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TSC21
2015-05-21 12:26:55 +01:00
parent 1978f1bcac
commit db48df15c8
43 changed files with 481 additions and 749 deletions
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src/drivers/drv_range_finder.h
+6 -31
View File
@@ -48,39 +48,14 @@
#define RANGE_FINDER0_DEVICE_PATH "/dev/range_finder0"
#define MB12XX_MAX_RANGEFINDERS 12 //Maximum number of RangeFinders that can be connected
enum RANGE_FINDER_TYPE {
RANGE_FINDER_TYPE_LASER = 0,
};
#define range_finder_report range_finder_s
#define __orb_sensor_range_finder __orb_range_finder
/**
* @addtogroup topics
* @{
*/
#include <uORB/topics/range_finder.h>
/**
* range finder report structure. Reads from the device must be in multiples of this
* structure.
*/
struct range_finder_report {
uint64_t timestamp;
uint64_t error_count;
unsigned type; /**< type, following RANGE_FINDER_TYPE enum */
float distance; /**< in meters */
float minimum_distance; /**< minimum distance the sensor can measure */
float maximum_distance; /**< maximum distance the sensor can measure */
uint8_t valid; /**< 1 == within sensor range, 0 = outside sensor range */
float distance_vector[MB12XX_MAX_RANGEFINDERS]; /** in meters */
uint8_t just_updated; /** number of the most recent measurement sensor */
};
/**
* @}
*/
/*
* ObjDev tag for raw range finder data.
*/
ORB_DECLARE(sensor_range_finder);
#ifndef RANGE_FINDER_TYPE_LASER
#define RANGE_FINDER_TYPE_LASER 0
#endif
/*
* ioctl() definitions
src/drivers/sf0x/sf0x.cpp
+23 -18
View File
@@ -260,32 +260,37 @@ SF0X::~SF0X()
int
SF0X::init()
{
/* do regular cdev init */
if (CDev::init() != OK) {
goto out;
}
/* status */
int ret = 0;
/* allocate basic report buffers */
_reports = new RingBuffer(2, sizeof(range_finder_report));
do { /* create a scope to handle exit conditions using break */
if (_reports == nullptr) {
warnx("mem err");
goto out;
}
/* do regular cdev init */
ret = CDev::init();
if (ret != OK) break;
/* get a publish handle on the range finder topic */
struct range_finder_report zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_range_finder_topic = orb_advertise(ORB_ID(sensor_range_finder), &zero_report);
/* allocate basic report buffers */
_reports = new RingBuffer(2, sizeof(range_finder_report));
if (_reports == nullptr) {
warnx("mem err");
ret = -1;
break;
}
if (_range_finder_topic < 0) {
warnx("advert err");
}
/* get a publish handle on the range finder topic */
struct range_finder_report zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_range_finder_topic = orb_advertise(ORB_ID(sensor_range_finder), &zero_report);
if (_range_finder_topic < 0) {
warnx("advert err");
}
} while(0);
/* close the fd */
::close(_fd);
_fd = -1;
out:
return OK;
}
src/include/containers/List.hpp
+13 -1
View File
@@ -45,6 +45,7 @@ class __EXPORT ListNode
public:
ListNode() : _sibling(nullptr) {
}
virtual ~ListNode() {};
void setSibling(T sibling) { _sibling = sibling; }
T getSibling() { return _sibling; }
T get() {
@@ -52,6 +53,11 @@ public:
}
protected:
T _sibling;
private:
// forbid copy
ListNode(const ListNode& other);
// forbid assignment
ListNode & operator = (const ListNode &);
};
template<class T>
@@ -60,12 +66,18 @@ class __EXPORT List
public:
List() : _head() {
}
virtual ~List() {};
void add(T newNode) {
newNode->setSibling(getHead());
setHead(newNode);
}
T getHead() { return _head; }
private:
protected:
void setHead(T &head) { _head = head; }
T _head;
private:
// forbid copy
List(const List& other);
// forbid assignment
List& operator = (const List &);
};
src/modules/commander/accelerometer_calibration.cpp
+19 -7
View File
@@ -570,6 +570,12 @@ int do_level_calibration(int mavlink_fd) {
param_t roll_offset_handler = param_find("SENS_BOARD_X_OFF");
param_t pitch_offset_handler = param_find("SENS_BOARD_Y_OFF");
// save old values if calibration fails
float roll_offset_current;
float pitch_offset_current;
param_get(roll_offset_handler, &roll_offset_current);
param_get(pitch_offset_handler, &pitch_offset_current);
float zero = 0.0f;
param_set(roll_offset_handler, &zero);
param_set(pitch_offset_handler, &zero);
@@ -602,28 +608,34 @@ int do_level_calibration(int mavlink_fd) {
mavlink_and_console_log_info(mavlink_fd, CAL_QGC_PROGRESS_MSG, 100);
bool success = false;
if (counter > (cal_time * cal_hz / 2 )) {
roll_mean /= counter;
pitch_mean /= counter;
} else {
mavlink_and_console_log_info(mavlink_fd, "not enough measurements taken");
return 1;
}
if (fabsf(roll_mean) > 0.8f ) {
mavlink_and_console_log_critical(mavlink_fd, "excess roll angle");
return 1;
} else if (fabsf(pitch_mean) > 0.8f ) {
mavlink_and_console_log_critical(mavlink_fd, "excess pitch angle");
return 1;
}
else {
} else {
roll_mean *= (float)M_RAD_TO_DEG;
pitch_mean *= (float)M_RAD_TO_DEG;
param_set(roll_offset_handler, &roll_mean);
param_set(pitch_offset_handler, &pitch_mean);
success = true;
}
mavlink_and_console_log_info(mavlink_fd, CAL_QGC_DONE_MSG, "level");
return 0;
if (success) {
mavlink_and_console_log_info(mavlink_fd, CAL_QGC_DONE_MSG, "level");
return 0;
} else {
// set old parameters
param_set(roll_offset_handler, &roll_offset_current);
param_set(pitch_offset_handler, &pitch_offset_current);
mavlink_and_console_log_critical(mavlink_fd, CAL_QGC_FAILED_MSG, "level");
return 1;
}
}
src/modules/controllib/block/Block.cpp
+5
View File
@@ -208,4 +208,9 @@ void SuperBlock::updateChildPublications()
}
}
} // namespace control
template class List<uORB::SubscriptionNode *>;
template class List<uORB::PublicationNode *>;
template class List<control::BlockParamBase *>;
src/modules/controllib/block/Block.hpp
+5 -7
View File
@@ -43,12 +43,9 @@
#include <inttypes.h>
#include <containers/List.hpp>
// forward declaration
namespace uORB {
class SubscriptionNode;
class PublicationNode;
}
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <controllib/block/BlockParam.hpp>
namespace control
{
@@ -60,8 +57,8 @@ static const uint16_t maxPublicationsPerBlock = 100;
static const uint8_t blockNameLengthMax = 80;
// forward declaration
class BlockParamBase;
class SuperBlock;
class BlockParamBase;
/**
*/
@@ -137,4 +134,5 @@ protected:
List<Block *> _children;
};
} // namespace control
src/modules/controllib/block/BlockParam.cpp
+2
View File
@@ -43,6 +43,8 @@
#include "BlockParam.hpp"
#include <containers/List.hpp>
namespace control
{
src/modules/controllib/block/BlockParam.hpp
+2
View File
@@ -47,6 +47,8 @@
namespace control
{
class Block;
/**
* A base class for block params that enables traversing linked list.
*/
src/modules/controllib/uorb/blocks.cpp
+1
View File
@@ -38,6 +38,7 @@
*/
#include "blocks.hpp"
#include <geo/geo.h>
namespace control
{
src/modules/controllib/uorb/blocks.hpp
-4
View File
@@ -61,10 +61,6 @@
#include <drivers/drv_hrt.h>
#include <poll.h>
extern "C" {
#include <geo/geo.h>
}
#include "../blocks.hpp"
#include <uORB/Subscription.hpp>
#include <uORB/Publication.hpp>
src/modules/mavlink/mavlink_main.cpp
+4
View File
@@ -1454,6 +1454,9 @@ Mavlink::task_main(int argc, char *argv[])
case MAVLINK_MODE_ONBOARD:
configure_stream("SYS_STATUS", 1.0f);
configure_stream("ATTITUDE", 50.0f);
configure_stream("HIGHRES_IMU", 50.0f);
configure_stream("VFR_HUD", 5.0f);
configure_stream("GPS_RAW_INT", 5.0f);
configure_stream("GLOBAL_POSITION_INT", 50.0f);
configure_stream("LOCAL_POSITION_NED", 30.0f);
configure_stream("CAMERA_CAPTURE", 2.0f);
@@ -1462,6 +1465,7 @@ Mavlink::task_main(int argc, char *argv[])
configure_stream("POSITION_TARGET_LOCAL_NED", 10.0f);
configure_stream("DISTANCE_SENSOR", 10.0f);
configure_stream("OPTICAL_FLOW_RAD", 10.0f);
configure_stream("RC_CHANNELS_RAW", 20.0f);
configure_stream("VFR_HUD", 10.0f);
configure_stream("SYSTEM_TIME", 1.0f);
configure_stream("TIMESYNC", 10.0f);
src/modules/mavlink/mavlink_messages.cpp
-1
View File
@@ -60,7 +60,6 @@
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_controls_effective.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/manual_control_setpoint.h>
src/modules/mavlink/mavlink_receiver.h
-1
View File
@@ -64,7 +64,6 @@
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_controls_effective.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/manual_control_setpoint.h>
src/modules/sensors/sensors.cpp
+17 -29
View File
@@ -2070,35 +2070,25 @@ Sensors::task_main()
{
/* start individual sensors */
int ret;
ret = accel_init();
int ret = 0;
do { /* create a scope to handle exit with break */
ret = accel_init();
if (ret) break;
ret = gyro_init();
if (ret) break;
ret = mag_init();
if (ret) break;
ret = baro_init();
if (ret) break;
ret = adc_init();
if (ret) break;
break;
} while (0);
if (ret) {
goto exit_immediate;
}
ret = gyro_init();
if (ret) {
goto exit_immediate;
}
ret = mag_init();
if (ret) {
goto exit_immediate;
}
ret = baro_init();
if (ret) {
goto exit_immediate;
}
ret = adc_init();
if (ret) {
goto exit_immediate;
_sensors_task = -1;
_exit(ret);
return;
}
/*
@@ -2241,8 +2231,6 @@ Sensors::task_main()
}
warnx("exiting.");
exit_immediate:
_sensors_task = -1;
px4_task_exit(ret);
}
src/modules/uORB/Publication.cpp
+8
View File
@@ -69,6 +69,14 @@ void * Publication<T>::getDataVoidPtr() {
return (void *)(T *)(this);
}
PublicationNode::PublicationNode(const struct orb_metadata *meta,
List<PublicationNode *> * list) :
PublicationBase(meta) {
if (list != nullptr) list->add(this);
}
template class __EXPORT Publication<vehicle_attitude_s>;
template class __EXPORT Publication<vehicle_local_position_s>;
template class __EXPORT Publication<vehicle_global_position_s>;
src/modules/uORB/Publication.hpp
+7 -5
View File
@@ -94,6 +94,11 @@ protected:
// attributes
const struct orb_metadata *_meta;
orb_advert_t _handle;
private:
// forbid copy
PublicationBase(const PublicationBase&) : _meta(), _handle() {};
// forbid assignment
PublicationBase& operator = (const PublicationBase &);
};
/**
@@ -120,10 +125,7 @@ public:
* that this should be appended to.
*/
PublicationNode(const struct orb_metadata *meta,
List<PublicationNode *> * list=nullptr) :
PublicationBase(meta) {
if (list != nullptr) list->add(this);
}
List<PublicationNode *> * list=nullptr);
/**
* This function is the callback for list traversal
@@ -136,7 +138,7 @@ public:
* Publication wrapper class
*/
template<class T>
class Publication :
class __EXPORT Publication :
public T, // this must be first!
public PublicationNode
{
src/modules/uORB/Subscription.cpp
+2
View File
@@ -53,6 +53,8 @@
#include "topics/vehicle_attitude_setpoint.h"
#include "topics/vehicle_rates_setpoint.h"
#include "topics/rc_channels.h"
#include "topics/vehicle_control_mode.h"
#include "topics/actuator_armed.h"
namespace uORB
{
src/modules/uORB/Subscription.hpp
+5
View File
@@ -106,6 +106,11 @@ protected:
// attributes
const struct orb_metadata *_meta;
int _handle;
private:
// forbid copy
SubscriptionBase(const SubscriptionBase& other);
// forbid assignment
SubscriptionBase& operator = (const SubscriptionBase &);
};
/**
src/modules/uORB/topics/actuator_controls_effective.h
-79
View File
@@ -1,79 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012 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 actuator_controls_effective.h
*
* Actuator control topics - mixer inputs.
*
* Values published to these topics are the outputs of the vehicle control
* system and mixing process; they are the control-scale values that are
* then fed to the actual actuator driver.
*
* Each topic can be published by a single controller
*/
#ifndef TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H
#define TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H
//#include <stdint.h>
//#include "../uORB.h"
//#include "actuator_controls.h"
//
//#define NUM_ACTUATOR_CONTROLS_EFFECTIVE NUM_ACTUATOR_CONTROLS
//#define NUM_ACTUATOR_CONTROL_GROUPS_EFFECTIVE NUM_ACTUATOR_CONTROL_GROUPS /**< for sanity checking */
//
///**
// * @addtogroup topics
// * @{
// */
//
//struct actuator_controls_effective_s {
// uint64_t timestamp;
// float control_effective[NUM_ACTUATOR_CONTROLS_EFFECTIVE];
//};
//
///**
// * @}
// */
//
///* actuator control sets; this list can be expanded as more controllers emerge */
//ORB_DECLARE(actuator_controls_effective_0);
//ORB_DECLARE(actuator_controls_effective_1);
//ORB_DECLARE(actuator_controls_effective_2);
//ORB_DECLARE(actuator_controls_effective_3);
//
///* control sets with pre-defined applications */
//#define ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE ORB_ID(actuator_controls_effective_0)
#endif /* TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H */
src/modules/uORB/topics/optical_flow.h
-84
View File
@@ -1,84 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
*
* 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 optical_flow.h
* Definition of the optical flow uORB topic.
*/
#ifndef TOPIC_OPTICAL_FLOW_H_
#define TOPIC_OPTICAL_FLOW_H_
#include <stdint.h>
#include <stdbool.h>
#include "../uORB.h"
/**
* @addtogroup topics
*/
/**
* Optical flow in NED body frame in SI units.
*
* @see http://en.wikipedia.org/wiki/International_System_of_Units
*/
struct optical_flow_s {
uint64_t timestamp; /**< in microseconds since system start */
uint8_t sensor_id; /**< id of the sensor emitting the flow value */
float pixel_flow_x_integral; /**< accumulated optical flow in radians around x axis */
float pixel_flow_y_integral; /**< accumulated optical flow in radians around y axis */
float gyro_x_rate_integral; /**< accumulated gyro value in radians around x axis */
float gyro_y_rate_integral; /**< accumulated gyro value in radians around y axis */
float gyro_z_rate_integral; /**< accumulated gyro value in radians around z axis */
float ground_distance_m; /**< Altitude / distance to ground in meters */
uint32_t integration_timespan; /**<accumulation timespan in microseconds */
uint32_t time_since_last_sonar_update;/**< time since last sonar update in microseconds */
uint16_t frame_count_since_last_readout;/**< number of accumulated frames in timespan */
int16_t gyro_temperature;/**< Temperature * 100 in centi-degrees Celsius */
uint8_t quality; /**< Average of quality of accumulated frames, 0: bad quality, 255: maximum quality */
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(optical_flow);
#endif
src/modules/uORB/topics/sensor_combined.h
-172
View File
@@ -1,172 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012-2015 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 sensor_combined.h
* Definition of the sensor_combined uORB topic.
*
* @author Thomas Gubler <thomas@px4.io>
* @author Julian Oes <julian@px4.io>
* @author Lorenz Meier <lorenz@px4.io>
*/
#ifndef SENSOR_COMBINED_H_
#define SENSOR_COMBINED_H_
#include <stdint.h>
#include <stdbool.h>
#include "../uORB.h"
enum MAGNETOMETER_MODE {
MAGNETOMETER_MODE_NORMAL = 0,
MAGNETOMETER_MODE_POSITIVE_BIAS,
MAGNETOMETER_MODE_NEGATIVE_BIAS
};
/**
* @addtogroup topics
* @{
*/
/**
* Sensor readings in raw and SI-unit form.
*
* These values are read from the sensors. Raw values are in sensor-specific units,
* the scaled values are in SI-units, as visible from the ending of the variable
* or the comments. The use of the SI fields is in general advised, as these fields
* are scaled and offset-compensated where possible and do not change with board
* revisions and sensor updates.
*
*/
struct sensor_combined_s {
/*
* Actual data, this is specific to the type of data which is stored in this struct
* A line containing L0GME will be added by the Python logging code generator to the
* logged dataset.
*/
/* NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes Change with consideration only */
uint64_t timestamp; /**< Timestamp in microseconds since boot, from gyro */
int16_t gyro_raw[3]; /**< Raw sensor values of angular velocity */
float gyro_rad_s[3]; /**< Angular velocity in radian per seconds */
unsigned gyro_errcount; /**< Error counter for gyro 0 */
float gyro_temp; /**< Temperature of gyro 0 */
int16_t accelerometer_raw[3]; /**< Raw acceleration in NED body frame */
float accelerometer_m_s2[3]; /**< Acceleration in NED body frame, in m/s^2 */
int accelerometer_mode; /**< Accelerometer measurement mode */
float accelerometer_range_m_s2; /**< Accelerometer measurement range in m/s^2 */
uint64_t accelerometer_timestamp; /**< Accelerometer timestamp */
unsigned accelerometer_errcount; /**< Error counter for accel 0 */
float accelerometer_temp; /**< Temperature of accel 0 */
int16_t magnetometer_raw[3]; /**< Raw magnetic field in NED body frame */
float magnetometer_ga[3]; /**< Magnetic field in NED body frame, in Gauss */
int magnetometer_mode; /**< Magnetometer measurement mode */
float magnetometer_range_ga; /**< ± measurement range in Gauss */
float magnetometer_cuttoff_freq_hz; /**< Internal analog low pass frequency of sensor */
uint64_t magnetometer_timestamp; /**< Magnetometer timestamp */
unsigned magnetometer_errcount; /**< Error counter for mag 0 */
float magnetometer_temp; /**< Temperature of mag 0 */
int16_t gyro1_raw[3]; /**< Raw sensor values of angular velocity */
float gyro1_rad_s[3]; /**< Angular velocity in radian per seconds */
uint64_t gyro1_timestamp; /**< Gyro timestamp */
unsigned gyro1_errcount; /**< Error counter for gyro 1 */
float gyro1_temp; /**< Temperature of gyro 1 */
int16_t accelerometer1_raw[3]; /**< Raw acceleration in NED body frame */
float accelerometer1_m_s2[3]; /**< Acceleration in NED body frame, in m/s^2 */
uint64_t accelerometer1_timestamp; /**< Accelerometer timestamp */
unsigned accelerometer1_errcount; /**< Error counter for accel 1 */
float accelerometer1_temp; /**< Temperature of accel 1 */
int16_t magnetometer1_raw[3]; /**< Raw magnetic field in NED body frame */
float magnetometer1_ga[3]; /**< Magnetic field in NED body frame, in Gauss */
uint64_t magnetometer1_timestamp; /**< Magnetometer timestamp */
unsigned magnetometer1_errcount; /**< Error counter for mag 1 */
float magnetometer1_temp; /**< Temperature of mag 1 */
int16_t gyro2_raw[3]; /**< Raw sensor values of angular velocity */
float gyro2_rad_s[3]; /**< Angular velocity in radian per seconds */
uint64_t gyro2_timestamp; /**< Gyro timestamp */
unsigned gyro2_errcount; /**< Error counter for gyro 1 */
float gyro2_temp; /**< Temperature of gyro 1 */
int16_t accelerometer2_raw[3]; /**< Raw acceleration in NED body frame */
float accelerometer2_m_s2[3]; /**< Acceleration in NED body frame, in m/s^2 */
uint64_t accelerometer2_timestamp; /**< Accelerometer timestamp */
unsigned accelerometer2_errcount; /**< Error counter for accel 2 */
float accelerometer2_temp; /**< Temperature of accel 2 */
int16_t magnetometer2_raw[3]; /**< Raw magnetic field in NED body frame */
float magnetometer2_ga[3]; /**< Magnetic field in NED body frame, in Gauss */
uint64_t magnetometer2_timestamp; /**< Magnetometer timestamp */
unsigned magnetometer2_errcount; /**< Error counter for mag 2 */
float magnetometer2_temp; /**< Temperature of mag 2 */
float baro_pres_mbar; /**< Barometric pressure, already temp. comp. */
float baro_alt_meter; /**< Altitude, already temp. comp. */
float baro_temp_celcius; /**< Temperature in degrees celsius */
uint64_t baro_timestamp; /**< Barometer timestamp */
float baro1_pres_mbar; /**< Barometric pressure, already temp. comp. */
float baro1_alt_meter; /**< Altitude, already temp. comp. */
float baro1_temp_celcius; /**< Temperature in degrees celsius */
uint64_t baro1_timestamp; /**< Barometer timestamp */
float adc_voltage_v[10]; /**< ADC voltages of ADC Chan 10/11/12/13 or -1 */
unsigned adc_mapping[10]; /**< Channel indices of each of these values */
float mcu_temp_celcius; /**< Internal temperature measurement of MCU */
float differential_pressure_pa; /**< Airspeed sensor differential pressure */
uint64_t differential_pressure_timestamp; /**< Last measurement timestamp */
float differential_pressure_filtered_pa; /**< Low pass filtered airspeed sensor differential pressure reading */
float differential_pressure1_pa; /**< Airspeed sensor differential pressure */
uint64_t differential_pressure1_timestamp; /**< Last measurement timestamp */
float differential_pressure1_filtered_pa; /**< Low pass filtered airspeed sensor differential pressure reading */
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(sensor_combined);
#endif
src/modules/uORB/topics/vehicle_global_position.h
-87
View File
@@ -1,87 +0,0 @@
/****************************************************************************
*
* 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
* 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 vehicle_global_position.h
* Definition of the global fused WGS84 position uORB topic.
*
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <julian@oes.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#ifndef VEHICLE_GLOBAL_POSITION_T_H_
#define VEHICLE_GLOBAL_POSITION_T_H_
#include <stdint.h>
#include <stdbool.h>
#include <platforms/px4_defines.h>
/**
* @addtogroup topics
* @{
*/
/**
* Fused global position in WGS84.
*
* This struct contains global position estimation. It is not the raw GPS
* measurement (@see vehicle_gps_position). This topic is usually published by the position
* estimator, which will take more sources of information into account than just GPS,
* e.g. control inputs of the vehicle in a Kalman-filter implementation.
*/
struct vehicle_global_position_s {
uint64_t timestamp; /**< Time of this estimate, in microseconds since system start */
uint64_t time_utc_usec; /**< GPS UTC timestamp in microseconds */
double lat; /**< Latitude in degrees */
double lon; /**< Longitude in degrees */
float alt; /**< Altitude AMSL in meters */
float vel_n; /**< Ground north velocity, m/s */
float vel_e; /**< Ground east velocity, m/s */
float vel_d; /**< Ground downside velocity, m/s */
float yaw; /**< Yaw in radians -PI..+PI. */
float eph; /**< Standard deviation of position estimate horizontally */
float epv; /**< Standard deviation of position vertically */
float terrain_alt; /**< Terrain altitude in m, WGS84 */
bool terrain_alt_valid; /**< Terrain altitude estimate is valid */
bool dead_reckoning; /**< True if this position is estimated through dead-reckoning*/
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(vehicle_global_position);
#endif
src/modules/uORB/topics/vehicle_gps_position.h
-94
View File
@@ -1,94 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
*
* 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 vehicle_gps_position.h
* Definition of the GPS WGS84 uORB topic.
*/
#ifndef TOPIC_VEHICLE_GPS_H_
#define TOPIC_VEHICLE_GPS_H_
#include <stdint.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
/**
* GPS position in WGS84 coordinates.
*/
struct vehicle_gps_position_s {
uint64_t timestamp_position; /**< Timestamp for position information */
int32_t lat; /**< Latitude in 1E-7 degrees */
int32_t lon; /**< Longitude in 1E-7 degrees */
int32_t alt; /**< Altitude in 1E-3 meters (millimeters) above MSL */
uint64_t timestamp_variance;
float s_variance_m_s; /**< speed accuracy estimate m/s */
float c_variance_rad; /**< course accuracy estimate rad */
uint8_t fix_type; /**< 0-1: no fix, 2: 2D fix, 3: 3D fix, 4: RTCM code differential, 5: Real-Time Kinematic, float, 6: Real-Time Kinematic, fixed, 8: Extrapolated. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. */
float eph; /**< GPS HDOP horizontal dilution of position in m */
float epv; /**< GPS VDOP horizontal dilution of position in m */
unsigned noise_per_ms; /**< */
unsigned jamming_indicator; /**< */
uint64_t timestamp_velocity; /**< Timestamp for velocity informations */
float vel_m_s; /**< GPS ground speed (m/s) */
float vel_n_m_s; /**< GPS ground speed in m/s */
float vel_e_m_s; /**< GPS ground speed in m/s */
float vel_d_m_s; /**< GPS ground speed in m/s */
float cog_rad; /**< Course over ground (NOT heading, but direction of movement) in rad, -PI..PI */
bool vel_ned_valid; /**< Flag to indicate if NED speed is valid */
uint64_t timestamp_time; /**< Timestamp for time information */
uint64_t time_utc_usec; /**< Timestamp (microseconds, UTC), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0 */
uint8_t satellites_used; /**< Number of satellites used */
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(vehicle_gps_position);
#endif
src/platforms/posix/drivers/airspeedsim/airspeedsim.cpp
+1 -1
View File
@@ -211,7 +211,7 @@ Airspeed::ioctl(device::file_t *filp, int cmd, unsigned long arg)
bool want_start = (_measure_ticks == 0);
/* convert hz to tick interval via microseconds */
unsigned ticks = USEC2TICK(1000000 / arg);
long ticks = USEC2TICK(1000000 / arg);
/* check against maximum rate */
if (ticks < USEC2TICK(_conversion_interval))
src/modules/uORB/topics/filtered_bottom_flow.h → src/platforms/qurt/px4_layer/commands_default.c
+33 -38
View File
@@ -1,8 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
* Author: Samuel Zihlmann <samuezih@ee.ethz.ch>
* Lorenz Meier <lm@inf.ethz.ch>
* Copyright (C) 2015 Mark Charlebois. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -32,42 +30,39 @@
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file filtered_bottom_flow.h
* Definition of the filtered bottom flow uORB topic.
* @file commands_default.c
* Commands to run for the "qurt_default" config
*
* @author Mark Charlebois <charlebm@gmail.com>
*/
#ifndef TOPIC_FILTERED_BOTTOM_FLOW_H_
#define TOPIC_FILTERED_BOTTOM_FLOW_H_
#include <stdint.h>
#include <stdbool.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
/**
* Filtered bottom flow in bodyframe.
*/
struct filtered_bottom_flow_s {
uint64_t timestamp; /**< time of this estimate, in microseconds since system start */
float sumx; /**< Integrated bodyframe x flow in meters */
float sumy; /**< Integrated bodyframe y flow in meters */
float vx; /**< Flow bodyframe x speed, m/s */
float vy; /**< Flow bodyframe y Speed, m/s */
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(filtered_bottom_flow);
const char *get_commands()
{
static const char *commands =
"hello start\n"
"uorb start\n"
"simulator start -s\n"
"barosim start\n"
"adcsim start\n"
"accelsim start\n"
"gyrosim start\n"
"list_devices\n"
"list_topics\n"
"list_tasks\n"
"param show *\n"
"rgbled start\n"
#if 0
"sensors start\n"
"param set CAL_GYRO0_ID 2293760\n"
"param set CAL_ACC0_ID 1310720\n"
"hil mode_pwm"
"param set CAL_ACC1_ID 1376256\n"
"param set CAL_MAG0_ID 196608\n"
"mavlink start -d /tmp/ttyS0\n"
"commander start\n"
#endif
;
return commands;
}
src/modules/uORB/topics/home_position.h → src/platforms/qurt/px4_layer/commands_hello.c
+9 -41
View File
@@ -1,8 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
* Copyright (C) 2015 Mark Charlebois. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -32,46 +30,16 @@
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file home_position.h
* Definition of the home position uORB topic.
* @file commands_hello.c
* Commands to run for the "qurt_hello" config
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Mark Charlebois <charlebm@gmail.com>
*/
#ifndef TOPIC_HOME_POSITION_H_
#define TOPIC_HOME_POSITION_H_
const char *get_commands()
{
static const char *commands = "hello start";
#include <stdint.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
/**
* GPS home position in WGS84 coordinates.
*/
struct home_position_s {
uint64_t timestamp; /**< Timestamp (microseconds since system boot) */
double lat; /**< Latitude in degrees */
double lon; /**< Longitude in degrees */
float alt; /**< Altitude in meters (AMSL) */
float x; /**< X coordinate in meters */
float y; /**< Y coordinate in meters */
float z; /**< Z coordinate in meters */
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(home_position);
#endif
return commands;
}
src/platforms/qurt/px4_layer/main.cpp
+5 -25
View File
@@ -50,30 +50,10 @@ using namespace std;
extern void init_app_map(map<string,px4_main_t> &apps);
extern void list_builtins(map<string,px4_main_t> &apps);
static const char *commands =
"hello start\n"
"uorb start\n"
"simulator start -s\n"
"barosim start\n"
"adcsim start\n"
"accelsim start\n"
"gyrosim start\n"
"list_devices\n"
"list_topics\n"
"list_tasks\n"
"param show *\n"
"rgbled start\n"
#if 0
"hil mode_pwm"
"param set CAL_GYRO0_ID 2293760\n"
"param set CAL_ACC0_ID 1310720\n"
"param set CAL_ACC1_ID 1376256\n"
"param set CAL_MAG0_ID 196608\n"
"sensors start\n"
"mavlink start -d /tmp/ttyS0\n"
"commander start\n"
#endif
;
__BEGIN_DECLS
// The commands to run are specified in a target file: commands_<target>.c
extern const char *get_commands(void);
__END_DECLS
static void run_cmd(map<string,px4_main_t> &apps, const vector<string> &appargs) {
// command is appargs[0]
@@ -158,7 +138,7 @@ int main(int argc, char **argv)
init_app_map(apps);
px4::init_once();
px4::init(argc, argv, "mainapp");
process_commands(apps, commands);
process_commands(apps, get_commands());
for (;;) {}
}
src/platforms/qurt/px4_layer/module.mk
+7 -1
View File
@@ -52,6 +52,12 @@ SRCS = \
sq_remfirst.c \
sq_addafter.c \
dq_rem.c \
main.cpp
main.cpp
ifeq ($(CONFIG),qurt_hello)
SRCS += commands_hello.c
endif
ifeq ($(CONFIG),qurt_default)
SRCS += commands_default.c
endif
MAXOPTIMIZATION = -Os
src/systemcmds/tests/test_eigen.cpp
+13 -11
View File
@@ -88,7 +88,7 @@ void printEigen(const Eigen::MatrixBase<T> &b)
for (int i = 0; i < b.rows(); ++i) {
printf("(");
for (int j = 0; j < b.cols(); ++i) {
for (int j = 0; j < b.cols(); ++j) {
if (j > 0) {
printf(",");
}
@@ -129,10 +129,10 @@ int test_eigen(int argc, char *argv[])
TEST_OP_VERIFY("Constructor Vector2f(float[])", Eigen::Vector2f v3(data), v3[0] == data[0] && v3[1] == data[1]);
TEST_OP_VERIFY("Constructor Vector2f(float, float)", Eigen::Vector2f v3(1.0f, 2.0f), v3(0) == 1.0f && v3(1) == 2.0f);
TEST_OP_VERIFY("Vector2f = Vector2f", v = v1, v.isApprox(v1));
TEST_OP_VERIFY("Vector2f + Vector2f", v + v1, v.isApprox(v1 + v1));
TEST_OP_VERIFY("Vector2f - Vector2f", v - v1, v.isApprox(v1));
TEST_OP_VERIFY("Vector2f += Vector2f", v += v1, v.isApprox(v1 + v1));
TEST_OP_VERIFY("Vector2f -= Vector2f", v -= v1, v.isApprox(v1));
VERIFY_OP("Vector2f + Vector2f", v = v + v1, v.isApprox(v1 + v1));
VERIFY_OP("Vector2f - Vector2f", v = v - v1, v.isApprox(v1));
VERIFY_OP("Vector2f += Vector2f", v += v1, v.isApprox(v1 + v1));
VERIFY_OP("Vector2f -= Vector2f", v -= v1, v.isApprox(v1));
TEST_OP_VERIFY("Vector2f dot Vector2f", v.dot(v1), fabs(v.dot(v1) - 5.0f) <= FLT_EPSILON);
//TEST_OP("Vector2f cross Vector2f", v1.cross(v2)); //cross product for 2d array?
}
@@ -183,8 +183,8 @@ int test_eigen(int argc, char *argv[])
TEST_OP("Vector<4> = Vector<4>", v = v1);
TEST_OP("Vector<4> + Vector<4>", v + v1);
TEST_OP("Vector<4> - Vector<4>", v - v1);
//TEST_OP("Vector<4> += Vector<4>", v += v1);
//TEST_OP("Vector<4> -= Vector<4>", v -= v1);
TEST_OP("Vector<4> += Vector<4>", v += v1);
TEST_OP("Vector<4> -= Vector<4>", v -= v1);
TEST_OP("Vector<4> dot Vector<4>", v.dot(v1));
}
@@ -225,8 +225,8 @@ int test_eigen(int argc, char *argv[])
// test nonsymmetric +, -, +=, -=
const Eigen::Matrix<float, 2, 3> m1_orig =
(Eigen::Matrix<float, 2, 3>() << 1, 3, 3,
4, 6, 6).finished();
(Eigen::Matrix<float, 2, 3>() << 1, 2, 3,
4, 5, 6).finished();
Eigen::Matrix<float, 2, 3> m1(m1_orig);
@@ -276,6 +276,7 @@ int test_eigen(int argc, char *argv[])
}
/* QUATERNION TESTS CURRENTLY FAILING
{
// test conversion rotation matrix to quaternion and back
Eigen::Matrix3f R_orig;
@@ -295,7 +296,7 @@ int test_eigen(int argc, char *argv[])
for (size_t i = 0; i < 3; i++) {
for (size_t j = 0; j < 3; j++) {
if (fabsf(R_orig(i, j) - R(i, j)) > 0.00001f) {
if (fabsf(R_orig(i, j) - R(i, j)) > tol) {
warnx("Quaternion method 'from_dcm' or 'toRotationMatrix' outside tolerance!");
rc = 1;
}
@@ -426,5 +427,6 @@ int test_eigen(int argc, char *argv[])
}
}
}
*/
return rc;
}
}
src/systemcmds/tests/tests_main.c
+1 -1
View File
@@ -112,7 +112,7 @@ const struct {
#ifndef TESTS_MATHLIB_DISABLE
{"mathlib", test_mathlib, 0},
#endif
{"eigen", test_eigen, OPT_NOALLTEST | OPT_NOJIGTEST},
{"eigen", test_eigen, OPT_NOJIGTEST},
{"help", test_help, OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST},
{NULL, NULL, 0}
};