Merge branch 'master' into fw_autoland

nored, and an empty message aborts

src/modules/att_pos_estimator_ekf/KalmanNav.cpp

@@ -34,7 +34,7 @@
 /**
  * @file KalmanNav.cpp
  *
- * kalman filter navigation code
+ * Kalman filter navigation code
  */
 
 #include <poll.h>
@@ -228,10 +228,7 @@ void KalmanNav::update()
 	updateSubscriptions();
 
 	// initialize attitude when sensors online
-	if (!_attitudeInitialized && sensorsUpdate &&
-	    _sensors.accelerometer_counter > 10 &&
-	    _sensors.gyro_counter > 10 &&
-	    _sensors.magnetometer_counter > 10) {
+	if (!_attitudeInitialized && sensorsUpdate) {
 		if (correctAtt() == ret_ok) _attitudeInitCounter++;
 
 		if (_attitudeInitCounter > 100) {
@@ -643,7 +640,7 @@ int KalmanNav::correctAtt()
 
 	if (beta > _faultAtt.get()) {
 		warnx("fault in attitude: beta = %8.4f", (double)beta);
-		warnx("y:\n"); y.print();
+		warnx("y:"); y.print();
 	}
 
 	// update quaternions from euler

src/modules/commander/commander.cpp

@@ -199,7 +199,7 @@ void handle_command(struct vehicle_status_s *status, struct vehicle_control_mode
  */
 int commander_thread_main(int argc, char *argv[]);
 
-void control_status_leds(vehicle_status_s *status, actuator_armed_s *armed, bool changed);
+void control_status_leds(vehicle_status_s *status, const actuator_armed_s *actuator_armed, bool changed);
 
 void check_valid(hrt_abstime timestamp, hrt_abstime timeout, bool valid_in, bool *valid_out, bool *changed);
 
@@ -843,6 +843,12 @@ int commander_thread_main(int argc, char *argv[])
 
 		if (updated) {
 			orb_copy(ORB_ID(safety), safety_sub, &safety);
+
+			// XXX this would be the right approach to do it, but do we *WANT* this?
+			// /* disarm if safety is now on and still armed */
+			// if (safety.safety_switch_available && !safety.safety_off) {
+			// 	(void)arming_state_transition(&status, &safety, &control_mode, ARMING_STATE_STANDBY, &armed);
+			// }
 		}
 
 		/* update global position estimate */
@@ -1219,7 +1225,7 @@ int commander_thread_main(int argc, char *argv[])
 		}
 
 		/* play arming and battery warning tunes */
-		if (!arm_tune_played && armed.armed) {
+		if (!arm_tune_played && armed.armed && (!safety.safety_switch_available || (safety.safety_switch_available && safety.safety_off))) {
 			/* play tune when armed */
 			if (tune_arm() == OK)
 				arm_tune_played = true;
@@ -1240,7 +1246,7 @@ int commander_thread_main(int argc, char *argv[])
 		}
 
 		/* reset arm_tune_played when disarmed */
-		if (!(armed.armed && (!safety.safety_switch_available || (safety.safety_off && safety.safety_switch_available)))) {
+		if (status.arming_state != ARMING_STATE_ARMED || (safety.safety_switch_available && !safety.safety_off)) {
 			arm_tune_played = false;
 		}
 
@@ -1309,7 +1315,7 @@ check_valid(hrt_abstime timestamp, hrt_abstime timeout, bool valid_in, bool *val
 }
 
 void
-control_status_leds(vehicle_status_s *status, actuator_armed_s *armed, bool changed)
+control_status_leds(vehicle_status_s *status, const actuator_armed_s *actuator_armed, bool changed)
 {
 	/* driving rgbled */
 	if (changed) {
@@ -1356,11 +1362,11 @@ control_status_leds(vehicle_status_s *status, actuator_armed_s *armed, bool chan
 #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
 
 	/* this runs at around 20Hz, full cycle is 16 ticks = 10/16Hz */
-	if (armed->armed) {
+	if (actuator_armed->armed) {
 		/* armed, solid */
 		led_on(LED_BLUE);
 
-	} else if (armed->ready_to_arm) {
+	} else if (actuator_armed->ready_to_arm) {
 		/* ready to arm, blink at 1Hz */
 		if (leds_counter % 20 == 0)
 			led_toggle(LED_BLUE);

src/modules/commander/mag_calibration.cpp

@@ -73,7 +73,7 @@ int do_mag_calibration(int mavlink_fd)
 
 	/* maximum 500 values */
 	const unsigned int calibration_maxcount = 500;
-	unsigned int calibration_counter = 0;
+	unsigned int calibration_counter;
 
 	struct mag_scale mscale_null = {
 		0.0f,
@@ -99,28 +99,34 @@ int do_mag_calibration(int mavlink_fd)
 		res = ioctl(fd, MAGIOCCALIBRATE, fd);
 
 		if (res != OK) {
-			mavlink_log_critical(mavlink_fd, "ERROR: failed to calibrate scale");
+			mavlink_log_critical(mavlink_fd, "Skipped scale calibration");
+			/* this is non-fatal - mark it accordingly */
+			res = OK;
 		}
 	}
 
 	close(fd);
 
-	float *x;
-	float *y;
-	float *z;
+	float *x = NULL;
+	float *y = NULL;
+	float *z = NULL;
 
 	if (res == OK) {
 		/* allocate memory */
 		mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 20);
 
-		x = (float *)malloc(sizeof(float) * calibration_maxcount);
-		y = (float *)malloc(sizeof(float) * calibration_maxcount);
-		z = (float *)malloc(sizeof(float) * calibration_maxcount);
+		x = reinterpret_cast<float *>(malloc(sizeof(float) * calibration_maxcount));
+		y = reinterpret_cast<float *>(malloc(sizeof(float) * calibration_maxcount));
+		z = reinterpret_cast<float *>(malloc(sizeof(float) * calibration_maxcount));
 
 		if (x == NULL || y == NULL || z == NULL) {
 			mavlink_log_critical(mavlink_fd, "ERROR: out of memory");
 			res = ERROR;
+			return res;
 		}
+	} else {
+		/* exit */
+		return ERROR;
 	}
 
 	if (res == OK) {
@@ -136,6 +142,8 @@ int do_mag_calibration(int mavlink_fd)
 
 		mavlink_log_info(mavlink_fd, "rotate in a figure 8 around all axis");
 
+		calibration_counter = 0;
+
 		while (hrt_absolute_time() < calibration_deadline &&
 		       calibration_counter < calibration_maxcount) {
 
@@ -178,6 +186,7 @@ int do_mag_calibration(int mavlink_fd)
 	float sphere_radius;
 
 	if (res == OK) {
+
 		/* sphere fit */
 		mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 70);
 		sphere_fit_least_squares(x, y, z, calibration_counter, 100, 0.0f, &sphere_x, &sphere_y, &sphere_z, &sphere_radius);
@@ -270,7 +279,7 @@ int do_mag_calibration(int mavlink_fd)
 		} else {
 			mavlink_log_info(mavlink_fd, CAL_FAILED_MSG, sensor_name);
 		}
-
-		return res;
 	}
+
+	return res;
 }

src/modules/fw_att_control/fw_att_control_main.cpp

@@ -279,20 +279,20 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
 	_parameter_handles.p_i = param_find("FW_P_I");
 	_parameter_handles.p_rmax_pos = param_find("FW_P_RMAX_POS");
 	_parameter_handles.p_rmax_neg = param_find("FW_P_RMAX_NEG");
-	_parameter_handles.p_integrator_max = param_find("FW_P_integrator_max");
+	_parameter_handles.p_integrator_max = param_find("FW_P_IMAX");
 	_parameter_handles.p_roll_feedforward = param_find("FW_P_ROLLFF");
 
 	_parameter_handles.r_p = param_find("FW_R_P");
 	_parameter_handles.r_d = param_find("FW_R_D");
 	_parameter_handles.r_i = param_find("FW_R_I");
-	_parameter_handles.r_integrator_max = param_find("FW_R_integrator_max");
+	_parameter_handles.r_integrator_max = param_find("FW_R_IMAX");
 	_parameter_handles.r_rmax = param_find("FW_R_RMAX");
 
 	_parameter_handles.y_p = param_find("FW_Y_P");
 	_parameter_handles.y_i = param_find("FW_Y_I");
 	_parameter_handles.y_d = param_find("FW_Y_D");
 	_parameter_handles.y_roll_feedforward = param_find("FW_Y_ROLLFF");
-	_parameter_handles.y_integrator_max = param_find("FW_Y_integrator_max");
+	_parameter_handles.y_integrator_max = param_find("FW_Y_IMAX");
 
 	_parameter_handles.airspeed_min = param_find("FW_AIRSPD_MIN");
 	_parameter_handles.airspeed_trim = param_find("FW_AIRSPD_TRIM");
@@ -635,43 +635,46 @@ FixedwingAttitudeControl::task_main()
 					}
 				}
 
-				float roll_rad = _roll_ctrl.control(roll_sp, _att.roll, _att.rollspeed,
-								    airspeed_scaling, lock_integrator, _parameters.airspeed_min, _parameters.airspeed_max, airspeed);
-				_actuators.control[0] = (isfinite(roll_rad)) ? roll_rad * actuator_scaling : 0.0f;
+				if (isfinite(roll_sp) && isfinite(pitch_sp)) {
 
-				float pitch_rad = _pitch_ctrl.control(pitch_sp, _att.pitch, _att.pitchspeed, _att.roll, airspeed_scaling,
-								      lock_integrator, _parameters.airspeed_min, _parameters.airspeed_max, airspeed);
-				_actuators.control[1] = (isfinite(pitch_rad)) ? pitch_rad * actuator_scaling : 0.0f;
+					float roll_rad = _roll_ctrl.control(roll_sp, _att.roll, _att.rollspeed,
+									    airspeed_scaling, lock_integrator, _parameters.airspeed_min, _parameters.airspeed_max, airspeed);
+					_actuators.control[0] = (isfinite(roll_rad)) ? roll_rad * actuator_scaling : 0.0f;
 
-				float yaw_rad = _yaw_ctrl.control(_att.roll, _att.yawspeed, _accel.y, airspeed_scaling, lock_integrator,
-								  _parameters.airspeed_min, _parameters.airspeed_max, airspeed);
-				_actuators.control[2] = (isfinite(yaw_rad)) ? yaw_rad * actuator_scaling : 0.0f;
+					float pitch_rad = _pitch_ctrl.control(pitch_sp, _att.pitch, _att.pitchspeed, _att.roll, airspeed_scaling,
+									      lock_integrator, _parameters.airspeed_min, _parameters.airspeed_max, airspeed);
+					_actuators.control[1] = (isfinite(pitch_rad)) ? pitch_rad * actuator_scaling : 0.0f;
 
-				/* throttle passed through */
-				_actuators.control[3] = (isfinite(throttle_sp)) ? throttle_sp : 0.0f;
+					float yaw_rad = _yaw_ctrl.control(_att.roll, _att.yawspeed, _accel.y, airspeed_scaling, lock_integrator,
+									  _parameters.airspeed_min, _parameters.airspeed_max, airspeed);
+					_actuators.control[2] = (isfinite(yaw_rad)) ? yaw_rad * actuator_scaling : 0.0f;
 
-				// warnx("aspd: %s: %6.2f, aspd scaling: %6.2f, controls: %5.2f %5.2f %5.2f %5.2f", (_airspeed_valid) ? "valid" : "unknown",
-				// 			airspeed, airspeed_scaling, _actuators.control[0], _actuators.control[1],
-				// 			_actuators.control[2], _actuators.control[3]);
+					/* throttle passed through */
+					_actuators.control[3] = (isfinite(throttle_sp)) ? throttle_sp : 0.0f;
 
-				/*
-				 * Lazily publish the rate setpoint (for analysis, the actuators are published below)
-				 * only once available
-				 */
-				vehicle_rates_setpoint_s rates_sp;
-				rates_sp.roll = _roll_ctrl.get_desired_rate();
-				rates_sp.pitch = _pitch_ctrl.get_desired_rate();
-				rates_sp.yaw = 0.0f; // XXX not yet implemented
+					// warnx("aspd: %s: %6.2f, aspd scaling: %6.2f, controls: %5.2f %5.2f %5.2f %5.2f", (_airspeed_valid) ? "valid" : "unknown",
+					// 			airspeed, airspeed_scaling, _actuators.control[0], _actuators.control[1],
+					// 			_actuators.control[2], _actuators.control[3]);
 
-				rates_sp.timestamp = hrt_absolute_time();
+					/*
+					 * Lazily publish the rate setpoint (for analysis, the actuators are published below)
+					 * only once available
+					 */
+					vehicle_rates_setpoint_s rates_sp;
+					rates_sp.roll = _roll_ctrl.get_desired_rate();
+					rates_sp.pitch = _pitch_ctrl.get_desired_rate();
+					rates_sp.yaw = 0.0f; // XXX not yet implemented
 
-				if (_rate_sp_pub > 0) {
-					/* publish the attitude setpoint */
-					orb_publish(ORB_ID(vehicle_rates_setpoint), _rate_sp_pub, &rates_sp);
+					rates_sp.timestamp = hrt_absolute_time();
 
-				} else {
-					/* advertise and publish */
-					_rate_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp);
+					if (_rate_sp_pub > 0) {
+						/* publish the attitude setpoint */
+						orb_publish(ORB_ID(vehicle_rates_setpoint), _rate_sp_pub, &rates_sp);
+
+					} else {
+						/* advertise and publish */
+						_rate_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp);
+					}
 				}
 
 			} else {

src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp

@@ -470,7 +470,7 @@ FixedwingPositionControl::parameters_update()
 	_tecs.set_speed_weight(_parameters.speed_weight);
 	_tecs.set_pitch_damping(_parameters.pitch_damping);
 	_tecs.set_indicated_airspeed_min(_parameters.airspeed_min);
-	_tecs.set_indicated_airspeed_max(_parameters.airspeed_min);
+	_tecs.set_indicated_airspeed_max(_parameters.airspeed_max);
 	_tecs.set_max_climb_rate(_parameters.max_climb_rate);
 
 	/* sanity check parameters */
@@ -520,7 +520,6 @@ FixedwingPositionControl::vehicle_airspeed_poll()
 		orb_copy(ORB_ID(airspeed), _airspeed_sub, &_airspeed);
 		_airspeed_valid = true;
 		_airspeed_last_valid = hrt_absolute_time();
-		return true;
 
 	} else {
 
@@ -533,7 +532,7 @@ FixedwingPositionControl::vehicle_airspeed_poll()
 	/* update TECS state */
 	_tecs.enable_airspeed(_airspeed_valid);
 
-	return false;
+	return airspeed_updated;
 }
 
 void

src/modules/px4iofirmware/registers.c

@@ -207,7 +207,7 @@ uint16_t		r_page_servo_failsafe[PX4IO_SERVO_COUNT] = { 0, 0, 0, 0, 0, 0, 0, 0 };
  * minimum PWM values when armed
  *
  */
-uint16_t		r_page_servo_control_min[PX4IO_SERVO_COUNT] = { PWM_MIN, PWM_MIN, PWM_MIN, PWM_MIN, PWM_MIN, PWM_MIN, PWM_MIN, PWM_MIN };
+uint16_t		r_page_servo_control_min[PX4IO_SERVO_COUNT] = { PWM_DEFAULT_MIN, PWM_DEFAULT_MIN, PWM_DEFAULT_MIN, PWM_DEFAULT_MIN, PWM_DEFAULT_MIN, PWM_DEFAULT_MIN, PWM_DEFAULT_MIN, PWM_DEFAULT_MIN };
 
 /**
  * PAGE 107
@@ -215,7 +215,7 @@ uint16_t		r_page_servo_control_min[PX4IO_SERVO_COUNT] = { PWM_MIN, PWM_MIN, PWM_
  * maximum PWM values when armed
  *
  */
-uint16_t		r_page_servo_control_max[PX4IO_SERVO_COUNT] = { PWM_MAX, PWM_MAX, PWM_MAX, PWM_MAX, PWM_MAX, PWM_MAX, PWM_MAX, PWM_MAX };
+uint16_t		r_page_servo_control_max[PX4IO_SERVO_COUNT] = { PWM_DEFAULT_MAX, PWM_DEFAULT_MAX, PWM_DEFAULT_MAX, PWM_DEFAULT_MAX, PWM_DEFAULT_MAX, PWM_DEFAULT_MAX, PWM_DEFAULT_MAX, PWM_DEFAULT_MAX };
 
 /**
  * PAGE 108
@@ -278,10 +278,10 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
 
 			if (*values == 0) {
 				/* ignore 0 */
-			} else if (*values < PWM_MIN) {
-				r_page_servo_failsafe[offset] = PWM_MIN;
-			} else if (*values > PWM_MAX) {
-				r_page_servo_failsafe[offset] = PWM_MAX;
+			} else if (*values < PWM_LOWEST_MIN) {
+				r_page_servo_failsafe[offset] = PWM_LOWEST_MIN;
+			} else if (*values > PWM_HIGHEST_MAX) {
+				r_page_servo_failsafe[offset] = PWM_HIGHEST_MAX;
 			} else {
 				r_page_servo_failsafe[offset] = *values;
 			}
@@ -304,8 +304,8 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
 				/* ignore 0 */
 			} else if (*values > PWM_HIGHEST_MIN) {
 				r_page_servo_control_min[offset] = PWM_HIGHEST_MIN;
-			} else if (*values < PWM_MIN) {
-				r_page_servo_control_min[offset] = PWM_MIN;
+			} else if (*values < PWM_LOWEST_MIN) {
+				r_page_servo_control_min[offset] = PWM_LOWEST_MIN;
 			} else {
 				r_page_servo_control_min[offset] = *values;
 			}
@@ -323,8 +323,8 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
 
 			if (*values == 0) {
 				/* ignore 0 */
-			} else if (*values > PWM_MAX) {
-				r_page_servo_control_max[offset] = PWM_MAX;
+			} else if (*values > PWM_HIGHEST_MAX) {
+				r_page_servo_control_max[offset] = PWM_HIGHEST_MAX;
 			} else if (*values < PWM_LOWEST_MAX) {
 				r_page_servo_control_max[offset] = PWM_LOWEST_MAX;
 			} else {
@@ -348,11 +348,11 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
 				if (*values == 0) {
 					/* 0 means disabling always PWM */
 					r_page_servo_disarmed[offset] = 0;
-				} else if (*values < PWM_MIN) {
-					r_page_servo_disarmed[offset] = PWM_MIN;
+				} else if (*values < PWM_LOWEST_MIN) {
+					r_page_servo_disarmed[offset] = PWM_LOWEST_MIN;
 					all_disarmed_off = false;
-				} else if (*values > PWM_MAX) {
-					r_page_servo_disarmed[offset] = PWM_MAX;
+				} else if (*values > PWM_HIGHEST_MAX) {
+					r_page_servo_disarmed[offset] = PWM_HIGHEST_MAX;
 					all_disarmed_off = false;
 				} else {
 					r_page_servo_disarmed[offset] = *values;

src/modules/systemlib/mixer/mixer.h

@@ -449,6 +449,7 @@ public:
 		HEX_PLUS,	/**< hex in + configuration */
 		OCTA_X,
 		OCTA_PLUS,
+		OCTA_COX,
 
 		MAX_GEOMETRY
 	};

src/modules/systemlib/mixer/mixer_multirotor.cpp

@@ -130,6 +130,16 @@ const MultirotorMixer::Rotor _config_octa_plus[] = {
 	{  1.000000,  0.000000, -1.00 },
 	{ -1.000000,  0.000000, -1.00 },
 };
+const MultirotorMixer::Rotor _config_octa_cox[] = {
+	{ -0.707107,  0.707107,  1.00 },
+	{  0.707107,  0.707107, -1.00 },
+	{  0.707107, -0.707107,  1.00 },
+	{ -0.707107, -0.707107, -1.00 },
+	{  0.707107,  0.707107,  1.00 },
+	{ -0.707107,  0.707107, -1.00 },
+	{ -0.707107, -0.707107,  1.00 },
+	{  0.707107, -0.707107, -1.00 },
+};
 const MultirotorMixer::Rotor *_config_index[MultirotorMixer::MAX_GEOMETRY] = {
 	&_config_quad_x[0],
 	&_config_quad_plus[0],
@@ -139,6 +149,7 @@ const MultirotorMixer::Rotor *_config_index[MultirotorMixer::MAX_GEOMETRY] = {
 	&_config_hex_plus[0],
 	&_config_octa_x[0],
 	&_config_octa_plus[0],
+	&_config_octa_cox[0],
 };
 const unsigned _config_rotor_count[MultirotorMixer::MAX_GEOMETRY] = {
 	4, /* quad_x */
@@ -149,6 +160,7 @@ const unsigned _config_rotor_count[MultirotorMixer::MAX_GEOMETRY] = {
 	6, /* hex_plus */
 	8, /* octa_x */
 	8, /* octa_plus */
+	8, /* octa_cox */
 };
 
 }
@@ -240,6 +252,9 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
 
 	} else if (!strcmp(geomname, "8x")) {
 		geometry = MultirotorMixer::OCTA_X;
+		
+	} else if (!strcmp(geomname, "8c")) {
+		geometry = MultirotorMixer::OCTA_COX;
 
 	} else {
 		debug("unrecognised geometry '%s'", geomname);

src/modules/systemlib/mixer/multi_tables

@@ -74,7 +74,18 @@ set octa_plus {
 	  90 CW
 }
 
-set tables {quad_x quad_plus quad_v quad_wide hex_x hex_plus octa_x octa_plus}
+set octa_cox {
+	  45 CCW
+	 -45 CW
+	-135 CCW
+	 135 CW
+	 -45 CCW
+	  45 CW
+	 135 CCW
+	-135 CW
+}
+
+set tables {quad_x quad_plus quad_v quad_wide hex_x hex_plus octa_x octa_plus octa_cox}
 
 proc factors {a d} { puts [format "\t{ %9.6f, %9.6f, %5.2f }," [rcos [expr $a + 90]] [rcos $a] [expr -$d]]}
 

src/modules/uORB/uORB.cpp

@@ -249,8 +249,10 @@ ORBDevNode::close(struct file *filp)
 	} else {
 		SubscriberData *sd = filp_to_sd(filp);
 
-		if (sd != nullptr)
+		if (sd != nullptr) {
+			hrt_cancel(&sd->update_call);
 			delete sd;
+		}
 	}
 
 	return CDev::close(filp);