Merge branch 'master' of github.com:PX4/Firmware

6 files changed, 246 insertions, 7 deletions

diff --git a/src/lib/external_lgpl/tecs/tecs.cpp b/src/lib/external_lgpl/tecs/tecs.cpp
index 6a2a61b04..0ed210cf4 100644
--- a/src/lib/external_lgpl/tecs/tecs.cpp
+++ b/src/lib/external_lgpl/tecs/tecs.cpp
@@ -299,7 +299,7 @@ void TECS::_update_throttle(float throttle_cruise, const math::Matrix<3,3> &rotM
 	// Calculate throttle demand
 	// If underspeed condition is set, then demand full throttle
 	if (_underspeed) {
-		_throttle_dem_unc = 1.0f;
+		_throttle_dem = 1.0f;
 
 	} else {
 		// Calculate gain scaler from specific energy error to throttle
@@ -363,10 +363,10 @@ void TECS::_update_throttle(float throttle_cruise, const math::Matrix<3,3> &rotM
 		} else {
 			_throttle_dem = ff_throttle;
 		}
-	}
 
-	// Constrain throttle demand
-	_throttle_dem = constrain(_throttle_dem, _THRminf, _THRmaxf);
+		// Constrain throttle demand
+		_throttle_dem = constrain(_throttle_dem, _THRminf, _THRmaxf);
+	}
 }
 
 void TECS::_detect_bad_descent(void)
diff --git a/src/lib/external_lgpl/tecs/tecs.h b/src/lib/external_lgpl/tecs/tecs.h
index 8ac31de6f..eb45237b7 100644
--- a/src/lib/external_lgpl/tecs/tecs.h
+++ b/src/lib/external_lgpl/tecs/tecs.h
@@ -345,9 +345,6 @@ private:
 	// climbout mode
 	bool _climbOutDem;
 
-	// throttle demand before limiting
-	float _throttle_dem_unc;
-
 	// pitch demand before limiting
 	float _pitch_dem_unc;
 
diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp
index b921865eb..b91a00c1e 100644
--- a/src/modules/uORB/objects_common.cpp
+++ b/src/modules/uORB/objects_common.cpp
@@ -201,6 +201,9 @@ ORB_DEFINE(telemetry_status_1, struct telemetry_status_s);
 ORB_DEFINE(telemetry_status_2, struct telemetry_status_s);
 ORB_DEFINE(telemetry_status_3, struct telemetry_status_s);
 
+#include "topics/test_motor.h"
+ORB_DEFINE(test_motor, struct test_motor_s);
+
 #include "topics/debug_key_value.h"
 ORB_DEFINE(debug_key_value, struct debug_key_value_s);
 
diff --git a/src/modules/uORB/topics/test_motor.h b/src/modules/uORB/topics/test_motor.h
new file mode 100644
index 000000000..491096934
--- /dev/null
+++ b/src/modules/uORB/topics/test_motor.h
@@ -0,0 +1,70 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 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 test_motor.h
+ *
+ * Test a single drive motor while the vehicle is disarmed
+ *
+ * Publishing values to this topic causes a single motor to spin, e.g. for
+ * ground test purposes. This topic will be ignored while the vehicle is armed.
+ *
+ */
+
+#ifndef TOPIC_TEST_MOTOR_H
+#define TOPIC_TEST_MOTOR_H
+
+#include <stdint.h>
+#include "../uORB.h"
+
+#define NUM_MOTOR_OUTPUTS	8
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+struct test_motor_s {
+	uint64_t 	timestamp;				/**< output timestamp in us since system boot */
+	unsigned 	motor_number;				/**< number of motor to spin */
+	float		value;					/**< output data, in natural output units */
+};
+
+/**
+ * @}
+ */
+
+/* actuator output sets; this list can be expanded as more drivers emerge */
+ORB_DECLARE(test_motor);
+
+#endif
diff --git a/src/systemcmds/motor_test/module.mk b/src/systemcmds/motor_test/module.mk
new file mode 100644
index 000000000..eb36d2ded
--- /dev/null
+++ b/src/systemcmds/motor_test/module.mk
@@ -0,0 +1,41 @@
+############################################################################
+#
+#   Copyright (c) 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.
+#
+############################################################################
+
+#
+# Build the motor_test tool.
+#
+
+MODULE_COMMAND	 = motor_test
+SRCS		 = motor_test.c
+
+MODULE_STACKSIZE = 4096
diff --git a/src/systemcmds/motor_test/motor_test.c b/src/systemcmds/motor_test/motor_test.c
new file mode 100644
index 000000000..079f99674
--- /dev/null
+++ b/src/systemcmds/motor_test/motor_test.c
@@ -0,0 +1,128 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2014 PX4 Development Team. All rights reserved.
+ *   Author: Holger Steinhaus <hsteinhaus@gmx.de>
+ *
+ * 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 motor_test.c
+ *
+ * Tool for drive testing
+ */
+
+#include <nuttx/config.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+
+#include <arch/board/board.h>
+#include <drivers/drv_hrt.h>
+#include <uORB/topics/test_motor.h>
+
+
+#include "systemlib/systemlib.h"
+#include "systemlib/err.h"
+
+
+__EXPORT int	motor_test_main(int argc, char *argv[]);
+static void motor_test(unsigned channel, float value);
+static void usage(const char *reason);
+
+void motor_test(unsigned channel, float value)
+{
+	orb_advert_t        _test_motor_pub;
+	struct test_motor_s _test_motor;
+
+	_test_motor.motor_number = channel;
+	_test_motor.timestamp = hrt_absolute_time();
+	_test_motor.value = value;
+
+        if (_test_motor_pub > 0) {
+	    /* publish armed state */
+            orb_publish(ORB_ID(test_motor), _test_motor_pub, &_test_motor);
+        } else {
+            /* advertise and publish */
+            _test_motor_pub = orb_advertise(ORB_ID(test_motor), &_test_motor);
+        }
+}
+
+static void usage(const char *reason)
+{
+	if (reason != NULL)
+		warnx("%s", reason);
+
+	errx(1,
+		"usage:\n"
+		"motor_test\n"
+		"    -m <channel>            Motor to test (0..7)\n"
+		"    -p <power>              Power (0..100)\n");
+}
+
+int motor_test_main(int argc, char *argv[])
+{
+	unsigned long channel, lval;
+	float value;
+	int ch;
+
+	if (argc != 5) {
+		usage("please specify motor and power");
+	}
+
+	while ((ch = getopt(argc, argv, "m:p:")) != EOF) {
+		switch (ch) {
+
+		case 'm':
+			/* Read in channels supplied as one int and convert to mask: 1234 -> 0xF */
+			channel = strtoul(optarg, NULL, 0);
+			break;
+
+		case 'p':
+			/* Read in custom low value */
+			lval = strtoul(optarg, NULL, 0);
+
+			if (lval > 100)
+				usage("value invalid");
+
+			value = (float)lval/100.f;
+			break;
+		default:
+			usage(NULL);
+		}
+	}
+
+	motor_test(channel, value);
+
+	printf("motor %d set to %.2f\n", channel, value);
+
+	exit(0);
+}