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This commit is contained in:
Hamish Willee
2022-07-27 14:33:16 +10:00
committed by GitHub
parent 97f632a408
commit e6eed43648
97 changed files with 170 additions and 158 deletions
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src/drivers/batt_smbus/batt_smbus.cpp
+1 -1
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@@ -523,7 +523,7 @@ $ batt_smbus -X write_flash 19069 2 27 0
PRINT_MODULE_USAGE_COMMAND_DESCR("man_info", "Prints manufacturer info.");
PRINT_MODULE_USAGE_COMMAND_DESCR("unseal", "Unseals the devices flash memory to enable write_flash commands.");
PRINT_MODULE_USAGE_COMMAND_DESCR("seal", "Seals the devices flash memory to disbale write_flash commands.");
PRINT_MODULE_USAGE_COMMAND_DESCR("seal", "Seals the devices flash memory to disable write_flash commands.");
PRINT_MODULE_USAGE_COMMAND_DESCR("suspend", "Suspends the driver from rescheduling the cycle.");
PRINT_MODULE_USAGE_COMMAND_DESCR("resume", "Resumes the driver from suspension.");
src/drivers/camera_trigger/camera_trigger.cpp
+1 -1
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@@ -35,7 +35,7 @@
* @file camera_trigger.cpp
*
* External camera-IMU synchronisation and triggering, and support for
* camera manipulation using PWM signals over FMU auxillary pins.
* camera manipulation using PWM signals over FMU auxiliary pins.
*
* @author Mohammed Kabir <kabir@uasys.io>
* @author Kelly Steich <kelly.steich@wingtra.com>
src/drivers/cyphal/parameters.c
+1 -1
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@@ -123,7 +123,7 @@ PARAM_DEFINE_INT32(UCAN1_BMS_BS_SUB, -1);
PARAM_DEFINE_INT32(UCAN1_BMS_BP_SUB, -1);
/**
* Cyphal leagcy battery port ID.
* Cyphal legacy battery port ID.
*
* @min -1
* @max 6143
src/drivers/distance_sensor/broadcom/afbrs50/Inc/platform/argus_print.h
+1 -1
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@@ -54,7 +54,7 @@
#include "api/argus_def.h"
/*!***************************************************************************
* @brief A printf-like function to print formated data to an debugging interface.
* @brief A printf-like function to print formatted data to an debugging interface.
*
* @details Writes the C string pointed by fmt_t to an output. If format
* includes format specifiers (subsequences beginning with %), the
src/drivers/distance_sensor/pga460/pga460.cpp
+3 -1
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@@ -482,10 +482,12 @@ int PGA460::print_usage(const char *reason)
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
### Description
Ultrasonic range finder driver that handles the communication with the device and publishes the distance via uORB.
### Implementation
This driver is implented as a NuttX task. This Implementation was chosen due to the need for polling on a message
This driver is implemented as a NuttX task. This Implementation was chosen due to the need for polling on a message
via UART, which is not supported in the work_queue. This driver continuously takes range measurements while it is
running. A simple algorithm to detect false readings is implemented at the driver levelin an attemptto improve
the quality of data that is being published. The driver will not publish data at all if it deems the sensor data
src/drivers/distance_sensor/pga460/pga460.h
+2 -2
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@@ -286,7 +286,7 @@ public:
int read_eeprom();
/**
* @brief Writes the user defined paramaters to device EEPROM.
* @brief Writes the user defined parameters to device EEPROM.
* @return Returns true if the EEPROM was successfully written to.
*/
int write_eeprom();
@@ -341,7 +341,7 @@ private:
int initialize_device_settings();
/**
* @brief Writes the user defined paramaters to device register map.
* @brief Writes the user defined parameters to device register map.
* @return Returns true if the thresholds were successfully written.
*/
int initialize_thresholds();
src/drivers/distance_sensor/ulanding_radar/AerotennaULanding.hpp
+1 -1
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@@ -71,7 +71,7 @@ using namespace time_literals;
/**
* Assume standard deviation to be equal to sensor resolution.
* Static bench tests have shown that the sensor ouput does
* Static bench tests have shown that the sensor output does
* not vary if the unit is not moved.
*/
#define SENS_VARIANCE 0.045f * 0.045f
src/drivers/drv_led.h
+1 -1
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@@ -44,7 +44,7 @@
#include <board_config.h>
// allow the board to override the number (or maxiumum number) of LED's it has
// allow the board to override the number (or maximum number) of LED's it has
#ifndef BOARD_MAX_LEDS
#define BOARD_MAX_LEDS 4
#endif
src/drivers/imu/fxas21002c/FXAS21002C.cpp
+1 -1
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@@ -39,7 +39,7 @@
#define FXAS21002C_MAX_RATE 800
#define FXAS21002C_DEFAULT_RATE FXAS21002C_MAX_RATE
#define FXAS21002C_DEFAULT_RANGE_DPS 2000
#define FXAS21002C_DEFAULT_ONCHIP_FILTER_FREQ 64 // ODR dependant
#define FXAS21002C_DEFAULT_ONCHIP_FILTER_FREQ 64 // ODR dependent
/*
we set the timer interrupt to run a bit faster than the desired
src/drivers/power_monitor/voxlpm/voxlpm.cpp
+1 -1
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@@ -96,7 +96,7 @@ VOXLPM::init()
ret = init_ina231();
} else {
PX4_ERR("Unkown device address");
PX4_ERR("Unknown device address");
ret = PX4_ERROR;
}
src/drivers/roboclaw/roboclaw_main.cpp
+10 -8
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@@ -85,8 +85,8 @@ static void usage()
This driver communicates over UART with the [Roboclaw motor driver](http://downloads.basicmicro.com/docs/roboclaw_user_manual.pdf).
It performs two tasks:
- Control the motors based on the `actuator_controls_0` UOrb topic.
- Read the wheel encoders and publish the raw data in the `wheel_encoders` UOrb topic
- Control the motors based on the `actuator_controls_0` UOrb topic.
- Read the wheel encoders and publish the raw data in the `wheel_encoders` UOrb topic
In order to use this driver, the Roboclaw should be put into Packet Serial mode (see the linked documentation), and
your flight controller's UART port should be connected to the Roboclaw as shown in the documentation. For Pixhawk 4,
@@ -109,16 +109,18 @@ the driver terminates immediately.
The command to start this driver is:
$ roboclaw start <device> <baud>
```
$ roboclaw start <device> <baud>
```
`<device>` is the name of the UART port. On the Pixhawk 4, this is `/dev/ttyS3`.
`<baud>` is te baud rate.
- `<device>` is the name of the UART port. On the Pixhawk 4, this is `/dev/ttyS3`.
- `<baud>` is the baud rate.
All available commands are:
- `$ roboclaw start <device> <baud>`
- `$ roboclaw status`
- `$ roboclaw stop`
- `$ roboclaw start <device> <baud>`
- `$ roboclaw status`
- `$ roboclaw stop`
)DESCR_STR");
}
src/drivers/rpm/pcf8583/parameters.c
+3 -3
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@@ -60,9 +60,9 @@ PARAM_DEFINE_INT32(PCF8583_POOL, 1000000);
/**
* PCF8583 rotorfreq (i2c) pulse reset value
*
* Internal device counter is reset to 0 when overun this value,
* counter is able to store upto 6 digits
* reset of counter takes some time - measurement with reset has worse accurancy.
* Internal device counter is reset to 0 when overrun this value,
* counter is able to store up to 6 digits
* reset of counter takes some time - measurement with reset has worse accuracy.
* 0 means reset counter after every measurement.
*
* @reboot_required true
src/drivers/tap_esc/TAP_ESC.cpp
+8 -3
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@@ -511,17 +511,22 @@ int TAP_ESC::print_usage(const char *reason)
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
### Description
This module controls the TAP_ESC hardware via UART. It listens on the
actuator_controls topics, does the mixing and writes the PWM outputs.
### Implementation
Currently the module is implementd as a threaded version only, meaning that it
Currently the module is implemented as a threaded version only, meaning that it
runs in its own thread instead of on the work queue.
### Example
The module is typically started with:
tap_esc start -d /dev/ttyS2 -n <1-8>
The module is typically started with:
```
tap_esc start -d /dev/ttyS2 -n <1-8>
```
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("tap_esc", "driver");
src/drivers/tap_esc/drv_tap_esc.h
+2 -2
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@@ -107,7 +107,7 @@ typedef struct {
uint16_t current; // 0.0 - 200.0 A
#endif
#if defined(ESC_HAVE_TEMPERATURE_SENSOR)
uint8_t temperature; // 0 - 256 degree celsius
uint8_t temperature; // 0 - 256 degrees Celsius
#endif
} RunInfoRepsonse;
/****** Run ***********/
@@ -232,7 +232,7 @@ typedef struct {
*
* speed: -32767 - 32767 rpm
*
* temperature: 0 - 256 celsius degree (if available)
* temperature: 0 - 256 degrees Celsius (if available)
* voltage: 0.00 - 100.00 V (if available)
* current: 0.0 - 200.0 A (if available)
*/
src/drivers/uavcan/sensors/battery.cpp
+2 -2
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@@ -115,7 +115,7 @@ UavcanBatteryBridge::battery_sub_cb(const uavcan::ReceivedDataStructure<uavcan::
_battery_status[instance].remaining = msg.state_of_charge_pct / 100.0f; // between 0 and 1
// _battery_status[instance].scale = msg.; // Power scaling factor, >= 1, or -1 if unknown
_battery_status[instance].temperature = msg.temperature + CONSTANTS_ABSOLUTE_NULL_CELSIUS; // Kelvin to Celcius
_battery_status[instance].temperature = msg.temperature + CONSTANTS_ABSOLUTE_NULL_CELSIUS; // Kelvin to Celsius
// _battery_status[instance].cell_count = msg.;
_battery_status[instance].connected = true;
_battery_status[instance].source = msg.status_flags & uavcan::equipment::power::BatteryInfo::STATUS_FLAG_IN_USE;
@@ -238,7 +238,7 @@ UavcanBatteryBridge::filterData(const uavcan::ReceivedDataStructure<uavcan::equi
/* Override data that is expected to arrive from UAVCAN msg*/
_battery_status[instance] = _battery[instance]->getBatteryStatus();
_battery_status[instance].temperature = msg.temperature + CONSTANTS_ABSOLUTE_NULL_CELSIUS; // Kelvin to Celcius
_battery_status[instance].temperature = msg.temperature + CONSTANTS_ABSOLUTE_NULL_CELSIUS; // Kelvin to Celsius
_battery_status[instance].serial_number = msg.model_instance_id;
_battery_status[instance].id = msg.getSrcNodeID().get(); // overwrite zeroed index from _battery
src/drivers/uavcan/uavcan_drivers/kinetis/README.md
+3 -3
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@@ -18,9 +18,9 @@ and the following commandline defines:
|UAVCAN_KINETIS_TIMER_NUMBER | - {0..3} Sets the Periodic Interrupt Timer (PITn) channel |
Things that could be improved:
1. Build time command line configuartion of Mailbox/FIFO and filters
2. Build time command line configuartion clock source
- Curently the driver use `const uavcan::uint8_t CLOCKSEL = 0;` To Select OSCERCLK
1. Build time command line configuration of Mailbox/FIFO and filters
2. Build time command line configuration clock source
- Currently the driver use `const uavcan::uint8_t CLOCKSEL = 0;` To Select OSCERCLK
3. Dynamic filter disable. There are no filter enable bits on the FlexCAN, just the number of Filters
can be set. But this changes the memory map. So the configuration show below has been chosen.
src/drivers/uavcan/uavcan_params.c
+1 -1
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@@ -318,7 +318,7 @@ PARAM_DEFINE_INT32(UAVCAN_SUB_HYGRO, 0);
/**
* subscription ICE
*
* Enable UAVCAN internal combusion engine (ICE) subscription.
* Enable UAVCAN internal combustion engine (ICE) subscription.
* uavcan::equipment::ice::reciprocating::Status
*
* @boolean
src/drivers/uwb/uwb_sr150/module.yaml
+1 -1
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@@ -13,7 +13,7 @@ parameters:
UWB_INIT_OFF_X:
description:
short: UWB sensor X offset in body frame
long: UWB sensor positioning in relation to Drone in NED. X offset. A Positiv offset results in a Position o
long: UWB sensor positioning in relation to Drone in NED. X offset. A Positive offset results in a Position o
type: float
unit: m
decimal: 2
src/drivers/uwb/uwb_sr150/uwb_sr150.cpp
+2 -2
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@@ -394,7 +394,7 @@ int UWB_SR150::distance()
break;
case UWB_LIN_DEP_FOR_THREE:
PX4_INFO("UWB localization: linear dependant with 3 Anchors");
PX4_INFO("UWB localization: linear dependent with 3 Anchors");
break;
case UWB_ANC_ON_ONE_LEVEL:
@@ -402,7 +402,7 @@ int UWB_SR150::distance()
break;
case UWB_LIN_DEP_FOR_FOUR:
PX4_INFO("UWB localization: linear dependant with four or more Anchors");
PX4_INFO("UWB localization: linear dependent with four or more Anchors");
break;
case UWB_RANK_ZERO: