Added ground estimator, fixed RC calibration

4 files changed, 186 insertions, 19 deletions

diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c
index 232103121..b65e701db 100644
--- a/apps/mavlink/mavlink.c
+++ b/apps/mavlink/mavlink.c
@@ -754,9 +754,9 @@ static void *uorb_receiveloop(void *arg)
 
 		/* handle the poll result */
 		if (poll_ret == 0) {
-			/* XXX this means none of our providers is giving us data - might be an error? */
+			mavlink_missionlib_send_gcs_string("[mavlink] No telemetry data for 1 s");
 		} else if (poll_ret < 0) {
-			/* XXX this is seriously bad - should be an emergency */
+			mavlink_missionlib_send_gcs_string("[mavlink] ERROR reading uORB data");
 		} else {
 
 			int ifds = 0;
@@ -867,7 +867,8 @@ static void *uorb_receiveloop(void *arg)
 				/* copy rc channels into local buffer */
 				orb_copy(ORB_ID(rc_channels), rc_sub, &rc);
 				/* Channels are sent in MAVLink main loop at a fixed interval */
-				// TODO decide where to send channels
+				mavlink_msg_rc_channels_raw_send(chan, rc.timestamp / 1000, 0, rc.chan[0].raw, rc.chan[1].raw, rc.chan[2].raw, rc.chan[3].raw,
+							 rc.chan[4].raw, rc.chan[5].raw, rc.chan[6].raw, rc.chan[7].raw, rc.rssi);
 			}
 
 			/* --- VEHICLE GLOBAL POSITION --- */
@@ -1617,13 +1618,6 @@ int mavlink_thread_main(int argc, char *argv[])
 						    v_status.onboard_control_sensors_health, v_status.load, v_status.voltage_battery * 1000.f, v_status.current_battery * 1000.f,
 						    v_status.battery_remaining, v_status.drop_rate_comm, v_status.errors_comm,
 						    v_status.errors_count1, v_status.errors_count2, v_status.errors_count3, v_status.errors_count4);
-
-			/* send over MAVLink */
-			if ((hrt_absolute_time() - rc.timestamp) < 200000) {
-				mavlink_msg_rc_channels_raw_send(chan, rc.timestamp / 1000, 0, rc.chan[0].raw, rc.chan[1].raw, rc.chan[2].raw, rc.chan[3].raw,
-							 rc.chan[4].raw, rc.chan[5].raw, rc.chan[6].raw, rc.chan[7].raw, rc.rssi);
-			}
-
 			lowspeed_counter = 0;
 		}
 		lowspeed_counter++;
diff --git a/apps/px4/ground_estimator/Makefile b/apps/px4/ground_estimator/Makefile
new file mode 100644
index 000000000..b44d871c6
--- /dev/null
+++ b/apps/px4/ground_estimator/Makefile
@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (C) 2012 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.
+#
+############################################################################
+
+#
+# Basic example application
+#
+
+APPNAME		 = ground_estimator
+PRIORITY	 = SCHED_PRIORITY_DEFAULT
+STACKSIZE	 = 2048
+
+include $(APPDIR)/mk/app.mk
diff --git a/apps/px4/ground_estimator/ground_estimator.c b/apps/px4/ground_estimator/ground_estimator.c
new file mode 100644
index 000000000..0bd8f09f1
--- /dev/null
+++ b/apps/px4/ground_estimator/ground_estimator.c
@@ -0,0 +1,129 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Example User <mail@example.com>
+ *
+ * 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 ground_estimator.c
+ * ground_estimator application example for PX4 autopilot
+ */
+
+#include <nuttx/config.h>
+#include <unistd.h>
+#include <stdio.h>
+
+static bool thread_should_exit = false;		/**< ground_estimator exit flag */
+static bool thread_running = false;		/**< ground_estimator status flag */
+static int ground_estimator_task;				/**< Handle of ground_estimator task / thread */
+
+/**
+ * ground_estimator management function.
+ */
+__EXPORT int ground_estimator_app_main(int argc, char *argv[]);
+
+/**
+ * Mainloop of ground_estimator.
+ */
+int ground_estimator_thread_main(int argc, char *argv[]);
+
+/**
+ * Print the correct usage.
+ */
+static void usage(const char *reason);
+
+int ground_estimator_thread_main(int argc, char *argv[]) {
+
+	printf("[ground_estimator] starting\n");
+
+	while (!thread_should_exit) {
+		printf("Hello ground_estimator!\n");
+		sleep(10);
+	}
+
+	printf("[ground_estimator] exiting.\n");
+
+	return 0;
+}
+
+static void
+usage(const char *reason)
+{
+	if (reason)
+		fprintf(stderr, "%s\n", reason);
+	fprintf(stderr, "usage: ground_estimator {start|stop|status} [-p <additional params>]\n\n");
+	exit(1);
+}
+
+/**
+ * The ground_estimator app only briefly exists to start
+ * the background job. The stack size assigned in the
+ * Makefile does only apply to this management task.
+ * 
+ * The actual stack size should be set in the call
+ * to task_create().
+ */
+int ground_estimator_app_main(int argc, char *argv[])
+{
+	if (argc < 1)
+		usage("missing command");
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (thread_running) {
+			printf("ground_estimator already running\n");
+			/* this is not an error */
+			exit(0);
+		}
+
+		thread_should_exit = false;
+		ground_estimator_task = task_create("ground_estimator", SCHED_PRIORITY_DEFAULT, 4096, ground_estimator_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL);
+		thread_running = true;
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+		thread_should_exit = true;
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (thread_running) {
+			printf("\tground_estimator is running\n");
+		} else {
+			printf("\tground_estimator not started\n");
+		}
+		exit(0);
+	}
+
+	usage("unrecognized command");
+	exit(1);
+}
diff --git a/apps/sensors/sensors.cpp b/apps/sensors/sensors.cpp
index de481eb1f..3adf280e5 100644
--- a/apps/sensors/sensors.cpp
+++ b/apps/sensors/sensors.cpp
@@ -195,9 +195,9 @@ private:
 		int rc_map_throttle;
 		int rc_map_mode_sw;
 
-		int rc_scale_roll;
-		int rc_scale_pitch;
-		int rc_scale_yaw;
+		float rc_scale_roll;
+		float rc_scale_pitch;
+		float rc_scale_yaw;
 
 		float battery_voltage_scaling;
 	}		_parameters;			/**< local copies of interesting parameters */
@@ -960,17 +960,19 @@ Sensors::ppm_poll()
 		_rc.chan[i].scale = (ppm_buffer[i] - _rc.chan[i].mid) * _rc.chan[i].scaling_factor * 10000;
 
 		/* scale around the mid point differently for lower and upper range */
-		if (ppm_buffer[i] > _rc.chan[i].mid + _parameters.dz[i]) {
-			_rc.chan[i].scaled = ((ppm_buffer[i] - _parameters.trim[i]) / (_parameters.max[i] - _parameters.trim[i]));
-		} else if ((ppm_buffer[i] < _rc_chan[i].mid - _parameters.dz[i])) {
-			_rc.chan[i].scaled = -1.0 + ((ppm_buffer[i] - _parameters.min[i]) / (_parameters.trim[i] - _parameters.min[i]));
+		if (ppm_buffer[i] > (_parameters.trim[i] + _parameters.dz[i])) {
+			_rc.chan[i].scaled = (ppm_buffer[i] - _parameters.trim[i]) / (float)(_parameters.max[i] - _parameters.trim[i]);
+		} else if (ppm_buffer[i] < (_parameters.trim[i] - _parameters.dz[i])) {
+			/* division by zero impossible for trim == min (as for throttle), as this falls in the above if clause */
+			_rc.chan[i].scaled = -1.0 + ((ppm_buffer[i] - _parameters.min[i]) / (float)(_parameters.trim[i] - _parameters.min[i]));
+			
 		} else {
 			/* in the configured dead zone, output zero */
 			_rc.chan[i].scaled = 0.0f;
 		}
 
 		/* reverse channel if required */
-		_rc.chan[i] *= _parameters.rev[i];
+		_rc.chan[i].scaled *= _parameters.rev[i];
 
 		/* handle any parameter-induced blowups */
 		if (isnan(_rc.chan[i].scaled) || isinf(_rc.chan[i].scaled))
@@ -1001,7 +1003,7 @@ Sensors::ppm_poll()
 	if (manual_control.yaw >  1.0f) manual_control.yaw =  1.0f;
 	
 	/* throttle input */
-	manual_control.throttle = _rc.chan[_rc.function[THROTTLE]].scaled/2.0f;
+	manual_control.throttle = _rc.chan[_rc.function[THROTTLE]].scaled;
 	if (manual_control.throttle < 0.0f) manual_control.throttle = 0.0f;
 	if (manual_control.throttle > 1.0f) manual_control.throttle = 1.0f;