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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Daniel Agar
|
9766fcfb6f |
@@ -30,7 +30,6 @@ jobs:
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||||
cuav_nora,
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cuav_x7pro,
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cubepilot_cubeorange,
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cubepilot_cubeorangeplus,
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cubepilot_cubeyellow,
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diatone_mamba-f405-mk2,
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freefly_can-rtk-gps,
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@@ -5,12 +5,12 @@
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# @type Quadrotor Wide
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#
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. ${R}etc/init.d-posix/airframes/10016_gazebo-classic_iris
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. ${R}etc/init.d-posix/airframes/10016_iris
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# EKF2: Vision position and heading, no GPS
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# EKF2: Vision position and heading
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param set-default EKF2_AID_MASK 24
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param set-default EKF2_EV_DELAY 5
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param set-default EKF2_EV_CTRL 15
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param set-default EKF2_HGT_REF 3
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param set-default EKF2_GPS_CTRL 0
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# LPE: Vision + baro
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@@ -10,8 +10,6 @@ PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
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PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
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PX4_SIM_MODEL=${PX4_SIM_MODEL:=rc_cessna}
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param set-default SENS_EN_ARSPDSIM 1
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param set-default EKF2_MAG_ACCLIM 0
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param set-default EKF2_MAG_YAWLIM 0
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@@ -57,6 +55,7 @@ param set-default RWTO_TKOFF 1
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param set-default CA_AIRFRAME 1
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param set-default COM_PREARM_MODE 2
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param set-default CBRK_AIRSPD_CHK 162128
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param set-default CA_ROTOR_COUNT 1
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param set-default CA_ROTOR0_PX 0.3
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@@ -1,106 +0,0 @@
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#!/bin/sh
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#
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# @name Standard VTOL
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#
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# @type Standard VTOL
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#
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. ${R}etc/init.d/rc.vtol_defaults
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PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
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PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
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PX4_SIM_MODEL=${PX4_SIM_MODEL:=standard_vtol}
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param set-default SENS_EN_ARSPDSIM 1
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# TODO: Enable motor failure detection when the
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# VTOL no longer reports 0A for all ESCs in SITL
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param set-default FD_ACT_EN 0
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param set-default FD_ACT_MOT_TOUT 500
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param set-default CA_AIRFRAME 2
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param set-default COM_PREARM_MODE 2
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param set-default CA_ROTOR_COUNT 5
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param set-default CA_ROTOR0_PX 0.1515
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param set-default CA_ROTOR0_PY 0.245
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param set-default CA_ROTOR0_KM 0.05
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param set-default CA_ROTOR1_PX -0.1515
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param set-default CA_ROTOR1_PY -0.1875
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param set-default CA_ROTOR1_KM 0.05
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param set-default CA_ROTOR2_PX 0.1515
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param set-default CA_ROTOR2_PY -0.245
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param set-default CA_ROTOR2_KM -0.05
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param set-default CA_ROTOR3_PX -0.1515
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param set-default CA_ROTOR3_PY 0.1875
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param set-default CA_ROTOR3_KM -0.05
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param set-default CA_ROTOR4_AX 1.0
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param set-default CA_ROTOR4_AZ 0.0
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param set-default CA_ROTOR4_PX 0.2
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param set-default SIM_GZ_EC_FUNC1 101
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param set-default SIM_GZ_EC_MIN1 10
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param set-default SIM_GZ_EC_MAX1 1500
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param set-default SIM_GZ_EC_FUNC2 102
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param set-default SIM_GZ_EC_MIN2 10
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param set-default SIM_GZ_EC_MAX2 1500
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param set-default SIM_GZ_EC_FUNC3 103
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param set-default SIM_GZ_EC_MIN3 10
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param set-default SIM_GZ_EC_MAX3 1500
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param set-default SIM_GZ_EC_FUNC4 104
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param set-default SIM_GZ_EC_MIN4 10
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param set-default SIM_GZ_EC_MAX4 1500
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param set-default SIM_GZ_EC_FUNC5 105
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param set-default SIM_GZ_EC_MIN5 0
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param set-default SIM_GZ_EC_MAX5 3500
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param set-default SIM_GZ_SV_FUNC1 201
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param set-default SIM_GZ_SV_FUNC2 202
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param set-default SIM_GZ_SV_FUNC3 203
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param set-default COM_RC_IN_MODE 1
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param set-default ASPD_PRIMARY 1
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param set-default CA_SV_CS_COUNT 3
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param set-default CA_SV_CS0_TYPE 1
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param set-default CA_SV_CS0_TRQ_R -0.5
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param set-default CA_SV_CS1_TYPE 2
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param set-default CA_SV_CS1_TRQ_R 0.5
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param set-default CA_SV_CS2_TYPE 3
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param set-default CA_SV_CS2_TRQ_P 1.0
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param set-default FW_L1_PERIOD 12
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param set-default FW_PR_FF 0.2
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param set-default FW_PR_P 0.9
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param set-default FW_PSP_OFF 2
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param set-default FW_P_LIM_MIN -15
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param set-default FW_RR_FF 0.1
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param set-default FW_RR_P 0.3
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param set-default FW_THR_TRIM 0.25
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param set-default FW_THR_MAX 0.6
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param set-default FW_THR_MIN 0.05
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param set-default FW_T_CLMB_MAX 8
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param set-default FW_T_SINK_MAX 2.7
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param set-default FW_T_SINK_MIN 2.2
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param set-default MC_AIRMODE 1
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param set-default MC_ROLLRATE_P 0.3
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param set-default MC_YAW_P 1.6
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param set-default MIS_TAKEOFF_ALT 10
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param set-default MPC_ACC_HOR_MAX 2
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param set-default MPC_XY_P 0.8
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param set-default MPC_XY_VEL_P_ACC 3
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param set-default MPC_XY_VEL_I_ACC 4
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param set-default MPC_XY_VEL_D_ACC 0.1
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param set-default NAV_ACC_RAD 5
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param set-default VT_FWD_THRUST_EN 4
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param set-default VT_F_TRANS_THR 0.75
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param set-default VT_B_TRANS_DUR 8
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param set-default VT_TYPE 2
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param set-default FD_ESCS_EN 0
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@@ -73,7 +73,6 @@ px4_add_romfs_files(
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4001_gz_x500
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4002_gz_x500_depth
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4003_gz_rc_cessna
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4004_gz_standard_vtol
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6011_gazebo-classic_typhoon_h480
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6011_gazebo-classic_typhoon_h480.post
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@@ -80,10 +80,6 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
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sensor_baro_sim start
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sensor_gps_sim start
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sensor_mag_sim start
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if param compare -s SENS_EN_ARSPDSIM 1
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then
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sensor_airspeed_sim start
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fi
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else
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echo "ERROR [init] gz_bridge failed to start"
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@@ -97,10 +93,6 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
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sensor_baro_sim start
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sensor_gps_sim start
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sensor_mag_sim start
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if param compare -s SENS_EN_ARSPDSIM 1
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then
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sensor_airspeed_sim start
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fi
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else
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echo "ERROR [init] gz_bridge failed to start"
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@@ -115,10 +107,6 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
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sensor_baro_sim start
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sensor_gps_sim start
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sensor_mag_sim start
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if param compare -s SENS_EN_ARSPDSIM 1
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then
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sensor_airspeed_sim start
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fi
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else
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echo "ERROR [init] gz_bridge failed to start"
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File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
@@ -1,15 +0,0 @@
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<?xml version="1.0"?>
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<model>
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||||
<name>Standard VTOL</name>
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<version>1.0</version>
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<sdf version='1.10'>model.sdf</sdf>
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<author>
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<name>Roman Bapst</name>
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<email>roman@px4.io</email>
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</author>
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||||
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<description>
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This is a model of a standard VTOL quad plane.
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</description>
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||||
</model>
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@@ -1,748 +0,0 @@
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<?xml version="1.0"?>
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||||
<!-- DO NOT EDIT: Generated from standard_vtol.sdf.jinja -->
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<sdf version='1.10'>
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||||
<model name='standard_vtol'>
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<pose>0 0 0.246 0 0 0</pose>
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||||
<link name='base_link'>
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||||
<pose>0 0 0 0 0 0</pose>
|
||||
<inertial>
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||||
<pose>0 0 0 0 0 0</pose>
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||||
<mass>5</mass>
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||||
<inertia>
|
||||
<ixx>0.477708333333</ixx>
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||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.341666666667</iyy>
|
||||
<iyz>0</iyz>
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||||
<izz>0.811041666667</izz>
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||||
</inertia>
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||||
</inertial>
|
||||
<collision name='base_link_collision'>
|
||||
<pose>0 0 -0.07 0 0 0</pose>
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||||
<geometry>
|
||||
<box>
|
||||
<size>0.55 2.144 0.05</size>
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||||
</box>
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||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
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||||
<kp>100000</kp>
|
||||
<kd>1.0</kd>
|
||||
<max_vel>0.1</max_vel>
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||||
<min_depth>0.001</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name='base_link_visual'>
|
||||
<pose>0.53 -1.072 -0.1 1.5707963268 0 3.1415926536</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
<uri>model://standard_vtol/meshes/x8_wing.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>.175 .175 .175 1.0</ambient>
|
||||
<diffuse>.175 .175 .175 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
<visual name='left_motor_column'>
|
||||
<pose>0 0.35 0.01 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.74 0.03 0.03</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>.175 .175 .175 1.0</ambient>
|
||||
<diffuse>.175 .175 .175 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
<visual name='right_motor_column'>
|
||||
<pose>0 -0.35 0.01 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.74 0.03 0.03</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>.175 .175 .175 1.0</ambient>
|
||||
<diffuse>.175 .175 .175 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
<visual name='m0'>
|
||||
<pose>-0.35 0.35 0.045 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.035</length>
|
||||
<radius>0.02</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>.175 .175 .175 1.0</ambient>
|
||||
<diffuse>.175 .175 .175 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
<visual name='m1'>
|
||||
<pose>-0.35 -0.35 0.045 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.035</length>
|
||||
<radius>0.02</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>.175 .175 .175 1.0</ambient>
|
||||
<diffuse>.175 .175 .175 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
<visual name='m2'>
|
||||
<pose>0.35 -0.35 0.045 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.035</length>
|
||||
<radius>0.02</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>.175 .175 .175 1.0</ambient>
|
||||
<diffuse>.175 .175 .175 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
<visual name='m3'>
|
||||
<pose>0.35 0.35 0.045 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.035</length>
|
||||
<radius>0.02</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>.175 .175 .175 1.0</ambient>
|
||||
<diffuse>.175 .175 .175 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
<gravity>1</gravity>
|
||||
<velocity_decay/>
|
||||
<self_collide>0</self_collide>
|
||||
<sensor name="imu_sensor" type="imu">
|
||||
<always_on>1</always_on>
|
||||
<update_rate>250</update_rate>
|
||||
</sensor>
|
||||
</link>
|
||||
<link name='rotor_0'>
|
||||
<pose>0.35 -0.35 0.07 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<mass>0.005</mass>
|
||||
<inertia>
|
||||
<ixx>9.75e-07</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.000166704</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.000167604</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='rotor_0_collision'>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.005</length>
|
||||
<radius>0.1</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name='rotor_0_visual'>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://standard_vtol/meshes/iris_prop_ccw.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0 0 1 1.0</ambient>
|
||||
<diffuse>0 0 1 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
<gravity>1</gravity>
|
||||
<velocity_decay/>
|
||||
<self_collide>0</self_collide>
|
||||
</link>
|
||||
<joint name='rotor_0_joint' type='revolute'>
|
||||
<child>rotor_0</child>
|
||||
<parent>base_link</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-1e+16</lower>
|
||||
<upper>1e+16</upper>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>1</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='rotor_1'>
|
||||
<pose>-0.35 0.35 0.07 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<mass>0.005</mass>
|
||||
<inertia>
|
||||
<ixx>9.75e-07</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.000166704</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.000167604</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='rotor_1_collision'>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.005</length>
|
||||
<radius>0.1</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name='rotor_1_visual'>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://standard_vtol/meshes/iris_prop_ccw.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0 0 1 1.0</ambient>
|
||||
<diffuse>0 0 1 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
<gravity>1</gravity>
|
||||
<velocity_decay/>
|
||||
<self_collide>0</self_collide>
|
||||
</link>
|
||||
<joint name='rotor_1_joint' type='revolute'>
|
||||
<child>rotor_1</child>
|
||||
<parent>base_link</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-1e+16</lower>
|
||||
<upper>1e+16</upper>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>1</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='rotor_2'>
|
||||
<pose>0.35 0.35 0.07 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<mass>0.005</mass>
|
||||
<inertia>
|
||||
<ixx>9.75e-07</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.000166704</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.000167604</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='rotor_2_collision'>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.005</length>
|
||||
<radius>0.1</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name='rotor_2_visual'>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://standard_vtol/meshes/iris_prop_ccw.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0 0 1 1.0</ambient>
|
||||
<diffuse>0 0 1 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
<gravity>1</gravity>
|
||||
<velocity_decay/>
|
||||
<self_collide>0</self_collide>
|
||||
</link>
|
||||
<joint name='rotor_2_joint' type='revolute'>
|
||||
<child>rotor_2</child>
|
||||
<parent>base_link</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-1e+16</lower>
|
||||
<upper>1e+16</upper>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>1</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='rotor_3'>
|
||||
<pose>-0.35 -0.35 0.07 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<mass>0.005</mass>
|
||||
<inertia>
|
||||
<ixx>9.75e-07</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.000166704</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.000167604</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='rotor_3_collision'>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.005</length>
|
||||
<radius>0.1</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name='rotor_3_visual'>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://standard_vtol/meshes/iris_prop_ccw.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0 0 1 1.0</ambient>
|
||||
<diffuse>0 0 1 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
<gravity>1</gravity>
|
||||
<velocity_decay/>
|
||||
<self_collide>0</self_collide>
|
||||
</link>
|
||||
<joint name='rotor_3_joint' type='revolute'>
|
||||
<child>rotor_3</child>
|
||||
<parent>base_link</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-1e+16</lower>
|
||||
<upper>1e+16</upper>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>1</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<link name='rotor_puller'>
|
||||
<pose>-0.22 0 0.0 0 1.57 0</pose>
|
||||
<inertial>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<mass>0.005</mass>
|
||||
<inertia>
|
||||
<ixx>9.75e-07</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.000166704</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.000167604</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='rotor_puller_collision'>
|
||||
<pose>0.0 0 -0.04 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.005</length>
|
||||
<radius>0.06</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name='rotor_puller_visual'>
|
||||
<pose>0 0 -0.04 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.8 0.8 0.8</scale>
|
||||
<uri>model://standard_vtol/meshes/iris_prop_ccw.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0 0 1 1.0</ambient>
|
||||
<diffuse>0 0 1 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
<gravity>1</gravity>
|
||||
<velocity_decay/>
|
||||
<self_collide>0</self_collide>
|
||||
</link>
|
||||
<joint name='rotor_puller_joint' type='revolute'>
|
||||
<pose>0.0 0 0.0 0 -1.57 0</pose>
|
||||
<child>rotor_puller</child>
|
||||
<parent>base_link</parent>
|
||||
<axis>
|
||||
<xyz>1 0 0</xyz>
|
||||
<limit>
|
||||
<lower>-1e+16</lower>
|
||||
<upper>1e+16</upper>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>1</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<link name="left_elevon">
|
||||
<inertial>
|
||||
<mass>0.00000001</mass>
|
||||
<inertia>
|
||||
<ixx>0.000001</ixx>
|
||||
<ixy>0.0</ixy>
|
||||
<iyy>0.000001</iyy>
|
||||
<ixz>0.0</ixz>
|
||||
<iyz>0.0</iyz>
|
||||
<izz>0.000001</izz>
|
||||
</inertia>
|
||||
<pose>0 0.3 0 0.00 0 0.0</pose>
|
||||
</inertial>
|
||||
<visual name='left_elevon_visual'>
|
||||
<pose>-0.105 0.004 -0.034 1.5707963268 0 3.1415926536</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
<uri>model://standard_vtol/meshes/x8_elevon_left.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0 0 1 1.0</ambient>
|
||||
<diffuse>0 0 1 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="right_elevon">
|
||||
<inertial>
|
||||
<mass>0.00000001</mass>
|
||||
<inertia>
|
||||
<ixx>0.000001</ixx>
|
||||
<ixy>0.0</ixy>
|
||||
<iyy>0.000001</iyy>
|
||||
<ixz>0.0</ixz>
|
||||
<iyz>0.0</iyz>
|
||||
<izz>0.000001</izz>
|
||||
</inertia>
|
||||
<pose>0 -0.6 0 0.00 0 0.0</pose>
|
||||
</inertial>
|
||||
<visual name='right_elevon_visual'>
|
||||
<pose>0.281 -1.032 -0.034 1.5707963268 0 3.1415926536</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
<uri>model://standard_vtol/meshes/x8_elevon_right.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0 0 1 1.0</ambient>
|
||||
<diffuse>0 0 1 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="elevator">
|
||||
<inertial>
|
||||
<mass>0.00000001</mass>
|
||||
<inertia>
|
||||
<ixx>0.000001</ixx>
|
||||
<ixy>0.0</ixy>
|
||||
<iyy>0.000001</iyy>
|
||||
<ixz>0.0</ixz>
|
||||
<iyz>0.0</iyz>
|
||||
<izz>0.000001</izz>
|
||||
</inertia>
|
||||
<pose> -0.5 0 0 0.00 0 0.0</pose>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name='servo_0' type='revolute'>
|
||||
<parent>base_link</parent>
|
||||
<child>left_elevon</child>
|
||||
<pose>-0.18 0.6 -0.005 0 0 0.265</pose>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-0.53</lower>
|
||||
<upper>0.53</upper>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>1.000</damping>
|
||||
</dynamics>
|
||||
</axis>
|
||||
<physics>
|
||||
<ode>
|
||||
<implicit_spring_damper>1</implicit_spring_damper>
|
||||
</ode>
|
||||
</physics>
|
||||
</joint>
|
||||
<joint name='servo_1' type='revolute'>
|
||||
<parent>base_link</parent>
|
||||
<child>right_elevon</child>
|
||||
<pose>-0.18 -0.6 -0.005 0 0 -0.265</pose>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-0.53</lower>
|
||||
<upper>0.53</upper>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>1.000</damping>
|
||||
</dynamics>
|
||||
</axis>
|
||||
<physics>
|
||||
<ode>
|
||||
<implicit_spring_damper>1</implicit_spring_damper>
|
||||
</ode>
|
||||
</physics>
|
||||
</joint>
|
||||
<joint name='servo_2' type='revolute'>
|
||||
<parent>base_link</parent>
|
||||
<child>elevator</child>
|
||||
<pose> -0.5 0 0 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<!-- -30/+30 deg. -->
|
||||
<lower>-0.53</lower>
|
||||
<upper>0.53</upper>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>1.000</damping>
|
||||
</dynamics>
|
||||
</axis>
|
||||
<physics>
|
||||
<ode>
|
||||
<implicit_spring_damper>1</implicit_spring_damper>
|
||||
</ode>
|
||||
</physics>
|
||||
</joint>
|
||||
<plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
|
||||
<a0>0.05984281113</a0>
|
||||
<cla>4.752798721</cla>
|
||||
<cda>0.6417112299</cda>
|
||||
<cma>0.0</cma>
|
||||
<alpha_stall>0.3391428111</alpha_stall>
|
||||
<cla_stall>-3.85</cla_stall>
|
||||
<cda_stall>-0.9233984055</cda_stall>
|
||||
<cma_stall>0</cma_stall>
|
||||
<cp>-0.05 0.3 0.05</cp>
|
||||
<area>0.50</area>
|
||||
<air_density>1.2041</air_density>
|
||||
<forward>1 0 0</forward>
|
||||
<upward>0 0 1</upward>
|
||||
<link_name>base_link</link_name>
|
||||
<control_joint_name>servo_0</control_joint_name>
|
||||
<control_joint_rad_to_cl>-1.0</control_joint_rad_to_cl>
|
||||
</plugin>
|
||||
<plugin
|
||||
filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
|
||||
<joint_name>servo_0</joint_name>
|
||||
<sub_topic>servo_0</sub_topic>
|
||||
</plugin>
|
||||
<plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
|
||||
<a0>0.05984281113</a0>
|
||||
<cla>4.752798721</cla>
|
||||
<cda>0.6417112299</cda>
|
||||
<cma>0.0</cma>
|
||||
<alpha_stall>0.3391428111</alpha_stall>
|
||||
<cla_stall>-3.85</cla_stall>
|
||||
<cda_stall>-0.9233984055</cda_stall>
|
||||
<cma_stall>0</cma_stall>
|
||||
<cp>-0.05 -0.3 0.05</cp>
|
||||
<area>0.50</area>
|
||||
<air_density>1.2041</air_density>
|
||||
<forward>1 0 0</forward>
|
||||
<upward>0 0 1</upward>
|
||||
<link_name>base_link</link_name>
|
||||
<control_joint_name>servo_1</control_joint_name>
|
||||
<control_joint_rad_to_cl>-1.0</control_joint_rad_to_cl>
|
||||
</plugin>
|
||||
<plugin
|
||||
filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
|
||||
<joint_name>servo_1</joint_name>
|
||||
<sub_topic>servo_1</sub_topic>
|
||||
</plugin>
|
||||
<plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
|
||||
<a0>-0.2</a0>
|
||||
<cla>4.752798721</cla>
|
||||
<cda>0.6417112299</cda>
|
||||
<cma>0.0</cma>
|
||||
<alpha_stall>0.3391428111</alpha_stall>
|
||||
<cla_stall>-3.85</cla_stall>
|
||||
<cda_stall>-0.9233984055</cda_stall>
|
||||
<cma_stall>0</cma_stall>
|
||||
<cp>-0.5 0 0</cp>
|
||||
<area>0.01</area>
|
||||
<air_density>1.2041</air_density>
|
||||
<forward>1 0 0</forward>
|
||||
<upward>0 0 1</upward>
|
||||
<link_name>base_link</link_name>
|
||||
<control_joint_name>servo_2</control_joint_name>
|
||||
<control_joint_name>servo_2</control_joint_name>
|
||||
<control_joint_rad_to_cl>-12.0</control_joint_rad_to_cl>
|
||||
</plugin>
|
||||
<plugin
|
||||
filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
|
||||
<joint_name>servo_2</joint_name>
|
||||
<sub_topic>servo_2</sub_topic>
|
||||
</plugin>
|
||||
<plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
|
||||
<jointName>rotor_0_joint</jointName>
|
||||
<linkName>rotor_0</linkName>
|
||||
<turningDirection>ccw</turningDirection>
|
||||
<timeConstantUp>0.0125</timeConstantUp>
|
||||
<timeConstantDown>0.025</timeConstantDown>
|
||||
<maxRotVelocity>1500</maxRotVelocity>
|
||||
<motorConstant>2e-05</motorConstant>
|
||||
<momentConstant>0.06</momentConstant>
|
||||
<commandSubTopic>command/motor_speed</commandSubTopic>
|
||||
<motorNumber>0</motorNumber>
|
||||
<rotorDragCoefficient>0.000106428</rotorDragCoefficient>
|
||||
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
|
||||
<rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim>
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
<plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
|
||||
<jointName>rotor_1_joint</jointName>
|
||||
<linkName>rotor_1</linkName>
|
||||
<turningDirection>ccw</turningDirection>
|
||||
<timeConstantUp>0.0125</timeConstantUp>
|
||||
<timeConstantDown>0.025</timeConstantDown>
|
||||
<maxRotVelocity>1500</maxRotVelocity>
|
||||
<motorConstant>2e-05</motorConstant>
|
||||
<momentConstant>0.06</momentConstant>
|
||||
<commandSubTopic>command/motor_speed</commandSubTopic>
|
||||
<motorNumber>1</motorNumber>
|
||||
<rotorDragCoefficient>0.000106428</rotorDragCoefficient>
|
||||
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
|
||||
<rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim>
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
<plugin
|
||||
filename="gz-sim-multicopter-motor-model-system"
|
||||
name="gz::sim::systems::MulticopterMotorModel">
|
||||
<jointName>rotor_2_joint</jointName>
|
||||
<linkName>rotor_2</linkName>
|
||||
<turningDirection>cw</turningDirection>
|
||||
<timeConstantUp>0.0125</timeConstantUp>
|
||||
<timeConstantDown>0.025</timeConstantDown>
|
||||
<maxRotVelocity>1500</maxRotVelocity>
|
||||
<motorConstant>2e-05</motorConstant>
|
||||
<momentConstant>0.06</momentConstant>
|
||||
<commandSubTopic>command/motor_speed</commandSubTopic>
|
||||
<motorNumber>2</motorNumber>
|
||||
<rotorDragCoefficient>0.000106428</rotorDragCoefficient>
|
||||
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
|
||||
<rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim>
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
<plugin
|
||||
filename="gz-sim-multicopter-motor-model-system"
|
||||
name="gz::sim::systems::MulticopterMotorModel">
|
||||
<jointName>rotor_3_joint</jointName>
|
||||
<linkName>rotor_3</linkName>
|
||||
<turningDirection>cw</turningDirection>
|
||||
<timeConstantUp>0.0125</timeConstantUp>
|
||||
<timeConstantDown>0.025</timeConstantDown>
|
||||
<maxRotVelocity>1500</maxRotVelocity>
|
||||
<motorConstant>2e-05</motorConstant>
|
||||
<momentConstant>0.06</momentConstant>
|
||||
<commandSubTopic>command/motor_speed</commandSubTopic>
|
||||
<motorNumber>3</motorNumber>
|
||||
<rotorDragCoefficient>0.000106428</rotorDragCoefficient>
|
||||
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
|
||||
<rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim>
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
<plugin
|
||||
filename="gz-sim-multicopter-motor-model-system"
|
||||
name="gz::sim::systems::MulticopterMotorModel">
|
||||
<jointName>rotor_puller_joint</jointName>
|
||||
<linkName>rotor_puller</linkName>
|
||||
<turningDirection>cw</turningDirection>
|
||||
<timeConstantUp>0.0125</timeConstantUp>
|
||||
<timeConstantDown>0.025</timeConstantDown>
|
||||
<maxRotVelocity>3500</maxRotVelocity>
|
||||
<motorConstant>8.54858e-06</motorConstant>
|
||||
<momentConstant>0.01</momentConstant>
|
||||
<commandSubTopic>command/motor_speed</commandSubTopic>
|
||||
<motorNumber>4</motorNumber>
|
||||
<rotorDragCoefficient>0.000106428</rotorDragCoefficient>
|
||||
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
|
||||
<rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim>
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
<static>0</static>
|
||||
</model>
|
||||
</sdf>
|
||||
@@ -379,7 +379,7 @@
|
||||
|
||||
#define GPIO_UART5_RX GPIO_UART5_RX_3 /* PD2 */
|
||||
#define GPIO_UART5_TX GPIO_UART5_TX_3 /* PC12 */
|
||||
// GPIO_UART5_RTS No remap /* PC8 */
|
||||
// GPIO_UART5_RTS no remap /* PC8 */
|
||||
// GPIO_UART5_CTS No remap /* PC9 */
|
||||
|
||||
#define GPIO_USART6_RX GPIO_USART6_RX_1 /* PC7 */
|
||||
@@ -387,8 +387,8 @@
|
||||
|
||||
#define GPIO_UART7_RX GPIO_UART7_RX_4 /* PF6 */
|
||||
#define GPIO_UART7_TX GPIO_UART7_TX_3 /* PE8 */
|
||||
#define GPIO_UART7_RTS (GPIO_UART7_RTS_2 | GPIO_PULLDOWN) /* PF8 */
|
||||
#define GPIO_UART7_CTS (GPIO_UART7_CTS_1 | GPIO_PULLDOWN) /* PE10 */
|
||||
#define GPIO_UART7_RTS GPIO_UART7_RTS_2 /* PF8 */
|
||||
#define GPIO_UART7_CTS GPIO_UART7_CTS_1 /* PE10 */
|
||||
|
||||
#define GPIO_UART8_RX GPIO_UART8_RX_1 /* PE0 */
|
||||
#define GPIO_UART8_TX GPIO_UART8_TX_1 /* PE1 */
|
||||
|
||||
@@ -65,13 +65,16 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_MICRODDS_CLIENT=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_GPIO=y
|
||||
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
|
||||
CONFIG_SYSTEMCMDS_I2CDETECT=y
|
||||
@@ -82,6 +85,8 @@ CONFIG_SYSTEMCMDS_NSHTERM=y
|
||||
CONFIG_SYSTEMCMDS_PARAM=y
|
||||
CONFIG_SYSTEMCMDS_PERF=y
|
||||
CONFIG_SYSTEMCMDS_REBOOT=y
|
||||
CONFIG_SYSTEMCMDS_REFLECT=y
|
||||
CONFIG_SYSTEMCMDS_SD_BENCH=y
|
||||
CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
|
||||
CONFIG_SYSTEMCMDS_TOP=y
|
||||
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
|
||||
|
||||
@@ -3,9 +3,9 @@ CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
|
||||
CONFIG_DRIVERS_IRLOCK=n
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=n
|
||||
CONFIG_DRIVERS_UAVCAN=n
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=n
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
|
||||
CONFIG_BOARD_TESTING=y
|
||||
CONFIG_DRIVERS_TEST_PPM=y
|
||||
CONFIG_SYSTEMCMDS_MICROBENCH=y
|
||||
CONFIG_SYSTEMCMDS_SD_BENCH=y
|
||||
CONFIG_SYSTEMCMDS_SD_STRESS=y
|
||||
|
||||
@@ -65,6 +65,7 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_MICRODDS_CLIENT=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
@@ -73,6 +74,7 @@ CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_GPIO=y
|
||||
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
|
||||
CONFIG_SYSTEMCMDS_I2CDETECT=y
|
||||
@@ -83,6 +85,8 @@ CONFIG_SYSTEMCMDS_NSHTERM=y
|
||||
CONFIG_SYSTEMCMDS_PARAM=y
|
||||
CONFIG_SYSTEMCMDS_PERF=y
|
||||
CONFIG_SYSTEMCMDS_REBOOT=y
|
||||
CONFIG_SYSTEMCMDS_REFLECT=y
|
||||
CONFIG_SYSTEMCMDS_SD_BENCH=y
|
||||
CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
|
||||
CONFIG_SYSTEMCMDS_TOP=y
|
||||
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
|
||||
|
||||
@@ -7,49 +7,21 @@
|
||||
#
|
||||
# CONFIG_DISABLE_ENVIRON is not set
|
||||
# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
|
||||
# CONFIG_DISABLE_PTHREAD is not set
|
||||
# CONFIG_MMCSD_HAVE_CARDDETECT is not set
|
||||
# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
|
||||
# CONFIG_MMCSD_MMCSUPPORT is not set
|
||||
# CONFIG_MMCSD_SPI is not set
|
||||
# CONFIG_NSH_DISABLEBG is not set
|
||||
# CONFIG_NSH_DISABLESCRIPT is not set
|
||||
# CONFIG_NSH_DISABLE_CAT is not set
|
||||
# CONFIG_NSH_DISABLE_CD is not set
|
||||
# CONFIG_NSH_DISABLE_CMP is not set
|
||||
# CONFIG_NSH_DISABLE_CP is not set
|
||||
# CONFIG_NSH_DISABLE_DATE is not set
|
||||
# CONFIG_NSH_DISABLE_DF is not set
|
||||
# CONFIG_NSH_DISABLE_ECHO is not set
|
||||
# CONFIG_NSH_DISABLE_ENV is not set
|
||||
# CONFIG_NSH_DISABLE_EXEC is not set
|
||||
# CONFIG_NSH_DISABLE_EXIT is not set
|
||||
# CONFIG_NSH_DISABLE_EXPORT is not set
|
||||
# CONFIG_NSH_DISABLE_FREE is not set
|
||||
# CONFIG_NSH_DISABLE_GET is not set
|
||||
# CONFIG_NSH_DISABLE_HELP is not set
|
||||
# CONFIG_NSH_DISABLE_ITEF is not set
|
||||
# CONFIG_NSH_DISABLE_KILL is not set
|
||||
# CONFIG_NSH_DISABLE_LOOPS is not set
|
||||
# CONFIG_NSH_DISABLE_LS is not set
|
||||
# CONFIG_NSH_DISABLE_MKDIR is not set
|
||||
# CONFIG_NSH_DISABLE_MKFATFS is not set
|
||||
# CONFIG_NSH_DISABLE_MOUNT is not set
|
||||
# CONFIG_NSH_DISABLE_MV is not set
|
||||
# CONFIG_NSH_DISABLE_PS is not set
|
||||
# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
|
||||
# CONFIG_NSH_DISABLE_PWD is not set
|
||||
# CONFIG_NSH_DISABLE_RM is not set
|
||||
# CONFIG_NSH_DISABLE_RMDIR is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_SET is not set
|
||||
# CONFIG_NSH_DISABLE_SLEEP is not set
|
||||
# CONFIG_NSH_DISABLE_SOURCE is not set
|
||||
# CONFIG_NSH_DISABLE_TEST is not set
|
||||
# CONFIG_NSH_DISABLE_TIME is not set
|
||||
# CONFIG_NSH_DISABLE_UMOUNT is not set
|
||||
# CONFIG_NSH_DISABLE_UNSET is not set
|
||||
# CONFIG_NSH_DISABLE_USLEEP is not set
|
||||
CONFIG_ARCH="arm"
|
||||
CONFIG_ARCH_BOARD_CUSTOM=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cubepilot/cubeorangeplus/nuttx-config"
|
||||
@@ -58,7 +30,7 @@ CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
|
||||
CONFIG_ARCH_CHIP="stm32h7"
|
||||
CONFIG_ARCH_CHIP_STM32H747XI=y
|
||||
CONFIG_ARCH_CHIP_STM32H7=y
|
||||
CONFIG_ARCH_INTERRUPTSTACK=768
|
||||
CONFIG_ARCH_INTERRUPTSTACK=512
|
||||
CONFIG_ARCH_STACKDUMP=y
|
||||
CONFIG_ARMV7M_BASEPRI_WAR=y
|
||||
CONFIG_ARMV7M_DCACHE=y
|
||||
@@ -68,11 +40,11 @@ CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_ARM_MPU_EARLY_RESET=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
CONFIG_BOARD_ASSERT_RESET_VALUE=0
|
||||
CONFIG_BOARD_CRASHDUMP=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=79954
|
||||
CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_BUILTIN=y
|
||||
CONFIG_C99_BOOL8=y
|
||||
CONFIG_CDCACM=y
|
||||
CONFIG_CDCACM_IFLOWCONTROL=y
|
||||
CONFIG_CDCACM_PRODUCTID=0x1058
|
||||
@@ -84,11 +56,11 @@ CONFIG_CDCACM_VENDORSTR="CubePilot"
|
||||
CONFIG_DEBUG_FULLOPT=y
|
||||
CONFIG_DEBUG_HARDFAULT_ALERT=y
|
||||
CONFIG_DEBUG_SYMBOLS=y
|
||||
CONFIG_DEBUG_TCBINFO=y
|
||||
CONFIG_DEFAULT_SMALL=y
|
||||
CONFIG_DEV_FIFO_SIZE=0
|
||||
CONFIG_DEV_PIPE_MAXSIZE=1024
|
||||
CONFIG_DEV_PIPE_SIZE=70
|
||||
CONFIG_DISABLE_MQUEUE=y
|
||||
CONFIG_EXAMPLES_CALIB_UDELAY=y
|
||||
CONFIG_EXPERIMENTAL=y
|
||||
CONFIG_FAT_DMAMEMORY=y
|
||||
@@ -112,10 +84,7 @@ CONFIG_HAVE_CXXINITIALIZE=y
|
||||
CONFIG_I2C=y
|
||||
CONFIG_I2C_RESET=y
|
||||
CONFIG_IDLETHREAD_STACKSIZE=750
|
||||
CONFIG_INIT_ENTRYPOINT="nsh_main"
|
||||
CONFIG_INIT_STACKSIZE=2944
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_MAX_EXITFUNS=1
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_MEMSET_64BIT=y
|
||||
CONFIG_MEMSET_OPTSPEED=y
|
||||
@@ -134,6 +103,9 @@ CONFIG_NSH_ARGCAT=y
|
||||
CONFIG_NSH_BUILTIN_APPS=y
|
||||
CONFIG_NSH_CMDPARMS=y
|
||||
CONFIG_NSH_CROMFSETC=y
|
||||
CONFIG_NSH_DISABLE_IFCONFIG=y
|
||||
CONFIG_NSH_DISABLE_IFUPDOWN=y
|
||||
CONFIG_NSH_DISABLE_TELNETD=y
|
||||
CONFIG_NSH_LINELEN=128
|
||||
CONFIG_NSH_MAXARGUMENTS=15
|
||||
CONFIG_NSH_NESTDEPTH=8
|
||||
@@ -155,16 +127,17 @@ CONFIG_RAW_BINARY=y
|
||||
CONFIG_READLINE_CMD_HISTORY=y
|
||||
CONFIG_READLINE_TABCOMPLETION=y
|
||||
CONFIG_RTC_DATETIME=y
|
||||
CONFIG_SCHED_ATEXIT=y
|
||||
CONFIG_SCHED_HPWORK=y
|
||||
CONFIG_SCHED_HPWORKPRIORITY=249
|
||||
CONFIG_SCHED_HPWORKSTACKSIZE=1280
|
||||
CONFIG_SCHED_INSTRUMENTATION=y
|
||||
CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
|
||||
CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
|
||||
CONFIG_SCHED_LPWORK=y
|
||||
CONFIG_SCHED_LPWORKPRIORITY=50
|
||||
CONFIG_SCHED_LPWORKSTACKSIZE=1632
|
||||
CONFIG_SCHED_WAITPID=y
|
||||
CONFIG_SDCLONE_DISABLE=y
|
||||
CONFIG_SDMMC1_SDIO_PULLUP=y
|
||||
CONFIG_SEM_PREALLOCHOLDERS=32
|
||||
CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
|
||||
@@ -257,4 +230,6 @@ CONFIG_USBDEV=y
|
||||
CONFIG_USBDEV_BUSPOWERED=y
|
||||
CONFIG_USBDEV_MAXPOWER=500
|
||||
CONFIG_USEC_PER_TICK=1000
|
||||
CONFIG_USERMAIN_STACKSIZE=2944
|
||||
CONFIG_USER_ENTRYPOINT="nsh_main"
|
||||
CONFIG_WATCHDOG=y
|
||||
|
||||
@@ -138,8 +138,6 @@
|
||||
|
||||
#define GPIO_RF_SWITCH /* PE13 */ (GPIO_OUTPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN13)
|
||||
|
||||
#define GPIO_VTX_ON /* PB11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11)
|
||||
|
||||
/* Power switch controls ******************************************************/
|
||||
|
||||
#define SDIO_SLOTNO 0 /* Only one slot */
|
||||
@@ -181,7 +179,6 @@
|
||||
GPIO_TONE_ALARM_IDLE, \
|
||||
GPIO_RSSI_IN, \
|
||||
GPIO_RF_SWITCH, \
|
||||
GPIO_VTX_ON, \
|
||||
}
|
||||
|
||||
#define BOARD_ENABLE_CONSOLE_BUFFER
|
||||
|
||||
@@ -135,8 +135,6 @@
|
||||
|
||||
#define GPIO_RF_SWITCH /* PE13 */ (GPIO_OUTPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN13)
|
||||
|
||||
#define GPIO_VTX_ON /* PB11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11)
|
||||
|
||||
/* Power switch controls ******************************************************/
|
||||
|
||||
#define SDIO_SLOTNO 0 /* Only one slot */
|
||||
@@ -180,7 +178,6 @@
|
||||
GPIO_TONE_ALARM_IDLE, \
|
||||
GPIO_RSSI_IN, \
|
||||
GPIO_RF_SWITCH, \
|
||||
GPIO_VTX_ON, \
|
||||
}
|
||||
|
||||
#define BOARD_ENABLE_CONSOLE_BUFFER
|
||||
|
||||
@@ -31,6 +31,7 @@ CONFIG_COMMON_TELEMETRY=y
|
||||
CONFIG_DRIVERS_TONE_ALARM=y
|
||||
CONFIG_DRIVERS_UAVCAN=y
|
||||
CONFIG_MODULES_AIRSPEED_SELECTOR=y
|
||||
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
|
||||
CONFIG_MODULES_BATTERY_STATUS=y
|
||||
CONFIG_MODULES_CAMERA_FEEDBACK=y
|
||||
CONFIG_MODULES_COMMANDER=y
|
||||
@@ -50,6 +51,7 @@ CONFIG_MODULES_GYRO_FFT=y
|
||||
CONFIG_MODULES_LAND_DETECTOR=y
|
||||
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
|
||||
CONFIG_MODULES_LOAD_MON=y
|
||||
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
|
||||
CONFIG_MODULES_LOGGER=y
|
||||
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
|
||||
CONFIG_MODULES_MANUAL_CONTROL=y
|
||||
@@ -96,3 +98,4 @@ CONFIG_SYSTEMCMDS_UORB=y
|
||||
CONFIG_SYSTEMCMDS_USB_CONNECTED=y
|
||||
CONFIG_SYSTEMCMDS_VER=y
|
||||
CONFIG_SYSTEMCMDS_WORK_QUEUE=y
|
||||
CONFIG_EXAMPLES_FAKE_GPS=y
|
||||
|
||||
@@ -32,6 +32,7 @@ CONFIG_DRIVERS_TONE_ALARM=y
|
||||
CONFIG_DRIVERS_UAVCAN=y
|
||||
CONFIG_BOARD_UAVCAN_INTERFACES=1
|
||||
CONFIG_MODULES_AIRSPEED_SELECTOR=y
|
||||
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
|
||||
CONFIG_MODULES_BATTERY_STATUS=y
|
||||
CONFIG_MODULES_CAMERA_FEEDBACK=y
|
||||
CONFIG_MODULES_COMMANDER=y
|
||||
@@ -51,6 +52,7 @@ CONFIG_MODULES_GYRO_FFT=y
|
||||
CONFIG_MODULES_LAND_DETECTOR=y
|
||||
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
|
||||
CONFIG_MODULES_LOAD_MON=y
|
||||
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
|
||||
CONFIG_MODULES_LOGGER=y
|
||||
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
|
||||
CONFIG_MODULES_MANUAL_CONTROL=y
|
||||
@@ -97,3 +99,4 @@ CONFIG_SYSTEMCMDS_UORB=y
|
||||
CONFIG_SYSTEMCMDS_USB_CONNECTED=y
|
||||
CONFIG_SYSTEMCMDS_VER=y
|
||||
CONFIG_SYSTEMCMDS_WORK_QUEUE=y
|
||||
CONFIG_EXAMPLES_FAKE_GPS=y
|
||||
|
||||
@@ -31,6 +31,7 @@ CONFIG_COMMON_TELEMETRY=y
|
||||
CONFIG_DRIVERS_TONE_ALARM=y
|
||||
CONFIG_DRIVERS_UAVCAN=y
|
||||
CONFIG_MODULES_AIRSPEED_SELECTOR=y
|
||||
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
|
||||
CONFIG_MODULES_BATTERY_STATUS=y
|
||||
CONFIG_MODULES_CAMERA_FEEDBACK=y
|
||||
CONFIG_MODULES_COMMANDER=y
|
||||
@@ -50,6 +51,7 @@ CONFIG_MODULES_GYRO_FFT=y
|
||||
CONFIG_MODULES_LAND_DETECTOR=y
|
||||
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
|
||||
CONFIG_MODULES_LOAD_MON=y
|
||||
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
|
||||
CONFIG_MODULES_LOGGER=y
|
||||
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
|
||||
CONFIG_MODULES_MANUAL_CONTROL=y
|
||||
|
||||
@@ -2,7 +2,6 @@ CONFIG_DRIVERS_ADC_ADS1115=n
|
||||
CONFIG_DRIVERS_IRLOCK=n
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=n
|
||||
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
|
||||
CONFIG_MODULES_GYRO_FFT=n
|
||||
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
|
||||
CONFIG_BOARD_TESTING=y
|
||||
CONFIG_SYSTEMCMDS_MICROBENCH=y
|
||||
|
||||
@@ -35,8 +35,6 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
|
||||
# CONFIG_SENSORS_VEHICLE_OPTICAL_FLOW is not set
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
|
||||
CONFIG_SYSTEMCMDS_MFT=y
|
||||
|
||||
@@ -3,7 +3,6 @@ CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
|
||||
CONFIG_DRIVERS_IRLOCK=n
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=n
|
||||
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
|
||||
CONFIG_MODULES_GYRO_FFT=n
|
||||
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
|
||||
CONFIG_BOARD_TESTING=y
|
||||
CONFIG_DRIVERS_TEST_PPM=y
|
||||
|
||||
@@ -35,6 +35,7 @@ CONFIG_COMMON_TELEMETRY=y
|
||||
CONFIG_DRIVERS_TONE_ALARM=y
|
||||
CONFIG_DRIVERS_UAVCAN=y
|
||||
CONFIG_MODULES_AIRSPEED_SELECTOR=y
|
||||
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
|
||||
CONFIG_MODULES_BATTERY_STATUS=y
|
||||
CONFIG_MODULES_CAMERA_FEEDBACK=y
|
||||
CONFIG_MODULES_COMMANDER=y
|
||||
@@ -54,6 +55,7 @@ CONFIG_MODULES_GYRO_FFT=y
|
||||
CONFIG_MODULES_LAND_DETECTOR=y
|
||||
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
|
||||
CONFIG_MODULES_LOAD_MON=y
|
||||
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
|
||||
CONFIG_MODULES_LOGGER=y
|
||||
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
|
||||
CONFIG_MODULES_MANUAL_CONTROL=y
|
||||
@@ -99,3 +101,4 @@ CONFIG_SYSTEMCMDS_UORB=y
|
||||
CONFIG_SYSTEMCMDS_USB_CONNECTED=y
|
||||
CONFIG_SYSTEMCMDS_VER=y
|
||||
CONFIG_SYSTEMCMDS_WORK_QUEUE=y
|
||||
CONFIG_EXAMPLES_FAKE_GPS=y
|
||||
|
||||
@@ -141,8 +141,12 @@ typedef struct {
|
||||
// The navigation system needs to execute regularly but has no realtime needs
|
||||
#define SCHED_PRIORITY_NAVIGATION (SCHED_PRIORITY_DEFAULT + 5)
|
||||
// SCHED_PRIORITY_DEFAULT
|
||||
#define SCHED_PRIORITY_LOG_WRITER (SCHED_PRIORITY_DEFAULT - 10)
|
||||
|
||||
#define SCHED_PRIORITY_PARAMS (SCHED_PRIORITY_DEFAULT - 15)
|
||||
|
||||
#define SCHED_PRIORITY_LOG_WRITER (SCHED_PRIORITY_DEFAULT - 40)
|
||||
|
||||
|
||||
// SCHED_PRIORITY_IDLE
|
||||
|
||||
typedef int (*px4_main_t)(int argc, char *argv[]);
|
||||
|
||||
@@ -40,6 +40,14 @@ __BEGIN_DECLS
|
||||
#include <stm32.h>
|
||||
#define PX4_SOC_ARCH_ID PX4_SOC_ARCH_ID_STM32F4
|
||||
#define PX4_FLASH_BASE STM32_FLASH_BASE
|
||||
#if defined(CONFIG_STM32_STM32F4XXX)
|
||||
# include <stm32_bbsram.h>
|
||||
# define PX4_BBSRAM_SIZE STM32_BBSRAM_SIZE
|
||||
# define PX4_HF_GETDESC_IOCTL STM32_BBSRAM_GETDESC_IOCTL
|
||||
# define HAS_BBSRAM CONFIG_STM32_BBSRAM
|
||||
# define BBSRAM_FILE_COUNT CONFIG_STM32_BBSRAM_FILES
|
||||
# define SAVE_CRASHDUMP CONFIG_STM32_SAVE_CRASHDUMP
|
||||
#endif
|
||||
#define PX4_NUMBER_I2C_BUSES STM32_NI2C
|
||||
#define PX4_ADC_INTERNAL_TEMP_SENSOR_CHANNEL 16
|
||||
|
||||
|
||||
@@ -73,7 +73,6 @@ protected:
|
||||
RESET,
|
||||
WAIT_FOR_RESET,
|
||||
CONFIGURE,
|
||||
FIFO_RESET,
|
||||
FIFO_READ,
|
||||
} _state{STATE::RESET};
|
||||
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2020-2023 PX4 Development Team. All rights reserved.
|
||||
* Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
@@ -120,7 +120,6 @@ void BMI088_Accelerometer::RunImpl()
|
||||
case STATE::RESET:
|
||||
// ACC_SOFTRESET: Writing a value of 0xB6 to this register resets the sensor
|
||||
RegisterWrite(Register::ACC_SOFTRESET, 0xB6);
|
||||
DataReadyInterruptDisable();
|
||||
_reset_timestamp = now;
|
||||
_failure_count = 0;
|
||||
_state = STATE::WAIT_FOR_RESET;
|
||||
@@ -153,9 +152,21 @@ void BMI088_Accelerometer::RunImpl()
|
||||
|
||||
case STATE::CONFIGURE:
|
||||
if (Configure()) {
|
||||
// if configure succeeded then reset the FIFO
|
||||
_state = STATE::FIFO_RESET;
|
||||
ScheduleDelayed(10_ms);
|
||||
// if configure succeeded then start reading from FIFO
|
||||
_state = STATE::FIFO_READ;
|
||||
|
||||
if (DataReadyInterruptConfigure()) {
|
||||
_data_ready_interrupt_enabled = true;
|
||||
|
||||
// backup schedule as a watchdog timeout
|
||||
ScheduleDelayed(100_ms);
|
||||
|
||||
} else {
|
||||
_data_ready_interrupt_enabled = false;
|
||||
ScheduleOnInterval(_fifo_empty_interval_us, _fifo_empty_interval_us);
|
||||
}
|
||||
|
||||
FIFOReset();
|
||||
|
||||
} else {
|
||||
// CONFIGURE not complete
|
||||
@@ -172,25 +183,6 @@ void BMI088_Accelerometer::RunImpl()
|
||||
|
||||
break;
|
||||
|
||||
case STATE::FIFO_RESET:
|
||||
// if configure succeeded then start reading from FIFO
|
||||
_state = STATE::FIFO_READ;
|
||||
|
||||
FIFOReset();
|
||||
|
||||
if (DataReadyInterruptConfigure()) {
|
||||
_data_ready_interrupt_enabled = true;
|
||||
|
||||
// backup schedule as a watchdog timeout
|
||||
ScheduleDelayed(100_ms);
|
||||
|
||||
} else {
|
||||
_data_ready_interrupt_enabled = false;
|
||||
ScheduleOnInterval(_fifo_empty_interval_us, _fifo_empty_interval_us);
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case STATE::FIFO_READ: {
|
||||
hrt_abstime timestamp_sample = now;
|
||||
uint8_t samples = 0;
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2020-2023 PX4 Development Team. All rights reserved.
|
||||
* Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
@@ -102,7 +102,6 @@ void BMI088_Gyroscope::RunImpl()
|
||||
// GYRO_SOFTRESET: Writing a value of 0xB6 to this register resets the sensor.
|
||||
// Following a delay of 30 ms, all configuration settings are overwritten with their reset value.
|
||||
RegisterWrite(Register::GYRO_SOFTRESET, 0xB6);
|
||||
DataReadyInterruptDisable();
|
||||
_reset_timestamp = now;
|
||||
_failure_count = 0;
|
||||
_state = STATE::WAIT_FOR_RESET;
|
||||
@@ -113,7 +112,7 @@ void BMI088_Gyroscope::RunImpl()
|
||||
if ((RegisterRead(Register::GYRO_CHIP_ID) == ID)) {
|
||||
// if reset succeeded then configure
|
||||
_state = STATE::CONFIGURE;
|
||||
ScheduleDelayed(10_ms);
|
||||
ScheduleDelayed(1_ms);
|
||||
|
||||
} else {
|
||||
// RESET not complete
|
||||
@@ -132,9 +131,21 @@ void BMI088_Gyroscope::RunImpl()
|
||||
|
||||
case STATE::CONFIGURE:
|
||||
if (Configure()) {
|
||||
// if configure succeeded then reset the FIFO
|
||||
_state = STATE::FIFO_RESET;
|
||||
ScheduleDelayed(10_ms);
|
||||
// if configure succeeded then start reading from FIFO
|
||||
_state = STATE::FIFO_READ;
|
||||
|
||||
if (DataReadyInterruptConfigure()) {
|
||||
_data_ready_interrupt_enabled = true;
|
||||
|
||||
// backup schedule as a watchdog timeout
|
||||
ScheduleDelayed(100_ms);
|
||||
|
||||
} else {
|
||||
_data_ready_interrupt_enabled = false;
|
||||
ScheduleOnInterval(_fifo_empty_interval_us, _fifo_empty_interval_us);
|
||||
}
|
||||
|
||||
FIFOReset();
|
||||
|
||||
} else {
|
||||
// CONFIGURE not complete
|
||||
@@ -151,25 +162,6 @@ void BMI088_Gyroscope::RunImpl()
|
||||
|
||||
break;
|
||||
|
||||
case STATE::FIFO_RESET:
|
||||
// if configure succeeded then start reading from FIFO
|
||||
_state = STATE::FIFO_READ;
|
||||
|
||||
FIFOReset();
|
||||
|
||||
if (DataReadyInterruptConfigure()) {
|
||||
_data_ready_interrupt_enabled = true;
|
||||
|
||||
// backup schedule as a watchdog timeout
|
||||
ScheduleDelayed(100_ms);
|
||||
|
||||
} else {
|
||||
_data_ready_interrupt_enabled = false;
|
||||
ScheduleOnInterval(_fifo_empty_interval_us, _fifo_empty_interval_us);
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case STATE::FIFO_READ: {
|
||||
hrt_abstime timestamp_sample = 0;
|
||||
|
||||
|
||||
@@ -359,8 +359,8 @@ void ICM42688P::ConfigureCLKIN()
|
||||
|
||||
for (auto &r1 : _register_bank1_cfg) {
|
||||
if (r1.reg == Register::BANK_1::INTF_CONFIG5) {
|
||||
r1.set_bits = INTF_CONFIG5_BIT::PIN9_FUNCTION_CLKIN_SET;
|
||||
r1.clear_bits = INTF_CONFIG5_BIT::PIN9_FUNCTION_CLKIN_CLEAR;
|
||||
r1.set_bits = PIN9_FUNCTION_BIT::CLKIN;
|
||||
r1.clear_bits = PIN9_FUNCTION_BIT::FSYNC_PIN9;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -201,22 +201,17 @@ private:
|
||||
};
|
||||
|
||||
uint8_t _checked_register_bank1{0};
|
||||
static constexpr uint8_t size_register_bank1_cfg{5};
|
||||
static constexpr uint8_t size_register_bank1_cfg{2};
|
||||
register_bank1_config_t _register_bank1_cfg[size_register_bank1_cfg] {
|
||||
// Register | Set bits, Clear bits
|
||||
{ Register::BANK_1::GYRO_CONFIG_STATIC2, 0, GYRO_CONFIG_STATIC2_BIT::GYRO_NF_DIS | GYRO_CONFIG_STATIC2_BIT::GYRO_AAF_DIS },
|
||||
{ Register::BANK_1::GYRO_CONFIG_STATIC3, GYRO_CONFIG_STATIC3_BIT::GYRO_AAF_DELT_585HZ_SET, GYRO_CONFIG_STATIC3_BIT::GYRO_AAF_DELT_585HZ_CLEAR},
|
||||
{ Register::BANK_1::GYRO_CONFIG_STATIC4, GYRO_CONFIG_STATIC4_BIT::GYRO_AAF_DELTSQR_LSB_585HZ_SET, GYRO_CONFIG_STATIC4_BIT::GYRO_AAF_DELTSQR_LSB_585HZ_CLEAR},
|
||||
{ Register::BANK_1::GYRO_CONFIG_STATIC5, GYRO_CONFIG_STATIC5_BIT::GYRO_AAF_BITSHIFT_585HZ_SET | GYRO_CONFIG_STATIC5_BIT::GYRO_AAF_DELTSQR_MSB_585HZ_SET, GYRO_CONFIG_STATIC5_BIT::GYRO_AAF_BITSHIFT_585HZ_CLEAR | GYRO_CONFIG_STATIC5_BIT::GYRO_AAF_DELTSQR_MSB_585HZ_CLEAR},
|
||||
{ Register::BANK_1::GYRO_CONFIG_STATIC2, GYRO_CONFIG_STATIC2_BIT::GYRO_AAF_DIS | GYRO_CONFIG_STATIC2_BIT::GYRO_NF_DIS, 0 },
|
||||
{ Register::BANK_1::INTF_CONFIG5, 0, 0 },
|
||||
};
|
||||
|
||||
uint8_t _checked_register_bank2{0};
|
||||
static constexpr uint8_t size_register_bank2_cfg{3};
|
||||
static constexpr uint8_t size_register_bank2_cfg{1};
|
||||
register_bank2_config_t _register_bank2_cfg[size_register_bank2_cfg] {
|
||||
// Register | Set bits, Clear bits
|
||||
{ Register::BANK_2::ACCEL_CONFIG_STATIC2, ACCEL_CONFIG_STATIC2_BIT::ACCEL_AAF_DELT_585HZ_SET, ACCEL_CONFIG_STATIC2_BIT::ACCEL_AAF_DELT_585HZ_CLEAR | ACCEL_CONFIG_STATIC2_BIT::ACCEL_AAF_DIS },
|
||||
{ Register::BANK_2::ACCEL_CONFIG_STATIC3, ACCEL_CONFIG_STATIC3_BIT::ACCEL_AAF_DELTSQR_LSB_585HZ_SET, ACCEL_CONFIG_STATIC3_BIT::ACCEL_AAF_DELTSQR_LSB_585HZ_CLEAR },
|
||||
{ Register::BANK_2::ACCEL_CONFIG_STATIC4, ACCEL_CONFIG_STATIC4_BIT::ACCEL_AAF_BITSHIFT_585HZ_SET | ACCEL_CONFIG_STATIC4_BIT::ACCEL_AAF_DELTSQR_MSB_SET, ACCEL_CONFIG_STATIC4_BIT::ACCEL_AAF_BITSHIFT_585HZ_CLEAR | ACCEL_CONFIG_STATIC4_BIT::ACCEL_AAF_DELTSQR_MSB_CLEAR },
|
||||
{ Register::BANK_2::ACCEL_CONFIG_STATIC2, ACCEL_CONFIG_STATIC2_BIT::ACCEL_AAF_DIS, 0 },
|
||||
};
|
||||
};
|
||||
|
||||
@@ -108,18 +108,12 @@ enum class BANK_0 : uint8_t {
|
||||
};
|
||||
|
||||
enum class BANK_1 : uint8_t {
|
||||
GYRO_CONFIG_STATIC2 = 0x0B,
|
||||
GYRO_CONFIG_STATIC3 = 0x0C,
|
||||
GYRO_CONFIG_STATIC4 = 0x0D,
|
||||
GYRO_CONFIG_STATIC5 = 0x0E,
|
||||
|
||||
INTF_CONFIG5 = 0x7B,
|
||||
GYRO_CONFIG_STATIC2 = 0x0B,
|
||||
INTF_CONFIG5 = 0x7B,
|
||||
};
|
||||
|
||||
enum class BANK_2 : uint8_t {
|
||||
ACCEL_CONFIG_STATIC2 = 0x03,
|
||||
ACCEL_CONFIG_STATIC3 = 0x04,
|
||||
ACCEL_CONFIG_STATIC4 = 0x05,
|
||||
};
|
||||
|
||||
};
|
||||
@@ -295,81 +289,21 @@ enum REG_BANK_SEL_BIT : uint8_t {
|
||||
|
||||
// GYRO_CONFIG_STATIC2
|
||||
enum GYRO_CONFIG_STATIC2_BIT : uint8_t {
|
||||
GYRO_AAF_DIS = Bit1, // 1: Disable gyroscope anti-aliasing filter
|
||||
GYRO_NF_DIS = Bit0, // 1: Disable Notch Filter
|
||||
GYRO_AAF_DIS = Bit1,
|
||||
GYRO_NF_DIS = Bit0,
|
||||
};
|
||||
|
||||
// GYRO_CONFIG_STATIC3
|
||||
enum GYRO_CONFIG_STATIC3_BIT : uint8_t {
|
||||
// 5:0 GYRO_AAF_DELT
|
||||
// 585 Hz = 13 (0b00'1101)
|
||||
GYRO_AAF_DELT_585HZ_SET = Bit3 | Bit2 | Bit0,
|
||||
GYRO_AAF_DELT_585HZ_CLEAR = Bit5 | Bit4 | Bit1,
|
||||
};
|
||||
|
||||
// GYRO_CONFIG_STATIC4
|
||||
enum GYRO_CONFIG_STATIC4_BIT : uint8_t {
|
||||
// 7:0 GYRO_AAF_DELTSQR
|
||||
// 585 Hz = 170 (0b1010'1010)
|
||||
GYRO_AAF_DELTSQR_LSB_585HZ_SET = Bit7 | Bit5 | Bit3 | Bit1,
|
||||
GYRO_AAF_DELTSQR_LSB_585HZ_CLEAR = Bit6 | Bit4 | Bit2 | Bit0,
|
||||
};
|
||||
|
||||
// GYRO_CONFIG_STATIC5
|
||||
enum GYRO_CONFIG_STATIC5_BIT : uint8_t {
|
||||
// 7:4 GYRO_AAF_BITSHIFT
|
||||
// 585 Hz = 8 (0b1000)
|
||||
GYRO_AAF_BITSHIFT_585HZ_SET = Bit7,
|
||||
GYRO_AAF_BITSHIFT_585HZ_CLEAR = Bit6 | Bit5 | Bit4,
|
||||
|
||||
// 3:0 GYRO_AAF_DELTSQR[11:8]
|
||||
// 585 Hz = 170 (0b0000'1010'1010)
|
||||
GYRO_AAF_DELTSQR_MSB_585HZ_SET = 0,
|
||||
GYRO_AAF_DELTSQR_MSB_585HZ_CLEAR = Bit3 | Bit2 | Bit1 | Bit0,
|
||||
};
|
||||
|
||||
// INTF_CONFIG5
|
||||
enum INTF_CONFIG5_BIT : uint8_t {
|
||||
// 2:1 PIN9_FUNCTION
|
||||
PIN9_FUNCTION_CLKIN_SET = Bit2, // 0b10: CLKIN
|
||||
PIN9_FUNCTION_CLKIN_CLEAR = Bit1,
|
||||
|
||||
PIN9_FUNCTION_RESET_SET = 0,
|
||||
PIN9_FUNCTION_RESET_CLEAR = Bit2 | Bit1,
|
||||
// PIN9_FUNCTION
|
||||
enum PIN9_FUNCTION_BIT : uint8_t {
|
||||
FSYNC_PIN9 = Bit1,
|
||||
CLKIN = Bit2,
|
||||
};
|
||||
|
||||
//---------------- BANK2 Register bits
|
||||
|
||||
// ACCEL_CONFIG_STATIC2
|
||||
enum ACCEL_CONFIG_STATIC2_BIT : uint8_t {
|
||||
// 6:1 ACCEL_AAF_DELT
|
||||
// 585 Hz = 13 (0b00'1101)
|
||||
ACCEL_AAF_DELT_585HZ_SET = Bit4 | Bit3 | Bit1,
|
||||
ACCEL_AAF_DELT_585HZ_CLEAR = Bit6 | Bit5 | Bit2,
|
||||
|
||||
// 0 ACCEL_AAF_DIS
|
||||
ACCEL_AAF_DIS = Bit0, // 0: Enable accelerometer anti-aliasing filter (default)
|
||||
};
|
||||
|
||||
// ACCEL_CONFIG_STATIC3
|
||||
enum ACCEL_CONFIG_STATIC3_BIT : uint8_t {
|
||||
// 7:0 ACCEL_AAF_DELTSQR[7:0]
|
||||
// 585 Hz = 170 (0b0000'1010'1010)
|
||||
ACCEL_AAF_DELTSQR_LSB_585HZ_SET = Bit7 | Bit5 | Bit3 | Bit1,
|
||||
ACCEL_AAF_DELTSQR_LSB_585HZ_CLEAR = Bit6 | Bit4 | Bit2 | Bit0,
|
||||
};
|
||||
|
||||
// ACCEL_CONFIG_STATIC4
|
||||
enum ACCEL_CONFIG_STATIC4_BIT : uint8_t {
|
||||
// 7:4 ACCEL_AAF_BITSHIFT
|
||||
// 585 Hz = 8 (0b1000)
|
||||
ACCEL_AAF_BITSHIFT_585HZ_SET = Bit7,
|
||||
ACCEL_AAF_BITSHIFT_585HZ_CLEAR = Bit6 | Bit5 | Bit4,
|
||||
|
||||
// 3:0 ACCEL_AAF_DELTSQR[11:8]
|
||||
// 585 Hz = 170 (0b0000'1010'1010)
|
||||
ACCEL_AAF_DELTSQR_MSB_SET = 0,
|
||||
ACCEL_AAF_DELTSQR_MSB_CLEAR = Bit3 | Bit2 | Bit1 | Bit0,
|
||||
ACCEL_AAF_DIS = Bit0,
|
||||
};
|
||||
|
||||
namespace FIFO
|
||||
|
||||
@@ -359,8 +359,8 @@ void IIM42652::ConfigureCLKIN()
|
||||
|
||||
for (auto &r1 : _register_bank1_cfg) {
|
||||
if (r1.reg == Register::BANK_1::INTF_CONFIG5) {
|
||||
r1.set_bits = INTF_CONFIG5_BIT::PIN9_FUNCTION_CLKIN_SET;
|
||||
r1.clear_bits = INTF_CONFIG5_BIT::PIN9_FUNCTION_CLKIN_CLEAR;
|
||||
r1.set_bits = PIN9_FUNCTION_BIT::CLKIN;
|
||||
r1.clear_bits = PIN9_FUNCTION_BIT::FSYNC_PIN9;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -201,22 +201,17 @@ private:
|
||||
};
|
||||
|
||||
uint8_t _checked_register_bank1{0};
|
||||
static constexpr uint8_t size_register_bank1_cfg{5};
|
||||
static constexpr uint8_t size_register_bank1_cfg{2};
|
||||
register_bank1_config_t _register_bank1_cfg[size_register_bank1_cfg] {
|
||||
// Register | Set bits, Clear bits
|
||||
{ Register::BANK_1::GYRO_CONFIG_STATIC2, 0, GYRO_CONFIG_STATIC2_BIT::GYRO_NF_DIS | GYRO_CONFIG_STATIC2_BIT::GYRO_AAF_DIS },
|
||||
{ Register::BANK_1::GYRO_CONFIG_STATIC3, GYRO_CONFIG_STATIC3_BIT::GYRO_AAF_DELT_585HZ_SET, GYRO_CONFIG_STATIC3_BIT::GYRO_AAF_DELT_585HZ_CLEAR},
|
||||
{ Register::BANK_1::GYRO_CONFIG_STATIC4, GYRO_CONFIG_STATIC4_BIT::GYRO_AAF_DELTSQR_LSB_585HZ_SET, GYRO_CONFIG_STATIC4_BIT::GYRO_AAF_DELTSQR_LSB_585HZ_CLEAR},
|
||||
{ Register::BANK_1::GYRO_CONFIG_STATIC5, GYRO_CONFIG_STATIC5_BIT::GYRO_AAF_BITSHIFT_585HZ_SET | GYRO_CONFIG_STATIC5_BIT::GYRO_AAF_DELTSQR_MSB_585HZ_SET, GYRO_CONFIG_STATIC5_BIT::GYRO_AAF_BITSHIFT_585HZ_CLEAR | GYRO_CONFIG_STATIC5_BIT::GYRO_AAF_DELTSQR_MSB_585HZ_CLEAR},
|
||||
{ Register::BANK_1::GYRO_CONFIG_STATIC2, GYRO_CONFIG_STATIC2_BIT::GYRO_AAF_DIS | GYRO_CONFIG_STATIC2_BIT::GYRO_NF_DIS, 0 },
|
||||
{ Register::BANK_1::INTF_CONFIG5, 0, 0 },
|
||||
};
|
||||
|
||||
uint8_t _checked_register_bank2{0};
|
||||
static constexpr uint8_t size_register_bank2_cfg{3};
|
||||
static constexpr uint8_t size_register_bank2_cfg{1};
|
||||
register_bank2_config_t _register_bank2_cfg[size_register_bank2_cfg] {
|
||||
// Register | Set bits, Clear bits
|
||||
{ Register::BANK_2::ACCEL_CONFIG_STATIC2, ACCEL_CONFIG_STATIC2_BIT::ACCEL_AAF_DELT_585HZ_SET, ACCEL_CONFIG_STATIC2_BIT::ACCEL_AAF_DELT_585HZ_CLEAR | ACCEL_CONFIG_STATIC2_BIT::ACCEL_AAF_DIS },
|
||||
{ Register::BANK_2::ACCEL_CONFIG_STATIC3, ACCEL_CONFIG_STATIC3_BIT::ACCEL_AAF_DELTSQR_LSB_585HZ_SET, ACCEL_CONFIG_STATIC3_BIT::ACCEL_AAF_DELTSQR_LSB_585HZ_CLEAR },
|
||||
{ Register::BANK_2::ACCEL_CONFIG_STATIC4, ACCEL_CONFIG_STATIC4_BIT::ACCEL_AAF_BITSHIFT_585HZ_SET | ACCEL_CONFIG_STATIC4_BIT::ACCEL_AAF_DELTSQR_MSB_SET, ACCEL_CONFIG_STATIC4_BIT::ACCEL_AAF_BITSHIFT_585HZ_CLEAR | ACCEL_CONFIG_STATIC4_BIT::ACCEL_AAF_DELTSQR_MSB_CLEAR },
|
||||
{ Register::BANK_2::ACCEL_CONFIG_STATIC2, ACCEL_CONFIG_STATIC2_BIT::ACCEL_AAF_DIS, 0 },
|
||||
};
|
||||
};
|
||||
|
||||
@@ -108,18 +108,12 @@ enum class BANK_0 : uint8_t {
|
||||
};
|
||||
|
||||
enum class BANK_1 : uint8_t {
|
||||
GYRO_CONFIG_STATIC2 = 0x0B,
|
||||
GYRO_CONFIG_STATIC3 = 0x0C,
|
||||
GYRO_CONFIG_STATIC4 = 0x0D,
|
||||
GYRO_CONFIG_STATIC5 = 0x0E,
|
||||
|
||||
INTF_CONFIG5 = 0x7B,
|
||||
GYRO_CONFIG_STATIC2 = 0x0B,
|
||||
INTF_CONFIG5 = 0x7B,
|
||||
};
|
||||
|
||||
enum class BANK_2 : uint8_t {
|
||||
ACCEL_CONFIG_STATIC2 = 0x03,
|
||||
ACCEL_CONFIG_STATIC3 = 0x04,
|
||||
ACCEL_CONFIG_STATIC4 = 0x05,
|
||||
};
|
||||
|
||||
};
|
||||
@@ -295,81 +289,21 @@ enum REG_BANK_SEL_BIT : uint8_t {
|
||||
|
||||
// GYRO_CONFIG_STATIC2
|
||||
enum GYRO_CONFIG_STATIC2_BIT : uint8_t {
|
||||
GYRO_AAF_DIS = Bit1, // 1: Disable gyroscope anti-aliasing filter
|
||||
GYRO_NF_DIS = Bit0, // 1: Disable Notch Filter
|
||||
GYRO_AAF_DIS = Bit1,
|
||||
GYRO_NF_DIS = Bit0,
|
||||
};
|
||||
|
||||
// GYRO_CONFIG_STATIC3
|
||||
enum GYRO_CONFIG_STATIC3_BIT : uint8_t {
|
||||
// 5:0 GYRO_AAF_DELT
|
||||
// 585 Hz = 13 (0b00'1101)
|
||||
GYRO_AAF_DELT_585HZ_SET = Bit3 | Bit2 | Bit0,
|
||||
GYRO_AAF_DELT_585HZ_CLEAR = Bit5 | Bit4 | Bit1,
|
||||
};
|
||||
|
||||
// GYRO_CONFIG_STATIC4
|
||||
enum GYRO_CONFIG_STATIC4_BIT : uint8_t {
|
||||
// 7:0 GYRO_AAF_DELTSQR
|
||||
// 585 Hz = 170 (0b1010'1010)
|
||||
GYRO_AAF_DELTSQR_LSB_585HZ_SET = Bit7 | Bit5 | Bit3 | Bit1,
|
||||
GYRO_AAF_DELTSQR_LSB_585HZ_CLEAR = Bit6 | Bit4 | Bit2 | Bit0,
|
||||
};
|
||||
|
||||
// GYRO_CONFIG_STATIC5
|
||||
enum GYRO_CONFIG_STATIC5_BIT : uint8_t {
|
||||
// 7:4 GYRO_AAF_BITSHIFT
|
||||
// 585 Hz = 8 (0b1000)
|
||||
GYRO_AAF_BITSHIFT_585HZ_SET = Bit7,
|
||||
GYRO_AAF_BITSHIFT_585HZ_CLEAR = Bit6 | Bit5 | Bit4,
|
||||
|
||||
// 3:0 GYRO_AAF_DELTSQR[11:8]
|
||||
// 585 Hz = 170 (0b0000'1010'1010)
|
||||
GYRO_AAF_DELTSQR_MSB_585HZ_SET = 0,
|
||||
GYRO_AAF_DELTSQR_MSB_585HZ_CLEAR = Bit3 | Bit2 | Bit1 | Bit0,
|
||||
};
|
||||
|
||||
// INTF_CONFIG5
|
||||
enum INTF_CONFIG5_BIT : uint8_t {
|
||||
// 2:1 PIN9_FUNCTION
|
||||
PIN9_FUNCTION_CLKIN_SET = Bit2, // 0b10: CLKIN
|
||||
PIN9_FUNCTION_CLKIN_CLEAR = Bit1,
|
||||
|
||||
PIN9_FUNCTION_RESET_SET = 0,
|
||||
PIN9_FUNCTION_RESET_CLEAR = Bit2 | Bit1,
|
||||
// PIN9_FUNCTION
|
||||
enum PIN9_FUNCTION_BIT : uint8_t {
|
||||
FSYNC_PIN9 = Bit1,
|
||||
CLKIN = Bit2,
|
||||
};
|
||||
|
||||
//---------------- BANK2 Register bits
|
||||
|
||||
// ACCEL_CONFIG_STATIC2
|
||||
enum ACCEL_CONFIG_STATIC2_BIT : uint8_t {
|
||||
// 6:1 ACCEL_AAF_DELT
|
||||
// 585 Hz = 13 (0b00'1101)
|
||||
ACCEL_AAF_DELT_585HZ_SET = Bit4 | Bit3 | Bit1,
|
||||
ACCEL_AAF_DELT_585HZ_CLEAR = Bit6 | Bit5 | Bit2,
|
||||
|
||||
// 0 ACCEL_AAF_DIS
|
||||
ACCEL_AAF_DIS = Bit0, // 0: Enable accelerometer anti-aliasing filter (default)
|
||||
};
|
||||
|
||||
// ACCEL_CONFIG_STATIC3
|
||||
enum ACCEL_CONFIG_STATIC3_BIT : uint8_t {
|
||||
// 7:0 ACCEL_AAF_DELTSQR[7:0]
|
||||
// 585 Hz = 170 (0b0000'1010'1010)
|
||||
ACCEL_AAF_DELTSQR_LSB_585HZ_SET = Bit7 | Bit5 | Bit3 | Bit1,
|
||||
ACCEL_AAF_DELTSQR_LSB_585HZ_CLEAR = Bit6 | Bit4 | Bit2 | Bit0,
|
||||
};
|
||||
|
||||
// ACCEL_CONFIG_STATIC4
|
||||
enum ACCEL_CONFIG_STATIC4_BIT : uint8_t {
|
||||
// 7:4 ACCEL_AAF_BITSHIFT
|
||||
// 585 Hz = 8 (0b1000)
|
||||
ACCEL_AAF_BITSHIFT_585HZ_SET = Bit7,
|
||||
ACCEL_AAF_BITSHIFT_585HZ_CLEAR = Bit6 | Bit5 | Bit4,
|
||||
|
||||
// 3:0 ACCEL_AAF_DELTSQR[11:8]
|
||||
// 585 Hz = 170 (0b0000'1010'1010)
|
||||
ACCEL_AAF_DELTSQR_MSB_SET = 0,
|
||||
ACCEL_AAF_DELTSQR_MSB_CLEAR = Bit3 | Bit2 | Bit1 | Bit0,
|
||||
ACCEL_AAF_DIS = Bit0,
|
||||
};
|
||||
|
||||
namespace FIFO
|
||||
|
||||
@@ -118,8 +118,8 @@ void Battery::updateBatteryStatus(const hrt_abstime ×tamp)
|
||||
_current_filter_a.reset(_current_a);
|
||||
}
|
||||
|
||||
// Require minimum voltage otherwise override connected status
|
||||
if (_voltage_filter_v.getState() < LITHIUM_BATTERY_RECOGNITION_VOLTAGE) {
|
||||
// Require minimum voltage toherwise override connected status
|
||||
if (_voltage_filter_v.getState() < 2.1f) {
|
||||
_connected = false;
|
||||
}
|
||||
|
||||
|
||||
@@ -110,8 +110,6 @@ public:
|
||||
void updateAndPublishBatteryStatus(const hrt_abstime ×tamp);
|
||||
|
||||
protected:
|
||||
static constexpr float LITHIUM_BATTERY_RECOGNITION_VOLTAGE = 2.1f;
|
||||
|
||||
struct {
|
||||
param_t v_empty;
|
||||
param_t v_charged;
|
||||
|
||||
@@ -556,12 +556,6 @@ void Ekf::resetQuatCov()
|
||||
rot_vec_var.setAll(sq(_params.initial_tilt_err));
|
||||
|
||||
initialiseQuatCovariances(rot_vec_var);
|
||||
|
||||
// update the yaw angle variance using the variance of the measurement
|
||||
if (_params.mag_fusion_type <= MagFuseType::MAG_3D) {
|
||||
// using magnetic heading tuning parameter
|
||||
increaseQuatYawErrVariance(sq(fmaxf(_params.mag_heading_noise, 1.0e-2f)));
|
||||
}
|
||||
}
|
||||
|
||||
void Ekf::zeroQuatCov()
|
||||
|
||||
@@ -52,8 +52,6 @@ bool Ekf::init(uint64_t timestamp)
|
||||
|
||||
void Ekf::reset()
|
||||
{
|
||||
ECL_INFO("reset");
|
||||
|
||||
_state.vel.setZero();
|
||||
_state.pos.setZero();
|
||||
_state.delta_ang_bias.setZero();
|
||||
@@ -198,13 +196,61 @@ bool Ekf::initialiseFilter()
|
||||
_gyro_lpf.update(imu_init.delta_ang / imu_init.delta_ang_dt);
|
||||
}
|
||||
|
||||
// Sum the magnetometer measurements
|
||||
if (_mag_buffer) {
|
||||
magSample mag_sample;
|
||||
|
||||
if (_mag_buffer->pop_first_older_than(_time_delayed_us, &mag_sample)) {
|
||||
if (mag_sample.time_us != 0) {
|
||||
if (_mag_counter == 0) {
|
||||
_mag_lpf.reset(mag_sample.mag);
|
||||
|
||||
} else {
|
||||
_mag_lpf.update(mag_sample.mag);
|
||||
}
|
||||
|
||||
_mag_counter++;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (!initialiseTilt()) {
|
||||
return false;
|
||||
}
|
||||
|
||||
// calculate the initial magnetic field and yaw alignment
|
||||
// but do not mark the yaw alignement complete as it needs to be
|
||||
// reset once the leveling phase is done
|
||||
if (_params.mag_fusion_type <= MagFuseType::MAG_3D) {
|
||||
if (_mag_counter > 1) {
|
||||
// rotate the magnetometer measurements into earth frame using a zero yaw angle
|
||||
// the angle of the projection onto the horizontal gives the yaw angle
|
||||
const Vector3f mag_earth_pred = updateYawInRotMat(0.f, _R_to_earth) * _mag_lpf.getState();
|
||||
float yaw_new = -atan2f(mag_earth_pred(1), mag_earth_pred(0)) + getMagDeclination();
|
||||
|
||||
// update the rotation matrix using the new yaw value
|
||||
_R_to_earth = updateYawInRotMat(yaw_new, Dcmf(_state.quat_nominal));
|
||||
_state.quat_nominal = _R_to_earth;
|
||||
|
||||
// set the earth magnetic field states using the updated rotation
|
||||
_state.mag_I = _R_to_earth * _mag_lpf.getState();
|
||||
_state.mag_B.zero();
|
||||
|
||||
} else {
|
||||
// not enough mag samples accumulated
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
// initialise the state covariance matrix now we have starting values for all the states
|
||||
initialiseCovariance();
|
||||
|
||||
// update the yaw angle variance using the variance of the measurement
|
||||
if (_params.mag_fusion_type <= MagFuseType::MAG_3D) {
|
||||
// using magnetic heading tuning parameter
|
||||
increaseQuatYawErrVariance(sq(fmaxf(_params.mag_heading_noise, 1.0e-2f)));
|
||||
}
|
||||
|
||||
// Initialise the terrain estimator
|
||||
initHagl();
|
||||
|
||||
|
||||
@@ -222,7 +222,8 @@ bool Ekf::resetMagHeading()
|
||||
|
||||
const Vector3f mag_init = _mag_lpf.getState();
|
||||
|
||||
const bool mag_available = (_mag_counter > 1) && !magFieldStrengthDisturbed(mag_init);
|
||||
const bool mag_available = (_mag_counter != 0) && isNewestSampleRecent(_time_last_mag_buffer_push, 500'000)
|
||||
&& !magFieldStrengthDisturbed(mag_init);
|
||||
|
||||
// low pass filtered mag required
|
||||
if (!mag_available) {
|
||||
@@ -243,7 +244,7 @@ bool Ekf::resetMagHeading()
|
||||
float yaw_new = -atan2f(mag_earth_pred(1), mag_earth_pred(0)) + getMagDeclination();
|
||||
float yaw_new_variance = sq(fmaxf(_params.mag_heading_noise, 1.e-2f));
|
||||
|
||||
ECL_INFO("reset mag heading %.3f -> %.3f rad (declination %.1f)", (double)getEulerYaw(_R_to_earth), (double)yaw_new, (double)getMagDeclination());
|
||||
ECL_INFO("reset mag heading %.3f -> %.3f rad", (double)getEulerYaw(_R_to_earth), (double)yaw_new);
|
||||
|
||||
// update quaternion states and corresponding covarainces
|
||||
resetQuatStateYaw(yaw_new, yaw_new_variance);
|
||||
|
||||
@@ -95,7 +95,7 @@ void Ekf::controlMagFusion()
|
||||
|
||||
resetEstimatorAidStatus(_aid_src_mag_heading);
|
||||
_aid_src_mag_heading.timestamp_sample = mag_sample.time_us;
|
||||
_aid_src_mag_heading.observation = -atan2f(mag_earth_pred(1), mag_earth_pred(0)) + getMagDeclination();
|
||||
_aid_src_mag_heading.observation = -atan2f(mag_earth_pred(1), mag_earth_pred(0)) + getMagDeclination();;
|
||||
_aid_src_mag_heading.innovation = wrap_pi(getEulerYaw(_R_to_earth) - _aid_src_mag_heading.observation);
|
||||
|
||||
// compute magnetometer innovations (for estimator_aid_src_mag logging)
|
||||
@@ -116,45 +116,6 @@ void Ekf::controlMagFusion()
|
||||
_control_status.flags.mag_aligned_in_flight = false;
|
||||
}
|
||||
|
||||
if (mag_data_ready && !_control_status.flags.tilt_align && !_control_status.flags.yaw_align) {
|
||||
// calculate the initial magnetic field and yaw alignment
|
||||
// but do not mark the yaw alignement complete as it needs to be
|
||||
// reset once the leveling phase is done
|
||||
if (_params.mag_fusion_type <= MagFuseType::MAG_3D) {
|
||||
if ((_mag_counter > 1) && isTimedOut(_aid_src_mag_heading.time_last_fuse, (uint64_t)100'000)) {
|
||||
// rotate the magnetometer measurements into earth frame using a zero yaw angle
|
||||
// the angle of the projection onto the horizontal gives the yaw angle
|
||||
const Vector3f mag_earth_pred = updateYawInRotMat(0.f, _R_to_earth) * _mag_lpf.getState();
|
||||
const float yaw_new = -atan2f(mag_earth_pred(1), mag_earth_pred(0)) + getMagDeclination();
|
||||
|
||||
const float yaw_prev = getEulerYaw(_R_to_earth);
|
||||
|
||||
if (fabsf(yaw_new - yaw_prev) > math::radians(1.f)) {
|
||||
|
||||
ECL_INFO("mag heading init %.3f -> %.3f rad (declination %.1f)", (double)yaw_prev, (double)yaw_new, (double)getMagDeclination());
|
||||
|
||||
// update the rotation matrix using the new yaw value
|
||||
_R_to_earth = updateYawInRotMat(yaw_new, Dcmf(_state.quat_nominal));
|
||||
_state.quat_nominal = _R_to_earth;
|
||||
|
||||
// reset the output predictor state history to match the EKF initial values
|
||||
_output_predictor.alignOutputFilter(_state.quat_nominal, _state.vel, _state.pos);
|
||||
|
||||
// set the earth magnetic field states using the updated rotation
|
||||
_state.mag_I = _R_to_earth * _mag_lpf.getState();
|
||||
_state.mag_B.zero();
|
||||
|
||||
_aid_src_mag_heading.time_last_fuse = _time_delayed_us;
|
||||
_time_last_heading_fuse = _time_delayed_us;
|
||||
|
||||
_last_static_yaw = NAN;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return;
|
||||
}
|
||||
|
||||
if (_params.mag_fusion_type >= MagFuseType::NONE
|
||||
|| _control_status.flags.mag_fault
|
||||
|| !_control_status.flags.tilt_align) {
|
||||
@@ -264,9 +225,9 @@ void Ekf::runInAirYawReset()
|
||||
bool has_realigned_yaw = false;
|
||||
|
||||
// use yaw estimator if available
|
||||
if (_control_status.flags.gps && isYawEmergencyEstimateAvailable()
|
||||
&& (_mag_counter > 1) // mag LPF available
|
||||
) {
|
||||
if (_control_status.flags.gps && isYawEmergencyEstimateAvailable() &&
|
||||
(_mag_counter != 0) && isNewestSampleRecent(_time_last_mag_buffer_push, 500'000) // mag LPF available
|
||||
) {
|
||||
|
||||
resetQuatStateYaw(_yawEstimator.getYaw(), _yawEstimator.getYawVar());
|
||||
|
||||
|
||||
@@ -49,7 +49,7 @@ void Ekf::controlZeroInnovationHeadingUpdate()
|
||||
float obs_var = _control_status.flags.vehicle_at_rest ? 0.001f : 0.1f;
|
||||
estimator_aid_source1d_s unused;
|
||||
fuseYaw(innovation, obs_var, unused);
|
||||
_time_last_heading_fuse = 0;
|
||||
|
||||
_last_static_yaw = NAN;
|
||||
|
||||
} else if (_control_status.flags.vehicle_at_rest) {
|
||||
|
||||
@@ -1,391 +1,391 @@
|
||||
Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7],state[8],state[9],state[10],state[11],state[12],state[13],state[14],state[15],state[16],state[17],state[18],state[19],state[20],state[21],state[22],state[23],variance[0],variance[1],variance[2],variance[3],variance[4],variance[5],variance[6],variance[7],variance[8],variance[9],variance[10],variance[11],variance[12],variance[13],variance[14],variance[15],variance[16],variance[17],variance[18],variance[19],variance[20],variance[21],variance[22],variance[23]
|
||||
10000,1,-0.0094,-0.01,-9.8e-05,0.00023,7.3e-05,-0.011,7.1e-06,2.2e-06,-0.00045,0,0,0,0,0,0,0,0,0,0,0,0,0,0,4.9e-07,0.0025,0.0025,0.0018,25,25,10,1e+02,1e+02,1e+02,1e-06,1e-06,1e-06,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
90000,1,-0.0096,-0.01,-0.02,-0.0004,0.0026,-0.026,-1.4e-05,0.00011,-0.0023,0,0,0,0,0,0,0.19,0,0.4,0,0,0,0,0,5.2e-07,0.0026,0.0026,0.0011,25,25,10,1e+02,1e+02,1e+02,1e-06,1e-06,9.9e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
190000,1,-0.0096,-0.011,-0.02,0.0002,0.0039,-0.041,6e-06,0.00043,-0.0044,-3e-13,-2.3e-14,5.8e-15,0,0,-2e-11,0.19,0,0.4,0,0,0,0,0,5.8e-07,0.0027,0.0027,0.0008,25,25,10,1e+02,1e+02,1,1e-06,1e-06,9.7e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
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18190000,0.71,0.00011,-0.013,0.71,0.012,-0.0013,0.0056,0.0015,-0.0017,-3.7e+02,-1.3e-05,-6.1e-05,3.8e-06,-1.8e-05,5.5e-05,-0.0013,0.21,0.0021,0.43,0,0,0,0,0,8.7e-05,0.00013,0.00013,8.4e-05,0.032,0.032,0.015,0.045,0.045,0.047,5.8e-10,5.8e-10,7e-10,3.1e-06,3.1e-06,9.2e-08,0,0,0,0,0,0,0,0
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18290000,0.71,4.8e-05,-0.012,0.71,0.012,-0.0018,0.0068,0.0027,-0.0018,-3.7e+02,-1.3e-05,-6.1e-05,3.6e-06,-1.8e-05,5.5e-05,-0.0013,0.21,0.0021,0.43,0,0,0,0,0,8.6e-05,0.00013,0.00013,8.4e-05,0.035,0.035,0.015,0.051,0.051,0.046,5.8e-10,5.8e-10,6.8e-10,3.1e-06,3.1e-06,8.9e-08,0,0,0,0,0,0,0,0
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18490000,0.71,7.9e-05,-0.012,0.71,0.014,0.00024,0.0076,0.0047,-0.0014,-3.7e+02,-1.3e-05,-6.1e-05,4e-06,-1.8e-05,5.6e-05,-0.0013,0.21,0.0021,0.43,0,0,0,0,0,8.6e-05,0.00013,0.00013,8.3e-05,0.034,0.034,0.014,0.051,0.051,0.046,5.3e-10,5.3e-10,6.6e-10,3.1e-06,3.1e-06,8.2e-08,0,0,0,0,0,0,0,0
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18790000,0.71,8.3e-05,-0.012,0.71,0.012,9.6e-05,0.0036,0.0038,-0.0009,-3.7e+02,-1.4e-05,-6.1e-05,4.2e-06,-1.8e-05,6.3e-05,-0.0013,0.21,0.0021,0.43,0,0,0,0,0,8.5e-05,0.00012,0.00012,8.3e-05,0.03,0.03,0.013,0.045,0.045,0.045,4.3e-10,4.3e-10,6.2e-10,3.1e-06,3.1e-06,7.2e-08,0,0,0,0,0,0,0,0
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18890000,0.71,0.00011,-0.012,0.71,0.013,0.00059,0.0042,0.005,-0.00083,-3.7e+02,-1.4e-05,-6.1e-05,4.6e-06,-1.8e-05,6.3e-05,-0.0013,0.21,0.0021,0.43,0,0,0,0,0,8.5e-05,0.00012,0.00012,8.2e-05,0.033,0.033,0.013,0.051,0.051,0.045,4.3e-10,4.3e-10,6e-10,3.1e-06,3.1e-06,7e-08,0,0,0,0,0,0,0,0
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18990000,0.71,9.4e-05,-0.012,0.71,0.014,0.0015,0.0028,0.0064,-0.00069,-3.7e+02,-1.4e-05,-6.1e-05,4.8e-06,-1.8e-05,6.2e-05,-0.0013,0.21,0.0021,0.43,0,0,0,0,0,8.5e-05,0.00012,0.00012,8.2e-05,0.029,0.029,0.012,0.045,0.045,0.044,3.9e-10,3.9e-10,5.9e-10,3.1e-06,3.1e-06,6.6e-08,0,0,0,0,0,0,0,0
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19090000,0.71,7.8e-05,-0.012,0.71,0.015,0.0021,0.0059,0.0078,-0.00049,-3.7e+02,-1.4e-05,-6.1e-05,4.8e-06,-1.8e-05,6.2e-05,-0.0013,0.21,0.0021,0.43,0,0,0,0,0,8.5e-05,0.00012,0.00012,8.2e-05,0.032,0.032,0.012,0.051,0.051,0.044,3.9e-10,3.9e-10,5.8e-10,3.1e-06,3.1e-06,6.5e-08,0,0,0,0,0,0,0,0
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19190000,0.71,8.1e-05,-0.012,0.71,0.015,0.0021,0.0059,0.0086,-0.00044,-3.7e+02,-1.4e-05,-6.1e-05,4.9e-06,-1.8e-05,6.2e-05,-0.0013,0.21,0.0021,0.43,0,0,0,0,0,8.4e-05,0.00012,0.00012,8.2e-05,0.028,0.028,0.012,0.045,0.045,0.044,3.6e-10,3.6e-10,5.7e-10,3e-06,3e-06,6.2e-08,0,0,0,0,0,0,0,0
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19290000,0.71,0.0001,-0.012,0.71,0.015,0.0013,0.0086,0.01,-0.00025,-3.7e+02,-1.4e-05,-6.1e-05,4.8e-06,-1.8e-05,6.2e-05,-0.0013,0.21,0.0021,0.43,0,0,0,0,0,8.4e-05,0.00012,0.00012,8.1e-05,0.031,0.031,0.012,0.05,0.05,0.044,3.6e-10,3.6e-10,5.6e-10,3e-06,3e-06,6e-08,0,0,0,0,0,0,0,0
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19390000,0.71,0.00012,-0.012,0.71,0.013,0.00042,0.012,0.0081,-0.00027,-3.7e+02,-1.4e-05,-6.1e-05,4.9e-06,-1.9e-05,6.6e-05,-0.0013,0.21,0.0021,0.43,0,0,0,0,0,8.4e-05,0.00011,0.00011,8.1e-05,0.027,0.027,0.012,0.044,0.044,0.043,3.3e-10,3.3e-10,5.5e-10,3e-06,3e-06,5.8e-08,0,0,0,0,0,0,0,0
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19490000,0.71,0.00014,-0.012,0.71,0.012,-0.00029,0.0088,0.0093,-0.00027,-3.7e+02,-1.4e-05,-6.1e-05,5.2e-06,-1.9e-05,6.6e-05,-0.0013,0.21,0.0021,0.43,0,0,0,0,0,8.4e-05,0.00011,0.00011,8.1e-05,0.03,0.03,0.011,0.05,0.05,0.043,3.3e-10,3.3e-10,5.4e-10,3e-06,3e-06,5.6e-08,0,0,0,0,0,0,0,0
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19590000,0.71,0.00019,-0.012,0.71,0.0098,-0.0013,0.0081,0.0075,-0.00029,-3.7e+02,-1.4e-05,-6.1e-05,5.5e-06,-1.9e-05,6.9e-05,-0.0013,0.21,0.0021,0.43,0,0,0,0,0,8.3e-05,0.00011,0.00011,8.1e-05,0.027,0.027,0.011,0.044,0.044,0.042,3e-10,3e-10,5.3e-10,3e-06,3e-06,5.4e-08,0,0,0,0,0,0,0,0
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19690000,0.71,0.00019,-0.012,0.71,0.01,-0.0035,0.0096,0.0085,-0.00053,-3.7e+02,-1.4e-05,-6.1e-05,5.4e-06,-1.9e-05,6.9e-05,-0.0013,0.21,0.0021,0.43,0,0,0,0,0,8.3e-05,0.00011,0.00011,8e-05,0.029,0.029,0.011,0.05,0.05,0.042,3e-10,3e-10,5.2e-10,3e-06,3e-06,5.2e-08,0,0,0,0,0,0,0,0
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19790000,0.71,0.00026,-0.012,0.71,0.0078,-0.0043,0.01,0.0069,-0.00043,-3.7e+02,-1.4e-05,-6.1e-05,5.4e-06,-1.8e-05,7.1e-05,-0.0013,0.21,0.0021,0.43,0,0,0,0,0,8.3e-05,0.00011,0.00011,8e-05,0.026,0.026,0.011,0.044,0.044,0.042,2.7e-10,2.7e-10,5.1e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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19890000,0.71,0.0002,-0.012,0.71,0.0066,-0.0046,0.011,0.0076,-0.00089,-3.7e+02,-1.4e-05,-6.1e-05,5.8e-06,-1.8e-05,7.1e-05,-0.0013,0.21,0.0021,0.43,0,0,0,0,0,8.3e-05,0.00011,0.00011,8e-05,0.029,0.029,0.011,0.05,0.05,0.042,2.7e-10,2.7e-10,5e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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19990000,0.71,0.00019,-0.012,0.71,0.0041,-0.0053,0.014,0.0062,-0.00075,-3.7e+02,-1.4e-05,-6.1e-05,6.3e-06,-1.8e-05,7.3e-05,-0.0013,0.21,0.0021,0.43,0,0,0,0,0,8.2e-05,0.00011,0.00011,8e-05,0.026,0.026,0.01,0.044,0.044,0.041,2.5e-10,2.5e-10,4.9e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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20090000,0.71,0.00018,-0.012,0.71,0.0039,-0.0073,0.014,0.0066,-0.0014,-3.7e+02,-1.4e-05,-6.1e-05,6.7e-06,-1.8e-05,7.3e-05,-0.0013,0.21,0.0021,0.43,0,0,0,0,0,8.2e-05,0.00011,0.00011,8e-05,0.028,0.028,0.01,0.049,0.049,0.042,2.5e-10,2.5e-10,4.8e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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20190000,0.71,0.00029,-0.012,0.71,0.0015,-0.008,0.017,0.0043,-0.0011,-3.7e+02,-1.4e-05,-6e-05,6.9e-06,-1.7e-05,7.6e-05,-0.0013,0.21,0.0021,0.43,0,0,0,0,0,8.2e-05,0.0001,0.0001,7.9e-05,0.025,0.025,0.01,0.044,0.044,0.041,2.3e-10,2.3e-10,4.7e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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20290000,0.71,0.00025,-0.012,0.71,0.00042,-0.0095,0.015,0.0044,-0.0019,-3.7e+02,-1.4e-05,-6e-05,7e-06,-1.7e-05,7.6e-05,-0.0013,0.21,0.0021,0.43,0,0,0,0,0,8.2e-05,0.00011,0.00011,7.9e-05,0.027,0.027,0.0099,0.049,0.049,0.041,2.3e-10,2.3e-10,4.6e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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20390000,0.71,0.00027,-0.012,0.71,-0.002,-0.01,0.017,0.0025,-0.0015,-3.7e+02,-1.4e-05,-6e-05,7e-06,-1.5e-05,7.8e-05,-0.0013,0.21,0.0021,0.43,0,0,0,0,0,8.2e-05,0.0001,0.0001,7.9e-05,0.024,0.024,0.0097,0.044,0.044,0.041,2.1e-10,2.1e-10,4.5e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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20490000,0.71,0.00032,-0.012,0.71,-0.0025,-0.011,0.016,0.0022,-0.0026,-3.7e+02,-1.4e-05,-6e-05,6.9e-06,-1.5e-05,7.8e-05,-0.0013,0.21,0.0021,0.43,0,0,0,0,0,8.1e-05,0.0001,0.0001,7.9e-05,0.027,0.027,0.0096,0.049,0.049,0.041,2.1e-10,2.1e-10,4.5e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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20590000,0.71,0.00034,-0.012,0.71,-0.0022,-0.011,0.013,0.0019,-0.0021,-3.7e+02,-1.4e-05,-6e-05,6.8e-06,-1.3e-05,7.8e-05,-0.0013,0.21,0.0021,0.43,0,0,0,0,0,8.1e-05,0.0001,0.0001,7.9e-05,0.024,0.024,0.0094,0.044,0.044,0.04,1.9e-10,2e-10,4.4e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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20690000,0.71,0.00037,-0.012,0.71,-0.0021,-0.012,0.015,0.0017,-0.0032,-3.7e+02,-1.4e-05,-6e-05,6.9e-06,-1.3e-05,7.8e-05,-0.0013,0.21,0.0021,0.43,0,0,0,0,0,8.1e-05,0.0001,0.0001,7.8e-05,0.026,0.026,0.0093,0.049,0.049,0.04,2e-10,2e-10,4.3e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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20790000,0.71,0.0004,-0.012,0.71,-0.0033,-0.011,0.015,0.0014,-0.0025,-3.7e+02,-1.4e-05,-6e-05,6.9e-06,-1.1e-05,7.8e-05,-0.0013,0.21,0.0021,0.43,0,0,0,0,0,8.1e-05,0.0001,0.0001,7.8e-05,0.023,0.023,0.0091,0.043,0.043,0.04,1.8e-10,1.8e-10,4.2e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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20890000,0.71,0.00038,-0.012,0.71,-0.0037,-0.014,0.014,0.001,-0.0038,-3.7e+02,-1.4e-05,-6e-05,7.2e-06,-1.2e-05,7.8e-05,-0.0013,0.21,0.0021,0.43,0,0,0,0,0,8e-05,0.0001,0.0001,7.8e-05,0.025,0.025,0.0091,0.049,0.049,0.04,1.8e-10,1.8e-10,4.1e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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20990000,0.71,0.00039,-0.012,0.71,-0.0039,-0.014,0.015,0.0027,-0.0031,-3.7e+02,-1.4e-05,-6e-05,7.2e-06,-9.4e-06,7.7e-05,-0.0013,0.21,0.0021,0.43,0,0,0,0,0,8e-05,9.9e-05,9.9e-05,7.8e-05,0.023,0.023,0.0089,0.043,0.043,0.039,1.7e-10,1.7e-10,4.1e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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21090000,0.71,0.00039,-0.012,0.71,-0.0041,-0.017,0.015,0.0023,-0.0046,-3.7e+02,-1.4e-05,-6e-05,7.3e-06,-9.4e-06,7.7e-05,-0.0013,0.21,0.0021,0.43,0,0,0,0,0,8e-05,9.9e-05,9.9e-05,7.8e-05,0.025,0.025,0.0089,0.048,0.048,0.039,1.7e-10,1.7e-10,4e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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21190000,0.71,0.00042,-0.012,0.71,-0.0033,-0.016,0.014,0.0038,-0.0038,-3.7e+02,-1.4e-05,-6e-05,7.2e-06,-7e-06,7.6e-05,-0.0013,0.21,0.0021,0.43,0,0,0,0,0,8e-05,9.8e-05,9.7e-05,7.7e-05,0.022,0.022,0.0087,0.043,0.043,0.039,1.5e-10,1.5e-10,3.9e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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21290000,0.71,0.00046,-0.012,0.71,-0.0039,-0.018,0.016,0.0034,-0.0054,-3.7e+02,-1.4e-05,-6e-05,7.5e-06,-7e-06,7.6e-05,-0.0013,0.21,0.0021,0.43,0,0,0,0,0,8e-05,9.8e-05,9.8e-05,7.7e-05,0.024,0.024,0.0086,0.048,0.048,0.039,1.5e-10,1.5e-10,3.9e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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21390000,0.71,0.00051,-0.012,0.71,-0.0047,-0.017,0.016,0.0029,-0.0034,-3.7e+02,-1.4e-05,-6e-05,7.3e-06,-3.2e-06,7.6e-05,-0.0013,0.21,0.0021,0.43,0,0,0,0,0,7.9e-05,9.6e-05,9.6e-05,7.7e-05,0.022,0.022,0.0085,0.043,0.043,0.039,1.4e-10,1.4e-10,3.8e-10,2.9e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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21490000,0.71,0.00052,-0.012,0.71,-0.0052,-0.018,0.015,0.0023,-0.0052,-3.7e+02,-1.4e-05,-6e-05,7.4e-06,-3.3e-06,7.6e-05,-0.0013,0.21,0.0021,0.43,0,0,0,0,0,7.9e-05,9.7e-05,9.7e-05,7.7e-05,0.023,0.023,0.0085,0.048,0.048,0.038,1.4e-10,1.4e-10,3.7e-10,2.9e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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21590000,0.71,0.00054,-0.012,0.71,-0.0058,-0.015,0.015,0.0019,-0.0032,-3.7e+02,-1.4e-05,-6e-05,7.4e-06,1.8e-07,7.6e-05,-0.0013,0.21,0.0021,0.43,0,0,0,0,0,7.9e-05,9.5e-05,9.5e-05,7.7e-05,0.021,0.021,0.0083,0.043,0.043,0.038,1.3e-10,1.3e-10,3.7e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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||||
|
||||
|
@@ -1,351 +1,351 @@
|
||||
Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7],state[8],state[9],state[10],state[11],state[12],state[13],state[14],state[15],state[16],state[17],state[18],state[19],state[20],state[21],state[22],state[23],variance[0],variance[1],variance[2],variance[3],variance[4],variance[5],variance[6],variance[7],variance[8],variance[9],variance[10],variance[11],variance[12],variance[13],variance[14],variance[15],variance[16],variance[17],variance[18],variance[19],variance[20],variance[21],variance[22],variance[23]
|
||||
10000,1,-0.011,-0.01,0.00012,0.00033,-0.00013,-0.01,1e-05,-3.9e-06,-0.00042,0,0,0,0,0,0,0,0,0,0,0,0,0,0,5.8e-07,0.0025,0.0025,0.0018,25,25,10,1e+02,1e+02,1e+02,1e-06,1e-06,1e-06,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
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18790000,0.98,-0.007,-0.011,0.19,0.0058,-0.006,0.024,0.0063,-0.0025,0.027,-1.5e-05,-6e-05,4e-06,0.0001,4.4e-05,-0.0013,0.2,0.002,0.43,0,0,0,0,0,7.7e-06,0.00012,0.00012,8.2e-05,0.03,0.03,0.0087,0.045,0.045,0.035,4.4e-10,4.4e-10,6.3e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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18890000,0.98,-0.0069,-0.011,0.19,0.0045,-0.0056,0.021,0.0068,-0.0032,0.023,-1.5e-05,-6e-05,3.8e-06,0.0001,4.1e-05,-0.0013,0.2,0.002,0.43,0,0,0,0,0,7.7e-06,0.00012,0.00012,8.1e-05,0.033,0.033,0.0087,0.051,0.051,0.035,4.4e-10,4.4e-10,6.2e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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18990000,0.98,-0.0069,-0.011,0.19,0.0029,-0.0057,0.022,0.0056,-0.0025,0.026,-1.5e-05,-6e-05,3.8e-06,0.0001,4.4e-05,-0.0013,0.2,0.002,0.43,0,0,0,0,0,7.7e-06,0.00012,0.00011,8.1e-05,0.029,0.029,0.0086,0.045,0.045,0.035,4e-10,4e-10,6e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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19090000,0.98,-0.007,-0.011,0.19,0.00087,-0.0062,0.023,0.0059,-0.0031,0.022,-1.5e-05,-6e-05,3.9e-06,0.00011,4.1e-05,-0.0013,0.2,0.002,0.43,0,0,0,0,0,7.7e-06,0.00012,0.00012,8e-05,0.032,0.032,0.0087,0.051,0.051,0.036,4e-10,4e-10,5.9e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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19190000,0.98,-0.0069,-0.011,0.19,-0.00064,-0.0059,0.022,0.0049,-0.0025,0.021,-1.5e-05,-6e-05,3.5e-06,0.00011,4.1e-05,-0.0013,0.2,0.002,0.43,0,0,0,0,0,7.7e-06,0.00011,0.00011,8e-05,0.028,0.028,0.0086,0.045,0.045,0.036,3.6e-10,3.6e-10,5.8e-10,2.9e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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19290000,0.98,-0.0068,-0.011,0.19,-0.0015,-0.0057,0.023,0.0048,-0.0031,0.02,-1.5e-05,-6e-05,3.4e-06,0.00011,4e-05,-0.0013,0.2,0.002,0.43,0,0,0,0,0,7.6e-06,0.00011,0.00011,7.9e-05,0.031,0.031,0.0087,0.05,0.05,0.036,3.6e-10,3.6e-10,5.7e-10,2.9e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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19390000,0.98,-0.0069,-0.011,0.19,-0.002,-0.0022,0.024,0.0041,-0.0012,0.019,-1.5e-05,-6e-05,3.3e-06,0.00011,4.1e-05,-0.0013,0.2,0.002,0.43,0,0,0,0,0,7.6e-06,0.00011,0.00011,7.9e-05,0.028,0.028,0.0086,0.045,0.045,0.036,3.3e-10,3.3e-10,5.6e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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19490000,0.98,-0.0069,-0.011,0.19,-0.0028,-0.0022,0.023,0.0039,-0.0014,0.019,-1.5e-05,-6e-05,3e-06,0.00011,4e-05,-0.0013,0.2,0.002,0.43,0,0,0,0,0,7.6e-06,0.00011,0.00011,7.9e-05,0.03,0.03,0.0087,0.05,0.05,0.036,3.3e-10,3.3e-10,5.5e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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19590000,0.98,-0.0069,-0.011,0.19,-0.0039,-0.0051,0.025,0.0044,-0.0024,0.019,-1.5e-05,-6e-05,2.9e-06,0.00012,3.7e-05,-0.0013,0.2,0.002,0.43,0,0,0,0,0,7.6e-06,0.00011,0.00011,7.8e-05,0.027,0.027,0.0086,0.044,0.044,0.036,3e-10,3e-10,5.4e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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19690000,0.98,-0.0069,-0.011,0.19,-0.0055,-0.0037,0.023,0.004,-0.0028,0.018,-1.5e-05,-6e-05,3.1e-06,0.00012,3.6e-05,-0.0013,0.2,0.002,0.43,0,0,0,0,0,7.6e-06,0.00011,0.00011,7.8e-05,0.03,0.03,0.0086,0.05,0.05,0.036,3e-10,3e-10,5.3e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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19790000,0.98,-0.007,-0.011,0.19,-0.0056,-0.0022,0.022,0.0064,-0.0023,0.014,-1.5e-05,-6e-05,2.8e-06,0.00012,3.3e-05,-0.0013,0.2,0.002,0.43,0,0,0,0,0,7.6e-06,0.00011,0.0001,7.7e-05,0.026,0.026,0.0086,0.044,0.044,0.036,2.8e-10,2.8e-10,5.2e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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19890000,0.98,-0.007,-0.011,0.19,-0.0056,-0.002,0.022,0.0058,-0.0025,0.013,-1.5e-05,-6e-05,2.7e-06,0.00013,3.2e-05,-0.0013,0.2,0.002,0.43,0,0,0,0,0,7.6e-06,0.00011,0.00011,7.7e-05,0.029,0.029,0.0086,0.05,0.05,0.036,2.8e-10,2.8e-10,5.1e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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19990000,0.98,-0.0071,-0.011,0.19,-0.0053,-0.0019,0.019,0.0062,-0.00091,0.0096,-1.5e-05,-5.9e-05,2.8e-06,0.00013,3.1e-05,-0.0013,0.2,0.002,0.43,0,0,0,0,0,7.5e-06,0.0001,0.0001,7.6e-05,0.026,0.026,0.0085,0.044,0.044,0.036,2.5e-10,2.5e-10,5e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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20090000,0.98,-0.0071,-0.011,0.19,-0.0048,-0.0041,0.019,0.0056,-0.0012,0.013,-1.5e-05,-5.9e-05,2.7e-06,0.00013,3.1e-05,-0.0013,0.2,0.002,0.43,0,0,0,0,0,7.5e-06,0.00011,0.0001,7.6e-05,0.028,0.028,0.0086,0.05,0.05,0.036,2.5e-10,2.5e-10,4.9e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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20190000,0.98,-0.0071,-0.011,0.19,-0.0038,-0.0016,0.02,0.0066,-0.0009,0.013,-1.5e-05,-5.9e-05,2.5e-06,0.00013,3.1e-05,-0.0013,0.2,0.002,0.43,0,0,0,0,0,7.5e-06,0.0001,0.0001,7.6e-05,0.025,0.025,0.0085,0.044,0.044,0.036,2.3e-10,2.3e-10,4.8e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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20290000,0.98,-0.007,-0.011,0.19,-0.007,-0.0027,0.02,0.0061,-0.0011,0.013,-1.5e-05,-5.9e-05,2.4e-06,0.00013,3e-05,-0.0013,0.2,0.002,0.43,0,0,0,0,0,7.5e-06,0.0001,0.0001,7.5e-05,0.027,0.027,0.0085,0.049,0.049,0.036,2.3e-10,2.3e-10,4.7e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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19090000,0.98,-0.007,-0.011,0.19,0.00086,-0.0062,0.023,0.0059,-0.003,0.078,-1.5e-05,-6e-05,3.9e-06,0.00011,3.9e-05,-0.0013,0.2,0.002,0.43,0,0,0,0,0,3e-06,0.00012,0.00012,8.1e-05,0.032,0.032,0.0087,0.051,0.051,0.036,4e-10,4e-10,6e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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19190000,0.98,-0.0069,-0.011,0.19,-0.00065,-0.0058,0.022,0.0049,-0.0025,0.077,-1.5e-05,-6e-05,3.5e-06,0.00011,4e-05,-0.0013,0.2,0.002,0.43,0,0,0,0,0,3e-06,0.00011,0.00011,8e-05,0.028,0.028,0.0086,0.045,0.045,0.036,3.6e-10,3.6e-10,5.9e-10,2.9e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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19390000,0.98,-0.0069,-0.011,0.19,-0.002,-0.0022,0.024,0.0041,-0.0011,0.075,-1.5e-05,-6e-05,3.3e-06,0.00011,4e-05,-0.0013,0.2,0.002,0.43,0,0,0,0,0,2.9e-06,0.00011,0.00011,7.9e-05,0.028,0.028,0.0086,0.045,0.045,0.036,3.3e-10,3.3e-10,5.7e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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|
||||
34590000,0.98,-0.0069,-0.013,0.18,-0.014,-0.0052,0.71,0.073,-0.0089,-0.025,-1.4e-05,-5.6e-05,2.3e-06,0.00016,-0.00028,-0.0011,0.2,0.002,0.43,0,0,0,0,0,1.5e-06,3.1e-05,3.1e-05,4.2e-05,0.044,0.044,0.0059,0.045,0.045,0.032,2.6e-11,2.6e-11,8e-11,2.2e-06,2.2e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34690000,0.98,-0.0068,-0.012,0.18,-0.017,-0.0031,1.7,0.071,-0.0093,0.093,-1.4e-05,-5.6e-05,2.2e-06,0.00016,-0.00028,-0.0011,0.2,0.002,0.43,0,0,0,0,0,1.5e-06,3.1e-05,3.1e-05,4.2e-05,0.047,0.047,0.006,0.052,0.052,0.032,2.6e-11,2.6e-11,8e-11,2.2e-06,2.2e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34790000,0.98,-0.0068,-0.012,0.18,-0.018,0.0016,2.7,0.072,-0.0069,0.27,-1.4e-05,-5.6e-05,2.2e-06,0.00017,-0.00029,-0.001,0.2,0.002,0.43,0,0,0,0,0,1.5e-06,2.9e-05,2.9e-05,4.2e-05,0.04,0.04,0.0061,0.045,0.045,0.032,2.6e-11,2.6e-11,7.9e-11,2e-06,2e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34890000,0.98,-0.0068,-0.012,0.18,-0.022,0.004,3.6,0.07,-0.0065,0.56,-1.4e-05,-5.6e-05,2.2e-06,0.00018,-0.00029,-0.001,0.2,0.002,0.43,0,0,0,0,0,1.5e-06,3e-05,2.9e-05,4.2e-05,0.043,0.043,0.0061,0.052,0.052,0.032,2.6e-11,2.6e-11,7.9e-11,2e-06,2e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
|
||||
|
@@ -106,8 +106,8 @@ TEST_F(EkfAirspeedTest, testWindVelocityEstimation)
|
||||
const Vector3f vel_wind_expected = simulated_velocity_earth - R_to_earth_sim * (Vector3f(airspeed_body(0),
|
||||
airspeed_body(1), 0.0f));
|
||||
|
||||
EXPECT_NEAR(vel_wind_earth(0), vel_wind_expected(0), 1e-1f);
|
||||
EXPECT_NEAR(vel_wind_earth(1), vel_wind_expected(1), 1e-1f);
|
||||
EXPECT_NEAR(vel_wind_earth(0), vel_wind_expected(0), 1e-2f);
|
||||
EXPECT_NEAR(vel_wind_earth(1), vel_wind_expected(1), 1e-2f);
|
||||
|
||||
EXPECT_NEAR(height_before_pressure_correction, 0.0f, 1e-5f);
|
||||
|
||||
|
||||
@@ -78,7 +78,7 @@ TEST_F(EkfMagTest, fusionStartWithReset)
|
||||
_sensor_simulator.runSeconds(_init_duration_s);
|
||||
|
||||
// THEN: the fusion initializes using the mag data and runs normally
|
||||
EXPECT_NEAR(_ekf_wrapper.getYawAngle(), mag_heading, radians(1.f));
|
||||
EXPECT_NEAR(_ekf_wrapper.getYawAngle(), mag_heading, radians(0.1f));
|
||||
EXPECT_TRUE(_ekf_wrapper.isIntendingMagHeadingFusion());
|
||||
EXPECT_FALSE(_ekf_wrapper.isIntendingMag3DFusion());
|
||||
|
||||
@@ -114,7 +114,7 @@ TEST_F(EkfMagTest, suddenLargeStrength)
|
||||
_sensor_simulator.runSeconds(_init_duration_s);
|
||||
|
||||
// THEN: the fusion initializes using the mag data and runs normally
|
||||
EXPECT_NEAR(_ekf_wrapper.getYawAngle(), mag_heading, radians(1.f));
|
||||
EXPECT_NEAR(_ekf_wrapper.getYawAngle(), mag_heading, radians(0.1f));
|
||||
EXPECT_TRUE(_ekf_wrapper.isIntendingMagHeadingFusion());
|
||||
EXPECT_FALSE(_ekf_wrapper.isIntendingMag3DFusion());
|
||||
|
||||
|
||||
@@ -301,7 +301,7 @@ int LogWriterFile::thread_start()
|
||||
|
||||
sched_param param;
|
||||
/* low priority, as this is expensive disk I/O */
|
||||
param.sched_priority = SCHED_PRIORITY_DEFAULT - 40;
|
||||
param.sched_priority = SCHED_PRIORITY_LOG_WRITER;
|
||||
(void)pthread_attr_setschedparam(&thr_attr, ¶m);
|
||||
|
||||
pthread_attr_setstacksize(&thr_attr, PX4_STACK_ADJUSTED(1170));
|
||||
|
||||
@@ -36,7 +36,6 @@
|
||||
#include "logged_topics.h"
|
||||
#include "logger.h"
|
||||
#include "messages.h"
|
||||
#include "watchdog.h"
|
||||
|
||||
#include <dirent.h>
|
||||
#include <sys/stat.h>
|
||||
@@ -83,47 +82,6 @@
|
||||
using namespace px4::logger;
|
||||
using namespace time_literals;
|
||||
|
||||
|
||||
struct timer_callback_data_s {
|
||||
px4_sem_t semaphore;
|
||||
|
||||
watchdog_data_t watchdog_data;
|
||||
volatile bool watchdog_triggered = false;
|
||||
};
|
||||
|
||||
/* This is used to schedule work for the logger (periodic scan for updated topics) */
|
||||
static void timer_callback(void *arg)
|
||||
{
|
||||
/* Note: we are in IRQ context here (on NuttX) */
|
||||
|
||||
timer_callback_data_s *data = (timer_callback_data_s *)arg;
|
||||
|
||||
int semaphore_value = 0;
|
||||
|
||||
px4_sem_getvalue(&data->semaphore, &semaphore_value);
|
||||
|
||||
/* check the value of the semaphore: if the logger cannot keep up with running it's main loop as fast
|
||||
* as the timer_callback here increases the semaphore count, the counter would increase unbounded,
|
||||
* leading to an overflow at some point. This case we want to avoid here, so we check the current
|
||||
* value against a (somewhat arbitrary) threshold, and avoid calling sem_post() if it's exceeded.
|
||||
* (it's not a problem if the threshold is a bit too large, it just means the logger will do
|
||||
* multiple iterations at once, the next time it's scheduled).
|
||||
* As the watchdog also uses the counter we use a conservatively high value */
|
||||
bool semaphore_value_saturated = semaphore_value > 100;
|
||||
|
||||
if (watchdog_update(data->watchdog_data, semaphore_value_saturated)) {
|
||||
data->watchdog_triggered = true;
|
||||
}
|
||||
|
||||
if (semaphore_value_saturated) {
|
||||
return;
|
||||
}
|
||||
|
||||
px4_sem_post(&data->semaphore);
|
||||
|
||||
}
|
||||
|
||||
|
||||
int logger_main(int argc, char *argv[])
|
||||
{
|
||||
// logger currently assumes little endian
|
||||
@@ -142,6 +100,35 @@ namespace px4
|
||||
namespace logger
|
||||
{
|
||||
|
||||
void Logger::timer_callback(void *arg)
|
||||
{
|
||||
// Note: we are in IRQ context here (on NuttX)
|
||||
timer_callback_data_s *data = static_cast<timer_callback_data_s *>(arg);
|
||||
|
||||
int semaphore_value = 0;
|
||||
|
||||
px4_sem_getvalue(&data->semaphore, &semaphore_value);
|
||||
|
||||
/* check the value of the semaphore: if the logger cannot keep up with running it's main loop as fast
|
||||
* as the timer_callback here increases the semaphore count, the counter would increase unbounded,
|
||||
* leading to an overflow at some point. This case we want to avoid here, so we check the current
|
||||
* value against a (somewhat arbitrary) threshold, and avoid calling sem_post() if it's exceeded.
|
||||
* (it's not a problem if the threshold is a bit too large, it just means the logger will do
|
||||
* multiple iterations at once, the next time it's scheduled).
|
||||
* As the watchdog also uses the counter we use a conservatively high value */
|
||||
bool semaphore_value_saturated = semaphore_value > 100;
|
||||
|
||||
if (watchdog_update(data->watchdog_data, semaphore_value_saturated)) {
|
||||
data->watchdog_triggered.store(true);
|
||||
}
|
||||
|
||||
if (semaphore_value_saturated) {
|
||||
return;
|
||||
}
|
||||
|
||||
px4_sem_post(&data->semaphore);
|
||||
}
|
||||
|
||||
constexpr const char *Logger::LOG_ROOT[(int)LogType::Count];
|
||||
|
||||
int Logger::custom_command(int argc, char *argv[])
|
||||
@@ -161,6 +148,16 @@ int Logger::custom_command(int argc, char *argv[])
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (!strcmp(argv[0], "priority_boost")) {
|
||||
get_instance()->set_priority_boost_request(true);
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (!strcmp(argv[0], "priority_restore")) {
|
||||
get_instance()->set_priority_boost_request(false);
|
||||
return 0;
|
||||
}
|
||||
|
||||
return print_usage("unknown command");
|
||||
}
|
||||
|
||||
@@ -649,11 +646,10 @@ void Logger::run()
|
||||
}
|
||||
|
||||
/* init the update timer */
|
||||
struct hrt_call timer_call {};
|
||||
timer_callback_data_s timer_callback_data;
|
||||
px4_sem_init(&timer_callback_data.semaphore, 0, 0);
|
||||
_timer_call = {};
|
||||
px4_sem_init(&_timer_callback_data.semaphore, 0, 0);
|
||||
/* timer_semaphore use case is a signal */
|
||||
px4_sem_setprotocol(&timer_callback_data.semaphore, SEM_PRIO_NONE);
|
||||
px4_sem_setprotocol(&_timer_callback_data.semaphore, SEM_PRIO_NONE);
|
||||
|
||||
int polling_topic_sub = -1;
|
||||
|
||||
@@ -673,10 +669,10 @@ void Logger::run()
|
||||
|
||||
// sched_note_start is already called from pthread_create and task_create,
|
||||
// which means we can expect to find the tasks in system_load.tasks, as required in watchdog_initialize
|
||||
watchdog_initialize(pid_self, writer_thread, timer_callback_data.watchdog_data);
|
||||
watchdog_initialize(pid_self, writer_thread, _timer_callback_data.watchdog_data);
|
||||
}
|
||||
|
||||
hrt_call_every(&timer_call, _log_interval, _log_interval, timer_callback, &timer_callback_data);
|
||||
hrt_call_every(&_timer_call, _log_interval, _log_interval, timer_callback, &_timer_callback_data);
|
||||
}
|
||||
|
||||
// check for new subscription data
|
||||
@@ -703,9 +699,9 @@ void Logger::run()
|
||||
/* check for logging command from MAVLink (start/stop streaming) */
|
||||
handle_vehicle_command_update();
|
||||
|
||||
if (timer_callback_data.watchdog_triggered) {
|
||||
timer_callback_data.watchdog_triggered = false;
|
||||
if (_timer_callback_data.watchdog_triggered.load()) {
|
||||
initialize_load_output(PrintLoadReason::Watchdog);
|
||||
_timer_callback_data.watchdog_triggered.store(false);
|
||||
}
|
||||
|
||||
|
||||
@@ -916,7 +912,7 @@ void Logger::run()
|
||||
* And on linux this is quite accurate as well, but under NuttX it is not accurate,
|
||||
* because usleep() has only a granularity of CONFIG_MSEC_PER_TICK (=1ms).
|
||||
*/
|
||||
while (px4_sem_wait(&timer_callback_data.semaphore) != 0) {}
|
||||
while (px4_sem_wait(&_timer_callback_data.semaphore) != 0) {}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -925,8 +921,8 @@ void Logger::run()
|
||||
stop_log_file(LogType::Full);
|
||||
stop_log_file(LogType::Mission);
|
||||
|
||||
hrt_cancel(&timer_call);
|
||||
px4_sem_destroy(&timer_callback_data.semaphore);
|
||||
hrt_cancel(&_timer_call);
|
||||
px4_sem_destroy(&_timer_callback_data.semaphore);
|
||||
|
||||
// stop the writer thread
|
||||
_writer.thread_stop();
|
||||
@@ -1587,7 +1583,7 @@ void Logger::initialize_load_output(PrintLoadReason reason)
|
||||
void Logger::write_load_output()
|
||||
{
|
||||
if (_print_load_reason == PrintLoadReason::Watchdog) {
|
||||
PX4_ERR("Writing watchdog data"); // this is just that we see it easily in the log
|
||||
PX4_WARN("Writing watchdog data"); // this is just that we see it easily in the log
|
||||
}
|
||||
|
||||
perf_callback_data_t callback_data = {};
|
||||
@@ -2421,6 +2417,12 @@ $ logger on
|
||||
PRINT_MODULE_USAGE_PARAM_FLOAT('c', 1.0, 0.2, 2.0, "Log rate factor (higher is faster)", true);
|
||||
PRINT_MODULE_USAGE_COMMAND_DESCR("on", "start logging now, override arming (logger must be running)");
|
||||
PRINT_MODULE_USAGE_COMMAND_DESCR("off", "stop logging now, override arming (logger must be running)");
|
||||
|
||||
#if defined(__PX4_NUTTX)
|
||||
PRINT_MODULE_USAGE_COMMAND_DESCR("priority_boost", "boost logger and log writer to maximum priority (logger must be running)");
|
||||
PRINT_MODULE_USAGE_COMMAND_DESCR("priority_restore", "restore logger and log writer priority to default (logger must be running)");
|
||||
#endif // __PX4_NUTTX
|
||||
|
||||
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
|
||||
|
||||
return 0;
|
||||
|
||||
@@ -36,12 +36,14 @@
|
||||
#include "log_writer.h"
|
||||
#include "logged_topics.h"
|
||||
#include "messages.h"
|
||||
#include "watchdog.h"
|
||||
#include <containers/Array.hpp>
|
||||
#include "util.h"
|
||||
#include <px4_platform_common/defines.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <version/version.h>
|
||||
#include <parameters/param.h>
|
||||
#include <px4_platform_common/atomic.h>
|
||||
#include <px4_platform_common/printload.h>
|
||||
#include <px4_platform_common/module.h>
|
||||
#include <px4_platform_common/module_params.h>
|
||||
@@ -56,6 +58,8 @@
|
||||
#include <uORB/topics/vehicle_status.h>
|
||||
#include <uORB/topics/parameter_update.h>
|
||||
|
||||
|
||||
|
||||
extern "C" __EXPORT int logger_main(int argc, char *argv[]);
|
||||
|
||||
using namespace time_literals;
|
||||
@@ -131,6 +135,8 @@ public:
|
||||
|
||||
void set_arm_override(bool override) { _manually_logging_override = override; }
|
||||
|
||||
void set_priority_boost_request(bool request_boost) { _timer_callback_data.watchdog_data.priority_boost_requested.store(request_boost); }
|
||||
|
||||
private:
|
||||
|
||||
enum class PrintLoadReason {
|
||||
@@ -326,6 +332,18 @@ private:
|
||||
|
||||
void adjust_subscription_updates();
|
||||
|
||||
/* This is used to schedule work for the logger (periodic scan for updated topics) */
|
||||
static void timer_callback(void *arg);
|
||||
|
||||
struct timer_callback_data_s {
|
||||
px4_sem_t semaphore{};
|
||||
|
||||
watchdog_data_t watchdog_data{};
|
||||
px4::atomic_bool watchdog_triggered{false};
|
||||
} _timer_callback_data{};
|
||||
|
||||
struct hrt_call _timer_call {};
|
||||
|
||||
uint8_t *_msg_buffer{nullptr};
|
||||
int _msg_buffer_len{0};
|
||||
|
||||
@@ -333,6 +351,7 @@ private:
|
||||
|
||||
bool _prev_state{false}; ///< previous state depending on logging mode (arming or aux1 state)
|
||||
bool _manually_logging_override{false};
|
||||
bool _request_priority_boost{false};
|
||||
|
||||
Statistics _statistics[(int)LogType::Count];
|
||||
hrt_abstime _last_sync_time{0}; ///< last time a sync msg was sent
|
||||
|
||||
@@ -34,6 +34,7 @@
|
||||
#include "watchdog.h"
|
||||
|
||||
#include <px4_platform_common/log.h>
|
||||
#include <px4_platform_common/tasks.h>
|
||||
|
||||
#if defined(__PX4_NUTTX) && !defined(CONFIG_SCHED_INSTRUMENTATION)
|
||||
# error watchdog support requires CONFIG_SCHED_INSTRUMENTATION
|
||||
@@ -54,9 +55,11 @@ bool watchdog_update(watchdog_data_t &watchdog_data, bool semaphore_value_satura
|
||||
if (system_load.initialized && watchdog_data.logger_main_task_index >= 0
|
||||
&& watchdog_data.logger_writer_task_index >= 0) {
|
||||
const hrt_abstime now = hrt_absolute_time();
|
||||
const system_load_taskinfo_s &log_writer_task = system_load.tasks[watchdog_data.logger_writer_task_index];
|
||||
|
||||
if (log_writer_task.valid) {
|
||||
const system_load_taskinfo_s &logger_main_task = system_load.tasks[watchdog_data.logger_main_task_index];
|
||||
const system_load_taskinfo_s &logger_writer_task = system_load.tasks[watchdog_data.logger_writer_task_index];
|
||||
|
||||
if (logger_writer_task.valid) {
|
||||
// Trigger the watchdog if the log writer task has been ready to run for a
|
||||
// minimum duration and it has not been scheduled during that time.
|
||||
// When the writer is waiting for an SD transfer, it is not in ready state, thus a long dropout
|
||||
@@ -68,12 +71,12 @@ bool watchdog_update(watchdog_data_t &watchdog_data, bool semaphore_value_satura
|
||||
// No need to lock the tcb access, since we are in IRQ context
|
||||
|
||||
// update the timestamp if it has been scheduled recently
|
||||
if (log_writer_task.curr_start_time > watchdog_data.ready_to_run_timestamp) {
|
||||
watchdog_data.ready_to_run_timestamp = log_writer_task.curr_start_time;
|
||||
if (logger_writer_task.curr_start_time > watchdog_data.ready_to_run_timestamp) {
|
||||
watchdog_data.ready_to_run_timestamp = logger_writer_task.curr_start_time;
|
||||
}
|
||||
|
||||
// update the timestamp if not ready to run or if transitioned into ready to run
|
||||
uint8_t current_state = log_writer_task.tcb->task_state;
|
||||
uint8_t current_state = logger_writer_task.tcb->task_state;
|
||||
|
||||
if (current_state != TSTATE_TASK_READYTORUN
|
||||
|| (watchdog_data.last_state != TSTATE_TASK_READYTORUN && current_state == TSTATE_TASK_READYTORUN)) {
|
||||
@@ -106,23 +109,52 @@ bool watchdog_update(watchdog_data_t &watchdog_data, bool semaphore_value_satura
|
||||
watchdog_data.sem_counter_saturated_start = now;
|
||||
}
|
||||
|
||||
if (now - watchdog_data.sem_counter_saturated_start > 3_s || now - watchdog_data.ready_to_run_timestamp > 1_s) {
|
||||
if (!watchdog_data.priority_boosted
|
||||
&& ((now - watchdog_data.sem_counter_saturated_start > 3_s) || (now - watchdog_data.ready_to_run_timestamp > 1_s)
|
||||
|| watchdog_data.priority_boost_requested.load())
|
||||
) {
|
||||
// boost the priority to make sure the logger continues to write to the log.
|
||||
// Note that we never restore the priority, to keep the logic simple and because it is
|
||||
// an event that must not occur under normal circumstances (if it does, there's a bug
|
||||
// somewhere)
|
||||
sched_param param{};
|
||||
param.sched_priority = SCHED_PRIORITY_MAX;
|
||||
|
||||
if (system_load.tasks[watchdog_data.logger_main_task_index].valid) {
|
||||
sched_setparam(system_load.tasks[watchdog_data.logger_main_task_index].tcb->pid, ¶m);
|
||||
if (logger_main_task.valid) {
|
||||
sched_param param{};
|
||||
param.sched_priority = SCHED_PRIORITY_MAX;
|
||||
sched_setparam(logger_main_task.tcb->pid, ¶m);
|
||||
}
|
||||
|
||||
sched_setparam(log_writer_task.tcb->pid, ¶m);
|
||||
if (logger_writer_task.valid) {
|
||||
sched_param param{};
|
||||
param.sched_priority = SCHED_PRIORITY_MAX;
|
||||
sched_setparam(logger_writer_task.tcb->pid, ¶m);
|
||||
}
|
||||
|
||||
// reset to avoid trigger again immediately
|
||||
watchdog_data.sem_counter_saturated_start = now;
|
||||
watchdog_data.ready_to_run_timestamp = now;
|
||||
|
||||
watchdog_data.priority_boosted = true;
|
||||
watchdog_data.priority_boost_requested.store(true);
|
||||
|
||||
// make sure we won't trigger again
|
||||
watchdog_data.logger_main_task_index = -1;
|
||||
return true;
|
||||
|
||||
} else if (watchdog_data.priority_boosted && !watchdog_data.priority_boost_requested.load()) {
|
||||
// restore original priorities
|
||||
if (logger_main_task.valid) {
|
||||
sched_param param{};
|
||||
param.sched_priority = SCHED_PRIORITY_LOG_CAPTURE;
|
||||
sched_setparam(logger_main_task.tcb->pid, ¶m);
|
||||
}
|
||||
|
||||
if (logger_writer_task.valid) {
|
||||
sched_param param{};
|
||||
param.sched_priority = SCHED_PRIORITY_LOG_WRITER;
|
||||
sched_setparam(logger_writer_task.tcb->pid, ¶m);
|
||||
}
|
||||
|
||||
watchdog_data.priority_boosted = false;
|
||||
watchdog_data.priority_boost_requested.store(false);
|
||||
}
|
||||
|
||||
} else {
|
||||
|
||||
@@ -34,6 +34,7 @@
|
||||
#pragma once
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <px4_platform_common/atomic.h>
|
||||
|
||||
#ifdef __PX4_NUTTX
|
||||
#include <nuttx/sched.h>
|
||||
@@ -52,7 +53,10 @@ struct watchdog_data_t {
|
||||
hrt_abstime ready_to_run_timestamp = hrt_absolute_time();
|
||||
hrt_abstime sem_counter_saturated_start = hrt_absolute_time();
|
||||
uint8_t last_state = TSTATE_TASK_INVALID;
|
||||
|
||||
bool priority_boosted{false};
|
||||
#endif /* __PX4_NUTTX */
|
||||
px4::atomic_bool priority_boost_requested {false};
|
||||
};
|
||||
|
||||
|
||||
|
||||
Submodule src/modules/mavlink/mavlink updated: 2bdcab78b5...e3b8756e37
@@ -1864,30 +1864,20 @@ Mavlink::task_main(int argc, char *argv[])
|
||||
// use default /dev/null so that these numbers are not used by other other files.
|
||||
if (fcntl(0, F_GETFD) == -1) {
|
||||
int tmp = open("/dev/null", O_RDONLY);
|
||||
|
||||
if (tmp != 0) {
|
||||
dup2(tmp, 0);
|
||||
close(tmp);
|
||||
}
|
||||
|
||||
dup2(tmp, 0);
|
||||
close(tmp);
|
||||
}
|
||||
|
||||
if (fcntl(1, F_GETFD) == -1) {
|
||||
int tmp = open("/dev/null", O_WRONLY);
|
||||
|
||||
if (tmp != 1) {
|
||||
dup2(tmp, 1);
|
||||
close(tmp);
|
||||
}
|
||||
dup2(tmp, 1);
|
||||
close(tmp);
|
||||
}
|
||||
|
||||
if (fcntl(2, F_GETFD) == -1) {
|
||||
int tmp = open("/dev/null", O_WRONLY);
|
||||
|
||||
if (tmp != 2) {
|
||||
dup2(tmp, 2);
|
||||
close(tmp);
|
||||
}
|
||||
dup2(tmp, 2);
|
||||
close(tmp);
|
||||
}
|
||||
|
||||
int ch;
|
||||
|
||||
@@ -4,7 +4,6 @@ menu "Simulation"
|
||||
default n
|
||||
select MODULES_SIMULATION_BATTERY_SIMULATOR
|
||||
select MODULES_SIMULATION_PWM_OUT_SIM
|
||||
select MODULES_SIMULATION_SENSOR_AIRSPEED_SIM
|
||||
select MODULES_SIMULATION_SENSOR_BARO_SIM
|
||||
select MODULES_SIMULATION_SENSOR_GPS_SIM
|
||||
select MODULES_SIMULATION_SENSOR_MAG_SIM
|
||||
|
||||
@@ -1,43 +0,0 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2021-2022 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
px4_add_module(
|
||||
MODULE modules__simulation__sensor_airspeed_sim
|
||||
MAIN sensor_airspeed_sim
|
||||
COMPILE_FLAGS
|
||||
SRCS
|
||||
SensorAirspeedSim.cpp
|
||||
SensorAirspeedSim.hpp
|
||||
DEPENDS
|
||||
px4_work_queue
|
||||
)
|
||||
@@ -1,5 +0,0 @@
|
||||
menuconfig MODULES_SIMULATION_SENSOR_AIRSPEED_SIM
|
||||
bool "sensor_airspeed_sim"
|
||||
default n
|
||||
---help---
|
||||
Enable support for sensor_airspeed_sim
|
||||
@@ -1,208 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2023 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include "SensorAirspeedSim.hpp"
|
||||
|
||||
#include <drivers/drv_sensor.h>
|
||||
#include <lib/drivers/device/Device.hpp>
|
||||
#include <lib/geo/geo.h>
|
||||
|
||||
using namespace matrix;
|
||||
|
||||
SensorAirspeedSim::SensorAirspeedSim() :
|
||||
ModuleParams(nullptr),
|
||||
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
|
||||
{
|
||||
}
|
||||
|
||||
SensorAirspeedSim::~SensorAirspeedSim()
|
||||
{
|
||||
perf_free(_loop_perf);
|
||||
}
|
||||
|
||||
bool SensorAirspeedSim::init()
|
||||
{
|
||||
ScheduleOnInterval(125_ms); // 8 Hz
|
||||
return true;
|
||||
}
|
||||
|
||||
float SensorAirspeedSim::generate_wgn()
|
||||
{
|
||||
// generate white Gaussian noise sample with std=1
|
||||
|
||||
// algorithm 1:
|
||||
// float temp=((float)(rand()+1))/(((float)RAND_MAX+1.0f));
|
||||
// return sqrtf(-2.0f*logf(temp))*cosf(2.0f*M_PI_F*rand()/RAND_MAX);
|
||||
// algorithm 2: from BlockRandGauss.hpp
|
||||
static float V1, V2, S;
|
||||
static bool phase = true;
|
||||
float X;
|
||||
|
||||
if (phase) {
|
||||
do {
|
||||
float U1 = (float)rand() / (float)RAND_MAX;
|
||||
float U2 = (float)rand() / (float)RAND_MAX;
|
||||
V1 = 2.0f * U1 - 1.0f;
|
||||
V2 = 2.0f * U2 - 1.0f;
|
||||
S = V1 * V1 + V2 * V2;
|
||||
} while (S >= 1.0f || fabsf(S) < 1e-8f);
|
||||
|
||||
X = V1 * float(sqrtf(-2.0f * float(logf(S)) / S));
|
||||
|
||||
} else {
|
||||
X = V2 * float(sqrtf(-2.0f * float(logf(S)) / S));
|
||||
}
|
||||
|
||||
phase = !phase;
|
||||
return X;
|
||||
}
|
||||
|
||||
void SensorAirspeedSim::Run()
|
||||
{
|
||||
if (should_exit()) {
|
||||
ScheduleClear();
|
||||
exit_and_cleanup();
|
||||
return;
|
||||
}
|
||||
|
||||
perf_begin(_loop_perf);
|
||||
|
||||
// Check if parameters have changed
|
||||
if (_parameter_update_sub.updated()) {
|
||||
// clear update
|
||||
parameter_update_s param_update;
|
||||
_parameter_update_sub.copy(¶m_update);
|
||||
|
||||
updateParams();
|
||||
}
|
||||
|
||||
if (_sim_failure.get() == 0) {
|
||||
if (_vehicle_local_position_sub.updated() && _vehicle_global_position_sub.updated()
|
||||
&& _vehicle_attitude_sub.updated()) {
|
||||
|
||||
vehicle_local_position_s lpos{};
|
||||
_vehicle_local_position_sub.copy(&lpos);
|
||||
|
||||
vehicle_global_position_s gpos{};
|
||||
_vehicle_global_position_sub.copy(&gpos);
|
||||
|
||||
vehicle_attitude_s attitude{};
|
||||
_vehicle_attitude_sub.copy(&attitude);
|
||||
|
||||
Vector3f local_velocity = Vector3f{lpos.vx, lpos.vy, lpos.vz};
|
||||
Vector3f body_velocity = Dcmf{Quatf{attitude.q}} .transpose() * local_velocity;
|
||||
|
||||
// device id
|
||||
device::Device::DeviceId device_id;
|
||||
device_id.devid_s.bus_type = device::Device::DeviceBusType::DeviceBusType_SIMULATION;
|
||||
device_id.devid_s.bus = 0;
|
||||
device_id.devid_s.address = 0;
|
||||
device_id.devid_s.devtype = DRV_DIFF_PRESS_DEVTYPE_SIM;
|
||||
|
||||
const float alt_amsl = gpos.alt;
|
||||
const float temperature_local = TEMPERATURE_MSL - LAPSE_RATE * alt_amsl;
|
||||
const float density_ratio = powf(TEMPERATURE_MSL / temperature_local, 4.256f);
|
||||
const float air_density = AIR_DENSITY_MSL / density_ratio;
|
||||
|
||||
// calculate differential pressure + noise in hPa
|
||||
const float diff_pressure_noise = (float)generate_wgn() * 0.01f;
|
||||
float diff_pressure = sign(body_velocity(0)) * 0.005f * air_density * body_velocity(0) * body_velocity(
|
||||
0) + diff_pressure_noise;
|
||||
|
||||
|
||||
differential_pressure_s differential_pressure{};
|
||||
// report.timestamp_sample = time;
|
||||
differential_pressure.device_id = 1377548; // 1377548: DRV_DIFF_PRESS_DEVTYPE_SIM, BUS: 1, ADDR: 5, TYPE: SIMULATION
|
||||
differential_pressure.differential_pressure_pa = (double)diff_pressure * 100.0; // hPa to Pa;
|
||||
differential_pressure.temperature = temperature_local;
|
||||
differential_pressure.timestamp = hrt_absolute_time();
|
||||
_differential_pressure_pub.publish(differential_pressure);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
perf_end(_loop_perf);
|
||||
}
|
||||
|
||||
int SensorAirspeedSim::task_spawn(int argc, char *argv[])
|
||||
{
|
||||
SensorAirspeedSim *instance = new SensorAirspeedSim();
|
||||
|
||||
if (instance) {
|
||||
_object.store(instance);
|
||||
_task_id = task_id_is_work_queue;
|
||||
|
||||
if (instance->init()) {
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
} else {
|
||||
PX4_ERR("alloc failed");
|
||||
}
|
||||
|
||||
delete instance;
|
||||
_object.store(nullptr);
|
||||
_task_id = -1;
|
||||
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
int SensorAirspeedSim::custom_command(int argc, char *argv[])
|
||||
{
|
||||
return print_usage("unknown command");
|
||||
}
|
||||
|
||||
int SensorAirspeedSim::print_usage(const char *reason)
|
||||
{
|
||||
if (reason) {
|
||||
PX4_WARN("%s\n", reason);
|
||||
}
|
||||
|
||||
PRINT_MODULE_DESCRIPTION(
|
||||
R"DESCR_STR(
|
||||
### Description
|
||||
|
||||
|
||||
)DESCR_STR");
|
||||
|
||||
PRINT_MODULE_USAGE_NAME("sensor_arispeed_sim", "system");
|
||||
PRINT_MODULE_USAGE_COMMAND("start");
|
||||
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
extern "C" __EXPORT int sensor_airspeed_sim_main(int argc, char *argv[])
|
||||
{
|
||||
return SensorAirspeedSim::main(argc, argv);
|
||||
}
|
||||
@@ -1,95 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2023 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <lib/perf/perf_counter.h>
|
||||
#include <px4_platform_common/defines.h>
|
||||
#include <px4_platform_common/module.h>
|
||||
#include <px4_platform_common/module_params.h>
|
||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <uORB/PublicationMulti.hpp>
|
||||
#include <uORB/Subscription.hpp>
|
||||
#include <uORB/SubscriptionInterval.hpp>
|
||||
#include <uORB/topics/parameter_update.h>
|
||||
#include <uORB/topics/differential_pressure.h>
|
||||
#include <uORB/topics/vehicle_attitude.h>
|
||||
#include <uORB/topics/vehicle_global_position.h>
|
||||
#include <uORB/topics/vehicle_local_position.h>
|
||||
|
||||
using namespace time_literals;
|
||||
|
||||
static constexpr float TEMPERATURE_MSL = 288.15; // temperature at MSL [K] (15 [C])
|
||||
static constexpr float PRESSURE_MSL = 101325.0; // pressure at MSL [Pa]
|
||||
static constexpr float LAPSE_RATE = 0.0065; // reduction in temperature with altitude for troposphere [K/m]
|
||||
static constexpr float AIR_DENSITY_MSL = 1.225; // air density at MSL [kg/m^3]
|
||||
|
||||
class SensorAirspeedSim : public ModuleBase<SensorAirspeedSim>, public ModuleParams, public px4::ScheduledWorkItem
|
||||
{
|
||||
public:
|
||||
SensorAirspeedSim();
|
||||
~SensorAirspeedSim() override;
|
||||
|
||||
/** @see ModuleBase */
|
||||
static int task_spawn(int argc, char *argv[]);
|
||||
|
||||
/** @see ModuleBase */
|
||||
static int custom_command(int argc, char *argv[]);
|
||||
|
||||
/** @see ModuleBase */
|
||||
static int print_usage(const char *reason = nullptr);
|
||||
|
||||
bool init();
|
||||
|
||||
private:
|
||||
void Run() override;
|
||||
|
||||
// generate white Gaussian noise sample with std=1
|
||||
static float generate_wgn();
|
||||
|
||||
// generate white Gaussian noise sample as a 3D vector with specified std
|
||||
matrix::Vector3f noiseGauss3f(float stdx, float stdy, float stdz) { return matrix::Vector3f(generate_wgn() * stdx, generate_wgn() * stdy, generate_wgn() * stdz); }
|
||||
|
||||
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
|
||||
uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
|
||||
uORB::Subscription _vehicle_global_position_sub{ORB_ID(vehicle_global_position_groundtruth)};
|
||||
uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position_groundtruth)};
|
||||
|
||||
uORB::PublicationMulti<differential_pressure_s> _differential_pressure_pub{ORB_ID(differential_pressure)};
|
||||
|
||||
perf_counter_t _loop_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
|
||||
|
||||
DEFINE_PARAMETERS(
|
||||
(ParamInt<px4::params::SIM_ARSPD_FAIL>) _sim_failure
|
||||
)
|
||||
};
|
||||
@@ -1,56 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2023 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* Enable simulated airspeed sensor instance
|
||||
*
|
||||
* @reboot_required true
|
||||
* @min 0
|
||||
* @max 1
|
||||
* @group Sensors
|
||||
* @value 0 Disabled
|
||||
* @value 1 Enabled
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SENS_EN_ARSPDSIM, 0);
|
||||
|
||||
/**
|
||||
* Dynamically simulate failure of airspeed sensor instance
|
||||
*
|
||||
* @reboot_required true
|
||||
* @min 0
|
||||
* @max 1
|
||||
* @group Sensors
|
||||
* @value 0 Disabled
|
||||
* @value 1 Enabled
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SIM_ARSPD_FAIL, 0);
|
||||
Reference in New Issue
Block a user