fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-16 18:10:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'master' of https://github.com/tnaegeli/Firmware into task_spawn

Browse Source
This commit is contained in:
Lorenz Meier
2012-10-01 17:29:36 +02:00
parent 93c200d281 e42655e7c6
commit d3e7b5e0bf
4 changed files with 33 additions and 23 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Makefile
+5 -1
View File
@@ -114,6 +114,10 @@ endif
upload: $(FIRMWARE_BUNDLE) $(UPLOADER)
@python -u $(UPLOADER) --port $(SERIAL_PORTS) $(FIRMWARE_BUNDLE)
upload-jtag-px4fmu:
@echo Attempting to flash PX4FMU board via JTAG
@openocd -f interface/olimex-jtag-tiny.cfg -f Tools/stm32f4x.cfg -c init -c "reset halt" -c "flash write_image erase nuttx/nuttx" -c "flash write_image erase ../Bootloader/px4fmu_bl.elf" -c "reset run" -c shutdown
#
# Hacks and fixups
@@ -129,7 +133,7 @@ endif
# a complete re-compilation, 'distclean' should remove everything
# that's generated leaving only files that are in source control.
#
.PHONY: clean
.PHONY: clean upload-jtag-px4fmu
clean:
@make -C $(NUTTX_SRC) -r $(MQUIET) distclean
@make -C $(ROMFS_SRC) -r $(MQUIET) clean
Tools/px_uploader.py
+3 -14
View File
@@ -263,8 +263,8 @@ class uploader(object):
print("program...")
self.__program(fw)
print("verify...")
self.__verify(fw)
#print("verify...")
#self.__verify(fw)
print("done, rebooting.")
self.__reboot()
@@ -290,18 +290,7 @@ while True:
# create an uploader attached to the port
try:
if "linux" in _platform:
# Linux, don't open Mac OS and Win ports
if not "COM" in port and not "tty.usb" in port:
up = uploader(port, args.baud)
elif "darwin" in _platform:
# OS X, don't open Windows and Linux ports
if not "COM" in port and not "ACM" in port:
up = uploader(port, args.baud)
elif "win" in _platform:
# Windows, don't open POSIX ports
if not "/" in port:
up = uploader(port, args.baud)
up = uploader("\\\\.\\COM2", args.baud)
except:
# open failed, rate-limit our attempts
time.sleep(0.05)
apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
+23 -6
View File
@@ -278,7 +278,7 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
overloadcounter++;
}
int8_t update_vect[9] = {1, 1, 1, 1, 1, 1, 1, 1, 1};
int8_t update_vect[3] = {1, 1, 1};
float euler[3];
int32_t z_k_sizes = 9;
float u[4] = {0.0f, 0.0f, 0.0f, 0.0f};
@@ -289,11 +289,28 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
if (!const_initialized /*&& dt < 0.05 && dt > 0.005*/)
{
dt = 0.005f;
knownConst[0] = 0.6f*0.6f*dt;
knownConst[1] = 0.6f*0.6f*dt;
knownConst[2] = 0.2f*0.2f*dt;
knownConst[3] = 0.2f*0.2f*dt;
knownConst[4] = 0.000001f*0.000001f*dt; // -9.81,1,1,-1};
q[0] = 1e1;
q[1] = 1e1;
q[2] = 1e1;
q[3] = 1e-6;
q[4] = 1e-6;
q[5] = 1e-6;
q[6] = 1e-1;
q[7] = 1e-1;
q[8] = 1e-1;
q[9] = 1e-1;
q[10] = 1e-1;
q[11] = 1e-1;
r[0]= 1e-2;
r[1]= 1e-2;
r[2]= 1e-2;
r[3]= 1e-1;
r[4]= 1e-1;
r[5]= 1e-1;
r[6]= 1e-1;
r[7]= 1e-1;
r[8]= 1e-1;
x_aposteriori_k[0] = z_k[0];
x_aposteriori_k[1] = z_k[1];
nuttx/configs/px4fmu/nsh/defconfig
+2 -2
View File
@@ -236,8 +236,8 @@ CONFIG_AT24XX_MTD_BLOCKSIZE=256
CONFIG_SERIAL_TERMIOS=y
CONFIG_SERIAL_CONSOLE_REINIT=y
CONFIG_USART1_SERIAL_CONSOLE=y
CONFIG_USART2_SERIAL_CONSOLE=n
CONFIG_USART1_SERIAL_CONSOLE=n
CONFIG_USART2_SERIAL_CONSOLE=y
CONFIG_USART3_SERIAL_CONSOLE=n
CONFIG_UART4_SERIAL_CONSOLE=n
CONFIG_UART5_SERIAL_CONSOLE=n