fly316/PX4-Autopilot
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Merge branch 'beta' into acro2

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This commit is contained in:
Anton Babushkin 2014-02-02 22:45:46 +01:00
commit dfd4dc3e6a
44 changed files with 127 additions and 231 deletions
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7
ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil
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@ -2,7 +2,7 @@
#
# HILStar / X-Plane
#
# Maintainers: Thomas Gubler <thomasgubler@gmail.com>
# Lorenz Meier <lm@inf.ethz.ch>
#
echo "HIL Rascal 110 starting.."
@ -26,17 +26,12 @@ then
param set FW_R_P 100
param set FW_R_RMAX 100
param set FW_THR_CRUISE 0.65
param set FW_THR_MAX 1
param set FW_THR_MIN 0
param set FW_T_SINK_MAX 5.0
param set FW_T_SINK_MIN 4.0
param set FW_Y_ROLLFF 1.1
param set FW_L1_PERIOD 16
param set RC_SCALE_ROLL 1.0
param set RC_SCALE_PITCH 1.0
param set SYS_AUTOCONFIG 0
param save
fi
set HIL yes

2
ROMFS/px4fmu_common/init.d/10015_tbs_discovery
View File

@ -2,7 +2,7 @@
#
# Team Blacksheep Discovery Quadcopter
#
# Maintainers: Simon Wilks <sjwilks@gmail.com>
# Simon Wilks <sjwilks@gmail.com>
#
if [ $DO_AUTOCONFIG == yes ]

2
ROMFS/px4fmu_common/init.d/10016_3dr_iris
View File

@ -2,7 +2,7 @@
#
# 3DR Iris Quadcopter
#
# Maintainers: Anton Babushkin <anton.babushkin@me.com>
# Anton Babushkin <anton.babushkin@me.com>
#
if [ $DO_AUTOCONFIG == yes ]

2
ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil
View File

@ -2,7 +2,7 @@
#
# HIL Quadcopter X
#
# Maintainers: Anton Babushkin <anton.babushkin@me.com>
# Anton Babushkin <anton.babushkin@me.com>
#
sh /etc/init.d/4001_quad_x

45
ROMFS/px4fmu_common/init.d/1002_rc_fw_state.hil
View File

@ -1,45 +0,0 @@
#!nsh
#
# HIL Rascal 110 (Flightgear)
#
# Maintainers: Thomas Gubler <thomasgubler@gmail.com>
#
echo "HIL Rascal 110 starting.."
if [ $DO_AUTOCONFIG == yes ]
then
# Set all params here, then disable autoconfig
param set FW_P_D 0
param set FW_P_I 0
param set FW_P_IMAX 15
param set FW_P_LIM_MAX 50
param set FW_P_LIM_MIN -50
param set FW_P_P 60
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 1.1
param set FW_R_D 0
param set FW_R_I 5
param set FW_R_IMAX 20
param set FW_R_P 100
param set FW_R_RMAX 100
param set FW_THR_CRUISE 0.65
param set FW_THR_MAX 1
param set FW_THR_MIN 0
param set FW_T_SINK_MAX 5.0
param set FW_T_SINK_MIN 4.0
param set FW_Y_ROLLFF 1.1
param set FW_L1_PERIOD 16
param set RC_SCALE_ROLL 1.0
param set RC_SCALE_PITCH 1.0
param set SYS_AUTOCONFIG 0
param save
fi
set HIL yes
set VEHICLE_TYPE fw
set MIXER FMU_AERT

2
ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil
View File

@ -2,7 +2,7 @@
#
# HIL Quadcopter +
#
# Maintainers: Anton Babushkin <anton.babushkin@me.com>
# Anton Babushkin <anton.babushkin@me.com>
#
sh /etc/init.d/1001_rc_quad_x.hil

5
ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil
View File

@ -2,7 +2,7 @@
#
# HIL Rascal 110 (Flightgear)
#
# Maintainers: Thomas Gubler <thomasgubler@gmail.com>
# Thomas Gubler <thomasgubler@gmail.com>
#
echo "HIL Rascal 110 starting.."
@ -34,9 +34,6 @@ then
param set FW_L1_PERIOD 16
param set RC_SCALE_ROLL 1.0
param set RC_SCALE_PITCH 1.0
param set SYS_AUTOCONFIG 0
param save
fi
set HIL yes

5
ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil
View File

@ -2,7 +2,7 @@
#
# HIL Malolo 1 (Flightgear)
#
# Maintainers: Thomas Gubler <thomasgubler@gmail.com>
# Thomas Gubler <thomasgubler@gmail.com>
#
echo "HIL Malolo 1 starting.."
@ -49,6 +49,9 @@ then
param set FW_YR_IMAX 0.2
param set FW_YR_P 0.0
param set FW_Y_RMAX 0
param set NAV_LAND_ALT 90
param set NAV_RTL_ALT 100
param set NAV_RTL_LAND_T -1
param set SYS_AUTOCONFIG 0
param save

2
ROMFS/px4fmu_common/init.d/12001_octo_cox
View File

@ -2,7 +2,7 @@
#
# Generic 10” Octo coaxial geometry
#
# Maintainers: Lorenz Meier <lm@inf.ethz.ch>, Anton Babushkin <anton.babushkin@me.com>
# Lorenz Meier <lm@inf.ethz.ch>, Anton Babushkin <anton.babushkin@me.com>
#
sh /etc/init.d/8001_octo_x

5
ROMFS/px4fmu_common/init.d/2101_hk_bixler
View File

@ -1,10 +1,5 @@
#!nsh
echo "[init] PX4FMU v1, v2 with or without IO on 3DR SkyWalker"
#
# Load default params for this platform
#
if [ $DO_AUTOCONFIG == yes ]
then
# Set all params here, then disable autoconfig

7
ROMFS/px4fmu_common/init.d/2102_3dr_skywalker
View File

@ -1,10 +1,5 @@
#!nsh
echo "[init] PX4FMU v1, v2 with or without IO on 3DR SkyWalker"
#
# Load default params for this platform
#
if [ $DO_AUTOCONFIG == yes ]
then
# Set all params here, then disable autoconfig
@ -23,8 +18,6 @@ then
param set FW_R_P 100
param set FW_R_RMAX 100
param set FW_THR_CRUISE 0.65
param set FW_THR_MAX 1
param set FW_THR_MIN 0
param set FW_T_SINK_MAX 5.0
param set FW_T_SINK_MIN 4.0
param set FW_Y_ROLLFF 1.1

4
ROMFS/px4fmu_common/init.d/3030_io_camflyer
View File

@ -1,7 +1,5 @@
#!nsh
echo "[init] PX4FMU v1, v2 with or without IO on Camflyer"
if [ $DO_AUTOCONFIG == yes ]
then
#
@ -26,7 +24,7 @@ then
param set FW_R_P 60
param set FW_R_RMAX 60
param set FW_THR_CRUISE 0.65
param set FW_THR_MAX 0.7
param set FW_THR_MAX 1.0
param set FW_THR_MIN 0
param set FW_T_SINK_MAX 5
param set FW_T_SINK_MIN 2

2
ROMFS/px4fmu_common/init.d/3031_phantom
View File

@ -2,7 +2,7 @@
#
# Phantom FPV Flying Wing
#
# Maintainers: Simon Wilks <sjwilks@gmail.com>
# Simon Wilks <sjwilks@gmail.com>
#
if [ $DO_AUTOCONFIG == yes ]

2
ROMFS/px4fmu_common/init.d/3032_skywalker_x5
View File

@ -2,7 +2,7 @@
#
# Skywalker X5 Flying Wing
#
# Maintainers: Thomas Gubler <thomasgubler@gmail.com>, Julian Oes <joes@student.ethz.ch>
# Thomas Gubler <thomasgubler@gmail.com>, Julian Oes <joes@student.ethz.ch>
#
if [ $DO_AUTOCONFIG == yes ]

2
ROMFS/px4fmu_common/init.d/3033_wingwing
View File

@ -2,7 +2,7 @@
#
# Wing Wing (aka Z-84) Flying Wing
#
# Maintainers: Simon Wilks <sjwilks@gmail.com>
# Simon Wilks <sjwilks@gmail.com>
#
if [ $DO_AUTOCONFIG == yes ]

2
ROMFS/px4fmu_common/init.d/3034_fx79
View File

@ -2,7 +2,7 @@
#
# FX-79 Buffalo Flying Wing
#
# Maintainers: Simon Wilks <sjwilks@gmail.com>
# Simon Wilks <sjwilks@gmail.com>
#
if [ $DO_AUTOCONFIG == yes ]

2
ROMFS/px4fmu_common/init.d/4001_quad_x
View File

@ -2,7 +2,7 @@
#
# Generic 10” Quad X geometry
#
# Maintainers: Lorenz Meier <lm@inf.ethz.ch>, Anton Babushkin <anton.babushkin@me.com>
# Lorenz Meier <lm@inf.ethz.ch>
#
if [ $DO_AUTOCONFIG == yes ]

2
ROMFS/px4fmu_common/init.d/4010_dji_f330
View File

@ -2,7 +2,7 @@
#
# DJI Flame Wheel F330 Quadcopter
#
# Maintainers: Anton Babushkin <anton.babushkin@me.com>
# Anton Babushkin <anton.babushkin@me.com>
#
if [ $DO_AUTOCONFIG == yes ]

2
ROMFS/px4fmu_common/init.d/4011_dji_f450
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@ -2,7 +2,7 @@
#
# DJI Flame Wheel F450 Quadcopter
#
# Maintainers: Lorenz Meier <lm@inf.ethz.ch>
# Lorenz Meier <lm@inf.ethz.ch>
#
if [ $DO_AUTOCONFIG == yes ]

42
ROMFS/px4fmu_common/init.d/4012_hk_x550
View File

@ -2,48 +2,10 @@
#
# HobbyKing X550 Quadcopter
#
# Maintainers: Todd Stellanova <tstellanova@gmail.com>
# Todd Stellanova <tstellanova@gmail.com>
#
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
param set MC_ROLL_P 5.5
param set MC_ROLLRATE_P 0.14
param set MC_ROLLRATE_I 0
param set MC_ROLLRATE_D 0.006
param set MC_PITCH_P 5.5
param set MC_PITCHRATE_P 0.14
param set MC_PITCHRATE_I 0
param set MC_PITCHRATE_D 0.006
param set MC_YAW_P 0.6
param set MC_YAWRATE_P 0.08
param set MC_YAWRATE_I 0
param set MC_YAWRATE_D 0
param set MPC_THR_MAX 1.0
param set MPC_THR_MIN 0.1
param set MPC_XY_P 1.0
param set MPC_XY_VEL_P 0.1
param set MPC_XY_VEL_I 0.02
param set MPC_XY_VEL_D 0.01
param set MPC_XY_VEL_MAX 5
param set MPC_XY_FF 0.5
param set MPC_Z_P 1.0
param set MPC_Z_VEL_P 0.1
param set MPC_Z_VEL_I 0.02
param set MPC_Z_VEL_D 0.0
param set MPC_Z_VEL_MAX 3
param set MPC_Z_FF 0.5
param set MPC_TILT_MAX 1.0
param set MPC_LAND_SPEED 1.0
param set MPC_LAND_TILT 0.3
fi
set VEHICLE_TYPE mc
set MIXER FMU_quad_x
sh /etc/init.d/4001_quad_x
set PWM_OUTPUTS 1234
set PWM_RATE 400

2
ROMFS/px4fmu_common/init.d/5001_quad_+
View File

@ -2,7 +2,7 @@
#
# Generic 10” Quad + geometry
#
# Maintainers: Lorenz Meier <lm@inf.ethz.ch>, Anton Babushkin <anton.babushkin@me.com>
# Anton Babushkin <anton.babushkin@me.com>
#
sh /etc/init.d/4001_quad_x

2
ROMFS/px4fmu_common/init.d/6001_hexa_x
View File

@ -2,7 +2,7 @@
#
# Generic 10” Hexa X geometry
#
# Maintainers: Lorenz Meier <lm@inf.ethz.ch>, Anton Babushkin <anton.babushkin@me.com>
# Anton Babushkin <anton.babushkin@me.com>
#
sh /etc/init.d/4001_quad_x

2
ROMFS/px4fmu_common/init.d/7001_hexa_+
View File

@ -2,7 +2,7 @@
#
# Generic 10” Hexa + geometry
#
# Maintainers: Lorenz Meier <lm@inf.ethz.ch>, Anton Babushkin <anton.babushkin@me.com>
# Anton Babushkin <anton.babushkin@me.com>
#
sh /etc/init.d/6001_hexa_x

2
ROMFS/px4fmu_common/init.d/8001_octo_x
View File

@ -2,7 +2,7 @@
#
# Generic 10” Octo X geometry
#
# Maintainers: Lorenz Meier <lm@inf.ethz.ch>, Anton Babushkin <anton.babushkin@me.com>
# Anton Babushkin <anton.babushkin@me.com>
#
sh /etc/init.d/4001_quad_x

2
ROMFS/px4fmu_common/init.d/9001_octo_+
View File

@ -2,7 +2,7 @@
#
# Generic 10” Octo + geometry
#
# Maintainers: Lorenz Meier <lm@inf.ethz.ch>, Anton Babushkin <anton.babushkin@me.com>
# Anton Babushkin <anton.babushkin@me.com>
#
sh /etc/init.d/8001_octo_x

7
ROMFS/px4fmu_common/init.d/rc.autostart
View File

@ -23,7 +23,7 @@
if param compare SYS_AUTOSTART 1000
then
#sh /etc/init.d/1000_rc_fw_easystar.hil
sh /etc/init.d/1000_rc_fw_easystar.hil
fi
if param compare SYS_AUTOSTART 1001
@ -31,11 +31,6 @@ then
sh /etc/init.d/1001_rc_quad_x.hil
fi
if param compare SYS_AUTOSTART 1002
then
sh /etc/init.d/1002_rc_fw_state.hil
fi
if param compare SYS_AUTOSTART 1003
then
sh /etc/init.d/1003_rc_quad_+.hil

11
ROMFS/px4fmu_common/init.d/rc.fw_apps
View File

@ -3,17 +3,6 @@
# Standard apps for fixed wing
#
#
# Start the attitude and position estimator
#
att_pos_estimator_ekf start
#
# Start attitude controller
#
fw_att_control start
#
# Start the position controller
#
fw_pos_control_l1 start

1
ROMFS/px4fmu_common/init.d/rc.io
View File

@ -4,7 +4,6 @@
#
# Allow PX4IO to recover from midair restarts.
# this is very unlikely, but quite safe and robust.
#
px4io recovery

17
ROMFS/px4fmu_common/init.d/rc.mc_apps
View File

@ -1,24 +1,11 @@
#!nsh
#
# Standard apps for multirotors
# Standard apps for multirotors:
# att & pos estimator, att & pos control.
#
#
# Start the attitude estimator
#
attitude_estimator_ekf start
#
# Start position estimator
#
position_estimator_inav start
#
# Start attitude control
#
mc_att_control start
#
# Start position control
#
mc_pos_control start

4
ROMFS/px4fmu_common/init.d/rc.sensors
View File

@ -3,10 +3,6 @@
# Standard startup script for PX4FMU onboard sensor drivers.
#
#
# Start sensor drivers here.
#
ms5611 start
adc start

3
ROMFS/px4fmu_common/init.d/rcS
View File

@ -3,8 +3,7 @@
# PX4FMU startup script.
#
# Default to auto-start mode. An init script on the microSD card
# can change this to prevent automatic startup of the flight script.
# Default to auto-start mode.
#
set MODE autostart

8
ROMFS/px4fmu_common/mixers/FMU_Q.mix
View File

@ -25,13 +25,13 @@ for the elevons.
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 -5000 -8000 0 -10000 10000
S: 0 1 8000 8000 0 -10000 10000
S: 0 0 -8000 -8000 0 -10000 10000
S: 0 1 6000 6000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 -8000 -5000 0 -10000 10000
S: 0 1 -8000 -8000 0 -10000 10000
S: 0 0 -8000 -8000 0 -10000 10000
S: 0 1 -6000 -6000 0 -10000 10000
Output 2
--------

4
makefiles/config_px4fmu-v1_default.mk
View File

@ -21,7 +21,6 @@ MODULES += drivers/px4fmu
MODULES += drivers/boards/px4fmu-v1
MODULES += drivers/ardrone_interface
MODULES += drivers/l3gd20
#MODULES += drivers/bma180
MODULES += drivers/mpu6000
MODULES += drivers/hmc5883
MODULES += drivers/ms5611
@ -44,7 +43,6 @@ MODULES += modules/sensors
#
MODULES += systemcmds/mtd
MODULES += systemcmds/bl_update
MODULES += systemcmds/boardinfo
MODULES += systemcmds/i2c
MODULES += systemcmds/mixer
MODULES += systemcmds/param
@ -65,14 +63,12 @@ MODULES += systemcmds/hw_ver
MODULES += modules/commander
MODULES += modules/navigator
MODULES += modules/mavlink
MODULES += modules/mavlink_onboard
MODULES += modules/gpio_led
#
# Estimation modules (EKF/ SO3 / other filters)
#
MODULES += modules/attitude_estimator_ekf
MODULES += modules/attitude_estimator_so3
MODULES += modules/att_pos_estimator_ekf
MODULES += modules/position_estimator_inav
#MODULES += examples/flow_position_estimator

4
src/lib/launchdetection/LaunchDetector.cpp
View File

@ -83,14 +83,10 @@ bool LaunchDetector::getLaunchDetected()
void LaunchDetector::updateParams() {
warnx(" LaunchDetector::updateParams()");
launchdetection_on.update();
throttlePreTakeoff.update();
for (uint8_t i = 0; i < sizeof(launchMethods)/sizeof(LaunchMethod); i++) {
launchMethods[i]->updateParams();
warnx("updating component %d", i);
}
warnx(" LaunchDetector::updateParams() ended");
}

60
src/modules/commander/commander.cpp
View File

@ -210,7 +210,7 @@ transition_result_t set_main_state_rc(struct vehicle_status_s *status);
void set_control_mode();
void print_reject_mode(const char *msg);
void print_reject_mode(struct vehicle_status_s *current_status, const char *msg);
void print_reject_arm(const char *msg);
@ -658,6 +658,8 @@ int commander_thread_main(int argc, char *argv[])
/* vehicle status topic */
memset(&status, 0, sizeof(status));
status.condition_landed = true; // initialize to safe value
// We want to accept RC inputs as default
status.rc_input_blocked = false;
status.main_state = MAIN_STATE_MANUAL;
status.set_nav_state = NAV_STATE_NONE;
status.set_nav_state_timestamp = 0;
@ -927,10 +929,12 @@ int commander_thread_main(int argc, char *argv[])
check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.xy_valid, &(status.condition_local_position_valid), &status_changed);
check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.z_valid, &(status.condition_local_altitude_valid), &status_changed);
static bool published_condition_landed_fw = false;
if (status.is_rotary_wing && status.condition_local_altitude_valid) {
if (status.condition_landed != local_position.landed) {
status.condition_landed = local_position.landed;
status_changed = true;
published_condition_landed_fw = false; //make sure condition_landed is published again if the system type changes
if (status.condition_landed) {
mavlink_log_critical(mavlink_fd, "#audio: LANDED");
@ -939,6 +943,12 @@ int commander_thread_main(int argc, char *argv[])
mavlink_log_critical(mavlink_fd, "#audio: IN AIR");
}
}
} else {
if (!published_condition_landed_fw) {
status.condition_landed = false; // Fixedwing does not have a landing detector currently
published_condition_landed_fw = true;
status_changed = true;
}
}
/* update battery status */
@ -1097,7 +1107,7 @@ int commander_thread_main(int argc, char *argv[])
}
/* start RC input check */
if (sp_man.timestamp != 0 && hrt_absolute_time() < sp_man.timestamp + RC_TIMEOUT) {
if (!status.rc_input_blocked && sp_man.timestamp != 0 && hrt_absolute_time() < sp_man.timestamp + RC_TIMEOUT) {
/* handle the case where RC signal was regained */
if (!status.rc_signal_found_once) {
status.rc_signal_found_once = true;
@ -1468,7 +1478,7 @@ check_mode_switches(struct manual_control_setpoint_s *sp_man, struct vehicle_sta
{
/* main mode switch */
if (!isfinite(sp_man->mode_switch)) {
warnx("mode sw not finite");
/* default to manual if signal is invalid */
status->mode_switch = MODE_SWITCH_MANUAL;
} else if (sp_man->mode_switch > STICK_ON_OFF_LIMIT) {
@ -1550,7 +1560,7 @@ set_main_state_rc(struct vehicle_status_s *status)
break; // changed successfully or already in this state
// else fallback to SEATBELT
print_reject_mode("EASY");
print_reject_mode(status, "EASY");
}
res = main_state_transition(status, MAIN_STATE_SEATBELT);
@ -1559,7 +1569,7 @@ set_main_state_rc(struct vehicle_status_s *status)
break; // changed successfully or already in this mode
if (status->assisted_switch != ASSISTED_SWITCH_EASY) // don't print both messages
print_reject_mode("SEATBELT");
print_reject_mode(status, "SEATBELT");
// else fallback to MANUAL
res = main_state_transition(status, MAIN_STATE_MANUAL);
@ -1573,7 +1583,7 @@ set_main_state_rc(struct vehicle_status_s *status)
break; // changed successfully or already in this state
// else fallback to SEATBELT (EASY likely will not work too)
print_reject_mode("AUTO");
print_reject_mode(status, "AUTO");
res = main_state_transition(status, MAIN_STATE_SEATBELT);
if (res != TRANSITION_DENIED)
@ -1592,6 +1602,7 @@ set_main_state_rc(struct vehicle_status_s *status)
}
void
set_control_mode()
{
/* set vehicle_control_mode according to main state and failsafe state */
@ -1699,16 +1710,25 @@ set_control_mode()
}
void
print_reject_mode(const char *msg)
print_reject_mode(struct vehicle_status_s *status, const char *msg)
{
hrt_abstime t = hrt_absolute_time();
if (t - last_print_mode_reject_time > PRINT_MODE_REJECT_INTERVAL) {
last_print_mode_reject_time = t;
char s[80];
sprintf(s, "#audio: warning: reject %s", msg);
sprintf(s, "#audio: REJECT %s", msg);
mavlink_log_critical(mavlink_fd, s);
tune_negative();
// only buzz if armed, because else we're driving people nuts indoors
// they really need to look at the leds as well.
if (status->arming_state == ARMING_STATE_ARMED) {
tune_negative();
} else {
// Always show the led indication
led_negative();
}
}
}
@ -1856,7 +1876,15 @@ void *commander_low_prio_loop(void *arg)
} else if ((int)(cmd.param4) == 1) {
/* RC calibration */
answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
calib_ret = do_rc_calibration(mavlink_fd);
/* disable RC control input completely */
status.rc_input_blocked = true;
calib_ret = OK;
mavlink_log_info(mavlink_fd, "CAL: Disabling RC IN");
} else if ((int)(cmd.param4) == 2) {
/* RC trim calibration */
answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
calib_ret = do_trim_calibration(mavlink_fd);
} else if ((int)(cmd.param5) == 1) {
/* accelerometer calibration */
@ -1867,6 +1895,18 @@ void *commander_low_prio_loop(void *arg)
/* airspeed calibration */
answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
calib_ret = do_airspeed_calibration(mavlink_fd);
} else if ((int)(cmd.param4) == 0) {
/* RC calibration ended - have we been in one worth confirming? */
if (status.rc_input_blocked) {
answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
/* enable RC control input */
status.rc_input_blocked = false;
mavlink_log_info(mavlink_fd, "CAL: Re-enabling RC IN");
}
/* this always succeeds */
calib_ret = OK;
}
if (calib_ret == OK)

7
src/modules/commander/commander_helper.cpp
View File

@ -123,11 +123,16 @@ void tune_neutral()
}
void tune_negative()
{
led_negative();
ioctl(buzzer, TONE_SET_ALARM, TONE_NOTIFY_NEGATIVE_TUNE);
}
void led_negative()
{
blink_msg_end = hrt_absolute_time() + BLINK_MSG_TIME;
rgbled_set_color(RGBLED_COLOR_RED);
rgbled_set_mode(RGBLED_MODE_BLINK_FAST);
ioctl(buzzer, TONE_SET_ALARM, TONE_NOTIFY_NEGATIVE_TUNE);
}
int tune_arm()

3
src/modules/commander/commander_helper.h
View File

@ -62,6 +62,9 @@ int tune_arm(void);
int tune_low_bat(void);
int tune_critical_bat(void);
void tune_stop(void);
void led_negative();
int blink_msg_state();
int led_init(void);

11
src/modules/commander/rc_calibration.cpp
View File

@ -53,17 +53,16 @@
#endif
static const int ERROR = -1;
int do_rc_calibration(int mavlink_fd)
int do_trim_calibration(int mavlink_fd)
{
mavlink_log_info(mavlink_fd, "trim calibration starting");
int sub_man = orb_subscribe(ORB_ID(manual_control_setpoint));
usleep(200000);
struct manual_control_setpoint_s sp;
bool changed;
orb_check(sub_man, &changed);
if (!changed) {
mavlink_log_critical(mavlink_fd, "no manual control, aborting");
mavlink_log_critical(mavlink_fd, "no inputs, aborting");
return ERROR;
}
@ -82,12 +81,12 @@ int do_rc_calibration(int mavlink_fd)
int save_ret = param_save_default();
if (save_ret != 0) {
mavlink_log_critical(mavlink_fd, "TRIM CAL: WARN: auto-save of params failed");
mavlink_log_critical(mavlink_fd, "TRIM: SAVE FAIL");
close(sub_man);
return ERROR;
}
mavlink_log_info(mavlink_fd, "trim calibration done");
mavlink_log_info(mavlink_fd, "trim cal done");
close(sub_man);
return OK;
}

2
src/modules/commander/rc_calibration.h
View File

@ -41,6 +41,6 @@
#include <stdint.h>
int do_rc_calibration(int mavlink_fd);
int do_trim_calibration(int mavlink_fd);
#endif /* RC_CALIBRATION_H_ */

16
src/modules/navigator/navigator_main.cpp
View File

@ -688,7 +688,8 @@ Navigator::task_main()
/* RETURN switch, overrides MISSION switch */
if (_vstatus.return_switch == RETURN_SWITCH_RETURN) {
/* switch to RTL if not already landed after RTL and home position set */
if (!(_rtl_state == RTL_STATE_DESCEND && (myState == NAV_STATE_READY || myState == NAV_STATE_LAND)) &&
if (!(_rtl_state == RTL_STATE_DESCEND &&
(myState == NAV_STATE_READY || myState == NAV_STATE_LAND || myState == NAV_STATE_LOITER)) &&
_vstatus.condition_home_position_valid) {
dispatch(EVENT_RTL_REQUESTED);
}
@ -746,7 +747,8 @@ Navigator::task_main()
break;
case NAV_STATE_RTL:
if (!(_rtl_state == RTL_STATE_DESCEND && (myState == NAV_STATE_READY || myState == NAV_STATE_LAND)) &&
if (!(_rtl_state == RTL_STATE_DESCEND &&
(myState == NAV_STATE_READY || myState == NAV_STATE_LAND || myState == NAV_STATE_LOITER)) &&
_vstatus.condition_home_position_valid) {
dispatch(EVENT_RTL_REQUESTED);
}
@ -1443,14 +1445,7 @@ Navigator::check_mission_item_reached()
}
if (_mission_item.nav_cmd == NAV_CMD_LAND) {
if (_vstatus.is_rotary_wing) {
return _vstatus.condition_landed;
} else {
/* For fw there is currently no landing detector:
* make sure control is not stopped when overshooting the landing waypoint */
return false;
}
return _vstatus.condition_landed;
}
/* XXX TODO count turns */
@ -1580,6 +1575,7 @@ Navigator::on_mission_item_reached()
dispatch(EVENT_LAND_REQUESTED);
} else {
_reset_loiter_pos = false;
dispatch(EVENT_LOITER_REQUESTED);
}

2
src/modules/navigator/navigator_params.c
View File

@ -60,4 +60,4 @@ PARAM_DEFINE_INT32(NAV_ONB_MIS_EN, 0);
PARAM_DEFINE_FLOAT(NAV_TAKEOFF_ALT, 10.0f); // default TAKEOFF altitude
PARAM_DEFINE_FLOAT(NAV_LAND_ALT, 5.0f); // slow descend from this altitude when landing
PARAM_DEFINE_FLOAT(NAV_RTL_ALT, 30.0f); // min altitude for going home in RTL mode
PARAM_DEFINE_FLOAT(NAV_RTL_LAND_T, 10.0f); // delay after descend before landing
PARAM_DEFINE_FLOAT(NAV_RTL_LAND_T, -1.0f); // delay after descend before landing, if set to -1 the system will not land but loiter at NAV_LAND_ALT

39
src/modules/sensors/sensors.cpp
View File

@ -1,7 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
* 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
@ -639,37 +638,39 @@ Sensors::parameters_update()
if (!rc_valid)
warnx("WARNING WARNING WARNING\n\nRC CALIBRATION NOT SANE!\n\n");
const char *paramerr = "FAIL PARM LOAD";
/* channel mapping */
if (param_get(_parameter_handles.rc_map_roll, &(_parameters.rc_map_roll)) != OK) {
warnx("Failed getting roll chan index");
warnx(paramerr);
}
if (param_get(_parameter_handles.rc_map_pitch, &(_parameters.rc_map_pitch)) != OK) {
warnx("Failed getting pitch chan index");
warnx(paramerr);
}
if (param_get(_parameter_handles.rc_map_yaw, &(_parameters.rc_map_yaw)) != OK) {
warnx("Failed getting yaw chan index");
warnx(paramerr);
}
if (param_get(_parameter_handles.rc_map_throttle, &(_parameters.rc_map_throttle)) != OK) {
warnx("Failed getting throttle chan index");
warnx(paramerr);
}
if (param_get(_parameter_handles.rc_map_mode_sw, &(_parameters.rc_map_mode_sw)) != OK) {
warnx("Failed getting mode sw chan index");
warnx(paramerr);
}
if (param_get(_parameter_handles.rc_map_return_sw, &(_parameters.rc_map_return_sw)) != OK) {
warnx("Failed getting return sw chan index");
warnx(paramerr);
}
if (param_get(_parameter_handles.rc_map_assisted_sw, &(_parameters.rc_map_assisted_sw)) != OK) {
warnx("Failed getting assisted sw chan index");
warnx(paramerr);
}
if (param_get(_parameter_handles.rc_map_mission_sw, &(_parameters.rc_map_mission_sw)) != OK) {
warnx("Failed getting mission sw chan index");
warnx(paramerr);
}
if (param_get(_parameter_handles.rc_map_acro_sw, &(_parameters.rc_map_acro_sw)) != OK) {
@ -677,7 +678,7 @@ Sensors::parameters_update()
}
if (param_get(_parameter_handles.rc_map_flaps, &(_parameters.rc_map_flaps)) != OK) {
warnx("Failed getting flaps chan index");
warnx(paramerr);
}
// if (param_get(_parameter_handles.rc_map_offboard_ctrl_mode_sw, &(_parameters.rc_map_offboard_ctrl_mode_sw)) != OK) {
@ -750,12 +751,12 @@ Sensors::parameters_update()
/* scaling of ADC ticks to battery voltage */
if (param_get(_parameter_handles.battery_voltage_scaling, &(_parameters.battery_voltage_scaling)) != OK) {
warnx("Failed updating voltage scaling param");
warnx(paramerr);
}
/* scaling of ADC ticks to battery current */
if (param_get(_parameter_handles.battery_current_scaling, &(_parameters.battery_current_scaling)) != OK) {
warnx("Failed updating current scaling param");
warnx(paramerr);
}
param_get(_parameter_handles.board_rotation, &(_parameters.board_rotation));
@ -1664,17 +1665,17 @@ int sensors_main(int argc, char *argv[])
if (!strcmp(argv[1], "start")) {
if (sensors::g_sensors != nullptr)
errx(0, "sensors task already running");
errx(0, "already running");
sensors::g_sensors = new Sensors;
if (sensors::g_sensors == nullptr)
errx(1, "sensors task alloc failed");
errx(1, "alloc failed");
if (OK != sensors::g_sensors->start()) {
delete sensors::g_sensors;
sensors::g_sensors = nullptr;
err(1, "sensors task start failed");
err(1, "start failed");
}
exit(0);
@ -1682,7 +1683,7 @@ int sensors_main(int argc, char *argv[])
if (!strcmp(argv[1], "stop")) {
if (sensors::g_sensors == nullptr)
errx(1, "sensors task not running");
errx(1, "not running");
delete sensors::g_sensors;
sensors::g_sensors = nullptr;
@ -1691,10 +1692,10 @@ int sensors_main(int argc, char *argv[])
if (!strcmp(argv[1], "status")) {
if (sensors::g_sensors) {
errx(0, "task is running");
errx(0, "is running");
} else {
errx(1, "task is not running");
errx(1, "not running");
}
}

1
src/modules/uORB/topics/vehicle_status.h
View File

@ -216,6 +216,7 @@ struct vehicle_status_s
bool rc_signal_found_once;
bool rc_signal_lost; /**< true if RC reception lost */
bool rc_input_blocked; /**< set if RC input should be ignored */
bool offboard_control_signal_found_once;
bool offboard_control_signal_lost;

4
src/systemcmds/mtd/mtd.c
View File

@ -257,7 +257,6 @@ mtd_start(char *partition_names[], unsigned n_partitions)
/* Now create MTD FLASH partitions */
warnx("Creating partitions");
FAR struct mtd_dev_s *part[n_partitions];
char blockname[32];
@ -266,9 +265,6 @@ mtd_start(char *partition_names[], unsigned n_partitions)
for (offset = 0, i = 0; i < n_partitions; offset += nblocks, i++) {
warnx(" Partition %d. Block offset=%lu, size=%lu",
i, (unsigned long)offset, (unsigned long)nblocks);
/* Create the partition */
part[i] = mtd_partition(mtd_dev, offset, nblocks);