fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-03 06:10:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge remote-tracking branch 'upstream/master' into PR_RCLossDur2

Browse Source
This commit is contained in:
philipoe
2014-11-20 17:26:27 +01:00
parent 5c34f03c4e 97a1410ec9
commit ec165b3f7e
142 changed files with 2249 additions and 763 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Debug/NuttX
+30 -8
View File
@@ -78,7 +78,7 @@ end
################################################################################
define showfiles
set $task = (struct _TCB *)$arg0
set $task = (struct tcb_s *)$arg0
set $nfiles = sizeof((*(struct filelist*)0).fl_files) / sizeof(struct file)
printf "%d files\n", $nfiles
set $index = 0
@@ -102,7 +102,7 @@ end
################################################################################
define _showtask_oneline
set $task = (struct _TCB *)$arg0
set $task = (struct tcb_s *)$arg0
printf " %p %.2d %.3d %s\n", $task, $task->pid, $task->sched_priority, $task->name
end
@@ -139,7 +139,7 @@ end
# Print task registers for a NuttX v7em target with FPU enabled.
#
define _showtaskregs_v7em
set $task = (struct _TCB *)$arg0
set $task = (struct tcb_s *)$arg0
set $regs = (uint32_t *)&($task->xcp.regs[0])
printf " r0: 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x\n", $regs[27], $regs[28], $regs[29], $regs[30], $regs[2], $regs[3], $regs[4], $regs[5]
@@ -162,7 +162,7 @@ end
define _showsemaphore
printf "count %d ", $arg0->semcount
if $arg0->holder.htcb != 0
set $_task = (struct _TCB *)$arg0->holder.htcb
set $_task = (struct tcb_s *)$arg0->holder.htcb
printf "held by %s", $_task->name
end
printf "\n"
@@ -172,7 +172,7 @@ end
# Print information about a task's stack usage
#
define showtaskstack
set $task = (struct _TCB *)$arg0
set $task = (struct tcb_s *)$arg0
if $task == &g_idletcb
printf "can't measure idle stack\n"
@@ -189,7 +189,7 @@ end
# Print details of a task
#
define showtask
set $task = (struct _TCB *)$arg0
set $task = (struct tcb_s *)$arg0
printf "%p %.2d ", $task, $task->pid
_showtaskstate $task
@@ -204,7 +204,7 @@ define showtask
if $task->task_state != TSTATE_TASK_RUNNING
_showtaskregs_v7em $task
else
_showcurrentregs_v7em
_showtaskregs_v7em $task
end
# XXX print registers here
@@ -247,8 +247,10 @@ define showtasks
_showtasklist &g_pendingtasks
printf "RUNNABLE\n"
_showtasklist &g_readytorun
printf "WAITING\n"
printf "WAITING for Semaphore\n"
_showtasklist &g_waitingforsemaphore
printf "WAITING for Signal\n"
_showtasklist &g_waitingforsignal
printf "INACTIVE\n"
_showtasklist &g_inactivetasks
end
@@ -257,3 +259,23 @@ document showtasks
. showtasks
. Print a list of all tasks in the system, separated into their respective queues.
end
define my_mem
set $start = $arg0
set $end = $arg1
set $cursor = $start
if $start < $end
while $cursor != $end
set *$cursor = 0x0000
set $cursor = $cursor + 4
printf "0x%x of 0x%x\n",$cursor,$end
end
else
while $cursor != $end
set *$cursor = 0x0000
set $cursor = $cursor - 4
end
end
end
Debug/Nuttx.py
+386 -47
View File
@@ -59,30 +59,42 @@ class NX_register_set(object):
def __init__(self, xcpt_regs):
if xcpt_regs is None:
self.regs['R0'] = long(gdb.parse_and_eval('$r0'))
self.regs['R1'] = long(gdb.parse_and_eval('$r1'))
self.regs['R2'] = long(gdb.parse_and_eval('$r2'))
self.regs['R3'] = long(gdb.parse_and_eval('$r3'))
self.regs['R4'] = long(gdb.parse_and_eval('$r4'))
self.regs['R5'] = long(gdb.parse_and_eval('$r5'))
self.regs['R6'] = long(gdb.parse_and_eval('$r6'))
self.regs['R7'] = long(gdb.parse_and_eval('$r7'))
self.regs['R8'] = long(gdb.parse_and_eval('$r8'))
self.regs['R9'] = long(gdb.parse_and_eval('$r9'))
self.regs['R10'] = long(gdb.parse_and_eval('$r10'))
self.regs['R11'] = long(gdb.parse_and_eval('$r11'))
self.regs['R12'] = long(gdb.parse_and_eval('$r12'))
self.regs['R13'] = long(gdb.parse_and_eval('$r13'))
self.regs['SP'] = long(gdb.parse_and_eval('$sp'))
self.regs['R14'] = long(gdb.parse_and_eval('$r14'))
self.regs['LR'] = long(gdb.parse_and_eval('$lr'))
self.regs['R15'] = long(gdb.parse_and_eval('$r15'))
self.regs['PC'] = long(gdb.parse_and_eval('$pc'))
self.regs['XPSR'] = long(gdb.parse_and_eval('$xpsr'))
self.regs['R0'] = self.mon_reg_call('r0')
self.regs['R1'] = self.mon_reg_call('r1')
self.regs['R2'] = self.mon_reg_call('r2')
self.regs['R3'] = self.mon_reg_call('r3')
self.regs['R4'] = self.mon_reg_call('r4')
self.regs['R5'] = self.mon_reg_call('r5')
self.regs['R6'] = self.mon_reg_call('r6')
self.regs['R7'] = self.mon_reg_call('r7')
self.regs['R8'] = self.mon_reg_call('r8')
self.regs['R9'] = self.mon_reg_call('r9')
self.regs['R10'] = self.mon_reg_call('r10')
self.regs['R11'] = self.mon_reg_call('r11')
self.regs['R12'] = self.mon_reg_call('r12')
self.regs['R13'] = self.mon_reg_call('r13')
self.regs['SP'] = self.mon_reg_call('sp')
self.regs['R14'] = self.mon_reg_call('r14')
self.regs['LR'] = self.mon_reg_call('lr')
self.regs['R15'] = self.mon_reg_call('r15')
self.regs['PC'] = self.mon_reg_call('pc')
self.regs['XPSR'] = self.mon_reg_call('xPSR')
else:
for key in self.v7em_regmap.keys():
self.regs[key] = int(xcpt_regs[self.v7em_regmap[key]])
def mon_reg_call(self,register):
"""
register is the register as a string e.g. 'pc'
return integer containing the value of the register
"""
str_to_eval = "mon reg "+register
resp = gdb.execute(str_to_eval,to_string = True)
content = resp.split()[-1];
try:
return int(content,16)
except:
return 0
@classmethod
def with_xcpt_regs(cls, xcpt_regs):
@@ -172,7 +184,7 @@ class NX_task(object):
self.__dict__['stack_used'] = 0
else:
stack_limit = self._tcb['adj_stack_size']
for offset in range(0, stack_limit):
for offset in range(0, int(stack_limit)):
if stack_base[offset] != 0xff:
break
self.__dict__['stack_used'] = stack_limit - offset
@@ -187,7 +199,7 @@ class NX_task(object):
def state(self):
"""return the name of the task's current state"""
statenames = gdb.types.make_enum_dict(gdb.lookup_type('enum tstate_e'))
for name,value in statenames.iteritems():
for name,value in statenames.items():
if value == self._tcb['task_state']:
return name
return 'UNKNOWN'
@@ -196,16 +208,19 @@ class NX_task(object):
def waiting_for(self):
"""return a description of what the task is waiting for, if it is waiting"""
if self._state_is('TSTATE_WAIT_SEM'):
waitsem = self._tcb['waitsem'].dereference()
waitsem_holder = waitsem['holder']
holder = NX_task.for_tcb(waitsem_holder['htcb'])
if holder is not None:
return '{}({})'.format(waitsem.address, holder.name)
else:
return '{}(<bad holder>)'.format(waitsem.address)
try:
waitsem = self._tcb['waitsem'].dereference()
waitsem_holder = waitsem['holder']
holder = NX_task.for_tcb(waitsem_holder['htcb'])
if holder is not None:
return '{}({})'.format(waitsem.address, holder.name)
else:
return '{}(<bad holder>)'.format(waitsem.address)
except:
return 'EXCEPTION'
if self._state_is('TSTATE_WAIT_SIG'):
return 'signal'
return None
return ""
@property
def is_waiting(self):
@@ -229,7 +244,7 @@ class NX_task(object):
filearray = filelist['fl_files']
result = dict()
for i in range(filearray.type.range()[0],filearray.type.range()[1]):
inode = long(filearray[i]['f_inode'])
inode = int(filearray[i]['f_inode'])
if inode != 0:
result[i] = inode
return result
@@ -253,7 +268,18 @@ class NX_task(object):
def __str__(self):
return "{}:{}".format(self.pid, self.name)
def showoff(self):
print("-------")
print(self.pid,end = ", ")
print(self.name,end = ", ")
print(self.state,end = ", ")
print(self.waiting_for,end = ", ")
print(self.stack_used,end = ", ")
print(self._tcb['adj_stack_size'],end = ", ")
print(self.file_descriptors)
print(self.registers)
def __format__(self, format_spec):
return format_spec.format(
pid = self.pid,
@@ -265,7 +291,7 @@ class NX_task(object):
file_descriptors = self.file_descriptors,
registers = self.registers
)
class NX_show_task (gdb.Command):
"""(NuttX) prints information about a task"""
@@ -285,7 +311,7 @@ class NX_show_task (gdb.Command):
my_fmt += ' R8 {registers[R8]:#010x} {registers[R9]:#010x} {registers[R10]:#010x} {registers[R11]:#010x}\n'
my_fmt += ' R12 {registers[PC]:#010x}\n'
my_fmt += ' SP {registers[SP]:#010x} LR {registers[LR]:#010x} PC {registers[PC]:#010x} XPSR {registers[XPSR]:#010x}\n'
print format(t, my_fmt)
print(format(t, my_fmt))
class NX_show_tasks (gdb.Command):
"""(NuttX) prints a list of tasks"""
@@ -295,8 +321,10 @@ class NX_show_tasks (gdb.Command):
def invoke(self, args, from_tty):
tasks = NX_task.tasks()
print ('Number of tasks: ' + str(len(tasks)))
for t in tasks:
print format(t, '{pid:<2} {name:<16} {state:<20} {stack_used:>4}/{stack_limit:<4}')
#t.showoff()
print(format(t, 'Task: {pid} {name} {state} {stack_used}/{stack_limit}'))
NX_show_task()
NX_show_tasks()
@@ -306,15 +334,15 @@ class NX_show_heap (gdb.Command):
def __init__(self):
super(NX_show_heap, self).__init__('show heap', gdb.COMMAND_USER)
struct_mm_allocnode_s = gdb.lookup_type('struct mm_allocnode_s')
preceding_size = struct_mm_allocnode_s['preceding'].type.sizeof
if preceding_size == 2:
struct_mm_allocnode_s = gdb.lookup_type('struct mm_allocnode_s')
preceding_size = struct_mm_allocnode_s['preceding'].type.sizeof
if preceding_size == 2:
self._allocflag = 0x8000
elif preceding_size == 4:
elif preceding_size == 4:
self._allocflag = 0x80000000
else:
raise gdb.GdbError('invalid mm_allocnode_s.preceding size %u' % preceding_size)
self._allocnodesize = struct_mm_allocnode_s.sizeof
else:
raise gdb.GdbError('invalid mm_allocnode_s.preceding size %u' % preceding_size)
self._allocnodesize = struct_mm_allocnode_s.sizeof
def _node_allocated(self, allocnode):
if allocnode['preceding'] & self._allocflag:
@@ -328,7 +356,7 @@ class NX_show_heap (gdb.Command):
if region_start >= region_end:
raise gdb.GdbError('heap region {} corrupt'.format(hex(region_start)))
nodecount = region_end - region_start
print 'heap {} - {}'.format(region_start, region_end)
print ('heap {} - {}'.format(region_start, region_end))
cursor = 1
while cursor < nodecount:
allocnode = region_start[cursor]
@@ -336,8 +364,8 @@ class NX_show_heap (gdb.Command):
state = ''
else:
state = '(free)'
print ' {} {} {}'.format(allocnode.address + self._allocnodesize,
self._node_size(allocnode), state)
print( ' {} {} {}'.format(allocnode.address + self._allocnodesize,
self._node_size(allocnode), state))
cursor += self._node_size(allocnode) / self._allocnodesize
def invoke(self, args, from_tty):
@@ -345,7 +373,7 @@ class NX_show_heap (gdb.Command):
nregions = heap['mm_nregions']
region_starts = heap['mm_heapstart']
region_ends = heap['mm_heapend']
print '{} heap(s)'.format(nregions)
print( '{} heap(s)'.format(nregions))
# walk the heaps
for i in range(0, nregions):
self._print_allocations(region_starts[i], region_ends[i])
@@ -370,6 +398,317 @@ class NX_show_interrupted_thread (gdb.Command):
my_fmt += ' R8 {registers[R8]:#010x} {registers[R9]:#010x} {registers[R10]:#010x} {registers[R11]:#010x}\n'
my_fmt += ' R12 {registers[PC]:#010x}\n'
my_fmt += ' SP {registers[SP]:#010x} LR {registers[LR]:#010x} PC {registers[PC]:#010x} XPSR {registers[XPSR]:#010x}\n'
print format(registers, my_fmt)
print (format(registers, my_fmt))
NX_show_interrupted_thread()
class NX_check_tcb(gdb.Command):
""" check the tcb of a task from a address """
def __init__(self):
super(NX_check_tcb,self).__init__('show tcb', gdb.COMMAND_USER)
def invoke(self,args,sth):
tasks = NX_task.tasks()
print("tcb int: ",int(args))
print(tasks[int(args)]._tcb)
a =tasks[int(args)]._tcb['xcp']['regs']
print("relevant registers:")
for reg in regmap:
hex_addr= hex(int(a[regmap[reg]]))
eval_string = 'info line *'+str(hex_addr)
print(reg,": ",hex_addr,)
NX_check_tcb()
class NX_tcb(object):
def __init__(self):
pass
def is_in(self,arg,list):
for i in list:
if arg == i:
return True;
return False
def find_tcb_list(self,dq_entry_t):
tcb_list = []
tcb_ptr = dq_entry_t.cast(gdb.lookup_type('struct tcb_s').pointer())
first_tcb = tcb_ptr.dereference()
tcb_list.append(first_tcb);
next_tcb = first_tcb['flink'].dereference()
while not self.is_in(int(next_tcb['pid']),[int(t['pid']) for t in tcb_list]):
tcb_list.append(next_tcb);
old_tcb = next_tcb;
next_tcb = old_tcb['flink'].dereference()
return [t for t in tcb_list if int(t['pid'])<2000]
def getTCB(self):
list_of_listsnames = ['g_pendingtasks','g_readytorun','g_waitingforsemaphore','g_waitingforsignal','g_inactivetasks']
tcb_list = [];
for l in list_of_listsnames:
li = gdb.lookup_global_symbol(l)
print(li)
cursor = li.value()['head']
tcb_list = tcb_list + self.find_tcb_list(cursor)
class NX_check_stack_order(gdb.Command):
""" Check the Stack order corresponding to the tasks """
def __init__(self):
super(NX_check_stack_order,self).__init__('show check_stack', gdb.COMMAND_USER)
def is_in(self,arg,list):
for i in list:
if arg == i:
return True;
return False
def find_tcb_list(self,dq_entry_t):
tcb_list = []
tcb_ptr = dq_entry_t.cast(gdb.lookup_type('struct tcb_s').pointer())
first_tcb = tcb_ptr.dereference()
tcb_list.append(first_tcb);
next_tcb = first_tcb['flink'].dereference()
while not self.is_in(int(next_tcb['pid']),[int(t['pid']) for t in tcb_list]):
tcb_list.append(next_tcb);
old_tcb = next_tcb;
next_tcb = old_tcb['flink'].dereference()
return [t for t in tcb_list if int(t['pid'])<2000]
def getTCB(self):
list_of_listsnames = ['g_pendingtasks','g_readytorun','g_waitingforsemaphore','g_waitingforsignal','g_inactivetasks']
tcb_list = [];
for l in list_of_listsnames:
li = gdb.lookup_global_symbol(l)
cursor = li.value()['head']
tcb_list = tcb_list + self.find_tcb_list(cursor)
return tcb_list
def getSPfromTask(self,tcb):
regmap = NX_register_set.v7em_regmap
a =tcb['xcp']['regs']
return int(a[regmap['SP']])
def find_closest(self,list,val):
tmp_list = [abs(i-val) for i in list]
tmp_min = min(tmp_list)
idx = tmp_list.index(tmp_min)
return idx,list[idx]
def find_next_stack(self,address,_dict_in):
add_list = []
name_list = []
for key in _dict_in.keys():
for i in range(3):
if _dict_in[key][i] < address:
add_list.append(_dict_in[key][i])
if i == 2: # the last one is the processes stack pointer
name_list.append(self.check_name(key)+"_SP")
else:
name_list.append(self.check_name(key))
idx,new_address = self.find_closest(add_list,address)
return new_address,name_list[idx]
def check_name(self,name):
if isinstance(name,(list)):
name = name[0];
idx = name.find("\\")
newname = name[:idx]
return newname
def invoke(self,args,sth):
tcb = self.getTCB();
stackadresses={};
for t in tcb:
p = [];
#print(t.name,t._tcb['stack_alloc_ptr'])
p.append(int(t['stack_alloc_ptr']))
p.append(int(t['adj_stack_ptr']))
p.append(self.getSPfromTask(t))
stackadresses[str(t['name'])] = p;
address = int("0x30000000",0)
print("stack address : process")
for i in range(len(stackadresses)*3):
address,name = self.find_next_stack(address,stackadresses)
print(hex(address),": ",name)
NX_check_stack_order()
class NX_run_debug_util(gdb.Command):
""" show the registers of a task corresponding to a tcb address"""
def __init__(self):
super(NX_run_debug_util,self).__init__('show regs', gdb.COMMAND_USER)
def printRegisters(self,task):
regmap = NX_register_set.v7em_regmap
a =task._tcb['xcp']['regs']
print("relevant registers in ",task.name,":")
for reg in regmap:
hex_addr= hex(int(a[regmap[reg]]))
eval_string = 'info line *'+str(hex_addr)
print(reg,": ",hex_addr,)
def getPCfromTask(self,task):
regmap = NX_register_set.v7em_regmap
a =task._tcb['xcp']['regs']
return hex(int(a[regmap['PC']]))
def invoke(self,args,sth):
tasks = NX_task.tasks()
if args == '':
for t in tasks:
self.printRegisters(t)
eval_str = "list *"+str(self.getPCfromTask(t))
print("this is the location in code where the current threads $pc is:")
gdb.execute(eval_str)
else:
tcb_nr = int(args);
print("tcb_nr = ",tcb_nr)
t = tasks[tcb_nr]
self.printRegisters(t)
eval_str = "list *"+str(self.getPCfromTask(t))
print("this is the location in code where the current threads $pc is:")
gdb.execute(eval_str)
NX_run_debug_util()
class NX_search_tcb(gdb.Command):
""" shot PID's of all running tasks """
def __init__(self):
super(NX_search_tcb,self).__init__('show alltcb', gdb.COMMAND_USER)
def is_in(self,arg,list):
for i in list:
if arg == i:
return True;
return False
def find_tcb_list(self,dq_entry_t):
tcb_list = []
tcb_ptr = dq_entry_t.cast(gdb.lookup_type('struct tcb_s').pointer())
first_tcb = tcb_ptr.dereference()
tcb_list.append(first_tcb);
next_tcb = first_tcb['flink'].dereference()
while not self.is_in(int(next_tcb['pid']),[int(t['pid']) for t in tcb_list]):
tcb_list.append(next_tcb);
old_tcb = next_tcb;
next_tcb = old_tcb['flink'].dereference()
return [t for t in tcb_list if int(t['pid'])<2000]
def invoke(self,args,sth):
list_of_listsnames = ['g_pendingtasks','g_readytorun','g_waitingforsemaphore','g_waitingforsignal','g_inactivetasks']
tasks = [];
for l in list_of_listsnames:
li = gdb.lookup_global_symbol(l)
cursor = li.value()['head']
tasks = tasks + self.find_tcb_list(cursor)
# filter for tasks that are listed twice
tasks_filt = {}
for t in tasks:
pid = int(t['pid']);
if not pid in tasks_filt.keys():
tasks_filt[pid] = t['name'];
print('{num_t} Tasks found:'.format(num_t = len(tasks_filt)))
for pid in tasks_filt.keys():
print("PID: ",pid," ",tasks_filt[pid])
NX_search_tcb()
class NX_my_bt(gdb.Command):
""" 'fake' backtrace: backtrace the stack of a process and check every suspicious address for the list
arg: tcb_address$
(can easily be found by typing 'showtask').
"""
def __init__(self):
super(NX_my_bt,self).__init__('show mybt', gdb.COMMAND_USER)
def readmem(self,addr):
'''
read memory at addr and return nr
'''
str_to_eval = "x/x "+hex(addr)
resp = gdb.execute(str_to_eval,to_string = True)
idx = resp.find('\t')
return int(resp[idx:],16)
def is_in_bounds(self,val):
lower_bound = int("08004000",16)
upper_bound = int("080ae0c0",16);
#print(lower_bound," ",val," ",upper_bound)
if val>lower_bound and val<upper_bound:
return True;
else:
return False;
def get_tcb_from_address(self,addr):
addr_value = gdb.Value(addr)
tcb_ptr = addr_value.cast(gdb.lookup_type('struct tcb_s').pointer())
return tcb_ptr.dereference()
def print_instruction_at(self,addr,stack_percentage):
gdb.write(str(round(stack_percentage,2))+":")
str_to_eval = "info line *"+hex(addr)
#gdb.execute(str_to_eval)
res = gdb.execute(str_to_eval,to_string = True)
# get information from results string:
words = res.split()
valid = False
if words[0] == 'No':
#no line info...
pass
else:
valid = True
line = int(words[1])
idx = words[3].rfind("/"); #find first backslash
if idx>0:
name = words[3][idx+1:];
path = words[3][:idx];
else:
name = words[3];
path = "";
block = gdb.block_for_pc(addr)
func = block.function
if str(func) == "None":
func = block.superblock.function
if valid:
print("Line: ",line," in ",path,"/",name,"in ",func)
return name,path,line,func
def invoke(self,args,sth):
addr_dec = int(args[2:],16)
_tcb = self.get_tcb_from_address(addr_dec)
print("found task with PID: ",_tcb["pid"])
up_stack = int(_tcb['adj_stack_ptr'])
curr_sp = int(_tcb['xcp']['regs'][0]) #curr stack pointer
other_sp = int(_tcb['xcp']['regs'][8]) # other stack pointer
stacksize = int(_tcb['adj_stack_size']) # other stack pointer
print("tasks current SP = ",hex(curr_sp),"stack max ptr is at ",hex(up_stack))
if curr_sp == up_stack:
sp = other_sp
else:
sp = curr_sp;
while(sp < up_stack):
mem = self.readmem(sp)
#print(hex(sp)," : ",hex(mem))
if self.is_in_bounds(mem):
# this is a potential instruction ptr
stack_percentage = (up_stack-sp)/stacksize
name,path,line,func = self.print_instruction_at(mem,stack_percentage)
sp = sp + 4; # jump up one word
NX_my_bt()
Documentation/versionfilter.sh
Regular → Executable
View File
NuttX
+1 -1
Submodule NuttX updated: 41fffa0df1...9d06b64579
ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil
+2 -6
View File
@@ -1,14 +1,10 @@
#!nsh
#
# HILStar / X-Plane
#
# Lorenz Meier <lm@inf.ethz.ch>
# HILStar
# <lorenz@px4.io>
#
sh /etc/init.d/rc.fw_defaults
echo "X Plane HIL starting.."
set HIL yes
set MIXER FMU_AERT
ROMFS/px4fmu_common/init.d/10015_tbs_discovery
+2 -1
View File
@@ -2,7 +2,7 @@
#
# Team Blacksheep Discovery Quadcopter
#
# Anton Babushkin <anton.babushkin@me.com>, Simon Wilks <sjwilks@gmail.com>, Thomas Gubler <thomasgubler@gmail.com>
# Anton Babushkin <anton@px4.io>, Simon Wilks <simon@px4.io>
#
sh /etc/init.d/rc.mc_defaults
@@ -27,3 +27,4 @@ fi
set MIXER FMU_quad_w
set PWM_OUTPUTS 1234
set PWM_MIN 1200
ROMFS/px4fmu_common/init.d/10016_3dr_iris
+1 -1
View File
@@ -2,7 +2,7 @@
#
# 3DR Iris Quadcopter
#
# Anton Babushkin <anton.babushkin@me.com>
# Anton Babushkin <anton@px4.io>
#
sh /etc/init.d/rc.mc_defaults
ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d
+1 -2
View File
@@ -2,8 +2,7 @@
#
# Steadidrone QU4D
#
# Thomas Gubler <thomasgubler@gmail.com>
# Lorenz Meier <lm@inf.ethz.ch>
# Thomas Gubler <thomas@px4.io>
#
sh /etc/init.d/rc.mc_defaults
ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil
+1 -1
View File
@@ -2,7 +2,7 @@
#
# HIL Quadcopter X
#
# Anton Babushkin <anton.babushkin@me.com>
# Anton Babushkin <anton@px4.io>
#
sh /etc/init.d/rc.mc_defaults
ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil
+1 -1
View File
@@ -2,7 +2,7 @@
#
# HIL Quadcopter +
#
# Anton Babushkin <anton.babushkin@me.com>
# Anton Babushkin <anton@px4.io>
#
sh /etc/init.d/rc.mc_defaults
ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil
+1 -3
View File
@@ -2,13 +2,11 @@
#
# HIL Rascal 110 (Flightgear)
#
# Thomas Gubler <thomasgubler@gmail.com>
# Thomas Gubler <thomas@px4.io>
#
sh /etc/init.d/rc.fw_defaults
echo "HIL Rascal 110 starting.."
set HIL yes
set MIXER FMU_AERT
ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil
+1 -1
View File
@@ -2,7 +2,7 @@
#
# HIL Malolo 1 (Flightgear)
#
# Thomas Gubler <thomasgubler@gmail.com>
# Thomas Gubler <thomas@px4.io>
#
sh /etc/init.d/rc.fw_defaults
ROMFS/px4fmu_common/init.d/11001_hexa_cox
+2 -2
View File
@@ -2,12 +2,12 @@
#
# Generic 10" Hexa coaxial geometry
#
# Lorenz Meier <lm@inf.ethz.ch>
# Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/rc.mc_defaults
set MIXER FMU_hexa_cox
# We only can run one channel group with one rate, so set all 8 channels
# Need to set all 8 channels
set PWM_OUTPUTS 12345678
ROMFS/px4fmu_common/init.d/12001_octo_cox
+1 -1
View File
@@ -2,7 +2,7 @@
#
# Generic 10" Octo coaxial geometry
#
# Lorenz Meier <lm@inf.ethz.ch>
# Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/rc.mc_defaults
ROMFS/px4fmu_common/init.d/3030_io_camflyer
+3
View File
@@ -3,3 +3,6 @@
sh /etc/init.d/rc.fw_defaults
set MIXER FMU_Q
# Provide ESC a constant 1000 us pulse while disarmed
set PWM_OUTPUTS 4
set PWM_DISARMED 1000
ROMFS/px4fmu_common/init.d/3031_phantom
+1 -3
View File
@@ -2,7 +2,7 @@
#
# Phantom FPV Flying Wing
#
# Simon Wilks <sjwilks@gmail.com>, Thomas Gubler <thomasgubler@gmail.com>
# Simon Wilks <simon@px4.io>
#
sh /etc/init.d/rc.fw_defaults
@@ -21,8 +21,6 @@ then
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_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 1
param set FW_RR_FF 0.5
param set FW_RR_I 0.02
ROMFS/px4fmu_common/init.d/3032_skywalker_x5
+1 -5
View File
@@ -2,7 +2,7 @@
#
# Skywalker X5 Flying Wing
#
# Thomas Gubler <thomasgubler@gmail.com>, Julian Oes <joes@student.ethz.ch>
# Thomas Gubler <thomas@px4.io>, Julian Oes <julian@px4.io>
#
sh /etc/init.d/rc.fw_defaults
@@ -19,10 +19,6 @@ then
param set FW_PR_I 0
param set FW_PR_IMAX 0.2
param set FW_PR_P 0.03
param set FW_P_LIM_MAX 45
param set FW_P_LIM_MIN -45
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 1
param set FW_RR_FF 0.3
param set FW_RR_I 0
ROMFS/px4fmu_common/init.d/3033_wingwing
+1 -1
View File
@@ -2,7 +2,7 @@
#
# Wing Wing (aka Z-84) Flying Wing
#
# Simon Wilks <sjwilks@gmail.com>
# Simon Wilks <simon@px4.io>
#
sh /etc/init.d/rc.fw_defaults
ROMFS/px4fmu_common/init.d/3034_fx79
+1 -1
View File
@@ -2,7 +2,7 @@
#
# FX-79 Buffalo Flying Wing
#
# Simon Wilks <sjwilks@gmail.com>
# Simon Wilks <simon@px4.io>
#
sh /etc/init.d/rc.fw_defaults
ROMFS/px4fmu_common/init.d/3035_viper
+1 -1
View File
@@ -2,7 +2,7 @@
#
# Viper
#
# Simon Wilks <sjwilks@gmail.com>
# Simon Wilks <simon@px4.io>
#
sh /etc/init.d/rc.fw_defaults
ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
+2 -6
View File
@@ -1,8 +1,8 @@
#!nsh
#
# TBS Caipirinha Flying Wing
# TBS Caipirinha
#
# Thomas Gubler <thomasgubler@gmail.com>
# Thomas Gubler <thomas@px4.io>
#
sh /etc/init.d/rc.fw_defaults
@@ -22,10 +22,6 @@ then
param set FW_PR_I 0
param set FW_PR_IMAX 0.2
param set FW_PR_P 0.03
param set FW_P_LIM_MAX 45
param set FW_P_LIM_MIN -45
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 0
param set FW_RR_FF 0.3
param set FW_RR_I 0
ROMFS/px4fmu_common/init.d/4001_quad_x
+1 -1
View File
@@ -2,7 +2,7 @@
#
# Generic 10" Quad X geometry
#
# Lorenz Meier <lm@inf.ethz.ch>
# Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/rc.mc_defaults
ROMFS/px4fmu_common/init.d/4008_ardrone
-3
View File
@@ -3,9 +3,6 @@
# ARDrone
#
echo "[init] 4008_ardrone: PX4FMU on PX4IOAR carrier board"
# Just use the default multicopter settings.
sh /etc/init.d/rc.mc_defaults
#
ROMFS/px4fmu_common/init.d/4010_dji_f330
+2 -2
View File
@@ -1,8 +1,8 @@
#!nsh
#
# DJI Flame Wheel F330 Quadcopter
# DJI Flame Wheel F330
#
# Anton Babushkin <anton.babushkin@me.com>
# Anton Babushkin <anton@px4.io>
#
sh /etc/init.d/4001_quad_x
ROMFS/px4fmu_common/init.d/4011_dji_f450
+2 -2
View File
@@ -1,8 +1,8 @@
#!nsh
#
# DJI Flame Wheel F450 Quadcopter
# DJI Flame Wheel F450
#
# Lorenz Meier <lm@inf.ethz.ch>
# Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/4001_quad_x
ROMFS/px4fmu_common/init.d/4012_quad_x_can
+1 -1
View File
@@ -2,7 +2,7 @@
#
# F450-sized quadrotor with CAN
#
# Lorenz Meier <lm@inf.ethz.ch>
# Pavel Kirienko <pavel@px4.io>
#
sh /etc/init.d/4001_quad_x
ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb
+1 -1
View File
@@ -3,7 +3,7 @@
# Hobbyking Micro Integrated PCB Quadcopter
# with SimonK ESC firmware and Mystery A1510 motors
#
# Thomas Gubler <thomasgubler@gmail.com>
# Thomas Gubler <thomas@px4.io>
#
echo "HK Micro PCB Quad"
ROMFS/px4fmu_common/init.d/5001_quad_+
+1 -1
View File
@@ -2,7 +2,7 @@
#
# Generic 10" Quad + geometry
#
# Anton Babushkin <anton.babushkin@me.com>
# Anton Babushkin <anton@px4.io>
#
sh /etc/init.d/rc.mc_defaults
ROMFS/px4fmu_common/init.d/6001_hexa_x
+2 -2
View File
@@ -2,12 +2,12 @@
#
# Generic 10" Hexa X geometry
#
# Anton Babushkin <anton.babushkin@me.com>
# Anton Babushkin <anton@px4.io>
#
sh /etc/init.d/rc.mc_defaults
set MIXER FMU_hexa_x
# We only can run one channel group with one rate, so set all 8 channels
# Need to set all 8 channels
set PWM_OUTPUTS 12345678
ROMFS/px4fmu_common/init.d/7001_hexa_+
+2 -2
View File
@@ -2,12 +2,12 @@
#
# Generic 10" Hexa + geometry
#
# Anton Babushkin <anton.babushkin@me.com>
# Anton Babushkin <anton@px4.io>
#
sh /etc/init.d/rc.mc_defaults
set MIXER FMU_hexa_+
# We only can run one channel group with one rate, so set all 8 channels
# Need to set all 8 channels
set PWM_OUTPUTS 12345678
ROMFS/px4fmu_common/init.d/8001_octo_x
+1 -1
View File
@@ -2,7 +2,7 @@
#
# Generic 10" Octo X geometry
#
# Anton Babushkin <anton.babushkin@me.com>
# Anton Babushkin <anton@px4.io>
#
sh /etc/init.d/rc.mc_defaults
ROMFS/px4fmu_common/init.d/9001_octo_+
+1 -1
View File
@@ -2,7 +2,7 @@
#
# Generic 10" Octo + geometry
#
# Anton Babushkin <anton.babushkin@me.com>
# Anton Babushkin <anton@px4.io>
#
sh /etc/init.d/rc.mc_defaults
ROMFS/px4fmu_common/init.d/rc.autostart
+2 -3
View File
@@ -1,5 +1,4 @@
#
# Check if auto-setup from one of the standard scripts is wanted
# SYS_AUTOSTART = 0 means no autostart (default)
#
# AUTOSTART PARTITION:
@@ -18,7 +17,7 @@
# 12000 .. 12999 Octo Cox
#
# Simulation setups
# Simulation
#
if param compare SYS_AUTOSTART 901
@@ -53,7 +52,7 @@ then
fi
#
# Standard plane
# Plane
#
if param compare SYS_AUTOSTART 2100 100
ROMFS/px4fmu_common/init.d/rc.jig
-10
View File
@@ -1,10 +0,0 @@
#!nsh
#
# Test jig startup script
#
echo "[testing] doing production test.."
tests jig
echo "[testing] testing done"
ROMFS/px4fmu_common/init.d/rc.sensors
+1 -6
View File
@@ -54,7 +54,6 @@ then
fi
fi
# Start airspeed sensors
if meas_airspeed start
then
echo "[init] Using MEAS airspeed sensor"
@@ -68,16 +67,12 @@ else
fi
fi
# Check for flow sensor
if px4flow start
then
fi
#
# Start the sensor collection task.
# IMPORTANT: this also loads param offsets
# ALWAYS start this task before the
# preflight_check.
# Start sensors -> preflight_check
#
if sensors start
then
ROMFS/px4fmu_common/init.d/rcS
+3 -21
View File
@@ -137,9 +137,7 @@ then
#
if param compare SYS_AUTOCONFIG 1
then
# We can't be sure the defaults haven't changed, so
# if someone requests a re-configuration, we do it
# cleanly from scratch (except autostart / autoconfig)
# Wipe out params
param reset_nostart
set DO_AUTOCONFIG yes
else
@@ -202,12 +200,10 @@ then
if px4io checkcrc $IO_FILE
then
echo "[init] PX4IO CRC OK"
echo "PX4IO CRC OK" >> $LOG_FILE
set IO_PRESENT yes
else
echo "[init] Trying to update"
echo "PX4IO Trying to update" >> $LOG_FILE
tone_alarm MLL32CP8MB
@@ -217,18 +213,15 @@ then
usleep 500000
if px4io checkcrc $IO_FILE
then
echo "[init] PX4IO CRC OK, update successful"
echo "PX4IO CRC OK after updating" >> $LOG_FILE
tone_alarm MLL8CDE
set IO_PRESENT yes
else
echo "[init] ERROR: PX4IO update failed"
echo "PX4IO update failed" >> $LOG_FILE
tone_alarm $TUNE_OUT_ERROR
fi
else
echo "[init] ERROR: PX4IO update failed"
echo "PX4IO update failed" >> $LOG_FILE
tone_alarm $TUNE_OUT_ERROR
fi
@@ -281,16 +274,12 @@ then
fi
fi
#
# Start the datamanager (and do not abort boot if it fails)
#
# waypoint storage
if dataman start
then
fi
#
# Start the Commander (needs to be this early for in-air-restarts)
#
# Needs to be this early for in-air-restarts
commander start
#
@@ -424,9 +413,6 @@ then
fi
fi
#
# MAVLink
#
if [ $MAVLINK_FLAGS == default ]
then
# Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s
@@ -454,10 +440,6 @@ then
# Sensors, Logging, GPS
#
sh /etc/init.d/rc.sensors
#
# Start logging in all modes, including HIL
#
sh /etc/init.d/rc.logging
if [ $GPS == yes ]
Tools/px_generate_xml.sh
Regular → Executable
View File
Tools/px_update_wiki.sh
Regular → Executable
View File
Tools/px_uploader.py
+8 -4
View File
@@ -178,9 +178,9 @@ class uploader(object):
MAVLINK_REBOOT_ID1 = bytearray(b'\xfe\x21\x72\xff\x00\x4c\x00\x00\x80\x3f\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf6\x00\x01\x00\x00\x48\xf0')
MAVLINK_REBOOT_ID0 = bytearray(b'\xfe\x21\x45\xff\x00\x4c\x00\x00\x80\x3f\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf6\x00\x00\x00\x00\xd7\xac')
def __init__(self, portname, baudrate, interCharTimeout=0.001, timeout=0.5):
def __init__(self, portname, baudrate):
# open the port, keep the default timeout short so we can poll quickly
self.port = serial.Serial(portname, baudrate)
self.port = serial.Serial(portname, baudrate, timeout=0.5)
self.otp = b''
self.sn = b''
@@ -195,7 +195,7 @@ class uploader(object):
def __recv(self, count=1):
c = self.port.read(count)
if len(c) < 1:
raise RuntimeError("timeout waiting for data (%u bytes)", count)
raise RuntimeError("timeout waiting for data (%u bytes)" % count)
# print("recv " + binascii.hexlify(c))
return c
@@ -458,7 +458,8 @@ if os.path.exists("/usr/sbin/ModemManager"):
# Load the firmware file
fw = firmware(args.firmware)
print("Loaded firmware for %x,%x, waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision')))
print("Loaded firmware for %x,%x, size: %d bytes, waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size')))
print("If the board does not respond within 1-2 seconds, unplug and re-plug the USB connector.")
# Spin waiting for a device to show up
while True:
@@ -508,9 +509,12 @@ while True:
except Exception:
# most probably a timeout talking to the port, no bootloader, try to reboot the board
print("attempting reboot on %s..." % port)
print("if the board does not respond, unplug and re-plug the USB connector.")
up.send_reboot()
# wait for the reboot, without we might run into Serial I/O Error 5
time.sleep(0.5)
# always close the port
up.close()
continue
try:
Tools/sdlog2/sdlog2_dump.py
Regular → Executable
+2 -2
View File
@@ -154,8 +154,8 @@ class SDLog2Parser:
first_data_msg = False
self.__parseMsg(msg_descr)
bytes_read += self.__ptr
if not self.__debug_out and self.__time_msg != None and self.__csv_updated:
self.__printCSVRow()
if not self.__debug_out and self.__time_msg != None and self.__csv_updated:
self.__printCSVRow()
f.close()
def __bytesLeft(self):
Tools/upload.sh
Executable
+28
View File
@@ -0,0 +1,28 @@
#!/bin/bash
EXEDIR=`pwd`
BASEDIR=$(dirname $0)
SYSTYPE=`uname -s`
#
# Serial port defaults.
#
# XXX The uploader should be smarter than this.
#
if [ $SYSTYPE = "Darwin" ];
then
SERIAL_PORTS="/dev/tty.usbmodemPX*,/dev/tty.usbmodem*"
fi
if [ $SYSTYPE = "Linux" ];
then
SERIAL_PORTS="/dev/serial/by-id/usb-3D_Robotics*"
fi
if [ $SYSTYPE = "" ];
then
SERIAL_PORTS="COM32,COM31,COM30,COM29,COM28,COM27,COM26,COM25,COM24,COM23,COM22,COM21,COM20,COM19,COM18,COM17,COM16,COM15,COM14,COM13,COM12,COM11,COM10,COM9,COM8,COM7,COM6,COM5,COM4,COM3,COM2,COM1,COM0"
fi
python $BASEDIR/px_uploader.py --port $SERIAL_PORTS $1
Tools/usb_serialload.py
+55
View File
@@ -0,0 +1,55 @@
import serial, time
port = serial.Serial('/dev/ttyACM0', baudrate=57600, timeout=2)
data = '01234567890123456789012345678901234567890123456789'
#data = 'hellohello'
outLine = 'echo %s\n' % data
port.write('\n\n\n')
port.write('free\n')
line = port.readline(80)
while line != '':
print(line)
line = port.readline(80)
i = 0
bytesOut = 0
bytesIn = 0
startTime = time.time()
lastPrint = startTime
while True:
bytesOut += port.write(outLine)
line = port.readline(80)
bytesIn += len(line)
# check command line echo
if (data not in line):
print('command error %d: %s' % (i,line))
#break
# read echo output
line = port.readline(80)
if (data not in line):
print('echo output error %d: %s' % (i,line))
#break
bytesIn += len(line)
#print('%d: %s' % (i,line))
#print('%d: bytesOut: %d, bytesIn: %d' % (i, bytesOut, bytesIn))
elapsedT = time.time() - lastPrint
if (time.time() - lastPrint >= 5):
outRate = bytesOut / elapsedT
inRate = bytesIn / elapsedT
usbRate = (bytesOut + bytesIn) / elapsedT
lastPrint = time.time()
print('elapsed time: %f' % (time.time() - startTime))
print('data rates (bytes/sec): out: %f, in: %f, total: %f' % (outRate, inRate, usbRate))
bytesOut = 0
bytesIn = 0
i += 1
#if (i > 2): break
makefiles/config_px4fmu-v2_default.mk
+1 -16
View File
@@ -40,14 +40,8 @@ MODULES += drivers/meas_airspeed
MODULES += drivers/frsky_telemetry
MODULES += modules/sensors
MODULES += drivers/mkblctrl
MODULES += drivers/pca8574
MODULES += drivers/px4flow
# Needs to be burned to the ground and re-written; for now,
# just don't build it.
#MODULES += drivers/mkblctrl
#
# System commands
#
@@ -61,7 +55,6 @@ MODULES += systemcmds/pwm
MODULES += systemcmds/esc_calib
MODULES += systemcmds/reboot
MODULES += systemcmds/top
MODULES += systemcmds/tests
MODULES += systemcmds/config
MODULES += systemcmds/nshterm
MODULES += systemcmds/mtd
@@ -81,10 +74,8 @@ MODULES += modules/uavcan
# Estimation modules (EKF/ SO3 / other filters)
#
MODULES += modules/attitude_estimator_ekf
MODULES += modules/attitude_estimator_so3
MODULES += modules/ekf_att_pos_estimator
MODULES += modules/position_estimator_inav
MODULES += examples/flow_position_estimator
#
# Vehicle Control
@@ -100,12 +91,6 @@ MODULES += modules/mc_pos_control
#
MODULES += modules/sdlog2
#
# Unit tests
#
#MODULES += modules/unit_test
#MODULES += modules/commander/commander_tests
#
# Library modules
#
@@ -139,7 +124,7 @@ MODULES += modules/bottle_drop
#MODULES += examples/math_demo
# Tutorial code from
# https://pixhawk.ethz.ch/px4/dev/hello_sky
MODULES += examples/px4_simple_app
#MODULES += examples/px4_simple_app
# Tutorial code from
# https://pixhawk.ethz.ch/px4/dev/daemon
makefiles/config_px4fmu-v2_test.mk
+7
View File
@@ -49,6 +49,13 @@ MODULES += lib/mathlib
MODULES += lib/mathlib/math/filter
MODULES += lib/conversion
#
# Modules to test-build, but not useful for test environment
#
MODULES += modules/attitude_estimator_so3
MODULES += drivers/pca8574
MODULES += examples/flow_position_estimator
#
# Libraries
#
makefiles/toolchain_gnu-arm-eabi.mk
+3 -3
View File
@@ -50,11 +50,11 @@ OBJDUMP = $(CROSSDEV)objdump
# Check if the right version of the toolchain is available
#
CROSSDEV_VER_SUPPORTED = 4.7
CROSSDEV_VER_SUPPORTED = 4.7.4 4.7.5 4.7.6 4.8.4
CROSSDEV_VER_FOUND = $(shell $(CC) -dumpversion)
ifeq (,$(findstring $(CROSSDEV_VER_SUPPORTED),$(CROSSDEV_VER_FOUND)))
$(error Unsupported version of $(CC), found: $(CROSSDEV_VER_FOUND) instead of $(CROSSDEV_VER_SUPPORTED).x)
ifeq (,$(findstring $(CROSSDEV_VER_FOUND), $(CROSSDEV_VER_SUPPORTED)))
$(error Unsupported version of $(CC), found: $(CROSSDEV_VER_FOUND) instead of one in: $(CROSSDEV_VER_SUPPORTED))
endif
mavlink/include/mavlink/v1.0
+1 -1
Submodule mavlink/include/mavlink/v1.0 updated: 8587a007cf...ad5e5a645d
nuttx-configs/px4fmu-v1/nsh/Make.defs
+1 -1
View File
@@ -53,7 +53,7 @@ NM = $(CROSSDEV)nm
OBJCOPY = $(CROSSDEV)objcopy
OBJDUMP = $(CROSSDEV)objdump
MAXOPTIMIZATION = -O3
MAXOPTIMIZATION = -Os
ARCHCPUFLAGS = -mcpu=cortex-m4 \
-mthumb \
-march=armv7e-m \
nuttx-configs/px4fmu-v2/nsh/Make.defs
+1 -1
View File
@@ -53,7 +53,7 @@ NM = $(CROSSDEV)nm
OBJCOPY = $(CROSSDEV)objcopy
OBJDUMP = $(CROSSDEV)objdump
MAXOPTIMIZATION = -O3
MAXOPTIMIZATION = -Os
ARCHCPUFLAGS = -mcpu=cortex-m4 \
-mthumb \
-march=armv7e-m \
nuttx-configs/px4fmu-v2/scripts/ld.script
+2 -1
View File
@@ -50,7 +50,8 @@
MEMORY
{
flash (rx) : ORIGIN = 0x08004000, LENGTH = 2032K
/* disabled due to silicon errata flash (rx) : ORIGIN = 0x08004000, LENGTH = 2032K */
flash (rx) : ORIGIN = 0x08004000, LENGTH = 1008K
sram (rwx) : ORIGIN = 0x20000000, LENGTH = 192K
ccsram (rwx) : ORIGIN = 0x10000000, LENGTH = 64K
}
nuttx-configs/px4io-v1/nsh/Make.defs
+1 -1
View File
@@ -53,7 +53,7 @@ NM = $(CROSSDEV)nm
OBJCOPY = $(CROSSDEV)objcopy
OBJDUMP = $(CROSSDEV)objdump
MAXOPTIMIZATION = -O3
MAXOPTIMIZATION = -Os
ARCHCPUFLAGS = -mcpu=cortex-m3 \
-mthumb \
-march=armv7-m
nuttx-configs/px4io-v2/nsh/Make.defs
+1 -5
View File
@@ -53,15 +53,11 @@ NM = $(CROSSDEV)nm
OBJCOPY = $(CROSSDEV)objcopy
OBJDUMP = $(CROSSDEV)objdump
MAXOPTIMIZATION = -O3
MAXOPTIMIZATION = -Os
ARCHCPUFLAGS = -mcpu=cortex-m3 \
-mthumb \
-march=armv7-m
# enable precise stack overflow tracking
#INSTRUMENTATIONDEFINES = -finstrument-functions \
# -ffixed-r10
# use our linker script
LDSCRIPT = ld.script
src/drivers/airspeed/airspeed.cpp
+1 -1
View File
@@ -147,7 +147,7 @@ Airspeed::init()
_airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &arp);
if (_airspeed_pub < 0)
warnx("failed to create airspeed sensor object. uORB started?");
warnx("uORB started?");
}
ret = OK;
src/drivers/ardrone_interface/ardrone_interface.c
+14 -22
View File
@@ -89,8 +89,8 @@ static void
usage(const char *reason)
{
if (reason)
fprintf(stderr, "%s\n", reason);
fprintf(stderr, "usage: ardrone_interface {start|stop|status} [-d <UART>]\n\n");
warnx("%s\n", reason);
warnx("usage: {start|stop|status} [-d <UART>]\n\n");
exit(1);
}
@@ -110,7 +110,7 @@ int ardrone_interface_main(int argc, char *argv[])
if (!strcmp(argv[1], "start")) {
if (thread_running) {
printf("ardrone_interface already running\n");
warnx("already running\n");
/* this is not an error */
exit(0);
}
@@ -132,9 +132,9 @@ int ardrone_interface_main(int argc, char *argv[])
if (!strcmp(argv[1], "status")) {
if (thread_running) {
printf("\tardrone_interface is running\n");
warnx("running");
} else {
printf("\tardrone_interface not started\n");
warnx("not started");
}
exit(0);
}
@@ -158,7 +158,7 @@ static int ardrone_open_uart(char *uart_name, struct termios *uart_config_origin
/* Back up the original uart configuration to restore it after exit */
if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
fprintf(stderr, "[ardrone_interface] ERROR getting baudrate / termios config for %s: %d\n", uart_name, termios_state);
warnx("ERR: TCGETATTR %s: %d", uart_name, termios_state);
close(uart);
return -1;
}
@@ -171,14 +171,14 @@ static int ardrone_open_uart(char *uart_name, struct termios *uart_config_origin
/* Set baud rate */
if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
fprintf(stderr, "[ardrone_interface] ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
warnx("ERR: cfsetispeed %s: %d", uart_name, termios_state);
close(uart);
return -1;
}
if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
fprintf(stderr, "[ardrone_interface] ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name);
warnx("ERR: tcsetattr: %s", uart_name);
close(uart);
return -1;
}
@@ -192,9 +192,6 @@ int ardrone_interface_thread_main(int argc, char *argv[])
char *device = "/dev/ttyS1";
/* welcome user */
printf("[ardrone_interface] Control started, taking over motors\n");
/* File descriptors */
int gpios;
@@ -237,7 +234,7 @@ int ardrone_interface_thread_main(int argc, char *argv[])
struct termios uart_config_original;
if (motor_test_mode) {
printf("[ardrone_interface] Motor test mode enabled, setting 10 %% thrust.\n");
warnx("setting 10 %% thrust.\n");
}
/* Led animation */
@@ -255,9 +252,6 @@ int ardrone_interface_thread_main(int argc, char *argv[])
int actuator_controls_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
int armed_sub = orb_subscribe(ORB_ID(actuator_armed));
printf("[ardrone_interface] Motors initialized - ready.\n");
fflush(stdout);
/* enable UART, writes potentially an empty buffer, but multiplexing is disabled */
ardrone_write = ardrone_open_uart(device, &uart_config_original);
@@ -265,7 +259,7 @@ int ardrone_interface_thread_main(int argc, char *argv[])
gpios = ar_multiplexing_init();
if (ardrone_write < 0) {
fprintf(stderr, "[ardrone_interface] Failed opening AR.Drone UART, exiting.\n");
warnx("No UART, exiting.");
thread_running = false;
exit(ERROR);
}
@@ -273,7 +267,7 @@ int ardrone_interface_thread_main(int argc, char *argv[])
/* initialize motors */
if (OK != ar_init_motors(ardrone_write, gpios)) {
close(ardrone_write);
fprintf(stderr, "[ardrone_interface] Failed initializing AR.Drone motors, exiting.\n");
warnx("motor init fail");
thread_running = false;
exit(ERROR);
}
@@ -294,7 +288,7 @@ int ardrone_interface_thread_main(int argc, char *argv[])
gpios = ar_multiplexing_init();
if (ardrone_write < 0) {
fprintf(stderr, "[ardrone_interface] Failed opening AR.Drone UART, exiting.\n");
warnx("write fail");
thread_running = false;
exit(ERROR);
}
@@ -302,7 +296,7 @@ int ardrone_interface_thread_main(int argc, char *argv[])
/* initialize motors */
if (OK != ar_init_motors(ardrone_write, gpios)) {
close(ardrone_write);
fprintf(stderr, "[ardrone_interface] Failed initializing AR.Drone motors, exiting.\n");
warnx("motor init fail");
thread_running = false;
exit(ERROR);
}
@@ -378,11 +372,9 @@ int ardrone_interface_thread_main(int argc, char *argv[])
int termios_state;
if ((termios_state = tcsetattr(ardrone_write, TCSANOW, &uart_config_original)) < 0) {
fprintf(stderr, "[ardrone_interface] ERROR setting baudrate / termios config for (tcsetattr)\n");
warnx("ERR: tcsetattr");
}
printf("[ardrone_interface] Restored original UART config, exiting..\n");
/* close uarts */
close(ardrone_write);
ar_multiplexing_deinit(gpios);
src/drivers/ardrone_interface/ardrone_motor_control.c
+1 -1
View File
@@ -301,7 +301,7 @@ int ar_init_motors(int ardrone_uart, int gpios)
ardrone_write_motor_commands(ardrone_uart, 0, 0, 0, 0);
if (errcounter != 0) {
fprintf(stderr, "[ardrone_interface] init sequence incomplete, failed %d times", -errcounter);
warnx("Failed %d times", -errcounter);
fflush(stdout);
}
return errcounter;
src/drivers/boards/aerocore/module.mk
+2
View File
@@ -6,3 +6,5 @@ SRCS = aerocore_init.c \
aerocore_pwm_servo.c \
aerocore_spi.c \
aerocore_led.c
MAXOPTIMIZATION = -Os
src/drivers/boards/px4fmu-v1/module.mk
+2
View File
@@ -8,3 +8,5 @@ SRCS = px4fmu_can.c \
px4fmu_spi.c \
px4fmu_usb.c \
px4fmu_led.c
MAXOPTIMIZATION = -Os
src/drivers/boards/px4fmu-v2/module.mk
+2
View File
@@ -8,3 +8,5 @@ SRCS = px4fmu_can.c \
px4fmu_spi.c \
px4fmu_usb.c \
px4fmu2_led.c
MAXOPTIMIZATION = -Os
src/drivers/boards/px4io-v1/module.mk
+2
View File
@@ -4,3 +4,5 @@
SRCS = px4io_init.c \
px4io_pwm_servo.c
MAXOPTIMIZATION = -Os
src/drivers/boards/px4io-v2/board_config.h
+1
View File
@@ -77,6 +77,7 @@
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14)
#define GPIO_LED2 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN15)
#define GPIO_LED3 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN13)
#define GPIO_LED4 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN11)
/* Safety switch button *******************************************************/
src/drivers/boards/px4io-v2/module.mk
+2
View File
@@ -4,3 +4,5 @@
SRCS = px4iov2_init.c \
px4iov2_pwm_servo.c
MAXOPTIMIZATION = -Os
src/drivers/boards/px4io-v2/px4iov2_init.c
+1
View File
@@ -108,6 +108,7 @@ __EXPORT void stm32_boardinitialize(void)
stm32_configgpio(GPIO_LED1);
stm32_configgpio(GPIO_LED2);
stm32_configgpio(GPIO_LED3);
stm32_configgpio(GPIO_LED4);
stm32_configgpio(GPIO_BTN_SAFETY);
src/drivers/device/device.h
+2 -1
View File
@@ -130,7 +130,8 @@ public:
enum DeviceBusType {
DeviceBusType_UNKNOWN = 0,
DeviceBusType_I2C = 1,
DeviceBusType_SPI = 2
DeviceBusType_SPI = 2,
DeviceBusType_UAVCAN = 3,
};
/*
src/drivers/drv_pwm_output.h
+32
View File
@@ -117,6 +117,23 @@ struct pwm_output_values {
unsigned channel_count;
};
/**
* RC config values for a channel
*
* This allows for PX4IO_PAGE_RC_CONFIG values to be set without a
* param_get() dependency
*/
struct pwm_output_rc_config {
uint8_t channel;
uint16_t rc_min;
uint16_t rc_trim;
uint16_t rc_max;
uint16_t rc_dz;
uint16_t rc_assignment;
bool rc_reverse;
};
/*
* ORB tag for PWM outputs.
*/
@@ -213,6 +230,21 @@ ORB_DECLARE(output_pwm);
/** make failsafe non-recoverable (termination) if it occurs */
#define PWM_SERVO_SET_TERMINATION_FAILSAFE _IOC(_PWM_SERVO_BASE, 25)
/** force safety switch on (to enable use of safety switch) */
#define PWM_SERVO_SET_FORCE_SAFETY_ON _IOC(_PWM_SERVO_BASE, 26)
/** set RC config for a channel. This takes a pointer to pwm_output_rc_config */
#define PWM_SERVO_SET_RC_CONFIG _IOC(_PWM_SERVO_BASE, 27)
/** set the 'OVERRIDE OK' bit, which allows for RC control on FMU loss */
#define PWM_SERVO_SET_OVERRIDE_OK _IOC(_PWM_SERVO_BASE, 28)
/** clear the 'OVERRIDE OK' bit, which allows for RC control on FMU loss */
#define PWM_SERVO_CLEAR_OVERRIDE_OK _IOC(_PWM_SERVO_BASE, 29)
/** setup OVERRIDE_IMMEDIATE behaviour on FMU fail */
#define PWM_SERVO_SET_OVERRIDE_IMMEDIATE _IOC(_PWM_SERVO_BASE, 30)
/*
*
*
src/drivers/frsky_telemetry/frsky_telemetry.c
+3 -6
View File
@@ -84,7 +84,7 @@ static int frsky_open_uart(const char *uart_name, struct termios *uart_config_or
/* Back up the original UART configuration to restore it after exit */
int termios_state;
if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
warnx("ERROR get termios config %s: %d\n", uart_name, termios_state);
warnx("ERR: tcgetattr%s: %d\n", uart_name, termios_state);
close(uart);
return -1;
}
@@ -100,13 +100,13 @@ static int frsky_open_uart(const char *uart_name, struct termios *uart_config_or
static const speed_t speed = B9600;
if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
warnx("ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
warnx("ERR: %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
close(uart);
return -1;
}
if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
warnx("ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name);
warnx("ERR: %s (tcsetattr)\n", uart_name);
close(uart);
return -1;
}
@@ -151,9 +151,6 @@ static int frsky_telemetry_thread_main(int argc, char *argv[])
}
}
/* Print welcome text */
warnx("FrSky telemetry interface starting...");
/* Open UART */
struct termios uart_config_original;
const int uart = frsky_open_uart(device_name, &uart_config_original);
src/drivers/hil/hil.cpp
-2
View File
@@ -442,8 +442,6 @@ HIL::task_main()
/* make sure servos are off */
// up_pwm_servo_deinit();
log("stopping");
/* note - someone else is responsible for restoring the GPIO config */
/* tell the dtor that we are exiting */
src/drivers/hmc5883/hmc5883.cpp
+15 -34
View File
@@ -1049,11 +1049,9 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
* LSM/Ga, giving 1.16 and 1.08 */
float expected_cal[3] = { 1.16f, 1.08f, 1.08f };
warnx("starting mag scale calibration");
/* start the sensor polling at 50 Hz */
if (OK != ioctl(filp, SENSORIOCSPOLLRATE, 50)) {
warn("failed to set 2Hz poll rate");
warn("FAILED: SENSORIOCSPOLLRATE 2Hz");
ret = 1;
goto out;
}
@@ -1061,25 +1059,25 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
/* Set to 2.5 Gauss. We ask for 3 to get the right part of
* the chained if statement above. */
if (OK != ioctl(filp, MAGIOCSRANGE, 3)) {
warnx("failed to set 2.5 Ga range");
warnx("FAILED: MAGIOCSRANGE 3.3 Ga");
ret = 1;
goto out;
}
if (OK != ioctl(filp, MAGIOCEXSTRAP, 1)) {
warnx("failed to enable sensor calibration mode");
warnx("FAILED: MAGIOCEXSTRAP 1");
ret = 1;
goto out;
}
if (OK != ioctl(filp, MAGIOCGSCALE, (long unsigned int)&mscale_previous)) {
warn("WARNING: failed to get scale / offsets for mag");
warn("FAILED: MAGIOCGSCALE 1");
ret = 1;
goto out;
}
if (OK != ioctl(filp, MAGIOCSSCALE, (long unsigned int)&mscale_null)) {
warn("WARNING: failed to set null scale / offsets for mag");
warn("FAILED: MAGIOCSSCALE 1");
ret = 1;
goto out;
}
@@ -1094,7 +1092,7 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
ret = ::poll(&fds, 1, 2000);
if (ret != 1) {
warn("timed out waiting for sensor data");
warn("ERROR: TIMEOUT 1");
goto out;
}
@@ -1102,7 +1100,7 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
sz = ::read(fd, &report, sizeof(report));
if (sz != sizeof(report)) {
warn("periodic read failed");
warn("ERROR: READ 1");
ret = -EIO;
goto out;
}
@@ -1118,7 +1116,7 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
ret = ::poll(&fds, 1, 2000);
if (ret != 1) {
warn("timed out waiting for sensor data");
warn("ERROR: TIMEOUT 2");
goto out;
}
@@ -1126,7 +1124,7 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
sz = ::read(fd, &report, sizeof(report));
if (sz != sizeof(report)) {
warn("periodic read failed");
warn("ERROR: READ 2");
ret = -EIO;
goto out;
}
@@ -1142,33 +1140,19 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
sum_excited[1] += cal[1];
sum_excited[2] += cal[2];
}
//warnx("periodic read %u", i);
//warnx("measurement: %.6f %.6f %.6f", (double)report.x, (double)report.y, (double)report.z);
//warnx("cal: %.6f %.6f %.6f", (double)cal[0], (double)cal[1], (double)cal[2]);
}
if (good_count < 5) {
warn("failed calibration");
ret = -EIO;
goto out;
}
#if 0
warnx("measurement avg: %.6f %.6f %.6f",
(double)sum_excited[0]/good_count,
(double)sum_excited[1]/good_count,
(double)sum_excited[2]/good_count);
#endif
float scaling[3];
scaling[0] = sum_excited[0] / good_count;
scaling[1] = sum_excited[1] / good_count;
scaling[2] = sum_excited[2] / good_count;
warnx("axes scaling: %.6f %.6f %.6f", (double)scaling[0], (double)scaling[1], (double)scaling[2]);
/* set scaling in device */
mscale_previous.x_scale = scaling[0];
mscale_previous.y_scale = scaling[1];
@@ -1179,29 +1163,26 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
out:
if (OK != ioctl(filp, MAGIOCSSCALE, (long unsigned int)&mscale_previous)) {
warn("failed to set new scale / offsets for mag");
warn("FAILED: MAGIOCSSCALE 2");
}
/* set back to normal mode */
/* Set to 1.1 Gauss */
if (OK != ::ioctl(fd, MAGIOCSRANGE, 1)) {
warnx("failed to set 1.1 Ga range");
warnx("FAILED: MAGIOCSRANGE 1.1 Ga");
}
if (OK != ::ioctl(fd, MAGIOCEXSTRAP, 0)) {
warnx("failed to disable sensor calibration mode");
warnx("FAILED: MAGIOCEXSTRAP 0");
}
if (ret == OK) {
if (!check_scale()) {
warnx("mag scale calibration successfully finished.");
} else {
warnx("mag scale calibration finished with invalid results.");
if (check_scale()) {
/* failed */
warnx("FAILED: SCALE");
ret = ERROR;
}
} else {
warnx("mag scale calibration failed.");
}
return ret;
src/drivers/hmc5883/module.mk
+2
View File
@@ -42,3 +42,5 @@ SRCS = hmc5883.cpp
MODULE_STACKSIZE = 1200
EXTRACXXFLAGS = -Weffc++
MAXOPTIMIZATION = -Os
src/drivers/hott/comms.cpp
+4 -4
View File
@@ -55,7 +55,7 @@ open_uart(const char *device)
const int uart = open(device, O_RDWR | O_NOCTTY);
if (uart < 0) {
err(1, "Error opening port: %s", device);
err(1, "ERR: opening %s", device);
}
/* Back up the original uart configuration to restore it after exit */
@@ -63,7 +63,7 @@ open_uart(const char *device)
struct termios uart_config_original;
if ((termios_state = tcgetattr(uart, &uart_config_original)) < 0) {
close(uart);
err(1, "Error getting baudrate / termios config for %s: %d", device, termios_state);
err(1, "ERR: %s: %d", device, termios_state);
}
/* Fill the struct for the new configuration */
@@ -76,13 +76,13 @@ open_uart(const char *device)
/* Set baud rate */
if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
close(uart);
err(1, "Error setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)",
err(1, "ERR: %s: %d (cfsetispeed, cfsetospeed)",
device, termios_state);
}
if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
close(uart);
err(1, "Error setting baudrate / termios config for %s (tcsetattr)", device);
err(1, "ERR: %s (tcsetattr)", device);
}
/* Activate single wire mode */
src/drivers/hott/hott_sensors/hott_sensors.cpp
+3 -3
View File
@@ -204,7 +204,7 @@ hott_sensors_main(int argc, char *argv[])
if (!strcmp(argv[1], "start")) {
if (thread_running) {
warnx("deamon already running");
warnx("already running");
exit(0);
}
@@ -225,10 +225,10 @@ hott_sensors_main(int argc, char *argv[])
if (!strcmp(argv[1], "status")) {
if (thread_running) {
warnx("daemon is running");
warnx("is running");
} else {
warnx("daemon not started");
warnx("not started");
}
exit(0);
src/drivers/hott/hott_telemetry/hott_telemetry.cpp
+3 -3
View File
@@ -230,7 +230,7 @@ hott_telemetry_main(int argc, char *argv[])
if (!strcmp(argv[1], "start")) {
if (thread_running) {
warnx("deamon already running");
warnx("already running");
exit(0);
}
@@ -251,10 +251,10 @@ hott_telemetry_main(int argc, char *argv[])
if (!strcmp(argv[1], "status")) {
if (thread_running) {
warnx("daemon is running");
warnx("is running");
} else {
warnx("daemon not started");
warnx("not started");
}
exit(0);
src/drivers/l3gd20/l3gd20.cpp
+8 -1
View File
@@ -176,6 +176,7 @@ static const int ERROR = -1;
#define L3G4200D_DEFAULT_RATE 800
#define L3GD20_DEFAULT_RANGE_DPS 2000
#define L3GD20_DEFAULT_FILTER_FREQ 30
#define L3GD20_TEMP_OFFSET_CELSIUS 40
#ifndef SENSOR_BOARD_ROTATION_DEFAULT
#define SENSOR_BOARD_ROTATION_DEFAULT SENSOR_BOARD_ROTATION_270_DEG
@@ -856,7 +857,7 @@ L3GD20::measure()
#pragma pack(push, 1)
struct {
uint8_t cmd;
uint8_t temp;
int8_t temp;
uint8_t status;
int16_t x;
int16_t y;
@@ -930,6 +931,8 @@ L3GD20::measure()
report.z_raw = raw_report.z;
report.temperature_raw = raw_report.temp;
report.x = ((report.x_raw * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale;
report.y = ((report.y_raw * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale;
report.z = ((report.z_raw * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale;
@@ -938,6 +941,8 @@ L3GD20::measure()
report.y = _gyro_filter_y.apply(report.y);
report.z = _gyro_filter_z.apply(report.z);
report.temperature = L3GD20_TEMP_OFFSET_CELSIUS - raw_report.temp;
// apply user specified rotation
rotate_3f(_rotation, report.x, report.y, report.z);
@@ -1091,9 +1096,11 @@ test()
warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x);
warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y);
warnx("gyro z: \t% 9.5f\trad/s", (double)g_report.z);
warnx("temp: \t%d\tC", (int)g_report.temperature);
warnx("gyro x: \t%d\traw", (int)g_report.x_raw);
warnx("gyro y: \t%d\traw", (int)g_report.y_raw);
warnx("gyro z: \t%d\traw", (int)g_report.z_raw);
warnx("temp: \t%d\traw", (int)g_report.temperature_raw);
warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
(int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
src/drivers/l3gd20/module.mk
+2
View File
@@ -8,3 +8,5 @@ SRCS = l3gd20.cpp
MODULE_STACKSIZE = 1200
EXTRACXXFLAGS = -Weffc++
MAXOPTIMIZATION = -Os
src/drivers/ll40ls/ll40ls.cpp
+50 -3
View File
@@ -73,15 +73,19 @@
/* Configuration Constants */
#define LL40LS_BUS PX4_I2C_BUS_EXPANSION
#define LL40LS_BASEADDR 0x42 /* 7-bit address */
#define LL40LS_BASEADDR 0x62 /* 7-bit address */
#define LL40LS_BASEADDR_OLD 0x42 /* previous 7-bit address */
#define LL40LS_DEVICE_PATH_INT "/dev/ll40ls_int"
#define LL40LS_DEVICE_PATH_EXT "/dev/ll40ls_ext"
/* LL40LS Registers addresses */
#define LL40LS_MEASURE_REG 0x00 /* Measure range register */
#define LL40LS_MSRREG_ACQUIRE 0x04 /* Value to initiate a measurement, varies based on sensor revision */
#define LL40LS_MSRREG_ACQUIRE 0x04 /* Value to initiate a measurement, varies based on sensor revision */
#define LL40LS_DISTHIGH_REG 0x8F /* High byte of distance register, auto increment */
#define LL40LS_WHO_AM_I_REG 0x11
#define LL40LS_WHO_AM_I_REG_VAL 0xCA
#define LL40LS_SIGNAL_STRENGTH_REG 0x5b
/* Device limits */
#define LL40LS_MIN_DISTANCE (0.00f)
@@ -117,6 +121,7 @@ public:
protected:
virtual int probe();
virtual int read_reg(uint8_t reg, uint8_t &val);
private:
float _min_distance;
@@ -210,7 +215,7 @@ LL40LS::LL40LS(int bus, const char *path, int address) :
_bus(bus)
{
// up the retries since the device misses the first measure attempts
I2C::_retries = 3;
_retries = 3;
// enable debug() calls
_debug_enabled = false;
@@ -277,9 +282,51 @@ out:
return ret;
}
int
LL40LS::read_reg(uint8_t reg, uint8_t &val)
{
return transfer(&reg, 1, &val, 1);
}
int
LL40LS::probe()
{
// cope with both old and new I2C bus address
const uint8_t addresses[2] = {LL40LS_BASEADDR, LL40LS_BASEADDR_OLD};
// more retries for detection
_retries = 10;
for (uint8_t i=0; i<sizeof(addresses); i++) {
uint8_t val=0, who_am_i=0;
// set the I2C bus address
set_address(addresses[i]);
if (read_reg(LL40LS_WHO_AM_I_REG, who_am_i) == OK && who_am_i == LL40LS_WHO_AM_I_REG_VAL) {
// it is responding correctly to a WHO_AM_I
goto ok;
}
if (read_reg(LL40LS_SIGNAL_STRENGTH_REG, val) == OK && val != 0) {
// very likely to be a ll40ls. px4flow does not
// respond to this
goto ok;
}
debug("WHO_AM_I byte mismatch 0x%02x should be 0x%02x val=0x%02x\n",
(unsigned)who_am_i,
LL40LS_WHO_AM_I_REG_VAL,
(unsigned)val);
}
// not found on any address
return -EIO;
ok:
_retries = 3;
// start a measurement
return measure();
}
src/drivers/lsm303d/module.mk
+2
View File
@@ -8,3 +8,5 @@ SRCS = lsm303d.cpp
MODULE_STACKSIZE = 1200
EXTRACXXFLAGS = -Weffc++
MAXOPTIMIZATION = -Os
src/drivers/meas_airspeed/meas_airspeed.cpp
+1 -1
View File
@@ -519,7 +519,7 @@ test()
ret = poll(&fds, 1, 2000);
if (ret != 1) {
errx(1, "timed out waiting for sensor data");
errx(1, "timed out");
}
/* now go get it */
src/drivers/mpu6000/module.mk
+2
View File
@@ -42,3 +42,5 @@ SRCS = mpu6000.cpp
MODULE_STACKSIZE = 1200
EXTRACXXFLAGS = -Weffc++
MAXOPTIMIZATION = -Os
src/drivers/mpu6000/mpu6000.cpp
+11
View File
@@ -229,6 +229,7 @@ private:
perf_counter_t _gyro_reads;
perf_counter_t _sample_perf;
perf_counter_t _bad_transfers;
perf_counter_t _good_transfers;
math::LowPassFilter2p _accel_filter_x;
math::LowPassFilter2p _accel_filter_y;
@@ -404,6 +405,7 @@ MPU6000::MPU6000(int bus, const char *path_accel, const char *path_gyro, spi_dev
_gyro_reads(perf_alloc(PC_COUNT, "mpu6000_gyro_read")),
_sample_perf(perf_alloc(PC_ELAPSED, "mpu6000_read")),
_bad_transfers(perf_alloc(PC_COUNT, "mpu6000_bad_transfers")),
_good_transfers(perf_alloc(PC_COUNT, "mpu6000_good_transfers")),
_accel_filter_x(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
_accel_filter_y(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
_accel_filter_z(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
@@ -456,6 +458,7 @@ MPU6000::~MPU6000()
perf_free(_accel_reads);
perf_free(_gyro_reads);
perf_free(_bad_transfers);
perf_free(_good_transfers);
}
int
@@ -1279,8 +1282,14 @@ MPU6000::measure()
// all zero data - probably a SPI bus error
perf_count(_bad_transfers);
perf_end(_sample_perf);
// note that we don't call reset() here as a reset()
// costs 20ms with interrupts disabled. That means if
// the mpu6k does go bad it would cause a FMU failure,
// regardless of whether another sensor is available,
return;
}
perf_count(_good_transfers);
/*
@@ -1399,6 +1408,8 @@ MPU6000::print_info()
perf_print_counter(_sample_perf);
perf_print_counter(_accel_reads);
perf_print_counter(_gyro_reads);
perf_print_counter(_bad_transfers);
perf_print_counter(_good_transfers);
_accel_reports->print_info("accel queue");
_gyro_reports->print_info("gyro queue");
}
src/drivers/px4flow/px4flow.cpp
+115 -74
View File
@@ -200,7 +200,7 @@ PX4FLOW::PX4FLOW(int bus, int address) :
_buffer_overflows(perf_alloc(PC_COUNT, "px4flow_buffer_overflows"))
{
// enable debug() calls
_debug_enabled = true;
_debug_enabled = false;
// work_cancel in the dtor will explode if we don't do this...
memset(&_work, 0, sizeof(_work));
@@ -212,8 +212,9 @@ PX4FLOW::~PX4FLOW()
stop();
/* free any existing reports */
if (_reports != nullptr)
if (_reports != nullptr) {
delete _reports;
}
}
int
@@ -222,22 +223,25 @@ PX4FLOW::init()
int ret = ERROR;
/* do I2C init (and probe) first */
if (I2C::init() != OK)
if (I2C::init() != OK) {
goto out;
}
/* allocate basic report buffers */
_reports = new RingBuffer(2, sizeof(struct optical_flow_s));
if (_reports == nullptr)
if (_reports == nullptr) {
goto out;
}
/* get a publish handle on the px4flow topic */
struct optical_flow_s zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_px4flow_topic = orb_advertise(ORB_ID(optical_flow), &zero_report);
if (_px4flow_topic < 0)
debug("failed to create px4flow object. Did you start uOrb?");
if (_px4flow_topic < 0) {
warnx("failed to create px4flow object. Did you start uOrb?");
}
ret = OK;
/* sensor is ok, but we don't really know if it is within range */
@@ -249,6 +253,17 @@ out:
int
PX4FLOW::probe()
{
uint8_t val[22];
// to be sure this is not a ll40ls Lidar (which can also be on
// 0x42) we check if a 22 byte transfer works from address
// 0. The ll40ls gives an error for that, whereas the flow
// happily returns some data
if (transfer(nullptr, 0, &val[0], 22) != OK) {
return -EIO;
}
// that worked, so start a measurement cycle
return measure();
}
@@ -260,20 +275,20 @@ PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg)
case SENSORIOCSPOLLRATE: {
switch (arg) {
/* switching to manual polling */
/* switching to manual polling */
case SENSOR_POLLRATE_MANUAL:
stop();
_measure_ticks = 0;
return OK;
/* external signalling (DRDY) not supported */
/* external signalling (DRDY) not supported */
case SENSOR_POLLRATE_EXTERNAL:
/* zero would be bad */
/* zero would be bad */
case 0:
return -EINVAL;
/* set default/max polling rate */
/* set default/max polling rate */
case SENSOR_POLLRATE_MAX:
case SENSOR_POLLRATE_DEFAULT: {
/* do we need to start internal polling? */
@@ -283,13 +298,14 @@ PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg)
_measure_ticks = USEC2TICK(PX4FLOW_CONVERSION_INTERVAL);
/* if we need to start the poll state machine, do it */
if (want_start)
if (want_start) {
start();
}
return OK;
}
/* adjust to a legal polling interval in Hz */
/* adjust to a legal polling interval in Hz */
default: {
/* do we need to start internal polling? */
bool want_start = (_measure_ticks == 0);
@@ -298,15 +314,17 @@ PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg)
unsigned ticks = USEC2TICK(1000000 / arg);
/* check against maximum rate */
if (ticks < USEC2TICK(PX4FLOW_CONVERSION_INTERVAL))
if (ticks < USEC2TICK(PX4FLOW_CONVERSION_INTERVAL)) {
return -EINVAL;
}
/* update interval for next measurement */
_measure_ticks = ticks;
/* if we need to start the poll state machine, do it */
if (want_start)
if (want_start) {
start();
}
return OK;
}
@@ -314,25 +332,29 @@ PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg)
}
case SENSORIOCGPOLLRATE:
if (_measure_ticks == 0)
if (_measure_ticks == 0) {
return SENSOR_POLLRATE_MANUAL;
}
return (1000 / _measure_ticks);
case SENSORIOCSQUEUEDEPTH: {
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 1) || (arg > 100))
return -EINVAL;
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 1) || (arg > 100)) {
return -EINVAL;
}
irqstate_t flags = irqsave();
if (!_reports->resize(arg)) {
irqrestore(flags);
return -ENOMEM;
}
irqstate_t flags = irqsave();
if (!_reports->resize(arg)) {
irqrestore(flags);
return -ENOMEM;
}
irqrestore(flags);
return OK;
}
return OK;
}
case SENSORIOCGQUEUEDEPTH:
return _reports->size();
@@ -355,8 +377,9 @@ PX4FLOW::read(struct file *filp, char *buffer, size_t buflen)
int ret = 0;
/* buffer must be large enough */
if (count < 1)
if (count < 1) {
return -ENOSPC;
}
/* if automatic measurement is enabled */
if (_measure_ticks > 0) {
@@ -417,13 +440,11 @@ PX4FLOW::measure()
uint8_t cmd = PX4FLOW_REG;
ret = transfer(&cmd, 1, nullptr, 0);
if (OK != ret)
{
if (OK != ret) {
perf_count(_comms_errors);
log("i2c::transfer returned %d", ret);
printf("i2c::transfer flow returned %d");
return ret;
}
ret = OK;
return ret;
@@ -435,15 +456,14 @@ PX4FLOW::collect()
int ret = -EIO;
/* read from the sensor */
uint8_t val[22] = {0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0};
uint8_t val[22] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
perf_begin(_sample_perf);
ret = transfer(nullptr, 0, &val[0], 22);
if (ret < 0)
{
log("error reading from sensor: %d", ret);
if (ret < 0) {
debug("error reading from sensor: %d", ret);
perf_count(_comms_errors);
perf_end(_sample_perf);
return ret;
@@ -467,12 +487,12 @@ PX4FLOW::collect()
int16_t gdist = val[21] << 8 | val[20];
struct optical_flow_s report;
report.flow_comp_x_m = float(flowcx)/1000.0f;
report.flow_comp_y_m = float(flowcy)/1000.0f;
report.flow_raw_x= val[3] << 8 | val[2];
report.flow_raw_y= val[5] << 8 | val[4];
report.ground_distance_m =float(gdist)/1000.0f;
report.quality= val[10];
report.flow_comp_x_m = float(flowcx) / 1000.0f;
report.flow_comp_y_m = float(flowcy) / 1000.0f;
report.flow_raw_x = val[3] << 8 | val[2];
report.flow_raw_y = val[5] << 8 | val[4];
report.ground_distance_m = float(gdist) / 1000.0f;
report.quality = val[10];
report.sensor_id = 0;
report.timestamp = hrt_absolute_time();
@@ -509,11 +529,13 @@ PX4FLOW::start()
true,
true,
true,
SUBSYSTEM_TYPE_OPTICALFLOW};
SUBSYSTEM_TYPE_OPTICALFLOW
};
static orb_advert_t pub = -1;
if (pub > 0) {
orb_publish(ORB_ID(subsystem_info), pub, &info);
} else {
pub = orb_advertise(ORB_ID(subsystem_info), &info);
}
@@ -541,7 +563,7 @@ PX4FLOW::cycle()
/* perform collection */
if (OK != collect()) {
log("collection error");
debug("collection error");
/* restart the measurement state machine */
start();
return;
@@ -567,8 +589,9 @@ PX4FLOW::cycle()
}
/* measurement phase */
if (OK != measure())
log("measure error");
if (OK != measure()) {
debug("measure error");
}
/* next phase is collection */
_collect_phase = true;
@@ -619,33 +642,37 @@ start()
{
int fd;
if (g_dev != nullptr)
if (g_dev != nullptr) {
errx(1, "already started");
}
/* create the driver */
g_dev = new PX4FLOW(PX4FLOW_BUS);
if (g_dev == nullptr)
if (g_dev == nullptr) {
goto fail;
}
if (OK != g_dev->init())
if (OK != g_dev->init()) {
goto fail;
}
/* set the poll rate to default, starts automatic data collection */
fd = open(PX4FLOW_DEVICE_PATH, O_RDONLY);
if (fd < 0)
if (fd < 0) {
goto fail;
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX) < 0)
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX) < 0) {
goto fail;
}
exit(0);
fail:
if (g_dev != nullptr)
{
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
}
@@ -658,15 +685,14 @@ fail:
*/
void stop()
{
if (g_dev != nullptr)
{
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
}
else
{
} else {
errx(1, "driver not running");
}
exit(0);
}
@@ -684,14 +710,17 @@ test()
int fd = open(PX4FLOW_DEVICE_PATH, O_RDONLY);
if (fd < 0)
if (fd < 0) {
err(1, "%s open failed (try 'px4flow start' if the driver is not running", PX4FLOW_DEVICE_PATH);
}
/* do a simple demand read */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report))
// err(1, "immediate read failed");
{
warnx("immediate read failed");
}
warnx("single read");
warnx("flowx: %0.2f m/s", (double)report.flow_comp_x_m);
@@ -700,8 +729,9 @@ test()
/* start the sensor polling at 2Hz */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2))
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
errx(1, "failed to set 2Hz poll rate");
}
/* read the sensor 5x and report each value */
for (unsigned i = 0; i < 5; i++) {
@@ -712,14 +742,16 @@ test()
fds.events = POLLIN;
ret = poll(&fds, 1, 2000);
if (ret != 1)
if (ret != 1) {
errx(1, "timed out waiting for sensor data");
}
/* now go get it */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report))
if (sz != sizeof(report)) {
err(1, "periodic read failed");
}
warnx("periodic read %u", i);
warnx("flowx: %0.2f m/s", (double)report.flow_comp_x_m);
@@ -740,14 +772,17 @@ reset()
{
int fd = open(PX4FLOW_DEVICE_PATH, O_RDONLY);
if (fd < 0)
if (fd < 0) {
err(1, "failed ");
}
if (ioctl(fd, SENSORIOCRESET, 0) < 0)
if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
err(1, "driver reset failed");
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
err(1, "driver poll restart failed");
}
exit(0);
}
@@ -758,8 +793,9 @@ reset()
void
info()
{
if (g_dev == nullptr)
if (g_dev == nullptr) {
errx(1, "driver not running");
}
printf("state @ %p\n", g_dev);
g_dev->print_info();
@@ -775,32 +811,37 @@ px4flow_main(int argc, char *argv[])
/*
* Start/load the driver.
*/
if (!strcmp(argv[1], "start"))
if (!strcmp(argv[1], "start")) {
px4flow::start();
}
/*
* Stop the driver
*/
if (!strcmp(argv[1], "stop"))
px4flow::stop();
/*
* Stop the driver
*/
if (!strcmp(argv[1], "stop")) {
px4flow::stop();
}
/*
* Test the driver/device.
*/
if (!strcmp(argv[1], "test"))
if (!strcmp(argv[1], "test")) {
px4flow::test();
}
/*
* Reset the driver.
*/
if (!strcmp(argv[1], "reset"))
if (!strcmp(argv[1], "reset")) {
px4flow::reset();
}
/*
* Print driver information.
*/
if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status"))
if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) {
px4flow::info();
}
errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
}
src/drivers/px4fmu/fmu.cpp
+1
View File
@@ -829,6 +829,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
case PWM_SERVO_SET_ARM_OK:
case PWM_SERVO_CLEAR_ARM_OK:
case PWM_SERVO_SET_FORCE_SAFETY_OFF:
case PWM_SERVO_SET_FORCE_SAFETY_ON:
// these are no-ops, as no safety switch
break;
src/drivers/px4fmu/module.mk
+2
View File
@@ -8,3 +8,5 @@ SRCS = fmu.cpp
MODULE_STACKSIZE = 1200
EXTRACXXFLAGS = -Weffc++
MAXOPTIMIZATION = -Os
src/drivers/px4io/module.mk
+2
View File
@@ -48,3 +48,5 @@ INCLUDE_DIRS += $(NUTTX_SRC)/arch/arm/src/stm32 $(NUTTX_SRC)/arch/arm/src/com
MODULE_STACKSIZE = 1200
EXTRACXXFLAGS = -Weffc++
MAXOPTIMIZATION = -Os
src/drivers/px4io/px4io.cpp
+81 -17
View File
@@ -1245,30 +1245,43 @@ PX4IO::io_set_rc_config()
* for compatibility reasons with existing
* autopilots / GCS'.
*/
/* ROLL */
param_get(param_find("RC_MAP_ROLL"), &ichan);
if ((ichan >= 0) && (ichan < (int)_max_rc_input))
if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
input_map[ichan - 1] = 0;
}
/* PITCH */
param_get(param_find("RC_MAP_PITCH"), &ichan);
if ((ichan >= 0) && (ichan < (int)_max_rc_input))
if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
input_map[ichan - 1] = 1;
}
/* YAW */
param_get(param_find("RC_MAP_YAW"), &ichan);
if ((ichan >= 0) && (ichan < (int)_max_rc_input))
if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
input_map[ichan - 1] = 2;
}
/* THROTTLE */
param_get(param_find("RC_MAP_THROTTLE"), &ichan);
if ((ichan >= 0) && (ichan < (int)_max_rc_input))
if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
input_map[ichan - 1] = 3;
}
param_get(param_find("RC_MAP_MODE_SW"), &ichan);
if ((ichan >= 0) && (ichan < (int)_max_rc_input))
/* FLAPS */
param_get(param_find("RC_MAP_FLAPS"), &ichan);
if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
input_map[ichan - 1] = 4;
}
/* MAIN MODE SWITCH */
param_get(param_find("RC_MAP_MODE_SW"), &ichan);
if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
/* use out of normal bounds index to indicate special channel */
input_map[ichan - 1] = PX4IO_P_RC_CONFIG_ASSIGNMENT_MODESWITCH;
}
/*
* Iterate all possible RC inputs.
@@ -1644,10 +1657,6 @@ PX4IO::io_publish_raw_rc()
int
PX4IO::io_publish_pwm_outputs()
{
/* if no FMU comms(!) just don't publish */
if (!(_status & PX4IO_P_STATUS_FLAGS_FMU_OK))
return OK;
/* data we are going to fetch */
actuator_outputs_s outputs;
outputs.timestamp = hrt_absolute_time();
@@ -2048,7 +2057,7 @@ PX4IO::print_status(bool extended_status)
((features & PX4IO_P_SETUP_FEATURES_ADC_RSSI) ? " RSSI_ADC" : "")
);
uint16_t arming = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING);
printf("arming 0x%04x%s%s%s%s%s%s%s%s\n",
printf("arming 0x%04x%s%s%s%s%s%s%s%s%s%s\n",
arming,
((arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) ? " FMU_ARMED" : " FMU_DISARMED"),
((arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK) ? " IO_ARM_OK" : " IO_ARM_DENIED"),
@@ -2058,7 +2067,8 @@ PX4IO::print_status(bool extended_status)
((arming & PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE) ? " ALWAYS_PWM_ENABLE" : ""),
((arming & PX4IO_P_SETUP_ARMING_LOCKDOWN) ? " LOCKDOWN" : ""),
((arming & PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE) ? " FORCE_FAILSAFE" : ""),
((arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE) ? " TERM_FAILSAFE" : "")
((arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE) ? " TERM_FAILSAFE" : ""),
((arming & PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE) ? " OVERRIDE_IMMEDIATE" : "")
);
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
printf("rates 0x%04x default %u alt %u relays 0x%04x\n",
@@ -2271,6 +2281,11 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, PX4IO_FORCE_SAFETY_MAGIC);
break;
case PWM_SERVO_SET_FORCE_SAFETY_ON:
/* force safety switch on */
ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_ON, PX4IO_FORCE_SAFETY_MAGIC);
break;
case PWM_SERVO_SET_FORCE_FAILSAFE:
/* force failsafe mode instantly */
if (arg == 0) {
@@ -2293,6 +2308,19 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
}
break;
case PWM_SERVO_SET_OVERRIDE_IMMEDIATE:
/* control whether override on FMU failure is
immediate or waits for override threshold on mode
switch */
if (arg == 0) {
/* clear override immediate flag */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE, 0);
} else {
/* set override immediate flag */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE);
}
break;
case DSM_BIND_START:
/* only allow DSM2, DSM-X and DSM-X with more than 7 channels */
@@ -2554,6 +2582,42 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
break;
case PWM_SERVO_SET_RC_CONFIG: {
/* enable setting of RC configuration without relying
on param_get()
*/
struct pwm_output_rc_config* config = (struct pwm_output_rc_config*)arg;
if (config->channel >= _max_actuators) {
/* fail with error */
return E2BIG;
}
/* copy values to registers in IO */
uint16_t regs[PX4IO_P_RC_CONFIG_STRIDE];
uint16_t offset = config->channel * PX4IO_P_RC_CONFIG_STRIDE;
regs[PX4IO_P_RC_CONFIG_MIN] = config->rc_min;
regs[PX4IO_P_RC_CONFIG_CENTER] = config->rc_trim;
regs[PX4IO_P_RC_CONFIG_MAX] = config->rc_max;
regs[PX4IO_P_RC_CONFIG_DEADZONE] = config->rc_dz;
regs[PX4IO_P_RC_CONFIG_ASSIGNMENT] = config->rc_assignment;
regs[PX4IO_P_RC_CONFIG_OPTIONS] = PX4IO_P_RC_CONFIG_OPTIONS_ENABLED;
if (config->rc_reverse) {
regs[PX4IO_P_RC_CONFIG_OPTIONS] |= PX4IO_P_RC_CONFIG_OPTIONS_REVERSE;
}
ret = io_reg_set(PX4IO_PAGE_RC_CONFIG, offset, regs, PX4IO_P_RC_CONFIG_STRIDE);
break;
}
case PWM_SERVO_SET_OVERRIDE_OK:
/* set the 'OVERRIDE OK' bit */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK);
break;
case PWM_SERVO_CLEAR_OVERRIDE_OK:
/* clear the 'OVERRIDE OK' bit */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK, 0);
break;
default:
/* see if the parent class can make any use of it */
ret = CDev::ioctl(filep, cmd, arg);
src/drivers/stm32/adc/module.mk
+2
View File
@@ -40,3 +40,5 @@ MODULE_COMMAND = adc
SRCS = adc.cpp
INCLUDE_DIRS += $(NUTTX_SRC)/arch/arm/src/stm32 $(NUTTX_SRC)/arch/arm/src/common
MAXOPTIMIZATION = -Os
src/drivers/stm32/module.mk
+2
View File
@@ -41,3 +41,5 @@ SRCS = drv_hrt.c \
drv_pwm_servo.c
INCLUDE_DIRS += $(NUTTX_SRC)/arch/arm/src/stm32 $(NUTTX_SRC)/arch/arm/src/common
MAXOPTIMIZATION = -Os
src/drivers/stm32/tone_alarm/module.mk
+2
View File
@@ -40,3 +40,5 @@ MODULE_COMMAND = tone_alarm
SRCS = tone_alarm.cpp
INCLUDE_DIRS += $(NUTTX_SRC)/arch/arm/src/stm32 $(NUTTX_SRC)/arch/arm/src/common
MAXOPTIMIZATION = -Os
src/lib/conversion/rotation.h
+3 -1
View File
@@ -74,6 +74,7 @@ enum Rotation {
ROTATION_ROLL_270_YAW_135 = 23,
ROTATION_PITCH_90 = 24,
ROTATION_PITCH_270 = 25,
ROTATION_ROLL_270_YAW_270 = 26,
ROTATION_MAX
};
@@ -109,7 +110,8 @@ const rot_lookup_t rot_lookup[] = {
{270, 0, 90 },
{270, 0, 135 },
{ 0, 90, 0 },
{ 0, 270, 0 }
{ 0, 270, 0 },
{270, 0, 270 }
};
/**
src/lib/external_lgpl/tecs/tecs.cpp
+10 -12
View File
@@ -299,7 +299,7 @@ void TECS::_update_throttle(float throttle_cruise, const math::Matrix<3,3> &rotM
// Calculate throttle demand
// If underspeed condition is set, then demand full throttle
if (_underspeed) {
_throttle_dem_unc = 1.0f;
_throttle_dem = 1.0f;
} else {
// Calculate gain scaler from specific energy error to throttle
@@ -321,31 +321,29 @@ void TECS::_update_throttle(float throttle_cruise, const math::Matrix<3,3> &rotM
ff_throttle = nomThr - STEdot_dem / _STEdot_min * nomThr;
}
// Calculate PD + FF throttle
// Calculate PD + FF throttle and constrain to avoid blow-up of the integrator later
_throttle_dem = (_STE_error + STEdot_error * _thrDamp) * K_STE2Thr + ff_throttle;
_throttle_dem = constrain(_throttle_dem, _THRminf, _THRmaxf);
// Rate limit PD + FF throttle
// Calculate the throttle increment from the specified slew time
if (fabsf(_throttle_slewrate) > 0.01f) {
float thrRateIncr = _DT * (_THRmaxf - _THRminf) * _throttle_slewrate;
_throttle_dem = constrain(_throttle_dem,
_last_throttle_dem - thrRateIncr,
_last_throttle_dem + thrRateIncr);
_last_throttle_dem - thrRateIncr,
_last_throttle_dem + thrRateIncr);
}
// Ensure _last_throttle_dem is always initialized properly
// Also: The throttle_slewrate limit is only applied to throttle_dem, but does not limit the integrator!!
_last_throttle_dem = _throttle_dem;
// Calculate integrator state upper and lower limits
// Set to a value thqat will allow 0.1 (10%) throttle saturation to allow for noise on the demand
// Set to a value that will allow 0.1 (10%) throttle saturation to allow for noise on the demand
float integ_max = (_THRmaxf - _throttle_dem + 0.1f);
float integ_min = (_THRminf - _throttle_dem - 0.1f);
// Calculate integrator state, constraining state
// Set integrator to a max throttle value dduring climbout
// Set integrator to a max throttle value during climbout
_integ6_state = _integ6_state + (_STE_error * _integGain) * _DT * K_STE2Thr;
if (_climbOutDem) {
@@ -363,10 +361,10 @@ void TECS::_update_throttle(float throttle_cruise, const math::Matrix<3,3> &rotM
} else {
_throttle_dem = ff_throttle;
}
}
// Constrain throttle demand
_throttle_dem = constrain(_throttle_dem, _THRminf, _THRmaxf);
// Constrain throttle demand
_throttle_dem = constrain(_throttle_dem, _THRminf, _THRmaxf);
}
}
void TECS::_detect_bad_descent(void)
src/lib/external_lgpl/tecs/tecs.h
-3
View File
@@ -345,9 +345,6 @@ private:
// climbout mode
bool _climbOutDem;
// throttle demand before limiting
float _throttle_dem_unc;
// pitch demand before limiting
float _pitch_dem_unc;
src/modules/bottle_drop/bottle_drop.cpp
+10 -11
View File
@@ -223,7 +223,7 @@ BottleDrop::start()
_main_task = task_spawn_cmd("bottle_drop",
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT + 15,
2048,
1500,
(main_t)&BottleDrop::task_main_trampoline,
nullptr);
@@ -283,7 +283,6 @@ BottleDrop::drop()
// force the door open if we have to
if (_doors_opened == 0) {
open_bay();
warnx("bay not ready, forced open");
}
while (hrt_elapsed_time(&_doors_opened) < 500 * 1000 && hrt_elapsed_time(&starttime) < 2000000) {
@@ -723,16 +722,16 @@ BottleDrop::handle_command(struct vehicle_command_s *cmd)
if (cmd->param1 > 0.5f && cmd->param2 > 0.5f) {
open_bay();
drop();
mavlink_log_info(_mavlink_fd, "#audio: drop bottle");
mavlink_log_critical(_mavlink_fd, "drop bottle");
} else if (cmd->param1 > 0.5f) {
open_bay();
mavlink_log_info(_mavlink_fd, "#audio: opening bay");
mavlink_log_critical(_mavlink_fd, "opening bay");
} else {
lock_release();
close_bay();
mavlink_log_info(_mavlink_fd, "#audio: closing bay");
mavlink_log_critical(_mavlink_fd, "closing bay");
}
answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
@@ -743,12 +742,12 @@ BottleDrop::handle_command(struct vehicle_command_s *cmd)
switch ((int)(cmd->param1 + 0.5f)) {
case 0:
_drop_approval = false;
mavlink_log_info(_mavlink_fd, "#audio: got drop position, no approval");
mavlink_log_critical(_mavlink_fd, "got drop position, no approval");
break;
case 1:
_drop_approval = true;
mavlink_log_info(_mavlink_fd, "#audio: got drop position and approval");
mavlink_log_critical(_mavlink_fd, "got drop position and approval");
break;
default:
@@ -818,19 +817,19 @@ BottleDrop::answer_command(struct vehicle_command_s *cmd, enum VEHICLE_CMD_RESUL
break;
case VEHICLE_CMD_RESULT_DENIED:
mavlink_log_critical(_mavlink_fd, "#audio: command denied: %u", cmd->command);
mavlink_log_critical(_mavlink_fd, "command denied: %u", cmd->command);
break;
case VEHICLE_CMD_RESULT_FAILED:
mavlink_log_critical(_mavlink_fd, "#audio: command failed: %u", cmd->command);
mavlink_log_critical(_mavlink_fd, "command failed: %u", cmd->command);
break;
case VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED:
mavlink_log_critical(_mavlink_fd, "#audio: command temporarily rejected: %u", cmd->command);
mavlink_log_critical(_mavlink_fd, "command temporarily rejected: %u", cmd->command);
break;
case VEHICLE_CMD_RESULT_UNSUPPORTED:
mavlink_log_critical(_mavlink_fd, "#audio: command unsupported: %u", cmd->command);
mavlink_log_critical(_mavlink_fd, "command unsupported: %u", cmd->command);
break;
default:
src/modules/bottle_drop/module.mk
+4
View File
@@ -39,3 +39,7 @@ MODULE_COMMAND = bottle_drop
SRCS = bottle_drop.cpp \
bottle_drop_params.c
MAXOPTIMIZATION = -Os
MODULE_STACKSIZE = 1200
src/modules/commander/accelerometer_calibration.cpp
+32 -18
View File
@@ -83,7 +83,7 @@
* | accel_T[1][i] |
* [ accel_T[2][i] ]
*
* b = [ accel_corr_ref[0][i] ] // One measurement per axis is enough
* b = [ accel_corr_ref[0][i] ] // One measurement per side is enough
* | accel_corr_ref[2][i] |
* [ accel_corr_ref[4][i] ]
*
@@ -162,6 +162,11 @@ int do_accel_calibration(int mavlink_fd)
mavlink_log_info(mavlink_fd, CAL_STARTED_MSG, sensor_name);
mavlink_log_info(mavlink_fd, "You need to put the system on all six sides");
sleep(3);
mavlink_log_info(mavlink_fd, "Follow the instructions on the screen");
sleep(5);
struct accel_scale accel_scale = {
0.0f,
1.0f,
@@ -258,7 +263,7 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float
const int samples_num = 2500;
float accel_ref[6][3];
bool data_collected[6] = { false, false, false, false, false, false };
const char *orientation_strs[6] = { "x+", "x-", "y+", "y-", "z+", "z-" };
const char *orientation_strs[6] = { "front", "back", "left", "right", "top", "bottom" };
int sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined));
@@ -287,29 +292,37 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float
break;
}
mavlink_log_info(mavlink_fd, "directions left: %s%s%s%s%s%s",
(!data_collected[0]) ? "x+ " : "",
(!data_collected[1]) ? "x- " : "",
(!data_collected[2]) ? "y+ " : "",
(!data_collected[3]) ? "y- " : "",
(!data_collected[4]) ? "z+ " : "",
(!data_collected[5]) ? "z- " : "");
/* inform user which axes are still needed */
mavlink_log_info(mavlink_fd, "pending: %s%s%s%s%s%s",
(!data_collected[0]) ? "front " : "",
(!data_collected[1]) ? "back " : "",
(!data_collected[2]) ? "left " : "",
(!data_collected[3]) ? "right " : "",
(!data_collected[4]) ? "up " : "",
(!data_collected[5]) ? "down " : "");
/* allow user enough time to read the message */
sleep(3);
int orient = detect_orientation(mavlink_fd, sensor_combined_sub);
if (orient < 0) {
res = ERROR;
break;
}
if (data_collected[orient]) {
mavlink_log_info(mavlink_fd, "%s done, rotate to a different axis", orientation_strs[orient]);
mavlink_log_info(mavlink_fd, "invalid motion, hold still...");
sleep(3);
continue;
}
mavlink_log_info(mavlink_fd, "accel measurement started: %s axis", orientation_strs[orient]);
/* inform user about already handled side */
if (data_collected[orient]) {
mavlink_log_info(mavlink_fd, "%s side done, rotate to a different side", orientation_strs[orient]);
sleep(4);
continue;
}
mavlink_log_info(mavlink_fd, "Hold still, starting to measure %s side", orientation_strs[orient]);
sleep(1);
read_accelerometer_avg(sensor_combined_sub, &(accel_ref[orient][0]), samples_num);
mavlink_log_info(mavlink_fd, "result for %s axis: [ %.2f %.2f %.2f ]", orientation_strs[orient],
mavlink_log_info(mavlink_fd, "result for %s side: [ %.2f %.2f %.2f ]", orientation_strs[orient],
(double)accel_ref[orient][0],
(double)accel_ref[orient][1],
(double)accel_ref[orient][2]);
@@ -400,7 +413,7 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined)
/* is still now */
if (t_still == 0) {
/* first time */
mavlink_log_info(mavlink_fd, "detected rest position, waiting...");
mavlink_log_info(mavlink_fd, "detected rest position, hold still...");
t_still = t;
t_timeout = t + timeout;
@@ -418,6 +431,7 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined)
/* not still, reset still start time */
if (t_still != 0) {
mavlink_log_info(mavlink_fd, "detected motion, hold still...");
sleep(3);
t_still = 0;
}
}
src/modules/commander/airspeed_calibration.cpp
+17 -8
View File
@@ -61,6 +61,15 @@ static const int ERROR = -1;
static const char *sensor_name = "dpress";
#define HUMAN_ASPD_CAL_FAILED_MSG "Calibration failed, see http://px4.io/help/aspd"
static void feedback_calibration_failed(int mavlink_fd)
{
sleep(5);
mavlink_log_critical(mavlink_fd, CAL_FAILED_MSG, sensor_name);
mavlink_log_critical(mavlink_fd, HUMAN_ASPD_CAL_FAILED_MSG);
}
int do_airspeed_calibration(int mavlink_fd)
{
/* give directions */
@@ -99,7 +108,7 @@ int do_airspeed_calibration(int mavlink_fd)
float analog_scaling = 0.0f;
param_get(param_find("SENS_DPRES_ANSC"), &(analog_scaling));
if (fabsf(analog_scaling) < 0.1f) {
mavlink_log_critical(mavlink_fd, "If analog sens, retry with [SENS_DPRES_ANSC=1000]");
mavlink_log_critical(mavlink_fd, "No airspeed sensor, see http://px4.io/help/aspd");
close(diff_pres_sub);
return ERROR;
}
@@ -138,7 +147,7 @@ int do_airspeed_calibration(int mavlink_fd)
} else if (poll_ret == 0) {
/* any poll failure for 1s is a reason to abort */
mavlink_log_critical(mavlink_fd, CAL_FAILED_MSG, sensor_name);
feedback_calibration_failed(mavlink_fd);
close(diff_pres_sub);
return ERROR;
}
@@ -175,7 +184,7 @@ int do_airspeed_calibration(int mavlink_fd)
}
} else {
mavlink_log_info(mavlink_fd, CAL_FAILED_MSG, sensor_name);
feedback_calibration_failed(mavlink_fd);
close(diff_pres_sub);
return ERROR;
}
@@ -207,7 +216,7 @@ int do_airspeed_calibration(int mavlink_fd)
if (fabsf(diff_pres.differential_pressure_raw_pa) < 50.0f) {
if (calibration_counter % 500 == 0) {
mavlink_log_info(mavlink_fd, "Create airflow! (%d, wanted: 50 Pa)",
mavlink_log_info(mavlink_fd, "Create air pressure! (got %d, wanted: 50 Pa)",
(int)diff_pres.differential_pressure_raw_pa);
}
continue;
@@ -215,9 +224,9 @@ int do_airspeed_calibration(int mavlink_fd)
/* do not allow negative values */
if (diff_pres.differential_pressure_raw_pa < 0.0f) {
mavlink_log_critical(mavlink_fd, "Swap static and dynamic ports!");
mavlink_log_info(mavlink_fd, "ERROR: Negative pressure difference detected! (%d Pa)",
(int)diff_pres.differential_pressure_raw_pa);
mavlink_log_critical(mavlink_fd, "Swap static and dynamic ports!");
close(diff_pres_sub);
/* the user setup is wrong, wipe the calibration to force a proper re-calibration */
@@ -235,7 +244,7 @@ int do_airspeed_calibration(int mavlink_fd)
close(diff_pres_sub);
mavlink_log_info(mavlink_fd, CAL_FAILED_MSG, sensor_name);
feedback_calibration_failed(mavlink_fd);
return ERROR;
} else {
mavlink_log_info(mavlink_fd, "Positive pressure: OK (%d Pa)",
@@ -245,14 +254,14 @@ int do_airspeed_calibration(int mavlink_fd)
} else if (poll_ret == 0) {
/* any poll failure for 1s is a reason to abort */
mavlink_log_critical(mavlink_fd, CAL_FAILED_MSG, sensor_name);
feedback_calibration_failed(mavlink_fd);
close(diff_pres_sub);
return ERROR;
}
}
if (calibration_counter == maxcount) {
mavlink_log_critical(mavlink_fd, CAL_FAILED_MSG, sensor_name);
feedback_calibration_failed(mavlink_fd);
close(diff_pres_sub);
return ERROR;
}
src/modules/commander/commander.cpp
+249 -159
View File
@@ -207,7 +207,9 @@ void usage(const char *reason);
/**
* React to commands that are sent e.g. from the mavlink module.
*/
bool handle_command(struct vehicle_status_s *status, const struct safety_s *safety, struct vehicle_command_s *cmd, struct actuator_armed_s *armed, struct home_position_s *home, struct vehicle_global_position_s *global_pos, orb_advert_t *home_pub);
bool handle_command(struct vehicle_status_s *status, const struct safety_s *safety, struct vehicle_command_s *cmd,
struct actuator_armed_s *armed, struct home_position_s *home, struct vehicle_global_position_s *global_pos,
orb_advert_t *home_pub);
/**
* Mainloop of commander.
@@ -218,8 +220,6 @@ void control_status_leds(vehicle_status_s *status, const actuator_armed_s *actua
void check_valid(hrt_abstime timestamp, hrt_abstime timeout, bool valid_in, bool *valid_out, bool *changed);
void check_mode_switches(struct manual_control_setpoint_s *sp_man, struct vehicle_status_s *status);
transition_result_t set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoint_s *sp_man);
void set_control_mode();
@@ -230,7 +230,8 @@ void print_reject_arm(const char *msg);
void print_status();
transition_result_t check_navigation_state_machine(struct vehicle_status_s *status, struct vehicle_control_mode_s *control_mode, struct vehicle_local_position_s *local_pos);
transition_result_t check_navigation_state_machine(struct vehicle_status_s *status,
struct vehicle_control_mode_s *control_mode, struct vehicle_local_position_s *local_pos);
transition_result_t arm_disarm(bool arm, const int mavlink_fd, const char *armedBy);
@@ -260,7 +261,7 @@ int commander_main(int argc, char *argv[])
daemon_task = task_spawn_cmd("commander",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 40,
2950,
3200,
commander_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
@@ -393,7 +394,8 @@ transition_result_t arm_disarm(bool arm, const int mavlink_fd_local, const char
// Transition the armed state. By passing mavlink_fd to arming_state_transition it will
// output appropriate error messages if the state cannot transition.
arming_res = arming_state_transition(&status, &safety, arm ? ARMING_STATE_ARMED : ARMING_STATE_STANDBY, &armed, true /* fRunPreArmChecks */, mavlink_fd_local);
arming_res = arming_state_transition(&status, &safety, arm ? ARMING_STATE_ARMED : ARMING_STATE_STANDBY, &armed,
true /* fRunPreArmChecks */, mavlink_fd_local);
if (arming_res == TRANSITION_CHANGED && mavlink_fd) {
mavlink_log_info(mavlink_fd_local, "[cmd] %s by %s", arm ? "ARMED" : "DISARMED", armedBy);
@@ -406,11 +408,12 @@ transition_result_t arm_disarm(bool arm, const int mavlink_fd_local, const char
}
bool handle_command(struct vehicle_status_s *status_local, const struct safety_s *safety_local,
struct vehicle_command_s *cmd, struct actuator_armed_s *armed_local,
struct home_position_s *home, struct vehicle_global_position_s *global_pos, orb_advert_t *home_pub)
struct vehicle_command_s *cmd, struct actuator_armed_s *armed_local,
struct home_position_s *home, struct vehicle_global_position_s *global_pos, orb_advert_t *home_pub)
{
/* only handle commands that are meant to be handled by this system and component */
if (cmd->target_system != status_local->system_id || ((cmd->target_component != status_local->component_id) && (cmd->target_component != 0))) { // component_id 0: valid for all components
if (cmd->target_system != status_local->system_id || ((cmd->target_component != status_local->component_id)
&& (cmd->target_component != 0))) { // component_id 0: valid for all components
return false;
}
@@ -537,13 +540,13 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
} else {
mavlink_log_critical(mavlink_fd, "REJ CMD: %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f",
(double)cmd->param1,
(double)cmd->param2,
(double)cmd->param3,
(double)cmd->param4,
(double)cmd->param5,
(double)cmd->param6,
(double)cmd->param7);
(double)cmd->param1,
(double)cmd->param2,
(double)cmd->param3,
(double)cmd->param4,
(double)cmd->param5,
(double)cmd->param6,
(double)cmd->param7);
}
}
break;
@@ -554,35 +557,43 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
//XXX update state machine?
armed_local->force_failsafe = true;
warnx("forcing failsafe (termination)");
} else {
armed_local->force_failsafe = false;
warnx("disabling failsafe (termination)");
}
/* param2 is currently used for other failsafe modes */
status_local->engine_failure_cmd = false;
status_local->data_link_lost_cmd = false;
status_local->gps_failure_cmd = false;
status_local->rc_signal_lost_cmd = false;
if ((int)cmd->param2 <= 0) {
/* reset all commanded failure modes */
warnx("reset all non-flighttermination failsafe commands");
} else if ((int)cmd->param2 == 1) {
/* trigger engine failure mode */
status_local->engine_failure_cmd = true;
warnx("engine failure mode commanded");
} else if ((int)cmd->param2 == 2) {
/* trigger data link loss mode */
status_local->data_link_lost_cmd = true;
warnx("data link loss mode commanded");
} else if ((int)cmd->param2 == 3) {
/* trigger gps loss mode */
status_local->gps_failure_cmd = true;
warnx("gps loss mode commanded");
} else if ((int)cmd->param2 == 4) {
/* trigger rc loss mode */
status_local->rc_signal_lost_cmd = true;
warnx("rc loss mode commanded");
}
cmd_result = VEHICLE_CMD_RESULT_ACCEPTED;
}
break;
@@ -633,21 +644,27 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
}
}
break;
case VEHICLE_CMD_NAV_GUIDED_ENABLE: {
transition_result_t res = TRANSITION_DENIED;
static main_state_t main_state_pre_offboard = MAIN_STATE_MANUAL;
if (status_local->main_state != MAIN_STATE_OFFBOARD) {
main_state_pre_offboard = status_local->main_state;
}
if (cmd->param1 > 0.5f) {
res = main_state_transition(status_local, MAIN_STATE_OFFBOARD);
if (res == TRANSITION_DENIED) {
print_reject_mode(status_local, "OFFBOARD");
status_local->offboard_control_set_by_command = false;
} else {
/* Set flag that offboard was set via command, main state is not overridden by rc */
status_local->offboard_control_set_by_command = true;
}
} else {
/* If the mavlink command is used to enable or disable offboard control:
* switch back to previous mode when disabling */
@@ -656,6 +673,7 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
}
}
break;
case VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
case VEHICLE_CMD_PREFLIGHT_CALIBRATION:
case VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS:
@@ -740,7 +758,10 @@ int commander_thread_main(int argc, char *argv[])
nav_states_str[NAVIGATION_STATE_AUTO_MISSION] = "AUTO_MISSION";
nav_states_str[NAVIGATION_STATE_AUTO_LOITER] = "AUTO_LOITER";
nav_states_str[NAVIGATION_STATE_AUTO_RTL] = "AUTO_RTL";
nav_states_str[NAVIGATION_STATE_AUTO_RCRECOVER] = "AUTO_RCRECOVER";
nav_states_str[NAVIGATION_STATE_AUTO_RTGS] = "AUTO_RTGS";
nav_states_str[NAVIGATION_STATE_AUTO_LANDENGFAIL] = "AUTO_LANDENGFAIL";
nav_states_str[NAVIGATION_STATE_AUTO_LANDGPSFAIL] = "AUTO_LANDGPSFAIL";
nav_states_str[NAVIGATION_STATE_ACRO] = "ACRO";
nav_states_str[NAVIGATION_STATE_LAND] = "LAND";
nav_states_str[NAVIGATION_STATE_DESCEND] = "DESCEND";
@@ -802,6 +823,7 @@ int commander_thread_main(int argc, char *argv[])
/* publish initial state */
status_pub = orb_advertise(ORB_ID(vehicle_status), &status);
if (status_pub < 0) {
warnx("ERROR: orb_advertise for topic vehicle_status failed (uorb app running?).\n");
warnx("exiting.");
@@ -827,11 +849,14 @@ int commander_thread_main(int argc, char *argv[])
/* init mission state, do it here to allow navigator to use stored mission even if mavlink failed to start */
orb_advert_t mission_pub = -1;
mission_s mission;
if (dm_read(DM_KEY_MISSION_STATE, 0, &mission, sizeof(mission_s)) == sizeof(mission_s)) {
if (mission.dataman_id >= 0 && mission.dataman_id <= 1) {
warnx("loaded mission state: dataman_id=%d, count=%u, current=%d", mission.dataman_id, mission.count, mission.current_seq);
warnx("loaded mission state: dataman_id=%d, count=%u, current=%d", mission.dataman_id, mission.count,
mission.current_seq);
mavlink_log_info(mavlink_fd, "[cmd] dataman_id=%d, count=%u, current=%d",
mission.dataman_id, mission.count, mission.current_seq);
mission.dataman_id, mission.count, mission.current_seq);
} else {
const char *missionfail = "reading mission state failed";
warnx("%s", missionfail);
@@ -1097,6 +1122,7 @@ int commander_thread_main(int argc, char *argv[])
status.offboard_control_signal_lost = false;
status_changed = true;
}
} else {
if (!status.offboard_control_signal_lost) {
status.offboard_control_signal_lost = true;
@@ -1115,9 +1141,9 @@ int commander_thread_main(int argc, char *argv[])
/* perform system checks when new telemetry link connected */
if (mavlink_fd &&
telemetry_last_heartbeat[i] == 0 &&
telemetry.heartbeat_time > 0 &&
hrt_elapsed_time(&telemetry.heartbeat_time) < datalink_loss_timeout * 1e6) {
telemetry_last_heartbeat[i] == 0 &&
telemetry.heartbeat_time > 0 &&
hrt_elapsed_time(&telemetry.heartbeat_time) < datalink_loss_timeout * 1e6) {
(void)rc_calibration_check(mavlink_fd);
}
@@ -1130,6 +1156,7 @@ int commander_thread_main(int argc, char *argv[])
if (updated) {
orb_copy(ORB_ID(sensor_combined), sensor_sub, &sensors);
/* Check if the barometer is healthy and issue a warning in the GCS if not so.
* Because the barometer is used for calculating AMSL altitude which is used to ensure
* vertical separation from other airtraffic the operator has to know when the
@@ -1142,6 +1169,7 @@ int commander_thread_main(int argc, char *argv[])
status_changed = true;
mavlink_log_critical(mavlink_fd, "baro healthy");
}
} else {
if (!status.barometer_failure) {
status.barometer_failure = true;
@@ -1164,10 +1192,11 @@ int commander_thread_main(int argc, char *argv[])
if (hrt_elapsed_time(&system_power.timestamp) < 200000) {
if (system_power.servo_valid &&
!system_power.brick_valid &&
!system_power.usb_connected) {
!system_power.brick_valid &&
!system_power.usb_connected) {
/* flying only on servo rail, this is unsafe */
status.condition_power_input_valid = false;
} else {
status.condition_power_input_valid = true;
}
@@ -1187,9 +1216,11 @@ int commander_thread_main(int argc, char *argv[])
/* disarm if safety is now on and still armed */
if (status.hil_state == HIL_STATE_OFF && safety.safety_switch_available && !safety.safety_off && armed.armed) {
arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR);
arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY :
ARMING_STATE_STANDBY_ERROR);
if (TRANSITION_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed, true /* fRunPreArmChecks */, mavlink_fd)) {
if (TRANSITION_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed,
true /* fRunPreArmChecks */, mavlink_fd)) {
mavlink_log_info(mavlink_fd, "DISARMED by safety switch");
arming_state_changed = true;
}
@@ -1233,7 +1264,8 @@ int commander_thread_main(int argc, char *argv[])
}
}
check_valid(global_position.timestamp, POSITION_TIMEOUT, eph_good, &(status.condition_global_position_valid), &status_changed);
check_valid(global_position.timestamp, POSITION_TIMEOUT, eph_good, &(status.condition_global_position_valid),
&status_changed);
/* update home position */
if (!status.condition_home_position_valid && status.condition_global_position_valid && !armed.armed &&
@@ -1283,8 +1315,11 @@ int commander_thread_main(int argc, char *argv[])
local_eph_good = false;
}
}
check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.xy_valid && local_eph_good, &(status.condition_local_position_valid), &status_changed);
check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.z_valid, &(status.condition_local_altitude_valid), &status_changed);
check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.xy_valid
&& local_eph_good, &(status.condition_local_position_valid), &status_changed);
check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.z_valid,
&(status.condition_local_altitude_valid), &status_changed);
if (status.condition_local_altitude_valid) {
if (status.condition_landed != local_position.landed) {
@@ -1315,7 +1350,8 @@ int commander_thread_main(int argc, char *argv[])
/* get throttle (if armed), as we only care about energy negative throttle also counts */
float throttle = (armed.armed) ? fabsf(actuator_controls.control[3]) : 0.0f;
status.battery_remaining = battery_remaining_estimate_voltage(battery.voltage_filtered_v, battery.discharged_mah, throttle);
status.battery_remaining = battery_remaining_estimate_voltage(battery.voltage_filtered_v, battery.discharged_mah,
throttle);
}
}
@@ -1372,8 +1408,8 @@ int commander_thread_main(int argc, char *argv[])
last_idle_time = system_load.tasks[0].total_runtime;
/* check if board is connected via USB */
//struct stat statbuf;
//on_usb_power = (stat("/dev/ttyACM0", &statbuf) == 0);
struct stat statbuf;
on_usb_power = (stat("/dev/ttyACM0", &statbuf) == 0);
}
/* if battery voltage is getting lower, warn using buzzer, etc. */
@@ -1383,26 +1419,30 @@ int commander_thread_main(int argc, char *argv[])
status.battery_warning = VEHICLE_BATTERY_WARNING_LOW;
status_changed = true;
} else if (status.condition_battery_voltage_valid && status.battery_remaining < 0.09f && !critical_battery_voltage_actions_done && low_battery_voltage_actions_done) {
} else if (!on_usb_power && status.condition_battery_voltage_valid && status.battery_remaining < 0.09f
&& !critical_battery_voltage_actions_done && low_battery_voltage_actions_done) {
/* critical battery voltage, this is rather an emergency, change state machine */
critical_battery_voltage_actions_done = true;
mavlink_log_emergency(mavlink_fd, "CRITICAL BATTERY, LAND IMMEDIATELY");
status.battery_warning = VEHICLE_BATTERY_WARNING_CRITICAL;
if (armed.armed) {
arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_ARMED_ERROR, &armed, true /* fRunPreArmChecks */, mavlink_fd);
arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_ARMED_ERROR, &armed, true /* fRunPreArmChecks */,
mavlink_fd);
if (arming_ret == TRANSITION_CHANGED) {
arming_state_changed = true;
}
} else {
arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_STANDBY_ERROR, &armed, true /* fRunPreArmChecks */, mavlink_fd);
arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_STANDBY_ERROR, &armed, true /* fRunPreArmChecks */,
mavlink_fd);
if (arming_ret == TRANSITION_CHANGED) {
arming_state_changed = true;
}
}
status_changed = true;
}
@@ -1411,7 +1451,8 @@ int commander_thread_main(int argc, char *argv[])
/* If in INIT state, try to proceed to STANDBY state */
if (status.arming_state == ARMING_STATE_INIT && low_prio_task == LOW_PRIO_TASK_NONE) {
/* TODO: check for sensors */
arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed, true /* fRunPreArmChecks */, mavlink_fd);
arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed, true /* fRunPreArmChecks */,
mavlink_fd);
if (arming_ret == TRANSITION_CHANGED) {
arming_state_changed = true;
@@ -1439,23 +1480,25 @@ int commander_thread_main(int argc, char *argv[])
/* Initialize map projection if gps is valid */
if (!map_projection_global_initialized()
&& (gps_position.eph < eph_threshold)
&& (gps_position.epv < epv_threshold)
&& hrt_elapsed_time((hrt_abstime*)&gps_position.timestamp_position) < 1e6) {
&& (gps_position.eph < eph_threshold)
&& (gps_position.epv < epv_threshold)
&& hrt_elapsed_time((hrt_abstime *)&gps_position.timestamp_position) < 1e6) {
/* set reference for global coordinates <--> local coordiantes conversion and map_projection */
globallocalconverter_init((double)gps_position.lat * 1.0e-7, (double)gps_position.lon * 1.0e-7, (float)gps_position.alt * 1.0e-3f, hrt_absolute_time());
globallocalconverter_init((double)gps_position.lat * 1.0e-7, (double)gps_position.lon * 1.0e-7,
(float)gps_position.alt * 1.0e-3f, hrt_absolute_time());
}
/* check if GPS fix is ok */
if (status.circuit_breaker_engaged_gpsfailure_check ||
(gps_position.fix_type >= 3 &&
hrt_elapsed_time(&gps_position.timestamp_position) < FAILSAFE_DEFAULT_TIMEOUT)) {
(gps_position.fix_type >= 3 &&
hrt_elapsed_time(&gps_position.timestamp_position) < FAILSAFE_DEFAULT_TIMEOUT)) {
/* handle the case where gps was regained */
if (status.gps_failure) {
status.gps_failure = false;
status_changed = true;
mavlink_log_critical(mavlink_fd, "gps regained");
}
} else {
if (!status.gps_failure) {
status.gps_failure = true;
@@ -1477,12 +1520,14 @@ int commander_thread_main(int argc, char *argv[])
armed.force_failsafe = true;
status_changed = true;
static bool flight_termination_printed = false;
if (!flight_termination_printed) {
warnx("Flight termination because of navigator request or geofence");
mavlink_log_critical(mavlink_fd, "GF violation: flight termination");
flight_termination_printed = true;
}
if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0 ) {
if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {
mavlink_log_critical(mavlink_fd, "GF violation: flight termination");
}
} // no reset is done here on purpose, on geofence violation we want to stay in flighttermination
@@ -1490,7 +1535,7 @@ int commander_thread_main(int argc, char *argv[])
/* RC input check */
if (!status.rc_input_blocked && sp_man.timestamp != 0 &&
hrt_absolute_time() < sp_man.timestamp + (uint64_t)(rc_loss_timeout * 1e6f)) {
hrt_absolute_time() < sp_man.timestamp + (uint64_t)(rc_loss_timeout * 1e6f)) {
/* handle the case where RC signal was regained */
if (!status.rc_signal_found_once) {
status.rc_signal_found_once = true;
@@ -1515,11 +1560,15 @@ int commander_thread_main(int argc, char *argv[])
if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) {
/* disarm to STANDBY if ARMED or to STANDBY_ERROR if ARMED_ERROR */
arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR);
arming_ret = arming_state_transition(&status, &safety, new_arming_state, &armed, true /* fRunPreArmChecks */, mavlink_fd);
arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY :
ARMING_STATE_STANDBY_ERROR);
arming_ret = arming_state_transition(&status, &safety, new_arming_state, &armed, true /* fRunPreArmChecks */,
mavlink_fd);
if (arming_ret == TRANSITION_CHANGED) {
arming_state_changed = true;
}
stick_off_counter = 0;
} else {
@@ -1541,8 +1590,11 @@ int commander_thread_main(int argc, char *argv[])
*/
if (status.main_state != MAIN_STATE_MANUAL) {
print_reject_arm("NOT ARMING: Switch to MANUAL mode first.");
} else {
arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed, true /* fRunPreArmChecks */, mavlink_fd);
arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed, true /* fRunPreArmChecks */,
mavlink_fd);
if (arming_ret == TRANSITION_CHANGED) {
arming_state_changed = true;
}
@@ -1565,6 +1617,7 @@ int commander_thread_main(int argc, char *argv[])
} else {
mavlink_log_info(mavlink_fd, "DISARMED by RC");
}
arming_state_changed = true;
} else if (arming_ret == TRANSITION_DENIED) {
@@ -1601,18 +1654,20 @@ int commander_thread_main(int argc, char *argv[])
/* data links check */
bool have_link = false;
for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
if (telemetry_last_heartbeat[i] != 0 &&
hrt_elapsed_time(&telemetry_last_heartbeat[i]) < datalink_loss_timeout * 1e6) {
hrt_elapsed_time(&telemetry_last_heartbeat[i]) < datalink_loss_timeout * 1e6) {
/* handle the case where data link was regained,
* accept datalink as healthy only after datalink_regain_timeout seconds
* */
if (telemetry_lost[i] &&
hrt_elapsed_time(&telemetry_last_dl_loss[i]) > datalink_regain_timeout * 1e6) {
hrt_elapsed_time(&telemetry_last_dl_loss[i]) > datalink_regain_timeout * 1e6) {
mavlink_log_critical(mavlink_fd, "data link %i regained", i);
telemetry_lost[i] = false;
have_link = true;
} else if (!telemetry_lost[i]) {
/* telemetry was healthy also in last iteration
* we don't have to check a timeout */
@@ -1621,6 +1676,7 @@ int commander_thread_main(int argc, char *argv[])
} else {
telemetry_last_dl_loss[i] = hrt_absolute_time();
if (!telemetry_lost[i]) {
mavlink_log_critical(mavlink_fd, "data link %i lost", i);
telemetry_lost[i] = true;
@@ -1648,24 +1704,26 @@ int commander_thread_main(int argc, char *argv[])
* only for fixed wing for now
*/
if (!status.circuit_breaker_engaged_enginefailure_check &&
status.is_rotary_wing == false &&
armed.armed &&
((actuator_controls.control[3] > ef_throttle_thres &&
battery.current_a/actuator_controls.control[3] <
ef_current2throttle_thres) ||
(status.engine_failure))) {
status.is_rotary_wing == false &&
armed.armed &&
((actuator_controls.control[3] > ef_throttle_thres &&
battery.current_a / actuator_controls.control[3] <
ef_current2throttle_thres) ||
(status.engine_failure))) {
/* potential failure, measure time */
if (timestamp_engine_healthy > 0 &&
hrt_elapsed_time(&timestamp_engine_healthy) >
ef_time_thres * 1e6 &&
!status.engine_failure) {
status.engine_failure = true;
status_changed = true;
mavlink_log_critical(mavlink_fd, "Engine Failure");
hrt_elapsed_time(&timestamp_engine_healthy) >
ef_time_thres * 1e6 &&
!status.engine_failure) {
status.engine_failure = true;
status_changed = true;
mavlink_log_critical(mavlink_fd, "Engine Failure");
}
} else {
/* no failure reset flag */
timestamp_engine_healthy = hrt_absolute_time();
if (status.engine_failure) {
status.engine_failure = false;
status_changed = true;
@@ -1692,20 +1750,22 @@ int commander_thread_main(int argc, char *argv[])
* If we are not in a manual (RC stick controlled mode)
* and both failed we want to terminate the flight */
if (status.main_state != MAIN_STATE_MANUAL &&
status.main_state != MAIN_STATE_ACRO &&
status.main_state != MAIN_STATE_ALTCTL &&
status.main_state != MAIN_STATE_POSCTL &&
((status.data_link_lost && status.gps_failure) ||
(status.data_link_lost_cmd && status.gps_failure_cmd))) {
status.main_state != MAIN_STATE_ACRO &&
status.main_state != MAIN_STATE_ALTCTL &&
status.main_state != MAIN_STATE_POSCTL &&
((status.data_link_lost && status.gps_failure) ||
(status.data_link_lost_cmd && status.gps_failure_cmd))) {
armed.force_failsafe = true;
status_changed = true;
static bool flight_termination_printed = false;
if (!flight_termination_printed) {
warnx("Flight termination because of data link loss && gps failure");
mavlink_log_critical(mavlink_fd, "DL and GPS lost: flight termination");
flight_termination_printed = true;
}
if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0 ) {
if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {
mavlink_log_critical(mavlink_fd, "DL and GPS lost: flight termination");
}
}
@@ -1714,19 +1774,21 @@ int commander_thread_main(int argc, char *argv[])
* If we are in manual (controlled with RC):
* if both failed we want to terminate the flight */
if ((status.main_state == MAIN_STATE_ACRO ||
status.main_state == MAIN_STATE_MANUAL ||
status.main_state == MAIN_STATE_ALTCTL ||
status.main_state == MAIN_STATE_POSCTL) &&
((status.rc_signal_lost && status.gps_failure) ||
(status.rc_signal_lost_cmd && status.gps_failure_cmd))) {
status.main_state == MAIN_STATE_MANUAL ||
status.main_state == MAIN_STATE_ALTCTL ||
status.main_state == MAIN_STATE_POSCTL) &&
((status.rc_signal_lost && status.gps_failure) ||
(status.rc_signal_lost_cmd && status.gps_failure_cmd))) {
armed.force_failsafe = true;
status_changed = true;
static bool flight_termination_printed = false;
if (!flight_termination_printed) {
warnx("Flight termination because of RC signal loss && gps failure");
flight_termination_printed = true;
}
if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0 ) {
if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {
mavlink_log_critical(mavlink_fd, "RC and GPS lost: flight termination");
}
}
@@ -1767,6 +1829,7 @@ int commander_thread_main(int argc, char *argv[])
/* mark home position as set */
status.condition_home_position_valid = true;
}
arming_state_changed = false;
}
@@ -1787,7 +1850,11 @@ int commander_thread_main(int argc, char *argv[])
if (status.failsafe != failsafe_old) {
status_changed = true;
mavlink_log_info(mavlink_fd, "[cmd] failsafe state: %i", status.failsafe);
if (status.failsafe) {
mavlink_log_critical(mavlink_fd, "failsafe mode on");
} else {
mavlink_log_critical(mavlink_fd, "failsafe mode off");
}
failsafe_old = status.failsafe;
}
@@ -1811,7 +1878,8 @@ int commander_thread_main(int argc, char *argv[])
}
/* play arming and battery warning tunes */
if (!arm_tune_played && armed.armed && (!safety.safety_switch_available || (safety.safety_switch_available && safety.safety_off))) {
if (!arm_tune_played && armed.armed && (!safety.safety_switch_available || (safety.safety_switch_available
&& safety.safety_off))) {
/* play tune when armed */
set_tune(TONE_ARMING_WARNING_TUNE);
arm_tune_played = true;
@@ -1989,6 +2057,7 @@ set_main_state_rc(struct vehicle_status_s *status_local, struct manual_control_s
/* offboard switch overrides main switch */
if (sp_man->offboard_switch == SWITCH_POS_ON) {
res = main_state_transition(status_local, MAIN_STATE_OFFBOARD);
if (res == TRANSITION_DENIED) {
print_reject_mode(status_local, "OFFBOARD");
@@ -2010,6 +2079,7 @@ set_main_state_rc(struct vehicle_status_s *status_local, struct manual_control_s
} else {
res = main_state_transition(status_local, MAIN_STATE_MANUAL);
}
// TRANSITION_DENIED is not possible here
break;
@@ -2024,7 +2094,7 @@ set_main_state_rc(struct vehicle_status_s *status_local, struct manual_control_s
print_reject_mode(status_local, "POSCTL");
}
// fallback to ALTCTL
// fallback to ALTCTL
res = main_state_transition(status_local, MAIN_STATE_ALTCTL);
if (res != TRANSITION_DENIED) {
@@ -2048,14 +2118,14 @@ set_main_state_rc(struct vehicle_status_s *status_local, struct manual_control_s
break; // changed successfully or already in this state
}
print_reject_mode(status_local, "AUTO_RTL");
print_reject_mode(status_local, "AUTO_RTL");
// fallback to LOITER if home position not set
res = main_state_transition(status_local, MAIN_STATE_AUTO_LOITER);
// fallback to LOITER if home position not set
res = main_state_transition(status_local, MAIN_STATE_AUTO_LOITER);
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}
} else if (sp_man->loiter_switch == SWITCH_POS_ON) {
res = main_state_transition(status_local, MAIN_STATE_AUTO_LOITER);
@@ -2064,7 +2134,7 @@ set_main_state_rc(struct vehicle_status_s *status_local, struct manual_control_s
break; // changed successfully or already in this state
}
print_reject_mode(status_local, "AUTO_LOITER");
print_reject_mode(status_local, "AUTO_LOITER");
} else {
res = main_state_transition(status_local, MAIN_STATE_AUTO_MISSION);
@@ -2073,22 +2143,22 @@ set_main_state_rc(struct vehicle_status_s *status_local, struct manual_control_s
break; // changed successfully or already in this state
}
print_reject_mode(status_local, "AUTO_MISSION");
print_reject_mode(status_local, "AUTO_MISSION");
// fallback to LOITER if home position not set
res = main_state_transition(status_local, MAIN_STATE_AUTO_LOITER);
// fallback to LOITER if home position not set
res = main_state_transition(status_local, MAIN_STATE_AUTO_LOITER);
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}
}
// fallback to POSCTL
res = main_state_transition(status_local, MAIN_STATE_POSCTL);
// fallback to POSCTL
res = main_state_transition(status_local, MAIN_STATE_POSCTL);
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}
// fallback to ALTCTL
res = main_state_transition(status_local, MAIN_STATE_ALTCTL);
@@ -2132,18 +2202,6 @@ set_control_mode()
control_mode.flag_control_termination_enabled = false;
break;
case NAVIGATION_STATE_ACRO:
control_mode.flag_control_manual_enabled = true;
control_mode.flag_control_auto_enabled = false;
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = false;
control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = false;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
control_mode.flag_control_termination_enabled = false;
break;
case NAVIGATION_STATE_ALTCTL:
control_mode.flag_control_manual_enabled = true;
control_mode.flag_control_auto_enabled = false;
@@ -2156,59 +2214,6 @@ set_control_mode()
control_mode.flag_control_termination_enabled = false;
break;
case NAVIGATION_STATE_OFFBOARD:
control_mode.flag_control_manual_enabled = false;
control_mode.flag_control_auto_enabled = false;
control_mode.flag_control_offboard_enabled = true;
switch (sp_offboard.mode) {
case OFFBOARD_CONTROL_MODE_DIRECT_RATES:
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = false;
control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = false;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
break;
case OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE:
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = false;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
break;
case OFFBOARD_CONTROL_MODE_DIRECT_FORCE:
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = false;
control_mode.flag_control_force_enabled = true;
control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = false;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
break;
case OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED:
case OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_OFFSET_NED:
case OFFBOARD_CONTROL_MODE_DIRECT_BODY_NED:
case OFFBOARD_CONTROL_MODE_DIRECT_BODY_OFFSET_NED:
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
control_mode.flag_control_altitude_enabled = true;
control_mode.flag_control_climb_rate_enabled = true;
control_mode.flag_control_position_enabled = true;
control_mode.flag_control_velocity_enabled = true;
//XXX: the flags could depend on sp_offboard.ignore
break;
default:
control_mode.flag_control_rates_enabled = false;
control_mode.flag_control_attitude_enabled = false;
control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = false;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
}
break;
case NAVIGATION_STATE_POSCTL:
control_mode.flag_control_manual_enabled = true;
control_mode.flag_control_auto_enabled = false;
@@ -2224,6 +2229,7 @@ set_control_mode()
case NAVIGATION_STATE_AUTO_MISSION:
case NAVIGATION_STATE_AUTO_LOITER:
case NAVIGATION_STATE_AUTO_RTL:
case NAVIGATION_STATE_AUTO_RCRECOVER:
case NAVIGATION_STATE_AUTO_RTGS:
case NAVIGATION_STATE_AUTO_LANDENGFAIL:
control_mode.flag_control_manual_enabled = false;
@@ -2249,6 +2255,19 @@ set_control_mode()
control_mode.flag_control_termination_enabled = false;
break;
case NAVIGATION_STATE_ACRO:
control_mode.flag_control_manual_enabled = true;
control_mode.flag_control_auto_enabled = false;
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = false;
control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = false;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
control_mode.flag_control_termination_enabled = false;
break;
case NAVIGATION_STATE_LAND:
control_mode.flag_control_manual_enabled = false;
control_mode.flag_control_auto_enabled = true;
@@ -2262,6 +2281,19 @@ set_control_mode()
control_mode.flag_control_termination_enabled = false;
break;
case NAVIGATION_STATE_DESCEND:
/* TODO: check if this makes sense */
control_mode.flag_control_manual_enabled = false;
control_mode.flag_control_auto_enabled = true;
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = true;
control_mode.flag_control_termination_enabled = false;
break;
case NAVIGATION_STATE_TERMINATION:
/* disable all controllers on termination */
control_mode.flag_control_manual_enabled = false;
@@ -2275,6 +2307,63 @@ set_control_mode()
control_mode.flag_control_termination_enabled = true;
break;
case NAVIGATION_STATE_OFFBOARD:
control_mode.flag_control_manual_enabled = false;
control_mode.flag_control_auto_enabled = false;
control_mode.flag_control_offboard_enabled = true;
switch (sp_offboard.mode) {
case OFFBOARD_CONTROL_MODE_DIRECT_RATES:
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = false;
control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = false;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
break;
case OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE:
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = false;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
break;
case OFFBOARD_CONTROL_MODE_DIRECT_FORCE:
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = false;
control_mode.flag_control_force_enabled = true;
control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = false;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
break;
case OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED:
case OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_OFFSET_NED:
case OFFBOARD_CONTROL_MODE_DIRECT_BODY_NED:
case OFFBOARD_CONTROL_MODE_DIRECT_BODY_OFFSET_NED:
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
control_mode.flag_control_altitude_enabled = true;
control_mode.flag_control_climb_rate_enabled = true;
control_mode.flag_control_position_enabled = true;
control_mode.flag_control_velocity_enabled = true;
//XXX: the flags could depend on sp_offboard.ignore
break;
default:
control_mode.flag_control_rates_enabled = false;
control_mode.flag_control_attitude_enabled = false;
control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = false;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
}
break;
default:
break;
}
@@ -2416,7 +2505,8 @@ void *commander_low_prio_loop(void *arg)
int calib_ret = ERROR;
/* try to go to INIT/PREFLIGHT arming state */
if (TRANSITION_DENIED == arming_state_transition(&status, &safety, ARMING_STATE_INIT, &armed, true /* fRunPreArmChecks */, mavlink_fd)) {
if (TRANSITION_DENIED == arming_state_transition(&status, &safety, ARMING_STATE_INIT, &armed,
true /* fRunPreArmChecks */, mavlink_fd)) {
answer_command(cmd, VEHICLE_CMD_RESULT_DENIED);
break;
}
src/modules/commander/gyro_calibration.cpp
+4 -1
View File
@@ -63,7 +63,10 @@ static const char *sensor_name = "gyro";
int do_gyro_calibration(int mavlink_fd)
{
mavlink_log_info(mavlink_fd, CAL_STARTED_MSG, sensor_name);
mavlink_log_info(mavlink_fd, "don't move system");
mavlink_log_info(mavlink_fd, "HOLD STILL");
/* wait for the user to respond */
sleep(2);
struct gyro_scale gyro_scale = {
0.0f,
src/modules/commander/mag_calibration.cpp
+1 -1
View File
@@ -155,7 +155,7 @@ int do_mag_calibration(int mavlink_fd)
uint64_t calibration_deadline = hrt_absolute_time() + calibration_interval;
unsigned poll_errcount = 0;
mavlink_log_info(mavlink_fd, "rotate in a figure 8 around all axis");
mavlink_log_info(mavlink_fd, "Turn on all sides: front/back,left/right,up/down");
calibration_counter = 0;
src/modules/commander/state_machine_helper.cpp
+19 -16
View File
@@ -444,7 +444,7 @@ transition_result_t hil_state_transition(hil_state_t new_state, int status_pub,
* Check failsafe and main status and set navigation status for navigator accordingly
*/
bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_enabled, const bool mission_finished,
const bool stay_in_failsafe)
const bool stay_in_failsafe)
{
navigation_state_t nav_state_old = status->nav_state;
@@ -497,11 +497,13 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
break;
case MAIN_STATE_AUTO_MISSION:
/* go into failsafe
* - if commanded to do so
* - if we have an engine failure
* - if either the datalink is enabled and lost as well as RC is lost
* - if there is no datalink and the mission is finished */
* - depending on datalink, RC and if the mission is finished */
/* first look at the commands */
if (status->engine_failure_cmd) {
status->nav_state = NAVIGATION_STATE_AUTO_LANDENGFAIL;
} else if (status->data_link_lost_cmd) {
@@ -509,14 +511,17 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
} else if (status->gps_failure_cmd) {
status->nav_state = NAVIGATION_STATE_AUTO_LANDGPSFAIL;
} else if (status->rc_signal_lost_cmd) {
status->nav_state = NAVIGATION_STATE_AUTO_RTGS; //XXX
/* Finished handling commands which have priority , now handle failures */
status->nav_state = NAVIGATION_STATE_AUTO_RCRECOVER;
/* finished handling commands which have priority, now handle failures */
} else if (status->gps_failure) {
status->nav_state = NAVIGATION_STATE_AUTO_LANDGPSFAIL;
} else if (status->engine_failure) {
status->nav_state = NAVIGATION_STATE_AUTO_LANDENGFAIL;
} else if (((status->data_link_lost && data_link_loss_enabled) && status->rc_signal_lost) ||
(!data_link_loss_enabled && status->rc_signal_lost && mission_finished)) {
/* datalink loss enabled:
* check for datalink lost: this should always trigger RTGS */
} else if (data_link_loss_enabled && status->data_link_lost) {
status->failsafe = true;
if (status->condition_global_position_valid && status->condition_home_position_valid) {
@@ -529,12 +534,15 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
status->nav_state = NAVIGATION_STATE_TERMINATION;
}
/* also go into failsafe if just datalink is lost */
} else if (status->data_link_lost && data_link_loss_enabled) {
/* datalink loss disabled:
* check if both, RC and datalink are lost during the mission
* or RC is lost after the mission is finished: this should always trigger RCRECOVER */
} else if (!data_link_loss_enabled && ((status->rc_signal_lost && status->data_link_lost) ||
(status->rc_signal_lost && mission_finished))) {
status->failsafe = true;
if (status->condition_global_position_valid && status->condition_home_position_valid) {
status->nav_state = NAVIGATION_STATE_AUTO_RTGS;
status->nav_state = NAVIGATION_STATE_AUTO_RCRECOVER;
} else if (status->condition_local_position_valid) {
status->nav_state = NAVIGATION_STATE_LAND;
} else if (status->condition_local_altitude_valid) {
@@ -543,13 +551,8 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
status->nav_state = NAVIGATION_STATE_TERMINATION;
}
/* don't bother if RC is lost and mission is not yet finished */
} else if (status->rc_signal_lost && !stay_in_failsafe) {
/* this mode is ok, we don't need RC for missions */
status->nav_state = NAVIGATION_STATE_AUTO_MISSION;
/* stay where you are if you should stay in failsafe, otherwise everything is perfect */
} else if (!stay_in_failsafe){
/* everything is perfect */
status->nav_state = NAVIGATION_STATE_AUTO_MISSION;
}
break;
src/modules/controllib/module.mk
+2
View File
@@ -39,3 +39,5 @@ SRCS = test_params.c \
block/BlockParam.cpp \
uorb/blocks.cpp \
blocks.cpp
MAXOPTIMIZATION = -Os
src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+6 -3
View File
@@ -613,8 +613,11 @@ FixedwingEstimator::check_filter_state()
warn_index = max_warn_index;
}
warnx("reset: %s", feedback[warn_index]);
mavlink_log_critical(_mavlink_fd, "[ekf check] %s", feedback[warn_index]);
// Do not warn about accel offset if we have no position updates
if (!(warn_index == 5 && _ekf->staticMode)) {
warnx("reset: %s", feedback[warn_index]);
mavlink_log_critical(_mavlink_fd, "[ekf check] %s", feedback[warn_index]);
}
}
struct estimator_status_report rep;
@@ -1557,7 +1560,7 @@ FixedwingEstimator::start()
_estimator_task = task_spawn_cmd("ekf_att_pos_estimator",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 40,
5000,
7500,
(main_t)&FixedwingEstimator::task_main_trampoline,
nullptr);
src/modules/mavlink/mavlink.c
+1 -5
View File
@@ -78,11 +78,7 @@ PARAM_DEFINE_INT32(MAV_FWDEXTSP, 1);
mavlink_system_t mavlink_system = {
100,
50,
MAV_TYPE_FIXED_WING,
0,
0,
0
50
}; // System ID, 1-255, Component/Subsystem ID, 1-255
/*
src/modules/mavlink/mavlink_main.cpp
+9 -7
View File
@@ -167,8 +167,10 @@ Mavlink::Mavlink() :
_param_initialized(false),
_param_system_id(0),
_param_component_id(0),
_param_system_type(0),
_param_system_type(MAV_TYPE_FIXED_WING),
_param_use_hil_gps(0),
_param_forward_externalsp(0),
_system_type(0),
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "mavlink_el")),
@@ -524,7 +526,7 @@ void Mavlink::mavlink_update_system(void)
param_get(_param_system_type, &system_type);
if (system_type >= 0 && system_type < MAV_TYPE_ENUM_END) {
mavlink_system.type = system_type;
_system_type = system_type;
}
int32_t use_hil_gps;
@@ -755,7 +757,7 @@ Mavlink::send_message(const uint8_t msgid, const void *msg)
pthread_mutex_lock(&_send_mutex);
int buf_free = get_free_tx_buf();
unsigned buf_free = get_free_tx_buf();
uint8_t payload_len = mavlink_message_lengths[msgid];
unsigned packet_len = payload_len + MAVLINK_NUM_NON_PAYLOAD_BYTES;
@@ -763,7 +765,7 @@ Mavlink::send_message(const uint8_t msgid, const void *msg)
_last_write_try_time = hrt_absolute_time();
/* check if there is space in the buffer, let it overflow else */
if (buf_free < TX_BUFFER_GAP) {
if ((buf_free < TX_BUFFER_GAP) || (buf_free < packet_len)) {
/* no enough space in buffer to send */
count_txerr();
count_txerrbytes(packet_len);
@@ -820,14 +822,14 @@ Mavlink::resend_message(mavlink_message_t *msg)
pthread_mutex_lock(&_send_mutex);
int buf_free = get_free_tx_buf();
unsigned buf_free = get_free_tx_buf();
_last_write_try_time = hrt_absolute_time();
unsigned packet_len = msg->len + MAVLINK_NUM_NON_PAYLOAD_BYTES;
/* check if there is space in the buffer, let it overflow else */
if (buf_free < TX_BUFFER_GAP) {
if ((buf_free < TX_BUFFER_GAP) || (buf_free < packet_len)) {
/* no enough space in buffer to send */
count_txerr();
count_txerrbytes(packet_len);
@@ -1634,7 +1636,7 @@ Mavlink::start(int argc, char *argv[])
task_spawn_cmd(buf,
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
2700,
2800,
(main_t)&Mavlink::start_helper,
(const char **)argv);

Some files were not shown because too many files have changed in this diff Show More