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Merge ROS into master

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This commit is contained in:
Lorenz Meier
2015-02-03 20:07:55 +01:00
parent 3e7faa6018 d441d38677
commit dc46736ead
189 changed files with 10102 additions and 1865 deletions
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src/drivers/ardrone_interface/ardrone_interface.c
+6 -2
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@@ -55,6 +55,10 @@
#include <uORB/uORB.h>
#include <uORB/topics/safety.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_0.h>
#include <uORB/topics/actuator_controls_1.h>
#include <uORB/topics/actuator_controls_2.h>
#include <uORB/topics/actuator_controls_3.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/vehicle_control_mode.h>
@@ -98,7 +102,7 @@ usage(const char *reason)
* The deamon app only briefly exists to start
* the background job. The stack size assigned in the
* Makefile does only apply to this management task.
*
*
* The actual stack size should be set in the call
* to task_create().
*/
@@ -319,7 +323,7 @@ int ardrone_interface_thread_main(int argc, char *argv[])
/* get a local copy of the actuator controls */
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_controls_sub, &actuator_controls);
orb_copy(ORB_ID(actuator_armed), armed_sub, &armed);
/* for now only spin if armed and immediately shut down
* if in failsafe
*/
src/drivers/blinkm/blinkm.cpp
+6 -6
View File
@@ -571,7 +571,7 @@ BlinkM::led()
printf("<blinkm> cells found:%d\n", num_of_cells);
} else {
if(vehicle_status_raw.battery_warning == VEHICLE_BATTERY_WARNING_CRITICAL) {
if(vehicle_status_raw.battery_warning == vehicle_status_s::VEHICLE_BATTERY_WARNING_CRITICAL) {
/* LED Pattern for battery critical alerting */
led_color_1 = LED_RED;
led_color_2 = LED_RED;
@@ -595,7 +595,7 @@ BlinkM::led()
led_color_8 = LED_BLUE;
led_blink = LED_BLINK;
} else if(vehicle_status_raw.battery_warning == VEHICLE_BATTERY_WARNING_LOW) {
} else if(vehicle_status_raw.battery_warning == vehicle_status_s::VEHICLE_BATTERY_WARNING_LOW) {
/* LED Pattern for battery low warning */
led_color_1 = LED_YELLOW;
led_color_2 = LED_YELLOW;
@@ -647,14 +647,14 @@ BlinkM::led()
if(new_data_vehicle_control_mode || no_data_vehicle_control_mode < 3) {
/* indicate main control state */
if (vehicle_status_raw.main_state == MAIN_STATE_POSCTL)
if (vehicle_status_raw.main_state == vehicle_status_s::MAIN_STATE_POSCTL)
led_color_4 = LED_GREEN;
/* TODO: add other Auto modes */
else if (vehicle_status_raw.main_state == MAIN_STATE_AUTO_MISSION)
else if (vehicle_status_raw.main_state == vehicle_status_s::MAIN_STATE_AUTO_MISSION)
led_color_4 = LED_BLUE;
else if (vehicle_status_raw.main_state == MAIN_STATE_ALTCTL)
else if (vehicle_status_raw.main_state == vehicle_status_s::MAIN_STATE_ALTCTL)
led_color_4 = LED_YELLOW;
else if (vehicle_status_raw.main_state == MAIN_STATE_MANUAL)
else if (vehicle_status_raw.main_state == vehicle_status_s::MAIN_STATE_MANUAL)
led_color_4 = LED_WHITE;
else
led_color_4 = LED_OFF;
src/drivers/hil/hil.cpp
+12 -10
View File
@@ -75,6 +75,8 @@
#include <systemlib/mixer/mixer.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_0.h>
#include <uORB/topics/actuator_controls_1.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/actuator_outputs.h>
@@ -250,7 +252,7 @@ HIL::task_main_trampoline(int argc, char *argv[])
int
HIL::set_mode(Mode mode)
{
/*
/*
* Configure for PWM output.
*
* Note that regardless of the configured mode, the task is always
@@ -269,19 +271,19 @@ HIL::set_mode(Mode mode)
/* multi-port as 4 PWM outs */
_update_rate = 50; /* default output rate */
break;
case MODE_8PWM:
debug("MODE_8PWM");
/* multi-port as 8 PWM outs */
_update_rate = 50; /* default output rate */
break;
case MODE_12PWM:
debug("MODE_12PWM");
/* multi-port as 12 PWM outs */
_update_rate = 50; /* default output rate */
break;
case MODE_16PWM:
debug("MODE_16PWM");
/* multi-port as 16 PWM outs */
@@ -514,12 +516,12 @@ HIL::pwm_ioctl(file *filp, int cmd, unsigned long arg)
break;
case PWM_SERVO_SET_UPDATE_RATE:
// HIL always outputs at the alternate (usually faster) rate
// HIL always outputs at the alternate (usually faster) rate
g_hil->set_pwm_rate(arg);
break;
case PWM_SERVO_SET_SELECT_UPDATE_RATE:
// HIL always outputs at the alternate (usually faster) rate
// HIL always outputs at the alternate (usually faster) rate
break;
case PWM_SERVO_SET(2):
@@ -660,7 +662,7 @@ int
hil_new_mode(PortMode new_mode)
{
// uint32_t gpio_bits;
// /* reset to all-inputs */
// g_hil->ioctl(0, GPIO_RESET, 0);
@@ -692,17 +694,17 @@ hil_new_mode(PortMode new_mode)
/* select 2-pin PWM mode */
servo_mode = HIL::MODE_2PWM;
break;
case PORT2_8PWM:
/* select 8-pin PWM mode */
servo_mode = HIL::MODE_8PWM;
break;
case PORT2_12PWM:
/* select 12-pin PWM mode */
servo_mode = HIL::MODE_12PWM;
break;
case PORT2_16PWM:
/* select 16-pin PWM mode */
servo_mode = HIL::MODE_16PWM;
src/drivers/mkblctrl/mkblctrl.cpp
+1
View File
@@ -74,6 +74,7 @@
#include <drivers/drv_mixer.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_0.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/esc_status.h>
src/drivers/px4fmu/fmu.cpp
+13 -9
View File
@@ -70,6 +70,10 @@
#include <drivers/drv_rc_input.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_0.h>
#include <uORB/topics/actuator_controls_1.h>
#include <uORB/topics/actuator_controls_2.h>
#include <uORB/topics/actuator_controls_3.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_armed.h>
@@ -138,11 +142,11 @@ private:
uint32_t _groups_required;
uint32_t _groups_subscribed;
int _control_subs[NUM_ACTUATOR_CONTROL_GROUPS];
actuator_controls_s _controls[NUM_ACTUATOR_CONTROL_GROUPS];
orb_id_t _control_topics[NUM_ACTUATOR_CONTROL_GROUPS];
int _control_subs[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
actuator_controls_s _controls[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
orb_id_t _control_topics[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
int _actuator_output_topic_instance;
pollfd _poll_fds[NUM_ACTUATOR_CONTROL_GROUPS];
pollfd _poll_fds[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
unsigned _poll_fds_num;
pwm_limit_t _pwm_limit;
@@ -508,7 +512,7 @@ PX4FMU::subscribe()
uint32_t sub_groups = _groups_required & ~_groups_subscribed;
uint32_t unsub_groups = _groups_subscribed & ~_groups_required;
_poll_fds_num = 0;
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) {
for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (sub_groups & (1 << i)) {
warnx("subscribe to actuator_controls_%d", i);
_control_subs[i] = orb_subscribe(_control_topics[i]);
@@ -585,7 +589,7 @@ PX4FMU::task_main()
}
debug("adjusted actuator update interval to %ums", update_rate_in_ms);
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) {
for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_control_subs[i] > 0) {
orb_set_interval(_control_subs[i], update_rate_in_ms);
}
@@ -612,7 +616,7 @@ PX4FMU::task_main()
/* get controls for required topics */
unsigned poll_id = 0;
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) {
for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_control_subs[i] > 0) {
if (_poll_fds[poll_id].revents & POLLIN) {
orb_copy(_control_topics[i], _control_subs[i], &_controls[i]);
@@ -745,7 +749,7 @@ PX4FMU::task_main()
}
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) {
for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_control_subs[i] > 0) {
::close(_control_subs[i]);
_control_subs[i] = -1;
@@ -1142,7 +1146,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
* and PWM under control of the flight config
* parameters. Note that this does not allow for
* changing a set of pins to be used for serial on
* FMUv1
* FMUv1
*/
switch (arg) {
case 0:
src/drivers/px4io/px4io.cpp
+6 -2
View File
@@ -75,6 +75,10 @@
#include <systemlib/circuit_breaker.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_0.h>
#include <uORB/topics/actuator_controls_1.h>
#include <uORB/topics/actuator_controls_2.h>
#include <uORB/topics/actuator_controls_3.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/safety.h>
@@ -1199,7 +1203,7 @@ PX4IO::io_set_arming_state()
if (armed.ready_to_arm) {
set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
} else {
clear |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
}
@@ -2585,7 +2589,7 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
case PWM_SERVO_SET_RC_CONFIG: {
/* enable setting of RC configuration without relying
on param_get()
on param_get()
*/
struct pwm_output_rc_config* config = (struct pwm_output_rc_config*)arg;
if (config->channel >= RC_INPUT_MAX_CHANNELS) {
src/drivers/roboclaw/RoboClaw.cpp
+9 -8
View File
@@ -54,6 +54,7 @@
#include <mavlink/mavlink_log.h>
#include <uORB/Publication.hpp>
#include <uORB/topics/actuator_controls_0.h>
#include <uORB/topics/debug_key_value.h>
#include <drivers/drv_hrt.h>
@@ -65,7 +66,7 @@ RoboClaw::RoboClaw(const char *deviceName, uint16_t address,
_pulsesPerRev(pulsesPerRev),
_uart(0),
_controlPoll(),
_actuators(NULL, ORB_ID(actuator_controls_0), 20),
_actuators(ORB_ID(actuator_controls_0), 20),
_motor1Position(0),
_motor1Speed(0),
_motor1Overflow(0),
@@ -114,7 +115,7 @@ int RoboClaw::readEncoder(e_motor motor)
uint8_t rbuf[50];
usleep(5000);
int nread = read(_uart, rbuf, 50);
if (nread < 6) {
if (nread < 6) {
printf("failed to read\n");
return -1;
}
@@ -131,7 +132,7 @@ int RoboClaw::readEncoder(e_motor motor)
countBytes[0] = rbuf[3];
uint8_t status = rbuf[4];
uint8_t checksum = rbuf[5];
uint8_t checksum_computed = (sum + _sumBytes(rbuf, 5)) &
uint8_t checksum_computed = (sum + _sumBytes(rbuf, 5)) &
checksum_mask;
// check if checksum is valid
if (checksum != checksum_computed) {
@@ -156,11 +157,11 @@ int RoboClaw::readEncoder(e_motor motor)
static int64_t overflowAmount = 0x100000000LL;
if (motor == MOTOR_1) {
_motor1Overflow += overFlow;
_motor1Position = float(int64_t(count) +
_motor1Position = float(int64_t(count) +
_motor1Overflow*overflowAmount)/_pulsesPerRev;
} else if (motor == MOTOR_2) {
_motor2Overflow += overFlow;
_motor2Position = float(int64_t(count) +
_motor2Position = float(int64_t(count) +
_motor2Overflow*overflowAmount)/_pulsesPerRev;
}
return 0;
@@ -242,7 +243,7 @@ int RoboClaw::setMotorDutyCycle(e_motor motor, float value)
return -1;
}
int RoboClaw::resetEncoders()
int RoboClaw::resetEncoders()
{
uint16_t sum = 0;
return _sendCommand(CMD_RESET_ENCODERS,
@@ -278,7 +279,7 @@ uint16_t RoboClaw::_sumBytes(uint8_t * buf, size_t n)
return sum;
}
int RoboClaw::_sendCommand(e_command cmd, uint8_t * data,
int RoboClaw::_sendCommand(e_command cmd, uint8_t * data,
size_t n_data, uint16_t & prev_sum)
{
tcflush(_uart, TCIOFLUSH); // flush buffers
@@ -299,7 +300,7 @@ int RoboClaw::_sendCommand(e_command cmd, uint8_t * data,
return write(_uart, buf, n_data + 3);
}
int roboclawTest(const char *deviceName, uint8_t address,
int roboclawTest(const char *deviceName, uint8_t address,
uint16_t pulsesPerRev)
{
printf("roboclaw test: starting\n");