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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-02-18 19:09:33 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-02-18 19:09:33 +0400 |
| commit | 1eecc73483c860c1c35cb7e381d7e39656f0c2ef (patch) | |
| tree | 13d89b34778ca6533f7771eed34f66ae231f8a4f | |
| parent | 1d40582cc0301f0af330fe69ee63aa8e3d301214 (diff) | |
| parent | 3508a42f6a308ad4dc53d6c3efc3b2f8013cc086 (diff) | |
| download | px4-firmware-1eecc73483c860c1c35cb7e381d7e39656f0c2ef.tar.gz px4-firmware-1eecc73483c860c1c35cb7e381d7e39656f0c2ef.tar.bz2 px4-firmware-1eecc73483c860c1c35cb7e381d7e39656f0c2ef.zip | |
Merge branch 'beta' into ready_rtl_fix
107 files changed, 2612 insertions, 2185 deletions
diff --git a/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil b/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil index d7e524b41..36194ad68 100644 --- a/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil +++ b/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil @@ -5,36 +5,10 @@ # Lorenz Meier <lm@inf.ethz.ch> # -echo "HIL Rascal 110 starting.." +sh /etc/init.d/rc.fw_defaults -if [ $DO_AUTOCONFIG == yes ] -then - # Set all params here, then disable autoconfig - - param set FW_P_D 0 - param set FW_P_I 0 - param set FW_P_IMAX 15 - param set FW_P_LIM_MAX 50 - param set FW_P_LIM_MIN -50 - param set FW_P_P 60 - param set FW_P_RMAX_NEG 0 - param set FW_P_RMAX_POS 0 - param set FW_P_ROLLFF 1.1 - param set FW_R_D 0 - param set FW_R_I 5 - param set FW_R_IMAX 20 - param set FW_R_P 100 - param set FW_R_RMAX 100 - param set FW_THR_CRUISE 0.65 - param set FW_T_SINK_MAX 5.0 - param set FW_T_SINK_MIN 4.0 - param set FW_Y_ROLLFF 1.1 - param set FW_L1_PERIOD 16 - param set RC_SCALE_ROLL 1.0 - param set RC_SCALE_PITCH 1.0 -fi +echo "HIL Rascal 110 starting.." set HIL yes -set VEHICLE_TYPE fw set MIXER FMU_AERT diff --git a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery index a3d7c3d97..fe85f7d35 100644 --- a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery +++ b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery @@ -2,48 +2,28 @@ # # Team Blacksheep Discovery Quadcopter # -# Simon Wilks <sjwilks@gmail.com> +# Anton Babushkin <anton.babushkin@me.com>, Simon Wilks <sjwilks@gmail.com>, Thomas Gubler <thomasgubler@gmail.com> # +sh /etc/init.d/rc.mc_defaults + if [ $DO_AUTOCONFIG == yes ] then - # - # Default parameters for this platform - # - param set MC_ROLL_P 5.0 - param set MC_ROLLRATE_P 0.17 - param set MC_ROLLRATE_I 0.0 - param set MC_ROLLRATE_D 0.006 - param set MC_PITCH_P 5.0 - param set MC_PITCHRATE_P 0.17 - param set MC_PITCHRATE_I 0.0 - param set MC_PITCHRATE_D 0.006 - param set MC_YAW_P 0.5 - param set MC_YAWRATE_P 0.2 + # TODO review MC_YAWRATE_I + param set MC_ROLL_P 8.0 + param set MC_ROLLRATE_P 0.07 + param set MC_ROLLRATE_I 0.05 + param set MC_ROLLRATE_D 0.0017 + param set MC_PITCH_P 8.0 + param set MC_PITCHRATE_P 0.1 + param set MC_PITCHRATE_I 0.1 + param set MC_PITCHRATE_D 0.0025 + param set MC_YAW_P 2.8 + param set MC_YAWRATE_P 0.28 param set MC_YAWRATE_I 0.0 param set MC_YAWRATE_D 0.0 - - param set MPC_THR_MAX 1.0 - param set MPC_THR_MIN 0.1 - param set MPC_XY_P 1.0 - param set MPC_XY_VEL_P 0.1 - param set MPC_XY_VEL_I 0.02 - param set MPC_XY_VEL_D 0.01 - param set MPC_XY_VEL_MAX 5 - param set MPC_XY_FF 0.5 - param set MPC_Z_P 1.0 - param set MPC_Z_VEL_P 0.1 - param set MPC_Z_VEL_I 0.02 - param set MPC_Z_VEL_D 0.0 - param set MPC_Z_VEL_MAX 3 - param set MPC_Z_FF 0.5 - param set MPC_TILT_MAX 1.0 - param set MPC_LAND_SPEED 1.0 - param set MPC_LAND_TILT 0.3 fi -set VEHICLE_TYPE mc set MIXER FMU_quad_w set PWM_OUTPUTS 1234 -set PWM_RATE 400 diff --git a/ROMFS/px4fmu_common/init.d/10016_3dr_iris b/ROMFS/px4fmu_common/init.d/10016_3dr_iris index 1c7ecb712..d691a6f2e 100644 --- a/ROMFS/px4fmu_common/init.d/10016_3dr_iris +++ b/ROMFS/px4fmu_common/init.d/10016_3dr_iris @@ -5,11 +5,11 @@ # Anton Babushkin <anton.babushkin@me.com> # +sh /etc/init.d/rc.mc_defaults + if [ $DO_AUTOCONFIG == yes ] then - # - # Default parameters for this platform - # + # TODO tune roll/pitch separately param set MC_ROLL_P 9.0 param set MC_ROLLRATE_P 0.13 param set MC_ROLLRATE_I 0.0 @@ -22,34 +22,11 @@ then param set MC_YAWRATE_P 0.2 param set MC_YAWRATE_I 0.0 param set MC_YAWRATE_D 0.0 - - param set MPC_THR_MAX 1.0 - param set MPC_THR_MIN 0.1 - param set MPC_XY_P 1.0 - param set MPC_XY_VEL_P 0.1 - param set MPC_XY_VEL_I 0.02 - param set MPC_XY_VEL_D 0.01 - param set MPC_XY_VEL_MAX 5 - param set MPC_XY_FF 0.5 - param set MPC_Z_P 1.0 - param set MPC_Z_VEL_P 0.1 - param set MPC_Z_VEL_I 0.02 - param set MPC_Z_VEL_D 0.0 - param set MPC_Z_VEL_MAX 3 - param set MPC_Z_FF 0.5 - param set MPC_TILT_MAX 1.0 - param set MPC_LAND_SPEED 1.0 - param set MPC_LAND_TILT 0.3 param set BAT_V_SCALING 0.00989 param set BAT_C_SCALING 0.0124 fi -set VEHICLE_TYPE mc set MIXER FMU_quad_w set PWM_OUTPUTS 1234 -set PWM_RATE 400 -set PWM_DISARMED 900 -set PWM_MIN 1000 -set PWM_MAX 2000 diff --git a/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil b/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil index 45880f44b..7a7a9542c 100644 --- a/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil +++ b/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil @@ -5,6 +5,8 @@ # Anton Babushkin <anton.babushkin@me.com> # -sh /etc/init.d/4001_quad_x +sh /etc/init.d/rc.mc_defaults + +set MIXER FMU_quad_x set HIL yes diff --git a/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil b/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil index 2b26810e7..c47500c7a 100644 --- a/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil +++ b/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil @@ -5,6 +5,8 @@ # Anton Babushkin <anton.babushkin@me.com> # -sh /etc/init.d/1001_rc_quad_x.hil +sh /etc/init.d/rc.mc_defaults set MIXER FMU_quad_+ + +set HIL yes
\ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil b/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil index c639bfc25..4e3e18326 100644 --- a/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil +++ b/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil @@ -5,38 +5,10 @@ # Thomas Gubler <thomasgubler@gmail.com> # -echo "HIL Rascal 110 starting.." +sh /etc/init.d/rc.fw_defaults -if [ $DO_AUTOCONFIG == yes ] -then - # Set all params here, then disable autoconfig - - param set FW_P_D 0 - param set FW_P_I 0 - param set FW_P_IMAX 15 - param set FW_P_LIM_MAX 50 - param set FW_P_LIM_MIN -50 - param set FW_P_P 60 - param set FW_P_RMAX_NEG 0 - param set FW_P_RMAX_POS 0 - param set FW_P_ROLLFF 1.1 - param set FW_R_D 0 - param set FW_R_I 5 - param set FW_R_IMAX 20 - param set FW_R_P 100 - param set FW_R_RMAX 100 - param set FW_THR_CRUISE 0.65 - param set FW_THR_MAX 1 - param set FW_THR_MIN 0 - param set FW_T_SINK_MAX 5.0 - param set FW_T_SINK_MIN 4.0 - param set FW_Y_ROLLFF 1.1 - param set FW_L1_PERIOD 16 - param set RC_SCALE_ROLL 1.0 - param set RC_SCALE_PITCH 1.0 -fi +echo "HIL Rascal 110 starting.." set HIL yes -set VEHICLE_TYPE fw set MIXER FMU_AERT diff --git a/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil b/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil index 124bf63ab..c753ded23 100644 --- a/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil +++ b/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil @@ -5,14 +5,13 @@ # Thomas Gubler <thomasgubler@gmail.com> # -echo "HIL Malolo 1 starting.." +sh /etc/init.d/rc.fw_defaults if [ $DO_AUTOCONFIG == yes ] then - # Set all params here, then disable autoconfig - param set FW_AIRSPD_MIN 12 param set FW_AIRSPD_TRIM 25 + param set FW_AIRSPD_MAX 40 param set FW_ATT_TC 0.3 param set FW_L1_DAMPING 0.74 param set FW_L1_PERIOD 15 @@ -20,10 +19,6 @@ then param set FW_PR_I 0.05 param set FW_PR_IMAX 0.2 param set FW_PR_P 0.1 - param set FW_P_LIM_MAX 45 - param set FW_P_LIM_MIN -45 - param set FW_P_RMAX_NEG 0 - param set FW_P_RMAX_POS 0 param set FW_P_ROLLFF 0 param set FW_RR_FF 0.6 param set FW_RR_I 0.02 @@ -31,9 +26,6 @@ then param set FW_RR_P 0.1 param set FW_R_LIM 45 param set FW_R_RMAX 0 - param set FW_THR_CRUISE 0.6 - param set FW_THR_MAX 1 - param set FW_THR_MIN 0 param set FW_T_CLMB_MAX 5 param set FW_T_HRATE_P 0.02 param set FW_T_PTCH_DAMP 0 @@ -43,22 +35,13 @@ then param set FW_T_SRATE_P 0.01 param set FW_T_TIME_CONST 3 param set FW_T_VERT_ACC 7 - param set FW_YCO_VMIN 1000 param set FW_YR_FF 0.0 param set FW_YR_I 0 param set FW_YR_IMAX 0.2 - param set FW_YR_P 0.0 - param set FW_Y_RMAX 0 - param set NAV_LAND_ALT 90 - param set NAV_RTL_ALT 100 - param set NAV_RTL_LAND_T -1 - - param set SYS_AUTOCONFIG 0 - param save + param set FW_YR_P 0.0 fi set HIL yes -set VEHICLE_TYPE fw # Set the AERT mixer for HIL (even if the malolo is a flying wing) set MIXER FMU_AERT diff --git a/ROMFS/px4fmu_common/init.d/11001_hexa_cox b/ROMFS/px4fmu_common/init.d/11001_hexa_cox new file mode 100644 index 000000000..b98ab4774 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/11001_hexa_cox @@ -0,0 +1,15 @@ +#!nsh +# +# UNTESTED UNTESTED! +# +# Generic 10” Hexa coaxial geometry +# +# Lorenz Meier <lm@inf.ethz.ch> +# + +sh /etc/init.d/rc.mc_defaults + +set MIXER hexa_cox + +# We only can run one channel group with one rate, so set all 8 channels +set PWM_OUTPUTS 12345678 diff --git a/ROMFS/px4fmu_common/init.d/12001_octo_cox b/ROMFS/px4fmu_common/init.d/12001_octo_cox index 8a813595e..655cb6226 100644 --- a/ROMFS/px4fmu_common/init.d/12001_octo_cox +++ b/ROMFS/px4fmu_common/init.d/12001_octo_cox @@ -2,9 +2,11 @@ # # Generic 10” Octo coaxial geometry # -# Lorenz Meier <lm@inf.ethz.ch>, Anton Babushkin <anton.babushkin@me.com> +# Lorenz Meier <lm@inf.ethz.ch> # -sh /etc/init.d/8001_octo_x +sh /etc/init.d/rc.mc_defaults -set MIXER FMU_octo_cox +set MIXER octo_cox + +set PWM_OUTPUTS 12345678 diff --git a/ROMFS/px4fmu_common/init.d/2100_mpx_easystar b/ROMFS/px4fmu_common/init.d/2100_mpx_easystar index 0e5bf60d6..465a22c53 100644 --- a/ROMFS/px4fmu_common/init.d/2100_mpx_easystar +++ b/ROMFS/px4fmu_common/init.d/2100_mpx_easystar @@ -2,38 +2,7 @@ # # MPX EasyStar Plane # -# Maintainers: ??? -# -if [ $DO_AUTOCONFIG == yes ] -then - # - # Default parameters for this platform - # - param set FW_P_D 0 - param set FW_P_I 0 - param set FW_P_IMAX 15 - param set FW_P_LIM_MAX 50 - param set FW_P_LIM_MIN -50 - param set FW_P_P 60 - param set FW_P_RMAX_NEG 0 - param set FW_P_RMAX_POS 0 - param set FW_P_ROLLFF 1.1 - param set FW_R_D 0 - param set FW_R_I 5 - param set FW_R_IMAX 20 - param set FW_R_P 100 - param set FW_R_RMAX 100 - param set FW_THR_CRUISE 0.65 - param set FW_THR_MAX 1 - param set FW_THR_MIN 0 - param set FW_T_SINK_MAX 5.0 - param set FW_T_SINK_MIN 4.0 - param set FW_Y_ROLLFF 1.1 - param set FW_L1_PERIOD 16 - param set RC_SCALE_ROLL 1.0 - param set RC_SCALE_PITCH 1.0 -fi +sh /etc/init.d/rc.fw_defaults -set VEHICLE_TYPE fw set MIXER FMU_RET diff --git a/ROMFS/px4fmu_common/init.d/2101_hk_bixler b/ROMFS/px4fmu_common/init.d/2101_hk_bixler index de5e5a8d3..dcc5db824 100644 --- a/ROMFS/px4fmu_common/init.d/2101_hk_bixler +++ b/ROMFS/px4fmu_common/init.d/2101_hk_bixler @@ -1,35 +1,5 @@ #!nsh -if [ $DO_AUTOCONFIG == yes ] -then - # Set all params here, then disable autoconfig - param set FW_P_D 0 - param set FW_P_I 0 - param set FW_P_IMAX 15 - param set FW_P_LIM_MAX 50 - param set FW_P_LIM_MIN -50 - param set FW_P_P 60 - param set FW_P_RMAX_NEG 0 - param set FW_P_RMAX_POS 0 - param set FW_P_ROLLFF 1.1 - param set FW_R_D 0 - param set FW_R_I 5 - param set FW_R_IMAX 20 - param set FW_R_P 100 - param set FW_R_RMAX 100 - param set FW_THR_CRUISE 0.65 - param set FW_THR_MAX 1 - param set FW_THR_MIN 0 - param set FW_T_SINK_MAX 5.0 - param set FW_T_SINK_MIN 4.0 - param set FW_Y_ROLLFF 1.1 - param set FW_L1_PERIOD 16 - param set RC_SCALE_ROLL 1.0 - param set RC_SCALE_PITCH 1.0 - - param set SYS_AUTOCONFIG 0 - param save -fi +sh /etc/init.d/rc.fw_defaults -set VEHICLE_TYPE fw set MIXER FMU_AERT
\ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/2102_3dr_skywalker b/ROMFS/px4fmu_common/init.d/2102_3dr_skywalker index 07f215f6c..dcc5db824 100644 --- a/ROMFS/px4fmu_common/init.d/2102_3dr_skywalker +++ b/ROMFS/px4fmu_common/init.d/2102_3dr_skywalker @@ -1,33 +1,5 @@ #!nsh -if [ $DO_AUTOCONFIG == yes ] -then - # Set all params here, then disable autoconfig - param set FW_P_D 0 - param set FW_P_I 0 - param set FW_P_IMAX 15 - param set FW_P_LIM_MAX 50 - param set FW_P_LIM_MIN -50 - param set FW_P_P 60 - param set FW_P_RMAX_NEG 0 - param set FW_P_RMAX_POS 0 - param set FW_P_ROLLFF 1.1 - param set FW_R_D 0 - param set FW_R_I 5 - param set FW_R_IMAX 20 - param set FW_R_P 100 - param set FW_R_RMAX 100 - param set FW_THR_CRUISE 0.65 - param set FW_T_SINK_MAX 5.0 - param set FW_T_SINK_MIN 4.0 - param set FW_Y_ROLLFF 1.1 - param set FW_L1_PERIOD 16 - param set RC_SCALE_ROLL 1.0 - param set RC_SCALE_PITCH 1.0 - - param set SYS_AUTOCONFIG 0 - param save -fi +sh /etc/init.d/rc.fw_defaults -set VEHICLE_TYPE fw set MIXER FMU_AERT
\ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/3030_io_camflyer b/ROMFS/px4fmu_common/init.d/3030_io_camflyer index 3b7323ac4..83c470234 100644 --- a/ROMFS/px4fmu_common/init.d/3030_io_camflyer +++ b/ROMFS/px4fmu_common/init.d/3030_io_camflyer @@ -1,38 +1,5 @@ #!nsh -if [ $DO_AUTOCONFIG == yes ] -then - # - # Default parameters for this platform - # - param set FW_AIRSPD_MIN 7 - param set FW_AIRSPD_TRIM 9 - param set FW_AIRSPD_MAX 14 - param set FW_L1_PERIOD 10 - param set FW_P_D 0 - param set FW_P_I 0 - param set FW_P_IMAX 20 - param set FW_P_LIM_MAX 30 - param set FW_P_LIM_MIN -20 - param set FW_P_P 30 - param set FW_P_RMAX_NEG 0 - param set FW_P_RMAX_POS 0 - param set FW_P_ROLLFF 2 - param set FW_R_D 0 - param set FW_R_I 5 - param set FW_R_IMAX 20 - param set FW_R_P 60 - param set FW_R_RMAX 60 - param set FW_THR_CRUISE 0.65 - param set FW_THR_MAX 1.0 - param set FW_THR_MIN 0 - param set FW_T_SINK_MAX 5 - param set FW_T_SINK_MIN 2 - param set FW_T_TIME_CONST 9 - param set FW_Y_ROLLFF 2.0 - param set RC_SCALE_ROLL 1.0 - param set RC_SCALE_PITCH 1.0 -fi +sh /etc/init.d/rc.fw_defaults -set VEHICLE_TYPE fw set MIXER FMU_Q diff --git a/ROMFS/px4fmu_common/init.d/3031_phantom b/ROMFS/px4fmu_common/init.d/3031_phantom index a4ff61d93..2e2434bb8 100644 --- a/ROMFS/px4fmu_common/init.d/3031_phantom +++ b/ROMFS/px4fmu_common/init.d/3031_phantom @@ -5,40 +5,4 @@ # Simon Wilks <sjwilks@gmail.com> # -if [ $DO_AUTOCONFIG == yes ] -then - # - # Default parameters for this platform - # - param set FW_AIRSPD_MIN 11.4 - param set FW_AIRSPD_TRIM 14 - param set FW_AIRSPD_MAX 22 - param set FW_L1_PERIOD 15 - param set FW_P_D 0 - param set FW_P_I 0 - param set FW_P_IMAX 15 - param set FW_P_LIM_MAX 45 - param set FW_P_LIM_MIN -45 - param set FW_P_P 60 - param set FW_P_RMAX_NEG 0 - param set FW_P_RMAX_POS 0 - param set FW_P_ROLLFF 2 - param set FW_R_D 0 - param set FW_R_I 5 - param set FW_R_IMAX 15 - param set FW_R_P 80 - param set FW_R_RMAX 60 - param set FW_THR_CRUISE 0.8 - param set FW_THR_LND_MAX 0 - param set FW_THR_MAX 1 - param set FW_THR_MIN 0.5 - param set FW_T_SINK_MAX 5.0 - param set FW_T_SINK_MIN 2.0 - param set FW_Y_ROLLFF 1.0 - param set RC_SCALE_ROLL 0.6 - param set RC_SCALE_PITCH 0.6 - param set TRIM_PITCH 0.1 -fi - -set VEHICLE_TYPE fw set MIXER FMU_Q diff --git a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 index c1e78b6f1..bf5a87068 100644 --- a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 +++ b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 @@ -5,39 +5,35 @@ # Thomas Gubler <thomasgubler@gmail.com>, Julian Oes <joes@student.ethz.ch> # +sh /etc/init.d/rc.fw_defaults + if [ $DO_AUTOCONFIG == yes ] then - # - # Default parameters for this platform - # - param set FW_AIRSPD_MIN 7 - param set FW_AIRSPD_TRIM 9 - param set FW_AIRSPD_MAX 14 - param set FW_L1_PERIOD 10 - param set FW_P_D 0 - param set FW_P_I 0 - param set FW_P_IMAX 20 - param set FW_P_LIM_MAX 30 - param set FW_P_LIM_MIN -20 - param set FW_P_P 30 + param set FW_AIRSPD_MIN 15 + param set FW_AIRSPD_TRIM 20 + param set FW_AIRSPD_MAX 40 + param set FW_ATT_TC 0.3 + param set FW_L1_DAMPING 0.74 + param set FW_L1_PERIOD 15 + param set FW_PR_FF 0.3 + param set FW_PR_I 0 + param set FW_PR_IMAX 0.2 + param set FW_PR_P 0.03 + param set FW_P_LIM_MAX 45 + param set FW_P_LIM_MIN -45 param set FW_P_RMAX_NEG 0 param set FW_P_RMAX_POS 0 - param set FW_P_ROLLFF 2 - param set FW_R_D 0 - param set FW_R_I 5 - param set FW_R_IMAX 20 - param set FW_R_P 60 - param set FW_R_RMAX 60 - param set FW_THR_CRUISE 0.65 - param set FW_THR_MAX 0.7 - param set FW_THR_MIN 0 - param set FW_T_SINK_MAX 5 - param set FW_T_SINK_MIN 2 - param set FW_T_TIME_CONST 9 - param set FW_Y_ROLLFF 2.0 - param set RC_SCALE_ROLL 1.0 - param set RC_SCALE_PITCH 1.0 + param set FW_P_ROLLFF 0 + param set FW_RR_FF 0.3 + param set FW_RR_I 0 + param set FW_RR_IMAX 0.2 + param set FW_RR_P 0.03 + param set FW_R_LIM 60 + param set FW_R_RMAX 0 + param set FW_T_HRATE_P 0.01 + param set FW_T_RLL2THR 15 + param set FW_T_SRATE_P 0.01 + param set FW_T_TIME_CONST 5 fi -set VEHICLE_TYPE fw set MIXER FMU_X5 diff --git a/ROMFS/px4fmu_common/init.d/3033_wingwing b/ROMFS/px4fmu_common/init.d/3033_wingwing index 2f6879799..2af3618d9 100644 --- a/ROMFS/px4fmu_common/init.d/3033_wingwing +++ b/ROMFS/px4fmu_common/init.d/3033_wingwing @@ -5,39 +5,6 @@ # Simon Wilks <sjwilks@gmail.com> # -if [ $DO_AUTOCONFIG == yes ] -then - # - # Default parameters for this platform - # - param set FW_AIRSPD_MIN 7 - param set FW_AIRSPD_TRIM 9 - param set FW_AIRSPD_MAX 14 - param set FW_L1_PERIOD 10 - param set FW_P_D 0 - param set FW_P_I 0 - param set FW_P_IMAX 20 - param set FW_P_LIM_MAX 30 - param set FW_P_LIM_MIN -20 - param set FW_P_P 30 - param set FW_P_RMAX_NEG 0 - param set FW_P_RMAX_POS 0 - param set FW_P_ROLLFF 2 - param set FW_R_D 0 - param set FW_R_I 5 - param set FW_R_IMAX 20 - param set FW_R_P 60 - param set FW_R_RMAX 60 - param set FW_THR_CRUISE 0.65 - param set FW_THR_MAX 0.7 - param set FW_THR_MIN 0 - param set FW_T_SINK_MAX 5 - param set FW_T_SINK_MIN 2 - param set FW_T_TIME_CONST 9 - param set FW_Y_ROLLFF 2.0 - param set RC_SCALE_ROLL 1.0 - param set RC_SCALE_PITCH 1.0 -fi +sh /etc/init.d/rc.fw_defaults -set VEHICLE_TYPE fw set MIXER FMU_Q diff --git a/ROMFS/px4fmu_common/init.d/3034_fx79 b/ROMFS/px4fmu_common/init.d/3034_fx79 index bc02d87f3..f4bd18269 100644 --- a/ROMFS/px4fmu_common/init.d/3034_fx79 +++ b/ROMFS/px4fmu_common/init.d/3034_fx79 @@ -5,39 +5,6 @@ # Simon Wilks <sjwilks@gmail.com> # -if [ $DO_AUTOCONFIG == yes ] -then - # - # Default parameters for this platform - # - param set FW_AIRSPD_MAX 20 - param set FW_AIRSPD_TRIM 12 - param set FW_AIRSPD_MIN 15 - param set FW_L1_PERIOD 12 - param set FW_P_D 0 - param set FW_P_I 0 - param set FW_P_IMAX 15 - param set FW_P_LIM_MAX 50 - param set FW_P_LIM_MIN -50 - param set FW_P_P 60 - param set FW_P_RMAX_NEG 0 - param set FW_P_RMAX_POS 0 - param set FW_P_ROLLFF 1.1 - param set FW_R_D 0 - param set FW_R_I 5 - param set FW_R_IMAX 20 - param set FW_R_P 80 - param set FW_R_RMAX 100 - param set FW_THR_CRUISE 0.75 - param set FW_THR_MAX 1 - param set FW_THR_MIN 0 - param set FW_T_SINK_MAX 5.0 - param set FW_T_SINK_MIN 4.0 - param set FW_T_TIME_CONST 9 - param set FW_Y_ROLLFF 1.1 - param set RC_SCALE_ROLL 1.0 - param set RC_SCALE_PITCH 1.0 -fi +sh /etc/init.d/rc.fw_defaults -set VEHICLE_TYPE fw set MIXER FMU_FX79 diff --git a/ROMFS/px4fmu_common/init.d/4001_quad_x b/ROMFS/px4fmu_common/init.d/4001_quad_x index 0f1288dec..345b0e3e4 100644 --- a/ROMFS/px4fmu_common/init.d/4001_quad_x +++ b/ROMFS/px4fmu_common/init.d/4001_quad_x @@ -5,48 +5,8 @@ # Lorenz Meier <lm@inf.ethz.ch> # -if [ $DO_AUTOCONFIG == yes ] -then - # - # Default parameters for this platform - # - param set MC_ROLL_P 7.0 - param set MC_ROLLRATE_P 0.12 - param set MC_ROLLRATE_I 0.0 - param set MC_ROLLRATE_D 0.004 - param set MC_PITCH_P 7.0 - param set MC_PITCHRATE_P 0.12 - param set MC_PITCHRATE_I 0.0 - param set MC_PITCHRATE_D 0.004 - param set MC_YAW_P 2.0 - param set MC_YAWRATE_P 0.3 - param set MC_YAWRATE_I 0.2 - param set MC_YAWRATE_D 0.005 - - param set MPC_THR_MAX 1.0 - param set MPC_THR_MIN 0.1 - param set MPC_XY_P 1.0 - param set MPC_XY_VEL_P 0.1 - param set MPC_XY_VEL_I 0.02 - param set MPC_XY_VEL_D 0.01 - param set MPC_XY_VEL_MAX 5 - param set MPC_XY_FF 0.5 - param set MPC_Z_P 1.0 - param set MPC_Z_VEL_P 0.1 - param set MPC_Z_VEL_I 0.02 - param set MPC_Z_VEL_D 0.0 - param set MPC_Z_VEL_MAX 3 - param set MPC_Z_FF 0.5 - param set MPC_TILT_MAX 1.0 - param set MPC_LAND_SPEED 1.0 - param set MPC_LAND_TILT 0.3 -fi +sh /etc/init.d/rc.mc_defaults -set VEHICLE_TYPE mc set MIXER FMU_quad_x set PWM_OUTPUTS 1234 -set PWM_RATE 400 -set PWM_DISARMED 900 -set PWM_MIN 1100 -set PWM_MAX 2000 diff --git a/ROMFS/px4fmu_common/init.d/4010_dji_f330 b/ROMFS/px4fmu_common/init.d/4010_dji_f330 index 782946033..cd4480c3e 100644 --- a/ROMFS/px4fmu_common/init.d/4010_dji_f330 +++ b/ROMFS/px4fmu_common/init.d/4010_dji_f330 @@ -5,49 +5,23 @@ # Anton Babushkin <anton.babushkin@me.com> # +sh /etc/init.d/4001_quad_x + if [ $DO_AUTOCONFIG == yes ] then - # - # Default parameters for this platform - # param set MC_ROLL_P 7.0 - param set MC_ROLLRATE_P 0.12 + param set MC_ROLLRATE_P 0.1 param set MC_ROLLRATE_I 0.0 - param set MC_ROLLRATE_D 0.004 + param set MC_ROLLRATE_D 0.003 param set MC_PITCH_P 7.0 - param set MC_PITCHRATE_P 0.12 + param set MC_PITCHRATE_P 0.1 param set MC_PITCHRATE_I 0.0 - param set MC_PITCHRATE_D 0.004 + param set MC_PITCHRATE_D 0.003 param set MC_YAW_P 2.8 param set MC_YAWRATE_P 0.2 - param set MC_YAWRATE_I 0.05 + param set MC_YAWRATE_I 0.0 param set MC_YAWRATE_D 0.0 - - param set MPC_THR_MAX 1.0 - param set MPC_THR_MIN 0.1 - param set MPC_XY_P 1.0 - param set MPC_XY_VEL_P 0.1 - param set MPC_XY_VEL_I 0.02 - param set MPC_XY_VEL_D 0.01 - param set MPC_XY_VEL_MAX 5 - param set MPC_XY_FF 0.5 - param set MPC_Z_P 1.0 - param set MPC_Z_VEL_P 0.1 - param set MPC_Z_VEL_I 0.02 - param set MPC_Z_VEL_D 0.0 - param set MPC_Z_VEL_MAX 3 - param set MPC_Z_FF 0.5 - param set MPC_TILT_MAX 1.0 - param set MPC_LAND_SPEED 1.0 - param set MPC_LAND_TILT 0.3 fi -set VEHICLE_TYPE mc -set MIXER FMU_quad_x - -set PWM_OUTPUTS 1234 -set PWM_RATE 400 -# DJI ESC range -set PWM_DISARMED 900 -set PWM_MIN 1200 +set PWM_MIN 1175 set PWM_MAX 1900 diff --git a/ROMFS/px4fmu_common/init.d/4011_dji_f450 b/ROMFS/px4fmu_common/init.d/4011_dji_f450 index 8eb53d172..ac2ecc70a 100644 --- a/ROMFS/px4fmu_common/init.d/4011_dji_f450 +++ b/ROMFS/px4fmu_common/init.d/4011_dji_f450 @@ -5,49 +5,24 @@ # Lorenz Meier <lm@inf.ethz.ch> # +sh /etc/init.d/4001_quad_x + if [ $DO_AUTOCONFIG == yes ] then - # - # Default parameters for this platform - # + # TODO REVIEW param set MC_ROLL_P 7.0 - param set MC_ROLLRATE_P 0.12 + param set MC_ROLLRATE_P 0.1 param set MC_ROLLRATE_I 0.0 - param set MC_ROLLRATE_D 0.004 + param set MC_ROLLRATE_D 0.003 param set MC_PITCH_P 7.0 - param set MC_PITCHRATE_P 0.12 + param set MC_PITCHRATE_P 0.1 param set MC_PITCHRATE_I 0.0 - param set MC_PITCHRATE_D 0.004 - param set MC_YAW_P 2.0 - param set MC_YAWRATE_P 0.3 - param set MC_YAWRATE_I 0.2 - param set MC_YAWRATE_D 0.005 - - param set MPC_THR_MAX 1.0 - param set MPC_THR_MIN 0.1 - param set MPC_XY_P 1.0 - param set MPC_XY_VEL_P 0.1 - param set MPC_XY_VEL_I 0.02 - param set MPC_XY_VEL_D 0.01 - param set MPC_XY_VEL_MAX 5 - param set MPC_XY_FF 0.5 - param set MPC_Z_P 1.0 - param set MPC_Z_VEL_P 0.1 - param set MPC_Z_VEL_I 0.02 - param set MPC_Z_VEL_D 0.0 - param set MPC_Z_VEL_MAX 3 - param set MPC_Z_FF 0.5 - param set MPC_TILT_MAX 1.0 - param set MPC_LAND_SPEED 1.0 - param set MPC_LAND_TILT 0.3 + param set MC_PITCHRATE_D 0.003 + param set MC_YAW_P 2.8 + param set MC_YAWRATE_P 0.2 + param set MC_YAWRATE_I 0.0 + param set MC_YAWRATE_D 0.0 fi -set VEHICLE_TYPE mc -set MIXER FMU_quad_x - -set PWM_OUTPUTS 1234 -set PWM_RATE 400 -# DJI ESC range -set PWM_DISARMED 900 -set PWM_MIN 1200 +set PWM_MIN 1175 set PWM_MAX 1900 diff --git a/ROMFS/px4fmu_common/init.d/4012_hk_x550 b/ROMFS/px4fmu_common/init.d/4012_hk_x550 deleted file mode 100644 index 3d8e9fcf7..000000000 --- a/ROMFS/px4fmu_common/init.d/4012_hk_x550 +++ /dev/null @@ -1,14 +0,0 @@ -#!nsh -# -# HobbyKing X550 Quadcopter -# -# Todd Stellanova <tstellanova@gmail.com> -# - -sh /etc/init.d/4001_quad_x - -set PWM_OUTPUTS 1234 -set PWM_RATE 400 -set PWM_DISARMED 900 -set PWM_MIN 1000 -set PWM_MAX 2000 diff --git a/ROMFS/px4fmu_common/init.d/5001_quad_+ b/ROMFS/px4fmu_common/init.d/5001_quad_+ index ff11bccfe..55b31067d 100644 --- a/ROMFS/px4fmu_common/init.d/5001_quad_+ +++ b/ROMFS/px4fmu_common/init.d/5001_quad_+ @@ -5,6 +5,8 @@ # Anton Babushkin <anton.babushkin@me.com> # -sh /etc/init.d/4001_quad_x +sh /etc/init.d/rc.mc_defaults set MIXER FMU_quad_+ + +set PWM_OUTPUTS 1234 diff --git a/ROMFS/px4fmu_common/init.d/6001_hexa_x b/ROMFS/px4fmu_common/init.d/6001_hexa_x index fd5756586..7714a508c 100644 --- a/ROMFS/px4fmu_common/init.d/6001_hexa_x +++ b/ROMFS/px4fmu_common/init.d/6001_hexa_x @@ -5,10 +5,9 @@ # Anton Babushkin <anton.babushkin@me.com> # -sh /etc/init.d/4001_quad_x +sh /etc/init.d/rc.mc_defaults set MIXER FMU_hexa_x -# We only can run one channel group with one rate, -# so all 8 at 400 Hz +# We only can run one channel group with one rate, so set all 8 channels set PWM_OUTPUTS 12345678 diff --git a/ROMFS/px4fmu_common/init.d/7001_hexa_+ b/ROMFS/px4fmu_common/init.d/7001_hexa_+ index 45279ec39..60db8c069 100644 --- a/ROMFS/px4fmu_common/init.d/7001_hexa_+ +++ b/ROMFS/px4fmu_common/init.d/7001_hexa_+ @@ -5,6 +5,9 @@ # Anton Babushkin <anton.babushkin@me.com> # -sh /etc/init.d/6001_hexa_x +sh /etc/init.d/rc.mc_defaults set MIXER FMU_hexa_+ + +# We only can run one channel group with one rate, so set all 8 channels +set PWM_OUTPUTS 12345678 diff --git a/ROMFS/px4fmu_common/init.d/8001_octo_x b/ROMFS/px4fmu_common/init.d/8001_octo_x index 6fa962668..411aee114 100644 --- a/ROMFS/px4fmu_common/init.d/8001_octo_x +++ b/ROMFS/px4fmu_common/init.d/8001_octo_x @@ -5,7 +5,7 @@ # Anton Babushkin <anton.babushkin@me.com> # -sh /etc/init.d/4001_quad_x +sh /etc/init.d/rc.mc_defaults set MIXER FMU_octo_x diff --git a/ROMFS/px4fmu_common/init.d/9001_octo_+ b/ROMFS/px4fmu_common/init.d/9001_octo_+ index fa3869f9f..81132fd3e 100644 --- a/ROMFS/px4fmu_common/init.d/9001_octo_+ +++ b/ROMFS/px4fmu_common/init.d/9001_octo_+ @@ -5,6 +5,8 @@ # Anton Babushkin <anton.babushkin@me.com> # -sh /etc/init.d/8001_octo_x +sh /etc/init.d/rc.mc_defaults set MIXER FMU_octo_+ + +set PWM_OUTPUTS 12345678
\ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart index e39aa4617..3968af58e 100644 --- a/ROMFS/px4fmu_common/init.d/rc.autostart +++ b/ROMFS/px4fmu_common/init.d/rc.autostart @@ -116,11 +116,6 @@ then sh /etc/init.d/4011_dji_f450 fi -if param compare SYS_AUTOSTART 4012 12 -then - sh /etc/init.d/4012_hk_x550 -fi - # # Quad + # @@ -181,6 +176,15 @@ then fi # +# Hexa Coaxial +# + +if param compare SYS_AUTOSTART 11001 +then + sh /etc/init.d/11001_hexa_cox +fi + +# # Octo Coaxial # diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_defaults b/ROMFS/px4fmu_common/init.d/rc.fw_defaults new file mode 100644 index 000000000..3a50fcf56 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.fw_defaults @@ -0,0 +1,14 @@ +#!nsh + +set VEHICLE_TYPE fw + +if [ $DO_AUTOCONFIG == yes ] +then +# +# Default parameters for FW +# + param set NAV_LAND_ALT 90 + param set NAV_RTL_ALT 100 + param set NAV_RTL_LAND_T -1 + param set NAV_ACCEPT_RAD 50 +fi
\ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_defaults new file mode 100644 index 000000000..4db62607a --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults @@ -0,0 +1,43 @@ +#!nsh + +set VEHICLE_TYPE mc + +if [ $DO_AUTOCONFIG == yes ] +then + param set MC_ROLL_P 7.0 + param set MC_ROLLRATE_P 0.1 + param set MC_ROLLRATE_I 0.0 + param set MC_ROLLRATE_D 0.003 + param set MC_PITCH_P 7.0 + param set MC_PITCHRATE_P 0.1 + param set MC_PITCHRATE_I 0.0 + param set MC_PITCHRATE_D 0.003 + param set MC_YAW_P 2.8 + param set MC_YAWRATE_P 0.2 + param set MC_YAWRATE_I 0.0 + param set MC_YAWRATE_D 0.0 + param set MC_YAW_FF 0.5 + + param set MPC_THR_MAX 1.0 + param set MPC_THR_MIN 0.1 + param set MPC_XY_P 1.0 + param set MPC_XY_VEL_P 0.1 + param set MPC_XY_VEL_I 0.02 + param set MPC_XY_VEL_D 0.01 + param set MPC_XY_VEL_MAX 5 + param set MPC_XY_FF 0.5 + param set MPC_Z_P 1.0 + param set MPC_Z_VEL_P 0.1 + param set MPC_Z_VEL_I 0.02 + param set MPC_Z_VEL_D 0.0 + param set MPC_Z_VEL_MAX 3 + param set MPC_Z_FF 0.5 + param set MPC_TILT_MAX 1.0 + param set MPC_LAND_SPEED 1.0 + param set MPC_LAND_TILT 0.3 +fi + +set PWM_RATE 400 +set PWM_DISARMED 900 +set PWM_MIN 1075 +set PWM_MAX 2000 diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 178bcaeba..76f021e33 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -464,20 +464,28 @@ then if [ $MIXER == none ] then - # Set default mixer for multicopter if not defined - set MIXER quad_x + echo "Default mixer for multicopter not defined" fi if [ $MAV_TYPE == none ] then - # Use MAV_TYPE = 2 (quadcopter) if not defined - set MAV_TYPE 2 - # Use mixer to detect vehicle type + if [ $MIXER == FMU_quad_x -o $MIXER == FMU_quad_+ ] + then + set MAV_TYPE 2 + fi + if [ $MIXER == FMU_quad_w ] + then + set MAV_TYPE 2 + fi if [ $MIXER == FMU_hexa_x -o $MIXER == FMU_hexa_+ ] then set MAV_TYPE 13 fi + if [ $MIXER == hexa_cox ] + then + set MAV_TYPE 13 + fi if [ $MIXER == FMU_octo_x -o $MIXER == FMU_octo_+ ] then set MAV_TYPE 14 @@ -487,8 +495,14 @@ then set MAV_TYPE 14 fi fi - - param set MAV_TYPE $MAV_TYPE + + # Still no MAV_TYPE found + if [ $MAV_TYPE == none ] + then + echo "Unknown MAV_TYPE" + else + param set MAV_TYPE $MAV_TYPE + fi # Load mixer and configure outputs sh /etc/init.d/rc.interface @@ -502,10 +516,8 @@ then # if [ $VEHICLE_TYPE == none ] then - echo "[init] Vehicle type: GENERIC" + echo "[init] Vehicle type: No autostart ID found" - # Load mixer and configure outputs - sh /etc/init.d/rc.interface fi # Start any custom addons diff --git a/ROMFS/px4fmu_common/logging/conv.zip b/ROMFS/px4fmu_common/logging/conv.zip Binary files differindex 7cb837e56..7f485184c 100644 --- a/ROMFS/px4fmu_common/logging/conv.zip +++ b/ROMFS/px4fmu_common/logging/conv.zip diff --git a/ROMFS/px4fmu_common/mixers/FMU_X5.mix b/ROMFS/px4fmu_common/mixers/FMU_X5.mix index 610868354..80e3bac09 100644 --- a/ROMFS/px4fmu_common/mixers/FMU_X5.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_X5.mix @@ -23,13 +23,13 @@ for the elevons. M: 2 O: 10000 10000 0 -10000 10000 -S: 0 0 -3000 -5000 0 -10000 10000 -S: 0 1 -5000 -5000 0 -10000 10000 +S: 0 0 -8000 -8000 0 -10000 10000 +S: 0 1 6000 6000 0 -10000 10000 M: 2 O: 10000 10000 0 -10000 10000 -S: 0 0 -5000 -3000 0 -10000 10000 -S: 0 1 5000 5000 0 -10000 10000 +S: 0 0 -8000 -8000 0 -10000 10000 +S: 0 1 -6000 -6000 0 -10000 10000 Output 2 -------- @@ -48,7 +48,7 @@ M: 1 O: 10000 10000 0 -10000 10000 S: 0 3 0 20000 -10000 -10000 10000 -Gimbal / payload mixer for last four channels +Gimbal / flaps / payload mixer for last four channels ----------------------------------------------------- M: 1 @@ -66,4 +66,3 @@ S: 0 6 10000 10000 0 -10000 10000 M: 1 O: 10000 10000 0 -10000 10000 S: 0 7 10000 10000 0 -10000 10000 - diff --git a/ROMFS/px4fmu_common/mixers/FMU_hexa_+.mix b/ROMFS/px4fmu_common/mixers/FMU_hexa_+.mix index b5e38ce9e..e608b459f 100644 --- a/ROMFS/px4fmu_common/mixers/FMU_hexa_+.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_hexa_+.mix @@ -1,7 +1,3 @@ -Multirotor mixer for PX4FMU -=========================== - -This file defines a single mixer for a hexacopter in the + configuration. All controls -are mixed 100%. +# Hexa + R: 6+ 10000 10000 10000 0 diff --git a/ROMFS/px4fmu_common/mixers/FMU_hexa_x.mix b/ROMFS/px4fmu_common/mixers/FMU_hexa_x.mix index 8e8d122ad..16e6e22f9 100644 --- a/ROMFS/px4fmu_common/mixers/FMU_hexa_x.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_hexa_x.mix @@ -1,7 +1,3 @@ -Multirotor mixer for PX4FMU -=========================== - -This file defines a single mixer for a hexacopter in the X configuration. All controls -are mixed 100%. +# Hexa X R: 6x 10000 10000 10000 0 diff --git a/ROMFS/px4fmu_common/mixers/FMU_octo_+.mix b/ROMFS/px4fmu_common/mixers/FMU_octo_+.mix index 2cb70e814..397e22086 100644 --- a/ROMFS/px4fmu_common/mixers/FMU_octo_+.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_octo_+.mix @@ -1,7 +1,3 @@ -Multirotor mixer for PX4FMU -=========================== - -This file defines a single mixer for a octocopter in the + configuration. All controls -are mixed 100%. +# Octo + R: 8+ 10000 10000 10000 0 diff --git a/ROMFS/px4fmu_common/mixers/FMU_octo_cox.mix b/ROMFS/px4fmu_common/mixers/FMU_octo_cox.mix index 51cebb785..f7845450d 100644 --- a/ROMFS/px4fmu_common/mixers/FMU_octo_cox.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_octo_cox.mix @@ -1,7 +1,3 @@ -Multirotor mixer for PX4FMU -=========================== - -This file defines a single mixer for a Coaxial Octocopter in the X configuration. All controls -are mixed 100%. +# Octo coaxial R: 8c 10000 10000 10000 0 diff --git a/ROMFS/px4fmu_common/mixers/FMU_octo_x.mix b/ROMFS/px4fmu_common/mixers/FMU_octo_x.mix index edc71f013..c9a348aa4 100644 --- a/ROMFS/px4fmu_common/mixers/FMU_octo_x.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_octo_x.mix @@ -1,7 +1,3 @@ -Multirotor mixer for PX4FMU -=========================== - -This file defines a single mixer for a octocopter in the X configuration. All controls -are mixed 100%. +# Octo X R: 8x 10000 10000 10000 0 diff --git a/ROMFS/px4fmu_common/mixers/README b/ROMFS/px4fmu_common/mixers/README deleted file mode 100644 index 6649c53c2..000000000 --- a/ROMFS/px4fmu_common/mixers/README +++ /dev/null @@ -1,154 +0,0 @@ -PX4 mixer definitions -===================== - -Files in this directory implement example mixers that can be used as a basis -for customisation, or for general testing purposes. - -Mixer basics ------------- - -Mixers combine control values from various sources (control tasks, user inputs, -etc.) and produce output values suitable for controlling actuators; servos, -motors, switches and so on. - -An actuator derives its value from the combination of one or more control -values. Each of the control values is scaled according to the actuator's -configuration and then combined to produce the actuator value, which may then be -further scaled to suit the specific output type. - -Internally, all scaling is performed using floating point values. Inputs and -outputs are clamped to the range -1.0 to 1.0. - -control control control - | | | - v v v - scale scale scale - | | | - | v | - +-------> mix <------+ - | - scale - | - v - out - -Scaling -------- - -Basic scalers provide linear scaling of the input to the output. - -Each scaler allows the input value to be scaled independently for inputs -greater/less than zero. An offset can be applied to the output, and lower and -upper boundary constraints can be applied. Negative scaling factors cause the -output to be inverted (negative input produces positive output). - -Scaler pseudocode: - -if (input < 0) - output = (input * NEGATIVE_SCALE) + OFFSET -else - output = (input * POSITIVE_SCALE) + OFFSET - -if (output < LOWER_LIMIT) - output = LOWER_LIMIT -if (output > UPPER_LIMIT) - output = UPPER_LIMIT - -Syntax ------- - -Mixer definitions are text files; lines beginning with a single capital letter -followed by a colon are significant. All other lines are ignored, meaning that -explanatory text can be freely mixed with the definitions. - -Each file may define more than one mixer; the allocation of mixers to actuators -is specific to the device reading the mixer definition, and the number of -actuator outputs generated by a mixer is specific to the mixer. - -A mixer begins with a line of the form - - <tag>: <mixer arguments> - -The tag selects the mixer type; 'M' for a simple summing mixer, 'R' for a -multirotor mixer, etc. - -Null Mixer -.......... - -A null mixer consumes no controls and generates a single actuator output whose -value is always zero. Typically a null mixer is used as a placeholder in a -collection of mixers in order to achieve a specific pattern of actuator outputs. - -The null mixer definition has the form: - - Z: - -Simple Mixer -............ - -A simple mixer combines zero or more control inputs into a single actuator -output. Inputs are scaled, and the mixing function sums the result before -applying an output scaler. - -A simple mixer definition begins with: - - M: <control count> - O: <-ve scale> <+ve scale> <offset> <lower limit> <upper limit> - -If <control count> is zero, the sum is effectively zero and the mixer will -output a fixed value that is <offset> constrained by <lower limit> and <upper -limit>. - -The second line defines the output scaler with scaler parameters as discussed -above. Whilst the calculations are performed as floating-point operations, the -values stored in the definition file are scaled by a factor of 10000; i.e. an -offset of -0.5 is encoded as -5000. - -The definition continues with <control count> entries describing the control -inputs and their scaling, in the form: - - S: <group> <index> <-ve scale> <+ve scale> <offset> <lower limit> <upper limit> - -The <group> value identifies the control group from which the scaler will read, -and the <index> value an offset within that group. These values are specific to -the device reading the mixer definition. - -When used to mix vehicle controls, mixer group zero is the vehicle attitude -control group, and index values zero through three are normally roll, pitch, -yaw and thrust respectively. - -The remaining fields on the line configure the control scaler with parameters as -discussed above. Whilst the calculations are performed as floating-point -operations, the values stored in the definition file are scaled by a factor of -10000; i.e. an offset of -0.5 is encoded as -5000. - -Multirotor Mixer -................ - -The multirotor mixer combines four control inputs (roll, pitch, yaw, thrust) -into a set of actuator outputs intended to drive motor speed controllers. - -The mixer definition is a single line of the form: - -R: <geometry> <roll scale> <pitch scale> <yaw scale> <deadband> - -The supported geometries include: - - 4x - quadrotor in X configuration - 4+ - quadrotor in + configuration - 6x - hexcopter in X configuration - 6+ - hexcopter in + configuration - 8x - octocopter in X configuration - 8+ - octocopter in + configuration - -Each of the roll, pitch and yaw scale values determine scaling of the roll, -pitch and yaw controls relative to the thrust control. Whilst the calculations -are performed as floating-point operations, the values stored in the definition -file are scaled by a factor of 10000; i.e. an factor of 0.5 is encoded as 5000. - -Roll, pitch and yaw inputs are expected to range from -1.0 to 1.0, whilst the -thrust input ranges from 0.0 to 1.0. Output for each actuator is in the -range -1.0 to 1.0. - -In the case where an actuator saturates, all actuator values are rescaled so that -the saturating actuator is limited to 1.0. diff --git a/ROMFS/px4fmu_common/mixers/hexa_cox.mix b/ROMFS/px4fmu_common/mixers/hexa_cox.mix new file mode 100644 index 000000000..497786feb --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/hexa_cox.mix @@ -0,0 +1,3 @@ +# Hexa coaxial + +R: 6c 10000 10000 10000 0 diff --git a/ROMFS/px4fmu_logging/init.d/rcS b/ROMFS/px4fmu_logging/init.d/rcS deleted file mode 100644 index 7b8856719..000000000 --- a/ROMFS/px4fmu_logging/init.d/rcS +++ /dev/null @@ -1,88 +0,0 @@ -#!nsh -# -# PX4FMU startup script for logging purposes -# - -# -# Try to mount the microSD card. -# -echo "[init] looking for microSD..." -if mount -t vfat /dev/mmcsd0 /fs/microsd -then - echo "[init] card mounted at /fs/microsd" - # Start playing the startup tune - tone_alarm start -else - echo "[init] no microSD card found" - # Play SOS - tone_alarm error -fi - -uorb start - -# -# Start sensor drivers here. -# - -ms5611 start -adc start - -# mag might be external -if hmc5883 start -then - echo "using HMC5883" -fi - -if mpu6000 start -then - echo "using MPU6000" -fi - -if l3gd20 start -then - echo "using L3GD20(H)" -fi - -if lsm303d start -then - set BOARD fmuv2 -else - set BOARD fmuv1 -fi - -# Start airspeed sensors -if meas_airspeed start -then - echo "using MEAS airspeed sensor" -else - if ets_airspeed start - then - echo "using ETS airspeed sensor (bus 3)" - else - if ets_airspeed start -b 1 - then - echo "Using ETS airspeed sensor (bus 1)" - fi - fi -fi - -# -# Start the sensor collection task. -# IMPORTANT: this also loads param offsets -# ALWAYS start this task before the -# preflight_check. -# -if sensors start -then - echo "SENSORS STARTED" -fi - -sdlog2 start -r 250 -e -b 16 - -if sercon -then - echo "[init] USB interface connected" - - # Try to get an USB console - nshterm /dev/ttyACM0 & -fi
\ No newline at end of file diff --git a/ROMFS/px4fmu_logging/logging/conv.zip b/ROMFS/px4fmu_logging/logging/conv.zip Binary files differdeleted file mode 100644 index 7cb837e56..000000000 --- a/ROMFS/px4fmu_logging/logging/conv.zip +++ /dev/null diff --git a/Tools/px4params/.gitignore b/Tools/px4params/.gitignore index 5d0378b4a..d78b71a6e 100644 --- a/Tools/px4params/.gitignore +++ b/Tools/px4params/.gitignore @@ -1,3 +1,4 @@ parameters.wiki parameters.xml +parameters.wikirpc.xml cookies.txt
\ No newline at end of file diff --git a/Tools/px4params/dokuwikiout.py b/Tools/px4params/dokuwikiout.py deleted file mode 100644 index c5cf65ea6..000000000 --- a/Tools/px4params/dokuwikiout.py +++ /dev/null @@ -1,62 +0,0 @@ -import output -from xml.sax.saxutils import escape - -class DokuWikiOutput(output.Output): - def Generate(self, groups): - pre_text = """<?xml version='1.0'?> - <methodCall> - <methodName>wiki.putPage</methodName> - <params> - <param> - <value> - <string>:firmware:parameters</string> - </value> - </param> - <param> - <value> - <string>""" - result = "====== Parameter Reference ======\nThis list is auto-generated every few minutes and contains the most recent parameter names and default values." - for group in groups: - result += "==== %s ====\n\n" % group.GetName() - result += "|< 100% 20% 20% 10% 10% 10% 30%>|\n" - result += "^ Name ^ Description ^ Min ^ Max ^ Default ^ Comment ^\n" - for param in group.GetParams(): - code = param.GetFieldValue("code") - name = param.GetFieldValue("short_desc") - name = name.replace("\n", "") - result += "| %s | %s " % (code, name) - min_val = param.GetFieldValue("min") - if min_val is not None: - result += " | %s " % min_val - else: - result += " | " - max_val = param.GetFieldValue("max") - if max_val is not None: - result += " | %s " % max_val - else: - result += " | " - def_val = param.GetFieldValue("default") - if def_val is not None: - result += "| %s " % def_val - else: - result += " | " - long_desc = param.GetFieldValue("long_desc") - if long_desc is not None: - long_desc = long_desc.replace("\n", "") - result += "| %s " % long_desc - else: - result += " | " - result += " |\n" - result += "\n" - post_text = """</string> - </value> - </param> - <param> - <value> - <name>sum</name> - <string>Updated parameters automagically from code.</string> - </value> - </param> - </params> - </methodCall>""" - return pre_text + escape(result) + post_text diff --git a/Tools/px4params/output.py b/Tools/px4params/output.py deleted file mode 100644 index c09246871..000000000 --- a/Tools/px4params/output.py +++ /dev/null @@ -1,5 +0,0 @@ -class Output(object): - def Save(self, groups, fn): - data = self.Generate(groups) - with open(fn, 'w') as f: - f.write(data) diff --git a/Tools/px4params/dokuwikiout_listings.py b/Tools/px4params/output_dokuwiki_listings.py index 33f76b415..83c50ae15 100644 --- a/Tools/px4params/dokuwikiout_listings.py +++ b/Tools/px4params/output_dokuwiki_listings.py @@ -1,7 +1,7 @@ -import output +import codecs -class DokuWikiOutput(output.Output): - def Generate(self, groups): +class DokuWikiListingsOutput(): + def __init__(self, groups): result = "" for group in groups: result += "==== %s ====\n\n" % group.GetName() @@ -24,4 +24,8 @@ class DokuWikiOutput(output.Output): if def_val is not None: result += "* Default value: %s\n" % def_val result += "\n" - return result + self.output = result + + def Save(self, filename): + with codecs.open(filename, 'w', 'utf-8') as f: + f.write(self.output) diff --git a/Tools/px4params/output_dokuwiki_tables.py b/Tools/px4params/output_dokuwiki_tables.py new file mode 100644 index 000000000..aa04304df --- /dev/null +++ b/Tools/px4params/output_dokuwiki_tables.py @@ -0,0 +1,76 @@ +from xml.sax.saxutils import escape +import codecs + +class DokuWikiTablesOutput(): + def __init__(self, groups): + result = "====== Parameter Reference ======\nThis list is auto-generated every few minutes and contains the most recent parameter names and default values.\n\n" + for group in groups: + result += "==== %s ====\n\n" % group.GetName() + result += "|< 100% 20% 20% 10% 10% 10% 30%>|\n" + result += "^ Name ^ Description ^ Min ^ Max ^ Default ^ Comment ^\n" + for param in group.GetParams(): + code = param.GetFieldValue("code") + name = param.GetFieldValue("short_desc") + min_val = param.GetFieldValue("min") + max_val = param.GetFieldValue("max") + def_val = param.GetFieldValue("default") + long_desc = param.GetFieldValue("long_desc") + + name = name.replace("\n", " ") + result += "| %s | %s |" % (code, name) + + if min_val is not None: + result += " %s |" % min_val + else: + result += " |" + + if max_val is not None: + result += " %s |" % max_val + else: + result += " |" + + if def_val is not None: + result += " %s |" % def_val + else: + result += " |" + + if long_desc is not None: + long_desc = long_desc.replace("\n", " ") + result += " %s |" % long_desc + else: + result += " |" + + result += "\n" + result += "\n" + self.output = result; + + def Save(self, filename): + with codecs.open(filename, 'w', 'utf-8') as f: + f.write(self.output) + + def SaveRpc(self, filename): + with codecs.open(filename, 'w', 'utf-8') as f: + f.write("""<?xml version='1.0'?> +<methodCall> + <methodName>wiki.putPage</methodName> + <params> + <param> + <value> + <string>:firmware:parameters</string> + </value> + </param> + <param> + <value> + <string>""") + f.write(escape(self.output)) + f.write("""</string> + </value> + </param> + <param> + <value> + <name>sum</name> + <string>Updated parameters automagically from code.</string> + </value> + </param> + </params> +</methodCall>""") diff --git a/Tools/px4params/xmlout.py b/Tools/px4params/output_xml.py index d56802b15..e845cd1b1 100644 --- a/Tools/px4params/xmlout.py +++ b/Tools/px4params/output_xml.py @@ -1,8 +1,8 @@ -import output from xml.dom.minidom import getDOMImplementation +import codecs -class XMLOutput(output.Output): - def Generate(self, groups): +class XMLOutput(): + def __init__(self, groups): impl = getDOMImplementation() xml_document = impl.createDocument(None, "parameters", None) xml_parameters = xml_document.documentElement @@ -19,4 +19,8 @@ class XMLOutput(output.Output): xml_param.appendChild(xml_field) xml_value = xml_document.createTextNode(value) xml_field.appendChild(xml_value) - return xml_document.toprettyxml(indent=" ", newl="\n", encoding="utf-8") + self.xml_document = xml_document + + def Save(self, filename): + with codecs.open(filename, 'w', 'utf-8') as f: + self.xml_document.writexml(f, indent=" ", addindent=" ", newl="\n") diff --git a/Tools/px4params/px_process_params.py b/Tools/px4params/px_process_params.py index cdf5aba7c..7799f6348 100755 --- a/Tools/px4params/px_process_params.py +++ b/Tools/px4params/px_process_params.py @@ -40,22 +40,28 @@ # import scanner -import parser -import xmlout -import dokuwikiout +import srcparser +import output_xml +import output_dokuwiki_tables +import output_dokuwiki_listings # Initialize parser -prs = parser.Parser() +prs = srcparser.Parser() # Scan directories, and parse the files sc = scanner.Scanner() sc.ScanDir("../../src", prs) -output = prs.GetParamGroups() +groups = prs.GetParamGroups() # Output into XML -out = xmlout.XMLOutput() -out.Save(output, "parameters.xml") +out = output_xml.XMLOutput(groups) +out.Save("parameters.xml") -# Output into DokuWiki -out = dokuwikiout.DokuWikiOutput() -out.Save(output, "parameters.wiki") +# Output to DokuWiki listings +#out = output_dokuwiki_listings.DokuWikiListingsOutput(groups) +#out.Save("parameters.wiki") + +# Output to DokuWiki tables +out = output_dokuwiki_tables.DokuWikiTablesOutput(groups) +out.Save("parameters.wiki") +out.SaveRpc("parameters.wikirpc.xml") diff --git a/Tools/px4params/scanner.py b/Tools/px4params/scanner.py index b5a1af47c..8779b7bbf 100644 --- a/Tools/px4params/scanner.py +++ b/Tools/px4params/scanner.py @@ -1,5 +1,6 @@ import os import re +import codecs class Scanner(object): """ @@ -29,6 +30,6 @@ class Scanner(object): Scans provided file and passes its contents to the parser using parser.Parse method. """ - with open(path, 'r') as f: + with codecs.open(path, 'r', 'utf-8') as f: contents = f.read() parser.Parse(contents) diff --git a/Tools/px4params/parser.py b/Tools/px4params/srcparser.py index 251be672f..1b2d30110 100644 --- a/Tools/px4params/parser.py +++ b/Tools/px4params/srcparser.py @@ -28,8 +28,7 @@ class ParameterGroup(object): state of the parser. """ return sorted(self.params, - cmp=lambda x, y: cmp(x.GetFieldValue("code"), - y.GetFieldValue("code"))) + key=lambda x: x.GetFieldValue("code")) class Parameter(object): """ @@ -61,9 +60,10 @@ class Parameter(object): """ Return list of existing field codes in convenient order """ - return sorted(self.fields.keys(), - cmp=lambda x, y: cmp(self.priority.get(y, 0), - self.priority.get(x, 0)) or cmp(x, y)) + keys = self.fields.keys() + keys = sorted(keys) + keys = sorted(keys, key=lambda x: self.priority.get(x, 0), reverse=True) + return keys def GetFieldValue(self, code): """ @@ -197,7 +197,7 @@ class Parser(object): if tag == "group": group = tags[tag] elif tag not in self.valid_tags: - sys.stderr.write("Skipping invalid" + sys.stderr.write("Skipping invalid " "documentation tag: '%s'\n" % tag) else: param.SetField(tag, tags[tag]) @@ -214,7 +214,7 @@ class Parser(object): object. Note that returned object is not a copy. Modifications affect state of the parser. """ - return sorted(self.param_groups.values(), - cmp=lambda x, y: cmp(self.priority.get(y.GetName(), 0), - self.priority.get(x.GetName(), 0)) or cmp(x.GetName(), - y.GetName())) + groups = self.param_groups.values() + groups = sorted(groups, key=lambda x: x.GetName()) + groups = sorted(groups, key=lambda x: self.priority.get(x.GetName(), 0), reverse=True) + return groups diff --git a/Tools/px4params/xmlrpc.sh b/Tools/px4params/xmlrpc.sh index 36c52ff71..efd177f46 100644 --- a/Tools/px4params/xmlrpc.sh +++ b/Tools/px4params/xmlrpc.sh @@ -2,4 +2,4 @@ python px_process_params.py rm cookies.txt curl --cookie cookies.txt --cookie-jar cookies.txt --user-agent Mozilla/4.0 --data "u=$XMLRPCUSER&p=$XMLRPCPASS" https://pixhawk.org/start?do=login -curl -k --cookie cookies.txt -H "Content-Type: application/xml" -X POST --data-binary @parameters.wiki "https://pixhawk.org/lib/exe/xmlrpc.php" +curl -k --cookie cookies.txt -H "Content-Type: application/xml" -X POST --data-binary @parameters.wikirpc.xml "https://pixhawk.org/lib/exe/xmlrpc.php" diff --git a/Tools/px_uploader.py b/Tools/px_uploader.py index cce5e5e54..e4a8b3c05 100755 --- a/Tools/px_uploader.py +++ b/Tools/px_uploader.py @@ -50,6 +50,9 @@ # Currently only used for informational purposes. # +# for python2.7 compatibility +from __future__ import print_function + import sys import argparse import binascii @@ -154,6 +157,8 @@ class uploader(object): PROG_MULTI = b'\x27' READ_MULTI = b'\x28' # rev2 only GET_CRC = b'\x29' # rev3+ + GET_OTP = b'\x2a' # rev4+ , get a word from OTP area + GET_SN = b'\x2b' # rev4+ , get a word from SN area REBOOT = b'\x30' INFO_BL_REV = b'\x01' # bootloader protocol revision @@ -175,6 +180,8 @@ class uploader(object): def __init__(self, portname, baudrate): # open the port, keep the default timeout short so we can poll quickly self.port = serial.Serial(portname, baudrate, timeout=0.5) + self.otp = b'' + self.sn = b'' def close(self): if self.port is not None: @@ -237,6 +244,22 @@ class uploader(object): self.__getSync() return value + # send the GET_OTP command and wait for an info parameter + def __getOTP(self, param): + t = struct.pack("I", param) # int param as 32bit ( 4 byte ) char array. + self.__send(uploader.GET_OTP + t + uploader.EOC) + value = self.__recv(4) + self.__getSync() + return value + + # send the GET_OTP command and wait for an info parameter + def __getSN(self, param): + t = struct.pack("I", param) # int param as 32bit ( 4 byte ) char array. + self.__send(uploader.GET_SN + t + uploader.EOC) + value = self.__recv(4) + self.__getSync() + return value + # send the CHIP_ERASE command and wait for the bootloader to become ready def __erase(self): self.__send(uploader.CHIP_ERASE @@ -353,6 +376,31 @@ class uploader(object): if self.fw_maxsize < fw.property('image_size'): raise RuntimeError("Firmware image is too large for this board") + # OTP added in v4: + if self.bl_rev > 3: + for byte in range(0,32*6,4): + x = self.__getOTP(byte) + self.otp = self.otp + x + print(binascii.hexlify(x).decode('Latin-1') + ' ', end='') + # see src/modules/systemlib/otp.h in px4 code: + self.otp_id = self.otp[0:4] + self.otp_idtype = self.otp[4:5] + self.otp_vid = self.otp[8:4:-1] + self.otp_pid = self.otp[12:8:-1] + self.otp_coa = self.otp[32:160] + # show user: + print("type: " + self.otp_id.decode('Latin-1')) + print("idtype: " + binascii.b2a_qp(self.otp_idtype).decode('Latin-1')) + print("vid: " + binascii.hexlify(self.otp_vid).decode('Latin-1')) + print("pid: "+ binascii.hexlify(self.otp_pid).decode('Latin-1')) + print("coa: "+ binascii.b2a_base64(self.otp_coa).decode('Latin-1')) + print("sn: ", end='') + for byte in range(0,12,4): + x = self.__getSN(byte) + x = x[::-1] # reverse the bytes + self.sn = self.sn + x + print(binascii.hexlify(x).decode('Latin-1'), end='') # show user + print('') print("erase...") self.__erase() diff --git a/Tools/README.txt b/Tools/sdlog2/README.txt index abeb9a4c7..abeb9a4c7 100644 --- a/Tools/README.txt +++ b/Tools/sdlog2/README.txt diff --git a/Tools/logconv.m b/Tools/sdlog2/logconv.m index c416b8095..e19c97fa3 100644 --- a/Tools/logconv.m +++ b/Tools/sdlog2/logconv.m @@ -1,535 +1,535 @@ -% This Matlab Script can be used to import the binary logged values of the
-% PX4FMU into data that can be plotted and analyzed.
-
-%% ************************************************************************
-% PX4LOG_PLOTSCRIPT: Main function
-% ************************************************************************
-function PX4Log_Plotscript
-
-% Clear everything
-clc
-clear all
-close all
-
-% ************************************************************************
-% SETTINGS
-% ************************************************************************
-
-% Set the path to your sysvector.bin file here
-filePath = 'log001.bin';
-
-% Set the minimum and maximum times to plot here [in seconds]
-mintime=0; %The minimum time/timestamp to display, as set by the user [0 for first element / start]
-maxtime=0; %The maximum time/timestamp to display, as set by the user [0 for last element / end]
-
-%Determine which data to plot. Not completely implemented yet.
-bDisplayGPS=true;
-
-%conversion factors
-fconv_gpsalt=1; %[mm] to [m]
-fconv_gpslatlong=1; %[gps_raw_position_unit] to [deg]
-fconv_timestamp=1E-6; % [microseconds] to [seconds]
-
-% ************************************************************************
-% Import the PX4 logs
-% ************************************************************************
-ImportPX4LogData();
-
-%Translate min and max plot times to indices
-time=double(sysvector.TIME_StartTime) .*fconv_timestamp;
-mintime_log=time(1); %The minimum time/timestamp found in the log
-maxtime_log=time(end); %The maximum time/timestamp found in the log
-CurTime=mintime_log; %The current time at which to draw the aircraft position
-
-[imintime,imaxtime]=FindMinMaxTimeIndices();
-
-% ************************************************************************
-% PLOT & GUI SETUP
-% ************************************************************************
-NrFigures=5;
-NrAxes=10;
-h.figures(1:NrFigures)=0.0; % Temporary initialization of figure handle array - these are numbered consecutively
-h.axes(1:NrAxes)=0.0; % Temporary initialization of axes handle array - these are numbered consecutively
-h.pathpoints=[]; % Temporary initiliazation of path points
-
-% Setup the GUI to control the plots
-InitControlGUI();
-% Setup the plotting-GUI (figures, axes) itself.
-InitPlotGUI();
-
-% ************************************************************************
-% DRAW EVERYTHING
-% ************************************************************************
-DrawRawData();
-DrawCurrentAircraftState();
-
-%% ************************************************************************
-% *** END OF MAIN SCRIPT ***
-% NESTED FUNCTION DEFINTIONS FROM HERE ON
-% ************************************************************************
-
-
-%% ************************************************************************
-% IMPORTPX4LOGDATA (nested function)
-% ************************************************************************
-% Attention: This is the import routine for firmware from ca. 03/2013.
-% Other firmware versions might require different import
-% routines.
-
-%% ************************************************************************
-% IMPORTPX4LOGDATA (nested function)
-% ************************************************************************
-% Attention: This is the import routine for firmware from ca. 03/2013.
-% Other firmware versions might require different import
-% routines.
-
-function ImportPX4LogData()
-
- % ************************************************************************
- % RETRIEVE SYSTEM VECTOR
- % *************************************************************************
- % //All measurements in NED frame
-
- % Convert to CSV
- %arg1 = 'log-fx61-20130721-2.bin';
- arg1 = filePath;
- delim = ',';
- time_field = 'TIME';
- data_file = 'data.csv';
- csv_null = '';
-
- if not(exist(data_file, 'file'))
- s = system( sprintf('python sdlog2_dump.py "%s" -f "%s" -t"%s" -d"%s" -n"%s"', arg1, data_file, time_field, delim, csv_null) );
- end
-
- if exist(data_file, 'file')
-
- %data = csvread(data_file);
- sysvector = tdfread(data_file, ',');
-
- % shot the flight time
- time_us = sysvector.TIME_StartTime(end) - sysvector.TIME_StartTime(1);
- time_s = uint64(time_us*1e-6);
- time_m = uint64(time_s/60);
- time_s = time_s - time_m * 60;
-
- disp([sprintf('Flight log duration: %d:%d (minutes:seconds)', time_m, time_s) char(10)]);
-
- disp(['logfile conversion finished.' char(10)]);
- else
- disp(['file: ' data_file ' does not exist' char(10)]);
- end
-end
-
-%% ************************************************************************
-% INITCONTROLGUI (nested function)
-% ************************************************************************
-%Setup central control GUI components to control current time where data is shown
-function InitControlGUI()
- %**********************************************************************
- % GUI size definitions
- %**********************************************************************
- dxy=5; %margins
- %Panel: Plotctrl
- dlabels=120;
- dsliders=200;
- dedits=80;
- hslider=20;
-
- hpanel1=40; %panel1
- hpanel2=220;%panel2
- hpanel3=3*hslider+4*dxy+3*dxy;%panel3.
-
- width=dlabels+dsliders+dedits+4*dxy+2*dxy; %figure width
- height=hpanel1+hpanel2+hpanel3+4*dxy; %figure height
-
- %**********************************************************************
- % Create GUI
- %**********************************************************************
- h.figures(1)=figure('Units','pixels','position',[200 200 width height],'Name','Control GUI');
- h.guistatepanel=uipanel('Title','Current GUI state','Units','pixels','Position',[dxy dxy width-2*dxy hpanel1],'parent',h.figures(1));
- h.aircraftstatepanel=uipanel('Title','Current aircraft state','Units','pixels','Position',[dxy hpanel1+2*dxy width-2*dxy hpanel2],'parent',h.figures(1));
- h.plotctrlpanel=uipanel('Title','Plot Control','Units','pixels','Position',[dxy hpanel1+hpanel2+3*dxy width-2*dxy hpanel3],'parent',h.figures(1));
-
- %%Control GUI-elements
- %Slider: Current time
- h.labels.CurTime=uicontrol(gcf,'style','text','Position',[dxy dxy dlabels hslider],'String','Current time t[s]:','parent',h.plotctrlpanel,'HorizontalAlignment','left');
- h.sliders.CurTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels dxy dsliders hslider],...
- 'min',mintime,'max',maxtime,'value',mintime,'callback',@curtime_callback,'parent',h.plotctrlpanel);
- temp=get(h.sliders.CurTime,'Max')-get(h.sliders.CurTime,'Min');
- set(h.sliders.CurTime,'SliderStep',[1.0/temp 5.0/temp]);
- h.edits.CurTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders dxy dedits hslider],'String',get(h.sliders.CurTime,'value'),...
- 'BackgroundColor','white','callback',@curtime_callback,'parent',h.plotctrlpanel);
-
- %Slider: MaxTime
- h.labels.MaxTime=uicontrol(gcf,'style','text','position',[dxy 2*dxy+hslider dlabels hslider],'String','Max. time t[s] to display:','parent',h.plotctrlpanel,'HorizontalAlignment','left');
- h.sliders.MaxTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels 2*dxy+hslider dsliders hslider],...
- 'min',mintime_log,'max',maxtime_log,'value',maxtime,'callback',@minmaxtime_callback,'parent',h.plotctrlpanel);
- h.edits.MaxTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders 2*dxy+hslider dedits hslider],'String',get(h.sliders.MaxTime,'value'),...
- 'BackgroundColor','white','callback',@minmaxtime_callback,'parent',h.plotctrlpanel);
-
- %Slider: MinTime
- h.labels.MinTime=uicontrol(gcf,'style','text','position',[dxy 3*dxy+2*hslider dlabels hslider],'String','Min. time t[s] to dispay :','parent',h.plotctrlpanel,'HorizontalAlignment','left');
- h.sliders.MinTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels 3*dxy+2*hslider dsliders hslider],...
- 'min',mintime_log,'max',maxtime_log,'value',mintime,'callback',@minmaxtime_callback,'parent',h.plotctrlpanel);
- h.edits.MinTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders 3*dxy+2*hslider dedits hslider],'String',get(h.sliders.MinTime,'value'),...
- 'BackgroundColor','white','callback',@minmaxtime_callback,'parent',h.plotctrlpanel);
-
- %%Current data/state GUI-elements (Multiline-edit-box)
- h.edits.AircraftState=uicontrol(gcf,'style','edit','Units','normalized','position',[.02 .02 0.96 0.96],'Min',1,'Max',10,'String','This shows the current aircraft state',...
- 'HorizontalAlignment','left','parent',h.aircraftstatepanel);
-
- h.labels.GUIState=uicontrol(gcf,'style','text','Units','pixels','position',[dxy dxy width-4*dxy hslider],'String','Current state of this GUI',...
- 'HorizontalAlignment','left','parent',h.guistatepanel);
-
-end
-
-%% ************************************************************************
-% INITPLOTGUI (nested function)
-% ************************************************************************
-function InitPlotGUI()
-
- % Setup handles to lines and text
- h.markertext=[];
- templinehandle=0.0;%line([0 1],[0 5]); % Just a temporary handle to init array
- h.markerline(1:NrAxes)=templinehandle; % the actual handle-array to the lines - these are numbered consecutively
- h.markerline(1:NrAxes)=0.0;
-
- % Setup all other figures and axes for plotting
- % PLOT WINDOW 1: GPS POSITION
- h.figures(2)=figure('units','normalized','Toolbar','figure', 'Name', 'GPS Position');
- h.axes(1)=axes();
- set(h.axes(1),'Parent',h.figures(2));
-
- % PLOT WINDOW 2: IMU, baro altitude
- h.figures(3)=figure('Name', 'IMU / Baro Altitude');
- h.axes(2)=subplot(4,1,1);
- h.axes(3)=subplot(4,1,2);
- h.axes(4)=subplot(4,1,3);
- h.axes(5)=subplot(4,1,4);
- set(h.axes(2:5),'Parent',h.figures(3));
-
- % PLOT WINDOW 3: ATTITUDE ESTIMATE, ACTUATORS/CONTROLS, AIRSPEEDS,...
- h.figures(4)=figure('Name', 'Attitude Estimate / Actuators / Airspeeds');
- h.axes(6)=subplot(4,1,1);
- h.axes(7)=subplot(4,1,2);
- h.axes(8)=subplot(4,1,3);
- h.axes(9)=subplot(4,1,4);
- set(h.axes(6:9),'Parent',h.figures(4));
-
- % PLOT WINDOW 4: LOG STATS
- h.figures(5) = figure('Name', 'Log Statistics');
- h.axes(10)=subplot(1,1,1);
- set(h.axes(10:10),'Parent',h.figures(5));
-
-end
-
-%% ************************************************************************
-% DRAWRAWDATA (nested function)
-% ************************************************************************
-%Draws the raw data from the sysvector, but does not add any
-%marker-lines or so
-function DrawRawData()
- % ************************************************************************
- % PLOT WINDOW 1: GPS POSITION & GUI
- % ************************************************************************
- figure(h.figures(2));
- % Only plot GPS data if available
- if (sum(double(sysvector.GPS_Lat(imintime:imaxtime)))>0) && (bDisplayGPS)
- %Draw data
- plot3(h.axes(1),double(sysvector.GPS_Lat(imintime:imaxtime))*fconv_gpslatlong, ...
- double(sysvector.GPS_Lon(imintime:imaxtime))*fconv_gpslatlong, ...
- double(sysvector.GPS_Alt(imintime:imaxtime))*fconv_gpsalt,'r.');
- title(h.axes(1),'GPS Position Data(if available)');
- xlabel(h.axes(1),'Latitude [deg]');
- ylabel(h.axes(1),'Longitude [deg]');
- zlabel(h.axes(1),'Altitude above MSL [m]');
- grid on
-
- %Reset path
- h.pathpoints=0;
- end
-
- % ************************************************************************
- % PLOT WINDOW 2: IMU, baro altitude
- % ************************************************************************
- figure(h.figures(3));
- plot(h.axes(2),time(imintime:imaxtime),[sysvector.IMU_MagX(imintime:imaxtime), sysvector.IMU_MagY(imintime:imaxtime), sysvector.IMU_MagZ(imintime:imaxtime)]);
- title(h.axes(2),'Magnetometers [Gauss]');
- legend(h.axes(2),'x','y','z');
- plot(h.axes(3),time(imintime:imaxtime),[sysvector.IMU_AccX(imintime:imaxtime), sysvector.IMU_AccY(imintime:imaxtime), sysvector.IMU_AccZ(imintime:imaxtime)]);
- title(h.axes(3),'Accelerometers [m/s]');
- legend(h.axes(3),'x','y','z');
- plot(h.axes(4),time(imintime:imaxtime),[sysvector.IMU_GyroX(imintime:imaxtime), sysvector.IMU_GyroY(imintime:imaxtime), sysvector.IMU_GyroZ(imintime:imaxtime)]);
- title(h.axes(4),'Gyroscopes [rad/s]');
- legend(h.axes(4),'x','y','z');
- plot(h.axes(5),time(imintime:imaxtime),sysvector.SENS_BaroAlt(imintime:imaxtime),'color','blue');
- if(bDisplayGPS)
- hold on;
- plot(h.axes(5),time(imintime:imaxtime),double(sysvector.GPS_Alt(imintime:imaxtime)).*fconv_gpsalt,'color','red');
- hold off
- legend('Barometric Altitude [m]','GPS Altitude [m]');
- else
- legend('Barometric Altitude [m]');
- end
- title(h.axes(5),'Altitude above MSL [m]');
-
- % ************************************************************************
- % PLOT WINDOW 3: ATTITUDE ESTIMATE, ACTUATORS/CONTROLS, AIRSPEEDS,...
- % ************************************************************************
- figure(h.figures(4));
- %Attitude Estimate
- plot(h.axes(6),time(imintime:imaxtime), [sysvector.ATT_Roll(imintime:imaxtime), sysvector.ATT_Pitch(imintime:imaxtime), sysvector.ATT_Yaw(imintime:imaxtime)] .*180./3.14159);
- title(h.axes(6),'Estimated attitude [deg]');
- legend(h.axes(6),'roll','pitch','yaw');
- %Actuator Controls
- plot(h.axes(7),time(imintime:imaxtime), [sysvector.ATTC_Roll(imintime:imaxtime), sysvector.ATTC_Pitch(imintime:imaxtime), sysvector.ATTC_Yaw(imintime:imaxtime), sysvector.ATTC_Thrust(imintime:imaxtime)]);
- title(h.axes(7),'Actuator control [-]');
- legend(h.axes(7),'ATT CTRL Roll [-1..+1]','ATT CTRL Pitch [-1..+1]','ATT CTRL Yaw [-1..+1]','ATT CTRL Thrust [0..+1]');
- %Actuator Controls
- plot(h.axes(8),time(imintime:imaxtime), [sysvector.OUT0_Out0(imintime:imaxtime), sysvector.OUT0_Out1(imintime:imaxtime), sysvector.OUT0_Out2(imintime:imaxtime), sysvector.OUT0_Out3(imintime:imaxtime), sysvector.OUT0_Out4(imintime:imaxtime), sysvector.OUT0_Out5(imintime:imaxtime), sysvector.OUT0_Out6(imintime:imaxtime), sysvector.OUT0_Out7(imintime:imaxtime)]);
- title(h.axes(8),'Actuator PWM (raw-)outputs [s]');
- legend(h.axes(8),'CH1','CH2','CH3','CH4','CH5','CH6','CH7','CH8');
- set(h.axes(8), 'YLim',[800 2200]);
- %Airspeeds
- plot(h.axes(9),time(imintime:imaxtime), sysvector.AIRS_IndSpeed(imintime:imaxtime));
- hold on
- plot(h.axes(9),time(imintime:imaxtime), sysvector.AIRS_TrueSpeed(imintime:imaxtime));
- hold off
- %add GPS total airspeed here
- title(h.axes(9),'Airspeed [m/s]');
- legend(h.axes(9),'Indicated Airspeed (IAS)','True Airspeed (TAS)','GPS Airspeed');
- %calculate time differences and plot them
- intervals = zeros(0,imaxtime - imintime);
- for k = imintime+1:imaxtime
- intervals(k) = time(k) - time(k-1);
- end
- plot(h.axes(10), time(imintime:imaxtime), intervals);
-
- %Set same timescale for all plots
- for i=2:NrAxes
- set(h.axes(i),'XLim',[mintime maxtime]);
- end
-
- set(h.labels.GUIState,'String','OK','BackgroundColor',[240/255 240/255 240/255]);
-end
-
-%% ************************************************************************
-% DRAWCURRENTAIRCRAFTSTATE(nested function)
-% ************************************************************************
-function DrawCurrentAircraftState()
- %find current data index
- i=find(time>=CurTime,1,'first');
-
- %**********************************************************************
- % Current aircraft state label update
- %**********************************************************************
- acstate{1,:}=[sprintf('%s \t\t','GPS Pos:'),'[lat=',num2str(double(sysvector.GPS_Lat(i))*fconv_gpslatlong),', ',...
- 'lon=',num2str(double(sysvector.GPS_Lon(i))*fconv_gpslatlong),', ',...
- 'alt=',num2str(double(sysvector.GPS_Alt(i))*fconv_gpsalt),'m]'];
- acstate{2,:}=[sprintf('%s \t\t','Mags[gauss]'),'[x=',num2str(sysvector.IMU_MagX(i)),...
- ', y=',num2str(sysvector.IMU_MagY(i)),...
- ', z=',num2str(sysvector.IMU_MagZ(i)),']'];
- acstate{3,:}=[sprintf('%s \t\t','Accels[m/s]'),'[x=',num2str(sysvector.IMU_AccX(i)),...
- ', y=',num2str(sysvector.IMU_AccY(i)),...
- ', z=',num2str(sysvector.IMU_AccZ(i)),']'];
- acstate{4,:}=[sprintf('%s \t\t','Gyros[rad/s]'),'[x=',num2str(sysvector.IMU_GyroX(i)),...
- ', y=',num2str(sysvector.IMU_GyroY(i)),...
- ', z=',num2str(sysvector.IMU_GyroZ(i)),']'];
- acstate{5,:}=[sprintf('%s \t\t','Altitude[m]'),'[Barometric: ',num2str(sysvector.SENS_BaroAlt(i)),'m, GPS: ',num2str(double(sysvector.GPS_Alt(i))*fconv_gpsalt),'m]'];
- acstate{6,:}=[sprintf('%s \t','Est. attitude[deg]:'),'[Roll=',num2str(sysvector.ATT_Roll(i).*180./3.14159),...
- ', Pitch=',num2str(sysvector.ATT_Pitch(i).*180./3.14159),...
- ', Yaw=',num2str(sysvector.ATT_Yaw(i).*180./3.14159),']'];
- acstate{7,:}=sprintf('%s \t[','Actuator Ctrls [-]:');
- %for j=1:4
- acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Roll(i)),','];
- acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Pitch(i)),','];
- acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Yaw(i)),','];
- acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Thrust(i)),','];
- %end
- acstate{7,:}=[acstate{7,:},']'];
- acstate{8,:}=sprintf('%s \t[','Actuator Outputs [PWM/s]:');
- %for j=1:8
- acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out0(i)),','];
- acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out1(i)),','];
- acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out2(i)),','];
- acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out3(i)),','];
- acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out4(i)),','];
- acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out5(i)),','];
- acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out6(i)),','];
- acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out7(i)),','];
- %end
- acstate{8,:}=[acstate{8,:},']'];
- acstate{9,:}=[sprintf('%s \t','Airspeed[m/s]:'),'[IAS: ',num2str(sysvector.AIRS_IndSpeed(i)),', TAS: ',num2str(sysvector.AIRS_TrueSpeed(i)),']'];
-
- set(h.edits.AircraftState,'String',acstate);
-
- %**********************************************************************
- % GPS Plot Update
- %**********************************************************************
- %Plot traveled path, and and time.
- figure(h.figures(2));
- hold on;
- if(CurTime>mintime+1) %the +1 is only a small bugfix
- h.pathline=plot3(h.axes(1),double(sysvector.GPS_Lat(imintime:i))*fconv_gpslatlong, ...
- double(sysvector.GPS_Lon(imintime:i))*fconv_gpslatlong, ...
- double(sysvector.GPS_Alt(imintime:i))*fconv_gpsalt,'b','LineWidth',2);
- end;
- hold off
- %Plot current position
- newpoint=[double(sysvector.GPS_Lat(i))*fconv_gpslatlong double(sysvector.GPS_Lat(i))*fconv_gpslatlong double(sysvector.GPS_Alt(i))*fconv_gpsalt];
- if(numel(h.pathpoints)<=3) %empty path
- h.pathpoints(1,1:3)=newpoint;
- else %Not empty, append new point
- h.pathpoints(size(h.pathpoints,1)+1,:)=newpoint;
- end
- axes(h.axes(1));
- line(h.pathpoints(:,1),h.pathpoints(:,2),h.pathpoints(:,3),'LineStyle','none','Marker','.','MarkerEdge','black','MarkerSize',20);
-
-
- % Plot current time (small label next to current gps position)
- textdesc=strcat(' t=',num2str(time(i)),'s');
- if(isvalidhandle(h.markertext))
- delete(h.markertext); %delete old text
- end
- h.markertext=text(double(sysvector.GPS_Lat(i))*fconv_gpslatlong,double(sysvector.GPS_Lon(i))*fconv_gpslatlong,...
- double(sysvector.GPS_Alt(i))*fconv_gpsalt,textdesc);
- set(h.edits.CurTime,'String',CurTime);
-
- %**********************************************************************
- % Plot the lines showing the current time in the 2-d plots
- %**********************************************************************
- for i=2:NrAxes
- if(isvalidhandle(h.markerline(i))) delete(h.markerline(i)); end
- ylims=get(h.axes(i),'YLim');
- h.markerline(i)=line([CurTime CurTime] ,get(h.axes(i),'YLim'),'Color','black');
- set(h.markerline(i),'parent',h.axes(i));
- end
-
- set(h.labels.GUIState,'String','OK','BackgroundColor',[240/255 240/255 240/255]);
-end
-
-%% ************************************************************************
-% MINMAXTIME CALLBACK (nested function)
-% ************************************************************************
-function minmaxtime_callback(hObj,event) %#ok<INUSL>
- new_mintime=get(h.sliders.MinTime,'Value');
- new_maxtime=get(h.sliders.MaxTime,'Value');
-
- %Safety checks:
- bErr=false;
- %1: mintime must be < maxtime
- if((new_mintime>maxtime) || (new_maxtime<mintime))
- set(h.labels.GUIState,'String','Error: Mintime cannot be bigger than maxtime! Values were not changed.','BackgroundColor','red');
- bErr=true;
- else
- %2: MinTime must be <=CurTime
- if(new_mintime>CurTime)
- set(h.labels.GUIState,'String','Error: Mintime cannot be bigger than CurTime! CurTime set to new mintime.','BackgroundColor','red');
- mintime=new_mintime;
- CurTime=mintime;
- bErr=true;
- end
- %3: MaxTime must be >CurTime
- if(new_maxtime<CurTime)
- set(h.labels.GUIState,'String','Error: Maxtime cannot be smaller than CurTime! CurTime set to new maxtime.','BackgroundColor','red');
- maxtime=new_maxtime;
- CurTime=maxtime;
- bErr=true;
- end
- end
-
- if(bErr==false)
- maxtime=new_maxtime;
- mintime=new_mintime;
- end
-
- %Needs to be done in case values were reset above
- set(h.sliders.MinTime,'Value',mintime);
- set(h.sliders.MaxTime,'Value',maxtime);
-
- %Update curtime-slider
- set(h.sliders.CurTime,'Value',CurTime);
- set(h.sliders.CurTime,'Max',maxtime);
- set(h.sliders.CurTime,'Min',mintime);
- temp=get(h.sliders.CurTime,'Max')-get(h.sliders.CurTime,'Min');
- set(h.sliders.CurTime,'SliderStep',[1.0/temp 5.0/temp]); %Set Stepsize to constant [in seconds]
-
- %update edit fields
- set(h.edits.CurTime,'String',get(h.sliders.CurTime,'Value'));
- set(h.edits.MinTime,'String',get(h.sliders.MinTime,'Value'));
- set(h.edits.MaxTime,'String',get(h.sliders.MaxTime,'Value'));
-
- %Finally, we have to redraw. Update time indices first.
- [imintime,imaxtime]=FindMinMaxTimeIndices();
- DrawRawData(); %Rawdata only
- DrawCurrentAircraftState(); %path info & markers
-end
-
-
-%% ************************************************************************
-% CURTIME CALLBACK (nested function)
-% ************************************************************************
-function curtime_callback(hObj,event) %#ok<INUSL>
- %find current time
- if(hObj==h.sliders.CurTime)
- CurTime=get(h.sliders.CurTime,'Value');
- elseif (hObj==h.edits.CurTime)
- temp=str2num(get(h.edits.CurTime,'String'));
- if(temp<maxtime && temp>mintime)
- CurTime=temp;
- else
- %Error
- set(h.labels.GUIState,'String','Error: You tried to set an invalid current time! Previous value restored.','BackgroundColor','red');
- end
- else
- %Error
- set(h.labels.GUIState,'String','Error: curtime_callback','BackgroundColor','red');
- end
-
- set(h.sliders.CurTime,'Value',CurTime);
- set(h.edits.CurTime,'String',num2str(CurTime));
-
- %Redraw time markers, but don't have to redraw the whole raw data
- DrawCurrentAircraftState();
-end
-
-%% ************************************************************************
-% FINDMINMAXINDICES (nested function)
-% ************************************************************************
-function [idxmin,idxmax] = FindMinMaxTimeIndices()
- for i=1:size(sysvector.TIME_StartTime,1)
- if time(i)>=mintime; idxmin=i; break; end
- end
- for i=1:size(sysvector.TIME_StartTime,1)
- if maxtime==0; idxmax=size(sysvector.TIME_StartTime,1); break; end
- if time(i)>=maxtime; idxmax=i; break; end
- end
- mintime=time(idxmin);
- maxtime=time(idxmax);
-end
-
-%% ************************************************************************
-% ISVALIDHANDLE (nested function)
-% ************************************************************************
-function isvalid = isvalidhandle(handle)
- if(exist(varname(handle))>0 && length(ishandle(handle))>0)
- if(ishandle(handle)>0)
- if(handle>0.0)
- isvalid=true;
- return;
- end
- end
- end
- isvalid=false;
-end
-
-%% ************************************************************************
-% JUST SOME SMALL HELPER FUNCTIONS (nested function)
-% ************************************************************************
-function out = varname(var)
- out = inputname(1);
-end
-
-%This is the end of the matlab file / the main function
-end
+% This Matlab Script can be used to import the binary logged values of the +% PX4FMU into data that can be plotted and analyzed. + +%% ************************************************************************ +% PX4LOG_PLOTSCRIPT: Main function +% ************************************************************************ +function PX4Log_Plotscript + +% Clear everything +clc +clear all +close all + +% ************************************************************************ +% SETTINGS +% ************************************************************************ + +% Set the path to your sysvector.bin file here +filePath = 'log001.bin'; + +% Set the minimum and maximum times to plot here [in seconds] +mintime=0; %The minimum time/timestamp to display, as set by the user [0 for first element / start] +maxtime=0; %The maximum time/timestamp to display, as set by the user [0 for last element / end] + +%Determine which data to plot. Not completely implemented yet. +bDisplayGPS=true; + +%conversion factors +fconv_gpsalt=1; %[mm] to [m] +fconv_gpslatlong=1; %[gps_raw_position_unit] to [deg] +fconv_timestamp=1E-6; % [microseconds] to [seconds] + +% ************************************************************************ +% Import the PX4 logs +% ************************************************************************ +ImportPX4LogData(); + +%Translate min and max plot times to indices +time=double(sysvector.TIME_StartTime) .*fconv_timestamp; +mintime_log=time(1); %The minimum time/timestamp found in the log +maxtime_log=time(end); %The maximum time/timestamp found in the log +CurTime=mintime_log; %The current time at which to draw the aircraft position + +[imintime,imaxtime]=FindMinMaxTimeIndices(); + +% ************************************************************************ +% PLOT & GUI SETUP +% ************************************************************************ +NrFigures=5; +NrAxes=10; +h.figures(1:NrFigures)=0.0; % Temporary initialization of figure handle array - these are numbered consecutively +h.axes(1:NrAxes)=0.0; % Temporary initialization of axes handle array - these are numbered consecutively +h.pathpoints=[]; % Temporary initiliazation of path points + +% Setup the GUI to control the plots +InitControlGUI(); +% Setup the plotting-GUI (figures, axes) itself. +InitPlotGUI(); + +% ************************************************************************ +% DRAW EVERYTHING +% ************************************************************************ +DrawRawData(); +DrawCurrentAircraftState(); + +%% ************************************************************************ +% *** END OF MAIN SCRIPT *** +% NESTED FUNCTION DEFINTIONS FROM HERE ON +% ************************************************************************ + + +%% ************************************************************************ +% IMPORTPX4LOGDATA (nested function) +% ************************************************************************ +% Attention: This is the import routine for firmware from ca. 03/2013. +% Other firmware versions might require different import +% routines. + +%% ************************************************************************ +% IMPORTPX4LOGDATA (nested function) +% ************************************************************************ +% Attention: This is the import routine for firmware from ca. 03/2013. +% Other firmware versions might require different import +% routines. + +function ImportPX4LogData() + + % ************************************************************************ + % RETRIEVE SYSTEM VECTOR + % ************************************************************************* + % //All measurements in NED frame + + % Convert to CSV + %arg1 = 'log-fx61-20130721-2.bin'; + arg1 = filePath; + delim = ','; + time_field = 'TIME'; + data_file = 'data.csv'; + csv_null = ''; + + if not(exist(data_file, 'file')) + s = system( sprintf('python sdlog2_dump.py "%s" -f "%s" -t"%s" -d"%s" -n"%s"', arg1, data_file, time_field, delim, csv_null) ); + end + + if exist(data_file, 'file') + + %data = csvread(data_file); + sysvector = tdfread(data_file, ','); + + % shot the flight time + time_us = sysvector.TIME_StartTime(end) - sysvector.TIME_StartTime(1); + time_s = uint64(time_us*1e-6); + time_m = uint64(time_s/60); + time_s = time_s - time_m * 60; + + disp([sprintf('Flight log duration: %d:%d (minutes:seconds)', time_m, time_s) char(10)]); + + disp(['logfile conversion finished.' char(10)]); + else + disp(['file: ' data_file ' does not exist' char(10)]); + end +end + +%% ************************************************************************ +% INITCONTROLGUI (nested function) +% ************************************************************************ +%Setup central control GUI components to control current time where data is shown +function InitControlGUI() + %********************************************************************** + % GUI size definitions + %********************************************************************** + dxy=5; %margins + %Panel: Plotctrl + dlabels=120; + dsliders=200; + dedits=80; + hslider=20; + + hpanel1=40; %panel1 + hpanel2=220;%panel2 + hpanel3=3*hslider+4*dxy+3*dxy;%panel3. + + width=dlabels+dsliders+dedits+4*dxy+2*dxy; %figure width + height=hpanel1+hpanel2+hpanel3+4*dxy; %figure height + + %********************************************************************** + % Create GUI + %********************************************************************** + h.figures(1)=figure('Units','pixels','position',[200 200 width height],'Name','Control GUI'); + h.guistatepanel=uipanel('Title','Current GUI state','Units','pixels','Position',[dxy dxy width-2*dxy hpanel1],'parent',h.figures(1)); + h.aircraftstatepanel=uipanel('Title','Current aircraft state','Units','pixels','Position',[dxy hpanel1+2*dxy width-2*dxy hpanel2],'parent',h.figures(1)); + h.plotctrlpanel=uipanel('Title','Plot Control','Units','pixels','Position',[dxy hpanel1+hpanel2+3*dxy width-2*dxy hpanel3],'parent',h.figures(1)); + + %%Control GUI-elements + %Slider: Current time + h.labels.CurTime=uicontrol(gcf,'style','text','Position',[dxy dxy dlabels hslider],'String','Current time t[s]:','parent',h.plotctrlpanel,'HorizontalAlignment','left'); + h.sliders.CurTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels dxy dsliders hslider],... + 'min',mintime,'max',maxtime,'value',mintime,'callback',@curtime_callback,'parent',h.plotctrlpanel); + temp=get(h.sliders.CurTime,'Max')-get(h.sliders.CurTime,'Min'); + set(h.sliders.CurTime,'SliderStep',[1.0/temp 5.0/temp]); + h.edits.CurTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders dxy dedits hslider],'String',get(h.sliders.CurTime,'value'),... + 'BackgroundColor','white','callback',@curtime_callback,'parent',h.plotctrlpanel); + + %Slider: MaxTime + h.labels.MaxTime=uicontrol(gcf,'style','text','position',[dxy 2*dxy+hslider dlabels hslider],'String','Max. time t[s] to display:','parent',h.plotctrlpanel,'HorizontalAlignment','left'); + h.sliders.MaxTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels 2*dxy+hslider dsliders hslider],... + 'min',mintime_log,'max',maxtime_log,'value',maxtime,'callback',@minmaxtime_callback,'parent',h.plotctrlpanel); + h.edits.MaxTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders 2*dxy+hslider dedits hslider],'String',get(h.sliders.MaxTime,'value'),... + 'BackgroundColor','white','callback',@minmaxtime_callback,'parent',h.plotctrlpanel); + + %Slider: MinTime + h.labels.MinTime=uicontrol(gcf,'style','text','position',[dxy 3*dxy+2*hslider dlabels hslider],'String','Min. time t[s] to dispay :','parent',h.plotctrlpanel,'HorizontalAlignment','left'); + h.sliders.MinTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels 3*dxy+2*hslider dsliders hslider],... + 'min',mintime_log,'max',maxtime_log,'value',mintime,'callback',@minmaxtime_callback,'parent',h.plotctrlpanel); + h.edits.MinTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders 3*dxy+2*hslider dedits hslider],'String',get(h.sliders.MinTime,'value'),... + 'BackgroundColor','white','callback',@minmaxtime_callback,'parent',h.plotctrlpanel); + + %%Current data/state GUI-elements (Multiline-edit-box) + h.edits.AircraftState=uicontrol(gcf,'style','edit','Units','normalized','position',[.02 .02 0.96 0.96],'Min',1,'Max',10,'String','This shows the current aircraft state',... + 'HorizontalAlignment','left','parent',h.aircraftstatepanel); + + h.labels.GUIState=uicontrol(gcf,'style','text','Units','pixels','position',[dxy dxy width-4*dxy hslider],'String','Current state of this GUI',... + 'HorizontalAlignment','left','parent',h.guistatepanel); + +end + +%% ************************************************************************ +% INITPLOTGUI (nested function) +% ************************************************************************ +function InitPlotGUI() + + % Setup handles to lines and text + h.markertext=[]; + templinehandle=0.0;%line([0 1],[0 5]); % Just a temporary handle to init array + h.markerline(1:NrAxes)=templinehandle; % the actual handle-array to the lines - these are numbered consecutively + h.markerline(1:NrAxes)=0.0; + + % Setup all other figures and axes for plotting + % PLOT WINDOW 1: GPS POSITION + h.figures(2)=figure('units','normalized','Toolbar','figure', 'Name', 'GPS Position'); + h.axes(1)=axes(); + set(h.axes(1),'Parent',h.figures(2)); + + % PLOT WINDOW 2: IMU, baro altitude + h.figures(3)=figure('Name', 'IMU / Baro Altitude'); + h.axes(2)=subplot(4,1,1); + h.axes(3)=subplot(4,1,2); + h.axes(4)=subplot(4,1,3); + h.axes(5)=subplot(4,1,4); + set(h.axes(2:5),'Parent',h.figures(3)); + + % PLOT WINDOW 3: ATTITUDE ESTIMATE, ACTUATORS/CONTROLS, AIRSPEEDS,... + h.figures(4)=figure('Name', 'Attitude Estimate / Actuators / Airspeeds'); + h.axes(6)=subplot(4,1,1); + h.axes(7)=subplot(4,1,2); + h.axes(8)=subplot(4,1,3); + h.axes(9)=subplot(4,1,4); + set(h.axes(6:9),'Parent',h.figures(4)); + + % PLOT WINDOW 4: LOG STATS + h.figures(5) = figure('Name', 'Log Statistics'); + h.axes(10)=subplot(1,1,1); + set(h.axes(10:10),'Parent',h.figures(5)); + +end + +%% ************************************************************************ +% DRAWRAWDATA (nested function) +% ************************************************************************ +%Draws the raw data from the sysvector, but does not add any +%marker-lines or so +function DrawRawData() + % ************************************************************************ + % PLOT WINDOW 1: GPS POSITION & GUI + % ************************************************************************ + figure(h.figures(2)); + % Only plot GPS data if available + if (sum(double(sysvector.GPS_Lat(imintime:imaxtime)))>0) && (bDisplayGPS) + %Draw data + plot3(h.axes(1),double(sysvector.GPS_Lat(imintime:imaxtime))*fconv_gpslatlong, ... + double(sysvector.GPS_Lon(imintime:imaxtime))*fconv_gpslatlong, ... + double(sysvector.GPS_Alt(imintime:imaxtime))*fconv_gpsalt,'r.'); + title(h.axes(1),'GPS Position Data(if available)'); + xlabel(h.axes(1),'Latitude [deg]'); + ylabel(h.axes(1),'Longitude [deg]'); + zlabel(h.axes(1),'Altitude above MSL [m]'); + grid on + + %Reset path + h.pathpoints=0; + end + + % ************************************************************************ + % PLOT WINDOW 2: IMU, baro altitude + % ************************************************************************ + figure(h.figures(3)); + plot(h.axes(2),time(imintime:imaxtime),[sysvector.IMU_MagX(imintime:imaxtime), sysvector.IMU_MagY(imintime:imaxtime), sysvector.IMU_MagZ(imintime:imaxtime)]); + title(h.axes(2),'Magnetometers [Gauss]'); + legend(h.axes(2),'x','y','z'); + plot(h.axes(3),time(imintime:imaxtime),[sysvector.IMU_AccX(imintime:imaxtime), sysvector.IMU_AccY(imintime:imaxtime), sysvector.IMU_AccZ(imintime:imaxtime)]); + title(h.axes(3),'Accelerometers [m/s]'); + legend(h.axes(3),'x','y','z'); + plot(h.axes(4),time(imintime:imaxtime),[sysvector.IMU_GyroX(imintime:imaxtime), sysvector.IMU_GyroY(imintime:imaxtime), sysvector.IMU_GyroZ(imintime:imaxtime)]); + title(h.axes(4),'Gyroscopes [rad/s]'); + legend(h.axes(4),'x','y','z'); + plot(h.axes(5),time(imintime:imaxtime),sysvector.SENS_BaroAlt(imintime:imaxtime),'color','blue'); + if(bDisplayGPS) + hold on; + plot(h.axes(5),time(imintime:imaxtime),double(sysvector.GPS_Alt(imintime:imaxtime)).*fconv_gpsalt,'color','red'); + hold off + legend('Barometric Altitude [m]','GPS Altitude [m]'); + else + legend('Barometric Altitude [m]'); + end + title(h.axes(5),'Altitude above MSL [m]'); + + % ************************************************************************ + % PLOT WINDOW 3: ATTITUDE ESTIMATE, ACTUATORS/CONTROLS, AIRSPEEDS,... + % ************************************************************************ + figure(h.figures(4)); + %Attitude Estimate + plot(h.axes(6),time(imintime:imaxtime), [sysvector.ATT_Roll(imintime:imaxtime), sysvector.ATT_Pitch(imintime:imaxtime), sysvector.ATT_Yaw(imintime:imaxtime)] .*180./3.14159); + title(h.axes(6),'Estimated attitude [deg]'); + legend(h.axes(6),'roll','pitch','yaw'); + %Actuator Controls + plot(h.axes(7),time(imintime:imaxtime), [sysvector.ATTC_Roll(imintime:imaxtime), sysvector.ATTC_Pitch(imintime:imaxtime), sysvector.ATTC_Yaw(imintime:imaxtime), sysvector.ATTC_Thrust(imintime:imaxtime)]); + title(h.axes(7),'Actuator control [-]'); + legend(h.axes(7),'ATT CTRL Roll [-1..+1]','ATT CTRL Pitch [-1..+1]','ATT CTRL Yaw [-1..+1]','ATT CTRL Thrust [0..+1]'); + %Actuator Controls + plot(h.axes(8),time(imintime:imaxtime), [sysvector.OUT0_Out0(imintime:imaxtime), sysvector.OUT0_Out1(imintime:imaxtime), sysvector.OUT0_Out2(imintime:imaxtime), sysvector.OUT0_Out3(imintime:imaxtime), sysvector.OUT0_Out4(imintime:imaxtime), sysvector.OUT0_Out5(imintime:imaxtime), sysvector.OUT0_Out6(imintime:imaxtime), sysvector.OUT0_Out7(imintime:imaxtime)]); + title(h.axes(8),'Actuator PWM (raw-)outputs [s]'); + legend(h.axes(8),'CH1','CH2','CH3','CH4','CH5','CH6','CH7','CH8'); + set(h.axes(8), 'YLim',[800 2200]); + %Airspeeds + plot(h.axes(9),time(imintime:imaxtime), sysvector.AIRS_IndSpeed(imintime:imaxtime)); + hold on + plot(h.axes(9),time(imintime:imaxtime), sysvector.AIRS_TrueSpeed(imintime:imaxtime)); + hold off + %add GPS total airspeed here + title(h.axes(9),'Airspeed [m/s]'); + legend(h.axes(9),'Indicated Airspeed (IAS)','True Airspeed (TAS)','GPS Airspeed'); + %calculate time differences and plot them + intervals = zeros(0,imaxtime - imintime); + for k = imintime+1:imaxtime + intervals(k) = time(k) - time(k-1); + end + plot(h.axes(10), time(imintime:imaxtime), intervals); + + %Set same timescale for all plots + for i=2:NrAxes + set(h.axes(i),'XLim',[mintime maxtime]); + end + + set(h.labels.GUIState,'String','OK','BackgroundColor',[240/255 240/255 240/255]); +end + +%% ************************************************************************ +% DRAWCURRENTAIRCRAFTSTATE(nested function) +% ************************************************************************ +function DrawCurrentAircraftState() + %find current data index + i=find(time>=CurTime,1,'first'); + + %********************************************************************** + % Current aircraft state label update + %********************************************************************** + acstate{1,:}=[sprintf('%s \t\t','GPS Pos:'),'[lat=',num2str(double(sysvector.GPS_Lat(i))*fconv_gpslatlong),', ',... + 'lon=',num2str(double(sysvector.GPS_Lon(i))*fconv_gpslatlong),', ',... + 'alt=',num2str(double(sysvector.GPS_Alt(i))*fconv_gpsalt),'m]']; + acstate{2,:}=[sprintf('%s \t\t','Mags[gauss]'),'[x=',num2str(sysvector.IMU_MagX(i)),... + ', y=',num2str(sysvector.IMU_MagY(i)),... + ', z=',num2str(sysvector.IMU_MagZ(i)),']']; + acstate{3,:}=[sprintf('%s \t\t','Accels[m/s]'),'[x=',num2str(sysvector.IMU_AccX(i)),... + ', y=',num2str(sysvector.IMU_AccY(i)),... + ', z=',num2str(sysvector.IMU_AccZ(i)),']']; + acstate{4,:}=[sprintf('%s \t\t','Gyros[rad/s]'),'[x=',num2str(sysvector.IMU_GyroX(i)),... + ', y=',num2str(sysvector.IMU_GyroY(i)),... + ', z=',num2str(sysvector.IMU_GyroZ(i)),']']; + acstate{5,:}=[sprintf('%s \t\t','Altitude[m]'),'[Barometric: ',num2str(sysvector.SENS_BaroAlt(i)),'m, GPS: ',num2str(double(sysvector.GPS_Alt(i))*fconv_gpsalt),'m]']; + acstate{6,:}=[sprintf('%s \t','Est. attitude[deg]:'),'[Roll=',num2str(sysvector.ATT_Roll(i).*180./3.14159),... + ', Pitch=',num2str(sysvector.ATT_Pitch(i).*180./3.14159),... + ', Yaw=',num2str(sysvector.ATT_Yaw(i).*180./3.14159),']']; + acstate{7,:}=sprintf('%s \t[','Actuator Ctrls [-]:'); + %for j=1:4 + acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Roll(i)),',']; + acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Pitch(i)),',']; + acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Yaw(i)),',']; + acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Thrust(i)),',']; + %end + acstate{7,:}=[acstate{7,:},']']; + acstate{8,:}=sprintf('%s \t[','Actuator Outputs [PWM/s]:'); + %for j=1:8 + acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out0(i)),',']; + acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out1(i)),',']; + acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out2(i)),',']; + acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out3(i)),',']; + acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out4(i)),',']; + acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out5(i)),',']; + acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out6(i)),',']; + acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out7(i)),',']; + %end + acstate{8,:}=[acstate{8,:},']']; + acstate{9,:}=[sprintf('%s \t','Airspeed[m/s]:'),'[IAS: ',num2str(sysvector.AIRS_IndSpeed(i)),', TAS: ',num2str(sysvector.AIRS_TrueSpeed(i)),']']; + + set(h.edits.AircraftState,'String',acstate); + + %********************************************************************** + % GPS Plot Update + %********************************************************************** + %Plot traveled path, and and time. + figure(h.figures(2)); + hold on; + if(CurTime>mintime+1) %the +1 is only a small bugfix + h.pathline=plot3(h.axes(1),double(sysvector.GPS_Lat(imintime:i))*fconv_gpslatlong, ... + double(sysvector.GPS_Lon(imintime:i))*fconv_gpslatlong, ... + double(sysvector.GPS_Alt(imintime:i))*fconv_gpsalt,'b','LineWidth',2); + end; + hold off + %Plot current position + newpoint=[double(sysvector.GPS_Lat(i))*fconv_gpslatlong double(sysvector.GPS_Lat(i))*fconv_gpslatlong double(sysvector.GPS_Alt(i))*fconv_gpsalt]; + if(numel(h.pathpoints)<=3) %empty path + h.pathpoints(1,1:3)=newpoint; + else %Not empty, append new point + h.pathpoints(size(h.pathpoints,1)+1,:)=newpoint; + end + axes(h.axes(1)); + line(h.pathpoints(:,1),h.pathpoints(:,2),h.pathpoints(:,3),'LineStyle','none','Marker','.','MarkerEdge','black','MarkerSize',20); + + + % Plot current time (small label next to current gps position) + textdesc=strcat(' t=',num2str(time(i)),'s'); + if(isvalidhandle(h.markertext)) + delete(h.markertext); %delete old text + end + h.markertext=text(double(sysvector.GPS_Lat(i))*fconv_gpslatlong,double(sysvector.GPS_Lon(i))*fconv_gpslatlong,... + double(sysvector.GPS_Alt(i))*fconv_gpsalt,textdesc); + set(h.edits.CurTime,'String',CurTime); + + %********************************************************************** + % Plot the lines showing the current time in the 2-d plots + %********************************************************************** + for i=2:NrAxes + if(isvalidhandle(h.markerline(i))) delete(h.markerline(i)); end + ylims=get(h.axes(i),'YLim'); + h.markerline(i)=line([CurTime CurTime] ,get(h.axes(i),'YLim'),'Color','black'); + set(h.markerline(i),'parent',h.axes(i)); + end + + set(h.labels.GUIState,'String','OK','BackgroundColor',[240/255 240/255 240/255]); +end + +%% ************************************************************************ +% MINMAXTIME CALLBACK (nested function) +% ************************************************************************ +function minmaxtime_callback(hObj,event) %#ok<INUSL> + new_mintime=get(h.sliders.MinTime,'Value'); + new_maxtime=get(h.sliders.MaxTime,'Value'); + + %Safety checks: + bErr=false; + %1: mintime must be < maxtime + if((new_mintime>maxtime) || (new_maxtime<mintime)) + set(h.labels.GUIState,'String','Error: Mintime cannot be bigger than maxtime! Values were not changed.','BackgroundColor','red'); + bErr=true; + else + %2: MinTime must be <=CurTime + if(new_mintime>CurTime) + set(h.labels.GUIState,'String','Error: Mintime cannot be bigger than CurTime! CurTime set to new mintime.','BackgroundColor','red'); + mintime=new_mintime; + CurTime=mintime; + bErr=true; + end + %3: MaxTime must be >CurTime + if(new_maxtime<CurTime) + set(h.labels.GUIState,'String','Error: Maxtime cannot be smaller than CurTime! CurTime set to new maxtime.','BackgroundColor','red'); + maxtime=new_maxtime; + CurTime=maxtime; + bErr=true; + end + end + + if(bErr==false) + maxtime=new_maxtime; + mintime=new_mintime; + end + + %Needs to be done in case values were reset above + set(h.sliders.MinTime,'Value',mintime); + set(h.sliders.MaxTime,'Value',maxtime); + + %Update curtime-slider + set(h.sliders.CurTime,'Value',CurTime); + set(h.sliders.CurTime,'Max',maxtime); + set(h.sliders.CurTime,'Min',mintime); + temp=get(h.sliders.CurTime,'Max')-get(h.sliders.CurTime,'Min'); + set(h.sliders.CurTime,'SliderStep',[1.0/temp 5.0/temp]); %Set Stepsize to constant [in seconds] + + %update edit fields + set(h.edits.CurTime,'String',get(h.sliders.CurTime,'Value')); + set(h.edits.MinTime,'String',get(h.sliders.MinTime,'Value')); + set(h.edits.MaxTime,'String',get(h.sliders.MaxTime,'Value')); + + %Finally, we have to redraw. Update time indices first. + [imintime,imaxtime]=FindMinMaxTimeIndices(); + DrawRawData(); %Rawdata only + DrawCurrentAircraftState(); %path info & markers +end + + +%% ************************************************************************ +% CURTIME CALLBACK (nested function) +% ************************************************************************ +function curtime_callback(hObj,event) %#ok<INUSL> + %find current time + if(hObj==h.sliders.CurTime) + CurTime=get(h.sliders.CurTime,'Value'); + elseif (hObj==h.edits.CurTime) + temp=str2num(get(h.edits.CurTime,'String')); + if(temp<maxtime && temp>mintime) + CurTime=temp; + else + %Error + set(h.labels.GUIState,'String','Error: You tried to set an invalid current time! Previous value restored.','BackgroundColor','red'); + end + else + %Error + set(h.labels.GUIState,'String','Error: curtime_callback','BackgroundColor','red'); + end + + set(h.sliders.CurTime,'Value',CurTime); + set(h.edits.CurTime,'String',num2str(CurTime)); + + %Redraw time markers, but don't have to redraw the whole raw data + DrawCurrentAircraftState(); +end + +%% ************************************************************************ +% FINDMINMAXINDICES (nested function) +% ************************************************************************ +function [idxmin,idxmax] = FindMinMaxTimeIndices() + for i=1:size(sysvector.TIME_StartTime,1) + if time(i)>=mintime; idxmin=i; break; end + end + for i=1:size(sysvector.TIME_StartTime,1) + if maxtime==0; idxmax=size(sysvector.TIME_StartTime,1); break; end + if time(i)>=maxtime; idxmax=i; break; end + end + mintime=time(idxmin); + maxtime=time(idxmax); +end + +%% ************************************************************************ +% ISVALIDHANDLE (nested function) +% ************************************************************************ +function isvalid = isvalidhandle(handle) + if(exist(varname(handle))>0 && length(ishandle(handle))>0) + if(ishandle(handle)>0) + if(handle>0.0) + isvalid=true; + return; + end + end + end + isvalid=false; +end + +%% ************************************************************************ +% JUST SOME SMALL HELPER FUNCTIONS (nested function) +% ************************************************************************ +function out = varname(var) + out = inputname(1); +end + +%This is the end of the matlab file / the main function +end diff --git a/Tools/sdlog2_dump.py b/Tools/sdlog2/sdlog2_dump.py index 5b1e55e22..5b1e55e22 100644 --- a/Tools/sdlog2_dump.py +++ b/Tools/sdlog2/sdlog2_dump.py diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk index ab05d4e3d..2ad2f63a9 100644 --- a/makefiles/config_px4fmu-v2_default.mk +++ b/makefiles/config_px4fmu-v2_default.mk @@ -38,6 +38,8 @@ MODULES += drivers/ets_airspeed MODULES += drivers/meas_airspeed MODULES += drivers/frsky_telemetry MODULES += modules/sensors +MODULES += drivers/mkblctrl + # Needs to be burned to the ground and re-written; for now, # just don't build it. diff --git a/makefiles/config_px4fmu-v2_test.mk b/makefiles/config_px4fmu-v2_test.mk index 8623c0584..79922374d 100644 --- a/makefiles/config_px4fmu-v2_test.mk +++ b/makefiles/config_px4fmu-v2_test.mk @@ -18,6 +18,12 @@ MODULES += drivers/stm32/tone_alarm MODULES += drivers/led MODULES += drivers/boards/px4fmu-v2 MODULES += drivers/px4io +MODULES += drivers/rgbled +MODULES += drivers/mpu6000 +MODULES += drivers/lsm303d +MODULES += drivers/l3gd20 +MODULES += drivers/hmc5883 +MODULES += drivers/ms5611 MODULES += systemcmds/perf MODULES += systemcmds/reboot MODULES += systemcmds/tests @@ -31,6 +37,9 @@ MODULES += systemcmds/hw_ver MODULES += modules/systemlib MODULES += modules/systemlib/mixer MODULES += modules/uORB +LIBRARIES += lib/mathlib/CMSIS +MODULES += lib/mathlib +MODULES += lib/mathlib/math/filter # # Libraries diff --git a/nuttx-configs/px4fmu-v2/include/board.h b/nuttx-configs/px4fmu-v2/include/board.h index e56b14ba4..3bede8a1f 100755 --- a/nuttx-configs/px4fmu-v2/include/board.h +++ b/nuttx-configs/px4fmu-v2/include/board.h @@ -141,9 +141,9 @@ #define STM32_APB2_TIM1_CLKIN (2*STM32_PCLK2_FREQUENCY) #define STM32_APB2_TIM8_CLKIN (2*STM32_PCLK2_FREQUENCY) -#define STM32_APB2_TIM9_CLKIN (2*STM32_PCLK1_FREQUENCY) -#define STM32_APB2_TIM10_CLKIN (2*STM32_PCLK1_FREQUENCY) -#define STM32_APB2_TIM11_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB2_TIM9_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM10_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM11_CLKIN (2*STM32_PCLK2_FREQUENCY) /* Timer Frequencies, if APBx is set to 1, frequency is same to APBx * otherwise frequency is 2xAPBx. @@ -209,8 +209,8 @@ #define GPIO_USART3_RX GPIO_USART3_RX_3 #define GPIO_USART3_TX GPIO_USART3_TX_3 -#define GPIO_USART2_RTS GPIO_USART2_RTS_2 -#define GPIO_USART2_CTS GPIO_USART2_CTS_2 +#define GPIO_USART3_RTS GPIO_USART3_RTS_2 +#define GPIO_USART3_CTS GPIO_USART3_CTS_2 #define GPIO_UART4_RX GPIO_UART4_RX_1 #define GPIO_UART4_TX GPIO_UART4_TX_1 diff --git a/src/drivers/airspeed/airspeed.cpp b/src/drivers/airspeed/airspeed.cpp index f73a3ef01..524151c90 100644 --- a/src/drivers/airspeed/airspeed.cpp +++ b/src/drivers/airspeed/airspeed.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2013, 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 @@ -76,8 +76,8 @@ #include <drivers/airspeed/airspeed.h> -Airspeed::Airspeed(int bus, int address, unsigned conversion_interval) : - I2C("Airspeed", AIRSPEED_DEVICE_PATH, bus, address, 100000), +Airspeed::Airspeed(int bus, int address, unsigned conversion_interval, const char* path) : + I2C("Airspeed", path, bus, address, 100000), _reports(nullptr), _buffer_overflows(perf_alloc(PC_COUNT, "airspeed_buffer_overflows")), _max_differential_pressure_pa(0), @@ -86,6 +86,7 @@ Airspeed::Airspeed(int bus, int address, unsigned conversion_interval) : _collect_phase(false), _diff_pres_offset(0.0f), _airspeed_pub(-1), + _class_instance(-1), _conversion_interval(conversion_interval), _sample_perf(perf_alloc(PC_ELAPSED, "airspeed_read")), _comms_errors(perf_alloc(PC_COUNT, "airspeed_comms_errors")) @@ -102,6 +103,9 @@ Airspeed::~Airspeed() /* make sure we are truly inactive */ stop(); + if (_class_instance != -1) + unregister_class_devname(AIRSPEED_DEVICE_PATH, _class_instance); + /* free any existing reports */ if (_reports != nullptr) delete _reports; @@ -126,13 +130,23 @@ Airspeed::init() if (_reports == nullptr) goto out; - /* get a publish handle on the airspeed topic */ - differential_pressure_s zero_report; - memset(&zero_report, 0, sizeof(zero_report)); - _airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &zero_report); + /* register alternate interfaces if we have to */ + _class_instance = register_class_devname(AIRSPEED_DEVICE_PATH); + + /* publication init */ + if (_class_instance == CLASS_DEVICE_PRIMARY) { + + /* advertise sensor topic, measure manually to initialize valid report */ + struct differential_pressure_s arp; + measure(); + _reports->get(&arp); - if (_airspeed_pub < 0) - warnx("failed to create airspeed sensor object. Did you start uOrb?"); + /* measurement will have generated a report, publish */ + _airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &arp); + + if (_airspeed_pub < 0) + warnx("failed to create airspeed sensor object. uORB started?"); + } ret = OK; /* sensor is ok, but we don't really know if it is within range */ diff --git a/src/drivers/airspeed/airspeed.h b/src/drivers/airspeed/airspeed.h index c341aa2c6..186602eda 100644 --- a/src/drivers/airspeed/airspeed.h +++ b/src/drivers/airspeed/airspeed.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2013, 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 @@ -90,7 +90,7 @@ static const int ERROR = -1; class __EXPORT Airspeed : public device::I2C { public: - Airspeed(int bus, int address, unsigned conversion_interval); + Airspeed(int bus, int address, unsigned conversion_interval, const char* path); virtual ~Airspeed(); virtual int init(); @@ -127,6 +127,8 @@ protected: orb_advert_t _airspeed_pub; + int _class_instance; + unsigned _conversion_interval; perf_counter_t _sample_perf; diff --git a/src/drivers/bma180/bma180.cpp b/src/drivers/bma180/bma180.cpp index 1590cc182..e43a34805 100644 --- a/src/drivers/bma180/bma180.cpp +++ b/src/drivers/bma180/bma180.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * 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 @@ -153,6 +153,7 @@ private: float _accel_range_scale; float _accel_range_m_s2; orb_advert_t _accel_topic; + int _class_instance; unsigned _current_lowpass; unsigned _current_range; @@ -238,6 +239,7 @@ BMA180::BMA180(int bus, spi_dev_e device) : _accel_range_scale(0.0f), _accel_range_m_s2(0.0f), _accel_topic(-1), + _class_instance(-1), _current_lowpass(0), _current_range(0), _sample_perf(perf_alloc(PC_ELAPSED, "bma180_read")) @@ -282,11 +284,6 @@ BMA180::init() if (_reports == nullptr) goto out; - /* advertise sensor topic */ - struct accel_report zero_report; - memset(&zero_report, 0, sizeof(zero_report)); - _accel_topic = orb_advertise(ORB_ID(sensor_accel), &zero_report); - /* perform soft reset (p48) */ write_reg(ADDR_RESET, SOFT_RESET); @@ -322,6 +319,19 @@ BMA180::init() ret = ERROR; } + _class_instance = register_class_devname(ACCEL_DEVICE_PATH); + + /* advertise sensor topic, measure manually to initialize valid report */ + measure(); + + if (_class_instance == CLASS_DEVICE_PRIMARY) { + struct accel_report arp; + _reports->get(&arp); + + /* measurement will have generated a report, publish */ + _accel_topic = orb_advertise(ORB_ID(sensor_accel), &arp); + } + out: return ret; } @@ -723,7 +733,8 @@ BMA180::measure() poll_notify(POLLIN); /* publish for subscribers */ - orb_publish(ORB_ID(sensor_accel), _accel_topic, &report); + if (_accel_topic > 0 && !(_pub_blocked)) + orb_publish(ORB_ID(sensor_accel), _accel_topic, &report); /* stop the perf counter */ perf_end(_sample_perf); diff --git a/src/drivers/device/cdev.cpp b/src/drivers/device/cdev.cpp index 7954ce5ab..b157b3f18 100644 --- a/src/drivers/device/cdev.cpp +++ b/src/drivers/device/cdev.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * 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 @@ -38,6 +38,7 @@ */ #include "device.h" +#include "drivers/drv_device.h" #include <sys/ioctl.h> #include <arch/irq.h> @@ -93,6 +94,7 @@ CDev::CDev(const char *name, Device(name, irq), // public // protected + _pub_blocked(false), // private _devname(devname), _registered(false), @@ -256,6 +258,14 @@ CDev::ioctl(struct file *filp, int cmd, unsigned long arg) case DIOC_GETPRIV: *(void **)(uintptr_t)arg = (void *)this; return OK; + break; + case DEVIOCSPUBBLOCK: + _pub_blocked = (arg != 0); + return OK; + break; + case DEVIOCGPUBBLOCK: + return _pub_blocked; + break; } return -ENOTTY; diff --git a/src/drivers/device/device.cpp b/src/drivers/device/device.cpp index c3ee77b1c..683455149 100644 --- a/src/drivers/device/device.cpp +++ b/src/drivers/device/device.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * 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 diff --git a/src/drivers/device/device.h b/src/drivers/device/device.h index 0235f6284..d99f22922 100644 --- a/src/drivers/device/device.h +++ b/src/drivers/device/device.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * 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 @@ -415,6 +415,8 @@ protected: */ virtual int unregister_class_devname(const char *class_devname, unsigned class_instance); + bool _pub_blocked; /**< true if publishing should be blocked */ + private: static const unsigned _max_pollwaiters = 8; diff --git a/src/drivers/drv_device.h b/src/drivers/drv_device.h new file mode 100644 index 000000000..b310beb74 --- /dev/null +++ b/src/drivers/drv_device.h @@ -0,0 +1,62 @@ +/**************************************************************************** + * + * 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 drv_device.h + * + * Generic device / sensor interface. + */ + +#ifndef _DRV_DEVICE_H +#define _DRV_DEVICE_H + +#include <stdint.h> +#include <sys/ioctl.h> + +#include "drv_sensor.h" +#include "drv_orb_dev.h" + +/* + * ioctl() definitions + */ + +#define _DEVICEIOCBASE (0x100) +#define _DEVICEIOC(_n) (_IOC(_DEVICEIOCBASE, _n)) + +/** ask device to stop publishing */ +#define DEVIOCSPUBBLOCK _DEVICEIOC(0) + +/** check publication block status */ +#define DEVIOCGPUBBLOCK _DEVICEIOC(1) + +#endif /* _DRV_DEVICE_H */ diff --git a/src/drivers/ets_airspeed/ets_airspeed.cpp b/src/drivers/ets_airspeed/ets_airspeed.cpp index de371bf32..b6e80ce1d 100644 --- a/src/drivers/ets_airspeed/ets_airspeed.cpp +++ b/src/drivers/ets_airspeed/ets_airspeed.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2013, 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 @@ -77,6 +77,7 @@ /* I2C bus address */ #define I2C_ADDRESS 0x75 /* 7-bit address. 8-bit address is 0xEA */ +#define ETS_PATH "/dev/ets_airspeed" /* Register address */ #define READ_CMD 0x07 /* Read the data */ @@ -93,7 +94,7 @@ class ETSAirspeed : public Airspeed { public: - ETSAirspeed(int bus, int address = I2C_ADDRESS); + ETSAirspeed(int bus, int address = I2C_ADDRESS, const char* path = ETS_PATH); protected: @@ -112,8 +113,8 @@ protected: */ extern "C" __EXPORT int ets_airspeed_main(int argc, char *argv[]); -ETSAirspeed::ETSAirspeed(int bus, int address) : Airspeed(bus, address, - CONVERSION_INTERVAL) +ETSAirspeed::ETSAirspeed(int bus, int address, const char* path) : Airspeed(bus, address, + CONVERSION_INTERVAL, path) { } @@ -184,8 +185,10 @@ ETSAirspeed::collect() report.voltage = 0; report.max_differential_pressure_pa = _max_differential_pressure_pa; - /* announce the airspeed if needed, just publish else */ - orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report); + if (_airspeed_pub > 0 && !(_pub_blocked)) { + /* publish it */ + orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report); + } new_report(report); diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp index 6b72d560f..a736cbdf6 100644 --- a/src/drivers/gps/gps.cpp +++ b/src/drivers/gps/gps.cpp @@ -289,11 +289,13 @@ GPS::task_main() //no time and satellite information simulated - if (_report_pub > 0) { - orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report); + if (!(_pub_blocked)) { + if (_report_pub > 0) { + orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report); - } else { - _report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report); + } else { + _report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report); + } } usleep(2e5); @@ -330,11 +332,14 @@ GPS::task_main() while (_Helper->receive(TIMEOUT_5HZ) > 0 && !_task_should_exit) { // lock(); /* opportunistic publishing - else invalid data would end up on the bus */ - if (_report_pub > 0) { - orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report); - } else { - _report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report); + if (!(_pub_blocked)) { + if (_report_pub > 0) { + orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report); + + } else { + _report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report); + } } last_rate_count++; diff --git a/src/drivers/gps/gps_helper.cpp b/src/drivers/gps/gps_helper.cpp index 2e2cbc8dd..2360ff39b 100644 --- a/src/drivers/gps/gps_helper.cpp +++ b/src/drivers/gps/gps_helper.cpp @@ -1,8 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012,2013 PX4 Development Team. All rights reserved. - * Author: Thomas Gubler <thomasgubler@student.ethz.ch> - * Julian Oes <joes@student.ethz.ch> + * 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 @@ -41,6 +39,9 @@ /** * @file gps_helper.cpp + * + * @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> */ float diff --git a/src/drivers/gps/gps_helper.h b/src/drivers/gps/gps_helper.h index 73d4b889c..cfb9e0d43 100644 --- a/src/drivers/gps/gps_helper.h +++ b/src/drivers/gps/gps_helper.h @@ -1,8 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. - * Author: Thomas Gubler <thomasgubler@student.ethz.ch> - * Julian Oes <joes@student.ethz.ch> + * 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 @@ -35,6 +33,8 @@ /** * @file gps_helper.h + * @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> */ #ifndef GPS_HELPER_H diff --git a/src/drivers/gps/module.mk b/src/drivers/gps/module.mk index 097db2abf..82c67d40a 100644 --- a/src/drivers/gps/module.mk +++ b/src/drivers/gps/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# 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 diff --git a/src/drivers/gps/mtk.cpp b/src/drivers/gps/mtk.cpp index 56b702ea6..c90ecbe28 100644 --- a/src/drivers/gps/mtk.cpp +++ b/src/drivers/gps/mtk.cpp @@ -1,8 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. - * Author: Thomas Gubler <thomasgubler@student.ethz.ch> - * Julian Oes <joes@student.ethz.ch> + * Copyright (c) 2012, 2013 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 @@ -33,7 +31,12 @@ * ****************************************************************************/ -/* @file mkt.cpp */ +/** + * @file mtk.cpp + * + * @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> + */ #include <unistd.h> #include <stdio.h> diff --git a/src/drivers/gps/mtk.h b/src/drivers/gps/mtk.h index b5cfbf0a6..a2d5e27bb 100644 --- a/src/drivers/gps/mtk.h +++ b/src/drivers/gps/mtk.h @@ -1,8 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2008-2013 PX4 Development Team. All rights reserved. - * Author: Thomas Gubler <thomasgubler@student.ethz.ch> - * Julian Oes <joes@student.ethz.ch> + * Copyright (c) 2012, 2013 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 @@ -33,7 +31,12 @@ * ****************************************************************************/ -/* @file mtk.h */ +/** + * @file mtk.cpp + * + * @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> + */ #ifndef MTK_H_ #define MTK_H_ diff --git a/src/drivers/gps/ubx.cpp b/src/drivers/gps/ubx.cpp index 86291901c..8a2afecb7 100644 --- a/src/drivers/gps/ubx.cpp +++ b/src/drivers/gps/ubx.cpp @@ -1,9 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. - * Author: Thomas Gubler <thomasgubler@student.ethz.ch> - * Julian Oes <joes@student.ethz.ch> - * Anton Babushkin <anton.babushkin@me.com> + * Copyright (c) 2012, 2013 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 @@ -40,8 +37,13 @@ * U-Blox protocol implementation. Following u-blox 6/7 Receiver Description * including Prototol Specification. * + * @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> + * @author Anton Babushkin <anton.babushkin@me.com> + * * @see http://www.u-blox.com/images/downloads/Product_Docs/u-blox6_ReceiverDescriptionProtocolSpec_%28GPS.G6-SW-10018%29.pdf */ + #include <assert.h> #include <math.h> #include <poll.h> diff --git a/src/drivers/gps/ubx.h b/src/drivers/gps/ubx.h index 76ef873a3..79a904f4a 100644 --- a/src/drivers/gps/ubx.h +++ b/src/drivers/gps/ubx.h @@ -1,9 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2008-2013 PX4 Development Team. All rights reserved. - * Author: Thomas Gubler <thomasgubler@student.ethz.ch> - * Julian Oes <joes@student.ethz.ch> - * Anton Babushkin <anton.babushkin@me.com> + * Copyright (c) 2012, 2013 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 @@ -34,7 +31,17 @@ * ****************************************************************************/ -/* @file U-Blox protocol definitions */ +/** + * @file ubx.h + * + * U-Blox protocol definition. Following u-blox 6/7 Receiver Description + * including Prototol Specification. + * + * @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> + * @author Anton Babushkin <anton.babushkin@me.com> + * + */ #ifndef UBX_H_ #define UBX_H_ diff --git a/src/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp index 9b9c11af2..4c85c0cda 100644 --- a/src/drivers/hmc5883/hmc5883.cpp +++ b/src/drivers/hmc5883/hmc5883.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * 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 @@ -381,16 +381,6 @@ HMC5883::init() reset(); _class_instance = register_class_devname(MAG_DEVICE_PATH); - if (_class_instance == CLASS_DEVICE_PRIMARY) { - /* get a publish handle on the mag topic if we are - * the primary mag */ - struct mag_report zero_report; - memset(&zero_report, 0, sizeof(zero_report)); - _mag_topic = orb_advertise(ORB_ID(sensor_mag), &zero_report); - - if (_mag_topic < 0) - debug("failed to create sensor_mag object"); - } ret = OK; /* sensor is ok, but not calibrated */ @@ -867,9 +857,17 @@ HMC5883::collect() /* z remains z */ new_report.z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale; - if (_mag_topic != -1) { - /* publish it */ - orb_publish(ORB_ID(sensor_mag), _mag_topic, &new_report); + if (_class_instance == CLASS_DEVICE_PRIMARY && !(_pub_blocked)) { + + if (_mag_topic != -1) { + /* publish it */ + orb_publish(ORB_ID(sensor_mag), _mag_topic, &new_report); + } else { + _mag_topic = orb_advertise(ORB_ID(sensor_mag), &new_report); + + if (_mag_topic < 0) + debug("failed to create sensor_mag publication"); + } } /* post a report to the ring */ @@ -1140,10 +1138,12 @@ int HMC5883::check_calibration() SUBSYSTEM_TYPE_MAG}; static orb_advert_t pub = -1; - if (pub > 0) { - orb_publish(ORB_ID(subsystem_info), pub, &info); - } else { - pub = orb_advertise(ORB_ID(subsystem_info), &info); + if (!(_pub_blocked)) { + if (pub > 0) { + orb_publish(ORB_ID(subsystem_info), pub, &info); + } else { + pub = orb_advertise(ORB_ID(subsystem_info), &info); + } } } diff --git a/src/drivers/l3gd20/l3gd20.cpp b/src/drivers/l3gd20/l3gd20.cpp index 670e51b97..90c3db9ae 100644 --- a/src/drivers/l3gd20/l3gd20.cpp +++ b/src/drivers/l3gd20/l3gd20.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * 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 @@ -379,15 +379,24 @@ L3GD20::init() goto out; _class_instance = register_class_devname(GYRO_DEVICE_PATH); - if (_class_instance == CLASS_DEVICE_PRIMARY) { - /* advertise sensor topic */ - struct gyro_report zero_report; - memset(&zero_report, 0, sizeof(zero_report)); - _gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &zero_report); - } reset(); + measure(); + + if (_class_instance == CLASS_DEVICE_PRIMARY) { + + /* advertise sensor topic, measure manually to initialize valid report */ + struct gyro_report grp; + _reports->get(&grp); + + _gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &grp); + + if (_gyro_topic < 0) + debug("failed to create sensor_gyro publication"); + + } + ret = OK; out: return ret; @@ -894,8 +903,10 @@ L3GD20::measure() poll_notify(POLLIN); /* publish for subscribers */ - if (_gyro_topic > 0) + if (_gyro_topic > 0 && !(_pub_blocked)) { + /* publish it */ orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &report); + } _read++; diff --git a/src/drivers/lsm303d/lsm303d.cpp b/src/drivers/lsm303d/lsm303d.cpp index 969b5e25f..4dee7649b 100644 --- a/src/drivers/lsm303d/lsm303d.cpp +++ b/src/drivers/lsm303d/lsm303d.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2013, 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 @@ -277,15 +277,15 @@ private: unsigned _mag_samplerate; orb_advert_t _accel_topic; - int _class_instance; + int _accel_class_instance; unsigned _accel_read; unsigned _mag_read; perf_counter_t _accel_sample_perf; perf_counter_t _mag_sample_perf; - perf_counter_t _reg7_resets; perf_counter_t _reg1_resets; + perf_counter_t _reg7_resets; perf_counter_t _extreme_values; perf_counter_t _accel_reschedules; @@ -295,8 +295,8 @@ private: // expceted values of reg1 and reg7 to catch in-flight // brownouts of the sensor - uint8_t _reg7_expected; uint8_t _reg1_expected; + uint8_t _reg7_expected; // accel logging int _accel_log_fd; @@ -500,7 +500,7 @@ LSM303D::LSM303D(int bus, const char* path, spi_dev_e device) : _mag_range_scale(0.0f), _mag_samplerate(0), _accel_topic(-1), - _class_instance(-1), + _accel_class_instance(-1), _accel_read(0), _mag_read(0), _accel_sample_perf(perf_alloc(PC_ELAPSED, "lsm303d_accel_read")), @@ -551,8 +551,8 @@ LSM303D::~LSM303D() if (_mag_reports != nullptr) delete _mag_reports; - if (_class_instance != -1) - unregister_class_devname(ACCEL_DEVICE_PATH, _class_instance); + if (_accel_class_instance != -1) + unregister_class_devname(ACCEL_DEVICE_PATH, _accel_class_instance); delete _mag; @@ -562,13 +562,13 @@ LSM303D::~LSM303D() perf_free(_reg1_resets); perf_free(_reg7_resets); perf_free(_extreme_values); + perf_free(_accel_reschedules); } int LSM303D::init() { int ret = ERROR; - int mag_ret; /* do SPI init (and probe) first */ if (SPI::init() != OK) { @@ -597,13 +597,37 @@ LSM303D::init() goto out; } - _class_instance = register_class_devname(ACCEL_DEVICE_PATH); - if (_class_instance == CLASS_DEVICE_PRIMARY) { - // we are the primary accel device, so advertise to - // the ORB - struct accel_report zero_report; - memset(&zero_report, 0, sizeof(zero_report)); - _accel_topic = orb_advertise(ORB_ID(sensor_accel), &zero_report); + /* fill report structures */ + measure(); + + if (_mag->_mag_class_instance == CLASS_DEVICE_PRIMARY) { + + /* advertise sensor topic, measure manually to initialize valid report */ + struct mag_report mrp; + _mag_reports->get(&mrp); + + /* measurement will have generated a report, publish */ + _mag->_mag_topic = orb_advertise(ORB_ID(sensor_mag), &mrp); + + if (_mag->_mag_topic < 0) + debug("failed to create sensor_mag publication"); + + } + + _accel_class_instance = register_class_devname(ACCEL_DEVICE_PATH); + + if (_accel_class_instance == CLASS_DEVICE_PRIMARY) { + + /* advertise sensor topic, measure manually to initialize valid report */ + struct accel_report arp; + _accel_reports->get(&arp); + + /* measurement will have generated a report, publish */ + _accel_topic = orb_advertise(ORB_ID(sensor_accel), &arp); + + if (_accel_topic < 0) + debug("failed to create sensor_accel publication"); + } out: @@ -727,7 +751,7 @@ LSM303D::check_extremes(const accel_report *arb) _last_log_us = now; ::dprintf(_accel_log_fd, "ARB %llu %.3f %.3f %.3f %d %d %d boot_ok=%u\r\n", (unsigned long long)arb->timestamp, - arb->x, arb->y, arb->z, + (double)arb->x, (double)arb->y, (double)arb->z, (int)arb->x_raw, (int)arb->y_raw, (int)arb->z_raw, @@ -1517,8 +1541,8 @@ LSM303D::measure() /* notify anyone waiting for data */ poll_notify(POLLIN); - if (_accel_topic != -1) { - /* publish for subscribers */ + if (_accel_topic > 0 && !(_pub_blocked)) { + /* publish it */ orb_publish(ORB_ID(sensor_accel), _accel_topic, &accel_report); } @@ -1591,8 +1615,8 @@ LSM303D::mag_measure() /* notify anyone waiting for data */ poll_notify(POLLIN); - if (_mag->_mag_topic != -1) { - /* publish for subscribers */ + if (_mag->_mag_topic > 0 && !(_pub_blocked)) { + /* publish it */ orb_publish(ORB_ID(sensor_mag), _mag->_mag_topic, &mag_report); } @@ -1707,13 +1731,6 @@ LSM303D_mag::init() goto out; _mag_class_instance = register_class_devname(MAG_DEVICE_PATH); - if (_mag_class_instance == CLASS_DEVICE_PRIMARY) { - // we are the primary mag device, so advertise to - // the ORB - struct mag_report zero_report; - memset(&zero_report, 0, sizeof(zero_report)); - _mag_topic = orb_advertise(ORB_ID(sensor_mag), &zero_report); - } out: return ret; diff --git a/src/drivers/meas_airspeed/meas_airspeed.cpp b/src/drivers/meas_airspeed/meas_airspeed.cpp index 9251cff7b..06d89abf7 100644 --- a/src/drivers/meas_airspeed/meas_airspeed.cpp +++ b/src/drivers/meas_airspeed/meas_airspeed.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2013, 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 @@ -50,6 +50,7 @@ * - Interfacing to MEAS Digital Pressure Modules (http://www.meas-spec.com/downloads/Interfacing_to_MEAS_Digital_Pressure_Modules.pdf) */ + #include <nuttx/config.h> #include <drivers/device/i2c.h> @@ -89,8 +90,10 @@ /* I2C bus address is 1010001x */ #define I2C_ADDRESS_MS4525DO 0x28 //0x51 /* 7-bit address. */ +#define PATH_MS4525 "/dev/ms4525" /* The MS5525DSO address is 111011Cx, where C is the complementary value of the pin CSB */ #define I2C_ADDRESS_MS5525DSO 0x77 //0x77/* 7-bit address, addr. pin pulled low */ +#define PATH_MS5525 "/dev/ms5525" /* Register address */ #define ADDR_READ_MR 0x00 /* write to this address to start conversion */ @@ -101,7 +104,7 @@ class MEASAirspeed : public Airspeed { public: - MEASAirspeed(int bus, int address = I2C_ADDRESS_MS4525DO); + MEASAirspeed(int bus, int address = I2C_ADDRESS_MS4525DO, const char* path = PATH_MS4525); protected: @@ -120,8 +123,8 @@ protected: */ extern "C" __EXPORT int meas_airspeed_main(int argc, char *argv[]); -MEASAirspeed::MEASAirspeed(int bus, int address) : Airspeed(bus, address, - CONVERSION_INTERVAL) +MEASAirspeed::MEASAirspeed(int bus, int address, const char* path) : Airspeed(bus, address, + CONVERSION_INTERVAL, path) { } @@ -208,8 +211,10 @@ MEASAirspeed::collect() report.voltage = 0; report.max_differential_pressure_pa = _max_differential_pressure_pa; - /* announce the airspeed if needed, just publish else */ - orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report); + if (_airspeed_pub > 0 && !(_pub_blocked)) { + /* publish it */ + orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report); + } new_report(report); @@ -302,7 +307,7 @@ start(int i2c_bus) errx(1, "already started"); /* create the driver, try the MS4525DO first */ - g_dev = new MEASAirspeed(i2c_bus, I2C_ADDRESS_MS4525DO); + g_dev = new MEASAirspeed(i2c_bus, I2C_ADDRESS_MS4525DO, PATH_MS4525); /* check if the MS4525DO was instantiated */ if (g_dev == nullptr) @@ -311,7 +316,7 @@ start(int i2c_bus) /* try the MS5525DSO next if init fails */ if (OK != g_dev->Airspeed::init()) { delete g_dev; - g_dev = new MEASAirspeed(i2c_bus, I2C_ADDRESS_MS5525DSO); + g_dev = new MEASAirspeed(i2c_bus, I2C_ADDRESS_MS5525DSO, PATH_MS5525); /* check if the MS5525DSO was instantiated */ if (g_dev == nullptr) @@ -384,7 +389,7 @@ test() err(1, "immediate read failed"); warnx("single read"); - warnx("diff pressure: %d pa", (double)report.differential_pressure_pa); + warnx("diff pressure: %8.4f pa", (double)report.differential_pressure_pa); /* start the sensor polling at 2Hz */ if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) @@ -409,7 +414,7 @@ test() err(1, "periodic read failed"); warnx("periodic read %u", i); - warnx("diff pressure: %d pa", report.differential_pressure_pa); + warnx("diff pressure: %8.4f pa", (double)report.differential_pressure_pa); warnx("temperature: %d C (0x%02x)", (int)report.temperature, (unsigned) report.temperature); } diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp index 30d6069b3..705e98eea 100644 --- a/src/drivers/mkblctrl/mkblctrl.cpp +++ b/src/drivers/mkblctrl/mkblctrl.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012,2013 PX4 Development Team. All rights reserved. + * Copyright (C) 2012-2014 PX4 Development Team. All rights reserved. * Author: Marco Bauer <marco@wtns.de> * * Redistribution and use in source and binary forms, with or without @@ -65,7 +65,6 @@ #include <drivers/device/device.h> #include <drivers/drv_pwm_output.h> -#include <drivers/drv_gpio.h> #include <drivers/drv_hrt.h> #include <drivers/drv_rc_input.h> @@ -93,16 +92,12 @@ #define MOTOR_SPINUP_COUNTER 30 #define ESC_UORB_PUBLISH_DELAY 500000 + + + class MK : public device::I2C { public: - enum Mode { - MODE_NONE, - MODE_2PWM, - MODE_4PWM, - MODE_6PWM, - }; - enum MappingMode { MAPPING_MK = 0, MAPPING_PX4, @@ -120,8 +115,7 @@ public: virtual int init(unsigned motors); virtual ssize_t write(file *filp, const char *buffer, size_t len); - int set_mode(Mode mode); - int set_pwm_rate(unsigned rate); + int set_update_rate(unsigned rate); int set_motor_count(unsigned count); int set_motor_test(bool motortest); int set_overrideSecurityChecks(bool overrideSecurityChecks); @@ -133,7 +127,6 @@ private: static const unsigned _max_actuators = MAX_MOTORS; static const bool showDebug = false; - Mode _mode; int _update_rate; int _current_update_rate; int _task; @@ -180,33 +173,15 @@ private: static const GPIOConfig _gpio_tab[]; static const unsigned _ngpio; - void gpio_reset(void); - void gpio_set_function(uint32_t gpios, int function); - void gpio_write(uint32_t gpios, int function); - uint32_t gpio_read(void); - int gpio_ioctl(file *filp, int cmd, unsigned long arg); int mk_servo_arm(bool status); - int mk_servo_set(unsigned int chan, short val); int mk_servo_set_value(unsigned int chan, short val); int mk_servo_test(unsigned int chan); short scaling(float val, float inMin, float inMax, float outMin, float outMax); - - }; -const MK::GPIOConfig MK::_gpio_tab[] = { - {GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0}, - {GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0}, - {GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, GPIO_USART2_CTS_1}, - {GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, GPIO_USART2_RTS_1}, - {GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, GPIO_USART2_TX_1}, - {GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, GPIO_USART2_RX_1}, - {GPIO_GPIO6_INPUT, GPIO_GPIO6_OUTPUT, GPIO_CAN2_TX_2}, - {GPIO_GPIO7_INPUT, GPIO_GPIO7_OUTPUT, GPIO_CAN2_RX_2}, -}; -const unsigned MK::_ngpio = sizeof(MK::_gpio_tab) / sizeof(MK::_gpio_tab[0]); + const int blctrlAddr_quad_plus[] = { 2, 2, -2, -2, 0, 0, 0, 0 }; // Addresstranslator for Quad + configuration const int blctrlAddr_hexa_plus[] = { 0, 2, 2, -2, 1, -3, 0, 0 }; // Addresstranslator for Hexa + configuration @@ -247,8 +222,7 @@ MK *g_mk; MK::MK(int bus, const char *_device_path) : I2C("mkblctrl", "/dev/mkblctrl", bus, 0, I2C_BUS_SPEED), - _mode(MODE_NONE), - _update_rate(50), + _update_rate(400), _task(-1), _t_actuators(-1), _t_actuator_armed(-1), @@ -317,26 +291,23 @@ MK::init(unsigned motors) usleep(500000); - if (sizeof(_device) > 0) { - ret = register_driver(_device, &fops, 0666, (void *)this); + if (sizeof(_device) > 0) { + ret = register_driver(_device, &fops, 0666, (void *)this); - if (ret == OK) { + if (ret == OK) { log("creating alternate output device"); _primary_pwm_device = true; } - } - - /* reset GPIOs */ - gpio_reset(); + } /* start the IO interface task */ _task = task_spawn_cmd("mkblctrl", - SCHED_DEFAULT, - SCHED_PRIORITY_MAX - 20, - 2048, - (main_t)&MK::task_main_trampoline, - nullptr); + SCHED_DEFAULT, + SCHED_PRIORITY_MAX - 20, + 2048, + (main_t)&MK::task_main_trampoline, + nullptr); if (_task < 0) { @@ -354,43 +325,7 @@ MK::task_main_trampoline(int argc, char *argv[]) } int -MK::set_mode(Mode mode) -{ - /* - * Configure for PWM output. - * - * Note that regardless of the configured mode, the task is always - * listening and mixing; the mode just selects which of the channels - * are presented on the output pins. - */ - switch (mode) { - case MODE_2PWM: - up_pwm_servo_deinit(); - _update_rate = UPDATE_RATE; /* default output rate */ - break; - - case MODE_4PWM: - up_pwm_servo_deinit(); - _update_rate = UPDATE_RATE; /* default output rate */ - break; - - case MODE_NONE: - debug("MODE_NONE"); - /* disable servo outputs and set a very low update rate */ - up_pwm_servo_deinit(); - _update_rate = UPDATE_RATE; - break; - - default: - return -EINVAL; - } - - _mode = mode; - return OK; -} - -int -MK::set_pwm_rate(unsigned rate) +MK::set_update_rate(unsigned rate) { if ((rate > 500) || (rate < 10)) return -EINVAL; @@ -621,11 +556,13 @@ MK::task_main() } } - if(!_overrideSecurityChecks) { + if (!_overrideSecurityChecks) { /* don't go under BLCTRL_MIN_VALUE */ + if (outputs.output[i] < BLCTRL_MIN_VALUE) { outputs.output[i] = BLCTRL_MIN_VALUE; } + } /* output to BLCtrl's */ @@ -675,21 +612,24 @@ MK::task_main() esc.esc[i].esc_current = (uint16_t) Motor[i].Current; esc.esc[i].esc_rpm = (uint16_t) 0; esc.esc[i].esc_setpoint = (float) Motor[i].SetPoint_PX4; + if (Motor[i].Version == 1) { // BLCtrl 2.0 (11Bit) - esc.esc[i].esc_setpoint_raw = (uint16_t) (Motor[i].SetPoint<<3) | Motor[i].SetPointLowerBits; + esc.esc[i].esc_setpoint_raw = (uint16_t)(Motor[i].SetPoint << 3) | Motor[i].SetPointLowerBits; + } else { // BLCtrl < 2.0 (8Bit) esc.esc[i].esc_setpoint_raw = (uint16_t) Motor[i].SetPoint; } + esc.esc[i].esc_temperature = (uint16_t) Motor[i].Temperature; esc.esc[i].esc_state = (uint16_t) Motor[i].State; esc.esc[i].esc_errorcount = (uint16_t) 0; - // if motortest is requested - do it... - if (_motortest == true) { - mk_servo_test(i); - } + // if motortest is requested - do it... + if (_motortest == true) { + mk_servo_test(i); + } } @@ -728,7 +668,7 @@ MK::mk_servo_arm(bool status) unsigned int MK::mk_check_for_blctrl(unsigned int count, bool showOutput, bool initI2C) { - if(initI2C) { + if (initI2C) { I2C::init(); } @@ -765,7 +705,7 @@ MK::mk_check_for_blctrl(unsigned int count, bool showOutput, bool initI2C) Motor[i].State |= MOTOR_STATE_PRESENT_MASK; // set present bit; foundMotorCount++; - if (Motor[i].MaxPWM == 250) { + if ((Motor[i].MaxPWM & 252) == 248) { Motor[i].Version = BLCTRL_NEW; } else { @@ -781,8 +721,8 @@ MK::mk_check_for_blctrl(unsigned int count, bool showOutput, bool initI2C) fprintf(stderr, "[mkblctrl] blctrl[%i] : found=%i\tversion=%i\tcurrent=%i\tmaxpwm=%i\ttemperature=%i\n", i, Motor[i].State, Motor[i].Version, Motor[i].Current, Motor[i].MaxPWM, Motor[i].Temperature); } - - if(!_overrideSecurityChecks) { + + if (!_overrideSecurityChecks) { if (foundMotorCount != 4 && foundMotorCount != 6 && foundMotorCount != 8) { _task_should_exit = true; } @@ -811,8 +751,8 @@ MK::mk_servo_set(unsigned int chan, short val) tmpVal = 0; } - Motor[chan].SetPoint = (uint8_t)(tmpVal>>3)&0xff; - Motor[chan].SetPointLowerBits = ((uint8_t)tmpVal%8)&0x07; + Motor[chan].SetPoint = (uint8_t)(tmpVal >> 3) & 0xff; + Motor[chan].SetPointLowerBits = ((uint8_t)tmpVal % 8) & 0x07; if (_armed == false) { Motor[chan].SetPoint = 0; @@ -1019,28 +959,6 @@ MK::ioctl(file *filp, int cmd, unsigned long arg) { int ret; - // XXX disabled, confusing users - - /* try it as a GPIO ioctl first */ - ret = gpio_ioctl(filp, cmd, arg); - - if (ret != -ENOTTY) - return ret; - - /* if we are in valid PWM mode, try it as a PWM ioctl as well */ - /* - switch (_mode) { - case MODE_2PWM: - case MODE_4PWM: - case MODE_6PWM: - ret = pwm_ioctl(filp, cmd, arg); - break; - - default: - debug("not in a PWM mode"); - break; - } - */ ret = pwm_ioctl(filp, cmd, arg); /* if nobody wants it, let CDev have it */ @@ -1075,6 +993,10 @@ MK::pwm_ioctl(file *filp, int cmd, unsigned long arg) ret = OK; break; + case PWM_SERVO_GET_UPDATE_RATE: + *(uint32_t *)arg = _update_rate; + break; + case PWM_SERVO_SET_SELECT_UPDATE_RATE: ret = OK; break; @@ -1084,6 +1006,7 @@ MK::pwm_ioctl(file *filp, int cmd, unsigned long arg) if (arg < 2150) { Motor[cmd - PWM_SERVO_SET(0)].RawPwmValue = (unsigned short)arg; mk_servo_set(cmd - PWM_SERVO_SET(0), scaling(arg, 1010, 2100, 0, 2047)); + } else { ret = -EINVAL; } @@ -1198,139 +1121,10 @@ MK::write(file *filp, const char *buffer, size_t len) return count * 2; } -void -MK::gpio_reset(void) -{ - /* - * Setup default GPIO config - all pins as GPIOs, GPIO driver chip - * to input mode. - */ - for (unsigned i = 0; i < _ngpio; i++) - stm32_configgpio(_gpio_tab[i].input); - - stm32_gpiowrite(GPIO_GPIO_DIR, 0); - stm32_configgpio(GPIO_GPIO_DIR); -} - -void -MK::gpio_set_function(uint32_t gpios, int function) -{ - /* - * GPIOs 0 and 1 must have the same direction as they are buffered - * by a shared 2-port driver. Any attempt to set either sets both. - */ - if (gpios & 3) { - gpios |= 3; - - /* flip the buffer to output mode if required */ - if (GPIO_SET_OUTPUT == function) - stm32_gpiowrite(GPIO_GPIO_DIR, 1); - } - - /* configure selected GPIOs as required */ - for (unsigned i = 0; i < _ngpio; i++) { - if (gpios & (1 << i)) { - switch (function) { - case GPIO_SET_INPUT: - stm32_configgpio(_gpio_tab[i].input); - break; - - case GPIO_SET_OUTPUT: - stm32_configgpio(_gpio_tab[i].output); - break; - - case GPIO_SET_ALT_1: - if (_gpio_tab[i].alt != 0) - stm32_configgpio(_gpio_tab[i].alt); - - break; - } - } - } - - /* flip buffer to input mode if required */ - if ((GPIO_SET_INPUT == function) && (gpios & 3)) - stm32_gpiowrite(GPIO_GPIO_DIR, 0); -} - -void -MK::gpio_write(uint32_t gpios, int function) -{ - int value = (function == GPIO_SET) ? 1 : 0; - - for (unsigned i = 0; i < _ngpio; i++) - if (gpios & (1 << i)) - stm32_gpiowrite(_gpio_tab[i].output, value); -} - -uint32_t -MK::gpio_read(void) -{ - uint32_t bits = 0; - - for (unsigned i = 0; i < _ngpio; i++) - if (stm32_gpioread(_gpio_tab[i].input)) - bits |= (1 << i); - - return bits; -} - -int -MK::gpio_ioctl(struct file *filp, int cmd, unsigned long arg) -{ - int ret = OK; - - lock(); - - switch (cmd) { - - case GPIO_RESET: - gpio_reset(); - break; - - case GPIO_SET_OUTPUT: - case GPIO_SET_INPUT: - case GPIO_SET_ALT_1: - gpio_set_function(arg, cmd); - break; - - case GPIO_SET_ALT_2: - case GPIO_SET_ALT_3: - case GPIO_SET_ALT_4: - ret = -EINVAL; - break; - - case GPIO_SET: - case GPIO_CLEAR: - gpio_write(arg, cmd); - break; - - case GPIO_GET: - *(uint32_t *)arg = gpio_read(); - break; - - default: - ret = -ENOTTY; - } - - unlock(); - - return ret; -} namespace { -enum PortMode { - PORT_MODE_UNSET = 0, - PORT_FULL_GPIO, - PORT_FULL_SERIAL, - PORT_FULL_PWM, - PORT_GPIO_AND_SERIAL, - PORT_PWM_AND_SERIAL, - PORT_PWM_AND_GPIO, -}; - enum MappingMode { MAPPING_MK = 0, MAPPING_PX4, @@ -1341,20 +1135,11 @@ enum FrameType { FRAME_X, }; -PortMode g_port_mode; int -mk_new_mode(PortMode new_mode, int update_rate, int motorcount, bool motortest, int px4mode, int frametype, bool overrideSecurityChecks) +mk_new_mode(int update_rate, int motorcount, bool motortest, int px4mode, int frametype, bool overrideSecurityChecks) { - uint32_t gpio_bits; int shouldStop = 0; - MK::Mode servo_mode; - - /* reset to all-inputs */ - g_mk->ioctl(0, GPIO_RESET, 0); - - gpio_bits = 0; - servo_mode = MK::MODE_NONE; /* native PX4 addressing) */ g_mk->set_px4mode(px4mode); @@ -1368,7 +1153,6 @@ mk_new_mode(PortMode new_mode, int update_rate, int motorcount, bool motortest, /* ovveride security checks if enabled */ g_mk->set_overrideSecurityChecks(overrideSecurityChecks); - /* count used motors */ do { if (g_mk->mk_check_for_blctrl(8, false, false) != 0) { @@ -1383,86 +1167,54 @@ mk_new_mode(PortMode new_mode, int update_rate, int motorcount, bool motortest, g_mk->set_motor_count(g_mk->mk_check_for_blctrl(8, true, false)); - /* (re)set the PWM output mode */ - g_mk->set_mode(servo_mode); - - - if ((servo_mode != MK::MODE_NONE) && (update_rate != 0)) - g_mk->set_pwm_rate(update_rate); + g_mk->set_update_rate(update_rate); return OK; } int -mk_start(unsigned bus, unsigned motors, char *device_path) -{ - int ret = OK; - - if (g_mk == nullptr) { - - g_mk = new MK(bus, device_path); - - if (g_mk == nullptr) { - ret = -ENOMEM; - - } else { - ret = g_mk->init(motors); - - if (ret != OK) { - delete g_mk; - g_mk = nullptr; - } - } - } - - return ret; -} - - -int -mk_check_for_i2c_esc_bus(char *device_path, int motors) +mk_start(unsigned motors, char *device_path) { int ret; - if (g_mk == nullptr) { + // try i2c3 first + g_mk = new MK(3, device_path); - g_mk = new MK(3, device_path); + if (!g_mk) + return -ENOMEM; - if (g_mk == nullptr) { - return -1; - - } else { - ret = g_mk->mk_check_for_blctrl(8, false, true); - delete g_mk; - g_mk = nullptr; - - if (ret > 0) { - return 3; - } + if (OK == g_mk->init(motors)) { + warnx("[mkblctrl] scanning i2c3...\n"); + ret = g_mk->mk_check_for_blctrl(8, false, true); + if (ret > 0) { + return OK; } + } + delete g_mk; + g_mk = nullptr; - g_mk = new MK(1, device_path); - - if (g_mk == nullptr) { - return -1; + // fallback to bus 1 + g_mk = new MK(1, device_path); - } else { - ret = g_mk->mk_check_for_blctrl(8, false, true); - delete g_mk; - g_mk = nullptr; + if (!g_mk) + return -ENOMEM; - if (ret > 0) { - return 1; - } + if (OK == g_mk->init(motors)) { + warnx("[mkblctrl] scanning i2c1...\n"); + ret = g_mk->mk_check_for_blctrl(8, false, true); + if (ret > 0) { + return OK; } } - return -1; -} + delete g_mk; + g_mk = nullptr; + return -ENXIO; +} } // namespace @@ -1472,10 +1224,8 @@ extern "C" __EXPORT int mkblctrl_main(int argc, char *argv[]); int mkblctrl_main(int argc, char *argv[]) { - PortMode port_mode = PORT_FULL_PWM; int pwm_update_rate_in_hz = UPDATE_RATE; int motorcount = 8; - int bus = -1; int px4mode = MAPPING_PX4; int frametype = FRAME_PLUS; // + plus is default bool motortest = false; @@ -1489,18 +1239,6 @@ mkblctrl_main(int argc, char *argv[]) */ for (int i = 1; i < argc; i++) { - /* look for the optional i2c bus parameter */ - if (strcmp(argv[i], "-b") == 0 || strcmp(argv[i], "--bus") == 0) { - if (argc > i + 1) { - bus = atoi(argv[i + 1]); - newMode = true; - - } else { - errx(1, "missing argument for i2c bus (-b)"); - return 1; - } - } - /* look for the optional frame parameter */ if (strcmp(argv[i], "-mkmode") == 0 || strcmp(argv[i], "--mkmode") == 0) { if (argc > i + 1) { @@ -1560,51 +1298,43 @@ mkblctrl_main(int argc, char *argv[]) fprintf(stderr, "mkblctrl: help:\n"); fprintf(stderr, " [-mkmode {+/x}] [-b i2c_bus_number] [-d devicename] [--override-security-checks] [-h / --help]\n\n"); fprintf(stderr, "\t -mkmode {+/x} \t\t Type of frame, if Mikrokopter motor order is used.\n"); - fprintf(stderr, "\t -b {i2c_bus_number} \t\t Set the i2c bus where the ESCs are connected to (default autoscan).\n"); fprintf(stderr, "\t -d {devicepath & name}\t\t Create alternate pwm device.\n"); fprintf(stderr, "\t --override-security-checks \t\t Disable all security checks (arming and number of ESCs). Used to test single Motors etc. (DANGER !!!)\n"); fprintf(stderr, "\n"); fprintf(stderr, "Motortest:\n"); fprintf(stderr, "First you have to start mkblctrl, the you can enter Motortest Mode with:\n"); fprintf(stderr, "mkblctrl -t\n"); - fprintf(stderr, "This will spin up once every motor in order of motoraddress. (DANGER !!!)\n"); + fprintf(stderr, "This will spin up once every motor in order of motoraddress. (DANGER !!!)\n"); exit(1); } if (!motortest) { - if (g_mk == nullptr) { - if (bus == -1) { - bus = mk_check_for_i2c_esc_bus(devicepath, motorcount); - } - - if (bus != -1) { - if (mk_start(bus, motorcount, devicepath) != OK) { - errx(1, "failed to start the MK-BLCtrl driver"); - } - } else { - errx(1, "failed to start the MK-BLCtrl driver (cannot find i2c esc's)"); - } - - /* parameter set ? */ - if (newMode) { - /* switch parameter */ - return mk_new_mode(port_mode, pwm_update_rate_in_hz, motorcount, motortest, px4mode, frametype, overrideSecurityChecks); - } - - exit(0); - } else { - errx(1, "MK-BLCtrl driver already running"); - } - - } else { - if (g_mk == nullptr) { - errx(1, "MK-BLCtrl driver not running. You have to start it first."); - - } else { - g_mk->set_motor_test(motortest); - exit(0); - - } - } + if (g_mk == nullptr) { + if (mk_start(motorcount, devicepath) != OK) { + errx(1, "failed to start the MK-BLCtrl driver"); + } + + /* parameter set ? */ + if (newMode) { + /* switch parameter */ + return mk_new_mode(pwm_update_rate_in_hz, motorcount, motortest, px4mode, frametype, overrideSecurityChecks); + } + + exit(0); + + } else { + errx(1, "MK-BLCtrl driver already running"); + } + + } else { + if (g_mk == nullptr) { + errx(1, "MK-BLCtrl driver not running. You have to start it first."); + + } else { + g_mk->set_motor_test(motortest); + exit(0); + + } + } } diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp index bbc595af4..ac75682c4 100644 --- a/src/drivers/mpu6000/mpu6000.cpp +++ b/src/drivers/mpu6000/mpu6000.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * 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 @@ -443,7 +443,6 @@ int MPU6000::init() { int ret; - int gyro_ret; /* do SPI init (and probe) first */ ret = SPI::init(); @@ -488,16 +487,36 @@ MPU6000::init() return ret; } - /* fetch an initial set of measurements for advertisement */ + _accel_class_instance = register_class_devname(ACCEL_DEVICE_PATH); + measure(); - _accel_class_instance = register_class_devname(ACCEL_DEVICE_PATH); if (_accel_class_instance == CLASS_DEVICE_PRIMARY) { - /* advertise accel topic */ - accel_report ar; - _accel_reports->get(&ar); - _accel_topic = orb_advertise(ORB_ID(sensor_accel), &ar); - } + + /* advertise sensor topic, measure manually to initialize valid report */ + struct accel_report arp; + _accel_reports->get(&arp); + + /* measurement will have generated a report, publish */ + _accel_topic = orb_advertise(ORB_ID(sensor_accel), &arp); + + if (_accel_topic < 0) + debug("failed to create sensor_accel publication"); + + } + + if (_gyro->_gyro_class_instance == CLASS_DEVICE_PRIMARY) { + + /* advertise sensor topic, measure manually to initialize valid report */ + struct gyro_report grp; + _gyro_reports->get(&grp); + + _gyro->_gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &grp); + + if (_gyro->_gyro_topic < 0) + debug("failed to create sensor_gyro publication"); + + } out: return ret; @@ -1307,10 +1326,13 @@ MPU6000::measure() poll_notify(POLLIN); _gyro->parent_poll_notify(); - if (_accel_topic != -1) { + if (_accel_topic > 0 && !(_pub_blocked)) { + /* publish it */ orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb); } - if (_gyro->_gyro_topic != -1) { + + if (_gyro->_gyro_topic > 0 && !(_pub_blocked)) { + /* publish it */ orb_publish(ORB_ID(sensor_gyro), _gyro->_gyro_topic, &grb); } @@ -1331,6 +1353,7 @@ MPU6000::print_info() MPU6000_gyro::MPU6000_gyro(MPU6000 *parent) : CDev("MPU6000_gyro", MPU_DEVICE_PATH_GYRO), _parent(parent), + _gyro_topic(-1), _gyro_class_instance(-1) { } @@ -1356,11 +1379,6 @@ MPU6000_gyro::init() } _gyro_class_instance = register_class_devname(GYRO_DEVICE_PATH); - if (_gyro_class_instance == CLASS_DEVICE_PRIMARY) { - gyro_report gr; - memset(&gr, 0, sizeof(gr)); - _gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &gr); - } out: return ret; diff --git a/src/drivers/ms5611/ms5611.cpp b/src/drivers/ms5611/ms5611.cpp index 6326cf7fc..0ef056273 100644 --- a/src/drivers/ms5611/ms5611.cpp +++ b/src/drivers/ms5611/ms5611.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012-2013 PX4 Development Team. All rights reserved. + * 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 @@ -90,6 +90,7 @@ static const int ERROR = -1; /* internal conversion time: 9.17 ms, so should not be read at rates higher than 100 Hz */ #define MS5611_CONVERSION_INTERVAL 10000 /* microseconds */ #define MS5611_MEASUREMENT_RATIO 3 /* pressure measurements per temperature measurement */ +#define MS5611_BARO_DEVICE_PATH "/dev/ms5611" class MS5611 : public device::CDev { @@ -132,6 +133,8 @@ protected: orb_advert_t _baro_topic; + int _class_instance; + perf_counter_t _sample_perf; perf_counter_t _measure_perf; perf_counter_t _comms_errors; @@ -192,7 +195,7 @@ protected: extern "C" __EXPORT int ms5611_main(int argc, char *argv[]); MS5611::MS5611(device::Device *interface, ms5611::prom_u &prom_buf) : - CDev("MS5611", BARO_DEVICE_PATH), + CDev("MS5611", MS5611_BARO_DEVICE_PATH), _interface(interface), _prom(prom_buf.s), _measure_ticks(0), @@ -204,6 +207,7 @@ MS5611::MS5611(device::Device *interface, ms5611::prom_u &prom_buf) : _SENS(0), _msl_pressure(101325), _baro_topic(-1), + _class_instance(-1), _sample_perf(perf_alloc(PC_ELAPSED, "ms5611_read")), _measure_perf(perf_alloc(PC_ELAPSED, "ms5611_measure")), _comms_errors(perf_alloc(PC_COUNT, "ms5611_comms_errors")), @@ -218,6 +222,9 @@ MS5611::~MS5611() /* make sure we are truly inactive */ stop_cycle(); + if (_class_instance != -1) + unregister_class_devname(MS5611_BARO_DEVICE_PATH, _class_instance); + /* free any existing reports */ if (_reports != nullptr) delete _reports; @@ -251,18 +258,57 @@ MS5611::init() goto out; } - /* get a publish handle on the baro topic */ - struct baro_report zero_report; - memset(&zero_report, 0, sizeof(zero_report)); - _baro_topic = orb_advertise(ORB_ID(sensor_baro), &zero_report); + /* register alternate interfaces if we have to */ + _class_instance = register_class_devname(BARO_DEVICE_PATH); - if (_baro_topic < 0) { - debug("failed to create sensor_baro object"); - ret = -ENOSPC; - goto out; - } + struct baro_report brp; + /* do a first measurement cycle to populate reports with valid data */ + _measure_phase = 0; + _reports->flush(); + + /* this do..while is goto without goto */ + do { + /* do temperature first */ + if (OK != measure()) { + ret = -EIO; + break; + } + + usleep(MS5611_CONVERSION_INTERVAL); + + if (OK != collect()) { + ret = -EIO; + break; + } + + /* now do a pressure measurement */ + if (OK != measure()) { + ret = -EIO; + break; + } + + usleep(MS5611_CONVERSION_INTERVAL); + + if (OK != collect()) { + ret = -EIO; + break; + } + + /* state machine will have generated a report, copy it out */ + _reports->get(&brp); + + ret = OK; + + if (_class_instance == CLASS_DEVICE_PRIMARY) { + + _baro_topic = orb_advertise(ORB_ID(sensor_baro), &brp); + + if (_baro_topic < 0) + debug("failed to create sensor_baro publication"); + } + + } while (0); - ret = OK; out: return ret; } @@ -670,7 +716,10 @@ MS5611::collect() report.altitude = (((pow((p / p1), (-(a * R) / g))) * T1) - T1) / a; /* publish it */ - orb_publish(ORB_ID(sensor_baro), _baro_topic, &report); + if (_baro_topic > 0 && !(_pub_blocked)) { + /* publish it */ + orb_publish(ORB_ID(sensor_baro), _baro_topic, &report); + } if (_reports->force(&report)) { perf_count(_buffer_overflows); @@ -812,7 +861,7 @@ start() goto fail; /* set the poll rate to default, starts automatic data collection */ - fd = open(BARO_DEVICE_PATH, O_RDONLY); + fd = open(MS5611_BARO_DEVICE_PATH, O_RDONLY); if (fd < 0) { warnx("can't open baro device"); goto fail; @@ -846,10 +895,10 @@ test() ssize_t sz; int ret; - int fd = open(BARO_DEVICE_PATH, O_RDONLY); + int fd = open(MS5611_BARO_DEVICE_PATH, O_RDONLY); if (fd < 0) - err(1, "%s open failed (try 'ms5611 start' if the driver is not running)", BARO_DEVICE_PATH); + err(1, "%s open failed (try 'ms5611 start' if the driver is not running)", MS5611_BARO_DEVICE_PATH); /* do a simple demand read */ sz = read(fd, &report, sizeof(report)); @@ -905,7 +954,7 @@ test() void reset() { - int fd = open(BARO_DEVICE_PATH, O_RDONLY); + int fd = open(MS5611_BARO_DEVICE_PATH, O_RDONLY); if (fd < 0) err(1, "failed "); @@ -944,10 +993,10 @@ calibrate(unsigned altitude) float pressure; float p1; - int fd = open(BARO_DEVICE_PATH, O_RDONLY); + int fd = open(MS5611_BARO_DEVICE_PATH, O_RDONLY); if (fd < 0) - err(1, "%s open failed (try 'ms5611 start' if the driver is not running)", BARO_DEVICE_PATH); + err(1, "%s open failed (try 'ms5611 start' if the driver is not running)", MS5611_BARO_DEVICE_PATH); /* start the sensor polling at max */ if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX)) diff --git a/src/lib/launchdetection/launchdetection_params.c b/src/lib/launchdetection/launchdetection_params.c index 63a8981aa..45d7957f1 100644 --- a/src/lib/launchdetection/launchdetection_params.c +++ b/src/lib/launchdetection/launchdetection_params.c @@ -45,28 +45,46 @@ #include <systemlib/param/param.h> /* - * Launch detection parameters, accessible via MAVLink + * Catapult launch detection parameters, accessible via MAVLink * */ -/* Catapult Launch detection */ - -// @DisplayName Switch to enable launchdetection -// @Description if set to 1 launchdetection is enabled -// @Range 0 or 1 +/** + * Enable launch detection. + * + * @min 0 + * @max 1 + * @group Launch detection + */ PARAM_DEFINE_INT32(LAUN_ALL_ON, 0); -// @DisplayName Catapult Accelerometer Threshold -// @Description LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection -// @Range > 0 +/** + * Catapult accelerometer theshold. + * + * LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection. + * + * @min 0 + * @group Launch detection + */ PARAM_DEFINE_FLOAT(LAUN_CAT_A, 30.0f); -// @DisplayName Catapult Time Threshold -// @Description LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection -// @Range > 0, in seconds +/** + * Catapult time theshold. + * + * LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection. + * + * @min 0 + * @group Launch detection + */ PARAM_DEFINE_FLOAT(LAUN_CAT_T, 0.05f); -// @DisplayName Throttle setting while detecting the launch -// @Description The throttle is set to this value while the system is waiting for the takeoff -// @Range 0 to 1 +/** + * Throttle setting while detecting launch. + * + * The throttle is set to this value while the system is waiting for the take-off. + * + * @min 0 + * @max 1 + * @group Launch detection + */ PARAM_DEFINE_FLOAT(LAUN_THR_PRE, 0.0f); diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index c039b8573..6d14472f3 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -152,6 +152,7 @@ static uint64_t last_print_mode_reject_time = 0; static bool on_usb_power = false; static float takeoff_alt = 5.0f; +static int parachute_enabled = 0; static struct vehicle_status_s status; static struct actuator_armed_s armed; @@ -429,7 +430,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe arming_res = TRANSITION_NOT_CHANGED; if (base_mode & MAV_MODE_FLAG_SAFETY_ARMED) { - if ((safety->safety_switch_available && !safety->safety_off) && status->hil_state == HIL_STATE_OFF) { + if (safety->safety_switch_available && !safety->safety_off && status->hil_state == HIL_STATE_OFF) { print_reject_arm("NOT ARMING: Press safety switch first."); arming_res = TRANSITION_DENIED; @@ -515,7 +516,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe transition_result_t arming_res = TRANSITION_NOT_CHANGED; if (!armed->armed && ((int)(cmd->param1 + 0.5f)) == 1) { - if (safety->safety_switch_available && !safety->safety_off) { + if (safety->safety_switch_available && !safety->safety_off && status->hil_state == HIL_STATE_OFF) { print_reject_arm("NOT ARMING: Press safety switch first."); arming_res = TRANSITION_DENIED; @@ -563,7 +564,9 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe /* Flight termination */ case VEHICLE_CMD_DO_SET_SERVO: { //xxx: needs its own mavlink command - if (armed->armed && cmd->param3 > 0.5) { //xxx: for safety only for now, param3 is unused by VEHICLE_CMD_DO_SET_SERVO + //XXX: to enable the parachute, a param needs to be set + //xxx: for safety only for now, param3 is unused by VEHICLE_CMD_DO_SET_SERVO + if (armed->armed && cmd->param3 > 0.5 && parachute_enabled) { transition_result_t failsafe_res = failsafe_state_transition(status, FAILSAFE_STATE_TERMINATION); result = VEHICLE_CMD_RESULT_ACCEPTED; ret = true; @@ -615,6 +618,7 @@ int commander_thread_main(int argc, char *argv[]) param_t _param_system_id = param_find("MAV_SYS_ID"); param_t _param_component_id = param_find("MAV_COMP_ID"); param_t _param_takeoff_alt = param_find("NAV_TAKEOFF_ALT"); + param_t _param_enable_parachute = param_find("NAV_PARACHUTE_EN"); /* welcome user */ warnx("starting"); @@ -860,10 +864,10 @@ int commander_thread_main(int argc, char *argv[]) /* re-check RC calibration */ rc_calibration_ok = (OK == rc_calibration_check(mavlink_fd)); - - /* navigation parameters */ - param_get(_param_takeoff_alt, &takeoff_alt); } + /* navigation parameters */ + param_get(_param_takeoff_alt, &takeoff_alt); + param_get(_param_enable_parachute, ¶chute_enabled); } orb_check(sp_man_sub, &updated); @@ -1152,7 +1156,7 @@ int commander_thread_main(int argc, char *argv[]) if (status.arming_state == ARMING_STATE_STANDBY && sp_man.yaw > STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.1f) { if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) { - if (safety.safety_switch_available && !safety.safety_off) { + if (safety.safety_switch_available && !safety.safety_off && status.hil_state == HIL_STATE_OFF) { print_reject_arm("NOT ARMING: Press safety switch first."); } else if (status.main_state != MAIN_STATE_MANUAL) { @@ -1251,7 +1255,7 @@ int commander_thread_main(int argc, char *argv[]) // TODO remove this hack /* flight termination in manual mode if assisted switch is on easy position */ - if (!status.is_rotary_wing && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.assisted_switch > STICK_ON_OFF_LIMIT) { + if (!status.is_rotary_wing && parachute_enabled && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.assisted_switch > STICK_ON_OFF_LIMIT) { if (TRANSITION_CHANGED == failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION)) { tune_positive(); } diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c index d3155f7bf..80ca68f21 100644 --- a/src/modules/commander/commander_params.c +++ b/src/modules/commander/commander_params.c @@ -48,7 +48,39 @@ PARAM_DEFINE_FLOAT(TRIM_ROLL, 0.0f); PARAM_DEFINE_FLOAT(TRIM_PITCH, 0.0f); PARAM_DEFINE_FLOAT(TRIM_YAW, 0.0f); + +/** + * Empty cell voltage. + * + * Defines the voltage where a single cell of the battery is considered empty. + * + * @group Battery Calibration + */ PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.4f); + +/** + * Full cell voltage. + * + * Defines the voltage where a single cell of the battery is considered full. + * + * @group Battery Calibration + */ PARAM_DEFINE_FLOAT(BAT_V_FULL, 3.9f); + +/** + * Number of cells. + * + * Defines the number of cells the attached battery consists of. + * + * @group Battery Calibration + */ PARAM_DEFINE_INT32(BAT_N_CELLS, 3); + +/** + * Battery capacity. + * + * Defines the capacity of the attached battery. + * + * @group Battery Calibration + */ PARAM_DEFINE_FLOAT(BAT_CAPACITY, -1.0f); diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index e5d77b246..31955d3e5 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -42,6 +42,8 @@ #include <unistd.h> #include <stdint.h> #include <stdbool.h> +#include <dirent.h> +#include <fcntl.h> #include <uORB/uORB.h> #include <uORB/topics/vehicle_status.h> @@ -50,6 +52,7 @@ #include <systemlib/param/param.h> #include <systemlib/err.h> #include <drivers/drv_hrt.h> +#include <drivers/drv_device.h> #include <mavlink/mavlink_log.h> #include "state_machine_helper.h" @@ -332,6 +335,33 @@ int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_s mavlink_log_critical(mavlink_fd, "Switched to ON hil state"); valid_transition = true; + + // Disable publication of all attached sensors + + /* list directory */ + DIR *d; + struct dirent *direntry; + d = opendir("/dev"); + if (d) { + + while ((direntry = readdir(d)) != NULL) { + + int sensfd = ::open(direntry->d_name, 0); + int block_ret = ::ioctl(sensfd, DEVIOCSPUBBLOCK, 0); + close(sensfd); + + printf("Disabling %s\n: %s", direntry->d_name, (!block_ret) ? "OK" : "FAIL"); + } + + closedir(d); + + warnx("directory listing ok (FS mounted and readable)"); + + } else { + /* failed opening dir */ + warnx("FAILED LISTING DEVICE ROOT DIRECTORY"); + return 1; + } } break; diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index 3ef1871a8..45fdaa355 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -236,7 +236,7 @@ private: float land_slope_length; float land_H1_virt; float land_flare_alt_relative; - float land_thrust_lim_horizontal_distance; + float land_thrust_lim_alt_relative; float land_heading_hold_horizontal_distance; } _parameters; /**< local copies of interesting parameters */ @@ -281,7 +281,7 @@ private: param_t land_slope_length; param_t land_H1_virt; param_t land_flare_alt_relative; - param_t land_thrust_lim_horizontal_distance; + param_t land_thrust_lim_alt_relative; param_t land_heading_hold_horizontal_distance; } _parameter_handles; /**< handles for interesting parameters */ @@ -434,7 +434,7 @@ FixedwingPositionControl::FixedwingPositionControl() : _parameter_handles.land_slope_length = param_find("FW_LND_SLLR"); _parameter_handles.land_H1_virt = param_find("FW_LND_HVIRT"); _parameter_handles.land_flare_alt_relative = param_find("FW_LND_FLALT"); - _parameter_handles.land_thrust_lim_horizontal_distance = param_find("FW_LND_TLDIST"); + _parameter_handles.land_thrust_lim_alt_relative = param_find("FW_LND_TLALT"); _parameter_handles.land_heading_hold_horizontal_distance = param_find("FW_LND_HHDIST"); _parameter_handles.time_const = param_find("FW_T_TIME_CONST"); @@ -523,7 +523,7 @@ FixedwingPositionControl::parameters_update() param_get(_parameter_handles.land_slope_length, &(_parameters.land_slope_length)); param_get(_parameter_handles.land_H1_virt, &(_parameters.land_H1_virt)); param_get(_parameter_handles.land_flare_alt_relative, &(_parameters.land_flare_alt_relative)); - param_get(_parameter_handles.land_thrust_lim_horizontal_distance, &(_parameters.land_thrust_lim_horizontal_distance)); + param_get(_parameter_handles.land_thrust_lim_alt_relative, &(_parameters.land_thrust_lim_alt_relative)); param_get(_parameter_handles.land_heading_hold_horizontal_distance, &(_parameters.land_heading_hold_horizontal_distance)); _l1_control.set_l1_damping(_parameters.l1_damping); @@ -558,7 +558,7 @@ FixedwingPositionControl::parameters_update() } /* Update the landing slope */ - landingslope.update(math::radians(_parameters.land_slope_angle), _parameters.land_flare_alt_relative, _parameters.land_thrust_lim_horizontal_distance, _parameters.land_H1_virt); + landingslope.update(math::radians(_parameters.land_slope_angle), _parameters.land_flare_alt_relative, _parameters.land_thrust_lim_alt_relative, _parameters.land_H1_virt); /* Update and publish the navigation capabilities */ _nav_capabilities.landing_slope_angle_rad = landingslope.landing_slope_angle_rad(); @@ -836,6 +836,8 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi } else if (pos_sp_triplet.current.type == SETPOINT_TYPE_LAND) { + float bearing_lastwp_currwp = get_bearing_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1)); + /* Horizontal landing control */ /* switch to heading hold for the last meters, continue heading hold after */ float wp_distance = get_distance_to_next_waypoint(current_position(0), current_position(1), curr_wp(0), curr_wp(1)); @@ -846,7 +848,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi if (!land_noreturn_horizontal) {//set target_bearing in first occurrence if (pos_sp_triplet.previous.valid) { - target_bearing = get_bearing_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1)); + target_bearing = bearing_lastwp_currwp; } else { target_bearing = _att.yaw; } @@ -888,10 +890,9 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi float airspeed_approach = 1.3f * _parameters.airspeed_min; float L_wp_distance = get_distance_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1)) * _parameters.land_slope_length; - float L_altitude = landingslope.getLandingSlopeAbsoluteAltitude(L_wp_distance, _pos_sp_triplet.current.alt);//getLandingSlopeAbsoluteAltitude(L_wp_distance, _pos_sp_triplet.current.alt, landing_slope_angle_rad, horizontal_slope_displacement); - float landing_slope_alt_desired = landingslope.getLandingSlopeAbsoluteAltitude(wp_distance, _pos_sp_triplet.current.alt);//getLandingSlopeAbsoluteAltitude(wp_distance, _pos_sp_triplet.current.alt, landing_slope_angle_rad, horizontal_slope_displacement); - - + float L_altitude = landingslope.getLandingSlopeAbsoluteAltitude(L_wp_distance, _pos_sp_triplet.current.alt); + float bearing_airplane_currwp = get_bearing_to_next_waypoint(current_position(0), current_position(1), curr_wp(0), curr_wp(1)); + float landing_slope_alt_desired = landingslope.getLandingSlopeAbsoluteAltitudeSave(wp_distance, bearing_lastwp_currwp, bearing_airplane_currwp, _pos_sp_triplet.current.alt); if ( (_global_pos.alt < _pos_sp_triplet.current.alt + landingslope.flare_relative_alt()) || land_noreturn_vertical) { //checking for land_noreturn to avoid unwanted climb out @@ -903,7 +904,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi /* kill the throttle if param requests it */ throttle_max = _parameters.throttle_max; - if (wp_distance < landingslope.motor_lim_horizontal_distance() || land_motor_lim) { + if (_global_pos.alt < _pos_sp_triplet.current.alt + landingslope.motor_lim_relative_alt() || land_motor_lim) { throttle_max = math::min(throttle_max, _parameters.throttle_land_max); if (!land_motor_lim) { land_motor_lim = true; @@ -912,7 +913,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi } - float flare_curve_alt = landingslope.getFlareCurveAltitude(wp_distance, _pos_sp_triplet.current.alt); + float flare_curve_alt = landingslope.getFlareCurveAltitudeSave(wp_distance, bearing_lastwp_currwp, bearing_airplane_currwp, _pos_sp_triplet.current.alt); /* avoid climbout */ if (flare_curve_alt_last < flare_curve_alt && land_noreturn_vertical || land_stayonground) diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c index 7954d75c2..62a340e90 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c @@ -40,12 +40,10 @@ */ #include <nuttx/config.h> - #include <systemlib/param/param.h> /* * Controller parameters, accessible via MAVLink - * */ /** @@ -119,58 +117,268 @@ PARAM_DEFINE_FLOAT(FW_P_LIM_MIN, -45.0f); */ PARAM_DEFINE_FLOAT(FW_P_LIM_MAX, 45.0f); - +/** + * Controller roll limit + * + * The maximum roll the controller will output. + * + * @unit degrees + * @min 0.0 + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_R_LIM, 45.0f); +/** + * Throttle limit max + * + * This is the maximum throttle % that can be used by the controller. + * For overpowered aircraft, this should be reduced to a value that + * provides sufficient thrust to climb at the maximum pitch angle PTCH_MAX. + * + * @group L1 Control + */ +PARAM_DEFINE_FLOAT(FW_THR_MAX, 1.0f); +/** + * Throttle limit min + * + * This is the minimum throttle % that can be used by the controller. + * For electric aircraft this will normally be set to zero, but can be set + * to a small non-zero value if a folding prop is fitted to prevent the + * prop from folding and unfolding repeatedly in-flight or to provide + * some aerodynamic drag from a turning prop to improve the descent rate. + * + * For aircraft with internal combustion engine this parameter should be set + * for desired idle rpm. + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f); - -PARAM_DEFINE_FLOAT(FW_THR_MAX, 1.0f); - +/** + * Throttle limit value before flare + * + * This throttle value will be set as throttle limit at FW_LND_TLALT, + * before arcraft will flare. + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_THR_LND_MAX, 1.0f); +/** + * Maximum climb rate + * + * This is the best climb rate that the aircraft can achieve with + * the throttle set to THR_MAX and the airspeed set to the + * default value. For electric aircraft make sure this number can be + * achieved towards the end of flight when the battery voltage has reduced. + * The setting of this parameter can be checked by commanding a positive + * altitude change of 100m in loiter, RTL or guided mode. If the throttle + * required to climb is close to THR_MAX and the aircraft is maintaining + * airspeed, then this parameter is set correctly. If the airspeed starts + * to reduce, then the parameter is set to high, and if the throttle + * demand required to climb and maintain speed is noticeably less than + * FW_THR_MAX, then either FW_T_CLMB_MAX should be increased or + * FW_THR_MAX reduced. + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_T_CLMB_MAX, 5.0f); - +/** + * Minimum descent rate + * + * This is the sink rate of the aircraft with the throttle + * set to THR_MIN and flown at the same airspeed as used + * to measure FW_T_CLMB_MAX. + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_T_SINK_MIN, 2.0f); +/** + * Maximum descent rate + * + * This sets the maximum descent rate that the controller will use. + * If this value is too large, the aircraft can over-speed on descent. + * This should be set to a value that can be achieved without + * exceeding the lower pitch angle limit and without over-speeding + * the aircraft. + * + * @group L1 Control + */ +PARAM_DEFINE_FLOAT(FW_T_SINK_MAX, 5.0f); +/** + * TECS time constant + * + * This is the time constant of the TECS control algorithm (in seconds). + * Smaller values make it faster to respond, larger values make it slower + * to respond. + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_T_TIME_CONST, 5.0f); - +/** + * Throttle damping factor + * + * This is the damping gain for the throttle demand loop. + * Increase to add damping to correct for oscillations in speed and height. + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_T_THR_DAMP, 0.5f); - +/** + * Integrator gain + * + * This is the integrator gain on the control loop. + * Increasing this gain increases the speed at which speed + * and height offsets are trimmed out, but reduces damping and + * increases overshoot. + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_T_INTEG_GAIN, 0.1f); - +/** + * Maximum vertical acceleration + * + * This is the maximum vertical acceleration (in metres/second^2) + * either up or down that the controller will use to correct speed + * or height errors. The default value of 7 m/s/s (equivalent to +- 0.7 g) + * allows for reasonably aggressive pitch changes if required to recover + * from under-speed conditions. + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_T_VERT_ACC, 7.0f); - +/** + * Complementary filter "omega" parameter for height + * + * This is the cross-over frequency (in radians/second) of the complementary + * filter used to fuse vertical acceleration and barometric height to obtain + * an estimate of height rate and height. Increasing this frequency weights + * the solution more towards use of the barometer, whilst reducing it weights + * the solution more towards use of the accelerometer data. + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_T_HGT_OMEGA, 3.0f); - +/** + * Complementary filter "omega" parameter for speed + * + * This is the cross-over frequency (in radians/second) of the complementary + * filter used to fuse longitudinal acceleration and airspeed to obtain an + * improved airspeed estimate. Increasing this frequency weights the solution + * more towards use of the arispeed sensor, whilst reducing it weights the + * solution more towards use of the accelerometer data. + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_T_SPD_OMEGA, 2.0f); - +/** + * Roll -> Throttle feedforward + * + * Increasing this gain turn increases the amount of throttle that will + * be used to compensate for the additional drag created by turning. + * Ideally this should be set to approximately 10 x the extra sink rate + * in m/s created by a 45 degree bank turn. Increase this gain if + * the aircraft initially loses energy in turns and reduce if the + * aircraft initially gains energy in turns. Efficient high aspect-ratio + * aircraft (eg powered sailplanes) can use a lower value, whereas + * inefficient low aspect-ratio models (eg delta wings) can use a higher value. + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 10.0f); - +/** + * Speed <--> Altitude priority + * + * This parameter adjusts the amount of weighting that the pitch control + * applies to speed vs height errors. Setting it to 0.0 will cause the + * pitch control to control height and ignore speed errors. This will + * normally improve height accuracy but give larger airspeed errors. + * Setting it to 2.0 will cause the pitch control loop to control speed + * and ignore height errors. This will normally reduce airspeed errors, + * but give larger height errors. The default value of 1.0 allows the pitch + * control to simultaneously control height and speed. + * Note to Glider Pilots - set this parameter to 2.0 (The glider will + * adjust its pitch angle to maintain airspeed, ignoring changes in height). + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_T_SPDWEIGHT, 1.0f); - +/** + * Pitch damping factor + * + * This is the damping gain for the pitch demand loop. Increase to add + * damping to correct for oscillations in height. The default value of 0.0 + * will work well provided the pitch to servo controller has been tuned + * properly. + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_T_PTCH_DAMP, 0.0f); - -PARAM_DEFINE_FLOAT(FW_T_SINK_MAX, 5.0f); - +/** + * Height rate P factor + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_T_HRATE_P, 0.05f); + +/** + * Speed rate P factor + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_T_SRATE_P, 0.05f); -PARAM_DEFINE_FLOAT(FW_LND_ANG, 10.0f); +/** + * Landing slope angle + * + * @group L1 Control + */ +PARAM_DEFINE_FLOAT(FW_LND_ANG, 5.0f); + +/** + * Landing slope length + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_LND_SLLR, 0.9f); + +/** + * + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_LND_HVIRT, 10.0f); + +/** + * Landing flare altitude (relative) + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_LND_FLALT, 15.0f); -PARAM_DEFINE_FLOAT(FW_LND_TLDIST, 30.0f); + +/** + * Landing throttle limit altitude (relative) + * + * @group L1 Control + */ +PARAM_DEFINE_FLOAT(FW_LND_TLALT, 5.0f); + +/** + * Landing heading hold horizontal distance + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_LND_HHDIST, 15.0f); diff --git a/src/modules/fw_pos_control_l1/landingslope.cpp b/src/modules/fw_pos_control_l1/landingslope.cpp index b139a6397..e5f7023ae 100644 --- a/src/modules/fw_pos_control_l1/landingslope.cpp +++ b/src/modules/fw_pos_control_l1/landingslope.cpp @@ -48,13 +48,13 @@ void Landingslope::update(float landing_slope_angle_rad, float flare_relative_alt, - float motor_lim_horizontal_distance, + float motor_lim_relative_alt, float H1_virt) { _landing_slope_angle_rad = landing_slope_angle_rad; _flare_relative_alt = flare_relative_alt; - _motor_lim_horizontal_distance = motor_lim_horizontal_distance; + _motor_lim_relative_alt = motor_lim_relative_alt; _H1_virt = H1_virt; calculateSlopeValues(); @@ -74,9 +74,21 @@ float Landingslope::getLandingSlopeAbsoluteAltitude(float wp_distance, float wp_ return Landingslope::getLandingSlopeAbsoluteAltitude(wp_distance, wp_altitude, _horizontal_slope_displacement, _landing_slope_angle_rad); } -float Landingslope::getFlareCurveAltitude(float wp_landing_distance, float wp_landing_altitude) +float Landingslope::getLandingSlopeAbsoluteAltitudeSave(float wp_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp, float wp_altitude) { - return wp_landing_altitude + _H0 * expf(-math::max(0.0f, _flare_length - wp_landing_distance)/_flare_constant) - _H1_virt; + /* If airplane is in front of waypoint return slope altitude, else return waypoint altitude */ + if (fabsf(bearing_airplane_currwp - bearing_lastwp_currwp) < math::radians(90.0f)) + return getLandingSlopeAbsoluteAltitude(wp_distance, wp_altitude); + else + return wp_altitude; +} +float Landingslope::getFlareCurveAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp, float wp_landing_altitude) +{ + /* If airplane is in front of waypoint return flare curve altitude, else return waypoint altitude */ + if (fabsf(bearing_airplane_currwp - bearing_lastwp_currwp) < math::radians(90.0f)) + return wp_landing_altitude + _H0 * expf(-math::max(0.0f, _flare_length - wp_landing_distance)/_flare_constant) - _H1_virt; + else + return wp_landing_altitude; } diff --git a/src/modules/fw_pos_control_l1/landingslope.h b/src/modules/fw_pos_control_l1/landingslope.h index 1a149fc7c..76d65a55f 100644 --- a/src/modules/fw_pos_control_l1/landingslope.h +++ b/src/modules/fw_pos_control_l1/landingslope.h @@ -49,7 +49,7 @@ private: /* see Documentation/fw_landing.png for a plot of the landing slope */ float _landing_slope_angle_rad; /**< phi in the plot */ float _flare_relative_alt; /**< h_flare,rel in the plot */ - float _motor_lim_horizontal_distance; + float _motor_lim_relative_alt; float _H1_virt; /**< H1 in the plot */ float _H0; /**< h_flare,rel + H1 in the plot */ float _d1; /**< d1 in the plot */ @@ -63,7 +63,18 @@ public: Landingslope() {} ~Landingslope() {} - float getLandingSlopeAbsoluteAltitude(float wp_landing_distance, float wp_landing_altitude); + /** + * + * @return Absolute altitude of point on landing slope at distance to landing waypoint=wp_landing_distance + */ + float getLandingSlopeAbsoluteAltitude(float wp_distance, float wp_altitude); + + /** + * + * @return Absolute altitude of point on landing slope at distance to landing waypoint=wp_landing_distance + * Performs check if aircraft is in front of waypoint to avoid climbout + */ + float getLandingSlopeAbsoluteAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp, float wp_landing_altitude); /** * @@ -85,17 +96,17 @@ public: } - float getFlareCurveAltitude(float wp_distance, float wp_altitude); + float getFlareCurveAltitudeSave(float wp_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp, float wp_altitude); void update(float landing_slope_angle_rad, float flare_relative_alt, - float motor_lim_horizontal_distance, + float motor_lim_relative_alt, float H1_virt); inline float landing_slope_angle_rad() {return _landing_slope_angle_rad;} inline float flare_relative_alt() {return _flare_relative_alt;} - inline float motor_lim_horizontal_distance() {return _motor_lim_horizontal_distance;} + inline float motor_lim_relative_alt() {return _motor_lim_relative_alt;} inline float H1_virt() {return _H1_virt;} inline float H0() {return _H0;} inline float d1() {return _d1;} diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c index 4d975066f..ade4469c5 100644 --- a/src/modules/mavlink/mavlink.c +++ b/src/modules/mavlink/mavlink.c @@ -76,8 +76,20 @@ #include <uORB/topics/mission_result.h> /* define MAVLink specific parameters */ +/** + * MAVLink system ID + * @group MAVLink + */ PARAM_DEFINE_INT32(MAV_SYS_ID, 1); +/** + * MAVLink component ID + * @group MAVLink + */ PARAM_DEFINE_INT32(MAV_COMP_ID, 50); +/** + * MAVLink type + * @group MAVLink + */ PARAM_DEFINE_INT32(MAV_TYPE, MAV_TYPE_FIXED_WING); __EXPORT int mavlink_main(int argc, char *argv[]); diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index a371a499e..1dbe56495 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -351,7 +351,7 @@ handle_message(mavlink_message_t *msg) tstatus.rxerrors = rstatus.rxerrors; tstatus.fixed = rstatus.fixed; - if (telemetry_status_pub == 0) { + if (telemetry_status_pub <= 0) { telemetry_status_pub = orb_advertise(ORB_ID(telemetry_status), &tstatus); } else { diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp index db5e2e9bb..24226880e 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -53,11 +53,9 @@ #include <stdlib.h> #include <string.h> #include <unistd.h> -#include <fcntl.h> #include <errno.h> #include <math.h> #include <poll.h> -#include <time.h> #include <drivers/drv_hrt.h> #include <arch/board/board.h> #include <uORB/uORB.h> @@ -71,7 +69,6 @@ #include <uORB/topics/parameter_update.h> #include <systemlib/param/param.h> #include <systemlib/err.h> -#include <systemlib/pid/pid.h> #include <systemlib/perf_counter.h> #include <systemlib/systemlib.h> #include <mathlib/mathlib.h> @@ -84,9 +81,9 @@ */ extern "C" __EXPORT int mc_att_control_main(int argc, char *argv[]); -#define MIN_TAKEOFF_THROTTLE 0.3f #define YAW_DEADZONE 0.05f -#define RATES_I_LIMIT 0.5f +#define MIN_TAKEOFF_THRUST 0.2f +#define RATES_I_LIMIT 0.3f class MulticopterAttitudeControl { @@ -135,15 +132,13 @@ private: perf_counter_t _loop_perf; /**< loop performance counter */ - math::Matrix<3, 3> _R_sp; /**< attitude setpoint rotation matrix */ - math::Matrix<3, 3> _R; /**< rotation matrix for current state */ math::Vector<3> _rates_prev; /**< angular rates on previous step */ math::Vector<3> _rates_sp; /**< angular rates setpoint */ math::Vector<3> _rates_int; /**< angular rates integral error */ float _thrust_sp; /**< thrust setpoint */ math::Vector<3> _att_control; /**< attitude control vector */ - math::Matrix<3, 3> I; /**< identity matrix */ + math::Matrix<3, 3> _I; /**< identity matrix */ bool _reset_yaw_sp; /**< reset yaw setpoint flag */ @@ -262,7 +257,7 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() : _actuators_0_pub(-1), /* performance counters */ - _loop_perf(perf_alloc(PC_ELAPSED, "fw att control")) + _loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control")) { memset(&_v_att, 0, sizeof(_v_att)); @@ -276,15 +271,13 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() : _params.rate_i.zero(); _params.rate_d.zero(); - _R_sp.identity(); - _R.identity(); _rates_prev.zero(); _rates_sp.zero(); _rates_int.zero(); _thrust_sp = 0.0f; _att_control.zero(); - I.identity(); + _I.identity(); _params_handles.roll_p = param_find("MC_ROLL_P"); _params_handles.roll_rate_p = param_find("MC_ROLLRATE_P"); @@ -535,16 +528,18 @@ MulticopterAttitudeControl::control_attitude(float dt) _thrust_sp = _v_att_sp.thrust; /* construct attitude setpoint rotation matrix */ + math::Matrix<3, 3> R_sp; + if (_v_att_sp.R_valid) { /* rotation matrix in _att_sp is valid, use it */ - _R_sp.set(&_v_att_sp.R_body[0][0]); + R_sp.set(&_v_att_sp.R_body[0][0]); } else { /* rotation matrix in _att_sp is not valid, use euler angles instead */ - _R_sp.from_euler(_v_att_sp.roll_body, _v_att_sp.pitch_body, _v_att_sp.yaw_body); + R_sp.from_euler(_v_att_sp.roll_body, _v_att_sp.pitch_body, _v_att_sp.yaw_body); /* copy rotation matrix back to setpoint struct */ - memcpy(&_v_att_sp.R_body[0][0], &_R_sp.data[0][0], sizeof(_v_att_sp.R_body)); + memcpy(&_v_att_sp.R_body[0][0], &R_sp.data[0][0], sizeof(_v_att_sp.R_body)); _v_att_sp.R_valid = true; } @@ -561,23 +556,24 @@ MulticopterAttitudeControl::control_attitude(float dt) } /* rotation matrix for current state */ - _R.set(_v_att.R); + math::Matrix<3, 3> R; + R.set(_v_att.R); /* all input data is ready, run controller itself */ /* try to move thrust vector shortest way, because yaw response is slower than roll/pitch */ - math::Vector<3> R_z(_R(0, 2), _R(1, 2), _R(2, 2)); - math::Vector<3> R_sp_z(_R_sp(0, 2), _R_sp(1, 2), _R_sp(2, 2)); + math::Vector<3> R_z(R(0, 2), R(1, 2), R(2, 2)); + math::Vector<3> R_sp_z(R_sp(0, 2), R_sp(1, 2), R_sp(2, 2)); /* axis and sin(angle) of desired rotation */ - math::Vector<3> e_R = _R.transposed() * (R_z % R_sp_z); + math::Vector<3> e_R = R.transposed() * (R_z % R_sp_z); /* calculate angle error */ float e_R_z_sin = e_R.length(); float e_R_z_cos = R_z * R_sp_z; /* calculate weight for yaw control */ - float yaw_w = _R_sp(2, 2) * _R_sp(2, 2); + float yaw_w = R_sp(2, 2) * R_sp(2, 2); /* calculate rotation matrix after roll/pitch only rotation */ math::Matrix<3, 3> R_rp; @@ -600,15 +596,15 @@ MulticopterAttitudeControl::control_attitude(float dt) e_R_cp(2, 1) = e_R_z_axis(0); /* rotation matrix for roll/pitch only rotation */ - R_rp = _R * (I + e_R_cp * e_R_z_sin + e_R_cp * e_R_cp * (1.0f - e_R_z_cos)); + R_rp = R * (_I + e_R_cp * e_R_z_sin + e_R_cp * e_R_cp * (1.0f - e_R_z_cos)); } else { /* zero roll/pitch rotation */ - R_rp = _R; + R_rp = R; } - /* R_rp and _R_sp has the same Z axis, calculate yaw error */ - math::Vector<3> R_sp_x(_R_sp(0, 0), _R_sp(1, 0), _R_sp(2, 0)); + /* R_rp and R_sp has the same Z axis, calculate yaw error */ + math::Vector<3> R_sp_x(R_sp(0, 0), R_sp(1, 0), R_sp(2, 0)); math::Vector<3> R_rp_x(R_rp(0, 0), R_rp(1, 0), R_rp(2, 0)); e_R(2) = atan2f((R_rp_x % R_sp_x) * R_sp_z, R_rp_x * R_sp_x) * yaw_w; @@ -616,7 +612,7 @@ MulticopterAttitudeControl::control_attitude(float dt) /* for large thrust vector rotations use another rotation method: * calculate angle and axis for R -> R_sp rotation directly */ math::Quaternion q; - q.from_dcm(_R.transposed() * _R_sp); + q.from_dcm(R.transposed() * R_sp); math::Vector<3> e_R_d = q.imag(); e_R_d.normalize(); e_R_d *= 2.0f * atan2f(e_R_d.length(), q(0)); @@ -658,7 +654,7 @@ MulticopterAttitudeControl::control_attitude_rates(float dt) _rates_prev = rates; /* update integral only if not saturated on low limit */ - if (_thrust_sp > 0.1f) { + if (_thrust_sp > MIN_TAKEOFF_THRUST) { for (int i = 0; i < 3; i++) { if (fabsf(_att_control(i)) < _thrust_sp) { float rate_i = _rates_int(i) + _params.rate_i(i) * rates_err(i) * dt; @@ -695,9 +691,6 @@ MulticopterAttitudeControl::task_main() _manual_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); _armed_sub = orb_subscribe(ORB_ID(actuator_armed)); - /* rate limit attitude updates to 200Hz, failsafe against spam, normally runs at the same rate as attitude estimator */ - orb_set_interval(_v_att_sub, 5); - /* initialize parameters cache */ parameters_update(); @@ -767,10 +760,12 @@ MulticopterAttitudeControl::task_main() } } else { - /* attitude controller disabled */ - // TODO poll 'attitude_rates_setpoint' topic - _rates_sp.zero(); - _thrust_sp = 0.0f; + /* attitude controller disabled, poll rates setpoint topic */ + vehicle_rates_setpoint_poll(); + _rates_sp(0) = _v_rates_sp.roll; + _rates_sp(1) = _v_rates_sp.pitch; + _rates_sp(2) = _v_rates_sp.yaw; + _thrust_sp = _v_rates_sp.thrust; } if (_v_control_mode.flag_control_rates_enabled) { diff --git a/src/modules/mc_att_control/mc_att_control_params.c b/src/modules/mc_att_control/mc_att_control_params.c index 27a45b6bb..488107d58 100644 --- a/src/modules/mc_att_control/mc_att_control_params.c +++ b/src/modules/mc_att_control/mc_att_control_params.c @@ -41,16 +41,135 @@ #include <systemlib/param/param.h> +/** + * Roll P gain + * + * Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad. + * + * @min 0.0 + * @group Multicopter Attitude Control + */ PARAM_DEFINE_FLOAT(MC_ROLL_P, 6.0f); + +/** + * Roll rate P gain + * + * Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s. + * + * @min 0.0 + * @group Multicopter Attitude Control + */ PARAM_DEFINE_FLOAT(MC_ROLLRATE_P, 0.1f); + +/** + * Roll rate I gain + * + * Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset. + * + * @min 0.0 + * @group Multicopter Attitude Control + */ PARAM_DEFINE_FLOAT(MC_ROLLRATE_I, 0.0f); + +/** + * Roll rate D gain + * + * Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. + * + * @min 0.0 + * @group Multicopter Attitude Control + */ PARAM_DEFINE_FLOAT(MC_ROLLRATE_D, 0.002f); + +/** + * Pitch P gain + * + * Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad. + * + * @unit 1/s + * @min 0.0 + * @group Multicopter Attitude Control + */ PARAM_DEFINE_FLOAT(MC_PITCH_P, 6.0f); + +/** + * Pitch rate P gain + * + * Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s. + * + * @min 0.0 + * @group Multicopter Attitude Control + */ PARAM_DEFINE_FLOAT(MC_PITCHRATE_P, 0.1f); + +/** + * Pitch rate I gain + * + * Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset. + * + * @min 0.0 + * @group Multicopter Attitude Control + */ PARAM_DEFINE_FLOAT(MC_PITCHRATE_I, 0.0f); + +/** + * Pitch rate D gain + * + * Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. + * + * @min 0.0 + * @group Multicopter Attitude Control + */ PARAM_DEFINE_FLOAT(MC_PITCHRATE_D, 0.002f); + +/** + * Yaw P gain + * + * Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad. + * + * @unit 1/s + * @min 0.0 + * @group Multicopter Attitude Control + */ PARAM_DEFINE_FLOAT(MC_YAW_P, 2.0f); + +/** + * Yaw rate P gain + * + * Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s. + * + * @min 0.0 + * @group Multicopter Attitude Control + */ PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.3f); + +/** + * Yaw rate I gain + * + * Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset. + * + * @min 0.0 + * @group Multicopter Attitude Control + */ PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f); + +/** + * Yaw rate D gain + * + * Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. + * + * @min 0.0 + * @group Multicopter Attitude Control + */ PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f); + +/** + * Yaw feed forward + * + * Feed forward weight for manual yaw control. 0 will give slow responce and no overshot, 1 - fast responce and big overshot. + * + * @min 0.0 + * @max 1.0 + * @group Multicopter Attitude Control + */ PARAM_DEFINE_FLOAT(MC_YAW_FF, 0.5f); diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index 25d34c872..b06655385 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -51,7 +51,6 @@ #include <errno.h> #include <math.h> #include <poll.h> -#include <time.h> #include <drivers/drv_hrt.h> #include <arch/board/board.h> #include <uORB/uORB.h> @@ -68,7 +67,6 @@ #include <uORB/topics/vehicle_global_velocity_setpoint.h> #include <systemlib/param/param.h> #include <systemlib/err.h> -#include <systemlib/pid/pid.h> #include <systemlib/systemlib.h> #include <mathlib/mathlib.h> #include <lib/geo/geo.h> diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c index 9eb56545d..0082a5e6a 100644 --- a/src/modules/mc_pos_control/mc_pos_control_params.c +++ b/src/modules/mc_pos_control/mc_pos_control_params.c @@ -39,20 +39,164 @@ #include <systemlib/param/param.h> -PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.0f); +/** + * Minimum thrust + * + * Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust. + * + * @min 0.0 + * @max 1.0 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.1f); + +/** + * Maximum thrust + * + * Limit max allowed thrust. + * + * @min 0.0 + * @max 1.0 + * @group Multicopter Position Control + */ PARAM_DEFINE_FLOAT(MPC_THR_MAX, 1.0f); + +/** + * Proportional gain for vertical position error + * + * @min 0.0 + * @group Multicopter Position Control + */ PARAM_DEFINE_FLOAT(MPC_Z_P, 1.0f); + +/** + * Proportional gain for vertical velocity error + * + * @min 0.0 + * @group Multicopter Position Control + */ PARAM_DEFINE_FLOAT(MPC_Z_VEL_P, 0.1f); + +/** + * Integral gain for vertical velocity error + * + * Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff. + * + * @min 0.0 + * @group Multicopter Position Control + */ PARAM_DEFINE_FLOAT(MPC_Z_VEL_I, 0.02f); + +/** + * Differential gain for vertical velocity error + * + * @min 0.0 + * @group Multicopter Position Control + */ PARAM_DEFINE_FLOAT(MPC_Z_VEL_D, 0.0f); + +/** + * Maximum vertical velocity + * + * Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (SEATBELT, EASY). + * + * @min 0.0 + * @group Multicopter Position Control + */ PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX, 5.0f); + +/** + * Vertical velocity feed forward + * + * Feed forward weight for altitude control in stabilized modes (SEATBELT, EASY). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. + * + * @min 0.0 + * @max 1.0 + * @group Multicopter Position Control + */ PARAM_DEFINE_FLOAT(MPC_Z_FF, 0.5f); + +/** + * Proportional gain for horizontal position error + * + * @min 0.0 + * @group Multicopter Position Control + */ PARAM_DEFINE_FLOAT(MPC_XY_P, 1.0f); + +/** + * Proportional gain for horizontal velocity error + * + * @min 0.0 + * @group Multicopter Position Control + */ PARAM_DEFINE_FLOAT(MPC_XY_VEL_P, 0.1f); + +/** + * Integral gain for horizontal velocity error + * + * Non-zero value allows to resist wind. + * + * @min 0.0 + * @group Multicopter Position Control + */ PARAM_DEFINE_FLOAT(MPC_XY_VEL_I, 0.02f); + +/** + * Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again. + * + * @min 0.0 + * @group Multicopter Position Control + */ PARAM_DEFINE_FLOAT(MPC_XY_VEL_D, 0.01f); + +/** + * Maximum horizontal velocity + * + * Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (EASY). + * + * @min 0.0 + * @group Multicopter Position Control + */ PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 5.0f); + +/** + * Horizontal velocity feed forward + * + * Feed forward weight for position control in position control mode (EASY). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. + * + * @min 0.0 + * @max 1.0 + * @group Multicopter Position Control + */ PARAM_DEFINE_FLOAT(MPC_XY_FF, 0.5f); + +/** + * Maximum tilt + * + * Limits maximum tilt in AUTO and EASY modes. + * + * @min 0.0 + * @max 1.57 + * @group Multicopter Position Control + */ PARAM_DEFINE_FLOAT(MPC_TILT_MAX, 1.0f); + +/** + * Landing descend rate + * + * @min 0.0 + * @group Multicopter Position Control + */ PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 1.0f); + +/** + * Maximum landing tilt + * + * Limits maximum tilt on landing. + * + * @min 0.0 + * @max 1.57 + * @group Multicopter Position Control + */ PARAM_DEFINE_FLOAT(MPC_LAND_TILT, 0.3f); diff --git a/src/modules/navigator/geofence_params.c b/src/modules/navigator/geofence_params.c index 20dd1fe2f..5831a0ca9 100644 --- a/src/modules/navigator/geofence_params.c +++ b/src/modules/navigator/geofence_params.c @@ -45,11 +45,17 @@ #include <systemlib/param/param.h> /* - * geofence parameters, accessible via MAVLink - * + * Geofence parameters, accessible via MAVLink */ -// @DisplayName Switch to enable geofence -// @Description if set to 1 geofence is enabled, defaults to 1 because geofence is only enabled when the geofence.txt file is present -// @Range 0 or 1 +/** + * Enable geofence. + * + * Set to 1 to enable geofence. + * Defaults to 1 because geofence is only enabled when the geofence.txt file is present. + * + * @min 0 + * @max 1 + * @group Geofence + */ PARAM_DEFINE_INT32(GF_ON, 1); diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 6f0fec917..42d1f5c24 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -306,6 +306,12 @@ private: void start_land_home(); /** + * Fork for state transitions + */ + void request_loiter_or_ready(); + void request_mission_if_available(); + + /** * Guards offboard mission */ bool offboard_mission_available(unsigned relative_index); @@ -699,24 +705,17 @@ Navigator::task_main() } else { /* MISSION switch */ if (_vstatus.mission_switch == MISSION_SWITCH_LOITER) { - dispatch(EVENT_LOITER_REQUESTED); + request_loiter_or_ready(); stick_mode = true; } else if (_vstatus.mission_switch == MISSION_SWITCH_MISSION) { - /* switch to mission only if available */ - if (_mission.current_mission_available()) { - dispatch(EVENT_MISSION_REQUESTED); - - } else { - dispatch(EVENT_LOITER_REQUESTED); - } - + request_mission_if_available(); stick_mode = true; } if (!stick_mode && _vstatus.return_switch == RETURN_SWITCH_NORMAL && myState == NAV_STATE_RTL) { /* RETURN switch is in normal mode, no MISSION switch mapped, interrupt if in RTL state */ - dispatch(EVENT_LOITER_REQUESTED); + request_mission_if_available(); stick_mode = true; } } @@ -733,17 +732,11 @@ Navigator::task_main() break; case NAV_STATE_LOITER: - dispatch(EVENT_LOITER_REQUESTED); + request_loiter_or_ready(); break; case NAV_STATE_MISSION: - if (_mission.current_mission_available()) { - dispatch(EVENT_MISSION_REQUESTED); - - } else { - dispatch(EVENT_LOITER_REQUESTED); - } - + request_mission_if_available(); break; case NAV_STATE_RTL: @@ -768,12 +761,7 @@ Navigator::task_main() } else { /* on first switch to AUTO try mission by default, if none is available fallback to loiter */ if (myState == NAV_STATE_NONE) { - if (_mission.current_mission_available()) { - dispatch(EVENT_MISSION_REQUESTED); - - } else { - dispatch(EVENT_LOITER_REQUESTED); - } + request_mission_if_available(); } } } @@ -1069,7 +1057,7 @@ Navigator::start_loiter() float min_alt_amsl = _parameters.min_altitude + _home_pos.alt; /* use current altitude if above min altitude set by parameter */ - if (_global_pos.alt < min_alt_amsl) { + if (_global_pos.alt < min_alt_amsl && !_vstatus.is_rotary_wing) { _pos_sp_triplet.current.alt = min_alt_amsl; mavlink_log_info(_mavlink_fd, "[navigator] loiter %.1fm higher", (double)(min_alt_amsl - _global_pos.alt)); @@ -1078,9 +1066,8 @@ Navigator::start_loiter() mavlink_log_info(_mavlink_fd, "[navigator] loiter at current altitude"); } - _pos_sp_triplet.current.type = SETPOINT_TYPE_LOITER; } - + _pos_sp_triplet.current.type = SETPOINT_TYPE_LOITER; _pos_sp_triplet.current.loiter_radius = _parameters.loiter_radius; _pos_sp_triplet.current.loiter_direction = 1; _pos_sp_triplet.previous.valid = false; @@ -1397,6 +1384,28 @@ Navigator::set_rtl_item() } void +Navigator::request_loiter_or_ready() +{ + if (_vstatus.condition_landed) { + dispatch(EVENT_READY_REQUESTED); + + } else { + dispatch(EVENT_LOITER_REQUESTED); + } +} + +void +Navigator::request_mission_if_available() +{ + if (_mission.current_mission_available()) { + dispatch(EVENT_MISSION_REQUESTED); + + } else { + request_loiter_or_ready(); + } +} + +void Navigator::position_setpoint_from_mission_item(position_setpoint_s *sp, mission_item_s *item) { sp->valid = true; @@ -1554,13 +1563,7 @@ Navigator::on_mission_item_reached() /* loiter at last waypoint */ _reset_loiter_pos = false; mavlink_log_info(_mavlink_fd, "[navigator] mission completed"); - - if (_vstatus.condition_landed) { - dispatch(EVENT_READY_REQUESTED); - - } else { - dispatch(EVENT_LOITER_REQUESTED); - } + request_loiter_or_ready(); } } else if (myState == NAV_STATE_RTL) { diff --git a/src/modules/navigator/navigator_params.c b/src/modules/navigator/navigator_params.c index d5e00e35d..9ef359c6d 100644 --- a/src/modules/navigator/navigator_params.c +++ b/src/modules/navigator/navigator_params.c @@ -50,14 +50,91 @@ /* * Navigator parameters, accessible via MAVLink - * */ +/** + * Minimum altitude (fixed wing only) + * + * Minimum altitude above home for LOITER. + * + * @unit meters + * @group Navigation + */ PARAM_DEFINE_FLOAT(NAV_MIN_ALT, 50.0f); + +/** + * Waypoint acceptance radius + * + * Default value of acceptance radius (if not specified in mission item). + * + * @unit meters + * @min 0.0 + * @group Navigation + */ PARAM_DEFINE_FLOAT(NAV_ACCEPT_RAD, 10.0f); -PARAM_DEFINE_FLOAT(NAV_LOITER_RAD, 100.0f); + +/** + * Loiter radius (fixed wing only) + * + * Default value of loiter radius (if not specified in mission item). + * + * @unit meters + * @min 0.0 + * @group Navigation + */ +PARAM_DEFINE_FLOAT(NAV_LOITER_RAD, 50.0f); + +/** + * Enable onboard mission + * + * @group Navigation + */ PARAM_DEFINE_INT32(NAV_ONB_MIS_EN, 0); -PARAM_DEFINE_FLOAT(NAV_TAKEOFF_ALT, 10.0f); // default TAKEOFF altitude -PARAM_DEFINE_FLOAT(NAV_LAND_ALT, 5.0f); // slow descend from this altitude when landing -PARAM_DEFINE_FLOAT(NAV_RTL_ALT, 30.0f); // min altitude for going home in RTL mode -PARAM_DEFINE_FLOAT(NAV_RTL_LAND_T, -1.0f); // delay after descend before landing, if set to -1 the system will not land but loiter at NAV_LAND_ALT + +/** + * Take-off altitude + * + * Even if first waypoint has altitude less then NAV_TAKEOFF_ALT above home position, system will climb to NAV_TAKEOFF_ALT on takeoff, then go to waypoint. + * + * @unit meters + * @group Navigation + */ +PARAM_DEFINE_FLOAT(NAV_TAKEOFF_ALT, 10.0f); + +/** + * Landing altitude + * + * Stay at this altitude above home position after RTL descending. Land (i.e. slowly descend) from this altitude if autolanding allowed. + * + * @unit meters + * @group Navigation + */ +PARAM_DEFINE_FLOAT(NAV_LAND_ALT, 5.0f); + +/** + * Return-To-Launch altitude + * + * Minimum altitude above home position for going home in RTL mode. + * + * @unit meters + * @group Navigation + */ +PARAM_DEFINE_FLOAT(NAV_RTL_ALT, 30.0f); + +/** + * Return-To-Launch delay + * + * Delay after descend before landing in RTL mode. + * If set to -1 the system will not land but loiter at NAV_LAND_ALT. + * + * @unit seconds + * @group Navigation + */ +PARAM_DEFINE_FLOAT(NAV_RTL_LAND_T, -1.0f); + +/** + * Enable parachute deployment + * + * @group Navigation + */ +PARAM_DEFINE_INT32(NAV_PARACHUTE_EN, 0); diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c index e045ce4cc..ad363efe0 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -42,14 +42,11 @@ #include <stdio.h> #include <stdbool.h> #include <fcntl.h> -#include <float.h> #include <string.h> #include <nuttx/config.h> #include <nuttx/sched.h> #include <sys/prctl.h> #include <termios.h> -#include <errno.h> -#include <limits.h> #include <math.h> #include <uORB/uORB.h> #include <uORB/topics/parameter_update.h> @@ -527,13 +524,13 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) if (gps.fix_type >= 3) { /* hysteresis for GPS quality */ if (gps_valid) { - if (gps.eph_m > 10.0f || gps.epv_m > 10.0f) { + if (gps.eph_m > 10.0f || gps.epv_m > 20.0f) { gps_valid = false; mavlink_log_info(mavlink_fd, "[inav] GPS signal lost"); } } else { - if (gps.eph_m < 5.0f && gps.epv_m < 5.0f) { + if (gps.eph_m < 5.0f && gps.epv_m < 10.0f) { gps_valid = true; mavlink_log_info(mavlink_fd, "[inav] GPS signal found"); } @@ -589,8 +586,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) corr_gps[2][1] = 0.0f; } - w_gps_xy = 1.0f / fmaxf(1.0f, gps.eph_m); - w_gps_z = 1.0f / fmaxf(1.0f, gps.epv_m); + w_gps_xy = 2.0f / fmaxf(2.0f, gps.eph_m); + w_gps_z = 4.0f / fmaxf(4.0f, gps.epv_m); } } else { diff --git a/src/modules/position_estimator_inav/position_estimator_inav_params.c b/src/modules/position_estimator_inav/position_estimator_inav_params.c index e1bbd75a6..b71f9472f 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_params.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_params.c @@ -40,7 +40,7 @@ #include "position_estimator_inav_params.h" -PARAM_DEFINE_FLOAT(INAV_W_Z_BARO, 1.0f); +PARAM_DEFINE_FLOAT(INAV_W_Z_BARO, 0.5f); PARAM_DEFINE_FLOAT(INAV_W_Z_GPS_P, 0.005f); PARAM_DEFINE_FLOAT(INAV_W_Z_ACC, 20.0f); PARAM_DEFINE_FLOAT(INAV_W_Z_SONAR, 3.0f); diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index f39fcf7ec..6a4429461 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -179,7 +179,7 @@ mixer_tick(void) ((r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) /* and there is valid input via or mixer */ && (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) ) /* or direct PWM is set */ || (r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) - /* or failsafe was set manually */ || (r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM) + /* or failsafe was set manually */ || ((r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM) && !(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK)) ) ); diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 3c218e21f..68e6a7469 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -82,6 +82,7 @@ #include <uORB/topics/airspeed.h> #include <uORB/topics/rc_channels.h> #include <uORB/topics/esc_status.h> +#include <uORB/topics/telemetry_status.h> #include <systemlib/systemlib.h> #include <systemlib/param/param.h> @@ -758,6 +759,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct esc_status_s esc; struct vehicle_global_velocity_setpoint_s global_vel_sp; struct battery_status_s battery; + struct telemetry_status_s telemetry; } buf; memset(&buf, 0, sizeof(buf)); @@ -783,6 +785,7 @@ int sdlog2_thread_main(int argc, char *argv[]) int esc_sub; int global_vel_sp_sub; int battery_sub; + int telemetry_sub; } subs; /* log message buffer: header + body */ @@ -811,6 +814,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct log_GVSP_s log_GVSP; struct log_BATT_s log_BATT; struct log_DIST_s log_DIST; + struct log_TELE_s log_TELE; } body; } log_msg = { LOG_PACKET_HEADER_INIT(0) @@ -946,6 +950,12 @@ int sdlog2_thread_main(int argc, char *argv[]) fds[fdsc_count].events = POLLIN; fdsc_count++; + /* --- TELEMETRY STATUS --- */ + subs.telemetry_sub = orb_subscribe(ORB_ID(telemetry_status)); + fds[fdsc_count].fd = subs.telemetry_sub; + fds[fdsc_count].events = POLLIN; + fdsc_count++; + /* WARNING: If you get the error message below, * then the number of registered messages (fdsc) * differs from the number of messages in the above list. @@ -1347,6 +1357,20 @@ int sdlog2_thread_main(int argc, char *argv[]) LOGBUFFER_WRITE_AND_COUNT(BATT); } + /* --- TELEMETRY --- */ + if (fds[ifds++].revents & POLLIN) { + orb_copy(ORB_ID(telemetry_status), subs.telemetry_sub, &buf.telemetry); + log_msg.msg_type = LOG_TELE_MSG; + log_msg.body.log_TELE.rssi = buf.telemetry.rssi; + log_msg.body.log_TELE.remote_rssi = buf.telemetry.remote_rssi; + log_msg.body.log_TELE.noise = buf.telemetry.noise; + log_msg.body.log_TELE.remote_noise = buf.telemetry.remote_noise; + log_msg.body.log_TELE.rxerrors = buf.telemetry.rxerrors; + log_msg.body.log_TELE.fixed = buf.telemetry.fixed; + log_msg.body.log_TELE.txbuf = buf.telemetry.txbuf; + LOGBUFFER_WRITE_AND_COUNT(TELE); + } + /* signal the other thread new data, but not yet unlock */ if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) { /* only request write if several packets can be written at once */ diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index db87e3a6a..16bfc355d 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -264,6 +264,18 @@ struct log_DIST_s { uint8_t flags; }; +/* --- TELE - TELEMETRY STATUS --- */ +#define LOG_TELE_MSG 22 +struct log_TELE_s { + uint8_t rssi; + uint8_t remote_rssi; + uint8_t noise; + uint8_t remote_noise; + uint16_t rxerrors; + uint16_t fixed; + uint8_t txbuf; +}; + /********** SYSTEM MESSAGES, ID > 0x80 **********/ /* --- TIME - TIME STAMP --- */ @@ -311,6 +323,8 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"), LOG_FORMAT(BATT, "ffff", "V,VFilt,C,Discharged"), LOG_FORMAT(DIST, "ffB", "Bottom,BottomRate,Flags"), + LOG_FORMAT(TELE, "BBBBHHB", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf"), + /* system-level messages, ID >= 0x80 */ // FMT: don't write format of format message, it's useless LOG_FORMAT(TIME, "Q", "StartTime"), diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index 30659fd3a..288c6e00a 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -42,13 +42,10 @@ */ #include <nuttx/config.h> - #include <systemlib/param/param.h> /** - * Gyro X offset - * - * This is an X-axis offset for the gyro. Adjust it according to the calibration data. + * Gyro X-axis offset * * @min -10.0 * @max 10.0 @@ -57,7 +54,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_XOFF, 0.0f); /** - * Gyro Y offset + * Gyro Y-axis offset * * @min -10.0 * @max 10.0 @@ -66,7 +63,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_XOFF, 0.0f); PARAM_DEFINE_FLOAT(SENS_GYRO_YOFF, 0.0f); /** - * Gyro Z offset + * Gyro Z-axis offset * * @min -5.0 * @max 5.0 @@ -75,9 +72,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_YOFF, 0.0f); PARAM_DEFINE_FLOAT(SENS_GYRO_ZOFF, 0.0f); /** - * Gyro X scaling - * - * X-axis scaling. + * Gyro X-axis scaling factor * * @min -1.5 * @max 1.5 @@ -86,9 +81,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_ZOFF, 0.0f); PARAM_DEFINE_FLOAT(SENS_GYRO_XSCALE, 1.0f); /** - * Gyro Y scaling - * - * Y-axis scaling. + * Gyro Y-axis scaling factor * * @min -1.5 * @max 1.5 @@ -97,9 +90,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_XSCALE, 1.0f); PARAM_DEFINE_FLOAT(SENS_GYRO_YSCALE, 1.0f); /** - * Gyro Z scaling - * - * Z-axis scaling. + * Gyro Z-axis scaling factor * * @min -1.5 * @max 1.5 @@ -107,10 +98,9 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_YSCALE, 1.0f); */ PARAM_DEFINE_FLOAT(SENS_GYRO_ZSCALE, 1.0f); + /** - * Magnetometer X offset - * - * This is an X-axis offset for the magnetometer. + * Magnetometer X-axis offset * * @min -500.0 * @max 500.0 @@ -119,9 +109,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_ZSCALE, 1.0f); PARAM_DEFINE_FLOAT(SENS_MAG_XOFF, 0.0f); /** - * Magnetometer Y offset - * - * This is an Y-axis offset for the magnetometer. + * Magnetometer Y-axis offset * * @min -500.0 * @max 500.0 @@ -130,9 +118,7 @@ PARAM_DEFINE_FLOAT(SENS_MAG_XOFF, 0.0f); PARAM_DEFINE_FLOAT(SENS_MAG_YOFF, 0.0f); /** - * Magnetometer Z offset - * - * This is an Z-axis offset for the magnetometer. + * Magnetometer Z-axis offset * * @min -500.0 * @max 500.0 @@ -140,24 +126,134 @@ PARAM_DEFINE_FLOAT(SENS_MAG_YOFF, 0.0f); */ PARAM_DEFINE_FLOAT(SENS_MAG_ZOFF, 0.0f); +/** + * Magnetometer X-axis scaling factor + * + * @group Sensor Calibration + */ PARAM_DEFINE_FLOAT(SENS_MAG_XSCALE, 1.0f); + +/** + * Magnetometer Y-axis scaling factor + * + * @group Sensor Calibration + */ PARAM_DEFINE_FLOAT(SENS_MAG_YSCALE, 1.0f); + +/** + * Magnetometer Z-axis scaling factor + * + * @group Sensor Calibration + */ PARAM_DEFINE_FLOAT(SENS_MAG_ZSCALE, 1.0f); + +/** + * Accelerometer X-axis offset + * + * @group Sensor Calibration + */ PARAM_DEFINE_FLOAT(SENS_ACC_XOFF, 0.0f); + +/** + * Accelerometer Y-axis offset + * + * @group Sensor Calibration + */ PARAM_DEFINE_FLOAT(SENS_ACC_YOFF, 0.0f); + +/** + * Accelerometer Z-axis offset + * + * @group Sensor Calibration + */ PARAM_DEFINE_FLOAT(SENS_ACC_ZOFF, 0.0f); +/** + * Accelerometer X-axis scaling factor + * + * @group Sensor Calibration + */ PARAM_DEFINE_FLOAT(SENS_ACC_XSCALE, 1.0f); + +/** + * Accelerometer Y-axis scaling factor + * + * @group Sensor Calibration + */ PARAM_DEFINE_FLOAT(SENS_ACC_YSCALE, 1.0f); + +/** + * Accelerometer Z-axis scaling factor + * + * @group Sensor Calibration + */ PARAM_DEFINE_FLOAT(SENS_ACC_ZSCALE, 1.0f); + +/** + * Differential pressure sensor offset + * + * @group Sensor Calibration + */ PARAM_DEFINE_FLOAT(SENS_DPRES_OFF, 0.0f); + +/** + * Differential pressure sensor analog enabled + * + * @group Sensor Calibration + */ PARAM_DEFINE_INT32(SENS_DPRES_ANA, 0); + +/** + * Board rotation + * + * This parameter defines the rotation of the FMU board relative to the platform. + * Possible values are: + * 0 = No rotation + * 1 = Yaw 45° + * 2 = Yaw 90° + * 3 = Yaw 135° + * 4 = Yaw 180° + * 5 = Yaw 225° + * 6 = Yaw 270° + * 7 = Yaw 315° + * 8 = Roll 180° + * 9 = Roll 180°, Yaw 45° + * 10 = Roll 180°, Yaw 90° + * 11 = Roll 180°, Yaw 135° + * 12 = Pitch 180° + * 13 = Roll 180°, Yaw 225° + * 14 = Roll 180°, Yaw 270° + * 15 = Roll 180°, Yaw 315° + * 16 = Roll 90° + * 17 = Roll 90°, Yaw 45° + * 18 = Roll 90°, Yaw 90° + * 19 = Roll 90°, Yaw 135° + * 20 = Roll 270° + * 21 = Roll 270°, Yaw 45° + * 22 = Roll 270°, Yaw 90° + * 23 = Roll 270°, Yaw 135° + * 24 = Pitch 90° + * 25 = Pitch 270° + * + * @group Sensor Calibration + */ PARAM_DEFINE_INT32(SENS_BOARD_ROT, 0); + +/** + * External magnetometer rotation + * + * This parameter defines the rotation of the external magnetometer relative + * to the platform (not relative to the FMU). + * See SENS_BOARD_ROT for possible values. + * + * @group Sensor Calibration + */ PARAM_DEFINE_INT32(SENS_EXT_MAG_ROT, 0); + /** * RC Channel 1 Minimum * @@ -367,20 +463,52 @@ PARAM_DEFINE_FLOAT(RC18_DZ, 0.0f); #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 PARAM_DEFINE_INT32(RC_RL1_DSM_VCC, 0); /* Relay 1 controls DSM VCC */ #endif -PARAM_DEFINE_INT32(RC_DSM_BIND, -1); /* -1 = Idle, 0 = Start DSM2 bind, 1 = Start DSMX bind */ +/** + * DSM binding trigger. + * + * -1 = Idle, 0 = Start DSM2 bind, 1 = Start DSMX bind + * + * @group Radio Calibration + */ +PARAM_DEFINE_INT32(RC_DSM_BIND, -1); + + +/** + * Scaling factor for battery voltage sensor on PX4IO. + * + * @group Battery Calibration + */ PARAM_DEFINE_INT32(BAT_V_SCALE_IO, 10000); + #ifdef CONFIG_ARCH_BOARD_PX4FMU_V2 +/** + * Scaling factor for battery voltage sensor on FMU v2. + * + * @group Battery Calibration + */ PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.0082f); #else -/* default is conversion factor for the PX4IO / PX4IOAR board, the factor for PX4FMU standalone is different */ -/* PX4IOAR: 0.00838095238 */ -/* FMU standalone: 1/(10 / (47+10)) * (3.3 / 4095) = 0.00459340659 */ -/* FMU with PX4IOAR: (3.3f * 52.0f / 5.0f / 4095.0f) */ +/** + * Scaling factor for battery voltage sensor on FMU v1. + * + * FMUv1 standalone: 1/(10 / (47+10)) * (3.3 / 4095) = 0.00459340659 + * FMUv1 with PX4IO: 0.00459340659 + * FMUv1 with PX4IOAR: (3.3f * 52.0f / 5.0f / 4095.0f) = 0.00838095238 + * + * @group Battery Calibration + */ PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.00459340659f); #endif + +/** + * Scaling factor for battery current sensor. + * + * @group Battery Calibration + */ PARAM_DEFINE_FLOAT(BAT_C_SCALING, 0.0124); /* scaling for 3DR power brick */ + /** * Roll control channel mapping. * @@ -446,22 +574,127 @@ PARAM_DEFINE_INT32(RC_MAP_YAW, 4); * @group Radio Calibration */ PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 0); + +/** + * Return switch channel mapping. + * + * @min 0 + * @max 18 + * @group Radio Calibration + */ PARAM_DEFINE_INT32(RC_MAP_RETURN_SW, 0); + +/** + * Assist switch channel mapping. + * + * @min 0 + * @max 18 + * @group Radio Calibration + */ PARAM_DEFINE_INT32(RC_MAP_ASSIST_SW, 0); + +/** + * Mission switch channel mapping. + * + * @min 0 + * @max 18 + * @group Radio Calibration + */ PARAM_DEFINE_INT32(RC_MAP_MISSIO_SW, 0); //PARAM_DEFINE_INT32(RC_MAP_OFFB_SW, 0); +/** + * Flaps channel mapping. + * + * @min 0 + * @max 18 + * @group Radio Calibration + */ PARAM_DEFINE_INT32(RC_MAP_FLAPS, 0); -PARAM_DEFINE_INT32(RC_MAP_AUX1, 0); /**< default function: camera pitch */ +/** + * Auxiliary switch 1 channel mapping. + * + * Default function: Camera pitch + * + * @min 0 + * @max 18 + * @group Radio Calibration + */ +PARAM_DEFINE_INT32(RC_MAP_AUX1, 0); + +/** + * Auxiliary switch 2 channel mapping. + * + * Default function: Camera roll + * + * @min 0 + * @max 18 + * @group Radio Calibration + */ PARAM_DEFINE_INT32(RC_MAP_AUX2, 0); /**< default function: camera roll */ -PARAM_DEFINE_INT32(RC_MAP_AUX3, 0); /**< default function: camera azimuth / yaw */ +/** + * Auxiliary switch 3 channel mapping. + * + * Default function: Camera azimuth / yaw + * + * @min 0 + * @max 18 + * @group Radio Calibration + */ +PARAM_DEFINE_INT32(RC_MAP_AUX3, 0); + + +/** + * Roll scaling factor + * + * @group Radio Calibration + */ PARAM_DEFINE_FLOAT(RC_SCALE_ROLL, 0.6f); + +/** + * Pitch scaling factor + * + * @group Radio Calibration + */ PARAM_DEFINE_FLOAT(RC_SCALE_PITCH, 0.6f); + +/** + * Yaw scaling factor + * + * @group Radio Calibration + */ PARAM_DEFINE_FLOAT(RC_SCALE_YAW, 2.0f); -PARAM_DEFINE_INT32(RC_FS_CH, 0); /**< RC failsafe channel, 0 = disable */ -PARAM_DEFINE_INT32(RC_FS_MODE, 0); /**< RC failsafe mode: 0 = too low means signal loss, 1 = too high means signal loss */ -PARAM_DEFINE_FLOAT(RC_FS_THR, 800); /**< RC failsafe PWM threshold */ + +/** + * Failsafe channel mapping. + * + * @min 0 + * @max 18 + * @group Radio Calibration + */ +PARAM_DEFINE_INT32(RC_FS_CH, 0); + +/** + * Failsafe channel mode. + * + * 0 = too low means signal loss, + * 1 = too high means signal loss + * + * @min 0 + * @max 1 + * @group Radio Calibration + */ +PARAM_DEFINE_INT32(RC_FS_MODE, 0); + +/** + * Failsafe channel PWM threshold. + * + * @min 0 + * @max 1 + * @group Radio Calibration + */ +PARAM_DEFINE_FLOAT(RC_FS_THR, 800); diff --git a/src/modules/systemlib/system_params.c b/src/modules/systemlib/system_params.c index 75be090f8..cb35a2541 100644 --- a/src/modules/systemlib/system_params.c +++ b/src/modules/systemlib/system_params.c @@ -40,8 +40,23 @@ #include <nuttx/config.h> #include <systemlib/param/param.h> -// Auto-start script with index #n +/** + * Auto-start script index. + * + * Defines the auto-start script used to bootstrap the system. + * + * @group System + */ PARAM_DEFINE_INT32(SYS_AUTOSTART, 0); -// Automatically configure default values +/** + * Automatically configure default values. + * + * Set to 1 to set platform-specific parameters to their default + * values on next system startup. + * + * @min 0 + * @max 1 + * @group System + */ PARAM_DEFINE_INT32(SYS_AUTOCONFIG, 0); diff --git a/src/modules/uORB/topics/telemetry_status.h b/src/modules/uORB/topics/telemetry_status.h index 828fb31cc..5192d4d58 100644 --- a/src/modules/uORB/topics/telemetry_status.h +++ b/src/modules/uORB/topics/telemetry_status.h @@ -58,10 +58,10 @@ enum TELEMETRY_STATUS_RADIO_TYPE { struct telemetry_status_s { uint64_t timestamp; enum TELEMETRY_STATUS_RADIO_TYPE type; /**< type of the radio hardware */ - unsigned rssi; /**< local signal strength */ - unsigned remote_rssi; /**< remote signal strength */ - unsigned rxerrors; /**< receive errors */ - unsigned fixed; /**< count of error corrected packets */ + uint8_t rssi; /**< local signal strength */ + uint8_t remote_rssi; /**< remote signal strength */ + uint16_t rxerrors; /**< receive errors */ + uint16_t fixed; /**< count of error corrected packets */ uint8_t noise; /**< background noise level */ uint8_t remote_noise; /**< remote background noise level */ uint8_t txbuf; /**< how full the tx buffer is as a percentage */ @@ -73,4 +73,4 @@ struct telemetry_status_s { ORB_DECLARE(telemetry_status); -#endif /* TOPIC_TELEMETRY_STATUS_H */
\ No newline at end of file +#endif /* TOPIC_TELEMETRY_STATUS_H */ diff --git a/src/systemcmds/config/config.c b/src/systemcmds/config/config.c index 80689f20c..476015f3e 100644 --- a/src/systemcmds/config/config.c +++ b/src/systemcmds/config/config.c @@ -56,6 +56,7 @@ #include <drivers/drv_gyro.h> #include <drivers/drv_accel.h> #include <drivers/drv_mag.h> +#include <drivers/drv_device.h> #include "systemlib/systemlib.h" #include "systemlib/err.h" @@ -65,6 +66,7 @@ __EXPORT int config_main(int argc, char *argv[]); static void do_gyro(int argc, char *argv[]); static void do_accel(int argc, char *argv[]); static void do_mag(int argc, char *argv[]); +static void do_device(int argc, char *argv[]); int config_main(int argc, char *argv[]) @@ -72,14 +74,12 @@ config_main(int argc, char *argv[]) if (argc >= 2) { if (!strcmp(argv[1], "gyro")) { do_gyro(argc - 2, argv + 2); - } - - if (!strcmp(argv[1], "accel")) { + } else if (!strcmp(argv[1], "accel")) { do_accel(argc - 2, argv + 2); - } - - if (!strcmp(argv[1], "mag")) { + } else if (!strcmp(argv[1], "mag")) { do_mag(argc - 2, argv + 2); + } else { + do_device(argc - 1, argv + 1); } } @@ -87,6 +87,48 @@ config_main(int argc, char *argv[]) } static void +do_device(int argc, char *argv[]) +{ + if (argc < 2) { + errx(1, "no device path provided and command provided."); + } + + int fd; + int ret; + + fd = open(argv[0], 0); + + if (fd < 0) { + warn("%s", argv[0]); + errx(1, "FATAL: no device found"); + + } else { + + if (argc == 2 && !strcmp(argv[1], "block")) { + + /* disable the device publications */ + ret = ioctl(fd, DEVIOCSPUBBLOCK, 1); + + if (ret) + errx(ret,"uORB publications could not be blocked"); + + } else if (argc == 2 && !strcmp(argv[1], "unblock")) { + + /* enable the device publications */ + ret = ioctl(fd, DEVIOCSPUBBLOCK, 0); + + if (ret) + errx(ret,"uORB publications could not be unblocked"); + + } else { + errx("no valid command: %s", argv[1]); + } + } + + exit(0); +} + +static void do_gyro(int argc, char *argv[]) { int fd; @@ -124,7 +166,7 @@ do_gyro(int argc, char *argv[]) if (ret) errx(ret,"range could not be set"); - } else if(argc == 1 && !strcmp(argv[0], "check")) { + } else if (argc == 1 && !strcmp(argv[0], "check")) { ret = ioctl(fd, GYROIOCSELFTEST, 0); if (ret) { |