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Merged beta into master

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This commit is contained in:
Lorenz Meier 2015-08-01 16:58:02 +02:00
commit ea7ae7d019
87 changed files with 1386 additions and 545 deletions
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1
.gitignore vendored
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@ -51,3 +51,4 @@ xcode
src/platforms/posix/px4_messages/
src/platforms/posix-arm/px4_messages/
src/platforms/qurt/px4_messages/
ROMFS/*/*/rc.autostart

12
ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil
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@ -1,7 +1,15 @@
#!nsh
#
# HILStar
# <lorenz@px4.io>
# @name HILStar (XPlane)
#
# @type Simulation
#
# @output MAIN1 aileron
# @output MAIN2 elevator
# @output MAIN3 rudder
# @output MAIN4 throttle
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/rc.fw_defaults

6
ROMFS/px4fmu_common/init.d/10015_tbs_discovery
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@ -1,8 +1,10 @@
#!nsh
#
# Team Blacksheep Discovery Quadcopter
# @name Team Blacksheep Discovery
#
# Anton Babushkin <anton@px4.io>, Simon Wilks <simon@px4.io>
# @type Quadrotor Wide
#
# @maintainer Anton Babushkin <anton@px4.io>, Simon Wilks <simon@px4.io>
#
sh /etc/init.d/rc.mc_defaults

6
ROMFS/px4fmu_common/init.d/10016_3dr_iris
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@ -1,8 +1,10 @@
#!nsh
#
# 3DR Iris Quadcopter
# @name 3DR Iris Quadrotor
#
# Anton Babushkin <anton@px4.io>
# @type Quadrotor Wide
#
# @maintainer Anton Babushkin <anton@px4.io>
#
sh /etc/init.d/rc.mc_defaults

6
ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d
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@ -1,8 +1,10 @@
#!nsh
#
# Steadidrone QU4D
# @name Steadidrone QU4D
#
# Thomas Gubler <thomas@px4.io>
# @type Quadrotor Wide
#
# @maintainer Thomas Gubler <thomas@px4.io>
#
sh /etc/init.d/rc.mc_defaults

8
ROMFS/px4fmu_common/init.d/10018_tbs_endurance
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@ -1,10 +1,10 @@
#!nsh
#
# Team Blacksheep Discovery Long Range Quadcopter
#
# Setup: 15 x 5" Props, 6S 4000mAh TBS LiPo, TBS 30A ESCs, TBS 400kV Motors
# @name Team Blacksheep Discovery Endurance
#
# Simon Wilks <simon@px4.io>
# @type Quadrotor Wide
#
# @maintainer Simon Wilks <simon@px4.io>
#
sh /etc/init.d/rc.mc_defaults

6
ROMFS/px4fmu_common/init.d/10019_sk450_deadcat
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@ -1,8 +1,10 @@
#!nsh
#
# HobbyKing SK450 DeadCat modification
# @name HobbyKing SK450 DeadCat modification
#
# Anton Matosov <anton.matosov@gmail.com>
# @type Quadrotor Wide
#
# @maintainer Anton Matosov <anton.matosov@gmail.com>
#
sh /etc/init.d/rc.mc_defaults

6
ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil
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@ -1,8 +1,10 @@
#!nsh
#
# HIL Quadcopter X
# @name HIL Quadcopter X
#
# Anton Babushkin <anton@px4.io>
# @type Simulation
#
# @maintainer Anton Babushkin <anton@px4.io>
#
sh /etc/init.d/rc.mc_defaults

27
ROMFS/px4fmu_common/init.d/10020_3dr_quad
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@ -1,32 +1,25 @@
#!nsh
#
# @name 3DR Iris Quadrotor
# @name 3DR DIY Quad
#
# @type Quadrotor Wide
# @type Quadrotor x
#
# @maintainer Anton Babushkin <anton@px4.io>
# @maintainer Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/rc.mc_defaults
if [ $AUTOCNF == yes ]
then
# TODO tune roll/pitch separately
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.13
param set MC_ROLLRATE_I 0.05
param set MC_ROLL_P 6.5
param set MC_ROLLRATE_P 0.08
param set MC_ROLLRATE_I 0.1
param set MC_ROLLRATE_D 0.004
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.13
param set MC_PITCHRATE_I 0.05
param set MC_PITCH_P 6.0
param set MC_PITCHRATE_P 0.16
param set MC_PITCHRATE_I 0.09
param set MC_PITCHRATE_D 0.004
param set MC_YAW_P 2.5
param set MC_YAWRATE_P 0.25
param set MC_YAWRATE_I 0.25
param set MC_YAWRATE_D 0.0
param set BAT_V_SCALING 0.00989
param set BAT_C_SCALING 0.0124
param set MC_YAW_P 4
fi
set MIXER quad_x

6
ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil
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@ -1,8 +1,10 @@
#!nsh
#
# HIL Quadcopter +
# @name HIL Quadcopter +
#
# Anton Babushkin <anton@px4.io>
# @type Simulation
#
# @maintainer Anton Babushkin <anton@px4.io>
#
sh /etc/init.d/rc.mc_defaults

6
ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil
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@ -1,8 +1,10 @@
#!nsh
#
# HIL Rascal 110 (Flightgear)
# @name HIL Rascal 110 (Flightgear)
#
# Thomas Gubler <thomas@px4.io>
# @type Simulation
#
# @maintainer Thomas Gubler <thomas@px4.io>
#
sh /etc/init.d/rc.fw_defaults

6
ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil
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@ -1,8 +1,10 @@
#!nsh
#
# HIL Malolo 1 (Flightgear)
# @name HIL Malolo 1 (Flightgear)
#
# Thomas Gubler <thomas@px4.io>
# @type Simulation
#
# @maintainer Thomas Gubler <thomas@px4.io>
#
sh /etc/init.d/rc.fw_defaults

6
ROMFS/px4fmu_common/init.d/11001_hexa_cox
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@ -1,8 +1,10 @@
#!nsh
#
# Generic 10" Hexa coaxial geometry
# @name Generic Hexa coaxial geometry
#
# Lorenz Meier <lorenz@px4.io>
# @type Hexarotor Coaxial
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/rc.mc_defaults

6
ROMFS/px4fmu_common/init.d/12001_octo_cox
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@ -1,8 +1,10 @@
#!nsh
#
# Generic 10" Octo coaxial geometry
# @name Generic 10" Octo coaxial geometry
#
# Lorenz Meier <lorenz@px4.io>
# @type Octorotor Coaxial
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/rc.mc_defaults

7
ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol
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@ -1,7 +1,10 @@
#!nsh
#
# Generic configuration file for caipirinha VTOL version
# @name Duorotor Tailsitter
#
# Roman Bapst <bapstr@gmail.com>
# @type VTOL Tailsitter
#
# @maintainer Roman Bapst <roman@px4.io>
#
sh /etc/init.d/rc.vtol_defaults

6
ROMFS/px4fmu_common/init.d/13002_firefly6
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@ -1,8 +1,10 @@
#!nsh
#
# Generic configuration file for BirdsEyeView Aerobotics FireFly6
# @name BirdsEyeView Aerobotics FireFly6
#
# Roman Bapst <bapstroman@gmail.com>
# @type VTOL Tiltrotor
#
# @maintainer Roman Bapst <roman@px4.io>
#
sh /etc/init.d/rc.vtol_defaults

7
ROMFS/px4fmu_common/init.d/13003_quad_tailsitter
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@ -1,7 +1,10 @@
#!nsh
#
# Generic configuration file for a tailsitter with motors in X configuration.
# @name Quadrotor X Tailsitter
#
# Roman Bapst <bapstroman@gmail.com>
# @type VTOL Tailsitter
#
# @maintainer Roman Bapst <roman@px4.io>
#
sh /etc/init.d/rc.vtol_defaults

21
ROMFS/px4fmu_common/init.d/13004_quad+_tailsitter Normal file
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@ -0,0 +1,21 @@
#!nsh
#
# @name Quadrotor + Tailsitter
#
# @type VTOL Tailsitter
#
# @maintainer Roman Bapst <roman@px4.io>
#
sh /etc/init.d/rc.vtol_defaults
set MIXER quad_+_vtol
set PWM_OUT 1234
set PWM_MAX 2000
set PWM_RATE 400
set MAV_TYPE 20
param set VT_MOT_COUNT 4
param set VT_IDLE_PWM_MC 1080
param set VT_TYPE 0
param set VT_ELEV_MC_LOCK 1

7
ROMFS/px4fmu_common/init.d/14001_tri_y_yaw+
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@ -1,9 +1,10 @@
#!nsh
#
# Generic Tricopter Y Geometry
# Yaw Servo +Output ==> +Yaw Vehicle Rotation
# @name Generic Tricopter Y+ Geometry
#
# Trent Lukaczyk <aerialhedgehog@gmail.com>
# @type Tricopter Y+
#
# @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
#
sh /etc/init.d/rc.mc_defaults

7
ROMFS/px4fmu_common/init.d/14002_tri_y_yaw-
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@ -1,9 +1,10 @@
#!nsh
#
# Generic Tricopter Y Geometry
# Yaw Servo +Output ==> -Yaw Vehicle Rotation
# @name Generic Tricopter Y- Geometry
#
# Trent Lukaczyk <aerialhedgehog@gmail.com>
# @type Tricopter Y-
#
# @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
#
sh /etc/init.d/rc.mc_defaults

6
ROMFS/px4fmu_common/init.d/2100_mpx_easystar
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@ -1,6 +1,10 @@
#!nsh
#
# MPX EasyStar Plane
# @name Multiplex Easystar
#
# @type Standard Plane
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/rc.fw_defaults

17
ROMFS/px4fmu_common/init.d/2101_fw_AERT
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@ -1,4 +1,21 @@
#!nsh
#
# @name Standard AERT Plane
#
# @type Standard Plane
#
# @output MAIN1 aileron
# @output MAIN2 elevator
# @output MAIN4 rudder
# @output MAIN3 throttle
# @output MAIN5 flaps
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/rc.fw_defaults

17
ROMFS/px4fmu_common/init.d/2102_3dr_skywalker
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@ -1,4 +1,21 @@
#!nsh
#
# @name Skywalker (3DR Aero)
#
# @type Standard Plane
#
# @output MAIN1 aileron
# @output MAIN2 elevator
# @output MAIN4 rudder
# @output MAIN3 throttle
# @output MAIN5 flaps
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/rc.fw_defaults

15
ROMFS/px4fmu_common/init.d/2103_skyhunter_1800
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@ -1,4 +1,19 @@
#!nsh
#
# @name Skyhunter 1800
#
# @type Standard Plane
#
# @output MAIN1 aileron
# @output MAIN2 elevator
# @output MAIN4 throttle
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/rc.fw_defaults

17
ROMFS/px4fmu_common/init.d/2104_fw_AETR
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@ -1,4 +1,21 @@
#!nsh
#
# @name Standard AETR Plane
#
# @type Standard Plane
#
# @output MAIN1 aileron
# @output MAIN2 elevator
# @output MAIN3 throttle
# @output MAIN4 rudder
# @output MAIN5 flaps
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/rc.fw_defaults

19
ROMFS/px4fmu_common/init.d/3030_io_camflyer
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@ -1,4 +1,21 @@
#!nsh
#
# @name IO Camflyer
#
# @url https://pixhawk.org/platforms/planes/bormatec_camflyer_q
#
# @type Flying Wing
#
# @output MAIN1 left aileron
# @output MAIN2 right aileron
# @output MAIN4 throttle
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
#
# @maintainer Simon Wilks <simon@px4.io>
#
sh /etc/init.d/rc.fw_defaults
@ -17,11 +34,9 @@ then
param set FW_LND_TLALT 5
param set FW_THR_LND_MAX 0
param set FW_PR_FF 0.35
param set FW_PR_I 0.005
param set FW_PR_IMAX 0.4
param set FW_PR_P 0.08
param set FW_RR_FF 0.6
param set FW_RR_I 0.005
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.04
fi

18
ROMFS/px4fmu_common/init.d/3031_phantom
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@ -1,8 +1,20 @@
#!nsh
#
# Phantom FPV Flying Wing
# @name Phantom FPV Flying Wing
#
# Simon Wilks <simon@px4.io>
# @url https://pixhawk.org/platforms/planes/z-84_wing_wing
#
# @type Flying Wing
#
# @output MAIN1 left aileron
# @output MAIN2 right aileron
# @output MAIN4 throttle
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
#
# @maintainer Simon Wilks <simon@px4.io>
#
sh /etc/init.d/rc.fw_defaults
@ -16,14 +28,12 @@ then
param set FW_L1_DAMPING 0.75
param set FW_L1_PERIOD 15
param set FW_PR_FF 0.2
param set FW_PR_I 0.005
param set FW_PR_IMAX 0.2
param set FW_PR_P 0.03
param set FW_P_LIM_MAX 50
param set FW_P_LIM_MIN -50
param set FW_P_ROLLFF 1
param set FW_RR_FF 0.5
param set FW_RR_I 0.02
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.08
param set FW_R_LIM 50

16
ROMFS/px4fmu_common/init.d/3032_skywalker_x5
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@ -1,8 +1,20 @@
#!nsh
#
# Skywalker X5 Flying Wing
# @name Skywalker X5 Flying Wing
#
# Thomas Gubler <thomas@px4.io>, Julian Oes <julian@px4.io>
# @url https://pixhawk.org/platforms/planes/skywalker_x5
#
# @type Flying Wing
#
# @output MAIN1 left aileron
# @output MAIN2 right aileron
# @output MAIN4 throttle
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
#
# @maintainer Thomas Gubler <thomas@px4.io>, Julian Oes <julian@px4.io>
#
sh /etc/init.d/rc.fw_defaults

16
ROMFS/px4fmu_common/init.d/3033_wingwing
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@ -1,8 +1,20 @@
#!nsh
#
# Wing Wing (aka Z-84) Flying Wing
# @name Wing Wing (aka Z-84) Flying Wing
#
# Simon Wilks <simon@px4.io>
# @url https://pixhawk.org/platforms/planes/z-84_wing_wing
#
# @type Flying Wing
#
# @output MAIN1 left aileron
# @output MAIN2 right aileron
# @output MAIN4 throttle
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
#
# @maintainer Simon Wilks <simon@px4.io>
#
sh /etc/init.d/rc.fw_defaults

6
ROMFS/px4fmu_common/init.d/3034_fx79
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@ -1,8 +1,10 @@
#!nsh
#
# FX-79 Buffalo Flying Wing
# @name FX-79 Buffalo Flying Wing
#
# Simon Wilks <simon@px4.io>
# @type Flying Wing
#
# @maintainer Simon Wilks <simon@px4.io>
#
sh /etc/init.d/rc.fw_defaults

7
ROMFS/px4fmu_common/init.d/3035_viper
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@ -1,8 +1,11 @@
#
#!nsh
#
# Viper
# @name Viper
#
# Simon Wilks <simon@px4.io>
# @type Flying Wing
#
# @maintainer Simon Wilks <simon@px4.io>
#
sh /etc/init.d/rc.fw_defaults

11
ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
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@ -1,8 +1,10 @@
#!nsh
#
# TBS Caipirinha
# @name TBS Caipirinha
#
# Lorenz Meier <lorenz@px4.io>
# @type Flying Wing
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/rc.fw_defaults
@ -22,16 +24,17 @@ then
param set FW_LND_TLALT 5
param set FW_THR_LND_MAX 0
param set FW_PR_FF 0.35
param set FW_PR_I 0.01
param set FW_PR_IMAX 0.4
param set FW_PR_P 0.08
param set FW_RR_FF 0.6
param set FW_RR_I 0.01
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.04
param set SYS_COMPANION 157600
param set PWM_MAIN_REV0 1
param set PWM_MAIN_REV1 1
param set PWM_DISARMED 0
param set PWM_MIN 900
param set PWM_MAX 2100
fi
set PWM_DISARMED p:PWM_DISARMED

10
ROMFS/px4fmu_common/init.d/4001_quad_x
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@ -1,8 +1,14 @@
#!nsh
#
# Generic 10" Quad X geometry
# @name Generic Quadrotor X config
#
# Lorenz Meier <lorenz@px4.io>
# @type Quadrotor x
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/rc.mc_defaults

6
ROMFS/px4fmu_common/init.d/4008_ardrone
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@ -1,6 +1,10 @@
#!nsh
#
# ARDrone
# @name AR.Drone Frame
#
# @type Quadrotor x
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/rc.mc_defaults

19
ROMFS/px4fmu_common/init.d/4010_dji_f330
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@ -1,8 +1,14 @@
#!nsh
#
# DJI Flame Wheel F330
# @name DJI Flame Wheel F330
#
# Anton Babushkin <anton@px4.io>
# @type Quadrotor x
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/4001_quad_x
@ -21,7 +27,12 @@ then
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0.0
# DJI ESCs do not support calibration and need a higher min
param set PWM_MIN 1230
fi
set PWM_MIN 1200
set PWM_MAX 1950
# Transitional support: ensure suitable PWM min/max param values
if param compare PWM_MIN 1075
then
param set PWM_MIN 1230
fi

19
ROMFS/px4fmu_common/init.d/4011_dji_f450
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@ -1,8 +1,14 @@
#!nsh
#
# DJI Flame Wheel F450
# @name DJI Flame Wheel F450
#
# Lorenz Meier <lorenz@px4.io>
# @type Quadrotor x
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/4001_quad_x
@ -22,7 +28,12 @@ then
param set MC_YAWRATE_P 0.3
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0.0
# DJI ESCs do not support calibration and need a higher min
param set PWM_MIN 1230
fi
set PWM_MIN 1230
set PWM_MAX 1950
# Transitional support: ensure suitable PWM min/max param values
if param compare PWM_MIN 1075
then
param set PWM_MIN 1230
fi

6
ROMFS/px4fmu_common/init.d/4012_quad_x_can
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@ -1,8 +1,10 @@
#!nsh
#
# F450-sized quadrotor with CAN
# @name F450-sized quadrotor with CAN
#
# Pavel Kirienko <pavel@px4.io>
# @type Quadrotor x
#
# @maintainer Pavel Kirienko <pavel@px4.io>
#
sh /etc/init.d/4001_quad_x

8
ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb
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@ -1,11 +1,11 @@
#!nsh
#
# Hobbyking Micro Integrated PCB Quadcopter
# with SimonK ESC firmware and Mystery A1510 motors
# @name Hobbyking Micro PCB
#
# Thomas Gubler <thomas@px4.io>
# @type Quadrotor x
#
# @maintainer Thomas Gubler <thomas@px4.io>
#
echo "HK Micro PCB Quad"
sh /etc/init.d/4001_quad_x

5
ROMFS/px4fmu_common/init.d/50001_axialracing_ax10
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@ -1,9 +1,10 @@
#!nsh
#
# loading default values for the axialracing ax10
# @name Axial Racing AX10
#
# @type Rover
#
#load some defaults e.g. PWM values
sh /etc/init.d/rc.axialracing_ax10_defaults
#choose a mixer, for rover control we need a plain passthrough to the servos

6
ROMFS/px4fmu_common/init.d/5001_quad_+
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@ -1,8 +1,10 @@
#!nsh
#
# Generic 10" Quad + geometry
# @name Generic 10" Quad + geometry
#
# Anton Babushkin <anton@px4.io>
# @type Quadrotor +
#
# @maintainer Anton Babushkin <anton@px4.io>
#
sh /etc/init.d/rc.mc_defaults

10
ROMFS/px4fmu_common/init.d/6001_hexa_x
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@ -1,8 +1,14 @@
#!nsh
#
# Generic 10" Hexa X geometry
# @name Generic Hexarotor x geometry
#
# Anton Babushkin <anton@px4.io>
# @type Hexarotor x
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
#
# @maintainer Anton Babushkin <anton@px4.io>
#
sh /etc/init.d/rc.mc_defaults

10
ROMFS/px4fmu_common/init.d/7001_hexa_+
View File

@ -1,8 +1,14 @@
#!nsh
#
# Generic 10" Hexa + geometry
# @name Generic Hexarotor + geometry
#
# Anton Babushkin <anton@px4.io>
# @type Hexarotor +
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
#
# @maintainer Anton Babushkin <anton@px4.io>
#
sh /etc/init.d/rc.mc_defaults

10
ROMFS/px4fmu_common/init.d/8001_octo_x
View File

@ -1,8 +1,14 @@
#!nsh
#
# Generic 10" Octo X geometry
# @name Generic Octocopter X geometry
#
# Anton Babushkin <anton@px4.io>
# @type Octorotor x
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
#
# @maintainer Anton Babushkin <anton@px4.io>
#
sh /etc/init.d/rc.mc_defaults

10
ROMFS/px4fmu_common/init.d/9001_octo_+
View File

@ -1,8 +1,14 @@
#!nsh
#
# Generic 10" Octo + geometry
# @name Generic Octocopter + geometry
#
# Anton Babushkin <anton@px4.io>
# @type Octorotor +
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
#
# @maintainer Anton Babushkin <anton@px4.io>
#
sh /etc/init.d/rc.mc_defaults

310
ROMFS/px4fmu_common/init.d/rc.autostart
View File

@ -1,310 +0,0 @@
#
# SYS_AUTOSTART = 0 means no autostart (default)
#
# AUTOSTART PARTITION:
# 0 .. 999 Reserved (historical)
# 1000 .. 1999 Simulation setups
# 2000 .. 2999 Standard planes
# 3000 .. 3999 Flying wing
# 4000 .. 4999 Quad X
# 5000 .. 5999 Quad +
# 6000 .. 6999 Hexa X
# 7000 .. 7999 Hexa +
# 8000 .. 8999 Octo X
# 9000 .. 9999 Octo +
# 10000 .. 10999 Wide arm / H frame
# 11000 .. 11999 Hexa Cox
# 12000 .. 12999 Octo Cox
# 13000 .. 13999 VTOL
# 14000 .. 14999 Tri Y
#
# Simulation
#
if param compare SYS_AUTOSTART 901
then
sh /etc/init.d/901_bottle_drop_test.hil
set MODE custom
fi
if param compare SYS_AUTOSTART 1000
then
sh /etc/init.d/1000_rc_fw_easystar.hil
fi
if param compare SYS_AUTOSTART 1001
then
sh /etc/init.d/1001_rc_quad_x.hil
fi
if param compare SYS_AUTOSTART 1003
then
sh /etc/init.d/1003_rc_quad_+.hil
fi
if param compare SYS_AUTOSTART 1004
then
sh /etc/init.d/1004_rc_fw_Rascal110.hil
fi
if param compare SYS_AUTOSTART 1005
then
sh /etc/init.d/1005_rc_fw_Malolo1.hil
fi
#
# Plane
#
if param compare SYS_AUTOSTART 2100 100
then
sh /etc/init.d/2100_mpx_easystar
set MODE custom
fi
if param compare SYS_AUTOSTART 2101 101
then
sh /etc/init.d/2101_fw_AERT
set MODE custom
fi
if param compare SYS_AUTOSTART 2102 102
then
sh /etc/init.d/2102_3dr_skywalker
set MODE custom
fi
if param compare SYS_AUTOSTART 2103 103
then
sh /etc/init.d/2103_skyhunter_1800
set MODE custom
fi
if param compare SYS_AUTOSTART 2104
then
sh /etc/init.d/2104_fw_AETR
set MODE custom
fi
#
# Flying wing
#
if param compare SYS_AUTOSTART 3030 30
then
sh /etc/init.d/3030_io_camflyer
fi
if param compare SYS_AUTOSTART 3031 31
then
sh /etc/init.d/3031_phantom
fi
if param compare SYS_AUTOSTART 3032 32
then
sh /etc/init.d/3032_skywalker_x5
fi
if param compare SYS_AUTOSTART 3033 33
then
sh /etc/init.d/3033_wingwing
fi
if param compare SYS_AUTOSTART 3034 34
then
sh /etc/init.d/3034_fx79
fi
if param compare SYS_AUTOSTART 3035 35
then
sh /etc/init.d/3035_viper
fi
if param compare SYS_AUTOSTART 3100
then
sh /etc/init.d/3100_tbs_caipirinha
fi
#
# Quad X
#
if param compare SYS_AUTOSTART 4001
then
sh /etc/init.d/4001_quad_x
fi
#
# ARDrone
#
if param compare SYS_AUTOSTART 4008 8
then
sh /etc/init.d/4008_ardrone
fi
if param compare SYS_AUTOSTART 4010 10
then
sh /etc/init.d/4010_dji_f330
fi
if param compare SYS_AUTOSTART 4011 11
then
sh /etc/init.d/4011_dji_f450
fi
if param compare SYS_AUTOSTART 4012
then
sh /etc/init.d/4012_quad_x_can
fi
if param compare SYS_AUTOSTART 4020
then
sh /etc/init.d/4020_hk_micro_pcb
fi
#
# Quad +
#
if param compare SYS_AUTOSTART 5001
then
sh /etc/init.d/5001_quad_+
fi
#
# Hexa X
#
if param compare SYS_AUTOSTART 6001
then
sh /etc/init.d/6001_hexa_x
fi
#
# Hexa +
#
if param compare SYS_AUTOSTART 7001
then
sh /etc/init.d/7001_hexa_+
fi
#
# Octo X
#
if param compare SYS_AUTOSTART 8001
then
sh /etc/init.d/8001_octo_x
fi
#
# Octo +
#
if param compare SYS_AUTOSTART 9001
then
sh /etc/init.d/9001_octo_+
fi
#
# Wide arm / H frame
#
if param compare SYS_AUTOSTART 10015 15
then
sh /etc/init.d/10015_tbs_discovery
fi
if param compare SYS_AUTOSTART 10016 16
then
sh /etc/init.d/10016_3dr_iris
fi
if param compare SYS_AUTOSTART 10017
then
sh /etc/init.d/10017_steadidrone_qu4d
fi
if param compare SYS_AUTOSTART 10018 18
then
sh /etc/init.d/10018_tbs_endurance
fi
if param compare SYS_AUTOSTART 10019
then
sh /etc/init.d/10019_sk450_deadcat
fi
#
# Hexa Coaxial
#
if param compare SYS_AUTOSTART 11001
then
sh /etc/init.d/11001_hexa_cox
fi
#
# Octo Coaxial
#
if param compare SYS_AUTOSTART 12001
then
sh /etc/init.d/12001_octo_cox
fi
# 13000 is historically reserved for the quadshot
#
# VTOL Caipririnha (Tailsitter)
#
if param compare SYS_AUTOSTART 13001
then
sh /etc/init.d/13001_caipirinha_vtol
fi
#
# VTOL BirdsEyeView FireFly x6 (Tilt-Rotor)
#
if param compare SYS_AUTOSTART 13002
then
sh /etc/init.d/13002_firefly6
fi
#
# Tailsitter with 4 motors in x config
#
if param compare SYS_AUTOSTART 13003
then
sh /etc/init.d/13003_quad_tailsitter
fi
#
# TriCopter Y Yaw+
#
if param compare SYS_AUTOSTART 14001
then
sh /etc/init.d/14001_tri_y_yaw+
fi
#
# TriCopter Y Yaw-
#
if param compare SYS_AUTOSTART 14002
then
sh /etc/init.d/14002_tri_y_yaw-
fi
#
# Ground Rover AxialRacing AX10
#
if param compare SYS_AUTOSTART 50001
then
sh /etc/init.d/50001_axialracing_ax10
fi

25
ROMFS/px4fmu_common/init.d/rc.mc_defaults
View File

@ -14,12 +14,31 @@ then
param set NAV_ACC_RAD 2.0
param set RTL_RETURN_ALT 30.0
param set RTL_DESCEND_ALT 10.0
param set PWM_DISARMED 900
param set PWM_MIN 1075
param set PWM_MAX 1950
fi
# Transitional support: ensure suitable PWM min/max param values
if param compare PWM_MIN 1000
then
param set PWM_MIN 1075
fi
if param compare PWM_MAX 2000
then
param set PWM_MAX 1950
fi
if param compare PWM_DISARMED 0
then
param set PWM_DISARMED 900
fi
# set environment variables (!= parameters)
set PWM_RATE 400
set PWM_DISARMED 900
set PWM_MIN 1075
set PWM_MAX 2000
# tell the mixer to use parameters for these instead
set PWM_DISARMED p:PWM_DISARMED
set PWM_MIN p:PWM_MIN
set PWM_MAX p:PWM_MAX
# This is the gimbal pass mixer
set MIXER_AUX pass

11
ROMFS/px4fmu_common/init.d/rcS
View File

@ -575,7 +575,7 @@ then
fi
if [ $MIXER == tri_y_yaw- -o $MIXER == tri_y_yaw+ ]
then
set MAV_TYPE 2
set MAV_TYPE 15
fi
if [ $MIXER == hexa_x -o $MIXER == hexa_+ ]
then
@ -599,6 +599,7 @@ then
if [ $MAV_TYPE == none ]
then
echo "Unknown MAV_TYPE"
param set MAV_TYPE 2
else
param set MAV_TYPE $MAV_TYPE
fi
@ -642,6 +643,7 @@ then
if [ $MAV_TYPE == none ]
then
echo "Unknown MAV_TYPE"
param set MAV_TYPE 19
else
param set MAV_TYPE $MAV_TYPE
fi
@ -672,6 +674,8 @@ then
then
sh /etc/init.d/rc.axialracing_ax10_apps
fi
param set MAV_TYPE 10
fi
unset MIXER
@ -708,7 +712,7 @@ then
fi
unset EXIT_ON_END
# Run no SD alarm last
# Run no SD alarm
if [ $LOG_FILE == /dev/null ]
then
echo "[i] No microSD card found"
@ -716,6 +720,9 @@ then
tone_alarm error
fi
# Boot is complete, inform MAVLink app(s) that the system is now fully up and running
mavlink boot_complete
# End of autostart
fi

28
ROMFS/px4fmu_common/mixers/quad_+_vtol.main.mix Normal file
View File

@ -0,0 +1,28 @@
Mixer for Tailsitter with + motor configuration and elevons
===========================================================
This file defines a single mixer for tailsitter with motors in X configuration. All controls
are mixed 100%.
R: 4+ 10000 10000 10000 0
# mixer for the elevons
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 10000 10000 0 -10000 10000
S: 1 1 10000 10000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 10000 10000 0 -10000 10000
S: 1 1 -10000 -10000 0 -10000 10000
# mixer for canard surface
M: 1
O: 10000 10000 0 -10000 10000
S: 1 1 -10000 -10000 0 -10000 10000
# mixer for rudder
M: 1
O: 10000 10000 0 -10000 10000
S: 1 2 -10000 -10000 0 -10000 10000

1
Tools/px4airframes/README.md Normal file
View File

@ -0,0 +1 @@
This folder contains a python library used by px_process_params.py

1
Tools/px4airframes/__init__.py Normal file
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@ -0,0 +1 @@
__all__ = ["srcscanner", "srcparser", "xmlout", "rcout"]

54
Tools/px4airframes/rcout.py Normal file
View File

@ -0,0 +1,54 @@
from xml.sax.saxutils import escape
import codecs
class RCOutput():
def __init__(self, groups, board):
result = ( "#\n"
"#\n"
"# THIS FILE IS AUTO-GENERATED. DO NOT EDIT!\n"
"#\n"
"#\n"
"# SYS_AUTOSTART = 0 means no autostart (default)\n"
"#\n"
"# AUTOSTART PARTITION:\n"
"# 0 .. 999 Reserved (historical)\n"
"# 1000 .. 1999 Simulation setups\n"
"# 2000 .. 2999 Standard planes\n"
"# 3000 .. 3999 Flying wing\n"
"# 4000 .. 4999 Quadrotor x\n"
"# 5000 .. 5999 Quadrotor +\n"
"# 6000 .. 6999 Hexarotor x\n"
"# 7000 .. 7999 Hexarotor +\n"
"# 8000 .. 8999 Octorotor x\n"
"# 9000 .. 9999 Octorotor +\n"
"# 10000 .. 10999 Quadrotor Wide arm / H frame\n"
"# 11000 .. 11999 Hexa Cox\n"
"# 12000 .. 12999 Octo Cox\n"
"# 13000 .. 13999 VTOL\n"
"# 14000 .. 14999 Tri Y\n"
"\n")
for group in groups:
result += "# GROUP: %s\n\n" % group.GetName()
for param in group.GetParams():
path = param.GetPath().rsplit('/', 1)[1]
id_val = param.GetId()
name = param.GetFieldValue("short_desc")
long_desc = param.GetFieldValue("long_desc")
result += "#\n"
result += "# %s\n" % param.GetName()
result += "if param compare SYS_AUTOSTART %s\n" % id_val
result += "then\n"
result += "\tsh /etc/init.d/%s\n" % path
result += "fi\n"
#if long_desc is not None:
# result += "# %s\n" % long_desc
result += "\n"
result += "\n"
self.output = result;
def Save(self, filename):
with codecs.open(filename, 'w', 'utf-8') as f:
f.write(self.output)

346
Tools/px4airframes/srcparser.py Normal file
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@ -0,0 +1,346 @@
import sys
import re
class ParameterGroup(object):
"""
Single parameter group
"""
def __init__(self, name):
self.name = name
self.params = []
def AddParameter(self, param):
"""
Add parameter to the group
"""
self.params.append(param)
def GetName(self):
"""
Get parameter group name
"""
return self.name
def GetParams(self):
"""
Returns the parsed list of parameters. Every parameter is a Parameter
object. Note that returned object is not a copy. Modifications affect
state of the parser.
"""
return sorted(self.params,
key=lambda x: x.GetFieldValue("code"))
class Parameter(object):
"""
Single parameter
"""
# Define sorting order of the fields
priority = {
"board": 9,
"short_desc": 8,
"long_desc": 7,
"min": 5,
"max": 4,
"unit": 3,
# all others == 0 (sorted alphabetically)
}
def __init__(self, path, name, airframe_type, airframe_id, maintainer):
self.fields = {}
self.outputs = {}
self.path = path
self.name = name
self.type = airframe_type
self.id = airframe_id
self.maintainer = maintainer
def GetPath(self):
return self.path
def GetName(self):
return self.name
def GetType(self):
return self.type
def GetId(self):
return self.id
def GetMaintainer(self):
return self.maintainer
def SetField(self, code, value):
"""
Set named field value
"""
self.fields[code] = value
def SetOutput(self, code, value):
"""
Set named output value
"""
self.outputs[code] = value
def GetFieldCodes(self):
"""
Return list of existing field codes in convenient order
"""
keys = self.fields.keys()
keys = sorted(keys)
keys = sorted(keys, key=lambda x: self.priority.get(x, 0), reverse=True)
return keys
def GetFieldValue(self, code):
"""
Return value of the given field code or None if not found.
"""
fv = self.fields.get(code)
if not fv:
# required because python 3 sorted does not accept None
return ""
return self.fields.get(code)
def GetOutputCodes(self):
"""
Return list of existing output codes in convenient order
"""
keys = self.outputs.keys()
keys = sorted(keys)
keys = sorted(keys, key=lambda x: self.priority.get(x, 0), reverse=True)
return keys
def GetOutputValue(self, code):
"""
Return value of the given output code or None if not found.
"""
fv = self.outputs.get(code)
if not fv:
# required because python 3 sorted does not accept None
return ""
return self.outputs.get(code)
class SourceParser(object):
"""
Parses provided data and stores all found parameters internally.
"""
re_split_lines = re.compile(r'[\r\n]+')
re_comment_start = re.compile(r'^\#\s')
re_comment_content = re.compile(r'^\#\s*(.*)')
re_comment_tag = re.compile(r'@([a-zA-Z][a-zA-Z0-9_]*)\s*(.*)')
re_comment_end = re.compile(r'(.*?)\s*\#\n/')
re_cut_type_specifier = re.compile(r'[a-z]+$')
re_is_a_number = re.compile(r'^-?[0-9\.]')
re_remove_dots = re.compile(r'\.+$')
re_remove_carriage_return = re.compile('\n+')
valid_tags = set(["url", "maintainer", "output", "name", "type"])
# Order of parameter groups
priority = {
# All other groups = 0 (sort alphabetically)
"Miscellaneous": -10
}
def __init__(self):
self.param_groups = {}
def GetSupportedExtensions(self):
"""
Returns list of supported file extensions that can be parsed by this
parser. The parser uses any extension.
"""
return [""]
def Parse(self, path, contents):
"""
Incrementally parse program contents and append all found airframes
to the list.
"""
airframe_id = None
airframe_id = path.rsplit('/',1)[1].split('_',1)[0]
# Skip if not numeric
if (not self.IsNumber(airframe_id)):
return True
# This code is essentially a comment-parsing grammar. "state"
# represents parser state. It contains human-readable state
# names.
state = None
tags = {}
outputs = {}
for line in self.re_split_lines.split(contents):
line = line.strip()
# Ignore empty lines
if line == "":
continue
if state is None and self.re_comment_start.match(line):
state = "wait-short"
short_desc = None
long_desc = None
if state is not None and state != "comment-processed":
m = self.re_comment_end.search(line)
if m:
line = m.group(1)
last_comment_line = True
else:
last_comment_line = False
m = self.re_comment_content.match(line)
if m:
comment_content = m.group(1)
if comment_content == "":
# When short comment ends with empty comment line,
# start waiting for the next part - long comment.
if state == "wait-short-end":
state = "wait-long"
else:
m = self.re_comment_tag.match(comment_content)
if m:
tag, desc = m.group(1, 2)
if (tag == "output"):
key, text = desc.split(' ', 1)
outputs[key] = text;
else:
tags[tag] = desc
current_tag = tag
state = "wait-tag-end"
elif state == "wait-short":
# Store first line of the short description
short_desc = comment_content
state = "wait-short-end"
elif state == "wait-short-end":
# Append comment line to the short description
short_desc += "\n" + comment_content
elif state == "wait-long":
# Store first line of the long description
long_desc = comment_content
state = "wait-long-end"
elif state == "wait-long-end":
# Append comment line to the long description
long_desc += "\n" + comment_content
elif state == "wait-tag-end":
# Append comment line to the tag text
tags[current_tag] += "\n" + comment_content
else:
raise AssertionError(
"Invalid parser state: %s" % state)
elif not last_comment_line:
# Invalid comment line (inside comment, but not starting with
# "*" or "*/". Reset parsed content.
state = None
if last_comment_line:
state = "comment-processed"
else:
state = None
# Process parsed content
airframe_type = None
maintainer = "John Doe <john@example.com>"
airframe_name = None
# Done with file, store
for tag in tags:
if tag == "maintainer":
maintainer = tags[tag]
elif tag == "type":
airframe_type = tags[tag]
elif tag == "name":
airframe_name = tags[tag]
elif tag not in self.valid_tags:
sys.stderr.write("Aborting due to invalid documentation tag: '%s'\n" % tag)
return False
# Sanity check
if airframe_type == None:
sys.stderr.write("Aborting due to missing @type tag in file: '%s'\n" % path)
return False
if airframe_name == None:
sys.stderr.write("Aborting due to missing @name tag in file: '%s'\n" % path)
return False
# We already know this is an airframe config, so add it
param = Parameter(path, airframe_name, airframe_type, airframe_id, maintainer)
# Done with file, store
for tag in tags:
if tag == "maintainer":
maintainer = tags[tag]
if tag == "type":
airframe_type = tags[tag]
if tag == "name":
airframe_name = tags[tag]
else:
param.SetField(tag, tags[tag])
# Store outputs
for output in outputs:
param.SetOutput(output, outputs[output])
# Store the parameter
if airframe_type not in self.param_groups:
self.param_groups[airframe_type] = ParameterGroup(airframe_type)
self.param_groups[airframe_type].AddParameter(param)
return True
def IsNumber(self, numberString):
try:
float(numberString)
return True
except ValueError:
return False
def Validate(self):
"""
Validates the airframe meta data.
"""
seenParamNames = []
for group in self.GetParamGroups():
for param in group.GetParams():
name = param.GetName()
board = param.GetFieldValue("board")
# Check for duplicates
name_plus_board = name + "+" + board
for seenParamName in seenParamNames:
if seenParamName == name_plus_board:
sys.stderr.write("Duplicate parameter definition: {0}\n".format(name_plus_board))
return False
seenParamNames.append(name_plus_board)
# Validate values
default = param.GetDefault()
min = param.GetFieldValue("min")
max = param.GetFieldValue("max")
#sys.stderr.write("{0} default:{1} min:{2} max:{3}\n".format(name, default, min, max))
if default != "" and not self.IsNumber(default):
sys.stderr.write("Default value not number: {0} {1}\n".format(name, default))
return False
if min != "":
if not self.IsNumber(min):
sys.stderr.write("Min value not number: {0} {1}\n".format(name, min))
return False
if default != "" and float(default) < float(min):
sys.stderr.write("Default value is smaller than min: {0} default:{1} min:{2}\n".format(name, default, min))
return False
if max != "":
if not self.IsNumber(max):
sys.stderr.write("Max value not number: {0} {1}\n".format(name, max))
return False
if default != "" and float(default) > float(max):
sys.stderr.write("Default value is larger than max: {0} default:{1} max:{2}\n".format(name, default, max))
return False
return True
def GetParamGroups(self):
"""
Returns the parsed list of parameters. Every parameter is a Parameter
object. Note that returned object is not a copy. Modifications affect
state of the parser.
"""
groups = self.param_groups.values()
groups = sorted(groups, key=lambda x: x.GetName())
groups = sorted(groups, key=lambda x: self.priority.get(x.GetName(), 0), reverse=True)
return groups

37
Tools/px4airframes/srcscanner.py Normal file
View File

@ -0,0 +1,37 @@
import os
import re
import codecs
class SourceScanner(object):
"""
Traverses directory tree, reads all source files, and passes their contents
to the Parser.
"""
def ScanDir(self, srcdir, parser):
"""
Scans provided path and passes all found contents to the parser using
parser.Parse method.
"""
extensions = tuple(parser.GetSupportedExtensions())
for dirname, dirnames, filenames in os.walk(srcdir):
for filename in filenames:
if filename.endswith(extensions):
path = os.path.join(dirname, filename)
if not self.ScanFile(path, parser):
return False
return True
def ScanFile(self, path, parser):
"""
Scans provided file and passes its contents to the parser using
parser.Parse method.
"""
with codecs.open(path, 'r', 'utf-8') as f:
try:
contents = f.read()
except:
contents = ''
print('Failed reading file: %s, skipping content.' % path)
pass
return parser.Parse(path, contents)

84
Tools/px4airframes/xmlout.py Normal file
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@ -0,0 +1,84 @@
import xml.etree.ElementTree as ET
import codecs
def indent(elem, level=0):
i = "\n" + level*" "
if len(elem):
if not elem.text or not elem.text.strip():
elem.text = i + " "
if not elem.tail or not elem.tail.strip():
elem.tail = i
for elem in elem:
indent(elem, level+1)
if not elem.tail or not elem.tail.strip():
elem.tail = i
else:
if level and (not elem.tail or not elem.tail.strip()):
elem.tail = i
class XMLOutput():
def __init__(self, groups, board):
xml_parameters = ET.Element("airframes")
xml_version = ET.SubElement(xml_parameters, "version")
xml_version.text = "1"
last_param_name = ""
board_specific_param_set = False
for group in groups:
xml_group = ET.SubElement(xml_parameters, "airframe_group")
xml_group.attrib["name"] = group.GetName()
if (group.GetName() == "Standard Plane"):
xml_group.attrib["image"] = "AirframeStandardPlane.png"
elif (group.GetName() == "Flying Wing"):
xml_group.attrib["image"] = "AirframeFlyingWing.png"
elif (group.GetName() == "Quadrotor x"):
xml_group.attrib["image"] = "AirframeQuadRotorX.png"
elif (group.GetName() == "Quadrotor +"):
xml_group.attrib["image"] = "AirframeQuadRotorPlus.png"
elif (group.GetName() == "Hexarotor x"):
xml_group.attrib["image"] = "AirframeHexaRotorX.png"
elif (group.GetName() == "Hexarotor +"):
xml_group.attrib["image"] = "AirframeHexaRotorPlus.png"
elif (group.GetName() == "Octorotor +"):
xml_group.attrib["image"] = "AirframeOctoRotorPlus.png"
elif (group.GetName() == "Octorotor x"):
xml_group.attrib["image"] = "AirframeOctoRotorX.png"
elif (group.GetName() == "Quadrotor Wide"):
xml_group.attrib["image"] = "AirframeQuadRotorH.png"
elif (group.GetName() == "Quadrotor H"):
xml_group.attrib["image"] = "AirframeQuadRotorH.png"
elif (group.GetName() == "Simulation"):
xml_group.attrib["image"] = "AirframeSimulation.png"
else:
xml_group.attrib["image"] = ""
for param in group.GetParams():
if (last_param_name == param.GetName() and not board_specific_param_set) or last_param_name != param.GetName():
xml_param = ET.SubElement(xml_group, "airframe")
xml_param.attrib["name"] = param.GetName()
xml_param.attrib["id"] = param.GetId()
xml_param.attrib["maintainer"] = param.GetMaintainer()
last_param_name = param.GetName()
for code in param.GetFieldCodes():
value = param.GetFieldValue(code)
if code == "board":
if value == board:
board_specific_param_set = True
xml_field = ET.SubElement(xml_param, code)
xml_field.text = value
else:
xml_group.remove(xml_param)
else:
xml_field = ET.SubElement(xml_param, code)
xml_field.text = value
for code in param.GetOutputCodes():
value = param.GetOutputValue(code)
xml_field = ET.SubElement(xml_param, "output")
xml_field.attrib["name"] = code
xml_field.text = value
if last_param_name != param.GetName():
board_specific_param_set = False
indent(xml_parameters)
self.xml_document = ET.ElementTree(xml_parameters)
def Save(self, filename):
self.xml_document.write(filename, encoding="UTF-8")

110
Tools/px_process_airframes.py Executable file
View File

@ -0,0 +1,110 @@
#!/usr/bin/env python
############################################################################
#
# Copyright (C) 2013-2015 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.
#
############################################################################
#
# PX4 airframe config processor (main executable file)
#
# This tool scans the PX4 source code for declarations of airframes
#
# Currently supported formats are:
# * XML for the parametric UI generator
#
#
from __future__ import print_function
import sys
import os
import argparse
from px4airframes import srcscanner, srcparser, xmlout, rcout
def main():
# Parse command line arguments
parser = argparse.ArgumentParser(description="Process airframe documentation.")
parser.add_argument("-a", "--airframes-path",
default="../ROMFS/px4fmu_common",
metavar="PATH",
help="path to source files to scan for parameters")
parser.add_argument("-x", "--xml",
nargs='?',
const="airframes.xml",
metavar="FILENAME",
help="Create XML file"
" (default FILENAME: airframes.xml)")
parser.add_argument("-s", "--start-script",
nargs='?',
const="rc.autostart",
metavar="FILENAME",
help="Create start script file")
parser.add_argument("-b", "--board",
nargs='?',
const="",
metavar="BOARD",
help="Board to create airframes xml for")
args = parser.parse_args()
# Check for valid command
if not (args.xml) and not (args.start_script):
print("Error: You need to specify at least one output method!\n")
parser.print_usage()
sys.exit(1)
# Initialize source scanner and parser
scanner = srcscanner.SourceScanner()
parser = srcparser.SourceParser()
# Scan directories, and parse the files
print("Scanning source path " + args.airframes_path)
if not scanner.ScanDir(args.airframes_path, parser):
sys.exit(1)
# We can't validate yet
# if not parser.Validate():
# sys.exit(1)
param_groups = parser.GetParamGroups()
# Output to XML file
if args.xml:
print("Creating XML file " + args.xml)
out = xmlout.XMLOutput(param_groups, args.board)
out.Save(args.xml)
if args.start_script:
print("Creating start script " + args.start_script)
out = rcout.RCOutput(param_groups, args.board)
out.Save(args.start_script)
print("All done!")
if __name__ == "__main__":
main()

6
makefiles/nuttx/nuttx_px4.mk
View File

@ -35,8 +35,8 @@
PRODUCT_BUNDLE = $(WORK_DIR)firmware.px4
PRODUCT_BIN = $(WORK_DIR)firmware.bin
PRODUCT_ELF = $(WORK_DIR)firmware.elf
PRODUCT_PARAMXML = $(WORK_DIR)/parameters.xml
PRODUCT_AIRFRAMEXML = $(WORK_DIR)/airframes.xml
PRODUCT_PARAMXML = $(WORK_DIR)/parameters.xml
PRODUCT_AIRFRAMEXML = $(WORK_DIR)/airframes.xml
.PHONY: firmware
firmware: $(PRODUCT_BUNDLE)
@ -49,7 +49,7 @@ $(PRODUCT_BUNDLE): $(PRODUCT_BIN)
@$(ECHO) %% Generating $@
ifdef GEN_PARAM_XML
$(Q) $(PYTHON) $(PX4_BASE)/Tools/px_process_params.py --src-path $(PX4_BASE)/src --board CONFIG_ARCH_BOARD_$(CONFIG_BOARD) --xml
$(Q) $(COPY) $(PX4_BASE)/Tools/airframes.xml $(WORK_DIR)/airframes.xml
$(Q) $(PYTHON) $(PX4_BASE)/Tools/px_process_airframes.py -a $(PX4_BASE)/ROMFS/px4fmu_common/init.d --board CONFIG_ARCH_BOARD_$(CONFIG_BOARD) --xml
$(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(BOARD).prototype \
--git_identity $(PX4_BASE) \
--parameter_xml $(PRODUCT_PARAMXML) \

7
makefiles/nuttx/nuttx_romfs.mk
View File

@ -68,6 +68,9 @@ ROMFS_OBJ = $(ROMFS_CSRC:.c=.o)
LIBS += $(ROMFS_OBJ)
LINK_DEPS += $(ROMFS_OBJ)
# Add autostart script
ROMFS_AUTOSTART = $(PX4_BASE)/Tools/px_process_airframes.py
# Remove all comments from startup and mixer files
ROMFS_PRUNER = $(PX4_BASE)/Tools/px_romfs_pruner.py
@ -90,6 +93,10 @@ ifneq ($(ROMFS_EXTRA_FILES),)
$(Q) $(MKDIR) -p $(ROMFS_SCRATCH)/extras
$(Q) $(COPY) $(ROMFS_EXTRA_FILES) $(ROMFS_SCRATCH)/extras
endif
$(Q) $(PYTHON) -u $(ROMFS_AUTOSTART) -a $(ROMFS_ROOT)/init.d -s $(ROMFS_SCRATCH)/init.d/rc.autostart
# Execute in standard dir as well
# so developers notice the generated file
$(Q) $(PYTHON) -u $(ROMFS_AUTOSTART) -a $(ROMFS_ROOT)/init.d -s $(ROMFS_ROOT)/init.d/rc.autostart
$(Q) $(PYTHON) -u $(ROMFS_PRUNER) --folder $(ROMFS_SCRATCH)
EXTRA_CLEANS += $(ROMGS_OBJ) $(ROMFS_IMG)

1
msg/actuator_armed.msg
View File

@ -1,6 +1,7 @@
uint64 timestamp # Microseconds since system boot
bool armed # Set to true if system is armed
bool prearmed # Set to true if the actuator safety is disabled but motors are not armed
bool ready_to_arm # Set to true if system is ready to be armed
bool lockdown # Set to true if actuators are forced to being disabled (due to emergency or HIL)
bool force_failsafe # Set to true if the actuators are forced to the failsafe position

1
posix-configs/SITL/init/rc.fixed_wing
View File

@ -43,3 +43,4 @@ mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
mavlink stream -r 50 -s ATTITUDE -u 14556
mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556
mavlink boot_complete

1
posix-configs/SITL/init/rcS
View File

@ -52,3 +52,4 @@ mavlink stream -r 80 -s ATTITUDE -u 14556
mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
mavlink stream -r 20 -s RC_CHANNELS -u 14556
mavlink stream -r 250 -s HIGHRES_IMU -u 14556
mavlink boot_complete

2
posix-configs/SITL/init/rc_iris_ros
View File

@ -66,4 +66,4 @@ mavlink stream -r 80 -s ATTITUDE -u 14556
mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
mavlink stream -r 20 -s RC_CHANNELS -u 14556
mavlink stream -r 250 -s HIGHRES_IMU -u 14556
mavlink boot_complete

4
src/drivers/px4fmu/fmu.cpp
View File

@ -165,7 +165,7 @@ private:
unsigned _num_failsafe_set;
unsigned _num_disarmed_set;
static bool arm_nothrottle() { return (_armed.ready_to_arm && !_armed.armed); }
static bool arm_nothrottle() { return (_armed.prearmed && !_armed.armed); }
static void task_main_trampoline(int argc, char *argv[]);
void task_main();
@ -733,7 +733,7 @@ PX4FMU::task_main()
orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed);
/* update the armed status and check that we're not locked down */
bool set_armed = (_armed.armed || _armed.ready_to_arm) && !_armed.lockdown;
bool set_armed = (_armed.armed || _armed.prearmed) && !_armed.lockdown;
if (_servo_armed != set_armed) {
_servo_armed = set_armed;

41
src/lib/external_lgpl/tecs/tecs.cpp
View File

@ -27,7 +27,8 @@ using namespace math;
*
*/
void TECS::update_50hz(float baro_altitude, float airspeed, const math::Matrix<3,3> &rotMat, const math::Vector<3> &accel_body, const math::Vector<3> &accel_earth)
void TECS::update_state(float baro_altitude, float airspeed, const math::Matrix<3,3> &rotMat,
const math::Vector<3> &accel_body, const math::Vector<3> &accel_earth, bool altitude_lock, bool in_air)
{
// Implement third order complementary filter for height and height rate
// estimted height rate = _integ2_state
@ -45,12 +46,24 @@ void TECS::update_50hz(float baro_altitude, float airspeed, const math::Matrix<3
// DT, baro_altitude, airspeed, rotMat(0, 0), rotMat(1, 1), accel_body(0), accel_body(1), accel_body(2),
// accel_earth(0), accel_earth(1), accel_earth(2));
if (DT > 1.0f) {
bool reset_altitude = false;
_in_air = in_air;
if (_update_50hz_last_usec == 0 || DT > DT_MAX) {
DT = 0.02f; // when first starting TECS, use a
// small time constant
reset_altitude = true;
}
if (!altitude_lock || !in_air) {
reset_altitude = true;
}
if (reset_altitude) {
_integ3_state = baro_altitude;
_integ2_state = 0.0f;
_integ1_state = 0.0f;
DT = 0.02f; // when first starting TECS, use a
// small time constant
}
_update_50hz_last_usec = now;
@ -70,7 +83,7 @@ void TECS::update_50hz(float baro_altitude, float airspeed, const math::Matrix<3
// If more than 1 second has elapsed since last update then reset the integrator state
// to the measured height
if (DT > 1.0f) {
if (reset_altitude) {
_integ3_state = baro_altitude;
} else {
@ -95,6 +108,8 @@ void TECS::update_50hz(float baro_altitude, float airspeed, const math::Matrix<3
_vel_dot = 0.0f;
}
_states_initalized = true;
}
void TECS::_update_speed(float airspeed_demand, float indicated_airspeed,
@ -103,7 +118,6 @@ void TECS::_update_speed(float airspeed_demand, float indicated_airspeed,
// Calculate time in seconds since last update
uint64_t now = ecl_absolute_time();
float DT = max((now - _update_speed_last_usec), 0ULL) * 1.0e-6f;
_update_speed_last_usec = now;
// Convert equivalent airspeeds to true airspeeds
@ -113,7 +127,7 @@ void TECS::_update_speed(float airspeed_demand, float indicated_airspeed,
_TASmin = indicated_airspeed_min * EAS2TAS;
// Reset states of time since last update is too large
if (DT > 1.0f) {
if (_update_speed_last_usec == 0 || DT > 1.0f || !_in_air) {
_integ5_state = (_EAS * EAS2TAS);
_integ4_state = 0.0f;
DT = 0.1f; // when first starting TECS, use a
@ -146,7 +160,7 @@ void TECS::_update_speed(float airspeed_demand, float indicated_airspeed,
_integ5_state = _integ5_state + integ5_input * DT;
// limit the airspeed to a minimum of 3 m/s
_integ5_state = max(_integ5_state, 3.0f);
_update_speed_last_usec = now;
}
void TECS::_update_speed_demand(void)
@ -471,7 +485,7 @@ void TECS::_update_pitch(void)
void TECS::_initialise_states(float pitch, float throttle_cruise, float baro_altitude, float ptchMinCO_rad)
{
// Initialise states and variables if DT > 1 second or in climbout
if (_DT > 1.0f) {
if (_update_pitch_throttle_last_usec == 0 || _DT > 1.0f || !_in_air) {
_integ6_state = 0.0f;
_integ7_state = 0.0f;
_last_throttle_dem = throttle_cruise;
@ -484,7 +498,7 @@ void TECS::_initialise_states(float pitch, float throttle_cruise, float baro_alt
_TAS_dem_adj = _TAS_dem;
_underspeed = false;
_badDescent = false;
_DT = 0.1f; // when first starting TECS, use a
_DT = DT_MIN; // when first starting TECS, use a
// small time constant
} else if (_climbOutDem) {
@ -512,10 +526,13 @@ void TECS::update_pitch_throttle(const math::Matrix<3,3> &rotMat, float pitch, f
float throttle_min, float throttle_max, float throttle_cruise,
float pitch_limit_min, float pitch_limit_max)
{
if (!_states_initalized) {
return;
}
// Calculate time in seconds since last update
uint64_t now = ecl_absolute_time();
_DT = max((now - _update_pitch_throttle_last_usec), 0ULL) * 1.0e-6f;
_update_pitch_throttle_last_usec = now;
// printf("tecs in: dt:%10.6f pitch: %6.2f baro_alt: %6.2f alt sp: %6.2f\neas sp: %6.2f eas: %6.2f, eas2tas: %6.2f\n %s pitch min C0: %6.2f thr min: %6.2f, thr max: %6.2f thr cruis: %6.2f pt min: %6.2f, pt max: %6.2f\n",
// _DT, pitch, baro_altitude, hgt_dem, EAS_dem, indicated_airspeed, EAS2TAS, (climbOutDem) ? "climb" : "level", ptchMinCO, throttle_min, throttle_max, throttle_cruise, pitch_limit_min, pitch_limit_max);
@ -583,4 +600,6 @@ void TECS::update_pitch_throttle(const math::Matrix<3,3> &rotMat, float pitch, f
_tecs_state.ptch = _pitch_dem;
_tecs_state.dspd_dem = _TAS_rate_dem;
_update_pitch_throttle_last_usec = now;
}

10
src/lib/external_lgpl/tecs/tecs.h
View File

@ -80,6 +80,8 @@ public:
_SPEdot(0.0f),
_SKEdot(0.0f),
_airspeed_enabled(false),
_states_initalized(false),
_in_air(false),
_throttle_slewrate(0.0f)
{
}
@ -95,7 +97,8 @@ public:
// Update of the estimated height and height rate internal state
// Update of the inertial speed rate internal state
// Should be called at 50Hz or greater
void update_50hz(float baro_altitude, float airspeed, const math::Matrix<3,3> &rotMat, const math::Vector<3> &accel_body, const math::Vector<3> &accel_earth);
void update_state(float baro_altitude, float airspeed, const math::Matrix<3,3> &rotMat,
const math::Vector<3> &accel_body, const math::Vector<3> &accel_earth, bool altitude_lock, bool in_air);
// Update the control loop calculations
void update_pitch_throttle(const math::Matrix<3,3> &rotMat, float pitch, float baro_altitude, float hgt_dem, float EAS_dem, float indicated_airspeed, float EAS2TAS, bool climbOutDem, float ptchMinCO,
@ -376,7 +379,12 @@ private:
// Time since last update of main TECS loop (seconds)
float _DT;
static constexpr float DT_MIN = 0.1f;
static constexpr float DT_MAX = 1.0f;
bool _airspeed_enabled;
bool _states_initalized;
bool _in_air;
float _throttle_slewrate;
float _indicated_airspeed_min;
float _indicated_airspeed_max;

12
src/modules/commander/accelerometer_calibration.cpp
View File

@ -561,6 +561,7 @@ int do_level_calibration(int mavlink_fd) {
const unsigned cal_time = 5;
const unsigned cal_hz = 100;
const unsigned settle_time = 30;
bool success = false;
int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
struct vehicle_attitude_s att;
memset(&att, 0, sizeof(att));
@ -599,7 +600,15 @@ int do_level_calibration(int mavlink_fd) {
start = hrt_absolute_time();
// average attitude for 5 seconds
while(hrt_elapsed_time(&start) < cal_time * 1000000) {
px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
int pollret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
if (pollret <= 0) {
// attitude estimator is not running
mavlink_and_console_log_critical(mavlink_fd, "attitude estimator not running - check system boot");
mavlink_and_console_log_critical(mavlink_fd, CAL_QGC_FAILED_MSG, "level");
goto out;
}
orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
roll_mean += att.roll;
pitch_mean += att.pitch;
@ -608,7 +617,6 @@ 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;

12
src/modules/commander/airspeed_calibration.cpp
View File

@ -75,12 +75,12 @@ int do_airspeed_calibration(int mavlink_fd)
{
int result = OK;
unsigned calibration_counter = 0;
const unsigned maxcount = 3000;
const unsigned maxcount = 2400;
/* give directions */
mavlink_log_info(mavlink_fd, CAL_QGC_STARTED_MSG, sensor_name);
const unsigned calibration_count = 2000;
const unsigned calibration_count = (maxcount * 2) / 3;
int diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure));
struct differential_pressure_s diff_pres;
@ -204,10 +204,10 @@ int do_airspeed_calibration(int mavlink_fd)
/* just take a few samples and make sure pitot tubes are not reversed, timeout after ~30 seconds */
while (calibration_counter < maxcount) {
if (calibrate_cancel_check(mavlink_fd, cancel_sub)) {
goto error_return;
}
if (calibrate_cancel_check(mavlink_fd, cancel_sub)) {
goto error_return;
}
/* wait blocking for new data */
px4_pollfd_struct_t fds[1];
fds[0].fd = diff_pres_sub;

4
src/modules/commander/calibration_routines.cpp
View File

@ -470,8 +470,8 @@ calibrate_return calibrate_from_orientation(int mavlink_fd,
/* inform user about already handled side */
if (side_data_collected[orient]) {
orientation_failures++;
mavlink_and_console_log_info(mavlink_fd, "[cal] %s side completed or not needed", detect_orientation_str(orient));
mavlink_and_console_log_info(mavlink_fd, "[cal] rotate to a pending side");
mavlink_and_console_log_critical(mavlink_fd, "%s side already completed", detect_orientation_str(orient));
mavlink_and_console_log_critical(mavlink_fd, "rotate to a pending side");
continue;
}

13
src/modules/commander/commander.cpp
View File

@ -2151,6 +2151,19 @@ int commander_thread_main(int argc, char *argv[])
orb_publish(ORB_ID(vehicle_status), status_pub, &status);
armed.timestamp = now;
/* set prearmed state if safety is off, or safety is not present and 5 seconds passed */
if (safety.safety_switch_available) {
/* safety is off, go into prearmed */
armed.prearmed = safety.safety_off;
} else {
/* safety is not present, go into prearmed
* (all output drivers should be started / unlocked last in the boot process
* when the rest of the system is fully initialized)
*/
armed.prearmed = (hrt_elapsed_time(&commander_boot_timestamp) > 5 * 1000 * 1000);
}
orb_publish(ORB_ID(actuator_armed), armed_pub, &armed);
}

30
src/modules/commander/mag_calibration.cpp
View File

@ -67,9 +67,11 @@
static const int ERROR = -1;
static const char *sensor_name = "mag";
static const unsigned max_mags = 3;
static constexpr unsigned max_mags = 3;
static constexpr float mag_sphere_radius = 0.2f;
static const unsigned int calibration_sides = 6;
static constexpr unsigned int calibration_sides = 6; ///< The total number of sides
static constexpr unsigned int calibration_total_points = 240; ///< The total points per magnetometer
static constexpr unsigned int calibraton_duration_seconds = 42; ///< The total duration the routine is allowed to take
calibrate_return mag_calibrate_all(int mavlink_fd, int32_t (&device_ids)[max_mags]);
@ -207,6 +209,10 @@ static bool reject_sample(float sx, float sy, float sz, float x[], float y[], fl
return false;
}
static unsigned progress_percentage(mag_worker_data_t* worker_data) {
return 100 * ((float)worker_data->done_count) / calibration_sides;
}
static calibrate_return mag_calibration_worker(detect_orientation_return orientation, int cancel_sub, void* data)
{
calibrate_return result = calibrate_return_ok;
@ -226,7 +232,7 @@ static calibrate_return mag_calibration_worker(detect_orientation_return orienta
* for a good result, so we're not constraining the user more than we have to.
*/
hrt_abstime detection_deadline = hrt_absolute_time() + worker_data->calibration_interval_perside_useconds * 2;
hrt_abstime detection_deadline = hrt_absolute_time() + worker_data->calibration_interval_perside_useconds * 5;
hrt_abstime last_gyro = 0;
float gyro_x_integral = 0.0f;
float gyro_y_integral = 0.0f;
@ -347,8 +353,8 @@ static calibrate_return mag_calibration_worker(detect_orientation_return orienta
// Progress indicator for side
mavlink_and_console_log_info(worker_data->mavlink_fd,
"[cal] %s side calibration: progress <%u>",
detect_orientation_str(orientation),
(unsigned)(100 * ((float)calibration_counter_side / (float)worker_data->calibration_points_perside)));
detect_orientation_str(orientation), progress_percentage(worker_data) +
(unsigned)((100 / calibration_sides) * ((float)calibration_counter_side / (float)worker_data->calibration_points_perside)));
}
} else {
poll_errcount++;
@ -365,7 +371,7 @@ static calibrate_return mag_calibration_worker(detect_orientation_return orienta
mavlink_and_console_log_info(worker_data->mavlink_fd, "[cal] %s side done, rotate to a different side", detect_orientation_str(orientation));
worker_data->done_count++;
mavlink_and_console_log_info(worker_data->mavlink_fd, CAL_QGC_PROGRESS_MSG, 34 * worker_data->done_count);
mavlink_and_console_log_info(worker_data->mavlink_fd, CAL_QGC_PROGRESS_MSG, progress_percentage(worker_data));
}
return result;
@ -379,8 +385,8 @@ calibrate_return mag_calibrate_all(int mavlink_fd, int32_t (&device_ids)[max_mag
worker_data.mavlink_fd = mavlink_fd;
worker_data.done_count = 0;
worker_data.calibration_points_perside = 40;
worker_data.calibration_interval_perside_seconds = 20;
worker_data.calibration_points_perside = calibration_total_points / calibration_sides;
worker_data.calibration_interval_perside_seconds = calibraton_duration_seconds / calibration_sides;
worker_data.calibration_interval_perside_useconds = worker_data.calibration_interval_perside_seconds * 1000 * 1000;
// Collect: Right-side up, Left Side, Nose down
@ -499,6 +505,10 @@ calibrate_return mag_calibrate_all(int mavlink_fd, int32_t (&device_ids)[max_mag
printf("RAW DATA:\n--------------------\n");
for (size_t cur_mag = 0; cur_mag < max_mags; cur_mag++) {
if (worker_data.calibration_counter_total[cur_mag] == 0) {
continue;
}
printf("RAW: MAG %u with %u samples:\n", (unsigned)cur_mag, (unsigned)worker_data.calibration_counter_total[cur_mag]);
for (size_t i = 0; i < worker_data.calibration_counter_total[cur_mag]; i++) {
@ -514,6 +524,10 @@ calibrate_return mag_calibrate_all(int mavlink_fd, int32_t (&device_ids)[max_mag
printf("CALIBRATED DATA:\n--------------------\n");
for (size_t cur_mag = 0; cur_mag < max_mags; cur_mag++) {
if (worker_data.calibration_counter_total[cur_mag] == 0) {
continue;
}
printf("Calibrated: MAG %u with %u samples:\n", (unsigned)cur_mag, (unsigned)worker_data.calibration_counter_total[cur_mag]);
for (size_t i = 0; i < worker_data.calibration_counter_total[cur_mag]; i++) {

12
src/modules/fw_att_control/fw_att_control_params.c
View File

@ -84,11 +84,11 @@ PARAM_DEFINE_FLOAT(FW_PR_P, 0.08f);
* This gain defines how much control response will result out of a steady
* state error. It trims any constant error.
*
* @min 0.0
* @max 50.0
* @min 0.005
* @max 0.5
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_PR_I, 0.005f);
PARAM_DEFINE_FLOAT(FW_PR_I, 0.01f);
/**
* Maximum positive / up pitch rate.
@ -157,11 +157,11 @@ PARAM_DEFINE_FLOAT(FW_RR_P, 0.05f);
* This gain defines how much control response will result out of a steady
* state error. It trims any constant error.
*
* @min 0.0
* @max 100.0
* @min 0.005
* @max 0.2
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_RR_I, 0.005f);
PARAM_DEFINE_FLOAT(FW_RR_I, 0.01f);
/**
* Roll Integrator Anti-Windup

20
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
View File

@ -1037,7 +1037,7 @@ bool
FixedwingPositionControl::control_position(const math::Vector<2> &current_position, const math::Vector<3> &ground_speed,
const struct position_setpoint_triplet_s &pos_sp_triplet)
{
float dt = FLT_MIN; // Using non zero value to a avoid division by zero
float dt = 0.01; // Using non zero value to a avoid division by zero
if (_control_position_last_called > 0) {
dt = (float)hrt_elapsed_time(&_control_position_last_called) * 1e-6f;
}
@ -1045,19 +1045,27 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
bool setpoint = true;
math::Vector<2> ground_speed_2d = {ground_speed(0), ground_speed(1)};
calculate_gndspeed_undershoot(current_position, ground_speed_2d, pos_sp_triplet);
float eas2tas = 1.0f; // XXX calculate actual number based on current measurements
/* filter speed and altitude for controller */
math::Vector<3> accel_body(_sensor_combined.accelerometer_m_s2);
math::Vector<3> accel_earth = _R_nb * accel_body;
if (!_mTecs.getEnabled() && !_vehicle_status.condition_landed) {
_tecs.update_50hz(_global_pos.alt /* XXX might switch to alt err here */, _airspeed.indicated_airspeed_m_s, _R_nb, accel_body, accel_earth);
/* tell TECS to update its state, but let it know when it cannot actually control the plane */
bool in_air_alt_control = (!_vehicle_status.condition_landed &&
(_control_mode.flag_control_auto_enabled ||
_control_mode.flag_control_velocity_enabled ||
_control_mode.flag_control_altitude_enabled));
/* update TECS filters */
if (!_mTecs.getEnabled()) {
_tecs.update_state(_global_pos.alt, _airspeed.indicated_airspeed_m_s, _R_nb,
accel_body, accel_earth, (_global_pos.timestamp > 0), in_air_alt_control);
}
math::Vector<2> ground_speed_2d = {ground_speed(0), ground_speed(1)};
calculate_gndspeed_undershoot(current_position, ground_speed_2d, pos_sp_triplet);
/* define altitude error */
float altitude_error = _pos_sp_triplet.current.alt - _global_pos.alt;

15
src/modules/land_detector/FixedwingLandDetector.cpp
View File

@ -49,7 +49,11 @@ FixedwingLandDetector::FixedwingLandDetector() : LandDetector(),
_vehicleLocalPositionSub(-1),
_vehicleLocalPosition({}),
_airspeedSub(-1),
_airspeed({}),
_vehicleStatusSub(-1),
_armingSub(-1),
_airspeed{},
_vehicleStatus{},
_arming{},
_parameterSub(-1),
_velocity_xy_filtered(0.0f),
_velocity_z_filtered(0.0f),
@ -66,6 +70,8 @@ void FixedwingLandDetector::initialize()
// Subscribe to local position and airspeed data
_vehicleLocalPositionSub = orb_subscribe(ORB_ID(vehicle_local_position));
_airspeedSub = orb_subscribe(ORB_ID(airspeed));
_vehicleStatusSub = orb_subscribe(ORB_ID(vehicle_status));
_armingSub = orb_subscribe(ORB_ID(actuator_armed));
updateParameterCache(true);
}
@ -74,6 +80,8 @@ void FixedwingLandDetector::updateSubscriptions()
{
orb_update(ORB_ID(vehicle_local_position), _vehicleLocalPositionSub, &_vehicleLocalPosition);
orb_update(ORB_ID(airspeed), _airspeedSub, &_airspeed);
orb_update(ORB_ID(vehicle_status), _vehicleStatusSub, &_vehicleStatus);
orb_update(ORB_ID(actuator_armed), _armingSub, &_arming);
}
bool FixedwingLandDetector::update()
@ -81,6 +89,11 @@ bool FixedwingLandDetector::update()
// First poll for new data from our subscriptions
updateSubscriptions();
// only trigger flight conditions if we are armed
if (!_arming.armed) {
return true;
}
const uint64_t now = hrt_absolute_time();
bool landDetected = false;

16
src/modules/land_detector/FixedwingLandDetector.h
View File

@ -44,7 +44,9 @@
#include "LandDetector.h"
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_status.h>
#include <systemlib/param/param.h>
class FixedwingLandDetector : public LandDetector
@ -90,11 +92,15 @@ private:
} _params;
private:
int _vehicleLocalPositionSub; /**< notification of local position */
struct vehicle_local_position_s _vehicleLocalPosition; /**< the result from local position subscription */
int _airspeedSub;
struct airspeed_s _airspeed;
int _parameterSub;
int _vehicleLocalPositionSub; /**< notification of local position */
struct vehicle_local_position_s _vehicleLocalPosition; /**< the result from local position subscription */
int _airspeedSub;
int _vehicleStatusSub;
int _armingSub;
struct airspeed_s _airspeed;
struct vehicle_status_s _vehicleStatus;
struct actuator_armed_s _arming;
int _parameterSub;
float _velocity_xy_filtered;
float _velocity_z_filtered;

5
src/modules/land_detector/LandDetector.cpp
View File

@ -46,8 +46,9 @@
LandDetector::LandDetector() :
_landDetectedPub(0),
_landDetected({0, false}),
_taskShouldExit(false),
_taskIsRunning(false)
_arming_time(0),
_taskShouldExit(false),
_taskIsRunning(false)
{
// ctor
}

6
src/modules/land_detector/LandDetector.h
View File

@ -96,10 +96,12 @@ protected:
static constexpr uint64_t LAND_DETECTOR_TRIGGER_TIME = 2000000; /**< usec that landing conditions have to hold
before triggering a land */
static constexpr uint64_t LAND_DETECTOR_ARM_PHASE_TIME = 1000000; /**< time interval in which wider acceptance thresholds are used after arming */
protected:
uintptr_t _landDetectedPub; /**< publisher for position in local frame */
struct vehicle_land_detected_s _landDetected; /**< local vehicle position */
uintptr_t _landDetectedPub; /**< publisher for position in local frame */
struct vehicle_land_detected_s _landDetected; /**< local vehicle position */
uint64_t _arming_time; /**< timestamp of arming time */
private:
bool _taskShouldExit; /**< true if it is requested that this task should exit */

37
src/modules/land_detector/MulticopterLandDetector.cpp
View File

@ -53,12 +53,12 @@ MulticopterLandDetector::MulticopterLandDetector() : LandDetector(),
_actuatorsSub(-1),
_armingSub(-1),
_parameterSub(-1),
_attitudeSub(-1),
_vehicleGlobalPosition({}),
_vehicleStatus({}),
_actuators({}),
_arming({}),
_vehicleAttitude({}),
_attitudeSub(-1),
_vehicleGlobalPosition{},
_vehicleStatus{},
_actuators{},
_arming{},
_vehicleAttitude{},
_landTimer(0)
{
_paramHandle.maxRotation = param_find("LNDMC_ROT_MAX");
@ -97,7 +97,10 @@ bool MulticopterLandDetector::update()
// only trigger flight conditions if we are armed
if (!_arming.armed) {
_arming_time = 0;
return true;
} else if (_arming_time == 0) {
_arming_time = hrt_absolute_time();
}
// return status based on armed state if no position lock is available
@ -110,8 +113,18 @@ bool MulticopterLandDetector::update()
const uint64_t now = hrt_absolute_time();
// check if we are moving vertically
bool verticalMovement = fabsf(_vehicleGlobalPosition.vel_d) > _params.maxClimbRate;
float armThresholdFactor = 1.0f;
// Widen acceptance thresholds for landed state right after arming
// so that motor spool-up and other effects do not trigger false negatives
if (hrt_elapsed_time(&_arming_time) < LAND_DETECTOR_ARM_PHASE_TIME) {
armThresholdFactor = 2.5f;
}
// check if we are moving vertically - this might see a spike after arming due to
// throttle-up vibration. If accelerating fast the throttle thresholds will still give
// an accurate in-air indication
bool verticalMovement = fabsf(_vehicleGlobalPosition.vel_d) > _params.maxClimbRate * armThresholdFactor;
// check if we are moving horizontally
bool horizontalMovement = sqrtf(_vehicleGlobalPosition.vel_n * _vehicleGlobalPosition.vel_n
@ -119,9 +132,11 @@ bool MulticopterLandDetector::update()
&& _vehicleStatus.condition_global_position_valid;
// next look if all rotation angles are not moving
bool rotating = fabsf(_vehicleAttitude.rollspeed) > _params.maxRotation ||
fabsf(_vehicleAttitude.pitchspeed) > _params.maxRotation ||
fabsf(_vehicleAttitude.yawspeed) > _params.maxRotation;
float maxRotationScaled = _params.maxRotation * armThresholdFactor;
bool rotating = (fabsf(_vehicleAttitude.rollspeed) > maxRotationScaled) ||
(fabsf(_vehicleAttitude.pitchspeed) > maxRotationScaled) ||
(fabsf(_vehicleAttitude.yawspeed) > maxRotationScaled);
// check if thrust output is minimal (about half of default)
bool minimalThrust = _actuators.control[3] <= _params.maxThrottle;

14
src/modules/land_detector/MulticopterLandDetector.h
View File

@ -97,20 +97,20 @@ private:
} _params;
private:
int _vehicleGlobalPositionSub; /**< notification of global position */
int _vehicleGlobalPositionSub; /**< notification of global position */
int _vehicleStatusSub;
int _actuatorsSub;
int _armingSub;
int _parameterSub;
int _attitudeSub;
struct vehicle_global_position_s _vehicleGlobalPosition; /**< the result from global position subscription */
struct vehicle_status_s _vehicleStatus;
struct actuator_controls_s _actuators;
struct actuator_armed_s _arming;
struct vehicle_attitude_s _vehicleAttitude;
struct vehicle_global_position_s _vehicleGlobalPosition; /**< the result from global position subscription */
struct vehicle_status_s _vehicleStatus;
struct actuator_controls_s _actuators;
struct actuator_armed_s _arming;
struct vehicle_attitude_s _vehicleAttitude;
uint64_t _landTimer; /**< timestamp in microseconds since a possible land was detected*/
uint64_t _landTimer; /**< timestamp in microseconds since a possible land was detected*/
};
#endif //__MULTICOPTER_LAND_DETECTOR_H__

2
src/modules/land_detector/land_detector_params.c
View File

@ -49,7 +49,7 @@
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDMC_Z_VEL_MAX, 0.60f);
PARAM_DEFINE_FLOAT(LNDMC_Z_VEL_MAX, 0.70f);
/**
* Multicopter max horizontal velocity

14
src/modules/mavlink/mavlink_main.cpp
View File

@ -120,6 +120,8 @@ extern mavlink_system_t mavlink_system;
static void usage(void);
bool Mavlink::_boot_complete = false;
Mavlink::Mavlink() :
#ifndef __PX4_NUTTX
VDev("mavlink-log", MAVLINK_LOG_DEVICE),
@ -1639,15 +1641,15 @@ Mavlink::task_main(int argc, char *argv[])
case MAVLINK_MODE_NORMAL:
configure_stream("SYS_STATUS", 1.0f);
configure_stream("GPS_GLOBAL_ORIGIN", 0.5f);
configure_stream("HIGHRES_IMU", 1.0f);
configure_stream("ATTITUDE", 10.0f);
configure_stream("HIGHRES_IMU", 2.0f);
configure_stream("ATTITUDE", 20.0f);
configure_stream("VFR_HUD", 8.0f);
configure_stream("GPS_RAW_INT", 1.0f);
configure_stream("GLOBAL_POSITION_INT", 3.0f);
configure_stream("LOCAL_POSITION_NED", 3.0f);
configure_stream("RC_CHANNELS", 1.0f);
configure_stream("RC_CHANNELS", 4.0f);
configure_stream("POSITION_TARGET_GLOBAL_INT", 3.0f);
configure_stream("ATTITUDE_TARGET", 3.0f);
configure_stream("ATTITUDE_TARGET", 8.0f);
configure_stream("DISTANCE_SENSOR", 0.5f);
configure_stream("OPTICAL_FLOW_RAD", 5.0f);
break;
@ -2163,6 +2165,10 @@ int mavlink_main(int argc, char *argv[])
} else if (!strcmp(argv[1], "stream")) {
return Mavlink::stream_command(argc, argv);
} else if (!strcmp(argv[1], "boot_complete")) {
Mavlink::set_boot_complete();
return 0;
} else {
usage();
return 1;

11
src/modules/mavlink/mavlink_main.h
View File

@ -163,6 +163,14 @@ public:
bool get_forwarding_on() { return _forwarding_on; }
/**
* Set the boot complete flag on all instances
*
* Setting the flag unblocks parameter transmissions, which are gated
* beforehand to ensure that the system is fully initialized.
*/
static void set_boot_complete() { _boot_complete = true; }
/**
* Get the free space in the transmit buffer
*
@ -325,6 +333,8 @@ public:
int get_socket_fd () { return _socket_fd; };
static bool boot_complete() { return _boot_complete; }
protected:
Mavlink *next;
@ -333,6 +343,7 @@ private:
int _mavlink_fd;
bool _task_running;
static bool _boot_complete;
/* states */
bool _hil_enabled; /**< Hardware In the Loop mode */

2
src/modules/mavlink/mavlink_parameters.cpp
View File

@ -193,7 +193,7 @@ void
MavlinkParametersManager::send(const hrt_abstime t)
{
/* send all parameters if requested, but only after the system has booted */
if (_send_all_index >= 0 && t > 4 * 1000 * 1000) {
if (_send_all_index >= 0 && _mavlink->boot_complete()) {
/* skip if no space is available */
if (_mavlink->get_free_tx_buf() < get_size()) {

68
src/modules/mavlink/mavlink_receiver.cpp
View File

@ -35,9 +35,9 @@
* @file mavlink_receiver.cpp
* MAVLink protocol message receive and dispatch
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
* @author Thomas Gubler <thomasgubler@gmail.com>
* @author Lorenz Meier <lorenz@px4.io>
* @author Anton Babushkin <anton@px4.io>
* @author Thomas Gubler <thomas@px4.io>
*/
/* XXX trim includes */
@ -136,7 +136,9 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_rates_sp{},
_time_offset_avg_alpha(0.6),
_time_offset(0),
_orb_class_instance(-1)
_orb_class_instance(-1),
_mom_switch_pos{},
_mom_switch_state(0)
{
}
@ -970,15 +972,45 @@ MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg)
}
}
static switch_pos_t decode_switch_pos(uint16_t buttons, int sw) {
switch_pos_t
MavlinkReceiver::decode_switch_pos(uint16_t buttons, unsigned sw)
{
// XXX non-standard 3 pos switch decoding
return (buttons >> (sw * 2)) & 3;
}
static int decode_switch_pos_n(uint16_t buttons, int sw) {
if (buttons & (1 << sw)) {
return 1;
int
MavlinkReceiver::decode_switch_pos_n(uint16_t buttons, unsigned sw)
{
bool on = (buttons & (1 << sw));
if (sw < MOM_SWITCH_COUNT) {
bool last_on = (_mom_switch_state & (1 << sw));
/* first switch is 2-pos, rest is 2 pos */
unsigned state_count = (sw == 0) ? 3 : 2;
/* only transition on low state */
if (!on && (on != last_on)) {
_mom_switch_pos[sw]++;
if (_mom_switch_pos[sw] == state_count) {
_mom_switch_pos[sw] = 0;
}
}
/* state_count - 1 is the number of intervals and 1000 is the range,
* with 2 states 0 becomes 0, 1 becomes 1000. With
* 3 states 0 becomes 0, 1 becomes 500, 2 becomes 1000,
* and so on for more states.
*/
return (_mom_switch_pos[sw] * 1000) / (state_count - 1) + 1000;
} else {
return 0;
/* return the current state */
return on * 1000 + 1000;
}
}
@ -1075,12 +1107,18 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
rc.values[3] = 1000;
}
rc.values[4] = decode_switch_pos_n(man.buttons, 0) * 1000 + 1000;
rc.values[5] = decode_switch_pos_n(man.buttons, 1) * 1000 + 1000;
rc.values[6] = decode_switch_pos_n(man.buttons, 2) * 1000 + 1000;
rc.values[7] = decode_switch_pos_n(man.buttons, 3) * 1000 + 1000;
rc.values[8] = decode_switch_pos_n(man.buttons, 4) * 1000 + 1000;
rc.values[9] = decode_switch_pos_n(man.buttons, 5) * 1000 + 1000;
/* decode all switches which fit into the channel mask */
unsigned max_switch = (sizeof(man.buttons) * 8);
unsigned max_channels = (sizeof(rc.values) / sizeof(rc.values[0]));
if (max_switch > (max_channels - 4)) {
max_switch = (max_channels - 4);
}
/* fill all channels */
for (unsigned i = 0; i < max_switch; i++) {
rc.values[i + 4] = decode_switch_pos_n(man.buttons, i);
}
_mom_switch_state = man.buttons;
if (_rc_pub == nullptr) {
_rc_pub = orb_advertise(ORB_ID(input_rc), &rc);

32
src/modules/mavlink/mavlink_receiver.h
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
* 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
@ -35,8 +35,8 @@
* @file mavlink_orb_listener.h
* MAVLink 1.0 uORB listener definition
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
* @author Lorenz Meier <lorenz@px4.io>
* @author Anton Babushkin <anton@px4.io>
*/
#pragma once
@ -141,15 +141,26 @@ private:
void *receive_thread(void *arg);
/**
* Convert remote timestamp to local hrt time (usec)
* Use timesync if available, monotonic boot time otherwise
*/
* Convert remote timestamp to local hrt time (usec)
* Use timesync if available, monotonic boot time otherwise
*/
uint64_t sync_stamp(uint64_t usec);
/**
* Exponential moving average filter to smooth time offset
*/
* Exponential moving average filter to smooth time offset
*/
void smooth_time_offset(uint64_t offset_ns);
/**
* Decode a switch position from a bitfield
*/
switch_pos_t decode_switch_pos(uint16_t buttons, unsigned sw);
/**
* Decode a switch position from a bitfield and state
*/
int decode_switch_pos_n(uint16_t buttons, unsigned sw);
mavlink_status_t status;
struct vehicle_local_position_s hil_local_pos;
struct vehicle_land_detected_s hil_land_detector;
@ -195,6 +206,11 @@ private:
uint64_t _time_offset;
int _orb_class_instance;
static constexpr unsigned MOM_SWITCH_COUNT = 8;
uint8_t _mom_switch_pos[MOM_SWITCH_COUNT];
uint16_t _mom_switch_state;
/* do not allow copying this class */
MavlinkReceiver(const MavlinkReceiver &);
MavlinkReceiver operator=(const MavlinkReceiver &);

34
src/modules/mc_pos_control/mc_pos_control_main.cpp
View File

@ -83,6 +83,9 @@
#include <mavlink/mavlink_log.h>
#include <platforms/px4_defines.h>
#include <controllib/blocks.hpp>
#include <controllib/block/BlockParam.hpp>
#define TILT_COS_MAX 0.7f
#define SIGMA 0.000001f
#define MIN_DIST 0.01f
@ -95,7 +98,7 @@
*/
extern "C" __EXPORT int mc_pos_control_main(int argc, char *argv[]);
class MulticopterPositionControl
class MulticopterPositionControl : public control::SuperBlock
{
public:
/**
@ -122,15 +125,15 @@ private:
int _control_task; /**< task handle for task */
int _mavlink_fd; /**< mavlink fd */
int _vehicle_status_sub; /**< vehicle status subscription */
int _att_sub; /**< vehicle attitude subscription */
int _vehicle_status_sub; /**< vehicle status subscription */
int _att_sub; /**< vehicle attitude subscription */
int _att_sp_sub; /**< vehicle attitude setpoint */
int _control_mode_sub; /**< vehicle control mode subscription */
int _params_sub; /**< notification of parameter updates */
int _manual_sub; /**< notification of manual control updates */
int _arming_sub; /**< arming status of outputs */
int _local_pos_sub; /**< vehicle local position */
int _pos_sp_triplet_sub; /**< position setpoint triplet */
int _pos_sp_triplet_sub; /**< position setpoint triplet */
int _local_pos_sp_sub; /**< offboard local position setpoint */
int _global_vel_sp_sub; /**< offboard global velocity setpoint */
@ -138,17 +141,19 @@ private:
orb_advert_t _local_pos_sp_pub; /**< vehicle local position setpoint publication */
orb_advert_t _global_vel_sp_pub; /**< vehicle global velocity setpoint publication */
struct vehicle_status_s _vehicle_status; /**< vehicle status */
struct vehicle_status_s _vehicle_status; /**< vehicle status */
struct vehicle_attitude_s _att; /**< vehicle attitude */
struct vehicle_attitude_setpoint_s _att_sp; /**< vehicle attitude setpoint */
struct manual_control_setpoint_s _manual; /**< r/c channel data */
struct vehicle_control_mode_s _control_mode; /**< vehicle control mode */
struct vehicle_control_mode_s _control_mode; /**< vehicle control mode */
struct actuator_armed_s _arming; /**< actuator arming status */
struct vehicle_local_position_s _local_pos; /**< vehicle local position */
struct position_setpoint_triplet_s _pos_sp_triplet; /**< vehicle global position setpoint triplet */
struct vehicle_local_position_setpoint_s _local_pos_sp; /**< vehicle local position setpoint */
struct vehicle_global_velocity_setpoint_s _global_vel_sp; /**< vehicle global velocity setpoint */
struct vehicle_global_velocity_setpoint_s _global_vel_sp; /**< vehicle global velocity setpoint */
control::BlockParamFloat _manual_thr_min;
control::BlockParamFloat _manual_thr_max;
struct {
param_t thr_min;
@ -213,7 +218,7 @@ private:
/**
* Update our local parameter cache.
*/
int parameters_update(bool force);
int parameters_update(bool force);
/**
* Update control outputs
@ -293,7 +298,7 @@ MulticopterPositionControl *g_control;
}
MulticopterPositionControl::MulticopterPositionControl() :
SuperBlock(NULL, "MPC"),
_task_should_exit(false),
_control_task(-1),
_mavlink_fd(-1),
@ -313,7 +318,8 @@ MulticopterPositionControl::MulticopterPositionControl() :
_att_sp_pub(nullptr),
_local_pos_sp_pub(nullptr),
_global_vel_sp_pub(nullptr),
_manual_thr_min(this, "MANTHR_MIN"),
_manual_thr_max(this, "MANTHR_MAX"),
_ref_alt(0.0f),
_ref_timestamp(0),
@ -413,6 +419,10 @@ MulticopterPositionControl::parameters_update(bool force)
}
if (updated || force) {
/* update C++ param system */
updateParams();
/* update legacy C interface params */
param_get(_params_handles.thr_min, &_params.thr_min);
param_get(_params_handles.thr_max, &_params.thr_max);
param_get(_params_handles.tilt_max_air, &_params.tilt_max_air);
@ -1416,11 +1426,11 @@ MulticopterPositionControl::task_main()
/* control throttle directly if no climb rate controller is active */
if (!_control_mode.flag_control_climb_rate_enabled) {
_att_sp.thrust = math::min(_manual.z, _params.thr_max);
_att_sp.thrust = math::min(_manual.z, _manual_thr_max.get());
/* enforce minimum throttle if not landed */
if (!_vehicle_status.condition_landed) {
_att_sp.thrust = math::max(_att_sp.thrust, _params.thr_min);
_att_sp.thrust = math::max(_att_sp.thrust, _manual_thr_min.get());
}
}

33
src/modules/mc_pos_control/mc_pos_control_params.c
View File

@ -41,7 +41,32 @@
#include <systemlib/param/param.h>
/**
* Minimum thrust
* Minimum thrust in auto thrust control
*
* It's recommended to set it > 0 to avoid free fall with zero thrust.
*
* @min 0.05
* @max 1.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.12f);
/**
* Maximum thrust in auto thrust control
*
* Limit max allowed thrust. Setting a value of one can put
* the system into actuator saturation as no spread between
* the motors is possible any more. A value of 0.8 - 0.9
* is recommended.
*
* @min 0.0
* @max 0.95
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_THR_MAX, 0.9f);
/**
* Minimum manual thrust
*
* Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust.
*
@ -49,10 +74,10 @@
* @max 1.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.12f);
PARAM_DEFINE_FLOAT(MPC_MANTHR_MIN, 0.12f);
/**
* Maximum thrust
* Maximum manual thrust
*
* Limit max allowed thrust. Setting a value of one can put
* the system into actuator saturation as no spread between
@ -63,7 +88,7 @@ PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.12f);
* @max 1.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_THR_MAX, 0.9f);
PARAM_DEFINE_FLOAT(MPC_MANTHR_MAX, 0.9f);
/**
* Proportional gain for vertical position error

2
src/modules/sdlog2/sdlog2.c
View File

@ -157,7 +157,7 @@ PARAM_DEFINE_INT32(SDLOG_EXT, -1);
* @max 1
* @group SD Logging
*/
PARAM_DEFINE_INT32(SDLOG_GPSTIME, 0);
PARAM_DEFINE_INT32(SDLOG_GPSTIME, 1);
#define LOGBUFFER_WRITE_AND_COUNT(_msg) if (logbuffer_write(&lb, &log_msg, LOG_PACKET_SIZE(_msg))) { \
log_msgs_written++; \

10
src/modules/sensors/sensor_params.c
View File

@ -680,7 +680,7 @@ PARAM_DEFINE_INT32(SENS_FLOW_ROT, 0);
* This parameter defines a rotational offset in degrees around the Y (Pitch) axis. It allows the user
* to fine tune the board offset in the event of misalignment.
*
* @unit radians
* @unit degrees
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_BOARD_Y_OFF, 0.0f);
@ -691,7 +691,7 @@ PARAM_DEFINE_FLOAT(SENS_BOARD_Y_OFF, 0.0f);
* This parameter defines a rotational offset in degrees around the X (Roll) axis It allows the user
* to fine tune the board offset in the event of misalignment.
*
* @unit radians
* @unit degrees
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_BOARD_X_OFF, 0.0f);
@ -702,7 +702,7 @@ PARAM_DEFINE_FLOAT(SENS_BOARD_X_OFF, 0.0f);
* This parameter defines a rotational offset in degrees around the Z (Yaw) axis. It allows the user
* to fine tune the board offset in the event of misalignment.
*
* @unit radians
* @unit degrees
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_BOARD_Z_OFF, 0.0f);
@ -2273,7 +2273,7 @@ PARAM_DEFINE_INT32(SENS_EN_LL40LS, 0);
* REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE
* THE SYSTEM TO PUT CHANGES INTO EFFECT.
*
* Set to 1000 for default or 900 to increase servo travel
* Set to 1000 for industry default or 900 to increase servo travel.
*
* @min 800
* @max 1400
@ -2289,7 +2289,7 @@ PARAM_DEFINE_INT32(PWM_MIN, 1000);
* REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE
* THE SYSTEM TO PUT CHANGES INTO EFFECT.
*
* Set to 2000 for default or 2100 to increase servo travel
* Set to 2000 for industry default or 2100 to increase servo travel.
*
* @min 1600
* @max 2200