diff options
author | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-23 13:19:37 +0200 |
---|---|---|
committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-23 13:19:37 +0200 |
commit | 1143cdbadfdf5a00765373cfa2ad84f6d23f2c51 (patch) | |
tree | 92775315b732b88ed097188edc2c26599c5133ee | |
parent | 2c0d192944744086905e622f445a523d6650cdc5 (diff) | |
parent | edffb2eede777f3c316bc8a144984d9d12cbd680 (diff) | |
download | px4-firmware-1143cdbadfdf5a00765373cfa2ad84f6d23f2c51.tar.gz px4-firmware-1143cdbadfdf5a00765373cfa2ad84f6d23f2c51.tar.bz2 px4-firmware-1143cdbadfdf5a00765373cfa2ad84f6d23f2c51.zip |
Merge branch 'master' of github.com:PX4/Firmware into ekf_varweight
26 files changed, 891 insertions, 72 deletions
diff --git a/NuttX b/NuttX -Subproject 088146b90eee5b614ea6386a64dae343a49a517 +Subproject 41fffa0df192e4a26d2325c7ac5d9b5d7ba0211 diff --git a/nuttx-configs/aerocore/nsh/defconfig b/nuttx-configs/aerocore/nsh/defconfig index 8d0bae7b9..317194f68 100644 --- a/nuttx-configs/aerocore/nsh/defconfig +++ b/nuttx-configs/aerocore/nsh/defconfig @@ -314,7 +314,7 @@ CONFIG_STM32_I2CTIMEOTICKS=500 # CONFIG_ARCH_NOINTC is not set # CONFIG_ARCH_VECNOTIRQ is not set CONFIG_ARCH_DMA=y -CONFIG_ARCH_IRQPRIO=y +# CONFIG_ARCH_IRQPRIO is not set # CONFIG_CUSTOM_STACK is not set # CONFIG_ADDRENV is not set CONFIG_ARCH_HAVE_VFORK=y diff --git a/nuttx-configs/px4fmu-v1/nsh/defconfig b/nuttx-configs/px4fmu-v1/nsh/defconfig index a651faffa..d7697cd67 100644 --- a/nuttx-configs/px4fmu-v1/nsh/defconfig +++ b/nuttx-configs/px4fmu-v1/nsh/defconfig @@ -309,7 +309,7 @@ CONFIG_STM32_I2CTIMEOTICKS=500 # CONFIG_ARCH_NOINTC is not set # CONFIG_ARCH_VECNOTIRQ is not set CONFIG_ARCH_DMA=y -CONFIG_ARCH_IRQPRIO=y +# CONFIG_ARCH_IRQPRIO is not set # CONFIG_CUSTOM_STACK is not set # CONFIG_ADDRENV is not set CONFIG_ARCH_HAVE_VFORK=y diff --git a/nuttx-configs/px4fmu-v2/nsh/defconfig b/nuttx-configs/px4fmu-v2/nsh/defconfig index a55c95a29..bd956f7bf 100644 --- a/nuttx-configs/px4fmu-v2/nsh/defconfig +++ b/nuttx-configs/px4fmu-v2/nsh/defconfig @@ -350,7 +350,7 @@ CONFIG_SDIO_PRI=128 # CONFIG_ARCH_NOINTC is not set # CONFIG_ARCH_VECNOTIRQ is not set CONFIG_ARCH_DMA=y -CONFIG_ARCH_IRQPRIO=y +# CONFIG_ARCH_IRQPRIO is not set # CONFIG_CUSTOM_STACK is not set # CONFIG_ADDRENV is not set CONFIG_ARCH_HAVE_VFORK=y diff --git a/nuttx-configs/px4io-v1/nsh/defconfig b/nuttx-configs/px4io-v1/nsh/defconfig index 3785e0367..512c6a0f2 100755 --- a/nuttx-configs/px4io-v1/nsh/defconfig +++ b/nuttx-configs/px4io-v1/nsh/defconfig @@ -83,7 +83,6 @@ CONFIG_ARCH_BOARD="px4io-v1" CONFIG_BOARD_LOOPSPERMSEC=2000 CONFIG_DRAM_SIZE=0x00002000 CONFIG_DRAM_START=0x20000000 -CONFIG_ARCH_IRQPRIO=y CONFIG_ARCH_INTERRUPTSTACK=n CONFIG_ARCH_STACKDUMP=y CONFIG_ARCH_BOOTLOADER=n diff --git a/nuttx-configs/px4io-v2/nsh/defconfig b/nuttx-configs/px4io-v2/nsh/defconfig index e6563e587..02b51e3d7 100755 --- a/nuttx-configs/px4io-v2/nsh/defconfig +++ b/nuttx-configs/px4io-v2/nsh/defconfig @@ -79,7 +79,6 @@ CONFIG_ARCH_BOARD_PX4IO_V2=y CONFIG_BOARD_LOOPSPERMSEC=2000 CONFIG_DRAM_SIZE=0x00002000 CONFIG_DRAM_START=0x20000000 -CONFIG_ARCH_IRQPRIO=y CONFIG_ARCH_INTERRUPTSTACK=n CONFIG_ARCH_STACKDUMP=y CONFIG_ARCH_BOOTLOADER=n diff --git a/src/drivers/airspeed/airspeed.cpp b/src/drivers/airspeed/airspeed.cpp index 41942aacd..293690d27 100644 --- a/src/drivers/airspeed/airspeed.cpp +++ b/src/drivers/airspeed/airspeed.cpp @@ -165,7 +165,7 @@ Airspeed::probe() */ _retries = 4; int ret = measure(); - _retries = 2; + _retries = 0; return ret; } @@ -381,7 +381,10 @@ Airspeed::cycle_trampoline(void *arg) Airspeed *dev = (Airspeed *)arg; dev->cycle(); - dev->update_status(); + // XXX we do not know if this is + // really helping - do not update the + // subsys state right now + //dev->update_status(); } void diff --git a/src/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp index 0e9a961ac..e4ecfa6b5 100644 --- a/src/drivers/hmc5883/hmc5883.cpp +++ b/src/drivers/hmc5883/hmc5883.cpp @@ -1283,14 +1283,13 @@ int HMC5883::set_excitement(unsigned enable) if (OK != ret) perf_count(_comms_errors); + _conf_reg &= ~0x03; // reset previous excitement mode if (((int)enable) < 0) { _conf_reg |= 0x01; } else if (enable > 0) { _conf_reg |= 0x02; - } else { - _conf_reg &= ~0x03; } // ::printf("set_excitement enable=%d regA=0x%x\n", (int)enable, (unsigned)_conf_reg); diff --git a/src/drivers/ms5611/ms5611.cpp b/src/drivers/ms5611/ms5611.cpp index 873fa62c4..889643d0d 100644 --- a/src/drivers/ms5611/ms5611.cpp +++ b/src/drivers/ms5611/ms5611.cpp @@ -130,7 +130,7 @@ protected: float _T; /* altitude conversion calibration */ - unsigned _msl_pressure; /* in kPa */ + unsigned _msl_pressure; /* in Pa */ orb_advert_t _baro_topic; @@ -466,7 +466,7 @@ MS5611::ioctl(struct file *filp, int cmd, unsigned long arg) irqrestore(flags); return -ENOMEM; } - irqrestore(flags); + irqrestore(flags); return OK; } diff --git a/src/drivers/pca9685/arduino_Adafruit_PWM_Servo_Driver_Library_license.txt b/src/drivers/pca9685/arduino_Adafruit_PWM_Servo_Driver_Library_license.txt new file mode 100644 index 000000000..9c5eb42eb --- /dev/null +++ b/src/drivers/pca9685/arduino_Adafruit_PWM_Servo_Driver_Library_license.txt @@ -0,0 +1,29 @@ +The following license agreement covers re-used code from the arduino driver +for the Adafruit I2C to PWM converter. + +Software License Agreement (BSD License) + +Copyright (c) 2012, Adafruit Industries +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 of the copyright holders 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 ''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 HOLDER 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. diff --git a/src/drivers/pca9685/module.mk b/src/drivers/pca9685/module.mk new file mode 100644 index 000000000..7a5c7996e --- /dev/null +++ b/src/drivers/pca9685/module.mk @@ -0,0 +1,42 @@ +############################################################################ +# +# Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# 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. +# +############################################################################ + +# +# Driver for the PCA9685 I2C PWM controller +# The chip is used on the adafruit I2C PWM converter, +# which allows to control servos via I2C. +# https://www.adafruit.com/product/815 + +MODULE_COMMAND = pca9685 + +SRCS = pca9685.cpp diff --git a/src/drivers/pca9685/pca9685.cpp b/src/drivers/pca9685/pca9685.cpp new file mode 100644 index 000000000..6f69ce8a1 --- /dev/null +++ b/src/drivers/pca9685/pca9685.cpp @@ -0,0 +1,651 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * 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. + * + ****************************************************************************/ + +/** + * @file pca9685.cpp + * + * Driver for the PCA9685 I2C PWM module + * The chip is used on the Adafruit I2C/PWM converter https://www.adafruit.com/product/815 + * + * Parts of the code are adapted from the arduino library for the board + * https://github.com/adafruit/Adafruit-PWM-Servo-Driver-Library + * for the license of these parts see the + * arduino_Adafruit_PWM_Servo_Driver_Library_license.txt file + * see https://github.com/adafruit/Adafruit-PWM-Servo-Driver-Library for contributors + * + * @author Thomas Gubler <thomasgubler@gmail.com> + */ + +#include <nuttx/config.h> + +#include <drivers/device/i2c.h> + +#include <sys/types.h> +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include <stdbool.h> +#include <fcntl.h> +#include <unistd.h> +#include <stdio.h> +#include <ctype.h> +#include <math.h> + +#include <nuttx/wqueue.h> +#include <nuttx/clock.h> + +#include <systemlib/perf_counter.h> +#include <systemlib/err.h> +#include <systemlib/systemlib.h> + +#include <uORB/uORB.h> +#include <uORB/topics/actuator_controls.h> + +#include <board_config.h> +#include <drivers/drv_io_expander.h> + +#define PCA9685_SUBADR1 0x2 +#define PCA9685_SUBADR2 0x3 +#define PCA9685_SUBADR3 0x4 + +#define PCA9685_MODE1 0x0 +#define PCA9685_PRESCALE 0xFE + +#define LED0_ON_L 0x6 +#define LED0_ON_H 0x7 +#define LED0_OFF_L 0x8 +#define LED0_OFF_H 0x9 + +#define ALLLED_ON_L 0xFA +#define ALLLED_ON_H 0xFB +#define ALLLED_OFF_L 0xFC +#define ALLLED_OF + +#define ADDR 0x40 // I2C adress + +#define PCA9685_DEVICE_PATH "/dev/pca9685" +#define PCA9685_BUS PX4_I2C_BUS_EXPANSION +#define PCA9685_PWMFREQ 60.0f +#define PCA9685_NCHANS 16 // total amount of pwm outputs + +#define PCA9685_PWMMIN 150 // this is the 'minimum' pulse length count (out of 4096) +#define PCA9685_PWMMAX 600 // this is the 'maximum' pulse length count (out of 4096)_PWMFREQ 60.0f + +#define PCA9685_PWMCENTER ((PCA9685_PWMMAX + PCA9685_PWMMIN)/2) +#define PCA9685_MAXSERVODEG 90.0f /* maximal servo deflection in degrees + PCA9685_PWMMIN <--> -PCA9685_MAXSERVODEG + PCA9685_PWMMAX <--> PCA9685_MAXSERVODEG + */ +#define PCA9685_SCALE ((PCA9685_PWMMAX - PCA9685_PWMCENTER)/(M_DEG_TO_RAD_F * PCA9685_MAXSERVODEG)) // scales from rad to PWM + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + +class PCA9685 : public device::I2C +{ +public: + PCA9685(int bus=PCA9685_BUS, uint8_t address=ADDR); + virtual ~PCA9685(); + + + virtual int init(); + virtual int ioctl(struct file *filp, int cmd, unsigned long arg); + virtual int info(); + virtual int reset(); + bool is_running() { return _running; } + +private: + work_s _work; + + + enum IOX_MODE _mode; + bool _running; + int _i2cpwm_interval; + bool _should_run; + perf_counter_t _comms_errors; + + uint8_t _msg[6]; + + int _actuator_controls_sub; + struct actuator_controls_s _actuator_controls; + uint16_t _current_values[NUM_ACTUATOR_CONTROLS]; /**< stores the current pwm output + values as sent to the setPin() */ + + bool _mode_on_initialized; /** Set to true after the first call of i2cpwm in mode IOX_MODE_ON */ + + static void i2cpwm_trampoline(void *arg); + void i2cpwm(); + + /** + * Helper function to set the pwm frequency + */ + int setPWMFreq(float freq); + + /** + * Helper function to set the demanded pwm value + * @param num pwm output number + */ + int setPWM(uint8_t num, uint16_t on, uint16_t off); + + /** + * Sets pin without having to deal with on/off tick placement and properly handles + * a zero value as completely off. Optional invert parameter supports inverting + * the pulse for sinking to ground. + * @param num pwm output number + * @param val should be a value from 0 to 4095 inclusive. + */ + int setPin(uint8_t num, uint16_t val, bool invert = false); + + + /* Wrapper to read a byte from addr */ + int read8(uint8_t addr, uint8_t &value); + + /* Wrapper to wite a byte to addr */ + int write8(uint8_t addr, uint8_t value); + +}; + +/* for now, we only support one board */ +namespace +{ +PCA9685 *g_pca9685; +} + +void pca9685_usage(); + +extern "C" __EXPORT int pca9685_main(int argc, char *argv[]); + +PCA9685::PCA9685(int bus, uint8_t address) : + I2C("pca9685", PCA9685_DEVICE_PATH, bus, address, 100000), + _mode(IOX_MODE_OFF), + _running(false), + _i2cpwm_interval(SEC2TICK(1.0f/60.0f)), + _should_run(false), + _comms_errors(perf_alloc(PC_COUNT, "actuator_controls_2_comms_errors")), + _actuator_controls_sub(-1), + _actuator_controls(), + _mode_on_initialized(false) +{ + memset(&_work, 0, sizeof(_work)); + memset(_msg, 0, sizeof(_msg)); + memset(_current_values, 0, sizeof(_current_values)); +} + +PCA9685::~PCA9685() +{ +} + +int +PCA9685::init() +{ + int ret; + ret = I2C::init(); + if (ret != OK) { + return ret; + } + + ret = reset(); + if (ret != OK) { + return ret; + } + + ret = setPWMFreq(PCA9685_PWMFREQ); + + return ret; +} + +int +PCA9685::ioctl(struct file *filp, int cmd, unsigned long arg) +{ + int ret = -EINVAL; + switch (cmd) { + + case IOX_SET_MODE: + + if (_mode != (IOX_MODE)arg) { + + switch ((IOX_MODE)arg) { + case IOX_MODE_OFF: + warnx("shutting down"); + break; + case IOX_MODE_ON: + warnx("starting"); + break; + case IOX_MODE_TEST_OUT: + warnx("test starting"); + break; + + default: + return -1; + } + + _mode = (IOX_MODE)arg; + } + + // if not active, kick it + if (!_running) { + _running = true; + work_queue(LPWORK, &_work, (worker_t)&PCA9685::i2cpwm_trampoline, this, 1); + } + + + return OK; + + default: + // see if the parent class can make any use of it + ret = CDev::ioctl(filp, cmd, arg); + break; + } + + return ret; +} + +int +PCA9685::info() +{ + int ret = OK; + + if (is_running()) { + warnx("Driver is running, mode: %u", _mode); + } else { + warnx("Driver started but not running"); + } + + return ret; +} + +void +PCA9685::i2cpwm_trampoline(void *arg) +{ + PCA9685 *i2cpwm = reinterpret_cast<PCA9685 *>(arg); + + i2cpwm->i2cpwm(); +} + +/** + * Main loop function + */ +void +PCA9685::i2cpwm() +{ + if (_mode == IOX_MODE_TEST_OUT) { + setPin(0, PCA9685_PWMCENTER); + _should_run = true; + } else if (_mode == IOX_MODE_OFF) { + _should_run = false; + } else { + if (!_mode_on_initialized) { + /* Subscribe to actuator control 2 (payload group for gimbal) */ + _actuator_controls_sub = orb_subscribe(ORB_ID(actuator_controls_2)); + /* set the uorb update interval lower than the driver pwm interval */ + orb_set_interval(_actuator_controls_sub, 1000.0f / PCA9685_PWMFREQ - 5); + + _mode_on_initialized = true; + } + + /* Read the servo setpoints from the actuator control topics (gimbal) */ + bool updated; + orb_check(_actuator_controls_sub, &updated); + if (updated) { + orb_copy(ORB_ID(actuator_controls_2), _actuator_controls_sub, &_actuator_controls); + for (int i = 0; i < NUM_ACTUATOR_CONTROLS; i++) { + /* Scale the controls to PWM, first multiply by pi to get rad, + * the control[i] values are on the range -1 ... 1 */ + uint16_t new_value = PCA9685_PWMCENTER + + (_actuator_controls.control[i] * M_PI_F * PCA9685_SCALE); + debug("%d: current: %u, new %u, control %.2f", i, _current_values[i], new_value, + (double)_actuator_controls.control[i]); + if (new_value != _current_values[i] && + isfinite(new_value) && + new_value >= PCA9685_PWMMIN && + new_value <= PCA9685_PWMMAX) { + /* This value was updated, send the command to adjust the PWM value */ + setPin(i, new_value); + _current_values[i] = new_value; + } + } + } + _should_run = true; + } + + // check if any activity remains, else stop + if (!_should_run) { + _running = false; + return; + } + + // re-queue ourselves to run again later + _running = true; + work_queue(LPWORK, &_work, (worker_t)&PCA9685::i2cpwm_trampoline, this, _i2cpwm_interval); +} + +int +PCA9685::setPWM(uint8_t num, uint16_t on, uint16_t off) +{ + int ret; + /* convert to correct message */ + _msg[0] = LED0_ON_L + 4 * num; + _msg[1] = on; + _msg[2] = on >> 8; + _msg[3] = off; + _msg[4] = off >> 8; + + /* try i2c transfer */ + ret = transfer(_msg, 5, nullptr, 0); + + if (OK != ret) { + perf_count(_comms_errors); + log("i2c::transfer returned %d", ret); + } + + return ret; +} + +int +PCA9685::setPin(uint8_t num, uint16_t val, bool invert) +{ + // Clamp value between 0 and 4095 inclusive. + if (val > 4095) { + val = 4095; + } + if (invert) { + if (val == 0) { + // Special value for signal fully on. + return setPWM(num, 4096, 0); + } else if (val == 4095) { + // Special value for signal fully off. + return setPWM(num, 0, 4096); + } else { + return setPWM(num, 0, 4095-val); + } + } else { + if (val == 4095) { + // Special value for signal fully on. + return setPWM(num, 4096, 0); + } else if (val == 0) { + // Special value for signal fully off. + return setPWM(num, 0, 4096); + } else { + return setPWM(num, 0, val); + } + } + + return ERROR; +} + +int +PCA9685::setPWMFreq(float freq) +{ + int ret = OK; + freq *= 0.9f; /* Correct for overshoot in the frequency setting (see issue + https://github.com/adafruit/Adafruit-PWM-Servo-Driver-Library/issues/11). */ + float prescaleval = 25000000; + prescaleval /= 4096; + prescaleval /= freq; + prescaleval -= 1; + uint8_t prescale = uint8_t(prescaleval + 0.5f); //implicit floor() + uint8_t oldmode; + ret = read8(PCA9685_MODE1, oldmode); + if (ret != OK) { + return ret; + } + uint8_t newmode = (oldmode&0x7F) | 0x10; // sleep + + ret = write8(PCA9685_MODE1, newmode); // go to sleep + if (ret != OK) { + return ret; + } + ret = write8(PCA9685_PRESCALE, prescale); // set the prescaler + if (ret != OK) { + return ret; + } + ret = write8(PCA9685_MODE1, oldmode); + if (ret != OK) { + return ret; + } + + usleep(5000); //5ms delay (from arduino driver) + + ret = write8(PCA9685_MODE1, oldmode | 0xa1); // This sets the MODE1 register to turn on auto increment. + if (ret != OK) { + return ret; + } + + return ret; +} + +/* Wrapper to read a byte from addr */ +int +PCA9685::read8(uint8_t addr, uint8_t &value) +{ + int ret = OK; + + /* send addr */ + ret = transfer(&addr, sizeof(addr), nullptr, 0); + if (ret != OK) { + goto fail_read; + } + + /* get value */ + ret = transfer(nullptr, 0, &value, 1); + if (ret != OK) { + goto fail_read; + } + + return ret; + +fail_read: + perf_count(_comms_errors); + log("i2c::transfer returned %d", ret); + + return ret; +} + +int PCA9685::reset(void) { + warnx("resetting"); + return write8(PCA9685_MODE1, 0x0); +} + +/* Wrapper to wite a byte to addr */ +int +PCA9685::write8(uint8_t addr, uint8_t value) { + int ret = OK; + _msg[0] = addr; + _msg[1] = value; + /* send addr and value */ + ret = transfer(_msg, 2, nullptr, 0); + if (ret != OK) { + perf_count(_comms_errors); + log("i2c::transfer returned %d", ret); + } + return ret; +} + +void +pca9685_usage() +{ + warnx("missing command: try 'start', 'test', 'stop', 'info'"); + warnx("options:"); + warnx(" -b i2cbus (%d)", PX4_I2C_BUS_EXPANSION); + warnx(" -a addr (0x%x)", ADDR); +} + +int +pca9685_main(int argc, char *argv[]) +{ + int i2cdevice = -1; + int i2caddr = ADDR; // 7bit + + int ch; + + // jump over start/off/etc and look at options first + while ((ch = getopt(argc, argv, "a:b:")) != EOF) { + switch (ch) { + case 'a': + i2caddr = strtol(optarg, NULL, 0); + break; + + case 'b': + i2cdevice = strtol(optarg, NULL, 0); + break; + + default: + pca9685_usage(); + exit(0); + } + } + + if (optind >= argc) { + pca9685_usage(); + exit(1); + } + + const char *verb = argv[optind]; + + int fd; + int ret; + + if (!strcmp(verb, "start")) { + if (g_pca9685 != nullptr) { + errx(1, "already started"); + } + + if (i2cdevice == -1) { + // try the external bus first + i2cdevice = PX4_I2C_BUS_EXPANSION; + g_pca9685 = new PCA9685(PX4_I2C_BUS_EXPANSION, i2caddr); + + if (g_pca9685 != nullptr && OK != g_pca9685->init()) { + delete g_pca9685; + g_pca9685 = nullptr; + } + + if (g_pca9685 == nullptr) { + errx(1, "init failed"); + } + } + + if (g_pca9685 == nullptr) { + g_pca9685 = new PCA9685(i2cdevice, i2caddr); + + if (g_pca9685 == nullptr) { + errx(1, "new failed"); + } + + if (OK != g_pca9685->init()) { + delete g_pca9685; + g_pca9685 = nullptr; + errx(1, "init failed"); + } + } + fd = open(PCA9685_DEVICE_PATH, 0); + if (fd == -1) { + errx(1, "Unable to open " PCA9685_DEVICE_PATH); + } + ret = ioctl(fd, IOX_SET_MODE, (unsigned long)IOX_MODE_ON); + close(fd); + + + exit(0); + } + + // need the driver past this point + if (g_pca9685 == nullptr) { + warnx("not started, run pca9685 start"); + exit(1); + } + + if (!strcmp(verb, "info")) { + g_pca9685->info(); + exit(0); + } + + if (!strcmp(verb, "reset")) { + g_pca9685->reset(); + exit(0); + } + + + if (!strcmp(verb, "test")) { + fd = open(PCA9685_DEVICE_PATH, 0); + + if (fd == -1) { + errx(1, "Unable to open " PCA9685_DEVICE_PATH); + } + + ret = ioctl(fd, IOX_SET_MODE, (unsigned long)IOX_MODE_TEST_OUT); + + close(fd); + exit(ret); + } + + if (!strcmp(verb, "stop")) { + fd = open(PCA9685_DEVICE_PATH, 0); + + if (fd == -1) { + errx(1, "Unable to open " PCA9685_DEVICE_PATH); + } + + ret = ioctl(fd, IOX_SET_MODE, (unsigned long)IOX_MODE_OFF); + close(fd); + + // wait until we're not running any more + for (unsigned i = 0; i < 15; i++) { + if (!g_pca9685->is_running()) { + break; + } + + usleep(50000); + printf("."); + fflush(stdout); + } + printf("\n"); + fflush(stdout); + + if (!g_pca9685->is_running()) { + delete g_pca9685; + g_pca9685= nullptr; + warnx("stopped, exiting"); + exit(0); + } else { + warnx("stop failed."); + exit(1); + } + } + + pca9685_usage(); + exit(0); +} diff --git a/src/drivers/sf0x/sf0x.cpp b/src/drivers/sf0x/sf0x.cpp index bca1715fa..80ecab2ee 100644 --- a/src/drivers/sf0x/sf0x.cpp +++ b/src/drivers/sf0x/sf0x.cpp @@ -598,7 +598,8 @@ SF0X::collect() memcpy(_linebuf, buf, (lend + 1) - (i + 1)); } - if (_linebuf[i] == '.') { + /* we need a digit before the dot and a dot for a valid number */ + if (i > 0 && _linebuf[i] == '.') { valid = true; } } diff --git a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp index 46db788a6..926a8db2a 100644 --- a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp +++ b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp @@ -169,7 +169,7 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch, if (!lock_integrator && _k_i > 0.0f && airspeed > 0.5f * airspeed_min) { - float id = _rate_error * dt; + float id = _rate_error * dt * scaler; /* * anti-windup: do not allow integrator to increase if actuator is at limit @@ -190,7 +190,9 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch, float integrator_constrained = math::constrain(_integrator * _k_i, -_integrator_max, _integrator_max); /* Apply PI rate controller and store non-limited output */ - _last_output = (_bodyrate_setpoint * _k_ff +_rate_error * _k_p + integrator_constrained) * scaler * scaler; //scaler is proportional to 1/airspeed + _last_output = _bodyrate_setpoint * _k_ff * scaler + + _rate_error * _k_p * scaler * scaler + + integrator_constrained; //scaler is proportional to 1/airspeed // warnx("pitch: _integrator: %.4f, _integrator_max: %.4f, airspeed %.4f, _k_i %.4f, _k_p: %.4f", (double)_integrator, (double)_integrator_max, (double)airspeed, (double)_k_i, (double)_k_p); // warnx("roll: _last_output %.4f", (double)_last_output); return math::constrain(_last_output, -1.0f, 1.0f); diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp index 9894a34d7..94bd26f03 100644 --- a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp +++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp @@ -135,7 +135,7 @@ float ECL_RollController::control_bodyrate(float pitch, if (!lock_integrator && _k_i > 0.0f && airspeed > 0.5f * airspeed_min) { - float id = _rate_error * dt; + float id = _rate_error * dt * scaler; /* * anti-windup: do not allow integrator to increase if actuator is at limit @@ -157,7 +157,9 @@ float ECL_RollController::control_bodyrate(float pitch, //warnx("roll: _integrator: %.4f, _integrator_max: %.4f", (double)_integrator, (double)_integrator_max); /* Apply PI rate controller and store non-limited output */ - _last_output = (_bodyrate_setpoint * _k_ff + _rate_error * _k_p + integrator_constrained) * scaler * scaler; //scaler is proportional to 1/airspeed + _last_output = _bodyrate_setpoint * _k_ff * scaler + + _rate_error * _k_p * scaler * scaler + + integrator_constrained; //scaler is proportional to 1/airspeed return math::constrain(_last_output, -1.0f, 1.0f); } diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 6c2c03070..74deda8cc 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -129,7 +129,7 @@ extern struct system_load_s system_load; #define POSITION_TIMEOUT (2 * 1000 * 1000) /**< consider the local or global position estimate invalid after 600ms */ #define FAILSAFE_DEFAULT_TIMEOUT (3 * 1000 * 1000) /**< hysteresis time - the failsafe will trigger after 3 seconds in this state */ #define RC_TIMEOUT 500000 -#define DL_TIMEOUT 5 * 1000* 1000 +#define DL_TIMEOUT (10 * 1000 * 1000) #define OFFBOARD_TIMEOUT 500000 #define DIFFPRESS_TIMEOUT 2000000 diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 2faf8ab76..ed7e879d3 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -217,6 +217,8 @@ Mavlink::Mavlink() : errx(1, "instance ID is out of range"); break; } + + _rstatus.type = TELEMETRY_STATUS_RADIO_TYPE_GENERIC; } Mavlink::~Mavlink() @@ -1227,7 +1229,10 @@ Mavlink::task_main(int argc, char *argv[]) _mode = MAVLINK_MODE_CUSTOM; } else if (strcmp(optarg, "camera") == 0) { - _mode = MAVLINK_MODE_CAMERA; + // left in here for compatibility + _mode = MAVLINK_MODE_ONBOARD; + } else if (strcmp(optarg, "onboard") == 0) { + _mode = MAVLINK_MODE_ONBOARD; } break; @@ -1287,8 +1292,8 @@ Mavlink::task_main(int argc, char *argv[]) warnx("mode: CUSTOM"); break; - case MAVLINK_MODE_CAMERA: - warnx("mode: CAMERA"); + case MAVLINK_MODE_ONBOARD: + warnx("mode: ONBOARD"); break; default: @@ -1391,9 +1396,10 @@ Mavlink::task_main(int argc, char *argv[]) configure_stream("POSITION_TARGET_GLOBAL_INT", 3.0f); configure_stream("ATTITUDE_TARGET", 3.0f); configure_stream("DISTANCE_SENSOR", 0.5f); + configure_stream("OPTICAL_FLOW", 0.5f); break; - case MAVLINK_MODE_CAMERA: + case MAVLINK_MODE_ONBOARD: configure_stream("SYS_STATUS", 1.0f); configure_stream("ATTITUDE", 15.0f); configure_stream("GLOBAL_POSITION_INT", 15.0f); @@ -1653,6 +1659,8 @@ Mavlink::display_status() printf("\tGCS heartbeat:\t%llu us ago\n", hrt_elapsed_time(&_rstatus.heartbeat_time)); } + printf("\tmavlink chan: #%u\n", _channel); + if (_rstatus.timestamp > 0) { printf("\ttype:\t\t"); diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h index 1e2e94cef..7f9d225bb 100644 --- a/src/modules/mavlink/mavlink_main.h +++ b/src/modules/mavlink/mavlink_main.h @@ -127,7 +127,7 @@ public: enum MAVLINK_MODE { MAVLINK_MODE_NORMAL = 0, MAVLINK_MODE_CUSTOM, - MAVLINK_MODE_CAMERA + MAVLINK_MODE_ONBOARD }; void set_mode(enum MAVLINK_MODE); diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp index 7a761588a..d436c95e9 100644 --- a/src/modules/mavlink/mavlink_mission.cpp +++ b/src/modules/mavlink/mavlink_mission.cpp @@ -58,6 +58,10 @@ #endif static const int ERROR = -1; +#define CHECK_SYSID_COMPID_MISSION(_msg) (_msg.target_system == mavlink_system.sysid && \ + ((_msg.target_component == mavlink_system.compid) || \ + (_msg.target_component == MAV_COMP_ID_MISSIONPLANNER) || \ + (_msg.target_component == MAV_COMP_ID_ALL))) MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) : MavlinkStream(mavlink), _state(MAVLINK_WPM_STATE_IDLE), @@ -79,8 +83,7 @@ MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) : MavlinkStream(m _mission_result_sub(-1), _offboard_mission_pub(-1), _slow_rate_limiter(_interval / 10.0f), - _verbose(false), - _comp_id(MAV_COMP_ID_MISSIONPLANNER) + _verbose(false) { _offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission)); _mission_result_sub = orb_subscribe(ORB_ID(mission_result)); @@ -384,7 +387,7 @@ MavlinkMissionManager::handle_mission_ack(const mavlink_message_t *msg) mavlink_mission_ack_t wpa; mavlink_msg_mission_ack_decode(msg, &wpa); - if (wpa.target_system == mavlink_system.sysid /*&& wpa.target_component == mavlink_wpm_comp_id*/) { + if (CHECK_SYSID_COMPID_MISSION(wpa)) { if ((msg->sysid == _transfer_partner_sysid && msg->compid == _transfer_partner_compid)) { if (_state == MAVLINK_WPM_STATE_SENDLIST) { _time_last_recv = hrt_absolute_time(); @@ -416,7 +419,7 @@ MavlinkMissionManager::handle_mission_set_current(const mavlink_message_t *msg) mavlink_mission_set_current_t wpc; mavlink_msg_mission_set_current_decode(msg, &wpc); - if (wpc.target_system == mavlink_system.sysid /*&& wpc.target_component == mavlink_wpm_comp_id*/) { + if (CHECK_SYSID_COMPID_MISSION(wpc)) { if (_state == MAVLINK_WPM_STATE_IDLE) { _time_last_recv = hrt_absolute_time(); @@ -451,7 +454,7 @@ MavlinkMissionManager::handle_mission_request_list(const mavlink_message_t *msg) mavlink_mission_request_list_t wprl; mavlink_msg_mission_request_list_decode(msg, &wprl); - if (wprl.target_system == mavlink_system.sysid /*&& wprl.target_component == mavlink_wpm_comp_id*/) { + if (CHECK_SYSID_COMPID_MISSION(wprl)) { if (_state == MAVLINK_WPM_STATE_IDLE || _state == MAVLINK_WPM_STATE_SENDLIST) { _time_last_recv = hrt_absolute_time(); @@ -487,7 +490,7 @@ MavlinkMissionManager::handle_mission_request(const mavlink_message_t *msg) mavlink_mission_request_t wpr; mavlink_msg_mission_request_decode(msg, &wpr); - if (wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/) { + if (CHECK_SYSID_COMPID_MISSION(wpr)) { if (msg->sysid == _transfer_partner_sysid && msg->compid == _transfer_partner_compid) { if (_state == MAVLINK_WPM_STATE_SENDLIST) { _time_last_recv = hrt_absolute_time(); @@ -558,7 +561,7 @@ MavlinkMissionManager::handle_mission_count(const mavlink_message_t *msg) mavlink_mission_count_t wpc; mavlink_msg_mission_count_decode(msg, &wpc); - if (wpc.target_system == mavlink_system.sysid/* && wpc.target_component == mavlink_wpm_comp_id*/) { + if (CHECK_SYSID_COMPID_MISSION(wpc)) { if (_state == MAVLINK_WPM_STATE_IDLE) { _time_last_recv = hrt_absolute_time(); @@ -624,7 +627,7 @@ MavlinkMissionManager::handle_mission_item(const mavlink_message_t *msg) mavlink_mission_item_t wp; mavlink_msg_mission_item_decode(msg, &wp); - if (wp.target_system == mavlink_system.sysid && wp.target_component == _comp_id) { + if (CHECK_SYSID_COMPID_MISSION(wp)) { if (_state == MAVLINK_WPM_STATE_GETLIST) { _time_last_recv = hrt_absolute_time(); @@ -710,7 +713,7 @@ MavlinkMissionManager::handle_mission_clear_all(const mavlink_message_t *msg) mavlink_mission_clear_all_t wpca; mavlink_msg_mission_clear_all_decode(msg, &wpca); - if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */) { + if (CHECK_SYSID_COMPID_MISSION(wpca)) { if (_state == MAVLINK_WPM_STATE_IDLE) { /* don't touch mission items storage itself, but only items count in mission state */ diff --git a/src/modules/mavlink/mavlink_mission.h b/src/modules/mavlink/mavlink_mission.h index 8ff27f87d..a7bb94c22 100644 --- a/src/modules/mavlink/mavlink_mission.h +++ b/src/modules/mavlink/mavlink_mission.h @@ -126,8 +126,6 @@ private: bool _verbose; - uint8_t _comp_id; - /* do not allow top copying this class */ MavlinkMissionManager(MavlinkMissionManager &); MavlinkMissionManager& operator = (const MavlinkMissionManager &); diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index c0fae0a2f..a602344fd 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -112,7 +112,6 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) : _telemetry_status_pub(-1), _rc_pub(-1), _manual_pub(-1), - _radio_status_available(false), _control_mode_sub(orb_subscribe(ORB_ID(vehicle_control_mode))), _hil_frames(0), _old_timestamp(0), @@ -137,6 +136,10 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg) handle_message_command_long(msg); break; + case MAVLINK_MSG_ID_COMMAND_INT: + handle_message_command_int(msg); + break; + case MAVLINK_MSG_ID_OPTICAL_FLOW: handle_message_optical_flow(msg); break; @@ -277,6 +280,62 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg) } void +MavlinkReceiver::handle_message_command_int(mavlink_message_t *msg) +{ + /* command */ + mavlink_command_int_t cmd_mavlink; + mavlink_msg_command_int_decode(msg, &cmd_mavlink); + + if (cmd_mavlink.target_system == mavlink_system.sysid && ((cmd_mavlink.target_component == mavlink_system.compid) + || (cmd_mavlink.target_component == MAV_COMP_ID_ALL))) { + //check for MAVLINK terminate command + if (cmd_mavlink.command == MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN && ((int)cmd_mavlink.param1) == 3) { + /* This is the link shutdown command, terminate mavlink */ + warnx("terminated by remote command"); + fflush(stdout); + usleep(50000); + + /* terminate other threads and this thread */ + _mavlink->_task_should_exit = true; + + } else { + + if (msg->sysid == mavlink_system.sysid && msg->compid == mavlink_system.compid) { + warnx("ignoring CMD spoofed with same SYS/COMP (%d/%d) ID", + mavlink_system.sysid, mavlink_system.compid); + return; + } + + struct vehicle_command_s vcmd; + memset(&vcmd, 0, sizeof(vcmd)); + + /* Copy the content of mavlink_command_int_t cmd_mavlink into command_t cmd */ + vcmd.param1 = cmd_mavlink.param1; + vcmd.param2 = cmd_mavlink.param2; + vcmd.param3 = cmd_mavlink.param3; + vcmd.param4 = cmd_mavlink.param4; + /* these are coordinates as 1e7 scaled integers to work around the 32 bit floating point limits */ + vcmd.param5 = ((double)cmd_mavlink.x) / 1e7; + vcmd.param6 = ((double)cmd_mavlink.y) / 1e7; + vcmd.param7 = cmd_mavlink.z; + // XXX do proper translation + vcmd.command = (enum VEHICLE_CMD)cmd_mavlink.command; + vcmd.target_system = cmd_mavlink.target_system; + vcmd.target_component = cmd_mavlink.target_component; + vcmd.source_system = msg->sysid; + vcmd.source_component = msg->compid; + + if (_cmd_pub < 0) { + _cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd); + + } else { + orb_publish(ORB_ID(vehicle_command), _cmd_pub, &vcmd); + } + } + } +} + +void MavlinkReceiver::handle_message_optical_flow(mavlink_message_t *msg) { /* optical flow */ @@ -430,9 +489,6 @@ MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg) } else { orb_publish(telemetry_status_orb_id[_mavlink->get_channel()], _telemetry_status_pub, &tstatus); } - - /* this means that heartbeats alone won't be published to the radio status no more */ - _radio_status_available = true; } } @@ -474,25 +530,17 @@ MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg) struct telemetry_status_s &tstatus = _mavlink->get_rx_status(); - hrt_abstime tnow = hrt_absolute_time(); - - /* always set heartbeat, publish only if telemetry link not up */ - tstatus.heartbeat_time = tnow; - - /* if no radio status messages arrive, lets at least publish that heartbeats were received */ - if (!_radio_status_available) { + /* set heartbeat time and topic time and publish - + * the telem status also gets updated on telemetry events + */ + tstatus.timestamp = hrt_absolute_time(); + tstatus.heartbeat_time = tstatus.timestamp; - tstatus.timestamp = tnow; - /* telem_time indicates the timestamp of a telemetry status packet and we got none */ - tstatus.telem_time = 0; - tstatus.type = TELEMETRY_STATUS_RADIO_TYPE_GENERIC; + if (_telemetry_status_pub < 0) { + _telemetry_status_pub = orb_advertise(telemetry_status_orb_id[_mavlink->get_channel()], &tstatus); - if (_telemetry_status_pub < 0) { - _telemetry_status_pub = orb_advertise(telemetry_status_orb_id[_mavlink->get_channel()], &tstatus); - - } else { - orb_publish(telemetry_status_orb_id[_mavlink->get_channel()], _telemetry_status_pub, &tstatus); - } + } else { + orb_publish(telemetry_status_orb_id[_mavlink->get_channel()], _telemetry_status_pub, &tstatus); } } } diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h index 014193100..91125736c 100644 --- a/src/modules/mavlink/mavlink_receiver.h +++ b/src/modules/mavlink/mavlink_receiver.h @@ -110,6 +110,7 @@ private: void handle_message(mavlink_message_t *msg); void handle_message_command_long(mavlink_message_t *msg); + void handle_message_command_int(mavlink_message_t *msg); void handle_message_optical_flow(mavlink_message_t *msg); void handle_message_set_mode(mavlink_message_t *msg); void handle_message_vicon_position_estimate(mavlink_message_t *msg); @@ -151,7 +152,6 @@ private: orb_advert_t _telemetry_status_pub; orb_advert_t _rc_pub; orb_advert_t _manual_pub; - bool _radio_status_available; int _control_mode_sub; int _hil_frames; uint64_t _old_timestamp; diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 331a9a728..042c46afd 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -353,6 +353,8 @@ Navigator::task_main() case NAVIGATION_STATE_ACRO: case NAVIGATION_STATE_ALTCTL: case NAVIGATION_STATE_POSCTL: + case NAVIGATION_STATE_LAND: + case NAVIGATION_STATE_TERMINATION: _navigation_mode = nullptr; _can_loiter_at_sp = false; break; @@ -368,8 +370,6 @@ Navigator::task_main() case NAVIGATION_STATE_AUTO_RTGS: _navigation_mode = &_rtl; /* TODO: change this to something else */ break; - case NAVIGATION_STATE_LAND: - case NAVIGATION_STATE_TERMINATION: case NAVIGATION_STATE_OFFBOARD: _navigation_mode = &_offboard; break; diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index 7ce6ef5ef..229bfe3ce 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -214,6 +214,16 @@ PARAM_DEFINE_FLOAT(SENS_DPRES_OFF, 0.0f); */ PARAM_DEFINE_FLOAT(SENS_DPRES_ANSC, 0); +/** + * QNH for barometer + * + * @min 500 + * @max 1500 + * @group Sensor Calibration + * @unit hPa + */ +PARAM_DEFINE_FLOAT(SENS_BARO_QNH, 1013.25f); + /** * Board rotation diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 4e8a8c01d..f40034d79 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -143,6 +143,12 @@ #define STICK_ON_OFF_LIMIT 0.75f +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + /** * Sensor app start / stop handling function * @@ -235,7 +241,7 @@ private: math::Matrix<3, 3> _board_rotation; /**< rotation matrix for the orientation that the board is mounted */ math::Matrix<3, 3> _external_mag_rotation; /**< rotation matrix for the orientation that an external mag is mounted */ bool _mag_is_external; /**< true if the active mag is on an external board */ - + uint64_t _battery_discharged; /**< battery discharged current in mA*ms */ hrt_abstime _battery_current_timestamp; /**< timestamp of last battery current reading */ @@ -258,7 +264,7 @@ private: int board_rotation; int external_mag_rotation; - + float board_offset[3]; int rc_map_roll; @@ -301,6 +307,8 @@ private: float battery_voltage_scaling; float battery_current_scaling; + float baro_qnh; + } _parameters; /**< local copies of interesting parameters */ struct { @@ -354,9 +362,11 @@ private: param_t board_rotation; param_t external_mag_rotation; - + param_t board_offset[3]; + param_t baro_qnh; + } _parameter_handles; /**< handles for interesting parameters */ @@ -462,12 +472,6 @@ private: namespace sensors { -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - Sensors *g_sensors = nullptr; } @@ -611,12 +615,15 @@ Sensors::Sensors() : /* rotations */ _parameter_handles.board_rotation = param_find("SENS_BOARD_ROT"); _parameter_handles.external_mag_rotation = param_find("SENS_EXT_MAG_ROT"); - + /* rotation offsets */ _parameter_handles.board_offset[0] = param_find("SENS_BOARD_X_OFF"); _parameter_handles.board_offset[1] = param_find("SENS_BOARD_Y_OFF"); _parameter_handles.board_offset[2] = param_find("SENS_BOARD_Z_OFF"); + /* Barometer QNH */ + _parameter_handles.baro_qnh = param_find("SENS_BARO_QNH"); + /* fetch initial parameter values */ parameters_update(); } @@ -828,19 +835,37 @@ Sensors::parameters_update() get_rot_matrix((enum Rotation)_parameters.board_rotation, &_board_rotation); get_rot_matrix((enum Rotation)_parameters.external_mag_rotation, &_external_mag_rotation); - + param_get(_parameter_handles.board_offset[0], &(_parameters.board_offset[0])); param_get(_parameter_handles.board_offset[1], &(_parameters.board_offset[1])); param_get(_parameter_handles.board_offset[2], &(_parameters.board_offset[2])); - + /** fine tune board offset on parameter update **/ - math::Matrix<3, 3> board_rotation_offset; + math::Matrix<3, 3> board_rotation_offset; board_rotation_offset.from_euler( M_DEG_TO_RAD_F * _parameters.board_offset[0], M_DEG_TO_RAD_F * _parameters.board_offset[1], M_DEG_TO_RAD_F * _parameters.board_offset[2]); - + _board_rotation = _board_rotation * board_rotation_offset; + /* update barometer qnh setting */ + param_get(_parameter_handles.baro_qnh, &(_parameters.baro_qnh)); + int fd; + fd = open(BARO_DEVICE_PATH, 0); + if (fd < 0) { + warn("%s", BARO_DEVICE_PATH); + errx(1, "FATAL: no barometer found"); + + } else { + int ret = ioctl(fd, BAROIOCSMSLPRESSURE, (unsigned long)(_parameters.baro_qnh * 100)); + if (ret) { + warnx("qnh could not be set"); + close(fd); + return ERROR; + } + close(fd); + } + return OK; } diff --git a/src/systemcmds/tests/test_sensors.c b/src/systemcmds/tests/test_sensors.c index a4f17eebd..e005bf9c1 100644 --- a/src/systemcmds/tests/test_sensors.c +++ b/src/systemcmds/tests/test_sensors.c @@ -331,7 +331,7 @@ mag(int argc, char *argv[]) float len = sqrtf(buf.x * buf.x + buf.y * buf.y + buf.z * buf.z); - if (len < 1.0f || len > 3.0f) { + if (len < 0.25f || len > 3.0f) { warnx("MAG scale error!"); return ERROR; } |