev::ioctl(filp, cmd, arg); + break; + } + + return ret; +} + + +void +PCA8574::led_trampoline(void *arg) +{ + PCA8574 *rgbl = reinterpret_cast(arg); + + rgbl->led(); +} + +/** + * Main loop function + */ +void +PCA8574::led() +{ + if (!_should_run) { + _running = false; + return; + } + + // switch (_mode) { + // case PCA8574_MODE_BLINK_SLOW: + // case PCA8574_MODE_BLINK_NORMAL: + // case PCA8574_MODE_BLINK_FAST: + // if (_counter >= 2) + // _counter = 0; + + // send_led_enable(_counter == 0); + + // break; + + // case PCA8574_MODE_BREATHE: + + // if (_counter >= 62) + // _counter = 0; + + // int n; + + // if (_counter < 32) { + // n = _counter; + + // } else { + // n = 62 - _counter; + // } + + // _brightness = n * n / (31.0f * 31.0f); + // send_led_rgb(); + // break; + + // case PCA8574_MODE_PATTERN: + + // /* don't run out of the pattern array and stop if the next frame is 0 */ + // if (_counter >= PCA8574_PATTERN_LENGTH || _pattern.duration[_counter] <= 0) + // _counter = 0; + + // set_color(_pattern.color[_counter]); + // send_led_rgb(); + // _led_interval = _pattern.duration[_counter]; + // break; + + // default: + // break; + // } + + + // we count only seven states + _counter &= 0xF; + _counter++; + + for (int i = 0; i < 8; i++) { + if (i < _counter) { + _values[i] = 1; + } else { + _values[i] = 0; + } + } + + send_led_values(); + + /* re-queue ourselves to run again later */ + work_queue(LPWORK, &_work, (worker_t)&PCA8574::led_trampoline, this, _led_interval); +} + +// /** +// * Set mode, if mode not changed has no any effect (doesn't reset blinks phase) +// */ +// void +// PCA8574::set_mode(pca8574_mode_t mode) +// { +// if (mode != _mode) { +// _mode = mode; + +// switch (mode) { +// // case PCA8574_MODE_OFF: +// // _should_run = false; +// // send_led_enable(false); +// // break; + +// // case PCA8574_MODE_ON: +// // _brightness = 1.0f; +// // send_led_rgb(); +// // send_led_enable(true); +// // break; + +// // case PCA8574_MODE_BLINK_SLOW: +// // _should_run = true; +// // _counter = 0; +// // _led_interval = 2000; +// // _brightness = 1.0f; +// // send_led_rgb(); +// // break; + +// // case PCA8574_MODE_BLINK_NORMAL: +// // _should_run = true; +// // _counter = 0; +// // _led_interval = 500; +// // _brightness = 1.0f; +// // send_led_rgb(); +// // break; + +// // case PCA8574_MODE_BLINK_FAST: +// // _should_run = true; +// // _counter = 0; +// // _led_interval = 100; +// // _brightness = 1.0f; +// // send_led_rgb(); +// // break; + +// // case PCA8574_MODE_BREATHE: +// // _should_run = true; +// // _counter = 0; +// // _led_interval = 25; +// // send_led_enable(true); +// // break; + +// // case PCA8574_MODE_PATTERN: +// // _should_run = true; +// // _counter = 0; +// // _brightness = 1.0f; +// // send_led_enable(true); +// // break; + +// default: +// warnx("mode unknown"); +// break; +// } + +// /* if it should run now, start the workq */ +// if (_should_run && !_running) { +// _running = true; +// work_queue(LPWORK, &_work, (worker_t)&PCA8574::led_trampoline, this, 1); +// } + +// } +// } + +/** + * Sent ENABLE flag to LED driver + */ +int +PCA8574::send_led_enable(bool enable) +{ + uint8_t msg; + + if (enable) { + /* active low */ + msg = 0x00; + } else { + /* active low, so off */ + msg = 0xFF; + } + + int ret = transfer(&msg, sizeof(msg), nullptr, 0); + + return ret; +} + +/** + * Send RGB PWM settings to LED driver according to current color and brightness + */ +int +PCA8574::send_led_values() +{ + uint8_t msg = 0; + + for (int i = 0; i < 8; i++) { + if (_values[i]) { + msg |= (1 << i); + } + } + + int ret = transfer(&msg, sizeof(msg), nullptr, 0); +} + +// int +// PCA8574::get(bool &on, bool &powersave, uint8_t &r, uint8_t &g, uint8_t &b) +// { +// uint8_t result[2]; +// int ret; + +// ret = transfer(nullptr, 0, &result[0], 2); + +// if (ret == OK) { +// on = result[0] & SETTING_ENABLE; +// powersave = !(result[0] & SETTING_NOT_POWERSAVE); +// /* XXX check, looks wrong */ +// r = (result[0] & 0x0f) << 4; +// g = (result[1] & 0xf0); +// b = (result[1] & 0x0f) << 4; +// } + +// return ret; +// } + +void +pca8574_usage() +{ + warnx("missing command: try 'start', 'test', 'info', 'off', 'stop', 'val 0 100'"); + warnx("options:"); + warnx(" -b i2cbus (%d)", PX4_I2C_BUS_LED); + warnx(" -a addr (0x%x)", ADDR); +} + +int +pca8574_main(int argc, char *argv[]) +{ + int i2cdevice = -1; + int pca8574adr = ADDR; /* 7bit */ + + int ch; + + /* jump over start/off/etc and look at options first */ + while ((ch = getopt(argc, argv, "a:b:")) != EOF) { + switch (ch) { + case 'a': + pca8574adr = strtol(optarg, NULL, 0); + break; + + case 'b': + i2cdevice = strtol(optarg, NULL, 0); + break; + + default: + pca8574_usage(); + exit(0); + } + } + + if (optind >= argc) { + pca8574_usage(); + exit(1); + } + + const char *verb = argv[optind]; + + int fd; + int ret; + + if (!strcmp(verb, "start")) { + if (g_pca8574 != nullptr) + errx(1, "already started"); + + if (i2cdevice == -1) { + // try the external bus first + i2cdevice = PX4_I2C_BUS_EXPANSION; + g_pca8574 = new PCA8574(PX4_I2C_BUS_EXPANSION, pca8574adr); + + if (g_pca8574 != nullptr && OK != g_pca8574->init()) { + delete g_pca8574; + g_pca8574 = nullptr; + } + + if (g_pca8574 == nullptr) { + // fall back to default bus + if (PX4_I2C_BUS_LED == PX4_I2C_BUS_EXPANSION) { + errx(1, "init failed"); + } + i2cdevice = PX4_I2C_BUS_LED; + } + } + + if (g_pca8574 == nullptr) { + g_pca8574 = new PCA8574(i2cdevice, pca8574adr); + + if (g_pca8574 == nullptr) + errx(1, "new failed"); + + if (OK != g_pca8574->init()) { + delete g_pca8574; + g_pca8574 = nullptr; + errx(1, "init failed"); + } + } + + exit(0); + } + + /* need the driver past this point */ + if (g_pca8574 == nullptr) { + warnx("not started"); + pca8574_usage(); + exit(1); + } + + if (!strcmp(verb, "test")) { + fd = open(PCA8574_DEVICE_PATH, 0); + + if (fd == -1) { + errx(1, "Unable to open " PCA8574_DEVICE_PATH); + } + + ret = ioctl(fd, IOX_SET_VALUE, 255); + // ret = ioctl(fd, PCA8574_SET_MODE, (unsigned long)PCA8574_MODE_PATTERN); + + close(fd); + exit(ret); + } + + if (!strcmp(verb, "info")) { + g_pca8574->info(); + exit(0); + } + + if (!strcmp(verb, "off") || !strcmp(verb, "stop")) { + fd = open(PCA8574_DEVICE_PATH, 0); + + if (fd == -1) { + errx(1, "Unable to open " PCA8574_DEVICE_PATH); + } + + ret = ioctl(fd, IOX_SET_MODE, (unsigned long)IOX_MODE_OFF); + close(fd); + exit(ret); + } + + if (!strcmp(verb, "stop")) { + delete g_pca8574; + g_pca8574 = nullptr; + exit(0); + } + + if (!strcmp(verb, "val")) { + if (argc < 4) { + errx(1, "Usage: pca8574 val "); + } + + fd = open(PCA8574_DEVICE_PATH, 0); + + if (fd == -1) { + errx(1, "Unable to open " PCA8574_DEVICE_PATH); + } + + unsigned channel = strtol(argv[2], NULL, 0); + unsigned val = strtol(argv[3], NULL, 0); + ret = ioctl(fd, (IOX_SET_VALUE+channel), val); + ret = ioctl(fd, IOX_ENABLE, 1); + close(fd); + exit(ret); + } + + pca8574_usage(); + exit(0); +} From 4ee647015a5fa4c2d8e324e75a9f2d749a1b6ca6 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Thu, 22 May 2014 19:52:22 +0200 Subject: [PATCH 05/30] navigator: takeoff fix, always reach takeoff altitude, even if first waypoint is lower --- src/modules/navigator/navigator_main.cpp | 32 ++++++++++++------------ 1 file changed, 16 insertions(+), 16 deletions(-) diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 87c893079f..8eedcc90e3 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -1477,27 +1477,27 @@ Navigator::check_mission_item_reached() acceptance_radius = _parameters.acceptance_radius; } - float dist = -1.0f; - float dist_xy = -1.0f; - float dist_z = -1.0f; - - /* calculate AMSL altitude for this waypoint */ - float wp_alt_amsl = _mission_item.altitude; - - if (_mission_item.altitude_is_relative) - wp_alt_amsl += _home_pos.alt; - - dist = get_distance_to_point_global_wgs84(_mission_item.lat, _mission_item.lon, wp_alt_amsl, - (double)_global_pos.lat, (double)_global_pos.lon, _global_pos.alt, - &dist_xy, &dist_z); - if (_do_takeoff) { - if (_global_pos.alt > wp_alt_amsl - acceptance_radius) { - /* require only altitude for takeoff */ + /* require only altitude for takeoff */ + if (_global_pos.alt > _pos_sp_triplet.current.alt - acceptance_radius) { _waypoint_position_reached = true; } } else { + float dist = -1.0f; + float dist_xy = -1.0f; + float dist_z = -1.0f; + + /* calculate AMSL altitude for this waypoint */ + float wp_alt_amsl = _mission_item.altitude; + + if (_mission_item.altitude_is_relative) + wp_alt_amsl += _home_pos.alt; + + dist = get_distance_to_point_global_wgs84(_mission_item.lat, _mission_item.lon, wp_alt_amsl, + (double)_global_pos.lat, (double)_global_pos.lon, _global_pos.alt, + &dist_xy, &dist_z); + if (dist >= 0.0f && dist <= acceptance_radius) { _waypoint_position_reached = true; } From 95a8414895d0f93bf92b8339ad15a1b3b4d1a7f2 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Thu, 22 May 2014 19:55:24 +0200 Subject: [PATCH 06/30] rc.mc_defaults: set default acceptance radius (NAV_ACCEPT_RAD) to 2m --- ROMFS/px4fmu_common/init.d/rc.mc_defaults | 1 + 1 file changed, 1 insertion(+) diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_defaults index b6b0a5b4ed..65f1e38c6b 100644 --- a/ROMFS/px4fmu_common/init.d/rc.mc_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults @@ -41,6 +41,7 @@ then param set PE_POSNE_NOISE 0.5 param set PE_POSD_NOISE 1.0 + param set NAV_ACCEPT_RAD 2.0 fi set PWM_RATE 400 From 9a49636f6a6cfa631e8a4686e2cbb2f4e25770eb Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Tue, 27 May 2014 13:15:17 +0200 Subject: [PATCH 07/30] position_estimator_inav: remove acceleration from state and INAV_W_XXX_ACC parameters, more NaN checks --- .../position_estimator_inav/inertial_filter.c | 15 ++-- .../position_estimator_inav/inertial_filter.h | 2 +- .../position_estimator_inav_main.c | 68 ++++++++----------- .../position_estimator_inav_params.c | 6 -- .../position_estimator_inav_params.h | 4 -- 5 files changed, 38 insertions(+), 57 deletions(-) diff --git a/src/modules/position_estimator_inav/inertial_filter.c b/src/modules/position_estimator_inav/inertial_filter.c index 2f1b3c0145..a36a4688d0 100644 --- a/src/modules/position_estimator_inav/inertial_filter.c +++ b/src/modules/position_estimator_inav/inertial_filter.c @@ -9,15 +9,18 @@ #include "inertial_filter.h" -void inertial_filter_predict(float dt, float x[3]) +void inertial_filter_predict(float dt, float x[2], float acc) { if (isfinite(dt)) { - x[0] += x[1] * dt + x[2] * dt * dt / 2.0f; - x[1] += x[2] * dt; + if (!isfinite(acc)) { + acc = 0.0f; + } + x[0] += x[1] * dt + acc * dt * dt / 2.0f; + x[1] += acc * dt; } } -void inertial_filter_correct(float e, float dt, float x[3], int i, float w) +void inertial_filter_correct(float e, float dt, float x[2], int i, float w) { if (isfinite(e) && isfinite(w) && isfinite(dt)) { float ewdt = e * w * dt; @@ -25,10 +28,6 @@ void inertial_filter_correct(float e, float dt, float x[3], int i, float w) if (i == 0) { x[1] += w * ewdt; - x[2] += w * w * ewdt / 3.0; - - } else if (i == 1) { - x[2] += w * ewdt; } } } diff --git a/src/modules/position_estimator_inav/inertial_filter.h b/src/modules/position_estimator_inav/inertial_filter.h index 761c17097d..cdeb4cfc6c 100644 --- a/src/modules/position_estimator_inav/inertial_filter.h +++ b/src/modules/position_estimator_inav/inertial_filter.h @@ -8,6 +8,6 @@ #include #include -void inertial_filter_predict(float dt, float x[3]); +void inertial_filter_predict(float dt, float x[3], float acc); void inertial_filter_correct(float e, float dt, float x[3], int i, float w); diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c index fdc3233e03..d7503e42da 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -168,15 +168,15 @@ int position_estimator_inav_main(int argc, char *argv[]) exit(1); } -void write_debug_log(const char *msg, float dt, float x_est[3], float y_est[3], float z_est[3], float x_est_prev[3], float y_est_prev[3], float z_est_prev[3], float corr_acc[3], float corr_gps[3][2], float w_xy_gps_p, float w_xy_gps_v) +void write_debug_log(const char *msg, float dt, float x_est[2], float y_est[2], float z_est[2], float x_est_prev[2], float y_est_prev[2], float z_est_prev[2], float acc[3], float corr_gps[3][2], float w_xy_gps_p, float w_xy_gps_v) { FILE *f = fopen("/fs/microsd/inav.log", "a"); if (f) { char *s = malloc(256); - unsigned n = snprintf(s, 256, "%llu %s\n\tdt=%.5f x_est=[%.5f %.5f %.5f] y_est=[%.5f %.5f %.5f] z_est=[%.5f %.5f %.5f] x_est_prev=[%.5f %.5f %.5f] y_est_prev=[%.5f %.5f %.5f] z_est_prev=[%.5f %.5f %.5f]\n", hrt_absolute_time(), msg, dt, x_est[0], x_est[1], x_est[2], y_est[0], y_est[1], y_est[2], z_est[0], z_est[1], z_est[2], x_est_prev[0], x_est_prev[1], x_est_prev[2], y_est_prev[0], y_est_prev[1], y_est_prev[2], z_est_prev[0], z_est_prev[1], z_est_prev[2]); + unsigned n = snprintf(s, 256, "%llu %s\n\tdt=%.5f x_est=[%.5f %.5f] y_est=[%.5f %.5f] z_est=[%.5f %.5f] x_est_prev=[%.5f %.5f] y_est_prev=[%.5f %.5f] z_est_prev=[%.5f %.5f]\n", hrt_absolute_time(), msg, dt, x_est[0], x_est[1], y_est[0], y_est[1], z_est[0], z_est[1], x_est_prev[0], x_est_prev[1], y_est_prev[0], y_est_prev[1], z_est_prev[0], z_est_prev[1]); fwrite(s, 1, n, f); - n = snprintf(s, 256, "\tacc_corr=[%.5f %.5f %.5f] gps_pos_corr=[%.5f %.5f %.5f] gps_vel_corr=[%.5f %.5f %.5f] w_xy_gps_p=%.5f w_xy_gps_v=%.5f\n", corr_acc[0], corr_acc[1], corr_acc[2], corr_gps[0][0], corr_gps[1][0], corr_gps[2][0], corr_gps[0][1], corr_gps[1][1], corr_gps[2][1], w_xy_gps_p, w_xy_gps_v); + n = snprintf(s, 256, "\tacc=[%.5f %.5f %.5f] gps_pos_corr=[%.5f %.5f %.5f] gps_vel_corr=[%.5f %.5f %.5f] w_xy_gps_p=%.5f w_xy_gps_v=%.5f\n", acc[0], acc[1], acc[2], corr_gps[0][0], corr_gps[1][0], corr_gps[2][0], corr_gps[0][1], corr_gps[1][1], corr_gps[2][1], w_xy_gps_p, w_xy_gps_v); fwrite(s, 1, n, f); free(s); } @@ -195,14 +195,14 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); mavlink_log_info(mavlink_fd, "[inav] started"); - float x_est[3] = { 0.0f, 0.0f, 0.0f }; - float y_est[3] = { 0.0f, 0.0f, 0.0f }; - float z_est[3] = { 0.0f, 0.0f, 0.0f }; + float x_est[2] = { 0.0f, 0.0f }; // pos, vel + float y_est[2] = { 0.0f, 0.0f }; // pos, vel + float z_est[2] = { 0.0f, 0.0f }; // pos, vel float eph = 1.0; float epv = 1.0; - float x_est_prev[3], y_est_prev[3], z_est_prev[3]; + float x_est_prev[2], y_est_prev[2], z_est_prev[2]; memset(x_est_prev, 0, sizeof(x_est_prev)); memset(y_est_prev, 0, sizeof(y_est_prev)); memset(z_est_prev, 0, sizeof(z_est_prev)); @@ -241,7 +241,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) float accel_NED[3] = { 0.0f, 0.0f, -CONSTANTS_ONE_G }; /* store error when sensor updates, but correct on each time step to avoid jumps in estimated value */ - float corr_acc[] = { 0.0f, 0.0f, 0.0f }; // N E D + float acc[] = { 0.0f, 0.0f, 0.0f }; // N E D float acc_bias[] = { 0.0f, 0.0f, 0.0f }; // body frame float corr_baro = 0.0f; // D float corr_gps[3][2] = { @@ -341,8 +341,10 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) /* mean calculation over several measurements */ if (baro_init_cnt < baro_init_num) { - baro_offset += sensor.baro_alt_meter; - baro_init_cnt++; + if (isfinite(sensor.baro_alt_meter)) { + baro_offset += sensor.baro_alt_meter; + baro_init_cnt++; + } } else { wait_baro = false; @@ -418,19 +420,17 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) /* transform acceleration vector from body frame to NED frame */ for (int i = 0; i < 3; i++) { - accel_NED[i] = 0.0f; + acc[i] = 0.0f; for (int j = 0; j < 3; j++) { - accel_NED[i] += att.R[i][j] * sensor.accelerometer_m_s2[j]; + acc[i] += att.R[i][j] * sensor.accelerometer_m_s2[j]; } } - corr_acc[0] = accel_NED[0] - x_est[2]; - corr_acc[1] = accel_NED[1] - y_est[2]; - corr_acc[2] = accel_NED[2] + CONSTANTS_ONE_G - z_est[2]; + acc[2] += CONSTANTS_ONE_G; } else { - memset(corr_acc, 0, sizeof(corr_acc)); + memset(acc, 0, sizeof(acc)); } accel_timestamp = sensor.accelerometer_timestamp; @@ -628,11 +628,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) /* set position estimate to (0, 0, 0), use GPS velocity for XY */ x_est[0] = 0.0f; x_est[1] = gps.vel_n_m_s; - x_est[2] = accel_NED[0]; y_est[0] = 0.0f; y_est[1] = gps.vel_e_m_s; z_est[0] = 0.0f; - y_est[2] = accel_NED[1]; local_pos.ref_lat = lat; local_pos.ref_lon = lon; @@ -655,10 +653,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) if (reset_est) { x_est[0] = gps_proj[0]; x_est[1] = gps.vel_n_m_s; - x_est[2] = accel_NED[0]; y_est[0] = gps_proj[1]; y_est[1] = gps.vel_e_m_s; - y_est[2] = accel_NED[1]; } /* calculate correction for position */ @@ -796,26 +792,26 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) c += att.R[j][i] * accel_bias_corr[j]; } - acc_bias[i] += c * params.w_acc_bias * dt; + if (isfinite(c)) { + acc_bias[i] += c * params.w_acc_bias * dt; + } } /* inertial filter prediction for altitude */ - inertial_filter_predict(dt, z_est); + inertial_filter_predict(dt, z_est, acc[2]); - if (!(isfinite(z_est[0]) && isfinite(z_est[1]) && isfinite(z_est[2]))) { - write_debug_log("BAD ESTIMATE AFTER Z PREDICTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, corr_acc, corr_gps, w_xy_gps_p, w_xy_gps_v); + if (!(isfinite(z_est[0]) && isfinite(z_est[1]))) { + write_debug_log("BAD ESTIMATE AFTER Z PREDICTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, acc, corr_gps, w_xy_gps_p, w_xy_gps_v); memcpy(z_est, z_est_prev, sizeof(z_est)); } /* inertial filter correction for altitude */ inertial_filter_correct(corr_baro, dt, z_est, 0, params.w_z_baro); inertial_filter_correct(corr_gps[2][0], dt, z_est, 0, w_z_gps_p); - inertial_filter_correct(corr_acc[2], dt, z_est, 2, params.w_z_acc); - if (!(isfinite(z_est[0]) && isfinite(z_est[1]) && isfinite(z_est[2]))) { - write_debug_log("BAD ESTIMATE AFTER Z CORRECTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, corr_acc, corr_gps, w_xy_gps_p, w_xy_gps_v); + if (!(isfinite(z_est[0]) && isfinite(z_est[1]))) { + write_debug_log("BAD ESTIMATE AFTER Z CORRECTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, acc, corr_gps, w_xy_gps_p, w_xy_gps_v); memcpy(z_est, z_est_prev, sizeof(z_est)); - memset(corr_acc, 0, sizeof(corr_acc)); memset(corr_gps, 0, sizeof(corr_gps)); corr_baro = 0; @@ -825,19 +821,16 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) if (can_estimate_xy) { /* inertial filter prediction for position */ - inertial_filter_predict(dt, x_est); - inertial_filter_predict(dt, y_est); + inertial_filter_predict(dt, x_est, acc[0]); + inertial_filter_predict(dt, y_est, acc[1]); - if (!(isfinite(x_est[0]) && isfinite(x_est[1]) && isfinite(x_est[2]) && isfinite(y_est[0]) && isfinite(y_est[1]) && isfinite(y_est[2]))) { - write_debug_log("BAD ESTIMATE AFTER PREDICTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, corr_acc, corr_gps, w_xy_gps_p, w_xy_gps_v); + if (!(isfinite(x_est[0]) && isfinite(x_est[1]) && isfinite(y_est[0]) && isfinite(y_est[1]))) { + write_debug_log("BAD ESTIMATE AFTER PREDICTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, acc, corr_gps, w_xy_gps_p, w_xy_gps_v); memcpy(x_est, x_est_prev, sizeof(x_est)); memcpy(y_est, y_est_prev, sizeof(y_est)); } /* inertial filter correction for position */ - inertial_filter_correct(corr_acc[0], dt, x_est, 2, params.w_xy_acc); - inertial_filter_correct(corr_acc[1], dt, y_est, 2, params.w_xy_acc); - if (use_flow) { inertial_filter_correct(corr_flow[0], dt, x_est, 1, params.w_xy_flow * w_flow); inertial_filter_correct(corr_flow[1], dt, y_est, 1, params.w_xy_flow * w_flow); @@ -853,11 +846,10 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) } } - if (!(isfinite(x_est[0]) && isfinite(x_est[1]) && isfinite(x_est[2]) && isfinite(y_est[0]) && isfinite(y_est[1]) && isfinite(y_est[2]))) { - write_debug_log("BAD ESTIMATE AFTER CORRECTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, corr_acc, corr_gps, w_xy_gps_p, w_xy_gps_v); + if (!(isfinite(x_est[0]) && isfinite(x_est[1]) && isfinite(y_est[0]) && isfinite(y_est[1]))) { + write_debug_log("BAD ESTIMATE AFTER CORRECTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, acc, corr_gps, w_xy_gps_p, w_xy_gps_v); memcpy(x_est, x_est_prev, sizeof(x_est)); memcpy(y_est, y_est_prev, sizeof(y_est)); - memset(corr_acc, 0, sizeof(corr_acc)); memset(corr_gps, 0, sizeof(corr_gps)); memset(corr_flow, 0, sizeof(corr_flow)); diff --git a/src/modules/position_estimator_inav/position_estimator_inav_params.c b/src/modules/position_estimator_inav/position_estimator_inav_params.c index 2e4f26661f..8aa08b6f2c 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_params.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_params.c @@ -42,11 +42,9 @@ PARAM_DEFINE_FLOAT(INAV_W_Z_BARO, 0.5f); PARAM_DEFINE_FLOAT(INAV_W_Z_GPS_P, 0.005f); -PARAM_DEFINE_FLOAT(INAV_W_Z_ACC, 20.0f); PARAM_DEFINE_FLOAT(INAV_W_Z_SONAR, 3.0f); PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_P, 1.0f); PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_V, 2.0f); -PARAM_DEFINE_FLOAT(INAV_W_XY_ACC, 20.0f); PARAM_DEFINE_FLOAT(INAV_W_XY_FLOW, 5.0f); PARAM_DEFINE_FLOAT(INAV_W_GPS_FLOW, 0.1f); PARAM_DEFINE_FLOAT(INAV_W_ACC_BIAS, 0.05f); @@ -62,11 +60,9 @@ int parameters_init(struct position_estimator_inav_param_handles *h) { h->w_z_baro = param_find("INAV_W_Z_BARO"); h->w_z_gps_p = param_find("INAV_W_Z_GPS_P"); - h->w_z_acc = param_find("INAV_W_Z_ACC"); h->w_z_sonar = param_find("INAV_W_Z_SONAR"); h->w_xy_gps_p = param_find("INAV_W_XY_GPS_P"); h->w_xy_gps_v = param_find("INAV_W_XY_GPS_V"); - h->w_xy_acc = param_find("INAV_W_XY_ACC"); h->w_xy_flow = param_find("INAV_W_XY_FLOW"); h->w_gps_flow = param_find("INAV_W_GPS_FLOW"); h->w_acc_bias = param_find("INAV_W_ACC_BIAS"); @@ -85,11 +81,9 @@ int parameters_update(const struct position_estimator_inav_param_handles *h, str { param_get(h->w_z_baro, &(p->w_z_baro)); param_get(h->w_z_gps_p, &(p->w_z_gps_p)); - param_get(h->w_z_acc, &(p->w_z_acc)); param_get(h->w_z_sonar, &(p->w_z_sonar)); param_get(h->w_xy_gps_p, &(p->w_xy_gps_p)); param_get(h->w_xy_gps_v, &(p->w_xy_gps_v)); - param_get(h->w_xy_acc, &(p->w_xy_acc)); param_get(h->w_xy_flow, &(p->w_xy_flow)); param_get(h->w_gps_flow, &(p->w_gps_flow)); param_get(h->w_acc_bias, &(p->w_acc_bias)); diff --git a/src/modules/position_estimator_inav/position_estimator_inav_params.h b/src/modules/position_estimator_inav/position_estimator_inav_params.h index e2be079d35..08ec996a13 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_params.h +++ b/src/modules/position_estimator_inav/position_estimator_inav_params.h @@ -43,11 +43,9 @@ struct position_estimator_inav_params { float w_z_baro; float w_z_gps_p; - float w_z_acc; float w_z_sonar; float w_xy_gps_p; float w_xy_gps_v; - float w_xy_acc; float w_xy_flow; float w_gps_flow; float w_acc_bias; @@ -63,11 +61,9 @@ struct position_estimator_inav_params { struct position_estimator_inav_param_handles { param_t w_z_baro; param_t w_z_gps_p; - param_t w_z_acc; param_t w_z_sonar; param_t w_xy_gps_p; param_t w_xy_gps_v; - param_t w_xy_acc; param_t w_xy_flow; param_t w_gps_flow; param_t w_acc_bias; From 00d40d095ddb4a5ad645044bed1ffdc1f977dba3 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Wed, 28 May 2014 00:12:59 +0200 Subject: [PATCH 08/30] mavlink mission item takeoff: read correct param for minimal pitch --- src/modules/mavlink/mavlink_main.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 28dd97fca1..bb1ad86ef6 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -415,7 +415,7 @@ Mavlink::instance_exists(const char *device_name, Mavlink *self) void Mavlink::forward_message(mavlink_message_t *msg, Mavlink *self) { - + Mavlink *inst; LL_FOREACH(_mavlink_instances, inst) { if (inst != self) { @@ -886,7 +886,7 @@ int Mavlink::map_mavlink_mission_item_to_mission_item(const mavlink_mission_item switch (mavlink_mission_item->command) { case MAV_CMD_NAV_TAKEOFF: - mission_item->pitch_min = mavlink_mission_item->param2; + mission_item->pitch_min = mavlink_mission_item->param1; break; default: From fcb890553329b4092c7dca319f5f538865734b3a Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Wed, 28 May 2014 08:33:04 +0200 Subject: [PATCH 09/30] navigator: autocontinue and RTL autolanding fixes --- src/modules/navigator/navigator_main.cpp | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 87c893079f..310bdf9eab 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -1458,7 +1458,6 @@ Navigator::check_mission_item_reached() /* XXX TODO count turns */ if ((_mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT || - _mission_item.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT || _mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED) && _mission_item.loiter_radius > 0.01f) { @@ -1567,7 +1566,14 @@ Navigator::on_mission_item_reached() } if (_mission.current_mission_available()) { - set_mission_item(); + if (_mission_item.autocontinue) { + /* continue mission */ + set_mission_item(); + + } else { + /* autocontinue disabled for this item */ + request_loiter_or_ready(); + } } else { /* if no more mission items available then finish mission */ From b84cfea455ea801593b4ee04419417dcc7c4d4f7 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 28 May 2014 08:46:45 +0200 Subject: [PATCH 10/30] romfs: Added back mixer readme, now gets filtered out --- ROMFS/px4fmu_common/mixers/README | 154 ++++++++++++++++++++++++++++++ 1 file changed, 154 insertions(+) create mode 100644 ROMFS/px4fmu_common/mixers/README diff --git a/ROMFS/px4fmu_common/mixers/README b/ROMFS/px4fmu_common/mixers/README new file mode 100644 index 0000000000..60311232e8 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/README @@ -0,0 +1,154 @@ +PX4 mixer definitions +===================== + +Files in this directory implement example mixers that can be used as a basis +for customisation, or for general testing purposes. + +Mixer basics +------------ + +Mixers combine control values from various sources (control tasks, user inputs, +etc.) and produce output values suitable for controlling actuators; servos, +motors, switches and so on. + +An actuator derives its value from the combination of one or more control +values. Each of the control values is scaled according to the actuator's +configuration and then combined to produce the actuator value, which may then be +further scaled to suit the specific output type. + +Internally, all scaling is performed using floating point values. Inputs and +outputs are clamped to the range -1.0 to 1.0. + +control control control + | | | + v v v + scale scale scale + | | | + | v | + +-------> mix <------+ + | + scale + | + v + out + +Scaling +------- + +Basic scalers provide linear scaling of the input to the output. + +Each scaler allows the input value to be scaled independently for inputs +greater/less than zero. An offset can be applied to the output, and lower and +upper boundary constraints can be applied. Negative scaling factors cause the +output to be inverted (negative input produces positive output). + +Scaler pseudocode: + +if (input < 0) + output = (input * NEGATIVE_SCALE) + OFFSET +else + output = (input * POSITIVE_SCALE) + OFFSET + +if (output < LOWER_LIMIT) + output = LOWER_LIMIT +if (output > UPPER_LIMIT) + output = UPPER_LIMIT + +Syntax +------ + +Mixer definitions are text files; lines beginning with a single capital letter +followed by a colon are significant. All other lines are ignored, meaning that +explanatory text can be freely mixed with the definitions. + +Each file may define more than one mixer; the allocation of mixers to actuators +is specific to the device reading the mixer definition, and the number of +actuator outputs generated by a mixer is specific to the mixer. + +A mixer begins with a line of the form + + : + +The tag selects the mixer type; 'M' for a simple summing mixer, 'R' for a +multirotor mixer, etc. + +Null Mixer +.......... + +A null mixer consumes no controls and generates a single actuator output whose +value is always zero. Typically a null mixer is used as a placeholder in a +collection of mixers in order to achieve a specific pattern of actuator outputs. + +The null mixer definition has the form: + + Z: + +Simple Mixer +............ + +A simple mixer combines zero or more control inputs into a single actuator +output. Inputs are scaled, and the mixing function sums the result before +applying an output scaler. + +A simple mixer definition begins with: + + M: + O: <-ve scale> <+ve scale> + +If is zero, the sum is effectively zero and the mixer will +output a fixed value that is constrained by and . + +The second line defines the output scaler with scaler parameters as discussed +above. Whilst the calculations are performed as floating-point operations, the +values stored in the definition file are scaled by a factor of 10000; i.e. an +offset of -0.5 is encoded as -5000. + +The definition continues with entries describing the control +inputs and their scaling, in the form: + + S: <-ve scale> <+ve scale> + +The value identifies the control group from which the scaler will read, +and the value an offset within that group. These values are specific to +the device reading the mixer definition. + +When used to mix vehicle controls, mixer group zero is the vehicle attitude +control group, and index values zero through three are normally roll, pitch, +yaw and thrust respectively. + +The remaining fields on the line configure the control scaler with parameters as +discussed above. Whilst the calculations are performed as floating-point +operations, the values stored in the definition file are scaled by a factor of +10000; i.e. an offset of -0.5 is encoded as -5000. + +Multirotor Mixer +................ + +The multirotor mixer combines four control inputs (roll, pitch, yaw, thrust) +into a set of actuator outputs intended to drive motor speed controllers. + +The mixer definition is a single line of the form: + +R: + +The supported geometries include: + + 4x - quadrotor in X configuration + 4+ - quadrotor in + configuration + 6x - hexcopter in X configuration + 6+ - hexcopter in + configuration + 8x - octocopter in X configuration + 8+ - octocopter in + configuration + +Each of the roll, pitch and yaw scale values determine scaling of the roll, +pitch and yaw controls relative to the thrust control. Whilst the calculations +are performed as floating-point operations, the values stored in the definition +file are scaled by a factor of 10000; i.e. an factor of 0.5 is encoded as 5000. + +Roll, pitch and yaw inputs are expected to range from -1.0 to 1.0, whilst the +thrust input ranges from 0.0 to 1.0. Output for each actuator is in the +range -1.0 to 1.0. + +In the case where an actuator saturates, all actuator values are rescaled so that +the saturating actuator is limited to 1.0. \ No newline at end of file From 366e9c633d7d37894ab71d46951605ebe951c062 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 27 May 2014 17:46:16 +0200 Subject: [PATCH 11/30] FMUv1 board prettifying --- src/drivers/boards/px4fmu-v1/board_config.h | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/drivers/boards/px4fmu-v1/board_config.h b/src/drivers/boards/px4fmu-v1/board_config.h index 58273f2d29..c944007a56 100644 --- a/src/drivers/boards/px4fmu-v1/board_config.h +++ b/src/drivers/boards/px4fmu-v1/board_config.h @@ -86,6 +86,7 @@ __BEGIN_DECLS #define GPIO_SPI_CS_SDCARD (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4) #define PX4_SPI_BUS_SENSORS 1 +#define PX4_SPI_BUS_EXT 2 /* * Use these in place of the spi_dev_e enumeration to @@ -98,7 +99,7 @@ __BEGIN_DECLS /* * Optional devices on IO's external port */ -#define PX4_SPIDEV_ACCEL_MAG 2 +#define PX4_SPIDEV_ACCEL_MAG 2 /* * I2C busses From e1309f239104a7493b40bebc5da3aa1e7572bd09 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 27 May 2014 17:51:00 +0200 Subject: [PATCH 12/30] Enable SPI4 for FMUv2 --- nuttx-configs/px4fmu-v2/include/board.h | 4 ++++ nuttx-configs/px4fmu-v2/nsh/defconfig | 2 +- 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/nuttx-configs/px4fmu-v2/include/board.h b/nuttx-configs/px4fmu-v2/include/board.h index 3bede8a1f7..3b3c6fa707 100755 --- a/nuttx-configs/px4fmu-v2/include/board.h +++ b/nuttx-configs/px4fmu-v2/include/board.h @@ -268,6 +268,10 @@ #define GPIO_SPI2_MOSI (GPIO_SPI2_MOSI_1|GPIO_SPEED_50MHz) #define GPIO_SPI2_SCK (GPIO_SPI2_SCK_2|GPIO_SPEED_50MHz) +#define GPIO_SPI4_MISO (GPIO_SPI4_MISO_1|GPIO_SPEED_50MHz) +#define GPIO_SPI4_MOSI (GPIO_SPI4_MOSI_1|GPIO_SPEED_50MHz) +#define GPIO_SPI4_SCK (GPIO_SPI4_SCK_1|GPIO_SPEED_50MHz) + /************************************************************************************ * Public Data ************************************************************************************/ diff --git a/nuttx-configs/px4fmu-v2/nsh/defconfig b/nuttx-configs/px4fmu-v2/nsh/defconfig index a982040c6d..7d5e6e9df5 100644 --- a/nuttx-configs/px4fmu-v2/nsh/defconfig +++ b/nuttx-configs/px4fmu-v2/nsh/defconfig @@ -235,7 +235,7 @@ CONFIG_STM32_SDIO=y CONFIG_STM32_SPI1=y CONFIG_STM32_SPI2=y # CONFIG_STM32_SPI3 is not set -# CONFIG_STM32_SPI4 is not set +CONFIG_STM32_SPI4=y # CONFIG_STM32_SPI5 is not set # CONFIG_STM32_SPI6 is not set CONFIG_STM32_SYSCFG=y From 096a4673e90240ea31fc414dbc09d3a00f24b180 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 27 May 2014 17:51:18 +0200 Subject: [PATCH 13/30] Add SPI4 init bits for FMUv2 --- src/drivers/boards/px4fmu-v2/board_config.h | 5 +++ src/drivers/boards/px4fmu-v2/px4fmu2_init.c | 12 +++++++ src/drivers/boards/px4fmu-v2/px4fmu_spi.c | 35 +++++++++++++++++++++ 3 files changed, 52 insertions(+) diff --git a/src/drivers/boards/px4fmu-v2/board_config.h b/src/drivers/boards/px4fmu-v2/board_config.h index c2de1bfba0..3ed9888e45 100644 --- a/src/drivers/boards/px4fmu-v2/board_config.h +++ b/src/drivers/boards/px4fmu-v2/board_config.h @@ -106,14 +106,19 @@ __BEGIN_DECLS #define GPIO_SPI_CS_BARO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7) #define GPIO_SPI_CS_FRAM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10) #define GPIO_SPI_CS_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2) +#define GPIO_SPI_CS_EXT0 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4) +#define GPIO_SPI_CS_EXT1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN14) #define PX4_SPI_BUS_SENSORS 1 +#define PX4_SPI_BUS_EXT 4 /* Use these in place of the spi_dev_e enumeration to select a specific SPI device on SPI1 */ #define PX4_SPIDEV_GYRO 1 #define PX4_SPIDEV_ACCEL_MAG 2 #define PX4_SPIDEV_BARO 3 #define PX4_SPIDEV_MPU 4 +#define PX4_SPIDEV_EXT0 5 +#define PX4_SPIDEV_EXT1 6 /* I2C busses */ #define PX4_I2C_BUS_EXPANSION 1 diff --git a/src/drivers/boards/px4fmu-v2/px4fmu2_init.c b/src/drivers/boards/px4fmu-v2/px4fmu2_init.c index 71414d62c7..bf41bb1fed 100644 --- a/src/drivers/boards/px4fmu-v2/px4fmu2_init.c +++ b/src/drivers/boards/px4fmu-v2/px4fmu2_init.c @@ -192,6 +192,7 @@ stm32_boardinitialize(void) static struct spi_dev_s *spi1; static struct spi_dev_s *spi2; +static struct spi_dev_s *spi4; static struct sdio_dev_s *sdio; #include @@ -305,6 +306,17 @@ __EXPORT int nsh_archinitialize(void) message("[boot] Initialized SPI port 2 (RAMTRON FRAM)\n"); + spi4 = up_spiinitialize(4); + + /* Default SPI4 to 1MHz and de-assert the known chip selects. */ + SPI_SETFREQUENCY(spi4, 10000000); + SPI_SETBITS(spi4, 8); + SPI_SETMODE(spi4, SPIDEV_MODE3); + SPI_SELECT(spi4, PX4_SPIDEV_EXT0, false); + SPI_SELECT(spi4, PX4_SPIDEV_EXT1, false); + + message("[boot] Initialized SPI port 4\n"); + #ifdef CONFIG_MMCSD /* First, get an instance of the SDIO interface */ diff --git a/src/drivers/boards/px4fmu-v2/px4fmu_spi.c b/src/drivers/boards/px4fmu-v2/px4fmu_spi.c index c66c490a7f..9033290520 100644 --- a/src/drivers/boards/px4fmu-v2/px4fmu_spi.c +++ b/src/drivers/boards/px4fmu-v2/px4fmu_spi.c @@ -94,6 +94,13 @@ __EXPORT void weak_function stm32_spiinitialize(void) stm32_configgpio(GPIO_SPI_CS_FRAM); stm32_gpiowrite(GPIO_SPI_CS_FRAM, 1); #endif + +#ifdef CONFIG_STM32_SPI4 + stm32_configgpio(GPIO_SPI_CS_EXT0); + stm32_configgpio(GPIO_SPI_CS_EXT1); + stm32_gpiowrite(GPIO_SPI_CS_EXT0, 1); + stm32_gpiowrite(GPIO_SPI_CS_EXT1, 1); +#endif } __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected) @@ -157,3 +164,31 @@ __EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devi return SPI_STATUS_PRESENT; } #endif + +__EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected) +{ + /* SPI select is active low, so write !selected to select the device */ + + switch (devid) { + case PX4_SPIDEV_EXT0: + /* Making sure the other peripherals are not selected */ + stm32_gpiowrite(PX4_SPIDEV_EXT0, !selected); + stm32_gpiowrite(PX4_SPIDEV_EXT1, 1); + break; + + case PX4_SPIDEV_EXT1: + /* Making sure the other peripherals are not selected */ + stm32_gpiowrite(PX4_SPIDEV_EXT1, !selected); + stm32_gpiowrite(PX4_SPIDEV_EXT0, 1); + break; + + default: + break; + + } +} + +__EXPORT uint8_t stm32_spi4status(FAR struct spi_dev_s *dev, enum spi_dev_e devid) +{ + return SPI_STATUS_PRESENT; +} From 2bfde311db7daa0771c7be7f165b7601bf2946ca Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 28 May 2014 10:45:11 +0200 Subject: [PATCH 14/30] Fix SPI select on port 4 to use the right defines --- src/drivers/boards/px4fmu-v2/px4fmu_spi.c | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/drivers/boards/px4fmu-v2/px4fmu_spi.c b/src/drivers/boards/px4fmu-v2/px4fmu_spi.c index 9033290520..01dbd6e774 100644 --- a/src/drivers/boards/px4fmu-v2/px4fmu_spi.c +++ b/src/drivers/boards/px4fmu-v2/px4fmu_spi.c @@ -172,14 +172,14 @@ __EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, switch (devid) { case PX4_SPIDEV_EXT0: /* Making sure the other peripherals are not selected */ - stm32_gpiowrite(PX4_SPIDEV_EXT0, !selected); - stm32_gpiowrite(PX4_SPIDEV_EXT1, 1); + stm32_gpiowrite(GPIO_SPI_CS_EXT0, !selected); + stm32_gpiowrite(GPIO_SPI_CS_EXT1, 1); break; case PX4_SPIDEV_EXT1: /* Making sure the other peripherals are not selected */ - stm32_gpiowrite(PX4_SPIDEV_EXT1, !selected); - stm32_gpiowrite(PX4_SPIDEV_EXT0, 1); + stm32_gpiowrite(GPIO_SPI_CS_EXT1, !selected); + stm32_gpiowrite(GPIO_SPI_CS_EXT0, 1); break; default: From 65344133a4a6944b71f2ca134c6c4443ff7c96cd Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 28 May 2014 10:45:38 +0200 Subject: [PATCH 15/30] Count devices on SPI4 / EXT from 1 as for the other buses --- src/drivers/boards/px4fmu-v2/board_config.h | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/src/drivers/boards/px4fmu-v2/board_config.h b/src/drivers/boards/px4fmu-v2/board_config.h index 3ed9888e45..36eb7bec4e 100644 --- a/src/drivers/boards/px4fmu-v2/board_config.h +++ b/src/drivers/boards/px4fmu-v2/board_config.h @@ -117,8 +117,10 @@ __BEGIN_DECLS #define PX4_SPIDEV_ACCEL_MAG 2 #define PX4_SPIDEV_BARO 3 #define PX4_SPIDEV_MPU 4 -#define PX4_SPIDEV_EXT0 5 -#define PX4_SPIDEV_EXT1 6 + +/* External bus */ +#define PX4_SPIDEV_EXT0 1 +#define PX4_SPIDEV_EXT1 2 /* I2C busses */ #define PX4_I2C_BUS_EXPANSION 1 From b08a429d89cc10cb5d9dc953a218527dc20c230c Mon Sep 17 00:00:00 2001 From: Kynos Date: Wed, 28 May 2014 14:28:41 +0200 Subject: [PATCH 16/30] Updated AR.Drone parameters Flight tested May 7th, 2014. --- ROMFS/px4fmu_common/init.d/4008_ardrone | 25 +++++++++++++------------ 1 file changed, 13 insertions(+), 12 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/4008_ardrone b/ROMFS/px4fmu_common/init.d/4008_ardrone index 14786f2106..e6007db0e7 100644 --- a/ROMFS/px4fmu_common/init.d/4008_ardrone +++ b/ROMFS/px4fmu_common/init.d/4008_ardrone @@ -14,19 +14,20 @@ sh /etc/init.d/rc.mc_defaults if [ $DO_AUTOCONFIG == yes ] then # Set all params here, then disable autoconfig - param set MC_ROLL_P 5.0 - param set MC_ROLLRATE_P 0.13 - param set MC_ROLLRATE_I 0.0 - param set MC_ROLLRATE_D 0.0 - param set MC_PITCH_P 5.0 - param set MC_PITCHRATE_P 0.13 - param set MC_PITCHRATE_I 0.0 - param set MC_PITCHRATE_D 0.0 - param set MC_YAW_P 1.0 - param set MC_YAWRATE_P 0.15 - param set MC_YAWRATE_I 0.0 + param set MC_ROLL_P 6.0 + param set MC_ROLLRATE_P 0.14 + param set MC_ROLLRATE_I 0.1 + param set MC_ROLLRATE_D 0.002 + param set MC_PITCH_P 6.0 + param set MC_PITCHRATE_P 0.14 + param set MC_PITCHRATE_I 0.1 + param set MC_PITCHRATE_D 0.002 + param set MC_YAW_P 2.0 + param set MC_YAWRATE_P 0.2 + param set MC_YAWRATE_I 0.2 param set MC_YAWRATE_D 0.0 - param set MC_YAW_FF 0.15 + param set MC_YAW_FF 0.8 + param set BAT_V_SCALING 0.00838095238 fi From fe28069effe77dcac143c0194b982028438068f3 Mon Sep 17 00:00:00 2001 From: Kynos Date: Wed, 28 May 2014 17:26:41 +0200 Subject: [PATCH 17/30] Increase UART1 & UART5 RX&Tx buffer sizes To fix MAVLink message garbling problems. --- nuttx-configs/px4fmu-v1/nsh/defconfig | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/nuttx-configs/px4fmu-v1/nsh/defconfig b/nuttx-configs/px4fmu-v1/nsh/defconfig index bc0c120679..f2c7d22bfe 100644 --- a/nuttx-configs/px4fmu-v1/nsh/defconfig +++ b/nuttx-configs/px4fmu-v1/nsh/defconfig @@ -504,8 +504,8 @@ CONFIG_MTD_BYTE_WRITE=y # # USART1 Configuration # -CONFIG_USART1_RXBUFSIZE=256 -CONFIG_USART1_TXBUFSIZE=128 +CONFIG_USART1_RXBUFSIZE=300 +CONFIG_USART1_TXBUFSIZE=300 CONFIG_USART1_BAUD=57600 CONFIG_USART1_BITS=8 CONFIG_USART1_PARITY=0 @@ -528,8 +528,8 @@ CONFIG_USART2_OFLOWCONTROL=y # # UART5 Configuration # -CONFIG_UART5_RXBUFSIZE=256 -CONFIG_UART5_TXBUFSIZE=128 +CONFIG_UART5_RXBUFSIZE=300 +CONFIG_UART5_TXBUFSIZE=300 CONFIG_UART5_BAUD=57600 CONFIG_UART5_BITS=8 CONFIG_UART5_PARITY=0 From bb6b442ca66a8349eb934a43b5886f44c2b7ab87 Mon Sep 17 00:00:00 2001 From: Liio Chen Date: Thu, 29 May 2014 17:42:05 +0800 Subject: [PATCH 18/30] Magnetometer data is not update MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Magnetometer is not updated during a read operation, because the function "lsm303d_mag::measure" is not called. ”!!!JUST A GUESS!!!“ --- src/drivers/lsm303d/lsm303d.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/drivers/lsm303d/lsm303d.cpp b/src/drivers/lsm303d/lsm303d.cpp index 4ca8b5e42d..8bf76dcc33 100644 --- a/src/drivers/lsm303d/lsm303d.cpp +++ b/src/drivers/lsm303d/lsm303d.cpp @@ -880,7 +880,7 @@ LSM303D::mag_read(struct file *filp, char *buffer, size_t buflen) /* manual measurement */ _mag_reports->flush(); - measure(); + _mag->measure(); /* measurement will have generated a report, copy it out */ if (_mag_reports->get(mrb)) From 17d8e2a1663b36504a432b120c3993e4912842b5 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 29 May 2014 12:24:50 +0200 Subject: [PATCH 19/30] PCA8574 driver: Cleanup, ready for final testing and production --- src/drivers/drv_io_expander.h | 18 +- src/drivers/pca8574/pca8574.cpp | 343 +++++++++++++------------------- 2 files changed, 149 insertions(+), 212 deletions(-) diff --git a/src/drivers/drv_io_expander.h b/src/drivers/drv_io_expander.h index 2705d6f9e1..106354377f 100644 --- a/src/drivers/drv_io_expander.h +++ b/src/drivers/drv_io_expander.h @@ -49,17 +49,23 @@ #define _IOXIOCBASE (0x2800) #define _IOXIOC(_n) (_IOC(_IOXIOCBASE, _n)) -/** enable the device */ -#define IOX_ENABLE _IOXIOC(1) +/** set a bitmask (non-blocking) */ +#define IOX_SET_MASK _IOXIOC(1) -/** set constant values */ -#define IOX_SET_VALUE _IOXIOC(2) +/** get a bitmask (blocking) */ +#define IOX_GET_MASK _IOXIOC(2) -/** set constant values */ +/** set device mode (non-blocking) */ #define IOX_SET_MODE _IOXIOC(3) +/** set constant values (non-blocking) */ +#define IOX_SET_VALUE _IOXIOC(4) + +/* ... to IOX_SET_VALUE + 8 */ + /* enum passed to RGBLED_SET_MODE ioctl()*/ enum IOX_MODE { IOX_MODE_OFF, - IOX_MODE_ON + IOX_MODE_ON, + IOX_MODE_TEST_OUT }; diff --git a/src/drivers/pca8574/pca8574.cpp b/src/drivers/pca8574/pca8574.cpp index ce882b6367..cd1ffc82c6 100644 --- a/src/drivers/pca8574/pca8574.cpp +++ b/src/drivers/pca8574/pca8574.cpp @@ -1,8 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012, 2013 PX4 Development Team. All rights reserved. - * Author: Julian Oes - * Anton Babushkin + * Copyright (c) 2012-2014 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 @@ -36,8 +34,11 @@ /** * @file pca8574.cpp * - * Driver for the onboard RGB LED controller (TCA62724FMG) connected via I2C. + * Driver for an 8 I/O controller (PC8574) connected via I2C. * + * @author Lorenz Meier + * @author Julian Oes + * @author Anton Babushkin */ #include @@ -68,16 +69,7 @@ #define PCA8574_OFFTIME 120 #define PCA8574_DEVICE_PATH "/dev/pca8574" -#define ADDR 0x20 /**< I2C adress of PCA8574 (default, A0-A2 pulled to GND) */ -#define SUB_ADDR_START 0x01 /**< write everything (with auto-increment) */ -#define SUB_ADDR_PWM0 0x81 /**< blue (without auto-increment) */ -#define SUB_ADDR_PWM1 0x82 /**< green (without auto-increment) */ -#define SUB_ADDR_PWM2 0x83 /**< red (without auto-increment) */ -#define SUB_ADDR_SETTINGS 0x84 /**< settings (without auto-increment)*/ - -#define SETTING_NOT_POWERSAVE 0x01 /**< power-save mode not off */ -#define SETTING_ENABLE 0x02 /**< on */ - +#define ADDR 0x20 ///< I2C adress of PCA8574 (default, A0-A2 pulled to GND) class PCA8574 : public device::I2C { @@ -94,20 +86,23 @@ public: private: work_s _work; - uint8_t _values[8]; - float _brightness; + uint8_t _values_out; + uint8_t _values_in; enum IOX_MODE _mode; bool _running; int _led_interval; bool _should_run; + bool _update_out; int _counter; static void led_trampoline(void *arg); void led(); - int send_led_enable(bool enable); + int send_led_enable(uint8_t arg); int send_led_values(); + + int get(uint8_t &vals); }; /* for now, we only support one PCA8574 */ @@ -122,12 +117,13 @@ extern "C" __EXPORT int pca8574_main(int argc, char *argv[]); PCA8574::PCA8574(int bus, int pca8574) : I2C("pca8574", PCA8574_DEVICE_PATH, bus, pca8574, 100000), + _values_out(0), + _values_in(0), _mode(IOX_MODE_OFF), - _values({}), - _brightness(1.0f), _running(false), _led_interval(0), _should_run(false), + _update_out(false), _counter(0) { memset(&_work, 0, sizeof(_work)); @@ -147,10 +143,10 @@ PCA8574::init() return ret; } - /* switch off LED on start */ - send_led_enable(false); + // switch off LED on start (active low on Pixhawk) + send_led_enable(0xFF); - /* kick it in */ + // kick it in _should_run = true; _led_interval = 80; work_queue(LPWORK, &_work, (worker_t)&PCA8574::led_trampoline, this, 1); @@ -179,24 +175,69 @@ PCA8574::ioctl(struct file *filp, int cmd, unsigned long arg) int ret = ENOTTY; switch (cmd) { - case IOX_SET_VALUE ... (IOX_SET_VALUE + 8): - { - /* set the specified color */ - unsigned prev = _values[cmd - IOX_SET_VALUE]; - _values[cmd - IOX_SET_VALUE] = arg; - if (_values[cmd - IOX_SET_VALUE] != prev) { - // XXX will be done with a change flag - send_led_values(); - } - return OK; - } + case IOX_SET_VALUE ...(IOX_SET_VALUE + 8): { + // set the specified on / off state + uint8_t position = (1 << (cmd - IOX_SET_VALUE)); + uint8_t prev = _values_out; - case IOX_ENABLE: + if (arg) { + _values_out |= position; + + } else { + _values_out &= ~(position); + } + + if (_values_out != prev) { + send_led_values(); + } + + return OK; + } + + case IOX_SET_MASK: send_led_enable(arg); return OK; + case IOX_GET_MASK: { + uint8_t val; + ret = get(val); + + if (ret == OK) { + return val; + + } else { + return -1; + } + } + + case IOX_SET_MODE: + + if (_mode != (IOX_MODE)arg) { + + switch ((IOX_MODE)arg) { + case IOX_MODE_OFF: + _values_out = 0xFF; + break; + + case IOX_MODE_ON: + _values_out = 0; + break; + + case IOX_MODE_TEST_OUT: + break; + + default: + return -1; + } + + _mode = (IOX_MODE)arg; + send_led_values(); + } + + return OK; + default: - /* see if the parent class can make any use of it */ + // see if the parent class can make any use of it ret = CDev::ioctl(filp, cmd, arg); break; } @@ -224,204 +265,93 @@ PCA8574::led() return; } - // switch (_mode) { - // case PCA8574_MODE_BLINK_SLOW: - // case PCA8574_MODE_BLINK_NORMAL: - // case PCA8574_MODE_BLINK_FAST: - // if (_counter >= 2) - // _counter = 0; + if (_mode == IOX_MODE_TEST_OUT) { - // send_led_enable(_counter == 0); + // we count only seven states + _counter &= 0xF; + _counter++; - // break; + for (int i = 0; i < 8; i++) { + if (i < _counter) { + _values_out |= (1 << i); - // case PCA8574_MODE_BREATHE: + } else { + _values_out &= ~(1 << i); + } + } - // if (_counter >= 62) - // _counter = 0; + _update_out = true; + } - // int n; + if (_update_out) { + uint8_t msg = _values_out; - // if (_counter < 32) { - // n = _counter; + int ret = transfer(&msg, sizeof(msg), nullptr, 0); - // } else { - // n = 62 - _counter; - // } - - // _brightness = n * n / (31.0f * 31.0f); - // send_led_rgb(); - // break; - - // case PCA8574_MODE_PATTERN: - - // /* don't run out of the pattern array and stop if the next frame is 0 */ - // if (_counter >= PCA8574_PATTERN_LENGTH || _pattern.duration[_counter] <= 0) - // _counter = 0; - - // set_color(_pattern.color[_counter]); - // send_led_rgb(); - // _led_interval = _pattern.duration[_counter]; - // break; - - // default: - // break; - // } - - - // we count only seven states - _counter &= 0xF; - _counter++; - - for (int i = 0; i < 8; i++) { - if (i < _counter) { - _values[i] = 1; - } else { - _values[i] = 0; + if (!ret) { + _update_out = false; } } - send_led_values(); + // check if any activity remains, else stp + if (!_update_out) { + _running = false; + return; + } - /* re-queue ourselves to run again later */ + // re-queue ourselves to run again later work_queue(LPWORK, &_work, (worker_t)&PCA8574::led_trampoline, this, _led_interval); } -// /** -// * Set mode, if mode not changed has no any effect (doesn't reset blinks phase) -// */ -// void -// PCA8574::set_mode(pca8574_mode_t mode) -// { -// if (mode != _mode) { -// _mode = mode; - -// switch (mode) { -// // case PCA8574_MODE_OFF: -// // _should_run = false; -// // send_led_enable(false); -// // break; - -// // case PCA8574_MODE_ON: -// // _brightness = 1.0f; -// // send_led_rgb(); -// // send_led_enable(true); -// // break; - -// // case PCA8574_MODE_BLINK_SLOW: -// // _should_run = true; -// // _counter = 0; -// // _led_interval = 2000; -// // _brightness = 1.0f; -// // send_led_rgb(); -// // break; - -// // case PCA8574_MODE_BLINK_NORMAL: -// // _should_run = true; -// // _counter = 0; -// // _led_interval = 500; -// // _brightness = 1.0f; -// // send_led_rgb(); -// // break; - -// // case PCA8574_MODE_BLINK_FAST: -// // _should_run = true; -// // _counter = 0; -// // _led_interval = 100; -// // _brightness = 1.0f; -// // send_led_rgb(); -// // break; - -// // case PCA8574_MODE_BREATHE: -// // _should_run = true; -// // _counter = 0; -// // _led_interval = 25; -// // send_led_enable(true); -// // break; - -// // case PCA8574_MODE_PATTERN: -// // _should_run = true; -// // _counter = 0; -// // _brightness = 1.0f; -// // send_led_enable(true); -// // break; - -// default: -// warnx("mode unknown"); -// break; -// } - -// /* if it should run now, start the workq */ -// if (_should_run && !_running) { -// _running = true; -// work_queue(LPWORK, &_work, (worker_t)&PCA8574::led_trampoline, this, 1); -// } - -// } -// } - /** * Sent ENABLE flag to LED driver */ int -PCA8574::send_led_enable(bool enable) +PCA8574::send_led_enable(uint8_t arg) { - uint8_t msg; - if (enable) { - /* active low */ - msg = 0x00; - } else { - /* active low, so off */ - msg = 0xFF; - } - - int ret = transfer(&msg, sizeof(msg), nullptr, 0); + int ret = transfer(&arg, sizeof(arg), nullptr, 0); return ret; } /** - * Send RGB PWM settings to LED driver according to current color and brightness + * Send 8 outputs */ int PCA8574::send_led_values() { - uint8_t msg = 0; + _update_out = true; + _should_run = true; - for (int i = 0; i < 8; i++) { - if (_values[i]) { - msg |= (1 << i); - } + // if not active, kick it + if (!_running) { + work_queue(LPWORK, &_work, (worker_t)&PCA8574::led_trampoline, this, 1); } - int ret = transfer(&msg, sizeof(msg), nullptr, 0); + return 0; } -// int -// PCA8574::get(bool &on, bool &powersave, uint8_t &r, uint8_t &g, uint8_t &b) -// { -// uint8_t result[2]; -// int ret; +int +PCA8574::get(uint8_t &vals) +{ + uint8_t result; + int ret; -// ret = transfer(nullptr, 0, &result[0], 2); + ret = transfer(nullptr, 0, &result, 1); -// if (ret == OK) { -// on = result[0] & SETTING_ENABLE; -// powersave = !(result[0] & SETTING_NOT_POWERSAVE); -// /* XXX check, looks wrong */ -// r = (result[0] & 0x0f) << 4; -// g = (result[1] & 0xf0); -// b = (result[1] & 0x0f) << 4; -// } + if (ret == OK) { + _values_in = result; + vals = result; + } -// return ret; -// } + return ret; +} void pca8574_usage() { - warnx("missing command: try 'start', 'test', 'info', 'off', 'stop', 'val 0 100'"); + warnx("missing command: try 'start', 'test', 'info', 'off', 'stop', 'val 0 1'"); warnx("options:"); warnx(" -b i2cbus (%d)", PX4_I2C_BUS_LED); warnx(" -a addr (0x%x)", ADDR); @@ -431,11 +361,11 @@ int pca8574_main(int argc, char *argv[]) { int i2cdevice = -1; - int pca8574adr = ADDR; /* 7bit */ + int pca8574adr = ADDR; // 7bit int ch; - /* jump over start/off/etc and look at options first */ + // jump over start/off/etc and look at options first while ((ch = getopt(argc, argv, "a:b:")) != EOF) { switch (ch) { case 'a': @@ -452,10 +382,10 @@ pca8574_main(int argc, char *argv[]) } } - if (optind >= argc) { - pca8574_usage(); - exit(1); - } + if (optind >= argc) { + pca8574_usage(); + exit(1); + } const char *verb = argv[optind]; @@ -463,8 +393,9 @@ pca8574_main(int argc, char *argv[]) int ret; if (!strcmp(verb, "start")) { - if (g_pca8574 != nullptr) + if (g_pca8574 != nullptr) { errx(1, "already started"); + } if (i2cdevice == -1) { // try the external bus first @@ -481,6 +412,7 @@ pca8574_main(int argc, char *argv[]) if (PX4_I2C_BUS_LED == PX4_I2C_BUS_EXPANSION) { errx(1, "init failed"); } + i2cdevice = PX4_I2C_BUS_LED; } } @@ -488,8 +420,9 @@ pca8574_main(int argc, char *argv[]) if (g_pca8574 == nullptr) { g_pca8574 = new PCA8574(i2cdevice, pca8574adr); - if (g_pca8574 == nullptr) + if (g_pca8574 == nullptr) { errx(1, "new failed"); + } if (OK != g_pca8574->init()) { delete g_pca8574; @@ -501,7 +434,7 @@ pca8574_main(int argc, char *argv[]) exit(0); } - /* need the driver past this point */ + // need the driver past this point if (g_pca8574 == nullptr) { warnx("not started"); pca8574_usage(); @@ -515,8 +448,7 @@ pca8574_main(int argc, char *argv[]) errx(1, "Unable to open " PCA8574_DEVICE_PATH); } - ret = ioctl(fd, IOX_SET_VALUE, 255); - // ret = ioctl(fd, PCA8574_SET_MODE, (unsigned long)PCA8574_MODE_PATTERN); + ret = ioctl(fd, IOX_SET_MODE, (unsigned long)IOX_MODE_TEST_OUT); close(fd); exit(ret); @@ -547,7 +479,7 @@ pca8574_main(int argc, char *argv[]) if (!strcmp(verb, "val")) { if (argc < 4) { - errx(1, "Usage: pca8574 val "); + errx(1, "Usage: pca8574 val <0 or 1>"); } fd = open(PCA8574_DEVICE_PATH, 0); @@ -558,8 +490,7 @@ pca8574_main(int argc, char *argv[]) unsigned channel = strtol(argv[2], NULL, 0); unsigned val = strtol(argv[3], NULL, 0); - ret = ioctl(fd, (IOX_SET_VALUE+channel), val); - ret = ioctl(fd, IOX_ENABLE, 1); + ret = ioctl(fd, (IOX_SET_VALUE + channel), val); close(fd); exit(ret); } From 0c2e70d30f3e1d927a22fdd066a4a14ecc698de1 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 29 May 2014 13:52:29 +0200 Subject: [PATCH 20/30] Enable the driver as default for boards having it --- ROMFS/px4fmu_common/init.d/rcS | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 8c413e0878..87ec4293ea 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -93,14 +93,18 @@ then # if rgbled start then - echo "[init] Using external RGB Led" + echo "[init] RGB Led" else if blinkm start then - echo "[init] Using blinkm" + echo "[init] BlinkM" blinkm systemstate fi fi + + if pca8574 start + then + fi # # Set default values From eb02e74d30a215ff415983913bf569a23e916a2b Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 29 May 2014 13:52:47 +0200 Subject: [PATCH 21/30] PCA cleanup: Full interfaces ready for AP use --- src/drivers/pca8574/pca8574.cpp | 108 ++++++++++++++++++++++++-------- 1 file changed, 81 insertions(+), 27 deletions(-) diff --git a/src/drivers/pca8574/pca8574.cpp b/src/drivers/pca8574/pca8574.cpp index cd1ffc82c6..904ce18e8a 100644 --- a/src/drivers/pca8574/pca8574.cpp +++ b/src/drivers/pca8574/pca8574.cpp @@ -82,12 +82,15 @@ public: virtual int probe(); virtual int info(); virtual int ioctl(struct file *filp, int cmd, unsigned long arg); + bool is_running() { return _running; } private: work_s _work; uint8_t _values_out; uint8_t _values_in; + uint8_t _blinking; + uint8_t _blink_phase; enum IOX_MODE _mode; bool _running; @@ -119,9 +122,11 @@ PCA8574::PCA8574(int bus, int pca8574) : I2C("pca8574", PCA8574_DEVICE_PATH, bus, pca8574, 100000), _values_out(0), _values_in(0), + _blinking(0), + _blink_phase(0), _mode(IOX_MODE_OFF), _running(false), - _led_interval(0), + _led_interval(80), _should_run(false), _update_out(false), _counter(0) @@ -143,22 +148,14 @@ PCA8574::init() return ret; } - // switch off LED on start (active low on Pixhawk) - send_led_enable(0xFF); - - // kick it in - _should_run = true; - _led_interval = 80; - work_queue(LPWORK, &_work, (worker_t)&PCA8574::led_trampoline, this, 1); - return OK; } int PCA8574::probe() { - - return send_led_enable(false); + uint8_t val; + return get(val); } int @@ -188,6 +185,9 @@ PCA8574::ioctl(struct file *filp, int cmd, unsigned long arg) } if (_values_out != prev) { + if (_values_out) { + _mode = IOX_MODE_ON; + } send_led_values(); } @@ -260,11 +260,6 @@ PCA8574::led_trampoline(void *arg) void PCA8574::led() { - if (!_should_run) { - _running = false; - return; - } - if (_mode == IOX_MODE_TEST_OUT) { // we count only seven states @@ -281,10 +276,37 @@ PCA8574::led() } _update_out = true; + _should_run = true; + } else if (_mode == IOX_MODE_OFF) { + _update_out = true; + _should_run = false; + } else { + + // Any of the normal modes + if (_blinking > 0) { + /* we need to be running to blink */ + _should_run = true; + } else { + _should_run = false; + } } if (_update_out) { - uint8_t msg = _values_out; + uint8_t msg; + + if (_blinking) { + msg = (_values_out & _blinking & _blink_phase); + + // wipe out all positions that are marked as blinking + msg &= ~(_blinking); + + // fill blink positions + msg |= ((_blink_phase) ? _blinking : 0); + + _blink_phase = !_blink_phase; + } else { + msg = _values_out; + } int ret = transfer(&msg, sizeof(msg), nullptr, 0); @@ -294,12 +316,13 @@ PCA8574::led() } // check if any activity remains, else stp - if (!_update_out) { + if (!_should_run) { _running = false; return; } // re-queue ourselves to run again later + _running = true; work_queue(LPWORK, &_work, (worker_t)&PCA8574::led_trampoline, this, _led_interval); } @@ -322,10 +345,10 @@ int PCA8574::send_led_values() { _update_out = true; - _should_run = true; // if not active, kick it if (!_running) { + _running = true; work_queue(LPWORK, &_work, (worker_t)&PCA8574::led_trampoline, this, 1); } @@ -436,8 +459,7 @@ pca8574_main(int argc, char *argv[]) // need the driver past this point if (g_pca8574 == nullptr) { - warnx("not started"); - pca8574_usage(); + warnx("not started, run pca8574 start"); exit(1); } @@ -459,10 +481,10 @@ pca8574_main(int argc, char *argv[]) exit(0); } - if (!strcmp(verb, "off") || !strcmp(verb, "stop")) { + if (!strcmp(verb, "off")) { fd = open(PCA8574_DEVICE_PATH, 0); - if (fd == -1) { + if (fd < 0) { errx(1, "Unable to open " PCA8574_DEVICE_PATH); } @@ -472,9 +494,36 @@ pca8574_main(int argc, char *argv[]) } if (!strcmp(verb, "stop")) { - delete g_pca8574; - g_pca8574 = nullptr; - exit(0); + fd = open(PCA8574_DEVICE_PATH, 0); + + if (fd == -1) { + errx(1, "Unable to open " PCA8574_DEVICE_PATH); + } + + ret = ioctl(fd, IOX_SET_MODE, (unsigned long)IOX_MODE_OFF); + close(fd); + + // wait until we're not running any more + for (unsigned i = 0; i < 15; i++) { + if (!g_pca8574->is_running()) { + break; + } + + usleep(50000); + printf("."); + fflush(stdout); + } + printf("\n"); + fflush(stdout); + + if (!g_pca8574->is_running()) { + delete g_pca8574; + g_pca8574 = nullptr; + exit(0); + } else { + warnx("stop failed."); + exit(1); + } } if (!strcmp(verb, "val")) { @@ -490,7 +539,12 @@ pca8574_main(int argc, char *argv[]) unsigned channel = strtol(argv[2], NULL, 0); unsigned val = strtol(argv[3], NULL, 0); - ret = ioctl(fd, (IOX_SET_VALUE + channel), val); + + if (channel < 8) { + ret = ioctl(fd, (IOX_SET_VALUE + channel), val); + } else { + ret = -1; + } close(fd); exit(ret); } From 46301f753d212b55e151a394bc9d4b3b787f35ef Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 29 May 2014 18:28:37 +0200 Subject: [PATCH 22/30] Minor fixes to MAVLink --- src/modules/mavlink/mavlink_main.cpp | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index bb1ad86ef6..28cdf65a3c 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -190,8 +190,9 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length /* check if there is space in the buffer, let it overflow else */ if (!ioctl(uart, FIONWRITE, (unsigned long)&buf_free)) { - if (desired > buf_free) { - desired = buf_free; + if (buf_free < desired) { + /* we don't want to send anything just in half, so return */ + return; } } @@ -222,6 +223,8 @@ Mavlink::Mavlink() : _subscriptions(nullptr), _streams(nullptr), _mission_pub(-1), + _mode(MAVLINK_MODE_NORMAL), + _total_counter(0), _verbose(false), _forwarding_on(false), _passing_on(false), From 718206bd6d4103d8d2b1ad6a111770f65622029a Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Fri, 30 May 2014 14:37:23 +0200 Subject: [PATCH 23/30] ubx driver: fix unit of speed and position accuracy estimate --- src/drivers/gps/ubx.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/drivers/gps/ubx.cpp b/src/drivers/gps/ubx.cpp index 19cf5beecf..7502809bd7 100644 --- a/src/drivers/gps/ubx.cpp +++ b/src/drivers/gps/ubx.cpp @@ -447,8 +447,8 @@ UBX::handle_message() gps_bin_nav_sol_packet_t *packet = (gps_bin_nav_sol_packet_t *) _rx_buffer; _gps_position->fix_type = packet->gpsFix; - _gps_position->s_variance_m_s = packet->sAcc; - _gps_position->p_variance_m = packet->pAcc; + _gps_position->s_variance_m_s = (float)packet->sAcc * 1e-2f; // from cm/s to m/s + _gps_position->p_variance_m = (float)packet->pAcc * 1e-2f; // from cm to m _gps_position->timestamp_variance = hrt_absolute_time(); ret = 1; From 138edca5445a66df3647c03529ad2a30a51fe083 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sat, 31 May 2014 13:15:10 +0200 Subject: [PATCH 24/30] attempt to fix mavlink hardware flow control disable logic --- src/modules/mavlink/mavlink_main.cpp | 32 +++++++++++++++------------- 1 file changed, 17 insertions(+), 15 deletions(-) diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 28cdf65a3c..540b886579 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -105,7 +105,8 @@ static struct file_operations fops; */ extern "C" __EXPORT int mavlink_main(int argc, char *argv[]); -static uint64_t last_write_times[6] = {0}; +static uint64_t last_write_success_times[6] = {0}; +static uint64_t last_write_try_times[6] = {0}; /* * Internal function to send the bytes through the right serial port @@ -166,26 +167,25 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length if (instance->get_flow_control_enabled() && ioctl(uart, FIONWRITE, (unsigned long)&buf_free) == 0) { - if (buf_free == 0) { - - if (last_write_times[(unsigned)channel] != 0 && - hrt_elapsed_time(&last_write_times[(unsigned)channel]) > 500 * 1000UL) { - - warnx("DISABLING HARDWARE FLOW CONTROL"); - instance->enable_flow_control(false); - } - - } else { - - /* apparently there is space left, although we might be - * partially overflooding the buffer already */ - last_write_times[(unsigned)channel] = hrt_absolute_time(); + /* Disable hardware flow control: + * if no successful write since a defined time + * and if the last try was not the last successful write + */ + if (last_write_try_times[(unsigned)channel] != 0 && + hrt_elapsed_time(&last_write_success_times[(unsigned)channel]) > 500 * 1000UL && + last_write_success_times[(unsigned)channel] != + last_write_try_times[(unsigned)channel]) + { + warnx("DISABLING HARDWARE FLOW CONTROL"); + instance->enable_flow_control(false); } + } /* If the wait until transmit flag is on, only transmit after we've received messages. Otherwise, transmit all the time. */ if (instance->should_transmit()) { + last_write_try_times[(unsigned)channel] = hrt_absolute_time(); /* check if there is space in the buffer, let it overflow else */ if (!ioctl(uart, FIONWRITE, (unsigned long)&buf_free)) { @@ -199,6 +199,8 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length ssize_t ret = write(uart, ch, desired); if (ret != desired) { warnx("TX FAIL"); + } else { + last_write_success_times[(unsigned)channel] = last_write_try_times[(unsigned)channel]; } } From 9ee42e8e5986dcdb2e5bc9ff5110ad7bed462f98 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sun, 1 Jun 2014 10:59:11 +0200 Subject: [PATCH 25/30] rcS: fix whitespace --- ROMFS/px4fmu_common/init.d/rcS | 82 +++++++++++++++++----------------- 1 file changed, 41 insertions(+), 41 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 87ec4293ea..6d06f897a3 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -65,12 +65,12 @@ then # Start CDC/ACM serial driver # sercon - + # # Start the ORB (first app to start) # uorb start - + # # Load parameters # @@ -79,7 +79,7 @@ then then set PARAM_FILE /fs/mtd_params fi - + param select $PARAM_FILE if param load then @@ -87,7 +87,7 @@ then else echo "[init] ERROR: Params loading failed: $PARAM_FILE" fi - + # # Start system state indicator # @@ -105,7 +105,7 @@ then if pca8574 start then fi - + # # Set default values # @@ -126,7 +126,7 @@ then set LOAD_DEFAULT_APPS yes set GPS yes set GPS_FAKE no - + # # Set DO_AUTOCONFIG flag to use it in AUTOSTART scripts # @@ -136,7 +136,7 @@ then else set DO_AUTOCONFIG no fi - + # # Set USE_IO flag # @@ -146,7 +146,7 @@ then else set USE_IO no fi - + # # Set parameters and env variables for selected AUTOSTART # @@ -176,9 +176,9 @@ then param set SYS_AUTOCONFIG 0 param save fi - + set IO_PRESENT no - + if [ $USE_IO == yes ] then # @@ -190,19 +190,19 @@ then else set IO_FILE /etc/extras/px4io-v1_default.bin fi - + if px4io checkcrc $IO_FILE then echo "[init] PX4IO CRC OK" echo "PX4IO CRC OK" >> $LOG_FILE - + set IO_PRESENT yes else echo "[init] Trying to update" echo "PX4IO Trying to update" >> $LOG_FILE - + tone_alarm MLL32CP8MB - + if px4io forceupdate 14662 $IO_FILE then usleep 500000 @@ -211,7 +211,7 @@ then echo "[init] PX4IO CRC OK, update successful" echo "PX4IO CRC OK after updating" >> $LOG_FILE tone_alarm MLL8CDE - + set IO_PRESENT yes else echo "[init] ERROR: PX4IO update failed" @@ -224,14 +224,14 @@ then tone_alarm $TUNE_OUT_ERROR fi fi - + if [ $IO_PRESENT == no ] then echo "[init] ERROR: PX4IO not found" tone_alarm $TUNE_OUT_ERROR fi fi - + # # Set default output if not set # @@ -250,7 +250,7 @@ then # Need IO for output but it not present, disable output set OUTPUT_MODE none echo "[init] ERROR: PX4IO not found, disabling output" - + # Avoid using ttyS0 for MAVLink on FMUv1 if ver hwcmp PX4FMU_V1 then @@ -274,17 +274,17 @@ then # Try to get an USB console nshterm /dev/ttyACM0 & - + # # Start the Commander (needs to be this early for in-air-restarts) # commander start - + # # Start primary output # set TTYS1_BUSY no - + # If OUTPUT_MODE == none then something is wrong with setup and we shouldn't try to enable output if [ $OUTPUT_MODE != none ] then @@ -300,7 +300,7 @@ then tone_alarm $TUNE_OUT_ERROR fi fi - + if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == ardrone ] then echo "[init] Use FMU as primary output" @@ -311,7 +311,7 @@ then echo "[init] ERROR: FMU mode_$FMU_MODE start failed" tone_alarm $TUNE_OUT_ERROR fi - + if ver hwcmp PX4FMU_V1 then if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ] @@ -324,7 +324,7 @@ then fi fi fi - + if [ $OUTPUT_MODE == mkblctrl ] then echo "[init] Use MKBLCTRL as primary output" @@ -337,7 +337,7 @@ then then set MKBLCTRL_ARG "-mkmode +" fi - + if mkblctrl $MKBLCTRL_ARG then echo "[init] MKBLCTRL started" @@ -345,9 +345,9 @@ then echo "[init] ERROR: MKBLCTRL start failed" tone_alarm $TUNE_OUT_ERROR fi - + fi - + if [ $OUTPUT_MODE == hil ] then echo "[init] Use HIL as primary output" @@ -359,7 +359,7 @@ then tone_alarm $TUNE_OUT_ERROR fi fi - + # # Start IO or FMU for RC PPM input if needed # @@ -386,7 +386,7 @@ then echo "[init] ERROR: FMU mode_$FMU_MODE start failed" tone_alarm $TUNE_OUT_ERROR fi - + if ver hwcmp PX4FMU_V1 then if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ] @@ -401,7 +401,7 @@ then fi fi fi - + # # MAVLink # @@ -422,7 +422,7 @@ then fi mavlink start $MAVLINK_FLAGS - + # # Sensors, Logging, GPS # @@ -433,7 +433,7 @@ then echo "[init] Start logging" sh /etc/init.d/rc.logging fi - + if [ $GPS == yes ] then echo "[init] Start GPS" @@ -443,7 +443,7 @@ then gps start -f else gps start - fi + fi fi # @@ -460,24 +460,24 @@ then if [ $VEHICLE_TYPE == fw ] then echo "[init] Vehicle type: FIXED WING" - + if [ $MIXER == none ] then # Set default mixer for fixed wing if not defined set MIXER FMU_AERT fi - + if [ $MAV_TYPE == none ] then # Use MAV_TYPE = 1 (fixed wing) if not defined set MAV_TYPE 1 fi - + param set MAV_TYPE $MAV_TYPE - + # Load mixer and configure outputs sh /etc/init.d/rc.interface - + # Start standard fixedwing apps if [ $LOAD_DEFAULT_APPS == yes ] then @@ -525,7 +525,7 @@ then set MAV_TYPE 14 fi fi - + # Still no MAV_TYPE found if [ $MAV_TYPE == none ] then @@ -533,10 +533,10 @@ then else param set MAV_TYPE $MAV_TYPE fi - + # Load mixer and configure outputs sh /etc/init.d/rc.interface - + # Start standard multicopter apps if [ $LOAD_DEFAULT_APPS == yes ] then From 0c35b7a8ee5305b8cc4c2dda69222f137f3f3593 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 1 Jun 2014 11:50:14 +0200 Subject: [PATCH 26/30] Fixed EKF initial param values --- ROMFS/px4fmu_common/init.d/rc.mc_defaults | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_defaults index b6b0a5b4ed..97644d1b9a 100644 --- a/ROMFS/px4fmu_common/init.d/rc.mc_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults @@ -37,7 +37,7 @@ then param set MPC_LAND_SPEED 1.0 param set PE_VELNE_NOISE 0.5 - param set PE_VELNE_NOISE 0.7 + param set PE_VELD_NOISE 0.7 param set PE_POSNE_NOISE 0.5 param set PE_POSD_NOISE 1.0 From 480c41d83591354480a8fd81cfbc314fccaa6a20 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sun, 1 Jun 2014 13:18:56 +0200 Subject: [PATCH 27/30] do not read out home position in gcs (home position is still displayed) --- src/modules/commander/commander.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 5c0628a166..65922b2a5d 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1408,7 +1408,7 @@ int commander_thread_main(int argc, char *argv[]) home.alt = global_position.alt; warnx("home: lat = %.7f, lon = %.7f, alt = %.2f ", home.lat, home.lon, (double)home.alt); - mavlink_log_info(mavlink_fd, "#audio: home: %.7f, %.7f, %.2f", home.lat, home.lon, (double)home.alt); + mavlink_log_info(mavlink_fd, "home: %.7f, %.7f, %.2f", home.lat, home.lon, (double)home.alt); /* announce new home position */ if (home_pub > 0) { From 794b853a3b94b5520b734933f18823885259427d Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sun, 1 Jun 2014 14:04:16 +0200 Subject: [PATCH 28/30] mavlink: for takeoff mission items don't set the time inside field. Correctly set pitch min when converting from mission item to mavlink mission item --- src/modules/mavlink/mavlink_main.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 540b886579..304a02c291 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -896,6 +896,7 @@ int Mavlink::map_mavlink_mission_item_to_mission_item(const mavlink_mission_item default: mission_item->acceptance_radius = mavlink_mission_item->param2; + mission_item->time_inside = mavlink_mission_item->param1; break; } @@ -904,7 +905,6 @@ int Mavlink::map_mavlink_mission_item_to_mission_item(const mavlink_mission_item mission_item->loiter_direction = (mavlink_mission_item->param3 > 0) ? 1 : -1; /* 1 if positive CW, -1 if negative CCW */ mission_item->nav_cmd = (NAV_CMD)mavlink_mission_item->command; - mission_item->time_inside = mavlink_mission_item->param1; mission_item->autocontinue = mavlink_mission_item->autocontinue; // mission_item->index = mavlink_mission_item->seq; mission_item->origin = ORIGIN_MAVLINK; @@ -923,11 +923,12 @@ int Mavlink::map_mission_item_to_mavlink_mission_item(const struct mission_item_ switch (mission_item->nav_cmd) { case NAV_CMD_TAKEOFF: - mavlink_mission_item->param2 = mission_item->pitch_min; + mavlink_mission_item->param1 = mission_item->pitch_min; break; default: mavlink_mission_item->param2 = mission_item->acceptance_radius; + mavlink_mission_item->param1 = mission_item->time_inside; break; } @@ -938,7 +939,6 @@ int Mavlink::map_mission_item_to_mavlink_mission_item(const struct mission_item_ mavlink_mission_item->param4 = mission_item->yaw * M_RAD_TO_DEG_F; mavlink_mission_item->param3 = mission_item->loiter_radius * (float)mission_item->loiter_direction; mavlink_mission_item->command = mission_item->nav_cmd; - mavlink_mission_item->param1 = mission_item->time_inside; mavlink_mission_item->autocontinue = mission_item->autocontinue; // mavlink_mission_item->seq = mission_item->index; From ad811304c89d00d6432ec871916b7a82c8b3cbe7 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 1 Jun 2014 15:36:26 +0200 Subject: [PATCH 29/30] actuator_armed: Fixed comments and doxygen, no C-level changes --- src/modules/uORB/topics/actuator_armed.h | 20 +++++++++++++++----- 1 file changed, 15 insertions(+), 5 deletions(-) diff --git a/src/modules/uORB/topics/actuator_armed.h b/src/modules/uORB/topics/actuator_armed.h index 6e944ffee3..a98d3fc3a4 100644 --- a/src/modules/uORB/topics/actuator_armed.h +++ b/src/modules/uORB/topics/actuator_armed.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * 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 @@ -44,15 +44,25 @@ #include #include "../uORB.h" +/** + * @addtogroup topics + * @{ + */ + /** global 'actuator output is live' control. */ struct actuator_armed_s { - uint64_t timestamp; - bool armed; /**< Set to true if system is armed */ - bool ready_to_arm; /**< Set to true if system is ready to be armed */ - bool lockdown; /**< Set to true if actuators are forced to being disabled (due to emergency or HIL) */ + uint64_t timestamp; /**< Microseconds since system boot */ + bool armed; /**< Set to true if system is armed */ + bool ready_to_arm; /**< Set to true if system is ready to be armed */ + bool lockdown; /**< Set to true if actuators are forced to being disabled (due to emergency or HIL) */ }; +/** + * @} + */ + +/* register this as object request broker structure */ ORB_DECLARE(actuator_armed); #endif \ No newline at end of file From 325d5026bb6d36ab3557ab999f8db772f77ac7a1 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 3 Jun 2014 13:37:31 +0200 Subject: [PATCH 30/30] Hotfix: Fix scaling for battery current --- src/modules/mavlink/mavlink_messages.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 933478f560..fd41b723ab 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -274,7 +274,7 @@ protected: status->onboard_control_sensors_health, status->load * 1000.0f, status->battery_voltage * 1000.0f, - status->battery_current * 1000.0f, + status->battery_current * 100.0f, status->battery_remaining * 100.0f, status->drop_rate_comm, status->errors_comm,