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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-12-02 15:12:11 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-12-02 15:12:11 +0100 |
| commit | d5debc2f421290c23345a28f2f074f3630c75f26 (patch) | |
| tree | 455b0d9ca3c4dbd25531af026f1f90e7594463fb | |
| parent | 58aabe648acf296267bd1e29e8a02b33ea9e7cf7 (diff) | |
| parent | 8d1a0700f2de8eca98047efe8c2e5c75e20bb435 (diff) | |
| download | px4-firmware-d5debc2f421290c23345a28f2f074f3630c75f26.tar.gz px4-firmware-d5debc2f421290c23345a28f2f074f3630c75f26.tar.bz2 px4-firmware-d5debc2f421290c23345a28f2f074f3630c75f26.zip | |
Merge master into attitude EKF update
293 files changed, 14696 insertions, 3006 deletions
diff --git a/Debug/NuttX b/Debug/NuttX index d34e9f5b4..4b9f4b5a1 100644 --- a/Debug/NuttX +++ b/Debug/NuttX @@ -78,7 +78,7 @@ end ################################################################################ define showfiles - set $task = (struct _TCB *)$arg0 + set $task = (struct tcb_s *)$arg0 set $nfiles = sizeof((*(struct filelist*)0).fl_files) / sizeof(struct file) printf "%d files\n", $nfiles set $index = 0 @@ -102,7 +102,7 @@ end ################################################################################ define _showtask_oneline - set $task = (struct _TCB *)$arg0 + set $task = (struct tcb_s *)$arg0 printf " %p %.2d %.3d %s\n", $task, $task->pid, $task->sched_priority, $task->name end @@ -139,7 +139,7 @@ end # Print task registers for a NuttX v7em target with FPU enabled. # define _showtaskregs_v7em - set $task = (struct _TCB *)$arg0 + set $task = (struct tcb_s *)$arg0 set $regs = (uint32_t *)&($task->xcp.regs[0]) printf " r0: 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x\n", $regs[27], $regs[28], $regs[29], $regs[30], $regs[2], $regs[3], $regs[4], $regs[5] @@ -162,7 +162,7 @@ end define _showsemaphore printf "count %d ", $arg0->semcount if $arg0->holder.htcb != 0 - set $_task = (struct _TCB *)$arg0->holder.htcb + set $_task = (struct tcb_s *)$arg0->holder.htcb printf "held by %s", $_task->name end printf "\n" @@ -172,7 +172,7 @@ end # Print information about a task's stack usage # define showtaskstack - set $task = (struct _TCB *)$arg0 + set $task = (struct tcb_s *)$arg0 if $task == &g_idletcb printf "can't measure idle stack\n" @@ -189,7 +189,7 @@ end # Print details of a task # define showtask - set $task = (struct _TCB *)$arg0 + set $task = (struct tcb_s *)$arg0 printf "%p %.2d ", $task, $task->pid _showtaskstate $task @@ -204,7 +204,7 @@ define showtask if $task->task_state != TSTATE_TASK_RUNNING _showtaskregs_v7em $task else - _showcurrentregs_v7em + _showtaskregs_v7em $task end # XXX print registers here @@ -247,8 +247,10 @@ define showtasks _showtasklist &g_pendingtasks printf "RUNNABLE\n" _showtasklist &g_readytorun - printf "WAITING\n" + printf "WAITING for Semaphore\n" _showtasklist &g_waitingforsemaphore + printf "WAITING for Signal\n" + _showtasklist &g_waitingforsignal printf "INACTIVE\n" _showtasklist &g_inactivetasks end @@ -257,3 +259,23 @@ document showtasks . showtasks . Print a list of all tasks in the system, separated into their respective queues. end + +define my_mem + + set $start = $arg0 + set $end = $arg1 + set $cursor = $start + + if $start < $end + while $cursor != $end + set *$cursor = 0x0000 + set $cursor = $cursor + 4 + printf "0x%x of 0x%x\n",$cursor,$end + end + else + while $cursor != $end + set *$cursor = 0x0000 + set $cursor = $cursor - 4 + end + end +end
\ No newline at end of file diff --git a/Debug/Nuttx.py b/Debug/Nuttx.py index 7cc21b99f..cf86dd668 100644 --- a/Debug/Nuttx.py +++ b/Debug/Nuttx.py @@ -59,30 +59,42 @@ class NX_register_set(object): def __init__(self, xcpt_regs): if xcpt_regs is None: - self.regs['R0'] = long(gdb.parse_and_eval('$r0')) - self.regs['R1'] = long(gdb.parse_and_eval('$r1')) - self.regs['R2'] = long(gdb.parse_and_eval('$r2')) - self.regs['R3'] = long(gdb.parse_and_eval('$r3')) - self.regs['R4'] = long(gdb.parse_and_eval('$r4')) - self.regs['R5'] = long(gdb.parse_and_eval('$r5')) - self.regs['R6'] = long(gdb.parse_and_eval('$r6')) - self.regs['R7'] = long(gdb.parse_and_eval('$r7')) - self.regs['R8'] = long(gdb.parse_and_eval('$r8')) - self.regs['R9'] = long(gdb.parse_and_eval('$r9')) - self.regs['R10'] = long(gdb.parse_and_eval('$r10')) - self.regs['R11'] = long(gdb.parse_and_eval('$r11')) - self.regs['R12'] = long(gdb.parse_and_eval('$r12')) - self.regs['R13'] = long(gdb.parse_and_eval('$r13')) - self.regs['SP'] = long(gdb.parse_and_eval('$sp')) - self.regs['R14'] = long(gdb.parse_and_eval('$r14')) - self.regs['LR'] = long(gdb.parse_and_eval('$lr')) - self.regs['R15'] = long(gdb.parse_and_eval('$r15')) - self.regs['PC'] = long(gdb.parse_and_eval('$pc')) - self.regs['XPSR'] = long(gdb.parse_and_eval('$xpsr')) + self.regs['R0'] = self.mon_reg_call('r0') + self.regs['R1'] = self.mon_reg_call('r1') + self.regs['R2'] = self.mon_reg_call('r2') + self.regs['R3'] = self.mon_reg_call('r3') + self.regs['R4'] = self.mon_reg_call('r4') + self.regs['R5'] = self.mon_reg_call('r5') + self.regs['R6'] = self.mon_reg_call('r6') + self.regs['R7'] = self.mon_reg_call('r7') + self.regs['R8'] = self.mon_reg_call('r8') + self.regs['R9'] = self.mon_reg_call('r9') + self.regs['R10'] = self.mon_reg_call('r10') + self.regs['R11'] = self.mon_reg_call('r11') + self.regs['R12'] = self.mon_reg_call('r12') + self.regs['R13'] = self.mon_reg_call('r13') + self.regs['SP'] = self.mon_reg_call('sp') + self.regs['R14'] = self.mon_reg_call('r14') + self.regs['LR'] = self.mon_reg_call('lr') + self.regs['R15'] = self.mon_reg_call('r15') + self.regs['PC'] = self.mon_reg_call('pc') + self.regs['XPSR'] = self.mon_reg_call('xPSR') else: for key in self.v7em_regmap.keys(): self.regs[key] = int(xcpt_regs[self.v7em_regmap[key]]) + def mon_reg_call(self,register): + """ + register is the register as a string e.g. 'pc' + return integer containing the value of the register + """ + str_to_eval = "mon reg "+register + resp = gdb.execute(str_to_eval,to_string = True) + content = resp.split()[-1]; + try: + return int(content,16) + except: + return 0 @classmethod def with_xcpt_regs(cls, xcpt_regs): @@ -172,7 +184,7 @@ class NX_task(object): self.__dict__['stack_used'] = 0 else: stack_limit = self._tcb['adj_stack_size'] - for offset in range(0, stack_limit): + for offset in range(0, int(stack_limit)): if stack_base[offset] != 0xff: break self.__dict__['stack_used'] = stack_limit - offset @@ -187,7 +199,7 @@ class NX_task(object): def state(self): """return the name of the task's current state""" statenames = gdb.types.make_enum_dict(gdb.lookup_type('enum tstate_e')) - for name,value in statenames.iteritems(): + for name,value in statenames.items(): if value == self._tcb['task_state']: return name return 'UNKNOWN' @@ -196,16 +208,19 @@ class NX_task(object): def waiting_for(self): """return a description of what the task is waiting for, if it is waiting""" if self._state_is('TSTATE_WAIT_SEM'): - waitsem = self._tcb['waitsem'].dereference() - waitsem_holder = waitsem['holder'] - holder = NX_task.for_tcb(waitsem_holder['htcb']) - if holder is not None: - return '{}({})'.format(waitsem.address, holder.name) - else: - return '{}(<bad holder>)'.format(waitsem.address) + try: + waitsem = self._tcb['waitsem'].dereference() + waitsem_holder = waitsem['holder'] + holder = NX_task.for_tcb(waitsem_holder['htcb']) + if holder is not None: + return '{}({})'.format(waitsem.address, holder.name) + else: + return '{}(<bad holder>)'.format(waitsem.address) + except: + return 'EXCEPTION' if self._state_is('TSTATE_WAIT_SIG'): return 'signal' - return None + return "" @property def is_waiting(self): @@ -229,7 +244,7 @@ class NX_task(object): filearray = filelist['fl_files'] result = dict() for i in range(filearray.type.range()[0],filearray.type.range()[1]): - inode = long(filearray[i]['f_inode']) + inode = int(filearray[i]['f_inode']) if inode != 0: result[i] = inode return result @@ -253,7 +268,18 @@ class NX_task(object): def __str__(self): return "{}:{}".format(self.pid, self.name) - + + def showoff(self): + print("-------") + print(self.pid,end = ", ") + print(self.name,end = ", ") + print(self.state,end = ", ") + print(self.waiting_for,end = ", ") + print(self.stack_used,end = ", ") + print(self._tcb['adj_stack_size'],end = ", ") + print(self.file_descriptors) + print(self.registers) + def __format__(self, format_spec): return format_spec.format( pid = self.pid, @@ -265,7 +291,7 @@ class NX_task(object): file_descriptors = self.file_descriptors, registers = self.registers ) - + class NX_show_task (gdb.Command): """(NuttX) prints information about a task""" @@ -285,7 +311,7 @@ class NX_show_task (gdb.Command): my_fmt += ' R8 {registers[R8]:#010x} {registers[R9]:#010x} {registers[R10]:#010x} {registers[R11]:#010x}\n' my_fmt += ' R12 {registers[PC]:#010x}\n' my_fmt += ' SP {registers[SP]:#010x} LR {registers[LR]:#010x} PC {registers[PC]:#010x} XPSR {registers[XPSR]:#010x}\n' - print format(t, my_fmt) + print(format(t, my_fmt)) class NX_show_tasks (gdb.Command): """(NuttX) prints a list of tasks""" @@ -295,8 +321,10 @@ class NX_show_tasks (gdb.Command): def invoke(self, args, from_tty): tasks = NX_task.tasks() + print ('Number of tasks: ' + str(len(tasks))) for t in tasks: - print format(t, '{pid:<2} {name:<16} {state:<20} {stack_used:>4}/{stack_limit:<4}') + #t.showoff() + print(format(t, 'Task: {pid} {name} {state} {stack_used}/{stack_limit}')) NX_show_task() NX_show_tasks() @@ -306,15 +334,15 @@ class NX_show_heap (gdb.Command): def __init__(self): super(NX_show_heap, self).__init__('show heap', gdb.COMMAND_USER) - struct_mm_allocnode_s = gdb.lookup_type('struct mm_allocnode_s') - preceding_size = struct_mm_allocnode_s['preceding'].type.sizeof - if preceding_size == 2: + struct_mm_allocnode_s = gdb.lookup_type('struct mm_allocnode_s') + preceding_size = struct_mm_allocnode_s['preceding'].type.sizeof + if preceding_size == 2: self._allocflag = 0x8000 - elif preceding_size == 4: + elif preceding_size == 4: self._allocflag = 0x80000000 - else: - raise gdb.GdbError('invalid mm_allocnode_s.preceding size %u' % preceding_size) - self._allocnodesize = struct_mm_allocnode_s.sizeof + else: + raise gdb.GdbError('invalid mm_allocnode_s.preceding size %u' % preceding_size) + self._allocnodesize = struct_mm_allocnode_s.sizeof def _node_allocated(self, allocnode): if allocnode['preceding'] & self._allocflag: @@ -328,7 +356,7 @@ class NX_show_heap (gdb.Command): if region_start >= region_end: raise gdb.GdbError('heap region {} corrupt'.format(hex(region_start))) nodecount = region_end - region_start - print 'heap {} - {}'.format(region_start, region_end) + print ('heap {} - {}'.format(region_start, region_end)) cursor = 1 while cursor < nodecount: allocnode = region_start[cursor] @@ -336,8 +364,8 @@ class NX_show_heap (gdb.Command): state = '' else: state = '(free)' - print ' {} {} {}'.format(allocnode.address + self._allocnodesize, - self._node_size(allocnode), state) + print( ' {} {} {}'.format(allocnode.address + self._allocnodesize, + self._node_size(allocnode), state)) cursor += self._node_size(allocnode) / self._allocnodesize def invoke(self, args, from_tty): @@ -345,7 +373,7 @@ class NX_show_heap (gdb.Command): nregions = heap['mm_nregions'] region_starts = heap['mm_heapstart'] region_ends = heap['mm_heapend'] - print '{} heap(s)'.format(nregions) + print( '{} heap(s)'.format(nregions)) # walk the heaps for i in range(0, nregions): self._print_allocations(region_starts[i], region_ends[i]) @@ -370,6 +398,317 @@ class NX_show_interrupted_thread (gdb.Command): my_fmt += ' R8 {registers[R8]:#010x} {registers[R9]:#010x} {registers[R10]:#010x} {registers[R11]:#010x}\n' my_fmt += ' R12 {registers[PC]:#010x}\n' my_fmt += ' SP {registers[SP]:#010x} LR {registers[LR]:#010x} PC {registers[PC]:#010x} XPSR {registers[XPSR]:#010x}\n' - print format(registers, my_fmt) + print (format(registers, my_fmt)) NX_show_interrupted_thread() + +class NX_check_tcb(gdb.Command): + """ check the tcb of a task from a address """ + def __init__(self): + super(NX_check_tcb,self).__init__('show tcb', gdb.COMMAND_USER) + + def invoke(self,args,sth): + tasks = NX_task.tasks() + print("tcb int: ",int(args)) + print(tasks[int(args)]._tcb) + a =tasks[int(args)]._tcb['xcp']['regs'] + print("relevant registers:") + for reg in regmap: + hex_addr= hex(int(a[regmap[reg]])) + eval_string = 'info line *'+str(hex_addr) + print(reg,": ",hex_addr,) +NX_check_tcb() + +class NX_tcb(object): + def __init__(self): + pass + + def is_in(self,arg,list): + for i in list: + if arg == i: + return True; + return False + + def find_tcb_list(self,dq_entry_t): + tcb_list = [] + tcb_ptr = dq_entry_t.cast(gdb.lookup_type('struct tcb_s').pointer()) + first_tcb = tcb_ptr.dereference() + tcb_list.append(first_tcb); + next_tcb = first_tcb['flink'].dereference() + while not self.is_in(int(next_tcb['pid']),[int(t['pid']) for t in tcb_list]): + tcb_list.append(next_tcb); + old_tcb = next_tcb; + next_tcb = old_tcb['flink'].dereference() + + return [t for t in tcb_list if int(t['pid'])<2000] + + def getTCB(self): + list_of_listsnames = ['g_pendingtasks','g_readytorun','g_waitingforsemaphore','g_waitingforsignal','g_inactivetasks'] + tcb_list = []; + for l in list_of_listsnames: + li = gdb.lookup_global_symbol(l) + print(li) + cursor = li.value()['head'] + tcb_list = tcb_list + self.find_tcb_list(cursor) + +class NX_check_stack_order(gdb.Command): + """ Check the Stack order corresponding to the tasks """ + + def __init__(self): + super(NX_check_stack_order,self).__init__('show check_stack', gdb.COMMAND_USER) + + def is_in(self,arg,list): + for i in list: + if arg == i: + return True; + return False + + def find_tcb_list(self,dq_entry_t): + tcb_list = [] + tcb_ptr = dq_entry_t.cast(gdb.lookup_type('struct tcb_s').pointer()) + first_tcb = tcb_ptr.dereference() + tcb_list.append(first_tcb); + next_tcb = first_tcb['flink'].dereference() + while not self.is_in(int(next_tcb['pid']),[int(t['pid']) for t in tcb_list]): + tcb_list.append(next_tcb); + old_tcb = next_tcb; + next_tcb = old_tcb['flink'].dereference() + + return [t for t in tcb_list if int(t['pid'])<2000] + + def getTCB(self): + list_of_listsnames = ['g_pendingtasks','g_readytorun','g_waitingforsemaphore','g_waitingforsignal','g_inactivetasks'] + tcb_list = []; + for l in list_of_listsnames: + li = gdb.lookup_global_symbol(l) + cursor = li.value()['head'] + tcb_list = tcb_list + self.find_tcb_list(cursor) + return tcb_list + + def getSPfromTask(self,tcb): + regmap = NX_register_set.v7em_regmap + a =tcb['xcp']['regs'] + return int(a[regmap['SP']]) + + def find_closest(self,list,val): + tmp_list = [abs(i-val) for i in list] + tmp_min = min(tmp_list) + idx = tmp_list.index(tmp_min) + return idx,list[idx] + + def find_next_stack(self,address,_dict_in): + add_list = [] + name_list = [] + for key in _dict_in.keys(): + for i in range(3): + if _dict_in[key][i] < address: + add_list.append(_dict_in[key][i]) + if i == 2: # the last one is the processes stack pointer + name_list.append(self.check_name(key)+"_SP") + else: + name_list.append(self.check_name(key)) + + idx,new_address = self.find_closest(add_list,address) + return new_address,name_list[idx] + + def check_name(self,name): + if isinstance(name,(list)): + name = name[0]; + idx = name.find("\\") + newname = name[:idx] + + return newname + + def invoke(self,args,sth): + tcb = self.getTCB(); + stackadresses={}; + for t in tcb: + p = []; + #print(t.name,t._tcb['stack_alloc_ptr']) + p.append(int(t['stack_alloc_ptr'])) + p.append(int(t['adj_stack_ptr'])) + p.append(self.getSPfromTask(t)) + stackadresses[str(t['name'])] = p; + address = int("0x30000000",0) + print("stack address : process") + for i in range(len(stackadresses)*3): + address,name = self.find_next_stack(address,stackadresses) + print(hex(address),": ",name) + +NX_check_stack_order() + +class NX_run_debug_util(gdb.Command): + """ show the registers of a task corresponding to a tcb address""" + def __init__(self): + super(NX_run_debug_util,self).__init__('show regs', gdb.COMMAND_USER) + + def printRegisters(self,task): + regmap = NX_register_set.v7em_regmap + a =task._tcb['xcp']['regs'] + print("relevant registers in ",task.name,":") + for reg in regmap: + hex_addr= hex(int(a[regmap[reg]])) + eval_string = 'info line *'+str(hex_addr) + print(reg,": ",hex_addr,) + + def getPCfromTask(self,task): + regmap = NX_register_set.v7em_regmap + a =task._tcb['xcp']['regs'] + return hex(int(a[regmap['PC']])) + + def invoke(self,args,sth): + tasks = NX_task.tasks() + if args == '': + for t in tasks: + self.printRegisters(t) + eval_str = "list *"+str(self.getPCfromTask(t)) + print("this is the location in code where the current threads $pc is:") + gdb.execute(eval_str) + else: + tcb_nr = int(args); + print("tcb_nr = ",tcb_nr) + t = tasks[tcb_nr] + self.printRegisters(t) + eval_str = "list *"+str(self.getPCfromTask(t)) + print("this is the location in code where the current threads $pc is:") + gdb.execute(eval_str) + +NX_run_debug_util() + + +class NX_search_tcb(gdb.Command): + """ shot PID's of all running tasks """ + + def __init__(self): + super(NX_search_tcb,self).__init__('show alltcb', gdb.COMMAND_USER) + + def is_in(self,arg,list): + for i in list: + if arg == i: + return True; + return False + + def find_tcb_list(self,dq_entry_t): + tcb_list = [] + tcb_ptr = dq_entry_t.cast(gdb.lookup_type('struct tcb_s').pointer()) + first_tcb = tcb_ptr.dereference() + tcb_list.append(first_tcb); + next_tcb = first_tcb['flink'].dereference() + while not self.is_in(int(next_tcb['pid']),[int(t['pid']) for t in tcb_list]): + tcb_list.append(next_tcb); + old_tcb = next_tcb; + next_tcb = old_tcb['flink'].dereference() + + return [t for t in tcb_list if int(t['pid'])<2000] + + def invoke(self,args,sth): + list_of_listsnames = ['g_pendingtasks','g_readytorun','g_waitingforsemaphore','g_waitingforsignal','g_inactivetasks'] + tasks = []; + for l in list_of_listsnames: + li = gdb.lookup_global_symbol(l) + cursor = li.value()['head'] + tasks = tasks + self.find_tcb_list(cursor) + + # filter for tasks that are listed twice + tasks_filt = {} + for t in tasks: + pid = int(t['pid']); + if not pid in tasks_filt.keys(): + tasks_filt[pid] = t['name']; + print('{num_t} Tasks found:'.format(num_t = len(tasks_filt))) + for pid in tasks_filt.keys(): + print("PID: ",pid," ",tasks_filt[pid]) + +NX_search_tcb() + + +class NX_my_bt(gdb.Command): + """ 'fake' backtrace: backtrace the stack of a process and check every suspicious address for the list + arg: tcb_address$ + (can easily be found by typing 'showtask'). + """ + + def __init__(self): + super(NX_my_bt,self).__init__('show mybt', gdb.COMMAND_USER) + + def readmem(self,addr): + ''' + read memory at addr and return nr + ''' + str_to_eval = "x/x "+hex(addr) + resp = gdb.execute(str_to_eval,to_string = True) + idx = resp.find('\t') + return int(resp[idx:],16) + + def is_in_bounds(self,val): + lower_bound = int("08004000",16) + upper_bound = int("080ae0c0",16); + #print(lower_bound," ",val," ",upper_bound) + if val>lower_bound and val<upper_bound: + return True; + else: + return False; + def get_tcb_from_address(self,addr): + addr_value = gdb.Value(addr) + tcb_ptr = addr_value.cast(gdb.lookup_type('struct tcb_s').pointer()) + return tcb_ptr.dereference() + + def print_instruction_at(self,addr,stack_percentage): + gdb.write(str(round(stack_percentage,2))+":") + str_to_eval = "info line *"+hex(addr) + #gdb.execute(str_to_eval) + res = gdb.execute(str_to_eval,to_string = True) + # get information from results string: + words = res.split() + valid = False + if words[0] == 'No': + #no line info... + pass + else: + valid = True + line = int(words[1]) + idx = words[3].rfind("/"); #find first backslash + if idx>0: + name = words[3][idx+1:]; + path = words[3][:idx]; + else: + name = words[3]; + path = ""; + block = gdb.block_for_pc(addr) + func = block.function + if str(func) == "None": + func = block.superblock.function + + if valid: + print("Line: ",line," in ",path,"/",name,"in ",func) + return name,path,line,func + + + + + def invoke(self,args,sth): + addr_dec = int(args[2:],16) + _tcb = self.get_tcb_from_address(addr_dec) + print("found task with PID: ",_tcb["pid"]) + up_stack = int(_tcb['adj_stack_ptr']) + curr_sp = int(_tcb['xcp']['regs'][0]) #curr stack pointer + other_sp = int(_tcb['xcp']['regs'][8]) # other stack pointer + stacksize = int(_tcb['adj_stack_size']) # other stack pointer + + print("tasks current SP = ",hex(curr_sp),"stack max ptr is at ",hex(up_stack)) + + if curr_sp == up_stack: + sp = other_sp + else: + sp = curr_sp; + + while(sp < up_stack): + mem = self.readmem(sp) + #print(hex(sp)," : ",hex(mem)) + if self.is_in_bounds(mem): + # this is a potential instruction ptr + stack_percentage = (up_stack-sp)/stacksize + name,path,line,func = self.print_instruction_at(mem,stack_percentage) + sp = sp + 4; # jump up one word + +NX_my_bt() diff --git a/Documentation/versionfilter.sh b/Documentation/versionfilter.sh index a887d8bc4..a887d8bc4 100644..100755 --- a/Documentation/versionfilter.sh +++ b/Documentation/versionfilter.sh diff --git a/LICENSE.md b/LICENSE.md new file mode 100644 index 000000000..2ad83eba4 --- /dev/null +++ b/LICENSE.md @@ -0,0 +1,41 @@ +The PX4 firmware is licensed generally under a permissive 3-clause BSD license. Contributions are required +to be made under the same license. Any exception to this general rule is listed below. + + /**************************************************************************** + * + * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + + + - PX4 middleware: BSD 3-clause + - PX4 flight control stack: BSD 3-clause + - NuttX operating system: BSD 3-clause + - Exceptions: Currently only this [400 LOC file](https://github.com/PX4/Firmware/blob/master/src/lib/external_lgpl/tecs/tecs.cpp) remains LGPL, but will be replaced with a BSD implementation.
\ No newline at end of file diff --git a/NuttX b/NuttX -Subproject 088146b90eee5b614ea6386a64dae343a49a517 +Subproject ae4b05e2c51d07369b5d131052099ac346b0841 diff --git a/README.md b/README.md new file mode 100644 index 000000000..84fb02e3b --- /dev/null +++ b/README.md @@ -0,0 +1,10 @@ +## PX4 Aerial Middleware and Flight Control Stack ## + +* Official Website: http://px4.io +* License: BSD 3-clause (see LICENSE.md) +* Supported airframes: + * Multicopters + * Fixed wing +* Binaries (always up-to-date from master): + * [Downloads](https://pixhawk.org/downloads) +* Mailing list: [Google Groups](http://groups.google.com/group/px4users) 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 d114fe21a..4d6d350b8 100644 --- a/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil +++ b/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil @@ -1,14 +1,10 @@ #!nsh # -# HILStar / X-Plane -# -# Lorenz Meier <lm@inf.ethz.ch> +# HILStar +# <lorenz@px4.io> # sh /etc/init.d/rc.fw_defaults -echo "X Plane HIL starting.." - set HIL yes - 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 c4be16943..c8379e3a1 100644 --- a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery +++ b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery @@ -2,7 +2,7 @@ # # Team Blacksheep Discovery Quadcopter # -# Anton Babushkin <anton.babushkin@me.com>, Simon Wilks <sjwilks@gmail.com>, Thomas Gubler <thomasgubler@gmail.com> +# Anton Babushkin <anton@px4.io>, Simon Wilks <simon@px4.io> # sh /etc/init.d/rc.mc_defaults @@ -27,3 +27,4 @@ fi set MIXER FMU_quad_w set PWM_OUTPUTS 1234 +set PWM_MIN 1200 diff --git a/ROMFS/px4fmu_common/init.d/10016_3dr_iris b/ROMFS/px4fmu_common/init.d/10016_3dr_iris index 3f47390c1..0b422de7e 100644 --- a/ROMFS/px4fmu_common/init.d/10016_3dr_iris +++ b/ROMFS/px4fmu_common/init.d/10016_3dr_iris @@ -2,7 +2,7 @@ # # 3DR Iris Quadcopter # -# Anton Babushkin <anton.babushkin@me.com> +# Anton Babushkin <anton@px4.io> # sh /etc/init.d/rc.mc_defaults diff --git a/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d b/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d index 6179855f6..a621de7ce 100644 --- a/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d +++ b/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d @@ -2,8 +2,7 @@ # # Steadidrone QU4D # -# Thomas Gubler <thomasgubler@gmail.com> -# Lorenz Meier <lm@inf.ethz.ch> +# Thomas Gubler <thomas@px4.io> # sh /etc/init.d/rc.mc_defaults 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 7a7a9542c..1c4f6803b 100644 --- a/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil +++ b/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil @@ -2,7 +2,7 @@ # # HIL Quadcopter X # -# Anton Babushkin <anton.babushkin@me.com> +# Anton Babushkin <anton@px4.io> # sh /etc/init.d/rc.mc_defaults diff --git a/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil b/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil index c47500c7a..0cbdd75be 100644 --- a/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil +++ b/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil @@ -2,7 +2,7 @@ # # HIL Quadcopter + # -# Anton Babushkin <anton.babushkin@me.com> +# Anton Babushkin <anton@px4.io> # sh /etc/init.d/rc.mc_defaults 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 4e3e18326..fb440d2fc 100644 --- a/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil +++ b/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil @@ -2,13 +2,11 @@ # # HIL Rascal 110 (Flightgear) # -# Thomas Gubler <thomasgubler@gmail.com> +# Thomas Gubler <thomas@px4.io> # sh /etc/init.d/rc.fw_defaults -echo "HIL Rascal 110 starting.." - set HIL yes 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 941f5664a..00b97d675 100644 --- a/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil +++ b/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil @@ -2,7 +2,7 @@ # # HIL Malolo 1 (Flightgear) # -# Thomas Gubler <thomasgubler@gmail.com> +# Thomas Gubler <thomas@px4.io> # sh /etc/init.d/rc.fw_defaults diff --git a/ROMFS/px4fmu_common/init.d/11001_hexa_cox b/ROMFS/px4fmu_common/init.d/11001_hexa_cox index daa04a4de..e4d96fbd5 100644 --- a/ROMFS/px4fmu_common/init.d/11001_hexa_cox +++ b/ROMFS/px4fmu_common/init.d/11001_hexa_cox @@ -2,12 +2,12 @@ # # Generic 10" Hexa coaxial geometry # -# Lorenz Meier <lm@inf.ethz.ch> +# Lorenz Meier <lorenz@px4.io> # sh /etc/init.d/rc.mc_defaults set MIXER FMU_hexa_cox -# We only can run one channel group with one rate, so set all 8 channels +# Need to 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 8703f5f2f..f820251ad 100644 --- a/ROMFS/px4fmu_common/init.d/12001_octo_cox +++ b/ROMFS/px4fmu_common/init.d/12001_octo_cox @@ -2,7 +2,7 @@ # # Generic 10" Octo coaxial geometry # -# Lorenz Meier <lm@inf.ethz.ch> +# Lorenz Meier <lorenz@px4.io> # sh /etc/init.d/rc.mc_defaults diff --git a/ROMFS/px4fmu_common/init.d/3030_io_camflyer b/ROMFS/px4fmu_common/init.d/3030_io_camflyer index 83c470234..0f0cb3a89 100644 --- a/ROMFS/px4fmu_common/init.d/3030_io_camflyer +++ b/ROMFS/px4fmu_common/init.d/3030_io_camflyer @@ -3,3 +3,6 @@ sh /etc/init.d/rc.fw_defaults set MIXER FMU_Q +# Provide ESC a constant 1000 us pulse while disarmed +set PWM_OUTPUTS 4 +set PWM_DISARMED 1000 diff --git a/ROMFS/px4fmu_common/init.d/3031_phantom b/ROMFS/px4fmu_common/init.d/3031_phantom index 31dfe7100..a7749cba6 100644 --- a/ROMFS/px4fmu_common/init.d/3031_phantom +++ b/ROMFS/px4fmu_common/init.d/3031_phantom @@ -2,7 +2,7 @@ # # Phantom FPV Flying Wing # -# Simon Wilks <sjwilks@gmail.com>, Thomas Gubler <thomasgubler@gmail.com> +# Simon Wilks <simon@px4.io> # sh /etc/init.d/rc.fw_defaults @@ -21,8 +21,6 @@ then param set FW_PR_P 0.03 param set FW_P_LIM_MAX 50 param set FW_P_LIM_MIN -50 - param set FW_P_RMAX_NEG 0 - param set FW_P_RMAX_POS 0 param set FW_P_ROLLFF 1 param set FW_RR_FF 0.5 param set FW_RR_I 0.02 @@ -30,6 +28,9 @@ then param set FW_RR_P 0.08 param set FW_R_LIM 50 param set FW_R_RMAX 0 + # Bottom of bay and nominal zero-pitch attitude differ + # the payload bay is pitched up about 7 degrees + param set SENS_BOARD_Y_OFF 7.0 fi set MIXER phantom diff --git a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 index 7d0dc5bff..26c7c95e6 100644 --- a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 +++ b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 @@ -2,7 +2,7 @@ # # Skywalker X5 Flying Wing # -# Thomas Gubler <thomasgubler@gmail.com>, Julian Oes <joes@student.ethz.ch> +# Thomas Gubler <thomas@px4.io>, Julian Oes <julian@px4.io> # sh /etc/init.d/rc.fw_defaults @@ -19,10 +19,6 @@ then 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 1 param set FW_RR_FF 0.3 param set FW_RR_I 0 diff --git a/ROMFS/px4fmu_common/init.d/3033_wingwing b/ROMFS/px4fmu_common/init.d/3033_wingwing index f4dedef15..919eefb4a 100644 --- a/ROMFS/px4fmu_common/init.d/3033_wingwing +++ b/ROMFS/px4fmu_common/init.d/3033_wingwing @@ -2,7 +2,7 @@ # # Wing Wing (aka Z-84) Flying Wing # -# Simon Wilks <sjwilks@gmail.com> +# Simon Wilks <simon@px4.io> # sh /etc/init.d/rc.fw_defaults diff --git a/ROMFS/px4fmu_common/init.d/3034_fx79 b/ROMFS/px4fmu_common/init.d/3034_fx79 index f4bd18269..4a76ba6eb 100644 --- a/ROMFS/px4fmu_common/init.d/3034_fx79 +++ b/ROMFS/px4fmu_common/init.d/3034_fx79 @@ -2,7 +2,7 @@ # # FX-79 Buffalo Flying Wing # -# Simon Wilks <sjwilks@gmail.com> +# Simon Wilks <simon@px4.io> # sh /etc/init.d/rc.fw_defaults diff --git a/ROMFS/px4fmu_common/init.d/3035_viper b/ROMFS/px4fmu_common/init.d/3035_viper index a4c1e832d..0f5f5502a 100644 --- a/ROMFS/px4fmu_common/init.d/3035_viper +++ b/ROMFS/px4fmu_common/init.d/3035_viper @@ -2,9 +2,10 @@ # # Viper # -# Simon Wilks <sjwilks@gmail.com> +# Simon Wilks <simon@px4.io> # sh /etc/init.d/rc.fw_defaults set MIXER Viper + diff --git a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha index 9a2150403..9bfd9d9ed 100644 --- a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha +++ b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha @@ -1,8 +1,8 @@ #!nsh # -# TBS Caipirinha Flying Wing +# TBS Caipirinha # -# Thomas Gubler <thomasgubler@gmail.com> +# Thomas Gubler <thomas@px4.io> # sh /etc/init.d/rc.fw_defaults @@ -22,10 +22,6 @@ then 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 0 param set FW_RR_FF 0.3 param set FW_RR_I 0 diff --git a/ROMFS/px4fmu_common/init.d/4001_quad_x b/ROMFS/px4fmu_common/init.d/4001_quad_x index 06c54a41d..8fe8961c5 100644 --- a/ROMFS/px4fmu_common/init.d/4001_quad_x +++ b/ROMFS/px4fmu_common/init.d/4001_quad_x @@ -2,7 +2,7 @@ # # Generic 10" Quad X geometry # -# Lorenz Meier <lm@inf.ethz.ch> +# Lorenz Meier <lorenz@px4.io> # sh /etc/init.d/rc.mc_defaults diff --git a/ROMFS/px4fmu_common/init.d/4008_ardrone b/ROMFS/px4fmu_common/init.d/4008_ardrone index e6007db0e..0488e3928 100644 --- a/ROMFS/px4fmu_common/init.d/4008_ardrone +++ b/ROMFS/px4fmu_common/init.d/4008_ardrone @@ -3,9 +3,6 @@ # ARDrone # -echo "[init] 4008_ardrone: PX4FMU on PX4IOAR carrier board" - -# Just use the default multicopter settings. sh /etc/init.d/rc.mc_defaults # diff --git a/ROMFS/px4fmu_common/init.d/4010_dji_f330 b/ROMFS/px4fmu_common/init.d/4010_dji_f330 index 282ab620d..f0cc05207 100644 --- a/ROMFS/px4fmu_common/init.d/4010_dji_f330 +++ b/ROMFS/px4fmu_common/init.d/4010_dji_f330 @@ -1,8 +1,8 @@ #!nsh # -# DJI Flame Wheel F330 Quadcopter +# DJI Flame Wheel F330 # -# Anton Babushkin <anton.babushkin@me.com> +# Anton Babushkin <anton@px4.io> # sh /etc/init.d/4001_quad_x diff --git a/ROMFS/px4fmu_common/init.d/4011_dji_f450 b/ROMFS/px4fmu_common/init.d/4011_dji_f450 index 517b4aa86..1ca716a6b 100644 --- a/ROMFS/px4fmu_common/init.d/4011_dji_f450 +++ b/ROMFS/px4fmu_common/init.d/4011_dji_f450 @@ -1,8 +1,8 @@ #!nsh # -# DJI Flame Wheel F450 Quadcopter +# DJI Flame Wheel F450 # -# Lorenz Meier <lm@inf.ethz.ch> +# Lorenz Meier <lorenz@px4.io> # sh /etc/init.d/4001_quad_x diff --git a/ROMFS/px4fmu_common/init.d/4012_quad_x_can b/ROMFS/px4fmu_common/init.d/4012_quad_x_can index 8c5a4fbf2..5c4a6497a 100644 --- a/ROMFS/px4fmu_common/init.d/4012_quad_x_can +++ b/ROMFS/px4fmu_common/init.d/4012_quad_x_can @@ -2,7 +2,7 @@ # # F450-sized quadrotor with CAN # -# Lorenz Meier <lm@inf.ethz.ch> +# Pavel Kirienko <pavel@px4.io> # sh /etc/init.d/4001_quad_x diff --git a/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb b/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb index 99ffd73a5..9fe310dde 100644 --- a/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb +++ b/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb @@ -3,7 +3,7 @@ # Hobbyking Micro Integrated PCB Quadcopter # with SimonK ESC firmware and Mystery A1510 motors # -# Thomas Gubler <thomasgubler@gmail.com> +# Thomas Gubler <thomas@px4.io> # echo "HK Micro PCB Quad" diff --git a/ROMFS/px4fmu_common/init.d/5001_quad_+ b/ROMFS/px4fmu_common/init.d/5001_quad_+ index 1fb25e5d8..5512aa738 100644 --- a/ROMFS/px4fmu_common/init.d/5001_quad_+ +++ b/ROMFS/px4fmu_common/init.d/5001_quad_+ @@ -2,7 +2,7 @@ # # Generic 10" Quad + geometry # -# Anton Babushkin <anton.babushkin@me.com> +# Anton Babushkin <anton@px4.io> # sh /etc/init.d/rc.mc_defaults diff --git a/ROMFS/px4fmu_common/init.d/6001_hexa_x b/ROMFS/px4fmu_common/init.d/6001_hexa_x index 34fc6523f..1043ad8ad 100644 --- a/ROMFS/px4fmu_common/init.d/6001_hexa_x +++ b/ROMFS/px4fmu_common/init.d/6001_hexa_x @@ -2,12 +2,12 @@ # # Generic 10" Hexa X geometry # -# Anton Babushkin <anton.babushkin@me.com> +# Anton Babushkin <anton@px4.io> # sh /etc/init.d/rc.mc_defaults set MIXER FMU_hexa_x -# We only can run one channel group with one rate, so set all 8 channels +# Need to 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 235e376a6..84ab88883 100644 --- a/ROMFS/px4fmu_common/init.d/7001_hexa_+ +++ b/ROMFS/px4fmu_common/init.d/7001_hexa_+ @@ -2,12 +2,12 @@ # # Generic 10" Hexa + geometry # -# Anton Babushkin <anton.babushkin@me.com> +# Anton Babushkin <anton@px4.io> # 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 +# Need to 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 769217dc7..74e304cd9 100644 --- a/ROMFS/px4fmu_common/init.d/8001_octo_x +++ b/ROMFS/px4fmu_common/init.d/8001_octo_x @@ -2,7 +2,7 @@ # # Generic 10" Octo X geometry # -# Anton Babushkin <anton.babushkin@me.com> +# Anton Babushkin <anton@px4.io> # sh /etc/init.d/rc.mc_defaults diff --git a/ROMFS/px4fmu_common/init.d/9001_octo_+ b/ROMFS/px4fmu_common/init.d/9001_octo_+ index 28b074a54..f7c06c6c8 100644 --- a/ROMFS/px4fmu_common/init.d/9001_octo_+ +++ b/ROMFS/px4fmu_common/init.d/9001_octo_+ @@ -2,7 +2,7 @@ # # Generic 10" Octo + geometry # -# Anton Babushkin <anton.babushkin@me.com> +# Anton Babushkin <anton@px4.io> # sh /etc/init.d/rc.mc_defaults diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart index 9de7d9ecd..496a52c5f 100644 --- a/ROMFS/px4fmu_common/init.d/rc.autostart +++ b/ROMFS/px4fmu_common/init.d/rc.autostart @@ -1,5 +1,4 @@ # -# Check if auto-setup from one of the standard scripts is wanted # SYS_AUTOSTART = 0 means no autostart (default) # # AUTOSTART PARTITION: @@ -18,9 +17,15 @@ # 12000 .. 12999 Octo Cox # -# Simulation setups +# Simulation # +if param compare SYS_AUTOSTART 901 +then + sh /etc/init.d/901_bottle_drop_test.hil + set MODE custom +fi + if param compare SYS_AUTOSTART 1000 then sh /etc/init.d/1000_rc_fw_easystar.hil @@ -47,7 +52,7 @@ then fi # -# Standard plane +# Plane # if param compare SYS_AUTOSTART 2100 100 diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_apps b/ROMFS/px4fmu_common/init.d/rc.fw_apps index 9aca3fc5f..c97b3477f 100644 --- a/ROMFS/px4fmu_common/init.d/rc.fw_apps +++ b/ROMFS/px4fmu_common/init.d/rc.fw_apps @@ -13,3 +13,5 @@ ekf_att_pos_estimator start # fw_att_control start fw_pos_control_l1 start + +bottle_drop start diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface index 1de0abb58..41e0b149b 100644 --- a/ROMFS/px4fmu_common/init.d/rc.interface +++ b/ROMFS/px4fmu_common/init.d/rc.interface @@ -10,7 +10,7 @@ then # set MIXERSD /fs/microsd/etc/mixers/$MIXER.mix - #Use the mixer file from the SD-card if it exists + # Use the mixer file from the SD-card if it exists if [ -f $MIXERSD ] then set MIXER_FILE $MIXERSD @@ -54,7 +54,6 @@ then # if [ $PWM_RATE != none ] then - echo "[init] Set PWM rate: $PWM_RATE" pwm rate -c $PWM_OUTPUTS -r $PWM_RATE fi @@ -63,18 +62,20 @@ then # if [ $PWM_DISARMED != none ] then - echo "[init] Set PWM disarmed: $PWM_DISARMED" pwm disarmed -c $PWM_OUTPUTS -p $PWM_DISARMED fi if [ $PWM_MIN != none ] then - echo "[init] Set PWM min: $PWM_MIN" pwm min -c $PWM_OUTPUTS -p $PWM_MIN fi if [ $PWM_MAX != none ] then - echo "[init] Set PWM max: $PWM_MAX" pwm max -c $PWM_OUTPUTS -p $PWM_MAX fi fi + + if [ $FAILSAFE != none ] + then + pwm failsafe -d $OUTPUT_DEV $FAILSAFE + fi fi diff --git a/ROMFS/px4fmu_common/init.d/rc.jig b/ROMFS/px4fmu_common/init.d/rc.jig deleted file mode 100644 index e2b5d8f30..000000000 --- a/ROMFS/px4fmu_common/init.d/rc.jig +++ /dev/null @@ -1,10 +0,0 @@ -#!nsh -# -# Test jig startup script -# - -echo "[testing] doing production test.." - -tests jig - -echo "[testing] testing done" diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors index ecb408a54..fbac50cf7 100644 --- a/ROMFS/px4fmu_common/init.d/rc.sensors +++ b/ROMFS/px4fmu_common/init.d/rc.sensors @@ -54,7 +54,6 @@ then fi fi -# Start airspeed sensors if meas_airspeed start then echo "[init] Using MEAS airspeed sensor" @@ -68,11 +67,12 @@ else fi fi +if px4flow start +then +fi + # -# Start the sensor collection task. -# IMPORTANT: this also loads param offsets -# ALWAYS start this task before the -# preflight_check. +# Start sensors -> preflight_check # if sensors start then diff --git a/ROMFS/px4fmu_common/init.d/rc.uavcan b/ROMFS/px4fmu_common/init.d/rc.uavcan new file mode 100644 index 000000000..9a470a6b8 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.uavcan @@ -0,0 +1,18 @@ +#!nsh +# +# UAVCAN initialization script. +# + +if param compare UAVCAN_ENABLE 1 +then + if uavcan start + then + # First sensor publisher to initialize takes lowest instance ID + # This delay ensures that UAVCAN-interfaced sensors would be allocated on lowest instance IDs + sleep 1 + echo "[init] UAVCAN started" + else + echo "[init] ERROR: Could not start UAVCAN" + tone_alarm $TUNE_OUT_ERROR + fi +fi diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index c9e6a27ca..353f44877 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -66,6 +66,9 @@ then # sercon + # Try to get an USB console + nshterm /dev/ttyACM0 & + # # Start the ORB (first app to start) # @@ -96,11 +99,9 @@ then # if rgbled start then - echo "[init] RGB Led" else if blinkm start then - echo "[init] BlinkM" blinkm systemstate fi fi @@ -129,15 +130,14 @@ then set LOAD_DEFAULT_APPS yes set GPS yes set GPS_FAKE no + set FAILSAFE none # # Set DO_AUTOCONFIG flag to use it in AUTOSTART scripts # if param compare SYS_AUTOCONFIG 1 then - # We can't be sure the defaults haven't changed, so - # if someone requests a re-configuration, we do it - # cleanly from scratch (except autostart / autoconfig) + # Wipe out params param reset_nostart set DO_AUTOCONFIG yes else @@ -200,12 +200,10 @@ then if px4io checkcrc $IO_FILE then - echo "[init] PX4IO CRC OK" echo "PX4IO CRC OK" >> $LOG_FILE set IO_PRESENT yes else - echo "[init] Trying to update" echo "PX4IO Trying to update" >> $LOG_FILE tone_alarm MLL32CP8MB @@ -215,18 +213,15 @@ then usleep 500000 if px4io checkcrc $IO_FILE then - echo "[init] PX4IO CRC OK, update successful" echo "PX4IO CRC OK after updating" >> $LOG_FILE tone_alarm MLL8CDE set IO_PRESENT yes else - echo "[init] ERROR: PX4IO update failed" echo "PX4IO update failed" >> $LOG_FILE tone_alarm $TUNE_OUT_ERROR fi else - echo "[init] ERROR: PX4IO update failed" echo "PX4IO update failed" >> $LOG_FILE tone_alarm $TUNE_OUT_ERROR fi @@ -279,19 +274,12 @@ then fi fi - # Try to get an USB console - nshterm /dev/ttyACM0 & - - # - # Start the datamanager (and do not abort boot if it fails) - # + # waypoint storage if dataman start then fi - # - # Start the Commander (needs to be this early for in-air-restarts) - # + # Needs to be this early for in-air-restarts commander start # @@ -304,17 +292,15 @@ then then if [ $OUTPUT_MODE == uavcan_esc ] then - if uavcan start 1 + if param compare UAVCAN_ENABLE 0 then - echo "CAN UP" - else - echo "CAN ERR" + echo "[init] OVERRIDING UAVCAN_ENABLE = 1" + param set UAVCAN_ENABLE 1 fi fi if [ $OUTPUT_MODE == io -o $OUTPUT_MODE == uavcan_esc ] then - echo "[init] Use PX4IO PWM as primary output" if px4io start then echo "[init] PX4IO started" @@ -327,7 +313,6 @@ then if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == ardrone ] then - echo "[init] Use FMU as primary output" if fmu mode_$FMU_MODE then echo "[init] FMU mode_$FMU_MODE started" @@ -351,7 +336,6 @@ then if [ $OUTPUT_MODE == mkblctrl ] then - echo "[init] Use MKBLCTRL as primary output" set MKBLCTRL_ARG "" if [ $MKBLCTRL_MODE == x ] then @@ -374,7 +358,6 @@ then if [ $OUTPUT_MODE == hil ] then - echo "[init] Use HIL as primary output" if hil mode_port2_pwm8 then echo "[init] HIL output started" @@ -393,7 +376,6 @@ then then if px4io start then - echo "[init] PX4IO started" sh /etc/init.d/rc.io else echo "[init] ERROR: PX4IO start failed" @@ -426,9 +408,6 @@ then fi fi - # - # MAVLink - # if [ $MAVLINK_FLAGS == default ] then # Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s @@ -448,18 +427,18 @@ then mavlink start $MAVLINK_FLAGS # - # Sensors, Logging, GPS + # UAVCAN # - sh /etc/init.d/rc.sensors + sh /etc/init.d/rc.uavcan # - # Start logging in all modes, including HIL + # Sensors, Logging, GPS # + sh /etc/init.d/rc.sensors sh /etc/init.d/rc.logging if [ $GPS == yes ] then - echo "[init] Start GPS" if [ $GPS_FAKE == yes ] then echo "[init] Faking GPS" diff --git a/ROMFS/px4fmu_common/mixers/FMU_AERT.mix b/ROMFS/px4fmu_common/mixers/FMU_AERT.mix index 0ec663e35..7fed488af 100644 --- a/ROMFS/px4fmu_common/mixers/FMU_AERT.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_AERT.mix @@ -64,21 +64,22 @@ O: 10000 10000 0 -10000 10000 S: 0 3 0 20000 -10000 -10000 10000 -Gimbal / flaps / payload mixer for last four channels +Gimbal / flaps / payload mixer for last four channels, +using the payload control group ----------------------------------------------------- M: 1 O: 10000 10000 0 -10000 10000 -S: 0 4 10000 10000 0 -10000 10000 +S: 2 0 10000 10000 0 -10000 10000 M: 1 O: 10000 10000 0 -10000 10000 -S: 0 5 10000 10000 0 -10000 10000 +S: 2 1 10000 10000 0 -10000 10000 M: 1 O: 10000 10000 0 -10000 10000 -S: 0 6 10000 10000 0 -10000 10000 +S: 2 2 10000 10000 0 -10000 10000 M: 1 O: 10000 10000 0 -10000 10000 -S: 0 7 10000 10000 0 -10000 10000 +S: 2 3 10000 10000 0 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/FMU_FX79.mix b/ROMFS/px4fmu_common/mixers/FMU_FX79.mix index 112d9b891..b8879af9e 100755 --- a/ROMFS/px4fmu_common/mixers/FMU_FX79.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_FX79.mix @@ -52,21 +52,18 @@ M: 1 O: 10000 10000 0 -10000 10000 S: 0 3 0 20000 -10000 -10000 10000 -Gimbal / flaps / payload mixer for last four channels +Inputs to the mixer come from channel group 2 (payload), channels 0 +(bay servo 1), 1 (bay servo 2) and 3 (drop release). ----------------------------------------------------- M: 1 O: 10000 10000 0 -10000 10000 -S: 0 4 10000 10000 0 -10000 10000 +S: 2 0 10000 10000 0 -10000 10000 M: 1 O: 10000 10000 0 -10000 10000 -S: 0 5 10000 10000 0 -10000 10000 +S: 2 1 10000 10000 0 -10000 10000 M: 1 O: 10000 10000 0 -10000 10000 -S: 0 6 10000 10000 0 -10000 10000 - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 7 10000 10000 0 -10000 10000 +S: 2 2 -10000 -10000 0 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/Viper.mix b/ROMFS/px4fmu_common/mixers/Viper.mix index 79c4447be..5aa3828f2 100755 --- a/ROMFS/px4fmu_common/mixers/Viper.mix +++ b/ROMFS/px4fmu_common/mixers/Viper.mix @@ -52,21 +52,20 @@ M: 1 O: 10000 10000 0 -10000 10000 S: 0 3 0 20000 -10000 -10000 10000 -Gimbal / flaps / payload mixer for last four channels +Inputs to the mixer come from channel group 2 (payload), channels 0 +(bay servo 1), 1 (bay servo 2) and 3 (drop release). ----------------------------------------------------- M: 1 O: 10000 10000 0 -10000 10000 -S: 0 4 10000 10000 0 -10000 10000 +S: 2 0 10000 10000 0 -10000 10000 M: 1 O: 10000 10000 0 -10000 10000 -S: 0 5 10000 10000 0 -10000 10000 +S: 2 1 10000 10000 0 -10000 10000 M: 1 O: 10000 10000 0 -10000 10000 -S: 0 6 10000 10000 0 -10000 10000 +S: 2 2 -8000 -8000 0 -10000 10000 + -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 7 10000 10000 0 -10000 10000 diff --git a/ROMFS/px4fmu_test/init.d/rcS b/ROMFS/px4fmu_test/init.d/rcS index 56482d140..bc248ac04 100644 --- a/ROMFS/px4fmu_test/init.d/rcS +++ b/ROMFS/px4fmu_test/init.d/rcS @@ -75,3 +75,33 @@ if [ -f /fs/microsd/mount_test_cmds.txt ] then tests mount fi + +# +# Run unit tests at board boot, reporting failure as needed. +# Add new unit tests using the same pattern as below. +# + +set unit_test_failure 0 + +if mavlink_tests +then +else + set unit_test_failure 1 + set unit_test_failure_list "${unit_test_failure_list} mavlink_tests" +fi + +if commander_tests +then +else + set unit_test_failure 1 + set unit_test_failure_list "${unit_test_failure_list} commander_tests" +fi + +if [ $unit_test_failure == 0 ] +then + echo + echo "All Unit Tests PASSED" +else + echo + echo "Some Unit Tests FAILED:${unit_test_failure_list}" +fi
\ No newline at end of file diff --git a/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/empty_dir/.gitignore b/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/empty_dir/.gitignore new file mode 100644 index 000000000..e69de29bb --- /dev/null +++ b/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/empty_dir/.gitignore diff --git a/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_238.data b/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_238.data Binary files differnew file mode 100644 index 000000000..973de16e5 --- /dev/null +++ b/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_238.data diff --git a/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_239.data b/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_239.data Binary files differnew file mode 100644 index 000000000..7e8764c03 --- /dev/null +++ b/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_239.data diff --git a/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_240.data b/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_240.data Binary files differnew file mode 100644 index 000000000..f3fe31687 --- /dev/null +++ b/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_240.data diff --git a/Tools/px_generate_xml.sh b/Tools/px_generate_xml.sh index 65f0c95da..65f0c95da 100644..100755 --- a/Tools/px_generate_xml.sh +++ b/Tools/px_generate_xml.sh diff --git a/Tools/px_mkfw.py b/Tools/px_mkfw.py index b598a65a1..c2da8a203 100755 --- a/Tools/px_mkfw.py +++ b/Tools/px_mkfw.py @@ -73,6 +73,7 @@ parser.add_argument("--version", action="store", help="set a version string") parser.add_argument("--summary", action="store", help="set a brief description") parser.add_argument("--description", action="store", help="set a longer description") parser.add_argument("--git_identity", action="store", help="the working directory to check for git identity") +parser.add_argument("--parameter_xml", action="store", help="the parameters.xml file") parser.add_argument("--image", action="store", help="the firmware image") args = parser.parse_args() @@ -101,6 +102,10 @@ if args.git_identity != None: p = subprocess.Popen(cmd, shell=True, stdout=subprocess.PIPE).stdout desc['git_identity'] = str(p.read().strip()) p.close() +if args.parameter_xml != None: + f = open(args.parameter_xml, "rb") + bytes = f.read() + desc['parameter_xml'] = base64.b64encode(zlib.compress(bytes,9)).decode('utf-8') if args.image != None: f = open(args.image, "rb") bytes = f.read() diff --git a/Tools/px_romfs_pruner.py b/Tools/px_romfs_pruner.py index fcc40b09e..aef1cc7a3 100644 --- a/Tools/px_romfs_pruner.py +++ b/Tools/px_romfs_pruner.py @@ -57,7 +57,7 @@ def main(): for (root, dirs, files) in os.walk(args.folder): for file in files: # only prune text files - if ".zip" in file or ".bin" in file or ".swp" in file: + if ".zip" in file or ".bin" in file or ".swp" in file or ".data" in file: continue file_path = os.path.join(root, file) diff --git a/Tools/px_update_wiki.sh b/Tools/px_update_wiki.sh index d66bb9e10..d66bb9e10 100644..100755 --- a/Tools/px_update_wiki.sh +++ b/Tools/px_update_wiki.sh diff --git a/Tools/px_uploader.py b/Tools/px_uploader.py index d8f4884bc..3a4540ac0 100755 --- a/Tools/px_uploader.py +++ b/Tools/px_uploader.py @@ -180,7 +180,7 @@ 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=2.0) + self.port = serial.Serial(portname, baudrate, timeout=0.5) self.otp = b'' self.sn = b'' @@ -195,7 +195,7 @@ class uploader(object): def __recv(self, count=1): c = self.port.read(count) if len(c) < 1: - raise RuntimeError("timeout waiting for data") + raise RuntimeError("timeout waiting for data (%u bytes)" % count) # print("recv " + binascii.hexlify(c)) return c @@ -458,7 +458,8 @@ if os.path.exists("/usr/sbin/ModemManager"): # Load the firmware file fw = firmware(args.firmware) -print("Loaded firmware for %x,%x, waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision'))) +print("Loaded firmware for %x,%x, size: %d bytes, waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size'))) +print("If the board does not respond within 1-2 seconds, unplug and re-plug the USB connector.") # Spin waiting for a device to show up while True: @@ -508,9 +509,12 @@ while True: except Exception: # most probably a timeout talking to the port, no bootloader, try to reboot the board print("attempting reboot on %s..." % port) + print("if the board does not respond, unplug and re-plug the USB connector.") up.send_reboot() # wait for the reboot, without we might run into Serial I/O Error 5 time.sleep(0.5) + # always close the port + up.close() continue try: diff --git a/Tools/sdlog2/sdlog2_dump.py b/Tools/sdlog2/sdlog2_dump.py index ca2efb021..8b0ccb2d7 100644..100755 --- a/Tools/sdlog2/sdlog2_dump.py +++ b/Tools/sdlog2/sdlog2_dump.py @@ -154,8 +154,8 @@ class SDLog2Parser: first_data_msg = False self.__parseMsg(msg_descr) bytes_read += self.__ptr - if not self.__debug_out and self.__time_msg != None and self.__csv_updated: - self.__printCSVRow() + if not self.__debug_out and self.__time_msg != None and self.__csv_updated: + self.__printCSVRow() f.close() def __bytesLeft(self): diff --git a/Tools/tests-host/.gitignore b/Tools/tests-host/.gitignore index 87b314c61..37e923b5e 100644 --- a/Tools/tests-host/.gitignore +++ b/Tools/tests-host/.gitignore @@ -1,4 +1,6 @@ ./obj/* mixer_test +sf0x_test sbus2_test autodeclination_test +st24_test diff --git a/Tools/tests-host/Makefile b/Tools/tests-host/Makefile index f0737ef88..8742e2f7c 100644 --- a/Tools/tests-host/Makefile +++ b/Tools/tests-host/Makefile @@ -3,7 +3,7 @@ CC=g++ CFLAGS=-I. -I../../src/modules -I ../../src/include -I../../src/drivers \ -I../../src -I../../src/lib -D__EXPORT="" -Dnullptr="0" -lm -all: mixer_test sbus2_test autodeclination_test +all: mixer_test sbus2_test autodeclination_test st24_test sf0x_test MIXER_FILES=../../src/systemcmds/tests/test_mixer.cpp \ ../../src/systemcmds/tests/test_conv.cpp \ @@ -20,7 +20,16 @@ SBUS2_FILES=../../src/modules/px4iofirmware/sbus.c \ hrt.cpp \ sbus2_test.cpp -AUTODECLINATION_FILES= ../../src/lib/geo/geo_mag_declination.c \ +ST24_FILES=../../src/lib/rc/st24.c \ + hrt.cpp \ + st24_test.cpp + +SF0X_FILES= \ + hrt.cpp \ + sf0x_test.cpp \ + ../../src/drivers/sf0x/sf0x_parser.cpp + +AUTODECLINATION_FILES= ../../src/lib/geo_lookup/geo_mag_declination.c \ hrt.cpp \ autodeclination_test.cpp @@ -30,10 +39,16 @@ mixer_test: $(MIXER_FILES) sbus2_test: $(SBUS2_FILES) $(CC) -o sbus2_test $(SBUS2_FILES) $(CFLAGS) +sf0x_test: $(SF0X_FILES) + $(CC) -o sf0x_test $(SF0X_FILES) $(CFLAGS) + autodeclination_test: $(SBUS2_FILES) $(CC) -o autodeclination_test $(AUTODECLINATION_FILES) $(CFLAGS) +st24_test: $(ST24_FILES) + $(CC) -o st24_test $(ST24_FILES) $(CFLAGS) + .PHONY: clean clean: - rm -f $(ODIR)/*.o *~ core $(INCDIR)/*~ mixer_test sbus2_test autodeclination_test
\ No newline at end of file + rm -f $(ODIR)/*.o *~ core $(INCDIR)/*~ mixer_test sbus2_test autodeclination_test st24_test sf0x_test diff --git a/Tools/tests-host/sbus2_test.cpp b/Tools/tests-host/sbus2_test.cpp index d8fcb695d..e2c18369c 100644 --- a/Tools/tests-host/sbus2_test.cpp +++ b/Tools/tests-host/sbus2_test.cpp @@ -29,7 +29,8 @@ int main(int argc, char *argv[]) { // Trash the first 20 lines for (unsigned i = 0; i < 20; i++) { - (void)fscanf(fp, "%f,%x,,", &f, &x); + char buf[200]; + (void)fgets(buf, sizeof(buf), fp); } // Init the parser diff --git a/Tools/tests-host/sf0x_test.cpp b/Tools/tests-host/sf0x_test.cpp new file mode 100644 index 000000000..82d19fcbe --- /dev/null +++ b/Tools/tests-host/sf0x_test.cpp @@ -0,0 +1,65 @@ + +#include <unistd.h> +#include <string.h> +#include <stdlib.h> +#include <stdio.h> +#include <systemlib/err.h> +#include <drivers/drv_hrt.h> + +#include <drivers/sf0x/sf0x_parser.h> + +int main(int argc, char *argv[]) +{ + warnx("SF0X test started"); + + int ret = 0; + + const char LINE_MAX = 20; + char _linebuf[LINE_MAX]; + _linebuf[0] = '\0'; + + const char *lines[] = {"0.01\r\n", + "0.02\r\n", + "0.03\r\n", + "0.04\r\n", + "0", + ".", + "0", + "5", + "\r", + "\n", + "0", + "3\r", + "\n" + "\r\n", + "0.06", + "\r\n" + }; + + enum SF0X_PARSE_STATE state = SF0X_PARSE_STATE0_UNSYNC; + float dist_m; + char _parserbuf[LINE_MAX]; + unsigned _parsebuf_index = 0; + + for (unsigned l = 0; l < sizeof(lines) / sizeof(lines[0]); l++) { + + printf("\n%s", _linebuf); + + int parse_ret; + + for (int i = 0; i < strlen(lines[l]); i++) { + parse_ret = sf0x_parser(lines[l][i], _parserbuf, &_parsebuf_index, &state, &dist_m); + + if (parse_ret == 0) { + printf("\nparsed: %f %s\n", dist_m, (parse_ret == 0) ? "OK" : ""); + } + } + + printf("%s", lines[l]); + + } + + warnx("test finished"); + + return ret; +} diff --git a/Tools/tests-host/st24_test.cpp b/Tools/tests-host/st24_test.cpp new file mode 100644 index 000000000..25a9355e2 --- /dev/null +++ b/Tools/tests-host/st24_test.cpp @@ -0,0 +1,76 @@ + +#include <stdio.h> +#include <unistd.h> +#include <string.h> +#include <systemlib/err.h> +#include <drivers/drv_hrt.h> +#include <rc/st24.h> +#include "../../src/systemcmds/tests/tests.h" + +int main(int argc, char *argv[]) +{ + warnx("ST24 test started"); + + if (argc < 2) { + errx(1, "Need a filename for the input file"); + } + + warnx("loading data from: %s", argv[1]); + + FILE *fp; + + fp = fopen(argv[1], "rt"); + + if (!fp) { + errx(1, "failed opening file"); + } + + float f; + unsigned x; + int ret; + + // Trash the first 20 lines + for (unsigned i = 0; i < 20; i++) { + char buf[200]; + (void)fgets(buf, sizeof(buf), fp); + } + + float last_time = 0; + + while (EOF != (ret = fscanf(fp, "%f,%x,,", &f, &x))) { + if (((f - last_time) * 1000 * 1000) > 3000) { + // warnx("FRAME RESET\n\n"); + } + + uint8_t b = static_cast<uint8_t>(x); + + last_time = f; + + // Pipe the data into the parser + hrt_abstime now = hrt_absolute_time(); + + uint8_t rssi; + uint8_t rx_count; + uint16_t channel_count; + uint16_t channels[20]; + + + if (!st24_decode(b, &rssi, &rx_count, &channel_count, channels, sizeof(channels) / sizeof(channels[0]))) { + warnx("decoded: %u channels (converted to PPM range)", (unsigned)channel_count); + + for (unsigned i = 0; i < channel_count; i++) { + + int16_t val = channels[i]; + warnx("channel %u: %d 0x%03X", i, static_cast<int>(val), static_cast<int>(val)); + } + } + } + + if (ret == EOF) { + warnx("Test finished, reached end of file"); + + } else { + warnx("Test aborted, errno: %d", ret); + } + +} diff --git a/Tools/upload.sh b/Tools/upload.sh new file mode 100755 index 000000000..c0dd65eba --- /dev/null +++ b/Tools/upload.sh @@ -0,0 +1,28 @@ +#!/bin/bash + +EXEDIR=`pwd` +BASEDIR=$(dirname $0) + +SYSTYPE=`uname -s` + +# +# Serial port defaults. +# +# XXX The uploader should be smarter than this. +# +if [ $SYSTYPE = "Darwin" ]; +then +SERIAL_PORTS="/dev/tty.usbmodemPX*,/dev/tty.usbmodem*" +fi + +if [ $SYSTYPE = "Linux" ]; +then +SERIAL_PORTS="/dev/serial/by-id/usb-3D_Robotics*" +fi + +if [ $SYSTYPE = "" ]; +then +SERIAL_PORTS="COM32,COM31,COM30,COM29,COM28,COM27,COM26,COM25,COM24,COM23,COM22,COM21,COM20,COM19,COM18,COM17,COM16,COM15,COM14,COM13,COM12,COM11,COM10,COM9,COM8,COM7,COM6,COM5,COM4,COM3,COM2,COM1,COM0" +fi + +python $BASEDIR/px_uploader.py --port $SERIAL_PORTS $1
\ No newline at end of file diff --git a/Tools/usb_serialload.py b/Tools/usb_serialload.py new file mode 100644 index 000000000..5c864532f --- /dev/null +++ b/Tools/usb_serialload.py @@ -0,0 +1,55 @@ +import serial, time + + +port = serial.Serial('/dev/ttyACM0', baudrate=57600, timeout=2) + +data = '01234567890123456789012345678901234567890123456789' +#data = 'hellohello' +outLine = 'echo %s\n' % data + +port.write('\n\n\n') +port.write('free\n') +line = port.readline(80) +while line != '': + print(line) + line = port.readline(80) + + +i = 0 +bytesOut = 0 +bytesIn = 0 + +startTime = time.time() +lastPrint = startTime +while True: + bytesOut += port.write(outLine) + line = port.readline(80) + bytesIn += len(line) + # check command line echo + if (data not in line): + print('command error %d: %s' % (i,line)) + #break + # read echo output + line = port.readline(80) + if (data not in line): + print('echo output error %d: %s' % (i,line)) + #break + bytesIn += len(line) + #print('%d: %s' % (i,line)) + #print('%d: bytesOut: %d, bytesIn: %d' % (i, bytesOut, bytesIn)) + + elapsedT = time.time() - lastPrint + if (time.time() - lastPrint >= 5): + outRate = bytesOut / elapsedT + inRate = bytesIn / elapsedT + usbRate = (bytesOut + bytesIn) / elapsedT + lastPrint = time.time() + print('elapsed time: %f' % (time.time() - startTime)) + print('data rates (bytes/sec): out: %f, in: %f, total: %f' % (outRate, inRate, usbRate)) + + bytesOut = 0 + bytesIn = 0 + + i += 1 + #if (i > 2): break + diff --git a/makefiles/config_px4fmu-v1_default.mk b/makefiles/config_px4fmu-v1_default.mk index 97eddfdd2..18be47065 100644 --- a/makefiles/config_px4fmu-v1_default.mk +++ b/makefiles/config_px4fmu-v1_default.mk @@ -24,25 +24,24 @@ MODULES += drivers/l3gd20 MODULES += drivers/mpu6000 MODULES += drivers/hmc5883 MODULES += drivers/ms5611 -MODULES += drivers/mb12xx +#MODULES += drivers/ll40ls +MODULES += drivers/trone +#MODULES += drivers/mb12xx MODULES += drivers/gps MODULES += drivers/hil -MODULES += drivers/hott/hott_telemetry -MODULES += drivers/hott/hott_sensors -MODULES += drivers/blinkm +#MODULES += drivers/blinkm MODULES += drivers/rgbled MODULES += drivers/mkblctrl MODULES += drivers/airspeed -MODULES += drivers/ets_airspeed +#MODULES += drivers/ets_airspeed MODULES += drivers/meas_airspeed -MODULES += drivers/frsky_telemetry +#MODULES += drivers/frsky_telemetry MODULES += modules/sensors # # System commands # MODULES += systemcmds/mtd -MODULES += systemcmds/bl_update MODULES += systemcmds/mixer MODULES += systemcmds/param MODULES += systemcmds/perf @@ -135,6 +134,9 @@ MODULES += lib/launchdetection # Hardware test #MODULES += examples/hwtest +# Generate parameter XML file +GEN_PARAM_XML = 1 + # # Transitional support - add commands from the NuttX export archive. # diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk index d0a40445d..df6b6d0c5 100644 --- a/makefiles/config_px4fmu-v2_default.mk +++ b/makefiles/config_px4fmu-v2_default.mk @@ -27,25 +27,21 @@ MODULES += drivers/l3gd20 MODULES += drivers/hmc5883 MODULES += drivers/ms5611 MODULES += drivers/mb12xx -MODULES += drivers/sf0x +# MODULES += drivers/sf0x MODULES += drivers/ll40ls +# MODULES += drivers/trone MODULES += drivers/gps MODULES += drivers/hil MODULES += drivers/hott/hott_telemetry MODULES += drivers/hott/hott_sensors -MODULES += drivers/blinkm +# MODULES += drivers/blinkm MODULES += drivers/airspeed MODULES += drivers/ets_airspeed MODULES += drivers/meas_airspeed MODULES += drivers/frsky_telemetry MODULES += modules/sensors MODULES += drivers/mkblctrl -MODULES += drivers/pca8574 - - -# Needs to be burned to the ground and re-written; for now, -# just don't build it. -#MODULES += drivers/mkblctrl +MODULES += drivers/px4flow # # System commands @@ -60,7 +56,6 @@ MODULES += systemcmds/pwm MODULES += systemcmds/esc_calib MODULES += systemcmds/reboot MODULES += systemcmds/top -MODULES += systemcmds/tests MODULES += systemcmds/config MODULES += systemcmds/nshterm MODULES += systemcmds/mtd @@ -80,10 +75,8 @@ MODULES += modules/uavcan # Estimation modules (EKF/ SO3 / other filters) # MODULES += modules/attitude_estimator_ekf -MODULES += modules/attitude_estimator_so3 MODULES += modules/ekf_att_pos_estimator MODULES += modules/position_estimator_inav -MODULES += examples/flow_position_estimator # # Vehicle Control @@ -100,12 +93,6 @@ MODULES += modules/mc_pos_control MODULES += modules/sdlog2 # -# Unit tests -# -#MODULES += modules/unit_test -#MODULES += modules/commander/commander_tests - -# # Library modules # MODULES += modules/systemlib @@ -128,12 +115,17 @@ MODULES += lib/conversion MODULES += lib/launchdetection # +# OBC challenge +# +MODULES += modules/bottle_drop + +# # Demo apps # #MODULES += examples/math_demo # Tutorial code from # https://pixhawk.ethz.ch/px4/dev/hello_sky -MODULES += examples/px4_simple_app +#MODULES += examples/px4_simple_app # Tutorial code from # https://pixhawk.ethz.ch/px4/dev/daemon @@ -150,6 +142,9 @@ MODULES += examples/px4_simple_app # Hardware test #MODULES += examples/hwtest +# Generate parameter XML file +GEN_PARAM_XML = 1 + # # Transitional support - add commands from the NuttX export archive. # diff --git a/makefiles/config_px4fmu-v2_test.mk b/makefiles/config_px4fmu-v2_test.mk index 932f92261..6f54b960c 100644 --- a/makefiles/config_px4fmu-v2_test.mk +++ b/makefiles/config_px4fmu-v2_test.mk @@ -50,10 +50,21 @@ MODULES += lib/mathlib/math/filter MODULES += lib/conversion # +# Modules to test-build, but not useful for test environment +# +MODULES += modules/attitude_estimator_so3 +MODULES += drivers/pca8574 +MODULES += examples/flow_position_estimator + +# # Libraries # LIBRARIES += lib/mathlib/CMSIS +MODULES += modules/unit_test +MODULES += modules/mavlink/mavlink_tests +MODULES += modules/commander/commander_tests + # # Transitional support - add commands from the NuttX export archive. # diff --git a/makefiles/firmware.mk b/makefiles/firmware.mk index 60602e76f..21e8739aa 100644 --- a/makefiles/firmware.mk +++ b/makefiles/firmware.mk @@ -467,6 +467,7 @@ endif PRODUCT_BUNDLE = $(WORK_DIR)firmware.px4 PRODUCT_BIN = $(WORK_DIR)firmware.bin PRODUCT_ELF = $(WORK_DIR)firmware.elf +PRODUCT_PARAMXML = $(WORK_DIR)/parameters.xml .PHONY: firmware firmware: $(PRODUCT_BUNDLE) @@ -497,9 +498,17 @@ $(filter %.S.o,$(OBJS)): $(WORK_DIR)%.S.o: %.S $(GLOBAL_DEPS) $(PRODUCT_BUNDLE): $(PRODUCT_BIN) @$(ECHO) %% Generating $@ +ifdef GEN_PARAM_XML + python $(PX4_BASE)/Tools/px_process_params.py --src-path $(PX4_BASE)/src --xml $(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(BOARD).prototype \ --git_identity $(PX4_BASE) \ + --parameter_xml $(PRODUCT_PARAMXML) \ --image $< > $@ +else + $(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(BOARD).prototype \ + --git_identity $(PX4_BASE) \ + --image $< > $@ +endif $(PRODUCT_BIN): $(PRODUCT_ELF) $(call SYM_TO_BIN,$<,$@) diff --git a/makefiles/toolchain_gnu-arm-eabi.mk b/makefiles/toolchain_gnu-arm-eabi.mk index 71c7fb49f..84e5cd08a 100644 --- a/makefiles/toolchain_gnu-arm-eabi.mk +++ b/makefiles/toolchain_gnu-arm-eabi.mk @@ -50,11 +50,11 @@ OBJDUMP = $(CROSSDEV)objdump # Check if the right version of the toolchain is available # -CROSSDEV_VER_SUPPORTED = 4.7 +CROSSDEV_VER_SUPPORTED = 4.7.4 4.7.5 4.7.6 4.8.4 CROSSDEV_VER_FOUND = $(shell $(CC) -dumpversion) -ifeq (,$(findstring $(CROSSDEV_VER_SUPPORTED),$(CROSSDEV_VER_FOUND))) -$(error Unsupported version of $(CC), found: $(CROSSDEV_VER_FOUND) instead of $(CROSSDEV_VER_SUPPORTED).x) +ifeq (,$(findstring $(CROSSDEV_VER_FOUND), $(CROSSDEV_VER_SUPPORTED))) +$(error Unsupported version of $(CC), found: $(CROSSDEV_VER_FOUND) instead of one in: $(CROSSDEV_VER_SUPPORTED)) endif diff --git a/mavlink/include/mavlink/v1.0 b/mavlink/include/mavlink/v1.0 -Subproject 4d7487c2bc5f5ccf87bca82970fb2c08d6d8bd5 +Subproject ad5e5a645dec152419264ad32221f7c113ea5c3 diff --git a/nuttx-configs/aerocore/nsh/defconfig b/nuttx-configs/aerocore/nsh/defconfig index 8d0bae7b9..317194f68 100644 --- a/nuttx-configs/aerocore/nsh/defconfig +++ b/nuttx-configs/aerocore/nsh/defconfig @@ -314,7 +314,7 @@ CONFIG_STM32_I2CTIMEOTICKS=500 # CONFIG_ARCH_NOINTC is not set # CONFIG_ARCH_VECNOTIRQ is not set CONFIG_ARCH_DMA=y -CONFIG_ARCH_IRQPRIO=y +# CONFIG_ARCH_IRQPRIO is not set # CONFIG_CUSTOM_STACK is not set # CONFIG_ADDRENV is not set CONFIG_ARCH_HAVE_VFORK=y diff --git a/nuttx-configs/px4fmu-v1/nsh/Make.defs b/nuttx-configs/px4fmu-v1/nsh/Make.defs index 7b2ea703a..e7318e519 100644 --- a/nuttx-configs/px4fmu-v1/nsh/Make.defs +++ b/nuttx-configs/px4fmu-v1/nsh/Make.defs @@ -53,7 +53,7 @@ NM = $(CROSSDEV)nm OBJCOPY = $(CROSSDEV)objcopy OBJDUMP = $(CROSSDEV)objdump -MAXOPTIMIZATION = -O3 +MAXOPTIMIZATION = -Os ARCHCPUFLAGS = -mcpu=cortex-m4 \ -mthumb \ -march=armv7e-m \ diff --git a/nuttx-configs/px4fmu-v1/nsh/defconfig b/nuttx-configs/px4fmu-v1/nsh/defconfig index a651faffa..edf49b26e 100644 --- a/nuttx-configs/px4fmu-v1/nsh/defconfig +++ b/nuttx-configs/px4fmu-v1/nsh/defconfig @@ -288,7 +288,6 @@ CONFIG_STM32_USART_SINGLEWIRE=y # CONFIG_STM32_I2C_DYNTIMEO is not set CONFIG_STM32_I2CTIMEOSEC=0 CONFIG_STM32_I2CTIMEOMS=10 -CONFIG_STM32_I2CTIMEOTICKS=500 # CONFIG_STM32_I2C_DUTY16_9 is not set # @@ -309,7 +308,7 @@ CONFIG_STM32_I2CTIMEOTICKS=500 # CONFIG_ARCH_NOINTC is not set # CONFIG_ARCH_VECNOTIRQ is not set CONFIG_ARCH_DMA=y -CONFIG_ARCH_IRQPRIO=y +# CONFIG_ARCH_IRQPRIO is not set # CONFIG_CUSTOM_STACK is not set # CONFIG_ADDRENV is not set CONFIG_ARCH_HAVE_VFORK=y diff --git a/nuttx-configs/px4fmu-v2/nsh/Make.defs b/nuttx-configs/px4fmu-v2/nsh/Make.defs index e70320aaa..f3ce53b4a 100644 --- a/nuttx-configs/px4fmu-v2/nsh/Make.defs +++ b/nuttx-configs/px4fmu-v2/nsh/Make.defs @@ -53,7 +53,7 @@ NM = $(CROSSDEV)nm OBJCOPY = $(CROSSDEV)objcopy OBJDUMP = $(CROSSDEV)objdump -MAXOPTIMIZATION = -O3 +MAXOPTIMIZATION = -Os ARCHCPUFLAGS = -mcpu=cortex-m4 \ -mthumb \ -march=armv7e-m \ diff --git a/nuttx-configs/px4fmu-v2/nsh/defconfig b/nuttx-configs/px4fmu-v2/nsh/defconfig index a55c95a29..e31f40cd2 100644 --- a/nuttx-configs/px4fmu-v2/nsh/defconfig +++ b/nuttx-configs/px4fmu-v2/nsh/defconfig @@ -323,8 +323,7 @@ CONFIG_STM32_USART_SINGLEWIRE=y # # CONFIG_STM32_I2C_DYNTIMEO is not set CONFIG_STM32_I2CTIMEOSEC=0 -CONFIG_STM32_I2CTIMEOMS=10 -CONFIG_STM32_I2CTIMEOTICKS=500 +CONFIG_STM32_I2CTIMEOMS=1 # CONFIG_STM32_I2C_DUTY16_9 is not set # @@ -350,7 +349,7 @@ CONFIG_SDIO_PRI=128 # CONFIG_ARCH_NOINTC is not set # CONFIG_ARCH_VECNOTIRQ is not set CONFIG_ARCH_DMA=y -CONFIG_ARCH_IRQPRIO=y +# CONFIG_ARCH_IRQPRIO is not set # CONFIG_CUSTOM_STACK is not set # CONFIG_ADDRENV is not set CONFIG_ARCH_HAVE_VFORK=y diff --git a/nuttx-configs/px4fmu-v2/scripts/ld.script b/nuttx-configs/px4fmu-v2/scripts/ld.script index 1be39fb87..bec896d1c 100644 --- a/nuttx-configs/px4fmu-v2/scripts/ld.script +++ b/nuttx-configs/px4fmu-v2/scripts/ld.script @@ -50,7 +50,8 @@ MEMORY { - flash (rx) : ORIGIN = 0x08004000, LENGTH = 2032K + /* disabled due to silicon errata flash (rx) : ORIGIN = 0x08004000, LENGTH = 2032K */ + flash (rx) : ORIGIN = 0x08004000, LENGTH = 1008K sram (rwx) : ORIGIN = 0x20000000, LENGTH = 192K ccsram (rwx) : ORIGIN = 0x10000000, LENGTH = 64K } diff --git a/nuttx-configs/px4io-v1/nsh/Make.defs b/nuttx-configs/px4io-v1/nsh/Make.defs index 712631f47..7a0792ff6 100644 --- a/nuttx-configs/px4io-v1/nsh/Make.defs +++ b/nuttx-configs/px4io-v1/nsh/Make.defs @@ -53,7 +53,7 @@ NM = $(CROSSDEV)nm OBJCOPY = $(CROSSDEV)objcopy OBJDUMP = $(CROSSDEV)objdump -MAXOPTIMIZATION = -O3 +MAXOPTIMIZATION = -Os ARCHCPUFLAGS = -mcpu=cortex-m3 \ -mthumb \ -march=armv7-m diff --git a/nuttx-configs/px4io-v1/nsh/defconfig b/nuttx-configs/px4io-v1/nsh/defconfig index 3785e0367..7c76be7ec 100755 --- a/nuttx-configs/px4io-v1/nsh/defconfig +++ b/nuttx-configs/px4io-v1/nsh/defconfig @@ -83,7 +83,6 @@ CONFIG_ARCH_BOARD="px4io-v1" CONFIG_BOARD_LOOPSPERMSEC=2000 CONFIG_DRAM_SIZE=0x00002000 CONFIG_DRAM_START=0x20000000 -CONFIG_ARCH_IRQPRIO=y CONFIG_ARCH_INTERRUPTSTACK=n CONFIG_ARCH_STACKDUMP=y CONFIG_ARCH_BOOTLOADER=n @@ -134,6 +133,8 @@ CONFIG_STM32_USART2=y CONFIG_STM32_USART3=y CONFIG_STM32_I2C1=y CONFIG_STM32_I2C2=n +CONFIG_STM32_I2CTIMEOSEC=0 +CONFIG_STM32_I2CTIMEOMS=1 CONFIG_STM32_BKP=n CONFIG_STM32_PWR=n CONFIG_STM32_DAC=n diff --git a/nuttx-configs/px4io-v2/nsh/Make.defs b/nuttx-configs/px4io-v2/nsh/Make.defs index cd2d8eba3..1717464d2 100644 --- a/nuttx-configs/px4io-v2/nsh/Make.defs +++ b/nuttx-configs/px4io-v2/nsh/Make.defs @@ -53,15 +53,11 @@ NM = $(CROSSDEV)nm OBJCOPY = $(CROSSDEV)objcopy OBJDUMP = $(CROSSDEV)objdump -MAXOPTIMIZATION = -O3 +MAXOPTIMIZATION = -Os ARCHCPUFLAGS = -mcpu=cortex-m3 \ -mthumb \ -march=armv7-m -# enable precise stack overflow tracking -#INSTRUMENTATIONDEFINES = -finstrument-functions \ -# -ffixed-r10 - # use our linker script LDSCRIPT = ld.script diff --git a/nuttx-configs/px4io-v2/nsh/defconfig b/nuttx-configs/px4io-v2/nsh/defconfig index e6563e587..02b51e3d7 100755 --- a/nuttx-configs/px4io-v2/nsh/defconfig +++ b/nuttx-configs/px4io-v2/nsh/defconfig @@ -79,7 +79,6 @@ CONFIG_ARCH_BOARD_PX4IO_V2=y CONFIG_BOARD_LOOPSPERMSEC=2000 CONFIG_DRAM_SIZE=0x00002000 CONFIG_DRAM_START=0x20000000 -CONFIG_ARCH_IRQPRIO=y CONFIG_ARCH_INTERRUPTSTACK=n CONFIG_ARCH_STACKDUMP=y CONFIG_ARCH_BOOTLOADER=n diff --git a/src/drivers/airspeed/airspeed.cpp b/src/drivers/airspeed/airspeed.cpp index 293690d27..6db6713c4 100644 --- a/src/drivers/airspeed/airspeed.cpp +++ b/src/drivers/airspeed/airspeed.cpp @@ -147,7 +147,7 @@ Airspeed::init() _airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &arp); if (_airspeed_pub < 0) - warnx("failed to create airspeed sensor object. uORB started?"); + warnx("uORB started?"); } ret = OK; @@ -159,13 +159,15 @@ out: int Airspeed::probe() { - /* on initial power up the device needs more than one retry - for detection. Once it is running then retries aren't - needed + /* on initial power up the device may need more than one retry + for detection. Once it is running the number of retries can + be reduced */ _retries = 4; int ret = measure(); - _retries = 0; + + // drop back to 2 retries once initialised + _retries = 2; return ret; } diff --git a/src/drivers/ardrone_interface/ardrone_interface.c b/src/drivers/ardrone_interface/ardrone_interface.c index e5bb772b3..9d2c1441d 100644 --- a/src/drivers/ardrone_interface/ardrone_interface.c +++ b/src/drivers/ardrone_interface/ardrone_interface.c @@ -89,8 +89,8 @@ static void usage(const char *reason) { if (reason) - fprintf(stderr, "%s\n", reason); - fprintf(stderr, "usage: ardrone_interface {start|stop|status} [-d <UART>]\n\n"); + warnx("%s\n", reason); + warnx("usage: {start|stop|status} [-d <UART>]\n\n"); exit(1); } @@ -110,7 +110,7 @@ int ardrone_interface_main(int argc, char *argv[]) if (!strcmp(argv[1], "start")) { if (thread_running) { - printf("ardrone_interface already running\n"); + warnx("already running\n"); /* this is not an error */ exit(0); } @@ -132,9 +132,9 @@ int ardrone_interface_main(int argc, char *argv[]) if (!strcmp(argv[1], "status")) { if (thread_running) { - printf("\tardrone_interface is running\n"); + warnx("running"); } else { - printf("\tardrone_interface not started\n"); + warnx("not started"); } exit(0); } @@ -158,7 +158,7 @@ static int ardrone_open_uart(char *uart_name, struct termios *uart_config_origin /* Back up the original uart configuration to restore it after exit */ if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) { - fprintf(stderr, "[ardrone_interface] ERROR getting baudrate / termios config for %s: %d\n", uart_name, termios_state); + warnx("ERR: TCGETATTR %s: %d", uart_name, termios_state); close(uart); return -1; } @@ -171,14 +171,14 @@ static int ardrone_open_uart(char *uart_name, struct termios *uart_config_origin /* Set baud rate */ if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) { - fprintf(stderr, "[ardrone_interface] ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state); + warnx("ERR: cfsetispeed %s: %d", uart_name, termios_state); close(uart); return -1; } if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) { - fprintf(stderr, "[ardrone_interface] ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name); + warnx("ERR: tcsetattr: %s", uart_name); close(uart); return -1; } @@ -192,9 +192,6 @@ int ardrone_interface_thread_main(int argc, char *argv[]) char *device = "/dev/ttyS1"; - /* welcome user */ - printf("[ardrone_interface] Control started, taking over motors\n"); - /* File descriptors */ int gpios; @@ -237,7 +234,7 @@ int ardrone_interface_thread_main(int argc, char *argv[]) struct termios uart_config_original; if (motor_test_mode) { - printf("[ardrone_interface] Motor test mode enabled, setting 10 %% thrust.\n"); + warnx("setting 10 %% thrust.\n"); } /* Led animation */ @@ -255,9 +252,6 @@ int ardrone_interface_thread_main(int argc, char *argv[]) int actuator_controls_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS); int armed_sub = orb_subscribe(ORB_ID(actuator_armed)); - printf("[ardrone_interface] Motors initialized - ready.\n"); - fflush(stdout); - /* enable UART, writes potentially an empty buffer, but multiplexing is disabled */ ardrone_write = ardrone_open_uart(device, &uart_config_original); @@ -265,7 +259,7 @@ int ardrone_interface_thread_main(int argc, char *argv[]) gpios = ar_multiplexing_init(); if (ardrone_write < 0) { - fprintf(stderr, "[ardrone_interface] Failed opening AR.Drone UART, exiting.\n"); + warnx("No UART, exiting."); thread_running = false; exit(ERROR); } @@ -273,7 +267,7 @@ int ardrone_interface_thread_main(int argc, char *argv[]) /* initialize motors */ if (OK != ar_init_motors(ardrone_write, gpios)) { close(ardrone_write); - fprintf(stderr, "[ardrone_interface] Failed initializing AR.Drone motors, exiting.\n"); + warnx("motor init fail"); thread_running = false; exit(ERROR); } @@ -294,7 +288,7 @@ int ardrone_interface_thread_main(int argc, char *argv[]) gpios = ar_multiplexing_init(); if (ardrone_write < 0) { - fprintf(stderr, "[ardrone_interface] Failed opening AR.Drone UART, exiting.\n"); + warnx("write fail"); thread_running = false; exit(ERROR); } @@ -302,7 +296,7 @@ int ardrone_interface_thread_main(int argc, char *argv[]) /* initialize motors */ if (OK != ar_init_motors(ardrone_write, gpios)) { close(ardrone_write); - fprintf(stderr, "[ardrone_interface] Failed initializing AR.Drone motors, exiting.\n"); + warnx("motor init fail"); thread_running = false; exit(ERROR); } @@ -378,11 +372,9 @@ int ardrone_interface_thread_main(int argc, char *argv[]) int termios_state; if ((termios_state = tcsetattr(ardrone_write, TCSANOW, &uart_config_original)) < 0) { - fprintf(stderr, "[ardrone_interface] ERROR setting baudrate / termios config for (tcsetattr)\n"); + warnx("ERR: tcsetattr"); } - printf("[ardrone_interface] Restored original UART config, exiting..\n"); - /* close uarts */ close(ardrone_write); ar_multiplexing_deinit(gpios); diff --git a/src/drivers/ardrone_interface/ardrone_motor_control.c b/src/drivers/ardrone_interface/ardrone_motor_control.c index fc017dd58..4fa24275f 100644 --- a/src/drivers/ardrone_interface/ardrone_motor_control.c +++ b/src/drivers/ardrone_interface/ardrone_motor_control.c @@ -301,7 +301,7 @@ int ar_init_motors(int ardrone_uart, int gpios) ardrone_write_motor_commands(ardrone_uart, 0, 0, 0, 0); if (errcounter != 0) { - fprintf(stderr, "[ardrone_interface] init sequence incomplete, failed %d times", -errcounter); + warnx("Failed %d times", -errcounter); fflush(stdout); } return errcounter; diff --git a/src/drivers/boards/aerocore/aerocore_init.c b/src/drivers/boards/aerocore/aerocore_init.c index 4e3ba2d7e..1ce235da8 100644 --- a/src/drivers/boards/aerocore/aerocore_init.c +++ b/src/drivers/boards/aerocore/aerocore_init.c @@ -93,6 +93,19 @@ # endif #endif +/* + * Ideally we'd be able to get these from up_internal.h, + * but since we want to be able to disable the NuttX use + * of leds for system indication at will and there is no + * separate switch, we need to build independent of the + * CONFIG_ARCH_LEDS configuration switch. + */ +__BEGIN_DECLS +extern void led_init(void); +extern void led_on(int led); +extern void led_off(int led); +__END_DECLS + /**************************************************************************** * Protected Functions ****************************************************************************/ diff --git a/src/drivers/boards/aerocore/board_config.h b/src/drivers/boards/aerocore/board_config.h index 70142a314..776a2071e 100644 --- a/src/drivers/boards/aerocore/board_config.h +++ b/src/drivers/boards/aerocore/board_config.h @@ -171,6 +171,25 @@ __BEGIN_DECLS extern void stm32_spiinitialize(void); +/**************************************************************************** + * Name: nsh_archinitialize + * + * Description: + * Perform architecture specific initialization for NSH. + * + * CONFIG_NSH_ARCHINIT=y : + * Called from the NSH library + * + * CONFIG_BOARD_INITIALIZE=y, CONFIG_NSH_LIBRARY=y, && + * CONFIG_NSH_ARCHINIT=n : + * Called from board_initialize(). + * + ****************************************************************************/ + +#ifdef CONFIG_NSH_LIBRARY +int nsh_archinitialize(void); +#endif + #endif /* __ASSEMBLY__ */ __END_DECLS diff --git a/src/drivers/boards/aerocore/module.mk b/src/drivers/boards/aerocore/module.mk index b53fe0a29..0a2d91009 100644 --- a/src/drivers/boards/aerocore/module.mk +++ b/src/drivers/boards/aerocore/module.mk @@ -6,3 +6,5 @@ SRCS = aerocore_init.c \ aerocore_pwm_servo.c \ aerocore_spi.c \ aerocore_led.c + +MAXOPTIMIZATION = -Os diff --git a/src/drivers/boards/px4fmu-v1/board_config.h b/src/drivers/boards/px4fmu-v1/board_config.h index a70a6240c..188885be2 100644 --- a/src/drivers/boards/px4fmu-v1/board_config.h +++ b/src/drivers/boards/px4fmu-v1/board_config.h @@ -209,6 +209,27 @@ __BEGIN_DECLS extern void stm32_spiinitialize(void); +extern void stm32_usbinitialize(void); + +/**************************************************************************** + * Name: nsh_archinitialize + * + * Description: + * Perform architecture specific initialization for NSH. + * + * CONFIG_NSH_ARCHINIT=y : + * Called from the NSH library + * + * CONFIG_BOARD_INITIALIZE=y, CONFIG_NSH_LIBRARY=y, && + * CONFIG_NSH_ARCHINIT=n : + * Called from board_initialize(). + * + ****************************************************************************/ + +#ifdef CONFIG_NSH_LIBRARY +int nsh_archinitialize(void); +#endif + #endif /* __ASSEMBLY__ */ __END_DECLS diff --git a/src/drivers/boards/px4fmu-v1/module.mk b/src/drivers/boards/px4fmu-v1/module.mk index 66b776917..5e1a27d5a 100644 --- a/src/drivers/boards/px4fmu-v1/module.mk +++ b/src/drivers/boards/px4fmu-v1/module.mk @@ -8,3 +8,5 @@ SRCS = px4fmu_can.c \ px4fmu_spi.c \ px4fmu_usb.c \ px4fmu_led.c + +MAXOPTIMIZATION = -Os diff --git a/src/drivers/boards/px4fmu-v2/board_config.h b/src/drivers/boards/px4fmu-v2/board_config.h index 0190a5b5b..ee365e47c 100644 --- a/src/drivers/boards/px4fmu-v2/board_config.h +++ b/src/drivers/boards/px4fmu-v2/board_config.h @@ -229,6 +229,27 @@ __BEGIN_DECLS extern void stm32_spiinitialize(void); +extern void stm32_usbinitialize(void); + +/**************************************************************************** + * Name: nsh_archinitialize + * + * Description: + * Perform architecture specific initialization for NSH. + * + * CONFIG_NSH_ARCHINIT=y : + * Called from the NSH library + * + * CONFIG_BOARD_INITIALIZE=y, CONFIG_NSH_LIBRARY=y, && + * CONFIG_NSH_ARCHINIT=n : + * Called from board_initialize(). + * + ****************************************************************************/ + +#ifdef CONFIG_NSH_LIBRARY +int nsh_archinitialize(void); +#endif + #endif /* __ASSEMBLY__ */ __END_DECLS diff --git a/src/drivers/boards/px4fmu-v2/module.mk b/src/drivers/boards/px4fmu-v2/module.mk index 99d37eeca..103232b0c 100644 --- a/src/drivers/boards/px4fmu-v2/module.mk +++ b/src/drivers/boards/px4fmu-v2/module.mk @@ -8,3 +8,5 @@ SRCS = px4fmu_can.c \ px4fmu_spi.c \ px4fmu_usb.c \ px4fmu2_led.c + +MAXOPTIMIZATION = -Os diff --git a/src/drivers/boards/px4fmu-v2/px4fmu2_init.c b/src/drivers/boards/px4fmu-v2/px4fmu2_init.c index bf41bb1fe..9b25c574a 100644 --- a/src/drivers/boards/px4fmu-v2/px4fmu2_init.c +++ b/src/drivers/boards/px4fmu-v2/px4fmu2_init.c @@ -94,6 +94,19 @@ # endif #endif +/* + * Ideally we'd be able to get these from up_internal.h, + * but since we want to be able to disable the NuttX use + * of leds for system indication at will and there is no + * separate switch, we need to build independent of the + * CONFIG_ARCH_LEDS configuration switch. + */ +__BEGIN_DECLS +extern void led_init(void); +extern void led_on(int led); +extern void led_off(int led); +__END_DECLS + /**************************************************************************** * Protected Functions ****************************************************************************/ diff --git a/src/drivers/boards/px4io-v1/module.mk b/src/drivers/boards/px4io-v1/module.mk index 2601a1c15..a7a14dd07 100644 --- a/src/drivers/boards/px4io-v1/module.mk +++ b/src/drivers/boards/px4io-v1/module.mk @@ -4,3 +4,5 @@ SRCS = px4io_init.c \ px4io_pwm_servo.c + +MAXOPTIMIZATION = -Os diff --git a/src/drivers/boards/px4io-v2/board_config.h b/src/drivers/boards/px4io-v2/board_config.h index ef9bb5cad..10a93be0b 100644 --- a/src/drivers/boards/px4io-v2/board_config.h +++ b/src/drivers/boards/px4io-v2/board_config.h @@ -77,6 +77,7 @@ #define GPIO_LED1 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14) #define GPIO_LED2 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN15) #define GPIO_LED3 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN13) +#define GPIO_LED4 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN11) /* Safety switch button *******************************************************/ diff --git a/src/drivers/boards/px4io-v2/module.mk b/src/drivers/boards/px4io-v2/module.mk index 85f94e8be..3f0e9a0b3 100644 --- a/src/drivers/boards/px4io-v2/module.mk +++ b/src/drivers/boards/px4io-v2/module.mk @@ -4,3 +4,5 @@ SRCS = px4iov2_init.c \ px4iov2_pwm_servo.c + +MAXOPTIMIZATION = -Os diff --git a/src/drivers/boards/px4io-v2/px4iov2_init.c b/src/drivers/boards/px4io-v2/px4iov2_init.c index 9f8c0eeb2..5c3343ccc 100644 --- a/src/drivers/boards/px4io-v2/px4iov2_init.c +++ b/src/drivers/boards/px4io-v2/px4iov2_init.c @@ -108,6 +108,7 @@ __EXPORT void stm32_boardinitialize(void) stm32_configgpio(GPIO_LED1); stm32_configgpio(GPIO_LED2); stm32_configgpio(GPIO_LED3); + stm32_configgpio(GPIO_LED4); stm32_configgpio(GPIO_BTN_SAFETY); diff --git a/src/drivers/device/device.cpp b/src/drivers/device/device.cpp index f1f777dce..d46901683 100644 --- a/src/drivers/device/device.cpp +++ b/src/drivers/device/device.cpp @@ -97,6 +97,7 @@ Device::Device(const char *name, /* setup a default device ID. When bus_type is UNKNOWN the other fields are invalid */ + _device_id.devid = 0; _device_id.devid_s.bus_type = DeviceBusType_UNKNOWN; _device_id.devid_s.bus = 0; _device_id.devid_s.address = 0; diff --git a/src/drivers/device/device.h b/src/drivers/device/device.h index 9d684e394..67aaa0aff 100644 --- a/src/drivers/device/device.h +++ b/src/drivers/device/device.h @@ -130,7 +130,8 @@ public: enum DeviceBusType { DeviceBusType_UNKNOWN = 0, DeviceBusType_I2C = 1, - DeviceBusType_SPI = 2 + DeviceBusType_SPI = 2, + DeviceBusType_UAVCAN = 3, }; /* diff --git a/src/drivers/drv_gps.h b/src/drivers/drv_gps.h index e14f4e00d..76a211000 100644 --- a/src/drivers/drv_gps.h +++ b/src/drivers/drv_gps.h @@ -57,7 +57,8 @@ typedef enum { GPS_DRIVER_MODE_NONE = 0, GPS_DRIVER_MODE_UBX, - GPS_DRIVER_MODE_MTK + GPS_DRIVER_MODE_MTK, + GPS_DRIVER_MODE_ASHTECH } gps_driver_mode_t; diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h index 84815fdfb..b10c3e18a 100644 --- a/src/drivers/drv_pwm_output.h +++ b/src/drivers/drv_pwm_output.h @@ -95,6 +95,11 @@ __BEGIN_DECLS #define PWM_LOWEST_MAX 1700 /** + * Do not output a channel with this value + */ +#define PWM_IGNORE_THIS_CHANNEL UINT16_MAX + +/** * Servo output signal type, value is actual servo output pulse * width in microseconds. */ @@ -112,6 +117,23 @@ struct pwm_output_values { unsigned channel_count; }; + +/** + * RC config values for a channel + * + * This allows for PX4IO_PAGE_RC_CONFIG values to be set without a + * param_get() dependency + */ +struct pwm_output_rc_config { + uint8_t channel; + uint16_t rc_min; + uint16_t rc_trim; + uint16_t rc_max; + uint16_t rc_dz; + uint16_t rc_assignment; + bool rc_reverse; +}; + /* * ORB tag for PWM outputs. */ @@ -160,7 +182,7 @@ ORB_DECLARE(output_pwm); #define DSM2_BIND_PULSES 3 /* DSM_BIND_START ioctl parameter, pulses required to start dsm2 pairing */ #define DSMX_BIND_PULSES 7 /* DSM_BIND_START ioctl parameter, pulses required to start dsmx pairing */ -#define DSMX8_BIND_PULSES 10 /* DSM_BIND_START ioctl parameter, pulses required to start 8 or more channel dsmx pairing */ +#define DSMX8_BIND_PULSES 9 /* DSM_BIND_START ioctl parameter, pulses required to start 8 or more channel dsmx pairing */ /** power up DSM receiver */ #define DSM_BIND_POWER_UP _IOC(_PWM_SERVO_BASE, 11) @@ -200,10 +222,28 @@ ORB_DECLARE(output_pwm); #define PWM_SERVO_GET_DISABLE_LOCKDOWN _IOC(_PWM_SERVO_BASE, 22) /** force safety switch off (to disable use of safety switch) */ -#define PWM_SERVO_SET_FORCE_SAFETY_OFF _IOC(_PWM_SERVO_BASE, 23) +#define PWM_SERVO_SET_FORCE_SAFETY_OFF _IOC(_PWM_SERVO_BASE, 23) /** force failsafe mode (failsafe values are set immediately even if failsafe condition not met) */ -#define PWM_SERVO_SET_FORCE_FAILSAFE _IOC(_PWM_SERVO_BASE, 24) +#define PWM_SERVO_SET_FORCE_FAILSAFE _IOC(_PWM_SERVO_BASE, 24) + +/** make failsafe non-recoverable (termination) if it occurs */ +#define PWM_SERVO_SET_TERMINATION_FAILSAFE _IOC(_PWM_SERVO_BASE, 25) + +/** force safety switch on (to enable use of safety switch) */ +#define PWM_SERVO_SET_FORCE_SAFETY_ON _IOC(_PWM_SERVO_BASE, 26) + +/** set RC config for a channel. This takes a pointer to pwm_output_rc_config */ +#define PWM_SERVO_SET_RC_CONFIG _IOC(_PWM_SERVO_BASE, 27) + +/** set the 'OVERRIDE OK' bit, which allows for RC control on FMU loss */ +#define PWM_SERVO_SET_OVERRIDE_OK _IOC(_PWM_SERVO_BASE, 28) + +/** clear the 'OVERRIDE OK' bit, which allows for RC control on FMU loss */ +#define PWM_SERVO_CLEAR_OVERRIDE_OK _IOC(_PWM_SERVO_BASE, 29) + +/** setup OVERRIDE_IMMEDIATE behaviour on FMU fail */ +#define PWM_SERVO_SET_OVERRIDE_IMMEDIATE _IOC(_PWM_SERVO_BASE, 30) /* * diff --git a/src/drivers/drv_px4flow.h b/src/drivers/drv_px4flow.h index 76ec55c3e..ab640837b 100644 --- a/src/drivers/drv_px4flow.h +++ b/src/drivers/drv_px4flow.h @@ -46,37 +46,6 @@ #define PX4FLOW_DEVICE_PATH "/dev/px4flow" -/** - * @addtogroup topics - * @{ - */ - -/** - * Optical flow in NED body frame in SI units. - * - * @see http://en.wikipedia.org/wiki/International_System_of_Units - * - * @warning If possible the usage of the raw flow and performing rotation-compensation - * using the autopilot angular rate estimate is recommended. - */ -struct px4flow_report { - - uint64_t timestamp; /**< in microseconds since system start */ - - int16_t flow_raw_x; /**< flow in pixels in X direction, not rotation-compensated */ - int16_t flow_raw_y; /**< flow in pixels in Y direction, not rotation-compensated */ - float flow_comp_x_m; /**< speed over ground in meters per second, rotation-compensated */ - float flow_comp_y_m; /**< speed over ground in meters per second, rotation-compensated */ - float ground_distance_m; /**< Altitude / distance to ground in meters */ - uint8_t quality; /**< Quality of the measurement, 0: bad quality, 255: maximum quality */ - uint8_t sensor_id; /**< id of the sensor emitting the flow value */ - -}; - -/** - * @} - */ - /* * ObjDev tag for px4flow data. */ diff --git a/src/drivers/drv_rc_input.h b/src/drivers/drv_rc_input.h index 47fa8fa59..b249c2a09 100644 --- a/src/drivers/drv_rc_input.h +++ b/src/drivers/drv_rc_input.h @@ -83,7 +83,8 @@ enum RC_INPUT_SOURCE { RC_INPUT_SOURCE_PX4FMU_PPM, RC_INPUT_SOURCE_PX4IO_PPM, RC_INPUT_SOURCE_PX4IO_SPEKTRUM, - RC_INPUT_SOURCE_PX4IO_SBUS + RC_INPUT_SOURCE_PX4IO_SBUS, + RC_INPUT_SOURCE_PX4IO_ST24 }; /** diff --git a/src/drivers/ets_airspeed/ets_airspeed.cpp b/src/drivers/ets_airspeed/ets_airspeed.cpp index f98d615a2..0f77bb805 100644 --- a/src/drivers/ets_airspeed/ets_airspeed.cpp +++ b/src/drivers/ets_airspeed/ets_airspeed.cpp @@ -155,7 +155,6 @@ ETSAirspeed::collect() } uint16_t diff_pres_pa_raw = val[1] << 8 | val[0]; - uint16_t diff_pres_pa; if (diff_pres_pa_raw == 0) { // a zero value means the pressure sensor cannot give us a // value. We need to return, and not report a value or the @@ -166,28 +165,21 @@ ETSAirspeed::collect() return -1; } - if (diff_pres_pa_raw < _diff_pres_offset + MIN_ACCURATE_DIFF_PRES_PA) { - diff_pres_pa = 0; - } else { - diff_pres_pa = diff_pres_pa_raw - _diff_pres_offset; - } - // The raw value still should be compensated for the known offset diff_pres_pa_raw -= _diff_pres_offset; // Track maximum differential pressure measured (so we can work out top speed). - if (diff_pres_pa > _max_differential_pressure_pa) { - _max_differential_pressure_pa = diff_pres_pa; + if (diff_pres_pa_raw > _max_differential_pressure_pa) { + _max_differential_pressure_pa = diff_pres_pa_raw; } differential_pressure_s report; report.timestamp = hrt_absolute_time(); report.error_count = perf_event_count(_comms_errors); - report.differential_pressure_pa = (float)diff_pres_pa; // XXX we may want to smooth out the readings to remove noise. - report.differential_pressure_filtered_pa = (float)diff_pres_pa; - report.differential_pressure_raw_pa = (float)diff_pres_pa_raw; + report.differential_pressure_filtered_pa = diff_pres_pa_raw; + report.differential_pressure_raw_pa = diff_pres_pa_raw; report.temperature = -1000.0f; report.max_differential_pressure_pa = _max_differential_pressure_pa; @@ -369,7 +361,7 @@ test() err(1, "immediate read failed"); warnx("single read"); - warnx("diff pressure: %f pa", (double)report.differential_pressure_pa); + warnx("diff pressure: %f pa", (double)report.differential_pressure_filtered_pa); /* start the sensor polling at 2Hz */ if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) @@ -394,7 +386,7 @@ test() err(1, "periodic read failed"); warnx("periodic read %u", i); - warnx("diff pressure: %f pa", (double)report.differential_pressure_pa); + warnx("diff pressure: %f pa", (double)report.differential_pressure_filtered_pa); } /* reset the sensor polling to its default rate */ diff --git a/src/drivers/frsky_telemetry/frsky_telemetry.c b/src/drivers/frsky_telemetry/frsky_telemetry.c index 6e0839043..bccdf1190 100644 --- a/src/drivers/frsky_telemetry/frsky_telemetry.c +++ b/src/drivers/frsky_telemetry/frsky_telemetry.c @@ -84,7 +84,7 @@ static int frsky_open_uart(const char *uart_name, struct termios *uart_config_or /* Back up the original UART configuration to restore it after exit */ int termios_state; if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) { - warnx("ERROR get termios config %s: %d\n", uart_name, termios_state); + warnx("ERR: tcgetattr%s: %d\n", uart_name, termios_state); close(uart); return -1; } @@ -100,13 +100,13 @@ static int frsky_open_uart(const char *uart_name, struct termios *uart_config_or static const speed_t speed = B9600; if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) { - warnx("ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state); + warnx("ERR: %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state); close(uart); return -1; } if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) { - warnx("ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name); + warnx("ERR: %s (tcsetattr)\n", uart_name); close(uart); return -1; } @@ -151,9 +151,6 @@ static int frsky_telemetry_thread_main(int argc, char *argv[]) } } - /* Print welcome text */ - warnx("FrSky telemetry interface starting..."); - /* Open UART */ struct termios uart_config_original; const int uart = frsky_open_uart(device_name, &uart_config_original); diff --git a/src/drivers/gps/ashtech.cpp b/src/drivers/gps/ashtech.cpp new file mode 100644 index 000000000..a2e292de2 --- /dev/null +++ b/src/drivers/gps/ashtech.cpp @@ -0,0 +1,641 @@ +#include "ashtech.h" + +#include <unistd.h> +#include <stdlib.h> +#include <stdio.h> +#include <poll.h> +#include <math.h> +#include <string.h> +#include <assert.h> +#include <systemlib/err.h> +#include <uORB/uORB.h> +#include <uORB/topics/vehicle_gps_position.h> +#include <uORB/topics/satellite_info.h> +#include <drivers/drv_hrt.h> + +#include <fcntl.h> +#include <math.h> + +ASHTECH::ASHTECH(const int &fd, struct vehicle_gps_position_s *gps_position, struct satellite_info_s *satellite_info): + _fd(fd), + _satellite_info(satellite_info), + _gps_position(gps_position) +{ + decode_init(); + _decode_state = NME_DECODE_UNINIT; + _rx_buffer_bytes = 0; +} + +ASHTECH::~ASHTECH() +{ +} + +/* + * All NMEA descriptions are taken from + * http://www.trimble.com/OEM_ReceiverHelp/V4.44/en/NMEA-0183messages_MessageOverview.html + */ + +int ASHTECH::handle_message(int len) +{ + char * endp; + + if (len < 7) { return 0; } + + int uiCalcComma = 0; + + for (int i = 0 ; i < len; i++) { + if (_rx_buffer[i] == ',') { uiCalcComma++; } + } + + char *bufptr = (char *)(_rx_buffer + 6); + + if ((memcmp(_rx_buffer + 3, "ZDA,", 3) == 0) && (uiCalcComma == 6)) { + /* + UTC day, month, and year, and local time zone offset + An example of the ZDA message string is: + + $GPZDA,172809.456,12,07,1996,00,00*45 + + ZDA message fields + Field Meaning + 0 Message ID $GPZDA + 1 UTC + 2 Day, ranging between 01 and 31 + 3 Month, ranging between 01 and 12 + 4 Year + 5 Local time zone offset from GMT, ranging from 00 through 13 hours + 6 Local time zone offset from GMT, ranging from 00 through 59 minutes + 7 The checksum data, always begins with * + Fields 5 and 6 together yield the total offset. For example, if field 5 is -5 and field 6 is +15, local time is 5 hours and 15 minutes earlier than GMT. + */ + double ashtech_time = 0.0; + int day = 0, month = 0, year = 0, local_time_off_hour __attribute__((unused)) = 0, local_time_off_min __attribute__((unused)) = 0; + + if (bufptr && *(++bufptr) != ',') { ashtech_time = strtod(bufptr, &endp); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { day = strtol(bufptr, &endp, 10); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { month = strtol(bufptr, &endp, 10); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { year = strtol(bufptr, &endp, 10); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { local_time_off_hour = strtol(bufptr, &endp, 10); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { local_time_off_min = strtol(bufptr, &endp, 10); bufptr = endp; } + + + int ashtech_hour = ashtech_time / 10000; + int ashtech_minute = (ashtech_time - ashtech_hour * 10000) / 100; + double ashtech_sec = ashtech_time - ashtech_hour * 10000 - ashtech_minute * 100; + /* + * convert to unix timestamp + */ + struct tm timeinfo; + timeinfo.tm_year = year - 1900; + timeinfo.tm_mon = month - 1; + timeinfo.tm_mday = day; + timeinfo.tm_hour = ashtech_hour; + timeinfo.tm_min = ashtech_minute; + timeinfo.tm_sec = int(ashtech_sec); + time_t epoch = mktime(&timeinfo); + + _gps_position->time_gps_usec = (uint64_t)epoch * 1000000; //TODO: test this + _gps_position->time_gps_usec += (uint64_t)((ashtech_sec - int(ashtech_sec)) * 1e6); + _gps_position->timestamp_time = hrt_absolute_time(); + } + + else if ((memcmp(_rx_buffer + 3, "GGA,", 3) == 0) && (uiCalcComma == 14)) { + /* + Time, position, and fix related data + An example of the GBS message string is: + + $GPGGA,172814.0,3723.46587704,N,12202.26957864,W,2,6,1.2,18.893,M,-25.669,M,2.0,0031*4F + + Note - The data string exceeds the ASHTECH standard length. + GGA message fields + Field Meaning + 0 Message ID $GPGGA + 1 UTC of position fix + 2 Latitude + 3 Direction of latitude: + N: North + S: South + 4 Longitude + 5 Direction of longitude: + E: East + W: West + 6 GPS Quality indicator: + 0: Fix not valid + 1: GPS fix + 2: Differential GPS fix, OmniSTAR VBS + 4: Real-Time Kinematic, fixed integers + 5: Real-Time Kinematic, float integers, OmniSTAR XP/HP or Location RTK + 7 Number of SVs in use, range from 00 through to 24+ + 8 HDOP + 9 Orthometric height (MSL reference) + 10 M: unit of measure for orthometric height is meters + 11 Geoid separation + 12 M: geoid separation measured in meters + 13 Age of differential GPS data record, Type 1 or Type 9. Null field when DGPS is not used. + 14 Reference station ID, range 0000-4095. A null field when any reference station ID is selected and no corrections are received1. + 15 + The checksum data, always begins with * + Note - If a user-defined geoid model, or an inclined + */ + double ashtech_time __attribute__((unused)) = 0.0, lat = 0.0, lon = 0.0, alt = 0.0; + int num_of_sv __attribute__((unused)) = 0, fix_quality = 0; + double hdop __attribute__((unused)) = 99.9; + char ns = '?', ew = '?'; + + if (bufptr && *(++bufptr) != ',') { ashtech_time = strtod(bufptr, &endp); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { lat = strtod(bufptr, &endp); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { ns = *(bufptr++); } + + if (bufptr && *(++bufptr) != ',') { lon = strtod(bufptr, &endp); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { ew = *(bufptr++); } + + if (bufptr && *(++bufptr) != ',') { fix_quality = strtol(bufptr, &endp, 10); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { num_of_sv = strtol(bufptr, &endp, 10); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { hdop = strtod(bufptr, &endp); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { alt = strtod(bufptr, &endp); bufptr = endp; } + + if (ns == 'S') { + lat = -lat; + } + + if (ew == 'W') { + lon = -lon; + } + + _gps_position->lat = (int(lat * 0.01) + (lat * 0.01 - int(lat * 0.01)) * 100.0 / 60.0) * 10000000; + _gps_position->lon = (int(lon * 0.01) + (lon * 0.01 - int(lon * 0.01)) * 100.0 / 60.0) * 10000000; + _gps_position->alt = alt * 1000; + _rate_count_lat_lon++; + + if (fix_quality <= 0) { + _gps_position->fix_type = 0; + + } else { + /* + * in this NMEA message float integers (value 5) mode has higher value than fixed integers (value 4), whereas it provides lower quality, + * and since value 3 is not being used, I "moved" value 5 to 3 to add it to _gps_position->fix_type + */ + if (fix_quality == 5) { fix_quality = 3; } + + /* + * fix quality 1 means just a normal 3D fix, so I'm subtracting 1 here. This way we'll have 3 for auto, 4 for DGPS, 5 for floats, 6 for fixed. + */ + _gps_position->fix_type = 3 + fix_quality - 1; + } + + _gps_position->timestamp_position = hrt_absolute_time(); + + _gps_position->vel_m_s = 0; /**< GPS ground speed (m/s) */ + _gps_position->vel_n_m_s = 0; /**< GPS ground speed in m/s */ + _gps_position->vel_e_m_s = 0; /**< GPS ground speed in m/s */ + _gps_position->vel_d_m_s = 0; /**< GPS ground speed in m/s */ + _gps_position->cog_rad = + 0; /**< Course over ground (NOT heading, but direction of movement) in rad, -PI..PI */ + _gps_position->vel_ned_valid = true; /**< Flag to indicate if NED speed is valid */ + _gps_position->c_variance_rad = 0.1; + _gps_position->timestamp_velocity = hrt_absolute_time(); + return 1; + + } else if ((memcmp(_rx_buffer, "$PASHR,POS,", 11) == 0) && (uiCalcComma == 18)) { + /* + Example $PASHR,POS,2,10,125410.00,5525.8138702,N,03833.9587380,E,131.555,1.0,0.0,0.007,-0.001,2.0,1.0,1.7,1.0,*34 + + $PASHR,POS,d1,d2,m3,m4,c5,m6,c7,f8,f9,f10,f11,f12,f13,f14,f15,f16,s17*cc + Parameter Description Range + d1 Position mode 0: standalone + 1: differential + 2: RTK float + 3: RTK fixed + 5: Dead reckoning + 9: SBAS (see NPT setting) + d2 Number of satellite used in position fix 0-99 + m3 Current UTC time of position fix (hhmmss.ss) 000000.00-235959.99 + m4 Latitude of position (ddmm.mmmmmm) 0-90 degrees 00-59.9999999 minutes + c5 Latitude sector N, S + m6 Longitude of position (dddmm.mmmmmm) 0-180 degrees 00-59.9999999 minutes + c7 Longitude sector E,W + f8 Altitude above ellipsoid +9999.000 + f9 Differential age (data link age), seconds 0.0-600.0 + f10 True track/course over ground in degrees 0.0-359.9 + f11 Speed over ground in knots 0.0-999.9 + f12 Vertical velocity in decimeters per second +999.9 + f13 PDOP 0-99.9 + f14 HDOP 0-99.9 + f15 VDOP 0-99.9 + f16 TDOP 0-99.9 + s17 Reserved no data + *cc Checksum + */ + bufptr = (char *)(_rx_buffer + 10); + + /* + * Ashtech would return empty space as coordinate (lat, lon or alt) if it doesn't have a fix yet + */ + int coordinatesFound = 0; + double ashtech_time __attribute__((unused)) = 0.0, lat = 0.0, lon = 0.0, alt = 0.0; + int num_of_sv __attribute__((unused)) = 0, fix_quality = 0; + double track_true = 0.0, ground_speed = 0.0 , age_of_corr __attribute__((unused)) = 0.0; + double hdop __attribute__((unused)) = 99.9, vdop __attribute__((unused)) = 99.9, pdop __attribute__((unused)) = 99.9, tdop __attribute__((unused)) = 99.9, vertic_vel = 0.0; + char ns = '?', ew = '?'; + + if (bufptr && *(++bufptr) != ',') { fix_quality = strtol(bufptr, &endp, 10); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { num_of_sv = strtol(bufptr, &endp, 10); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { ashtech_time = strtod(bufptr, &endp); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { + /* + * if a coordinate is skipped (i.e. no fix), it either won't get into this block (two commas in a row) + * or strtod won't find anything and endp will point exactly where bufptr is. The same is for lon and alt. + */ + lat = strtod(bufptr, &endp); + if (bufptr != endp) {coordinatesFound++;} + bufptr = endp; + } + + if (bufptr && *(++bufptr) != ',') { ns = *(bufptr++); } + + if (bufptr && *(++bufptr) != ',') { + lon = strtod(bufptr, &endp); + if (bufptr != endp) {coordinatesFound++;} + bufptr = endp; + } + + if (bufptr && *(++bufptr) != ',') { ew = *(bufptr++); } + + if (bufptr && *(++bufptr) != ',') { + alt = strtod(bufptr, &endp); + if (bufptr != endp) {coordinatesFound++;} + bufptr = endp; + } + + if (bufptr && *(++bufptr) != ',') { age_of_corr = strtod(bufptr, &endp); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { track_true = strtod(bufptr, &endp); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { ground_speed = strtod(bufptr, &endp); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { vertic_vel = strtod(bufptr, &endp); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { pdop = strtod(bufptr, &endp); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { hdop = strtod(bufptr, &endp); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { vdop = strtod(bufptr, &endp); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { tdop = strtod(bufptr, &endp); bufptr = endp; } + + if (ns == 'S') { + lat = -lat; + } + + if (ew == 'W') { + lon = -lon; + } + + _gps_position->lat = (int(lat * 0.01) + (lat * 0.01 - int(lat * 0.01)) * 100.0 / 60.0) * 10000000; + _gps_position->lon = (int(lon * 0.01) + (lon * 0.01 - int(lon * 0.01)) * 100.0 / 60.0) * 10000000; + _gps_position->alt = alt * 1000; + _rate_count_lat_lon++; + + if (coordinatesFound < 3) { + _gps_position->fix_type = 0; + + } else { + _gps_position->fix_type = 3 + fix_quality; + } + + _gps_position->timestamp_position = hrt_absolute_time(); + + double track_rad = track_true * M_PI / 180.0; + + double velocity_ms = ground_speed / 1.9438445; /** knots to m/s */ + double velocity_north = velocity_ms * cos(track_rad); + double velocity_east = velocity_ms * sin(track_rad); + + _gps_position->vel_m_s = velocity_ms; /**< GPS ground speed (m/s) */ + _gps_position->vel_n_m_s = velocity_north; /**< GPS ground speed in m/s */ + _gps_position->vel_e_m_s = velocity_east; /**< GPS ground speed in m/s */ + _gps_position->vel_d_m_s = -vertic_vel; /**< GPS ground speed in m/s */ + _gps_position->cog_rad = + track_rad; /**< Course over ground (NOT heading, but direction of movement) in rad, -PI..PI */ + _gps_position->vel_ned_valid = true; /**< Flag to indicate if NED speed is valid */ + _gps_position->c_variance_rad = 0.1; + _gps_position->timestamp_velocity = hrt_absolute_time(); + return 1; + + } else if ((memcmp(_rx_buffer + 3, "GST,", 3) == 0) && (uiCalcComma == 8)) { + /* + Position error statistics + An example of the GST message string is: + + $GPGST,172814.0,0.006,0.023,0.020,273.6,0.023,0.020,0.031*6A + + The Talker ID ($--) will vary depending on the satellite system used for the position solution: + + $GP - GPS only + $GL - GLONASS only + $GN - Combined + GST message fields + Field Meaning + 0 Message ID $GPGST + 1 UTC of position fix + 2 RMS value of the pseudorange residuals; includes carrier phase residuals during periods of RTK (float) and RTK (fixed) processing + 3 Error ellipse semi-major axis 1 sigma error, in meters + 4 Error ellipse semi-minor axis 1 sigma error, in meters + 5 Error ellipse orientation, degrees from true north + 6 Latitude 1 sigma error, in meters + 7 Longitude 1 sigma error, in meters + 8 Height 1 sigma error, in meters + 9 The checksum data, always begins with * + */ + double ashtech_time __attribute__((unused)) = 0.0, lat_err = 0.0, lon_err = 0.0, alt_err = 0.0; + double min_err __attribute__((unused)) = 0.0, maj_err __attribute__((unused)) = 0.0, deg_from_north __attribute__((unused)) = 0.0, rms_err __attribute__((unused)) = 0.0; + + if (bufptr && *(++bufptr) != ',') { ashtech_time = strtod(bufptr, &endp); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { rms_err = strtod(bufptr, &endp); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { maj_err = strtod(bufptr, &endp); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { min_err = strtod(bufptr, &endp); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { deg_from_north = strtod(bufptr, &endp); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { lat_err = strtod(bufptr, &endp); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { lon_err = strtod(bufptr, &endp); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { alt_err = strtod(bufptr, &endp); bufptr = endp; } + + _gps_position->eph = sqrt(lat_err * lat_err + lon_err * lon_err); + _gps_position->epv = alt_err; + + _gps_position->s_variance_m_s = 0; + _gps_position->timestamp_variance = hrt_absolute_time(); + + } else if ((memcmp(_rx_buffer + 3, "GSV,", 3) == 0)) { + /* + The GSV message string identifies the number of SVs in view, the PRN numbers, elevations, azimuths, and SNR values. An example of the GSV message string is: + + $GPGSV,4,1,13,02,02,213,,03,-3,000,,11,00,121,,14,13,172,05*67 + + GSV message fields + Field Meaning + 0 Message ID $GPGSV + 1 Total number of messages of this type in this cycle + 2 Message number + 3 Total number of SVs visible + 4 SV PRN number + 5 Elevation, in degrees, 90 maximum + 6 Azimuth, degrees from True North, 000 through 359 + 7 SNR, 00 through 99 dB (null when not tracking) + 8-11 Information about second SV, same format as fields 4 through 7 + 12-15 Information about third SV, same format as fields 4 through 7 + 16-19 Information about fourth SV, same format as fields 4 through 7 + 20 The checksum data, always begins with * + */ + /* + * currently process only gps, because do not know what + * Global satellite ID I should use for non GPS sats + */ + bool bGPS = false; + + if (memcmp(_rx_buffer, "$GP", 3) != 0) { + return 0; + + } else { + bGPS = true; + } + + int all_msg_num = 0, this_msg_num = 0, tot_sv_visible = 0; + struct gsv_sat { + int svid; + int elevation; + int azimuth; + int snr; + } sat[4]; + memset(sat, 0, sizeof(sat)); + + if (bufptr && *(++bufptr) != ',') { all_msg_num = strtol(bufptr, &endp, 10); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { this_msg_num = strtol(bufptr, &endp, 10); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { tot_sv_visible = strtol(bufptr, &endp, 10); bufptr = endp; } + + if ((this_msg_num < 1) || (this_msg_num > all_msg_num)) { + return 0; + } + + if ((this_msg_num == 0) && (bGPS == true)) { + memset(_satellite_info->svid, 0, sizeof(_satellite_info->svid)); + memset(_satellite_info->used, 0, sizeof(_satellite_info->used)); + memset(_satellite_info->snr, 0, sizeof(_satellite_info->snr)); + memset(_satellite_info->elevation, 0, sizeof(_satellite_info->elevation)); + memset(_satellite_info->azimuth, 0, sizeof(_satellite_info->azimuth)); + } + + int end = 4; + + if (this_msg_num == all_msg_num) { + end = tot_sv_visible - (this_msg_num - 1) * 4; + _gps_position->satellites_used = tot_sv_visible; + _satellite_info->count = SAT_INFO_MAX_SATELLITES; + _satellite_info->timestamp = hrt_absolute_time(); + } + + for (int y = 0 ; y < end ; y++) { + if (bufptr && *(++bufptr) != ',') { sat[y].svid = strtol(bufptr, &endp, 10); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { sat[y].elevation = strtol(bufptr, &endp, 10); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { sat[y].azimuth = strtol(bufptr, &endp, 10); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { sat[y].snr = strtol(bufptr, &endp, 10); bufptr = endp; } + + _satellite_info->svid[y + (this_msg_num - 1) * 4] = sat[y].svid; + _satellite_info->used[y + (this_msg_num - 1) * 4] = ((sat[y].snr > 0) ? true : false); + _satellite_info->snr[y + (this_msg_num - 1) * 4] = sat[y].snr; + _satellite_info->elevation[y + (this_msg_num - 1) * 4] = sat[y].elevation; + _satellite_info->azimuth[y + (this_msg_num - 1) * 4] = sat[y].azimuth; + } + } + + return 0; +} + + +int ASHTECH::receive(unsigned timeout) +{ + { + /* poll descriptor */ + pollfd fds[1]; + fds[0].fd = _fd; + fds[0].events = POLLIN; + + uint8_t buf[32]; + + /* timeout additional to poll */ + uint64_t time_started = hrt_absolute_time(); + + int j = 0; + ssize_t bytes_count = 0; + + while (true) { + + /* pass received bytes to the packet decoder */ + while (j < bytes_count) { + int l = 0; + + if ((l = parse_char(buf[j])) > 0) { + /* return to configure during configuration or to the gps driver during normal work + * if a packet has arrived */ + if (handle_message(l) > 0) { + return 1; + } + } + + /* in case we keep trying but only get crap from GPS */ + if (time_started + timeout * 1000 * 2 < hrt_absolute_time()) { + return -1; + } + + j++; + } + + /* everything is read */ + j = bytes_count = 0; + + /* then poll for new data */ + int ret = ::poll(fds, sizeof(fds) / sizeof(fds[0]), timeout * 2); + + if (ret < 0) { + /* something went wrong when polling */ + return -1; + + } else if (ret == 0) { + /* Timeout */ + return -1; + + } else if (ret > 0) { + /* if we have new data from GPS, go handle it */ + if (fds[0].revents & POLLIN) { + /* + * We are here because poll says there is some data, so this + * won't block even on a blocking device. If more bytes are + * available, we'll go back to poll() again... + */ + bytes_count = ::read(_fd, buf, sizeof(buf)); + } + } + } + } + +} +#define HEXDIGIT_CHAR(d) ((char)((d) + (((d) < 0xA) ? '0' : 'A'-0xA))) + +int ASHTECH::parse_char(uint8_t b) +{ + int iRet = 0; + + switch (_decode_state) { + /* First, look for sync1 */ + case NME_DECODE_UNINIT: + if (b == '$') { + _decode_state = NME_DECODE_GOT_SYNC1; + _rx_buffer_bytes = 0; + _rx_buffer[_rx_buffer_bytes++] = b; + } + + break; + + case NME_DECODE_GOT_SYNC1: + if (b == '$') { + _decode_state = NME_DECODE_GOT_SYNC1; + _rx_buffer_bytes = 0; + + } else if (b == '*') { + _decode_state = NME_DECODE_GOT_ASTERIKS; + } + + if (_rx_buffer_bytes >= (sizeof(_rx_buffer) - 5)) { + _decode_state = NME_DECODE_UNINIT; + _rx_buffer_bytes = 0; + + } else { + _rx_buffer[_rx_buffer_bytes++] = b; + } + + break; + + case NME_DECODE_GOT_ASTERIKS: + _rx_buffer[_rx_buffer_bytes++] = b; + _decode_state = NME_DECODE_GOT_FIRST_CS_BYTE; + break; + + case NME_DECODE_GOT_FIRST_CS_BYTE: + _rx_buffer[_rx_buffer_bytes++] = b; + uint8_t checksum = 0; + uint8_t *buffer = _rx_buffer + 1; + uint8_t *bufend = _rx_buffer + _rx_buffer_bytes - 3; + + for (; buffer < bufend; buffer++) { checksum ^= *buffer; } + + if ((HEXDIGIT_CHAR(checksum >> 4) == *(_rx_buffer + _rx_buffer_bytes - 2)) && + (HEXDIGIT_CHAR(checksum & 0x0F) == *(_rx_buffer + _rx_buffer_bytes - 1))) { + iRet = _rx_buffer_bytes; + } + + _decode_state = NME_DECODE_UNINIT; + _rx_buffer_bytes = 0; + break; + } + + return iRet; +} + +void ASHTECH::decode_init(void) +{ + +} + +/* + * ashtech board configuration script + */ + +const char comm[] = "$PASHS,POP,20\r\n"\ + "$PASHS,NME,ZDA,B,ON,3\r\n"\ + "$PASHS,NME,GGA,B,OFF\r\n"\ + "$PASHS,NME,GST,B,ON,3\r\n"\ + "$PASHS,NME,POS,B,ON,0.05\r\n"\ + "$PASHS,NME,GSV,B,ON,3\r\n"\ + "$PASHS,SPD,A,8\r\n"\ + "$PASHS,SPD,B,9\r\n"; + +int ASHTECH::configure(unsigned &baudrate) +{ + /* try different baudrates */ + const unsigned baudrates_to_try[] = {9600, 38400, 19200, 57600, 115200}; + + + for (unsigned int baud_i = 0; baud_i < sizeof(baudrates_to_try) / sizeof(baudrates_to_try[0]); baud_i++) { + baudrate = baudrates_to_try[baud_i]; + set_baudrate(_fd, baudrate); + write(_fd, (uint8_t *)comm, sizeof(comm)); + } + + set_baudrate(_fd, 115200); + return 0; +} diff --git a/src/drivers/gps/ashtech.h b/src/drivers/gps/ashtech.h new file mode 100644 index 000000000..6ba522b9c --- /dev/null +++ b/src/drivers/gps/ashtech.h @@ -0,0 +1,96 @@ +/**************************************************************************** + * + * Copyright (C) 2013. All rights reserved. + * Author: Boriskin Aleksey <a.d.boriskin@gmail.com> + * Kistanov Alexander <akistanov@gramant.ru> + * + * 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 ASHTECH protocol definitions */ + +#ifndef ASHTECH_H_ +#define ASHTECH_H_ + +#include "gps_helper.h" + +#ifndef RECV_BUFFER_SIZE +#define RECV_BUFFER_SIZE 512 + +#define SAT_INFO_MAX_SATELLITES 20 +#endif + + +class ASHTECH : public GPS_Helper +{ + enum ashtech_decode_state_t { + NME_DECODE_UNINIT, + NME_DECODE_GOT_SYNC1, + NME_DECODE_GOT_ASTERIKS, + NME_DECODE_GOT_FIRST_CS_BYTE + }; + + int _fd; + struct satellite_info_s *_satellite_info; + struct vehicle_gps_position_s *_gps_position; + int ashtechlog_fd; + + ashtech_decode_state_t _decode_state; + uint8_t _rx_buffer[RECV_BUFFER_SIZE]; + uint16_t _rx_buffer_bytes; + bool _parse_error; /** parse error flag */ + char *_parse_pos; /** parse position */ + + bool _gsv_in_progress; /**< Indicates that gsv data parsing is in progress */ + /* int _satellites_count; **< Number of satellites info parsed. */ + uint8_t count; /**< Number of satellites in satellite info */ + uint8_t svid[SAT_INFO_MAX_SATELLITES]; /**< Space vehicle ID [1..255], see scheme below */ + uint8_t used[SAT_INFO_MAX_SATELLITES]; /**< 0: Satellite not used, 1: used for navigation */ + uint8_t elevation[SAT_INFO_MAX_SATELLITES]; /**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */ + uint8_t azimuth[SAT_INFO_MAX_SATELLITES]; /**< Direction of satellite, 0: 0 deg, 255: 360 deg. */ + uint8_t snr[SAT_INFO_MAX_SATELLITES]; /**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99, zero when not tracking this satellite. */ + +public: + ASHTECH(const int &fd, struct vehicle_gps_position_s *gps_position, struct satellite_info_s *satellite_info); + ~ASHTECH(); + int receive(unsigned timeout); + int configure(unsigned &baudrate); + void decode_init(void); + int handle_message(int len); + int parse_char(uint8_t b); + /** Read int ASHTECH parameter */ + int32_t read_int(); + /** Read float ASHTECH parameter */ + double read_float(); + /** Read char ASHTECH parameter */ + char read_char(); + +}; + +#endif /* ASHTECH_H_ */ diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp index 34dd63086..47c907bd3 100644 --- a/src/drivers/gps/gps.cpp +++ b/src/drivers/gps/gps.cpp @@ -69,6 +69,7 @@ #include "ubx.h" #include "mtk.h" +#include "ashtech.h" #define TIMEOUT_5HZ 500 @@ -273,7 +274,6 @@ GPS::task_main_trampoline(void *arg) void GPS::task_main() { - log("starting"); /* open the serial port */ _serial_fd = ::open(_port, O_RDWR); @@ -341,6 +341,10 @@ GPS::task_main() _Helper = new MTK(_serial_fd, &_report_gps_pos); break; + case GPS_DRIVER_MODE_ASHTECH: + _Helper = new ASHTECH(_serial_fd, &_report_gps_pos, _p_report_sat_info); + break; + default: break; } @@ -402,6 +406,10 @@ GPS::task_main() mode_str = "MTK"; break; + case GPS_DRIVER_MODE_ASHTECH: + mode_str = "ASHTECH"; + break; + default: break; } @@ -429,6 +437,10 @@ GPS::task_main() break; case GPS_DRIVER_MODE_MTK: + _mode = GPS_DRIVER_MODE_ASHTECH; + break; + + case GPS_DRIVER_MODE_ASHTECH: _mode = GPS_DRIVER_MODE_UBX; break; @@ -475,6 +487,10 @@ GPS::print_info() warnx("protocol: MTK"); break; + case GPS_DRIVER_MODE_ASHTECH: + warnx("protocol: ASHTECH"); + break; + default: break; } diff --git a/src/drivers/gps/module.mk b/src/drivers/gps/module.mk index b00818424..4f99b0d3b 100644 --- a/src/drivers/gps/module.mk +++ b/src/drivers/gps/module.mk @@ -40,6 +40,7 @@ MODULE_COMMAND = gps SRCS = gps.cpp \ gps_helper.cpp \ mtk.cpp \ + ashtech.cpp \ ubx.cpp MODULE_STACKSIZE = 1200 diff --git a/src/drivers/gps/ubx.cpp b/src/drivers/gps/ubx.cpp index d0854f5e9..b0eb4ab66 100644 --- a/src/drivers/gps/ubx.cpp +++ b/src/drivers/gps/ubx.cpp @@ -189,6 +189,18 @@ UBX::configure(unsigned &baudrate) return 1; } +#ifdef UBX_CONFIGURE_SBAS + /* send a SBAS message to set the SBAS options */ + memset(&_buf.payload_tx_cfg_sbas, 0, sizeof(_buf.payload_tx_cfg_sbas)); + _buf.payload_tx_cfg_sbas.mode = UBX_TX_CFG_SBAS_MODE; + + send_message(UBX_MSG_CFG_SBAS, _buf.raw, sizeof(_buf.payload_tx_cfg_sbas)); + + if (wait_for_ack(UBX_MSG_CFG_SBAS, UBX_CONFIG_TIMEOUT, true) < 0) { + return 1; + } +#endif + /* configure message rates */ /* the last argument is divisor for measurement rate (set by CFG RATE), i.e. 1 means 5Hz */ diff --git a/src/drivers/gps/ubx.h b/src/drivers/gps/ubx.h index 219a5762a..c74eb9168 100644 --- a/src/drivers/gps/ubx.h +++ b/src/drivers/gps/ubx.h @@ -73,6 +73,7 @@ #define UBX_ID_CFG_MSG 0x01 #define UBX_ID_CFG_RATE 0x08 #define UBX_ID_CFG_NAV5 0x24 +#define UBX_ID_CFG_SBAS 0x16 #define UBX_ID_MON_VER 0x04 #define UBX_ID_MON_HW 0x09 @@ -89,6 +90,7 @@ #define UBX_MSG_CFG_MSG ((UBX_CLASS_CFG) | UBX_ID_CFG_MSG << 8) #define UBX_MSG_CFG_RATE ((UBX_CLASS_CFG) | UBX_ID_CFG_RATE << 8) #define UBX_MSG_CFG_NAV5 ((UBX_CLASS_CFG) | UBX_ID_CFG_NAV5 << 8) +#define UBX_MSG_CFG_SBAS ((UBX_CLASS_CFG) | UBX_ID_CFG_SBAS << 8) #define UBX_MSG_MON_HW ((UBX_CLASS_MON) | UBX_ID_MON_HW << 8) #define UBX_MSG_MON_VER ((UBX_CLASS_MON) | UBX_ID_MON_VER << 8) @@ -128,6 +130,11 @@ #define UBX_TX_CFG_NAV5_DYNMODEL 7 /**< 0 Portable, 2 Stationary, 3 Pedestrian, 4 Automotive, 5 Sea, 6 Airborne <1g, 7 Airborne <2g, 8 Airborne <4g */ #define UBX_TX_CFG_NAV5_FIXMODE 2 /**< 1 2D only, 2 3D only, 3 Auto 2D/3D */ +/* TX CFG-SBAS message contents */ +#define UBX_TX_CFG_SBAS_MODE_ENABLED 1 /**< SBAS enabled */ +#define UBX_TX_CFG_SBAS_MODE_DISABLED 0 /**< SBAS disabled */ +#define UBX_TX_CFG_SBAS_MODE UBX_TX_CFG_SBAS_MODE_DISABLED /**< SBAS enabled or disabled */ + /* TX CFG-MSG message contents */ #define UBX_TX_CFG_MSG_RATE1_5HZ 0x01 /**< {0x00, 0x01, 0x00, 0x00, 0x00, 0x00} the second entry is for UART1 */ #define UBX_TX_CFG_MSG_RATE1_1HZ 0x05 /**< {0x00, 0x05, 0x00, 0x00, 0x00, 0x00} the second entry is for UART1 */ @@ -383,6 +390,15 @@ typedef struct { uint32_t reserved4; } ubx_payload_tx_cfg_nav5_t; +/* tx cfg-sbas */ +typedef struct { + uint8_t mode; + uint8_t usage; + uint8_t maxSBAS; + uint8_t scanmode2; + uint32_t scanmode1; +} ubx_payload_tx_cfg_sbas_t; + /* Tx CFG-MSG */ typedef struct { union { @@ -413,6 +429,7 @@ typedef union { ubx_payload_tx_cfg_prt_t payload_tx_cfg_prt; ubx_payload_tx_cfg_rate_t payload_tx_cfg_rate; ubx_payload_tx_cfg_nav5_t payload_tx_cfg_nav5; + ubx_payload_tx_cfg_sbas_t payload_tx_cfg_sbas; ubx_payload_tx_cfg_msg_t payload_tx_cfg_msg; uint8_t raw[]; } ubx_buf_t; diff --git a/src/drivers/hil/hil.cpp b/src/drivers/hil/hil.cpp index f17e99e9d..9b5c8133b 100644 --- a/src/drivers/hil/hil.cpp +++ b/src/drivers/hil/hil.cpp @@ -392,7 +392,8 @@ HIL::task_main() if (fds[0].revents & POLLIN) { /* get controls - must always do this to avoid spinning */ - orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, _t_actuators, &_controls); + orb_copy(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS : + ORB_ID(actuator_controls_1), _t_actuators, &_controls); /* can we mix? */ if (_mixers != nullptr) { @@ -441,8 +442,6 @@ HIL::task_main() /* make sure servos are off */ // up_pwm_servo_deinit(); - log("stopping"); - /* note - someone else is responsible for restoring the GPIO config */ /* tell the dtor that we are exiting */ diff --git a/src/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp index e4ecfa6b5..d4dbf3778 100644 --- a/src/drivers/hmc5883/hmc5883.cpp +++ b/src/drivers/hmc5883/hmc5883.cpp @@ -1049,11 +1049,9 @@ int HMC5883::calibrate(struct file *filp, unsigned enable) * LSM/Ga, giving 1.16 and 1.08 */ float expected_cal[3] = { 1.16f, 1.08f, 1.08f }; - warnx("starting mag scale calibration"); - /* start the sensor polling at 50 Hz */ if (OK != ioctl(filp, SENSORIOCSPOLLRATE, 50)) { - warn("failed to set 2Hz poll rate"); + warn("FAILED: SENSORIOCSPOLLRATE 2Hz"); ret = 1; goto out; } @@ -1061,25 +1059,25 @@ int HMC5883::calibrate(struct file *filp, unsigned enable) /* Set to 2.5 Gauss. We ask for 3 to get the right part of * the chained if statement above. */ if (OK != ioctl(filp, MAGIOCSRANGE, 3)) { - warnx("failed to set 2.5 Ga range"); + warnx("FAILED: MAGIOCSRANGE 3.3 Ga"); ret = 1; goto out; } if (OK != ioctl(filp, MAGIOCEXSTRAP, 1)) { - warnx("failed to enable sensor calibration mode"); + warnx("FAILED: MAGIOCEXSTRAP 1"); ret = 1; goto out; } if (OK != ioctl(filp, MAGIOCGSCALE, (long unsigned int)&mscale_previous)) { - warn("WARNING: failed to get scale / offsets for mag"); + warn("FAILED: MAGIOCGSCALE 1"); ret = 1; goto out; } if (OK != ioctl(filp, MAGIOCSSCALE, (long unsigned int)&mscale_null)) { - warn("WARNING: failed to set null scale / offsets for mag"); + warn("FAILED: MAGIOCSSCALE 1"); ret = 1; goto out; } @@ -1094,7 +1092,7 @@ int HMC5883::calibrate(struct file *filp, unsigned enable) ret = ::poll(&fds, 1, 2000); if (ret != 1) { - warn("timed out waiting for sensor data"); + warn("ERROR: TIMEOUT 1"); goto out; } @@ -1102,7 +1100,7 @@ int HMC5883::calibrate(struct file *filp, unsigned enable) sz = ::read(fd, &report, sizeof(report)); if (sz != sizeof(report)) { - warn("periodic read failed"); + warn("ERROR: READ 1"); ret = -EIO; goto out; } @@ -1118,7 +1116,7 @@ int HMC5883::calibrate(struct file *filp, unsigned enable) ret = ::poll(&fds, 1, 2000); if (ret != 1) { - warn("timed out waiting for sensor data"); + warn("ERROR: TIMEOUT 2"); goto out; } @@ -1126,7 +1124,7 @@ int HMC5883::calibrate(struct file *filp, unsigned enable) sz = ::read(fd, &report, sizeof(report)); if (sz != sizeof(report)) { - warn("periodic read failed"); + warn("ERROR: READ 2"); ret = -EIO; goto out; } @@ -1142,33 +1140,19 @@ int HMC5883::calibrate(struct file *filp, unsigned enable) sum_excited[1] += cal[1]; sum_excited[2] += cal[2]; } - - //warnx("periodic read %u", i); - //warnx("measurement: %.6f %.6f %.6f", (double)report.x, (double)report.y, (double)report.z); - //warnx("cal: %.6f %.6f %.6f", (double)cal[0], (double)cal[1], (double)cal[2]); } if (good_count < 5) { - warn("failed calibration"); ret = -EIO; goto out; } -#if 0 - warnx("measurement avg: %.6f %.6f %.6f", - (double)sum_excited[0]/good_count, - (double)sum_excited[1]/good_count, - (double)sum_excited[2]/good_count); -#endif - float scaling[3]; scaling[0] = sum_excited[0] / good_count; scaling[1] = sum_excited[1] / good_count; scaling[2] = sum_excited[2] / good_count; - warnx("axes scaling: %.6f %.6f %.6f", (double)scaling[0], (double)scaling[1], (double)scaling[2]); - /* set scaling in device */ mscale_previous.x_scale = scaling[0]; mscale_previous.y_scale = scaling[1]; @@ -1179,29 +1163,26 @@ int HMC5883::calibrate(struct file *filp, unsigned enable) out: if (OK != ioctl(filp, MAGIOCSSCALE, (long unsigned int)&mscale_previous)) { - warn("failed to set new scale / offsets for mag"); + warn("FAILED: MAGIOCSSCALE 2"); } /* set back to normal mode */ /* Set to 1.1 Gauss */ if (OK != ::ioctl(fd, MAGIOCSRANGE, 1)) { - warnx("failed to set 1.1 Ga range"); + warnx("FAILED: MAGIOCSRANGE 1.1 Ga"); } if (OK != ::ioctl(fd, MAGIOCEXSTRAP, 0)) { - warnx("failed to disable sensor calibration mode"); + warnx("FAILED: MAGIOCEXSTRAP 0"); } if (ret == OK) { - if (!check_scale()) { - warnx("mag scale calibration successfully finished."); - } else { - warnx("mag scale calibration finished with invalid results."); + if (check_scale()) { + /* failed */ + warnx("FAILED: SCALE"); ret = ERROR; } - } else { - warnx("mag scale calibration failed."); } return ret; @@ -1368,7 +1349,7 @@ HMC5883 *g_dev_ext = nullptr; void start(int bus, enum Rotation rotation); void test(int bus); void reset(int bus); -void info(int bus); +int info(int bus); int calibrate(int bus); void usage(); @@ -1614,17 +1595,23 @@ reset(int bus) /** * Print a little info about the driver. */ -void +int info(int bus) { - HMC5883 *g_dev = (bus == PX4_I2C_BUS_ONBOARD?g_dev_int:g_dev_ext); - if (g_dev == nullptr) - errx(1, "driver not running"); + int ret = 1; - printf("state @ %p\n", g_dev); - g_dev->print_info(); + HMC5883 *g_dev = (bus == PX4_I2C_BUS_ONBOARD ? g_dev_int : g_dev_ext); + if (g_dev == nullptr) { + warnx("not running on bus %d", bus); + } else { - exit(0); + warnx("running on bus: %d (%s)\n", bus, ((PX4_I2C_BUS_ONBOARD) ? "onboard" : "offboard")); + + g_dev->print_info(); + ret = 0; + } + + return ret; } void @@ -1704,8 +1691,21 @@ hmc5883_main(int argc, char *argv[]) /* * Print driver information. */ - if (!strcmp(verb, "info") || !strcmp(verb, "status")) - hmc5883::info(bus); + if (!strcmp(verb, "info") || !strcmp(verb, "status")) { + if (bus == -1) { + int ret = 0; + if (hmc5883::info(PX4_I2C_BUS_ONBOARD)) { + ret = 1; + } + + if (hmc5883::info(PX4_I2C_BUS_EXPANSION)) { + ret = 1; + } + exit(ret); + } else { + exit(hmc5883::info(bus)); + } + } /* * Autocalibrate the scaling diff --git a/src/drivers/hmc5883/module.mk b/src/drivers/hmc5883/module.mk index 5daa01dc5..be2ee7276 100644 --- a/src/drivers/hmc5883/module.mk +++ b/src/drivers/hmc5883/module.mk @@ -42,3 +42,5 @@ SRCS = hmc5883.cpp MODULE_STACKSIZE = 1200 EXTRACXXFLAGS = -Weffc++ + +MAXOPTIMIZATION = -Os diff --git a/src/drivers/hott/comms.cpp b/src/drivers/hott/comms.cpp index cb8bbba37..60a49b559 100644 --- a/src/drivers/hott/comms.cpp +++ b/src/drivers/hott/comms.cpp @@ -55,7 +55,7 @@ open_uart(const char *device) const int uart = open(device, O_RDWR | O_NOCTTY); if (uart < 0) { - err(1, "Error opening port: %s", device); + err(1, "ERR: opening %s", device); } /* Back up the original uart configuration to restore it after exit */ @@ -63,7 +63,7 @@ open_uart(const char *device) struct termios uart_config_original; if ((termios_state = tcgetattr(uart, &uart_config_original)) < 0) { close(uart); - err(1, "Error getting baudrate / termios config for %s: %d", device, termios_state); + err(1, "ERR: %s: %d", device, termios_state); } /* Fill the struct for the new configuration */ @@ -76,13 +76,13 @@ open_uart(const char *device) /* Set baud rate */ if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) { close(uart); - err(1, "Error setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)", + err(1, "ERR: %s: %d (cfsetispeed, cfsetospeed)", device, termios_state); } if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) { close(uart); - err(1, "Error setting baudrate / termios config for %s (tcsetattr)", device); + err(1, "ERR: %s (tcsetattr)", device); } /* Activate single wire mode */ diff --git a/src/drivers/hott/hott_sensors/hott_sensors.cpp b/src/drivers/hott/hott_sensors/hott_sensors.cpp index a3d3a3933..8ab9d8d55 100644 --- a/src/drivers/hott/hott_sensors/hott_sensors.cpp +++ b/src/drivers/hott/hott_sensors/hott_sensors.cpp @@ -204,7 +204,7 @@ hott_sensors_main(int argc, char *argv[]) if (!strcmp(argv[1], "start")) { if (thread_running) { - warnx("deamon already running"); + warnx("already running"); exit(0); } @@ -225,10 +225,10 @@ hott_sensors_main(int argc, char *argv[]) if (!strcmp(argv[1], "status")) { if (thread_running) { - warnx("daemon is running"); + warnx("is running"); } else { - warnx("daemon not started"); + warnx("not started"); } exit(0); diff --git a/src/drivers/hott/hott_telemetry/hott_telemetry.cpp b/src/drivers/hott/hott_telemetry/hott_telemetry.cpp index d293f9954..edbb14172 100644 --- a/src/drivers/hott/hott_telemetry/hott_telemetry.cpp +++ b/src/drivers/hott/hott_telemetry/hott_telemetry.cpp @@ -230,7 +230,7 @@ hott_telemetry_main(int argc, char *argv[]) if (!strcmp(argv[1], "start")) { if (thread_running) { - warnx("deamon already running"); + warnx("already running"); exit(0); } @@ -251,10 +251,10 @@ hott_telemetry_main(int argc, char *argv[]) if (!strcmp(argv[1], "status")) { if (thread_running) { - warnx("daemon is running"); + warnx("is running"); } else { - warnx("daemon not started"); + warnx("not started"); } exit(0); diff --git a/src/drivers/hott/messages.cpp b/src/drivers/hott/messages.cpp index 086132573..f1b12b067 100644 --- a/src/drivers/hott/messages.cpp +++ b/src/drivers/hott/messages.cpp @@ -115,9 +115,9 @@ publish_gam_message(const uint8_t *buffer) esc.esc[0].esc_vendor = ESC_VENDOR_GRAUPNER_HOTT; esc.esc[0].esc_rpm = (uint16_t)((msg.rpm_H << 8) | (msg.rpm_L & 0xff)) * 10; - esc.esc[0].esc_temperature = msg.temperature1 - 20; - esc.esc[0].esc_voltage = (uint16_t)((msg.main_voltage_H << 8) | (msg.main_voltage_L & 0xff)); - esc.esc[0].esc_current = (uint16_t)((msg.current_H << 8) | (msg.current_L & 0xff)); + esc.esc[0].esc_temperature = static_cast<float>(msg.temperature1) - 20.0F; + esc.esc[0].esc_voltage = static_cast<float>((msg.main_voltage_H << 8) | (msg.main_voltage_L & 0xff)) * 0.1F; + esc.esc[0].esc_current = static_cast<float>((msg.current_H << 8) | (msg.current_L & 0xff)) * 0.1F; /* announce the esc if needed, just publish else */ if (_esc_pub > 0) { @@ -186,18 +186,18 @@ build_gam_response(uint8_t *buffer, size_t *size) msg.gam_sensor_id = GAM_SENSOR_ID; msg.sensor_text_id = GAM_SENSOR_TEXT_ID; - msg.temperature1 = (uint8_t)(esc.esc[0].esc_temperature + 20); + msg.temperature1 = (uint8_t)(esc.esc[0].esc_temperature + 20.0F); msg.temperature2 = 20; // 0 deg. C. - uint16_t voltage = (uint16_t)(esc.esc[0].esc_voltage); + const uint16_t voltage = (uint16_t)(esc.esc[0].esc_voltage * 10.0F); msg.main_voltage_L = (uint8_t)voltage & 0xff; msg.main_voltage_H = (uint8_t)(voltage >> 8) & 0xff; - uint16_t current = (uint16_t)(esc.esc[0].esc_current); + const uint16_t current = (uint16_t)(esc.esc[0].esc_current * 10.0F); msg.current_L = (uint8_t)current & 0xff; msg.current_H = (uint8_t)(current >> 8) & 0xff; - uint16_t rpm = (uint16_t)(esc.esc[0].esc_rpm * 0.1f); + const uint16_t rpm = (uint16_t)(esc.esc[0].esc_rpm * 0.1f); msg.rpm_L = (uint8_t)rpm & 0xff; msg.rpm_H = (uint8_t)(rpm >> 8) & 0xff; diff --git a/src/drivers/l3gd20/l3gd20.cpp b/src/drivers/l3gd20/l3gd20.cpp index cfae8761c..82fa5cc6e 100644 --- a/src/drivers/l3gd20/l3gd20.cpp +++ b/src/drivers/l3gd20/l3gd20.cpp @@ -176,6 +176,7 @@ static const int ERROR = -1; #define L3G4200D_DEFAULT_RATE 800 #define L3GD20_DEFAULT_RANGE_DPS 2000 #define L3GD20_DEFAULT_FILTER_FREQ 30 +#define L3GD20_TEMP_OFFSET_CELSIUS 40 #ifndef SENSOR_BOARD_ROTATION_DEFAULT #define SENSOR_BOARD_ROTATION_DEFAULT SENSOR_BOARD_ROTATION_270_DEG @@ -856,7 +857,7 @@ L3GD20::measure() #pragma pack(push, 1) struct { uint8_t cmd; - uint8_t temp; + int8_t temp; uint8_t status; int16_t x; int16_t y; @@ -930,6 +931,8 @@ L3GD20::measure() report.z_raw = raw_report.z; + report.temperature_raw = raw_report.temp; + report.x = ((report.x_raw * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale; report.y = ((report.y_raw * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale; report.z = ((report.z_raw * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale; @@ -938,6 +941,8 @@ L3GD20::measure() report.y = _gyro_filter_y.apply(report.y); report.z = _gyro_filter_z.apply(report.z); + report.temperature = L3GD20_TEMP_OFFSET_CELSIUS - raw_report.temp; + // apply user specified rotation rotate_3f(_rotation, report.x, report.y, report.z); @@ -1091,9 +1096,11 @@ test() warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x); warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y); warnx("gyro z: \t% 9.5f\trad/s", (double)g_report.z); + warnx("temp: \t%d\tC", (int)g_report.temperature); warnx("gyro x: \t%d\traw", (int)g_report.x_raw); warnx("gyro y: \t%d\traw", (int)g_report.y_raw); warnx("gyro z: \t%d\traw", (int)g_report.z_raw); + warnx("temp: \t%d\traw", (int)g_report.temperature_raw); warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s, (int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f)); diff --git a/src/drivers/l3gd20/module.mk b/src/drivers/l3gd20/module.mk index 5630e7aec..3d64d62be 100644 --- a/src/drivers/l3gd20/module.mk +++ b/src/drivers/l3gd20/module.mk @@ -8,3 +8,5 @@ SRCS = l3gd20.cpp MODULE_STACKSIZE = 1200 EXTRACXXFLAGS = -Weffc++ + +MAXOPTIMIZATION = -Os diff --git a/src/drivers/ll40ls/ll40ls.cpp b/src/drivers/ll40ls/ll40ls.cpp index a69e6ee55..6793acd81 100644 --- a/src/drivers/ll40ls/ll40ls.cpp +++ b/src/drivers/ll40ls/ll40ls.cpp @@ -73,14 +73,19 @@ /* Configuration Constants */ #define LL40LS_BUS PX4_I2C_BUS_EXPANSION -#define LL40LS_BASEADDR 0x42 /* 7-bit address */ -#define LL40LS_DEVICE_PATH "/dev/ll40ls" +#define LL40LS_BASEADDR 0x62 /* 7-bit address */ +#define LL40LS_BASEADDR_OLD 0x42 /* previous 7-bit address */ +#define LL40LS_DEVICE_PATH_INT "/dev/ll40ls_int" +#define LL40LS_DEVICE_PATH_EXT "/dev/ll40ls_ext" /* LL40LS Registers addresses */ #define LL40LS_MEASURE_REG 0x00 /* Measure range register */ -#define LL40LS_MSRREG_ACQUIRE 0x04 /* Value to initiate a measurement, varies based on sensor revision */ +#define LL40LS_MSRREG_ACQUIRE 0x04 /* Value to initiate a measurement, varies based on sensor revision */ #define LL40LS_DISTHIGH_REG 0x8F /* High byte of distance register, auto increment */ +#define LL40LS_WHO_AM_I_REG 0x11 +#define LL40LS_WHO_AM_I_REG_VAL 0xCA +#define LL40LS_SIGNAL_STRENGTH_REG 0x5b /* Device limits */ #define LL40LS_MIN_DISTANCE (0.00f) @@ -101,7 +106,7 @@ static const int ERROR = -1; class LL40LS : public device::I2C { public: - LL40LS(int bus = LL40LS_BUS, int address = LL40LS_BASEADDR); + LL40LS(int bus, const char *path, int address = LL40LS_BASEADDR); virtual ~LL40LS(); virtual int init(); @@ -116,6 +121,7 @@ public: protected: virtual int probe(); + virtual int read_reg(uint8_t reg, uint8_t &val); private: float _min_distance; @@ -132,6 +138,10 @@ private: perf_counter_t _sample_perf; perf_counter_t _comms_errors; perf_counter_t _buffer_overflows; + uint16_t _last_distance; + + /**< the bus the device is connected to */ + int _bus; /** * Test whether the device supported by the driver is present at a @@ -188,8 +198,8 @@ private: */ extern "C" __EXPORT int ll40ls_main(int argc, char *argv[]); -LL40LS::LL40LS(int bus, int address) : - I2C("LL40LS", LL40LS_DEVICE_PATH, bus, address, 100000), +LL40LS::LL40LS(int bus, const char *path, int address) : + I2C("LL40LS", path, bus, address, 100000), _min_distance(LL40LS_MIN_DISTANCE), _max_distance(LL40LS_MAX_DISTANCE), _reports(nullptr), @@ -200,10 +210,12 @@ LL40LS::LL40LS(int bus, int address) : _range_finder_topic(-1), _sample_perf(perf_alloc(PC_ELAPSED, "ll40ls_read")), _comms_errors(perf_alloc(PC_COUNT, "ll40ls_comms_errors")), - _buffer_overflows(perf_alloc(PC_COUNT, "ll40ls_buffer_overflows")) + _buffer_overflows(perf_alloc(PC_COUNT, "ll40ls_buffer_overflows")), + _last_distance(0), + _bus(bus) { // up the retries since the device misses the first measure attempts - I2C::_retries = 3; + _retries = 3; // enable debug() calls _debug_enabled = false; @@ -271,8 +283,50 @@ out: } int +LL40LS::read_reg(uint8_t reg, uint8_t &val) +{ + return transfer(®, 1, &val, 1); +} + +int LL40LS::probe() { + // cope with both old and new I2C bus address + const uint8_t addresses[2] = {LL40LS_BASEADDR, LL40LS_BASEADDR_OLD}; + + // more retries for detection + _retries = 10; + + for (uint8_t i=0; i<sizeof(addresses); i++) { + uint8_t val=0, who_am_i=0; + + // set the I2C bus address + set_address(addresses[i]); + + if (read_reg(LL40LS_WHO_AM_I_REG, who_am_i) == OK && who_am_i == LL40LS_WHO_AM_I_REG_VAL) { + // it is responding correctly to a WHO_AM_I + goto ok; + } + + if (read_reg(LL40LS_SIGNAL_STRENGTH_REG, val) == OK && val != 0) { + // very likely to be a ll40ls. px4flow does not + // respond to this + goto ok; + } + + debug("WHO_AM_I byte mismatch 0x%02x should be 0x%02x val=0x%02x\n", + (unsigned)who_am_i, + LL40LS_WHO_AM_I_REG_VAL, + (unsigned)val); + } + + // not found on any address + return -EIO; + +ok: + _retries = 3; + + // start a measurement return measure(); } @@ -521,6 +575,8 @@ LL40LS::collect() float si_units = distance * 0.01f; /* cm to m */ struct range_finder_report report; + _last_distance = distance; + /* this should be fairly close to the end of the measurement, so the best approximation of the time */ report.timestamp = hrt_absolute_time(); report.error_count = perf_event_count(_comms_errors); @@ -648,6 +704,8 @@ LL40LS::print_info() perf_print_counter(_buffer_overflows); printf("poll interval: %u ticks\n", _measure_ticks); _reports->print_info("report queue"); + printf("distance: %ucm (0x%04x)\n", + (unsigned)_last_distance, (unsigned)_last_distance); } /** @@ -662,55 +720,89 @@ namespace ll40ls #endif const int ERROR = -1; -LL40LS *g_dev; +LL40LS *g_dev_int; +LL40LS *g_dev_ext; -void start(); -void stop(); -void test(); -void reset(); -void info(); +void start(int bus); +void stop(int bus); +void test(int bus); +void reset(int bus); +void info(int bus); +void usage(); /** * Start the driver. */ void -start() +start(int bus) { - int fd; - - if (g_dev != nullptr) { - errx(1, "already started"); + /* create the driver, attempt expansion bus first */ + if (bus == -1 || bus == PX4_I2C_BUS_EXPANSION) { + if (g_dev_ext != nullptr) + errx(0, "already started external"); + g_dev_ext = new LL40LS(PX4_I2C_BUS_EXPANSION, LL40LS_DEVICE_PATH_EXT); + if (g_dev_ext != nullptr && OK != g_dev_ext->init()) { + delete g_dev_ext; + g_dev_ext = nullptr; + } } - /* create the driver */ - g_dev = new LL40LS(LL40LS_BUS); - - if (g_dev == nullptr) { - goto fail; - } +#ifdef PX4_I2C_BUS_ONBOARD + /* if this failed, attempt onboard sensor */ + if (bus == -1 || bus == PX4_I2C_BUS_ONBOARD) { + if (g_dev_int != nullptr) + errx(0, "already started internal"); + g_dev_int = new LL40LS(PX4_I2C_BUS_ONBOARD, LL40LS_DEVICE_PATH_INT); + if (g_dev_int != nullptr && OK != g_dev_int->init()) { + /* tear down the failing onboard instance */ + delete g_dev_int; + g_dev_int = nullptr; - if (OK != g_dev->init()) { - goto fail; + if (bus == PX4_I2C_BUS_ONBOARD) { + goto fail; + } + } + if (g_dev_int == nullptr && bus == PX4_I2C_BUS_ONBOARD) { + goto fail; + } } +#endif /* set the poll rate to default, starts automatic data collection */ - fd = open(LL40LS_DEVICE_PATH, O_RDONLY); - - if (fd < 0) { - goto fail; - } - - if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) { - goto fail; - } + if (g_dev_int != nullptr) { + int fd = open(LL40LS_DEVICE_PATH_INT, O_RDONLY); + if (fd == -1) { + goto fail; + } + int ret = ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT); + close(fd); + if (ret < 0) { + goto fail; + } + } + + if (g_dev_ext != nullptr) { + int fd = open(LL40LS_DEVICE_PATH_EXT, O_RDONLY); + if (fd == -1) { + goto fail; + } + int ret = ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT); + close(fd); + if (ret < 0) { + goto fail; + } + } exit(0); fail: - - if (g_dev != nullptr) { - delete g_dev; - g_dev = nullptr; + if (g_dev_int != nullptr && (bus == -1 || bus == PX4_I2C_BUS_ONBOARD)) { + delete g_dev_int; + g_dev_int = nullptr; + } + if (g_dev_ext != nullptr && (bus == -1 || bus == PX4_I2C_BUS_EXPANSION)) { + delete g_dev_ext; + g_dev_ext = nullptr; } errx(1, "driver start failed"); @@ -719,11 +811,12 @@ fail: /** * Stop the driver */ -void stop() +void stop(int bus) { - if (g_dev != nullptr) { - delete g_dev; - g_dev = nullptr; + LL40LS **g_dev = (bus == PX4_I2C_BUS_ONBOARD?&g_dev_int:&g_dev_ext); + if (*g_dev != nullptr) { + delete *g_dev; + *g_dev = nullptr; } else { errx(1, "driver not running"); @@ -738,16 +831,17 @@ void stop() * and automatic modes. */ void -test() +test(int bus) { struct range_finder_report report; ssize_t sz; int ret; + const char *path = (bus==PX4_I2C_BUS_ONBOARD?LL40LS_DEVICE_PATH_INT:LL40LS_DEVICE_PATH_EXT); - int fd = open(LL40LS_DEVICE_PATH, O_RDONLY); + int fd = open(path, O_RDONLY); if (fd < 0) { - err(1, "%s open failed (try 'll40ls start' if the driver is not running", LL40LS_DEVICE_PATH); + err(1, "%s open failed (try 'll40ls start' if the driver is not running", path); } /* do a simple demand read */ @@ -803,9 +897,10 @@ test() * Reset the driver. */ void -reset() +reset(int bus) { - int fd = open(LL40LS_DEVICE_PATH, O_RDONLY); + const char *path = (bus==PX4_I2C_BUS_ONBOARD?LL40LS_DEVICE_PATH_INT:LL40LS_DEVICE_PATH_EXT); + int fd = open(path, O_RDONLY); if (fd < 0) { err(1, "failed "); @@ -826,8 +921,9 @@ reset() * Print a little info about the driver. */ void -info() +info(int bus) { + LL40LS *g_dev = (bus == PX4_I2C_BUS_ONBOARD?g_dev_int:g_dev_ext); if (g_dev == nullptr) { errx(1, "driver not running"); } @@ -838,44 +934,76 @@ info() exit(0); } +void +usage() +{ + warnx("missing command: try 'start', 'stop', 'info', 'test', 'reset', 'info'"); + warnx("options:"); + warnx(" -X only external bus"); +#ifdef PX4_I2C_BUS_ONBOARD + warnx(" -I only internal bus"); +#endif +} + } // namespace int ll40ls_main(int argc, char *argv[]) { + int ch; + int bus = -1; + + while ((ch = getopt(argc, argv, "XI")) != EOF) { + switch (ch) { +#ifdef PX4_I2C_BUS_ONBOARD + case 'I': + bus = PX4_I2C_BUS_ONBOARD; + break; +#endif + case 'X': + bus = PX4_I2C_BUS_EXPANSION; + break; + default: + ll40ls::usage(); + exit(0); + } + } + + const char *verb = argv[optind]; + /* * Start/load the driver. */ - if (!strcmp(argv[1], "start")) { - ll40ls::start(); + if (!strcmp(verb, "start")) { + ll40ls::start(bus); } /* * Stop the driver */ - if (!strcmp(argv[1], "stop")) { - ll40ls::stop(); + if (!strcmp(verb, "stop")) { + ll40ls::stop(bus); } /* * Test the driver/device. */ - if (!strcmp(argv[1], "test")) { - ll40ls::test(); + if (!strcmp(verb, "test")) { + ll40ls::test(bus); } /* * Reset the driver. */ - if (!strcmp(argv[1], "reset")) { - ll40ls::reset(); + if (!strcmp(verb, "reset")) { + ll40ls::reset(bus); } /* * Print driver information. */ - if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) { - ll40ls::info(); + if (!strcmp(verb, "info") || !strcmp(verb, "status")) { + ll40ls::info(bus); } errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'"); diff --git a/src/drivers/lsm303d/lsm303d.cpp b/src/drivers/lsm303d/lsm303d.cpp index 6880cf0f8..01c89192a 100644 --- a/src/drivers/lsm303d/lsm303d.cpp +++ b/src/drivers/lsm303d/lsm303d.cpp @@ -1519,8 +1519,10 @@ LSM303D::measure() { // if the accel doesn't have any data ready then re-schedule // for 100 microseconds later. This ensures we don't double - // read a value and then miss the next value - if (stm32_gpioread(GPIO_EXTI_ACCEL_DRDY) == 0) { + // read a value and then miss the next value. + // Note that DRDY is not available when the lsm303d is + // connected on the external bus + if (_bus == PX4_SPI_BUS_SENSORS && stm32_gpioread(GPIO_EXTI_ACCEL_DRDY) == 0) { perf_count(_accel_reschedules); hrt_call_delay(&_accel_call, 100); return; diff --git a/src/drivers/lsm303d/module.mk b/src/drivers/lsm303d/module.mk index b4f3974f4..0421eb113 100644 --- a/src/drivers/lsm303d/module.mk +++ b/src/drivers/lsm303d/module.mk @@ -8,3 +8,5 @@ SRCS = lsm303d.cpp MODULE_STACKSIZE = 1200 EXTRACXXFLAGS = -Weffc++ + +MAXOPTIMIZATION = -Os diff --git a/src/drivers/meas_airspeed/meas_airspeed.cpp b/src/drivers/meas_airspeed/meas_airspeed.cpp index 159706278..ba46de379 100644 --- a/src/drivers/meas_airspeed/meas_airspeed.cpp +++ b/src/drivers/meas_airspeed/meas_airspeed.cpp @@ -228,44 +228,23 @@ MEASAirspeed::collect() // the raw value still should be compensated for the known offset diff_press_pa_raw -= _diff_pres_offset; - float diff_press_pa = fabsf(diff_press_pa_raw); - /* - note that we return both the absolute value with offset - applied and a raw value without the offset applied. This - makes it possible for higher level code to detect if the - user has the tubes connected backwards, and also makes it - possible to correctly use offsets calculated by a higher - level airspeed driver. - With the above calculation the MS4525 sensor will produce a positive number when the top port is used as a dynamic port and bottom port is used as the static port - - Also note that the _diff_pres_offset is applied before the - fabsf() not afterwards. It needs to be done this way to - prevent a bias at low speeds, but this also means that when - setting a offset you must set it based on the raw value, not - the offset value */ - + struct differential_pressure_s report; /* track maximum differential pressure measured (so we can work out top speed). */ - if (diff_press_pa > _max_differential_pressure_pa) { - _max_differential_pressure_pa = diff_press_pa; + if (diff_press_pa_raw > _max_differential_pressure_pa) { + _max_differential_pressure_pa = diff_press_pa_raw; } report.timestamp = hrt_absolute_time(); report.error_count = perf_event_count(_comms_errors); report.temperature = temperature; - report.differential_pressure_pa = diff_press_pa; - report.differential_pressure_filtered_pa = _filter.apply(diff_press_pa); - - /* the dynamics of the filter can make it overshoot into the negative range */ - if (report.differential_pressure_filtered_pa < 0.0f) { - report.differential_pressure_filtered_pa = _filter.reset(diff_press_pa); - } + report.differential_pressure_filtered_pa = _filter.apply(diff_press_pa_raw); report.differential_pressure_raw_pa = diff_press_pa_raw; report.max_differential_pressure_pa = _max_differential_pressure_pa; @@ -345,7 +324,7 @@ MEASAirspeed::cycle() /** correct for 5V rail voltage if the system_power ORB topic is available - + See http://uav.tridgell.net/MS4525/MS4525-offset.png for a graph of offset versus voltage for 3 sensors */ @@ -394,7 +373,7 @@ MEASAirspeed::voltage_correction(float &diff_press_pa, float &temperature) if (voltage_diff < -1.0f) { voltage_diff = -1.0f; } - temperature -= voltage_diff * temp_slope; + temperature -= voltage_diff * temp_slope; #endif // CONFIG_ARCH_BOARD_PX4FMU_V2 } @@ -523,7 +502,7 @@ test() } warnx("single read"); - warnx("diff pressure: %d pa", (int)report.differential_pressure_pa); + warnx("diff pressure: %d pa", (int)report.differential_pressure_filtered_pa); /* start the sensor polling at 2Hz */ if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) { @@ -540,7 +519,7 @@ test() ret = poll(&fds, 1, 2000); if (ret != 1) { - errx(1, "timed out waiting for sensor data"); + errx(1, "timed out"); } /* now go get it */ @@ -551,7 +530,7 @@ test() } warnx("periodic read %u", i); - warnx("diff pressure: %d pa", (int)report.differential_pressure_pa); + warnx("diff pressure: %d pa", (int)report.differential_pressure_filtered_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 3996b76a6..1055487cb 100644 --- a/src/drivers/mkblctrl/mkblctrl.cpp +++ b/src/drivers/mkblctrl/mkblctrl.cpp @@ -600,8 +600,8 @@ MK::task_main() esc.esc[i].esc_address = (uint8_t) BLCTRL_BASE_ADDR + i; esc.esc[i].esc_vendor = ESC_VENDOR_MIKROKOPTER; esc.esc[i].esc_version = (uint16_t) Motor[i].Version; - esc.esc[i].esc_voltage = (uint16_t) 0; - esc.esc[i].esc_current = (uint16_t) Motor[i].Current; + esc.esc[i].esc_voltage = 0.0F; + esc.esc[i].esc_current = static_cast<float>(Motor[i].Current) * 0.1F; esc.esc[i].esc_rpm = (uint16_t) 0; esc.esc[i].esc_setpoint = (float) Motor[i].SetPoint_PX4; @@ -614,7 +614,7 @@ MK::task_main() 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_temperature = static_cast<float>(Motor[i].Temperature); esc.esc[i].esc_state = (uint16_t) Motor[i].State; esc.esc[i].esc_errorcount = (uint16_t) 0; diff --git a/src/drivers/mpu6000/module.mk b/src/drivers/mpu6000/module.mk index 5b4893b12..da9fcc0fc 100644 --- a/src/drivers/mpu6000/module.mk +++ b/src/drivers/mpu6000/module.mk @@ -42,3 +42,5 @@ SRCS = mpu6000.cpp MODULE_STACKSIZE = 1200 EXTRACXXFLAGS = -Weffc++ + +MAXOPTIMIZATION = -Os diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp index 6f5dae7ad..a95e041a1 100644 --- a/src/drivers/mpu6000/mpu6000.cpp +++ b/src/drivers/mpu6000/mpu6000.cpp @@ -229,6 +229,7 @@ private: perf_counter_t _gyro_reads; perf_counter_t _sample_perf; perf_counter_t _bad_transfers; + perf_counter_t _good_transfers; math::LowPassFilter2p _accel_filter_x; math::LowPassFilter2p _accel_filter_y; @@ -404,6 +405,7 @@ MPU6000::MPU6000(int bus, const char *path_accel, const char *path_gyro, spi_dev _gyro_reads(perf_alloc(PC_COUNT, "mpu6000_gyro_read")), _sample_perf(perf_alloc(PC_ELAPSED, "mpu6000_read")), _bad_transfers(perf_alloc(PC_COUNT, "mpu6000_bad_transfers")), + _good_transfers(perf_alloc(PC_COUNT, "mpu6000_good_transfers")), _accel_filter_x(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ), _accel_filter_y(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ), _accel_filter_z(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ), @@ -456,6 +458,7 @@ MPU6000::~MPU6000() perf_free(_accel_reads); perf_free(_gyro_reads); perf_free(_bad_transfers); + perf_free(_good_transfers); } int @@ -910,12 +913,14 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg) // adjust filters float cutoff_freq_hz = _accel_filter_x.get_cutoff_freq(); float sample_rate = 1.0e6f/ticks; + _set_dlpf_filter(cutoff_freq_hz); _accel_filter_x.set_cutoff_frequency(sample_rate, cutoff_freq_hz); _accel_filter_y.set_cutoff_frequency(sample_rate, cutoff_freq_hz); _accel_filter_z.set_cutoff_frequency(sample_rate, cutoff_freq_hz); float cutoff_freq_hz_gyro = _gyro_filter_x.get_cutoff_freq(); + _set_dlpf_filter(cutoff_freq_hz_gyro); _gyro_filter_x.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro); _gyro_filter_y.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro); _gyro_filter_z.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro); @@ -968,11 +973,9 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg) return _accel_filter_x.get_cutoff_freq(); case ACCELIOCSLOWPASS: - if (arg == 0) { - // allow disabling of on-chip filter using - // zero as desired filter frequency - _set_dlpf_filter(0); - } + // set hardware filtering + _set_dlpf_filter(arg); + // set software filtering _accel_filter_x.set_cutoff_frequency(1.0e6f / _call_interval, arg); _accel_filter_y.set_cutoff_frequency(1.0e6f / _call_interval, arg); _accel_filter_z.set_cutoff_frequency(1.0e6f / _call_interval, arg); @@ -1053,14 +1056,11 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg) case GYROIOCGLOWPASS: return _gyro_filter_x.get_cutoff_freq(); case GYROIOCSLOWPASS: + // set hardware filtering + _set_dlpf_filter(arg); _gyro_filter_x.set_cutoff_frequency(1.0e6f / _call_interval, arg); _gyro_filter_y.set_cutoff_frequency(1.0e6f / _call_interval, arg); _gyro_filter_z.set_cutoff_frequency(1.0e6f / _call_interval, arg); - if (arg == 0) { - // allow disabling of on-chip filter using 0 - // as desired frequency - _set_dlpf_filter(0); - } return OK; case GYROIOCSSCALE: @@ -1282,8 +1282,14 @@ MPU6000::measure() // all zero data - probably a SPI bus error perf_count(_bad_transfers); perf_end(_sample_perf); + // note that we don't call reset() here as a reset() + // costs 20ms with interrupts disabled. That means if + // the mpu6k does go bad it would cause a FMU failure, + // regardless of whether another sensor is available, return; } + + perf_count(_good_transfers); /* @@ -1402,6 +1408,8 @@ MPU6000::print_info() perf_print_counter(_sample_perf); perf_print_counter(_accel_reads); perf_print_counter(_gyro_reads); + perf_print_counter(_bad_transfers); + perf_print_counter(_good_transfers); _accel_reports->print_info("accel queue"); _gyro_reports->print_info("gyro queue"); } diff --git a/src/drivers/px4flow/px4flow.cpp b/src/drivers/px4flow/px4flow.cpp index f214b5964..09ec4bf96 100644 --- a/src/drivers/px4flow/px4flow.cpp +++ b/src/drivers/px4flow/px4flow.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 @@ -37,7 +37,7 @@ * * Driver for the PX4FLOW module connected via I2C. */ - + #include <nuttx/config.h> #include <drivers/device/i2c.h> @@ -68,20 +68,18 @@ #include <uORB/uORB.h> #include <uORB/topics/subsystem_info.h> -//#include <uORB/topics/optical_flow.h> +#include <uORB/topics/optical_flow.h> #include <board_config.h> /* Configuration Constants */ -#define PX4FLOW_BUS PX4_I2C_BUS_EXPANSION #define I2C_FLOW_ADDRESS 0x42 //* 7-bit address. 8-bit address is 0x84 //range 0x42 - 0x49 /* PX4FLOW Registers addresses */ -#define PX4FLOW_REG 0x00 /* Measure Register */ - -#define PX4FLOW_CONVERSION_INTERVAL 8000 /* 8ms 125Hz +#define PX4FLOW_REG 0x16 /* Measure Register 22*/ +#define PX4FLOW_CONVERSION_INTERVAL 20000 //in microseconds! 20000 = 50 Hz 100000 = 10Hz /* oddly, ERROR is not defined for c++ */ #ifdef ERROR # undef ERROR @@ -92,40 +90,54 @@ static const int ERROR = -1; # error This requires CONFIG_SCHED_WORKQUEUE. #endif -//struct i2c_frame -//{ -// uint16_t frame_count; -// int16_t pixel_flow_x_sum; -// int16_t pixel_flow_y_sum; -// int16_t flow_comp_m_x; -// int16_t flow_comp_m_y; -// int16_t qual; -// int16_t gyro_x_rate; -// int16_t gyro_y_rate; -// int16_t gyro_z_rate; -// uint8_t gyro_range; -// uint8_t sonar_timestamp; -// int16_t ground_distance; -//}; -// -//struct i2c_frame f; - -class PX4FLOW : public device::I2C +struct i2c_frame { + uint16_t frame_count; + int16_t pixel_flow_x_sum; + int16_t pixel_flow_y_sum; + int16_t flow_comp_m_x; + int16_t flow_comp_m_y; + int16_t qual; + int16_t gyro_x_rate; + int16_t gyro_y_rate; + int16_t gyro_z_rate; + uint8_t gyro_range; + uint8_t sonar_timestamp; + int16_t ground_distance; +}; +struct i2c_frame f; + +typedef struct i2c_integral_frame { + uint16_t frame_count_since_last_readout; + int16_t pixel_flow_x_integral; + int16_t pixel_flow_y_integral; + int16_t gyro_x_rate_integral; + int16_t gyro_y_rate_integral; + int16_t gyro_z_rate_integral; + uint32_t integration_timespan; + uint32_t time_since_last_sonar_update; + uint16_t ground_distance; + int16_t gyro_temperature; + uint8_t qual; +} __attribute__((packed)); +struct i2c_integral_frame f_integral; + + +class PX4FLOW: public device::I2C { public: - PX4FLOW(int bus = PX4FLOW_BUS, int address = I2C_FLOW_ADDRESS); + PX4FLOW(int bus, int address = I2C_FLOW_ADDRESS); virtual ~PX4FLOW(); - + virtual int init(); - + virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); virtual int ioctl(struct file *filp, int cmd, unsigned long arg); - + /** - * Diagnostics - print some basic information about the driver. - */ + * Diagnostics - print some basic information about the driver. + */ void print_info(); - + protected: virtual int probe(); @@ -136,51 +148,50 @@ private: bool _sensor_ok; int _measure_ticks; bool _collect_phase; - + orb_advert_t _px4flow_topic; perf_counter_t _sample_perf; perf_counter_t _comms_errors; perf_counter_t _buffer_overflows; - + /** - * Test whether the device supported by the driver is present at a - * specific address. - * - * @param address The I2C bus address to probe. - * @return True if the device is present. - */ + * Test whether the device supported by the driver is present at a + * specific address. + * + * @param address The I2C bus address to probe. + * @return True if the device is present. + */ int probe_address(uint8_t address); - + /** - * Initialise the automatic measurement state machine and start it. - * - * @note This function is called at open and error time. It might make sense - * to make it more aggressive about resetting the bus in case of errors. - */ + * Initialise the automatic measurement state machine and start it. + * + * @note This function is called at open and error time. It might make sense + * to make it more aggressive about resetting the bus in case of errors. + */ void start(); - + /** - * Stop the automatic measurement state machine. - */ + * Stop the automatic measurement state machine. + */ void stop(); - + /** - * Perform a poll cycle; collect from the previous measurement - * and start a new one. - */ + * Perform a poll cycle; collect from the previous measurement + * and start a new one. + */ void cycle(); int measure(); int collect(); /** - * Static trampoline from the workq context; because we don't have a - * generic workq wrapper yet. - * - * @param arg Instance pointer for the driver that is polling. - */ - static void cycle_trampoline(void *arg); - - + * Static trampoline from the workq context; because we don't have a + * generic workq wrapper yet. + * + * @param arg Instance pointer for the driver that is polling. + */ + static void cycle_trampoline(void *arg); + }; /* @@ -189,7 +200,7 @@ private: extern "C" __EXPORT int px4flow_main(int argc, char *argv[]); PX4FLOW::PX4FLOW(int bus, int address) : - I2C("PX4FLOW", PX4FLOW_DEVICE_PATH, bus, address, 400000),//400khz + I2C("PX4FLOW", PX4FLOW_DEVICE_PATH, bus, address, 400000), //400khz _reports(nullptr), _sensor_ok(false), _measure_ticks(0), @@ -200,8 +211,8 @@ PX4FLOW::PX4FLOW(int bus, int address) : _buffer_overflows(perf_alloc(PC_COUNT, "px4flow_buffer_overflows")) { // enable debug() calls - _debug_enabled = true; - + _debug_enabled = false; + // work_cancel in the dtor will explode if we don't do this... memset(&_work, 0, sizeof(_work)); } @@ -212,8 +223,9 @@ PX4FLOW::~PX4FLOW() stop(); /* free any existing reports */ - if (_reports != nullptr) + if (_reports != nullptr) { delete _reports; + } } int @@ -222,22 +234,16 @@ PX4FLOW::init() int ret = ERROR; /* do I2C init (and probe) first */ - if (I2C::init() != OK) + if (I2C::init() != OK) { goto out; + } /* allocate basic report buffers */ - _reports = new RingBuffer(2, sizeof(px4flow_report)); + _reports = new RingBuffer(2, sizeof(optical_flow_s)); - if (_reports == nullptr) + if (_reports == nullptr) { goto out; - - /* get a publish handle on the px4flow topic */ - struct px4flow_report zero_report; - memset(&zero_report, 0, sizeof(zero_report)); - _px4flow_topic = orb_advertise(ORB_ID(optical_flow), &zero_report); - - if (_px4flow_topic < 0) - debug("failed to create px4flow object. Did you start uOrb?"); + } ret = OK; /* sensor is ok, but we don't really know if it is within range */ @@ -249,6 +255,17 @@ out: int PX4FLOW::probe() { + uint8_t val[22]; + + // to be sure this is not a ll40ls Lidar (which can also be on + // 0x42) we check if a 22 byte transfer works from address + // 0. The ll40ls gives an error for that, whereas the flow + // happily returns some data + if (transfer(nullptr, 0, &val[0], 22) != OK) { + return -EIO; + } + + // that worked, so start a measurement cycle return measure(); } @@ -260,20 +277,20 @@ PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg) case SENSORIOCSPOLLRATE: { switch (arg) { - /* switching to manual polling */ + /* switching to manual polling */ case SENSOR_POLLRATE_MANUAL: stop(); _measure_ticks = 0; return OK; - /* external signalling (DRDY) not supported */ + /* external signalling (DRDY) not supported */ case SENSOR_POLLRATE_EXTERNAL: - /* zero would be bad */ + /* zero would be bad */ case 0: return -EINVAL; - /* set default/max polling rate */ + /* set default/max polling rate */ case SENSOR_POLLRATE_MAX: case SENSOR_POLLRATE_DEFAULT: { /* do we need to start internal polling? */ @@ -283,13 +300,14 @@ PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg) _measure_ticks = USEC2TICK(PX4FLOW_CONVERSION_INTERVAL); /* if we need to start the poll state machine, do it */ - if (want_start) + if (want_start) { start(); + } return OK; } - /* adjust to a legal polling interval in Hz */ + /* adjust to a legal polling interval in Hz */ default: { /* do we need to start internal polling? */ bool want_start = (_measure_ticks == 0); @@ -298,15 +316,17 @@ PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg) unsigned ticks = USEC2TICK(1000000 / arg); /* check against maximum rate */ - if (ticks < USEC2TICK(PX4FLOW_CONVERSION_INTERVAL)) + if (ticks < USEC2TICK(PX4FLOW_CONVERSION_INTERVAL)) { return -EINVAL; + } /* update interval for next measurement */ _measure_ticks = ticks; /* if we need to start the poll state machine, do it */ - if (want_start) + if (want_start) { start(); + } return OK; } @@ -314,33 +334,37 @@ PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg) } case SENSORIOCGPOLLRATE: - if (_measure_ticks == 0) + if (_measure_ticks == 0) { return SENSOR_POLLRATE_MANUAL; + } return (1000 / _measure_ticks); case SENSORIOCSQUEUEDEPTH: { - /* lower bound is mandatory, upper bound is a sanity check */ - if ((arg < 1) || (arg > 100)) - return -EINVAL; - - irqstate_t flags = irqsave(); - if (!_reports->resize(arg)) { + /* lower bound is mandatory, upper bound is a sanity check */ + if ((arg < 1) || (arg > 100)) { + return -EINVAL; + } + + irqstate_t flags = irqsave(); + + if (!_reports->resize(arg)) { + irqrestore(flags); + return -ENOMEM; + } + irqrestore(flags); - return -ENOMEM; + + return OK; } - irqrestore(flags); - - return OK; - } case SENSORIOCGQUEUEDEPTH: return _reports->size(); - + case SENSORIOCRESET: /* XXX implement this */ return -EINVAL; - + default: /* give it to the superclass */ return I2C::ioctl(filp, cmd, arg); @@ -350,13 +374,14 @@ PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg) ssize_t PX4FLOW::read(struct file *filp, char *buffer, size_t buflen) { - unsigned count = buflen / sizeof(struct px4flow_report); - struct px4flow_report *rbuf = reinterpret_cast<struct px4flow_report *>(buffer); + unsigned count = buflen / sizeof(struct optical_flow_s); + struct optical_flow_s *rbuf = reinterpret_cast<struct optical_flow_s *>(buffer); int ret = 0; /* buffer must be large enough */ - if (count < 1) + if (count < 1) { return -ENOSPC; + } /* if automatic measurement is enabled */ if (_measure_ticks > 0) { @@ -387,9 +412,6 @@ PX4FLOW::read(struct file *filp, char *buffer, size_t buflen) break; } - /* wait for it to complete */ - usleep(PX4FLOW_CONVERSION_INTERVAL); - /* run the collection phase */ if (OK != collect()) { ret = -EIO; @@ -417,68 +439,110 @@ PX4FLOW::measure() uint8_t cmd = PX4FLOW_REG; ret = transfer(&cmd, 1, nullptr, 0); - if (OK != ret) - { + if (OK != ret) { perf_count(_comms_errors); - log("i2c::transfer returned %d", ret); - printf("i2c::transfer flow returned %d"); + debug("i2c::transfer returned %d", ret); return ret; } + ret = OK; - + return ret; } int PX4FLOW::collect() { - int ret = -EIO; - + int ret = -EIO; + /* read from the sensor */ - uint8_t val[22] = {0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0}; - + uint8_t val[47] = { 0 }; + perf_begin(_sample_perf); - - ret = transfer(nullptr, 0, &val[0], 22); - - if (ret < 0) - { - log("error reading from sensor: %d", ret); + + if (PX4FLOW_REG == 0x00) { + ret = transfer(nullptr, 0, &val[0], 47); // read 47 bytes (22+25 : frame1 + frame2) + } + + if (PX4FLOW_REG == 0x16) { + ret = transfer(nullptr, 0, &val[0], 25); // read 25 bytes (only frame2) + } + + if (ret < 0) { + debug("error reading from sensor: %d", ret); perf_count(_comms_errors); perf_end(_sample_perf); return ret; } - -// f.frame_count = val[1] << 8 | val[0]; -// f.pixel_flow_x_sum= val[3] << 8 | val[2]; -// f.pixel_flow_y_sum= val[5] << 8 | val[4]; -// f.flow_comp_m_x= val[7] << 8 | val[6]; -// f.flow_comp_m_y= val[9] << 8 | val[8]; -// f.qual= val[11] << 8 | val[10]; -// f.gyro_x_rate= val[13] << 8 | val[12]; -// f.gyro_y_rate= val[15] << 8 | val[14]; -// f.gyro_z_rate= val[17] << 8 | val[16]; -// f.gyro_range= val[18]; -// f.sonar_timestamp= val[19]; -// f.ground_distance= val[21] << 8 | val[20]; - - int16_t flowcx = val[7] << 8 | val[6]; - int16_t flowcy = val[9] << 8 | val[8]; - int16_t gdist = val[21] << 8 | val[20]; - - struct px4flow_report report; - report.flow_comp_x_m = float(flowcx)/1000.0f; - report.flow_comp_y_m = float(flowcy)/1000.0f; - report.flow_raw_x= val[3] << 8 | val[2]; - report.flow_raw_y= val[5] << 8 | val[4]; - report.ground_distance_m =float(gdist)/1000.0f; - report.quality= val[10]; - report.sensor_id = 0; + + if (PX4FLOW_REG == 0) { + f.frame_count = val[1] << 8 | val[0]; + f.pixel_flow_x_sum = val[3] << 8 | val[2]; + f.pixel_flow_y_sum = val[5] << 8 | val[4]; + f.flow_comp_m_x = val[7] << 8 | val[6]; + f.flow_comp_m_y = val[9] << 8 | val[8]; + f.qual = val[11] << 8 | val[10]; + f.gyro_x_rate = val[13] << 8 | val[12]; + f.gyro_y_rate = val[15] << 8 | val[14]; + f.gyro_z_rate = val[17] << 8 | val[16]; + f.gyro_range = val[18]; + f.sonar_timestamp = val[19]; + f.ground_distance = val[21] << 8 | val[20]; + + f_integral.frame_count_since_last_readout = val[23] << 8 | val[22]; + f_integral.pixel_flow_x_integral = val[25] << 8 | val[24]; + f_integral.pixel_flow_y_integral = val[27] << 8 | val[26]; + f_integral.gyro_x_rate_integral = val[29] << 8 | val[28]; + f_integral.gyro_y_rate_integral = val[31] << 8 | val[30]; + f_integral.gyro_z_rate_integral = val[33] << 8 | val[32]; + f_integral.integration_timespan = val[37] << 24 | val[36] << 16 + | val[35] << 8 | val[34]; + f_integral.time_since_last_sonar_update = val[41] << 24 | val[40] << 16 + | val[39] << 8 | val[38]; + f_integral.ground_distance = val[43] << 8 | val[42]; + f_integral.gyro_temperature = val[45] << 8 | val[44]; + f_integral.qual = val[46]; + } + + if (PX4FLOW_REG == 0x16) { + f_integral.frame_count_since_last_readout = val[1] << 8 | val[0]; + f_integral.pixel_flow_x_integral = val[3] << 8 | val[2]; + f_integral.pixel_flow_y_integral = val[5] << 8 | val[4]; + f_integral.gyro_x_rate_integral = val[7] << 8 | val[6]; + f_integral.gyro_y_rate_integral = val[9] << 8 | val[8]; + f_integral.gyro_z_rate_integral = val[11] << 8 | val[10]; + f_integral.integration_timespan = val[15] << 24 | val[14] << 16 | val[13] << 8 | val[12]; + f_integral.time_since_last_sonar_update = val[19] << 24 | val[18] << 16 | val[17] << 8 | val[16]; + f_integral.ground_distance = val[21] << 8 | val[20]; + f_integral.gyro_temperature = val[23] << 8 | val[22]; + f_integral.qual = val[24]; + } + + + struct optical_flow_s report; + report.timestamp = hrt_absolute_time(); + report.pixel_flow_x_integral = static_cast<float>(f_integral.pixel_flow_x_integral) / 10000.0f;//convert to radians + report.pixel_flow_y_integral = static_cast<float>(f_integral.pixel_flow_y_integral) / 10000.0f;//convert to radians + report.frame_count_since_last_readout = f_integral.frame_count_since_last_readout; + report.ground_distance_m = static_cast<float>(f_integral.ground_distance) / 1000.0f;//convert to meters + report.quality = f_integral.qual; //0:bad ; 255 max quality + report.gyro_x_rate_integral = static_cast<float>(f_integral.gyro_x_rate_integral) / 10000.0f; //convert to radians + report.gyro_y_rate_integral = static_cast<float>(f_integral.gyro_y_rate_integral) / 10000.0f; //convert to radians + report.gyro_z_rate_integral = static_cast<float>(f_integral.gyro_z_rate_integral) / 10000.0f; //convert to radians + report.integration_timespan = f_integral.integration_timespan; //microseconds + report.time_since_last_sonar_update = f_integral.time_since_last_sonar_update;//microseconds + report.gyro_temperature = f_integral.gyro_temperature;//Temperature * 100 in centi-degrees Celsius + report.sensor_id = 0; + + if (_px4flow_topic < 0) { + _px4flow_topic = orb_advertise(ORB_ID(optical_flow), &report); - /* publish it */ - orb_publish(ORB_ID(optical_flow), _px4flow_topic, &report); + } else { + /* publish it */ + orb_publish(ORB_ID(optical_flow), _px4flow_topic, &report); + } /* post a report to the ring */ if (_reports->force(&report)) { @@ -503,17 +567,19 @@ PX4FLOW::start() /* schedule a cycle to start things */ work_queue(HPWORK, &_work, (worker_t)&PX4FLOW::cycle_trampoline, this, 1); - + /* notify about state change */ struct subsystem_info_s info = { true, true, true, - SUBSYSTEM_TYPE_OPTICALFLOW}; + SUBSYSTEM_TYPE_OPTICALFLOW + }; 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); } @@ -536,49 +602,21 @@ PX4FLOW::cycle_trampoline(void *arg) void PX4FLOW::cycle() { - /* collection phase? */ - if (_collect_phase) { - - /* perform collection */ - if (OK != collect()) { - log("collection error"); - /* restart the measurement state machine */ - start(); - return; - } - - /* next phase is measurement */ - _collect_phase = false; - - /* - * Is there a collect->measure gap? - */ - if (_measure_ticks > USEC2TICK(PX4FLOW_CONVERSION_INTERVAL)) { - - /* schedule a fresh cycle call when we are ready to measure again */ - work_queue(HPWORK, - &_work, - (worker_t)&PX4FLOW::cycle_trampoline, - this, - _measure_ticks - USEC2TICK(PX4FLOW_CONVERSION_INTERVAL)); - - return; - } + if (OK != measure()) { + debug("measure error"); } - /* measurement phase */ - if (OK != measure()) - log("measure error"); + /* perform collection */ + if (OK != collect()) { + debug("collection error"); + /* restart the measurement state machine */ + start(); + return; + } - /* next phase is collection */ - _collect_phase = true; + work_queue(HPWORK, &_work, (worker_t)&PX4FLOW::cycle_trampoline, this, + _measure_ticks); - /* schedule a fresh cycle call when the measurement is done */ - work_queue(HPWORK, - &_work, - (worker_t)&PX4FLOW::cycle_trampoline, - this, - USEC2TICK(PX4FLOW_CONVERSION_INTERVAL)); } void @@ -619,33 +657,64 @@ start() { int fd; - if (g_dev != nullptr) + if (g_dev != nullptr) { errx(1, "already started"); + } /* create the driver */ - g_dev = new PX4FLOW(PX4FLOW_BUS); + g_dev = new PX4FLOW(PX4_I2C_BUS_EXPANSION); - if (g_dev == nullptr) + if (g_dev == nullptr) { goto fail; + } - if (OK != g_dev->init()) - goto fail; + if (OK != g_dev->init()) { + + #ifdef PX4_I2C_BUS_ESC + delete g_dev; + /* try 2nd bus */ + g_dev = new PX4FLOW(PX4_I2C_BUS_ESC); + + if (g_dev == nullptr) { + goto fail; + } + + if (OK != g_dev->init()) { + #endif + + delete g_dev; + /* try 3rd bus */ + g_dev = new PX4FLOW(PX4_I2C_BUS_ONBOARD); + + if (g_dev == nullptr) { + goto fail; + } + + if (OK != g_dev->init()) { + goto fail; + } + + #ifdef PX4_I2C_BUS_ESC + } + #endif + } /* set the poll rate to default, starts automatic data collection */ fd = open(PX4FLOW_DEVICE_PATH, O_RDONLY); - if (fd < 0) + if (fd < 0) { goto fail; + } - if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX) < 0) + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX) < 0) { goto fail; + } exit(0); fail: - if (g_dev != nullptr) - { + if (g_dev != nullptr) { delete g_dev; g_dev = nullptr; } @@ -656,17 +725,17 @@ fail: /** * Stop the driver */ -void stop() +void +stop() { - if (g_dev != nullptr) - { + if (g_dev != nullptr) { delete g_dev; g_dev = nullptr; - } - else - { + + } else { errx(1, "driver not running"); } + exit(0); } @@ -678,33 +747,38 @@ void stop() void test() { - struct px4flow_report report; + struct optical_flow_s report; ssize_t sz; int ret; int fd = open(PX4FLOW_DEVICE_PATH, O_RDONLY); - if (fd < 0) + if (fd < 0) { err(1, "%s open failed (try 'px4flow start' if the driver is not running", PX4FLOW_DEVICE_PATH); + } + /* do a simple demand read */ sz = read(fd, &report, sizeof(report)); if (sz != sizeof(report)) - // err(1, "immediate read failed"); + { + warnx("immediate read failed"); + } warnx("single read"); - warnx("flowx: %0.2f m/s", (double)report.flow_comp_x_m); - warnx("flowy: %0.2f m/s", (double)report.flow_comp_y_m); - warnx("time: %lld", report.timestamp); - - - /* start the sensor polling at 2Hz */ - if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) - errx(1, "failed to set 2Hz poll rate"); + warnx("pixel_flow_x_integral: %i", f_integral.pixel_flow_x_integral); + warnx("pixel_flow_y_integral: %i", f_integral.pixel_flow_y_integral); + warnx("framecount_integral: %u", + f_integral.frame_count_since_last_readout); + + /* start the sensor polling at 10Hz */ + if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 10)) { + errx(1, "failed to set 10Hz poll rate"); + } /* read the sensor 5x and report each value */ - for (unsigned i = 0; i < 5; i++) { + for (unsigned i = 0; i < 10; i++) { struct pollfd fds; /* wait for data to be ready */ @@ -712,19 +786,34 @@ test() fds.events = POLLIN; ret = poll(&fds, 1, 2000); - if (ret != 1) + if (ret != 1) { errx(1, "timed out waiting for sensor data"); + } /* now go get it */ sz = read(fd, &report, sizeof(report)); - if (sz != sizeof(report)) + if (sz != sizeof(report)) { err(1, "periodic read failed"); + } warnx("periodic read %u", i); - warnx("flowx: %0.2f m/s", (double)report.flow_comp_x_m); - warnx("flowy: %0.2f m/s", (double)report.flow_comp_y_m); - warnx("time: %lld", report.timestamp); + + warnx("framecount_total: %u", f.frame_count); + warnx("framecount_integral: %u", + f_integral.frame_count_since_last_readout); + warnx("pixel_flow_x_integral: %i", f_integral.pixel_flow_x_integral); + warnx("pixel_flow_y_integral: %i", f_integral.pixel_flow_y_integral); + warnx("gyro_x_rate_integral: %i", f_integral.gyro_x_rate_integral); + warnx("gyro_y_rate_integral: %i", f_integral.gyro_y_rate_integral); + warnx("gyro_z_rate_integral: %i", f_integral.gyro_z_rate_integral); + warnx("integration_timespan [us]: %u", f_integral.integration_timespan); + warnx("ground_distance: %0.2f m", + (double) f_integral.ground_distance / 1000); + warnx("time since last sonar update [us]: %i", + f_integral.time_since_last_sonar_update); + warnx("quality integration average : %i", f_integral.qual); + warnx("quality : %i", f.qual); } @@ -740,14 +829,17 @@ reset() { int fd = open(PX4FLOW_DEVICE_PATH, O_RDONLY); - if (fd < 0) + if (fd < 0) { err(1, "failed "); + } - if (ioctl(fd, SENSORIOCRESET, 0) < 0) + if (ioctl(fd, SENSORIOCRESET, 0) < 0) { err(1, "driver reset failed"); + } - if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) { err(1, "driver poll restart failed"); + } exit(0); } @@ -758,8 +850,9 @@ reset() void info() { - if (g_dev == nullptr) + if (g_dev == nullptr) { errx(1, "driver not running"); + } printf("state @ %p\n", g_dev); g_dev->print_info(); @@ -775,32 +868,37 @@ px4flow_main(int argc, char *argv[]) /* * Start/load the driver. */ - if (!strcmp(argv[1], "start")) + if (!strcmp(argv[1], "start")) { px4flow::start(); - - /* - * Stop the driver - */ - if (!strcmp(argv[1], "stop")) - px4flow::stop(); + } + + /* + * Stop the driver + */ + if (!strcmp(argv[1], "stop")) { + px4flow::stop(); + } /* * Test the driver/device. */ - if (!strcmp(argv[1], "test")) + if (!strcmp(argv[1], "test")) { px4flow::test(); + } /* * Reset the driver. */ - if (!strcmp(argv[1], "reset")) + if (!strcmp(argv[1], "reset")) { px4flow::reset(); + } /* * Print driver information. */ - if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) + if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) { px4flow::info(); + } errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'"); } diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp index 82977a032..3d3e1b0eb 100644 --- a/src/drivers/px4fmu/fmu.cpp +++ b/src/drivers/px4fmu/fmu.cpp @@ -829,6 +829,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) case PWM_SERVO_SET_ARM_OK: case PWM_SERVO_CLEAR_ARM_OK: case PWM_SERVO_SET_FORCE_SAFETY_OFF: + case PWM_SERVO_SET_FORCE_SAFETY_ON: // these are no-ops, as no safety switch break; @@ -1272,7 +1273,9 @@ PX4FMU::write(file *filp, const char *buffer, size_t len) memcpy(values, buffer, count * 2); for (uint8_t i = 0; i < count; i++) { - up_pwm_servo_set(i, values[i]); + if (values[i] != PWM_IGNORE_THIS_CHANNEL) { + up_pwm_servo_set(i, values[i]); + } } return count * 2; diff --git a/src/drivers/px4fmu/module.mk b/src/drivers/px4fmu/module.mk index a60f1a434..a06323a52 100644 --- a/src/drivers/px4fmu/module.mk +++ b/src/drivers/px4fmu/module.mk @@ -8,3 +8,5 @@ SRCS = fmu.cpp MODULE_STACKSIZE = 1200 EXTRACXXFLAGS = -Weffc++ + +MAXOPTIMIZATION = -Os diff --git a/src/drivers/px4io/module.mk b/src/drivers/px4io/module.mk index 5b838fb75..924283356 100644 --- a/src/drivers/px4io/module.mk +++ b/src/drivers/px4io/module.mk @@ -48,3 +48,5 @@ INCLUDE_DIRS += $(NUTTX_SRC)/arch/arm/src/stm32 $(NUTTX_SRC)/arch/arm/src/com MODULE_STACKSIZE = 1200 EXTRACXXFLAGS = -Weffc++ + +MAXOPTIMIZATION = -Os diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 97919538f..58390ba4c 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -295,6 +295,7 @@ private: float _battery_amp_bias; ///< current sensor bias float _battery_mamphour_total;///< amp hours consumed so far uint64_t _battery_last_timestamp;///< last amp hour calculation timestamp + bool _cb_flighttermination; ///< true if the flight termination circuit breaker is enabled #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 bool _dsm_vcc_ctl; ///< true if relay 1 controls DSM satellite RX power @@ -515,7 +516,8 @@ PX4IO::PX4IO(device::Device *interface) : _battery_amp_per_volt(90.0f / 5.0f), // this matches the 3DR current sensor _battery_amp_bias(0), _battery_mamphour_total(0), - _battery_last_timestamp(0) + _battery_last_timestamp(0), + _cb_flighttermination(true) #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 , _dsm_vcc_ctl(false) #endif @@ -815,6 +817,11 @@ PX4IO::init() } + /* set safety to off if circuit breaker enabled */ + if (circuit_breaker_enabled("CBRK_IO_SAFETY", CBRK_IO_SAFETY_KEY)) { + (void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, PX4IO_FORCE_SAFETY_MAGIC); + } + /* try to claim the generic PWM output device node as well - it's OK if we fail at this */ ret = register_driver(PWM_OUTPUT_DEVICE_PATH, &fops, 0666, (void *)this); @@ -1051,6 +1058,9 @@ PX4IO::task_main() } } + /* Update Circuit breakers */ + _cb_flighttermination = circuit_breaker_enabled("CBRK_FLIGHTTERM", CBRK_FLIGHTTERM_KEY); + } } @@ -1150,43 +1160,54 @@ PX4IO::io_set_arming_state() actuator_armed_s armed; ///< system armed state vehicle_control_mode_s control_mode; ///< vehicle_control_mode - orb_copy(ORB_ID(actuator_armed), _t_actuator_armed, &armed); - orb_copy(ORB_ID(vehicle_control_mode), _t_vehicle_control_mode, &control_mode); + int have_armed = orb_copy(ORB_ID(actuator_armed), _t_actuator_armed, &armed); + int have_control_mode = orb_copy(ORB_ID(vehicle_control_mode), _t_vehicle_control_mode, &control_mode); uint16_t set = 0; uint16_t clear = 0; - if (armed.armed) { - set |= PX4IO_P_SETUP_ARMING_FMU_ARMED; - - } else { - clear |= PX4IO_P_SETUP_ARMING_FMU_ARMED; - } + if (have_armed == OK) { + if (armed.armed) { + set |= PX4IO_P_SETUP_ARMING_FMU_ARMED; + } else { + clear |= PX4IO_P_SETUP_ARMING_FMU_ARMED; + } - if (armed.lockdown && !_lockdown_override) { - set |= PX4IO_P_SETUP_ARMING_LOCKDOWN; - } else { - clear |= PX4IO_P_SETUP_ARMING_LOCKDOWN; - } + if (armed.lockdown && !_lockdown_override) { + set |= PX4IO_P_SETUP_ARMING_LOCKDOWN; + } else { + clear |= PX4IO_P_SETUP_ARMING_LOCKDOWN; + } - if (armed.force_failsafe) { - set |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE; - } else { - clear |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE; - } + /* Do not set failsafe if circuit breaker is enabled */ + if (armed.force_failsafe && !_cb_flighttermination) { + set |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE; + } else { + clear |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE; + } - if (armed.ready_to_arm) { - set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK; + // XXX this is for future support in the commander + // but can be removed if unneeded + // if (armed.termination_failsafe) { + // set |= PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE; + // } else { + // clear |= PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE; + // } - } else { - clear |= PX4IO_P_SETUP_ARMING_IO_ARM_OK; + if (armed.ready_to_arm) { + set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK; + + } else { + clear |= PX4IO_P_SETUP_ARMING_IO_ARM_OK; + } } - if (control_mode.flag_external_manual_override_ok) { - set |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK; - - } else { - clear |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK; + if (have_control_mode == OK) { + if (control_mode.flag_external_manual_override_ok) { + set |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK; + } else { + clear |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK; + } } return io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, clear, set); @@ -1231,30 +1252,43 @@ PX4IO::io_set_rc_config() * for compatibility reasons with existing * autopilots / GCS'. */ - param_get(param_find("RC_MAP_ROLL"), &ichan); - if ((ichan >= 0) && (ichan < (int)_max_rc_input)) + /* ROLL */ + param_get(param_find("RC_MAP_ROLL"), &ichan); + if ((ichan > 0) && (ichan <= (int)_max_rc_input)) { input_map[ichan - 1] = 0; + } + /* PITCH */ param_get(param_find("RC_MAP_PITCH"), &ichan); - - if ((ichan >= 0) && (ichan < (int)_max_rc_input)) + if ((ichan > 0) && (ichan <= (int)_max_rc_input)) { input_map[ichan - 1] = 1; + } + /* YAW */ param_get(param_find("RC_MAP_YAW"), &ichan); - - if ((ichan >= 0) && (ichan < (int)_max_rc_input)) + if ((ichan > 0) && (ichan <= (int)_max_rc_input)) { input_map[ichan - 1] = 2; + } + /* THROTTLE */ param_get(param_find("RC_MAP_THROTTLE"), &ichan); - - if ((ichan >= 0) && (ichan < (int)_max_rc_input)) + if ((ichan > 0) && (ichan <= (int)_max_rc_input)) { input_map[ichan - 1] = 3; + } - param_get(param_find("RC_MAP_MODE_SW"), &ichan); - - if ((ichan >= 0) && (ichan < (int)_max_rc_input)) + /* FLAPS */ + param_get(param_find("RC_MAP_FLAPS"), &ichan); + if ((ichan > 0) && (ichan <= (int)_max_rc_input)) { input_map[ichan - 1] = 4; + } + + /* MAIN MODE SWITCH */ + param_get(param_find("RC_MAP_MODE_SW"), &ichan); + if ((ichan > 0) && (ichan <= (int)_max_rc_input)) { + /* use out of normal bounds index to indicate special channel */ + input_map[ichan - 1] = PX4IO_P_RC_CONFIG_ASSIGNMENT_MODESWITCH; + } /* * Iterate all possible RC inputs. @@ -1603,6 +1637,9 @@ PX4IO::io_publish_raw_rc() } else if (_status & PX4IO_P_STATUS_FLAGS_RC_SBUS) { rc_val.input_source = RC_INPUT_SOURCE_PX4IO_SBUS; + } else if (_status & PX4IO_P_STATUS_FLAGS_RC_ST24) { + rc_val.input_source = RC_INPUT_SOURCE_PX4IO_ST24; + } else { rc_val.input_source = RC_INPUT_SOURCE_UNKNOWN; @@ -1627,10 +1664,6 @@ PX4IO::io_publish_raw_rc() int PX4IO::io_publish_pwm_outputs() { - /* if no FMU comms(!) just don't publish */ - if (!(_status & PX4IO_P_STATUS_FLAGS_FMU_OK)) - return OK; - /* data we are going to fetch */ actuator_outputs_s outputs; outputs.timestamp = hrt_absolute_time(); @@ -1920,13 +1953,15 @@ PX4IO::print_status(bool extended_status) io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FREEMEM)); uint16_t flags = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS); uint16_t io_status_flags = flags; - printf("status 0x%04x%s%s%s%s%s%s%s%s%s%s%s%s\n", + printf("status 0x%04x%s%s%s%s%s%s%s%s%s%s%s%s%s%s\n", flags, ((flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED) ? " OUTPUTS_ARMED" : ""), ((flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) ? " SAFETY_OFF" : " SAFETY_SAFE"), ((flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) ? " OVERRIDE" : ""), ((flags & PX4IO_P_STATUS_FLAGS_RC_OK) ? " RC_OK" : " RC_FAIL"), ((flags & PX4IO_P_STATUS_FLAGS_RC_PPM) ? " PPM" : ""), + ((flags & PX4IO_P_STATUS_FLAGS_RC_DSM) ? " DSM" : ""), + ((flags & PX4IO_P_STATUS_FLAGS_RC_ST24) ? " ST24" : ""), ((flags & PX4IO_P_STATUS_FLAGS_RC_SBUS) ? " SBUS" : ""), ((flags & PX4IO_P_STATUS_FLAGS_FMU_OK) ? " FMU_OK" : " FMU_FAIL"), ((flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) ? " RAW_PWM_PASSTHROUGH" : ""), @@ -2029,7 +2064,7 @@ PX4IO::print_status(bool extended_status) ((features & PX4IO_P_SETUP_FEATURES_ADC_RSSI) ? " RSSI_ADC" : "") ); uint16_t arming = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING); - printf("arming 0x%04x%s%s%s%s%s%s%s%s\n", + printf("arming 0x%04x%s%s%s%s%s%s%s%s%s%s\n", arming, ((arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) ? " FMU_ARMED" : " FMU_DISARMED"), ((arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK) ? " IO_ARM_OK" : " IO_ARM_DENIED"), @@ -2038,7 +2073,9 @@ PX4IO::print_status(bool extended_status) ((arming & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) ? " INAIR_RESTART_OK" : ""), ((arming & PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE) ? " ALWAYS_PWM_ENABLE" : ""), ((arming & PX4IO_P_SETUP_ARMING_LOCKDOWN) ? " LOCKDOWN" : ""), - ((arming & PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE) ? " FORCE_FAILSAFE" : "") + ((arming & PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE) ? " FORCE_FAILSAFE" : ""), + ((arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE) ? " TERM_FAILSAFE" : ""), + ((arming & PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE) ? " OVERRIDE_IMMEDIATE" : "") ); #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 printf("rates 0x%04x default %u alt %u relays 0x%04x\n", @@ -2163,7 +2200,7 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg) struct pwm_output_values* pwm = (struct pwm_output_values*)arg; if (pwm->channel_count > _max_actuators) /* fail with error */ - return E2BIG; + return -E2BIG; /* copy values to registers in IO */ ret = io_reg_set(PX4IO_PAGE_FAILSAFE_PWM, 0, pwm->values, pwm->channel_count); @@ -2182,7 +2219,7 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg) struct pwm_output_values* pwm = (struct pwm_output_values*)arg; if (pwm->channel_count > _max_actuators) /* fail with error */ - return E2BIG; + return -E2BIG; /* copy values to registers in IO */ ret = io_reg_set(PX4IO_PAGE_DISARMED_PWM, 0, pwm->values, pwm->channel_count); @@ -2201,7 +2238,7 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg) struct pwm_output_values* pwm = (struct pwm_output_values*)arg; if (pwm->channel_count > _max_actuators) /* fail with error */ - return E2BIG; + return -E2BIG; /* copy values to registers in IO */ ret = io_reg_set(PX4IO_PAGE_CONTROL_MIN_PWM, 0, pwm->values, pwm->channel_count); @@ -2220,7 +2257,7 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg) struct pwm_output_values* pwm = (struct pwm_output_values*)arg; if (pwm->channel_count > _max_actuators) /* fail with error */ - return E2BIG; + return -E2BIG; /* copy values to registers in IO */ ret = io_reg_set(PX4IO_PAGE_CONTROL_MAX_PWM, 0, pwm->values, pwm->channel_count); @@ -2251,6 +2288,11 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg) ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, PX4IO_FORCE_SAFETY_MAGIC); break; + case PWM_SERVO_SET_FORCE_SAFETY_ON: + /* force safety switch on */ + ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_ON, PX4IO_FORCE_SAFETY_MAGIC); + break; + case PWM_SERVO_SET_FORCE_FAILSAFE: /* force failsafe mode instantly */ if (arg == 0) { @@ -2262,6 +2304,30 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg) } break; + case PWM_SERVO_SET_TERMINATION_FAILSAFE: + /* if failsafe occurs, do not allow the system to recover */ + if (arg == 0) { + /* clear termination failsafe flag */ + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE, 0); + } else { + /* set termination failsafe flag */ + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE); + } + break; + + case PWM_SERVO_SET_OVERRIDE_IMMEDIATE: + /* control whether override on FMU failure is + immediate or waits for override threshold on mode + switch */ + if (arg == 0) { + /* clear override immediate flag */ + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE, 0); + } else { + /* set override immediate flag */ + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE); + } + break; + case DSM_BIND_START: /* only allow DSM2, DSM-X and DSM-X with more than 7 channels */ @@ -2439,6 +2505,9 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg) } else if (status & PX4IO_P_STATUS_FLAGS_RC_SBUS) { rc_val->input_source = RC_INPUT_SOURCE_PX4IO_SBUS; + } else if (status & PX4IO_P_STATUS_FLAGS_RC_ST24) { + rc_val->input_source = RC_INPUT_SOURCE_PX4IO_ST24; + } else { rc_val->input_source = RC_INPUT_SOURCE_UNKNOWN; } @@ -2520,6 +2589,42 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg) break; + case PWM_SERVO_SET_RC_CONFIG: { + /* enable setting of RC configuration without relying + on param_get() + */ + struct pwm_output_rc_config* config = (struct pwm_output_rc_config*)arg; + if (config->channel >= RC_INPUT_MAX_CHANNELS) { + /* fail with error */ + return -E2BIG; + } + + /* copy values to registers in IO */ + uint16_t regs[PX4IO_P_RC_CONFIG_STRIDE]; + uint16_t offset = config->channel * PX4IO_P_RC_CONFIG_STRIDE; + regs[PX4IO_P_RC_CONFIG_MIN] = config->rc_min; + regs[PX4IO_P_RC_CONFIG_CENTER] = config->rc_trim; + regs[PX4IO_P_RC_CONFIG_MAX] = config->rc_max; + regs[PX4IO_P_RC_CONFIG_DEADZONE] = config->rc_dz; + regs[PX4IO_P_RC_CONFIG_ASSIGNMENT] = config->rc_assignment; + regs[PX4IO_P_RC_CONFIG_OPTIONS] = PX4IO_P_RC_CONFIG_OPTIONS_ENABLED; + if (config->rc_reverse) { + regs[PX4IO_P_RC_CONFIG_OPTIONS] |= PX4IO_P_RC_CONFIG_OPTIONS_REVERSE; + } + ret = io_reg_set(PX4IO_PAGE_RC_CONFIG, offset, regs, PX4IO_P_RC_CONFIG_STRIDE); + break; + } + + case PWM_SERVO_SET_OVERRIDE_OK: + /* set the 'OVERRIDE OK' bit */ + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK); + break; + + case PWM_SERVO_CLEAR_OVERRIDE_OK: + /* clear the 'OVERRIDE OK' bit */ + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK, 0); + break; + default: /* see if the parent class can make any use of it */ ret = CDev::ioctl(filep, cmd, arg); diff --git a/src/drivers/rgbled/rgbled.cpp b/src/drivers/rgbled/rgbled.cpp index 13cbfdfa8..d35722244 100644 --- a/src/drivers/rgbled/rgbled.cpp +++ b/src/drivers/rgbled/rgbled.cpp @@ -121,7 +121,7 @@ private: /* for now, we only support one RGBLED */ namespace { -RGBLED *g_rgbled; +RGBLED *g_rgbled = nullptr; } void rgbled_usage(); @@ -680,15 +680,15 @@ rgbled_main(int argc, char *argv[]) ret = ioctl(fd, RGBLED_SET_MODE, (unsigned long)RGBLED_MODE_OFF); close(fd); + /* delete the rgbled object if stop was requested, in addition to turning off the LED. */ + if (!strcmp(verb, "stop")) { + delete g_rgbled; + g_rgbled = nullptr; + exit(0); + } exit(ret); } - if (!strcmp(verb, "stop")) { - delete g_rgbled; - g_rgbled = nullptr; - exit(0); - } - if (!strcmp(verb, "rgb")) { if (argc < 5) { errx(1, "Usage: rgbled rgb <red> <green> <blue>"); diff --git a/src/drivers/sf0x/module.mk b/src/drivers/sf0x/module.mk index dc2c66d56..26e77d1cc 100644 --- a/src/drivers/sf0x/module.mk +++ b/src/drivers/sf0x/module.mk @@ -37,6 +37,7 @@ MODULE_COMMAND = sf0x -SRCS = sf0x.cpp +SRCS = sf0x.cpp \ + sf0x_parser.cpp MAXOPTIMIZATION = -Os diff --git a/src/drivers/sf0x/sf0x.cpp b/src/drivers/sf0x/sf0x.cpp index 80ecab2ee..fdd524189 100644 --- a/src/drivers/sf0x/sf0x.cpp +++ b/src/drivers/sf0x/sf0x.cpp @@ -72,6 +72,8 @@ #include <board_config.h> +#include "sf0x_parser.h" + /* Configuration Constants */ /* oddly, ERROR is not defined for c++ */ @@ -120,6 +122,7 @@ private: int _fd; char _linebuf[10]; unsigned _linebuf_index; + enum SF0X_PARSE_STATE _parse_state; hrt_abstime _last_read; orb_advert_t _range_finder_topic; @@ -186,6 +189,7 @@ SF0X::SF0X(const char *port) : _collect_phase(false), _fd(-1), _linebuf_index(0), + _parse_state(SF0X_PARSE_STATE0_UNSYNC), _last_read(0), _range_finder_topic(-1), _consecutive_fail_count(0), @@ -200,12 +204,6 @@ SF0X::SF0X(const char *port) : warnx("FAIL: laser fd"); } - /* tell it to stop auto-triggering */ - char stop_auto = ' '; - (void)::write(_fd, &stop_auto, 1); - usleep(100); - (void)::write(_fd, &stop_auto, 1); - struct termios uart_config; int termios_state; @@ -520,22 +518,15 @@ SF0X::collect() /* clear buffer if last read was too long ago */ uint64_t read_elapsed = hrt_elapsed_time(&_last_read); - if (read_elapsed > (SF0X_CONVERSION_INTERVAL * 2)) { - _linebuf_index = 0; - } else if (_linebuf_index > 0) { - /* increment to next read position */ - _linebuf_index++; - } - /* the buffer for read chars is buflen minus null termination */ - unsigned readlen = sizeof(_linebuf) - 1; + char readbuf[sizeof(_linebuf)]; + unsigned readlen = sizeof(readbuf) - 1; /* read from the sensor (uart buffer) */ - ret = ::read(_fd, &_linebuf[_linebuf_index], readlen - _linebuf_index); + ret = ::read(_fd, &readbuf[0], readlen); if (ret < 0) { - _linebuf[sizeof(_linebuf) - 1] = '\0'; - debug("read err: %d lbi: %d buf: %s", ret, (int)_linebuf_index, _linebuf); + debug("read err: %d", ret); perf_count(_comms_errors); perf_end(_sample_perf); @@ -550,84 +541,23 @@ SF0X::collect() return -EAGAIN; } - /* we did increment the index to the next position already, so just add the additional fields */ - _linebuf_index += (ret - 1); - _last_read = hrt_absolute_time(); - if (_linebuf_index < 1) { - /* we need at least the two end bytes to make sense of this string */ - return -EAGAIN; - - } else if (_linebuf[_linebuf_index - 1] != '\r' || _linebuf[_linebuf_index] != '\n') { - - if (_linebuf_index >= readlen - 1) { - /* we have a full buffer, but no line ending - abort */ - _linebuf_index = 0; - perf_count(_comms_errors); - return -ENOMEM; - } else { - /* incomplete read, reschedule ourselves */ - return -EAGAIN; - } - } - - char *end; float si_units; - bool valid; - - /* enforce line ending */ - unsigned lend = (_linebuf_index < (sizeof(_linebuf) - 1)) ? _linebuf_index : (sizeof(_linebuf) - 1); - - _linebuf[lend] = '\0'; - - if (_linebuf[0] == '-' && _linebuf[1] == '-' && _linebuf[2] == '.') { - si_units = -1.0f; - valid = false; - - } else { - - /* we need to find a dot in the string, as we're missing the meters part else */ - valid = false; - - /* wipe out partially read content from last cycle(s), check for dot */ - for (unsigned i = 0; i < (lend - 2); i++) { - if (_linebuf[i] == '\n') { - char buf[sizeof(_linebuf)]; - memcpy(buf, &_linebuf[i+1], (lend + 1) - (i + 1)); - memcpy(_linebuf, buf, (lend + 1) - (i + 1)); - } - - /* we need a digit before the dot and a dot for a valid number */ - if (i > 0 && _linebuf[i] == '.') { - valid = true; - } - } - - if (valid) { - si_units = strtod(_linebuf, &end); - - /* we require at least 3 characters for a valid number */ - if (end > _linebuf + 3) { - valid = true; - } else { - si_units = -1.0f; - valid = false; - } + bool valid = false; + + for (int i = 0; i < ret; i++) { + if (OK == sf0x_parser(readbuf[i], _linebuf, &_linebuf_index, &_parse_state, &si_units)) { + valid = true; } } - debug("val (float): %8.4f, raw: %s, valid: %s\n", (double)si_units, _linebuf, ((valid) ? "OK" : "NO")); - - /* done with this chunk, resetting - even if invalid */ - _linebuf_index = 0; - - /* if its invalid, there is no reason to forward the value */ if (!valid) { - perf_count(_comms_errors); - return -EINVAL; + return -EAGAIN; } + debug("val (float): %8.4f, raw: %s, valid: %s", (double)si_units, _linebuf, ((valid) ? "OK" : "NO")); + struct range_finder_report report; /* this should be fairly close to the end of the measurement, so the best approximation of the time */ @@ -709,12 +639,12 @@ SF0X::cycle() int collect_ret = collect(); if (collect_ret == -EAGAIN) { - /* reschedule to grab the missing bits, time to transmit 10 bytes @9600 bps */ + /* reschedule to grab the missing bits, time to transmit 8 bytes @ 9600 bps */ work_queue(HPWORK, &_work, (worker_t)&SF0X::cycle_trampoline, this, - USEC2TICK(1100)); + USEC2TICK(1042 * 8)); return; } diff --git a/src/drivers/sf0x/sf0x_parser.cpp b/src/drivers/sf0x/sf0x_parser.cpp new file mode 100644 index 000000000..8e73b0ad3 --- /dev/null +++ b/src/drivers/sf0x/sf0x_parser.cpp @@ -0,0 +1,155 @@ +/**************************************************************************** + * + * 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 sf0x_parser.cpp + * @author Lorenz Meier <lm@inf.ethz.ch> + * + * Driver for the Lightware SF0x laser rangefinder series + */ + +#include "sf0x_parser.h" +#include <string.h> +#include <stdlib.h> + +//#define SF0X_DEBUG + +#ifdef SF0X_DEBUG +#include <stdio.h> + +const char *parser_state[] = { + "0_UNSYNC", + "1_SYNC", + "2_GOT_DIGIT0", + "3_GOT_DOT", + "4_GOT_DIGIT1", + "5_GOT_DIGIT2", + "6_GOT_CARRIAGE_RETURN" +}; +#endif + +int sf0x_parser(char c, char *parserbuf, unsigned *parserbuf_index, enum SF0X_PARSE_STATE *state, float *dist) +{ + int ret = -1; + char *end; + + switch (*state) { + case SF0X_PARSE_STATE0_UNSYNC: + if (c == '\n') { + *state = SF0X_PARSE_STATE1_SYNC; + (*parserbuf_index) = 0; + } + + break; + + case SF0X_PARSE_STATE1_SYNC: + if (c >= '0' && c <= '9') { + *state = SF0X_PARSE_STATE2_GOT_DIGIT0; + parserbuf[*parserbuf_index] = c; + (*parserbuf_index)++; + } + + break; + + case SF0X_PARSE_STATE2_GOT_DIGIT0: + if (c >= '0' && c <= '9') { + *state = SF0X_PARSE_STATE2_GOT_DIGIT0; + parserbuf[*parserbuf_index] = c; + (*parserbuf_index)++; + + } else if (c == '.') { + *state = SF0X_PARSE_STATE3_GOT_DOT; + parserbuf[*parserbuf_index] = c; + (*parserbuf_index)++; + + } else { + *state = SF0X_PARSE_STATE0_UNSYNC; + } + + break; + + case SF0X_PARSE_STATE3_GOT_DOT: + if (c >= '0' && c <= '9') { + *state = SF0X_PARSE_STATE4_GOT_DIGIT1; + parserbuf[*parserbuf_index] = c; + (*parserbuf_index)++; + + } else { + *state = SF0X_PARSE_STATE0_UNSYNC; + } + + break; + + case SF0X_PARSE_STATE4_GOT_DIGIT1: + if (c >= '0' && c <= '9') { + *state = SF0X_PARSE_STATE5_GOT_DIGIT2; + parserbuf[*parserbuf_index] = c; + (*parserbuf_index)++; + + } else { + *state = SF0X_PARSE_STATE0_UNSYNC; + } + + break; + + case SF0X_PARSE_STATE5_GOT_DIGIT2: + if (c == '\r') { + *state = SF0X_PARSE_STATE6_GOT_CARRIAGE_RETURN; + + } else { + *state = SF0X_PARSE_STATE0_UNSYNC; + } + + break; + + case SF0X_PARSE_STATE6_GOT_CARRIAGE_RETURN: + if (c == '\n') { + parserbuf[*parserbuf_index] = '\0'; + *dist = strtod(parserbuf, &end); + *state = SF0X_PARSE_STATE1_SYNC; + *parserbuf_index = 0; + ret = 0; + + } else { + *state = SF0X_PARSE_STATE0_UNSYNC; + } + + break; + } + +#ifdef SF0X_DEBUG + printf("state: SF0X_PARSE_STATE%s\n", parser_state[*state]); +#endif + + return ret; +}
\ No newline at end of file diff --git a/src/drivers/sf0x/sf0x_parser.h b/src/drivers/sf0x/sf0x_parser.h new file mode 100644 index 000000000..20892d50e --- /dev/null +++ b/src/drivers/sf0x/sf0x_parser.h @@ -0,0 +1,51 @@ +/**************************************************************************** + * + * 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 sf0x_parser.cpp + * @author Lorenz Meier <lm@inf.ethz.ch> + * + * Declarations of parser for the Lightware SF0x laser rangefinder series + */ + +enum SF0X_PARSE_STATE { + SF0X_PARSE_STATE0_UNSYNC = 0, + SF0X_PARSE_STATE1_SYNC, + SF0X_PARSE_STATE2_GOT_DIGIT0, + SF0X_PARSE_STATE3_GOT_DOT, + SF0X_PARSE_STATE4_GOT_DIGIT1, + SF0X_PARSE_STATE5_GOT_DIGIT2, + SF0X_PARSE_STATE6_GOT_CARRIAGE_RETURN +}; + +int sf0x_parser(char c, char *parserbuf, unsigned *parserbuf_index, enum SF0X_PARSE_STATE *state, float *dist);
\ No newline at end of file diff --git a/src/drivers/stm32/adc/module.mk b/src/drivers/stm32/adc/module.mk index 48620feea..38ea490a0 100644 --- a/src/drivers/stm32/adc/module.mk +++ b/src/drivers/stm32/adc/module.mk @@ -40,3 +40,5 @@ MODULE_COMMAND = adc SRCS = adc.cpp INCLUDE_DIRS += $(NUTTX_SRC)/arch/arm/src/stm32 $(NUTTX_SRC)/arch/arm/src/common + +MAXOPTIMIZATION = -Os diff --git a/src/drivers/stm32/module.mk b/src/drivers/stm32/module.mk index bb751c7f6..54428e270 100644 --- a/src/drivers/stm32/module.mk +++ b/src/drivers/stm32/module.mk @@ -41,3 +41,5 @@ SRCS = drv_hrt.c \ drv_pwm_servo.c INCLUDE_DIRS += $(NUTTX_SRC)/arch/arm/src/stm32 $(NUTTX_SRC)/arch/arm/src/common + +MAXOPTIMIZATION = -Os diff --git a/src/drivers/stm32/tone_alarm/module.mk b/src/drivers/stm32/tone_alarm/module.mk index 827cf30b2..25a194ef6 100644 --- a/src/drivers/stm32/tone_alarm/module.mk +++ b/src/drivers/stm32/tone_alarm/module.mk @@ -40,3 +40,5 @@ MODULE_COMMAND = tone_alarm SRCS = tone_alarm.cpp INCLUDE_DIRS += $(NUTTX_SRC)/arch/arm/src/stm32 $(NUTTX_SRC)/arch/arm/src/common + +MAXOPTIMIZATION = -Os diff --git a/src/drivers/trone/module.mk b/src/drivers/trone/module.mk new file mode 100644 index 000000000..38499c6c3 --- /dev/null +++ b/src/drivers/trone/module.mk @@ -0,0 +1,44 @@ +############################################################################ +# +# 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. +# +############################################################################ + +# +# Makefile to build the TeraRanger One range finder driver +# + +MODULE_COMMAND = trone + +SRCS = trone.cpp + +MODULE_STACKSIZE = 1200 + +MAXOPTIMIZATION = -Os diff --git a/src/drivers/trone/trone.cpp b/src/drivers/trone/trone.cpp new file mode 100644 index 000000000..2f2f692a1 --- /dev/null +++ b/src/drivers/trone/trone.cpp @@ -0,0 +1,913 @@ +/**************************************************************************** + * + * Copyright (c) 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 + * 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 trone.cpp + * @author Luis Rodrigues + * + * Driver for the TeraRanger One range finders connected via I2C. + */ + +#include <nuttx/config.h> + +#include <drivers/device/i2c.h> + +#include <sys/types.h> +#include <stdint.h> +#include <stdlib.h> +#include <stdbool.h> +#include <semaphore.h> +#include <string.h> +#include <fcntl.h> +#include <poll.h> +#include <errno.h> +#include <stdio.h> +#include <math.h> +#include <unistd.h> + +#include <nuttx/arch.h> +#include <nuttx/wqueue.h> +#include <nuttx/clock.h> + +#include <systemlib/perf_counter.h> +#include <systemlib/err.h> + +#include <drivers/drv_hrt.h> +#include <drivers/drv_range_finder.h> +#include <drivers/device/ringbuffer.h> + +#include <uORB/uORB.h> +#include <uORB/topics/subsystem_info.h> + +#include <board_config.h> + +/* Configuration Constants */ +#define TRONE_BUS PX4_I2C_BUS_EXPANSION +#define TRONE_BASEADDR 0x30 /* 7-bit address */ +#define TRONE_DEVICE_PATH "/dev/trone" + +/* TRONE Registers addresses */ + +#define TRONE_MEASURE_REG 0x00 /* Measure range register */ + +/* Device limits */ +#define TRONE_MIN_DISTANCE (0.20f) +#define TRONE_MAX_DISTANCE (14.00f) + +#define TRONE_CONVERSION_INTERVAL 50000 /* 50ms */ + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + +#ifndef CONFIG_SCHED_WORKQUEUE +# error This requires CONFIG_SCHED_WORKQUEUE. +#endif + +class TRONE : public device::I2C +{ +public: + TRONE(int bus = TRONE_BUS, int address = TRONE_BASEADDR); + virtual ~TRONE(); + + virtual int init(); + + virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); + virtual int ioctl(struct file *filp, int cmd, unsigned long arg); + + /** + * Diagnostics - print some basic information about the driver. + */ + void print_info(); + +protected: + virtual int probe(); + +private: + float _min_distance; + float _max_distance; + work_s _work; + RingBuffer *_reports; + bool _sensor_ok; + int _measure_ticks; + bool _collect_phase; + int _class_instance; + + orb_advert_t _range_finder_topic; + + perf_counter_t _sample_perf; + perf_counter_t _comms_errors; + perf_counter_t _buffer_overflows; + + /** + * Test whether the device supported by the driver is present at a + * specific address. + * + * @param address The I2C bus address to probe. + * @return True if the device is present. + */ + int probe_address(uint8_t address); + + /** + * Initialise the automatic measurement state machine and start it. + * + * @note This function is called at open and error time. It might make sense + * to make it more aggressive about resetting the bus in case of errors. + */ + void start(); + + /** + * Stop the automatic measurement state machine. + */ + void stop(); + + /** + * Set the min and max distance thresholds if you want the end points of the sensors + * range to be brought in at all, otherwise it will use the defaults TRONE_MIN_DISTANCE + * and TRONE_MAX_DISTANCE + */ + void set_minimum_distance(float min); + void set_maximum_distance(float max); + float get_minimum_distance(); + float get_maximum_distance(); + + /** + * Perform a poll cycle; collect from the previous measurement + * and start a new one. + */ + void cycle(); + int measure(); + int collect(); + /** + * Static trampoline from the workq context; because we don't have a + * generic workq wrapper yet. + * + * @param arg Instance pointer for the driver that is polling. + */ + static void cycle_trampoline(void *arg); + + +}; + +static const uint8_t crc_table[] = { + 0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31, + 0x24, 0x23, 0x2a, 0x2d, 0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65, + 0x48, 0x4f, 0x46, 0x41, 0x54, 0x53, 0x5a, 0x5d, 0xe0, 0xe7, 0xee, 0xe9, + 0xfc, 0xfb, 0xf2, 0xf5, 0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd, + 0x90, 0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85, 0xa8, 0xaf, 0xa6, 0xa1, + 0xb4, 0xb3, 0xba, 0xbd, 0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5, 0xd2, + 0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea, 0xb7, 0xb0, 0xb9, 0xbe, + 0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9d, 0x9a, + 0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32, 0x1f, 0x18, 0x11, 0x16, + 0x03, 0x04, 0x0d, 0x0a, 0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42, + 0x6f, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7d, 0x7a, 0x89, 0x8e, 0x87, 0x80, + 0x95, 0x92, 0x9b, 0x9c, 0xb1, 0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3, 0xa4, + 0xf9, 0xfe, 0xf7, 0xf0, 0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6, 0xcf, 0xc8, + 0xdd, 0xda, 0xd3, 0xd4, 0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c, + 0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44, 0x19, 0x1e, 0x17, 0x10, + 0x05, 0x02, 0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34, + 0x4e, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78, 0x7f, + 0x6a, 0x6d, 0x64, 0x63, 0x3e, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b, + 0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13, 0xae, 0xa9, 0xa0, 0xa7, + 0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f, 0x8a, 0x8d, 0x84, 0x83, + 0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef, + 0xfa, 0xfd, 0xf4, 0xf3 +}; + +uint8_t crc8(uint8_t *p, uint8_t len){ + uint16_t i; + uint16_t crc = 0x0; + + while (len--) { + i = (crc ^ *p++) & 0xFF; + crc = (crc_table[i] ^ (crc << 8)) & 0xFF; + } + + return crc & 0xFF; +} + +/* + * Driver 'main' command. + */ +extern "C" __EXPORT int trone_main(int argc, char *argv[]); + +TRONE::TRONE(int bus, int address) : + I2C("TRONE", TRONE_DEVICE_PATH, bus, address, 100000), + _min_distance(TRONE_MIN_DISTANCE), + _max_distance(TRONE_MAX_DISTANCE), + _reports(nullptr), + _sensor_ok(false), + _measure_ticks(0), + _collect_phase(false), + _class_instance(-1), + _range_finder_topic(-1), + _sample_perf(perf_alloc(PC_ELAPSED, "trone_read")), + _comms_errors(perf_alloc(PC_COUNT, "trone_comms_errors")), + _buffer_overflows(perf_alloc(PC_COUNT, "trone_buffer_overflows")) +{ + // up the retries since the device misses the first measure attempts + I2C::_retries = 3; + + // enable debug() calls + _debug_enabled = false; + + // work_cancel in the dtor will explode if we don't do this... + memset(&_work, 0, sizeof(_work)); +} + +TRONE::~TRONE() +{ + /* make sure we are truly inactive */ + stop(); + + /* free any existing reports */ + if (_reports != nullptr) { + delete _reports; + } + + if (_class_instance != -1) { + unregister_class_devname(RANGE_FINDER_DEVICE_PATH, _class_instance); + } + + // free perf counters + perf_free(_sample_perf); + perf_free(_comms_errors); + perf_free(_buffer_overflows); +} + +int +TRONE::init() +{ + int ret = ERROR; + + /* do I2C init (and probe) first */ + if (I2C::init() != OK) { + goto out; + } + + /* allocate basic report buffers */ + _reports = new RingBuffer(2, sizeof(range_finder_report)); + + if (_reports == nullptr) { + goto out; + } + + _class_instance = register_class_devname(RANGE_FINDER_DEVICE_PATH); + + if (_class_instance == CLASS_DEVICE_PRIMARY) { + /* get a publish handle on the range finder topic */ + struct range_finder_report rf_report; + measure(); + _reports->get(&rf_report); + _range_finder_topic = orb_advertise(ORB_ID(sensor_range_finder), &rf_report); + + if (_range_finder_topic < 0) { + debug("failed to create sensor_range_finder object. Did you start uOrb?"); + } + } + + ret = OK; + /* sensor is ok, but we don't really know if it is within range */ + _sensor_ok = true; +out: + return ret; +} + +int +TRONE::probe() +{ + return measure(); +} + +void +TRONE::set_minimum_distance(float min) +{ + _min_distance = min; +} + +void +TRONE::set_maximum_distance(float max) +{ + _max_distance = max; +} + +float +TRONE::get_minimum_distance() +{ + return _min_distance; +} + +float +TRONE::get_maximum_distance() +{ + return _max_distance; +} + +int +TRONE::ioctl(struct file *filp, int cmd, unsigned long arg) +{ + switch (cmd) { + + case SENSORIOCSPOLLRATE: { + switch (arg) { + + /* switching to manual polling */ + case SENSOR_POLLRATE_MANUAL: + stop(); + _measure_ticks = 0; + return OK; + + /* external signalling (DRDY) not supported */ + case SENSOR_POLLRATE_EXTERNAL: + + /* zero would be bad */ + case 0: + return -EINVAL; + + /* set default/max polling rate */ + case SENSOR_POLLRATE_MAX: + case SENSOR_POLLRATE_DEFAULT: { + /* do we need to start internal polling? */ + bool want_start = (_measure_ticks == 0); + + /* set interval for next measurement to minimum legal value */ + _measure_ticks = USEC2TICK(TRONE_CONVERSION_INTERVAL); + + /* if we need to start the poll state machine, do it */ + if (want_start) { + start(); + } + + return OK; + } + + /* adjust to a legal polling interval in Hz */ + default: { + /* do we need to start internal polling? */ + bool want_start = (_measure_ticks == 0); + + /* convert hz to tick interval via microseconds */ + unsigned ticks = USEC2TICK(1000000 / arg); + + /* check against maximum rate */ + if (ticks < USEC2TICK(TRONE_CONVERSION_INTERVAL)) { + return -EINVAL; + } + + /* update interval for next measurement */ + _measure_ticks = ticks; + + /* if we need to start the poll state machine, do it */ + if (want_start) { + start(); + } + + return OK; + } + } + } + + case SENSORIOCGPOLLRATE: + if (_measure_ticks == 0) { + return SENSOR_POLLRATE_MANUAL; + } + + return (1000 / _measure_ticks); + + case SENSORIOCSQUEUEDEPTH: { + /* lower bound is mandatory, upper bound is a sanity check */ + if ((arg < 1) || (arg > 100)) { + return -EINVAL; + } + + irqstate_t flags = irqsave(); + + if (!_reports->resize(arg)) { + irqrestore(flags); + return -ENOMEM; + } + + irqrestore(flags); + + return OK; + } + + case SENSORIOCGQUEUEDEPTH: + return _reports->size(); + + case SENSORIOCRESET: + /* XXX implement this */ + return -EINVAL; + + case RANGEFINDERIOCSETMINIUMDISTANCE: { + set_minimum_distance(*(float *)arg); + return 0; + } + break; + + case RANGEFINDERIOCSETMAXIUMDISTANCE: { + set_maximum_distance(*(float *)arg); + return 0; + } + break; + + default: + /* give it to the superclass */ + return I2C::ioctl(filp, cmd, arg); + } +} + +ssize_t +TRONE::read(struct file *filp, char *buffer, size_t buflen) +{ + unsigned count = buflen / sizeof(struct range_finder_report); + struct range_finder_report *rbuf = reinterpret_cast<struct range_finder_report *>(buffer); + int ret = 0; + + /* buffer must be large enough */ + if (count < 1) { + return -ENOSPC; + } + + /* if automatic measurement is enabled */ + if (_measure_ticks > 0) { + + /* + * While there is space in the caller's buffer, and reports, copy them. + * Note that we may be pre-empted by the workq thread while we are doing this; + * we are careful to avoid racing with them. + */ + while (count--) { + if (_reports->get(rbuf)) { + ret += sizeof(*rbuf); + rbuf++; + } + } + + /* if there was no data, warn the caller */ + return ret ? ret : -EAGAIN; + } + + /* manual measurement - run one conversion */ + do { + _reports->flush(); + + /* trigger a measurement */ + if (OK != measure()) { + ret = -EIO; + break; + } + + /* wait for it to complete */ + usleep(TRONE_CONVERSION_INTERVAL); + + /* run the collection phase */ + if (OK != collect()) { + ret = -EIO; + break; + } + + /* state machine will have generated a report, copy it out */ + if (_reports->get(rbuf)) { + ret = sizeof(*rbuf); + } + + } while (0); + + return ret; +} + +int +TRONE::measure() +{ + int ret; + + /* + * Send the command to begin a measurement. + */ + const uint8_t cmd = TRONE_MEASURE_REG; + ret = transfer(&cmd, sizeof(cmd), nullptr, 0); + + if (OK != ret) { + perf_count(_comms_errors); + log("i2c::transfer returned %d", ret); + return ret; + } + + ret = OK; + + return ret; +} + +int +TRONE::collect() +{ + int ret = -EIO; + + /* read from the sensor */ + uint8_t val[3] = {0, 0, 0}; + + perf_begin(_sample_perf); + + ret = transfer(nullptr, 0, &val[0], 3); + + if (ret < 0) { + log("error reading from sensor: %d", ret); + perf_count(_comms_errors); + perf_end(_sample_perf); + return ret; + } + + uint16_t distance = (val[0] << 8) | val[1]; + float si_units = distance * 0.001f; /* mm to m */ + struct range_finder_report report; + + /* this should be fairly close to the end of the measurement, so the best approximation of the time */ + report.timestamp = hrt_absolute_time(); + report.error_count = perf_event_count(_comms_errors); + report.distance = si_units; + report.valid = crc8(val, 2) == val[2] && si_units > get_minimum_distance() && si_units < get_maximum_distance() ? 1 : 0; + + + /* publish it, if we are the primary */ + if (_range_finder_topic >= 0) { + orb_publish(ORB_ID(sensor_range_finder), _range_finder_topic, &report); + } + + if (_reports->force(&report)) { + perf_count(_buffer_overflows); + } + + /* notify anyone waiting for data */ + poll_notify(POLLIN); + + ret = OK; + + perf_end(_sample_perf); + return ret; +} + +void +TRONE::start() +{ + /* reset the report ring and state machine */ + _collect_phase = false; + _reports->flush(); + + /* schedule a cycle to start things */ + work_queue(HPWORK, &_work, (worker_t)&TRONE::cycle_trampoline, this, 1); + + /* notify about state change */ + struct subsystem_info_s info = { + true, + true, + true, + SUBSYSTEM_TYPE_RANGEFINDER + }; + 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); + } +} + +void +TRONE::stop() +{ + work_cancel(HPWORK, &_work); +} + +void +TRONE::cycle_trampoline(void *arg) +{ + TRONE *dev = (TRONE *)arg; + + dev->cycle(); +} + +void +TRONE::cycle() +{ + /* collection phase? */ + if (_collect_phase) { + + /* perform collection */ + if (OK != collect()) { + log("collection error"); + /* restart the measurement state machine */ + start(); + return; + } + + /* next phase is measurement */ + _collect_phase = false; + + /* + * Is there a collect->measure gap? + */ + if (_measure_ticks > USEC2TICK(TRONE_CONVERSION_INTERVAL)) { + + /* schedule a fresh cycle call when we are ready to measure again */ + work_queue(HPWORK, + &_work, + (worker_t)&TRONE::cycle_trampoline, + this, + _measure_ticks - USEC2TICK(TRONE_CONVERSION_INTERVAL)); + + return; + } + } + + /* measurement phase */ + if (OK != measure()) { + log("measure error"); + } + + /* next phase is collection */ + _collect_phase = true; + + /* schedule a fresh cycle call when the measurement is done */ + work_queue(HPWORK, + &_work, + (worker_t)&TRONE::cycle_trampoline, + this, + USEC2TICK(TRONE_CONVERSION_INTERVAL)); +} + +void +TRONE::print_info() +{ + perf_print_counter(_sample_perf); + perf_print_counter(_comms_errors); + perf_print_counter(_buffer_overflows); + printf("poll interval: %u ticks\n", _measure_ticks); + _reports->print_info("report queue"); +} + +/** + * Local functions in support of the shell command. + */ +namespace trone +{ + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +const int ERROR = -1; + +TRONE *g_dev; + +void start(); +void stop(); +void test(); +void reset(); +void info(); + +/** + * Start the driver. + */ +void +start() +{ + int fd; + + if (g_dev != nullptr) { + errx(1, "already started"); + } + + /* create the driver */ + g_dev = new TRONE(TRONE_BUS); + + + if (g_dev == nullptr) { + goto fail; + } + + if (OK != g_dev->init()) { + goto fail; + } + + /* set the poll rate to default, starts automatic data collection */ + fd = open(TRONE_DEVICE_PATH, O_RDONLY); + + if (fd < 0) { + goto fail; + } + + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) { + goto fail; + } + + exit(0); + +fail: + + if (g_dev != nullptr) { + delete g_dev; + g_dev = nullptr; + } + + errx(1, "driver start failed"); +} + +/** + * Stop the driver + */ +void stop() +{ + if (g_dev != nullptr) { + delete g_dev; + g_dev = nullptr; + + } else { + errx(1, "driver not running"); + } + + exit(0); +} + +/** + * Perform some basic functional tests on the driver; + * make sure we can collect data from the sensor in polled + * and automatic modes. + */ +void +test() +{ + struct range_finder_report report; + ssize_t sz; + int ret; + + int fd = open(TRONE_DEVICE_PATH, O_RDONLY); + + if (fd < 0) { + err(1, "%s open failed (try 'trone start' if the driver is not running", TRONE_DEVICE_PATH); + } + + /* do a simple demand read */ + sz = read(fd, &report, sizeof(report)); + + if (sz != sizeof(report)) { + err(1, "immediate read failed"); + } + + warnx("single read"); + warnx("measurement: %0.2f m", (double)report.distance); + warnx("time: %lld", report.timestamp); + + /* start the sensor polling at 2Hz */ + if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) { + errx(1, "failed to set 2Hz poll rate"); + } + + /* read the sensor 50x and report each value */ + for (unsigned i = 0; i < 50; i++) { + struct pollfd fds; + + /* wait for data to be ready */ + fds.fd = fd; + fds.events = POLLIN; + ret = poll(&fds, 1, 2000); + + if (ret != 1) { + errx(1, "timed out waiting for sensor data"); + } + + /* now go get it */ + sz = read(fd, &report, sizeof(report)); + + if (sz != sizeof(report)) { + err(1, "periodic read failed"); + } + + warnx("periodic read %u", i); + warnx("valid %u", report.valid); + warnx("measurement: %0.3f", (double)report.distance); + warnx("time: %lld", report.timestamp); + } + + /* reset the sensor polling to default rate */ + if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) { + errx(1, "failed to set default poll rate"); + } + + errx(0, "PASS"); +} + +/** + * Reset the driver. + */ +void +reset() +{ + int fd = open(TRONE_DEVICE_PATH, O_RDONLY); + + if (fd < 0) { + err(1, "failed "); + } + + if (ioctl(fd, SENSORIOCRESET, 0) < 0) { + err(1, "driver reset failed"); + } + + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) { + err(1, "driver poll restart failed"); + } + + exit(0); +} + +/** + * Print a little info about the driver. + */ +void +info() +{ + if (g_dev == nullptr) { + errx(1, "driver not running"); + } + + printf("state @ %p\n", g_dev); + g_dev->print_info(); + + exit(0); +} + +} // namespace + +int +trone_main(int argc, char *argv[]) +{ + /* + * Start/load the driver. + */ + if (!strcmp(argv[1], "start")) { + trone::start(); + } + + /* + * Stop the driver + */ + if (!strcmp(argv[1], "stop")) { + trone::stop(); + } + + /* + * Test the driver/device. + */ + if (!strcmp(argv[1], "test")) { + trone::test(); + } + + /* + * Reset the driver. + */ + if (!strcmp(argv[1], "reset")) { + trone::reset(); + } + + /* + * Print driver information. + */ + if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) { + trone::info(); + } + + errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'"); +} diff --git a/src/examples/flow_position_estimator/flow_position_estimator_main.c b/src/examples/flow_position_estimator/flow_position_estimator_main.c index c775428ef..0b8c01f79 100644 --- a/src/examples/flow_position_estimator/flow_position_estimator_main.c +++ b/src/examples/flow_position_estimator/flow_position_estimator_main.c @@ -308,8 +308,8 @@ int flow_position_estimator_thread_main(int argc, char *argv[]) if (vehicle_liftoff || params.debug) { /* copy flow */ - flow_speed[0] = flow.flow_comp_x_m; - flow_speed[1] = flow.flow_comp_y_m; + flow_speed[0] = flow.pixel_flow_x_integral / (flow.integration_timespan / 1e6f) * flow.ground_distance_m; + flow_speed[1] = flow.pixel_flow_y_integral / (flow.integration_timespan / 1e6f) * flow.ground_distance_m; flow_speed[2] = 0.0f; /* convert to bodyframe velocity */ diff --git a/src/lib/conversion/module.mk b/src/lib/conversion/module.mk index f5f59a2dc..4593c4887 100644 --- a/src/lib/conversion/module.mk +++ b/src/lib/conversion/module.mk @@ -36,3 +36,5 @@ # SRCS = rotation.cpp + +MAXOPTIMIZATION = -Os diff --git a/src/lib/conversion/rotation.h b/src/lib/conversion/rotation.h index 5187b448f..917c7f830 100644 --- a/src/lib/conversion/rotation.h +++ b/src/lib/conversion/rotation.h @@ -74,6 +74,7 @@ enum Rotation { ROTATION_ROLL_270_YAW_135 = 23, ROTATION_PITCH_90 = 24, ROTATION_PITCH_270 = 25, + ROTATION_ROLL_270_YAW_270 = 26, ROTATION_MAX }; @@ -109,7 +110,8 @@ const rot_lookup_t rot_lookup[] = { {270, 0, 90 }, {270, 0, 135 }, { 0, 90, 0 }, - { 0, 270, 0 } + { 0, 270, 0 }, + {270, 0, 270 } }; /** diff --git a/src/lib/external_lgpl/tecs/tecs.cpp b/src/lib/external_lgpl/tecs/tecs.cpp index a57a0481a..cfcc48b62 100644 --- a/src/lib/external_lgpl/tecs/tecs.cpp +++ b/src/lib/external_lgpl/tecs/tecs.cpp @@ -236,9 +236,9 @@ void TECS::_update_height_demand(float demand, float state) // // _hgt_rate_dem); _hgt_dem_adj = demand;//0.025f * demand + 0.975f * _hgt_dem_adj_last; + _hgt_rate_dem = (_hgt_dem_adj-state)*_heightrate_p + _heightrate_ff * (_hgt_dem_adj - _hgt_dem_adj_last)/_DT; _hgt_dem_adj_last = _hgt_dem_adj; - _hgt_rate_dem = (_hgt_dem_adj-state)*_heightrate_p; // Limit height rate of change if (_hgt_rate_dem > _maxClimbRate) { _hgt_rate_dem = _maxClimbRate; @@ -252,6 +252,11 @@ void TECS::_update_height_demand(float demand, float state) void TECS::_detect_underspeed(void) { + if (!_detect_underspeed_enabled) { + _underspeed = false; + return; + } + if (((_integ5_state < _TASmin * 0.9f) && (_throttle_dem >= _THRmaxf * 0.95f)) || ((_integ3_state < _hgt_dem_adj) && _underspeed)) { _underspeed = true; @@ -294,7 +299,7 @@ void TECS::_update_throttle(float throttle_cruise, const math::Matrix<3,3> &rotM // Calculate throttle demand // If underspeed condition is set, then demand full throttle if (_underspeed) { - _throttle_dem_unc = 1.0f; + _throttle_dem = 1.0f; } else { // Calculate gain scaler from specific energy error to throttle @@ -316,31 +321,29 @@ void TECS::_update_throttle(float throttle_cruise, const math::Matrix<3,3> &rotM ff_throttle = nomThr - STEdot_dem / _STEdot_min * nomThr; } - // Calculate PD + FF throttle + // Calculate PD + FF throttle and constrain to avoid blow-up of the integrator later _throttle_dem = (_STE_error + STEdot_error * _thrDamp) * K_STE2Thr + ff_throttle; + _throttle_dem = constrain(_throttle_dem, _THRminf, _THRmaxf); // Rate limit PD + FF throttle // Calculate the throttle increment from the specified slew time if (fabsf(_throttle_slewrate) > 0.01f) { float thrRateIncr = _DT * (_THRmaxf - _THRminf) * _throttle_slewrate; - _throttle_dem = constrain(_throttle_dem, - _last_throttle_dem - thrRateIncr, - _last_throttle_dem + thrRateIncr); + _last_throttle_dem - thrRateIncr, + _last_throttle_dem + thrRateIncr); } // Ensure _last_throttle_dem is always initialized properly - // Also: The throttle_slewrate limit is only applied to throttle_dem, but does not limit the integrator!! _last_throttle_dem = _throttle_dem; - // Calculate integrator state upper and lower limits - // Set to a value thqat will allow 0.1 (10%) throttle saturation to allow for noise on the demand + // Set to a value that will allow 0.1 (10%) throttle saturation to allow for noise on the demand float integ_max = (_THRmaxf - _throttle_dem + 0.1f); float integ_min = (_THRminf - _throttle_dem - 0.1f); // Calculate integrator state, constraining state - // Set integrator to a max throttle value dduring climbout + // Set integrator to a max throttle value during climbout _integ6_state = _integ6_state + (_STE_error * _integGain) * _DT * K_STE2Thr; if (_climbOutDem) { @@ -358,10 +361,10 @@ void TECS::_update_throttle(float throttle_cruise, const math::Matrix<3,3> &rotM } else { _throttle_dem = ff_throttle; } - } - // Constrain throttle demand - _throttle_dem = constrain(_throttle_dem, _THRminf, _THRmaxf); + // Constrain throttle demand + _throttle_dem = constrain(_throttle_dem, _THRminf, _THRmaxf); + } } void TECS::_detect_bad_descent(void) diff --git a/src/lib/external_lgpl/tecs/tecs.h b/src/lib/external_lgpl/tecs/tecs.h index bcc2d90e5..eb45237b7 100644 --- a/src/lib/external_lgpl/tecs/tecs.h +++ b/src/lib/external_lgpl/tecs/tecs.h @@ -47,6 +47,7 @@ public: _rollComp(0.0f), _spdWeight(0.5f), _heightrate_p(0.0f), + _heightrate_ff(0.0f), _speedrate_p(0.0f), _throttle_dem(0.0f), _pitch_dem(0.0f), @@ -66,6 +67,9 @@ public: _hgt_dem_prev(0.0f), _TAS_dem_adj(0.0f), _STEdotErrLast(0.0f), + _underspeed(false), + _detect_underspeed_enabled(true), + _badDescent(false), _climbOutDem(false), _SPE_dem(0.0f), _SKE_dem(0.0f), @@ -217,10 +221,18 @@ public: _heightrate_p = heightrate_p; } + void set_heightrate_ff(float heightrate_ff) { + _heightrate_ff = heightrate_ff; + } + void set_speedrate_p(float speedrate_p) { _speedrate_p = speedrate_p; } + void set_detect_underspeed_enabled(bool enabled) { + _detect_underspeed_enabled = enabled; + } + private: struct tecs_state _tecs_state; @@ -249,6 +261,7 @@ private: float _rollComp; float _spdWeight; float _heightrate_p; + float _heightrate_ff; float _speedrate_p; // throttle demand in the range from 0.0 to 1.0 @@ -323,15 +336,15 @@ private: // Underspeed condition bool _underspeed; + // Underspeed detection enabled + bool _detect_underspeed_enabled; + // Bad descent condition caused by unachievable airspeed demand bool _badDescent; // climbout mode bool _climbOutDem; - // throttle demand before limiting - float _throttle_dem_unc; - // pitch demand before limiting float _pitch_dem_unc; diff --git a/src/lib/geo/geo.c b/src/lib/geo/geo.c index 1c8d2a2a7..f595467b3 100644 --- a/src/lib/geo/geo.c +++ b/src/lib/geo/geo.c @@ -362,8 +362,12 @@ __EXPORT int get_distance_to_line(struct crosstrack_error_s *crosstrack_error, d crosstrack_error->distance = 0.0f; crosstrack_error->bearing = 0.0f; + dist_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end); + // Return error if arguments are bad - if (lat_now == 0.0 || lon_now == 0.0 || lat_start == 0.0 || lon_start == 0.0 || lat_end == 0.0d || lon_end == 0.0d) { return return_value; } + if (dist_to_end < 0.1f) { + return ERROR; + } bearing_end = get_bearing_to_next_waypoint(lat_now, lon_now, lat_end, lon_end); bearing_track = get_bearing_to_next_waypoint(lat_start, lon_start, lat_end, lon_end); @@ -377,7 +381,6 @@ __EXPORT int get_distance_to_line(struct crosstrack_error_s *crosstrack_error, d return return_value; } - dist_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end); crosstrack_error->distance = (dist_to_end) * sinf(bearing_diff); if (sin(bearing_diff) >= 0) { @@ -414,10 +417,10 @@ __EXPORT int get_distance_to_arc(struct crosstrack_error_s *crosstrack_error, do crosstrack_error->bearing = 0.0f; // Return error if arguments are bad - if (lat_now == 0.0 || lon_now == 0.0 || lat_center == 0.0 || lon_center == 0.0 || radius == 0.0f) { return return_value; } + if (radius < 0.1f) { return return_value; } - if (arc_sweep >= 0) { + if (arc_sweep >= 0.0f) { bearing_sector_start = arc_start_bearing; bearing_sector_end = arc_start_bearing + arc_sweep; @@ -463,8 +466,8 @@ __EXPORT int get_distance_to_arc(struct crosstrack_error_s *crosstrack_error, do double start_disp_x = (double)radius * sin(arc_start_bearing); double start_disp_y = (double)radius * cos(arc_start_bearing); - double end_disp_x = (double)radius * sin(_wrapPI((double)(arc_start_bearing + arc_sweep))); - double end_disp_y = (double)radius * cos(_wrapPI((double)(arc_start_bearing + arc_sweep))); + double end_disp_x = (double)radius * sin(_wrap_pi((double)(arc_start_bearing + arc_sweep))); + double end_disp_y = (double)radius * cos(_wrap_pi((double)(arc_start_bearing + arc_sweep))); double lon_start = lon_now + start_disp_x / 111111.0; double lat_start = lat_now + start_disp_y * cos(lat_now) / 111111.0; double lon_end = lon_now + end_disp_x / 111111.0; @@ -484,7 +487,7 @@ __EXPORT int get_distance_to_arc(struct crosstrack_error_s *crosstrack_error, do } - crosstrack_error->bearing = _wrapPI((double)crosstrack_error->bearing); + crosstrack_error->bearing = _wrap_pi((double)crosstrack_error->bearing); return_value = OK; return return_value; } diff --git a/src/lib/launchdetection/CatapultLaunchMethod.cpp b/src/lib/launchdetection/CatapultLaunchMethod.cpp index c555a0a69..2ea1c414b 100644 --- a/src/lib/launchdetection/CatapultLaunchMethod.cpp +++ b/src/lib/launchdetection/CatapultLaunchMethod.cpp @@ -49,9 +49,11 @@ CatapultLaunchMethod::CatapultLaunchMethod(SuperBlock *parent) : SuperBlock(parent, "CAT"), last_timestamp(hrt_absolute_time()), integrator(0.0f), - launchDetected(false), - threshold_accel(this, "A"), - threshold_time(this, "T") + state(LAUNCHDETECTION_RES_NONE), + thresholdAccel(this, "A"), + thresholdTime(this, "T"), + motorDelay(this, "MDEL"), + pitchMaxPreThrottle(this, "PMAX") { } @@ -65,34 +67,66 @@ void CatapultLaunchMethod::update(float accel_x) float dt = (float)hrt_elapsed_time(&last_timestamp) * 1e-6f; last_timestamp = hrt_absolute_time(); - if (accel_x > threshold_accel.get()) { - integrator += accel_x * dt; -// warnx("*** integrator %.3f, threshold_accel %.3f, threshold_time %.3f, accel_x %.3f, dt %.3f", -// (double)integrator, (double)threshold_accel.get(), (double)threshold_time.get(), (double)accel_x, (double)dt); - if (integrator > threshold_accel.get() * threshold_time.get()) { - launchDetected = true; + switch (state) { + case LAUNCHDETECTION_RES_NONE: + /* Detect a acceleration that is longer and stronger as the minimum given by the params */ + if (accel_x > thresholdAccel.get()) { + integrator += dt; + if (integrator > thresholdTime.get()) { + if (motorDelay.get() > 0.0f) { + state = LAUNCHDETECTION_RES_DETECTED_ENABLECONTROL; + warnx("Launch detected: state: enablecontrol, waiting %.2fs until using full" + " throttle", (double)motorDelay.get()); + } else { + /* No motor delay set: go directly to enablemotors state */ + state = LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS; + warnx("Launch detected: state: enablemotors (delay not activated)"); + } + } + } else { + /* reset */ + reset(); } + break; + + case LAUNCHDETECTION_RES_DETECTED_ENABLECONTROL: + /* Vehicle is currently controlling attitude but not with full throttle. Waiting undtil delay is + * over to allow full throttle */ + motorDelayCounter += dt; + if (motorDelayCounter > motorDelay.get()) { + warnx("Launch detected: state enablemotors"); + state = LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS; + } + break; + + default: + break; - } else { -// warnx("integrator %.3f, threshold_accel %.3f, threshold_time %.3f, accel_x %.3f, dt %.3f", -// (double)integrator, (double)threshold_accel.get(), (double)threshold_time.get(), (double)accel_x, (double)dt); - /* reset integrator */ - integrator = 0.0f; - launchDetected = false; } } -bool CatapultLaunchMethod::getLaunchDetected() +LaunchDetectionResult CatapultLaunchMethod::getLaunchDetected() const { - return launchDetected; + return state; } void CatapultLaunchMethod::reset() { integrator = 0.0f; - launchDetected = false; + motorDelayCounter = 0.0f; + state = LAUNCHDETECTION_RES_NONE; +} + +float CatapultLaunchMethod::getPitchMax(float pitchMaxDefault) { + /* If motor is turned on do not impose the extra limit on maximum pitch */ + if (state == LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS) { + return pitchMaxDefault; + } else { + return pitchMaxPreThrottle.get(); + } + } } diff --git a/src/lib/launchdetection/CatapultLaunchMethod.h b/src/lib/launchdetection/CatapultLaunchMethod.h index 23757f6f3..321dfb1de 100644 --- a/src/lib/launchdetection/CatapultLaunchMethod.h +++ b/src/lib/launchdetection/CatapultLaunchMethod.h @@ -57,16 +57,23 @@ public: ~CatapultLaunchMethod(); void update(float accel_x); - bool getLaunchDetected(); + LaunchDetectionResult getLaunchDetected() const; void reset(); + float getPitchMax(float pitchMaxDefault); private: hrt_abstime last_timestamp; float integrator; - bool launchDetected; + float motorDelayCounter; - control::BlockParamFloat threshold_accel; - control::BlockParamFloat threshold_time; + LaunchDetectionResult state; + + control::BlockParamFloat thresholdAccel; + control::BlockParamFloat thresholdTime; + control::BlockParamFloat motorDelay; + control::BlockParamFloat pitchMaxPreThrottle; /**< Upper pitch limit before throttle is turned on. + Can be used to make sure that the AC does not climb + too much while attached to a bungee */ }; diff --git a/src/lib/launchdetection/LaunchDetector.cpp b/src/lib/launchdetection/LaunchDetector.cpp index 3bf47bbb0..52f5c3257 100644 --- a/src/lib/launchdetection/LaunchDetector.cpp +++ b/src/lib/launchdetection/LaunchDetector.cpp @@ -46,6 +46,7 @@ namespace launchdetection LaunchDetector::LaunchDetector() : SuperBlock(NULL, "LAUN"), + activeLaunchDetectionMethodIndex(-1), launchdetection_on(this, "ALL_ON"), throttlePreTakeoff(this, "THR_PRE") { @@ -65,7 +66,14 @@ LaunchDetector::~LaunchDetector() void LaunchDetector::reset() { /* Reset all detectors */ - launchMethods[0]->reset(); + for (uint8_t i = 0; i < sizeof(launchMethods)/sizeof(LaunchMethod); i++) { + launchMethods[i]->reset(); + } + + /* Reset active launchdetector */ + activeLaunchDetectionMethodIndex = -1; + + } void LaunchDetector::update(float accel_x) @@ -77,17 +85,44 @@ void LaunchDetector::update(float accel_x) } } -bool LaunchDetector::getLaunchDetected() +LaunchDetectionResult LaunchDetector::getLaunchDetected() { if (launchdetection_on.get() == 1) { - for (uint8_t i = 0; i < sizeof(launchMethods)/sizeof(LaunchMethod); i++) { - if(launchMethods[i]->getLaunchDetected()) { - return true; + if (activeLaunchDetectionMethodIndex < 0) { + /* None of the active launchmethods has detected a launch, check all launchmethods */ + for (uint8_t i = 0; i < sizeof(launchMethods)/sizeof(LaunchMethod); i++) { + if(launchMethods[i]->getLaunchDetected() != LAUNCHDETECTION_RES_NONE) { + warnx("selecting launchmethod %d", i); + activeLaunchDetectionMethodIndex = i; // from now on only check this method + return launchMethods[i]->getLaunchDetected(); + } } + } else { + return launchMethods[activeLaunchDetectionMethodIndex]->getLaunchDetected(); } } - return false; + return LAUNCHDETECTION_RES_NONE; } +float LaunchDetector::getPitchMax(float pitchMaxDefault) { + if (!launchdetection_on.get()) { + return pitchMaxDefault; + } + + /* if a lauchdetectionmethod is active or only one exists return the pitch limit from this method, + * otherwise use the default limit */ + if (activeLaunchDetectionMethodIndex < 0) { + if (sizeof(launchMethods)/sizeof(LaunchMethod) > 1) { + return pitchMaxDefault; + } else { + return launchMethods[0]->getPitchMax(pitchMaxDefault); + } + } else { + return launchMethods[activeLaunchDetectionMethodIndex]->getPitchMax(pitchMaxDefault); + } + +} + + } diff --git a/src/lib/launchdetection/LaunchDetector.h b/src/lib/launchdetection/LaunchDetector.h index 1a214b66e..4215b49d2 100644 --- a/src/lib/launchdetection/LaunchDetector.h +++ b/src/lib/launchdetection/LaunchDetector.h @@ -59,14 +59,23 @@ public: void reset(); void update(float accel_x); - bool getLaunchDetected(); + LaunchDetectionResult getLaunchDetected(); bool launchDetectionEnabled() { return (bool)launchdetection_on.get(); }; float getThrottlePreTakeoff() {return throttlePreTakeoff.get(); } + /* Returns a maximum pitch in deg. Different launch methods may impose upper pitch limits during launch */ + float getPitchMax(float pitchMaxDefault); + // virtual bool getLaunchDetected(); protected: private: + int activeLaunchDetectionMethodIndex; /**< holds a index to the launchMethod in the array launchMethods + which detected a Launch. If no launchMethod has detected a launch yet the + value is -1. Once one launchMetthod has detected a launch only this + method is checked for further adavancing in the state machine (e.g. when + to power up the motors) */ + LaunchMethod* launchMethods[1]; control::BlockParamInt launchdetection_on; control::BlockParamFloat throttlePreTakeoff; diff --git a/src/lib/launchdetection/LaunchMethod.h b/src/lib/launchdetection/LaunchMethod.h index e04467f6a..8b5220cb3 100644 --- a/src/lib/launchdetection/LaunchMethod.h +++ b/src/lib/launchdetection/LaunchMethod.h @@ -44,13 +44,27 @@ namespace launchdetection { +enum LaunchDetectionResult { + LAUNCHDETECTION_RES_NONE = 0, /**< No launch has been detected */ + LAUNCHDETECTION_RES_DETECTED_ENABLECONTROL = 1, /**< Launch has been detected, the controller should + control the attitude. However any motors should not throttle + up and still be set to 'throttlePreTakeoff'. + For instance this is used to have a delay for the motor + when launching a fixed wing aircraft from a bungee */ + LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS = 2 /**< Launch has been detected, teh controller should control + attitude and also throttle up the motors. */ +}; + class LaunchMethod { public: virtual void update(float accel_x) = 0; - virtual bool getLaunchDetected() = 0; + virtual LaunchDetectionResult getLaunchDetected() const = 0; virtual void reset() = 0; + /* Returns a upper pitch limit if required, otherwise returns pitchMaxDefault */ + virtual float getPitchMax(float pitchMaxDefault) = 0; + protected: private: }; diff --git a/src/lib/launchdetection/launchdetection_params.c b/src/lib/launchdetection/launchdetection_params.c index 8df8c696c..e3aa7ab2d 100644 --- a/src/lib/launchdetection/launchdetection_params.c +++ b/src/lib/launchdetection/launchdetection_params.c @@ -78,6 +78,31 @@ PARAM_DEFINE_FLOAT(LAUN_CAT_A, 30.0f); PARAM_DEFINE_FLOAT(LAUN_CAT_T, 0.05f); /** + * Motor delay + * + * Delay between starting attitude control and powering up the throttle (giving throttle control to the controller) + * Before this timespan is up the throttle will be set to LAUN_THR_PRE, set to 0 to deactivate + * + * @unit seconds + * @min 0 + * @group Launch detection + */ +PARAM_DEFINE_FLOAT(LAUN_CAT_MDEL, 0.0f); + +/** + * Maximum pitch before the throttle is powered up (during motor delay phase) + * + * This is an extra limit for the maximum pitch which is imposed in the phase before the throttle turns on. + * This allows to limit the maximum pitch angle during a bungee launch (make the launch less steep). + * + * @unit deg + * @min 0 + * @max 45 + * @group Launch detection + */ +PARAM_DEFINE_FLOAT(LAUN_CAT_PMAX, 30.0f); + +/** * Throttle setting while detecting launch. * * The throttle is set to this value while the system is waiting for the take-off. diff --git a/src/lib/rc/module.mk b/src/lib/rc/module.mk new file mode 100644 index 000000000..e089c6965 --- /dev/null +++ b/src/lib/rc/module.mk @@ -0,0 +1,40 @@ +############################################################################ +# +# 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. +# +############################################################################ + +# +# Yuntec ST24 transmitter protocol decoder +# + +SRCS = st24.c + +MAXOPTIMIZATION = -Os diff --git a/src/lib/rc/st24.c b/src/lib/rc/st24.c new file mode 100644 index 000000000..e8a791b8f --- /dev/null +++ b/src/lib/rc/st24.c @@ -0,0 +1,253 @@ +/**************************************************************************** + * + * 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 st24.h + * + * RC protocol implementation for Yuneec ST24 transmitter. + * + * @author Lorenz Meier <lm@inf.ethz.ch> + */ + +#include <stdbool.h> +#include <stdio.h> +#include "st24.h" + +enum ST24_DECODE_STATE { + ST24_DECODE_STATE_UNSYNCED = 0, + ST24_DECODE_STATE_GOT_STX1, + ST24_DECODE_STATE_GOT_STX2, + ST24_DECODE_STATE_GOT_LEN, + ST24_DECODE_STATE_GOT_TYPE, + ST24_DECODE_STATE_GOT_DATA +}; + +const char *decode_states[] = {"UNSYNCED", + "GOT_STX1", + "GOT_STX2", + "GOT_LEN", + "GOT_TYPE", + "GOT_DATA" + }; + +/* define range mapping here, -+100% -> 1000..2000 */ +#define ST24_RANGE_MIN 0.0f +#define ST24_RANGE_MAX 4096.0f + +#define ST24_TARGET_MIN 1000.0f +#define ST24_TARGET_MAX 2000.0f + +/* pre-calculate the floating point stuff as far as possible at compile time */ +#define ST24_SCALE_FACTOR ((ST24_TARGET_MAX - ST24_TARGET_MIN) / (ST24_RANGE_MAX - ST24_RANGE_MIN)) +#define ST24_SCALE_OFFSET (int)(ST24_TARGET_MIN - (ST24_SCALE_FACTOR * ST24_RANGE_MIN + 0.5f)) + +static enum ST24_DECODE_STATE _decode_state = ST24_DECODE_STATE_UNSYNCED; +static unsigned _rxlen; + +static ReceiverFcPacket _rxpacket; + +uint8_t st24_common_crc8(uint8_t *ptr, uint8_t len) +{ + uint8_t i, crc ; + crc = 0; + + while (len--) { + for (i = 0x80; i != 0; i >>= 1) { + if ((crc & 0x80) != 0) { + crc <<= 1; + crc ^= 0x07; + + } else { + crc <<= 1; + } + + if ((*ptr & i) != 0) { + crc ^= 0x07; + } + } + + ptr++; + } + + return (crc); +} + + +int st24_decode(uint8_t byte, uint8_t *rssi, uint8_t *rx_count, uint16_t *channel_count, uint16_t *channels, + uint16_t max_chan_count) +{ + + int ret = 1; + + switch (_decode_state) { + case ST24_DECODE_STATE_UNSYNCED: + if (byte == ST24_STX1) { + _decode_state = ST24_DECODE_STATE_GOT_STX1; + } else { + ret = 3; + } + + break; + + case ST24_DECODE_STATE_GOT_STX1: + if (byte == ST24_STX2) { + _decode_state = ST24_DECODE_STATE_GOT_STX2; + + } else { + _decode_state = ST24_DECODE_STATE_UNSYNCED; + } + + break; + + case ST24_DECODE_STATE_GOT_STX2: + + /* ensure no data overflow failure or hack is possible */ + if ((unsigned)byte <= sizeof(_rxpacket.length) + sizeof(_rxpacket.type) + sizeof(_rxpacket.st24_data)) { + _rxpacket.length = byte; + _rxlen = 0; + _decode_state = ST24_DECODE_STATE_GOT_LEN; + + } else { + _decode_state = ST24_DECODE_STATE_UNSYNCED; + } + + break; + + case ST24_DECODE_STATE_GOT_LEN: + _rxpacket.type = byte; + _rxlen++; + _decode_state = ST24_DECODE_STATE_GOT_TYPE; + break; + + case ST24_DECODE_STATE_GOT_TYPE: + _rxpacket.st24_data[_rxlen - 1] = byte; + _rxlen++; + + if (_rxlen == (_rxpacket.length - 1)) { + _decode_state = ST24_DECODE_STATE_GOT_DATA; + } + + break; + + case ST24_DECODE_STATE_GOT_DATA: + _rxpacket.crc8 = byte; + _rxlen++; + + if (st24_common_crc8((uint8_t *) & (_rxpacket.length), _rxlen) == _rxpacket.crc8) { + + ret = 0; + + /* decode the actual packet */ + + switch (_rxpacket.type) { + + case ST24_PACKET_TYPE_CHANNELDATA12: { + ChannelData12 *d = (ChannelData12 *)_rxpacket.st24_data; + + *rssi = d->rssi; + *rx_count = d->packet_count; + + /* this can lead to rounding of the strides */ + *channel_count = (max_chan_count < 12) ? max_chan_count : 12; + + unsigned stride_count = (*channel_count * 3) / 2; + unsigned chan_index = 0; + + for (unsigned i = 0; i < stride_count; i += 3) { + channels[chan_index] = ((uint16_t)d->channel[i] << 4); + channels[chan_index] |= ((uint16_t)(0xF0 & d->channel[i + 1]) >> 4); + /* convert values to 1000-2000 ppm encoding in a not too sloppy fashion */ + channels[chan_index] = (uint16_t)(channels[chan_index] * ST24_SCALE_FACTOR + .5f) + ST24_SCALE_OFFSET; + chan_index++; + + channels[chan_index] = ((uint16_t)d->channel[i + 2]); + channels[chan_index] |= (((uint16_t)(0x0F & d->channel[i + 1])) << 8); + /* convert values to 1000-2000 ppm encoding in a not too sloppy fashion */ + channels[chan_index] = (uint16_t)(channels[chan_index] * ST24_SCALE_FACTOR + .5f) + ST24_SCALE_OFFSET; + chan_index++; + } + } + break; + + case ST24_PACKET_TYPE_CHANNELDATA24: { + ChannelData24 *d = (ChannelData24 *)&_rxpacket.st24_data; + + *rssi = d->rssi; + *rx_count = d->packet_count; + + /* this can lead to rounding of the strides */ + *channel_count = (max_chan_count < 24) ? max_chan_count : 24; + + unsigned stride_count = (*channel_count * 3) / 2; + unsigned chan_index = 0; + + for (unsigned i = 0; i < stride_count; i += 3) { + channels[chan_index] = ((uint16_t)d->channel[i] << 4); + channels[chan_index] |= ((uint16_t)(0xF0 & d->channel[i + 1]) >> 4); + /* convert values to 1000-2000 ppm encoding in a not too sloppy fashion */ + channels[chan_index] = (uint16_t)(channels[chan_index] * ST24_SCALE_FACTOR + .5f) + ST24_SCALE_OFFSET; + chan_index++; + + channels[chan_index] = ((uint16_t)d->channel[i + 2]); + channels[chan_index] |= (((uint16_t)(0x0F & d->channel[i + 1])) << 8); + /* convert values to 1000-2000 ppm encoding in a not too sloppy fashion */ + channels[chan_index] = (uint16_t)(channels[chan_index] * ST24_SCALE_FACTOR + .5f) + ST24_SCALE_OFFSET; + chan_index++; + } + } + break; + + case ST24_PACKET_TYPE_TRANSMITTERGPSDATA: { + + // ReceiverFcPacket* d = (ReceiverFcPacket*)&_rxpacket.st24_data; + /* we silently ignore this data for now, as it is unused */ + ret = 2; + } + break; + + default: + ret = 2; + break; + } + + } else { + /* decoding failed */ + ret = 4; + } + + _decode_state = ST24_DECODE_STATE_UNSYNCED; + break; + } + + return ret; +} diff --git a/src/lib/rc/st24.h b/src/lib/rc/st24.h new file mode 100644 index 000000000..454234601 --- /dev/null +++ b/src/lib/rc/st24.h @@ -0,0 +1,163 @@ +/**************************************************************************** + * + * 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 st24.h + * + * RC protocol definition for Yuneec ST24 transmitter + * + * @author Lorenz Meier <lm@inf.ethz.ch> + */ + +#pragma once + +#include <stdint.h> + +__BEGIN_DECLS + +#define ST24_DATA_LEN_MAX 64 +#define ST24_STX1 0x55 +#define ST24_STX2 0x55 + +enum ST24_PACKET_TYPE { + ST24_PACKET_TYPE_CHANNELDATA12 = 0, + ST24_PACKET_TYPE_CHANNELDATA24, + ST24_PACKET_TYPE_TRANSMITTERGPSDATA +}; + +#pragma pack(push, 1) +typedef struct { + uint8_t header1; ///< 0x55 for a valid packet + uint8_t header2; ///< 0x55 for a valid packet + uint8_t length; ///< length includes type, data, and crc = sizeof(type)+sizeof(data[payload_len])+sizeof(crc8) + uint8_t type; ///< from enum ST24_PACKET_TYPE + uint8_t st24_data[ST24_DATA_LEN_MAX]; + uint8_t crc8; ///< crc8 checksum, calculated by st24_common_crc8 and including fields length, type and st24_data +} ReceiverFcPacket; + +/** + * RC Channel data (12 channels). + * + * This is incoming from the ST24 + */ +typedef struct { + uint16_t t; ///< packet counter or clock + uint8_t rssi; ///< signal strength + uint8_t packet_count; ///< Number of UART packets sent since reception of last RF frame (this tells something about age / rate) + uint8_t channel[18]; ///< channel data, 12 channels (12 bit numbers) +} ChannelData12; + +/** + * RC Channel data (12 channels). + * + */ +typedef struct { + uint16_t t; ///< packet counter or clock + uint8_t rssi; ///< signal strength + uint8_t packet_count; ///< Number of UART packets sent since reception of last RF frame (this tells something about age / rate) + uint8_t channel[36]; ///< channel data, 24 channels (12 bit numbers) +} ChannelData24; + +/** + * Telemetry packet + * + * This is outgoing to the ST24 + * + * imuStatus: + * 8 bit total + * bits 0-2 for status + * - value 0 is FAILED + * - value 1 is INITIALIZING + * - value 2 is RUNNING + * - values 3 through 7 are reserved + * bits 3-7 are status for sensors (0 or 1) + * - mpu6050 + * - accelerometer + * - primary gyro x + * - primary gyro y + * - primary gyro z + * + * pressCompassStatus + * 8 bit total + * bits 0-3 for compass status + * - value 0 is FAILED + * - value 1 is INITIALIZING + * - value 2 is RUNNING + * - value 3 - 15 are reserved + * bits 4-7 for pressure status + * - value 0 is FAILED + * - value 1 is INITIALIZING + * - value 2 is RUNNING + * - value 3 - 15 are reserved + * + */ +typedef struct { + uint16_t t; ///< packet counter or clock + int32_t lat; ///< lattitude (degrees) +/- 90 deg + int32_t lon; ///< longitude (degrees) +/- 180 deg + int32_t alt; ///< 0.01m resolution, altitude (meters) + int16_t vx, vy, vz; ///< velocity 0.01m res, +/-320.00 North-East- Down + uint8_t nsat; ///<number of satellites + uint8_t voltage; ///< 25.4V voltage = 5 + 255*0.1 = 30.5V, min=5V + uint8_t current; ///< 0.5A resolution + int16_t roll, pitch, yaw; ///< 0.01 degree resolution + uint8_t motorStatus; ///< 1 bit per motor for status 1=good, 0= fail + uint8_t imuStatus; ///< inertial measurement unit status + uint8_t pressCompassStatus; ///< baro / compass status +} TelemetryData; + +#pragma pack(pop) + +/** + * CRC8 implementation for ST24 protocol + * + * @param prt Pointer to the data to CRC + * @param len number of bytes to accumulate in the checksum + * @return the checksum of these bytes over len + */ +uint8_t st24_common_crc8(uint8_t *ptr, uint8_t len); + +/** + * Decoder for ST24 protocol + * + * @param byte current char to read + * @param rssi pointer to a byte where the RSSI value is written back to + * @param rx_count pointer to a byte where the receive count of packets signce last wireless frame is written back to + * @param channels pointer to a datastructure of size max_chan_count where channel values (12 bit) are written back to + * @param max_chan_count maximum channels to decode - if more channels are decoded, the last n are skipped and success (0) is returned + * @return 0 for success (a decoded packet), 1 for no packet yet (accumulating), 2 for unknown packet, 3 for out of sync, 4 for checksum error + */ +__EXPORT int st24_decode(uint8_t byte, uint8_t *rssi, uint8_t *rx_count, uint16_t *channel_count, + uint16_t *channels, uint16_t max_chan_count); + +__END_DECLS diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp index 766171a0f..c1f032b49 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp @@ -208,10 +208,6 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds float debugOutput[4] = { 0.0f }; - // print text - printf("Extended Kalman Filter Attitude Estimator initialized..\n\n"); - fflush(stdout); - int overloadcounter = 19; /* Initialize filter */ diff --git a/src/modules/bottle_drop/bottle_drop.cpp b/src/modules/bottle_drop/bottle_drop.cpp new file mode 100644 index 000000000..e0bcbc6e9 --- /dev/null +++ b/src/modules/bottle_drop/bottle_drop.cpp @@ -0,0 +1,906 @@ +/**************************************************************************** + * + * 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 + * 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 bottle_drop.cpp + * + * Bottle drop module for Outback Challenge 2014, Team Swiss Fang + * + * @author Dominik Juchli <juchlid@ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> + */ + +#include <nuttx/config.h> +#include <stdio.h> +#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 <sys/ioctl.h> +#include <drivers/device/device.h> +#include <drivers/drv_hrt.h> +#include <arch/board/board.h> +#include <uORB/uORB.h> +#include <uORB/topics/vehicle_command.h> +#include <uORB/topics/actuator_controls.h> +#include <uORB/topics/wind_estimate.h> +#include <uORB/topics/parameter_update.h> +#include <systemlib/systemlib.h> +#include <systemlib/param/param.h> +#include <systemlib/err.h> +#include <geo/geo.h> +#include <dataman/dataman.h> +#include <mathlib/mathlib.h> +#include <mavlink/mavlink_log.h> + + +/** + * bottle_drop app start / stop handling function + * + * @ingroup apps + */ +extern "C" __EXPORT int bottle_drop_main(int argc, char *argv[]); + +class BottleDrop +{ +public: + /** + * Constructor + */ + BottleDrop(); + + /** + * Destructor, also kills task. + */ + ~BottleDrop(); + + /** + * Start the task. + * + * @return OK on success. + */ + int start(); + + /** + * Display status. + */ + void status(); + + void open_bay(); + void close_bay(); + void drop(); + void lock_release(); + +private: + bool _task_should_exit; /**< if true, task should exit */ + int _main_task; /**< handle for task */ + int _mavlink_fd; + + int _command_sub; + int _wind_estimate_sub; + struct vehicle_command_s _command; + struct vehicle_global_position_s _global_pos; + map_projection_reference_s ref; + + orb_advert_t _actuator_pub; + struct actuator_controls_s _actuators; + + bool _drop_approval; + hrt_abstime _doors_opened; + hrt_abstime _drop_time; + + float _alt_clearance; + + struct position_s { + double lat; ///< degrees + double lon; ///< degrees + float alt; ///< m + } _target_position, _drop_position; + + enum DROP_STATE { + DROP_STATE_INIT = 0, + DROP_STATE_TARGET_VALID, + DROP_STATE_TARGET_SET, + DROP_STATE_BAY_OPEN, + DROP_STATE_DROPPED, + DROP_STATE_BAY_CLOSED + } _drop_state; + + struct mission_s _onboard_mission; + orb_advert_t _onboard_mission_pub; + + void task_main(); + + void handle_command(struct vehicle_command_s *cmd); + + void answer_command(struct vehicle_command_s *cmd, enum VEHICLE_CMD_RESULT result); + + /** + * Set the actuators + */ + int actuators_publish(); + + /** + * Shim for calling task_main from task_create. + */ + static void task_main_trampoline(int argc, char *argv[]); +}; + +namespace bottle_drop +{ +BottleDrop *g_bottle_drop; +} + +BottleDrop::BottleDrop() : + + _task_should_exit(false), + _main_task(-1), + _mavlink_fd(-1), + _command_sub(-1), + _wind_estimate_sub(-1), + _command {}, + _global_pos {}, + ref {}, + _actuator_pub(-1), + _actuators {}, + _drop_approval(false), + _doors_opened(0), + _drop_time(0), + _alt_clearance(70.0f), + _target_position {}, + _drop_position {}, + _drop_state(DROP_STATE_INIT), + _onboard_mission {}, + _onboard_mission_pub(-1) +{ +} + +BottleDrop::~BottleDrop() +{ + if (_main_task != -1) { + + /* task wakes up every 100ms or so at the longest */ + _task_should_exit = true; + + /* wait for a second for the task to quit at our request */ + unsigned i = 0; + + do { + /* wait 20ms */ + usleep(20000); + + /* if we have given up, kill it */ + if (++i > 50) { + task_delete(_main_task); + break; + } + } while (_main_task != -1); + } + + bottle_drop::g_bottle_drop = nullptr; +} + +int +BottleDrop::start() +{ + ASSERT(_main_task == -1); + + /* start the task */ + _main_task = task_spawn_cmd("bottle_drop", + SCHED_DEFAULT, + SCHED_PRIORITY_DEFAULT + 15, + 1500, + (main_t)&BottleDrop::task_main_trampoline, + nullptr); + + if (_main_task < 0) { + warn("task start failed"); + return -errno; + } + + return OK; +} + + +void +BottleDrop::status() +{ + warnx("drop state: %d", _drop_state); +} + +void +BottleDrop::open_bay() +{ + _actuators.control[0] = -1.0f; + _actuators.control[1] = 1.0f; + + if (_doors_opened == 0) { + _doors_opened = hrt_absolute_time(); + } + warnx("open doors"); + + actuators_publish(); + + usleep(500 * 1000); +} + +void +BottleDrop::close_bay() +{ + // closed door and locked survival kit + _actuators.control[0] = 1.0f; + _actuators.control[1] = -1.0f; + + _doors_opened = 0; + + actuators_publish(); + + // delay until the bay is closed + usleep(500 * 1000); +} + +void +BottleDrop::drop() +{ + + // update drop actuator, wait 0.5s until the doors are open before dropping + hrt_abstime starttime = hrt_absolute_time(); + + // force the door open if we have to + if (_doors_opened == 0) { + open_bay(); + } + + while (hrt_elapsed_time(&_doors_opened) < 500 * 1000 && hrt_elapsed_time(&starttime) < 2000000) { + usleep(50000); + warnx("delayed by door!"); + } + + _actuators.control[2] = 1.0f; + + _drop_time = hrt_absolute_time(); + actuators_publish(); + + warnx("dropping now"); + + // Give it time to drop + usleep(1000 * 1000); +} + +void +BottleDrop::lock_release() +{ + _actuators.control[2] = -1.0f; + actuators_publish(); + + warnx("closing release"); +} + +int +BottleDrop::actuators_publish() +{ + _actuators.timestamp = hrt_absolute_time(); + + // lazily publish _actuators only once available + if (_actuator_pub > 0) { + return orb_publish(ORB_ID(actuator_controls_2), _actuator_pub, &_actuators); + + } else { + _actuator_pub = orb_advertise(ORB_ID(actuator_controls_2), &_actuators); + if (_actuator_pub > 0) { + return OK; + } else { + return -1; + } + } +} + +void +BottleDrop::task_main() +{ + + _mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); + mavlink_log_info(_mavlink_fd, "[bottle_drop] started"); + + _command_sub = orb_subscribe(ORB_ID(vehicle_command)); + _wind_estimate_sub = orb_subscribe(ORB_ID(wind_estimate)); + + bool updated = false; + + float z_0; // ground properties + float turn_radius; // turn radius of the UAV + float precision; // Expected precision of the UAV + + float ground_distance = _alt_clearance; // Replace by closer estimate in loop + + // constant + float g = CONSTANTS_ONE_G; // constant of gravity [m/s^2] + float m = 0.5f; // mass of bottle [kg] + float rho = 1.2f; // air density [kg/m^3] + float A = ((0.063f * 0.063f) / 4.0f * M_PI_F); // Bottle cross section [m^2] + float dt_freefall_prediction = 0.01f; // step size of the free fall prediction [s] + + // Has to be estimated by experiment + float cd = 0.86f; // Drag coefficient for a cylinder with a d/l ratio of 1/3 [] + float t_signal = + 0.084f; // Time span between sending the signal and the bottle top reaching level height with the bottom of the plane [s] + float t_door = + 0.7f; // The time the system needs to open the door + safety, is also the time the palyload needs to safely escape the shaft [s] + + + // Definition + float h_0; // height over target + float az; // acceleration in z direction[m/s^2] + float vz; // velocity in z direction [m/s] + float z; // fallen distance [m] + float h; // height over target [m] + float ax; // acceleration in x direction [m/s^2] + float vx; // ground speed in x direction [m/s] + float x; // traveled distance in x direction [m] + float vw; // wind speed [m/s] + float vrx; // relative velocity in x direction [m/s] + float v; // relative speed vector [m/s] + float Fd; // Drag force [N] + float Fdx; // Drag force in x direction [N] + float Fdz; // Drag force in z direction [N] + float x_drop, y_drop; // coordinates of the drop point in reference to the target (projection of NED) + float x_t, y_t; // coordinates of the target in reference to the target x_t = 0, y_t = 0 (projection of NED) + float x_l, y_l; // local position in projected coordinates + float x_f, y_f; // to-be position of the UAV after dt_runs seconds in projected coordinates + double x_f_NED, y_f_NED; // to-be position of the UAV after dt_runs seconds in NED + float distance_open_door; // The distance the UAV travels during its doors open [m] + float approach_error = 0.0f; // The error in radians between current ground vector and desired ground vector + float distance_real = 0; // The distance between the UAVs position and the drop point [m] + float future_distance = 0; // The distance between the UAVs to-be position and the drop point [m] + + unsigned counter = 0; + + param_t param_gproperties = param_find("BD_GPROPERTIES"); + param_t param_turn_radius = param_find("BD_TURNRADIUS"); + param_t param_precision = param_find("BD_PRECISION"); + param_t param_cd = param_find("BD_OBJ_CD"); + param_t param_mass = param_find("BD_OBJ_MASS"); + param_t param_surface = param_find("BD_OBJ_SURFACE"); + + + param_get(param_precision, &precision); + param_get(param_turn_radius, &turn_radius); + param_get(param_gproperties, &z_0); + param_get(param_cd, &cd); + param_get(param_mass, &m); + param_get(param_surface, &A); + + int vehicle_global_position_sub = orb_subscribe(ORB_ID(vehicle_global_position)); + + struct parameter_update_s update; + memset(&update, 0, sizeof(update)); + int parameter_update_sub = orb_subscribe(ORB_ID(parameter_update)); + + struct mission_item_s flight_vector_s {}; + struct mission_item_s flight_vector_e {}; + + flight_vector_s.nav_cmd = NAV_CMD_WAYPOINT; + flight_vector_s.acceptance_radius = 50; // TODO: make parameter + flight_vector_s.autocontinue = true; + flight_vector_s.altitude_is_relative = false; + + flight_vector_e.nav_cmd = NAV_CMD_WAYPOINT; + flight_vector_e.acceptance_radius = 50; // TODO: make parameter + flight_vector_e.autocontinue = true; + flight_vector_s.altitude_is_relative = false; + + struct wind_estimate_s wind; + + // wakeup source(s) + struct pollfd fds[1]; + + // Setup of loop + fds[0].fd = _command_sub; + fds[0].events = POLLIN; + + // Whatever state the bay is in, we want it closed on startup + lock_release(); + close_bay(); + + while (!_task_should_exit) { + + /* wait for up to 100ms for data */ + int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 50); + + /* this is undesirable but not much we can do - might want to flag unhappy status */ + if (pret < 0) { + warn("poll error %d, %d", pret, errno); + continue; + } + + /* vehicle commands updated */ + if (fds[0].revents & POLLIN) { + orb_copy(ORB_ID(vehicle_command), _command_sub, &_command); + handle_command(&_command); + } + + orb_check(vehicle_global_position_sub, &updated); + if (updated) { + /* copy global position */ + orb_copy(ORB_ID(vehicle_global_position), vehicle_global_position_sub, &_global_pos); + } + + if (_global_pos.timestamp == 0) { + continue; + } + + const unsigned sleeptime_us = 9500; + + hrt_abstime last_run = hrt_absolute_time(); + float dt_runs = sleeptime_us / 1e6f; + + // switch to faster updates during the drop + while (_drop_state > DROP_STATE_INIT) { + + // Get wind estimate + orb_check(_wind_estimate_sub, &updated); + if (updated) { + orb_copy(ORB_ID(wind_estimate), _wind_estimate_sub, &wind); + } + + // Get vehicle position + orb_check(vehicle_global_position_sub, &updated); + if (updated) { + // copy global position + orb_copy(ORB_ID(vehicle_global_position), vehicle_global_position_sub, &_global_pos); + } + + // Get parameter updates + orb_check(parameter_update_sub, &updated); + if (updated) { + // copy global position + orb_copy(ORB_ID(parameter_update), parameter_update_sub, &update); + + // update all parameters + param_get(param_gproperties, &z_0); + param_get(param_turn_radius, &turn_radius); + param_get(param_precision, &precision); + } + + orb_check(_command_sub, &updated); + if (updated) { + orb_copy(ORB_ID(vehicle_command), _command_sub, &_command); + handle_command(&_command); + } + + + float windspeed_norm = sqrtf(wind.windspeed_north * wind.windspeed_north + wind.windspeed_east * wind.windspeed_east); + float groundspeed_body = sqrtf(_global_pos.vel_n * _global_pos.vel_n + _global_pos.vel_e * _global_pos.vel_e); + ground_distance = _global_pos.alt - _target_position.alt; + + // Distance to drop position and angle error to approach vector + // are relevant in all states greater than target valid (which calculates these positions) + if (_drop_state > DROP_STATE_TARGET_VALID) { + distance_real = fabsf(get_distance_to_next_waypoint(_global_pos.lat, _global_pos.lon, _drop_position.lat, _drop_position.lon)); + + float ground_direction = atan2f(_global_pos.vel_e, _global_pos.vel_n); + float approach_direction = get_bearing_to_next_waypoint(flight_vector_s.lat, flight_vector_s.lon, flight_vector_e.lat, flight_vector_e.lon); + + approach_error = _wrap_pi(ground_direction - approach_direction); + + if (counter % 90 == 0) { + mavlink_log_info(_mavlink_fd, "drop distance %u, heading error %u", (unsigned)distance_real, (unsigned)math::degrees(approach_error)); + } + } + + switch (_drop_state) { + + case DROP_STATE_TARGET_VALID: + { + + az = g; // acceleration in z direction[m/s^2] + vz = 0; // velocity in z direction [m/s] + z = 0; // fallen distance [m] + h_0 = _global_pos.alt - _target_position.alt; // height over target at start[m] + h = h_0; // height over target [m] + ax = 0; // acceleration in x direction [m/s^2] + vx = groundspeed_body;// XXX project // ground speed in x direction [m/s] + x = 0; // traveled distance in x direction [m] + vw = 0; // wind speed [m/s] + vrx = 0; // relative velocity in x direction [m/s] + v = groundspeed_body; // relative speed vector [m/s] + Fd = 0; // Drag force [N] + Fdx = 0; // Drag force in x direction [N] + Fdz = 0; // Drag force in z direction [N] + + + // Compute the distance the bottle will travel after it is dropped in body frame coordinates --> x + while (h > 0.05f) { + // z-direction + vz = vz + az * dt_freefall_prediction; + z = z + vz * dt_freefall_prediction; + h = h_0 - z; + + // x-direction + vw = windspeed_norm * logf(h / z_0) / logf(ground_distance / z_0); + vx = vx + ax * dt_freefall_prediction; + x = x + vx * dt_freefall_prediction; + vrx = vx + vw; + + // drag force + v = sqrtf(vz * vz + vrx * vrx); + Fd = 0.5f * rho * A * cd * (v * v); + Fdx = Fd * vrx / v; + Fdz = Fd * vz / v; + + // acceleration + az = g - Fdz / m; + ax = -Fdx / m; + } + + // compute drop vector + x = groundspeed_body * t_signal + x; + + x_t = 0.0f; + y_t = 0.0f; + + float wind_direction_n, wind_direction_e; + + if (windspeed_norm < 0.5f) { // If there is no wind, an arbitrarily direction is chosen + wind_direction_n = 1.0f; + wind_direction_e = 0.0f; + + } else { + wind_direction_n = wind.windspeed_north / windspeed_norm; + wind_direction_e = wind.windspeed_east / windspeed_norm; + } + + x_drop = x_t + x * wind_direction_n; + y_drop = y_t + x * wind_direction_e; + map_projection_reproject(&ref, x_drop, y_drop, &_drop_position.lat, &_drop_position.lon); + _drop_position.alt = _target_position.alt + _alt_clearance; + + // Compute flight vector + map_projection_reproject(&ref, x_drop + 2 * turn_radius * wind_direction_n, y_drop + 2 * turn_radius * wind_direction_e, + &(flight_vector_s.lat), &(flight_vector_s.lon)); + flight_vector_s.altitude = _drop_position.alt; + map_projection_reproject(&ref, x_drop - turn_radius * wind_direction_n, y_drop - turn_radius * wind_direction_e, + &flight_vector_e.lat, &flight_vector_e.lon); + flight_vector_e.altitude = _drop_position.alt; + + // Save WPs in datamanager + const ssize_t len = sizeof(struct mission_item_s); + + if (dm_write(DM_KEY_WAYPOINTS_ONBOARD, 0, DM_PERSIST_IN_FLIGHT_RESET, &flight_vector_s, len) != len) { + warnx("ERROR: could not save onboard WP"); + } + + if (dm_write(DM_KEY_WAYPOINTS_ONBOARD, 1, DM_PERSIST_IN_FLIGHT_RESET, &flight_vector_e, len) != len) { + warnx("ERROR: could not save onboard WP"); + } + + _onboard_mission.count = 2; + _onboard_mission.current_seq = 0; + + if (_onboard_mission_pub > 0) { + orb_publish(ORB_ID(onboard_mission), _onboard_mission_pub, &_onboard_mission); + + } else { + _onboard_mission_pub = orb_advertise(ORB_ID(onboard_mission), &_onboard_mission); + } + + float approach_direction = get_bearing_to_next_waypoint(flight_vector_s.lat, flight_vector_s.lon, flight_vector_e.lat, flight_vector_e.lon); + mavlink_log_critical(_mavlink_fd, "position set, approach heading: %u", (unsigned)distance_real, (unsigned)math::degrees(approach_direction + M_PI_F)); + + _drop_state = DROP_STATE_TARGET_SET; + } + break; + + case DROP_STATE_TARGET_SET: + { + float distance_wp2 = get_distance_to_next_waypoint(_global_pos.lat, _global_pos.lon, flight_vector_e.lat, flight_vector_e.lon); + + if (distance_wp2 < distance_real) { + _onboard_mission.current_seq = 0; + orb_publish(ORB_ID(onboard_mission), _onboard_mission_pub, &_onboard_mission); + } else { + + // We're close enough - open the bay + distance_open_door = math::max(10.0f, 3.0f * fabsf(t_door * groundspeed_body)); + + if (isfinite(distance_real) && distance_real < distance_open_door && + fabsf(approach_error) < math::radians(20.0f)) { + open_bay(); + _drop_state = DROP_STATE_BAY_OPEN; + mavlink_log_info(_mavlink_fd, "#audio: opening bay"); + } + } + } + break; + + case DROP_STATE_BAY_OPEN: + { + if (_drop_approval) { + map_projection_project(&ref, _global_pos.lat, _global_pos.lon, &x_l, &y_l); + x_f = x_l + _global_pos.vel_n * dt_runs; + y_f = y_l + _global_pos.vel_e * dt_runs; + map_projection_reproject(&ref, x_f, y_f, &x_f_NED, &y_f_NED); + future_distance = get_distance_to_next_waypoint(x_f_NED, y_f_NED, _drop_position.lat, _drop_position.lon); + + if (isfinite(distance_real) && + (distance_real < precision) && ((distance_real < future_distance))) { + drop(); + _drop_state = DROP_STATE_DROPPED; + mavlink_log_info(_mavlink_fd, "#audio: payload dropped"); + } else { + + float distance_wp2 = get_distance_to_next_waypoint(_global_pos.lat, _global_pos.lon, flight_vector_e.lat, flight_vector_e.lon); + + if (distance_wp2 < distance_real) { + _onboard_mission.current_seq = 0; + orb_publish(ORB_ID(onboard_mission), _onboard_mission_pub, &_onboard_mission); + } + } + } + } + break; + + case DROP_STATE_DROPPED: + /* 2s after drop, reset and close everything again */ + if ((hrt_elapsed_time(&_doors_opened) > 2 * 1000 * 1000)) { + _drop_state = DROP_STATE_INIT; + _drop_approval = false; + lock_release(); + close_bay(); + mavlink_log_info(_mavlink_fd, "#audio: closing bay"); + + // remove onboard mission + _onboard_mission.current_seq = -1; + _onboard_mission.count = 0; + orb_publish(ORB_ID(onboard_mission), _onboard_mission_pub, &_onboard_mission); + } + break; + } + + counter++; + + // update_actuators(); + + // run at roughly 100 Hz + usleep(sleeptime_us); + + dt_runs = hrt_elapsed_time(&last_run) / 1e6f; + last_run = hrt_absolute_time(); + } + } + + warnx("exiting."); + + _main_task = -1; + _exit(0); +} + +void +BottleDrop::handle_command(struct vehicle_command_s *cmd) +{ + switch (cmd->command) { + case VEHICLE_CMD_CUSTOM_0: + /* + * param1 and param2 set to 1: open and drop + * param1 set to 1: open + * else: close (and don't drop) + */ + if (cmd->param1 > 0.5f && cmd->param2 > 0.5f) { + open_bay(); + drop(); + mavlink_log_critical(_mavlink_fd, "drop bottle"); + + } else if (cmd->param1 > 0.5f) { + open_bay(); + mavlink_log_critical(_mavlink_fd, "opening bay"); + + } else { + lock_release(); + close_bay(); + mavlink_log_critical(_mavlink_fd, "closing bay"); + } + + answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED); + break; + + case VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY: + + switch ((int)(cmd->param1 + 0.5f)) { + case 0: + _drop_approval = false; + mavlink_log_critical(_mavlink_fd, "got drop position, no approval"); + break; + + case 1: + _drop_approval = true; + mavlink_log_critical(_mavlink_fd, "got drop position and approval"); + break; + + default: + _drop_approval = false; + warnx("param1 val unknown"); + break; + } + + // XXX check all fields (2-3) + _alt_clearance = cmd->param4; + _target_position.lat = cmd->param5; + _target_position.lon = cmd->param6; + _target_position.alt = cmd->param7; + _drop_state = DROP_STATE_TARGET_VALID; + mavlink_log_info(_mavlink_fd, "got target: %8.4f, %8.4f, %8.4f", (double)_target_position.lat, + (double)_target_position.lon, (double)_target_position.alt); + map_projection_init(&ref, _target_position.lat, _target_position.lon); + answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED); + break; + + case VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY: + + if (cmd->param1 < 0) { + + // Clear internal states + _drop_approval = false; + _drop_state = DROP_STATE_INIT; + + // Abort if mission is present + _onboard_mission.current_seq = -1; + + if (_onboard_mission_pub > 0) { + orb_publish(ORB_ID(onboard_mission), _onboard_mission_pub, &_onboard_mission); + } + + } else { + switch ((int)(cmd->param1 + 0.5f)) { + case 0: + _drop_approval = false; + break; + + case 1: + _drop_approval = true; + mavlink_log_info(_mavlink_fd, "#audio: got drop approval"); + break; + + default: + _drop_approval = false; + break; + // XXX handle other values + } + } + + answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED); + break; + + default: + break; + } +} + +void +BottleDrop::answer_command(struct vehicle_command_s *cmd, enum VEHICLE_CMD_RESULT result) +{ + switch (result) { + case VEHICLE_CMD_RESULT_ACCEPTED: + break; + + case VEHICLE_CMD_RESULT_DENIED: + mavlink_log_critical(_mavlink_fd, "command denied: %u", cmd->command); + break; + + case VEHICLE_CMD_RESULT_FAILED: + mavlink_log_critical(_mavlink_fd, "command failed: %u", cmd->command); + break; + + case VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED: + mavlink_log_critical(_mavlink_fd, "command temporarily rejected: %u", cmd->command); + break; + + case VEHICLE_CMD_RESULT_UNSUPPORTED: + mavlink_log_critical(_mavlink_fd, "command unsupported: %u", cmd->command); + break; + + default: + break; + } +} + +void +BottleDrop::task_main_trampoline(int argc, char *argv[]) +{ + bottle_drop::g_bottle_drop->task_main(); +} + +static void usage() +{ + errx(1, "usage: bottle_drop {start|stop|status}"); +} + +int bottle_drop_main(int argc, char *argv[]) +{ + if (argc < 2) { + usage(); + } + + if (!strcmp(argv[1], "start")) { + + if (bottle_drop::g_bottle_drop != nullptr) { + errx(1, "already running"); + } + + bottle_drop::g_bottle_drop = new BottleDrop; + + if (bottle_drop::g_bottle_drop == nullptr) { + errx(1, "alloc failed"); + } + + if (OK != bottle_drop::g_bottle_drop->start()) { + delete bottle_drop::g_bottle_drop; + bottle_drop::g_bottle_drop = nullptr; + err(1, "start failed"); + } + + return 0; + } + + if (bottle_drop::g_bottle_drop == nullptr) { + errx(1, "not running"); + } + + if (!strcmp(argv[1], "stop")) { + delete bottle_drop::g_bottle_drop; + bottle_drop::g_bottle_drop = nullptr; + + } else if (!strcmp(argv[1], "status")) { + bottle_drop::g_bottle_drop->status(); + + } else if (!strcmp(argv[1], "drop")) { + bottle_drop::g_bottle_drop->drop(); + + } else if (!strcmp(argv[1], "open")) { + bottle_drop::g_bottle_drop->open_bay(); + + } else if (!strcmp(argv[1], "close")) { + bottle_drop::g_bottle_drop->close_bay(); + + } else if (!strcmp(argv[1], "lock")) { + bottle_drop::g_bottle_drop->lock_release(); + + } else { + usage(); + } + + return 0; +} diff --git a/src/modules/bottle_drop/bottle_drop_params.c b/src/modules/bottle_drop/bottle_drop_params.c new file mode 100644 index 000000000..51ebfb9a1 --- /dev/null +++ b/src/modules/bottle_drop/bottle_drop_params.c @@ -0,0 +1,131 @@ +/**************************************************************************** + * + * 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 + * 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 bottle_drop_params.c + * Bottle drop parameters + * + * @author Dominik Juchli <juchlid@ethz.ch> + */ + +#include <nuttx/config.h> +#include <systemlib/param/param.h> + +/** + * Ground drag property + * + * This parameter encodes the ground drag coefficient and the corresponding + * decrease in wind speed from the plane altitude to ground altitude. + * + * @unit unknown + * @min 0.001 + * @max 0.1 + * @group Payload drop + */ +PARAM_DEFINE_FLOAT(BD_GPROPERTIES, 0.03f); + +/** + * Plane turn radius + * + * The planes known minimal turn radius - use a higher value + * to make the plane maneuver more distant from the actual drop + * position. This is to ensure the wings are level during the drop. + * + * @unit meter + * @min 30.0 + * @max 500.0 + * @group Payload drop + */ +PARAM_DEFINE_FLOAT(BD_TURNRADIUS, 120.0f); + +/** + * Drop precision + * + * If the system is closer than this distance on passing over the + * drop position, it will release the payload. This is a safeguard + * to prevent a drop out of the required accuracy. + * + * @unit meter + * @min 1.0 + * @max 80.0 + * @group Payload drop + */ +PARAM_DEFINE_FLOAT(BD_PRECISION, 30.0f); + +/** + * Payload drag coefficient of the dropped object + * + * The drag coefficient (cd) is the typical drag + * constant for air. It is in general object specific, + * but the closest primitive shape to the actual object + * should give good results: + * http://en.wikipedia.org/wiki/Drag_coefficient + * + * @unit meter + * @min 0.08 + * @max 1.5 + * @group Payload drop + */ +PARAM_DEFINE_FLOAT(BD_OBJ_CD, 0.1f); + +/** + * Payload mass + * + * A typical small toy ball: + * 0.025 kg + * + * OBC water bottle: + * 0.6 kg + * + * @unit kilogram + * @min 0.001 + * @max 5.0 + * @group Payload drop + */ +PARAM_DEFINE_FLOAT(BD_OBJ_MASS, 0.6f); + +/** + * Payload front surface area + * + * A typical small toy ball: + * (0.045 * 0.045) / 4.0 * pi = 0.001590 m^2 + * + * OBC water bottle: + * (0.063 * 0.063) / 4.0 * pi = 0.003117 m^2 + * + * @unit m^2 + * @min 0.001 + * @max 0.5 + * @group Payload drop + */ +PARAM_DEFINE_FLOAT(BD_OBJ_SURFACE, 0.00311724531f); diff --git a/src/modules/bottle_drop/module.mk b/src/modules/bottle_drop/module.mk new file mode 100644 index 000000000..df9f5473b --- /dev/null +++ b/src/modules/bottle_drop/module.mk @@ -0,0 +1,45 @@ +############################################################################ +# +# 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 +# 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. +# +############################################################################ + +# +# Daemon application +# + +MODULE_COMMAND = bottle_drop + +SRCS = bottle_drop.cpp \ + bottle_drop_params.c + +MAXOPTIMIZATION = -Os + +MODULE_STACKSIZE = 1200 diff --git a/src/modules/commander/accelerometer_calibration.cpp b/src/modules/commander/accelerometer_calibration.cpp index 7a4e7a766..d4cd97be6 100644 --- a/src/modules/commander/accelerometer_calibration.cpp +++ b/src/modules/commander/accelerometer_calibration.cpp @@ -83,7 +83,7 @@ * | accel_T[1][i] | * [ accel_T[2][i] ] * - * b = [ accel_corr_ref[0][i] ] // One measurement per axis is enough + * b = [ accel_corr_ref[0][i] ] // One measurement per side is enough * | accel_corr_ref[2][i] | * [ accel_corr_ref[4][i] ] * @@ -162,6 +162,11 @@ int do_accel_calibration(int mavlink_fd) mavlink_log_info(mavlink_fd, CAL_STARTED_MSG, sensor_name); + mavlink_log_info(mavlink_fd, "You need to put the system on all six sides"); + sleep(3); + mavlink_log_info(mavlink_fd, "Follow the instructions on the screen"); + sleep(5); + struct accel_scale accel_scale = { 0.0f, 1.0f, @@ -258,7 +263,7 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float const int samples_num = 2500; float accel_ref[6][3]; bool data_collected[6] = { false, false, false, false, false, false }; - const char *orientation_strs[6] = { "x+", "x-", "y+", "y-", "z+", "z-" }; + const char *orientation_strs[6] = { "back", "front", "left", "right", "up", "down" }; int sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined)); @@ -287,29 +292,37 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float break; } - mavlink_log_info(mavlink_fd, "directions left: %s%s%s%s%s%s", - (!data_collected[0]) ? "x+ " : "", - (!data_collected[1]) ? "x- " : "", - (!data_collected[2]) ? "y+ " : "", - (!data_collected[3]) ? "y- " : "", - (!data_collected[4]) ? "z+ " : "", - (!data_collected[5]) ? "z- " : ""); + /* inform user which axes are still needed */ + mavlink_log_info(mavlink_fd, "pending: %s%s%s%s%s%s", + (!data_collected[5]) ? "down " : "", + (!data_collected[0]) ? "back " : "", + (!data_collected[1]) ? "front " : "", + (!data_collected[2]) ? "left " : "", + (!data_collected[3]) ? "right " : "", + (!data_collected[4]) ? "up " : ""); + + /* allow user enough time to read the message */ + sleep(3); int orient = detect_orientation(mavlink_fd, sensor_combined_sub); if (orient < 0) { - res = ERROR; - break; + mavlink_log_info(mavlink_fd, "invalid motion, hold still..."); + sleep(3); + continue; } + /* inform user about already handled side */ if (data_collected[orient]) { - mavlink_log_info(mavlink_fd, "%s done, rotate to a different axis", orientation_strs[orient]); + mavlink_log_info(mavlink_fd, "%s side done, rotate to a different side", orientation_strs[orient]); + sleep(4); continue; } - mavlink_log_info(mavlink_fd, "accel measurement started: %s axis", orientation_strs[orient]); + mavlink_log_info(mavlink_fd, "Hold still, starting to measure %s side", orientation_strs[orient]); + sleep(1); read_accelerometer_avg(sensor_combined_sub, &(accel_ref[orient][0]), samples_num); - mavlink_log_info(mavlink_fd, "result for %s axis: [ %.2f %.2f %.2f ]", orientation_strs[orient], + mavlink_log_info(mavlink_fd, "result for %s side: [ %.2f %.2f %.2f ]", orientation_strs[orient], (double)accel_ref[orient][0], (double)accel_ref[orient][1], (double)accel_ref[orient][2]); @@ -400,7 +413,7 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) /* is still now */ if (t_still == 0) { /* first time */ - mavlink_log_info(mavlink_fd, "detected rest position, waiting..."); + mavlink_log_info(mavlink_fd, "detected rest position, hold still..."); t_still = t; t_timeout = t + timeout; @@ -418,6 +431,7 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) /* not still, reset still start time */ if (t_still != 0) { mavlink_log_info(mavlink_fd, "detected motion, hold still..."); + sleep(3); t_still = 0; } } diff --git a/src/modules/commander/airspeed_calibration.cpp b/src/modules/commander/airspeed_calibration.cpp index 0e58c68b6..cae1d7684 100644 --- a/src/modules/commander/airspeed_calibration.cpp +++ b/src/modules/commander/airspeed_calibration.cpp @@ -61,6 +61,15 @@ static const int ERROR = -1; static const char *sensor_name = "dpress"; +#define HUMAN_ASPD_CAL_FAILED_MSG "Calibration failed, see http://px4.io/help/aspd" + +static void feedback_calibration_failed(int mavlink_fd) +{ + sleep(5); + mavlink_log_critical(mavlink_fd, CAL_FAILED_MSG, sensor_name); + mavlink_log_critical(mavlink_fd, HUMAN_ASPD_CAL_FAILED_MSG); +} + int do_airspeed_calibration(int mavlink_fd) { /* give directions */ @@ -99,7 +108,7 @@ int do_airspeed_calibration(int mavlink_fd) float analog_scaling = 0.0f; param_get(param_find("SENS_DPRES_ANSC"), &(analog_scaling)); if (fabsf(analog_scaling) < 0.1f) { - mavlink_log_critical(mavlink_fd, "If analog sens, retry with [SENS_DPRES_ANSC=1000]"); + mavlink_log_critical(mavlink_fd, "No airspeed sensor, see http://px4.io/help/aspd"); close(diff_pres_sub); return ERROR; } @@ -138,7 +147,7 @@ int do_airspeed_calibration(int mavlink_fd) } else if (poll_ret == 0) { /* any poll failure for 1s is a reason to abort */ - mavlink_log_critical(mavlink_fd, CAL_FAILED_MSG, sensor_name); + feedback_calibration_failed(mavlink_fd); close(diff_pres_sub); return ERROR; } @@ -175,16 +184,18 @@ int do_airspeed_calibration(int mavlink_fd) } } else { - mavlink_log_info(mavlink_fd, CAL_FAILED_MSG, sensor_name); + feedback_calibration_failed(mavlink_fd); close(diff_pres_sub); return ERROR; } - mavlink_log_critical(mavlink_fd, "Offset of %d Pa, create airflow now!", (int)diff_pres_offset); + mavlink_log_critical(mavlink_fd, "Offset of %d Pascal", (int)diff_pres_offset); /* wait 500 ms to ensure parameter propagated through the system */ usleep(500 * 1000); + mavlink_log_critical(mavlink_fd, "Create airflow now"); + calibration_counter = 0; const unsigned maxcount = 3000; @@ -204,18 +215,18 @@ int do_airspeed_calibration(int mavlink_fd) calibration_counter++; if (fabsf(diff_pres.differential_pressure_raw_pa) < 50.0f) { - if (calibration_counter % 100 == 0) { - mavlink_log_critical(mavlink_fd, "Missing airflow! (%d, wanted: 50 Pa, #h101)", - (int)diff_pres.differential_pressure_raw_pa); + if (calibration_counter % 500 == 0) { + mavlink_log_info(mavlink_fd, "Create air pressure! (got %d, wanted: 50 Pa)", + (int)diff_pres.differential_pressure_raw_pa); } continue; } /* do not allow negative values */ if (diff_pres.differential_pressure_raw_pa < 0.0f) { - mavlink_log_info(mavlink_fd, "negative pressure: ERROR (%d Pa)", - (int)diff_pres.differential_pressure_raw_pa); - mavlink_log_critical(mavlink_fd, "%d Pa: swap static and dynamic ports!", (int)diff_pres.differential_pressure_raw_pa); + mavlink_log_info(mavlink_fd, "ERROR: Negative pressure difference detected! (%d Pa)", + (int)diff_pres.differential_pressure_raw_pa); + mavlink_log_critical(mavlink_fd, "Swap static and dynamic ports!"); close(diff_pres_sub); /* the user setup is wrong, wipe the calibration to force a proper re-calibration */ @@ -233,24 +244,24 @@ int do_airspeed_calibration(int mavlink_fd) close(diff_pres_sub); - mavlink_log_info(mavlink_fd, CAL_FAILED_MSG, sensor_name); + feedback_calibration_failed(mavlink_fd); return ERROR; } else { - mavlink_log_info(mavlink_fd, "positive pressure: OK (%d Pa)", + mavlink_log_info(mavlink_fd, "Positive pressure: OK (%d Pa)", (int)diff_pres.differential_pressure_raw_pa); break; } } else if (poll_ret == 0) { /* any poll failure for 1s is a reason to abort */ - mavlink_log_critical(mavlink_fd, CAL_FAILED_MSG, sensor_name); + feedback_calibration_failed(mavlink_fd); close(diff_pres_sub); return ERROR; } } if (calibration_counter == maxcount) { - mavlink_log_critical(mavlink_fd, CAL_FAILED_MSG, sensor_name); + feedback_calibration_failed(mavlink_fd); close(diff_pres_sub); return ERROR; } diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 74deda8cc..c9c8d16b5 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -128,8 +128,6 @@ extern struct system_load_s system_load; #define POSITION_TIMEOUT (2 * 1000 * 1000) /**< consider the local or global position estimate invalid after 600ms */ #define FAILSAFE_DEFAULT_TIMEOUT (3 * 1000 * 1000) /**< hysteresis time - the failsafe will trigger after 3 seconds in this state */ -#define RC_TIMEOUT 500000 -#define DL_TIMEOUT (10 * 1000 * 1000) #define OFFBOARD_TIMEOUT 500000 #define DIFFPRESS_TIMEOUT 2000000 @@ -209,7 +207,9 @@ void usage(const char *reason); /** * React to commands that are sent e.g. from the mavlink module. */ -bool handle_command(struct vehicle_status_s *status, const struct safety_s *safety, struct vehicle_command_s *cmd, struct actuator_armed_s *armed, struct home_position_s *home, struct vehicle_global_position_s *global_pos, orb_advert_t *home_pub); +bool handle_command(struct vehicle_status_s *status, const struct safety_s *safety, struct vehicle_command_s *cmd, + struct actuator_armed_s *armed, struct home_position_s *home, struct vehicle_global_position_s *global_pos, + orb_advert_t *home_pub); /** * Mainloop of commander. @@ -220,8 +220,6 @@ void control_status_leds(vehicle_status_s *status, const actuator_armed_s *actua void check_valid(hrt_abstime timestamp, hrt_abstime timeout, bool valid_in, bool *valid_out, bool *changed); -void check_mode_switches(struct manual_control_setpoint_s *sp_man, struct vehicle_status_s *status); - transition_result_t set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoint_s *sp_man); void set_control_mode(); @@ -232,7 +230,8 @@ void print_reject_arm(const char *msg); void print_status(); -transition_result_t check_navigation_state_machine(struct vehicle_status_s *status, struct vehicle_control_mode_s *control_mode, struct vehicle_local_position_s *local_pos); +transition_result_t check_navigation_state_machine(struct vehicle_status_s *status, + struct vehicle_control_mode_s *control_mode, struct vehicle_local_position_s *local_pos); transition_result_t arm_disarm(bool arm, const int mavlink_fd, const char *armedBy); @@ -262,7 +261,7 @@ int commander_main(int argc, char *argv[]) daemon_task = task_spawn_cmd("commander", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 40, - 2950, + 3200, commander_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL); @@ -311,12 +310,16 @@ int commander_main(int argc, char *argv[]) } if (!strcmp(argv[1], "arm")) { - arm_disarm(true, mavlink_fd, "command line"); + int mavlink_fd_local = open(MAVLINK_LOG_DEVICE, 0); + arm_disarm(true, mavlink_fd_local, "command line"); + close(mavlink_fd_local); exit(0); } if (!strcmp(argv[1], "disarm")) { - arm_disarm(false, mavlink_fd, "command line"); + int mavlink_fd_local = open(MAVLINK_LOG_DEVICE, 0); + arm_disarm(false, mavlink_fd_local, "command line"); + close(mavlink_fd_local); exit(0); } @@ -395,7 +398,8 @@ transition_result_t arm_disarm(bool arm, const int mavlink_fd_local, const char // Transition the armed state. By passing mavlink_fd to arming_state_transition it will // output appropriate error messages if the state cannot transition. - arming_res = arming_state_transition(&status, &safety, arm ? ARMING_STATE_ARMED : ARMING_STATE_STANDBY, &armed, true /* fRunPreArmChecks */, mavlink_fd_local); + arming_res = arming_state_transition(&status, &safety, arm ? ARMING_STATE_ARMED : ARMING_STATE_STANDBY, &armed, + true /* fRunPreArmChecks */, mavlink_fd_local); if (arming_res == TRANSITION_CHANGED && mavlink_fd) { mavlink_log_info(mavlink_fd_local, "[cmd] %s by %s", arm ? "ARMED" : "DISARMED", armedBy); @@ -408,11 +412,12 @@ transition_result_t arm_disarm(bool arm, const int mavlink_fd_local, const char } bool handle_command(struct vehicle_status_s *status_local, const struct safety_s *safety_local, - struct vehicle_command_s *cmd, struct actuator_armed_s *armed_local, - struct home_position_s *home, struct vehicle_global_position_s *global_pos, orb_advert_t *home_pub) + struct vehicle_command_s *cmd, struct actuator_armed_s *armed_local, + struct home_position_s *home, struct vehicle_global_position_s *global_pos, orb_advert_t *home_pub) { /* only handle commands that are meant to be handled by this system and component */ - if (cmd->target_system != status_local->system_id || ((cmd->target_component != status_local->component_id) && (cmd->target_component != 0))) { // component_id 0: valid for all components + if (cmd->target_system != status_local->system_id || ((cmd->target_component != status_local->component_id) + && (cmd->target_component != 0))) { // component_id 0: valid for all components return false; } @@ -539,13 +544,13 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s } else { mavlink_log_critical(mavlink_fd, "REJ CMD: %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f", - (double)cmd->param1, - (double)cmd->param2, - (double)cmd->param3, - (double)cmd->param4, - (double)cmd->param5, - (double)cmd->param6, - (double)cmd->param7); + (double)cmd->param1, + (double)cmd->param2, + (double)cmd->param3, + (double)cmd->param4, + (double)cmd->param5, + (double)cmd->param6, + (double)cmd->param7); } } break; @@ -555,11 +560,44 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s if (cmd->param1 > 0.5f) { //XXX update state machine? armed_local->force_failsafe = true; - warnx("forcing failsafe"); + warnx("forcing failsafe (termination)"); + } else { armed_local->force_failsafe = false; - warnx("disabling failsafe"); + warnx("disabling failsafe (termination)"); + } + + /* param2 is currently used for other failsafe modes */ + status_local->engine_failure_cmd = false; + status_local->data_link_lost_cmd = false; + status_local->gps_failure_cmd = false; + status_local->rc_signal_lost_cmd = false; + + if ((int)cmd->param2 <= 0) { + /* reset all commanded failure modes */ + warnx("reset all non-flighttermination failsafe commands"); + + } else if ((int)cmd->param2 == 1) { + /* trigger engine failure mode */ + status_local->engine_failure_cmd = true; + warnx("engine failure mode commanded"); + + } else if ((int)cmd->param2 == 2) { + /* trigger data link loss mode */ + status_local->data_link_lost_cmd = true; + warnx("data link loss mode commanded"); + + } else if ((int)cmd->param2 == 3) { + /* trigger gps loss mode */ + status_local->gps_failure_cmd = true; + warnx("gps loss mode commanded"); + + } else if ((int)cmd->param2 == 4) { + /* trigger rc loss mode */ + status_local->rc_signal_lost_cmd = true; + warnx("rc loss mode commanded"); } + cmd_result = VEHICLE_CMD_RESULT_ACCEPTED; } break; @@ -611,10 +649,44 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s } break; + case VEHICLE_CMD_NAV_GUIDED_ENABLE: { + transition_result_t res = TRANSITION_DENIED; + static main_state_t main_state_pre_offboard = MAIN_STATE_MANUAL; + + if (status_local->main_state != MAIN_STATE_OFFBOARD) { + main_state_pre_offboard = status_local->main_state; + } + + if (cmd->param1 > 0.5f) { + res = main_state_transition(status_local, MAIN_STATE_OFFBOARD); + + if (res == TRANSITION_DENIED) { + print_reject_mode(status_local, "OFFBOARD"); + status_local->offboard_control_set_by_command = false; + + } else { + /* Set flag that offboard was set via command, main state is not overridden by rc */ + status_local->offboard_control_set_by_command = true; + } + + } else { + /* If the mavlink command is used to enable or disable offboard control: + * switch back to previous mode when disabling */ + res = main_state_transition(status_local, main_state_pre_offboard); + status_local->offboard_control_set_by_command = false; + } + } + break; + case VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN: case VEHICLE_CMD_PREFLIGHT_CALIBRATION: case VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS: case VEHICLE_CMD_PREFLIGHT_STORAGE: + case VEHICLE_CMD_CUSTOM_0: + case VEHICLE_CMD_CUSTOM_1: + case VEHICLE_CMD_CUSTOM_2: + case VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY: + case VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY: /* ignore commands that handled in low prio loop */ break; @@ -654,6 +726,12 @@ int commander_thread_main(int argc, char *argv[]) param_t _param_takeoff_alt = param_find("NAV_TAKEOFF_ALT"); param_t _param_enable_parachute = param_find("NAV_PARACHUTE_EN"); param_t _param_enable_datalink_loss = param_find("COM_DL_LOSS_EN"); + param_t _param_datalink_loss_timeout = param_find("COM_DL_LOSS_T"); + param_t _param_rc_loss_timeout = param_find("COM_RC_LOSS_T"); + param_t _param_datalink_regain_timeout = param_find("COM_DL_REG_T"); + param_t _param_ef_throttle_thres = param_find("COM_EF_THROT"); + param_t _param_ef_current2throttle_thres = param_find("COM_EF_C2T"); + param_t _param_ef_time_thres = param_find("COM_EF_TIME"); /* welcome user */ warnx("starting"); @@ -684,7 +762,10 @@ int commander_thread_main(int argc, char *argv[]) nav_states_str[NAVIGATION_STATE_AUTO_MISSION] = "AUTO_MISSION"; nav_states_str[NAVIGATION_STATE_AUTO_LOITER] = "AUTO_LOITER"; nav_states_str[NAVIGATION_STATE_AUTO_RTL] = "AUTO_RTL"; + nav_states_str[NAVIGATION_STATE_AUTO_RCRECOVER] = "AUTO_RCRECOVER"; nav_states_str[NAVIGATION_STATE_AUTO_RTGS] = "AUTO_RTGS"; + nav_states_str[NAVIGATION_STATE_AUTO_LANDENGFAIL] = "AUTO_LANDENGFAIL"; + nav_states_str[NAVIGATION_STATE_AUTO_LANDGPSFAIL] = "AUTO_LANDGPSFAIL"; nav_states_str[NAVIGATION_STATE_ACRO] = "ACRO"; nav_states_str[NAVIGATION_STATE_LAND] = "LAND"; nav_states_str[NAVIGATION_STATE_DESCEND] = "DESCEND"; @@ -741,9 +822,12 @@ int commander_thread_main(int argc, char *argv[]) // CIRCUIT BREAKERS status.circuit_breaker_engaged_power_check = false; status.circuit_breaker_engaged_airspd_check = false; + status.circuit_breaker_engaged_enginefailure_check = false; + status.circuit_breaker_engaged_gpsfailure_check = false; /* publish initial state */ status_pub = orb_advertise(ORB_ID(vehicle_status), &status); + if (status_pub < 0) { warnx("ERROR: orb_advertise for topic vehicle_status failed (uorb app running?).\n"); warnx("exiting."); @@ -769,11 +853,14 @@ int commander_thread_main(int argc, char *argv[]) /* init mission state, do it here to allow navigator to use stored mission even if mavlink failed to start */ orb_advert_t mission_pub = -1; mission_s mission; + if (dm_read(DM_KEY_MISSION_STATE, 0, &mission, sizeof(mission_s)) == sizeof(mission_s)) { if (mission.dataman_id >= 0 && mission.dataman_id <= 1) { - warnx("loaded mission state: dataman_id=%d, count=%u, current=%d", mission.dataman_id, mission.count, mission.current_seq); + warnx("loaded mission state: dataman_id=%d, count=%u, current=%d", mission.dataman_id, mission.count, + mission.current_seq); mavlink_log_info(mavlink_fd, "[cmd] dataman_id=%d, count=%u, current=%d", - mission.dataman_id, mission.count, mission.current_seq); + mission.dataman_id, mission.count, mission.current_seq); + } else { const char *missionfail = "reading mission state failed"; warnx("%s", missionfail); @@ -846,11 +933,13 @@ int commander_thread_main(int argc, char *argv[]) /* Subscribe to telemetry status topics */ int telemetry_subs[TELEMETRY_STATUS_ORB_ID_NUM]; uint64_t telemetry_last_heartbeat[TELEMETRY_STATUS_ORB_ID_NUM]; + uint64_t telemetry_last_dl_loss[TELEMETRY_STATUS_ORB_ID_NUM]; bool telemetry_lost[TELEMETRY_STATUS_ORB_ID_NUM]; for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) { telemetry_subs[i] = orb_subscribe(telemetry_status_orb_id[i]); telemetry_last_heartbeat[i] = 0; + telemetry_last_dl_loss[i] = 0; telemetry_lost[i] = true; } @@ -936,6 +1025,15 @@ int commander_thread_main(int argc, char *argv[]) transition_result_t arming_ret; int32_t datalink_loss_enabled = false; + int32_t datalink_loss_timeout = 10; + float rc_loss_timeout = 0.5; + int32_t datalink_regain_timeout = 0; + + /* Thresholds for engine failure detection */ + int32_t ef_throttle_thres = 1.0f; + int32_t ef_current2throttle_thres = 0.0f; + int32_t ef_time_thres = 1000.0f; + uint64_t timestamp_engine_healthy = 0; /**< absolute time when engine was healty */ /* check which state machines for changes, clear "changed" flag */ bool arming_state_changed = false; @@ -983,8 +1081,14 @@ int commander_thread_main(int argc, char *argv[]) param_get(_param_system_id, &(status.system_id)); param_get(_param_component_id, &(status.component_id)); - status.circuit_breaker_engaged_power_check = circuit_breaker_enabled("CBRK_SUPPLY_CHK", CBRK_SUPPLY_CHK_KEY); - status.circuit_breaker_engaged_airspd_check = circuit_breaker_enabled("CBRK_AIRSPD_CHK", CBRK_AIRSPD_CHK_KEY); + status.circuit_breaker_engaged_power_check = + circuit_breaker_enabled("CBRK_SUPPLY_CHK", CBRK_SUPPLY_CHK_KEY); + status.circuit_breaker_engaged_airspd_check = + circuit_breaker_enabled("CBRK_AIRSPD_CHK", CBRK_AIRSPD_CHK_KEY); + status.circuit_breaker_engaged_enginefailure_check = + circuit_breaker_enabled("CBRK_ENGINEFAIL", CBRK_ENGINEFAIL_KEY); + status.circuit_breaker_engaged_gpsfailure_check = + circuit_breaker_enabled("CBRK_GPSFAIL", CBRK_GPSFAIL_KEY); status_changed = true; @@ -996,6 +1100,12 @@ int commander_thread_main(int argc, char *argv[]) param_get(_param_takeoff_alt, &takeoff_alt); param_get(_param_enable_parachute, ¶chute_enabled); param_get(_param_enable_datalink_loss, &datalink_loss_enabled); + param_get(_param_datalink_loss_timeout, &datalink_loss_timeout); + param_get(_param_rc_loss_timeout, &rc_loss_timeout); + param_get(_param_datalink_regain_timeout, &datalink_regain_timeout); + param_get(_param_ef_throttle_thres, &ef_throttle_thres); + param_get(_param_ef_current2throttle_thres, &ef_current2throttle_thres); + param_get(_param_ef_time_thres, &ef_time_thres); } orb_check(sp_man_sub, &updated); @@ -1016,6 +1126,7 @@ int commander_thread_main(int argc, char *argv[]) status.offboard_control_signal_lost = false; status_changed = true; } + } else { if (!status.offboard_control_signal_lost) { status.offboard_control_signal_lost = true; @@ -1034,9 +1145,9 @@ int commander_thread_main(int argc, char *argv[]) /* perform system checks when new telemetry link connected */ if (mavlink_fd && - telemetry_last_heartbeat[i] == 0 && - telemetry.heartbeat_time > 0 && - hrt_elapsed_time(&telemetry.heartbeat_time) < DL_TIMEOUT) { + telemetry_last_heartbeat[i] == 0 && + telemetry.heartbeat_time > 0 && + hrt_elapsed_time(&telemetry.heartbeat_time) < datalink_loss_timeout * 1e6) { (void)rc_calibration_check(mavlink_fd); } @@ -1049,6 +1160,27 @@ int commander_thread_main(int argc, char *argv[]) if (updated) { orb_copy(ORB_ID(sensor_combined), sensor_sub, &sensors); + + /* Check if the barometer is healthy and issue a warning in the GCS if not so. + * Because the barometer is used for calculating AMSL altitude which is used to ensure + * vertical separation from other airtraffic the operator has to know when the + * barometer is inoperational. + * */ + if (hrt_elapsed_time(&sensors.baro_timestamp) < FAILSAFE_DEFAULT_TIMEOUT) { + /* handle the case where baro was regained */ + if (status.barometer_failure) { + status.barometer_failure = false; + status_changed = true; + mavlink_log_critical(mavlink_fd, "baro healthy"); + } + + } else { + if (!status.barometer_failure) { + status.barometer_failure = true; + status_changed = true; + mavlink_log_critical(mavlink_fd, "baro failed"); + } + } } orb_check(diff_pres_sub, &updated); @@ -1064,10 +1196,11 @@ int commander_thread_main(int argc, char *argv[]) if (hrt_elapsed_time(&system_power.timestamp) < 200000) { if (system_power.servo_valid && - !system_power.brick_valid && - !system_power.usb_connected) { + !system_power.brick_valid && + !system_power.usb_connected) { /* flying only on servo rail, this is unsafe */ status.condition_power_input_valid = false; + } else { status.condition_power_input_valid = true; } @@ -1087,9 +1220,11 @@ int commander_thread_main(int argc, char *argv[]) /* disarm if safety is now on and still armed */ if (status.hil_state == HIL_STATE_OFF && safety.safety_switch_available && !safety.safety_off && armed.armed) { - arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR); + arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : + ARMING_STATE_STANDBY_ERROR); - if (TRANSITION_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed, true /* fRunPreArmChecks */, mavlink_fd)) { + if (TRANSITION_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed, + true /* fRunPreArmChecks */, mavlink_fd)) { mavlink_log_info(mavlink_fd, "DISARMED by safety switch"); arming_state_changed = true; } @@ -1133,9 +1268,8 @@ int commander_thread_main(int argc, char *argv[]) } } - check_valid(global_position.timestamp, POSITION_TIMEOUT, eph_good, &(status.condition_global_position_valid), &status_changed); - - /* check if GPS fix is ok */ + check_valid(global_position.timestamp, POSITION_TIMEOUT, eph_good, &(status.condition_global_position_valid), + &status_changed); /* update home position */ if (!status.condition_home_position_valid && status.condition_global_position_valid && !armed.armed && @@ -1185,8 +1319,11 @@ int commander_thread_main(int argc, char *argv[]) local_eph_good = false; } } - check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.xy_valid && local_eph_good, &(status.condition_local_position_valid), &status_changed); - check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.z_valid, &(status.condition_local_altitude_valid), &status_changed); + + check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.xy_valid + && local_eph_good, &(status.condition_local_position_valid), &status_changed); + check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.z_valid, + &(status.condition_local_altitude_valid), &status_changed); if (status.condition_local_altitude_valid) { if (status.condition_landed != local_position.landed) { @@ -1217,7 +1354,8 @@ int commander_thread_main(int argc, char *argv[]) /* get throttle (if armed), as we only care about energy negative throttle also counts */ float throttle = (armed.armed) ? fabsf(actuator_controls.control[3]) : 0.0f; - status.battery_remaining = battery_remaining_estimate_voltage(battery.voltage_filtered_v, battery.discharged_mah, throttle); + status.battery_remaining = battery_remaining_estimate_voltage(battery.voltage_filtered_v, battery.discharged_mah, + throttle); } } @@ -1274,8 +1412,8 @@ int commander_thread_main(int argc, char *argv[]) last_idle_time = system_load.tasks[0].total_runtime; /* check if board is connected via USB */ - //struct stat statbuf; - //on_usb_power = (stat("/dev/ttyACM0", &statbuf) == 0); + struct stat statbuf; + on_usb_power = (stat("/dev/ttyACM0", &statbuf) == 0); } /* if battery voltage is getting lower, warn using buzzer, etc. */ @@ -1285,26 +1423,30 @@ int commander_thread_main(int argc, char *argv[]) status.battery_warning = VEHICLE_BATTERY_WARNING_LOW; status_changed = true; - } else if (status.condition_battery_voltage_valid && status.battery_remaining < 0.09f && !critical_battery_voltage_actions_done && low_battery_voltage_actions_done) { + } else if (!on_usb_power && status.condition_battery_voltage_valid && status.battery_remaining < 0.09f + && !critical_battery_voltage_actions_done && low_battery_voltage_actions_done) { /* critical battery voltage, this is rather an emergency, change state machine */ critical_battery_voltage_actions_done = true; mavlink_log_emergency(mavlink_fd, "CRITICAL BATTERY, LAND IMMEDIATELY"); status.battery_warning = VEHICLE_BATTERY_WARNING_CRITICAL; if (armed.armed) { - arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_ARMED_ERROR, &armed, true /* fRunPreArmChecks */, mavlink_fd); + arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_ARMED_ERROR, &armed, true /* fRunPreArmChecks */, + mavlink_fd); if (arming_ret == TRANSITION_CHANGED) { arming_state_changed = true; } } else { - arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_STANDBY_ERROR, &armed, true /* fRunPreArmChecks */, mavlink_fd); + arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_STANDBY_ERROR, &armed, true /* fRunPreArmChecks */, + mavlink_fd); if (arming_ret == TRANSITION_CHANGED) { arming_state_changed = true; } } + status_changed = true; } @@ -1313,7 +1455,8 @@ int commander_thread_main(int argc, char *argv[]) /* If in INIT state, try to proceed to STANDBY state */ if (status.arming_state == ARMING_STATE_INIT && low_prio_task == LOW_PRIO_TASK_NONE) { /* TODO: check for sensors */ - arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed, true /* fRunPreArmChecks */, mavlink_fd); + arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed, true /* fRunPreArmChecks */, + mavlink_fd); if (arming_ret == TRANSITION_CHANGED) { arming_state_changed = true; @@ -1341,11 +1484,31 @@ int commander_thread_main(int argc, char *argv[]) /* Initialize map projection if gps is valid */ if (!map_projection_global_initialized() - && (gps_position.eph < eph_threshold) - && (gps_position.epv < epv_threshold) - && hrt_elapsed_time((hrt_abstime*)&gps_position.timestamp_position) < 1e6) { + && (gps_position.eph < eph_threshold) + && (gps_position.epv < epv_threshold) + && hrt_elapsed_time((hrt_abstime *)&gps_position.timestamp_position) < 1e6) { /* set reference for global coordinates <--> local coordiantes conversion and map_projection */ - globallocalconverter_init((double)gps_position.lat * 1.0e-7, (double)gps_position.lon * 1.0e-7, (float)gps_position.alt * 1.0e-3f, hrt_absolute_time()); + globallocalconverter_init((double)gps_position.lat * 1.0e-7, (double)gps_position.lon * 1.0e-7, + (float)gps_position.alt * 1.0e-3f, hrt_absolute_time()); + } + + /* check if GPS fix is ok */ + if (status.circuit_breaker_engaged_gpsfailure_check || + (gps_position.fix_type >= 3 && + hrt_elapsed_time(&gps_position.timestamp_position) < FAILSAFE_DEFAULT_TIMEOUT)) { + /* handle the case where gps was regained */ + if (status.gps_failure) { + status.gps_failure = false; + status_changed = true; + mavlink_log_critical(mavlink_fd, "gps regained"); + } + + } else { + if (!status.gps_failure) { + status.gps_failure = true; + status_changed = true; + mavlink_log_critical(mavlink_fd, "gps fix lost"); + } } /* start mission result check */ @@ -1353,10 +1516,30 @@ int commander_thread_main(int argc, char *argv[]) if (updated) { orb_copy(ORB_ID(mission_result), mission_result_sub, &mission_result); + + /* Check for geofence violation */ + if (armed.armed && (mission_result.geofence_violated || mission_result.flight_termination)) { + //XXX: make this configurable to select different actions (e.g. navigation modes) + /* this will only trigger if geofence is activated via param and a geofence file is present, also there is a circuit breaker to disable the actual flight termination in the px4io driver */ + armed.force_failsafe = true; + status_changed = true; + static bool flight_termination_printed = false; + + if (!flight_termination_printed) { + warnx("Flight termination because of navigator request or geofence"); + mavlink_log_critical(mavlink_fd, "GF violation: flight termination"); + flight_termination_printed = true; + } + + if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) { + mavlink_log_critical(mavlink_fd, "GF violation: flight termination"); + } + } // no reset is done here on purpose, on geofence violation we want to stay in flighttermination } /* RC input check */ - if (!status.rc_input_blocked && sp_man.timestamp != 0 && hrt_absolute_time() < sp_man.timestamp + RC_TIMEOUT) { + if (!status.rc_input_blocked && sp_man.timestamp != 0 && + hrt_absolute_time() < sp_man.timestamp + (uint64_t)(rc_loss_timeout * 1e6f)) { /* handle the case where RC signal was regained */ if (!status.rc_signal_found_once) { status.rc_signal_found_once = true; @@ -1365,7 +1548,7 @@ int commander_thread_main(int argc, char *argv[]) } else { if (status.rc_signal_lost) { - mavlink_log_critical(mavlink_fd, "RC signal regained"); + mavlink_log_critical(mavlink_fd, "RC SIGNAL REGAINED after %llums",(hrt_absolute_time()-status.rc_signal_lost_timestamp)/1000); status_changed = true; } } @@ -1381,11 +1564,15 @@ int commander_thread_main(int argc, char *argv[]) if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) { /* disarm to STANDBY if ARMED or to STANDBY_ERROR if ARMED_ERROR */ - arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR); - arming_ret = arming_state_transition(&status, &safety, new_arming_state, &armed, true /* fRunPreArmChecks */, mavlink_fd); + arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : + ARMING_STATE_STANDBY_ERROR); + arming_ret = arming_state_transition(&status, &safety, new_arming_state, &armed, true /* fRunPreArmChecks */, + mavlink_fd); + if (arming_ret == TRANSITION_CHANGED) { arming_state_changed = true; } + stick_off_counter = 0; } else { @@ -1407,8 +1594,11 @@ int commander_thread_main(int argc, char *argv[]) */ if (status.main_state != MAIN_STATE_MANUAL) { print_reject_arm("NOT ARMING: Switch to MANUAL mode first."); + } else { - arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed, true /* fRunPreArmChecks */, mavlink_fd); + arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed, true /* fRunPreArmChecks */, + mavlink_fd); + if (arming_ret == TRANSITION_CHANGED) { arming_state_changed = true; } @@ -1431,6 +1621,7 @@ int commander_thread_main(int argc, char *argv[]) } else { mavlink_log_info(mavlink_fd, "DISARMED by RC"); } + arming_state_changed = true; } else if (arming_ret == TRANSITION_DENIED) { @@ -1458,24 +1649,38 @@ int commander_thread_main(int argc, char *argv[]) } else { if (!status.rc_signal_lost) { - mavlink_log_critical(mavlink_fd, "RC SIGNAL LOST"); + mavlink_log_critical(mavlink_fd, "RC SIGNAL LOST (at t=%llums)",hrt_absolute_time()/1000); status.rc_signal_lost = true; + status.rc_signal_lost_timestamp=sp_man.timestamp; status_changed = true; } } /* data links check */ bool have_link = false; + for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) { - if (telemetry_last_heartbeat[i] != 0 && hrt_elapsed_time(&telemetry_last_heartbeat[i]) < DL_TIMEOUT) { - /* handle the case where data link was regained */ - if (telemetry_lost[i]) { + if (telemetry_last_heartbeat[i] != 0 && + hrt_elapsed_time(&telemetry_last_heartbeat[i]) < datalink_loss_timeout * 1e6) { + /* handle the case where data link was regained, + * accept datalink as healthy only after datalink_regain_timeout seconds + * */ + if (telemetry_lost[i] && + hrt_elapsed_time(&telemetry_last_dl_loss[i]) > datalink_regain_timeout * 1e6) { + mavlink_log_critical(mavlink_fd, "data link %i regained", i); telemetry_lost[i] = false; + have_link = true; + + } else if (!telemetry_lost[i]) { + /* telemetry was healthy also in last iteration + * we don't have to check a timeout */ + have_link = true; } - have_link = true; } else { + telemetry_last_dl_loss[i] = hrt_absolute_time(); + if (!telemetry_lost[i]) { mavlink_log_critical(mavlink_fd, "data link %i lost", i); telemetry_lost[i] = true; @@ -1494,10 +1699,42 @@ int commander_thread_main(int argc, char *argv[]) if (!status.data_link_lost) { mavlink_log_critical(mavlink_fd, "ALL DATA LINKS LOST"); status.data_link_lost = true; + status.data_link_lost_counter++; + status_changed = true; + } + } + + /* Check engine failure + * only for fixed wing for now + */ + if (!status.circuit_breaker_engaged_enginefailure_check && + status.is_rotary_wing == false && + armed.armed && + ((actuator_controls.control[3] > ef_throttle_thres && + battery.current_a / actuator_controls.control[3] < + ef_current2throttle_thres) || + (status.engine_failure))) { + /* potential failure, measure time */ + if (timestamp_engine_healthy > 0 && + hrt_elapsed_time(×tamp_engine_healthy) > + ef_time_thres * 1e6 && + !status.engine_failure) { + status.engine_failure = true; + status_changed = true; + mavlink_log_critical(mavlink_fd, "Engine Failure"); + } + + } else { + /* no failure reset flag */ + timestamp_engine_healthy = hrt_absolute_time(); + + if (status.engine_failure) { + status.engine_failure = false; status_changed = true; } } + /* handle commands last, as the system needs to be updated to handle them */ orb_check(cmd_sub, &updated); @@ -1511,6 +1748,57 @@ int commander_thread_main(int argc, char *argv[]) } } + /* Check for failure combinations which lead to flight termination */ + if (armed.armed) { + /* At this point the data link and the gps system have been checked + * If we are not in a manual (RC stick controlled mode) + * and both failed we want to terminate the flight */ + if (status.main_state != MAIN_STATE_MANUAL && + status.main_state != MAIN_STATE_ACRO && + status.main_state != MAIN_STATE_ALTCTL && + status.main_state != MAIN_STATE_POSCTL && + ((status.data_link_lost && status.gps_failure) || + (status.data_link_lost_cmd && status.gps_failure_cmd))) { + armed.force_failsafe = true; + status_changed = true; + static bool flight_termination_printed = false; + + if (!flight_termination_printed) { + warnx("Flight termination because of data link loss && gps failure"); + mavlink_log_critical(mavlink_fd, "DL and GPS lost: flight termination"); + flight_termination_printed = true; + } + + if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) { + mavlink_log_critical(mavlink_fd, "DL and GPS lost: flight termination"); + } + } + + /* At this point the rc signal and the gps system have been checked + * If we are in manual (controlled with RC): + * if both failed we want to terminate the flight */ + if ((status.main_state == MAIN_STATE_ACRO || + status.main_state == MAIN_STATE_MANUAL || + status.main_state == MAIN_STATE_ALTCTL || + status.main_state == MAIN_STATE_POSCTL) && + ((status.rc_signal_lost && status.gps_failure) || + (status.rc_signal_lost_cmd && status.gps_failure_cmd))) { + armed.force_failsafe = true; + status_changed = true; + static bool flight_termination_printed = false; + + if (!flight_termination_printed) { + warnx("Flight termination because of RC signal loss && gps failure"); + flight_termination_printed = true; + } + + if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) { + mavlink_log_critical(mavlink_fd, "RC and GPS lost: flight termination"); + } + } + } + + hrt_abstime t1 = hrt_absolute_time(); /* print new state */ @@ -1545,6 +1833,7 @@ int commander_thread_main(int argc, char *argv[]) /* mark home position as set */ status.condition_home_position_valid = true; } + arming_state_changed = false; } @@ -1552,7 +1841,8 @@ int commander_thread_main(int argc, char *argv[]) /* now set navigation state according to failsafe and main state */ bool nav_state_changed = set_nav_state(&status, (bool)datalink_loss_enabled, - mission_result.finished); + mission_result.finished, + mission_result.stay_in_failsafe); // TODO handle mode changes by commands if (main_state_changed) { @@ -1564,7 +1854,11 @@ int commander_thread_main(int argc, char *argv[]) if (status.failsafe != failsafe_old) { status_changed = true; - mavlink_log_info(mavlink_fd, "[cmd] failsafe state: %i", status.failsafe); + if (status.failsafe) { + mavlink_log_critical(mavlink_fd, "failsafe mode on"); + } else { + mavlink_log_critical(mavlink_fd, "failsafe mode off"); + } failsafe_old = status.failsafe; } @@ -1588,7 +1882,8 @@ int commander_thread_main(int argc, char *argv[]) } /* play arming and battery warning tunes */ - if (!arm_tune_played && armed.armed && (!safety.safety_switch_available || (safety.safety_switch_available && safety.safety_off))) { + if (!arm_tune_played && armed.armed && (!safety.safety_switch_available || (safety.safety_switch_available + && safety.safety_off))) { /* play tune when armed */ set_tune(TONE_ARMING_WARNING_TUNE); arm_tune_played = true; @@ -1758,9 +2053,15 @@ set_main_state_rc(struct vehicle_status_s *status_local, struct manual_control_s /* set main state according to RC switches */ transition_result_t res = TRANSITION_DENIED; + /* if offboard is set allready by a mavlink command, abort */ + if (status.offboard_control_set_by_command) { + return main_state_transition(status_local, MAIN_STATE_OFFBOARD); + } + /* offboard switch overrides main switch */ if (sp_man->offboard_switch == SWITCH_POS_ON) { res = main_state_transition(status_local, MAIN_STATE_OFFBOARD); + if (res == TRANSITION_DENIED) { print_reject_mode(status_local, "OFFBOARD"); @@ -1782,6 +2083,7 @@ set_main_state_rc(struct vehicle_status_s *status_local, struct manual_control_s } else { res = main_state_transition(status_local, MAIN_STATE_MANUAL); } + // TRANSITION_DENIED is not possible here break; @@ -1796,7 +2098,7 @@ set_main_state_rc(struct vehicle_status_s *status_local, struct manual_control_s print_reject_mode(status_local, "POSCTL"); } - // fallback to ALTCTL + // fallback to ALTCTL res = main_state_transition(status_local, MAIN_STATE_ALTCTL); if (res != TRANSITION_DENIED) { @@ -1820,14 +2122,14 @@ set_main_state_rc(struct vehicle_status_s *status_local, struct manual_control_s break; // changed successfully or already in this state } - print_reject_mode(status_local, "AUTO_RTL"); + print_reject_mode(status_local, "AUTO_RTL"); - // fallback to LOITER if home position not set - res = main_state_transition(status_local, MAIN_STATE_AUTO_LOITER); + // fallback to LOITER if home position not set + res = main_state_transition(status_local, MAIN_STATE_AUTO_LOITER); - if (res != TRANSITION_DENIED) { - break; // changed successfully or already in this state - } + if (res != TRANSITION_DENIED) { + break; // changed successfully or already in this state + } } else if (sp_man->loiter_switch == SWITCH_POS_ON) { res = main_state_transition(status_local, MAIN_STATE_AUTO_LOITER); @@ -1836,7 +2138,7 @@ set_main_state_rc(struct vehicle_status_s *status_local, struct manual_control_s break; // changed successfully or already in this state } - print_reject_mode(status_local, "AUTO_LOITER"); + print_reject_mode(status_local, "AUTO_LOITER"); } else { res = main_state_transition(status_local, MAIN_STATE_AUTO_MISSION); @@ -1845,22 +2147,22 @@ set_main_state_rc(struct vehicle_status_s *status_local, struct manual_control_s break; // changed successfully or already in this state } - print_reject_mode(status_local, "AUTO_MISSION"); + print_reject_mode(status_local, "AUTO_MISSION"); - // fallback to LOITER if home position not set - res = main_state_transition(status_local, MAIN_STATE_AUTO_LOITER); + // fallback to LOITER if home position not set + res = main_state_transition(status_local, MAIN_STATE_AUTO_LOITER); - if (res != TRANSITION_DENIED) { - break; // changed successfully or already in this state - } + if (res != TRANSITION_DENIED) { + break; // changed successfully or already in this state + } } - // fallback to POSCTL - res = main_state_transition(status_local, MAIN_STATE_POSCTL); + // fallback to POSCTL + res = main_state_transition(status_local, MAIN_STATE_POSCTL); - if (res != TRANSITION_DENIED) { - break; // changed successfully or already in this state - } + if (res != TRANSITION_DENIED) { + break; // changed successfully or already in this state + } // fallback to ALTCTL res = main_state_transition(status_local, MAIN_STATE_ALTCTL); @@ -1904,18 +2206,6 @@ set_control_mode() control_mode.flag_control_termination_enabled = false; break; - case NAVIGATION_STATE_ACRO: - control_mode.flag_control_manual_enabled = true; - control_mode.flag_control_auto_enabled = false; - control_mode.flag_control_rates_enabled = true; - control_mode.flag_control_attitude_enabled = false; - control_mode.flag_control_altitude_enabled = false; - control_mode.flag_control_climb_rate_enabled = false; - control_mode.flag_control_position_enabled = false; - control_mode.flag_control_velocity_enabled = false; - control_mode.flag_control_termination_enabled = false; - break; - case NAVIGATION_STATE_ALTCTL: control_mode.flag_control_manual_enabled = true; control_mode.flag_control_auto_enabled = false; @@ -1928,54 +2218,6 @@ set_control_mode() control_mode.flag_control_termination_enabled = false; break; - case NAVIGATION_STATE_OFFBOARD: - control_mode.flag_control_manual_enabled = false; - control_mode.flag_control_auto_enabled = false; - control_mode.flag_control_offboard_enabled = true; - - switch (sp_offboard.mode) { - case OFFBOARD_CONTROL_MODE_DIRECT_RATES: - control_mode.flag_control_rates_enabled = true; - control_mode.flag_control_attitude_enabled = false; - control_mode.flag_control_altitude_enabled = false; - control_mode.flag_control_climb_rate_enabled = false; - control_mode.flag_control_position_enabled = false; - control_mode.flag_control_velocity_enabled = false; - break; - case OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE: - control_mode.flag_control_rates_enabled = true; - control_mode.flag_control_attitude_enabled = true; - control_mode.flag_control_altitude_enabled = false; - control_mode.flag_control_climb_rate_enabled = false; - control_mode.flag_control_position_enabled = false; - control_mode.flag_control_velocity_enabled = false; - break; - case OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY: - control_mode.flag_control_rates_enabled = true; - control_mode.flag_control_attitude_enabled = true; - control_mode.flag_control_altitude_enabled = true; /* XXX: hack for now */ - control_mode.flag_control_climb_rate_enabled = true; - control_mode.flag_control_position_enabled = true; /* XXX: hack for now */ - control_mode.flag_control_velocity_enabled = true; - break; - case OFFBOARD_CONTROL_MODE_DIRECT_POSITION: - control_mode.flag_control_rates_enabled = true; - control_mode.flag_control_attitude_enabled = true; - control_mode.flag_control_altitude_enabled = true; - control_mode.flag_control_climb_rate_enabled = true; - control_mode.flag_control_position_enabled = true; - control_mode.flag_control_velocity_enabled = true; - break; - default: - control_mode.flag_control_rates_enabled = false; - control_mode.flag_control_attitude_enabled = false; - control_mode.flag_control_altitude_enabled = false; - control_mode.flag_control_climb_rate_enabled = false; - control_mode.flag_control_position_enabled = false; - control_mode.flag_control_velocity_enabled = false; - } - break; - case NAVIGATION_STATE_POSCTL: control_mode.flag_control_manual_enabled = true; control_mode.flag_control_auto_enabled = false; @@ -1991,7 +2233,9 @@ set_control_mode() case NAVIGATION_STATE_AUTO_MISSION: case NAVIGATION_STATE_AUTO_LOITER: case NAVIGATION_STATE_AUTO_RTL: + case NAVIGATION_STATE_AUTO_RCRECOVER: case NAVIGATION_STATE_AUTO_RTGS: + case NAVIGATION_STATE_AUTO_LANDENGFAIL: control_mode.flag_control_manual_enabled = false; control_mode.flag_control_auto_enabled = true; control_mode.flag_control_rates_enabled = true; @@ -2003,6 +2247,31 @@ set_control_mode() control_mode.flag_control_termination_enabled = false; break; + case NAVIGATION_STATE_AUTO_LANDGPSFAIL: + control_mode.flag_control_manual_enabled = false; + control_mode.flag_control_auto_enabled = false; + control_mode.flag_control_rates_enabled = true; + control_mode.flag_control_attitude_enabled = true; + control_mode.flag_control_altitude_enabled = false; + control_mode.flag_control_climb_rate_enabled = true; + control_mode.flag_control_position_enabled = false; + control_mode.flag_control_velocity_enabled = false; + control_mode.flag_control_termination_enabled = false; + break; + + case NAVIGATION_STATE_ACRO: + control_mode.flag_control_manual_enabled = true; + control_mode.flag_control_auto_enabled = false; + control_mode.flag_control_rates_enabled = true; + control_mode.flag_control_attitude_enabled = false; + control_mode.flag_control_altitude_enabled = false; + control_mode.flag_control_climb_rate_enabled = false; + control_mode.flag_control_position_enabled = false; + control_mode.flag_control_velocity_enabled = false; + control_mode.flag_control_termination_enabled = false; + break; + + case NAVIGATION_STATE_LAND: control_mode.flag_control_manual_enabled = false; control_mode.flag_control_auto_enabled = true; @@ -2016,6 +2285,19 @@ set_control_mode() control_mode.flag_control_termination_enabled = false; break; + case NAVIGATION_STATE_DESCEND: + /* TODO: check if this makes sense */ + control_mode.flag_control_manual_enabled = false; + control_mode.flag_control_auto_enabled = true; + control_mode.flag_control_rates_enabled = true; + control_mode.flag_control_attitude_enabled = true; + control_mode.flag_control_position_enabled = false; + control_mode.flag_control_velocity_enabled = false; + control_mode.flag_control_altitude_enabled = false; + control_mode.flag_control_climb_rate_enabled = true; + control_mode.flag_control_termination_enabled = false; + break; + case NAVIGATION_STATE_TERMINATION: /* disable all controllers on termination */ control_mode.flag_control_manual_enabled = false; @@ -2029,6 +2311,63 @@ set_control_mode() control_mode.flag_control_termination_enabled = true; break; + case NAVIGATION_STATE_OFFBOARD: + control_mode.flag_control_manual_enabled = false; + control_mode.flag_control_auto_enabled = false; + control_mode.flag_control_offboard_enabled = true; + + switch (sp_offboard.mode) { + case OFFBOARD_CONTROL_MODE_DIRECT_RATES: + control_mode.flag_control_rates_enabled = true; + control_mode.flag_control_attitude_enabled = false; + control_mode.flag_control_altitude_enabled = false; + control_mode.flag_control_climb_rate_enabled = false; + control_mode.flag_control_position_enabled = false; + control_mode.flag_control_velocity_enabled = false; + break; + + case OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE: + control_mode.flag_control_rates_enabled = true; + control_mode.flag_control_attitude_enabled = true; + control_mode.flag_control_altitude_enabled = false; + control_mode.flag_control_climb_rate_enabled = false; + control_mode.flag_control_position_enabled = false; + control_mode.flag_control_velocity_enabled = false; + break; + + case OFFBOARD_CONTROL_MODE_DIRECT_FORCE: + control_mode.flag_control_rates_enabled = true; + control_mode.flag_control_attitude_enabled = false; + control_mode.flag_control_force_enabled = true; + control_mode.flag_control_altitude_enabled = false; + control_mode.flag_control_climb_rate_enabled = false; + control_mode.flag_control_position_enabled = false; + control_mode.flag_control_velocity_enabled = false; + break; + + case OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED: + case OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_OFFSET_NED: + case OFFBOARD_CONTROL_MODE_DIRECT_BODY_NED: + case OFFBOARD_CONTROL_MODE_DIRECT_BODY_OFFSET_NED: + control_mode.flag_control_rates_enabled = true; + control_mode.flag_control_attitude_enabled = true; + control_mode.flag_control_altitude_enabled = true; + control_mode.flag_control_climb_rate_enabled = true; + control_mode.flag_control_position_enabled = true; + control_mode.flag_control_velocity_enabled = true; + //XXX: the flags could depend on sp_offboard.ignore + break; + + default: + control_mode.flag_control_rates_enabled = false; + control_mode.flag_control_attitude_enabled = false; + control_mode.flag_control_altitude_enabled = false; + control_mode.flag_control_climb_rate_enabled = false; + control_mode.flag_control_position_enabled = false; + control_mode.flag_control_velocity_enabled = false; + } + break; + default: break; } @@ -2170,7 +2509,8 @@ void *commander_low_prio_loop(void *arg) int calib_ret = ERROR; /* try to go to INIT/PREFLIGHT arming state */ - if (TRANSITION_DENIED == arming_state_transition(&status, &safety, ARMING_STATE_INIT, &armed, true /* fRunPreArmChecks */, mavlink_fd)) { + if (TRANSITION_DENIED == arming_state_transition(&status, &safety, ARMING_STATE_INIT, &armed, + true /* fRunPreArmChecks */, mavlink_fd)) { answer_command(cmd, VEHICLE_CMD_RESULT_DENIED); break; } diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c index dba68700b..1b0c4258b 100644 --- a/src/modules/commander/commander_params.c +++ b/src/modules/commander/commander_params.c @@ -105,3 +105,69 @@ PARAM_DEFINE_FLOAT(BAT_CAPACITY, -1.0f); * @max 1 */ PARAM_DEFINE_INT32(COM_DL_LOSS_EN, 0); + + /** Datalink loss time threshold + * + * After this amount of seconds without datalink the data link lost mode triggers + * + * @group commander + * @unit second + * @min 0 + * @max 30 + */ +PARAM_DEFINE_INT32(COM_DL_LOSS_T, 10); + +/** Datalink regain time threshold + * + * After a data link loss: after this this amount of seconds with a healthy datalink the 'datalink loss' + * flag is set back to false + * + * @group commander + * @unit second + * @min 0 + * @max 30 + */ +PARAM_DEFINE_INT32(COM_DL_REG_T, 0); + +/** Engine Failure Throttle Threshold + * + * Engine failure triggers only above this throttle value + * + * @group commander + * @min 0.0f + * @max 1.0f + */ +PARAM_DEFINE_FLOAT(COM_EF_THROT, 0.5f); + +/** Engine Failure Current/Throttle Threshold + * + * Engine failure triggers only below this current/throttle value + * + * @group commander + * @min 0.0f + * @max 7.0f + */ +PARAM_DEFINE_FLOAT(COM_EF_C2T, 5.0f); + +/** Engine Failure Time Threshold + * + * Engine failure triggers only if the throttle threshold and the + * current to throttle threshold are violated for this time + * + * @group commander + * @unit second + * @min 0.0f + * @max 7.0f + */ +PARAM_DEFINE_FLOAT(COM_EF_TIME, 10.0f); + +/** RC loss time threshold + * + * After this amount of seconds without RC connection the rc lost flag is set to true + * + * @group commander + * @unit second + * @min 0 + * @max 35 + */ +PARAM_DEFINE_FLOAT(COM_RC_LOSS_T, 0.5); diff --git a/src/modules/commander/commander_tests/commander_tests.cpp b/src/modules/commander/commander_tests/commander_tests.cpp index 0abb84a82..2bfa5d0bb 100644 --- a/src/modules/commander/commander_tests/commander_tests.cpp +++ b/src/modules/commander/commander_tests/commander_tests.cpp @@ -48,7 +48,5 @@ extern "C" __EXPORT int commander_tests_main(int argc, char *argv[]); int commander_tests_main(int argc, char *argv[]) { - stateMachineHelperTest(); - - return 0; + return stateMachineHelperTest() ? 0 : -1; } diff --git a/src/modules/commander/commander_tests/state_machine_helper_test.cpp b/src/modules/commander/commander_tests/state_machine_helper_test.cpp index 08dda2fab..874090e93 100644 --- a/src/modules/commander/commander_tests/state_machine_helper_test.cpp +++ b/src/modules/commander/commander_tests/state_machine_helper_test.cpp @@ -49,7 +49,7 @@ public: StateMachineHelperTest(); virtual ~StateMachineHelperTest(); - virtual void runTests(void); + virtual bool run_tests(void); private: bool armingStateTransitionTest(); @@ -488,16 +488,13 @@ bool StateMachineHelperTest::isSafeTest(void) return true; } -void StateMachineHelperTest::runTests(void) +bool StateMachineHelperTest::run_tests(void) { ut_run_test(armingStateTransitionTest); ut_run_test(mainStateTransitionTest); ut_run_test(isSafeTest); + + return (_tests_failed == 0); } -void stateMachineHelperTest(void) -{ - StateMachineHelperTest* test = new StateMachineHelperTest(); - test->runTests(); - test->printResults(); -} +ut_declare_test(stateMachineHelperTest, StateMachineHelperTest)
\ No newline at end of file diff --git a/src/modules/commander/commander_tests/state_machine_helper_test.h b/src/modules/commander/commander_tests/state_machine_helper_test.h index bbf66255e..cf6719095 100644 --- a/src/modules/commander/commander_tests/state_machine_helper_test.h +++ b/src/modules/commander/commander_tests/state_machine_helper_test.h @@ -39,6 +39,6 @@ #ifndef STATE_MACHINE_HELPER_TEST_H_ #define STATE_MACHINE_HELPER_TEST_ -void stateMachineHelperTest(void); +bool stateMachineHelperTest(void); #endif /* STATE_MACHINE_HELPER_TEST_H_ */ diff --git a/src/modules/commander/gyro_calibration.cpp b/src/modules/commander/gyro_calibration.cpp index d89c67c2b..8ab14dd52 100644 --- a/src/modules/commander/gyro_calibration.cpp +++ b/src/modules/commander/gyro_calibration.cpp @@ -63,7 +63,10 @@ static const char *sensor_name = "gyro"; int do_gyro_calibration(int mavlink_fd) { mavlink_log_info(mavlink_fd, CAL_STARTED_MSG, sensor_name); - mavlink_log_info(mavlink_fd, "don't move system"); + mavlink_log_info(mavlink_fd, "HOLD STILL"); + + /* wait for the user to respond */ + sleep(2); struct gyro_scale gyro_scale = { 0.0f, diff --git a/src/modules/commander/mag_calibration.cpp b/src/modules/commander/mag_calibration.cpp index 23900f386..7be8de9c6 100644 --- a/src/modules/commander/mag_calibration.cpp +++ b/src/modules/commander/mag_calibration.cpp @@ -155,7 +155,7 @@ int do_mag_calibration(int mavlink_fd) uint64_t calibration_deadline = hrt_absolute_time() + calibration_interval; unsigned poll_errcount = 0; - mavlink_log_info(mavlink_fd, "rotate in a figure 8 around all axis"); + mavlink_log_info(mavlink_fd, "Turn on all sides: front/back,left/right,up/down"); calibration_counter = 0; diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index f8589d24b..465f9cdc5 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -182,12 +182,19 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s // Fail transition if power levels on the avionics rail // are measured but are insufficient - if (status->condition_power_input_valid && ((status->avionics_power_rail_voltage > 0.0f) && - (status->avionics_power_rail_voltage < 4.9f))) { - - mavlink_log_critical(mavlink_fd, "NOT ARMING: Avionics power low: %6.2f V.", (double)status->avionics_power_rail_voltage); - feedback_provided = true; - valid_transition = false; + if (status->condition_power_input_valid && (status->avionics_power_rail_voltage > 0.0f)) { + // Check avionics rail voltages + if (status->avionics_power_rail_voltage < 4.75f) { + mavlink_log_critical(mavlink_fd, "NOT ARMING: Avionics power low: %6.2f Volt", (double)status->avionics_power_rail_voltage); + feedback_provided = true; + valid_transition = false; + } else if (status->avionics_power_rail_voltage < 4.9f) { + mavlink_log_critical(mavlink_fd, "CAUTION: Avionics power low: %6.2f Volt", (double)status->avionics_power_rail_voltage); + feedback_provided = true; + } else if (status->avionics_power_rail_voltage > 5.4f) { + mavlink_log_critical(mavlink_fd, "CAUTION: Avionics power high: %6.2f Volt", (double)status->avionics_power_rail_voltage); + feedback_provided = true; + } } } @@ -436,7 +443,8 @@ transition_result_t hil_state_transition(hil_state_t new_state, int status_pub, /** * Check failsafe and main status and set navigation status for navigator accordingly */ -bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_enabled, const bool mission_finished) +bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_enabled, const bool mission_finished, + const bool stay_in_failsafe) { navigation_state_t nav_state_old = status->nav_state; @@ -450,11 +458,11 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en case MAIN_STATE_ALTCTL: case MAIN_STATE_POSCTL: /* require RC for all manual modes */ - if (status->rc_signal_lost && armed) { + if ((status->rc_signal_lost || status->rc_signal_lost_cmd) && armed) { status->failsafe = true; if (status->condition_global_position_valid && status->condition_home_position_valid) { - status->nav_state = NAVIGATION_STATE_AUTO_RTL; + status->nav_state = NAVIGATION_STATE_AUTO_RCRECOVER; } else if (status->condition_local_position_valid) { status->nav_state = NAVIGATION_STATE_LAND; } else if (status->condition_local_altitude_valid) { @@ -489,15 +497,35 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en break; case MAIN_STATE_AUTO_MISSION: + /* go into failsafe - * - if either the datalink is enabled and lost as well as RC is lost - * - if there is no datalink and the mission is finished */ - if (((status->data_link_lost && data_link_loss_enabled) && status->rc_signal_lost) || - (!data_link_loss_enabled && status->rc_signal_lost && mission_finished)) { + * - if commanded to do so + * - if we have an engine failure + * - depending on datalink, RC and if the mission is finished */ + + /* first look at the commands */ + if (status->engine_failure_cmd) { + status->nav_state = NAVIGATION_STATE_AUTO_LANDENGFAIL; + } else if (status->data_link_lost_cmd) { + status->nav_state = NAVIGATION_STATE_AUTO_RTGS; + } else if (status->gps_failure_cmd) { + status->nav_state = NAVIGATION_STATE_AUTO_LANDGPSFAIL; + } else if (status->rc_signal_lost_cmd) { + status->nav_state = NAVIGATION_STATE_AUTO_RCRECOVER; + + /* finished handling commands which have priority, now handle failures */ + } else if (status->gps_failure) { + status->nav_state = NAVIGATION_STATE_AUTO_LANDGPSFAIL; + } else if (status->engine_failure) { + status->nav_state = NAVIGATION_STATE_AUTO_LANDENGFAIL; + + /* datalink loss enabled: + * check for datalink lost: this should always trigger RTGS */ + } else if (data_link_loss_enabled && status->data_link_lost) { status->failsafe = true; if (status->condition_global_position_valid && status->condition_home_position_valid) { - status->nav_state = NAVIGATION_STATE_AUTO_RTL; + status->nav_state = NAVIGATION_STATE_AUTO_RTGS; } else if (status->condition_local_position_valid) { status->nav_state = NAVIGATION_STATE_LAND; } else if (status->condition_local_altitude_valid) { @@ -506,12 +534,15 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en status->nav_state = NAVIGATION_STATE_TERMINATION; } - /* also go into failsafe if just datalink is lost */ - } else if (status->data_link_lost && data_link_loss_enabled) { + /* datalink loss disabled: + * check if both, RC and datalink are lost during the mission + * or RC is lost after the mission is finished: this should always trigger RCRECOVER */ + } else if (!data_link_loss_enabled && ((status->rc_signal_lost && status->data_link_lost) || + (status->rc_signal_lost && mission_finished))) { status->failsafe = true; if (status->condition_global_position_valid && status->condition_home_position_valid) { - status->nav_state = NAVIGATION_STATE_AUTO_RTGS; + status->nav_state = NAVIGATION_STATE_AUTO_RCRECOVER; } else if (status->condition_local_position_valid) { status->nav_state = NAVIGATION_STATE_LAND; } else if (status->condition_local_altitude_valid) { @@ -520,32 +551,16 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en status->nav_state = NAVIGATION_STATE_TERMINATION; } - /* don't bother if RC is lost and mission is not yet finished */ - } else if (status->rc_signal_lost) { - - /* this mode is ok, we don't need RC for missions */ - status->nav_state = NAVIGATION_STATE_AUTO_MISSION; - } else { - /* everything is perfect */ + /* stay where you are if you should stay in failsafe, otherwise everything is perfect */ + } else if (!stay_in_failsafe){ status->nav_state = NAVIGATION_STATE_AUTO_MISSION; } break; case MAIN_STATE_AUTO_LOITER: - /* go into failsafe if datalink and RC is lost */ - if ((status->data_link_lost && data_link_loss_enabled) && status->rc_signal_lost) { - status->failsafe = true; - - if (status->condition_global_position_valid && status->condition_home_position_valid) { - status->nav_state = NAVIGATION_STATE_AUTO_RTL; - } else if (status->condition_local_position_valid) { - status->nav_state = NAVIGATION_STATE_LAND; - } else if (status->condition_local_altitude_valid) { - status->nav_state = NAVIGATION_STATE_DESCEND; - } else { - status->nav_state = NAVIGATION_STATE_TERMINATION; - } - + /* go into failsafe on a engine failure */ + if (status->engine_failure) { + status->nav_state = NAVIGATION_STATE_AUTO_LANDENGFAIL; /* also go into failsafe if just datalink is lost */ } else if (status->data_link_lost && data_link_loss_enabled) { status->failsafe = true; @@ -586,8 +601,12 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en break; case MAIN_STATE_AUTO_RTL: - /* require global position and home */ - if ((!status->condition_global_position_valid || !status->condition_home_position_valid)) { + /* require global position and home, also go into failsafe on an engine failure */ + + if (status->engine_failure) { + status->nav_state = NAVIGATION_STATE_AUTO_LANDENGFAIL; + } else if ((!status->condition_global_position_valid || + !status->condition_home_position_valid)) { status->failsafe = true; if (status->condition_local_position_valid) { @@ -687,7 +706,7 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd) } if (fabsf(airspeed.indicated_airspeed_m_s > 6.0f)) { - mavlink_log_critical(mavlink_fd, "AIRSPEED WARNING: WIND OR CALIBRATION MISSING"); + mavlink_log_critical(mavlink_fd, "AIRSPEED WARNING: WIND OR CALIBRATION ISSUE"); // XXX do not make this fatal yet } } diff --git a/src/modules/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h index 69ce8bbce..61d0f29d0 100644 --- a/src/modules/commander/state_machine_helper.h +++ b/src/modules/commander/state_machine_helper.h @@ -63,7 +63,7 @@ transition_result_t main_state_transition(struct vehicle_status_s *current_state transition_result_t hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_status_s *current_state, const int mavlink_fd); -bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_enabled, const bool mission_finished); +bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_enabled, const bool mission_finished, const bool stay_in_failsafe); int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd); diff --git a/src/modules/controllib/module.mk b/src/modules/controllib/module.mk index f0139a4b7..2860d1efc 100644 --- a/src/modules/controllib/module.mk +++ b/src/modules/controllib/module.mk @@ -39,3 +39,5 @@ SRCS = test_params.c \ block/BlockParam.cpp \ uorb/blocks.cpp \ blocks.cpp + +MAXOPTIMIZATION = -Os diff --git a/src/modules/dataman/dataman.c b/src/modules/dataman/dataman.c index ca1fe9bbb..705e54be3 100644 --- a/src/modules/dataman/dataman.c +++ b/src/modules/dataman/dataman.c @@ -629,9 +629,6 @@ task_main(int argc, char *argv[]) { work_q_item_t *work; - /* inform about start */ - warnx("Initializing.."); - /* Initialize global variables */ g_key_offsets[0] = 0; @@ -694,16 +691,15 @@ task_main(int argc, char *argv[]) if (sys_restart_val == DM_INIT_REASON_POWER_ON) { warnx("Power on restart"); _restart(DM_INIT_REASON_POWER_ON); - } - else if (sys_restart_val == DM_INIT_REASON_IN_FLIGHT) { + } else if (sys_restart_val == DM_INIT_REASON_IN_FLIGHT) { warnx("In flight restart"); _restart(DM_INIT_REASON_IN_FLIGHT); - } - else + } else { warnx("Unknown restart"); - } - else + } + } else { warnx("Unknown restart"); + } /* We use two file descriptors, one for the caller context and one for the worker thread */ /* They are actually the same but we need to some way to reject caller request while the */ @@ -797,7 +793,7 @@ start(void) sem_init(&g_init_sema, 1, 0); /* start the worker thread */ - if ((task = task_spawn_cmd("dataman", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 2000, task_main, NULL)) <= 0) { + if ((task = task_spawn_cmd("dataman", SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT, 2000, task_main, NULL)) <= 0) { warn("task start failed"); return -1; } diff --git a/src/modules/dataman/module.mk b/src/modules/dataman/module.mk index 234607b3d..7ebe09fb7 100644 --- a/src/modules/dataman/module.mk +++ b/src/modules/dataman/module.mk @@ -40,3 +40,5 @@ MODULE_COMMAND = dataman SRCS = dataman.c MODULE_STACKSIZE = 1200 + +MAXOPTIMIZATION = -Os diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp index 91d17e787..e7805daa9 100644 --- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp +++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp @@ -58,6 +58,7 @@ #include <drivers/drv_accel.h> #include <drivers/drv_mag.h> #include <drivers/drv_baro.h> +#include <drivers/drv_range_finder.h> #ifdef SENSOR_COMBINED_SUB #include <uORB/topics/sensor_combined.h> #endif @@ -96,7 +97,10 @@ extern "C" __EXPORT int ekf_att_pos_estimator_main(int argc, char *argv[]); __EXPORT uint32_t millis(); +__EXPORT uint64_t getMicros(); + static uint64_t IMUmsec = 0; +static uint64_t IMUusec = 0; static const uint64_t FILTER_INIT_DELAY = 1 * 1000 * 1000; uint32_t millis() @@ -104,6 +108,11 @@ uint32_t millis() return IMUmsec; } +uint64_t getMicros() +{ + return IMUusec; +} + class FixedwingEstimator { public: @@ -171,6 +180,7 @@ private: #else int _sensor_combined_sub; #endif + int _distance_sub; /**< distance measurement */ int _airspeed_sub; /**< airspeed subscription */ int _baro_sub; /**< barometer subscription */ int _gps_sub; /**< GPS subscription */ @@ -196,7 +206,8 @@ private: struct vehicle_global_position_s _global_pos; /**< global vehicle position */ struct vehicle_local_position_s _local_pos; /**< local vehicle position */ struct vehicle_gps_position_s _gps; /**< GPS position */ - struct wind_estimate_s _wind; /**< Wind estimate */ + struct wind_estimate_s _wind; /**< wind estimate */ + struct range_finder_report _distance; /**< distance estimate */ struct gyro_scale _gyro_offsets; struct accel_scale _accel_offsets; @@ -226,6 +237,7 @@ private: hrt_abstime _filter_start_time; hrt_abstime _last_sensor_timestamp; hrt_abstime _last_run; + hrt_abstime _distance_last_valid; bool _gyro_valid; bool _accel_valid; bool _mag_valid; @@ -342,6 +354,7 @@ FixedwingEstimator::FixedwingEstimator() : #else _sensor_combined_sub(-1), #endif + _distance_sub(-1), _airspeed_sub(-1), _baro_sub(-1), _gps_sub(-1), @@ -369,6 +382,7 @@ FixedwingEstimator::FixedwingEstimator() : _local_pos({}), _gps({}), _wind({}), + _distance{}, _gyro_offsets({}), _accel_offsets({}), @@ -399,6 +413,7 @@ FixedwingEstimator::FixedwingEstimator() : _filter_start_time(0), _last_sensor_timestamp(0), _last_run(0), + _distance_last_valid(0), _gyro_valid(false), _accel_valid(false), _mag_valid(false), @@ -549,6 +564,7 @@ FixedwingEstimator::parameters_update() _ekf->gyroProcessNoise = _parameters.gyro_pnoise; _ekf->accelProcessNoise = _parameters.acc_pnoise; _ekf->airspeedMeasurementSigma = _parameters.eas_noise; + _ekf->rngFinderPitch = 0.0f; // XXX base on SENS_BOARD_Y_OFF } return OK; @@ -581,12 +597,12 @@ FixedwingEstimator::check_filter_state() const char* const feedback[] = { 0, "NaN in states, resetting", - "stale IMU data, resetting", + "stale sensor data, resetting", "got initial position lock", "excessive gyro offsets", - "GPS velocity divergence", + "velocity diverted, check accel config", "excessive covariances", - "unknown condition"}; + "unknown condition, resetting"}; // Print out error condition if (check) { @@ -597,8 +613,11 @@ FixedwingEstimator::check_filter_state() warn_index = max_warn_index; } - warnx("reset: %s", feedback[warn_index]); - mavlink_log_critical(_mavlink_fd, "[ekf] re-init: %s", feedback[warn_index]); + // Do not warn about accel offset if we have no position updates + if (!(warn_index == 5 && _ekf->staticMode)) { + warnx("reset: %s", feedback[warn_index]); + mavlink_log_critical(_mavlink_fd, "[ekf check] %s", feedback[warn_index]); + } } struct estimator_status_report rep; @@ -704,6 +723,7 @@ FixedwingEstimator::task_main() /* * do subscriptions */ + _distance_sub = orb_subscribe(ORB_ID(sensor_range_finder)); _baro_sub = orb_subscribe(ORB_ID(sensor_baro0)); _airspeed_sub = orb_subscribe(ORB_ID(airspeed)); _gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); @@ -753,6 +773,7 @@ FixedwingEstimator::task_main() bool newHgtData = false; bool newAdsData = false; bool newDataMag = false; + bool newRangeData = false; float posNED[3] = {0.0f, 0.0f, 0.0f}; // North, East Down position (m) @@ -765,7 +786,7 @@ FixedwingEstimator::task_main() while (!_task_should_exit) { - /* wait for up to 500ms for data */ + /* wait for up to 100ms for data */ int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100); /* timed out - periodic check for _task_should_exit, etc. */ @@ -850,7 +871,8 @@ FixedwingEstimator::task_main() } _last_sensor_timestamp = _gyro.timestamp; - IMUmsec = _gyro.timestamp / 1e3f; + IMUmsec = _gyro.timestamp / 1e3; + IMUusec = _gyro.timestamp; float deltaT = (_gyro.timestamp - _last_run) / 1e6f; _last_run = _gyro.timestamp; @@ -914,7 +936,8 @@ FixedwingEstimator::task_main() // Copy gyro and accel _last_sensor_timestamp = _sensor_combined.timestamp; - IMUmsec = _sensor_combined.timestamp / 1e3f; + IMUmsec = _sensor_combined.timestamp / 1e3; + IMUusec = _sensor_combined.timestamp; float deltaT = (_sensor_combined.timestamp - _last_run) / 1e6f; @@ -994,8 +1017,6 @@ FixedwingEstimator::task_main() if (gps_updated) { - last_gps = _gps.timestamp_position; - orb_copy(ORB_ID(vehicle_gps_position), _gps_sub, &_gps); perf_count(_perf_gps); @@ -1008,11 +1029,17 @@ FixedwingEstimator::task_main() _gps_start_time = hrt_absolute_time(); /* check if we had a GPS outage for a long time */ - if (hrt_elapsed_time(&last_gps) > 5 * 1000 * 1000) { + float gps_elapsed = hrt_elapsed_time(&last_gps) / 1e6f; + + const float pos_reset_threshold = 5.0f; // seconds + + /* timeout of 5 seconds */ + if (gps_elapsed > pos_reset_threshold) { _ekf->ResetPosition(); _ekf->ResetVelocity(); _ekf->ResetStoredStates(); } + _ekf->updateDtGpsFilt(math::constrain((_gps.timestamp_position - last_gps) / 1e6f, 0.01f, pos_reset_threshold)); /* fuse GPS updates */ @@ -1044,6 +1071,8 @@ FixedwingEstimator::task_main() newDataGps = true; + last_gps = _gps.timestamp_position; + } } @@ -1052,8 +1081,15 @@ FixedwingEstimator::task_main() orb_check(_baro_sub, &baro_updated); if (baro_updated) { + + hrt_abstime baro_last = _baro.timestamp; + orb_copy(ORB_ID(sensor_baro0), _baro_sub, &_baro); + float baro_elapsed = (_baro.timestamp - baro_last) / 1e6f; + + _ekf->updateDtHgtFilt(math::constrain(baro_elapsed, 0.001f, 0.1f)); + _ekf->baroHgt = _baro.altitude; if (!_baro_init) { @@ -1114,6 +1150,19 @@ FixedwingEstimator::task_main() newDataMag = false; } + orb_check(_distance_sub, &newRangeData); + + if (newRangeData) { + orb_copy(ORB_ID(sensor_range_finder), _distance_sub, &_distance); + + if (_distance.valid) { + _ekf->rngMea = _distance.distance; + _distance_last_valid = _distance.timestamp; + } else { + newRangeData = false; + } + } + /* * CHECK IF ITS THE RIGHT TIME TO RUN THINGS ALREADY */ @@ -1197,6 +1246,7 @@ FixedwingEstimator::task_main() } else if (_ekf->statesInitialised) { // We're apparently initialized in this case now + // check (and reset the filter as needed) int check = check_filter_state(); if (check) { @@ -1206,21 +1256,7 @@ FixedwingEstimator::task_main() // Run the strapdown INS equations every IMU update _ekf->UpdateStrapdownEquationsNED(); - #if 0 - // debug code - could be tunred into a filter mnitoring/watchdog function - float tempQuat[4]; - - for (uint8_t j = 0; j <= 3; j++) tempQuat[j] = states[j]; - - quat2eul(eulerEst, tempQuat); - for (uint8_t j = 0; j <= 2; j++) eulerDif[j] = eulerEst[j] - ahrsEul[j]; - - if (eulerDif[2] > pi) eulerDif[2] -= 2 * pi; - - if (eulerDif[2] < -pi) eulerDif[2] += 2 * pi; - - #endif // store the predicted states for subsequent use by measurement fusion _ekf->StoreStates(IMUmsec); // Check if on ground - status is used by covariance prediction @@ -1334,6 +1370,13 @@ FixedwingEstimator::task_main() _ekf->fuseVtasData = false; } + if (newRangeData) { + _ekf->fuseRngData = true; + _ekf->useRangeFinder = true; + _ekf->RecallStates(_ekf->statesAtRngTime, (IMUmsec - 100.0f)); + _ekf->GroundEKF(); + } + // Output results math::Quaternion q(_ekf->states[0], _ekf->states[1], _ekf->states[2], _ekf->states[3]); @@ -1447,6 +1490,10 @@ FixedwingEstimator::task_main() _global_pos.vel_d = _local_pos.vz; } + /* terrain altitude */ + _global_pos.terrain_alt = _ekf->hgtRef - _ekf->flowStates[1]; + _global_pos.terrain_alt_valid = (_distance_last_valid > 0) && + (hrt_elapsed_time(&_distance_last_valid) < 20 * 1000 * 1000); _global_pos.yaw = _local_pos.yaw; @@ -1467,8 +1514,10 @@ FixedwingEstimator::task_main() if (hrt_elapsed_time(&_wind.timestamp) > 99000) { _wind.timestamp = _global_pos.timestamp; - _wind.windspeed_north = _ekf->states[14]; - _wind.windspeed_east = _ekf->states[15]; + _wind.windspeed_north = _ekf->windSpdFiltNorth; + _wind.windspeed_east = _ekf->windSpdFiltEast; + // XXX we need to do something smart about the covariance here + // but we default to the estimate covariance for now _wind.covariance_north = _ekf->P[14][14]; _wind.covariance_east = _ekf->P[15][15]; @@ -1511,7 +1560,7 @@ FixedwingEstimator::start() _estimator_task = task_spawn_cmd("ekf_att_pos_estimator", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 40, - 5000, + 7500, (main_t)&FixedwingEstimator::task_main_trampoline, nullptr); diff --git a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp index c7c7305b2..c17e034ad 100644 --- a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp +++ b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp @@ -2,6 +2,11 @@ #include <string.h> #include <stdio.h> #include <stdarg.h> +#include <math.h> + +#ifndef M_PI_F +#define M_PI_F ((float)M_PI) +#endif #define EKF_COVARIANCE_DIVERGED 1.0e8f @@ -38,13 +43,14 @@ AttPosEKF::AttPosEKF() : resetStates{}, storedStates{}, statetimeStamp{}, + lastVelPosFusion(millis()), statesAtVelTime{}, statesAtPosTime{}, statesAtHgtTime{}, statesAtMagMeasTime{}, statesAtVtasMeasTime{}, statesAtRngTime{}, - statesAtOptFlowTime{}, + statesAtFlowTime{}, correctedDelAng(), correctedDelVel(), summedDelAng(), @@ -59,7 +65,16 @@ AttPosEKF::AttPosEKF() : accel(), dVelIMU(), dAngIMU(), - dtIMU(0), + dtIMU(0.005f), + dtIMUfilt(0.005f), + dtVelPos(0.01f), + dtVelPosFilt(0.01f), + dtHgtFilt(0.01f), + dtGpsFilt(0.1f), + windSpdFiltNorth(0.0f), + windSpdFiltEast(0.0f), + windSpdFiltAltitude(0.0f), + windSpdFiltClimb(0.0f), fusionModeGPS(0), innovVelPos{}, varInnovVelPos{}, @@ -103,13 +118,14 @@ AttPosEKF::AttPosEKF() : inhibitWindStates(true), inhibitMagStates(true), - inhibitGndHgtState(true), + inhibitGndState(true), + inhibitScaleState(true), onGround(true), staticMode(true), useAirspeed(true), useCompass(true), - useRangeFinder(false), + useRangeFinder(true), useOpticalFlow(false), ekfDiverged(false), @@ -117,7 +133,24 @@ AttPosEKF::AttPosEKF() : current_ekf_state{}, last_ekf_error{}, numericalProtection(true), - storeIndex(0) + storeIndex(0), + storedOmega{}, + Popt{}, + flowStates{}, + prevPosN(0.0f), + prevPosE(0.0f), + auxFlowObsInnov{}, + auxFlowObsInnovVar{}, + fScaleFactorVar(0.0f), + Tnb_flow{}, + R_LOS(0.0f), + auxFlowTestRatio{}, + auxRngTestRatio(0.0f), + flowInnovGate(0.0f), + auxFlowInnovGate(0.0f), + rngInnovGate(0.0f), + minFlowRng(0.0f), + moCompR_LOS(0.0f) { memset(&last_ekf_error, 0, sizeof(last_ekf_error)); memset(¤t_ekf_state, 0, sizeof(current_ekf_state)); @@ -260,6 +293,9 @@ void AttPosEKF::UpdateStrapdownEquationsNED() // Constrain states (to protect against filter divergence) ConstrainStates(); + + // update filtered IMU time step length + dtIMUfilt = 0.99f * dtIMUfilt + 0.01f * dtIMU; } void AttPosEKF::CovariancePrediction(float dt) @@ -312,7 +348,7 @@ void AttPosEKF::CovariancePrediction(float dt) } else { for (uint8_t i=16; i<=21; i++) processNoise[i] = 0; } - if (!inhibitGndHgtState) { + if (!inhibitGndState) { processNoise[22] = dt * sqrtf(sq(states[4]) + sq(states[5])) * gndHgtSigma; } else { processNoise[22] = 0; @@ -962,6 +998,21 @@ void AttPosEKF::CovariancePrediction(float dt) ConstrainVariances(); } +void AttPosEKF::updateDtGpsFilt(float dt) +{ + dtGpsFilt = ConstrainFloat(dt, 0.001f, 2.0f) * 0.05f + dtGpsFilt * 0.95f; +} + +void AttPosEKF::updateDtHgtFilt(float dt) +{ + dtHgtFilt = ConstrainFloat(dt, 0.001f, 2.0f) * 0.05f + dtHgtFilt * 0.95f; +} + +void AttPosEKF::updateDtVelPosFilt(float dt) +{ + dtVelPosFilt = ConstrainFloat(dt, 0.0005f, 2.0f) * 0.05f + dtVelPosFilt * 0.95f; +} + void AttPosEKF::FuseVelposNED() { @@ -998,6 +1049,18 @@ void AttPosEKF::FuseVelposNED() // associated with sequential fusion if (fuseVelData || fusePosData || fuseHgtData) { + uint64_t tNow = getMicros(); + updateDtVelPosFilt((tNow - lastVelPosFusion) / 1e6f); + lastVelPosFusion = tNow; + + // scaler according to the number of repetitions of the + // same measurement in one fusion step + float gpsVarianceScaler = dtGpsFilt / dtVelPosFilt; + + // scaler according to the number of repetitions of the + // same measurement in one fusion step + float hgtVarianceScaler = dtHgtFilt / dtVelPosFilt; + // set the GPS data timeout depending on whether airspeed data is present if (useAirspeed) horizRetryTime = gpsRetryTime; else horizRetryTime = gpsRetryTimeNoTAS; @@ -1010,12 +1073,12 @@ void AttPosEKF::FuseVelposNED() // Estimate the GPS Velocity, GPS horiz position and height measurement variances. velErr = 0.2f*accNavMag; // additional error in GPS velocities caused by manoeuvring posErr = 0.2f*accNavMag; // additional error in GPS position caused by manoeuvring - R_OBS[0] = sq(vneSigma) + sq(velErr); + R_OBS[0] = gpsVarianceScaler * sq(vneSigma) + sq(velErr); R_OBS[1] = R_OBS[0]; - R_OBS[2] = sq(vdSigma) + sq(velErr); - R_OBS[3] = sq(posNeSigma) + sq(posErr); + R_OBS[2] = gpsVarianceScaler * sq(vdSigma) + sq(velErr); + R_OBS[3] = gpsVarianceScaler * sq(posNeSigma) + sq(posErr); R_OBS[4] = R_OBS[3]; - R_OBS[5] = sq(posDSigma) + sq(posErr); + R_OBS[5] = hgtVarianceScaler * sq(posDSigma) + sq(posErr); // calculate innovations and check GPS data validity using an innovation consistency check if (fuseVelData) @@ -1173,7 +1236,7 @@ void AttPosEKF::FuseVelposNED() } } // Don't update terrain state if inhibited - if (inhibitGndHgtState) { + if (inhibitGndState) { Kfusion[22] = 0; } @@ -1356,7 +1419,7 @@ void AttPosEKF::FuseMagnetometer() Kfusion[i] = 0; } } - if (!inhibitGndHgtState) { + if (!inhibitGndState) { Kfusion[22] = SK_MX[0]*(P[22][19] + P[22][1]*SH_MAG[0] + P[22][3]*SH_MAG[2] + P[22][0]*SK_MX[3] - P[22][2]*SK_MX[2] - P[22][16]*SK_MX[1] + P[22][17]*SK_MX[5] - P[22][18]*SK_MX[4]); } else { Kfusion[22] = 0; @@ -1430,11 +1493,6 @@ void AttPosEKF::FuseMagnetometer() Kfusion[20] = 0; Kfusion[21] = 0; } - if (!inhibitGndHgtState) { - Kfusion[22] = SK_MY[0]*(P[22][20] + P[22][0]*SH_MAG[2] + P[22][1]*SH_MAG[1] + P[22][2]*SH_MAG[0] - P[22][3]*SK_MY[2] - P[22][17]*SK_MY[1] - P[22][16]*SK_MY[3] + P[22][18]*SK_MY[4]); - } else { - Kfusion[22] = 0; - } varInnovMag[1] = 1.0f/SK_MY[0]; innovMag[1] = MagPred[1] - magData.y; } @@ -1505,11 +1563,6 @@ void AttPosEKF::FuseMagnetometer() Kfusion[20] = 0; Kfusion[21] = 0; } - if (!inhibitGndHgtState) { - Kfusion[22] = SK_MZ[0]*(P[22][21] + P[22][0]*SH_MAG[1] + P[22][3]*SH_MAG[0] - P[22][1]*SK_MZ[2] + P[22][2]*SK_MZ[3] + P[22][18]*SK_MZ[1] + P[22][16]*SK_MZ[5] - P[22][17]*SK_MZ[4]); - } else { - Kfusion[22] = 0; - } varInnovMag[2] = 1.0f/SK_MZ[0]; innovMag[2] = MagPred[2] - magData.z; @@ -1616,6 +1669,32 @@ void AttPosEKF::FuseAirspeed() // Perform fusion of True Airspeed measurement if (useAirspeed && fuseVtasData && (VtasPred > 1.0f) && (VtasMeas > 8.0f)) { + + float altDiff = fabsf(windSpdFiltAltitude - hgtMea); + + if (isfinite(windSpdFiltClimb)) { + windSpdFiltClimb = ((1.0f - 0.0002f) * windSpdFiltClimb) + (0.0002f * states[6]); + } else { + windSpdFiltClimb = states[6]; + } + + if (altDiff < 20.0f) { + // Lowpass the output of the wind estimate - we want a long-term + // stable estimate, but not start to load into the overall dynamics + // of the system (which adjusting covariances would do) + + // Change filter coefficient based on altitude change rate + float windFiltCoeff = ConstrainFloat(fabsf(windSpdFiltClimb) / 1000.0f, 0.00005f, 0.2f); + + windSpdFiltNorth = ((1.0f - windFiltCoeff) * windSpdFiltNorth) + (windFiltCoeff * vwn); + windSpdFiltEast = ((1.0f - windFiltCoeff) * windSpdFiltEast) + (windFiltCoeff * vwe); + } else { + windSpdFiltNorth = vwn; + windSpdFiltEast = vwe; + } + + windSpdFiltAltitude = hgtMea; + // Calculate observation jacobians SH_TAS[0] = 1/(sqrt(sq(ve - vwe) + sq(vn - vwn) + sq(vd))); SH_TAS[1] = (SH_TAS[0]*(2.0f*ve - 2*vwe))/2.0f; @@ -1675,11 +1754,6 @@ void AttPosEKF::FuseAirspeed() Kfusion[i] = 0; } } - if (!inhibitGndHgtState) { - Kfusion[22] = SK_TAS*(P[22][4]*SH_TAS[2] - P[22][14]*SH_TAS[2] + P[22][5]*SH_TAS[1] - P[22][15]*SH_TAS[1] + P[22][6]*vd*SH_TAS[0]); - } else { - Kfusion[22] = 0; - } varInnovVtas = 1.0f/SK_TAS; // Calculate the measurement innovation @@ -1811,8 +1885,11 @@ void AttPosEKF::FuseRangeFinder() rngPred = (ptd - pd)/cosRngTilt; innovRng = rngPred - rngMea; - // Check the innovation for consistency and don't fuse if > 5Sigma - if ((innovRng*innovRng*SK_RNG[0]) < 25) + // calculate the innovation consistency test ratio + auxRngTestRatio = sq(innovRng) / (sq(rngInnovGate) * varInnovRng); + + // Check the innovation for consistency and don't fuse if out of bounds + if (auxRngTestRatio < 1.0f) { // correct the state vector states[22] = states[22] - Kfusion[22] * innovRng; @@ -1827,285 +1904,387 @@ void AttPosEKF::FuseRangeFinder() void AttPosEKF::FuseOptFlow() { - static uint8_t obsIndex; - static float SH_LOS[13]; - static float SKK_LOS[15]; - static float SK_LOS[2]; - static float q0 = 0.0f; - static float q1 = 0.0f; - static float q2 = 0.0f; - static float q3 = 1.0f; - static float vn = 0.0f; - static float ve = 0.0f; - static float vd = 0.0f; - static float pd = 0.0f; - static float ptd = 0.0f; - static float R_LOS = 0.01f; - static float losPred[2]; - - // Transformation matrix from nav to body axes - Mat3f Tnb_local; - // Transformation matrix from body to sensor axes - // assume camera is aligned with Z body axis plus a misalignment - // defined by 3 small angles about X, Y and Z body axis - Mat3f Tbs; - Tbs.x.y = a3; - Tbs.y.x = -a3; - Tbs.x.z = -a2; - Tbs.z.x = a2; - Tbs.y.z = a1; - Tbs.z.y = -a1; - // Transformation matrix from navigation to sensor axes - Mat3f Tns; - float H_LOS[n_states]; - for (uint8_t i = 0; i < n_states; i++) { - H_LOS[i] = 0.0f; - } - Vector3f velNED_local; - Vector3f relVelSensor; +// static uint8_t obsIndex; +// static float SH_LOS[13]; +// static float SKK_LOS[15]; +// static float SK_LOS[2]; +// static float q0 = 0.0f; +// static float q1 = 0.0f; +// static float q2 = 0.0f; +// static float q3 = 1.0f; +// static float vn = 0.0f; +// static float ve = 0.0f; +// static float vd = 0.0f; +// static float pd = 0.0f; +// static float ptd = 0.0f; +// static float R_LOS = 0.01f; +// static float losPred[2]; + +// // Transformation matrix from nav to body axes +// Mat3f Tnb_local; +// // Transformation matrix from body to sensor axes +// // assume camera is aligned with Z body axis plus a misalignment +// // defined by 3 small angles about X, Y and Z body axis +// Mat3f Tbs; +// Tbs.x.y = a3; +// Tbs.y.x = -a3; +// Tbs.x.z = -a2; +// Tbs.z.x = a2; +// Tbs.y.z = a1; +// Tbs.z.y = -a1; +// // Transformation matrix from navigation to sensor axes +// Mat3f Tns; +// float H_LOS[n_states]; +// for (uint8_t i = 0; i < n_states; i++) { +// H_LOS[i] = 0.0f; +// } +// Vector3f velNED_local; +// Vector3f relVelSensor; + +// // Perform sequential fusion of optical flow measurements only when in the air and tilt is less than 30 deg. +// if (useOpticalFlow && (fuseOptFlowData || obsIndex == 1) && !onGround && Tbs.z.z > 0.866f && rngMea > 5.0f && rngMea < 39.0f) +// { +// // Sequential fusion of XY components to spread processing load across +// // two prediction time steps. + +// // Calculate observation jacobians and Kalman gains +// if (fuseOptFlowData) +// { +// // Copy required states to local variable names +// q0 = statesAtOptFlowTime[0]; +// q1 = statesAtOptFlowTime[1]; +// q2 = statesAtOptFlowTime[2]; +// q3 = statesAtOptFlowTime[3]; +// vn = statesAtOptFlowTime[4]; +// ve = statesAtOptFlowTime[5]; +// vd = statesAtOptFlowTime[6]; +// pd = statesAtOptFlowTime[9]; +// ptd = statesAtOptFlowTime[22]; +// velNED_local.x = vn; +// velNED_local.y = ve; +// velNED_local.z = vd; + +// // calculate rotation from NED to body axes +// float q00 = sq(q0); +// float q11 = sq(q1); +// float q22 = sq(q2); +// float q33 = sq(q3); +// float q01 = q0 * q1; +// float q02 = q0 * q2; +// float q03 = q0 * q3; +// float q12 = q1 * q2; +// float q13 = q1 * q3; +// float q23 = q2 * q3; +// Tnb_local.x.x = q00 + q11 - q22 - q33; +// Tnb_local.y.y = q00 - q11 + q22 - q33; +// Tnb_local.z.z = q00 - q11 - q22 + q33; +// Tnb_local.y.x = 2*(q12 - q03); +// Tnb_local.z.x = 2*(q13 + q02); +// Tnb_local.x.y = 2*(q12 + q03); +// Tnb_local.z.y = 2*(q23 - q01); +// Tnb_local.x.z = 2*(q13 - q02); +// Tnb_local.y.z = 2*(q23 + q01); + +// // calculate transformation from NED to sensor axes +// Tns = Tbs*Tnb_local; + +// // calculate range from ground plain to centre of sensor fov assuming flat earth +// float range = ConstrainFloat(((ptd - pd)/Tns.z.z),0.5f,100.0f); + +// // calculate relative velocity in sensor frame +// relVelSensor = Tns*velNED_local; + +// // divide velocity by range and include angular rate effects to get predicted angular LOS rates relative to X and Y axes +// losPred[0] = relVelSensor.y/range; +// losPred[1] = -relVelSensor.x/range; + +// //printf("relVelSensor.x=%5.1f, relVelSensor.y=%5.1f\n", relVelSensor.x, relVelSensor.y); +// //printf("Xpred=%5.2f, Xmea=%5.2f, Ypred=%5.2f, Ymea=%5.2f, delAng.x=%4.4f, delAng.y=%4.4f\n", losPred[0], losData[0], losPred[1], losData[1], delAng.x, delAng.y); +// //printf("omegaX=%5.2f, omegaY=%5.2f, velY=%5.1f velX=%5.1f\n, range=%5.1f\n", delAngRel.x/dt, delAngRel.y/dt, relVelSensor.y, relVelSensor.x, range); + +// // Calculate observation jacobians +// SH_LOS[0] = a1*(2*q0*q1 + 2*q2*q3) + a2*(2*q0*q2 - 2*q1*q3) - sq(q0) + sq(q1) + sq(q2) - sq(q3); +// SH_LOS[1] = vd*(a2*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + 2*q0*q2 - 2*q1*q3 - a3*(2*q0*q1 + 2*q2*q3)) - ve*(a3*(sq(q0) - sq(q1) + sq(q2) - sq(q3)) + 2*q0*q3 + 2*q1*q2 + a2*(2*q0*q1 - 2*q2*q3)) + vn*(a2*(2*q0*q2 + 2*q1*q3) + a3*(2*q0*q3 - 2*q1*q2) - sq(q0) - sq(q1) + sq(q2) + sq(q3)); +// SH_LOS[2] = ve*(a1*(2*q0*q1 - 2*q2*q3) + a3*(2*q0*q3 + 2*q1*q2) - sq(q0) + sq(q1) - sq(q2) + sq(q3)) - vd*(a1*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + 2*q0*q1 + 2*q2*q3 + a3*(2*q0*q2 - 2*q1*q3)) + vn*(a3*(sq(q0) + sq(q1) - sq(q2) - sq(q3)) + 2*q0*q3 - 2*q1*q2 - a1*(2*q0*q2 + 2*q1*q3)); +// SH_LOS[3] = 1/(pd - ptd); +// SH_LOS[4] = 2*q1 - 2*a2*q3 + 2*a3*q2; +// SH_LOS[5] = 2*a2*q2 - 2*q0 + 2*a3*q3; +// SH_LOS[6] = 2*q2 + 2*a2*q0 - 2*a3*q1; +// SH_LOS[7] = 1/sq(pd - ptd); +// SH_LOS[8] = 2*q2 + 2*a1*q3 - 2*a3*q1; +// SH_LOS[9] = 2*q3 - 2*a1*q2 + 2*a3*q0; +// SH_LOS[10] = 2*a1*q1 - 2*q0 + 2*a3*q3; +// SH_LOS[11] = 2*q3 + 2*a2*q1 + 2*a3*q0; +// SH_LOS[12] = 2*q1 + 2*a1*q0 + 2*a3*q2; + +// for (uint8_t i = 0; i < n_states; i++) H_LOS[i] = 0; +// H_LOS[0] = - SH_LOS[2]*SH_LOS[3]*(2*a1*q1 - 2*q0 + 2*a2*q2) - SH_LOS[0]*SH_LOS[3]*(ve*SH_LOS[10] - vd*SH_LOS[12] + vn*SH_LOS[9]); +// H_LOS[1] = - SH_LOS[2]*SH_LOS[3]*(2*q1 + 2*a1*q0 - 2*a2*q3) - SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[10] + ve*SH_LOS[12] - vn*SH_LOS[8]); +// H_LOS[2] = SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[9] + ve*SH_LOS[8] + vn*SH_LOS[12]) - SH_LOS[2]*SH_LOS[3]*(2*q2 + 2*a2*q0 + 2*a1*q3); +// H_LOS[3] = SH_LOS[2]*SH_LOS[3]*(2*q3 - 2*a1*q2 + 2*a2*q1) + SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[8] - ve*SH_LOS[9] + vn*SH_LOS[10]); +// H_LOS[4] = -SH_LOS[0]*SH_LOS[3]*(a3*(sq(q0) + sq(q1) - sq(q2) - sq(q3)) + 2*q0*q3 - 2*q1*q2 - a1*(2*q0*q2 + 2*q1*q3)); +// H_LOS[5] = -SH_LOS[0]*SH_LOS[3]*(a1*(2*q0*q1 - 2*q2*q3) + a3*(2*q0*q3 + 2*q1*q2) - sq(q0) + sq(q1) - sq(q2) + sq(q3)); +// H_LOS[6] = SH_LOS[0]*SH_LOS[3]*(a1*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + 2*q0*q1 + 2*q2*q3 + a3*(2*q0*q2 - 2*q1*q3)); +// H_LOS[9] = SH_LOS[0]*SH_LOS[2]*SH_LOS[7]; +// H_LOS[22] = -SH_LOS[0]*SH_LOS[2]*SH_LOS[7]; + +// // Calculate Kalman gain +// SKK_LOS[0] = a2*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + 2*q0*q2 - 2*q1*q3 - a3*(2*q0*q1 + 2*q2*q3); +// SKK_LOS[1] = a3*(sq(q0) - sq(q1) + sq(q2) - sq(q3)) + 2*q0*q3 + 2*q1*q2 + a2*(2*q0*q1 - 2*q2*q3); +// SKK_LOS[2] = a2*(2*q0*q2 + 2*q1*q3) + a3*(2*q0*q3 - 2*q1*q2) - sq(q0) - sq(q1) + sq(q2) + sq(q3); +// SKK_LOS[3] = a1*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + 2*q0*q1 + 2*q2*q3 + a3*(2*q0*q2 - 2*q1*q3); +// SKK_LOS[4] = a1*(2*q0*q1 - 2*q2*q3) + a3*(2*q0*q3 + 2*q1*q2) - sq(q0) + sq(q1) - sq(q2) + sq(q3); +// SKK_LOS[5] = a3*(sq(q0) + sq(q1) - sq(q2) - sq(q3)) + 2*q0*q3 - 2*q1*q2 - a1*(2*q0*q2 + 2*q1*q3); +// SKK_LOS[6] = SH_LOS[2]*SH_LOS[3]*(2*q3 - 2*a1*q2 + 2*a2*q1) + SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[8] - ve*SH_LOS[9] + vn*SH_LOS[10]); +// SKK_LOS[7] = SH_LOS[2]*SH_LOS[3]*(2*q1 + 2*a1*q0 - 2*a2*q3) + SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[10] + ve*SH_LOS[12] - vn*SH_LOS[8]); +// SKK_LOS[8] = SH_LOS[2]*SH_LOS[3]*(2*a1*q1 - 2*q0 + 2*a2*q2) + SH_LOS[0]*SH_LOS[3]*(ve*SH_LOS[10] - vd*SH_LOS[12] + vn*SH_LOS[9]); +// SKK_LOS[9] = SH_LOS[2]*SH_LOS[3]*(2*q2 + 2*a2*q0 + 2*a1*q3) - SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[9] + ve*SH_LOS[8] + vn*SH_LOS[12]); +// SKK_LOS[10] = SH_LOS[1]*SH_LOS[3]*(2*a1*q1 - 2*q0 + 2*a2*q2) + SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[6] - ve*SH_LOS[11] + vn*SH_LOS[5]); +// SKK_LOS[11] = SH_LOS[1]*SH_LOS[3]*(2*q1 + 2*a1*q0 - 2*a2*q3) - SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[11] + ve*SH_LOS[6] + vn*SH_LOS[4]); +// SKK_LOS[12] = SH_LOS[1]*SH_LOS[3]*(2*q2 + 2*a2*q0 + 2*a1*q3) - SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[5] + ve*SH_LOS[4] - vn*SH_LOS[6]); +// SKK_LOS[13] = SH_LOS[1]*SH_LOS[3]*(2*q3 - 2*a1*q2 + 2*a2*q1) - SH_LOS[0]*SH_LOS[3]*(ve*SH_LOS[5] - vd*SH_LOS[4] + vn*SH_LOS[11]); +// SKK_LOS[14] = SH_LOS[0]; + +// SK_LOS[0] = 1/(R_LOS + SKK_LOS[8]*(P[0][0]*SKK_LOS[8] + P[1][0]*SKK_LOS[7] + P[2][0]*SKK_LOS[9] - P[3][0]*SKK_LOS[6] - P[9][0]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][0]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][0]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][0]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][0]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]) + SKK_LOS[7]*(P[0][1]*SKK_LOS[8] + P[1][1]*SKK_LOS[7] + P[2][1]*SKK_LOS[9] - P[3][1]*SKK_LOS[6] - P[9][1]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][1]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][1]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][1]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][1]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]) + SKK_LOS[9]*(P[0][2]*SKK_LOS[8] + P[1][2]*SKK_LOS[7] + P[2][2]*SKK_LOS[9] - P[3][2]*SKK_LOS[6] - P[9][2]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][2]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][2]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][2]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][2]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]) - SKK_LOS[6]*(P[0][3]*SKK_LOS[8] + P[1][3]*SKK_LOS[7] + P[2][3]*SKK_LOS[9] - P[3][3]*SKK_LOS[6] - P[9][3]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][3]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][3]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][3]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][3]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]) - SH_LOS[2]*SH_LOS[7]*SKK_LOS[14]*(P[0][9]*SKK_LOS[8] + P[1][9]*SKK_LOS[7] + P[2][9]*SKK_LOS[9] - P[3][9]*SKK_LOS[6] - P[9][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][9]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][9]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][9]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]) + SH_LOS[2]*SH_LOS[7]*SKK_LOS[14]*(P[0][22]*SKK_LOS[8] + P[1][22]*SKK_LOS[7] + P[2][22]*SKK_LOS[9] - P[3][22]*SKK_LOS[6] - P[9][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][22]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][22]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][22]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]) + SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14]*(P[0][4]*SKK_LOS[8] + P[1][4]*SKK_LOS[7] + P[2][4]*SKK_LOS[9] - P[3][4]*SKK_LOS[6] - P[9][4]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][4]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][4]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][4]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]) + SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14]*(P[0][5]*SKK_LOS[8] + P[1][5]*SKK_LOS[7] + P[2][5]*SKK_LOS[9] - P[3][5]*SKK_LOS[6] - P[9][5]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][5]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][5]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][5]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]) - SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]*(P[0][6]*SKK_LOS[8] + P[1][6]*SKK_LOS[7] + P[2][6]*SKK_LOS[9] - P[3][6]*SKK_LOS[6] - P[9][6]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][6]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][6]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][6]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14])); +// Kfusion[0] = -SK_LOS[0]*(P[0][0]*SKK_LOS[8] + P[0][1]*SKK_LOS[7] - P[0][3]*SKK_LOS[6] + P[0][2]*SKK_LOS[9] - P[0][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[0][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[0][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[0][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[0][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]); +// Kfusion[1] = -SK_LOS[0]*(P[1][0]*SKK_LOS[8] + P[1][1]*SKK_LOS[7] - P[1][3]*SKK_LOS[6] + P[1][2]*SKK_LOS[9] - P[1][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[1][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[1][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[1][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[1][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]); +// Kfusion[2] = -SK_LOS[0]*(P[2][0]*SKK_LOS[8] + P[2][1]*SKK_LOS[7] - P[2][3]*SKK_LOS[6] + P[2][2]*SKK_LOS[9] - P[2][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[2][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[2][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[2][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[2][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]); +// Kfusion[3] = -SK_LOS[0]*(P[3][0]*SKK_LOS[8] + P[3][1]*SKK_LOS[7] - P[3][3]*SKK_LOS[6] + P[3][2]*SKK_LOS[9] - P[3][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[3][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[3][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[3][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[3][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]); +// Kfusion[4] = -SK_LOS[0]*(P[4][0]*SKK_LOS[8] + P[4][1]*SKK_LOS[7] - P[4][3]*SKK_LOS[6] + P[4][2]*SKK_LOS[9] - P[4][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[4][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[4][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]); +// Kfusion[5] = -SK_LOS[0]*(P[5][0]*SKK_LOS[8] + P[5][1]*SKK_LOS[7] - P[5][3]*SKK_LOS[6] + P[5][2]*SKK_LOS[9] - P[5][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[5][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[5][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[5][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]); +// Kfusion[6] = -SK_LOS[0]*(P[6][0]*SKK_LOS[8] + P[6][1]*SKK_LOS[7] - P[6][3]*SKK_LOS[6] + P[6][2]*SKK_LOS[9] - P[6][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[6][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[6][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[6][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]); +// Kfusion[7] = -SK_LOS[0]*(P[7][0]*SKK_LOS[8] + P[7][1]*SKK_LOS[7] - P[7][3]*SKK_LOS[6] + P[7][2]*SKK_LOS[9] - P[7][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[7][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[7][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[7][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[7][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]); +// Kfusion[8] = -SK_LOS[0]*(P[8][0]*SKK_LOS[8] + P[8][1]*SKK_LOS[7] - P[8][3]*SKK_LOS[6] + P[8][2]*SKK_LOS[9] - P[8][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[8][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[8][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[8][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[8][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]); +// Kfusion[9] = -SK_LOS[0]*(P[9][0]*SKK_LOS[8] + P[9][1]*SKK_LOS[7] - P[9][3]*SKK_LOS[6] + P[9][2]*SKK_LOS[9] - P[9][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[9][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[9][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[9][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[9][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]); +// Kfusion[10] = -SK_LOS[0]*(P[10][0]*SKK_LOS[8] + P[10][1]*SKK_LOS[7] - P[10][3]*SKK_LOS[6] + P[10][2]*SKK_LOS[9] - P[10][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[10][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[10][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[10][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[10][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]); +// Kfusion[11] = -SK_LOS[0]*(P[11][0]*SKK_LOS[8] + P[11][1]*SKK_LOS[7] - P[11][3]*SKK_LOS[6] + P[11][2]*SKK_LOS[9] - P[11][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[11][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[11][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[11][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[11][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]); +// Kfusion[12] = -SK_LOS[0]*(P[12][0]*SKK_LOS[8] + P[12][1]*SKK_LOS[7] - P[12][3]*SKK_LOS[6] + P[12][2]*SKK_LOS[9] - P[12][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[12][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[12][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[12][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[12][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]); +// Kfusion[13] = 0.0f;//-SK_LOS[0]*(P[13][0]*SKK_LOS[8] + P[13][1]*SKK_LOS[7] - P[13][3]*SKK_LOS[6] + P[13][2]*SKK_LOS[9] - P[13][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[13][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[13][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[13][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[13][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]); +// Kfusion[14] = -SK_LOS[0]*(P[14][0]*SKK_LOS[8] + P[14][1]*SKK_LOS[7] - P[14][3]*SKK_LOS[6] + P[14][2]*SKK_LOS[9] - P[14][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[14][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[14][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[14][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[14][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]); +// Kfusion[15] = -SK_LOS[0]*(P[15][0]*SKK_LOS[8] + P[15][1]*SKK_LOS[7] - P[15][3]*SKK_LOS[6] + P[15][2]*SKK_LOS[9] - P[15][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[15][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[15][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[15][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[15][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]); +// Kfusion[16] = -SK_LOS[0]*(P[16][0]*SKK_LOS[8] + P[16][1]*SKK_LOS[7] - P[16][3]*SKK_LOS[6] + P[16][2]*SKK_LOS[9] - P[16][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[16][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[16][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[16][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[16][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]); +// Kfusion[17] = -SK_LOS[0]*(P[17][0]*SKK_LOS[8] + P[17][1]*SKK_LOS[7] - P[17][3]*SKK_LOS[6] + P[17][2]*SKK_LOS[9] - P[17][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[17][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[17][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[17][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[17][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]); +// Kfusion[18] = -SK_LOS[0]*(P[18][0]*SKK_LOS[8] + P[18][1]*SKK_LOS[7] - P[18][3]*SKK_LOS[6] + P[18][2]*SKK_LOS[9] - P[18][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[18][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[18][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[18][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[18][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]); +// Kfusion[19] = -SK_LOS[0]*(P[19][0]*SKK_LOS[8] + P[19][1]*SKK_LOS[7] - P[19][3]*SKK_LOS[6] + P[19][2]*SKK_LOS[9] - P[19][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[19][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[19][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[19][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[19][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]); +// Kfusion[20] = -SK_LOS[0]*(P[20][0]*SKK_LOS[8] + P[20][1]*SKK_LOS[7] - P[20][3]*SKK_LOS[6] + P[20][2]*SKK_LOS[9] - P[20][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[20][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[20][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[20][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[20][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]); +// Kfusion[21] = -SK_LOS[0]*(P[21][0]*SKK_LOS[8] + P[21][1]*SKK_LOS[7] - P[21][3]*SKK_LOS[6] + P[21][2]*SKK_LOS[9] - P[21][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[21][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[21][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[21][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[21][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]); +// Kfusion[22] = -SK_LOS[0]*(P[22][0]*SKK_LOS[8] + P[22][1]*SKK_LOS[7] - P[22][3]*SKK_LOS[6] + P[22][2]*SKK_LOS[9] - P[22][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[22][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[22][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]); +// varInnovOptFlow[0] = 1.0f/SK_LOS[0]; +// innovOptFlow[0] = losPred[0] - losData[0]; + +// // set the observation index to 1 to fuse the y component next time round and reset the commence fusion flag +// obsIndex = 1; +// fuseOptFlowData = false; +// } +// else if (obsIndex == 1) // we are now fusing the Y measurement +// { +// // Calculate observation jacobians +// for (uint8_t i = 0; i < n_states; i++) H_LOS[i] = 0; +// H_LOS[0] = SH_LOS[1]*SH_LOS[3]*(2*a1*q1 - 2*q0 + 2*a2*q2) + SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[6] - ve*SH_LOS[11] + vn*SH_LOS[5]); +// H_LOS[1] = SH_LOS[1]*SH_LOS[3]*(2*q1 + 2*a1*q0 - 2*a2*q3) - SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[11] + ve*SH_LOS[6] + vn*SH_LOS[4]); +// H_LOS[2] = SH_LOS[1]*SH_LOS[3]*(2*q2 + 2*a2*q0 + 2*a1*q3) - SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[5] + ve*SH_LOS[4] - vn*SH_LOS[6]); +// H_LOS[3] = SH_LOS[0]*SH_LOS[3]*(ve*SH_LOS[5] - vd*SH_LOS[4] + vn*SH_LOS[11]) - SH_LOS[1]*SH_LOS[3]*(2*q3 - 2*a1*q2 + 2*a2*q1); +// H_LOS[4] = SH_LOS[0]*SH_LOS[3]*(a2*(2*q0*q2 + 2*q1*q3) + a3*(2*q0*q3 - 2*q1*q2) - sq(q0) - sq(q1) + sq(q2) + sq(q3)); +// H_LOS[5] = -SH_LOS[0]*SH_LOS[3]*(a3*(sq(q0) - sq(q1) + sq(q2) - sq(q3)) + 2*q0*q3 + 2*q1*q2 + a2*(2*q0*q1 - 2*q2*q3)); +// H_LOS[6] = SH_LOS[0]*SH_LOS[3]*(a2*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + 2*q0*q2 - 2*q1*q3 - a3*(2*q0*q1 + 2*q2*q3)); +// H_LOS[9] = -SH_LOS[0]*SH_LOS[1]*SH_LOS[7]; +// H_LOS[22] = SH_LOS[0]*SH_LOS[1]*SH_LOS[7]; + +// // Calculate Kalman gains +// SK_LOS[1] = 1/(R_LOS + SKK_LOS[12]*(P[0][2]*SKK_LOS[10] + P[1][2]*SKK_LOS[11] + P[2][2]*SKK_LOS[12] - P[3][2]*SKK_LOS[13] - P[9][2]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][2]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][2]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][2]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][2]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]) - SKK_LOS[13]*(P[0][3]*SKK_LOS[10] + P[1][3]*SKK_LOS[11] + P[2][3]*SKK_LOS[12] - P[3][3]*SKK_LOS[13] - P[9][3]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][3]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][3]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][3]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][3]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]) + SKK_LOS[10]*(P[0][0]*SKK_LOS[10] + P[1][0]*SKK_LOS[11] + P[2][0]*(SH_LOS[1]*SH_LOS[3]*(2*q2 + 2*a2*q0 + 2*a1*q3) - SH_LOS[3]*SKK_LOS[14]*(vd*SH_LOS[5] + ve*SH_LOS[4] - vn*SH_LOS[6])) - P[3][0]*(SH_LOS[1]*SH_LOS[3]*(2*q3 - 2*a1*q2 + 2*a2*q1) - SH_LOS[3]*SKK_LOS[14]*(ve*SH_LOS[5] - vd*SH_LOS[4] + vn*SH_LOS[11])) - P[9][0]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][0]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][0]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][0]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][0]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]) + SKK_LOS[11]*(P[0][1]*SKK_LOS[10] + P[1][1]*SKK_LOS[11] + P[2][1]*(SH_LOS[1]*SH_LOS[3]*(2*q2 + 2*a2*q0 + 2*a1*q3) - SH_LOS[3]*SKK_LOS[14]*(vd*SH_LOS[5] + ve*SH_LOS[4] - vn*SH_LOS[6])) - P[3][1]*(SH_LOS[1]*SH_LOS[3]*(2*q3 - 2*a1*q2 + 2*a2*q1) - SH_LOS[3]*SKK_LOS[14]*(ve*SH_LOS[5] - vd*SH_LOS[4] + vn*SH_LOS[11])) - P[9][1]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][1]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][1]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][1]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][1]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]) - SH_LOS[1]*SH_LOS[7]*SKK_LOS[14]*(P[0][9]*SKK_LOS[10] + P[1][9]*SKK_LOS[11] + P[2][9]*SKK_LOS[12] - P[3][9]*SKK_LOS[13] - P[9][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][9]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][9]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][9]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]) + SH_LOS[1]*SH_LOS[7]*SKK_LOS[14]*(P[0][22]*SKK_LOS[10] + P[1][22]*SKK_LOS[11] + P[2][22]*SKK_LOS[12] - P[3][22]*SKK_LOS[13] - P[9][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][22]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][22]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][22]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]) + SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14]*(P[0][4]*SKK_LOS[10] + P[1][4]*SKK_LOS[11] + P[2][4]*SKK_LOS[12] - P[3][4]*SKK_LOS[13] - P[9][4]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][4]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][4]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][4]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]) - SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]*(P[0][5]*SKK_LOS[10] + P[1][5]*SKK_LOS[11] + P[2][5]*SKK_LOS[12] - P[3][5]*SKK_LOS[13] - P[9][5]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][5]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][5]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][5]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]) + SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]*(P[0][6]*SKK_LOS[10] + P[1][6]*SKK_LOS[11] + P[2][6]*SKK_LOS[12] - P[3][6]*SKK_LOS[13] - P[9][6]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][6]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][6]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][6]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14])); +// Kfusion[0] = SK_LOS[1]*(P[0][0]*SKK_LOS[10] - P[0][3]*SKK_LOS[13] + P[0][1]*SKK_LOS[11] + P[0][2]*SKK_LOS[12] - P[0][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[0][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[0][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[0][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[0][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]); +// Kfusion[1] = SK_LOS[1]*(P[1][0]*SKK_LOS[10] - P[1][3]*SKK_LOS[13] + P[1][1]*SKK_LOS[11] + P[1][2]*SKK_LOS[12] - P[1][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[1][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[1][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[1][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[1][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]); +// Kfusion[2] = SK_LOS[1]*(P[2][0]*SKK_LOS[10] - P[2][3]*SKK_LOS[13] + P[2][1]*SKK_LOS[11] + P[2][2]*SKK_LOS[12] - P[2][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[2][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[2][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[2][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[2][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]); +// Kfusion[3] = SK_LOS[1]*(P[3][0]*SKK_LOS[10] - P[3][3]*SKK_LOS[13] + P[3][1]*SKK_LOS[11] + P[3][2]*SKK_LOS[12] - P[3][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[3][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[3][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[3][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[3][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]); +// Kfusion[4] = SK_LOS[1]*(P[4][0]*SKK_LOS[10] - P[4][3]*SKK_LOS[13] + P[4][1]*SKK_LOS[11] + P[4][2]*SKK_LOS[12] - P[4][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[4][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[4][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]); +// Kfusion[5] = SK_LOS[1]*(P[5][0]*SKK_LOS[10] - P[5][3]*SKK_LOS[13] + P[5][1]*SKK_LOS[11] + P[5][2]*SKK_LOS[12] - P[5][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[5][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[5][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[5][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]); +// Kfusion[6] = SK_LOS[1]*(P[6][0]*SKK_LOS[10] - P[6][3]*SKK_LOS[13] + P[6][1]*SKK_LOS[11] + P[6][2]*SKK_LOS[12] - P[6][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[6][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[6][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[6][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[6][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]); +// Kfusion[7] = SK_LOS[1]*(P[7][0]*SKK_LOS[10] - P[7][3]*SKK_LOS[13] + P[7][1]*SKK_LOS[11] + P[7][2]*SKK_LOS[12] - P[7][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[7][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[7][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[7][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[7][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]); +// Kfusion[8] = SK_LOS[1]*(P[8][0]*SKK_LOS[10] - P[8][3]*SKK_LOS[13] + P[8][1]*SKK_LOS[11] + P[8][2]*SKK_LOS[12] - P[8][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[8][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[8][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[8][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[8][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]); +// Kfusion[9] = SK_LOS[1]*(P[9][0]*SKK_LOS[10] - P[9][3]*SKK_LOS[13] + P[9][1]*SKK_LOS[11] + P[9][2]*SKK_LOS[12] - P[9][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[9][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[9][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[9][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[9][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]); +// Kfusion[10] = SK_LOS[1]*(P[10][0]*SKK_LOS[10] - P[10][3]*SKK_LOS[13] + P[10][1]*SKK_LOS[11] + P[10][2]*SKK_LOS[12] - P[10][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[10][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[10][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[10][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[10][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]); +// Kfusion[11] = SK_LOS[1]*(P[11][0]*SKK_LOS[10] - P[11][3]*SKK_LOS[13] + P[11][1]*SKK_LOS[11] + P[11][2]*SKK_LOS[12] - P[11][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[11][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[11][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[11][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[11][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]); +// Kfusion[12] = SK_LOS[1]*(P[12][0]*SKK_LOS[10] - P[12][3]*SKK_LOS[13] + P[12][1]*SKK_LOS[11] + P[12][2]*SKK_LOS[12] - P[12][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[12][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[12][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[12][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[12][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]); +// Kfusion[13] = 0.0f;//SK_LOS[1]*(P[13][0]*SKK_LOS[10] - P[13][3]*SKK_LOS[13] + P[13][1]*SKK_LOS[11] + P[13][2]*SKK_LOS[12] - P[13][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[13][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[13][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[13][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[13][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]); +// Kfusion[14] = SK_LOS[1]*(P[14][0]*SKK_LOS[10] - P[14][3]*SKK_LOS[13] + P[14][1]*SKK_LOS[11] + P[14][2]*SKK_LOS[12] - P[14][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[14][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[14][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[14][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[14][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]); +// Kfusion[15] = SK_LOS[1]*(P[15][0]*SKK_LOS[10] - P[15][3]*SKK_LOS[13] + P[15][1]*SKK_LOS[11] + P[15][2]*SKK_LOS[12] - P[15][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[15][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[15][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[15][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[15][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]); +// Kfusion[16] = SK_LOS[1]*(P[16][0]*SKK_LOS[10] - P[16][3]*SKK_LOS[13] + P[16][1]*SKK_LOS[11] + P[16][2]*SKK_LOS[12] - P[16][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[16][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[16][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[16][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[16][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]); +// Kfusion[17] = SK_LOS[1]*(P[17][0]*SKK_LOS[10] - P[17][3]*SKK_LOS[13] + P[17][1]*SKK_LOS[11] + P[17][2]*SKK_LOS[12] - P[17][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[17][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[17][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[17][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[17][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]); +// Kfusion[18] = SK_LOS[1]*(P[18][0]*SKK_LOS[10] - P[18][3]*SKK_LOS[13] + P[18][1]*SKK_LOS[11] + P[18][2]*SKK_LOS[12] - P[18][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[18][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[18][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[18][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[18][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]); +// Kfusion[19] = SK_LOS[1]*(P[19][0]*SKK_LOS[10] - P[19][3]*SKK_LOS[13] + P[19][1]*SKK_LOS[11] + P[19][2]*SKK_LOS[12] - P[19][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[19][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[19][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[19][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[19][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]); +// Kfusion[20] = SK_LOS[1]*(P[20][0]*SKK_LOS[10] - P[20][3]*SKK_LOS[13] + P[20][1]*SKK_LOS[11] + P[20][2]*SKK_LOS[12] - P[20][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[20][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[20][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[20][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[20][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]); +// Kfusion[21] = SK_LOS[1]*(P[21][0]*SKK_LOS[10] - P[21][3]*SKK_LOS[13] + P[21][1]*SKK_LOS[11] + P[21][2]*SKK_LOS[12] - P[21][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[21][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[21][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[21][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[21][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]); +// Kfusion[22] = SK_LOS[1]*(P[22][0]*SKK_LOS[10] - P[22][3]*SKK_LOS[13] + P[22][1]*SKK_LOS[11] + P[22][2]*SKK_LOS[12] - P[22][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[22][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[22][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]); +// varInnovOptFlow[1] = 1.0f/SK_LOS[1]; +// innovOptFlow[1] = losPred[1] - losData[1]; + +// // reset the observation index +// obsIndex = 0; +// fuseOptFlowData = false; +// } + +// // Check the innovation for consistency and don't fuse if > 3Sigma +// if ((innovOptFlow[obsIndex]*innovOptFlow[obsIndex]/varInnovOptFlow[obsIndex]) < 9.0f) +// { +// // correct the state vector +// for (uint8_t j = 0; j < n_states; j++) +// { +// states[j] = states[j] - Kfusion[j] * innovOptFlow[obsIndex]; +// } +// // normalise the quaternion states +// float quatMag = sqrt(states[0]*states[0] + states[1]*states[1] + states[2]*states[2] + states[3]*states[3]); +// if (quatMag > 1e-12f) +// { +// for (uint8_t j= 0; j<=3; j++) +// { +// float quatMagInv = 1.0f/quatMag; +// states[j] = states[j] * quatMagInv; +// } +// } +// // correct the covariance P = (I - K*H)*P +// // take advantage of the empty columns in KH to reduce the +// // number of operations +// for (uint8_t i = 0; i < n_states; i++) +// { +// for (uint8_t j = 0; j <= 6; j++) +// { +// KH[i][j] = Kfusion[i] * H_LOS[j]; +// } +// for (uint8_t j = 7; j <= 8; j++) +// { +// KH[i][j] = 0.0f; +// } +// KH[i][9] = Kfusion[i] * H_LOS[9]; +// for (uint8_t j = 10; j <= 21; j++) +// { +// KH[i][j] = 0.0f; +// } +// KH[i][22] = Kfusion[i] * H_LOS[22]; +// } +// for (uint8_t i = 0; i < n_states; i++) +// { +// for (uint8_t j = 0; j < n_states; j++) +// { +// KHP[i][j] = 0.0f; +// for (uint8_t k = 0; k <= 6; k++) +// { +// KHP[i][j] = KHP[i][j] + KH[i][k] * P[k][j]; +// } +// KHP[i][j] = KHP[i][j] + KH[i][9] * P[9][j]; +// KHP[i][j] = KHP[i][j] + KH[i][22] * P[2][j]; +// } +// } +// } +// for (uint8_t i = 0; i < n_states; i++) +// { +// for (uint8_t j = 0; j < n_states; j++) +// { +// P[i][j] = P[i][j] - KHP[i][j]; +// } +// } +// ForceSymmetry(); +// ConstrainVariances(); +// } +} -// Perform sequential fusion of optical flow measurements only when in the air and tilt is less than 30 deg. - if (useOpticalFlow && (fuseOptFlowData || obsIndex == 1) && !onGround && Tbs.z.z > 0.866f && rngMea > 5.0f && rngMea < 39.0f) - { - // Sequential fusion of XY components to spread processing load across - // two prediction time steps. +/* +Estimation of optical flow sensor focal length scale factor and terrain height using a two state EKF +This fiter requires optical flow rates that are not motion compensated +Range to ground measurement is assumed to be via a narrow beam type sensor - eg laser +*/ +void AttPosEKF::GroundEKF() +{ + // propagate ground position state noise each time this is called using the difference in position since the last observations and an RMS gradient assumption + // limit distance to prevent intialisation afer bad gps causing bad numerical conditioning + if (!inhibitGndState) { + float distanceTravelledSq; + distanceTravelledSq = sq(statesAtRngTime[7] - prevPosN) + sq(statesAtRngTime[8] - prevPosE); + prevPosN = statesAtRngTime[7]; + prevPosE = statesAtRngTime[8]; + distanceTravelledSq = min(distanceTravelledSq, 100.0f); + Popt[1][1] += (distanceTravelledSq * sq(gndHgtSigma)); + } + // we aren't using optical flow measurements in this hacked implementation so set the covariances for this state to zero to avoid numerical problems + Popt[0][0] = 0.0f; + Popt[0][1] = 0.0f; + Popt[1][0] = 0.0f; + + // Fuse range finder data + // Need to check that our range finder tilt angle is less than 30 degrees + float cosRngTilt = - Tbn.z.x * sinf(rngFinderPitch) + Tbn.z.z * cosf(rngFinderPitch); + if (useRangeFinder && fuseRngData && cosRngTilt > 0.87f) { + float range; // range from camera to centre of image + float q0; // quaternion at optical flow measurement time + float q1; // quaternion at optical flow measurement time + float q2; // quaternion at optical flow measurement time + float q3; // quaternion at optical flow measurement time + float R_RNG = 0.5; // range measurement variance (m^2) TODO make this a function of range and tilt to allow for sensor, alignment and AHRS errors + + // Copy required states to local variable names + q0 = statesAtRngTime[0]; + q1 = statesAtRngTime[1]; + q2 = statesAtRngTime[2]; + q3 = statesAtRngTime[3]; + + // calculate Kalman gains + float SK_RNG[3]; + SK_RNG[0] = sq(q0) - sq(q1) - sq(q2) + sq(q3); + SK_RNG[1] = 1/(R_RNG + Popt[1][1]/sq(SK_RNG[0])); + SK_RNG[2] = 1/SK_RNG[0]; + float K_RNG[2]; + if (!inhibitScaleState) { + K_RNG[0] = Popt[0][1]*SK_RNG[1]*SK_RNG[2]; + } else { + K_RNG[0] = 0.0f; + } + if (!inhibitGndState) { + K_RNG[1] = Popt[1][1]*SK_RNG[1]*SK_RNG[2]; + } else { + K_RNG[1] = 0.0f; + } - // Calculate observation jacobians and Kalman gains - if (fuseOptFlowData) - { - // Copy required states to local variable names - q0 = statesAtOptFlowTime[0]; - q1 = statesAtOptFlowTime[1]; - q2 = statesAtOptFlowTime[2]; - q3 = statesAtOptFlowTime[3]; - vn = statesAtOptFlowTime[4]; - ve = statesAtOptFlowTime[5]; - vd = statesAtOptFlowTime[6]; - pd = statesAtOptFlowTime[9]; - ptd = statesAtOptFlowTime[22]; - velNED_local.x = vn; - velNED_local.y = ve; - velNED_local.z = vd; - - // calculate rotation from NED to body axes - float q00 = sq(q0); - float q11 = sq(q1); - float q22 = sq(q2); - float q33 = sq(q3); - float q01 = q0 * q1; - float q02 = q0 * q2; - float q03 = q0 * q3; - float q12 = q1 * q2; - float q13 = q1 * q3; - float q23 = q2 * q3; - Tnb_local.x.x = q00 + q11 - q22 - q33; - Tnb_local.y.y = q00 - q11 + q22 - q33; - Tnb_local.z.z = q00 - q11 - q22 + q33; - Tnb_local.y.x = 2*(q12 - q03); - Tnb_local.z.x = 2*(q13 + q02); - Tnb_local.x.y = 2*(q12 + q03); - Tnb_local.z.y = 2*(q23 - q01); - Tnb_local.x.z = 2*(q13 - q02); - Tnb_local.y.z = 2*(q23 + q01); - - // calculate transformation from NED to sensor axes - Tns = Tbs*Tnb_local; - - // calculate range from ground plain to centre of sensor fov assuming flat earth - float range = ConstrainFloat(((ptd - pd)/Tns.z.z),0.5f,100.0f); - - // calculate relative velocity in sensor frame - relVelSensor = Tns*velNED_local; - - // divide velocity by range and include angular rate effects to get predicted angular LOS rates relative to X and Y axes - losPred[0] = relVelSensor.y/range; - losPred[1] = -relVelSensor.x/range; - - //printf("relVelSensor.x=%5.1f, relVelSensor.y=%5.1f\n", relVelSensor.x, relVelSensor.y); - //printf("Xpred=%5.2f, Xmea=%5.2f, Ypred=%5.2f, Ymea=%5.2f, delAng.x=%4.4f, delAng.y=%4.4f\n", losPred[0], losData[0], losPred[1], losData[1], delAng.x, delAng.y); - //printf("omegaX=%5.2f, omegaY=%5.2f, velY=%5.1f velX=%5.1f\n, range=%5.1f\n", delAngRel.x/dt, delAngRel.y/dt, relVelSensor.y, relVelSensor.x, range); + // Calculate the innovation variance for data logging + varInnovRng = 1.0f/SK_RNG[1]; - // Calculate observation jacobians - SH_LOS[0] = a1*(2*q0*q1 + 2*q2*q3) + a2*(2*q0*q2 - 2*q1*q3) - sq(q0) + sq(q1) + sq(q2) - sq(q3); - SH_LOS[1] = vd*(a2*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + 2*q0*q2 - 2*q1*q3 - a3*(2*q0*q1 + 2*q2*q3)) - ve*(a3*(sq(q0) - sq(q1) + sq(q2) - sq(q3)) + 2*q0*q3 + 2*q1*q2 + a2*(2*q0*q1 - 2*q2*q3)) + vn*(a2*(2*q0*q2 + 2*q1*q3) + a3*(2*q0*q3 - 2*q1*q2) - sq(q0) - sq(q1) + sq(q2) + sq(q3)); - SH_LOS[2] = ve*(a1*(2*q0*q1 - 2*q2*q3) + a3*(2*q0*q3 + 2*q1*q2) - sq(q0) + sq(q1) - sq(q2) + sq(q3)) - vd*(a1*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + 2*q0*q1 + 2*q2*q3 + a3*(2*q0*q2 - 2*q1*q3)) + vn*(a3*(sq(q0) + sq(q1) - sq(q2) - sq(q3)) + 2*q0*q3 - 2*q1*q2 - a1*(2*q0*q2 + 2*q1*q3)); - SH_LOS[3] = 1/(pd - ptd); - SH_LOS[4] = 2*q1 - 2*a2*q3 + 2*a3*q2; - SH_LOS[5] = 2*a2*q2 - 2*q0 + 2*a3*q3; - SH_LOS[6] = 2*q2 + 2*a2*q0 - 2*a3*q1; - SH_LOS[7] = 1/sq(pd - ptd); - SH_LOS[8] = 2*q2 + 2*a1*q3 - 2*a3*q1; - SH_LOS[9] = 2*q3 - 2*a1*q2 + 2*a3*q0; - SH_LOS[10] = 2*a1*q1 - 2*q0 + 2*a3*q3; - SH_LOS[11] = 2*q3 + 2*a2*q1 + 2*a3*q0; - SH_LOS[12] = 2*q1 + 2*a1*q0 + 2*a3*q2; - - for (uint8_t i = 0; i < n_states; i++) H_LOS[i] = 0; - H_LOS[0] = - SH_LOS[2]*SH_LOS[3]*(2*a1*q1 - 2*q0 + 2*a2*q2) - SH_LOS[0]*SH_LOS[3]*(ve*SH_LOS[10] - vd*SH_LOS[12] + vn*SH_LOS[9]); - H_LOS[1] = - SH_LOS[2]*SH_LOS[3]*(2*q1 + 2*a1*q0 - 2*a2*q3) - SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[10] + ve*SH_LOS[12] - vn*SH_LOS[8]); - H_LOS[2] = SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[9] + ve*SH_LOS[8] + vn*SH_LOS[12]) - SH_LOS[2]*SH_LOS[3]*(2*q2 + 2*a2*q0 + 2*a1*q3); - H_LOS[3] = SH_LOS[2]*SH_LOS[3]*(2*q3 - 2*a1*q2 + 2*a2*q1) + SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[8] - ve*SH_LOS[9] + vn*SH_LOS[10]); - H_LOS[4] = -SH_LOS[0]*SH_LOS[3]*(a3*(sq(q0) + sq(q1) - sq(q2) - sq(q3)) + 2*q0*q3 - 2*q1*q2 - a1*(2*q0*q2 + 2*q1*q3)); - H_LOS[5] = -SH_LOS[0]*SH_LOS[3]*(a1*(2*q0*q1 - 2*q2*q3) + a3*(2*q0*q3 + 2*q1*q2) - sq(q0) + sq(q1) - sq(q2) + sq(q3)); - H_LOS[6] = SH_LOS[0]*SH_LOS[3]*(a1*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + 2*q0*q1 + 2*q2*q3 + a3*(2*q0*q2 - 2*q1*q3)); - H_LOS[9] = SH_LOS[0]*SH_LOS[2]*SH_LOS[7]; - H_LOS[22] = -SH_LOS[0]*SH_LOS[2]*SH_LOS[7]; + // constrain terrain height to be below the vehicle + flowStates[1] = maxf(flowStates[1], statesAtRngTime[9] + minFlowRng); - // Calculate Kalman gain - SKK_LOS[0] = a2*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + 2*q0*q2 - 2*q1*q3 - a3*(2*q0*q1 + 2*q2*q3); - SKK_LOS[1] = a3*(sq(q0) - sq(q1) + sq(q2) - sq(q3)) + 2*q0*q3 + 2*q1*q2 + a2*(2*q0*q1 - 2*q2*q3); - SKK_LOS[2] = a2*(2*q0*q2 + 2*q1*q3) + a3*(2*q0*q3 - 2*q1*q2) - sq(q0) - sq(q1) + sq(q2) + sq(q3); - SKK_LOS[3] = a1*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + 2*q0*q1 + 2*q2*q3 + a3*(2*q0*q2 - 2*q1*q3); - SKK_LOS[4] = a1*(2*q0*q1 - 2*q2*q3) + a3*(2*q0*q3 + 2*q1*q2) - sq(q0) + sq(q1) - sq(q2) + sq(q3); - SKK_LOS[5] = a3*(sq(q0) + sq(q1) - sq(q2) - sq(q3)) + 2*q0*q3 - 2*q1*q2 - a1*(2*q0*q2 + 2*q1*q3); - SKK_LOS[6] = SH_LOS[2]*SH_LOS[3]*(2*q3 - 2*a1*q2 + 2*a2*q1) + SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[8] - ve*SH_LOS[9] + vn*SH_LOS[10]); - SKK_LOS[7] = SH_LOS[2]*SH_LOS[3]*(2*q1 + 2*a1*q0 - 2*a2*q3) + SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[10] + ve*SH_LOS[12] - vn*SH_LOS[8]); - SKK_LOS[8] = SH_LOS[2]*SH_LOS[3]*(2*a1*q1 - 2*q0 + 2*a2*q2) + SH_LOS[0]*SH_LOS[3]*(ve*SH_LOS[10] - vd*SH_LOS[12] + vn*SH_LOS[9]); - SKK_LOS[9] = SH_LOS[2]*SH_LOS[3]*(2*q2 + 2*a2*q0 + 2*a1*q3) - SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[9] + ve*SH_LOS[8] + vn*SH_LOS[12]); - SKK_LOS[10] = SH_LOS[1]*SH_LOS[3]*(2*a1*q1 - 2*q0 + 2*a2*q2) + SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[6] - ve*SH_LOS[11] + vn*SH_LOS[5]); - SKK_LOS[11] = SH_LOS[1]*SH_LOS[3]*(2*q1 + 2*a1*q0 - 2*a2*q3) - SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[11] + ve*SH_LOS[6] + vn*SH_LOS[4]); - SKK_LOS[12] = SH_LOS[1]*SH_LOS[3]*(2*q2 + 2*a2*q0 + 2*a1*q3) - SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[5] + ve*SH_LOS[4] - vn*SH_LOS[6]); - SKK_LOS[13] = SH_LOS[1]*SH_LOS[3]*(2*q3 - 2*a1*q2 + 2*a2*q1) - SH_LOS[0]*SH_LOS[3]*(ve*SH_LOS[5] - vd*SH_LOS[4] + vn*SH_LOS[11]); - SKK_LOS[14] = SH_LOS[0]; - - SK_LOS[0] = 1/(R_LOS + SKK_LOS[8]*(P[0][0]*SKK_LOS[8] + P[1][0]*SKK_LOS[7] + P[2][0]*SKK_LOS[9] - P[3][0]*SKK_LOS[6] - P[9][0]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][0]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][0]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][0]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][0]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]) + SKK_LOS[7]*(P[0][1]*SKK_LOS[8] + P[1][1]*SKK_LOS[7] + P[2][1]*SKK_LOS[9] - P[3][1]*SKK_LOS[6] - P[9][1]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][1]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][1]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][1]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][1]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]) + SKK_LOS[9]*(P[0][2]*SKK_LOS[8] + P[1][2]*SKK_LOS[7] + P[2][2]*SKK_LOS[9] - P[3][2]*SKK_LOS[6] - P[9][2]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][2]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][2]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][2]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][2]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]) - SKK_LOS[6]*(P[0][3]*SKK_LOS[8] + P[1][3]*SKK_LOS[7] + P[2][3]*SKK_LOS[9] - P[3][3]*SKK_LOS[6] - P[9][3]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][3]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][3]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][3]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][3]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]) - SH_LOS[2]*SH_LOS[7]*SKK_LOS[14]*(P[0][9]*SKK_LOS[8] + P[1][9]*SKK_LOS[7] + P[2][9]*SKK_LOS[9] - P[3][9]*SKK_LOS[6] - P[9][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][9]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][9]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][9]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]) + SH_LOS[2]*SH_LOS[7]*SKK_LOS[14]*(P[0][22]*SKK_LOS[8] + P[1][22]*SKK_LOS[7] + P[2][22]*SKK_LOS[9] - P[3][22]*SKK_LOS[6] - P[9][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][22]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][22]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][22]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]) + SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14]*(P[0][4]*SKK_LOS[8] + P[1][4]*SKK_LOS[7] + P[2][4]*SKK_LOS[9] - P[3][4]*SKK_LOS[6] - P[9][4]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][4]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][4]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][4]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]) + SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14]*(P[0][5]*SKK_LOS[8] + P[1][5]*SKK_LOS[7] + P[2][5]*SKK_LOS[9] - P[3][5]*SKK_LOS[6] - P[9][5]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][5]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][5]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][5]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]) - SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]*(P[0][6]*SKK_LOS[8] + P[1][6]*SKK_LOS[7] + P[2][6]*SKK_LOS[9] - P[3][6]*SKK_LOS[6] - P[9][6]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][6]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][6]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][6]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14])); - Kfusion[0] = -SK_LOS[0]*(P[0][0]*SKK_LOS[8] + P[0][1]*SKK_LOS[7] - P[0][3]*SKK_LOS[6] + P[0][2]*SKK_LOS[9] - P[0][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[0][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[0][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[0][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[0][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]); - Kfusion[1] = -SK_LOS[0]*(P[1][0]*SKK_LOS[8] + P[1][1]*SKK_LOS[7] - P[1][3]*SKK_LOS[6] + P[1][2]*SKK_LOS[9] - P[1][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[1][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[1][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[1][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[1][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]); - Kfusion[2] = -SK_LOS[0]*(P[2][0]*SKK_LOS[8] + P[2][1]*SKK_LOS[7] - P[2][3]*SKK_LOS[6] + P[2][2]*SKK_LOS[9] - P[2][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[2][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[2][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[2][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[2][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]); - Kfusion[3] = -SK_LOS[0]*(P[3][0]*SKK_LOS[8] + P[3][1]*SKK_LOS[7] - P[3][3]*SKK_LOS[6] + P[3][2]*SKK_LOS[9] - P[3][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[3][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[3][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[3][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[3][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]); - Kfusion[4] = -SK_LOS[0]*(P[4][0]*SKK_LOS[8] + P[4][1]*SKK_LOS[7] - P[4][3]*SKK_LOS[6] + P[4][2]*SKK_LOS[9] - P[4][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[4][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[4][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]); - Kfusion[5] = -SK_LOS[0]*(P[5][0]*SKK_LOS[8] + P[5][1]*SKK_LOS[7] - P[5][3]*SKK_LOS[6] + P[5][2]*SKK_LOS[9] - P[5][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[5][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[5][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[5][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]); - Kfusion[6] = -SK_LOS[0]*(P[6][0]*SKK_LOS[8] + P[6][1]*SKK_LOS[7] - P[6][3]*SKK_LOS[6] + P[6][2]*SKK_LOS[9] - P[6][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[6][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[6][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[6][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]); - Kfusion[7] = -SK_LOS[0]*(P[7][0]*SKK_LOS[8] + P[7][1]*SKK_LOS[7] - P[7][3]*SKK_LOS[6] + P[7][2]*SKK_LOS[9] - P[7][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[7][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[7][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[7][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[7][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]); - Kfusion[8] = -SK_LOS[0]*(P[8][0]*SKK_LOS[8] + P[8][1]*SKK_LOS[7] - P[8][3]*SKK_LOS[6] + P[8][2]*SKK_LOS[9] - P[8][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[8][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[8][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[8][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[8][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]); - Kfusion[9] = -SK_LOS[0]*(P[9][0]*SKK_LOS[8] + P[9][1]*SKK_LOS[7] - P[9][3]*SKK_LOS[6] + P[9][2]*SKK_LOS[9] - P[9][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[9][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[9][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[9][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[9][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]); - Kfusion[10] = -SK_LOS[0]*(P[10][0]*SKK_LOS[8] + P[10][1]*SKK_LOS[7] - P[10][3]*SKK_LOS[6] + P[10][2]*SKK_LOS[9] - P[10][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[10][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[10][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[10][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[10][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]); - Kfusion[11] = -SK_LOS[0]*(P[11][0]*SKK_LOS[8] + P[11][1]*SKK_LOS[7] - P[11][3]*SKK_LOS[6] + P[11][2]*SKK_LOS[9] - P[11][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[11][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[11][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[11][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[11][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]); - Kfusion[12] = -SK_LOS[0]*(P[12][0]*SKK_LOS[8] + P[12][1]*SKK_LOS[7] - P[12][3]*SKK_LOS[6] + P[12][2]*SKK_LOS[9] - P[12][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[12][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[12][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[12][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[12][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]); - Kfusion[13] = 0.0f;//-SK_LOS[0]*(P[13][0]*SKK_LOS[8] + P[13][1]*SKK_LOS[7] - P[13][3]*SKK_LOS[6] + P[13][2]*SKK_LOS[9] - P[13][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[13][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[13][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[13][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[13][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]); - Kfusion[14] = -SK_LOS[0]*(P[14][0]*SKK_LOS[8] + P[14][1]*SKK_LOS[7] - P[14][3]*SKK_LOS[6] + P[14][2]*SKK_LOS[9] - P[14][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[14][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[14][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[14][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[14][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]); - Kfusion[15] = -SK_LOS[0]*(P[15][0]*SKK_LOS[8] + P[15][1]*SKK_LOS[7] - P[15][3]*SKK_LOS[6] + P[15][2]*SKK_LOS[9] - P[15][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[15][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[15][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[15][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[15][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]); - Kfusion[16] = -SK_LOS[0]*(P[16][0]*SKK_LOS[8] + P[16][1]*SKK_LOS[7] - P[16][3]*SKK_LOS[6] + P[16][2]*SKK_LOS[9] - P[16][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[16][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[16][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[16][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[16][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]); - Kfusion[17] = -SK_LOS[0]*(P[17][0]*SKK_LOS[8] + P[17][1]*SKK_LOS[7] - P[17][3]*SKK_LOS[6] + P[17][2]*SKK_LOS[9] - P[17][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[17][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[17][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[17][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[17][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]); - Kfusion[18] = -SK_LOS[0]*(P[18][0]*SKK_LOS[8] + P[18][1]*SKK_LOS[7] - P[18][3]*SKK_LOS[6] + P[18][2]*SKK_LOS[9] - P[18][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[18][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[18][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[18][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[18][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]); - Kfusion[19] = -SK_LOS[0]*(P[19][0]*SKK_LOS[8] + P[19][1]*SKK_LOS[7] - P[19][3]*SKK_LOS[6] + P[19][2]*SKK_LOS[9] - P[19][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[19][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[19][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[19][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[19][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]); - Kfusion[20] = -SK_LOS[0]*(P[20][0]*SKK_LOS[8] + P[20][1]*SKK_LOS[7] - P[20][3]*SKK_LOS[6] + P[20][2]*SKK_LOS[9] - P[20][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[20][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[20][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[20][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[20][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]); - Kfusion[21] = -SK_LOS[0]*(P[21][0]*SKK_LOS[8] + P[21][1]*SKK_LOS[7] - P[21][3]*SKK_LOS[6] + P[21][2]*SKK_LOS[9] - P[21][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[21][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[21][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[21][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[21][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]); - Kfusion[22] = -SK_LOS[0]*(P[22][0]*SKK_LOS[8] + P[22][1]*SKK_LOS[7] - P[22][3]*SKK_LOS[6] + P[22][2]*SKK_LOS[9] - P[22][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[22][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[22][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]); - varInnovOptFlow[0] = 1.0f/SK_LOS[0]; - innovOptFlow[0] = losPred[0] - losData[0]; - - // reset the observation index to 0 (we start by fusing the X - // measurement) - obsIndex = 0; - fuseOptFlowData = false; - } - else if (obsIndex == 1) // we are now fusing the Y measurement - { - // Calculate observation jacobians - for (uint8_t i = 0; i < n_states; i++) H_LOS[i] = 0; - H_LOS[0] = SH_LOS[1]*SH_LOS[3]*(2*a1*q1 - 2*q0 + 2*a2*q2) + SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[6] - ve*SH_LOS[11] + vn*SH_LOS[5]); - H_LOS[1] = SH_LOS[1]*SH_LOS[3]*(2*q1 + 2*a1*q0 - 2*a2*q3) - SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[11] + ve*SH_LOS[6] + vn*SH_LOS[4]); - H_LOS[2] = SH_LOS[1]*SH_LOS[3]*(2*q2 + 2*a2*q0 + 2*a1*q3) - SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[5] + ve*SH_LOS[4] - vn*SH_LOS[6]); - H_LOS[3] = SH_LOS[0]*SH_LOS[3]*(ve*SH_LOS[5] - vd*SH_LOS[4] + vn*SH_LOS[11]) - SH_LOS[1]*SH_LOS[3]*(2*q3 - 2*a1*q2 + 2*a2*q1); - H_LOS[4] = SH_LOS[0]*SH_LOS[3]*(a2*(2*q0*q2 + 2*q1*q3) + a3*(2*q0*q3 - 2*q1*q2) - sq(q0) - sq(q1) + sq(q2) + sq(q3)); - H_LOS[5] = -SH_LOS[0]*SH_LOS[3]*(a3*(sq(q0) - sq(q1) + sq(q2) - sq(q3)) + 2*q0*q3 + 2*q1*q2 + a2*(2*q0*q1 - 2*q2*q3)); - H_LOS[6] = SH_LOS[0]*SH_LOS[3]*(a2*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + 2*q0*q2 - 2*q1*q3 - a3*(2*q0*q1 + 2*q2*q3)); - H_LOS[9] = -SH_LOS[0]*SH_LOS[1]*SH_LOS[7]; - H_LOS[22] = SH_LOS[0]*SH_LOS[1]*SH_LOS[7]; - - // Calculate Kalman gains - SK_LOS[1] = 1/(R_LOS + SKK_LOS[12]*(P[0][2]*SKK_LOS[10] + P[1][2]*SKK_LOS[11] + P[2][2]*SKK_LOS[12] - P[3][2]*SKK_LOS[13] - P[9][2]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][2]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][2]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][2]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][2]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]) - SKK_LOS[13]*(P[0][3]*SKK_LOS[10] + P[1][3]*SKK_LOS[11] + P[2][3]*SKK_LOS[12] - P[3][3]*SKK_LOS[13] - P[9][3]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][3]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][3]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][3]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][3]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]) + SKK_LOS[10]*(P[0][0]*SKK_LOS[10] + P[1][0]*SKK_LOS[11] + P[2][0]*(SH_LOS[1]*SH_LOS[3]*(2*q2 + 2*a2*q0 + 2*a1*q3) - SH_LOS[3]*SKK_LOS[14]*(vd*SH_LOS[5] + ve*SH_LOS[4] - vn*SH_LOS[6])) - P[3][0]*(SH_LOS[1]*SH_LOS[3]*(2*q3 - 2*a1*q2 + 2*a2*q1) - SH_LOS[3]*SKK_LOS[14]*(ve*SH_LOS[5] - vd*SH_LOS[4] + vn*SH_LOS[11])) - P[9][0]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][0]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][0]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][0]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][0]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]) + SKK_LOS[11]*(P[0][1]*SKK_LOS[10] + P[1][1]*SKK_LOS[11] + P[2][1]*(SH_LOS[1]*SH_LOS[3]*(2*q2 + 2*a2*q0 + 2*a1*q3) - SH_LOS[3]*SKK_LOS[14]*(vd*SH_LOS[5] + ve*SH_LOS[4] - vn*SH_LOS[6])) - P[3][1]*(SH_LOS[1]*SH_LOS[3]*(2*q3 - 2*a1*q2 + 2*a2*q1) - SH_LOS[3]*SKK_LOS[14]*(ve*SH_LOS[5] - vd*SH_LOS[4] + vn*SH_LOS[11])) - P[9][1]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][1]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][1]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][1]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][1]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]) - SH_LOS[1]*SH_LOS[7]*SKK_LOS[14]*(P[0][9]*SKK_LOS[10] + P[1][9]*SKK_LOS[11] + P[2][9]*SKK_LOS[12] - P[3][9]*SKK_LOS[13] - P[9][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][9]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][9]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][9]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]) + SH_LOS[1]*SH_LOS[7]*SKK_LOS[14]*(P[0][22]*SKK_LOS[10] + P[1][22]*SKK_LOS[11] + P[2][22]*SKK_LOS[12] - P[3][22]*SKK_LOS[13] - P[9][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][22]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][22]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][22]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]) + SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14]*(P[0][4]*SKK_LOS[10] + P[1][4]*SKK_LOS[11] + P[2][4]*SKK_LOS[12] - P[3][4]*SKK_LOS[13] - P[9][4]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][4]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][4]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][4]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]) - SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]*(P[0][5]*SKK_LOS[10] + P[1][5]*SKK_LOS[11] + P[2][5]*SKK_LOS[12] - P[3][5]*SKK_LOS[13] - P[9][5]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][5]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][5]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][5]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]) + SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]*(P[0][6]*SKK_LOS[10] + P[1][6]*SKK_LOS[11] + P[2][6]*SKK_LOS[12] - P[3][6]*SKK_LOS[13] - P[9][6]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][6]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][6]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][6]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14])); - Kfusion[0] = SK_LOS[1]*(P[0][0]*SKK_LOS[10] - P[0][3]*SKK_LOS[13] + P[0][1]*SKK_LOS[11] + P[0][2]*SKK_LOS[12] - P[0][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[0][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[0][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[0][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[0][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]); - Kfusion[1] = SK_LOS[1]*(P[1][0]*SKK_LOS[10] - P[1][3]*SKK_LOS[13] + P[1][1]*SKK_LOS[11] + P[1][2]*SKK_LOS[12] - P[1][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[1][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[1][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[1][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[1][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]); - Kfusion[2] = SK_LOS[1]*(P[2][0]*SKK_LOS[10] - P[2][3]*SKK_LOS[13] + P[2][1]*SKK_LOS[11] + P[2][2]*SKK_LOS[12] - P[2][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[2][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[2][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[2][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[2][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]); - Kfusion[3] = SK_LOS[1]*(P[3][0]*SKK_LOS[10] - P[3][3]*SKK_LOS[13] + P[3][1]*SKK_LOS[11] + P[3][2]*SKK_LOS[12] - P[3][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[3][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[3][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[3][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[3][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]); - Kfusion[4] = SK_LOS[1]*(P[4][0]*SKK_LOS[10] - P[4][3]*SKK_LOS[13] + P[4][1]*SKK_LOS[11] + P[4][2]*SKK_LOS[12] - P[4][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[4][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[4][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]); - Kfusion[5] = SK_LOS[1]*(P[5][0]*SKK_LOS[10] - P[5][3]*SKK_LOS[13] + P[5][1]*SKK_LOS[11] + P[5][2]*SKK_LOS[12] - P[5][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[5][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[5][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[5][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]); - Kfusion[6] = SK_LOS[1]*(P[6][0]*SKK_LOS[10] - P[6][3]*SKK_LOS[13] + P[6][1]*SKK_LOS[11] + P[6][2]*SKK_LOS[12] - P[6][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[6][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[6][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[6][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[6][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]); - Kfusion[7] = SK_LOS[1]*(P[7][0]*SKK_LOS[10] - P[7][3]*SKK_LOS[13] + P[7][1]*SKK_LOS[11] + P[7][2]*SKK_LOS[12] - P[7][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[7][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[7][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[7][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[7][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]); - Kfusion[8] = SK_LOS[1]*(P[8][0]*SKK_LOS[10] - P[8][3]*SKK_LOS[13] + P[8][1]*SKK_LOS[11] + P[8][2]*SKK_LOS[12] - P[8][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[8][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[8][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[8][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[8][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]); - Kfusion[9] = SK_LOS[1]*(P[9][0]*SKK_LOS[10] - P[9][3]*SKK_LOS[13] + P[9][1]*SKK_LOS[11] + P[9][2]*SKK_LOS[12] - P[9][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[9][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[9][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[9][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[9][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]); - Kfusion[10] = SK_LOS[1]*(P[10][0]*SKK_LOS[10] - P[10][3]*SKK_LOS[13] + P[10][1]*SKK_LOS[11] + P[10][2]*SKK_LOS[12] - P[10][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[10][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[10][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[10][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[10][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]); - Kfusion[11] = SK_LOS[1]*(P[11][0]*SKK_LOS[10] - P[11][3]*SKK_LOS[13] + P[11][1]*SKK_LOS[11] + P[11][2]*SKK_LOS[12] - P[11][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[11][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[11][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[11][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[11][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]); - Kfusion[12] = SK_LOS[1]*(P[12][0]*SKK_LOS[10] - P[12][3]*SKK_LOS[13] + P[12][1]*SKK_LOS[11] + P[12][2]*SKK_LOS[12] - P[12][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[12][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[12][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[12][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[12][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]); - Kfusion[13] = 0.0f;//SK_LOS[1]*(P[13][0]*SKK_LOS[10] - P[13][3]*SKK_LOS[13] + P[13][1]*SKK_LOS[11] + P[13][2]*SKK_LOS[12] - P[13][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[13][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[13][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[13][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[13][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]); - Kfusion[14] = SK_LOS[1]*(P[14][0]*SKK_LOS[10] - P[14][3]*SKK_LOS[13] + P[14][1]*SKK_LOS[11] + P[14][2]*SKK_LOS[12] - P[14][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[14][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[14][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[14][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[14][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]); - Kfusion[15] = SK_LOS[1]*(P[15][0]*SKK_LOS[10] - P[15][3]*SKK_LOS[13] + P[15][1]*SKK_LOS[11] + P[15][2]*SKK_LOS[12] - P[15][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[15][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[15][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[15][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[15][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]); - Kfusion[16] = SK_LOS[1]*(P[16][0]*SKK_LOS[10] - P[16][3]*SKK_LOS[13] + P[16][1]*SKK_LOS[11] + P[16][2]*SKK_LOS[12] - P[16][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[16][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[16][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[16][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[16][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]); - Kfusion[17] = SK_LOS[1]*(P[17][0]*SKK_LOS[10] - P[17][3]*SKK_LOS[13] + P[17][1]*SKK_LOS[11] + P[17][2]*SKK_LOS[12] - P[17][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[17][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[17][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[17][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[17][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]); - Kfusion[18] = SK_LOS[1]*(P[18][0]*SKK_LOS[10] - P[18][3]*SKK_LOS[13] + P[18][1]*SKK_LOS[11] + P[18][2]*SKK_LOS[12] - P[18][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[18][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[18][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[18][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[18][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]); - Kfusion[19] = SK_LOS[1]*(P[19][0]*SKK_LOS[10] - P[19][3]*SKK_LOS[13] + P[19][1]*SKK_LOS[11] + P[19][2]*SKK_LOS[12] - P[19][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[19][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[19][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[19][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[19][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]); - Kfusion[20] = SK_LOS[1]*(P[20][0]*SKK_LOS[10] - P[20][3]*SKK_LOS[13] + P[20][1]*SKK_LOS[11] + P[20][2]*SKK_LOS[12] - P[20][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[20][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[20][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[20][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[20][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]); - Kfusion[21] = SK_LOS[1]*(P[21][0]*SKK_LOS[10] - P[21][3]*SKK_LOS[13] + P[21][1]*SKK_LOS[11] + P[21][2]*SKK_LOS[12] - P[21][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[21][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[21][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[21][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[21][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]); - Kfusion[22] = SK_LOS[1]*(P[22][0]*SKK_LOS[10] - P[22][3]*SKK_LOS[13] + P[22][1]*SKK_LOS[11] + P[22][2]*SKK_LOS[12] - P[22][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[22][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[22][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]); - varInnovOptFlow[1] = 1.0f/SK_LOS[1]; - innovOptFlow[1] = losPred[1] - losData[1]; - } + // estimate range to centre of image + range = (flowStates[1] - statesAtRngTime[9]) * SK_RNG[2]; - // Check the innovation for consistency and don't fuse if > 3Sigma - if ((innovOptFlow[obsIndex]*innovOptFlow[obsIndex]/varInnovOptFlow[obsIndex]) < 9.0f) - { - // correct the state vector - for (uint8_t j = 0; j < n_states; j++) - { - states[j] = states[j] - Kfusion[j] * innovOptFlow[obsIndex]; - } - // normalise the quaternion states - float quatMag = sqrt(states[0]*states[0] + states[1]*states[1] + states[2]*states[2] + states[3]*states[3]); - if (quatMag > 1e-12f) - { - for (uint8_t j= 0; j<=3; j++) - { - float quatMagInv = 1.0f/quatMag; - states[j] = states[j] * quatMagInv; - } - } - // correct the covariance P = (I - K*H)*P - // take advantage of the empty columns in KH to reduce the - // number of operations - for (uint8_t i = 0; i < n_states; i++) - { - for (uint8_t j = 0; j <= 6; j++) - { - KH[i][j] = Kfusion[i] * H_LOS[j]; - } - for (uint8_t j = 7; j <= 8; j++) - { - KH[i][j] = 0.0f; - } - KH[i][9] = Kfusion[i] * H_LOS[9]; - for (uint8_t j = 10; j <= 21; j++) - { - KH[i][j] = 0.0f; - } - KH[i][22] = Kfusion[i] * H_LOS[22]; - } - for (uint8_t i = 0; i < n_states; i++) - { - for (uint8_t j = 0; j < n_states; j++) - { - KHP[i][j] = 0.0f; - for (uint8_t k = 0; k <= 6; k++) - { - KHP[i][j] = KHP[i][j] + KH[i][k] * P[k][j]; - } - KHP[i][j] = KHP[i][j] + KH[i][9] * P[9][j]; - KHP[i][j] = KHP[i][j] + KH[i][22] * P[2][j]; - } - } - } - for (uint8_t i = 0; i < n_states; i++) + // Calculate the measurement innovation + innovRng = range - rngMea; + + // calculate the innovation consistency test ratio + auxRngTestRatio = sq(innovRng) / (sq(rngInnovGate) * varInnovRng); + + // Check the innovation for consistency and don't fuse if out of bounds + if (auxRngTestRatio < 1.0f) { - for (uint8_t j = 0; j < n_states; j++) - { - P[i][j] = P[i][j] - KHP[i][j]; + // correct the state + for (uint8_t i = 0; i < 2 ; i++) { + flowStates[i] -= K_RNG[i] * innovRng; } + // constrain the states + + // constrain focal length to 0.1 to 10 mm + flowStates[0] = ConstrainFloat(flowStates[0], 0.1f, 10.0f); + // constrain altitude + flowStates[1] = maxf(flowStates[1], statesAtRngTime[9] + minFlowRng); + + // correct the covariance matrix + float nextPopt[2][2]; + nextPopt[0][0] = Popt[0][0] - (Popt[0][1]*Popt[1][0]*SK_RNG[1]*SK_RNG[2]) * SK_RNG[2]; + nextPopt[0][1] = Popt[0][1] - (Popt[0][1]*Popt[1][1]*SK_RNG[1]*SK_RNG[2]) * SK_RNG[2]; + nextPopt[1][0] = -Popt[1][0]*((Popt[1][1]*SK_RNG[1]*SK_RNG[2]) * SK_RNG[2] - 1.0f); + nextPopt[1][1] = -Popt[1][1]*((Popt[1][1]*SK_RNG[1]*SK_RNG[2]) * SK_RNG[2] - 1.0f); + // prevent the state variances from becoming negative and maintain symmetry + Popt[0][0] = maxf(nextPopt[0][0],0.0f); + Popt[1][1] = maxf(nextPopt[1][1],0.0f); + Popt[0][1] = 0.5f * (nextPopt[0][1] + nextPopt[1][0]); + Popt[1][0] = Popt[0][1]; } } - obsIndex = obsIndex + 1; - ForceSymmetry(); - ConstrainVariances(); } void AttPosEKF::zeroCols(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last) @@ -2126,6 +2305,24 @@ float AttPosEKF::sq(float valIn) return valIn*valIn; } +float AttPosEKF::maxf(float valIn1, float valIn2) +{ + if (valIn1 >= valIn2) { + return valIn1; + } else { + return valIn2; + } +} + +float AttPosEKF::min(float valIn1, float valIn2) +{ + if (valIn1 <= valIn2) { + return valIn1; + } else { + return valIn2; + } +} + // Store states in a history array along with time stamp void AttPosEKF::StoreStates(uint64_t timestamp_ms) { @@ -2322,9 +2519,9 @@ void AttPosEKF::OnGroundCheck() } // don't update terrain offset state if on ground if (onGround) { - inhibitGndHgtState = true; + inhibitGndState = true; } else { - inhibitGndHgtState = false; + inhibitGndState = false; } } @@ -2364,15 +2561,15 @@ void AttPosEKF::CovarianceInit() P[22][22] = sq(0.5f); } -float AttPosEKF::ConstrainFloat(float val, float min, float max) +float AttPosEKF::ConstrainFloat(float val, float min_val, float max_val) { float ret; - if (val > max) { - ret = max; - ekf_debug("> max: %8.4f, val: %8.4f", (double)max, (double)val); - } else if (val < min) { - ret = min; - ekf_debug("< min: %8.4f, val: %8.4f", (double)min, (double)val); + if (val > max_val) { + ret = max_val; + ekf_debug("> max: %8.4f, val: %8.4f", (double)max_val, (double)val); + } else if (val < min_val) { + ret = min_val; + ekf_debug("< min: %8.4f, val: %8.4f", (double)min_val, (double)val); } else { ret = val; } @@ -3006,9 +3203,14 @@ void AttPosEKF::ZeroVariables() { // Initialize on-init initialized variables - + dtIMUfilt = ConstrainFloat(dtIMU, 0.001f, 0.02f); + dtVelPosFilt = ConstrainFloat(dtVelPos, 0.04f, 0.5f); + dtGpsFilt = 1.0f / 5.0f; + dtHgtFilt = 1.0f / 100.0f; storeIndex = 0; + lastVelPosFusion = millis(); + // Do the data structure init for (unsigned i = 0; i < n_states; i++) { for (unsigned j = 0; j < n_states; j++) { @@ -3028,6 +3230,13 @@ void AttPosEKF::ZeroVariables() dVelIMU.zero(); lastGyroOffset.zero(); + windSpdFiltNorth = 0.0f; + windSpdFiltEast = 0.0f; + // setting the altitude to zero will give us a higher + // gain to adjust faster in the first step + windSpdFiltAltitude = 0.0f; + windSpdFiltClimb = 0.0f; + for (unsigned i = 0; i < data_buffer_size; i++) { for (unsigned j = 0; j < n_states; j++) { diff --git a/src/modules/ekf_att_pos_estimator/estimator_23states.h b/src/modules/ekf_att_pos_estimator/estimator_23states.h index faa6735ca..a607955a8 100644 --- a/src/modules/ekf_att_pos_estimator/estimator_23states.h +++ b/src/modules/ekf_att_pos_estimator/estimator_23states.h @@ -80,6 +80,14 @@ public: airspeedMeasurementSigma = 1.4f; gyroProcessNoise = 1.4544411e-2f; accelProcessNoise = 0.5f; + + gndHgtSigma = 0.1f; // terrain gradient 1-sigma + R_LOS = 0.03f; // optical flow measurement noise variance (rad/sec)^2 + flowInnovGate = 3.0f; // number of standard deviations applied to the optical flow innovation consistency check + auxFlowInnovGate = 10.0f; // number of standard deviations applied to the optical flow innovation consistency check used by the auxiliary filter + rngInnovGate = 10.0f; // number of standard deviations applied to the rnage finder innovation consistency check + minFlowRng = 0.01f; //minimum range between ground and flow sensor + moCompR_LOS = 0.2; // scaler from sensor gyro rate to uncertainty in LOS rate } struct mag_state_struct { @@ -116,13 +124,16 @@ public: float storedStates[n_states][data_buffer_size]; // state vectors stored for the last 50 time steps uint32_t statetimeStamp[data_buffer_size]; // time stamp for each state vector stored + // Times + uint64_t lastVelPosFusion; // the time of the last velocity fusion, in the standard time unit of the filter + float statesAtVelTime[n_states]; // States at the effective measurement time for posNE and velNED measurements float statesAtPosTime[n_states]; // States at the effective measurement time for posNE and velNED measurements float statesAtHgtTime[n_states]; // States at the effective measurement time for the hgtMea measurement float statesAtMagMeasTime[n_states]; // filter satates at the effective measurement time float statesAtVtasMeasTime[n_states]; // filter states at the effective measurement time float statesAtRngTime[n_states]; // filter states at the effective measurement time - float statesAtOptFlowTime[n_states]; // States at the effective optical flow measurement time + float statesAtFlowTime[n_states]; // States at the effective optical flow measurement time Vector3f correctedDelAng; // delta angles about the xyz body axes corrected for errors (rad) Vector3f correctedDelVel; // delta velocities along the XYZ body axes corrected for errors (m/s) @@ -140,7 +151,16 @@ public: Vector3f accel; // acceleration vector in XYZ body axes measured by the IMU (m/s^2) Vector3f dVelIMU; Vector3f dAngIMU; - float dtIMU; // time lapsed since the last IMU measurement or covariance update (sec) + float dtIMU; // time lapsed since the last IMU measurement or covariance update (sec), this may have significant jitter + float dtIMUfilt; // average time between IMU measurements (sec) + float dtVelPos; // time lapsed since the last position / velocity fusion (seconds), this may have significant jitter + float dtVelPosFilt; // average time between position / velocity fusion steps + float dtHgtFilt; // average time between height measurement updates + float dtGpsFilt; // average time between gps measurement updates + float windSpdFiltNorth; // average wind speed north component + float windSpdFiltEast; // average wind speed east component + float windSpdFiltAltitude; // the last altitude used to filter wind speed + float windSpdFiltClimb; // filtered climb rate uint8_t fusionModeGPS; // 0 = GPS outputs 3D velocity, 1 = GPS outputs 2D velocity, 2 = GPS outputs no velocity float innovVelPos[6]; // innovation output float varInnovVelPos[6]; // innovation variance output @@ -192,7 +212,8 @@ public: bool inhibitWindStates; // true when wind states and covariances are to remain constant bool inhibitMagStates; // true when magnetic field states and covariances are to remain constant - bool inhibitGndHgtState; // true when the terrain ground height offset state and covariances are to remain constant + bool inhibitGndState; // true when the terrain ground height offset state and covariances are to remain constant + bool inhibitScaleState; // true when the focal length scale factor state and covariances are to remain constant bool onGround; ///< boolean true when the flight vehicle is on the ground (not flying) bool staticMode; ///< boolean true if no position feedback is fused @@ -211,6 +232,30 @@ public: unsigned storeIndex; + // Optical Flow error estimation + float storedOmega[3][data_buffer_size]; // angular rate vector stored for the last 50 time steps used by optical flow eror estimators + + // Two state EKF used to estimate focal length scale factor and terrain position + float Popt[2][2]; // state covariance matrix + float flowStates[2]; // flow states [scale factor, terrain position] + float prevPosN; // north position at last measurement + float prevPosE; // east position at last measurement + float auxFlowObsInnov[2]; // optical flow observation innovations from focal length scale factor estimator + float auxFlowObsInnovVar[2]; // innovation variance for optical flow observations from focal length scale factor estimator + float fScaleFactorVar; // optical flow sensor focal length scale factor variance + Mat3f Tnb_flow; // Transformation matrix from nav to body at the time fo the optical flow measurement + float R_LOS; // Optical flow observation noise variance (rad/sec)^2 + float auxFlowTestRatio[2]; // ratio of X and Y flow observation innovations to fault threshold + float auxRngTestRatio; // ratio of range observation innovations to fault threshold + float flowInnovGate; // number of standard deviations used for the innovation consistency check + float auxFlowInnovGate; // number of standard deviations applied to the optical flow innovation consistency check + float rngInnovGate; // number of standard deviations used for the innovation consistency check + float minFlowRng; // minimum range over which to fuse optical flow measurements + float moCompR_LOS; // scaler from sensor gyro rate to uncertainty in LOS rate + +void updateDtGpsFilt(float dt); + +void updateDtHgtFilt(float dt); void UpdateStrapdownEquationsNED(); @@ -226,6 +271,8 @@ void FuseRangeFinder(); void FuseOptFlow(); +void GroundEKF(); + void zeroRows(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last); void zeroCols(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last); @@ -268,6 +315,10 @@ static void quat2Tnb(Mat3f &Tnb, const float (&quat)[4]); static float sq(float valIn); +static float maxf(float valIn1, float valIn2); + +static float min(float valIn1, float valIn2); + void OnGroundCheck(); void CovarianceInit(); @@ -300,6 +351,8 @@ void InitializeDynamic(float (&initvelNED)[3], float declination); protected: +void updateDtVelPosFilt(float dt); + bool FilterHealthy(); bool GyroOffsetsDiverged(); @@ -314,3 +367,5 @@ void AttitudeInit(float ax, float ay, float az, float mx, float my, float mz, fl uint32_t millis(); +uint64_t getMicros(); + diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp index 0cea13cc4..e770c11a2 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -63,6 +63,7 @@ #include <uORB/topics/vehicle_control_mode.h> #include <uORB/topics/parameter_update.h> #include <uORB/topics/vehicle_global_position.h> +#include <uORB/topics/vehicle_status.h> #include <systemlib/param/param.h> #include <systemlib/err.h> #include <systemlib/pid/pid.h> @@ -124,6 +125,7 @@ private: int _params_sub; /**< notification of parameter updates */ int _manual_sub; /**< notification of manual control updates */ int _global_pos_sub; /**< global position subscription */ + int _vehicle_status_sub; /**< vehicle status subscription */ orb_advert_t _rate_sp_pub; /**< rate setpoint publication */ orb_advert_t _attitude_sp_pub; /**< attitude setpoint point */ @@ -139,12 +141,14 @@ private: struct actuator_controls_s _actuators; /**< actuator control inputs */ struct actuator_controls_s _actuators_airframe; /**< actuator control inputs */ struct vehicle_global_position_s _global_pos; /**< global position */ + struct vehicle_status_s _vehicle_status; /**< vehicle status */ perf_counter_t _loop_perf; /**< loop performance counter */ perf_counter_t _nonfinite_input_perf; /**< performance counter for non finite input */ perf_counter_t _nonfinite_output_perf; /**< performance counter for non finite output */ bool _setpoint_valid; /**< flag if the position control setpoint is valid */ + bool _debug; /**< if set to true, print debug output */ struct { float tconst; @@ -275,6 +279,11 @@ private: void global_pos_poll(); /** + * Check for vehicle status updates. + */ + void vehicle_status_poll(); + + /** * Shim for calling task_main from task_create. */ static void task_main_trampoline(int argc, char *argv[]); @@ -312,6 +321,7 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() : _params_sub(-1), _manual_sub(-1), _global_pos_sub(-1), + _vehicle_status_sub(-1), /* publications */ _rate_sp_pub(-1), @@ -324,7 +334,8 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() : _nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control nonfinite input")), _nonfinite_output_perf(perf_alloc(PC_COUNT, "fw att control nonfinite output")), /* states */ - _setpoint_valid(false) + _setpoint_valid(false), + _debug(false) { /* safely initialize structs */ _att = {}; @@ -336,6 +347,7 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() : _actuators = {}; _actuators_airframe = {}; _global_pos = {}; + _vehicle_status = {}; _parameter_handles.tconst = param_find("FW_ATT_TC"); @@ -559,6 +571,18 @@ FixedwingAttitudeControl::global_pos_poll() } void +FixedwingAttitudeControl::vehicle_status_poll() +{ + /* check if there is new status information */ + bool vehicle_status_updated; + orb_check(_vehicle_status_sub, &vehicle_status_updated); + + if (vehicle_status_updated) { + orb_copy(ORB_ID(vehicle_status), _vehicle_status_sub, &_vehicle_status); + } +} + +void FixedwingAttitudeControl::task_main_trampoline(int argc, char *argv[]) { att_control::g_control->task_main(); @@ -583,6 +607,7 @@ FixedwingAttitudeControl::task_main() _params_sub = orb_subscribe(ORB_ID(parameter_update)); _manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); _global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); + _vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status)); /* rate limit vehicle status updates to 5Hz */ orb_set_interval(_vcontrol_mode_sub, 200); @@ -597,6 +622,7 @@ FixedwingAttitudeControl::task_main() vehicle_accel_poll(); vehicle_control_mode_poll(); vehicle_manual_poll(); + vehicle_status_poll(); /* wakeup source(s) */ struct pollfd fds[2]; @@ -665,6 +691,8 @@ FixedwingAttitudeControl::task_main() global_pos_poll(); + vehicle_status_poll(); + /* lock integrator until control is started */ bool lock_integrator; @@ -700,7 +728,8 @@ FixedwingAttitudeControl::task_main() perf_count(_nonfinite_input_perf); } } else { - airspeed = _airspeed.true_airspeed_m_s; + /* prevent numerical drama by requiring 0.5 m/s minimal speed */ + airspeed = math::max(0.5f, _airspeed.true_airspeed_m_s); } /* @@ -717,7 +746,14 @@ FixedwingAttitudeControl::task_main() float pitch_sp = _parameters.pitchsp_offset_rad; float throttle_sp = 0.0f; - if (_vcontrol_mode.flag_control_velocity_enabled || _vcontrol_mode.flag_control_position_enabled) { + /* Read attitude setpoint from uorb if + * - velocity control or position control is enabled (pos controller is running) + * - manual control is disabled (another app may send the setpoint, but it should + * for sure not be set from the remote control values) + */ + if (_vcontrol_mode.flag_control_velocity_enabled || + _vcontrol_mode.flag_control_position_enabled || + !_vcontrol_mode.flag_control_manual_enabled) { /* read in attitude setpoint from attitude setpoint uorb topic */ roll_sp = _att_sp.roll_body + _parameters.rollsp_offset_rad; pitch_sp = _att_sp.pitch_body + _parameters.pitchsp_offset_rad; @@ -776,6 +812,13 @@ FixedwingAttitudeControl::task_main() } } + /* If the aircraft is on ground reset the integrators */ + if (_vehicle_status.condition_landed) { + _roll_ctrl.reset_integrator(); + _pitch_ctrl.reset_integrator(); + _yaw_ctrl.reset_integrator(); + } + /* Prepare speed_body_u and speed_body_w */ float speed_body_u = 0.0f; float speed_body_v = 0.0f; @@ -785,7 +828,7 @@ FixedwingAttitudeControl::task_main() speed_body_v = _att.R[0][1] * _global_pos.vel_n + _att.R[1][1] * _global_pos.vel_e + _att.R[2][1] * _global_pos.vel_d; speed_body_w = _att.R[0][2] * _global_pos.vel_n + _att.R[1][2] * _global_pos.vel_e + _att.R[2][2] * _global_pos.vel_d; } else { - if (loop_counter % 10 == 0) { + if (_debug && loop_counter % 10 == 0) { warnx("Did not get a valid R\n"); } } @@ -808,7 +851,7 @@ FixedwingAttitudeControl::task_main() _roll_ctrl.reset_integrator(); perf_count(_nonfinite_output_perf); - if (loop_counter % 10 == 0) { + if (_debug && loop_counter % 10 == 0) { warnx("roll_u %.4f", (double)roll_u); } } @@ -821,7 +864,7 @@ FixedwingAttitudeControl::task_main() if (!isfinite(pitch_u)) { _pitch_ctrl.reset_integrator(); perf_count(_nonfinite_output_perf); - if (loop_counter % 10 == 0) { + if (_debug && loop_counter % 10 == 0) { warnx("pitch_u %.4f, _yaw_ctrl.get_desired_rate() %.4f," " airspeed %.4f, airspeed_scaling %.4f," " roll_sp %.4f, pitch_sp %.4f," @@ -845,21 +888,25 @@ FixedwingAttitudeControl::task_main() if (!isfinite(yaw_u)) { _yaw_ctrl.reset_integrator(); perf_count(_nonfinite_output_perf); - if (loop_counter % 10 == 0) { + if (_debug && loop_counter % 10 == 0) { warnx("yaw_u %.4f", (double)yaw_u); } } - /* throttle passed through */ - _actuators.control[3] = (isfinite(throttle_sp)) ? throttle_sp : 0.0f; + /* throttle passed through if it is finite and if no engine failure was + * detected */ + _actuators.control[3] = (isfinite(throttle_sp) && + !(_vehicle_status.engine_failure || + _vehicle_status.engine_failure_cmd)) ? + throttle_sp : 0.0f; if (!isfinite(throttle_sp)) { - if (loop_counter % 10 == 0) { + if (_debug && loop_counter % 10 == 0) { warnx("throttle_sp %.4f", (double)throttle_sp); } } } else { perf_count(_nonfinite_input_perf); - if (loop_counter % 10 == 0) { + if (_debug && loop_counter % 10 == 0) { warnx("Non-finite setpoint roll_sp: %.4f, pitch_sp %.4f", (double)roll_sp, (double)pitch_sp); } } 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 350ce6dec..6017369aa 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 @@ -88,7 +88,6 @@ #include <launchdetection/LaunchDetector.h> #include <ecl/l1/ecl_l1_pos_controller.h> #include <external_lgpl/tecs/tecs.h> -#include <drivers/drv_range_finder.h> #include "landingslope.h" #include "mtecs/mTecs.h" @@ -102,6 +101,8 @@ static int _control_task = -1; /**< task handle for sensor task */ */ extern "C" __EXPORT int fw_pos_control_l1_main(int argc, char *argv[]); +using namespace launchdetection; + class FixedwingPositionControl { public: @@ -139,11 +140,11 @@ private: int _pos_sp_triplet_sub; int _att_sub; /**< vehicle attitude subscription */ int _airspeed_sub; /**< airspeed subscription */ - int _control_mode_sub; /**< vehicle status subscription */ + int _control_mode_sub; /**< control mode subscription */ + int _vehicle_status_sub; /**< vehicle status subscription */ int _params_sub; /**< notification of parameter updates */ int _manual_control_sub; /**< notification of manual control updates */ int _sensor_combined_sub; /**< for body frame accelerations */ - int _range_finder_sub; /**< range finder subscription */ orb_advert_t _attitude_sp_pub; /**< attitude setpoint */ orb_advert_t _tecs_status_pub; /**< TECS status publication */ @@ -154,25 +155,24 @@ private: struct navigation_capabilities_s _nav_capabilities; /**< navigation capabilities */ struct manual_control_setpoint_s _manual; /**< r/c channel data */ struct airspeed_s _airspeed; /**< airspeed */ - struct vehicle_control_mode_s _control_mode; /**< vehicle status */ + struct vehicle_control_mode_s _control_mode; /**< control mode */ + struct vehicle_status_s _vehicle_status; /**< vehicle status */ struct vehicle_global_position_s _global_pos; /**< global vehicle position */ struct position_setpoint_triplet_s _pos_sp_triplet; /**< triplet of mission items */ struct sensor_combined_s _sensor_combined; /**< for body frame accelerations */ - struct range_finder_report _range_finder; /**< range finder report */ perf_counter_t _loop_perf; /**< loop performance counter */ /* land states */ - /* not in non-abort mode for landing yet */ bool land_noreturn_horizontal; bool land_noreturn_vertical; bool land_stayonground; bool land_motor_lim; bool land_onslope; + bool land_useterrain; /* takeoff/launch states */ - bool launch_detected; - bool usePreTakeoffThrust; + LaunchDetectionResult launch_detection_state; bool last_manual; ///< true if the last iteration was in manual mode (used to determine when a reset is needed) @@ -210,6 +210,7 @@ private: float max_climb_rate; float climbout_diff; float heightrate_p; + float heightrate_ff; float speedrate_p; float throttle_damp; float integrator_gain; @@ -239,7 +240,9 @@ private: float land_flare_alt_relative; float land_thrust_lim_alt_relative; float land_heading_hold_horizontal_distance; - float range_finder_rel_alt; + float land_flare_pitch_min_deg; + float land_flare_pitch_max_deg; + int land_use_terrain_estimate; } _parameters; /**< local copies of interesting parameters */ @@ -255,6 +258,7 @@ private: param_t max_climb_rate; param_t climbout_diff; param_t heightrate_p; + param_t heightrate_ff; param_t speedrate_p; param_t throttle_damp; param_t integrator_gain; @@ -284,7 +288,9 @@ private: param_t land_flare_alt_relative; param_t land_thrust_lim_alt_relative; param_t land_heading_hold_horizontal_distance; - param_t range_finder_rel_alt; + param_t land_flare_pitch_min_deg; + param_t land_flare_pitch_max_deg; + param_t land_use_terrain_estimate; } _parameter_handles; /**< handles for interesting parameters */ @@ -301,20 +307,19 @@ private: void control_update(); /** - * Check for changes in vehicle status. + * Check for changes in control mode */ void vehicle_control_mode_poll(); /** - * Check for airspeed updates. + * Check for changes in vehicle status. */ - bool vehicle_airspeed_poll(); + void vehicle_status_poll(); /** - * Check for range finder updates. + * Check for airspeed updates. */ - bool range_finder_poll(); - + bool vehicle_airspeed_poll(); /** * Check for position updates. @@ -337,9 +342,9 @@ private: void navigation_capabilities_publish(); /** - * Get the relative alt either from the difference between estimate and waypoint or from the laser range finder + * Return the terrain estimate during landing: uses the wp altitude value or the terrain estimate if available */ - float get_relative_landingalt(float land_setpoint_alt, float current_alt, const struct range_finder_report &range_finder, float range_finder_use_relative_alt); + float get_terrain_altitude_landing(float land_setpoint_alt, const struct vehicle_global_position_s &global_pos); /** * Control position. @@ -380,7 +385,8 @@ private: bool climbout_mode, float climbout_pitch_min_rad, float altitude, const math::Vector<3> &ground_speed, - tecs_mode mode = TECS_MODE_NORMAL); + tecs_mode mode = TECS_MODE_NORMAL, + bool pitch_max_special = false); }; @@ -408,10 +414,10 @@ FixedwingPositionControl::FixedwingPositionControl() : _att_sub(-1), _airspeed_sub(-1), _control_mode_sub(-1), + _vehicle_status_sub(-1), _params_sub(-1), _manual_control_sub(-1), _sensor_combined_sub(-1), - _range_finder_sub(-1), /* publications */ _attitude_sp_pub(-1), @@ -425,10 +431,10 @@ FixedwingPositionControl::FixedwingPositionControl() : _manual(), _airspeed(), _control_mode(), + _vehicle_status(), _global_pos(), _pos_sp_triplet(), _sensor_combined(), - _range_finder(), /* performance counters */ _loop_perf(perf_alloc(PC_ELAPSED, "fw l1 control")), @@ -438,8 +444,8 @@ FixedwingPositionControl::FixedwingPositionControl() : land_stayonground(false), land_motor_lim(false), land_onslope(false), - launch_detected(false), - usePreTakeoffThrust(false), + land_useterrain(false), + launch_detection_state(LAUNCHDETECTION_RES_NONE), last_manual(false), landingslope(), flare_curve_alt_rel_last(0.0f), @@ -477,7 +483,9 @@ FixedwingPositionControl::FixedwingPositionControl() : _parameter_handles.land_flare_alt_relative = param_find("FW_LND_FLALT"); _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.range_finder_rel_alt = param_find("FW_LND_RFRALT"); + _parameter_handles.land_flare_pitch_min_deg = param_find("FW_FLARE_PMIN"); + _parameter_handles.land_flare_pitch_max_deg = param_find("FW_FLARE_PMAX"); + _parameter_handles.land_use_terrain_estimate= param_find("FW_LND_USETER"); _parameter_handles.time_const = param_find("FW_T_TIME_CONST"); _parameter_handles.time_const_throt = param_find("FW_T_THRO_CONST"); @@ -494,6 +502,7 @@ FixedwingPositionControl::FixedwingPositionControl() : _parameter_handles.speed_weight = param_find("FW_T_SPDWEIGHT"); _parameter_handles.pitch_damping = param_find("FW_T_PTCH_DAMP"); _parameter_handles.heightrate_p = param_find("FW_T_HRATE_P"); + _parameter_handles.heightrate_ff = param_find("FW_T_HRATE_FF"); _parameter_handles.speedrate_p = param_find("FW_T_SRATE_P"); /* fetch initial parameter values */ @@ -563,15 +572,23 @@ FixedwingPositionControl::parameters_update() param_get(_parameter_handles.climbout_diff, &(_parameters.climbout_diff)); param_get(_parameter_handles.heightrate_p, &(_parameters.heightrate_p)); + param_get(_parameter_handles.heightrate_ff, &(_parameters.heightrate_ff)); param_get(_parameter_handles.speedrate_p, &(_parameters.speedrate_p)); param_get(_parameter_handles.land_slope_angle, &(_parameters.land_slope_angle)); 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_alt_relative, &(_parameters.land_thrust_lim_alt_relative)); - param_get(_parameter_handles.land_heading_hold_horizontal_distance, &(_parameters.land_heading_hold_horizontal_distance)); - param_get(_parameter_handles.range_finder_rel_alt, &(_parameters.range_finder_rel_alt)); + /* check if negative value for 2/3 of flare altitude is set for throttle cut */ + if (_parameters.land_thrust_lim_alt_relative < 0.0f) { + _parameters.land_thrust_lim_alt_relative = 0.66f * _parameters.land_flare_alt_relative; + } + + param_get(_parameter_handles.land_heading_hold_horizontal_distance, &(_parameters.land_heading_hold_horizontal_distance)); + param_get(_parameter_handles.land_flare_pitch_min_deg, &(_parameters.land_flare_pitch_min_deg)); + param_get(_parameter_handles.land_flare_pitch_max_deg, &(_parameters.land_flare_pitch_max_deg)); + param_get(_parameter_handles.land_use_terrain_estimate, &(_parameters.land_use_terrain_estimate)); _l1_control.set_l1_damping(_parameters.l1_damping); _l1_control.set_l1_period(_parameters.l1_period); @@ -594,6 +611,7 @@ FixedwingPositionControl::parameters_update() _tecs.set_indicated_airspeed_max(_parameters.airspeed_max); _tecs.set_max_climb_rate(_parameters.max_climb_rate); _tecs.set_heightrate_p(_parameters.heightrate_p); + _tecs.set_heightrate_ff(_parameters.heightrate_ff); _tecs.set_speedrate_p(_parameters.speedrate_p); /* sanity check parameters */ @@ -627,16 +645,27 @@ FixedwingPositionControl::parameters_update() void FixedwingPositionControl::vehicle_control_mode_poll() { - bool vstatus_updated; + bool updated; - /* Check HIL state if vehicle status has changed */ - orb_check(_control_mode_sub, &vstatus_updated); + orb_check(_control_mode_sub, &updated); - if (vstatus_updated) { + if (updated) { orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode); } } +void +FixedwingPositionControl::vehicle_status_poll() +{ + bool updated; + + orb_check(_vehicle_status_sub, &updated); + + if (updated) { + orb_copy(ORB_ID(vehicle_status), _vehicle_status_sub, &_vehicle_status); + } +} + bool FixedwingPositionControl::vehicle_airspeed_poll() { @@ -663,20 +692,6 @@ FixedwingPositionControl::vehicle_airspeed_poll() return airspeed_updated; } -bool -FixedwingPositionControl::range_finder_poll() -{ - /* check if there is a range finder measurement */ - bool range_finder_updated; - orb_check(_range_finder_sub, &range_finder_updated); - - if (range_finder_updated) { - orb_copy(ORB_ID(sensor_range_finder), _range_finder_sub, &_range_finder); - } - - return range_finder_updated; -} - void FixedwingPositionControl::vehicle_attitude_poll() { @@ -814,21 +829,23 @@ void FixedwingPositionControl::navigation_capabilities_publish() } } -float FixedwingPositionControl::get_relative_landingalt(float land_setpoint_alt, float current_alt, const struct range_finder_report &range_finder, float range_finder_use_relative_alt) +float FixedwingPositionControl::get_terrain_altitude_landing(float land_setpoint_alt, const struct vehicle_global_position_s &global_pos) { - float rel_alt_estimated = current_alt - land_setpoint_alt; - - /* only use range finder if: - * parameter (range_finder_use_relative_alt) > 0 - * the measurement is valid - * the estimated relative altitude (from global altitude estimate and landing waypoint) <= range_finder_use_relative_alt - */ - if (range_finder_use_relative_alt < 0 || !range_finder.valid || rel_alt_estimated > range_finder_use_relative_alt ) { - return rel_alt_estimated; + if (!isfinite(global_pos.terrain_alt)) { + return land_setpoint_alt; } - return range_finder.distance; - + /* Decide if the terrain estimation can be used, once we switched to using the terrain we stick with it + * for the whole landing */ + if (_parameters.land_use_terrain_estimate && (global_pos.terrain_alt_valid || land_useterrain)) { + if(!land_useterrain) { + mavlink_log_info(_mavlink_fd, "#audio: Landing, using terrain estimate"); + land_useterrain = true; + } + return global_pos.terrain_alt; + } else { + return land_setpoint_alt; + } } bool @@ -933,10 +950,17 @@ 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)); + float bearing_airplane_currwp = get_bearing_to_next_waypoint(current_position(0), current_position(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)); + /* calculate a waypoint distance value which is 0 when the aircraft is behind the waypoint */ + float wp_distance_save = wp_distance; + if (fabsf(bearing_airplane_currwp - bearing_lastwp_currwp) >= math::radians(90.0f)) { + wp_distance_save = 0.0f; + } + //warnx("wp dist: %d, alt err: %d, noret: %s", (int)wp_distance, (int)altitude_error, (land_noreturn) ? "YES" : "NO"); if (wp_distance < _parameters.land_heading_hold_horizontal_distance || land_noreturn_horizontal) { @@ -972,29 +996,30 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi /* Vertical landing control */ //xxx: using the tecs altitude controller for slope control for now - -// /* do not go down too early */ -// if (wp_distance > 50.0f) { -// altitude_error = (_global_triplet.current.alt + 25.0f) - _global_pos.alt; -// } /* apply minimum pitch (flare) and limit roll if close to touch down, altitude error is negative (going down) */ // XXX this could make a great param - float flare_pitch_angle_rad = -math::radians(5.0f);//math::radians(pos_sp_triplet.current.param1) float throttle_land = _parameters.throttle_min + (_parameters.throttle_max - _parameters.throttle_min) * 0.1f; float airspeed_land = 1.3f * _parameters.airspeed_min; float airspeed_approach = 1.3f * _parameters.airspeed_min; + /* Get an estimate of the terrain altitude if available, otherwise terrain_alt will be + * equal to _pos_sp_triplet.current.alt */ + float terrain_alt = get_terrain_altitude_landing(_pos_sp_triplet.current.alt, _global_pos); + /* Calculate distance (to landing waypoint) and altitude of last ordinary waypoint L */ - float L_altitude_rel = _pos_sp_triplet.previous.valid ? _pos_sp_triplet.previous.alt - _pos_sp_triplet.current.alt : 0.0f; + float L_altitude_rel = _pos_sp_triplet.previous.valid ? + _pos_sp_triplet.previous.alt - terrain_alt : 0.0f; - 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_rel_desired = landingslope.getLandingSlopeRelativeAltitudeSave(wp_distance, bearing_lastwp_currwp, bearing_airplane_currwp); - float relative_alt = get_relative_landingalt(_pos_sp_triplet.current.alt, _global_pos.alt, _range_finder, _parameters.range_finder_rel_alt); - - if ( (relative_alt < landingslope.flare_relative_alt()) || land_noreturn_vertical) { //checking for land_noreturn to avoid unwanted climb out - + /* Check if we should start flaring with a vertical and a + * horizontal limit (with some tolerance) + * The horizontal limit is only applied when we are in front of the wp + */ + if (((_global_pos.alt < terrain_alt + landingslope.flare_relative_alt()) && + (wp_distance_save < landingslope.flare_length() + 5.0f)) || + land_noreturn_vertical) { //checking for land_noreturn to avoid unwanted climb out /* land with minimal speed */ // /* force TECS to only control speed with pitch, altitude is only implicitely controlled now */ @@ -1003,7 +1028,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi /* kill the throttle if param requests it */ throttle_max = _parameters.throttle_max; - if (relative_alt < landingslope.motor_lim_relative_alt() || land_motor_lim) { + if (_global_pos.alt < terrain_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; @@ -1021,12 +1046,13 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi land_stayonground = true; } - tecs_update_pitch_throttle(_pos_sp_triplet.current.alt + flare_curve_alt_rel, + tecs_update_pitch_throttle(terrain_alt + flare_curve_alt_rel, calculate_target_airspeed(airspeed_land), eas2tas, - flare_pitch_angle_rad, math::radians(15.0f), + math::radians(_parameters.land_flare_pitch_min_deg), + math::radians(_parameters.land_flare_pitch_max_deg), 0.0f, throttle_max, throttle_land, - false, flare_pitch_angle_rad, - _pos_sp_triplet.current.alt + relative_alt, ground_speed, + false, land_motor_lim ? math::radians(_parameters.land_flare_pitch_min_deg) : math::radians(_parameters.pitch_limit_min), + _global_pos.alt, ground_speed, land_motor_lim ? TECS_MODE_LAND_THROTTLELIM : TECS_MODE_LAND); if (!land_noreturn_vertical) { @@ -1047,8 +1073,8 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi * if current position is below the slope continue at previous wp altitude * until the intersection with slope * */ - float altitude_desired_rel = relative_alt; - if (relative_alt > landing_slope_alt_rel_desired || land_onslope) { + float altitude_desired_rel; + if (_global_pos.alt > terrain_alt + landing_slope_alt_rel_desired || land_onslope) { /* stay on slope */ altitude_desired_rel = landing_slope_alt_rel_desired; if (!land_onslope) { @@ -1057,10 +1083,11 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi } } else { /* continue horizontally */ - altitude_desired_rel = _pos_sp_triplet.previous.valid ? L_altitude_rel : relative_alt; + altitude_desired_rel = _pos_sp_triplet.previous.valid ? L_altitude_rel : + _global_pos.alt - terrain_alt; } - tecs_update_pitch_throttle(_pos_sp_triplet.current.alt + altitude_desired_rel, + tecs_update_pitch_throttle(terrain_alt + altitude_desired_rel, calculate_target_airspeed(airspeed_approach), eas2tas, math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max), @@ -1069,48 +1096,53 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi _parameters.throttle_cruise, false, math::radians(_parameters.pitch_limit_min), - _pos_sp_triplet.current.alt + relative_alt, + _global_pos.alt, ground_speed); } } else if (pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF) { /* Perform launch detection */ - if(!launch_detected) { //do not do further checks once a launch was detected - if (launchDetector.launchDetectionEnabled()) { - static hrt_abstime last_sent = 0; - if(hrt_absolute_time() - last_sent > 4e6) { - mavlink_log_info(_mavlink_fd, "#audio: Launchdetection running"); - last_sent = hrt_absolute_time(); - } - - /* Tell the attitude controller to stop integrating while we are waiting - * for the launch */ - _att_sp.roll_reset_integral = true; - _att_sp.pitch_reset_integral = true; - _att_sp.yaw_reset_integral = true; - - /* Detect launch */ - launchDetector.update(_sensor_combined.accelerometer_m_s2[0]); - if (launchDetector.getLaunchDetected()) { - launch_detected = true; - mavlink_log_info(_mavlink_fd, "#audio: Takeoff"); - } - } else { - /* no takeoff detection --> fly */ - launch_detected = true; - warnx("launchdetection off"); + if (launchDetector.launchDetectionEnabled() && + launch_detection_state != LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS) { + /* Inform user that launchdetection is running */ + static hrt_abstime last_sent = 0; + if(hrt_absolute_time() - last_sent > 4e6) { + mavlink_log_info(_mavlink_fd, "#audio: Launchdetection running"); + last_sent = hrt_absolute_time(); } - } - _l1_control.navigate_waypoints(prev_wp, curr_wp, current_position, ground_speed_2d); - _att_sp.roll_body = _l1_control.nav_roll(); - _att_sp.yaw_body = _l1_control.nav_bearing(); + /* Detect launch */ + launchDetector.update(_sensor_combined.accelerometer_m_s2[0]); + + /* update our copy of the laucn detection state */ + launch_detection_state = launchDetector.getLaunchDetected(); + } else { + /* no takeoff detection --> fly */ + launch_detection_state = LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS; + } - if (launch_detected) { - usePreTakeoffThrust = false; + /* Set control values depending on the detection state */ + if (launch_detection_state != LAUNCHDETECTION_RES_NONE) { + /* Launch has been detected, hence we have to control the plane. */ - /* apply minimum pitch and limit roll if target altitude is not within 10 meters */ + _l1_control.navigate_waypoints(prev_wp, curr_wp, current_position, ground_speed_2d); + _att_sp.roll_body = _l1_control.nav_roll(); + _att_sp.yaw_body = _l1_control.nav_bearing(); + + /* Select throttle: only in LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS we want to use + * full throttle, otherwise we use the preTakeOff Throttle */ + float takeoff_throttle = launch_detection_state != + LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS ? + launchDetector.getThrottlePreTakeoff() : _parameters.throttle_max; + + /* select maximum pitch: the launchdetector may impose another limit for the pitch + * depending on the state of the launch */ + float takeoff_pitch_max_deg = launchDetector.getPitchMax(_parameters.pitch_limit_max); + float takeoff_pitch_max_rad = math::radians(takeoff_pitch_max_deg); + + /* apply minimum pitch and limit roll if target altitude is not within climbout_diff + * meters */ if (_parameters.climbout_diff > 0.001f && altitude_error > _parameters.climbout_diff) { /* enforce a minimum of 10 degrees pitch up on takeoff, or take parameter */ @@ -1118,18 +1150,20 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi calculate_target_airspeed(1.3f * _parameters.airspeed_min), eas2tas, math::radians(_parameters.pitch_limit_min), - math::radians(_parameters.pitch_limit_max), - _parameters.throttle_min, _parameters.throttle_max, + takeoff_pitch_max_rad, + _parameters.throttle_min, takeoff_throttle, _parameters.throttle_cruise, true, math::max(math::radians(pos_sp_triplet.current.pitch_min), math::radians(10.0f)), _global_pos.alt, ground_speed, - TECS_MODE_TAKEOFF); + TECS_MODE_TAKEOFF, + takeoff_pitch_max_deg != _parameters.pitch_limit_max); /* limit roll motion to ensure enough lift */ - _att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-15.0f), math::radians(15.0f)); + _att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-15.0f), + math::radians(15.0f)); } else { tecs_update_pitch_throttle(_pos_sp_triplet.current.alt, @@ -1138,17 +1172,26 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max), _parameters.throttle_min, - _parameters.throttle_max, + takeoff_throttle, _parameters.throttle_cruise, false, math::radians(_parameters.pitch_limit_min), _global_pos.alt, ground_speed); } - } else { - usePreTakeoffThrust = true; + /* Tell the attitude controller to stop integrating while we are waiting + * for the launch */ + _att_sp.roll_reset_integral = true; + _att_sp.pitch_reset_integral = true; + _att_sp.yaw_reset_integral = true; + + /* Set default roll and pitch setpoints during detection phase */ + _att_sp.roll_body = 0.0f; + _att_sp.pitch_body = math::max(math::radians(pos_sp_triplet.current.pitch_min), + math::radians(10.0f)); } + } /* reset landing state */ @@ -1182,13 +1225,26 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi } } - if (usePreTakeoffThrust) { + if (_vehicle_status.engine_failure || _vehicle_status.engine_failure_cmd) { + /* Set thrust to 0 to minimize damage */ + _att_sp.thrust = 0.0f; + } else if (pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF && + launch_detection_state != LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS) { + /* making sure again that the correct thrust is used, + * without depending on library calls for safety reasons */ _att_sp.thrust = launchDetector.getThrottlePreTakeoff(); + } else { + /* Copy thrust and pitch values from tecs */ + _att_sp.thrust = math::min(_mTecs.getEnabled() ? _mTecs.getThrottleSetpoint() : + _tecs.get_throttle_demand(), throttle_max); } - else { - _att_sp.thrust = math::min(_mTecs.getEnabled() ? _mTecs.getThrottleSetpoint() : _tecs.get_throttle_demand(), throttle_max); + + /* During a takeoff waypoint while waiting for launch the pitch sp is set + * already (not by tecs) */ + if (!(pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF && + launch_detection_state == LAUNCHDETECTION_RES_NONE)) { + _att_sp.pitch_body = _mTecs.getEnabled() ? _mTecs.getPitchSetpoint() : _tecs.get_pitch_demand(); } - _att_sp.pitch_body = _mTecs.getEnabled() ? _mTecs.getPitchSetpoint() : _tecs.get_pitch_demand(); if (_control_mode.flag_control_position_enabled) { last_manual = false; @@ -1212,13 +1268,15 @@ FixedwingPositionControl::task_main() _att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); _sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined)); _control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); + _vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status)); _airspeed_sub = orb_subscribe(ORB_ID(airspeed)); _params_sub = orb_subscribe(ORB_ID(parameter_update)); _manual_control_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); - _range_finder_sub = orb_subscribe(ORB_ID(sensor_range_finder)); - /* rate limit vehicle status updates to 5Hz */ + /* rate limit control mode updates to 5Hz */ orb_set_interval(_control_mode_sub, 200); + /* rate limit vehicle status updates to 5Hz */ + orb_set_interval(_vehicle_status_sub, 200); /* rate limit position updates to 50 Hz */ orb_set_interval(_global_pos_sub, 20); @@ -1257,9 +1315,12 @@ FixedwingPositionControl::task_main() perf_begin(_loop_perf); - /* check vehicle status for changes to publication state */ + /* check vehicle control mode for changes to publication state */ vehicle_control_mode_poll(); + /* check vehicle status for changes to publication state */ + vehicle_status_poll(); + /* only update parameters if they changed */ if (fds[0].revents & POLLIN) { /* read from param to clear updated flag */ @@ -1289,7 +1350,6 @@ FixedwingPositionControl::task_main() vehicle_setpoint_poll(); vehicle_sensor_combined_poll(); vehicle_airspeed_poll(); - range_finder_poll(); // vehicle_baro_poll(); math::Vector<3> ground_speed(_global_pos.vel_n, _global_pos.vel_e, _global_pos.vel_d); @@ -1342,8 +1402,7 @@ FixedwingPositionControl::task_main() void FixedwingPositionControl::reset_takeoff_state() { - launch_detected = false; - usePreTakeoffThrust = false; + launch_detection_state = LAUNCHDETECTION_RES_NONE; launchDetector.reset(); } @@ -1354,6 +1413,7 @@ void FixedwingPositionControl::reset_landing_state() land_stayonground = false; land_motor_lim = false; land_onslope = false; + land_useterrain = false; } void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_sp, float eas2tas, @@ -1362,7 +1422,7 @@ void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_ bool climbout_mode, float climbout_pitch_min_rad, float altitude, const math::Vector<3> &ground_speed, - tecs_mode mode) + tecs_mode mode, bool pitch_max_special) { if (_mTecs.getEnabled()) { /* Using mtecs library: prepare arguments for mtecs call */ @@ -1372,14 +1432,36 @@ void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_ flightPathAngle = -asinf(ground_speed(2)/ground_speed_length); } fwPosctrl::LimitOverride limitOverride; - if (climbout_mode) { + if (_vehicle_status.engine_failure || _vehicle_status.engine_failure_cmd) { + /* Force the slow downwards spiral */ + limitOverride.enablePitchMinOverride(-1.0f); + limitOverride.enablePitchMaxOverride(5.0f); + + } else if (climbout_mode) { limitOverride.enablePitchMinOverride(M_RAD_TO_DEG_F * climbout_pitch_min_rad); } else { limitOverride.disablePitchMinOverride(); } + + if (pitch_max_special) { + /* Use the maximum pitch from the argument */ + limitOverride.enablePitchMaxOverride(M_RAD_TO_DEG_F * pitch_max_rad); + } else { + /* use pitch max set by MT param */ + limitOverride.disablePitchMaxOverride(); + } _mTecs.updateAltitudeSpeed(flightPathAngle, altitude, alt_sp, _airspeed.true_airspeed_m_s, v_sp, mode, limitOverride); } else { + if (_vehicle_status.engine_failure || _vehicle_status.engine_failure_cmd) { + /* Force the slow downwards spiral */ + pitch_min_rad = M_DEG_TO_RAD_F * -1.0f; + pitch_max_rad = M_DEG_TO_RAD_F * 5.0f; + } + +/* No underspeed protection in landing mode */ + _tecs.set_detect_underspeed_enabled(!(mode == TECS_MODE_LAND || mode == TECS_MODE_LAND_THROTTLELIM)); + /* Using tecs library */ _tecs.update_pitch_throttle(_R_nb, _att.pitch, altitude, alt_sp, v_sp, _airspeed.indicated_airspeed_m_s, eas2tas, 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 41c374407..c00d82232 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 @@ -131,8 +131,8 @@ 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 + * 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 @@ -142,10 +142,10 @@ 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 + * 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 @@ -158,7 +158,7 @@ PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f); /** * Throttle limit value before flare * - * This throttle value will be set as throttle limit at FW_LND_TLALT, + * This throttle value will be set as throttle limit at FW_LND_TLALT, * before arcraft will flare. * * @group L1 Control @@ -180,17 +180,17 @@ PARAM_DEFINE_FLOAT(FW_CLMBOUT_DIFF, 25.0f); /** * 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 + * 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 @@ -200,8 +200,8 @@ 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 + * 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 Fixed Wing TECS @@ -211,10 +211,10 @@ 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 + * 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 Fixed Wing TECS @@ -224,7 +224,7 @@ PARAM_DEFINE_FLOAT(FW_T_SINK_MAX, 5.0f); /** * TECS time constant * - * This is the time constant of the TECS control algorithm (in seconds). + * 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. * @@ -235,7 +235,7 @@ PARAM_DEFINE_FLOAT(FW_T_TIME_CONST, 5.0f); /** * TECS Throttle time constant * - * This is the time constant of the TECS throttle control algorithm (in seconds). + * This is the time constant of the TECS throttle control algorithm (in seconds). * Smaller values make it faster to respond, larger values make it slower * to respond. * @@ -246,7 +246,7 @@ PARAM_DEFINE_FLOAT(FW_T_THRO_CONST, 8.0f); /** * Throttle damping factor * - * This is the damping gain for the throttle demand loop. + * This is the damping gain for the throttle demand loop. * Increase to add damping to correct for oscillations in speed and height. * * @group Fixed Wing TECS @@ -256,9 +256,9 @@ 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 + * 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 Fixed Wing TECS @@ -269,9 +269,9 @@ PARAM_DEFINE_FLOAT(FW_T_INTEG_GAIN, 0.1f); * Maximum vertical acceleration * * This is the maximum vertical acceleration (in metres/second square) - * 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 + * 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 Fixed Wing TECS @@ -281,10 +281,10 @@ 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 + * 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 Fixed Wing TECS @@ -294,10 +294,10 @@ 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 + * 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 + * more towards use of the arispeed sensor, whilst reducing it weights the * solution more towards use of the accelerometer data. * * @group Fixed Wing TECS @@ -307,13 +307,13 @@ 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 + * 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 Fixed Wing TECS @@ -323,15 +323,15 @@ 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 + * 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 Fixed Wing TECS @@ -341,9 +341,9 @@ 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 + * 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 Fixed Wing TECS @@ -358,6 +358,13 @@ PARAM_DEFINE_FLOAT(FW_T_PTCH_DAMP, 0.0f); PARAM_DEFINE_FLOAT(FW_T_HRATE_P, 0.05f); /** + * Height rate FF factor + * + * @group Fixed Wing TECS + */ +PARAM_DEFINE_FLOAT(FW_T_HRATE_FF, 0.0f); + +/** * Speed rate P factor * * @group Fixed Wing TECS @@ -379,18 +386,23 @@ PARAM_DEFINE_FLOAT(FW_LND_ANG, 5.0f); PARAM_DEFINE_FLOAT(FW_LND_HVIRT, 10.0f); /** - * Landing flare altitude (relative) + * Landing flare altitude (relative to landing altitude) * + * @unit meter * @group L1 Control */ -PARAM_DEFINE_FLOAT(FW_LND_FLALT, 15.0f); +PARAM_DEFINE_FLOAT(FW_LND_FLALT, 8.0f); /** - * Landing throttle limit altitude (relative) + * Landing throttle limit altitude (relative landing altitude) + * + * Default of -1.0f lets the system default to applying throttle + * limiting at 2/3 of the flare altitude. * + * @unit meter * @group L1 Control */ -PARAM_DEFINE_FLOAT(FW_LND_TLALT, 5.0f); +PARAM_DEFINE_FLOAT(FW_LND_TLALT, -1.0f); /** * Landing heading hold horizontal distance @@ -400,12 +412,28 @@ PARAM_DEFINE_FLOAT(FW_LND_TLALT, 5.0f); PARAM_DEFINE_FLOAT(FW_LND_HHDIST, 15.0f); /** - * Relative altitude threshold for range finder measurements for use during landing + * Enable or disable usage of terrain estimate during landing * - * range finder measurements will only be used if the estimated relative altitude (gobal_pos.alt - landing_waypoint.alt) is < FW_LND_RFRALT - * set to < 0 to disable - * the correct value of this parameter depends on your range measuring device as well as on the terrain at the landing location + * 0: disabled, 1: enabled * * @group L1 Control */ -PARAM_DEFINE_FLOAT(FW_LND_RFRALT, -1.0f); +PARAM_DEFINE_INT32(FW_LND_USETER, 0); + +/** + * Flare, minimum pitch + * + * Minimum pitch during flare, a positive sign means nose up + * Applied once FW_LND_TLALT is reached + * + */ +PARAM_DEFINE_FLOAT(FW_FLARE_PMIN, 2.5f); + +/** + * Flare, maximum pitch + * + * Maximum pitch during flare, a positive sign means nose up + * Applied once FW_LND_TLALT is reached + * + */ +PARAM_DEFINE_FLOAT(FW_FLARE_PMAX, 15.0f); diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c index e49288a74..9afe74af1 100644 --- a/src/modules/mavlink/mavlink.c +++ b/src/modules/mavlink/mavlink.c @@ -68,14 +68,17 @@ PARAM_DEFINE_INT32(MAV_TYPE, MAV_TYPE_FIXED_WING); * @group MAVLink */ PARAM_DEFINE_INT32(MAV_USEHILGPS, 0); +/** + * Forward external setpoint messages + * If set to 1 incomming external setpoint messages will be directly forwarded to the controllers if in offboard + * control mode + * @group MAVLink + */ +PARAM_DEFINE_INT32(MAV_FWDEXTSP, 1); mavlink_system_t mavlink_system = { 100, - 50, - MAV_TYPE_FIXED_WING, - 0, - 0, - 0 + 50 }; // System ID, 1-255, Component/Subsystem ID, 1-255 /* diff --git a/src/modules/mavlink/mavlink_ftp.cpp b/src/modules/mavlink/mavlink_ftp.cpp index 00c8df18c..f17497aa8 100644 --- a/src/modules/mavlink/mavlink_ftp.cpp +++ b/src/modules/mavlink/mavlink_ftp.cpp @@ -31,38 +31,39 @@ * ****************************************************************************/ +/// @file mavlink_ftp.cpp +/// @author px4dev, Don Gagne <don@thegagnes.com> + #include <crc32.h> #include <unistd.h> #include <stdio.h> #include <fcntl.h> #include <sys/stat.h> +#include <errno.h> #include "mavlink_ftp.h" +#include "mavlink_tests/mavlink_ftp_test.h" // Uncomment the line below to get better debug output. Never commit with this left on. //#define MAVLINK_FTP_DEBUG -MavlinkFTP *MavlinkFTP::_server; - MavlinkFTP * -MavlinkFTP::getServer() +MavlinkFTP::get_server(void) { - // XXX this really cries out for some locking... - if (_server == nullptr) { - _server = new MavlinkFTP; - } - return _server; + static MavlinkFTP server; + return &server; } MavlinkFTP::MavlinkFTP() : - _session_fds{}, - _workBufs{}, - _workFree{}, - _lock{} + _request_bufs{}, + _request_queue{}, + _request_queue_sem{}, + _utRcvMsgFunc{}, + _ftp_test{} { // initialise the request freelist - dq_init(&_workFree); - sem_init(&_lock, 0, 1); + dq_init(&_request_queue); + sem_init(&_request_queue_sem, 0, 1); // initialize session list for (size_t i=0; i<kMaxSession; i++) { @@ -71,161 +72,258 @@ MavlinkFTP::MavlinkFTP() : // drop work entries onto the free list for (unsigned i = 0; i < kRequestQueueSize; i++) { - _qFree(&_workBufs[i]); + _return_request(&_request_bufs[i]); } } +#ifdef MAVLINK_FTP_UNIT_TEST +void +MavlinkFTP::set_unittest_worker(ReceiveMessageFunc_t rcvMsgFunc, MavlinkFtpTest *ftp_test) +{ + _utRcvMsgFunc = rcvMsgFunc; + _ftp_test = ftp_test; +} +#endif + void MavlinkFTP::handle_message(Mavlink* mavlink, mavlink_message_t *msg) { // get a free request - auto req = _dqFree(); + struct Request* req = _get_request(); // if we couldn't get a request slot, just drop it - if (req != nullptr) { - - // decode the request - if (req->decode(mavlink, msg)) { + if (req == nullptr) { + warnx("Dropping FTP request: queue full\n"); + return; + } - // and queue it for the worker - work_queue(LPWORK, &req->work, &MavlinkFTP::_workerTrampoline, req, 0); - } else { - _qFree(req); + if (msg->msgid == MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL) { + mavlink_msg_file_transfer_protocol_decode(msg, &req->message); + +#ifdef MAVLINK_FTP_UNIT_TEST + if (!_utRcvMsgFunc) { + warnx("Incorrectly written unit test\n"); + return; + } + // We use fake ids when unit testing + req->serverSystemId = MavlinkFtpTest::serverSystemId; + req->serverComponentId = MavlinkFtpTest::serverComponentId; + req->serverChannel = MavlinkFtpTest::serverChannel; +#else + // Not unit testing, use the real thing + req->serverSystemId = mavlink->get_system_id(); + req->serverComponentId = mavlink->get_component_id(); + req->serverChannel = mavlink->get_channel(); +#endif + + // This is the system id we want to target when sending + req->targetSystemId = msg->sysid; + + if (req->message.target_system == req->serverSystemId) { + req->mavlink = mavlink; +#ifdef MAVLINK_FTP_UNIT_TEST + // We are running in Unit Test mode. Don't queue, just call _worket directly. + _process_request(req); +#else + // We are running in normal mode. Queue the request to the worker + work_queue(LPWORK, &req->work, &MavlinkFTP::_worker_trampoline, req, 0); +#endif + return; } } + + _return_request(req); } +/// @brief Queued static work queue routine to handle mavlink messages void -MavlinkFTP::_workerTrampoline(void *arg) +MavlinkFTP::_worker_trampoline(void *arg) { - auto req = reinterpret_cast<Request *>(arg); - auto server = MavlinkFTP::getServer(); + Request* req = reinterpret_cast<Request *>(arg); + MavlinkFTP* server = MavlinkFTP::get_server(); // call the server worker with the work item - server->_worker(req); + server->_process_request(req); } +/// @brief Processes an FTP message void -MavlinkFTP::_worker(Request *req) +MavlinkFTP::_process_request(Request *req) { - auto hdr = req->header(); + PayloadHeader *payload = reinterpret_cast<PayloadHeader *>(&req->message.payload[0]); + ErrorCode errorCode = kErrNone; - uint32_t messageCRC; // basic sanity checks; must validate length before use - if ((hdr->magic != kProtocolMagic) || (hdr->size > kMaxDataLength)) { - errorCode = kErrNoRequest; - goto out; - } - - // check request CRC to make sure this is one of ours - messageCRC = hdr->crc32; - hdr->crc32 = 0; - if (crc32(req->rawData(), req->dataSize()) != messageCRC) { - errorCode = kErrNoRequest; + if (payload->size > kMaxDataLength) { + errorCode = kErrInvalidDataSize; goto out; - warnx("ftp: bad crc"); } #ifdef MAVLINK_FTP_DEBUG - printf("ftp: channel %u opc %u size %u offset %u\n", req->channel(), hdr->opcode, hdr->size, hdr->offset); + printf("ftp: channel %u opc %u size %u offset %u\n", req->serverChannel, payload->opcode, payload->size, payload->offset); #endif - switch (hdr->opcode) { + switch (payload->opcode) { case kCmdNone: break; - case kCmdTerminate: - errorCode = _workTerminate(req); + case kCmdTerminateSession: + errorCode = _workTerminate(payload); + break; + + case kCmdResetSessions: + errorCode = _workReset(payload); + break; + + case kCmdListDirectory: + errorCode = _workList(payload); + break; + + case kCmdOpenFileRO: + errorCode = _workOpen(payload, O_RDONLY); + break; + + case kCmdCreateFile: + errorCode = _workOpen(payload, O_CREAT | O_EXCL | O_WRONLY); + break; + + case kCmdOpenFileWO: + errorCode = _workOpen(payload, O_CREAT | O_WRONLY); break; - case kCmdReset: - errorCode = _workReset(); + case kCmdReadFile: + errorCode = _workRead(payload); break; - case kCmdList: - errorCode = _workList(req); + case kCmdWriteFile: + errorCode = _workWrite(payload); break; - case kCmdOpen: - errorCode = _workOpen(req, false); + case kCmdRemoveFile: + errorCode = _workRemoveFile(payload); break; - case kCmdCreate: - errorCode = _workOpen(req, true); + case kCmdRename: + errorCode = _workRename(payload); break; - case kCmdRead: - errorCode = _workRead(req); + case kCmdTruncateFile: + errorCode = _workTruncateFile(payload); break; - case kCmdWrite: - errorCode = _workWrite(req); + case kCmdCreateDirectory: + errorCode = _workCreateDirectory(payload); break; + + case kCmdRemoveDirectory: + errorCode = _workRemoveDirectory(payload); + break; + - case kCmdRemove: - errorCode = _workRemove(req); + case kCmdCalcFileCRC32: + errorCode = _workCalcFileCRC32(payload); break; default: - errorCode = kErrNoRequest; + errorCode = kErrUnknownCommand; break; } out: // handle success vs. error if (errorCode == kErrNone) { - hdr->opcode = kRspAck; + payload->req_opcode = payload->opcode; + payload->opcode = kRspAck; #ifdef MAVLINK_FTP_DEBUG warnx("FTP: ack\n"); #endif } else { + int r_errno = errno; warnx("FTP: nak %u", errorCode); - hdr->opcode = kRspNak; - hdr->size = 1; - hdr->data[0] = errorCode; + payload->req_opcode = payload->opcode; + payload->opcode = kRspNak; + payload->size = 1; + payload->data[0] = errorCode; + if (errorCode == kErrFailErrno) { + payload->size = 2; + payload->data[1] = r_errno; + } } + // respond to the request _reply(req); - // free the request buffer back to the freelist - _qFree(req); + _return_request(req); } +/// @brief Sends the specified FTP reponse message out through mavlink void MavlinkFTP::_reply(Request *req) { - auto hdr = req->header(); + PayloadHeader *payload = reinterpret_cast<PayloadHeader *>(&req->message.payload[0]); - hdr->magic = kProtocolMagic; + payload->seqNumber = payload->seqNumber + 1; - // message is assumed to be already constructed in the request buffer, so generate the CRC - hdr->crc32 = 0; - hdr->crc32 = crc32(req->rawData(), req->dataSize()); + mavlink_message_t msg; + msg.checksum = 0; +#ifndef MAVLINK_FTP_UNIT_TEST + uint16_t len = +#endif + mavlink_msg_file_transfer_protocol_pack_chan(req->serverSystemId, // Sender system id + req->serverComponentId, // Sender component id + req->serverChannel, // Channel to send on + &msg, // Message to pack payload into + 0, // Target network + req->targetSystemId, // Target system id + 0, // Target component id + (const uint8_t*)payload); // Payload to pack into message + + bool success = true; +#ifdef MAVLINK_FTP_UNIT_TEST + // Unit test hook is set, call that instead + _utRcvMsgFunc(&msg, _ftp_test); +#else + Mavlink *mavlink = req->mavlink; + + mavlink->lockMessageBufferMutex(); + success = mavlink->message_buffer_write(&msg, len); + mavlink->unlockMessageBufferMutex(); + +#endif - // then pack and send the reply back to the request source - req->reply(); + if (!success) { + warnx("FTP TX ERR"); + } +#ifdef MAVLINK_FTP_DEBUG + else { + warnx("wrote: sys: %d, comp: %d, chan: %d, checksum: %d", + req->serverSystemId, + req->serverComponentId, + req->serverChannel, + msg.checksum); + } +#endif } +/// @brief Responds to a List command MavlinkFTP::ErrorCode -MavlinkFTP::_workList(Request *req) +MavlinkFTP::_workList(PayloadHeader* payload) { - auto hdr = req->header(); - char dirPath[kMaxDataLength]; - strncpy(dirPath, req->dataAsCString(), kMaxDataLength); + strncpy(dirPath, _data_as_cstring(payload), kMaxDataLength); DIR *dp = opendir(dirPath); if (dp == nullptr) { warnx("FTP: can't open path '%s'", dirPath); - return kErrNotDir; + return kErrFailErrno; } #ifdef MAVLINK_FTP_DEBUG - warnx("FTP: list %s offset %d", dirPath, hdr->offset); + warnx("FTP: list %s offset %d", dirPath, payload->offset); #endif ErrorCode errorCode = kErrNone; @@ -233,19 +331,19 @@ MavlinkFTP::_workList(Request *req) unsigned offset = 0; // move to the requested offset - seekdir(dp, hdr->offset); + seekdir(dp, payload->offset); for (;;) { // read the directory entry if (readdir_r(dp, &entry, &result)) { warnx("FTP: list %s readdir_r failure\n", dirPath); - errorCode = kErrIO; + errorCode = kErrFailErrno; break; } // no more entries? if (result == nullptr) { - if (hdr->offset != 0 && offset == 0) { + if (payload->offset != 0 && offset == 0) { // User is requesting subsequent dir entries but there were none. This means the user asked // to seek past EOF. errorCode = kErrEOF; @@ -270,14 +368,22 @@ MavlinkFTP::_workList(Request *req) } break; case DTYPE_DIRECTORY: - direntType = kDirentDir; + if (strcmp(entry.d_name, ".") == 0 || strcmp(entry.d_name, "..") == 0) { + // Don't bother sending these back + direntType = kDirentSkip; + } else { + direntType = kDirentDir; + } break; default: - direntType = kDirentUnknown; - break; + // We only send back file and diretory entries, skip everything else + direntType = kDirentSkip; } - if (entry.d_type == DTYPE_FILE) { + if (direntType == kDirentSkip) { + // Skip send only dirent identifier + buf[0] = '\0'; + } else if (direntType == kDirentFile) { // Files send filename and file length snprintf(buf, sizeof(buf), "%s\t%d", entry.d_name, fileSize); } else { @@ -293,145 +399,230 @@ MavlinkFTP::_workList(Request *req) } // Move the data into the buffer - hdr->data[offset++] = direntType; - strcpy((char *)&hdr->data[offset], buf); + payload->data[offset++] = direntType; + strcpy((char *)&payload->data[offset], buf); #ifdef MAVLINK_FTP_DEBUG - printf("FTP: list %s %s\n", dirPath, (char *)&hdr->data[offset-1]); + printf("FTP: list %s %s\n", dirPath, (char *)&payload->data[offset-1]); #endif offset += nameLen + 1; } closedir(dp); - hdr->size = offset; + payload->size = offset; return errorCode; } +/// @brief Responds to an Open command MavlinkFTP::ErrorCode -MavlinkFTP::_workOpen(Request *req, bool create) +MavlinkFTP::_workOpen(PayloadHeader* payload, int oflag) { - auto hdr = req->header(); - - int session_index = _findUnusedSession(); + int session_index = _find_unused_session(); if (session_index < 0) { - return kErrNoSession; + warnx("FTP: Open failed - out of sessions\n"); + return kErrNoSessionsAvailable; } - + char *filename = _data_as_cstring(payload); + uint32_t fileSize = 0; - if (!create) { - struct stat st; - if (stat(req->dataAsCString(), &st) != 0) { - return kErrNotFile; - } - fileSize = st.st_size; + struct stat st; + if (stat(filename, &st) != 0) { + // fail only if requested open for read + if (oflag & O_RDONLY) + return kErrFailErrno; + else + st.st_size = 0; } + fileSize = st.st_size; - int oflag = create ? (O_CREAT | O_EXCL | O_APPEND) : O_RDONLY; - - int fd = ::open(req->dataAsCString(), oflag); + int fd = ::open(filename, oflag); if (fd < 0) { - return create ? kErrPerm : kErrNotFile; + return kErrFailErrno; } _session_fds[session_index] = fd; - hdr->session = session_index; - if (create) { - hdr->size = 0; - } else { - hdr->size = sizeof(uint32_t); - *((uint32_t*)hdr->data) = fileSize; - } + payload->session = session_index; + payload->size = sizeof(uint32_t); + *((uint32_t*)payload->data) = fileSize; return kErrNone; } +/// @brief Responds to a Read command MavlinkFTP::ErrorCode -MavlinkFTP::_workRead(Request *req) +MavlinkFTP::_workRead(PayloadHeader* payload) { - auto hdr = req->header(); - - int session_index = hdr->session; + int session_index = payload->session; - if (!_validSession(session_index)) { - return kErrNoSession; + if (!_valid_session(session_index)) { + return kErrInvalidSession; } // Seek to the specified position #ifdef MAVLINK_FTP_DEBUG - warnx("seek %d", hdr->offset); + warnx("seek %d", payload->offset); #endif - if (lseek(_session_fds[session_index], hdr->offset, SEEK_SET) < 0) { + if (lseek(_session_fds[session_index], payload->offset, SEEK_SET) < 0) { // Unable to see to the specified location warnx("seek fail"); return kErrEOF; } - int bytes_read = ::read(_session_fds[session_index], &hdr->data[0], kMaxDataLength); + int bytes_read = ::read(_session_fds[session_index], &payload->data[0], kMaxDataLength); if (bytes_read < 0) { // Negative return indicates error other than eof warnx("read fail %d", bytes_read); - return kErrIO; + return kErrFailErrno; } - hdr->size = bytes_read; + payload->size = bytes_read; return kErrNone; } +/// @brief Responds to a Write command MavlinkFTP::ErrorCode -MavlinkFTP::_workWrite(Request *req) +MavlinkFTP::_workWrite(PayloadHeader* payload) { -#if 0 - // NYI: Coming soon - auto hdr = req->header(); + int session_index = payload->session; - // look up session - auto session = getSession(hdr->session); - if (session == nullptr) { - return kErrNoSession; + if (!_valid_session(session_index)) { + return kErrInvalidSession; } - // append to file - int result = session->append(hdr->offset, &hdr->data[0], hdr->size); + // Seek to the specified position +#ifdef MAVLINK_FTP_DEBUG + warnx("seek %d", payload->offset); +#endif + if (lseek(_session_fds[session_index], payload->offset, SEEK_SET) < 0) { + // Unable to see to the specified location + warnx("seek fail"); + return kErrFailErrno; + } - if (result < 0) { - // XXX might also be no space, I/O, etc. - return kErrNotAppend; + int bytes_written = ::write(_session_fds[session_index], &payload->data[0], payload->size); + if (bytes_written < 0) { + // Negative return indicates error other than eof + warnx("write fail %d", bytes_written); + return kErrFailErrno; } - hdr->size = result; + payload->size = sizeof(uint32_t); + *((uint32_t*)payload->data) = bytes_written; + return kErrNone; -#else - return kErrPerm; -#endif } +/// @brief Responds to a RemoveFile command MavlinkFTP::ErrorCode -MavlinkFTP::_workRemove(Request *req) +MavlinkFTP::_workRemoveFile(PayloadHeader* payload) { - //auto hdr = req->header(); + char file[kMaxDataLength]; + strncpy(file, _data_as_cstring(payload), kMaxDataLength); + + if (unlink(file) == 0) { + payload->size = 0; + return kErrNone; + } else { + return kErrFailErrno; + } +} + +/// @brief Responds to a TruncateFile command +MavlinkFTP::ErrorCode +MavlinkFTP::_workTruncateFile(PayloadHeader* payload) +{ + char file[kMaxDataLength]; + const char temp_file[] = "/fs/microsd/.trunc.tmp"; + strncpy(file, _data_as_cstring(payload), kMaxDataLength); + payload->size = 0; + + // emulate truncate(file, payload->offset) by + // copying to temp and overwrite with O_TRUNC flag. + + struct stat st; + if (stat(file, &st) != 0) { + return kErrFailErrno; + } + + if (!S_ISREG(st.st_mode)) { + errno = EISDIR; + return kErrFailErrno; + } + + // check perms allow us to write (not romfs) + if (!(st.st_mode & (S_IWUSR | S_IWGRP | S_IWOTH))) { + errno = EROFS; + return kErrFailErrno; + } + + if (payload->offset == (unsigned)st.st_size) { + // nothing to do + return kErrNone; + } + else if (payload->offset == 0) { + // 1: truncate all data + int fd = ::open(file, O_TRUNC | O_WRONLY); + if (fd < 0) { + return kErrFailErrno; + } + + ::close(fd); + return kErrNone; + } + else if (payload->offset > (unsigned)st.st_size) { + // 2: extend file + int fd = ::open(file, O_WRONLY); + if (fd < 0) { + return kErrFailErrno; + } - // for now, send error reply - return kErrPerm; + if (lseek(fd, payload->offset - 1, SEEK_SET) < 0) { + ::close(fd); + return kErrFailErrno; + } + + bool ok = 1 == ::write(fd, "", 1); + ::close(fd); + + return (ok)? kErrNone : kErrFailErrno; + } + else { + // 3: truncate + if (_copy_file(file, temp_file, payload->offset) != 0) { + return kErrFailErrno; + } + if (_copy_file(temp_file, file, payload->offset) != 0) { + return kErrFailErrno; + } + if (::unlink(temp_file) != 0) { + return kErrFailErrno; + } + + return kErrNone; + } } +/// @brief Responds to a Terminate command MavlinkFTP::ErrorCode -MavlinkFTP::_workTerminate(Request *req) +MavlinkFTP::_workTerminate(PayloadHeader* payload) { - auto hdr = req->header(); - - if (!_validSession(hdr->session)) { - return kErrNoSession; + if (!_valid_session(payload->session)) { + return kErrInvalidSession; } - ::close(_session_fds[hdr->session]); + ::close(_session_fds[payload->session]); + _session_fds[payload->session] = -1; + + payload->size = 0; return kErrNone; } +/// @brief Responds to a Reset command MavlinkFTP::ErrorCode -MavlinkFTP::_workReset(void) +MavlinkFTP::_workReset(PayloadHeader* payload) { for (size_t i=0; i<kMaxSession; i++) { if (_session_fds[i] != -1) { @@ -440,11 +631,104 @@ MavlinkFTP::_workReset(void) } } + payload->size = 0; + + return kErrNone; +} + +/// @brief Responds to a Rename command +MavlinkFTP::ErrorCode +MavlinkFTP::_workRename(PayloadHeader* payload) +{ + char oldpath[kMaxDataLength]; + char newpath[kMaxDataLength]; + + char *ptr = _data_as_cstring(payload); + size_t oldpath_sz = strlen(ptr); + + if (oldpath_sz == payload->size) { + // no newpath + errno = EINVAL; + return kErrFailErrno; + } + + strncpy(oldpath, ptr, kMaxDataLength); + strncpy(newpath, ptr + oldpath_sz + 1, kMaxDataLength); + + if (rename(oldpath, newpath) == 0) { + payload->size = 0; + return kErrNone; + } else { + return kErrFailErrno; + } +} + +/// @brief Responds to a RemoveDirectory command +MavlinkFTP::ErrorCode +MavlinkFTP::_workRemoveDirectory(PayloadHeader* payload) +{ + char dir[kMaxDataLength]; + strncpy(dir, _data_as_cstring(payload), kMaxDataLength); + + if (rmdir(dir) == 0) { + payload->size = 0; + return kErrNone; + } else { + return kErrFailErrno; + } +} + +/// @brief Responds to a CreateDirectory command +MavlinkFTP::ErrorCode +MavlinkFTP::_workCreateDirectory(PayloadHeader* payload) +{ + char dir[kMaxDataLength]; + strncpy(dir, _data_as_cstring(payload), kMaxDataLength); + + if (mkdir(dir, S_IRWXU | S_IRWXG | S_IRWXO) == 0) { + payload->size = 0; + return kErrNone; + } else { + return kErrFailErrno; + } +} + +/// @brief Responds to a CalcFileCRC32 command +MavlinkFTP::ErrorCode +MavlinkFTP::_workCalcFileCRC32(PayloadHeader* payload) +{ + char file_buf[256]; + uint32_t checksum = 0; + ssize_t bytes_read; + strncpy(file_buf, _data_as_cstring(payload), kMaxDataLength); + + int fd = ::open(file_buf, O_RDONLY); + if (fd < 0) { + return kErrFailErrno; + } + + do { + bytes_read = ::read(fd, file_buf, sizeof(file_buf)); + if (bytes_read < 0) { + int r_errno = errno; + ::close(fd); + errno = r_errno; + return kErrFailErrno; + } + + checksum = crc32part((uint8_t*)file_buf, bytes_read, checksum); + } while (bytes_read == sizeof(file_buf)); + + ::close(fd); + + payload->size = sizeof(uint32_t); + *((uint32_t*)payload->data) = checksum; return kErrNone; } +/// @brief Returns true if the specified session is a valid open session bool -MavlinkFTP::_validSession(unsigned index) +MavlinkFTP::_valid_session(unsigned index) { if ((index >= kMaxSession) || (_session_fds[index] < 0)) { return false; @@ -452,8 +736,9 @@ MavlinkFTP::_validSession(unsigned index) return true; } +/// @brief Returns an unused session index int -MavlinkFTP::_findUnusedSession(void) +MavlinkFTP::_find_unused_session(void) { for (size_t i=0; i<kMaxSession; i++) { if (_session_fds[i] == -1) { @@ -464,16 +749,105 @@ MavlinkFTP::_findUnusedSession(void) return -1; } +/// @brief Guarantees that the payload data is null terminated. +/// @return Returns a pointer to the payload data as a char * char * -MavlinkFTP::Request::dataAsCString() +MavlinkFTP::_data_as_cstring(PayloadHeader* payload) { // guarantee nul termination - if (header()->size < kMaxDataLength) { - requestData()[header()->size] = '\0'; + if (payload->size < kMaxDataLength) { + payload->data[payload->size] = '\0'; } else { - requestData()[kMaxDataLength - 1] = '\0'; + payload->data[kMaxDataLength - 1] = '\0'; } // and return data - return (char *)&(header()->data[0]); + return (char *)&(payload->data[0]); +} + +/// @brief Returns a unused Request entry. NULL if none available. +MavlinkFTP::Request * +MavlinkFTP::_get_request(void) +{ + _lock_request_queue(); + Request* req = reinterpret_cast<Request *>(dq_remfirst(&_request_queue)); + _unlock_request_queue(); + return req; +} + +/// @brief Locks a semaphore to provide exclusive access to the request queue +void +MavlinkFTP::_lock_request_queue(void) +{ + do {} + while (sem_wait(&_request_queue_sem) != 0); +} + +/// @brief Unlocks the semaphore providing exclusive access to the request queue +void +MavlinkFTP::_unlock_request_queue(void) +{ + sem_post(&_request_queue_sem); +} + +/// @brief Returns a no longer needed request to the queue +void +MavlinkFTP::_return_request(Request *req) +{ + _lock_request_queue(); + dq_addlast(&req->work.dq, &_request_queue); + _unlock_request_queue(); +} + +/// @brief Copy file (with limited space) +int +MavlinkFTP::_copy_file(const char *src_path, const char *dst_path, ssize_t length) +{ + char buff[512]; + int src_fd = -1, dst_fd = -1; + int op_errno = 0; + + src_fd = ::open(src_path, O_RDONLY); + if (src_fd < 0) { + return -1; + } + + dst_fd = ::open(dst_path, O_CREAT | O_TRUNC | O_WRONLY); + if (dst_fd < 0) { + op_errno = errno; + ::close(src_fd); + errno = op_errno; + return -1; + } + + while (length > 0) { + ssize_t bytes_read, bytes_written; + size_t blen = (length > sizeof(buff))? sizeof(buff) : length; + + bytes_read = ::read(src_fd, buff, blen); + if (bytes_read == 0) { + // EOF + break; + } + else if (bytes_read < 0) { + warnx("cp: read"); + op_errno = errno; + break; + } + + bytes_written = ::write(dst_fd, buff, bytes_read); + if (bytes_written != bytes_read) { + warnx("cp: short write"); + op_errno = errno; + break; + } + + length -= bytes_written; + } + + ::close(src_fd); + ::close(dst_fd); + + errno = op_errno; + return (length > 0)? -1 : 0; } diff --git a/src/modules/mavlink/mavlink_ftp.h b/src/modules/mavlink/mavlink_ftp.h index 43de89de9..bef6775a9 100644 --- a/src/modules/mavlink/mavlink_ftp.h +++ b/src/modules/mavlink/mavlink_ftp.h @@ -33,20 +33,8 @@ #pragma once -/** - * @file mavlink_ftp.h - * - * MAVLink remote file server. - * - * Messages are wrapped in ENCAPSULATED_DATA messages. Every message includes - * a session ID and sequence number. - * - * A limited number of requests (currently 2) may be outstanding at a time. - * Additional messages will be discarded. - * - * Messages consist of a fixed header, followed by a data area. - * - */ +/// @file mavlink_ftp.h +/// @author px4dev, Don Gagne <don@thegagnes.com> #include <dirent.h> #include <queue.h> @@ -57,174 +45,136 @@ #include "mavlink_messages.h" #include "mavlink_main.h" +class MavlinkFtpTest; + +/// @brief MAVLink remote file server. Support FTP like commands using MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL message. +/// A limited number of requests (kRequestQueueSize) may be outstanding at a time. Additional messages will be discarded. class MavlinkFTP { public: + /// @brief Returns the one Mavlink FTP server in the system. + static MavlinkFTP* get_server(void); + + /// @brief Contructor is only public so unit test code can new objects. MavlinkFTP(); - - static MavlinkFTP *getServer(); - - // static interface - void handle_message(Mavlink* mavlink, - mavlink_message_t *msg); - -private: - - static const unsigned kRequestQueueSize = 2; - - static MavlinkFTP *_server; - - struct RequestHeader - { - uint8_t magic; - uint8_t session; - uint8_t opcode; - uint8_t size; - uint32_t crc32; - uint32_t offset; - uint8_t data[]; - }; - + + /// @brief Adds the specified message to the work queue. + void handle_message(Mavlink* mavlink, mavlink_message_t *msg); + + typedef void (*ReceiveMessageFunc_t)(const mavlink_message_t *msg, MavlinkFtpTest* ftpTest); + + /// @brief Sets up the server to run in unit test mode. + /// @param rcvmsgFunc Function which will be called to handle outgoing mavlink messages. + /// @param ftp_test MavlinkFtpTest object which the function is associated with + void set_unittest_worker(ReceiveMessageFunc_t rcvMsgFunc, MavlinkFtpTest *ftp_test); + + /// @brief This is the payload which is in mavlink_file_transfer_protocol_t.payload. We pad the structure ourselves to + /// 32 bit alignment to avoid usage of any pack pragmas. + struct PayloadHeader + { + uint16_t seqNumber; ///< sequence number for message + uint8_t session; ///< Session id for read and write commands + uint8_t opcode; ///< Command opcode + uint8_t size; ///< Size of data + uint8_t req_opcode; ///< Request opcode returned in kRspAck, kRspNak message + uint8_t padding[2]; ///< 32 bit aligment padding + uint32_t offset; ///< Offsets for List and Read commands + uint8_t data[]; ///< command data, varies by Opcode + }; + + /// @brief Command opcodes enum Opcode : uint8_t { - kCmdNone, // ignored, always acked - kCmdTerminate, // releases sessionID, closes file - kCmdReset, // terminates all sessions - kCmdList, // list files in <path> from <offset> - kCmdOpen, // opens <path> for reading, returns <session> - kCmdRead, // reads <size> bytes from <offset> in <session> - kCmdCreate, // creates <path> for writing, returns <session> - kCmdWrite, // appends <size> bytes at <offset> in <session> - kCmdRemove, // remove file (only if created by server?) - - kRspAck, - kRspNak + kCmdNone, ///< ignored, always acked + kCmdTerminateSession, ///< Terminates open Read session + kCmdResetSessions, ///< Terminates all open Read sessions + kCmdListDirectory, ///< List files in <path> from <offset> + kCmdOpenFileRO, ///< Opens file at <path> for reading, returns <session> + kCmdReadFile, ///< Reads <size> bytes from <offset> in <session> + kCmdCreateFile, ///< Creates file at <path> for writing, returns <session> + kCmdWriteFile, ///< Writes <size> bytes to <offset> in <session> + kCmdRemoveFile, ///< Remove file at <path> + kCmdCreateDirectory, ///< Creates directory at <path> + kCmdRemoveDirectory, ///< Removes Directory at <path>, must be empty + kCmdOpenFileWO, ///< Opens file at <path> for writing, returns <session> + kCmdTruncateFile, ///< Truncate file at <path> to <offset> length + kCmdRename, ///< Rename <path1> to <path2> + kCmdCalcFileCRC32, ///< Calculate CRC32 for file at <path> + + kRspAck = 128, ///< Ack response + kRspNak ///< Nak response }; - + + /// @brief Error codes returned in Nak response PayloadHeader.data[0]. enum ErrorCode : uint8_t - { + { kErrNone, - kErrNoRequest, - kErrNoSession, - kErrSequence, - kErrNotDir, - kErrNotFile, - kErrEOF, - kErrNotAppend, - kErrTooBig, - kErrIO, - kErrPerm - }; - - int _findUnusedSession(void); - bool _validSession(unsigned index); - - static const unsigned kMaxSession = 2; - int _session_fds[kMaxSession]; - - class Request + kErrFail, ///< Unknown failure + kErrFailErrno, ///< Command failed, errno sent back in PayloadHeader.data[1] + kErrInvalidDataSize, ///< PayloadHeader.size is invalid + kErrInvalidSession, ///< Session is not currently open + kErrNoSessionsAvailable, ///< All available Sessions in use + kErrEOF, ///< Offset past end of file for List and Read commands + kErrUnknownCommand ///< Unknown command opcode + }; + +private: + /// @brief Unit of work which is queued to work_queue + struct Request { - public: - union { - dq_entry_t entry; - work_s work; - }; - - bool decode(Mavlink *mavlink, mavlink_message_t *fromMessage) { - if (fromMessage->msgid == MAVLINK_MSG_ID_ENCAPSULATED_DATA) { - _mavlink = mavlink; - mavlink_msg_encapsulated_data_decode(fromMessage, &_message); - return true; - } - return false; - } - - void reply() { - - // XXX the proper way would be an IOCTL / uORB call, rather than exploiting the - // flat memory architecture, as we're operating between threads here. - mavlink_message_t msg; - msg.checksum = 0; - unsigned len = mavlink_msg_encapsulated_data_pack_chan(_mavlink->get_system_id(), _mavlink->get_component_id(), - _mavlink->get_channel(), &msg, sequence()+1, rawData()); - - _mavlink->lockMessageBufferMutex(); - bool success = _mavlink->message_buffer_write(&msg, len); - _mavlink->unlockMessageBufferMutex(); - - if (!success) { - warnx("FTP TX ERR"); - } -#ifdef MAVLINK_FTP_DEBUG - else { - warnx("wrote: sys: %d, comp: %d, chan: %d, len: %d, checksum: %d", - _mavlink->get_system_id(), - _mavlink->get_component_id(), - _mavlink->get_channel(), - len, - msg.checksum); - } -#endif - } - - uint8_t *rawData() { return &_message.data[0]; } - RequestHeader *header() { return reinterpret_cast<RequestHeader *>(&_message.data[0]); } - uint8_t *requestData() { return &(header()->data[0]); } - unsigned dataSize() { return header()->size + sizeof(RequestHeader); } - uint16_t sequence() const { return _message.seqnr; } - mavlink_channel_t channel() { return _mavlink->get_channel(); } - - char *dataAsCString(); - - private: - Mavlink *_mavlink; - mavlink_encapsulated_data_t _message; - + work_s work; ///< work queue entry + Mavlink *mavlink; ///< Mavlink to reply to + uint8_t serverSystemId; ///< System ID to send from + uint8_t serverComponentId; ///< Component ID to send from + uint8_t serverChannel; ///< Channel to send to + uint8_t targetSystemId; ///< System ID to target reply to + + mavlink_file_transfer_protocol_t message; ///< Protocol message }; - - static const uint8_t kProtocolMagic = 'f'; - static const char kDirentFile = 'F'; - static const char kDirentDir = 'D'; - static const char kDirentUnknown = 'U'; - static const uint8_t kMaxDataLength = MAVLINK_MSG_ENCAPSULATED_DATA_FIELD_DATA_LEN - sizeof(RequestHeader); - - /// Request worker; runs on the low-priority work queue to service - /// remote requests. - /// - static void _workerTrampoline(void *arg); - void _worker(Request *req); - - /// Reply to a request (XXX should be a Request method) - /// - void _reply(Request *req); - - ErrorCode _workList(Request *req); - ErrorCode _workOpen(Request *req, bool create); - ErrorCode _workRead(Request *req); - ErrorCode _workWrite(Request *req); - ErrorCode _workRemove(Request *req); - ErrorCode _workTerminate(Request *req); - ErrorCode _workReset(); - - // work freelist - Request _workBufs[kRequestQueueSize]; - dq_queue_t _workFree; - sem_t _lock; - - void _qLock() { do {} while (sem_wait(&_lock) != 0); } - void _qUnlock() { sem_post(&_lock); } - - void _qFree(Request *req) { - _qLock(); - dq_addlast(&req->entry, &_workFree); - _qUnlock(); - } - - Request *_dqFree() { - _qLock(); - auto req = reinterpret_cast<Request *>(dq_remfirst(&_workFree)); - _qUnlock(); - return req; - } - + + Request *_get_request(void); + void _return_request(Request *req); + void _lock_request_queue(void); + void _unlock_request_queue(void); + + char *_data_as_cstring(PayloadHeader* payload); + + static void _worker_trampoline(void *arg); + void _process_request(Request *req); + void _reply(Request *req); + int _copy_file(const char *src_path, const char *dst_path, ssize_t length); + + ErrorCode _workList(PayloadHeader *payload); + ErrorCode _workOpen(PayloadHeader *payload, int oflag); + ErrorCode _workRead(PayloadHeader *payload); + ErrorCode _workWrite(PayloadHeader *payload); + ErrorCode _workTerminate(PayloadHeader *payload); + ErrorCode _workReset(PayloadHeader* payload); + ErrorCode _workRemoveDirectory(PayloadHeader *payload); + ErrorCode _workCreateDirectory(PayloadHeader *payload); + ErrorCode _workRemoveFile(PayloadHeader *payload); + ErrorCode _workTruncateFile(PayloadHeader *payload); + ErrorCode _workRename(PayloadHeader *payload); + ErrorCode _workCalcFileCRC32(PayloadHeader *payload); + + static const unsigned kRequestQueueSize = 2; ///< Max number of queued requests + Request _request_bufs[kRequestQueueSize]; ///< Request buffers which hold work + dq_queue_t _request_queue; ///< Queue of available Request buffers + sem_t _request_queue_sem; ///< Semaphore for locking access to _request_queue + + int _find_unused_session(void); + bool _valid_session(unsigned index); + + static const char kDirentFile = 'F'; ///< Identifies File returned from List command + static const char kDirentDir = 'D'; ///< Identifies Directory returned from List command + static const char kDirentSkip = 'S'; ///< Identifies Skipped entry from List command + + /// @brief Maximum data size in RequestHeader::data + static const uint8_t kMaxDataLength = MAVLINK_MSG_FILE_TRANSFER_PROTOCOL_FIELD_PAYLOAD_LEN - sizeof(PayloadHeader); + + static const unsigned kMaxSession = 2; ///< Max number of active sessions + int _session_fds[kMaxSession]; ///< Session file descriptors, 0 for empty slot + + ReceiveMessageFunc_t _utRcvMsgFunc; ///< Unit test override for mavlink message sending + MavlinkFtpTest *_ftp_test; ///< Additional parameter to _utRcvMsgFunc; }; diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 976b6d4d5..29b7ec7b7 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -123,6 +123,7 @@ Mavlink::Mavlink() : _task_running(false), _hil_enabled(false), _use_hil_gps(false), + _forward_externalsp(false), _is_usb_uart(false), _wait_to_transmit(false), _received_messages(false), @@ -166,8 +167,10 @@ Mavlink::Mavlink() : _param_initialized(false), _param_system_id(0), _param_component_id(0), - _param_system_type(0), + _param_system_type(MAV_TYPE_FIXED_WING), _param_use_hil_gps(0), + _param_forward_externalsp(0), + _system_type(0), /* performance counters */ _loop_perf(perf_alloc(PC_ELAPSED, "mavlink_el")), @@ -483,6 +486,7 @@ void Mavlink::mavlink_update_system(void) _param_component_id = param_find("MAV_COMP_ID"); _param_system_type = param_find("MAV_TYPE"); _param_use_hil_gps = param_find("MAV_USEHILGPS"); + _param_forward_externalsp = param_find("MAV_FWDEXTSP"); } /* update system and component id */ @@ -522,13 +526,18 @@ void Mavlink::mavlink_update_system(void) param_get(_param_system_type, &system_type); if (system_type >= 0 && system_type < MAV_TYPE_ENUM_END) { - mavlink_system.type = system_type; + _system_type = system_type; } int32_t use_hil_gps; param_get(_param_use_hil_gps, &use_hil_gps); _use_hil_gps = (bool)use_hil_gps; + + int32_t forward_externalsp; + param_get(_param_forward_externalsp, &forward_externalsp); + + _forward_externalsp = (bool)forward_externalsp; } int Mavlink::get_system_id() @@ -748,7 +757,7 @@ Mavlink::send_message(const uint8_t msgid, const void *msg) pthread_mutex_lock(&_send_mutex); - int buf_free = get_free_tx_buf(); + unsigned buf_free = get_free_tx_buf(); uint8_t payload_len = mavlink_message_lengths[msgid]; unsigned packet_len = payload_len + MAVLINK_NUM_NON_PAYLOAD_BYTES; @@ -756,7 +765,7 @@ Mavlink::send_message(const uint8_t msgid, const void *msg) _last_write_try_time = hrt_absolute_time(); /* check if there is space in the buffer, let it overflow else */ - if (buf_free < TX_BUFFER_GAP) { + if ((buf_free < TX_BUFFER_GAP) || (buf_free < packet_len)) { /* no enough space in buffer to send */ count_txerr(); count_txerrbytes(packet_len); @@ -813,14 +822,14 @@ Mavlink::resend_message(mavlink_message_t *msg) pthread_mutex_lock(&_send_mutex); - int buf_free = get_free_tx_buf(); + unsigned buf_free = get_free_tx_buf(); _last_write_try_time = hrt_absolute_time(); unsigned packet_len = msg->len + MAVLINK_NUM_NON_PAYLOAD_BYTES; /* check if there is space in the buffer, let it overflow else */ - if (buf_free < TX_BUFFER_GAP) { + if ((buf_free < TX_BUFFER_GAP) || (buf_free < packet_len)) { /* no enough space in buffer to send */ count_txerr(); count_txerrbytes(packet_len); @@ -1229,7 +1238,10 @@ Mavlink::task_main(int argc, char *argv[]) _mode = MAVLINK_MODE_CUSTOM; } else if (strcmp(optarg, "camera") == 0) { - _mode = MAVLINK_MODE_CAMERA; + // left in here for compatibility + _mode = MAVLINK_MODE_ONBOARD; + } else if (strcmp(optarg, "onboard") == 0) { + _mode = MAVLINK_MODE_ONBOARD; } break; @@ -1289,8 +1301,8 @@ Mavlink::task_main(int argc, char *argv[]) warnx("mode: CUSTOM"); break; - case MAVLINK_MODE_CAMERA: - warnx("mode: CAMERA"); + case MAVLINK_MODE_ONBOARD: + warnx("mode: ONBOARD"); break; default: @@ -1393,13 +1405,17 @@ Mavlink::task_main(int argc, char *argv[]) configure_stream("POSITION_TARGET_GLOBAL_INT", 3.0f); configure_stream("ATTITUDE_TARGET", 3.0f); configure_stream("DISTANCE_SENSOR", 0.5f); + configure_stream("OPTICAL_FLOW_RAD", 5.0f); break; - case MAVLINK_MODE_CAMERA: + case MAVLINK_MODE_ONBOARD: configure_stream("SYS_STATUS", 1.0f); - configure_stream("ATTITUDE", 15.0f); - configure_stream("GLOBAL_POSITION_INT", 15.0f); - configure_stream("CAMERA_CAPTURE", 1.0f); + configure_stream("ATTITUDE", 50.0f); + configure_stream("GLOBAL_POSITION_INT", 50.0f); + configure_stream("CAMERA_CAPTURE", 2.0f); + configure_stream("ATTITUDE_TARGET", 10.0f); + configure_stream("POSITION_TARGET_GLOBAL_INT", 10.0f); + configure_stream("VFR_HUD", 10.0f); break; default: @@ -1620,7 +1636,7 @@ Mavlink::start(int argc, char *argv[]) task_spawn_cmd(buf, SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT, - 2700, + 2800, (main_t)&Mavlink::start_helper, (const char **)argv); diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h index 1e2e94cef..ad5e5001b 100644 --- a/src/modules/mavlink/mavlink_main.h +++ b/src/modules/mavlink/mavlink_main.h @@ -127,7 +127,7 @@ public: enum MAVLINK_MODE { MAVLINK_MODE_NORMAL = 0, MAVLINK_MODE_CUSTOM, - MAVLINK_MODE_CAMERA + MAVLINK_MODE_ONBOARD }; void set_mode(enum MAVLINK_MODE); @@ -137,6 +137,8 @@ public: bool get_use_hil_gps() { return _use_hil_gps; } + bool get_forward_externalsp() { return _forward_externalsp; } + bool get_flow_control_enabled() { return _flow_control_enabled; } bool get_forwarding_on() { return _forwarding_on; } @@ -232,7 +234,7 @@ public: bool should_transmit() { return (!_wait_to_transmit || (_wait_to_transmit && _received_messages)); } bool message_buffer_write(const void *ptr, int size); - + void lockMessageBufferMutex(void) { pthread_mutex_lock(&_message_buffer_mutex); } void unlockMessageBufferMutex(void) { pthread_mutex_unlock(&_message_buffer_mutex); } @@ -263,6 +265,8 @@ public: struct mavlink_logbuffer *get_logbuffer() { return &_logbuffer; } + unsigned get_system_type() { return _system_type; } + protected: Mavlink *next; @@ -275,6 +279,7 @@ private: /* states */ bool _hil_enabled; /**< Hardware In the Loop mode */ bool _use_hil_gps; /**< Accept GPS HIL messages (for example from an external motion capturing system to fake indoor gps) */ + bool _forward_externalsp; /**< Forward external setpoint messages to controllers directly if in offboard mode */ bool _is_usb_uart; /**< Port is USB */ bool _wait_to_transmit; /**< Wait to transmit until received messages. */ bool _received_messages; /**< Whether we've received valid mavlink messages. */ @@ -349,6 +354,9 @@ private: param_t _param_component_id; param_t _param_system_type; param_t _param_use_hil_gps; + param_t _param_forward_externalsp; + + unsigned _system_type; perf_counter_t _loop_perf; /**< loop performance counter */ perf_counter_t _txerr_perf; /**< TX error counter */ diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index af4d46a36..a8f956ad0 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -162,6 +162,8 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set break; case NAVIGATION_STATE_AUTO_RTL: + /* fallthrough */ + case NAVIGATION_STATE_AUTO_RCRECOVER: *mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED; @@ -170,6 +172,8 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set break; case NAVIGATION_STATE_LAND: + case NAVIGATION_STATE_AUTO_LANDENGFAIL: + case NAVIGATION_STATE_AUTO_LANDGPSFAIL: /* fallthrough */ case NAVIGATION_STATE_DESCEND: *mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED @@ -298,7 +302,7 @@ protected: msg.base_mode = 0; msg.custom_mode = 0; get_mavlink_mode_state(&status, &pos_sp_triplet, &msg.system_status, &msg.base_mode, &msg.custom_mode); - msg.type = mavlink_system.type; + msg.type = _mavlink->get_system_type(); msg.autopilot = MAV_AUTOPILOT_PX4; msg.mavlink_version = 3; @@ -337,11 +341,18 @@ private: /* do not allow top copying this class */ MavlinkStreamStatustext(MavlinkStreamStatustext &); MavlinkStreamStatustext& operator = (const MavlinkStreamStatustext &); + FILE *fp = nullptr; protected: explicit MavlinkStreamStatustext(Mavlink *mavlink) : MavlinkStream(mavlink) {} + ~MavlinkStreamStatustext() { + if (fp) { + fclose(fp); + } + } + void send(const hrt_abstime t) { if (!mavlink_logbuffer_is_empty(_mavlink->get_logbuffer())) { @@ -355,6 +366,31 @@ protected: strncpy(msg.text, logmsg.text, sizeof(msg.text)); _mavlink->send_message(MAVLINK_MSG_ID_STATUSTEXT, &msg); + + /* write log messages in first instance to disk */ + if (_mavlink->get_instance_id() == 0) { + if (fp) { + fputs(msg.text, fp); + fputs("\n", fp); + fsync(fileno(fp)); + } else { + /* string to hold the path to the log */ + char log_file_name[32] = ""; + char log_file_path[64] = ""; + + timespec ts; + clock_gettime(CLOCK_REALTIME, &ts); + /* use GPS time for log file naming, e.g. /fs/microsd/2014-01-19/19_37_52.bin */ + time_t gps_time_sec = ts.tv_sec + (ts.tv_nsec / 1e9); + struct tm tt; + gmtime_r(&gps_time_sec, &tt); + + // XXX we do not want to interfere here with the SD log app + strftime(log_file_name, sizeof(log_file_name), "msgs_%Y_%m_%d_%H_%M_%S.txt", &tt); + snprintf(log_file_path, sizeof(log_file_path), "/fs/microsd/%s", log_file_name); + fp = fopen(log_file_path, "ab"); + } + } } } } @@ -774,6 +810,9 @@ private: MavlinkOrbSubscription *_airspeed_sub; uint64_t _airspeed_time; + MavlinkOrbSubscription *_sensor_combined_sub; + uint64_t _sensor_combined_time; + /* do not allow top copying this class */ MavlinkStreamVFRHUD(MavlinkStreamVFRHUD &); MavlinkStreamVFRHUD& operator = (const MavlinkStreamVFRHUD &); @@ -789,7 +828,9 @@ protected: _act_sub(_mavlink->add_orb_subscription(ORB_ID(actuator_controls_0))), _act_time(0), _airspeed_sub(_mavlink->add_orb_subscription(ORB_ID(airspeed))), - _airspeed_time(0) + _airspeed_time(0), + _sensor_combined_sub(_mavlink->add_orb_subscription(ORB_ID(sensor_combined))), + _sensor_combined_time(0) {} void send(const hrt_abstime t) @@ -799,12 +840,14 @@ protected: struct actuator_armed_s armed; struct actuator_controls_s act; struct airspeed_s airspeed; + struct sensor_combined_s sensor_combined; bool updated = _att_sub->update(&_att_time, &att); updated |= _pos_sub->update(&_pos_time, &pos); updated |= _armed_sub->update(&_armed_time, &armed); updated |= _act_sub->update(&_act_time, &act); updated |= _airspeed_sub->update(&_airspeed_time, &airspeed); + updated |= _sensor_combined_sub->update(&_sensor_combined_time, &sensor_combined); if (updated) { mavlink_vfr_hud_t msg; @@ -813,7 +856,7 @@ protected: msg.groundspeed = sqrtf(pos.vel_n * pos.vel_n + pos.vel_e * pos.vel_e); msg.heading = _wrap_2pi(att.yaw) * M_RAD_TO_DEG_F; msg.throttle = armed.armed ? act.control[3] * 100.0f : 0.0f; - msg.alt = pos.alt; + msg.alt = sensor_combined.baro_alt_meter; msg.climb = -pos.vel_d; _mavlink->send_message(MAVLINK_MSG_ID_VFR_HUD, &msg); @@ -879,8 +922,8 @@ protected: msg.eph = cm_uint16_from_m_float(gps.eph); msg.epv = cm_uint16_from_m_float(gps.epv); msg.vel = cm_uint16_from_m_float(gps.vel_m_s), - msg.cog = _wrap_2pi(gps.cog_rad) * M_RAD_TO_DEG_F * 1e2f, - msg.satellites_visible = gps.satellites_used; + msg.cog = _wrap_2pi(gps.cog_rad) * M_RAD_TO_DEG_F * 1e2f, + msg.satellites_visible = gps.satellites_used; _mavlink->send_message(MAVLINK_MSG_ID_GPS_RAW_INT, &msg); } @@ -950,11 +993,11 @@ protected: msg.lat = pos.lat * 1e7; msg.lon = pos.lon * 1e7; msg.alt = pos.alt * 1000.0f; - msg.relative_alt = (pos.alt - home.alt) * 1000.0f; - msg.vx = pos.vel_n * 100.0f; - msg.vy = pos.vel_e * 100.0f; - msg.vz = pos.vel_d * 100.0f; - msg.hdg = _wrap_2pi(pos.yaw) * M_RAD_TO_DEG_F * 100.0f; + msg.relative_alt = (pos.alt - home.alt) * 1000.0f; + msg.vx = pos.vel_n * 100.0f; + msg.vy = pos.vel_e * 100.0f; + msg.vz = pos.vel_d * 100.0f; + msg.hdg = _wrap_2pi(pos.yaw) * M_RAD_TO_DEG_F * 100.0f; _mavlink->send_message(MAVLINK_MSG_ID_GLOBAL_POSITION_INT, &msg); } @@ -1015,9 +1058,9 @@ protected: msg.x = pos.x; msg.y = pos.y; msg.z = pos.z; - msg.vx = pos.vx; - msg.vy = pos.vy; - msg.vz = pos.vz; + msg.vx = pos.vx; + msg.vy = pos.vy; + msg.vz = pos.vz; _mavlink->send_message(MAVLINK_MSG_ID_LOCAL_POSITION_NED, &msg); } @@ -1078,9 +1121,9 @@ protected: msg.x = pos.x; msg.y = pos.y; msg.z = pos.z; - msg.roll = pos.roll; - msg.pitch = pos.pitch; - msg.yaw = pos.yaw; + msg.roll = pos.roll; + msg.pitch = pos.pitch; + msg.yaw = pos.yaw; _mavlink->send_message(MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE, &msg); } @@ -1310,15 +1353,17 @@ protected: const float pwm_center = (PWM_HIGHEST_MAX + PWM_LOWEST_MIN) / 2; + unsigned system_type = _mavlink->get_system_type(); + /* scale outputs depending on system type */ - if (mavlink_system.type == MAV_TYPE_QUADROTOR || - mavlink_system.type == MAV_TYPE_HEXAROTOR || - mavlink_system.type == MAV_TYPE_OCTOROTOR) { + if (system_type == MAV_TYPE_QUADROTOR || + system_type == MAV_TYPE_HEXAROTOR || + system_type == MAV_TYPE_OCTOROTOR) { /* multirotors: set number of rotor outputs depending on type */ unsigned n; - switch (mavlink_system.type) { + switch (system_type) { case MAV_TYPE_QUADROTOR: n = 4; break; @@ -1674,7 +1719,53 @@ protected: msg.chan16_raw = (rc.channel_count > 15) ? rc.values[15] : UINT16_MAX; msg.chan17_raw = (rc.channel_count > 16) ? rc.values[16] : UINT16_MAX; msg.chan18_raw = (rc.channel_count > 17) ? rc.values[17] : UINT16_MAX; - msg.rssi = rc.rssi; + + /* RSSI has a max value of 100, and when Spektrum or S.BUS are + * available, the RSSI field is invalid, as they do not provide + * an RSSI measurement. Use an out of band magic value to signal + * these digital ports. XXX revise MAVLink spec to address this. + * One option would be to use the top bit to toggle between RSSI + * and input source mode. + * + * Full RSSI field: 0b 1 111 1111 + * + * ^ If bit is set, RSSI encodes type + RSSI + * + * ^ These three bits encode a total of 8 + * digital RC input types. + * 0: PPM, 1: SBUS, 2: Spektrum, 2: ST24 + * ^ These four bits encode a total of + * 16 RSSI levels. 15 = full, 0 = no signal + * + */ + + /* Initialize RSSI with the special mode level flag */ + msg.rssi = (1 << 7); + + /* Set RSSI */ + msg.rssi |= (rc.rssi <= 100) ? ((rc.rssi / 7) + 1) : 15; + + switch (rc.input_source) { + case RC_INPUT_SOURCE_PX4FMU_PPM: + /* fallthrough */ + case RC_INPUT_SOURCE_PX4IO_PPM: + msg.rssi |= (0 << 4); + break; + case RC_INPUT_SOURCE_PX4IO_SPEKTRUM: + msg.rssi |= (1 << 4); + break; + case RC_INPUT_SOURCE_PX4IO_SBUS: + msg.rssi |= (2 << 4); + break; + case RC_INPUT_SOURCE_PX4IO_ST24: + msg.rssi |= (3 << 4); + break; + } + + if (rc.rc_lost) { + /* RSSI is by definition zero */ + msg.rssi = 0; + } _mavlink->send_message(MAVLINK_MSG_ID_RC_CHANNELS, &msg); } @@ -1743,33 +1834,32 @@ protected: } }; - -class MavlinkStreamOpticalFlow : public MavlinkStream +class MavlinkStreamOpticalFlowRad : public MavlinkStream { public: const char *get_name() const { - return MavlinkStreamOpticalFlow::get_name_static(); + return MavlinkStreamOpticalFlowRad::get_name_static(); } static const char *get_name_static() { - return "OPTICAL_FLOW"; + return "OPTICAL_FLOW_RAD"; } uint8_t get_id() { - return MAVLINK_MSG_ID_OPTICAL_FLOW; + return MAVLINK_MSG_ID_OPTICAL_FLOW_RAD; } static MavlinkStream *new_instance(Mavlink *mavlink) { - return new MavlinkStreamOpticalFlow(mavlink); + return new MavlinkStreamOpticalFlowRad(mavlink); } unsigned get_size() { - return _flow_sub->is_published() ? (MAVLINK_MSG_ID_OPTICAL_FLOW_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0; + return _flow_sub->is_published() ? (MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0; } private: @@ -1777,11 +1867,11 @@ private: uint64_t _flow_time; /* do not allow top copying this class */ - MavlinkStreamOpticalFlow(MavlinkStreamOpticalFlow &); - MavlinkStreamOpticalFlow& operator = (const MavlinkStreamOpticalFlow &); + MavlinkStreamOpticalFlowRad(MavlinkStreamOpticalFlowRad &); + MavlinkStreamOpticalFlowRad& operator = (const MavlinkStreamOpticalFlowRad &); protected: - explicit MavlinkStreamOpticalFlow(Mavlink *mavlink) : MavlinkStream(mavlink), + explicit MavlinkStreamOpticalFlowRad(Mavlink *mavlink) : MavlinkStream(mavlink), _flow_sub(_mavlink->add_orb_subscription(ORB_ID(optical_flow))), _flow_time(0) {} @@ -1791,18 +1881,23 @@ protected: struct optical_flow_s flow; if (_flow_sub->update(&_flow_time, &flow)) { - mavlink_optical_flow_t msg; + mavlink_optical_flow_rad_t msg; msg.time_usec = flow.timestamp; msg.sensor_id = flow.sensor_id; - msg.flow_x = flow.flow_raw_x; - msg.flow_y = flow.flow_raw_y; - msg.flow_comp_m_x = flow.flow_comp_x_m; - msg.flow_comp_m_y = flow.flow_comp_y_m; + msg.integrated_x = flow.pixel_flow_x_integral; + msg.integrated_y = flow.pixel_flow_y_integral; + msg.integrated_xgyro = flow.gyro_x_rate_integral; + msg.integrated_ygyro = flow.gyro_y_rate_integral; + msg.integrated_zgyro = flow.gyro_z_rate_integral; + msg.distance = flow.ground_distance_m; msg.quality = flow.quality; - msg.ground_distance = flow.ground_distance_m; + msg.integration_time_us = flow.integration_timespan; + msg.sensor_id = flow.sensor_id; + msg.time_delta_distance_us = flow.time_since_last_sonar_update; + msg.temperature = flow.gyro_temperature; - _mavlink->send_message(MAVLINK_MSG_ID_OPTICAL_FLOW, &msg); + _mavlink->send_message(MAVLINK_MSG_ID_OPTICAL_FLOW_RAD, &msg); } } }; @@ -2108,7 +2203,7 @@ StreamListItem *streams_list[] = { new StreamListItem(&MavlinkStreamAttitudeTarget::new_instance, &MavlinkStreamAttitudeTarget::get_name_static), new StreamListItem(&MavlinkStreamRCChannelsRaw::new_instance, &MavlinkStreamRCChannelsRaw::get_name_static), new StreamListItem(&MavlinkStreamManualControl::new_instance, &MavlinkStreamManualControl::get_name_static), - new StreamListItem(&MavlinkStreamOpticalFlow::new_instance, &MavlinkStreamOpticalFlow::get_name_static), + new StreamListItem(&MavlinkStreamOpticalFlowRad::new_instance, &MavlinkStreamOpticalFlowRad::get_name_static), new StreamListItem(&MavlinkStreamAttitudeControls::new_instance, &MavlinkStreamAttitudeControls::get_name_static), new StreamListItem(&MavlinkStreamNamedValueFloat::new_instance, &MavlinkStreamNamedValueFloat::get_name_static), new StreamListItem(&MavlinkStreamCameraCapture::new_instance, &MavlinkStreamCameraCapture::get_name_static), diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp index 7a761588a..a3c127cdc 100644 --- a/src/modules/mavlink/mavlink_mission.cpp +++ b/src/modules/mavlink/mavlink_mission.cpp @@ -58,6 +58,10 @@ #endif static const int ERROR = -1; +#define CHECK_SYSID_COMPID_MISSION(_msg) (_msg.target_system == mavlink_system.sysid && \ + ((_msg.target_component == mavlink_system.compid) || \ + (_msg.target_component == MAV_COMP_ID_MISSIONPLANNER) || \ + (_msg.target_component == MAV_COMP_ID_ALL))) MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) : MavlinkStream(mavlink), _state(MAVLINK_WPM_STATE_IDLE), @@ -79,8 +83,7 @@ MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) : MavlinkStream(m _mission_result_sub(-1), _offboard_mission_pub(-1), _slow_rate_limiter(_interval / 10.0f), - _verbose(false), - _comp_id(MAV_COMP_ID_MISSIONPLANNER) + _verbose(false) { _offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission)); _mission_result_sub = orb_subscribe(ORB_ID(mission_result)); @@ -384,7 +387,7 @@ MavlinkMissionManager::handle_mission_ack(const mavlink_message_t *msg) mavlink_mission_ack_t wpa; mavlink_msg_mission_ack_decode(msg, &wpa); - if (wpa.target_system == mavlink_system.sysid /*&& wpa.target_component == mavlink_wpm_comp_id*/) { + if (CHECK_SYSID_COMPID_MISSION(wpa)) { if ((msg->sysid == _transfer_partner_sysid && msg->compid == _transfer_partner_compid)) { if (_state == MAVLINK_WPM_STATE_SENDLIST) { _time_last_recv = hrt_absolute_time(); @@ -416,7 +419,7 @@ MavlinkMissionManager::handle_mission_set_current(const mavlink_message_t *msg) mavlink_mission_set_current_t wpc; mavlink_msg_mission_set_current_decode(msg, &wpc); - if (wpc.target_system == mavlink_system.sysid /*&& wpc.target_component == mavlink_wpm_comp_id*/) { + if (CHECK_SYSID_COMPID_MISSION(wpc)) { if (_state == MAVLINK_WPM_STATE_IDLE) { _time_last_recv = hrt_absolute_time(); @@ -451,7 +454,7 @@ MavlinkMissionManager::handle_mission_request_list(const mavlink_message_t *msg) mavlink_mission_request_list_t wprl; mavlink_msg_mission_request_list_decode(msg, &wprl); - if (wprl.target_system == mavlink_system.sysid /*&& wprl.target_component == mavlink_wpm_comp_id*/) { + if (CHECK_SYSID_COMPID_MISSION(wprl)) { if (_state == MAVLINK_WPM_STATE_IDLE || _state == MAVLINK_WPM_STATE_SENDLIST) { _time_last_recv = hrt_absolute_time(); @@ -487,7 +490,7 @@ MavlinkMissionManager::handle_mission_request(const mavlink_message_t *msg) mavlink_mission_request_t wpr; mavlink_msg_mission_request_decode(msg, &wpr); - if (wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/) { + if (CHECK_SYSID_COMPID_MISSION(wpr)) { if (msg->sysid == _transfer_partner_sysid && msg->compid == _transfer_partner_compid) { if (_state == MAVLINK_WPM_STATE_SENDLIST) { _time_last_recv = hrt_absolute_time(); @@ -558,7 +561,7 @@ MavlinkMissionManager::handle_mission_count(const mavlink_message_t *msg) mavlink_mission_count_t wpc; mavlink_msg_mission_count_decode(msg, &wpc); - if (wpc.target_system == mavlink_system.sysid/* && wpc.target_component == mavlink_wpm_comp_id*/) { + if (CHECK_SYSID_COMPID_MISSION(wpc)) { if (_state == MAVLINK_WPM_STATE_IDLE) { _time_last_recv = hrt_absolute_time(); @@ -624,7 +627,7 @@ MavlinkMissionManager::handle_mission_item(const mavlink_message_t *msg) mavlink_mission_item_t wp; mavlink_msg_mission_item_decode(msg, &wp); - if (wp.target_system == mavlink_system.sysid && wp.target_component == _comp_id) { + if (CHECK_SYSID_COMPID_MISSION(wp)) { if (_state == MAVLINK_WPM_STATE_GETLIST) { _time_last_recv = hrt_absolute_time(); @@ -710,7 +713,7 @@ MavlinkMissionManager::handle_mission_clear_all(const mavlink_message_t *msg) mavlink_mission_clear_all_t wpca; mavlink_msg_mission_clear_all_decode(msg, &wpca); - if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */) { + if (CHECK_SYSID_COMPID_MISSION(wpca)) { if (_state == MAVLINK_WPM_STATE_IDLE) { /* don't touch mission items storage itself, but only items count in mission state */ @@ -795,10 +798,10 @@ int MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item) { if (mission_item->altitude_is_relative) { - mavlink_mission_item->frame = MAV_FRAME_GLOBAL; + mavlink_mission_item->frame = MAV_FRAME_GLOBAL_RELATIVE_ALT; } else { - mavlink_mission_item->frame = MAV_FRAME_GLOBAL_RELATIVE_ALT; + mavlink_mission_item->frame = MAV_FRAME_GLOBAL; } switch (mission_item->nav_cmd) { diff --git a/src/modules/mavlink/mavlink_mission.h b/src/modules/mavlink/mavlink_mission.h index 8ff27f87d..a7bb94c22 100644 --- a/src/modules/mavlink/mavlink_mission.h +++ b/src/modules/mavlink/mavlink_mission.h @@ -126,8 +126,6 @@ private: bool _verbose; - uint8_t _comp_id; - /* do not allow top copying this class */ MavlinkMissionManager(MavlinkMissionManager &); MavlinkMissionManager& operator = (const MavlinkMissionManager &); diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index a602344fd..e98d72afe 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -37,6 +37,7 @@ * * @author Lorenz Meier <lm@inf.ethz.ch> * @author Anton Babushkin <anton.babushkin@me.com> + * @author Thomas Gubler <thomasgubler@gmail.com> */ /* XXX trim includes */ @@ -54,6 +55,7 @@ #include <drivers/drv_gyro.h> #include <drivers/drv_mag.h> #include <drivers/drv_baro.h> +#include <drivers/drv_range_finder.h> #include <time.h> #include <float.h> #include <unistd.h> @@ -102,11 +104,13 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) : _battery_pub(-1), _cmd_pub(-1), _flow_pub(-1), + _range_pub(-1), _offboard_control_sp_pub(-1), - _local_pos_sp_pub(-1), _global_vel_sp_pub(-1), _att_sp_pub(-1), _rates_sp_pub(-1), + _force_sp_pub(-1), + _pos_sp_triplet_pub(-1), _vicon_position_pub(-1), _vision_position_pub(-1), _telemetry_status_pub(-1), @@ -121,7 +125,7 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) : { // make sure the FTP server is started - (void)MavlinkFTP::getServer(); + (void)MavlinkFTP::get_server(); } MavlinkReceiver::~MavlinkReceiver() @@ -140,8 +144,8 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg) handle_message_command_int(msg); break; - case MAVLINK_MSG_ID_OPTICAL_FLOW: - handle_message_optical_flow(msg); + case MAVLINK_MSG_ID_OPTICAL_FLOW_RAD: + handle_message_optical_flow_rad(msg); break; case MAVLINK_MSG_ID_SET_MODE: @@ -152,6 +156,14 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg) handle_message_vicon_position_estimate(msg); break; + case MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED: + handle_message_set_position_target_local_ned(msg); + break; + + case MAVLINK_MSG_ID_SET_ATTITUDE_TARGET: + handle_message_set_attitude_target(msg); + break; + case MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE: handle_message_vision_position_estimate(msg); break; @@ -172,8 +184,8 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg) handle_message_request_data_stream(msg); break; - case MAVLINK_MSG_ID_ENCAPSULATED_DATA: - MavlinkFTP::getServer()->handle_message(_mavlink, msg); + case MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL: + MavlinkFTP::get_server()->handle_message(_mavlink, msg); break; default: @@ -200,6 +212,10 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg) handle_message_hil_state_quaternion(msg); break; + case MAVLINK_MSG_ID_HIL_OPTICAL_FLOW: + handle_message_hil_optical_flow(msg); + break; + default: break; } @@ -336,24 +352,58 @@ MavlinkReceiver::handle_message_command_int(mavlink_message_t *msg) } void -MavlinkReceiver::handle_message_optical_flow(mavlink_message_t *msg) +MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg) +{ + /* optical flow */ + mavlink_optical_flow_rad_t flow; + mavlink_msg_optical_flow_rad_decode(msg, &flow); + + struct optical_flow_s f; + memset(&f, 0, sizeof(f)); + + f.timestamp = flow.time_usec; + f.integration_timespan = flow.integration_time_us; + f.pixel_flow_x_integral = flow.integrated_x; + f.pixel_flow_y_integral = flow.integrated_y; + f.gyro_x_rate_integral = flow.integrated_xgyro; + f.gyro_y_rate_integral = flow.integrated_ygyro; + f.gyro_z_rate_integral = flow.integrated_zgyro; + f.time_since_last_sonar_update = flow.time_delta_distance_us; + f.ground_distance_m = flow.distance; + f.quality = flow.quality; + f.sensor_id = flow.sensor_id; + f.gyro_temperature = flow.temperature; + + if (_flow_pub < 0) { + _flow_pub = orb_advertise(ORB_ID(optical_flow), &f); + + } else { + orb_publish(ORB_ID(optical_flow), _flow_pub, &f); + } +} + +void +MavlinkReceiver::handle_message_hil_optical_flow(mavlink_message_t *msg) { /* optical flow */ - mavlink_optical_flow_t flow; - mavlink_msg_optical_flow_decode(msg, &flow); + mavlink_hil_optical_flow_t flow; + mavlink_msg_hil_optical_flow_decode(msg, &flow); struct optical_flow_s f; memset(&f, 0, sizeof(f)); - f.timestamp = hrt_absolute_time(); - f.flow_timestamp = flow.time_usec; - f.flow_raw_x = flow.flow_x; - f.flow_raw_y = flow.flow_y; - f.flow_comp_x_m = flow.flow_comp_m_x; - f.flow_comp_y_m = flow.flow_comp_m_y; - f.ground_distance_m = flow.ground_distance; + f.timestamp = hrt_absolute_time(); // XXX we rely on the system time for now and not flow.time_usec; + f.integration_timespan = flow.integration_time_us; + f.pixel_flow_x_integral = flow.integrated_x; + f.pixel_flow_y_integral = flow.integrated_y; + f.gyro_x_rate_integral = flow.integrated_xgyro; + f.gyro_y_rate_integral = flow.integrated_ygyro; + f.gyro_z_rate_integral = flow.integrated_zgyro; + f.time_since_last_sonar_update = flow.time_delta_distance_us; + f.ground_distance_m = flow.distance; f.quality = flow.quality; f.sensor_id = flow.sensor_id; + f.gyro_temperature = flow.temperature; if (_flow_pub < 0) { _flow_pub = orb_advertise(ORB_ID(optical_flow), &f); @@ -361,6 +411,24 @@ MavlinkReceiver::handle_message_optical_flow(mavlink_message_t *msg) } else { orb_publish(ORB_ID(optical_flow), _flow_pub, &f); } + + /* Use distance value for range finder report */ + struct range_finder_report r; + memset(&r, 0, sizeof(f)); + + r.timestamp = hrt_absolute_time(); + r.error_count = 0; + r.type = RANGE_FINDER_TYPE_LASER; + r.distance = flow.distance; + r.minimum_distance = 0.0f; + r.maximum_distance = 40.0f; // this is set to match the typical range of real sensors, could be made configurable + r.valid = (r.distance > r.minimum_distance) && (r.distance < r.maximum_distance); + + if (_range_pub < 0) { + _range_pub = orb_advertise(ORB_ID(sensor_range_finder), &r); + } else { + orb_publish(ORB_ID(sensor_range_finder), _range_pub, &r); + } } void @@ -423,6 +491,193 @@ MavlinkReceiver::handle_message_vicon_position_estimate(mavlink_message_t *msg) } void +MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t *msg) +{ + mavlink_set_position_target_local_ned_t set_position_target_local_ned; + mavlink_msg_set_position_target_local_ned_decode(msg, &set_position_target_local_ned); + + struct offboard_control_setpoint_s offboard_control_sp; + memset(&offboard_control_sp, 0, sizeof(offboard_control_sp));//XXX breaks compatibility with multiple setpoints + + /* Only accept messages which are intended for this system */ + if ((mavlink_system.sysid == set_position_target_local_ned.target_system || + set_position_target_local_ned.target_system == 0) && + (mavlink_system.compid == set_position_target_local_ned.target_component || + set_position_target_local_ned.target_component == 0)) { + + /* convert mavlink type (local, NED) to uORB offboard control struct */ + switch (set_position_target_local_ned.coordinate_frame) { + case MAV_FRAME_LOCAL_NED: + offboard_control_sp.mode = OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED; + break; + case MAV_FRAME_LOCAL_OFFSET_NED: + offboard_control_sp.mode = OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_OFFSET_NED; + break; + case MAV_FRAME_BODY_NED: + offboard_control_sp.mode = OFFBOARD_CONTROL_MODE_DIRECT_BODY_NED; + break; + case MAV_FRAME_BODY_OFFSET_NED: + offboard_control_sp.mode = OFFBOARD_CONTROL_MODE_DIRECT_BODY_OFFSET_NED; + break; + default: + /* invalid setpoint, avoid publishing */ + return; + } + offboard_control_sp.position[0] = set_position_target_local_ned.x; + offboard_control_sp.position[1] = set_position_target_local_ned.y; + offboard_control_sp.position[2] = set_position_target_local_ned.z; + offboard_control_sp.velocity[0] = set_position_target_local_ned.vx; + offboard_control_sp.velocity[1] = set_position_target_local_ned.vy; + offboard_control_sp.velocity[2] = set_position_target_local_ned.vz; + offboard_control_sp.acceleration[0] = set_position_target_local_ned.afx; + offboard_control_sp.acceleration[1] = set_position_target_local_ned.afy; + offboard_control_sp.acceleration[2] = set_position_target_local_ned.afz; + offboard_control_sp.yaw = set_position_target_local_ned.yaw; + offboard_control_sp.yaw_rate = set_position_target_local_ned.yaw_rate; + offboard_control_sp.isForceSetpoint = (bool)(set_position_target_local_ned.type_mask & (1 << 9)); + + /* If we are in force control mode, for now set offboard mode to force control */ + if (offboard_control_sp.isForceSetpoint) { + offboard_control_sp.mode = OFFBOARD_CONTROL_MODE_DIRECT_FORCE; + } + + /* set ignore flags */ + for (int i = 0; i < 9; i++) { + offboard_control_sp.ignore &= ~(1 << i); + offboard_control_sp.ignore |= (set_position_target_local_ned.type_mask & (1 << i)); + } + + offboard_control_sp.ignore &= ~(1 << OFB_IGN_BIT_YAW); + if (set_position_target_local_ned.type_mask & (1 << 10)) { + offboard_control_sp.ignore |= (1 << OFB_IGN_BIT_YAW); + } + + offboard_control_sp.ignore &= ~(1 << OFB_IGN_BIT_YAWRATE); + if (set_position_target_local_ned.type_mask & (1 << 11)) { + offboard_control_sp.ignore |= (1 << OFB_IGN_BIT_YAWRATE); + } + + offboard_control_sp.timestamp = hrt_absolute_time(); + + if (_offboard_control_sp_pub < 0) { + _offboard_control_sp_pub = orb_advertise(ORB_ID(offboard_control_setpoint), &offboard_control_sp); + + } else { + orb_publish(ORB_ID(offboard_control_setpoint), _offboard_control_sp_pub, &offboard_control_sp); + } + + /* If we are in offboard control mode and offboard control loop through is enabled + * also publish the setpoint topic which is read by the controller */ + if (_mavlink->get_forward_externalsp()) { + bool updated; + orb_check(_control_mode_sub, &updated); + if (updated) { + orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode); + } + if (_control_mode.flag_control_offboard_enabled) { + if (offboard_control_sp.isForceSetpoint && + offboard_control_sp_ignore_position_all(offboard_control_sp) && + offboard_control_sp_ignore_velocity_all(offboard_control_sp)) { + /* The offboard setpoint is a force setpoint only, directly writing to the force + * setpoint topic and not publishing the setpoint triplet topic */ + struct vehicle_force_setpoint_s force_sp; + force_sp.x = offboard_control_sp.acceleration[0]; + force_sp.y = offboard_control_sp.acceleration[1]; + force_sp.z = offboard_control_sp.acceleration[2]; + //XXX: yaw + if (_force_sp_pub < 0) { + _force_sp_pub = orb_advertise(ORB_ID(vehicle_force_setpoint), &force_sp); + } else { + orb_publish(ORB_ID(vehicle_force_setpoint), _force_sp_pub, &force_sp); + } + } else { + /* It's not a pure force setpoint: publish to setpoint triplet topic */ + struct position_setpoint_triplet_s pos_sp_triplet; + pos_sp_triplet.previous.valid = false; + pos_sp_triplet.next.valid = false; + pos_sp_triplet.current.valid = true; + pos_sp_triplet.current.type = SETPOINT_TYPE_POSITION; //XXX support others + + /* set the local pos values if the setpoint type is 'local pos' and none + * of the local pos fields is set to 'ignore' */ + if (offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED && + !offboard_control_sp_ignore_position_some(offboard_control_sp)) { + pos_sp_triplet.current.position_valid = true; + pos_sp_triplet.current.x = offboard_control_sp.position[0]; + pos_sp_triplet.current.y = offboard_control_sp.position[1]; + pos_sp_triplet.current.z = offboard_control_sp.position[2]; + } else { + pos_sp_triplet.current.position_valid = false; + } + + /* set the local vel values if the setpoint type is 'local pos' and none + * of the local vel fields is set to 'ignore' */ + if (offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED && + !offboard_control_sp_ignore_velocity_some(offboard_control_sp)) { + pos_sp_triplet.current.velocity_valid = true; + pos_sp_triplet.current.vx = offboard_control_sp.velocity[0]; + pos_sp_triplet.current.vy = offboard_control_sp.velocity[1]; + pos_sp_triplet.current.vz = offboard_control_sp.velocity[2]; + } else { + pos_sp_triplet.current.velocity_valid = false; + } + + /* set the local acceleration values if the setpoint type is 'local pos' and none + * of the accelerations fields is set to 'ignore' */ + if (offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED && + !offboard_control_sp_ignore_acceleration_some(offboard_control_sp)) { + pos_sp_triplet.current.acceleration_valid = true; + pos_sp_triplet.current.a_x = offboard_control_sp.acceleration[0]; + pos_sp_triplet.current.a_y = offboard_control_sp.acceleration[1]; + pos_sp_triplet.current.a_z = offboard_control_sp.acceleration[2]; + pos_sp_triplet.current.acceleration_is_force = + offboard_control_sp.isForceSetpoint; + + } else { + pos_sp_triplet.current.acceleration_valid = false; + } + + /* set the yaw sp value if the setpoint type is 'local pos' and the yaw + * field is not set to 'ignore' */ + if (offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED && + !offboard_control_sp_ignore_yaw(offboard_control_sp)) { + pos_sp_triplet.current.yaw_valid = true; + pos_sp_triplet.current.yaw = offboard_control_sp.yaw; + + } else { + pos_sp_triplet.current.yaw_valid = false; + } + + /* set the yawrate sp value if the setpoint type is 'local pos' and the yawrate + * field is not set to 'ignore' */ + if (offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED && + !offboard_control_sp_ignore_yawrate(offboard_control_sp)) { + pos_sp_triplet.current.yawspeed_valid = true; + pos_sp_triplet.current.yawspeed = offboard_control_sp.yaw_rate; + + } else { + pos_sp_triplet.current.yawspeed_valid = false; + } + //XXX handle global pos setpoints (different MAV frames) + + + if (_pos_sp_triplet_pub < 0) { + _pos_sp_triplet_pub = orb_advertise(ORB_ID(position_setpoint_triplet), + &pos_sp_triplet); + } else { + orb_publish(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_pub, + &pos_sp_triplet); + } + + } + + } + + } + } +} + +void MavlinkReceiver::handle_message_vision_position_estimate(mavlink_message_t *msg) { mavlink_vision_position_estimate_t pos; @@ -444,7 +699,7 @@ MavlinkReceiver::handle_message_vision_position_estimate(mavlink_message_t *msg) vision_position.vx = 0.0f; vision_position.vy = 0.0f; vision_position.vz = 0.0f; - + math::Quaternion q; q.from_euler(pos.roll, pos.pitch, pos.yaw); @@ -462,6 +717,103 @@ MavlinkReceiver::handle_message_vision_position_estimate(mavlink_message_t *msg) } void +MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg) +{ + mavlink_set_attitude_target_t set_attitude_target; + mavlink_msg_set_attitude_target_decode(msg, &set_attitude_target); + + struct offboard_control_setpoint_s offboard_control_sp; + memset(&offboard_control_sp, 0, sizeof(offboard_control_sp)); //XXX breaks compatibility with multiple setpoints + + /* Only accept messages which are intended for this system */ + if ((mavlink_system.sysid == set_attitude_target.target_system || + set_attitude_target.target_system == 0) && + (mavlink_system.compid == set_attitude_target.target_component || + set_attitude_target.target_component == 0)) { + for (int i = 0; i < 4; i++) { + offboard_control_sp.attitude[i] = set_attitude_target.q[i]; + } + offboard_control_sp.attitude_rate[0] = set_attitude_target.body_roll_rate; + offboard_control_sp.attitude_rate[1] = set_attitude_target.body_pitch_rate; + offboard_control_sp.attitude_rate[2] = set_attitude_target.body_yaw_rate; + + /* set correct ignore flags for body rate fields: copy from mavlink message */ + for (int i = 0; i < 3; i++) { + offboard_control_sp.ignore &= ~(1 << (i + OFB_IGN_BIT_BODYRATE_X)); + offboard_control_sp.ignore |= (set_attitude_target.type_mask & (1 << i)) << OFB_IGN_BIT_BODYRATE_X; + } + /* set correct ignore flags for thrust field: copy from mavlink message */ + offboard_control_sp.ignore &= ~(1 << OFB_IGN_BIT_THRUST); + offboard_control_sp.ignore |= ((set_attitude_target.type_mask & (1 << 6)) << OFB_IGN_BIT_THRUST); + /* set correct ignore flags for attitude field: copy from mavlink message */ + offboard_control_sp.ignore &= ~(1 << OFB_IGN_BIT_ATT); + offboard_control_sp.ignore |= ((set_attitude_target.type_mask & (1 << 7)) << OFB_IGN_BIT_ATT); + + + offboard_control_sp.timestamp = hrt_absolute_time(); + offboard_control_sp.mode =OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE; //XXX handle rate control mode + + if (_offboard_control_sp_pub < 0) { + _offboard_control_sp_pub = orb_advertise(ORB_ID(offboard_control_setpoint), &offboard_control_sp); + + } else { + orb_publish(ORB_ID(offboard_control_setpoint), _offboard_control_sp_pub, &offboard_control_sp); + } + + /* If we are in offboard control mode and offboard control loop through is enabled + * also publish the setpoint topic which is read by the controller */ + if (_mavlink->get_forward_externalsp()) { + bool updated; + orb_check(_control_mode_sub, &updated); + if (updated) { + orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode); + } + + if (_control_mode.flag_control_offboard_enabled) { + + /* Publish attitude setpoint if attitude and thrust ignore bits are not set */ + if (!(offboard_control_sp_ignore_attitude(offboard_control_sp) || + offboard_control_sp_ignore_thrust(offboard_control_sp))) { + struct vehicle_attitude_setpoint_s att_sp; + att_sp.timestamp = hrt_absolute_time(); + mavlink_quaternion_to_euler(set_attitude_target.q, + &att_sp.roll_body, &att_sp.pitch_body, &att_sp.yaw_body); + mavlink_quaternion_to_dcm(set_attitude_target.q, att_sp.R_body); + att_sp.R_valid = true; + att_sp.thrust = set_attitude_target.thrust; + memcpy(att_sp.q_d, set_attitude_target.q, sizeof(att_sp.q_d)); + att_sp.q_d_valid = true; + if (_att_sp_pub < 0) { + _att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp); + } else { + orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &att_sp); + } + } + + /* Publish attitude rate setpoint if bodyrate and thrust ignore bits are not set */ + ///XXX add support for ignoring individual axes + if (!(offboard_control_sp_ignore_bodyrates_some(offboard_control_sp) || + offboard_control_sp_ignore_thrust(offboard_control_sp))) { + struct vehicle_rates_setpoint_s rates_sp; + rates_sp.timestamp = hrt_absolute_time(); + rates_sp.roll = set_attitude_target.body_roll_rate; + rates_sp.pitch = set_attitude_target.body_pitch_rate; + rates_sp.yaw = set_attitude_target.body_yaw_rate; + rates_sp.thrust = set_attitude_target.thrust; + + if (_att_sp_pub < 0) { + _rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp); + } else { + orb_publish(ORB_ID(vehicle_rates_setpoint), _rates_sp_pub, &rates_sp); + } + } + } + + } + } +} + +void MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg) { /* telemetry status supported only on first TELEMETRY_STATUS_ORB_ID_NUM mavlink channels */ @@ -482,6 +834,8 @@ MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg) tstatus.remote_noise = rstatus.remnoise; tstatus.rxerrors = rstatus.rxerrors; tstatus.fixed = rstatus.fixed; + tstatus.system_id = msg->sysid; + tstatus.component_id = msg->compid; if (_telemetry_status_pub < 0) { _telemetry_status_pub = orb_advertise(telemetry_status_orb_id[_mavlink->get_channel()], &tstatus); @@ -1054,7 +1408,7 @@ MavlinkReceiver::receive_start(Mavlink *parent) struct sched_param param; (void)pthread_attr_getschedparam(&receiveloop_attr, ¶m); - param.sched_priority = SCHED_PRIORITY_MAX - 40; + param.sched_priority = SCHED_PRIORITY_MAX - 80; (void)pthread_attr_setschedparam(&receiveloop_attr, ¶m); pthread_attr_setstacksize(&receiveloop_attr, 2900); diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h index 91125736c..a057074a7 100644 --- a/src/modules/mavlink/mavlink_receiver.h +++ b/src/modules/mavlink/mavlink_receiver.h @@ -71,6 +71,7 @@ #include <uORB/topics/debug_key_value.h> #include <uORB/topics/airspeed.h> #include <uORB/topics/battery_status.h> +#include <uORB/topics/vehicle_force_setpoint.h> #include "mavlink_ftp.h" @@ -111,11 +112,14 @@ private: void handle_message(mavlink_message_t *msg); void handle_message_command_long(mavlink_message_t *msg); void handle_message_command_int(mavlink_message_t *msg); - void handle_message_optical_flow(mavlink_message_t *msg); + void handle_message_optical_flow_rad(mavlink_message_t *msg); + void handle_message_hil_optical_flow(mavlink_message_t *msg); void handle_message_set_mode(mavlink_message_t *msg); void handle_message_vicon_position_estimate(mavlink_message_t *msg); void handle_message_vision_position_estimate(mavlink_message_t *msg); void handle_message_quad_swarm_roll_pitch_yaw_thrust(mavlink_message_t *msg); + void handle_message_set_position_target_local_ned(mavlink_message_t *msg); + void handle_message_set_attitude_target(mavlink_message_t *msg); void handle_message_radio_status(mavlink_message_t *msg); void handle_message_manual_control(mavlink_message_t *msg); void handle_message_heartbeat(mavlink_message_t *msg); @@ -142,11 +146,13 @@ private: orb_advert_t _battery_pub; orb_advert_t _cmd_pub; orb_advert_t _flow_pub; + orb_advert_t _range_pub; orb_advert_t _offboard_control_sp_pub; - orb_advert_t _local_pos_sp_pub; orb_advert_t _global_vel_sp_pub; orb_advert_t _att_sp_pub; orb_advert_t _rates_sp_pub; + orb_advert_t _force_sp_pub; + orb_advert_t _pos_sp_triplet_pub; orb_advert_t _vicon_position_pub; orb_advert_t _vision_position_pub; orb_advert_t _telemetry_status_pub; diff --git a/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp b/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp new file mode 100644 index 000000000..4caa820b6 --- /dev/null +++ b/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp @@ -0,0 +1,761 @@ +/**************************************************************************** + * + * 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 mavlink_ftp_test.cpp +/// @author Don Gagne <don@thegagnes.com> + +#include <sys/stat.h> +#include <crc32.h> +#include <stdio.h> +#include <fcntl.h> + +#include "mavlink_ftp_test.h" +#include "../mavlink_ftp.h" + +/// @brief Test case file name for Read command. File are generated using mavlink_ftp_test_data.py +const MavlinkFtpTest::ReadTestCase MavlinkFtpTest::_rgReadTestCases[] = { + { "/etc/unit_test_data/mavlink_tests/test_238.data", MAVLINK_MSG_FILE_TRANSFER_PROTOCOL_FIELD_PAYLOAD_LEN - sizeof(MavlinkFTP::PayloadHeader) - 1}, // Read takes less than single packet + { "/etc/unit_test_data/mavlink_tests/test_239.data", MAVLINK_MSG_FILE_TRANSFER_PROTOCOL_FIELD_PAYLOAD_LEN - sizeof(MavlinkFTP::PayloadHeader) }, // Read completely fills single packet + { "/etc/unit_test_data/mavlink_tests/test_240.data", MAVLINK_MSG_FILE_TRANSFER_PROTOCOL_FIELD_PAYLOAD_LEN - sizeof(MavlinkFTP::PayloadHeader) + 1 }, // Read take two packets +}; + +const char MavlinkFtpTest::_unittest_microsd_dir[] = "/fs/microsd/ftp_unit_test_dir"; +const char MavlinkFtpTest::_unittest_microsd_file[] = "/fs/microsd/ftp_unit_test_dir/file"; + +MavlinkFtpTest::MavlinkFtpTest() : + _ftp_server{}, + _reply_msg{}, + _lastOutgoingSeqNumber{} +{ +} + +MavlinkFtpTest::~MavlinkFtpTest() +{ + +} + +/// @brief Called before every test to initialize the FTP Server. +void MavlinkFtpTest::_init(void) +{ + _ftp_server = new MavlinkFTP;; + _ftp_server->set_unittest_worker(MavlinkFtpTest::receive_message, this); + + _cleanup_microsd(); +} + +/// @brief Called after every test to take down the FTP Server. +void MavlinkFtpTest::_cleanup(void) +{ + delete _ftp_server; + + _cleanup_microsd(); +} + +/// @brief Tests for correct behavior of an Ack response. +bool MavlinkFtpTest::_ack_test(void) +{ + MavlinkFTP::PayloadHeader payload; + mavlink_file_transfer_protocol_t ftp_msg; + MavlinkFTP::PayloadHeader *reply; + + payload.opcode = MavlinkFTP::kCmdNone; + + bool success = _send_receive_msg(&payload, // FTP payload header + 0, // size in bytes of data + nullptr, // Data to start into FTP message payload + &ftp_msg, // Response from server + &reply); // Payload inside FTP message response + if (!success) { + return false; + } + + ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck); + ut_compare("Incorrect payload size", reply->size, 0); + + return true; +} + +/// @brief Tests for correct response to an invalid opcpde. +bool MavlinkFtpTest::_bad_opcode_test(void) +{ + MavlinkFTP::PayloadHeader payload; + mavlink_file_transfer_protocol_t ftp_msg; + MavlinkFTP::PayloadHeader *reply; + + payload.opcode = 0xFF; // bogus opcode + + bool success = _send_receive_msg(&payload, // FTP payload header + 0, // size in bytes of data + nullptr, // Data to start into FTP message payload + &ftp_msg, // Response from server + &reply); // Payload inside FTP message response + if (!success) { + return false; + } + + ut_compare("Didn't get Nak back", reply->opcode, MavlinkFTP::kRspNak); + ut_compare("Incorrect payload size", reply->size, 1); + ut_compare("Incorrect error code", reply->data[0], MavlinkFTP::kErrUnknownCommand); + + return true; +} + +/// @brief Tests for correct reponse to a payload which an invalid data size field. +bool MavlinkFtpTest::_bad_datasize_test(void) +{ + mavlink_message_t msg; + MavlinkFTP::PayloadHeader payload; + mavlink_file_transfer_protocol_t ftp_msg; + MavlinkFTP::PayloadHeader *reply; + + payload.opcode = MavlinkFTP::kCmdListDirectory; + + _setup_ftp_msg(&payload, 0, nullptr, &msg); + + // Set the data size to be one larger than is legal + ((MavlinkFTP::PayloadHeader*)((mavlink_file_transfer_protocol_t*)msg.payload64)->payload)->size = MAVLINK_MSG_FILE_TRANSFER_PROTOCOL_FIELD_PAYLOAD_LEN + 1; + + _ftp_server->handle_message(nullptr /* mavlink */, &msg); + + if (!_decode_message(&_reply_msg, &ftp_msg, &reply)) { + return false; + } + + ut_compare("Didn't get Nak back", reply->opcode, MavlinkFTP::kRspNak); + ut_compare("Incorrect payload size", reply->size, 1); + ut_compare("Incorrect error code", reply->data[0], MavlinkFTP::kErrInvalidDataSize); + + return true; +} + +bool MavlinkFtpTest::_list_test(void) +{ + MavlinkFTP::PayloadHeader payload; + mavlink_file_transfer_protocol_t ftp_msg; + MavlinkFTP::PayloadHeader *reply; + + char response1[] = "Dempty_dir|Ftest_238.data\t238|Ftest_239.data\t239|Ftest_240.data\t240"; + char response2[] = "Ddev|Detc|Dfs|Dobj"; + + struct _testCase { + const char *dir; ///< Directory to run List command on + char *response; ///< Expected response entries from List command + int response_count; ///< Number of directories that should be returned + bool success; ///< true: List command should succeed, false: List command should fail + }; + struct _testCase rgTestCases[] = { + { "/bogus", nullptr, 0, false }, + { "/etc/unit_test_data/mavlink_tests", response1, 4, true }, + { "/", response2, 4, true }, + }; + + for (size_t i=0; i<sizeof(rgTestCases)/sizeof(rgTestCases[0]); i++) { + const struct _testCase *test = &rgTestCases[i]; + + payload.opcode = MavlinkFTP::kCmdListDirectory; + payload.offset = 0; + + bool success = _send_receive_msg(&payload, // FTP payload header + strlen(test->dir)+1, // size in bytes of data + (uint8_t*)test->dir, // Data to start into FTP message payload + &ftp_msg, // Response from server + &reply); // Payload inside FTP message response + if (!success) { + return false; + } + + if (test->success) { + ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck); + ut_compare("Incorrect payload size", reply->size, strlen(test->response) + 1); + + // The return order of directories from the List command is not repeatable. So we can't do a direct comparison + // to a hardcoded return result string. + + // Convert null terminators to seperator char so we can use strok to parse returned data + for (uint8_t j=0; j<reply->size-1; j++) { + if (reply->data[j] == 0) { + reply->data[j] = '|'; + } + } + + // Loop over returned directory entries trying to find then in the response list + char *dir; + int response_count = 0; + dir = strtok((char *)&reply->data[0], "|"); + while (dir != nullptr) { + ut_assert("Returned directory not found in expected response", strstr(test->response, dir)); + response_count++; + dir = strtok(nullptr, "|"); + } + + ut_compare("Incorrect number of directory entires returned", test->response_count, response_count); + } else { + ut_compare("Didn't get Nak back", reply->opcode, MavlinkFTP::kRspNak); + ut_compare("Incorrect payload size", reply->size, 2); + ut_compare("Incorrect error code", reply->data[0], MavlinkFTP::kErrFailErrno); + } + } + + return true; +} + +/// @brief Tests for correct reponse to a List command on a valid directory, but with an offset that +/// is beyond the last directory entry. +bool MavlinkFtpTest::_list_eof_test(void) +{ + MavlinkFTP::PayloadHeader payload; + mavlink_file_transfer_protocol_t ftp_msg; + MavlinkFTP::PayloadHeader *reply; + const char *dir = "/"; + + payload.opcode = MavlinkFTP::kCmdListDirectory; + payload.offset = 4; // offset past top level dirs + + bool success = _send_receive_msg(&payload, // FTP payload header + strlen(dir)+1, // size in bytes of data + (uint8_t*)dir, // Data to start into FTP message payload + &ftp_msg, // Response from server + &reply); // Payload inside FTP message response + if (!success) { + return false; + } + + ut_compare("Didn't get Nak back", reply->opcode, MavlinkFTP::kRspNak); + ut_compare("Incorrect payload size", reply->size, 1); + ut_compare("Incorrect error code", reply->data[0], MavlinkFTP::kErrEOF); + + return true; +} + +/// @brief Tests for correct reponse to an Open command on a file which does not exist. +bool MavlinkFtpTest::_open_badfile_test(void) +{ + MavlinkFTP::PayloadHeader payload; + mavlink_file_transfer_protocol_t ftp_msg; + MavlinkFTP::PayloadHeader *reply; + const char *dir = "/foo"; // non-existent file + + payload.opcode = MavlinkFTP::kCmdOpenFileRO; + payload.offset = 0; + + bool success = _send_receive_msg(&payload, // FTP payload header + strlen(dir)+1, // size in bytes of data + (uint8_t*)dir, // Data to start into FTP message payload + &ftp_msg, // Response from server + &reply); // Payload inside FTP message response + if (!success) { + return false; + } + + ut_compare("Didn't get Nak back", reply->opcode, MavlinkFTP::kRspNak); + ut_compare("Incorrect payload size", reply->size, 2); + ut_compare("Incorrect error code", reply->data[0], MavlinkFTP::kErrFailErrno); + + return true; +} + +/// @brief Tests for correct reponse to an Open command on a file, followed by Terminate +bool MavlinkFtpTest::_open_terminate_test(void) +{ + MavlinkFTP::PayloadHeader payload; + mavlink_file_transfer_protocol_t ftp_msg; + MavlinkFTP::PayloadHeader *reply; + + for (size_t i=0; i<sizeof(_rgReadTestCases)/sizeof(_rgReadTestCases[0]); i++) { + struct stat st; + const ReadTestCase *test = &_rgReadTestCases[i]; + + payload.opcode = MavlinkFTP::kCmdOpenFileRO; + payload.offset = 0; + + bool success = _send_receive_msg(&payload, // FTP payload header + strlen(test->file)+1, // size in bytes of data + (uint8_t*)test->file, // Data to start into FTP message payload + &ftp_msg, // Response from server + &reply); // Payload inside FTP message response + if (!success) { + return false; + } + + ut_compare("stat failed", stat(test->file, &st), 0); + + + ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck); + ut_compare("Incorrect payload size", reply->size, sizeof(uint32_t)); + ut_compare("File size incorrect", *((uint32_t*)&reply->data[0]), (uint32_t)st.st_size); + + payload.opcode = MavlinkFTP::kCmdTerminateSession; + payload.session = reply->session; + payload.size = 0; + + success = _send_receive_msg(&payload, // FTP payload header + 0, // size in bytes of data + nullptr, // Data to start into FTP message payload + &ftp_msg, // Response from server + &reply); // Payload inside FTP message response + if (!success) { + return false; + } + + ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck); + ut_compare("Incorrect payload size", reply->size, 0); + } + + return true; +} + +/// @brief Tests for correct reponse to a Terminate command on an invalid session. +bool MavlinkFtpTest::_terminate_badsession_test(void) +{ + MavlinkFTP::PayloadHeader payload; + mavlink_file_transfer_protocol_t ftp_msg; + MavlinkFTP::PayloadHeader *reply; + const char *file = _rgReadTestCases[0].file; + + payload.opcode = MavlinkFTP::kCmdOpenFileRO; + payload.offset = 0; + + bool success = _send_receive_msg(&payload, // FTP payload header + strlen(file)+1, // size in bytes of data + (uint8_t*)file, // Data to start into FTP message payload + &ftp_msg, // Response from server + &reply); // Payload inside FTP message response + if (!success) { + return false; + } + + ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck); + + payload.opcode = MavlinkFTP::kCmdTerminateSession; + payload.session = reply->session + 1; + payload.size = 0; + + success = _send_receive_msg(&payload, // FTP payload header + 0, // size in bytes of data + nullptr, // Data to start into FTP message payload + &ftp_msg, // Response from server + &reply); // Payload inside FTP message response + if (!success) { + return false; + } + + ut_compare("Didn't get Nak back", reply->opcode, MavlinkFTP::kRspNak); + ut_compare("Incorrect payload size", reply->size, 1); + ut_compare("Incorrect error code", reply->data[0], MavlinkFTP::kErrInvalidSession); + + return true; +} + +/// @brief Tests for correct reponse to a Read command on an open session. +bool MavlinkFtpTest::_read_test(void) +{ + MavlinkFTP::PayloadHeader payload; + mavlink_file_transfer_protocol_t ftp_msg; + MavlinkFTP::PayloadHeader *reply; + + for (size_t i=0; i<sizeof(_rgReadTestCases)/sizeof(_rgReadTestCases[0]); i++) { + struct stat st; + const ReadTestCase *test = &_rgReadTestCases[i]; + + // Read in the file so we can compare it to what we get back + ut_compare("stat failed", stat(test->file, &st), 0); + uint8_t *bytes = new uint8_t[st.st_size]; + ut_assert("new failed", bytes != nullptr); + int fd = ::open(test->file, O_RDONLY); + ut_assert("open failed", fd != -1); + int bytes_read = ::read(fd, bytes, st.st_size); + ut_compare("read failed", bytes_read, st.st_size); + ::close(fd); + + // Test case data files are created for specific boundary conditions + ut_compare("Test case data files are out of date", test->length, st.st_size); + + payload.opcode = MavlinkFTP::kCmdOpenFileRO; + payload.offset = 0; + + bool success = _send_receive_msg(&payload, // FTP payload header + strlen(test->file)+1, // size in bytes of data + (uint8_t*)test->file, // Data to start into FTP message payload + &ftp_msg, // Response from server + &reply); // Payload inside FTP message response + if (!success) { + return false; + } + + ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck); + + payload.opcode = MavlinkFTP::kCmdReadFile; + payload.session = reply->session; + payload.offset = 0; + + success = _send_receive_msg(&payload, // FTP payload header + 0, // size in bytes of data + nullptr, // Data to start into FTP message payload + &ftp_msg, // Response from server + &reply); // Payload inside FTP message response + if (!success) { + return false; + } + + ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck); + ut_compare("Offset incorrect", reply->offset, 0); + + if (test->length <= MAVLINK_MSG_FILE_TRANSFER_PROTOCOL_FIELD_PAYLOAD_LEN - sizeof(MavlinkFTP::PayloadHeader)) { + ut_compare("Payload size incorrect", reply->size, (uint32_t)st.st_size); + ut_compare("File contents differ", memcmp(reply->data, bytes, st.st_size), 0); + } + + payload.opcode = MavlinkFTP::kCmdTerminateSession; + payload.session = reply->session; + payload.size = 0; + + success = _send_receive_msg(&payload, // FTP payload header + 0, // size in bytes of data + nullptr, // Data to start into FTP message payload + &ftp_msg, // Response from server + &reply); // Payload inside FTP message response + if (!success) { + return false; + } + + ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck); + ut_compare("Incorrect payload size", reply->size, 0); + } + + return true; +} + +/// @brief Tests for correct reponse to a Read command on an invalid session. +bool MavlinkFtpTest::_read_badsession_test(void) +{ + MavlinkFTP::PayloadHeader payload; + mavlink_file_transfer_protocol_t ftp_msg; + MavlinkFTP::PayloadHeader *reply; + const char *file = _rgReadTestCases[0].file; + + payload.opcode = MavlinkFTP::kCmdOpenFileRO; + payload.offset = 0; + + bool success = _send_receive_msg(&payload, // FTP payload header + strlen(file)+1, // size in bytes of data + (uint8_t*)file, // Data to start into FTP message payload + &ftp_msg, // Response from server + &reply); // Payload inside FTP message response + if (!success) { + return false; + } + + ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck); + + payload.opcode = MavlinkFTP::kCmdReadFile; + payload.session = reply->session + 1; // Invalid session + payload.offset = 0; + + success = _send_receive_msg(&payload, // FTP payload header + 0, // size in bytes of data + nullptr, // Data to start into FTP message payload + &ftp_msg, // Response from server + &reply); // Payload inside FTP message response + if (!success) { + return false; + } + + ut_compare("Didn't get Nak back", reply->opcode, MavlinkFTP::kRspNak); + ut_compare("Incorrect payload size", reply->size, 1); + ut_compare("Incorrect error code", reply->data[0], MavlinkFTP::kErrInvalidSession); + + return true; +} + +bool MavlinkFtpTest::_removedirectory_test(void) +{ + MavlinkFTP::PayloadHeader payload; + mavlink_file_transfer_protocol_t ftp_msg; + MavlinkFTP::PayloadHeader *reply; + int fd; + + struct _testCase { + const char *dir; + bool success; + bool deleteFile; + }; + static const struct _testCase rgTestCases[] = { + { "/bogus", false, false }, + { "/etc/unit_test_data/mavlink_tests/empty_dir", false, false }, + { _unittest_microsd_dir, false, false }, + { _unittest_microsd_file, false, false }, + { _unittest_microsd_dir, true, true }, + }; + + ut_compare("mkdir failed", ::mkdir(_unittest_microsd_dir, S_IRWXU | S_IRWXG | S_IRWXO), 0); + ut_assert("open failed", (fd = ::open(_unittest_microsd_file, O_CREAT | O_EXCL)) != -1); + ::close(fd); + + for (size_t i=0; i<sizeof(rgTestCases)/sizeof(rgTestCases[0]); i++) { + const struct _testCase *test = &rgTestCases[i]; + + if (test->deleteFile) { + ut_compare("unlink failed", ::unlink(_unittest_microsd_file), 0); + } + + payload.opcode = MavlinkFTP::kCmdRemoveDirectory; + payload.offset = 0; + + bool success = _send_receive_msg(&payload, // FTP payload header + strlen(test->dir)+1, // size in bytes of data + (uint8_t*)test->dir, // Data to start into FTP message payload + &ftp_msg, // Response from server + &reply); // Payload inside FTP message response + if (!success) { + return false; + } + + if (test->success) { + ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck); + ut_compare("Incorrect payload size", reply->size, 0); + } else { + ut_compare("Didn't get Nak back", reply->opcode, MavlinkFTP::kRspNak); + ut_compare("Incorrect payload size", reply->size, 2); + ut_compare("Incorrect error code", reply->data[0], MavlinkFTP::kErrFailErrno); + } + } + + return true; +} + +bool MavlinkFtpTest::_createdirectory_test(void) +{ + MavlinkFTP::PayloadHeader payload; + mavlink_file_transfer_protocol_t ftp_msg; + MavlinkFTP::PayloadHeader *reply; + + struct _testCase { + const char *dir; + bool success; + }; + static const struct _testCase rgTestCases[] = { + { "/etc/bogus", false }, + { _unittest_microsd_dir, true }, + { _unittest_microsd_dir, false }, + { "/fs/microsd/bogus/bogus", false }, + }; + + for (size_t i=0; i<sizeof(rgTestCases)/sizeof(rgTestCases[0]); i++) { + const struct _testCase *test = &rgTestCases[i]; + + payload.opcode = MavlinkFTP::kCmdCreateDirectory; + payload.offset = 0; + + bool success = _send_receive_msg(&payload, // FTP payload header + strlen(test->dir)+1, // size in bytes of data + (uint8_t*)test->dir, // Data to start into FTP message payload + &ftp_msg, // Response from server + &reply); // Payload inside FTP message response + if (!success) { + return false; + } + + if (test->success) { + ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck); + ut_compare("Incorrect payload size", reply->size, 0); + } else { + ut_compare("Didn't get Nak back", reply->opcode, MavlinkFTP::kRspNak); + ut_compare("Incorrect payload size", reply->size, 2); + ut_compare("Incorrect error code", reply->data[0], MavlinkFTP::kErrFailErrno); + } + } + + return true; +} + +bool MavlinkFtpTest::_removefile_test(void) +{ + MavlinkFTP::PayloadHeader payload; + mavlink_file_transfer_protocol_t ftp_msg; + MavlinkFTP::PayloadHeader *reply; + int fd; + + struct _testCase { + const char *file; + bool success; + }; + static const struct _testCase rgTestCases[] = { + { "/bogus", false }, + { _rgReadTestCases[0].file, false }, + { _unittest_microsd_dir, false }, + { _unittest_microsd_file, true }, + { _unittest_microsd_file, false }, + }; + + ut_compare("mkdir failed", ::mkdir(_unittest_microsd_dir, S_IRWXU | S_IRWXG | S_IRWXO), 0); + ut_assert("open failed", (fd = ::open(_unittest_microsd_file, O_CREAT | O_EXCL)) != -1); + ::close(fd); + + for (size_t i=0; i<sizeof(rgTestCases)/sizeof(rgTestCases[0]); i++) { + const struct _testCase *test = &rgTestCases[i]; + + payload.opcode = MavlinkFTP::kCmdRemoveFile; + payload.offset = 0; + + bool success = _send_receive_msg(&payload, // FTP payload header + strlen(test->file)+1, // size in bytes of data + (uint8_t*)test->file, // Data to start into FTP message payload + &ftp_msg, // Response from server + &reply); // Payload inside FTP message response + if (!success) { + return false; + } + + if (test->success) { + ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck); + ut_compare("Incorrect payload size", reply->size, 0); + } else { + ut_compare("Didn't get Nak back", reply->opcode, MavlinkFTP::kRspNak); + ut_compare("Incorrect payload size", reply->size, 2); + ut_compare("Incorrect error code", reply->data[0], MavlinkFTP::kErrFailErrno); + } + } + + return true; +} + +/// @brief Static method used as callback from MavlinkFTP. This method will be called by MavlinkFTP when +/// it needs to send a message out on Mavlink. +void MavlinkFtpTest::receive_message(const mavlink_message_t *msg, MavlinkFtpTest *ftp_test) +{ + ftp_test->_receive_message(msg); +} + +/// @brief Non-Static version of receive_message +void MavlinkFtpTest::_receive_message(const mavlink_message_t *msg) +{ + // Move the message into our own member variable + memcpy(&_reply_msg, msg, sizeof(mavlink_message_t)); +} + +/// @brief Decode and validate the incoming message +bool MavlinkFtpTest::_decode_message(const mavlink_message_t *msg, ///< Mavlink message to decode + mavlink_file_transfer_protocol_t *ftp_msg, ///< Decoded FTP message + MavlinkFTP::PayloadHeader **payload) ///< Payload inside FTP message response +{ + mavlink_msg_file_transfer_protocol_decode(msg, ftp_msg); + + // Make sure the targets are correct + ut_compare("Target network non-zero", ftp_msg->target_network, 0); + ut_compare("Target system id mismatch", ftp_msg->target_system, clientSystemId); + ut_compare("Target component id mismatch", ftp_msg->target_component, clientComponentId); + + *payload = reinterpret_cast<MavlinkFTP::PayloadHeader *>(ftp_msg->payload); + + // Make sure we have a good sequence number + ut_compare("Sequence number mismatch", (*payload)->seqNumber, _lastOutgoingSeqNumber + 1); + + // Bump sequence number for next outgoing message + _lastOutgoingSeqNumber++; + + return true; +} + +/// @brief Initializes an FTP message into a mavlink message +void MavlinkFtpTest::_setup_ftp_msg(MavlinkFTP::PayloadHeader *payload_header, ///< FTP payload header + uint8_t size, ///< size in bytes of data + const uint8_t *data, ///< Data to start into FTP message payload + mavlink_message_t *msg) ///< Returned mavlink message +{ + uint8_t payload_bytes[MAVLINK_MSG_FILE_TRANSFER_PROTOCOL_FIELD_PAYLOAD_LEN]; + MavlinkFTP::PayloadHeader *payload = reinterpret_cast<MavlinkFTP::PayloadHeader *>(payload_bytes); + + memcpy(payload, payload_header, sizeof(MavlinkFTP::PayloadHeader)); + + payload->seqNumber = _lastOutgoingSeqNumber; + payload->size = size; + if (size != 0) { + memcpy(payload->data, data, size); + } + + payload->padding[0] = 0; + payload->padding[1] = 0; + + msg->checksum = 0; + mavlink_msg_file_transfer_protocol_pack(clientSystemId, // Sender system id + clientComponentId, // Sender component id + msg, // Message to pack payload into + 0, // Target network + serverSystemId, // Target system id + serverComponentId, // Target component id + payload_bytes); // Payload to pack into message +} + +/// @brief Sends the specified FTP message to the server and returns response +bool MavlinkFtpTest::_send_receive_msg(MavlinkFTP::PayloadHeader *payload_header, ///< FTP payload header + uint8_t size, ///< size in bytes of data + const uint8_t *data, ///< Data to start into FTP message payload + mavlink_file_transfer_protocol_t *ftp_msg_reply, ///< Response from server + MavlinkFTP::PayloadHeader **payload_reply) ///< Payload inside FTP message response +{ + mavlink_message_t msg; + + _setup_ftp_msg(payload_header, size, data, &msg); + _ftp_server->handle_message(nullptr /* mavlink */, &msg); + return _decode_message(&_reply_msg, ftp_msg_reply, payload_reply); +} + +/// @brief Cleans up an files created on microsd during testing +void MavlinkFtpTest::_cleanup_microsd(void) +{ + ::unlink(_unittest_microsd_file); + ::rmdir(_unittest_microsd_dir); +} + +/// @brief Runs all the unit tests +bool MavlinkFtpTest::run_tests(void) +{ + ut_run_test(_ack_test); + ut_run_test(_bad_opcode_test); + ut_run_test(_bad_datasize_test); + ut_run_test(_list_test); + ut_run_test(_list_eof_test); + ut_run_test(_open_badfile_test); + ut_run_test(_open_terminate_test); + ut_run_test(_terminate_badsession_test); + ut_run_test(_read_test); + ut_run_test(_read_badsession_test); + ut_run_test(_removedirectory_test); + ut_run_test(_createdirectory_test); + ut_run_test(_removefile_test); + + return (_tests_failed == 0); + +} + +ut_declare_test(mavlink_ftp_test, MavlinkFtpTest) diff --git a/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.h b/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.h new file mode 100644 index 000000000..2696192cc --- /dev/null +++ b/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.h @@ -0,0 +1,108 @@ +/**************************************************************************** + * + * 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 mavlink_ftp_test.h +/// @author Don Gagne <don@thegagnes.com> + +#pragma once + +#include <unit_test/unit_test.h> +#include "../mavlink_bridge_header.h" +#include "../mavlink_ftp.h" + +class MavlinkFtpTest : public UnitTest +{ +public: + MavlinkFtpTest(); + virtual ~MavlinkFtpTest(); + + virtual bool run_tests(void); + + static void receive_message(const mavlink_message_t *msg, MavlinkFtpTest* ftpTest); + + static const uint8_t serverSystemId = 50; ///< System ID for server + static const uint8_t serverComponentId = 1; ///< Component ID for server + static const uint8_t serverChannel = 0; ///< Channel to send to + + static const uint8_t clientSystemId = 1; ///< System ID for client + static const uint8_t clientComponentId = 0; ///< Component ID for client + + // We don't want any of these + MavlinkFtpTest(const MavlinkFtpTest&); + MavlinkFtpTest& operator=(const MavlinkFtpTest&); + +private: + virtual void _init(void); + virtual void _cleanup(void); + + bool _ack_test(void); + bool _bad_opcode_test(void); + bool _bad_datasize_test(void); + bool _list_test(void); + bool _list_eof_test(void); + bool _open_badfile_test(void); + bool _open_terminate_test(void); + bool _terminate_badsession_test(void); + bool _read_test(void); + bool _read_badsession_test(void); + bool _removedirectory_test(void); + bool _createdirectory_test(void); + bool _removefile_test(void); + + void _receive_message(const mavlink_message_t *msg); + void _setup_ftp_msg(MavlinkFTP::PayloadHeader *payload_header, uint8_t size, const uint8_t *data, mavlink_message_t *msg); + bool _decode_message(const mavlink_message_t *msg, mavlink_file_transfer_protocol_t *ftp_msg, MavlinkFTP::PayloadHeader **payload); + bool _send_receive_msg(MavlinkFTP::PayloadHeader *payload_header, + uint8_t size, + const uint8_t *data, + mavlink_file_transfer_protocol_t *ftp_msg_reply, + MavlinkFTP::PayloadHeader **payload_reply); + void _cleanup_microsd(void); + + MavlinkFTP *_ftp_server; + + mavlink_message_t _reply_msg; + + uint16_t _lastOutgoingSeqNumber; + + struct ReadTestCase { + const char *file; + const uint16_t length; + }; + static const ReadTestCase _rgReadTestCases[]; + + static const char _unittest_microsd_dir[]; + static const char _unittest_microsd_file[]; +}; + +bool mavlink_ftp_test(void); diff --git a/src/modules/mavlink/mavlink_tests/mavlink_ftp_test_data.py b/src/modules/mavlink/mavlink_tests/mavlink_ftp_test_data.py new file mode 100644 index 000000000..a7e68f2a3 --- /dev/null +++ b/src/modules/mavlink/mavlink_tests/mavlink_ftp_test_data.py @@ -0,0 +1,7 @@ +import sys +print 'Arguments: file - ' + sys.argv[1] + ', length - ' + sys.argv[2] +file = open(sys.argv[1], 'w') +for i in range(int(sys.argv[2])): + b = bytearray([i & 0xFF]) + file.write(b) +file.close()
\ No newline at end of file diff --git a/src/modules/mavlink/mavlink_tests/mavlink_tests.cpp b/src/modules/mavlink/mavlink_tests/mavlink_tests.cpp new file mode 100644 index 000000000..10cbcb0ec --- /dev/null +++ b/src/modules/mavlink/mavlink_tests/mavlink_tests.cpp @@ -0,0 +1,47 @@ +/**************************************************************************** + * + * 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 mavlink_ftp_tests.cpp + */ + +#include <systemlib/err.h> + +#include "mavlink_ftp_test.h" + +extern "C" __EXPORT int mavlink_tests_main(int argc, char *argv[]); + +int mavlink_tests_main(int argc, char *argv[]) +{ + return mavlink_ftp_test() ? 0 : -1; +} diff --git a/src/modules/mavlink/mavlink_tests/module.mk b/src/modules/mavlink/mavlink_tests/module.mk new file mode 100644 index 000000000..1cc28cce1 --- /dev/null +++ b/src/modules/mavlink/mavlink_tests/module.mk @@ -0,0 +1,50 @@ +############################################################################ +# +# 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. +# +############################################################################ + +# +# System state machine tests. +# + +MODULE_COMMAND = mavlink_tests +SRCS = mavlink_tests.cpp \ + mavlink_ftp_test.cpp \ + ../mavlink_ftp.cpp \ + ../mavlink.c + +INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink + +MODULE_STACKSIZE = 5000 + +MAXOPTIMIZATION = -Os + +EXTRACXXFLAGS = -Weffc++ -DMAVLINK_FTP_UNIT_TEST 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 19c10198c..81a13edb8 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -721,8 +721,6 @@ MulticopterAttitudeControl::task_main_trampoline(int argc, char *argv[]) void MulticopterAttitudeControl::task_main() { - warnx("started"); - fflush(stdout); /* * do subscriptions 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 ecc40428d..5918d6bc5 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -76,6 +76,7 @@ #define TILT_COS_MAX 0.7f #define SIGMA 0.000001f +#define MIN_DIST 0.01f /** * Multicopter position control app start / stop handling function @@ -179,6 +180,7 @@ private: bool _reset_pos_sp; bool _reset_alt_sp; + bool _mode_auto; math::Vector<3> _pos; math::Vector<3> _pos_sp; @@ -220,6 +222,11 @@ private: void reset_alt_sp(); /** + * Check if position setpoint is too far from current position and adjust it if needed. + */ + void limit_pos_sp_offset(); + + /** * Set position setpoint using manual control */ void control_manual(float dt); @@ -229,6 +236,14 @@ private: */ void control_offboard(float dt); + bool cross_sphere_line(const math::Vector<3>& sphere_c, float sphere_r, + const math::Vector<3> line_a, const math::Vector<3> line_b, math::Vector<3>& res); + + /** + * Set position setpoint for AUTO + */ + void control_auto(float dt); + /** * Select between barometric and global (AMSL) altitudes */ @@ -283,7 +298,8 @@ MulticopterPositionControl::MulticopterPositionControl() : _ref_timestamp(0), _reset_pos_sp(true), - _reset_alt_sp(true) + _reset_alt_sp(true), + _mode_auto(false) { memset(&_att, 0, sizeof(_att)); memset(&_att_sp, 0, sizeof(_att_sp)); @@ -519,7 +535,7 @@ MulticopterPositionControl::reset_pos_sp() - _params.vel_ff(0) * _sp_move_rate(0)) / _params.pos_p(0); _pos_sp(1) = _pos(1) + (_vel(1) - _att_sp.R_body[1][2] * _att_sp.thrust / _params.vel_p(1) - _params.vel_ff(1) * _sp_move_rate(1)) / _params.pos_p(1); - mavlink_log_info(_mavlink_fd, "[mpc] reset pos sp: %.2f, %.2f", (double)_pos_sp(0), (double)_pos_sp(1)); + mavlink_log_info(_mavlink_fd, "[mpc] reset pos sp: %d, %d", (int)_pos_sp(0), (int)_pos_sp(1)); } } @@ -529,7 +545,30 @@ MulticopterPositionControl::reset_alt_sp() if (_reset_alt_sp) { _reset_alt_sp = false; _pos_sp(2) = _pos(2) + (_vel(2) - _params.vel_ff(2) * _sp_move_rate(2)) / _params.pos_p(2); - mavlink_log_info(_mavlink_fd, "[mpc] reset alt sp: %.2f", -(double)_pos_sp(2)); + mavlink_log_info(_mavlink_fd, "[mpc] reset alt sp: %d", -(int)_pos_sp(2)); + } +} + +void +MulticopterPositionControl::limit_pos_sp_offset() +{ + math::Vector<3> pos_sp_offs; + pos_sp_offs.zero(); + + if (_control_mode.flag_control_position_enabled) { + pos_sp_offs(0) = (_pos_sp(0) - _pos(0)) / _params.sp_offs_max(0); + pos_sp_offs(1) = (_pos_sp(1) - _pos(1)) / _params.sp_offs_max(1); + } + + if (_control_mode.flag_control_altitude_enabled) { + pos_sp_offs(2) = (_pos_sp(2) - _pos(2)) / _params.sp_offs_max(2); + } + + float pos_sp_offs_norm = pos_sp_offs.length(); + + if (pos_sp_offs_norm > 1.0f) { + pos_sp_offs /= pos_sp_offs_norm; + _pos_sp = _pos + pos_sp_offs.emult(_params.sp_offs_max); } } @@ -614,7 +653,6 @@ MulticopterPositionControl::control_offboard(float dt) _pos_sp(0) = _pos_sp_triplet.current.x; _pos_sp(1) = _pos_sp_triplet.current.y; _pos_sp(2) = _pos_sp_triplet.current.z; - _att_sp.yaw_body = _pos_sp_triplet.current.yaw; } else if (_control_mode.flag_control_velocity_enabled && _pos_sp_triplet.current.velocity_valid) { /* control velocity */ @@ -624,6 +662,11 @@ MulticopterPositionControl::control_offboard(float dt) /* set position setpoint move rate */ _sp_move_rate(0) = _pos_sp_triplet.current.vx; _sp_move_rate(1) = _pos_sp_triplet.current.vy; + } + + if (_pos_sp_triplet.current.yaw_valid) { + _att_sp.yaw_body = _pos_sp_triplet.current.yaw; + } else if (_pos_sp_triplet.current.yawspeed_valid) { _att_sp.yaw_body = _att_sp.yaw_body + _pos_sp_triplet.current.yawspeed * dt; } @@ -647,13 +690,175 @@ MulticopterPositionControl::control_offboard(float dt) } } +bool +MulticopterPositionControl::cross_sphere_line(const math::Vector<3>& sphere_c, float sphere_r, + const math::Vector<3> line_a, const math::Vector<3> line_b, math::Vector<3>& res) +{ + /* project center of sphere on line */ + /* normalized AB */ + math::Vector<3> ab_norm = line_b - line_a; + ab_norm.normalize(); + math::Vector<3> d = line_a + ab_norm * ((sphere_c - line_a) * ab_norm); + float cd_len = (sphere_c - d).length(); + + /* we have triangle CDX with known CD and CX = R, find DX */ + if (sphere_r > cd_len) { + /* have two roots, select one in A->B direction from D */ + float dx_len = sqrtf(sphere_r * sphere_r - cd_len * cd_len); + res = d + ab_norm * dx_len; + return true; + + } else { + /* have no roots, return D */ + res = d; + return false; + } +} + +void +MulticopterPositionControl::control_auto(float dt) +{ + if (!_mode_auto) { + _mode_auto = true; + /* reset position setpoint on AUTO mode activation */ + reset_pos_sp(); + reset_alt_sp(); + } + + bool updated; + orb_check(_pos_sp_triplet_sub, &updated); + + if (updated) { + orb_copy(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_sub, &_pos_sp_triplet); + } + + if (_pos_sp_triplet.current.valid) { + /* in case of interrupted mission don't go to waypoint but stay at current position */ + _reset_pos_sp = true; + _reset_alt_sp = true; + + /* project setpoint to local frame */ + math::Vector<3> curr_sp; + map_projection_project(&_ref_pos, + _pos_sp_triplet.current.lat, _pos_sp_triplet.current.lon, + &curr_sp.data[0], &curr_sp.data[1]); + curr_sp(2) = -(_pos_sp_triplet.current.alt - _ref_alt); + + /* scaled space: 1 == position error resulting max allowed speed, L1 = 1 in this space */ + math::Vector<3> scale = _params.pos_p.edivide(_params.vel_max); // TODO add mult param here + + /* convert current setpoint to scaled space */ + math::Vector<3> curr_sp_s = curr_sp.emult(scale); + + /* by default use current setpoint as is */ + math::Vector<3> pos_sp_s = curr_sp_s; + + if (_pos_sp_triplet.current.type == SETPOINT_TYPE_POSITION && _pos_sp_triplet.previous.valid) { + /* follow "previous - current" line */ + math::Vector<3> prev_sp; + map_projection_project(&_ref_pos, + _pos_sp_triplet.previous.lat, _pos_sp_triplet.previous.lon, + &prev_sp.data[0], &prev_sp.data[1]); + prev_sp(2) = -(_pos_sp_triplet.previous.alt - _ref_alt); + + if ((curr_sp - prev_sp).length() > MIN_DIST) { + + /* find X - cross point of L1 sphere and trajectory */ + math::Vector<3> pos_s = _pos.emult(scale); + math::Vector<3> prev_sp_s = prev_sp.emult(scale); + math::Vector<3> prev_curr_s = curr_sp_s - prev_sp_s; + math::Vector<3> curr_pos_s = pos_s - curr_sp_s; + float curr_pos_s_len = curr_pos_s.length(); + if (curr_pos_s_len < 1.0f) { + /* copter is closer to waypoint than L1 radius */ + /* check next waypoint and use it to avoid slowing down when passing via waypoint */ + if (_pos_sp_triplet.next.valid) { + math::Vector<3> next_sp; + map_projection_project(&_ref_pos, + _pos_sp_triplet.next.lat, _pos_sp_triplet.next.lon, + &next_sp.data[0], &next_sp.data[1]); + next_sp(2) = -(_pos_sp_triplet.next.alt - _ref_alt); + + if ((next_sp - curr_sp).length() > MIN_DIST) { + math::Vector<3> next_sp_s = next_sp.emult(scale); + + /* calculate angle prev - curr - next */ + math::Vector<3> curr_next_s = next_sp_s - curr_sp_s; + math::Vector<3> prev_curr_s_norm = prev_curr_s.normalized(); + + /* cos(a) * curr_next, a = angle between current and next trajectory segments */ + float cos_a_curr_next = prev_curr_s_norm * curr_next_s; + + /* cos(b), b = angle pos - curr_sp - prev_sp */ + float cos_b = -curr_pos_s * prev_curr_s_norm / curr_pos_s_len; + + if (cos_a_curr_next > 0.0f && cos_b > 0.0f) { + float curr_next_s_len = curr_next_s.length(); + /* if curr - next distance is larger than L1 radius, limit it */ + if (curr_next_s_len > 1.0f) { + cos_a_curr_next /= curr_next_s_len; + } + + /* feed forward position setpoint offset */ + math::Vector<3> pos_ff = prev_curr_s_norm * + cos_a_curr_next * cos_b * cos_b * (1.0f - curr_pos_s_len) * + (1.0f - expf(-curr_pos_s_len * curr_pos_s_len * 20.0f)); + pos_sp_s += pos_ff; + } + } + } + + } else { + bool near = cross_sphere_line(pos_s, 1.0f, prev_sp_s, curr_sp_s, pos_sp_s); + if (near) { + /* L1 sphere crosses trajectory */ + + } else { + /* copter is too far from trajectory */ + /* if copter is behind prev waypoint, go directly to prev waypoint */ + if ((pos_sp_s - prev_sp_s) * prev_curr_s < 0.0f) { + pos_sp_s = prev_sp_s; + } + + /* if copter is in front of curr waypoint, go directly to curr waypoint */ + if ((pos_sp_s - curr_sp_s) * prev_curr_s > 0.0f) { + pos_sp_s = curr_sp_s; + } + + pos_sp_s = pos_s + (pos_sp_s - pos_s).normalized(); + } + } + } + } + + /* move setpoint not faster than max allowed speed */ + math::Vector<3> pos_sp_old_s = _pos_sp.emult(scale); + + /* difference between current and desired position setpoints, 1 = max speed */ + math::Vector<3> d_pos_m = (pos_sp_s - pos_sp_old_s).edivide(_params.pos_p); + float d_pos_m_len = d_pos_m.length(); + if (d_pos_m_len > dt) { + pos_sp_s = pos_sp_old_s + (d_pos_m / d_pos_m_len * dt).emult(_params.pos_p); + } + + /* scale result back to normal space */ + _pos_sp = pos_sp_s.edivide(scale); + + /* update yaw setpoint if needed */ + if (isfinite(_pos_sp_triplet.current.yaw)) { + _att_sp.yaw_body = _pos_sp_triplet.current.yaw; + } + + } else { + /* no waypoint, do nothing, setpoint was already reset */ + } +} + void MulticopterPositionControl::task_main() { - warnx("started"); _mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); - mavlink_log_info(_mavlink_fd, "[mpc] started"); /* * do subscriptions @@ -750,41 +955,16 @@ MulticopterPositionControl::task_main() if (_control_mode.flag_control_manual_enabled) { /* manual control */ control_manual(dt); + _mode_auto = false; } else if (_control_mode.flag_control_offboard_enabled) { /* offboard control */ control_offboard(dt); + _mode_auto = false; } else { /* AUTO */ - bool updated; - orb_check(_pos_sp_triplet_sub, &updated); - - if (updated) { - orb_copy(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_sub, &_pos_sp_triplet); - } - - if (_pos_sp_triplet.current.valid) { - /* in case of interrupted mission don't go to waypoint but stay at current position */ - _reset_pos_sp = true; - _reset_alt_sp = true; - - /* project setpoint to local frame */ - map_projection_project(&_ref_pos, - _pos_sp_triplet.current.lat, _pos_sp_triplet.current.lon, - &_pos_sp.data[0], &_pos_sp.data[1]); - _pos_sp(2) = -(_pos_sp_triplet.current.alt - _ref_alt); - - /* update yaw setpoint if needed */ - if (isfinite(_pos_sp_triplet.current.yaw)) { - _att_sp.yaw_body = _pos_sp_triplet.current.yaw; - } - - } else { - /* no waypoint, loiter, reset position setpoint if needed */ - reset_pos_sp(); - reset_alt_sp(); - } + control_auto(dt); } /* fill local position setpoint */ @@ -846,16 +1026,6 @@ MulticopterPositionControl::task_main() _vel_sp(2) = _params.land_speed; } - - if (!_control_mode.flag_control_manual_enabled) { - /* limit 3D speed only in non-manual modes */ - float vel_sp_norm = _vel_sp.edivide(_params.vel_max).length(); - - if (vel_sp_norm > 1.0f) { - _vel_sp /= vel_sp_norm; - } - } - _global_vel_sp.vx = _vel_sp(0); _global_vel_sp.vy = _vel_sp(1); _global_vel_sp.vz = _vel_sp(2); @@ -1132,9 +1302,9 @@ MulticopterPositionControl::task_main() /* position controller disabled, reset setpoints */ _reset_alt_sp = true; _reset_pos_sp = true; + _mode_auto = false; reset_int_z = true; reset_int_xy = true; - } /* reset altitude controller integral (hovering throttle) to manual throttle after manual throttle control */ diff --git a/src/modules/navigator/datalinkloss.cpp b/src/modules/navigator/datalinkloss.cpp new file mode 100644 index 000000000..e789fd10d --- /dev/null +++ b/src/modules/navigator/datalinkloss.cpp @@ -0,0 +1,231 @@ +/**************************************************************************** + * + * 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 + * 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 datalinkloss.cpp + * Helper class for Data Link Loss Mode according to the OBC rules + * + * @author Thomas Gubler <thomasgubler@gmail.com> + */ + +#include <string.h> +#include <stdlib.h> +#include <math.h> +#include <fcntl.h> + +#include <mavlink/mavlink_log.h> +#include <systemlib/err.h> +#include <geo/geo.h> + +#include <uORB/uORB.h> +#include <uORB/topics/mission.h> +#include <uORB/topics/home_position.h> + +#include "navigator.h" +#include "datalinkloss.h" + +#define DELAY_SIGMA 0.01f + +DataLinkLoss::DataLinkLoss(Navigator *navigator, const char *name) : + MissionBlock(navigator, name), + _param_commsholdwaittime(this, "CH_T"), + _param_commsholdlat(this, "CH_LAT"), + _param_commsholdlon(this, "CH_LON"), + _param_commsholdalt(this, "CH_ALT"), + _param_airfieldhomelat(this, "NAV_AH_LAT", false), + _param_airfieldhomelon(this, "NAV_AH_LON", false), + _param_airfieldhomealt(this, "NAV_AH_ALT", false), + _param_airfieldhomewaittime(this, "AH_T"), + _param_numberdatalinklosses(this, "N"), + _param_skipcommshold(this, "CHSK"), + _dll_state(DLL_STATE_NONE) +{ + /* load initial params */ + updateParams(); + /* initial reset */ + on_inactive(); +} + +DataLinkLoss::~DataLinkLoss() +{ +} + +void +DataLinkLoss::on_inactive() +{ + /* reset DLL state only if setpoint moved */ + if (!_navigator->get_can_loiter_at_sp()) { + _dll_state = DLL_STATE_NONE; + } +} + +void +DataLinkLoss::on_activation() +{ + _dll_state = DLL_STATE_NONE; + updateParams(); + advance_dll(); + set_dll_item(); +} + +void +DataLinkLoss::on_active() +{ + if (is_mission_item_reached()) { + updateParams(); + advance_dll(); + set_dll_item(); + } +} + +void +DataLinkLoss::set_dll_item() +{ + struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); + + set_previous_pos_setpoint(); + _navigator->set_can_loiter_at_sp(false); + + switch (_dll_state) { + case DLL_STATE_FLYTOCOMMSHOLDWP: { + _mission_item.lat = (double)(_param_commsholdlat.get()) * 1.0e-7; + _mission_item.lon = (double)(_param_commsholdlon.get()) * 1.0e-7; + _mission_item.altitude_is_relative = false; + _mission_item.altitude = _param_commsholdalt.get(); + _mission_item.yaw = NAN; + _mission_item.loiter_radius = _navigator->get_loiter_radius(); + _mission_item.loiter_direction = 1; + _mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT; + _mission_item.acceptance_radius = _navigator->get_acceptance_radius(); + _mission_item.time_inside = _param_commsholdwaittime.get() < 0.0f ? 0.0f : _param_commsholdwaittime.get(); + _mission_item.pitch_min = 0.0f; + _mission_item.autocontinue = true; + _mission_item.origin = ORIGIN_ONBOARD; + + _navigator->set_can_loiter_at_sp(true); + break; + } + case DLL_STATE_FLYTOAIRFIELDHOMEWP: { + _mission_item.lat = (double)(_param_airfieldhomelat.get()) * 1.0e-7; + _mission_item.lon = (double)(_param_airfieldhomelon.get()) * 1.0e-7; + _mission_item.altitude_is_relative = false; + _mission_item.altitude = _param_airfieldhomealt.get(); + _mission_item.yaw = NAN; + _mission_item.loiter_radius = _navigator->get_loiter_radius(); + _mission_item.loiter_direction = 1; + _mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT; + _mission_item.time_inside = _param_airfieldhomewaittime.get() < 0.0f ? 0.0f : _param_airfieldhomewaittime.get(); + _mission_item.acceptance_radius = _navigator->get_acceptance_radius(); + _mission_item.pitch_min = 0.0f; + _mission_item.autocontinue = true; + _mission_item.origin = ORIGIN_ONBOARD; + + _navigator->set_can_loiter_at_sp(true); + break; + } + case DLL_STATE_TERMINATE: { + /* Request flight termination from the commander */ + _navigator->get_mission_result()->flight_termination = true; + _navigator->publish_mission_result(); + reset_mission_item_reached(); + warnx("not switched to manual: request flight termination"); + pos_sp_triplet->previous.valid = false; + pos_sp_triplet->current.valid = false; + pos_sp_triplet->next.valid = false; + break; + } + default: + break; + } + + reset_mission_item_reached(); + + /* convert mission item to current position setpoint and make it valid */ + mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current); + pos_sp_triplet->next.valid = false; + + _navigator->set_position_setpoint_triplet_updated(); +} + +void +DataLinkLoss::advance_dll() +{ + switch (_dll_state) { + case DLL_STATE_NONE: + /* Check the number of data link losses. If above home fly home directly */ + /* if number of data link losses limit is not reached fly to comms hold wp */ + if (_navigator->get_vstatus()->data_link_lost_counter > _param_numberdatalinklosses.get()) { + warnx("%d data link losses, limit is %d, fly to airfield home", + _navigator->get_vstatus()->data_link_lost_counter, _param_numberdatalinklosses.get()); + mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: too many DL losses, fly to airfield home"); + _navigator->get_mission_result()->stay_in_failsafe = true; + _navigator->publish_mission_result(); + reset_mission_item_reached(); + _dll_state = DLL_STATE_FLYTOAIRFIELDHOMEWP; + } else { + if (!_param_skipcommshold.get()) { + warnx("fly to comms hold, datalink loss counter: %d", _navigator->get_vstatus()->data_link_lost_counter); + mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: fly to comms hold"); + _dll_state = DLL_STATE_FLYTOCOMMSHOLDWP; + } else { + /* comms hold wp not active, fly to airfield home directly */ + warnx("Skipping comms hold wp. Flying directly to airfield home"); + mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: fly to airfield home, comms hold skipped"); + _dll_state = DLL_STATE_FLYTOAIRFIELDHOMEWP; + } + } + break; + case DLL_STATE_FLYTOCOMMSHOLDWP: + warnx("fly to airfield home"); + mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: fly to airfield home"); + _dll_state = DLL_STATE_FLYTOAIRFIELDHOMEWP; + _navigator->get_mission_result()->stay_in_failsafe = true; + _navigator->publish_mission_result(); + reset_mission_item_reached(); + break; + case DLL_STATE_FLYTOAIRFIELDHOMEWP: + _dll_state = DLL_STATE_TERMINATE; + warnx("time is up, state should have been changed manually by now"); + mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: no manual control, terminating"); + _navigator->get_mission_result()->stay_in_failsafe = true; + _navigator->publish_mission_result(); + reset_mission_item_reached(); + break; + case DLL_STATE_TERMINATE: + warnx("dll end"); + _dll_state = DLL_STATE_END; + break; + + default: + break; + } +} diff --git a/src/modules/navigator/datalinkloss.h b/src/modules/navigator/datalinkloss.h new file mode 100644 index 000000000..31e0e3907 --- /dev/null +++ b/src/modules/navigator/datalinkloss.h @@ -0,0 +1,98 @@ +/*************************************************************************** + * + * 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 + * 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 datalinkloss.h + * Helper class for Data Link Loss Mode acording to the OBC rules + * + * @author Thomas Gubler <thomasgubler@gmail.com> + */ + +#ifndef NAVIGATOR_DATALINKLOSS_H +#define NAVIGATOR_DATALINKLOSS_H + +#include <controllib/blocks.hpp> +#include <controllib/block/BlockParam.hpp> + +#include <uORB/Subscription.hpp> + +#include "navigator_mode.h" +#include "mission_block.h" + +class Navigator; + +class DataLinkLoss : public MissionBlock +{ +public: + DataLinkLoss(Navigator *navigator, const char *name); + + ~DataLinkLoss(); + + virtual void on_inactive(); + + virtual void on_activation(); + + virtual void on_active(); + +private: + /* Params */ + control::BlockParamFloat _param_commsholdwaittime; + control::BlockParamInt _param_commsholdlat; // * 1e7 + control::BlockParamInt _param_commsholdlon; // * 1e7 + control::BlockParamFloat _param_commsholdalt; + control::BlockParamInt _param_airfieldhomelat; // * 1e7 + control::BlockParamInt _param_airfieldhomelon; // * 1e7 + control::BlockParamFloat _param_airfieldhomealt; + control::BlockParamFloat _param_airfieldhomewaittime; + control::BlockParamInt _param_numberdatalinklosses; + control::BlockParamInt _param_skipcommshold; + + enum DLLState { + DLL_STATE_NONE = 0, + DLL_STATE_FLYTOCOMMSHOLDWP = 1, + DLL_STATE_FLYTOAIRFIELDHOMEWP = 2, + DLL_STATE_TERMINATE = 3, + DLL_STATE_END = 4 + } _dll_state; + + /** + * Set the DLL item + */ + void set_dll_item(); + + /** + * Move to next DLL item + */ + void advance_dll(); + +}; +#endif diff --git a/src/modules/navigator/datalinkloss_params.c b/src/modules/navigator/datalinkloss_params.c new file mode 100644 index 000000000..6780c0c88 --- /dev/null +++ b/src/modules/navigator/datalinkloss_params.c @@ -0,0 +1,126 @@ +/**************************************************************************** + * + * 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 datalinkloss_params.c + * + * Parameters for DLL + * + * @author Thomas Gubler <thomasgubler@gmail.com> + */ + +#include <nuttx/config.h> + +#include <systemlib/param/param.h> + +/* + * Data Link Loss parameters, accessible via MAVLink + */ + +/** + * Comms hold wait time + * + * The amount of time in seconds the system should wait at the comms hold waypoint + * + * @unit seconds + * @min 0.0 + * @group DLL + */ +PARAM_DEFINE_FLOAT(NAV_DLL_CH_T, 120.0f); + +/** + * Comms hold Lat + * + * Latitude of comms hold waypoint + * + * @unit degrees * 1e7 + * @min 0.0 + * @group DLL + */ +PARAM_DEFINE_INT32(NAV_DLL_CH_LAT, -266072120); + +/** + * Comms hold Lon + * + * Longitude of comms hold waypoint + * + * @unit degrees * 1e7 + * @min 0.0 + * @group DLL + */ +PARAM_DEFINE_INT32(NAV_DLL_CH_LON, 1518453890); + +/** + * Comms hold alt + * + * Altitude of comms hold waypoint + * + * @unit m + * @min 0.0 + * @group DLL + */ +PARAM_DEFINE_FLOAT(NAV_DLL_CH_ALT, 600.0f); + +/** + * Aifield hole wait time + * + * The amount of time in seconds the system should wait at the airfield home waypoint + * + * @unit seconds + * @min 0.0 + * @group DLL + */ +PARAM_DEFINE_FLOAT(NAV_DLL_AH_T, 120.0f); + +/** + * Number of allowed Datalink timeouts + * + * After more than this number of data link timeouts the aircraft returns home directly + * + * @group DLL + * @min 0 + * @max 1000 + */ +PARAM_DEFINE_INT32(NAV_DLL_N, 2); + +/** + * Skip comms hold wp + * + * If set to 1 the system will skip the comms hold wp on data link loss and will directly fly to + * airfield home + * + * @group DLL + * @min 0 + * @max 1 + */ +PARAM_DEFINE_INT32(NAV_DLL_CHSK, 0); diff --git a/src/modules/navigator/enginefailure.cpp b/src/modules/navigator/enginefailure.cpp new file mode 100644 index 000000000..e007b208b --- /dev/null +++ b/src/modules/navigator/enginefailure.cpp @@ -0,0 +1,149 @@ +/**************************************************************************** + * + * 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 + * 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 enginefailure.cpp + * Helper class for a fixedwing engine failure mode + * + * @author Thomas Gubler <thomasgubler@gmail.com> + */ +#include <string.h> +#include <stdlib.h> +#include <math.h> +#include <fcntl.h> + +#include <mavlink/mavlink_log.h> +#include <systemlib/err.h> +#include <geo/geo.h> + +#include <uORB/uORB.h> +#include <uORB/topics/mission.h> + +#include "navigator.h" +#include "enginefailure.h" + +#define DELAY_SIGMA 0.01f + +EngineFailure::EngineFailure(Navigator *navigator, const char *name) : + MissionBlock(navigator, name), + _ef_state(EF_STATE_NONE) +{ + /* load initial params */ + updateParams(); + /* initial reset */ + on_inactive(); +} + +EngineFailure::~EngineFailure() +{ +} + +void +EngineFailure::on_inactive() +{ + _ef_state = EF_STATE_NONE; +} + +void +EngineFailure::on_activation() +{ + _ef_state = EF_STATE_NONE; + advance_ef(); + set_ef_item(); +} + +void +EngineFailure::on_active() +{ + if (is_mission_item_reached()) { + advance_ef(); + set_ef_item(); + } +} + +void +EngineFailure::set_ef_item() +{ + struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); + + /* make sure we have the latest params */ + updateParams(); + + set_previous_pos_setpoint(); + _navigator->set_can_loiter_at_sp(false); + + switch (_ef_state) { + case EF_STATE_LOITERDOWN: { + //XXX create mission item at ground (below?) here + + _mission_item.lat = _navigator->get_global_position()->lat; + _mission_item.lon = _navigator->get_global_position()->lon; + _mission_item.altitude_is_relative = false; + //XXX setting altitude to a very low value, evaluate other options + _mission_item.altitude = _navigator->get_home_position()->alt - 1000.0f; + _mission_item.yaw = NAN; + _mission_item.loiter_radius = _navigator->get_loiter_radius(); + _mission_item.loiter_direction = 1; + _mission_item.nav_cmd = NAV_CMD_LOITER_UNLIMITED; + _mission_item.acceptance_radius = _navigator->get_acceptance_radius(); + _mission_item.pitch_min = 0.0f; + _mission_item.autocontinue = true; + _mission_item.origin = ORIGIN_ONBOARD; + + _navigator->set_can_loiter_at_sp(true); + break; + } + default: + break; + } + + reset_mission_item_reached(); + + /* convert mission item to current position setpoint and make it valid */ + mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current); + pos_sp_triplet->next.valid = false; + + _navigator->set_position_setpoint_triplet_updated(); +} + +void +EngineFailure::advance_ef() +{ + switch (_ef_state) { + case EF_STATE_NONE: + mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: Engine failure. Loitering down"); + _ef_state = EF_STATE_LOITERDOWN; + break; + default: + break; + } +} diff --git a/src/modules/navigator/offboard.h b/src/modules/navigator/enginefailure.h index 66b923bdb..2c48c2fce 100644 --- a/src/modules/navigator/offboard.h +++ b/src/modules/navigator/enginefailure.h @@ -1,6 +1,6 @@ /*************************************************************************** * - * Copyright (c) 2014 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 @@ -31,42 +31,53 @@ * ****************************************************************************/ /** - * @file offboard.h + * @file enginefailure.h + * Helper class for a fixedwing engine failure mode * - * Helper class for offboard commands - * - * @author Julian Oes <julian@oes.ch> + * @author Thomas Gubler <thomasgubler@gmail.com> */ -#ifndef NAVIGATOR_OFFBOARD_H -#define NAVIGATOR_OFFBOARD_H +#ifndef NAVIGATOR_ENGINEFAILURE_H +#define NAVIGATOR_ENGINEFAILURE_H #include <controllib/blocks.hpp> #include <controllib/block/BlockParam.hpp> -#include <uORB/uORB.h> -#include <uORB/topics/offboard_control_setpoint.h> +#include <uORB/Subscription.hpp> #include "navigator_mode.h" +#include "mission_block.h" class Navigator; -class Offboard : public NavigatorMode +class EngineFailure : public MissionBlock { public: - Offboard(Navigator *navigator, const char *name); + EngineFailure(Navigator *navigator, const char *name); - ~Offboard(); + ~EngineFailure(); virtual void on_inactive(); virtual void on_activation(); virtual void on_active(); + private: - void update_offboard_control_setpoint(); + enum EFState { + EF_STATE_NONE = 0, + EF_STATE_LOITERDOWN = 1, + } _ef_state; - struct offboard_control_setpoint_s _offboard_control_sp; -}; + /** + * Set the DLL item + */ + void set_ef_item(); + /** + * Move to next EF item + */ + void advance_ef(); + +}; #endif diff --git a/src/modules/navigator/geofence.cpp b/src/modules/navigator/geofence.cpp index 266215308..0f431ded2 100644 --- a/src/modules/navigator/geofence.cpp +++ b/src/modules/navigator/geofence.cpp @@ -48,6 +48,7 @@ #include <ctype.h> #include <nuttx/config.h> #include <unistd.h> +#include <mavlink/mavlink_log.h> /* Oddly, ERROR is not defined for C++ */ @@ -62,7 +63,12 @@ Geofence::Geofence() : _altitude_min(0), _altitude_max(0), _verticesCount(0), - param_geofence_on(this, "ON") + _param_geofence_on(this, "ON"), + _param_altitude_mode(this, "ALTMODE"), + _param_source(this, "SOURCE"), + _param_counter_threshold(this, "COUNT"), + _outside_counter(0), + _mavlinkFd(-1) { /* Load initial params */ updateParams(); @@ -74,27 +80,69 @@ Geofence::~Geofence() } -bool Geofence::inside(const struct vehicle_global_position_s *vehicle) +bool Geofence::inside(const struct vehicle_global_position_s &global_position) { - double lat = vehicle->lat / 1e7d; - double lon = vehicle->lon / 1e7d; - //float alt = vehicle->alt; + return inside(global_position.lat, global_position.lon, global_position.alt); +} + +bool Geofence::inside(const struct vehicle_global_position_s &global_position, float baro_altitude_amsl) +{ + return inside(global_position.lat, global_position.lon, baro_altitude_amsl); +} + - return inside(lat, lon, vehicle->alt); +bool Geofence::inside(const struct vehicle_global_position_s &global_position, + const struct vehicle_gps_position_s &gps_position,float baro_altitude_amsl) { + updateParams(); + + if (getAltitudeMode() == Geofence::GF_ALT_MODE_WGS84) { + if (getSource() == Geofence::GF_SOURCE_GLOBALPOS) { + return inside(global_position); + } else { + return inside((double)gps_position.lat * 1.0e-7, (double)gps_position.lon * 1.0e-7, + (double)gps_position.alt * 1.0e-3); + } + } else { + if (getSource() == Geofence::GF_SOURCE_GLOBALPOS) { + return inside(global_position, baro_altitude_amsl); + } else { + return inside((double)gps_position.lat * 1.0e-7, (double)gps_position.lon * 1.0e-7, + baro_altitude_amsl); + } + } } bool Geofence::inside(double lat, double lon, float altitude) { + bool inside_fence = inside_polygon(lat, lon, altitude); + + if (inside_fence) { + _outside_counter = 0; + return inside_fence; + } { + _outside_counter++; + if(_outside_counter > _param_counter_threshold.get()) { + return inside_fence; + } else { + return true; + } + } +} + + +bool Geofence::inside_polygon(double lat, double lon, float altitude) +{ /* Return true if geofence is disabled */ - if (param_geofence_on.get() != 1) + if (_param_geofence_on.get() != 1) return true; if (valid()) { if (!isEmpty()) { /* Vertical check */ - if (altitude > _altitude_max || altitude < _altitude_min) + if (altitude > _altitude_max || altitude < _altitude_min) { return false; + } /*Horizontal check */ /* Adaptation of algorithm originally presented as @@ -284,8 +332,10 @@ Geofence::loadFromFile(const char *filename) { _verticesCount = pointCounter; warnx("Geofence: imported successfully"); + mavlink_log_info(_mavlinkFd, "Geofence imported"); } else { warnx("Geofence: import error"); + mavlink_log_critical(_mavlinkFd, "#audio: Geofence import error"); } return ERROR; diff --git a/src/modules/navigator/geofence.h b/src/modules/navigator/geofence.h index 2eb126ab5..9d647cb68 100644 --- a/src/modules/navigator/geofence.h +++ b/src/modules/navigator/geofence.h @@ -42,6 +42,9 @@ #define GEOFENCE_H_ #include <uORB/topics/fence.h> +#include <uORB/topics/vehicle_global_position.h> +#include <uORB/topics/vehicle_gps_position.h> +#include <uORB/topics/sensor_combined.h> #include <controllib/blocks.hpp> #include <controllib/block/BlockParam.hpp> @@ -49,30 +52,32 @@ class Geofence : public control::SuperBlock { -private: - orb_advert_t _fence_pub; /**< publish fence topic */ - - float _altitude_min; - float _altitude_max; - - unsigned _verticesCount; - - /* Params */ - control::BlockParamInt param_geofence_on; public: Geofence(); ~Geofence(); + /* Altitude mode, corresponding to the param GF_ALTMODE */ + enum { + GF_ALT_MODE_WGS84 = 0, + GF_ALT_MODE_AMSL = 1 + }; + + /* Source, corresponding to the param GF_SOURCE */ + enum { + GF_SOURCE_GLOBALPOS = 0, + GF_SOURCE_GPS = 1 + }; + /** - * Return whether craft is inside geofence. + * Return whether system is inside geofence. * * Calculate whether point is inside arbitrary polygon * @param craft pointer craft coordinates - * @param fence pointer to array of coordinates, one per vertex. First and last vertex are assumed connected - * @return true: craft is inside fence, false:craft is outside fence + * @return true: system is inside fence, false: system is outside fence */ - bool inside(const struct vehicle_global_position_s *craft); - bool inside(double lat, double lon, float altitude); + bool inside(const struct vehicle_global_position_s &global_position, + const struct vehicle_gps_position_s &gps_position,float baro_altitude_amsl); + bool inside_polygon(double lat, double lon, float altitude); int clearDm(); @@ -88,6 +93,34 @@ public: int loadFromFile(const char *filename); bool isEmpty() {return _verticesCount == 0;} + + int getAltitudeMode() { return _param_altitude_mode.get(); } + + int getSource() { return _param_source.get(); } + + void setMavlinkFd(int value) { _mavlinkFd = value; } + +private: + orb_advert_t _fence_pub; /**< publish fence topic */ + + float _altitude_min; + float _altitude_max; + + unsigned _verticesCount; + + /* Params */ + control::BlockParamInt _param_geofence_on; + control::BlockParamInt _param_altitude_mode; + control::BlockParamInt _param_source; + control::BlockParamInt _param_counter_threshold; + + uint8_t _outside_counter; + + int _mavlinkFd; + + bool inside(double lat, double lon, float altitude); + bool inside(const struct vehicle_global_position_s &global_position); + bool inside(const struct vehicle_global_position_s &global_position, float baro_altitude_amsl); }; diff --git a/src/modules/navigator/geofence_params.c b/src/modules/navigator/geofence_params.c index 653b1ad84..fca3918e1 100644 --- a/src/modules/navigator/geofence_params.c +++ b/src/modules/navigator/geofence_params.c @@ -58,3 +58,39 @@ * @group Geofence */ PARAM_DEFINE_INT32(GF_ON, 1); + +/** + * Geofence altitude mode + * + * Select which altitude reference should be used + * 0 = WGS84, 1 = AMSL + * + * @min 0 + * @max 1 + * @group Geofence + */ +PARAM_DEFINE_INT32(GF_ALTMODE, 0); + +/** + * Geofence source + * + * Select which position source should be used. Selecting GPS instead of global position makes sure that there is + * no dependence on the position estimator + * 0 = global position, 1 = GPS + * + * @min 0 + * @max 1 + * @group Geofence + */ +PARAM_DEFINE_INT32(GF_SOURCE, 0); + +/** + * Geofence counter limit + * + * Set how many subsequent position measurements outside of the fence are needed before geofence violation is triggered + * + * @min -1 + * @max 10 + * @group Geofence + */ +PARAM_DEFINE_INT32(GF_COUNT, -1); diff --git a/src/modules/navigator/gpsfailure.cpp b/src/modules/navigator/gpsfailure.cpp new file mode 100644 index 000000000..cd55f60b0 --- /dev/null +++ b/src/modules/navigator/gpsfailure.cpp @@ -0,0 +1,178 @@ +/**************************************************************************** + * + * 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 + * 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 gpsfailure.cpp + * Helper class for gpsfailure mode according to the OBC rules + * + * @author Thomas Gubler <thomasgubler@gmail.com> + */ + +#include <string.h> +#include <stdlib.h> +#include <math.h> +#include <fcntl.h> + +#include <mavlink/mavlink_log.h> +#include <systemlib/err.h> +#include <geo/geo.h> + +#include <uORB/uORB.h> +#include <uORB/topics/mission.h> +#include <uORB/topics/home_position.h> + +#include "navigator.h" +#include "gpsfailure.h" + +#define DELAY_SIGMA 0.01f + +GpsFailure::GpsFailure(Navigator *navigator, const char *name) : + MissionBlock(navigator, name), + _param_loitertime(this, "LT"), + _param_openlooploiter_roll(this, "R"), + _param_openlooploiter_pitch(this, "P"), + _param_openlooploiter_thrust(this, "TR"), + _gpsf_state(GPSF_STATE_NONE), + _timestamp_activation(0) +{ + /* load initial params */ + updateParams(); + /* initial reset */ + on_inactive(); +} + +GpsFailure::~GpsFailure() +{ +} + +void +GpsFailure::on_inactive() +{ + /* reset GPSF state only if setpoint moved */ + if (!_navigator->get_can_loiter_at_sp()) { + _gpsf_state = GPSF_STATE_NONE; + } +} + +void +GpsFailure::on_activation() +{ + _gpsf_state = GPSF_STATE_NONE; + _timestamp_activation = hrt_absolute_time(); + updateParams(); + advance_gpsf(); + set_gpsf_item(); +} + +void +GpsFailure::on_active() +{ + + switch (_gpsf_state) { + case GPSF_STATE_LOITER: { + /* Position controller does not run in this mode: + * navigator has to publish an attitude setpoint */ + _navigator->get_att_sp()->roll_body = M_DEG_TO_RAD_F * _param_openlooploiter_roll.get(); + _navigator->get_att_sp()->pitch_body = M_DEG_TO_RAD_F * _param_openlooploiter_pitch.get(); + _navigator->get_att_sp()->thrust = _param_openlooploiter_thrust.get(); + _navigator->publish_att_sp(); + + /* Measure time */ + hrt_abstime elapsed = hrt_elapsed_time(&_timestamp_activation); + + //warnx("open loop loiter, posctl enabled %u, elapsed %.1fs, thrust %.2f", + //_navigator->get_control_mode()->flag_control_position_enabled, elapsed * 1e-6, (double)_param_openlooploiter_thrust.get()); + if (elapsed > _param_loitertime.get() * 1e6f) { + /* no recovery, adavance the state machine */ + warnx("gps not recovered, switch to next state"); + advance_gpsf(); + } + break; + } + case GPSF_STATE_TERMINATE: + set_gpsf_item(); + advance_gpsf(); + break; + default: + break; + } +} + +void +GpsFailure::set_gpsf_item() +{ + struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); + + /* Set pos sp triplet to invalid to stop pos controller */ + pos_sp_triplet->previous.valid = false; + pos_sp_triplet->current.valid = false; + pos_sp_triplet->next.valid = false; + + switch (_gpsf_state) { + case GPSF_STATE_TERMINATE: { + /* Request flight termination from the commander */ + _navigator->get_mission_result()->flight_termination = true; + _navigator->publish_mission_result(); + warnx("gps fail: request flight termination"); + } + default: + break; + } + + reset_mission_item_reached(); + _navigator->set_position_setpoint_triplet_updated(); +} + +void +GpsFailure::advance_gpsf() +{ + updateParams(); + + switch (_gpsf_state) { + case GPSF_STATE_NONE: + _gpsf_state = GPSF_STATE_LOITER; + warnx("gpsf loiter"); + mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: open loop loiter"); + break; + case GPSF_STATE_LOITER: + _gpsf_state = GPSF_STATE_TERMINATE; + warnx("gpsf terminate"); + mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: no gps recovery, termination"); + warnx("mavlink sent"); + break; + case GPSF_STATE_TERMINATE: + warnx("gpsf end"); + _gpsf_state = GPSF_STATE_END; + default: + break; + } +} diff --git a/src/modules/navigator/gpsfailure.h b/src/modules/navigator/gpsfailure.h new file mode 100644 index 000000000..e9e72babf --- /dev/null +++ b/src/modules/navigator/gpsfailure.h @@ -0,0 +1,97 @@ +/*************************************************************************** + * + * 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 + * 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 gpsfailure.h + * Helper class for Data Link Loss Mode according to the OBC rules + * + * @author Thomas Gubler <thomasgubler@gmail.com> + */ + +#ifndef NAVIGATOR_GPSFAILURE_H +#define NAVIGATOR_GPSFAILURE_H + +#include <controllib/blocks.hpp> +#include <controllib/block/BlockParam.hpp> + +#include <uORB/uORB.h> +#include <uORB/Publication.hpp> +#include <uORB/topics/vehicle_attitude_setpoint.h> + +#include <drivers/drv_hrt.h> + +#include "navigator_mode.h" +#include "mission_block.h" + +class Navigator; + +class GpsFailure : public MissionBlock +{ +public: + GpsFailure(Navigator *navigator, const char *name); + + ~GpsFailure(); + + virtual void on_inactive(); + + virtual void on_activation(); + + virtual void on_active(); + +private: + /* Params */ + control::BlockParamFloat _param_loitertime; + control::BlockParamFloat _param_openlooploiter_roll; + control::BlockParamFloat _param_openlooploiter_pitch; + control::BlockParamFloat _param_openlooploiter_thrust; + + enum GPSFState { + GPSF_STATE_NONE = 0, + GPSF_STATE_LOITER = 1, + GPSF_STATE_TERMINATE = 2, + GPSF_STATE_END = 3, + } _gpsf_state; + + hrt_abstime _timestamp_activation; //*< timestamp when this mode was activated */ + + /** + * Set the GPSF item + */ + void set_gpsf_item(); + + /** + * Move to next GPSF item + */ + void advance_gpsf(); + +}; +#endif diff --git a/src/modules/navigator/gpsfailure_params.c b/src/modules/navigator/gpsfailure_params.c new file mode 100644 index 000000000..39d179eed --- /dev/null +++ b/src/modules/navigator/gpsfailure_params.c @@ -0,0 +1,97 @@ +/**************************************************************************** + * + * 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 gpsfailure_params.c + * + * Parameters for GPSF navigation mode + * + * @author Thomas Gubler <thomasgubler@gmail.com> + */ + +#include <nuttx/config.h> + +#include <systemlib/param/param.h> + +/* + * GPS Failure Navigation Mode parameters, accessible via MAVLink + */ + +/** + * Loiter time + * + * The amount of time in seconds the system should do open loop loiter and wait for gps recovery + * before it goes into flight termination. + * + * @unit seconds + * @min 0.0 + * @group GPSF + */ +PARAM_DEFINE_FLOAT(NAV_GPSF_LT, 30.0f); + +/** + * Open loop loiter roll + * + * Roll in degrees during the open loop loiter + * + * @unit deg + * @min 0.0 + * @max 30.0 + * @group GPSF + */ +PARAM_DEFINE_FLOAT(NAV_GPSF_R, 15.0f); + +/** + * Open loop loiter pitch + * + * Pitch in degrees during the open loop loiter + * + * @unit deg + * @min -30.0 + * @max 30.0 + * @group GPSF + */ +PARAM_DEFINE_FLOAT(NAV_GPSF_P, 0.0f); + +/** + * Open loop loiter thrust + * + * Thrust value which is set during the open loop loiter + * + * @min 0.0 + * @max 1.0 + * @group GPSF + */ +PARAM_DEFINE_FLOAT(NAV_GPSF_TR, 0.7f); + + diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index c0e37a3ed..0765e9b7c 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -36,12 +36,15 @@ * Helper class to access missions * * @author Julian Oes <julian@oes.ch> + * @author Thomas Gubler <thomasgubler@gmail.com> + * @author Anton Babushkin <anton.babushkin@me.com> */ #include <sys/types.h> #include <string.h> #include <stdlib.h> #include <unistd.h> +#include <float.h> #include <drivers/drv_hrt.h> @@ -49,6 +52,7 @@ #include <mavlink/mavlink_log.h> #include <systemlib/err.h> #include <geo/geo.h> +#include <lib/mathlib/mathlib.h> #include <uORB/uORB.h> #include <uORB/topics/mission.h> @@ -59,20 +63,23 @@ Mission::Mission(Navigator *navigator, const char *name) : MissionBlock(navigator, name), - _param_onboard_enabled(this, "ONBOARD_EN"), - _param_takeoff_alt(this, "TAKEOFF_ALT"), - _param_dist_1wp(this, "DIST_1WP"), + _param_onboard_enabled(this, "MIS_ONBOARD_EN", false), + _param_takeoff_alt(this, "MIS_TAKEOFF_ALT", false), + _param_dist_1wp(this, "MIS_DIST_1WP", false), + _param_altmode(this, "MIS_ALTMODE", false), _onboard_mission({0}), _offboard_mission({0}), _current_onboard_mission_index(-1), _current_offboard_mission_index(-1), _need_takeoff(true), _takeoff(false), - _mission_result_pub(-1), - _mission_result({0}), _mission_type(MISSION_TYPE_NONE), _inited(false), - _dist_1wp_ok(false) + _dist_1wp_ok(false), + _missionFeasiblityChecker(), + _min_current_sp_distance_xy(FLT_MAX), + _mission_item_previous_alt(NAN), + _distance_current_previous(0.0f) { /* load initial params */ updateParams(); @@ -107,6 +114,7 @@ Mission::on_inactive() update_offboard_mission(); } + /* require takeoff after non-loiter or landing */ if (!_navigator->get_can_loiter_at_sp() || _navigator->get_vstatus()->condition_landed) { _need_takeoff = true; } @@ -141,9 +149,22 @@ Mission::on_active() /* lets check if we reached the current mission item */ if (_mission_type != MISSION_TYPE_NONE && is_mission_item_reached()) { - advance_mission(); - set_mission_items(); + if (_mission_item.autocontinue) { + /* switch to next waypoint if 'autocontinue' flag set */ + advance_mission(); + set_mission_items(); + + } else { + /* else just report that item reached */ + if (_mission_type == MISSION_TYPE_OFFBOARD) { + if (!(_navigator->get_mission_result()->seq_reached == _current_offboard_mission_index && _navigator->get_mission_result()->reached)) { + set_mission_item_reached(); + } + } + } + } else if (_mission_type != MISSION_TYPE_NONE &&_param_altmode.get() == MISSION_ALTMODE_FOH) { + altitude_sp_foh_update(); } else { /* if waypoint position reached allow loiter on the setpoint */ if (_waypoint_position_reached && _mission_item.nav_cmd != NAV_CMD_IDLE) { @@ -202,7 +223,7 @@ Mission::update_offboard_mission() * however warnings are issued to the gcs via mavlink from inside the MissionFeasiblityChecker */ dm_item_t dm_current = DM_KEY_WAYPOINTS_OFFBOARD(_offboard_mission.dataman_id); - missionFeasiblityChecker.checkMissionFeasible(_navigator->get_vstatus()->is_rotary_wing, + _missionFeasiblityChecker.checkMissionFeasible(_navigator->get_vstatus()->is_rotary_wing, dm_current, (size_t) _offboard_mission.count, _navigator->get_geofence(), _navigator->get_home_position()->alt); @@ -213,7 +234,7 @@ Mission::update_offboard_mission() _current_offboard_mission_index = 0; } - report_current_offboard_mission_item(); + set_current_offboard_mission_item(); } @@ -313,11 +334,19 @@ Mission::set_mission_items() /* make sure param is up to date */ updateParams(); + /* reset the altitude foh logic, if altitude foh is enabled (param) a new foh element starts now */ + altitude_sp_foh_reset(); + struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); /* set previous position setpoint to current */ set_previous_pos_setpoint(); + /* Copy previous mission item altitude (can be extended to a copy of the full mission item if needed) */ + if (pos_sp_triplet->previous.valid) { + _mission_item_previous_alt = _mission_item.altitude; + } + /* get home distance state */ bool home_dist_ok = check_dist_1wp(); /* the home dist check provides user feedback, so we initialize it to this */ @@ -342,7 +371,11 @@ Mission::set_mission_items() } else { /* no mission available or mission finished, switch to loiter */ if (_mission_type != MISSION_TYPE_NONE) { - mavlink_log_critical(_navigator->get_mavlink_fd(), "mission finished, loitering"); + mavlink_log_critical(_navigator->get_mavlink_fd(), "mission finished"); + + /* use last setpoint for loiter */ + _navigator->set_can_loiter_at_sp(true); + } else if (!user_feedback_done) { /* only tell users that we got no mission if there has not been any * better, more specific feedback yet @@ -359,10 +392,11 @@ Mission::set_mission_items() mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current); pos_sp_triplet->next.valid = false; + /* reuse setpoint for LOITER only if it's not IDLE */ _navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == SETPOINT_TYPE_LOITER); reset_mission_item_reached(); - report_mission_finished(); + set_mission_finished(); _navigator->set_position_setpoint_triplet_updated(); return; @@ -399,7 +433,7 @@ Mission::set_mission_items() takeoff_alt += _navigator->get_home_position()->alt; } - /* perform takeoff at least to NAV_TAKEOFF_ALT above home/ground, even if first waypoint is lower */ + /* takeoff to at least NAV_TAKEOFF_ALT above home/ground, even if first waypoint is lower */ if (_navigator->get_vstatus()->condition_landed) { takeoff_alt = fmaxf(takeoff_alt, _navigator->get_global_position()->alt + _param_takeoff_alt.get()); @@ -407,32 +441,46 @@ Mission::set_mission_items() takeoff_alt = fmaxf(takeoff_alt, _navigator->get_home_position()->alt + _param_takeoff_alt.get()); } - mavlink_log_critical(_navigator->get_mavlink_fd(), "takeoff to %.1f meters above home", (double)(takeoff_alt - _navigator->get_home_position()->alt)); + /* check if we already above takeoff altitude */ + if (_navigator->get_global_position()->alt < takeoff_alt - _navigator->get_acceptance_radius()) { + mavlink_log_critical(_navigator->get_mavlink_fd(), "takeoff to %.1f meters above home", (double)(takeoff_alt - _navigator->get_home_position()->alt)); - _mission_item.lat = _navigator->get_global_position()->lat; - _mission_item.lon = _navigator->get_global_position()->lon; - _mission_item.altitude = takeoff_alt; - _mission_item.altitude_is_relative = false; + _mission_item.nav_cmd = NAV_CMD_TAKEOFF; + _mission_item.lat = _navigator->get_global_position()->lat; + _mission_item.lon = _navigator->get_global_position()->lon; + _mission_item.altitude = takeoff_alt; + _mission_item.altitude_is_relative = false; + _mission_item.autocontinue = true; + _mission_item.time_inside = 0; - mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current); + mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current); - } else { - /* set current position setpoint from mission item */ - mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current); + _navigator->set_position_setpoint_triplet_updated(); + return; - /* require takeoff after landing or idle */ - if (pos_sp_triplet->current.type == SETPOINT_TYPE_LAND || pos_sp_triplet->current.type == SETPOINT_TYPE_IDLE) { - _need_takeoff = true; + } else { + /* skip takeoff */ + _takeoff = false; } + } - _navigator->set_can_loiter_at_sp(false); - reset_mission_item_reached(); + /* set current position setpoint from mission item */ + mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current); - if (_mission_type == MISSION_TYPE_OFFBOARD) { - report_current_offboard_mission_item(); - } - // TODO: report onboard mission item somehow + /* require takeoff after landing or idle */ + if (pos_sp_triplet->current.type == SETPOINT_TYPE_LAND || pos_sp_triplet->current.type == SETPOINT_TYPE_IDLE) { + _need_takeoff = true; + } + + _navigator->set_can_loiter_at_sp(false); + reset_mission_item_reached(); + + if (_mission_type == MISSION_TYPE_OFFBOARD) { + set_current_offboard_mission_item(); + } + // TODO: report onboard mission item somehow + if (_mission_item.autocontinue && _mission_item.time_inside <= 0.001f) { /* try to read next mission item */ struct mission_item_s mission_item_next; @@ -444,11 +492,81 @@ Mission::set_mission_items() /* next mission item is not available */ pos_sp_triplet->next.valid = false; } + + } else { + /* vehicle will be paused on current waypoint, don't set next item */ + pos_sp_triplet->next.valid = false; + } + + /* Save the distance between the current sp and the previous one */ + if (pos_sp_triplet->current.valid && pos_sp_triplet->previous.valid) { + _distance_current_previous = get_distance_to_next_waypoint(pos_sp_triplet->current.lat, + pos_sp_triplet->current.lon, + pos_sp_triplet->previous.lat, + pos_sp_triplet->previous.lon); } _navigator->set_position_setpoint_triplet_updated(); } +void +Mission::altitude_sp_foh_update() +{ + struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); + + /* Don't change setpoint if last and current waypoint are not valid */ + if (!pos_sp_triplet->previous.valid || !pos_sp_triplet->current.valid || + !isfinite(_mission_item_previous_alt)) { + return; + } + + /* Do not try to find a solution if the last waypoint is inside the acceptance radius of the current one */ + if (_distance_current_previous - _mission_item.acceptance_radius < 0.0f) { + return; + } + + /* Don't do FOH for landing and takeoff waypoints, the ground may be near + * and the FW controller has a custom landing logic */ + if (_mission_item.nav_cmd == NAV_CMD_LAND || _mission_item.nav_cmd == NAV_CMD_TAKEOFF) { + return; + } + + + /* Calculate distance to current waypoint */ + float d_current = get_distance_to_next_waypoint(_mission_item.lat, _mission_item.lon, + _navigator->get_global_position()->lat, _navigator->get_global_position()->lon); + + /* Save distance to waypoint if it is the smallest ever achieved, however make sure that + * _min_current_sp_distance_xy is never larger than the distance between the current and the previous wp */ + _min_current_sp_distance_xy = math::min(math::min(d_current, _min_current_sp_distance_xy), + _distance_current_previous); + + /* if the minimal distance is smaller then the acceptance radius, we should be at waypoint alt + * navigator will soon switch to the next waypoint item (if there is one) as soon as we reach this altitude */ + if (_min_current_sp_distance_xy < _mission_item.acceptance_radius) { + pos_sp_triplet->current.alt = _mission_item.altitude; + } else { + /* update the altitude sp of the 'current' item in the sp triplet, but do not update the altitude sp + * of the mission item as it is used to check if the mission item is reached + * The setpoint is set linearly and such that the system reaches the current altitude at the acceptance + * radius around the current waypoint + **/ + float delta_alt = (_mission_item.altitude - _mission_item_previous_alt); + float grad = -delta_alt/(_distance_current_previous - _mission_item.acceptance_radius); + float a = _mission_item_previous_alt - grad * _distance_current_previous; + pos_sp_triplet->current.alt = a + grad * _min_current_sp_distance_xy; + + } + + _navigator->set_position_setpoint_triplet_updated(); +} + +void +Mission::altitude_sp_foh_reset() +{ + _min_current_sp_distance_xy = FLT_MAX; +} + bool Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s *mission_item) { @@ -477,13 +595,15 @@ Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s dm_item = DM_KEY_WAYPOINTS_OFFBOARD(_offboard_mission.dataman_id); } - if (*mission_index_ptr < 0 || *mission_index_ptr >= (int)mission->count) { - /* mission item index out of bounds */ - return false; - } - - /* repeat several to get the mission item because we might have to follow multiple DO_JUMPS */ + /* Repeat this several times in case there are several DO JUMPS that we need to follow along, however, after + * 10 iterations we have to assume that the DO JUMPS are probably cycling and give up. */ for (int i = 0; i < 10; i++) { + + if (*mission_index_ptr < 0 || *mission_index_ptr >= (int)mission->count) { + /* mission item index out of bounds */ + return false; + } + const ssize_t len = sizeof(struct mission_item_s); /* read mission item to temp storage first to not overwrite current mission item if data damaged */ @@ -508,11 +628,12 @@ Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s if (is_current) { (mission_item_tmp.do_jump_current_count)++; /* save repeat count */ - if (dm_write(dm_item, *mission_index_ptr, DM_PERSIST_IN_FLIGHT_RESET, &mission_item_tmp, len) != len) { + if (dm_write(dm_item, *mission_index_ptr, DM_PERSIST_POWER_ON_RESET, + &mission_item_tmp, len) != len) { /* not supposed to happen unless the datamanager can't access the * dataman */ mavlink_log_critical(_navigator->get_mavlink_fd(), - "ERROR DO JUMP waypoint could not be written"); + "ERROR DO JUMP waypoint could not be written"); return false; } } @@ -521,8 +642,10 @@ Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s *mission_index_ptr = mission_item_tmp.do_jump_mission_index; } else { - mavlink_log_critical(_navigator->get_mavlink_fd(), - "DO JUMP repetitions completed"); + if (is_current) { + mavlink_log_critical(_navigator->get_mavlink_fd(), + "DO JUMP repetitions completed"); + } /* no more DO_JUMPS, therefore just try to continue with next mission item */ (*mission_index_ptr)++; } @@ -584,45 +707,29 @@ Mission::save_offboard_mission_state() } void -Mission::report_mission_item_reached() +Mission::set_mission_item_reached() { - if (_mission_type == MISSION_TYPE_OFFBOARD) { - _mission_result.reached = true; - _mission_result.seq_reached = _current_offboard_mission_index; - } - publish_mission_result(); + _navigator->get_mission_result()->reached = true; + _navigator->get_mission_result()->seq_reached = _current_offboard_mission_index; + _navigator->publish_mission_result(); + reset_mission_item_reached(); } void -Mission::report_current_offboard_mission_item() +Mission::set_current_offboard_mission_item() { warnx("current offboard mission index: %d", _current_offboard_mission_index); - _mission_result.seq_current = _current_offboard_mission_index; - publish_mission_result(); + _navigator->get_mission_result()->reached = false; + _navigator->get_mission_result()->finished = false; + _navigator->get_mission_result()->seq_current = _current_offboard_mission_index; + _navigator->publish_mission_result(); save_offboard_mission_state(); } void -Mission::report_mission_finished() +Mission::set_mission_finished() { - _mission_result.finished = true; - publish_mission_result(); -} - -void -Mission::publish_mission_result() -{ - /* lazily publish the mission result only once available */ - if (_mission_result_pub > 0) { - /* publish mission result */ - orb_publish(ORB_ID(mission_result), _mission_result_pub, &_mission_result); - - } else { - /* advertise and publish */ - _mission_result_pub = orb_advertise(ORB_ID(mission_result), &_mission_result); - } - /* reset reached bool */ - _mission_result.reached = false; - _mission_result.finished = false; + _navigator->get_mission_result()->finished = true; + _navigator->publish_mission_result(); } diff --git a/src/modules/navigator/mission.h b/src/modules/navigator/mission.h index 4da6a1155..ea7cc0927 100644 --- a/src/modules/navigator/mission.h +++ b/src/modules/navigator/mission.h @@ -36,6 +36,8 @@ * Navigator mode to access missions * * @author Julian Oes <julian@oes.ch> + * @author Thomas Gubler <thomasgubler@gmail.com> + * @author Anton Babushkin <anton.babushkin@me.com> */ #ifndef NAVIGATOR_MISSION_H @@ -75,6 +77,11 @@ public: virtual void on_active(); + enum mission_altitude_mode { + MISSION_ALTMODE_ZOH = 0, + MISSION_ALTMODE_FOH = 1 + }; + private: /** * Update onboard mission topic @@ -103,6 +110,16 @@ private: void set_mission_items(); /** + * Updates the altitude sp to follow a foh + */ + void altitude_sp_foh_update(); + + /** + * Resets the altitude sp foh logic + */ + void altitude_sp_foh_reset(); + + /** * Read current or next mission item from the dataman and watch out for DO_JUMPS * @return true if successful */ @@ -114,39 +131,32 @@ private: void save_offboard_mission_state(); /** - * Report that a mission item has been reached - */ - void report_mission_item_reached(); - - /** - * Rport the current mission item + * Set a mission item as reached */ - void report_current_offboard_mission_item(); + void set_mission_item_reached(); /** - * Report that the mission is finished if one exists or that none exists + * Set the current offboard mission item */ - void report_mission_finished(); + void set_current_offboard_mission_item(); /** - * Publish the mission result so commander and mavlink know what is going on + * Set that the mission is finished if one exists or that none exists */ - void publish_mission_result(); + void set_mission_finished(); control::BlockParamInt _param_onboard_enabled; control::BlockParamFloat _param_takeoff_alt; control::BlockParamFloat _param_dist_1wp; + control::BlockParamInt _param_altmode; struct mission_s _onboard_mission; struct mission_s _offboard_mission; int _current_onboard_mission_index; int _current_offboard_mission_index; - bool _need_takeoff; - bool _takeoff; - - orb_advert_t _mission_result_pub; - struct mission_result_s _mission_result; + bool _need_takeoff; /**< if true, then takeoff must be performed before going to the first waypoint (if needed) */ + bool _takeoff; /**< takeoff state flag */ enum { MISSION_TYPE_NONE, @@ -157,7 +167,13 @@ private: bool _inited; bool _dist_1wp_ok; - MissionFeasibilityChecker missionFeasiblityChecker; /**< class that checks if a mission is feasible */ + MissionFeasibilityChecker _missionFeasiblityChecker; /**< class that checks if a mission is feasible */ + + float _min_current_sp_distance_xy; /**< minimum distance which was achieved to the current waypoint */ + float _mission_item_previous_alt; /**< holds the altitude of the previous mission item, + can be replaced by a full copy of the previous mission item if needed*/ + float _distance_current_previous; /**< distance from previous to current sp in pos_sp_triplet, + only use if current and previous are valid */ }; #endif diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index 4adf77dce..723caec7c 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -113,6 +113,19 @@ MissionBlock::is_mission_item_reached() if (dist >= 0.0f && dist <= _navigator->get_acceptance_radius()) { _waypoint_position_reached = true; } + } else if (!_navigator->get_vstatus()->is_rotary_wing && + (_mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED || + _mission_item.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT || + _mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT)) { + /* Loiter mission item on a non rotary wing: the aircraft is going to circle the + * coordinates with a radius equal to the loiter_radius field. It is not flying + * through the waypoint center. + * Therefore the item is marked as reached once the system reaches the loiter + * radius (+ some margin). Time inside and turn count is handled elsewhere. + */ + if (dist >= 0.0f && dist <= _mission_item.loiter_radius * 1.2f) { + _waypoint_position_reached = true; + } } else { /* for normal mission items used their acceptance radius */ if (dist >= 0.0f && dist <= _mission_item.acceptance_radius) { diff --git a/src/modules/navigator/mission_feasibility_checker.cpp b/src/modules/navigator/mission_feasibility_checker.cpp index 606521f20..389cdd0d2 100644 --- a/src/modules/navigator/mission_feasibility_checker.cpp +++ b/src/modules/navigator/mission_feasibility_checker.cpp @@ -84,7 +84,12 @@ bool MissionFeasibilityChecker::checkMissionFeasible(bool isRotarywing, dm_item_ bool MissionFeasibilityChecker::checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt) { - return (checkGeofence(dm_current, nMissionItems, geofence) && checkHomePositionAltitude(dm_current, nMissionItems, home_alt)); + /* Perform checks and issue feedback to the user for all checks */ + bool resGeofence = checkGeofence(dm_current, nMissionItems, geofence); + bool resHomeAltitude = checkHomePositionAltitude(dm_current, nMissionItems, home_alt); + + /* Mission is only marked as feasible if all checks return true */ + return (resGeofence && resHomeAltitude); } bool MissionFeasibilityChecker::checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt) @@ -93,7 +98,13 @@ bool MissionFeasibilityChecker::checkMissionFeasibleFixedwing(dm_item_t dm_curre updateNavigationCapabilities(); // warnx("_nav_caps.landing_slope_angle_rad %.4f, _nav_caps.landing_horizontal_slope_displacement %.4f", _nav_caps.landing_slope_angle_rad, _nav_caps.landing_horizontal_slope_displacement); - return (checkFixedWingLanding(dm_current, nMissionItems) && checkGeofence(dm_current, nMissionItems, geofence) && checkHomePositionAltitude(dm_current, nMissionItems, home_alt)); + /* Perform checks and issue feedback to the user for all checks */ + bool resLanding = checkFixedWingLanding(dm_current, nMissionItems); + bool resGeofence = checkGeofence(dm_current, nMissionItems, geofence); + bool resHomeAltitude = checkHomePositionAltitude(dm_current, nMissionItems, home_alt); + + /* Mission is only marked as feasible if all checks return true */ + return (resLanding && resGeofence && resHomeAltitude); } bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence) @@ -109,7 +120,7 @@ bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMiss return false; } - if (!geofence.inside(missionitem.lat, missionitem.lon, missionitem.altitude)) { + if (!geofence.inside_polygon(missionitem.lat, missionitem.lon, missionitem.altitude)) { mavlink_log_info(_mavlink_fd, "#audio: Geofence violation waypoint %d", i); return false; } @@ -216,9 +227,8 @@ bool MissionFeasibilityChecker::checkFixedWingLanding(dm_item_t dm_current, size } } - -// float slope_alt = wp_altitude + _H0 * expf(-math::max(0.0f, _flare_length - wp_distance)/_flare_constant) - _H1_virt; - return false; + /* No landing waypoints or no waypoints */ + return true; } void MissionFeasibilityChecker::updateNavigationCapabilities() diff --git a/src/modules/navigator/mission_params.c b/src/modules/navigator/mission_params.c index d15e1e771..04c01fe51 100644 --- a/src/modules/navigator/mission_params.c +++ b/src/modules/navigator/mission_params.c @@ -82,3 +82,16 @@ PARAM_DEFINE_INT32(MIS_ONBOARD_EN, 1); * @group Mission */ PARAM_DEFINE_FLOAT(MIS_DIST_1WP, 500); + +/** + * Altitude setpoint mode + * + * 0: the system will follow a zero order hold altitude setpoint + * 1: the system will follow a first order hold altitude setpoint + * values follow the definition in enum mission_altitude_mode + * + * @min 0 + * @max 1 + * @group Mission + */ +PARAM_DEFINE_INT32(MIS_ALTMODE, 0); diff --git a/src/modules/navigator/module.mk b/src/modules/navigator/module.mk index b50198996..c44d4c35e 100644 --- a/src/modules/navigator/module.mk +++ b/src/modules/navigator/module.mk @@ -46,13 +46,19 @@ SRCS = navigator_main.cpp \ loiter.cpp \ rtl.cpp \ rtl_params.c \ - offboard.cpp \ mission_feasibility_checker.cpp \ geofence.cpp \ - geofence_params.c + geofence_params.c \ + datalinkloss.cpp \ + datalinkloss_params.c \ + rcloss.cpp \ + rcloss_params.c \ + enginefailure.cpp \ + gpsfailure.cpp \ + gpsfailure_params.c INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink MODULE_STACKSIZE = 1200 -EXTRACXXFLAGS = -Weffc++ +MAXOPTIMIZATION = -Os diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h index 8edbb63b3..9cd609955 100644 --- a/src/modules/navigator/navigator.h +++ b/src/modules/navigator/navigator.h @@ -35,6 +35,7 @@ * Helper class to access missions * @author Julian Oes <julian@oes.ch> * @author Anton Babushkin <anton.babushkin@me.com> + * @author Thomas Gubler <thomasgubler@gmail.com> */ #ifndef NAVIGATOR_H @@ -50,20 +51,25 @@ #include <uORB/topics/vehicle_control_mode.h> #include <uORB/topics/position_setpoint_triplet.h> #include <uORB/topics/vehicle_global_position.h> +#include <uORB/topics/vehicle_gps_position.h> #include <uORB/topics/parameter_update.h> +#include <uORB/topics/mission_result.h> +#include <uORB/topics/vehicle_attitude_setpoint.h> #include "navigator_mode.h" #include "mission.h" #include "loiter.h" #include "rtl.h" -#include "offboard.h" +#include "datalinkloss.h" +#include "enginefailure.h" +#include "gpsfailure.h" +#include "rcloss.h" #include "geofence.h" /** * Number of navigation modes that need on_active/on_inactive calls - * Currently: mission, loiter, and rtl */ -#define NAVIGATOR_MODE_ARRAY_SIZE 4 +#define NAVIGATOR_MODE_ARRAY_SIZE 7 class Navigator : public control::SuperBlock { @@ -101,6 +107,17 @@ public: void load_fence_from_file(const char *filename); /** + * Publish the mission result so commander and mavlink know what is going on + */ + void publish_mission_result(); + + /** + * Publish the attitude sp, only to be used in very special modes when position control is deactivated + * Example: mode that is triggered on gps failure + */ + void publish_att_sp(); + + /** * Setters */ void set_can_loiter_at_sp(bool can_loiter) { _can_loiter_at_sp = can_loiter; } @@ -112,11 +129,15 @@ public: struct vehicle_status_s* get_vstatus() { return &_vstatus; } struct vehicle_control_mode_s* get_control_mode() { return &_control_mode; } struct vehicle_global_position_s* get_global_position() { return &_global_pos; } + struct vehicle_gps_position_s* get_gps_position() { return &_gps_pos; } + struct sensor_combined_s* get_sensor_combined() { return &_sensor_combined; } struct home_position_s* get_home_position() { return &_home_pos; } - struct position_setpoint_triplet_s* get_position_setpoint_triplet() { return &_pos_sp_triplet; } + struct position_setpoint_triplet_s* get_position_setpoint_triplet() { return &_pos_sp_triplet; } + struct mission_result_s* get_mission_result() { return &_mission_result; } + struct vehicle_attitude_setpoint_s* get_att_sp() { return &_att_sp; } + int get_onboard_mission_sub() { return _onboard_mission_sub; } int get_offboard_mission_sub() { return _offboard_mission_sub; } - int get_offboard_control_sp_sub() { return _offboard_control_sp_sub; } Geofence& get_geofence() { return _geofence; } bool get_can_loiter_at_sp() { return _can_loiter_at_sp; } float get_loiter_radius() { return _param_loiter_radius.get(); } @@ -131,25 +152,35 @@ private: int _mavlink_fd; /**< the file descriptor to send messages over mavlink */ int _global_pos_sub; /**< global position subscription */ + int _gps_pos_sub; /**< gps position subscription */ + int _sensor_combined_sub; /**< sensor combined subscription */ int _home_pos_sub; /**< home position subscription */ int _vstatus_sub; /**< vehicle status subscription */ int _capabilities_sub; /**< notification of vehicle capabilities updates */ - int _offboard_control_sp_sub; /*** offboard control subscription */ int _control_mode_sub; /**< vehicle control mode subscription */ int _onboard_mission_sub; /**< onboard mission subscription */ int _offboard_mission_sub; /**< offboard mission subscription */ int _param_update_sub; /**< param update subscription */ orb_advert_t _pos_sp_triplet_pub; /**< publish position setpoint triplet */ + orb_advert_t _mission_result_pub; + orb_advert_t _att_sp_pub; /**< publish att sp + used only in very special failsafe modes + when pos control is deactivated */ vehicle_status_s _vstatus; /**< vehicle status */ vehicle_control_mode_s _control_mode; /**< vehicle control mode */ vehicle_global_position_s _global_pos; /**< global vehicle position */ + vehicle_gps_position_s _gps_pos; /**< gps position */ + sensor_combined_s _sensor_combined; /**< sensor values */ home_position_s _home_pos; /**< home position for RTL */ mission_item_s _mission_item; /**< current mission item */ navigation_capabilities_s _nav_caps; /**< navigation capabilities */ position_setpoint_triplet_s _pos_sp_triplet; /**< triplet of position setpoints */ + mission_result_s _mission_result; + vehicle_attitude_setpoint_s _att_sp; + bool _mission_item_valid; /**< flags if the current mission item is valid */ perf_counter_t _loop_perf; /**< loop performance counter */ @@ -157,28 +188,45 @@ private: Geofence _geofence; /**< class that handles the geofence */ bool _geofence_violation_warning_sent; /**< prevents spaming to mavlink */ - bool _fence_valid; /**< flag if fence is valid */ bool _inside_fence; /**< vehicle is inside fence */ NavigatorMode *_navigation_mode; /**< abstract pointer to current navigation mode class */ Mission _mission; /**< class that handles the missions */ Loiter _loiter; /**< class that handles loiter */ RTL _rtl; /**< class that handles RTL */ - Offboard _offboard; /**< class that handles offboard */ + RCLoss _rcLoss; /**< class that handles RTL according to + OBC rules (rc loss mode) */ + DataLinkLoss _dataLinkLoss; /**< class that handles the OBC datalink loss mode */ + EngineFailure _engineFailure; /**< class that handles the engine failure mode + (FW only!) */ + GpsFailure _gpsFailure; /**< class that handles the OBC gpsfailure loss mode */ NavigatorMode *_navigation_mode_array[NAVIGATOR_MODE_ARRAY_SIZE]; /**< array of navigation modes */ bool _can_loiter_at_sp; /**< flags if current position SP can be used to loiter */ bool _pos_sp_triplet_updated; /**< flags if position SP triplet needs to be published */ + bool _pos_sp_triplet_published_invalid_once; /**< flags if position SP triplet has been published once to UORB */ control::BlockParamFloat _param_loiter_radius; /**< loiter radius for fixedwing */ control::BlockParamFloat _param_acceptance_radius; /**< acceptance for takeoff */ + control::BlockParamInt _param_datalinkloss_obc; /**< if true: obc mode on data link loss enabled */ + control::BlockParamInt _param_rcloss_obc; /**< if true: obc mode on rc loss enabled */ /** * Retrieve global position */ void global_position_update(); /** + * Retrieve gps position + */ + void gps_position_update(); + + /** + * Retrieve sensor values + */ + void sensor_combined_update(); + + /** * Retrieve home position */ void home_position_update(); diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 042c46afd..df620e5e7 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -40,6 +40,7 @@ * @author Jean Cyr <jean.m.cyr@gmail.com> * @author Julian Oes <julian@oes.ch> * @author Anton Babushkin <anton.babushkin@me.com> + * @author Thomas Gubler <thomasgubler@gmail.com> */ #include <nuttx/config.h> @@ -67,7 +68,7 @@ #include <uORB/topics/mission.h> #include <uORB/topics/fence.h> #include <uORB/topics/navigation_capabilities.h> -#include <uORB/topics/offboard_control_setpoint.h> +#include <drivers/drv_baro.h> #include <systemlib/err.h> #include <systemlib/systemlib.h> @@ -85,6 +86,7 @@ */ extern "C" __EXPORT int navigator_main(int argc, char *argv[]); +#define GEOFENCE_CHECK_INTERVAL 200000 namespace navigator { @@ -98,43 +100,57 @@ Navigator::Navigator() : _navigator_task(-1), _mavlink_fd(-1), _global_pos_sub(-1), + _gps_pos_sub(-1), _home_pos_sub(-1), _vstatus_sub(-1), _capabilities_sub(-1), - _offboard_control_sp_sub(-1), _control_mode_sub(-1), _onboard_mission_sub(-1), _offboard_mission_sub(-1), _param_update_sub(-1), _pos_sp_triplet_pub(-1), + _mission_result_pub(-1), + _att_sp_pub(-1), _vstatus{}, _control_mode{}, _global_pos{}, + _gps_pos{}, + _sensor_combined{}, _home_pos{}, _mission_item{}, _nav_caps{}, _pos_sp_triplet{}, + _mission_result{}, + _att_sp{}, _mission_item_valid(false), _loop_perf(perf_alloc(PC_ELAPSED, "navigator")), _geofence{}, _geofence_violation_warning_sent(false), - _fence_valid(false), _inside_fence(true), _navigation_mode(nullptr), _mission(this, "MIS"), _loiter(this, "LOI"), _rtl(this, "RTL"), - _offboard(this, "OFF"), + _rcLoss(this, "RCL"), + _dataLinkLoss(this, "DLL"), + _engineFailure(this, "EF"), + _gpsFailure(this, "GPSF"), _can_loiter_at_sp(false), _pos_sp_triplet_updated(false), + _pos_sp_triplet_published_invalid_once(false), _param_loiter_radius(this, "LOITER_RAD"), - _param_acceptance_radius(this, "ACC_RAD") + _param_acceptance_radius(this, "ACC_RAD"), + _param_datalinkloss_obc(this, "DLL_OBC"), + _param_rcloss_obc(this, "RCL_OBC") { /* Create a list of our possible navigation types */ _navigation_mode_array[0] = &_mission; _navigation_mode_array[1] = &_loiter; _navigation_mode_array[2] = &_rtl; - _navigation_mode_array[3] = &_offboard; + _navigation_mode_array[3] = &_dataLinkLoss; + _navigation_mode_array[4] = &_engineFailure; + _navigation_mode_array[5] = &_gpsFailure; + _navigation_mode_array[6] = &_rcLoss; updateParams(); } @@ -171,6 +187,18 @@ Navigator::global_position_update() } void +Navigator::gps_position_update() +{ + orb_copy(ORB_ID(vehicle_gps_position), _gps_pos_sub, &_gps_pos); +} + +void +Navigator::sensor_combined_update() +{ + orb_copy(ORB_ID(sensor_combined), _sensor_combined_sub, &_sensor_combined); +} + +void Navigator::home_position_update() { orb_copy(ORB_ID(home_position), _home_pos_sub, &_home_pos); @@ -221,6 +249,7 @@ Navigator::task_main() warnx("Initializing.."); _mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); + _geofence.setMavlinkFd(_mavlink_fd); /* Try to load the geofence: * if /fs/microsd/etc/geofence.txt load from this file @@ -232,6 +261,7 @@ Navigator::task_main() _geofence.loadFromFile(GEOFENCE_FILENAME); } else { + mavlink_log_critical(_mavlink_fd, "#audio: No geofence file"); if (_geofence.clearDm() > 0) warnx("Geofence cleared"); else @@ -240,6 +270,8 @@ Navigator::task_main() /* do subscriptions */ _global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); + _gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); + _sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined)); _capabilities_sub = orb_subscribe(ORB_ID(navigation_capabilities)); _vstatus_sub = orb_subscribe(ORB_ID(vehicle_status)); _control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); @@ -247,24 +279,26 @@ Navigator::task_main() _onboard_mission_sub = orb_subscribe(ORB_ID(onboard_mission)); _offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission)); _param_update_sub = orb_subscribe(ORB_ID(parameter_update)); - _offboard_control_sp_sub = orb_subscribe(ORB_ID(offboard_control_setpoint)); /* copy all topics first time */ vehicle_status_update(); vehicle_control_mode_update(); global_position_update(); + gps_position_update(); + sensor_combined_update(); home_position_update(); navigation_capabilities_update(); params_update(); - /* rate limit position updates to 50 Hz */ + /* rate limit position and sensor updates to 50 Hz */ orb_set_interval(_global_pos_sub, 20); + orb_set_interval(_sensor_combined_sub, 20); hrt_abstime mavlink_open_time = 0; const hrt_abstime mavlink_open_interval = 500000; /* wakeup source(s) */ - struct pollfd fds[6]; + struct pollfd fds[8]; /* Setup of loop */ fds[0].fd = _global_pos_sub; @@ -279,6 +313,10 @@ Navigator::task_main() fds[4].events = POLLIN; fds[5].fd = _param_update_sub; fds[5].events = POLLIN; + fds[6].fd = _sensor_combined_sub; + fds[6].events = POLLIN; + fds[7].fd = _gps_pos_sub; + fds[7].events = POLLIN; while (!_task_should_exit) { @@ -303,6 +341,21 @@ Navigator::task_main() _mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); } + static bool have_geofence_position_data = false; + + /* gps updated */ + if (fds[7].revents & POLLIN) { + gps_position_update(); + if (_geofence.getSource() == Geofence::GF_SOURCE_GPS) { + have_geofence_position_data = true; + } + } + + /* sensors combined updated */ + if (fds[6].revents & POLLIN) { + sensor_combined_update(); + } + /* parameters updated */ if (fds[5].revents & POLLIN) { params_update(); @@ -332,9 +385,21 @@ Navigator::task_main() /* global position updated */ if (fds[0].revents & POLLIN) { global_position_update(); + if (_geofence.getSource() == Geofence::GF_SOURCE_GLOBALPOS) { + have_geofence_position_data = true; + } + } - /* Check geofence violation */ - if (!_geofence.inside(&_global_pos)) { + /* Check geofence violation */ + static hrt_abstime last_geofence_check = 0; + if (have_geofence_position_data && hrt_elapsed_time(&last_geofence_check) > GEOFENCE_CHECK_INTERVAL) { + bool inside = _geofence.inside(_global_pos, _gps_pos, _sensor_combined.baro_alt_meter); + last_geofence_check = hrt_absolute_time(); + have_geofence_position_data = false; + if (!inside) { + /* inform other apps via the mission result */ + _mission_result.geofence_violated = true; + publish_mission_result(); /* Issue a warning about the geofence violation once */ if (!_geofence_violation_warning_sent) { @@ -342,6 +407,9 @@ Navigator::task_main() _geofence_violation_warning_sent = true; } } else { + /* inform other apps via the mission result */ + _mission_result.geofence_violated = false; + publish_mission_result(); /* Reset the _geofence_violation_warning_sent field */ _geofence_violation_warning_sent = false; } @@ -355,23 +423,47 @@ Navigator::task_main() case NAVIGATION_STATE_POSCTL: case NAVIGATION_STATE_LAND: case NAVIGATION_STATE_TERMINATION: + case NAVIGATION_STATE_OFFBOARD: _navigation_mode = nullptr; _can_loiter_at_sp = false; break; case NAVIGATION_STATE_AUTO_MISSION: + _pos_sp_triplet_published_invalid_once = false; _navigation_mode = &_mission; break; case NAVIGATION_STATE_AUTO_LOITER: + _pos_sp_triplet_published_invalid_once = false; _navigation_mode = &_loiter; break; + case NAVIGATION_STATE_AUTO_RCRECOVER: + _pos_sp_triplet_published_invalid_once = false; + if (_param_rcloss_obc.get() != 0) { + _navigation_mode = &_rcLoss; + } else { + _navigation_mode = &_rtl; + } + break; case NAVIGATION_STATE_AUTO_RTL: + _pos_sp_triplet_published_invalid_once = false; _navigation_mode = &_rtl; break; case NAVIGATION_STATE_AUTO_RTGS: - _navigation_mode = &_rtl; /* TODO: change this to something else */ + /* Use complex data link loss mode only when enabled via param + * otherwise use rtl */ + _pos_sp_triplet_published_invalid_once = false; + if (_param_datalinkloss_obc.get() != 0) { + _navigation_mode = &_dataLinkLoss; + } else { + _navigation_mode = &_rtl; + } break; - case NAVIGATION_STATE_OFFBOARD: - _navigation_mode = &_offboard; + case NAVIGATION_STATE_AUTO_LANDENGFAIL: + _pos_sp_triplet_published_invalid_once = false; + _navigation_mode = &_engineFailure; + break; + case NAVIGATION_STATE_AUTO_LANDGPSFAIL: + _pos_sp_triplet_published_invalid_once = false; + _navigation_mode = &_gpsFailure; break; default: _navigation_mode = nullptr; @@ -384,9 +476,9 @@ Navigator::task_main() _navigation_mode_array[i]->run(_navigation_mode == _navigation_mode_array[i]); } - /* if nothing is running, set position setpoint triplet invalid */ - if (_navigation_mode == nullptr) { - // TODO publish empty sp only once + /* if nothing is running, set position setpoint triplet invalid once */ + if (_navigation_mode == nullptr && !_pos_sp_triplet_published_invalid_once) { + _pos_sp_triplet_published_invalid_once = true; _pos_sp_triplet.previous.valid = false; _pos_sp_triplet.current.valid = false; _pos_sp_triplet.next.valid = false; @@ -414,8 +506,8 @@ Navigator::start() /* start the task */ _navigator_task = task_spawn_cmd("navigator", SCHED_DEFAULT, - SCHED_PRIORITY_MAX - 5, - 2000, + SCHED_PRIORITY_DEFAULT + 20, + 1800, (main_t)&Navigator::task_main_trampoline, nullptr); @@ -442,7 +534,7 @@ Navigator::status() // warnx("Compass heading in degrees %5.5f", (double)(_global_pos.yaw * M_RAD_TO_DEG_F)); // } - if (_fence_valid) { + if (_geofence.valid()) { warnx("Geofence is valid"); /* TODO: needed? */ // warnx("Vertex longitude latitude"); @@ -450,7 +542,7 @@ Navigator::status() // warnx("%6u %9.5f %8.5f", i, (double)_fence.vertices[i].lon, (double)_fence.vertices[i].lat); } else { - warnx("Geofence not set"); + warnx("Geofence not set (no /etc/geofence.txt on microsd) or not valid"); } } @@ -534,3 +626,31 @@ int navigator_main(int argc, char *argv[]) return 0; } + +void +Navigator::publish_mission_result() +{ + /* lazily publish the mission result only once available */ + if (_mission_result_pub > 0) { + /* publish mission result */ + orb_publish(ORB_ID(mission_result), _mission_result_pub, &_mission_result); + + } else { + /* advertise and publish */ + _mission_result_pub = orb_advertise(ORB_ID(mission_result), &_mission_result); + } +} + +void +Navigator::publish_att_sp() +{ + /* lazily publish the attitude sp only once available */ + if (_att_sp_pub > 0) { + /* publish att sp*/ + orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &_att_sp); + + } else { + /* advertise and publish */ + _att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_att_sp); + } +} diff --git a/src/modules/navigator/navigator_mode.cpp b/src/modules/navigator/navigator_mode.cpp index f43215665..3807c5ea8 100644 --- a/src/modules/navigator/navigator_mode.cpp +++ b/src/modules/navigator/navigator_mode.cpp @@ -43,7 +43,7 @@ #include "navigator.h" NavigatorMode::NavigatorMode(Navigator *navigator, const char *name) : - SuperBlock(NULL, name), + SuperBlock(navigator, name), _navigator(navigator), _first_run(true) { @@ -63,6 +63,9 @@ NavigatorMode::run(bool active) { if (_first_run) { /* first run */ _first_run = false; + /* Reset stay in failsafe flag */ + _navigator->get_mission_result()->stay_in_failsafe = false; + _navigator->publish_mission_result(); on_activation(); } else { diff --git a/src/modules/navigator/navigator_params.c b/src/modules/navigator/navigator_params.c index 084afe340..1f40e634e 100644 --- a/src/modules/navigator/navigator_params.c +++ b/src/modules/navigator/navigator_params.c @@ -37,6 +37,7 @@ * Parameters for navigator in general * * @author Julian Oes <julian@oes.ch> + * @author Thomas Gubler <thomasgubler@gmail.com> */ #include <nuttx/config.h> @@ -64,3 +65,56 @@ PARAM_DEFINE_FLOAT(NAV_LOITER_RAD, 50.0f); * @group Mission */ PARAM_DEFINE_FLOAT(NAV_ACC_RAD, 25.0f); + +/** + * Set OBC mode for data link loss + * + * If set to 1 the behaviour on data link loss is set to a mode according to the OBC rules + * + * @min 0 + * @group Mission + */ +PARAM_DEFINE_INT32(NAV_DLL_OBC, 0); + +/** + * Set OBC mode for rc loss + * + * If set to 1 the behaviour on data link loss is set to a mode according to the OBC rules + * + * @min 0 + * @group Mission + */ +PARAM_DEFINE_INT32(NAV_RCL_OBC, 0); + +/** + * Airfield home Lat + * + * Latitude of airfield home waypoint + * + * @unit degrees * 1e7 + * @min 0.0 + * @group DLL + */ +PARAM_DEFINE_INT32(NAV_AH_LAT, -265847810); + +/** + * Airfield home Lon + * + * Longitude of airfield home waypoint + * + * @unit degrees * 1e7 + * @min 0.0 + * @group DLL + */ +PARAM_DEFINE_INT32(NAV_AH_LON, 1518423250); + +/** + * Airfield home alt + * + * Altitude of airfield home waypoint + * + * @unit m + * @min 0.0 + * @group DLL + */ +PARAM_DEFINE_FLOAT(NAV_AH_ALT, 600.0f); diff --git a/src/modules/navigator/offboard.cpp b/src/modules/navigator/offboard.cpp deleted file mode 100644 index dcb5c6000..000000000 --- a/src/modules/navigator/offboard.cpp +++ /dev/null @@ -1,129 +0,0 @@ -/**************************************************************************** - * - * 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 offboard.cpp - * - * Helper class for offboard commands - * - * @author Julian Oes <julian@oes.ch> - */ - -#include <string.h> -#include <stdlib.h> -#include <stdbool.h> -#include <math.h> -#include <fcntl.h> - -#include <mavlink/mavlink_log.h> -#include <systemlib/err.h> - -#include <uORB/uORB.h> -#include <uORB/topics/position_setpoint_triplet.h> - -#include "navigator.h" -#include "offboard.h" - -Offboard::Offboard(Navigator *navigator, const char *name) : - NavigatorMode(navigator, name), - _offboard_control_sp({0}) -{ - /* load initial params */ - updateParams(); - /* initial reset */ - on_inactive(); -} - -Offboard::~Offboard() -{ -} - -void -Offboard::on_inactive() -{ -} - -void -Offboard::on_activation() -{ -} - -void -Offboard::on_active() -{ - struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); - - bool updated; - orb_check(_navigator->get_offboard_control_sp_sub(), &updated); - if (updated) { - update_offboard_control_setpoint(); - } - - /* copy offboard setpoints to the corresponding topics */ - if (_navigator->get_control_mode()->flag_control_position_enabled - && _offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_POSITION) { - /* position control */ - pos_sp_triplet->current.x = _offboard_control_sp.p1; - pos_sp_triplet->current.y = _offboard_control_sp.p2; - pos_sp_triplet->current.yaw = _offboard_control_sp.p3; - pos_sp_triplet->current.z = -_offboard_control_sp.p4; - - pos_sp_triplet->current.type = SETPOINT_TYPE_OFFBOARD; - pos_sp_triplet->current.valid = true; - pos_sp_triplet->current.position_valid = true; - - _navigator->set_position_setpoint_triplet_updated(); - - } else if (_navigator->get_control_mode()->flag_control_velocity_enabled - && _offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY) { - /* velocity control */ - pos_sp_triplet->current.vx = _offboard_control_sp.p2; - pos_sp_triplet->current.vy = _offboard_control_sp.p1; - pos_sp_triplet->current.yawspeed = _offboard_control_sp.p3; - pos_sp_triplet->current.vz = _offboard_control_sp.p4; - - pos_sp_triplet->current.type = SETPOINT_TYPE_OFFBOARD; - pos_sp_triplet->current.valid = true; - pos_sp_triplet->current.velocity_valid = true; - - _navigator->set_position_setpoint_triplet_updated(); - } - -} - - -void -Offboard::update_offboard_control_setpoint() -{ - orb_copy(ORB_ID(offboard_control_setpoint), _navigator->get_offboard_control_sp_sub(), &_offboard_control_sp); - -} diff --git a/src/modules/navigator/rcloss.cpp b/src/modules/navigator/rcloss.cpp new file mode 100644 index 000000000..42392e739 --- /dev/null +++ b/src/modules/navigator/rcloss.cpp @@ -0,0 +1,184 @@ +/**************************************************************************** + * + * 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 + * 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 rcloss.cpp + * Helper class for RC Loss Mode according to the OBC rules + * + * @author Thomas Gubler <thomasgubler@gmail.com> + */ + +#include <string.h> +#include <stdlib.h> +#include <math.h> +#include <fcntl.h> + +#include <mavlink/mavlink_log.h> +#include <systemlib/err.h> +#include <geo/geo.h> + +#include <uORB/uORB.h> +#include <uORB/topics/mission.h> +#include <uORB/topics/home_position.h> + +#include "navigator.h" +#include "datalinkloss.h" + +#define DELAY_SIGMA 0.01f + +RCLoss::RCLoss(Navigator *navigator, const char *name) : + MissionBlock(navigator, name), + _param_loitertime(this, "LT"), + _rcl_state(RCL_STATE_NONE) +{ + /* load initial params */ + updateParams(); + /* initial reset */ + on_inactive(); +} + +RCLoss::~RCLoss() +{ +} + +void +RCLoss::on_inactive() +{ + /* reset RCL state only if setpoint moved */ + if (!_navigator->get_can_loiter_at_sp()) { + _rcl_state = RCL_STATE_NONE; + } +} + +void +RCLoss::on_activation() +{ + _rcl_state = RCL_STATE_NONE; + updateParams(); + advance_rcl(); + set_rcl_item(); +} + +void +RCLoss::on_active() +{ + if (is_mission_item_reached()) { + updateParams(); + advance_rcl(); + set_rcl_item(); + } +} + +void +RCLoss::set_rcl_item() +{ + struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); + + set_previous_pos_setpoint(); + _navigator->set_can_loiter_at_sp(false); + + switch (_rcl_state) { + case RCL_STATE_LOITER: { + _mission_item.lat = _navigator->get_global_position()->lat; + _mission_item.lon = _navigator->get_global_position()->lon; + _mission_item.altitude = _navigator->get_global_position()->alt; + _mission_item.altitude_is_relative = false; + _mission_item.yaw = NAN; + _mission_item.loiter_radius = _navigator->get_loiter_radius(); + _mission_item.loiter_direction = 1; + _mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT; + _mission_item.acceptance_radius = _navigator->get_acceptance_radius(); + _mission_item.time_inside = _param_loitertime.get() < 0.0f ? 0.0f : _param_loitertime.get(); + _mission_item.pitch_min = 0.0f; + _mission_item.autocontinue = true; + _mission_item.origin = ORIGIN_ONBOARD; + + _navigator->set_can_loiter_at_sp(true); + break; + } + case RCL_STATE_TERMINATE: { + /* Request flight termination from the commander */ + _navigator->get_mission_result()->flight_termination = true; + _navigator->publish_mission_result(); + warnx("rc not recovered: request flight termination"); + pos_sp_triplet->previous.valid = false; + pos_sp_triplet->current.valid = false; + pos_sp_triplet->next.valid = false; + break; + } + default: + break; + } + + reset_mission_item_reached(); + + /* convert mission item to current position setpoint and make it valid */ + mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current); + pos_sp_triplet->next.valid = false; + + _navigator->set_position_setpoint_triplet_updated(); +} + +void +RCLoss::advance_rcl() +{ + switch (_rcl_state) { + case RCL_STATE_NONE: + if (_param_loitertime.get() > 0.0f) { + warnx("RC loss, OBC mode, loiter"); + mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: rc loss, loitering"); + _rcl_state = RCL_STATE_LOITER; + } else { + warnx("RC loss, OBC mode, slip loiter, terminate"); + mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: rc loss, terminating"); + _rcl_state = RCL_STATE_TERMINATE; + _navigator->get_mission_result()->stay_in_failsafe = true; + _navigator->publish_mission_result(); + reset_mission_item_reached(); + } + break; + case RCL_STATE_LOITER: + _rcl_state = RCL_STATE_TERMINATE; + warnx("time is up, no RC regain, terminating"); + mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RC not regained, terminating"); + _navigator->get_mission_result()->stay_in_failsafe = true; + _navigator->publish_mission_result(); + reset_mission_item_reached(); + break; + case RCL_STATE_TERMINATE: + warnx("rcl end"); + _rcl_state = RCL_STATE_END; + break; + default: + break; + } +} diff --git a/src/modules/navigator/rcloss.h b/src/modules/navigator/rcloss.h new file mode 100644 index 000000000..bcb74d877 --- /dev/null +++ b/src/modules/navigator/rcloss.h @@ -0,0 +1,88 @@ +/*************************************************************************** + * + * 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 + * 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 rcloss.h + * Helper class for RC Loss Mode acording to the OBC rules + * + * @author Thomas Gubler <thomasgubler@gmail.com> + */ + +#ifndef NAVIGATOR_RCLOSS_H +#define NAVIGATOR_RCLOSS_H + +#include <controllib/blocks.hpp> +#include <controllib/block/BlockParam.hpp> + +#include <uORB/Subscription.hpp> + +#include "navigator_mode.h" +#include "mission_block.h" + +class Navigator; + +class RCLoss : public MissionBlock +{ +public: + RCLoss(Navigator *navigator, const char *name); + + ~RCLoss(); + + virtual void on_inactive(); + + virtual void on_activation(); + + virtual void on_active(); + +private: + /* Params */ + control::BlockParamFloat _param_loitertime; + + enum RCLState { + RCL_STATE_NONE = 0, + RCL_STATE_LOITER = 1, + RCL_STATE_TERMINATE = 2, + RCL_STATE_END = 3 + } _rcl_state; + + /** + * Set the RCL item + */ + void set_rcl_item(); + + /** + * Move to next RCL item + */ + void advance_rcl(); + +}; +#endif diff --git a/src/modules/navigator/rcloss_params.c b/src/modules/navigator/rcloss_params.c new file mode 100644 index 000000000..f1a01c73b --- /dev/null +++ b/src/modules/navigator/rcloss_params.c @@ -0,0 +1,60 @@ +/**************************************************************************** + * + * 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 rcloss_params.c + * + * Parameters for RC Loss (OBC) + * + * @author Thomas Gubler <thomasgubler@gmail.com> + */ + +#include <nuttx/config.h> + +#include <systemlib/param/param.h> + +/* + * OBC RC Loss mode parameters, accessible via MAVLink + */ + +/** + * Loiter Time + * + * The amount of time in seconds the system should loiter at current position before termination + * Set to -1 to make the system skip loitering + * + * @unit seconds + * @min -1.0 + * @group RCL + */ +PARAM_DEFINE_FLOAT(NAV_RCL_LT, 120.0f); diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp index 142a73409..b6c4b8fdf 100644 --- a/src/modules/navigator/rtl.cpp +++ b/src/modules/navigator/rtl.cpp @@ -58,9 +58,9 @@ RTL::RTL(Navigator *navigator, const char *name) : MissionBlock(navigator, name), _rtl_state(RTL_STATE_NONE), - _param_return_alt(this, "RETURN_ALT"), - _param_descend_alt(this, "DESCEND_ALT"), - _param_land_delay(this, "LAND_DELAY") + _param_return_alt(this, "RTL_RETURN_ALT", false), + _param_descend_alt(this, "RTL_DESCEND_ALT", false), + _param_land_delay(this, "RTL_LAND_DELAY", false) { /* load initial params */ updateParams(); 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 81bbaa658..296919c04 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -161,7 +161,7 @@ int position_estimator_inav_main(int argc, char *argv[]) thread_should_exit = true; } else { - warnx("app not started"); + warnx("not started"); } exit(0); @@ -169,10 +169,10 @@ int position_estimator_inav_main(int argc, char *argv[]) if (!strcmp(argv[1], "status")) { if (thread_running) { - warnx("app is running"); + warnx("is running"); } else { - warnx("app not started"); + warnx("not started"); } exit(0); @@ -210,10 +210,8 @@ static void write_debug_log(const char *msg, float dt, float x_est[2], float y_e ****************************************************************************/ int position_estimator_inav_thread_main(int argc, char *argv[]) { - warnx("started"); int mavlink_fd; mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); - mavlink_log_info(mavlink_fd, "[inav] started"); float x_est[2] = { 0.0f, 0.0f }; // pos, vel float y_est[2] = { 0.0f, 0.0f }; // pos, vel @@ -298,7 +296,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) float w_flow = 0.0f; float sonar_prev = 0.0f; - hrt_abstime flow_prev = 0; // time of last flow measurement + //hrt_abstime flow_prev = 0; // time of last flow measurement hrt_abstime sonar_time = 0; // time of last sonar measurement (not filtered) hrt_abstime sonar_valid_time = 0; // time of last sonar measurement used for correction (filtered) @@ -389,8 +387,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) } else { wait_baro = false; baro_offset /= (float) baro_init_cnt; - warnx("baro offs: %.2f", (double)baro_offset); - mavlink_log_info(mavlink_fd, "[inav] baro offs: %.2f", (double)baro_offset); + warnx("baro offs: %d", (int)baro_offset); + mavlink_log_info(mavlink_fd, "[inav] baro offs: %d", (int)baro_offset); local_pos.z_valid = true; local_pos.v_z_valid = true; } @@ -491,8 +489,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(optical_flow), optical_flow_sub, &flow); /* calculate time from previous update */ - float flow_dt = flow_prev > 0 ? (flow.flow_timestamp - flow_prev) * 1e-6f : 0.1f; - flow_prev = flow.flow_timestamp; +// float flow_dt = flow_prev > 0 ? (flow.flow_timestamp - flow_prev) * 1e-6f : 0.1f; +// flow_prev = flow.flow_timestamp; if ((flow.ground_distance_m > 0.31f) && (flow.ground_distance_m < 4.0f) && @@ -520,7 +518,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) sonar_valid_time = t; sonar_valid = true; local_pos.surface_bottom_timestamp = t; - mavlink_log_info(mavlink_fd, "[inav] new surface level: %.2f", (double)surface_offset); + mavlink_log_info(mavlink_fd, "[inav] new surface level: %d", (int)surface_offset); } } else { @@ -550,8 +548,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) /* convert raw flow to angular flow (rad/s) */ float flow_ang[2]; - flow_ang[0] = flow.flow_raw_x * params.flow_k / 1000.0f / flow_dt; - flow_ang[1] = flow.flow_raw_y * params.flow_k / 1000.0f / flow_dt; + //todo check direction of x und y axis + flow_ang[0] = flow.pixel_flow_x_integral/(float)flow.integration_timespan*1000000.0f;//flow.flow_raw_x * params.flow_k / 1000.0f / flow_dt; + flow_ang[1] = flow.pixel_flow_y_integral/(float)flow.integration_timespan*1000000.0f;//flow.flow_raw_y * params.flow_k / 1000.0f / flow_dt; /* flow measurements vector */ float flow_m[3]; flow_m[0] = -flow_ang[0] * flow_dist; @@ -721,8 +720,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) /* initialize projection */ map_projection_init(&ref, lat, lon); - warnx("init ref: lat=%.7f, lon=%.7f, alt=%.2f", (double)lat, (double)lon, (double)alt); - mavlink_log_info(mavlink_fd, "[inav] init ref: %.7f, %.7f, %.2f", (double)lat, (double)lon, (double)alt); + // XXX replace this print + warnx("init ref: lat=%.7f, lon=%.7f, alt=%8.4f", (double)lat, (double)lon, (double)alt); + mavlink_log_info(mavlink_fd, "[inav] init ref: %.7f, %.7f, %8.4f", (double)lat, (double)lon, (double)alt); } } diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c index 185cb20dd..58c9429b6 100644 --- a/src/modules/px4iofirmware/controls.c +++ b/src/modules/px4iofirmware/controls.c @@ -41,8 +41,10 @@ #include <stdbool.h> #include <drivers/drv_hrt.h> +#include <drivers/drv_rc_input.h> #include <systemlib/perf_counter.h> #include <systemlib/ppm_decode.h> +#include <rc/st24.h> #include "px4io.h" @@ -51,11 +53,62 @@ #define RC_CHANNEL_LOW_THRESH -8000 /* 10% threshold */ static bool ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len); +static bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated); static perf_counter_t c_gather_dsm; static perf_counter_t c_gather_sbus; static perf_counter_t c_gather_ppm; +static int _dsm_fd; + +static uint16_t rc_value_override = 0; + +bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated) +{ + perf_begin(c_gather_dsm); + uint16_t temp_count = r_raw_rc_count; + uint8_t n_bytes = 0; + uint8_t *bytes; + *dsm_updated = dsm_input(r_raw_rc_values, &temp_count, &n_bytes, &bytes); + if (*dsm_updated) { + r_raw_rc_count = temp_count & 0x7fff; + if (temp_count & 0x8000) + r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_RC_DSM11; + else + r_raw_rc_flags &= ~PX4IO_P_RAW_RC_FLAGS_RC_DSM11; + + r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FRAME_DROP); + r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE); + + } + perf_end(c_gather_dsm); + + /* get data from FD and attempt to parse with DSM and ST24 libs */ + uint8_t st24_rssi, rx_count; + uint16_t st24_channel_count = 0; + + *st24_updated = false; + + for (unsigned i = 0; i < n_bytes; i++) { + /* set updated flag if one complete packet was parsed */ + st24_rssi = RC_INPUT_RSSI_MAX; + *st24_updated |= (OK == st24_decode(bytes[i], &st24_rssi, &rx_count, + &st24_channel_count, r_raw_rc_values, PX4IO_RC_INPUT_CHANNELS)); + } + + if (*st24_updated) { + + *rssi = st24_rssi; + r_raw_rc_count = st24_channel_count; + + r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_ST24; + r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FRAME_DROP); + r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE); + } + + return (*dsm_updated | *st24_updated); +} + void controls_init(void) { @@ -65,7 +118,7 @@ controls_init(void) system_state.rc_channels_timestamp_valid = 0; /* DSM input (USART1) */ - dsm_init("/dev/ttyS0"); + _dsm_fd = dsm_init("/dev/ttyS0"); /* S.bus input (USART3) */ sbus_init("/dev/ttyS2"); @@ -116,19 +169,13 @@ controls_tick() { #endif perf_begin(c_gather_dsm); - uint16_t temp_count = r_raw_rc_count; - bool dsm_updated = dsm_input(r_raw_rc_values, &temp_count); + bool dsm_updated, st24_updated; + (void)dsm_port_input(&rssi, &dsm_updated, &st24_updated); if (dsm_updated) { - r_raw_rc_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM; - r_raw_rc_count = temp_count & 0x7fff; - if (temp_count & 0x8000) - r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_RC_DSM11; - else - r_raw_rc_flags &= ~PX4IO_P_RAW_RC_FLAGS_RC_DSM11; - - r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FRAME_DROP); - r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE); - + r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM; + } + if (st24_updated) { + r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_ST24; } perf_end(c_gather_dsm); @@ -191,7 +238,7 @@ controls_tick() { /* * If we received a new frame from any of the RC sources, process it. */ - if (dsm_updated || sbus_updated || ppm_updated) { + if (dsm_updated || sbus_updated || ppm_updated || st24_updated) { /* record a bitmask of channels assigned */ unsigned assigned_channels = 0; @@ -278,6 +325,9 @@ controls_tick() { r_rc_values[mapped] = SIGNED_TO_REG(scaled); assigned_channels |= (1 << mapped); + } else if (mapped == PX4IO_P_RC_CONFIG_ASSIGNMENT_MODESWITCH) { + /* pick out override channel, indicated by special mapping */ + rc_value_override = SIGNED_TO_REG(scaled); } } } @@ -371,15 +421,24 @@ controls_tick() { * requested override. * */ - if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && (REG_TO_SIGNED(r_rc_values[4]) < RC_CHANNEL_LOW_THRESH)) + if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && (REG_TO_SIGNED(rc_value_override) < RC_CHANNEL_LOW_THRESH)) override = true; + /* + if the FMU is dead then enable override if we have a + mixer and OVERRIDE_IMMEDIATE is set + */ + if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) && + (r_setup_arming & PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE) && + (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) + override = true; + if (override) { r_status_flags |= PX4IO_P_STATUS_FLAGS_OVERRIDE; /* mix new RC input control values to servos */ - if (dsm_updated || sbus_updated || ppm_updated) + if (dsm_updated || sbus_updated || ppm_updated || st24_updated) mixer_tick(); } else { diff --git a/src/modules/px4iofirmware/dsm.c b/src/modules/px4iofirmware/dsm.c index d3f365822..6e57c9ec7 100644 --- a/src/modules/px4iofirmware/dsm.c +++ b/src/modules/px4iofirmware/dsm.c @@ -452,10 +452,12 @@ dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values) * * @param[out] values pointer to per channel array of decoded values * @param[out] num_values pointer to number of raw channel values returned, high order bit 0:10 bit data, 1:11 bit data + * @param[out] n_butes number of bytes read + * @param[out] bytes pointer to the buffer of read bytes * @return true=decoded raw channel values updated, false=no update */ bool -dsm_input(uint16_t *values, uint16_t *num_values) +dsm_input(uint16_t *values, uint16_t *num_values, uint8_t *n_bytes, uint8_t **bytes) { ssize_t ret; hrt_abstime now; @@ -478,8 +480,12 @@ dsm_input(uint16_t *values, uint16_t *num_values) ret = read(dsm_fd, &dsm_frame[dsm_partial_frame_count], DSM_FRAME_SIZE - dsm_partial_frame_count); /* if the read failed for any reason, just give up here */ - if (ret < 1) + if (ret < 1) { return false; + } else { + *n_bytes = ret; + *bytes = &dsm_frame[dsm_partial_frame_count]; + } dsm_last_rx_time = now; diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index 606c639f9..66f0969de 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -58,14 +58,7 @@ extern "C" { /* * Maximum interval in us before FMU signal is considered lost */ -#define FMU_INPUT_DROP_LIMIT_US 200000 - -/* XXX need to move the RC_CHANNEL_FUNCTION out of rc_channels.h and into systemlib */ -#define ROLL 0 -#define PITCH 1 -#define YAW 2 -#define THROTTLE 3 -#define OVERRIDE 4 +#define FMU_INPUT_DROP_LIMIT_US 500000 /* current servo arm/disarm state */ static bool mixer_servos_armed = false; @@ -98,7 +91,8 @@ mixer_tick(void) { /* check that we are receiving fresh data from the FMU */ - if (hrt_elapsed_time(&system_state.fmu_data_received_time) > FMU_INPUT_DROP_LIMIT_US) { + if ((system_state.fmu_data_received_time == 0) || + hrt_elapsed_time(&system_state.fmu_data_received_time) > FMU_INPUT_DROP_LIMIT_US) { /* too long without FMU input, time to go to failsafe */ if (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) { @@ -109,6 +103,9 @@ mixer_tick(void) } else { r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK; + + /* this flag is never cleared once OK */ + r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_INITIALIZED; } /* default to failsafe mixing - it will be forced below if flag is set */ @@ -139,7 +136,9 @@ mixer_tick(void) (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) && !(r_setup_arming & PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED) && - !(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK)) { + !(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) && + /* do not enter manual override if we asked for termination failsafe and FMU is lost */ + !(r_setup_arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE)) { /* if allowed, mix from RC inputs directly */ source = MIX_OVERRIDE; @@ -155,29 +154,11 @@ mixer_tick(void) } /* - * Check if we should force failsafe - and do it if we have to - */ - if (r_setup_arming & PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE) { - source = MIX_FAILSAFE; - } - - /* - * Set failsafe status flag depending on mixing source - */ - if (source == MIX_FAILSAFE) { - r_status_flags |= PX4IO_P_STATUS_FLAGS_FAILSAFE; - } else { - r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FAILSAFE); - } - - /* * Decide whether the servos should be armed right now. * * We must be armed, and we must have a PWM source; either raw from * FMU or from the mixer. * - * XXX correct behaviour for failsafe may require an additional case - * here. */ should_arm = ( /* IO initialised without error */ (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK) @@ -195,6 +176,38 @@ mixer_tick(void) && (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK); /* + * Check if failsafe termination is set - if yes, + * set the force failsafe flag once entering the first + * failsafe condition. + */ + if ( /* if we have requested flight termination style failsafe (noreturn) */ + (r_setup_arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE) && + /* and we ended up in a failsafe condition */ + (source == MIX_FAILSAFE) && + /* and we should be armed, so we intended to provide outputs */ + should_arm && + /* and FMU is initialized */ + (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_INITIALIZED)) { + r_setup_arming |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE; + } + + /* + * Check if we should force failsafe - and do it if we have to + */ + if (r_setup_arming & PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE) { + source = MIX_FAILSAFE; + } + + /* + * Set failsafe status flag depending on mixing source + */ + if (source == MIX_FAILSAFE) { + r_status_flags |= PX4IO_P_STATUS_FLAGS_FAILSAFE; + } else { + r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FAILSAFE); + } + + /* * Run the mixers. */ if (source == MIX_FAILSAFE) { @@ -340,12 +353,16 @@ static unsigned mixer_text_length = 0; int mixer_handle_text(const void *buffer, size_t length) { - /* do not allow a mixer change while safety off */ - if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)) { + /* do not allow a mixer change while safety off and FMU armed */ + if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) && + (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)) { return 1; } - /* abort if we're in the mixer */ + /* disable mixing, will be enabled once load is complete */ + r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_MIXER_OK); + + /* abort if we're in the mixer - the caller is expected to retry */ if (in_mixer) { return 1; } @@ -354,17 +371,16 @@ mixer_handle_text(const void *buffer, size_t length) isr_debug(2, "mix txt %u", length); - if (length < sizeof(px4io_mixdata)) + if (length < sizeof(px4io_mixdata)) { return 0; + } - unsigned text_length = length - sizeof(px4io_mixdata); + unsigned text_length = length - sizeof(px4io_mixdata); switch (msg->action) { case F2I_MIXER_ACTION_RESET: isr_debug(2, "reset"); - /* FIRST mark the mixer as invalid */ - r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK; /* THEN actually delete it */ mixer_group.reset(); mixer_text_length = 0; @@ -373,9 +389,6 @@ mixer_handle_text(const void *buffer, size_t length) case F2I_MIXER_ACTION_APPEND: isr_debug(2, "append %d", length); - /* disable mixing during the update */ - r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK; - /* check for overflow - this would be really fatal */ if ((mixer_text_length + text_length + 1) > sizeof(mixer_text)) { r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK; diff --git a/src/modules/px4iofirmware/module.mk b/src/modules/px4iofirmware/module.mk index 01869569f..eb99e8a96 100644 --- a/src/modules/px4iofirmware/module.mk +++ b/src/modules/px4iofirmware/module.mk @@ -14,7 +14,8 @@ SRCS = adc.c \ ../systemlib/mixer/mixer_group.cpp \ ../systemlib/mixer/mixer_multirotor.cpp \ ../systemlib/mixer/mixer_simple.cpp \ - ../systemlib/pwm_limit/pwm_limit.c + ../systemlib/pwm_limit/pwm_limit.c \ + ../../lib/rc/st24.c ifeq ($(BOARD),px4io-v1) SRCS += i2c.c diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h index 050783687..c7e9ae3eb 100644 --- a/src/modules/px4iofirmware/protocol.h +++ b/src/modules/px4iofirmware/protocol.h @@ -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 @@ -111,6 +111,8 @@ #define PX4IO_P_STATUS_FLAGS_INIT_OK (1 << 10) /* initialisation of the IO completed without error */ #define PX4IO_P_STATUS_FLAGS_FAILSAFE (1 << 11) /* failsafe is active */ #define PX4IO_P_STATUS_FLAGS_SAFETY_OFF (1 << 12) /* safety is off */ +#define PX4IO_P_STATUS_FLAGS_FMU_INITIALIZED (1 << 13) /* FMU was initialized and OK once */ +#define PX4IO_P_STATUS_FLAGS_RC_ST24 (1 << 14) /* ST24 input is valid */ #define PX4IO_P_STATUS_ALARMS 3 /* alarm flags - alarms latch, write 1 to a bit to clear it */ #define PX4IO_P_STATUS_ALARMS_VBATT_LOW (1 << 0) /* [1] VBatt is very close to regulator dropout */ @@ -180,6 +182,8 @@ #define PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED (1 << 6) /* Disable the IO-internal evaluation of the RC */ #define PX4IO_P_SETUP_ARMING_LOCKDOWN (1 << 7) /* If set, the system operates normally, but won't actuate any servos */ #define PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE (1 << 8) /* If set, the system will always output the failsafe values */ +#define PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE (1 << 9) /* If set, the system will never return from a failsafe, but remain in failsafe once triggered. */ +#define PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE (1 << 10) /* If set then on FMU failure override is immediate. Othewise it waits for the mode switch to go past the override thrshold */ #define PX4IO_P_SETUP_PWM_RATES 2 /* bitmask, 0 = low rate, 1 = high rate */ #define PX4IO_P_SETUP_PWM_DEFAULTRATE 3 /* 'low' PWM frame output rate in Hz */ @@ -218,6 +222,7 @@ enum { /* DSM bind states */ hence index 12 can safely be used. */ #define PX4IO_P_SETUP_RC_THR_FAILSAFE_US 13 /**< the throttle failsafe pulse length in microseconds */ +#define PX4IO_P_SETUP_FORCE_SAFETY_ON 14 /* force safety switch into 'disarmed' (PWM disabled state) */ #define PX4IO_FORCE_SAFETY_MAGIC 22027 /* required argument for force safety (random) */ /* autopilot control values, -10000..10000 */ @@ -243,6 +248,7 @@ enum { /* DSM bind states */ #define PX4IO_P_RC_CONFIG_MAX 2 /**< highest input value */ #define PX4IO_P_RC_CONFIG_DEADZONE 3 /**< band around center that is ignored */ #define PX4IO_P_RC_CONFIG_ASSIGNMENT 4 /**< mapped input value */ +#define PX4IO_P_RC_CONFIG_ASSIGNMENT_MODESWITCH 100 /**< magic value for mode switch */ #define PX4IO_P_RC_CONFIG_OPTIONS 5 /**< channel options bitmask */ #define PX4IO_P_RC_CONFIG_OPTIONS_ENABLED (1 << 0) #define PX4IO_P_RC_CONFIG_OPTIONS_REVERSE (1 << 1) diff --git a/src/modules/px4iofirmware/px4io.c b/src/modules/px4iofirmware/px4io.c index cd134ccb4..14ee9cb40 100644 --- a/src/modules/px4iofirmware/px4io.c +++ b/src/modules/px4iofirmware/px4io.c @@ -85,6 +85,9 @@ static volatile uint8_t msg_next_out, msg_next_in; #define NUM_MSG 2 static char msg[NUM_MSG][40]; +static void heartbeat_blink(void); +static void ring_blink(void); + /* * add a debug message to be printed on the console */ @@ -126,6 +129,65 @@ heartbeat_blink(void) LED_BLUE(heartbeat = !heartbeat); } +static void +ring_blink(void) +{ +#ifdef GPIO_LED4 + + if (/* IO armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) + /* and FMU is armed */ && (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)) { + LED_RING(1); + return; + } + + // XXX this led code does have + // intentionally a few magic numbers. + const unsigned max_brightness = 118; + + static unsigned counter = 0; + static unsigned brightness = max_brightness; + static unsigned brightness_counter = 0; + static unsigned on_counter = 0; + + if (brightness_counter < max_brightness) { + + bool on = ((on_counter * 100) / brightness_counter+1) <= ((brightness * 100) / max_brightness+1); + + // XXX once led is PWM driven, + // remove the ! in the line below + // to return to the proper breathe + // animation / pattern (currently inverted) + LED_RING(!on); + brightness_counter++; + + if (on) { + on_counter++; + } + + } else { + + if (counter >= 62) { + counter = 0; + } + + int n; + + if (counter < 32) { + n = counter; + + } else { + n = 62 - counter; + } + + brightness = (n * n) / 8; + brightness_counter = 0; + on_counter = 0; + counter++; + } + +#endif +} + static uint64_t reboot_time; /** @@ -191,6 +253,9 @@ user_start(int argc, char *argv[]) LED_AMBER(false); LED_BLUE(false); LED_SAFETY(false); +#ifdef GPIO_LED4 + LED_RING(false); +#endif /* turn on servo power (if supported) */ #ifdef POWER_SERVO @@ -294,6 +359,8 @@ user_start(int argc, char *argv[]) heartbeat_blink(); } + ring_blink(); + check_reboot(); /* check for debug activity (default: none) */ diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h index b00a96717..93a33490f 100644 --- a/src/modules/px4iofirmware/px4io.h +++ b/src/modules/px4iofirmware/px4io.h @@ -140,6 +140,7 @@ extern pwm_limit_t pwm_limit; #define LED_BLUE(_s) stm32_gpiowrite(GPIO_LED1, !(_s)) #define LED_AMBER(_s) stm32_gpiowrite(GPIO_LED2, !(_s)) #define LED_SAFETY(_s) stm32_gpiowrite(GPIO_LED3, !(_s)) +#define LED_RING(_s) stm32_gpiowrite(GPIO_LED4, (_s)) #ifdef CONFIG_ARCH_BOARD_PX4IO_V1 @@ -215,7 +216,7 @@ extern uint16_t adc_measure(unsigned channel); extern void controls_init(void); extern void controls_tick(void); extern int dsm_init(const char *device); -extern bool dsm_input(uint16_t *values, uint16_t *num_values); +extern bool dsm_input(uint16_t *values, uint16_t *num_values, uint8_t *n_bytes, uint8_t **bytes); extern void dsm_bind(uint16_t cmd, int pulses); extern int sbus_init(const char *device); extern bool sbus_input(uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_channels); diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index 43161aa70..f0c2cfd26 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -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 @@ -190,7 +190,9 @@ volatile uint16_t r_page_setup[] = PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE | \ PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED | \ PX4IO_P_SETUP_ARMING_LOCKDOWN | \ - PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE) + PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE | \ + PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE | \ + PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE) #define PX4IO_P_SETUP_RATES_VALID ((1 << PX4IO_SERVO_COUNT) - 1) #define PX4IO_P_SETUP_RELAYS_VALID ((1 << PX4IO_RELAY_CHANNELS) - 1) @@ -285,7 +287,9 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num while ((offset < PX4IO_CONTROL_CHANNELS) && (num_values > 0)) { /* XXX range-check value? */ - r_page_servos[offset] = *values; + if (*values != PWM_IGNORE_THIS_CHANNEL) { + r_page_servos[offset] = *values; + } offset++; num_values--; @@ -403,11 +407,11 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num /* handle text going to the mixer parser */ case PX4IO_PAGE_MIXERLOAD: - if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) || - (r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) { - return mixer_handle_text(values, num_values * sizeof(*values)); - } - break; + /* do not change the mixer if FMU is armed and IO's safety is off + * this state defines an active system. This check is done in the + * text handling function. + */ + return mixer_handle_text(values, num_values * sizeof(*values)); default: /* avoid offset wrap */ @@ -516,6 +520,19 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) r_status_flags |= PX4IO_P_STATUS_FLAGS_INIT_OK; } + /* + * If the failsafe termination flag is set, do not allow the autopilot to unset it + */ + value |= (r_setup_arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE); + + /* + * If failsafe termination is enabled and force failsafe bit is set, do not allow + * the autopilot to clear it. + */ + if (r_setup_arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE) { + value |= (r_setup_arming & PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE); + } + r_setup_arming = value; break; @@ -566,8 +583,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) break; case PX4IO_P_SETUP_REBOOT_BL: - if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) || - (r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) { + if (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) { // don't allow reboot while armed break; } @@ -587,6 +603,12 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) dsm_bind(value & 0x0f, (value >> 4) & 0xF); break; + case PX4IO_P_SETUP_FORCE_SAFETY_ON: + if (value == PX4IO_FORCE_SAFETY_MAGIC) { + r_status_flags &= ~PX4IO_P_STATUS_FLAGS_SAFETY_OFF; + } + break; + case PX4IO_P_SETUP_FORCE_SAFETY_OFF: if (value == PX4IO_FORCE_SAFETY_MAGIC) { r_status_flags |= PX4IO_P_STATUS_FLAGS_SAFETY_OFF; @@ -607,10 +629,9 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) case PX4IO_PAGE_RC_CONFIG: { /** - * do not allow a RC config change while outputs armed + * do not allow a RC config change while safety is off */ - if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) || - (r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) { + if (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) { break; } @@ -670,7 +691,8 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] == UINT8_MAX) { disabled = true; - } else if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_RC_MAPPED_CONTROL_CHANNELS) { + } else if ((conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_RC_MAPPED_CONTROL_CHANNELS) && + (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] != PX4IO_P_RC_CONFIG_ASSIGNMENT_MODESWITCH)) { count++; } diff --git a/src/modules/px4iofirmware/sbus.c b/src/modules/px4iofirmware/sbus.c index 0f0414148..d76ec55f0 100644 --- a/src/modules/px4iofirmware/sbus.c +++ b/src/modules/px4iofirmware/sbus.c @@ -57,11 +57,12 @@ #define SBUS_FLAGS_BYTE 23 #define SBUS_FAILSAFE_BIT 3 #define SBUS_FRAMELOST_BIT 2 +#define SBUS1_FRAME_DELAY 14000 /* Measured values with Futaba FX-30/R6108SB: -+100% on TX: PCM 1.100/1.520/1.950ms -> SBus raw values: 350/1024/1700 (100% ATV) - -+140% on TX: PCM 0.930/1.520/2.112ms -> SBus raw values: 78/1024/1964 (140% ATV) + -+140% on TX: PCM 0.930/1.520/2.112ms -> SBus raw values: 78/1024/1964 (140% ATV) -+152% on TX: PCM 0.884/1.520/2.160ms -> SBus raw values: 1/1024/2047 (140% ATV plus dirty tricks) */ @@ -80,6 +81,7 @@ static int sbus_fd = -1; static hrt_abstime last_rx_time; static hrt_abstime last_frame_time; +static hrt_abstime last_txframe_time = 0; static uint8_t frame[SBUS_FRAME_SIZE]; @@ -87,13 +89,15 @@ static unsigned partial_frame_count; unsigned sbus_frame_drops; -static bool sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_channels); +static bool sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, + bool *sbus_frame_drop, uint16_t max_channels); int sbus_init(const char *device) { - if (sbus_fd < 0) + if (sbus_fd < 0) { sbus_fd = open(device, O_RDWR | O_NONBLOCK); + } if (sbus_fd >= 0) { struct termios t; @@ -113,16 +117,49 @@ sbus_init(const char *device) } else { debug("S.Bus: open failed"); } + return sbus_fd; } void sbus1_output(uint16_t *values, uint16_t num_values) { - char a = 'A'; - write(sbus_fd, &a, 1); -} + uint8_t byteindex = 1; /*Data starts one byte into the sbus frame. */ + uint8_t offset = 0; + uint16_t value; + hrt_abstime now; + + now = hrt_absolute_time(); + + if ((now - last_txframe_time) > SBUS1_FRAME_DELAY) { + last_txframe_time = now; + uint8_t oframe[SBUS_FRAME_SIZE] = { 0x0f }; + + /* 16 is sbus number of servos/channels minus 2 single bit channels. + * currently ignoring single bit channels. */ + for (unsigned i = 0; (i < num_values) && (i < 16); ++i) { + value = (uint16_t)(((values[i] - SBUS_SCALE_OFFSET) / SBUS_SCALE_FACTOR) + .5f); + + /*protect from out of bounds values and limit to 11 bits*/ + if (value > 0x07ff ) { + value = 0x07ff; + } + + while (offset >= 8) { + ++byteindex; + offset -= 8; + } + + oframe[byteindex] |= (value << (offset)) & 0xff; + oframe[byteindex + 1] |= (value >> (8 - offset)) & 0xff; + oframe[byteindex + 2] |= (value >> (16 - offset)) & 0xff; + offset += 11; + } + + write(sbus_fd, oframe, SBUS_FRAME_SIZE); + } +} void sbus2_output(uint16_t *values, uint16_t num_values) { @@ -167,8 +204,9 @@ sbus_input(uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sb ret = read(sbus_fd, &frame[partial_frame_count], SBUS_FRAME_SIZE - partial_frame_count); /* if the read failed for any reason, just give up here */ - if (ret < 1) + if (ret < 1) { return false; + } last_rx_time = now; @@ -180,8 +218,9 @@ sbus_input(uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sb /* * If we don't have a full frame, return */ - if (partial_frame_count < SBUS_FRAME_SIZE) + if (partial_frame_count < SBUS_FRAME_SIZE) { return false; + } /* * Great, it looks like we might have a frame. Go ahead and @@ -228,7 +267,8 @@ static const struct sbus_bit_pick sbus_decoder[SBUS_INPUT_CHANNELS][3] = { }; static bool -sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_values) +sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, + uint16_t max_values) { /* check frame boundary markers to avoid out-of-sync cases */ if ((frame[0] != 0x0f)) { @@ -237,23 +277,27 @@ sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, bool } switch (frame[24]) { - case 0x00: + case 0x00: /* this is S.BUS 1 */ break; - case 0x03: + + case 0x03: /* S.BUS 2 SLOT0: RX battery and external voltage */ break; - case 0x83: + + case 0x83: /* S.BUS 2 SLOT1 */ break; - case 0x43: - case 0xC3: - case 0x23: - case 0xA3: - case 0x63: - case 0xE3: + + case 0x43: + case 0xC3: + case 0x23: + case 0xA3: + case 0x63: + case 0xE3: break; - default: + + default: /* we expect one of the bits above, but there are some we don't know yet */ break; } @@ -283,7 +327,7 @@ sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, bool /* convert 0-2048 values to 1000-2000 ppm encoding in a not too sloppy fashion */ - values[channel] = (uint16_t)(value * SBUS_SCALE_FACTOR +.5f) + SBUS_SCALE_OFFSET; + values[channel] = (uint16_t)(value * SBUS_SCALE_FACTOR + .5f) + SBUS_SCALE_OFFSET; } /* decode switch channels if data fields are wide enough */ @@ -304,16 +348,17 @@ sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, bool /* report that we failed to read anything valid off the receiver */ *sbus_failsafe = true; *sbus_frame_drop = true; - } - else if (frame[SBUS_FLAGS_BYTE] & (1 << SBUS_FRAMELOST_BIT)) { /* a frame was lost */ + + } else if (frame[SBUS_FLAGS_BYTE] & (1 << SBUS_FRAMELOST_BIT)) { /* a frame was lost */ /* set a special warning flag - * - * Attention! This flag indicates a skipped frame only, not a total link loss! Handling this - * condition as fail-safe greatly reduces the reliability and range of the radio link, + * + * Attention! This flag indicates a skipped frame only, not a total link loss! Handling this + * condition as fail-safe greatly reduces the reliability and range of the radio link, * e.g. by prematurely issueing return-to-launch!!! */ *sbus_failsafe = false; *sbus_frame_drop = true; + } else { *sbus_failsafe = false; *sbus_frame_drop = false; diff --git a/src/modules/sdlog2/module.mk b/src/modules/sdlog2/module.mk index a28d43e72..d4a00af39 100644 --- a/src/modules/sdlog2/module.mk +++ b/src/modules/sdlog2/module.mk @@ -43,3 +43,5 @@ SRCS = sdlog2.c \ logbuffer.c MODULE_STACKSIZE = 1200 + +MAXOPTIMIZATION = -Os diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 6c4b49452..0b6861d2a 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -76,6 +76,7 @@ #include <uORB/topics/vehicle_gps_position.h> #include <uORB/topics/satellite_info.h> #include <uORB/topics/vehicle_vicon_position.h> +#include <uORB/topics/vision_position_estimate.h> #include <uORB/topics/vehicle_global_velocity_setpoint.h> #include <uORB/topics/optical_flow.h> #include <uORB/topics/battery_status.h> @@ -89,6 +90,7 @@ #include <uORB/topics/system_power.h> #include <uORB/topics/servorail_status.h> #include <uORB/topics/wind_estimate.h> +#include <uORB/topics/encoders.h> #include <systemlib/systemlib.h> #include <systemlib/param/param.h> @@ -494,6 +496,8 @@ static void *logwriter_thread(void *arg) /* set name */ prctl(PR_SET_NAME, "sdlog2_writer", 0); + perf_counter_t perf_write = perf_alloc(PC_ELAPSED, "sd write"); + int log_fd = open_log_file(); if (log_fd < 0) { @@ -551,7 +555,9 @@ static void *logwriter_thread(void *arg) n = available; } + perf_begin(perf_write); n = write(log_fd, read_ptr, n); + perf_end(perf_write); should_wait = (n == available) && !is_part; @@ -584,6 +590,9 @@ static void *logwriter_thread(void *arg) fsync(log_fd); close(log_fd); + /* free performance counter */ + perf_free(perf_write); + return NULL; } @@ -627,6 +636,9 @@ void sdlog2_start_log() perf_print_all(perf_fd); close(perf_fd); + /* reset performance counters to get in-flight min and max values in post flight log */ + perf_reset_all(); + logging_enabled = true; } @@ -934,6 +946,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct vehicle_global_position_s global_pos; struct position_setpoint_triplet_s triplet; struct vehicle_vicon_position_s vicon_pos; + struct vision_position_estimate vision_pos; struct optical_flow_s flow; struct rc_channels_s rc; struct differential_pressure_s diff_pres; @@ -949,6 +962,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct servorail_status_s servorail_status; struct satellite_info_s sat_info; struct wind_estimate_s wind_estimate; + struct encoders_s encoders; } buf; memset(&buf, 0, sizeof(buf)); @@ -984,12 +998,14 @@ int sdlog2_thread_main(int argc, char *argv[]) struct log_EST1_s log_EST1; struct log_PWR_s log_PWR; struct log_VICN_s log_VICN; + struct log_VISN_s log_VISN; struct log_GS0A_s log_GS0A; struct log_GS0B_s log_GS0B; struct log_GS1A_s log_GS1A; struct log_GS1B_s log_GS1B; struct log_TECS_s log_TECS; struct log_WIND_s log_WIND; + struct log_ENCD_s log_ENCD; } body; } log_msg = { LOG_PACKET_HEADER_INIT(0) @@ -1013,6 +1029,7 @@ int sdlog2_thread_main(int argc, char *argv[]) int gps_pos_sub; int sat_info_sub; int vicon_pos_sub; + int vision_pos_sub; int flow_sub; int rc_sub; int airspeed_sub; @@ -1026,12 +1043,12 @@ int sdlog2_thread_main(int argc, char *argv[]) int system_power_sub; int servorail_status_sub; int wind_sub; + int encoders_sub; } subs; subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command)); subs.status_sub = orb_subscribe(ORB_ID(vehicle_status)); subs.gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); - subs.sat_info_sub = orb_subscribe(ORB_ID(satellite_info)); subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); subs.att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); subs.att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); @@ -1043,15 +1060,13 @@ int sdlog2_thread_main(int argc, char *argv[]) subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); subs.triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet)); subs.vicon_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position)); + subs.vision_pos_sub = orb_subscribe(ORB_ID(vision_position_estimate)); subs.flow_sub = orb_subscribe(ORB_ID(optical_flow)); subs.rc_sub = orb_subscribe(ORB_ID(rc_channels)); subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed)); subs.esc_sub = orb_subscribe(ORB_ID(esc_status)); subs.global_vel_sp_sub = orb_subscribe(ORB_ID(vehicle_global_velocity_setpoint)); subs.battery_sub = orb_subscribe(ORB_ID(battery_status)); - for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) { - subs.telemetry_subs[i] = orb_subscribe(telemetry_status_orb_id[i]); - } subs.range_finder_sub = orb_subscribe(ORB_ID(sensor_range_finder)); subs.estimator_status_sub = orb_subscribe(ORB_ID(estimator_status)); subs.tecs_status_sub = orb_subscribe(ORB_ID(tecs_status)); @@ -1060,6 +1075,25 @@ int sdlog2_thread_main(int argc, char *argv[]) subs.wind_sub = orb_subscribe(ORB_ID(wind_estimate)); /* we need to rate-limit wind, as we do not need the full update rate */ orb_set_interval(subs.wind_sub, 90); + subs.encoders_sub = orb_subscribe(ORB_ID(encoders)); + + /* add new topics HERE */ + + + for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) { + subs.telemetry_subs[i] = orb_subscribe(telemetry_status_orb_id[i]); + } + + if (_extended_logging) { + subs.sat_info_sub = orb_subscribe(ORB_ID(satellite_info)); + } + + /* close non-needed fd's */ + + /* close stdin */ + close(0); + /* close stdout */ + close(1); thread_running = true; @@ -1427,6 +1461,11 @@ int sdlog2_thread_main(int argc, char *argv[]) log_msg.body.log_GPOS.vel_d = buf.global_pos.vel_d; log_msg.body.log_GPOS.eph = buf.global_pos.eph; log_msg.body.log_GPOS.epv = buf.global_pos.epv; + if (buf.global_pos.terrain_alt_valid) { + log_msg.body.log_GPOS.terrain_alt = buf.global_pos.terrain_alt; + } else { + log_msg.body.log_GPOS.terrain_alt = -1.0f; + } LOGBUFFER_WRITE_AND_COUNT(GPOS); } @@ -1460,14 +1499,33 @@ int sdlog2_thread_main(int argc, char *argv[]) LOGBUFFER_WRITE_AND_COUNT(VICN); } + /* --- VISION POSITION --- */ + if (copy_if_updated(ORB_ID(vision_position_estimate), subs.vision_pos_sub, &buf.vision_pos)) { + log_msg.msg_type = LOG_VISN_MSG; + log_msg.body.log_VISN.x = buf.vision_pos.x; + log_msg.body.log_VISN.y = buf.vision_pos.y; + log_msg.body.log_VISN.z = buf.vision_pos.z; + log_msg.body.log_VISN.vx = buf.vision_pos.vx; + log_msg.body.log_VISN.vy = buf.vision_pos.vy; + log_msg.body.log_VISN.vz = buf.vision_pos.vz; + log_msg.body.log_VISN.qx = buf.vision_pos.q[0]; + log_msg.body.log_VISN.qy = buf.vision_pos.q[1]; + log_msg.body.log_VISN.qz = buf.vision_pos.q[2]; + log_msg.body.log_VISN.qw = buf.vision_pos.q[3]; + LOGBUFFER_WRITE_AND_COUNT(VISN); + } + /* --- FLOW --- */ if (copy_if_updated(ORB_ID(optical_flow), subs.flow_sub, &buf.flow)) { log_msg.msg_type = LOG_FLOW_MSG; - log_msg.body.log_FLOW.flow_raw_x = buf.flow.flow_raw_x; - log_msg.body.log_FLOW.flow_raw_y = buf.flow.flow_raw_y; - log_msg.body.log_FLOW.flow_comp_x = buf.flow.flow_comp_x_m; - log_msg.body.log_FLOW.flow_comp_y = buf.flow.flow_comp_y_m; - log_msg.body.log_FLOW.distance = buf.flow.ground_distance_m; + log_msg.body.log_FLOW.ground_distance_m = buf.flow.ground_distance_m; + log_msg.body.log_FLOW.gyro_temperature = buf.flow.gyro_temperature; + log_msg.body.log_FLOW.gyro_x_rate_integral = buf.flow.gyro_x_rate_integral; + log_msg.body.log_FLOW.gyro_y_rate_integral = buf.flow.gyro_y_rate_integral; + log_msg.body.log_FLOW.gyro_z_rate_integral = buf.flow.gyro_z_rate_integral; + log_msg.body.log_FLOW.integration_timespan = buf.flow.integration_timespan; + log_msg.body.log_FLOW.pixel_flow_x_integral = buf.flow.pixel_flow_x_integral; + log_msg.body.log_FLOW.pixel_flow_y_integral = buf.flow.pixel_flow_y_integral; log_msg.body.log_FLOW.quality = buf.flow.quality; log_msg.body.log_FLOW.sensor_id = buf.flow.sensor_id; LOGBUFFER_WRITE_AND_COUNT(FLOW); @@ -1623,6 +1681,16 @@ int sdlog2_thread_main(int argc, char *argv[]) LOGBUFFER_WRITE_AND_COUNT(WIND); } + /* --- ENCODERS --- */ + if (copy_if_updated(ORB_ID(encoders), subs.encoders_sub, &buf.encoders)) { + log_msg.msg_type = LOG_ENCD_MSG; + log_msg.body.log_ENCD.cnt0 = buf.encoders.counts[0]; + log_msg.body.log_ENCD.vel0 = buf.encoders.velocity[0]; + log_msg.body.log_ENCD.cnt1 = buf.encoders.counts[1]; + log_msg.body.log_ENCD.vel1 = buf.encoders.velocity[1]; + LOGBUFFER_WRITE_AND_COUNT(ENCD); + } + /* 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 fb7609435..30491036a 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -200,13 +200,19 @@ struct log_ARSP_s { /* --- FLOW - OPTICAL FLOW --- */ #define LOG_FLOW_MSG 15 struct log_FLOW_s { - int16_t flow_raw_x; - int16_t flow_raw_y; - float flow_comp_x; - float flow_comp_y; - float distance; - uint8_t quality; + uint64_t timestamp; uint8_t sensor_id; + float pixel_flow_x_integral; + float pixel_flow_y_integral; + float gyro_x_rate_integral; + float gyro_y_rate_integral; + float gyro_z_rate_integral; + float ground_distance_m; + uint32_t integration_timespan; + uint32_t time_since_last_sonar_update; + uint16_t frame_count_since_last_readout; + int16_t gyro_temperature; + uint8_t quality; }; /* --- GPOS - GLOBAL POSITION ESTIMATE --- */ @@ -220,6 +226,7 @@ struct log_GPOS_s { float vel_d; float eph; float epv; + float terrain_alt; }; /* --- GPSP - GLOBAL POSITION SETPOINT --- */ @@ -240,15 +247,15 @@ struct log_GPSP_s { #define LOG_ESC_MSG 18 struct log_ESC_s { uint16_t counter; - uint8_t esc_count; - uint8_t esc_connectiontype; - uint8_t esc_num; + uint8_t esc_count; + uint8_t esc_connectiontype; + uint8_t esc_num; uint16_t esc_address; uint16_t esc_version; - uint16_t esc_voltage; - uint16_t esc_current; - uint16_t esc_rpm; - uint16_t esc_temperature; + float esc_voltage; + float esc_current; + int32_t esc_rpm; + float esc_temperature; float esc_setpoint; uint16_t esc_setpoint_raw; }; @@ -391,6 +398,30 @@ struct log_TEL_s { uint64_t heartbeat_time; }; +/* --- VISN - VISION POSITION --- */ +#define LOG_VISN_MSG 38 +struct log_VISN_s { + float x; + float y; + float z; + float vx; + float vy; + float vz; + float qx; + float qy; + float qz; + float qw; +}; + +/* --- ENCODERS - ENCODER DATA --- */ +#define LOG_ENCD_MSG 39 +struct log_ENCD_s { + int64_t cnt0; + float vel0; + int64_t cnt1; + float vel1; +}; + /********** SYSTEM MESSAGES, ID > 0x80 **********/ @@ -435,9 +466,9 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(AIRS, "fff", "IndSpeed,TrueSpeed,AirTemp"), LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"), LOG_FORMAT(FLOW, "hhfffBB", "RawX,RawY,CompX,CompY,Dist,Q,SensID"), - LOG_FORMAT(GPOS, "LLffffff", "Lat,Lon,Alt,VelN,VelE,VelD,EPH,EPV"), + LOG_FORMAT(GPOS, "LLfffffff", "Lat,Lon,Alt,VelN,VelE,VelD,EPH,EPV,TALT"), LOG_FORMAT(GPSP, "BLLffBfbf", "NavState,Lat,Lon,Alt,Yaw,Type,LoitR,LoitDir,PitMin"), - LOG_FORMAT(ESC, "HBBBHHHHHHfH", "count,nESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"), + LOG_FORMAT(ESC, "HBBBHHffiffH", "count,nESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"), LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"), LOG_FORMAT(BATT, "ffff", "V,VFilt,C,Discharged"), LOG_FORMAT(DIST, "ffB", "Bottom,BottomRate,Flags"), @@ -449,12 +480,14 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(EST1, "ffffffffffffffff", "s12,s13,s14,s15,s16,s17,s18,s19,s20,s21,s22,s23,s24,s25,s26,s27"), LOG_FORMAT(PWR, "fffBBBBB", "Periph5V,Servo5V,RSSI,UsbOk,BrickOk,ServoOk,PeriphOC,HipwrOC"), LOG_FORMAT(VICN, "ffffff", "X,Y,Z,Roll,Pitch,Yaw"), + LOG_FORMAT(VISN, "ffffffffff", "X,Y,Z,VX,VY,VZ,QuatX,QuatY,QuatZ,QuatW"), LOG_FORMAT(GS0A, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"), LOG_FORMAT(GS0B, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"), LOG_FORMAT(GS1A, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"), LOG_FORMAT(GS1B, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"), LOG_FORMAT(TECS, "fffffffffffffB", "ASP,AF,FSP,F,FF,AsSP,AsF,AsDSP,AsD,TERSP,TER,EDRSP,EDR,M"), LOG_FORMAT(WIND, "ffff", "X,Y,CovX,CovY"), + LOG_FORMAT(ENCD, "qfqf", "cnt0,vel0,cnt1,vel1"), /* system-level messages, ID >= 0x80 */ /* FMT: don't write format of format message, it's useless */ diff --git a/src/modules/sensors/module.mk b/src/modules/sensors/module.mk index 5b1bc5e86..dfbba92d9 100644 --- a/src/modules/sensors/module.mk +++ b/src/modules/sensors/module.mk @@ -42,3 +42,5 @@ SRCS = sensors.cpp \ sensor_params.c MODULE_STACKSIZE = 1200 + +MAXOPTIMIZATION = -Os diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index aac297ef8..cdcb428dd 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -857,7 +857,6 @@ Sensors::parameters_update() errx(1, "FATAL: no barometer found"); } else { - warnx("qnh ioctl, %lu", (unsigned long)(_parameters.baro_qnh * 100)); int ret = ioctl(fd, BAROIOCSMSLPRESSURE, (unsigned long)(_parameters.baro_qnh * 100)); if (ret) { warnx("qnh could not be set"); @@ -1230,16 +1229,18 @@ Sensors::diff_pres_poll(struct sensor_combined_s &raw) if (updated) { orb_copy(ORB_ID(differential_pressure), _diff_pres_sub, &_diff_pres); - raw.differential_pressure_pa = _diff_pres.differential_pressure_pa; + raw.differential_pressure_pa = _diff_pres.differential_pressure_raw_pa; raw.differential_pressure_timestamp = _diff_pres.timestamp; raw.differential_pressure_filtered_pa = _diff_pres.differential_pressure_filtered_pa; float air_temperature_celsius = (_diff_pres.temperature > -300.0f) ? _diff_pres.temperature : (raw.baro_temp_celcius - PCB_TEMP_ESTIMATE_DEG); _airspeed.timestamp = _diff_pres.timestamp; - _airspeed.indicated_airspeed_m_s = calc_indicated_airspeed(_diff_pres.differential_pressure_filtered_pa); - _airspeed.true_airspeed_m_s = calc_true_airspeed(_diff_pres.differential_pressure_filtered_pa + raw.baro_pres_mbar * 1e2f, - raw.baro_pres_mbar * 1e2f, air_temperature_celsius); + + /* don't risk to feed negative airspeed into the system */ + _airspeed.indicated_airspeed_m_s = math::max(0.0f, calc_indicated_airspeed(_diff_pres.differential_pressure_filtered_pa)); + _airspeed.true_airspeed_m_s = math::max(0.0f, calc_true_airspeed(_diff_pres.differential_pressure_filtered_pa + raw.baro_pres_mbar * 1e2f, + raw.baro_pres_mbar * 1e2f, air_temperature_celsius)); _airspeed.air_temperature_celsius = air_temperature_celsius; /* announce the airspeed if needed, just publish else */ @@ -1458,12 +1459,10 @@ Sensors::adc_poll(struct sensor_combined_s &raw) if (voltage > 0.4f && (_parameters.diff_pres_analog_scale > 0.0f)) { float diff_pres_pa_raw = voltage * _parameters.diff_pres_analog_scale - _parameters.diff_pres_offset_pa; - float diff_pres_pa = (diff_pres_pa_raw > 0.0f) ? diff_pres_pa_raw : 0.0f; _diff_pres.timestamp = t; - _diff_pres.differential_pressure_pa = diff_pres_pa; _diff_pres.differential_pressure_raw_pa = diff_pres_pa_raw; - _diff_pres.differential_pressure_filtered_pa = (_diff_pres.differential_pressure_filtered_pa * 0.9f) + (diff_pres_pa * 0.1f); + _diff_pres.differential_pressure_filtered_pa = (_diff_pres.differential_pressure_filtered_pa * 0.9f) + (diff_pres_pa_raw * 0.1f); _diff_pres.temperature = -1000.0f; /* announce the airspeed if needed, just publish else */ diff --git a/src/modules/systemlib/circuit_breaker.c b/src/modules/systemlib/circuit_breaker.c index 64317a18a..12187d70e 100644 --- a/src/modules/systemlib/circuit_breaker.c +++ b/src/modules/systemlib/circuit_breaker.c @@ -95,6 +95,47 @@ PARAM_DEFINE_INT32(CBRK_IO_SAFETY, 0); */ PARAM_DEFINE_INT32(CBRK_AIRSPD_CHK, 0); +/** + * Circuit breaker for flight termination + * + * Setting this parameter to 121212 will disable the flight termination action. + * --> The IO driver will not do flight termination if requested by the FMU + * WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK + * + * @min 0 + * @max 121212 + * @group Circuit Breaker + */ +PARAM_DEFINE_INT32(CBRK_FLIGHTTERM, 121212); + +/** + * Circuit breaker for engine failure detection + * + * Setting this parameter to 284953 will disable the engine failure detection. + * If the aircraft is in engine failure mode the enine failure flag will be + * set to healthy + * WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK + * + * @min 0 + * @max 284953 + * @group Circuit Breaker + */ +PARAM_DEFINE_INT32(CBRK_ENGINEFAIL, 284953); + +/** + * Circuit breaker for gps failure detection + * + * Setting this parameter to 240024 will disable the gps failure detection. + * If the aircraft is in gps failure mode the gps failure flag will be + * set to healthy + * WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK + * + * @min 0 + * @max 240024 + * @group Circuit Breaker + */ +PARAM_DEFINE_INT32(CBRK_GPSFAIL, 240024); + bool circuit_breaker_enabled(const char* breaker, int32_t magic) { int32_t val; diff --git a/src/modules/systemlib/circuit_breaker.h b/src/modules/systemlib/circuit_breaker.h index b60584608..b3431722f 100644 --- a/src/modules/systemlib/circuit_breaker.h +++ b/src/modules/systemlib/circuit_breaker.h @@ -53,6 +53,9 @@ #define CBRK_RATE_CTRL_KEY 140253 #define CBRK_IO_SAFETY_KEY 22027 #define CBRK_AIRSPD_CHK_KEY 162128 +#define CBRK_FLIGHTTERM_KEY 121212 +#define CBRK_ENGINEFAIL_KEY 284953 +#define CBRK_GPSFAIL_KEY 240024 #include <stdbool.h> diff --git a/src/modules/systemlib/mcu_version.c b/src/modules/systemlib/mcu_version.c new file mode 100644 index 000000000..4bcf95784 --- /dev/null +++ b/src/modules/systemlib/mcu_version.c @@ -0,0 +1,109 @@ +/**************************************************************************** + * + * 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 mcu_version.c + * + * Read out the microcontroller version from the board + * + * @author Lorenz Meier <lorenz@px4.io> + * + */ + +#include "mcu_version.h" + +#include <nuttx/config.h> + +#ifdef CONFIG_ARCH_CHIP_STM32 +#include <up_arch.h> + +#define DBGMCU_IDCODE 0xE0042000 + +#define STM32F40x_41x 0x413 +#define STM32F42x_43x 0x419 + +#define REVID_MASK 0xFFFF0000 +#define DEVID_MASK 0xFFF + +#endif + + + +int mcu_version(char* rev, char** revstr) +{ +#ifdef CONFIG_ARCH_CHIP_STM32 + uint32_t abc = getreg32(DBGMCU_IDCODE); + + int32_t chip_version = abc & DEVID_MASK; + enum MCU_REV revid = (abc & REVID_MASK) >> 16; + + switch (chip_version) { + case STM32F40x_41x: + *revstr = "STM32F40x"; + break; + case STM32F42x_43x: + *revstr = "STM32F42x"; + break; + default: + *revstr = "STM32F???"; + break; + } + + switch (revid) { + + case MCU_REV_STM32F4_REV_A: + *rev = 'A'; + break; + case MCU_REV_STM32F4_REV_Z: + *rev = 'Z'; + break; + case MCU_REV_STM32F4_REV_Y: + *rev = 'Y'; + break; + case MCU_REV_STM32F4_REV_1: + *rev = '1'; + break; + case MCU_REV_STM32F4_REV_3: + *rev = '3'; + break; + default: + *rev = '?'; + revid = -1; + break; + } + + return revid; +#else + return -1; +#endif +} diff --git a/src/modules/systemlib/mcu_version.h b/src/modules/systemlib/mcu_version.h new file mode 100644 index 000000000..1b3d0aba9 --- /dev/null +++ b/src/modules/systemlib/mcu_version.h @@ -0,0 +1,52 @@ +/**************************************************************************** + * + * 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. + * + ****************************************************************************/ + +#pragma once + +/* magic numbers from reference manual */ +enum MCU_REV { + MCU_REV_STM32F4_REV_A = 0x1000, + MCU_REV_STM32F4_REV_Z = 0x1001, + MCU_REV_STM32F4_REV_Y = 0x1003, + MCU_REV_STM32F4_REV_1 = 0x1007, + MCU_REV_STM32F4_REV_3 = 0x2001 +}; + +/** + * Reports the microcontroller version of the main CPU. + * + * @param rev The silicon revision character + * @param revstr The full chip name string + * @return The silicon revision / version number as integer + */ +__EXPORT int mcu_version(char* rev, char** revstr); diff --git a/src/modules/systemlib/mixer/mixer.h b/src/modules/systemlib/mixer/mixer.h index cdf60febc..17989558e 100644 --- a/src/modules/systemlib/mixer/mixer.h +++ b/src/modules/systemlib/mixer/mixer.h @@ -130,6 +130,9 @@ #include <nuttx/config.h> #include "drivers/drv_mixer.h" + +#include <uORB/topics/multirotor_motor_limits.h> + #include "mixer_load.h" /** @@ -531,6 +534,9 @@ private: float _yaw_scale; float _idle_speed; + orb_advert_t _limits_pub; + multirotor_motor_limits_s _limits; + unsigned _rotor_count; const Rotor *_rotors; diff --git a/src/modules/systemlib/mixer/mixer_load.c b/src/modules/systemlib/mixer/mixer_load.c index bf3428a50..0d629d610 100644 --- a/src/modules/systemlib/mixer/mixer_load.c +++ b/src/modules/systemlib/mixer/mixer_load.c @@ -91,6 +91,7 @@ int load_mixer_file(const char *fname, char *buf, unsigned maxlen) /* if the line is too long to fit in the buffer, bail */ if ((strlen(line) + strlen(buf) + 1) >= maxlen) { warnx("line too long"); + fclose(fp); return -1; } @@ -98,6 +99,7 @@ int load_mixer_file(const char *fname, char *buf, unsigned maxlen) strcat(buf, line); } + fclose(fp); return 0; } diff --git a/src/modules/systemlib/mixer/mixer_multirotor.cpp b/src/modules/systemlib/mixer/mixer_multirotor.cpp index 4b22a46d0..57e17b67d 100644 --- a/src/modules/systemlib/mixer/mixer_multirotor.cpp +++ b/src/modules/systemlib/mixer/mixer_multirotor.cpp @@ -36,7 +36,8 @@ * * Multi-rotor mixers. */ - +#include <uORB/uORB.h> +#include <uORB/topics/multirotor_motor_limits.h> #include <nuttx/config.h> #include <sys/types.h> @@ -302,6 +303,11 @@ MultirotorMixer::mix(float *outputs, unsigned space) float min_out = 0.0f; float max_out = 0.0f; + _limits.roll_pitch = false; + _limits.yaw = false; + _limits.throttle_upper = false; + _limits.throttle_lower = false; + /* perform initial mix pass yielding unbounded outputs, ignore yaw */ for (unsigned i = 0; i < _rotor_count; i++) { float out = roll * _rotors[i].roll_scale + @@ -311,6 +317,7 @@ MultirotorMixer::mix(float *outputs, unsigned space) /* limit yaw if it causes outputs clipping */ if (out >= 0.0f && out < -yaw * _rotors[i].yaw_scale) { yaw = -out / _rotors[i].yaw_scale; + _limits.yaw = true; } /* calculate min and max output values */ @@ -332,6 +339,7 @@ MultirotorMixer::mix(float *outputs, unsigned space) for (unsigned i = 0; i < _rotor_count; i++) { outputs[i] = scale_in * (roll * _rotors[i].roll_scale + pitch * _rotors[i].pitch_scale) + thrust; } + _limits.roll_pitch = true; } else { /* roll/pitch mixed without limiting, add yaw control */ @@ -344,6 +352,7 @@ MultirotorMixer::mix(float *outputs, unsigned space) float scale_out; if (max_out > 1.0f) { scale_out = 1.0f / max_out; + _limits.throttle_upper = true; } else { scale_out = 1.0f; @@ -351,9 +360,20 @@ MultirotorMixer::mix(float *outputs, unsigned space) /* scale outputs to range _idle_speed..1, and do final limiting */ for (unsigned i = 0; i < _rotor_count; i++) { + if (outputs[i] < _idle_speed) { + _limits.throttle_lower = true; + } outputs[i] = constrain(_idle_speed + (outputs[i] * (1.0f - _idle_speed) * scale_out), _idle_speed, 1.0f); } +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) || defined(CONFIG_ARCH_BOARD_PX4FMU_V2) + /* publish/advertise motor limits if running on FMU */ + if (_limits_pub > 0) { + orb_publish(ORB_ID(multirotor_motor_limits), _limits_pub, &_limits); + } else { + _limits_pub = orb_advertise(ORB_ID(multirotor_motor_limits), &_limits); + } +#endif return _rotor_count; } diff --git a/src/modules/systemlib/module.mk b/src/modules/systemlib/module.mk index 147903aa0..fe8b7e75a 100644 --- a/src/modules/systemlib/module.mk +++ b/src/modules/systemlib/module.mk @@ -53,5 +53,7 @@ SRCS = err.c \ otp.c \ board_serial.c \ pwm_limit/pwm_limit.c \ - circuit_breaker.c + circuit_breaker.c \ + mcu_version.c +MAXOPTIMIZATION = -Os diff --git a/src/modules/systemlib/param/param.c b/src/modules/systemlib/param/param.c index e44e6cdb0..6b8d0e634 100644 --- a/src/modules/systemlib/param/param.c +++ b/src/modules/systemlib/param/param.c @@ -322,7 +322,8 @@ param_get_value_ptr(param_t param) v = ¶m_info_base[param].val; } - if (param_type(param) == PARAM_TYPE_STRUCT) { + if (param_type(param) >= PARAM_TYPE_STRUCT + && param_type(param) <= PARAM_TYPE_STRUCT_MAX) { result = v->p; } else { diff --git a/src/modules/systemlib/param/param.h b/src/modules/systemlib/param/param.h index 084cd931a..dc73b37e9 100644 --- a/src/modules/systemlib/param/param.h +++ b/src/modules/systemlib/param/param.h @@ -307,7 +307,7 @@ __EXPORT int param_load_default(void); struct param_info_s __param__##_name = { \ #_name, \ PARAM_TYPE_STRUCT + sizeof(_default), \ - .val.p = &_default; \ + .val.p = &_default \ } /** diff --git a/src/modules/uORB/Publication.cpp b/src/modules/uORB/Publication.cpp index cd0b30dd6..71757e1f4 100644 --- a/src/modules/uORB/Publication.cpp +++ b/src/modules/uORB/Publication.cpp @@ -46,6 +46,7 @@ #include "topics/vehicle_attitude_setpoint.h" #include "topics/vehicle_rates_setpoint.h" #include "topics/actuator_outputs.h" +#include "topics/actuator_direct.h" #include "topics/encoders.h" #include "topics/tecs_status.h" @@ -76,6 +77,7 @@ template class __EXPORT Publication<vehicle_global_velocity_setpoint_s>; template class __EXPORT Publication<vehicle_attitude_setpoint_s>; template class __EXPORT Publication<vehicle_rates_setpoint_s>; template class __EXPORT Publication<actuator_outputs_s>; +template class __EXPORT Publication<actuator_direct_s>; template class __EXPORT Publication<encoders_s>; template class __EXPORT Publication<tecs_status_s>; diff --git a/src/modules/uORB/module.mk b/src/modules/uORB/module.mk index 0c29101fe..9385ce253 100644 --- a/src/modules/uORB/module.mk +++ b/src/modules/uORB/module.mk @@ -44,3 +44,5 @@ SRCS = uORB.cpp \ objects_common.cpp \ Publication.cpp \ Subscription.cpp + +MAXOPTIMIZATION = -Os diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp index f7d5f8737..49dfc7834 100644 --- a/src/modules/uORB/objects_common.cpp +++ b/src/modules/uORB/objects_common.cpp @@ -192,12 +192,21 @@ ORB_DEFINE(actuator_outputs_1, struct actuator_outputs_s); ORB_DEFINE(actuator_outputs_2, struct actuator_outputs_s); ORB_DEFINE(actuator_outputs_3, struct actuator_outputs_s); +#include "topics/actuator_direct.h" +ORB_DEFINE(actuator_direct, struct actuator_direct_s); + +#include "topics/multirotor_motor_limits.h" +ORB_DEFINE(multirotor_motor_limits, struct multirotor_motor_limits_s); + #include "topics/telemetry_status.h" ORB_DEFINE(telemetry_status_0, struct telemetry_status_s); ORB_DEFINE(telemetry_status_1, struct telemetry_status_s); ORB_DEFINE(telemetry_status_2, struct telemetry_status_s); ORB_DEFINE(telemetry_status_3, struct telemetry_status_s); +#include "topics/test_motor.h" +ORB_DEFINE(test_motor, struct test_motor_s); + #include "topics/debug_key_value.h" ORB_DEFINE(debug_key_value, struct debug_key_value_s); diff --git a/src/modules/uORB/topics/actuator_direct.h b/src/modules/uORB/topics/actuator_direct.h new file mode 100644 index 000000000..5f9d0f56d --- /dev/null +++ b/src/modules/uORB/topics/actuator_direct.h @@ -0,0 +1,69 @@ +/**************************************************************************** + * + * 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. + * + ****************************************************************************/ + +/** + * @file actuator_direct.h + * + * Actuator direct values. + * + * Values published to this topic are the direct actuator values which + * should be passed to actuators, bypassing mixing + */ + +#ifndef TOPIC_ACTUATOR_DIRECT_H +#define TOPIC_ACTUATOR_DIRECT_H + +#include <stdint.h> +#include "../uORB.h" + +#define NUM_ACTUATORS_DIRECT 16 + +/** + * @addtogroup topics + * @{ + */ + +struct actuator_direct_s { + uint64_t timestamp; /**< timestamp in us since system boot */ + float values[NUM_ACTUATORS_DIRECT]; /**< actuator values, from -1 to 1 */ + unsigned nvalues; /**< number of valid values */ +}; + +/** + * @} + */ + +/* actuator direct ORB */ +ORB_DECLARE(actuator_direct); + +#endif // TOPIC_ACTUATOR_DIRECT_H diff --git a/src/modules/uORB/topics/differential_pressure.h b/src/modules/uORB/topics/differential_pressure.h index cd48d3cb2..7342fcf04 100644 --- a/src/modules/uORB/topics/differential_pressure.h +++ b/src/modules/uORB/topics/differential_pressure.h @@ -54,7 +54,6 @@ struct differential_pressure_s { uint64_t timestamp; /**< Microseconds since system boot, needed to integrate */ uint64_t error_count; /**< Number of errors detected by driver */ - float differential_pressure_pa; /**< Differential pressure reading */ float differential_pressure_raw_pa; /**< Raw differential pressure reading (may be negative) */ float differential_pressure_filtered_pa; /**< Low pass filtered differential pressure reading */ float max_differential_pressure_pa; /**< Maximum differential pressure reading */ diff --git a/src/modules/uORB/topics/esc_status.h b/src/modules/uORB/topics/esc_status.h index 628824efa..b45c49788 100644 --- a/src/modules/uORB/topics/esc_status.h +++ b/src/modules/uORB/topics/esc_status.h @@ -78,6 +78,7 @@ enum ESC_CONNECTION_TYPE { /** * Electronic speed controller status. + * Unsupported float fields should be assigned NaN. */ struct esc_status_s { /* use of a counter and timestamp recommended (but not necessary) */ @@ -89,17 +90,17 @@ struct esc_status_s { enum ESC_CONNECTION_TYPE esc_connectiontype; /**< how ESCs connected to the system */ struct { - uint16_t esc_address; /**< Address of current ESC (in most cases 1-8 / must be set by driver) */ enum ESC_VENDOR esc_vendor; /**< Vendor of current ESC */ - uint16_t esc_version; /**< Version of current ESC - if supported */ - uint16_t esc_voltage; /**< Voltage measured from current ESC - if supported */ - uint16_t esc_current; /**< Current measured from current ESC (100mA steps) - if supported */ - uint16_t esc_rpm; /**< RPM measured from current ESC - if supported */ - uint16_t esc_temperature; /**< Temperature measured from current ESC - if supported */ - float esc_setpoint; /**< setpoint of current ESC */ + uint32_t esc_errorcount; /**< Number of reported errors by ESC - if supported */ + int32_t esc_rpm; /**< Motor RPM, negative for reverse rotation [RPM] - if supported */ + float esc_voltage; /**< Voltage measured from current ESC [V] - if supported */ + float esc_current; /**< Current measured from current ESC [A] - if supported */ + float esc_temperature; /**< Temperature measured from current ESC [degC] - if supported */ + float esc_setpoint; /**< setpoint of current ESC */ uint16_t esc_setpoint_raw; /**< setpoint of current ESC (Value sent to ESC) */ - uint16_t esc_state; /**< State of ESC - depend on Vendor */ - uint16_t esc_errorcount; /**< Number of reported errors by ESC - if supported */ + uint16_t esc_address; /**< Address of current ESC (in most cases 1-8 / must be set by driver) */ + uint16_t esc_version; /**< Version of current ESC - if supported */ + uint16_t esc_state; /**< State of ESC - depend on Vendor */ } esc[CONNECTED_ESC_MAX]; }; diff --git a/src/modules/uORB/topics/manual_control_setpoint.h b/src/modules/uORB/topics/manual_control_setpoint.h index dde237adc..50b7bd9e5 100644 --- a/src/modules/uORB/topics/manual_control_setpoint.h +++ b/src/modules/uORB/topics/manual_control_setpoint.h @@ -47,7 +47,7 @@ * Switch position */ typedef enum { - SWITCH_POS_NONE = 0, /**< switch is not mapped */ + SWITCH_POS_NONE = 0, /**< switch is not mapped */ SWITCH_POS_ON, /**< switch activated (value = 1) */ SWITCH_POS_MIDDLE, /**< middle position (value = 0) */ SWITCH_POS_OFF /**< switch not activated (value = -1) */ @@ -93,13 +93,13 @@ struct manual_control_setpoint_s { float aux4; /**< default function: camera roll */ float aux5; /**< default function: payload drop */ - switch_pos_t mode_switch; /**< main mode 3 position switch (mandatory): _MANUAL_, ASSIST, AUTO */ - switch_pos_t return_switch; /**< return to launch 2 position switch (mandatory): _NORMAL_, RTL */ - switch_pos_t posctl_switch; /**< position control 2 position switch (optional): _ALTCTL_, POSCTL */ - switch_pos_t loiter_switch; /**< loiter 2 position switch (optional): _MISSION_, LOITER */ - switch_pos_t acro_switch; /**< acro 2 position switch (optional): _MANUAL_, ACRO */ - switch_pos_t offboard_switch; /**< offboard 2 position switch (optional): _NORMAL_, OFFBOARD */ -}; /**< manual control inputs */ + switch_pos_t mode_switch; /**< main mode 3 position switch (mandatory): _MANUAL_, ASSIST, AUTO */ + switch_pos_t return_switch; /**< return to launch 2 position switch (mandatory): _NORMAL_, RTL */ + switch_pos_t posctl_switch; /**< position control 2 position switch (optional): _ALTCTL_, POSCTL */ + switch_pos_t loiter_switch; /**< loiter 2 position switch (optional): _MISSION_, LOITER */ + switch_pos_t acro_switch; /**< acro 2 position switch (optional): _MANUAL_, ACRO */ + switch_pos_t offboard_switch; /**< offboard 2 position switch (optional): _NORMAL_, OFFBOARD */ +}; /** * @} diff --git a/src/modules/uORB/topics/mission_result.h b/src/modules/uORB/topics/mission_result.h index beb797e62..c7d25d1f0 100644 --- a/src/modules/uORB/topics/mission_result.h +++ b/src/modules/uORB/topics/mission_result.h @@ -55,8 +55,11 @@ struct mission_result_s { unsigned seq_reached; /**< Sequence of the mission item which has been reached */ unsigned seq_current; /**< Sequence of the current mission item */ - bool reached; /**< true if mission has been reached */ - bool finished; /**< true if mission has been completed */ + bool reached; /**< true if mission has been reached */ + bool finished; /**< true if mission has been completed */ + bool stay_in_failsafe; /**< true if the commander should not switch out of the failsafe mode*/ + bool geofence_violated; /**< true if the geofence is violated */ + bool flight_termination; /**< true if the navigator demands a flight termination from the commander app */ }; /** diff --git a/src/modules/uORB/topics/multirotor_motor_limits.h b/src/modules/uORB/topics/multirotor_motor_limits.h new file mode 100644 index 000000000..44c51e4d9 --- /dev/null +++ b/src/modules/uORB/topics/multirotor_motor_limits.h @@ -0,0 +1,69 @@ +/**************************************************************************** + * + * 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 + * 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 multirotor_motor_limits.h + * + * Definition of multirotor_motor_limits topic + */ + +#ifndef MULTIROTOR_MOTOR_LIMITS_H_ +#define MULTIROTOR_MOTOR_LIMITS_H_ + +#include "../uORB.h" +#include <stdint.h> + +/** + * @addtogroup topics + * @{ + */ + +/** + * Motor limits + */ +struct multirotor_motor_limits_s { + uint8_t roll_pitch : 1; // roll/pitch limit reached + uint8_t yaw : 1; // yaw limit reached + uint8_t throttle_lower : 1; // lower throttle limit reached + uint8_t throttle_upper : 1; // upper throttle limit reached + uint8_t reserved : 4; +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(multirotor_motor_limits); + +#endif diff --git a/src/modules/uORB/topics/offboard_control_setpoint.h b/src/modules/uORB/topics/offboard_control_setpoint.h index d7b131e3c..72a28e501 100644 --- a/src/modules/uORB/topics/offboard_control_setpoint.h +++ b/src/modules/uORB/topics/offboard_control_setpoint.h @@ -53,11 +53,42 @@ enum OFFBOARD_CONTROL_MODE { OFFBOARD_CONTROL_MODE_DIRECT = 0, OFFBOARD_CONTROL_MODE_DIRECT_RATES = 1, OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE = 2, - OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY = 3, - OFFBOARD_CONTROL_MODE_DIRECT_POSITION = 4, - OFFBOARD_CONTROL_MODE_ATT_YAW_RATE = 5, - OFFBOARD_CONTROL_MODE_ATT_YAW_POS = 6, - OFFBOARD_CONTROL_MODE_MULTIROTOR_SIMPLE = 7, /**< roll / pitch rotated aligned to the takeoff orientation, throttle stabilized, yaw pos */ + OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED = 3, + OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_OFFSET_NED = 4, + OFFBOARD_CONTROL_MODE_DIRECT_BODY_NED = 5, + OFFBOARD_CONTROL_MODE_DIRECT_BODY_OFFSET_NED = 6, + OFFBOARD_CONTROL_MODE_DIRECT_GLOBAL = 7, + OFFBOARD_CONTROL_MODE_DIRECT_FORCE = 8, + OFFBOARD_CONTROL_MODE_ATT_YAW_RATE = 9, + OFFBOARD_CONTROL_MODE_ATT_YAW_POS = 10, + OFFBOARD_CONTROL_MODE_MULTIROTOR_SIMPLE = 11 /**< roll / pitch rotated aligned to the takeoff orientation, throttle stabilized, yaw pos */ +}; + +enum OFFBOARD_CONTROL_FRAME { + OFFBOARD_CONTROL_FRAME_LOCAL_NED = 0, + OFFBOARD_CONTROL_FRAME_LOCAL_OFFSET_NED = 1, + OFFBOARD_CONTROL_FRAME_BODY_NED = 2, + OFFBOARD_CONTROL_FRAME_BODY_OFFSET_NED = 3, + OFFBOARD_CONTROL_FRAME_GLOBAL = 4 +}; + +/* mappings for the ignore bitmask */ +enum {OFB_IGN_BIT_POS_X, + OFB_IGN_BIT_POS_Y, + OFB_IGN_BIT_POS_Z, + OFB_IGN_BIT_VEL_X, + OFB_IGN_BIT_VEL_Y, + OFB_IGN_BIT_VEL_Z, + OFB_IGN_BIT_ACC_X, + OFB_IGN_BIT_ACC_Y, + OFB_IGN_BIT_ACC_Z, + OFB_IGN_BIT_BODYRATE_X, + OFB_IGN_BIT_BODYRATE_Y, + OFB_IGN_BIT_BODYRATE_Z, + OFB_IGN_BIT_ATT, + OFB_IGN_BIT_THRUST, + OFB_IGN_BIT_YAW, + OFB_IGN_BIT_YAWRATE, }; /** @@ -70,10 +101,21 @@ struct offboard_control_setpoint_s { enum OFFBOARD_CONTROL_MODE mode; /**< The current control inputs mode */ - float p1; /**< ailerons roll / roll rate input */ - float p2; /**< elevator / pitch / pitch rate */ - float p3; /**< rudder / yaw rate / yaw */ - float p4; /**< throttle / collective thrust / altitude */ + double position[3]; /**< lat, lon, alt / x, y, z */ + float velocity[3]; /**< x vel, y vel, z vel */ + float acceleration[3]; /**< x acc, y acc, z acc */ + float attitude[4]; /**< attitude of vehicle (quaternion) */ + float attitude_rate[3]; /**< body angular rates (x, y, z) */ + float thrust; /**< thrust */ + float yaw; /**< yaw: this is the yaw from the position_target message + (not from the full attitude_target message) */ + float yaw_rate; /**< yaw rate: this is the yaw from the position_target message + (not from the full attitude_target message) */ + + uint16_t ignore; /**< if field i is set to true, the value should be ignored, see definition at top of file + for mapping */ + + bool isForceSetpoint; /**< the acceleration vector should be interpreted as force */ float override_mode_switch; @@ -87,6 +129,147 @@ struct offboard_control_setpoint_s { * @} */ +/** + * Returns true if the position setpoint at index should be ignored + */ +inline bool offboard_control_sp_ignore_position(const struct offboard_control_setpoint_s &offboard_control_sp, int index) { + return (bool)(offboard_control_sp.ignore & (1 << (OFB_IGN_BIT_POS_X + index))); +} + +/** + * Returns true if all position setpoints should be ignored + */ +inline bool offboard_control_sp_ignore_position_all(const struct offboard_control_setpoint_s &offboard_control_sp) { + for (int i = 0; i < 3; i++) { + if (!offboard_control_sp_ignore_position(offboard_control_sp, i)) { + return false; + } + } + return true; +} + +/** + * Returns true if some position setpoints should be ignored + */ +inline bool offboard_control_sp_ignore_position_some(const struct offboard_control_setpoint_s &offboard_control_sp) { + for (int i = 0; i < 3; i++) { + if (offboard_control_sp_ignore_position(offboard_control_sp, i)) { + return true; + } + } + return false; +} + +/** + * Returns true if the velocity setpoint at index should be ignored + */ +inline bool offboard_control_sp_ignore_velocity(const struct offboard_control_setpoint_s &offboard_control_sp, int index) { + return (bool)(offboard_control_sp.ignore & (1 << (OFB_IGN_BIT_VEL_X + index))); +} + +/** + * Returns true if all velocity setpoints should be ignored + */ +inline bool offboard_control_sp_ignore_velocity_all(const struct offboard_control_setpoint_s &offboard_control_sp) { + for (int i = 0; i < 3; i++) { + if (!offboard_control_sp_ignore_velocity(offboard_control_sp, i)) { + return false; + } + } + return true; +} + +/** + * Returns true if some velocity setpoints should be ignored + */ +inline bool offboard_control_sp_ignore_velocity_some(const struct offboard_control_setpoint_s &offboard_control_sp) { + for (int i = 0; i < 3; i++) { + if (offboard_control_sp_ignore_velocity(offboard_control_sp, i)) { + return true; + } + } + return false; +} + +/** + * Returns true if the acceleration setpoint at index should be ignored + */ +inline bool offboard_control_sp_ignore_acceleration(const struct offboard_control_setpoint_s &offboard_control_sp, int index) { + return (bool)(offboard_control_sp.ignore & (1 << (OFB_IGN_BIT_ACC_X + index))); +} + +/** + * Returns true if all acceleration setpoints should be ignored + */ +inline bool offboard_control_sp_ignore_acceleration_all(const struct offboard_control_setpoint_s &offboard_control_sp) { + for (int i = 0; i < 3; i++) { + if (!offboard_control_sp_ignore_acceleration(offboard_control_sp, i)) { + return false; + } + } + return true; +} + +/** + * Returns true if some acceleration setpoints should be ignored + */ +inline bool offboard_control_sp_ignore_acceleration_some(const struct offboard_control_setpoint_s &offboard_control_sp) { + for (int i = 0; i < 3; i++) { + if (offboard_control_sp_ignore_acceleration(offboard_control_sp, i)) { + return true; + } + } + return false; +} + +/** + * Returns true if the bodyrate setpoint at index should be ignored + */ +inline bool offboard_control_sp_ignore_bodyrates(const struct offboard_control_setpoint_s &offboard_control_sp, int index) { + return (bool)(offboard_control_sp.ignore & (1 << (OFB_IGN_BIT_BODYRATE_X + index))); +} + +/** + * Returns true if some of the bodyrate setpoints should be ignored + */ +inline bool offboard_control_sp_ignore_bodyrates_some(const struct offboard_control_setpoint_s &offboard_control_sp) { + for (int i = 0; i < 3; i++) { + if (offboard_control_sp_ignore_bodyrates(offboard_control_sp, i)) { + return true; + } + } + return false; +} + +/** + * Returns true if the attitude setpoint should be ignored + */ +inline bool offboard_control_sp_ignore_attitude(const struct offboard_control_setpoint_s &offboard_control_sp) { + return (bool)(offboard_control_sp.ignore & (1 << OFB_IGN_BIT_ATT)); +} + +/** + * Returns true if the thrust setpoint should be ignored + */ +inline bool offboard_control_sp_ignore_thrust(const struct offboard_control_setpoint_s &offboard_control_sp) { + return (bool)(offboard_control_sp.ignore & (1 << OFB_IGN_BIT_THRUST)); +} + +/** + * Returns true if the yaw setpoint should be ignored + */ +inline bool offboard_control_sp_ignore_yaw(const struct offboard_control_setpoint_s &offboard_control_sp) { + return (bool)(offboard_control_sp.ignore & (1 << OFB_IGN_BIT_YAW)); +} + +/** + * Returns true if the yaw rate setpoint should be ignored + */ +inline bool offboard_control_sp_ignore_yawrate(const struct offboard_control_setpoint_s &offboard_control_sp) { + return (bool)(offboard_control_sp.ignore & (1 << OFB_IGN_BIT_YAWRATE)); +} + + /* register this as object request broker structure */ ORB_DECLARE(offboard_control_setpoint); diff --git a/src/modules/uORB/topics/optical_flow.h b/src/modules/uORB/topics/optical_flow.h index 0196ae86b..d3dc46ee0 100644 --- a/src/modules/uORB/topics/optical_flow.h +++ b/src/modules/uORB/topics/optical_flow.h @@ -55,16 +55,22 @@ */ struct optical_flow_s { - uint64_t timestamp; /**< in microseconds since system start */ - - uint64_t flow_timestamp; /**< timestamp from flow sensor */ - int16_t flow_raw_x; /**< flow in pixels in X direction, not rotation-compensated */ - int16_t flow_raw_y; /**< flow in pixels in Y direction, not rotation-compensated */ - float flow_comp_x_m; /**< speed over ground in meters, rotation-compensated */ - float flow_comp_y_m; /**< speed over ground in meters, rotation-compensated */ - float ground_distance_m; /**< Altitude / distance to ground in meters */ - uint8_t quality; /**< Quality of the measurement, 0: bad quality, 255: maximum quality */ + uint64_t timestamp; /**< in microseconds since system start */ uint8_t sensor_id; /**< id of the sensor emitting the flow value */ + float pixel_flow_x_integral; /**< accumulated optical flow in radians around x axis */ + float pixel_flow_y_integral; /**< accumulated optical flow in radians around y axis */ + float gyro_x_rate_integral; /**< accumulated gyro value in radians around x axis */ + float gyro_y_rate_integral; /**< accumulated gyro value in radians around y axis */ + float gyro_z_rate_integral; /**< accumulated gyro value in radians around z axis */ + float ground_distance_m; /**< Altitude / distance to ground in meters */ + uint32_t integration_timespan; /**<accumulation timespan in microseconds */ + uint32_t time_since_last_sonar_update;/**< time since last sonar update in microseconds */ + uint16_t frame_count_since_last_readout;/**< number of accumulated frames in timespan */ + int16_t gyro_temperature;/**< Temperature * 100 in centi-degrees Celsius */ + uint8_t quality; /**< Average of quality of accumulated frames, 0: bad quality, 255: maximum quality */ + + + }; diff --git a/src/modules/uORB/topics/position_setpoint_triplet.h b/src/modules/uORB/topics/position_setpoint_triplet.h index ec2131abd..cb2262534 100644 --- a/src/modules/uORB/topics/position_setpoint_triplet.h +++ b/src/modules/uORB/topics/position_setpoint_triplet.h @@ -79,10 +79,17 @@ struct position_setpoint_s double lon; /**< longitude, in deg */ float alt; /**< altitude AMSL, in m */ float yaw; /**< yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw */ + bool yaw_valid; /**< true if yaw setpoint valid */ float yawspeed; /**< yawspeed (only for multirotors, in rad/s) */ + bool yawspeed_valid; /**< true if yawspeed setpoint valid */ float loiter_radius; /**< loiter radius (only for fixed wing), in m */ int8_t loiter_direction; /**< loiter direction: 1 = CW, -1 = CCW */ float pitch_min; /**< minimal pitch angle for fixed wing takeoff waypoints */ + float a_x; //**< acceleration x setpoint */ + float a_y; //**< acceleration y setpoint */ + float a_z; //**< acceleration z setpoint */ + bool acceleration_valid; //*< true if acceleration setpoint is valid/should be used */ + bool acceleration_is_force; //*< interprete acceleration as force */ }; /** diff --git a/src/modules/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h index 8978de471..16916cc4d 100644 --- a/src/modules/uORB/topics/rc_channels.h +++ b/src/modules/uORB/topics/rc_channels.h @@ -34,6 +34,8 @@ /** * @file rc_channels.h * Definition of the rc_channels uORB topic. + * + * @deprecated DO NOT USE FOR NEW CODE */ #ifndef RC_CHANNELS_H_ @@ -63,10 +65,13 @@ enum RC_CHANNELS_FUNCTION { AUX_2, AUX_3, AUX_4, - AUX_5, - RC_CHANNELS_FUNCTION_MAX /**< Indicates the number of functions. There can be more functions than RC channels. */ + AUX_5 }; +// MAXIMUM FUNCTIONS IS != MAXIMUM RC INPUT CHANNELS + +#define RC_CHANNELS_FUNCTION_MAX 18 + /** * @addtogroup topics * @{ @@ -76,7 +81,6 @@ struct rc_channels_s { uint64_t timestamp_last_valid; /**< Timestamp of last valid RC signal */ float channels[RC_CHANNELS_FUNCTION_MAX]; /**< Scaled to -1..1 (throttle: 0..1) */ uint8_t channel_count; /**< Number of valid channels */ - char function_name[RC_CHANNELS_FUNCTION_MAX][20]; /**< String array to store the names of the functions */ int8_t function[RC_CHANNELS_FUNCTION_MAX]; /**< Functions mapping */ uint8_t rssi; /**< Receive signal strength index */ bool signal_lost; /**< Control signal lost, should be checked together with topic timeout */ diff --git a/src/modules/uORB/topics/telemetry_status.h b/src/modules/uORB/topics/telemetry_status.h index 1297c1a9d..93193f32b 100644 --- a/src/modules/uORB/topics/telemetry_status.h +++ b/src/modules/uORB/topics/telemetry_status.h @@ -67,6 +67,8 @@ struct telemetry_status_s { 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 */ + uint8_t system_id; /**< system id of the remote system */ + uint8_t component_id; /**< component id of the remote system */ }; /** diff --git a/src/modules/uORB/topics/test_motor.h b/src/modules/uORB/topics/test_motor.h new file mode 100644 index 000000000..2dd90e69d --- /dev/null +++ b/src/modules/uORB/topics/test_motor.h @@ -0,0 +1,70 @@ +/**************************************************************************** + * + * Copyright (C) 2014 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file test_motor.h + * + * Test a single drive motor while the vehicle is disarmed + * + * Publishing values to this topic causes a single motor to spin, e.g. for + * ground test purposes. This topic will be ignored while the vehicle is armed. + * + */ + +#ifndef TOPIC_TEST_MOTOR_H +#define TOPIC_TEST_MOTOR_H + +#include <stdint.h> +#include "../uORB.h" + +#define NUM_MOTOR_OUTPUTS 8 + +/** + * @addtogroup topics + * @{ + */ + +struct test_motor_s { + uint64_t timestamp; /**< output timestamp in us since system boot */ + unsigned motor_number; /**< number of motor to spin */ + float value; /**< output power, range [0..1] */ +}; + +/** + * @} + */ + +/* actuator output sets; this list can be expanded as more drivers emerge */ +ORB_DECLARE(test_motor); + +#endif diff --git a/src/modules/uORB/topics/vehicle_command.h b/src/modules/uORB/topics/vehicle_command.h index 7db33d98b..f264accbb 100644 --- a/src/modules/uORB/topics/vehicle_command.h +++ b/src/modules/uORB/topics/vehicle_command.h @@ -1,9 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. - * Author: @author Thomas Gubler <thomasgubler@student.ethz.ch> - * @author Julian Oes <joes@student.ethz.ch> - * @author Lorenz Meier <lm@inf.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 @@ -37,6 +34,10 @@ /** * @file vehicle_command.h * Definition of the vehicle command uORB topic. + * + * @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> + * @author Lorenz Meier <lm@inf.ethz.ch> */ #ifndef TOPIC_VEHICLE_COMMAND_H_ @@ -52,6 +53,9 @@ * but can contain additional ones. */ enum VEHICLE_CMD { + VEHICLE_CMD_CUSTOM_0 = 0, /* test command */ + VEHICLE_CMD_CUSTOM_1 = 1, /* test command */ + VEHICLE_CMD_CUSTOM_2 = 2, /* test command */ VEHICLE_CMD_NAV_WAYPOINT = 16, /* Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude| */ VEHICLE_CMD_NAV_LOITER_UNLIM = 17, /* Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */ VEHICLE_CMD_NAV_LOITER_TURNS = 18, /* Loiter around this MISSION for X turns |Turns| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */ @@ -61,6 +65,9 @@ enum VEHICLE_CMD { VEHICLE_CMD_NAV_TAKEOFF = 22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude| */ VEHICLE_CMD_NAV_ROI = 80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| */ VEHICLE_CMD_NAV_PATHPLANNING = 81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */ + VEHICLE_CMD_NAV_GUIDED_LIMITS=90, /* set limits for external control |timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout| absolute altitude min (in meters, WGS84) - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit| absolute altitude max (in meters)- if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit| horizontal move limit (in meters, WGS84) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit| Empty| Empty| Empty| */ + VEHICLE_CMD_NAV_GUIDED_MASTER=91, /* set id of master controller |System ID| Component ID| Empty| Empty| Empty| Empty| Empty| */ + VEHICLE_CMD_NAV_GUIDED_ENABLE=92, /* hand control over to an external controller |On / Off (> 0.5f on)| Empty| Empty| Empty| Empty| Empty| Empty| */ VEHICLE_CMD_NAV_LAST = 95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ VEHICLE_CMD_CONDITION_DELAY = 112, /* Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty| */ VEHICLE_CMD_CONDITION_CHANGE_ALT = 113, /* Ascend/descend at rate. Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude| */ @@ -87,7 +94,8 @@ enum VEHICLE_CMD { VEHICLE_CMD_MISSION_START = 300, /* start running a mission |first_item: the first mission item to run| last_item: the last mission item to run (after this item is run, the mission ends)| */ VEHICLE_CMD_COMPONENT_ARM_DISARM = 400, /* Arms / Disarms a component |1 to arm, 0 to disarm| */ VEHICLE_CMD_START_RX_PAIR = 500, /* Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX| */ - VEHICLE_CMD_ENUM_END = 501, /* | */ + VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY = 30001, /**< Prepare a payload deployment in the flight plan */ + VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY = 30002 /**< Control a pre-programmed payload deployment */ }; /** @@ -115,8 +123,8 @@ struct vehicle_command_s { float param2; /**< Parameter 2, as defined by MAVLink VEHICLE_CMD enum. */ float param3; /**< Parameter 3, as defined by MAVLink VEHICLE_CMD enum. */ float param4; /**< Parameter 4, as defined by MAVLink VEHICLE_CMD enum. */ - float param5; /**< Parameter 5, as defined by MAVLink VEHICLE_CMD enum. */ - float param6; /**< Parameter 6, as defined by MAVLink VEHICLE_CMD enum. */ + double param5; /**< Parameter 5, as defined by MAVLink VEHICLE_CMD enum. */ + double param6; /**< Parameter 6, as defined by MAVLink VEHICLE_CMD enum. */ float param7; /**< Parameter 7, as defined by MAVLink VEHICLE_CMD enum. */ enum VEHICLE_CMD command; /**< Command ID, as defined MAVLink by VEHICLE_CMD enum. */ uint8_t target_system; /**< System which should execute the command */ diff --git a/src/modules/uORB/topics/vehicle_control_mode.h b/src/modules/uORB/topics/vehicle_control_mode.h index 49e2ba4b5..ca7705456 100644 --- a/src/modules/uORB/topics/vehicle_control_mode.h +++ b/src/modules/uORB/topics/vehicle_control_mode.h @@ -77,6 +77,7 @@ struct vehicle_control_mode_s { bool flag_control_offboard_enabled; /**< true if offboard control should be used */ bool flag_control_rates_enabled; /**< true if rates are stabilized */ bool flag_control_attitude_enabled; /**< true if attitude stabilization is mixed in */ + bool flag_control_force_enabled; /**< true if force control is mixed in */ bool flag_control_velocity_enabled; /**< true if horizontal velocity (implies direction) is controlled */ bool flag_control_position_enabled; /**< true if position is controlled */ bool flag_control_altitude_enabled; /**< true if altitude is controlled */ diff --git a/src/modules/uORB/topics/vehicle_global_position.h b/src/modules/uORB/topics/vehicle_global_position.h index 25137c1c6..c3bb3b893 100644 --- a/src/modules/uORB/topics/vehicle_global_position.h +++ b/src/modules/uORB/topics/vehicle_global_position.h @@ -72,6 +72,8 @@ struct vehicle_global_position_s { float yaw; /**< Yaw in radians -PI..+PI. */ float eph; /**< Standard deviation of position estimate horizontally */ float epv; /**< Standard deviation of position vertically */ + float terrain_alt; /**< Terrain altitude in m, WGS84 */ + bool terrain_alt_valid; /**< Terrain altitude estimate is valid */ }; /** diff --git a/src/modules/uORB/topics/vehicle_gps_position.h b/src/modules/uORB/topics/vehicle_gps_position.h index 80d65cd69..7888a50f4 100644 --- a/src/modules/uORB/topics/vehicle_gps_position.h +++ b/src/modules/uORB/topics/vehicle_gps_position.h @@ -62,7 +62,7 @@ struct vehicle_gps_position_s { uint64_t timestamp_variance; float s_variance_m_s; /**< speed accuracy estimate m/s */ float c_variance_rad; /**< course accuracy estimate rad */ - uint8_t fix_type; /**< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. */ + uint8_t fix_type; /**< 0-1: no fix, 2: 2D fix, 3: 3D fix, 4: RTCM code differential, 5: Real-Time Kinematic, float, 6: Real-Time Kinematic, fixed, 8: Extrapolated. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. */ float eph; /**< GPS HDOP horizontal dilution of position in m */ float epv; /**< GPS VDOP horizontal dilution of position in m */ @@ -79,7 +79,7 @@ struct vehicle_gps_position_s { bool vel_ned_valid; /**< Flag to indicate if NED speed is valid */ uint64_t timestamp_time; /**< Timestamp for time information */ - uint64_t time_gps_usec; /**< Timestamp (microseconds in GPS format), this is the timestamp which comes from the gps module */ + uint64_t time_gps_usec; /**< Timestamp (microseconds in GPS format), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0 */ uint8_t satellites_used; /**< Number of satellites used */ }; diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index b683bf98a..8ec9d98d6 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h @@ -102,10 +102,13 @@ typedef enum { NAVIGATION_STATE_AUTO_MISSION, /**< Auto mission mode */ NAVIGATION_STATE_AUTO_LOITER, /**< Auto loiter mode */ NAVIGATION_STATE_AUTO_RTL, /**< Auto return to launch mode */ + NAVIGATION_STATE_AUTO_RCRECOVER, /**< RC recover mode */ NAVIGATION_STATE_AUTO_RTGS, /**< Auto return to groundstation on data link loss */ + NAVIGATION_STATE_AUTO_LANDENGFAIL, /**< Auto land on engine failure */ + NAVIGATION_STATE_AUTO_LANDGPSFAIL, /**< Auto land on gps failure (e.g. open loop loiter down) */ NAVIGATION_STATE_ACRO, /**< Acro mode */ NAVIGATION_STATE_LAND, /**< Land mode */ - NAVIGATION_STATE_DESCEND, /**< Descend mode (no position control) */ + NAVIGATION_STATE_DESCEND, /**< Descend mode (no position control) */ NAVIGATION_STATE_TERMINATION, /**< Termination mode */ NAVIGATION_STATE_OFFBOARD, NAVIGATION_STATE_MAX, @@ -198,14 +201,26 @@ struct vehicle_status_s { bool rc_signal_found_once; bool rc_signal_lost; /**< true if RC reception lost */ + uint64_t rc_signal_lost_timestamp; /**< Time at which the RC reception was lost */ + bool rc_signal_lost_cmd; /**< true if RC lost mode is commanded */ bool rc_input_blocked; /**< set if RC input should be ignored */ - bool data_link_lost; /**< datalink to GCS lost */ + bool data_link_lost; /**< datalink to GCS lost */ + bool data_link_lost_cmd; /**< datalink to GCS lost mode commanded */ + uint8_t data_link_lost_counter; /**< counts unique data link lost events */ + bool engine_failure; /** Set to true if an engine failure is detected */ + bool engine_failure_cmd; /** Set to true if an engine failure mode is commanded */ + bool gps_failure; /** Set to true if a gps failure is detected */ + bool gps_failure_cmd; /** Set to true if a gps failure mode is commanded */ + + bool barometer_failure; /** Set to true if a barometer failure is detected */ bool offboard_control_signal_found_once; bool offboard_control_signal_lost; bool offboard_control_signal_weak; uint64_t offboard_control_signal_lost_interval; /**< interval in microseconds without an offboard control message */ + bool offboard_control_set_by_command; /**< true if the offboard mode was set by a mavlink command + and should not be overridden by RC */ /* see SYS_STATUS mavlink message for the following */ uint32_t onboard_control_sensors_present; @@ -227,6 +242,8 @@ struct vehicle_status_s { bool circuit_breaker_engaged_power_check; bool circuit_breaker_engaged_airspd_check; + bool circuit_breaker_engaged_enginefailure_check; + bool circuit_breaker_engaged_gpsfailure_check; }; /** diff --git a/src/modules/uavcan/esc_controller.cpp b/src/modules/uavcan/actuators/esc.cpp index 406eba88c..9f682c7e1 100644 --- a/src/modules/uavcan/esc_controller.cpp +++ b/src/modules/uavcan/actuators/esc.cpp @@ -32,14 +32,17 @@ ****************************************************************************/ /** - * @file esc_controller.cpp + * @file esc.cpp * * @author Pavel Kirienko <pavel.kirienko@gmail.com> */ -#include "esc_controller.hpp" +#include "esc.hpp" #include <systemlib/err.h> + +#define MOTOR_BIT(x) (1<<(x)) + UavcanEscController::UavcanEscController(uavcan::INode &node) : _node(node), _uavcan_pub_raw_cmd(node), @@ -73,7 +76,9 @@ int UavcanEscController::init() void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs) { - if ((outputs == nullptr) || (num_outputs > MAX_ESCS)) { + if ((outputs == nullptr) || + (num_outputs > uavcan::equipment::esc::RawCommand::FieldTypes::cmd::MaxSize) || + (num_outputs > CONNECTED_ESC_MAX)) { perf_count(_perfcnt_invalid_input); return; } @@ -93,25 +98,30 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs) */ uavcan::equipment::esc::RawCommand msg; - if (_armed) { - for (unsigned i = 0; i < num_outputs; i++) { - - float scaled = (outputs[i] + 1.0F) * 0.5F * uavcan::equipment::esc::RawCommand::CMD_MAX; - if (scaled < 1.0F) { - scaled = 1.0F; // Since we're armed, we don't want to stop it completely - } - - if (scaled < uavcan::equipment::esc::RawCommand::CMD_MIN) { - scaled = uavcan::equipment::esc::RawCommand::CMD_MIN; + static const int cmd_max = uavcan::equipment::esc::RawCommand::FieldTypes::cmd::RawValueType::max(); + + for (unsigned i = 0; i < num_outputs; i++) { + if (_armed_mask & MOTOR_BIT(i)) { + float scaled = (outputs[i] + 1.0F) * 0.5F * cmd_max; + // trim negative values back to 0. Previously + // we set this to 0.1, which meant motors kept + // spinning when armed, but that should be a + // policy decision for a specific vehicle + // type, as it is not appropriate for all + // types of vehicles (eg. fixed wing). + if (scaled < 0.0F) { + scaled = 0.0F; + } + if (scaled > cmd_max) { + scaled = cmd_max; perf_count(_perfcnt_scaling_error); - } else if (scaled > uavcan::equipment::esc::RawCommand::CMD_MAX) { - scaled = uavcan::equipment::esc::RawCommand::CMD_MAX; - perf_count(_perfcnt_scaling_error); - } else { - ; // Correct value } - msg.cmd.push_back(static_cast<unsigned>(scaled)); + msg.cmd.push_back(static_cast<int>(scaled)); + + _esc_status.esc[i].esc_setpoint_raw = abs(static_cast<int>(scaled)); + } else { + msg.cmd.push_back(static_cast<unsigned>(0)); } } @@ -122,17 +132,51 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs) (void)_uavcan_pub_raw_cmd.broadcast(msg); } -void UavcanEscController::arm_esc(bool arm) +void UavcanEscController::arm_all_escs(bool arm) +{ + if (arm) { + _armed_mask = -1; + } else { + _armed_mask = 0; + } +} + +void UavcanEscController::arm_single_esc(int num, bool arm) { - _armed = arm; + if (arm) { + _armed_mask = MOTOR_BIT(num); + } else { + _armed_mask = 0; + } } void UavcanEscController::esc_status_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status> &msg) { - // TODO save status into a local storage; publish to ORB later from orb_pub_timer_cb() + if (msg.esc_index < CONNECTED_ESC_MAX) { + _esc_status.esc_count = uavcan::max<int>(_esc_status.esc_count, msg.esc_index + 1); + _esc_status.timestamp = msg.getMonotonicTimestamp().toUSec(); + + auto &ref = _esc_status.esc[msg.esc_index]; + + ref.esc_address = msg.getSrcNodeID().get(); + + ref.esc_voltage = msg.voltage; + ref.esc_current = msg.current; + ref.esc_temperature = msg.temperature; + ref.esc_setpoint = msg.power_rating_pct; + ref.esc_rpm = msg.rpm; + ref.esc_errorcount = msg.error_count; + } } void UavcanEscController::orb_pub_timer_cb(const uavcan::TimerEvent&) { - // TODO publish to ORB + _esc_status.counter += 1; + _esc_status.esc_connectiontype = ESC_CONNECTION_TYPE_CAN; + + if (_esc_status_pub > 0) { + (void)orb_publish(ORB_ID(esc_status), _esc_status_pub, &_esc_status); + } else { + _esc_status_pub = orb_advertise(ORB_ID(esc_status), &_esc_status); + } } diff --git a/src/modules/uavcan/esc_controller.hpp b/src/modules/uavcan/actuators/esc.hpp index 559ede561..12c035542 100644 --- a/src/modules/uavcan/esc_controller.hpp +++ b/src/modules/uavcan/actuators/esc.hpp @@ -32,7 +32,7 @@ ****************************************************************************/ /** - * @file esc_controller.hpp + * @file esc.hpp * * UAVCAN <--> ORB bridge for ESC messages: * uavcan.equipment.esc.RawCommand @@ -48,6 +48,8 @@ #include <uavcan/equipment/esc/RawCommand.hpp> #include <uavcan/equipment/esc/Status.hpp> #include <systemlib/perf_counter.h> +#include <uORB/topics/esc_status.h> + class UavcanEscController { @@ -59,7 +61,8 @@ public: void update_outputs(float *outputs, unsigned num_outputs); - void arm_esc(bool arm); + void arm_all_escs(bool arm); + void arm_single_esc(int num, bool arm); private: /** @@ -73,9 +76,8 @@ private: void orb_pub_timer_cb(const uavcan::TimerEvent &event); - static constexpr unsigned MAX_RATE_HZ = 100; ///< XXX make this configurable - static constexpr unsigned ESC_STATUS_UPDATE_RATE_HZ = 5; - static constexpr unsigned MAX_ESCS = uavcan::equipment::esc::RawCommand::FieldTypes::cmd::MaxSize; + static constexpr unsigned MAX_RATE_HZ = 200; ///< XXX make this configurable + static constexpr unsigned ESC_STATUS_UPDATE_RATE_HZ = 10; typedef uavcan::MethodBinder<UavcanEscController*, void (UavcanEscController::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status>&)> @@ -84,6 +86,10 @@ private: typedef uavcan::MethodBinder<UavcanEscController*, void (UavcanEscController::*)(const uavcan::TimerEvent&)> TimerCbBinder; + bool _armed = false; + esc_status_s _esc_status = {}; + orb_advert_t _esc_status_pub = -1; + /* * libuavcan related things */ @@ -96,8 +102,7 @@ private: /* * ESC states */ - bool _armed = false; - uavcan::equipment::esc::Status _states[MAX_ESCS]; + uint32_t _armed_mask = 0; /* * Perf counters diff --git a/src/modules/uavcan/module.mk b/src/modules/uavcan/module.mk index 3865f2468..f92bc754f 100644 --- a/src/modules/uavcan/module.mk +++ b/src/modules/uavcan/module.mk @@ -40,10 +40,19 @@ MODULE_COMMAND = uavcan MAXOPTIMIZATION = -Os -SRCS += uavcan_main.cpp \ - uavcan_clock.cpp \ - esc_controller.cpp \ - gnss_receiver.cpp +# Main +SRCS += uavcan_main.cpp \ + uavcan_clock.cpp \ + uavcan_params.c + +# Actuators +SRCS += actuators/esc.cpp + +# Sensors +SRCS += sensors/sensor_bridge.cpp \ + sensors/gnss.cpp \ + sensors/mag.cpp \ + sensors/baro.cpp # # libuavcan diff --git a/src/modules/uavcan/sensors/baro.cpp b/src/modules/uavcan/sensors/baro.cpp new file mode 100644 index 000000000..8741ae20d --- /dev/null +++ b/src/modules/uavcan/sensors/baro.cpp @@ -0,0 +1,113 @@ +/**************************************************************************** + * + * 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. + * + ****************************************************************************/ + +/** + * @author Pavel Kirienko <pavel.kirienko@gmail.com> + */ + +#include "baro.hpp" +#include <cmath> + +static const orb_id_t BARO_TOPICS[2] = { + ORB_ID(sensor_baro0), + ORB_ID(sensor_baro1) +}; + +const char *const UavcanBarometerBridge::NAME = "baro"; + +UavcanBarometerBridge::UavcanBarometerBridge(uavcan::INode& node) : +UavcanCDevSensorBridgeBase("uavcan_baro", "/dev/uavcan/baro", BARO_DEVICE_PATH, BARO_TOPICS), +_sub_air_data(node) +{ +} + +int UavcanBarometerBridge::init() +{ + int res = device::CDev::init(); + if (res < 0) { + return res; + } + + res = _sub_air_data.start(AirDataCbBinder(this, &UavcanBarometerBridge::air_data_sub_cb)); + if (res < 0) { + log("failed to start uavcan sub: %d", res); + return res; + } + return 0; +} + +int UavcanBarometerBridge::ioctl(struct file *filp, int cmd, unsigned long arg) +{ + switch (cmd) { + case BAROIOCSMSLPRESSURE: { + if ((arg < 80000) || (arg > 120000)) { + return -EINVAL; + } else { + log("new msl pressure %u", _msl_pressure); + _msl_pressure = arg; + return OK; + } + } + case BAROIOCGMSLPRESSURE: { + return _msl_pressure; + } + default: { + return CDev::ioctl(filp, cmd, arg); + } + } +} + +void UavcanBarometerBridge::air_data_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::air_data::StaticAirData> &msg) +{ + auto report = ::baro_report(); + + report.timestamp = msg.getMonotonicTimestamp().toUSec(); + report.temperature = msg.static_temperature; + report.pressure = msg.static_pressure / 100.0F; // Convert to millibar + + /* + * Altitude computation + * Refer to the MS5611 driver for details + */ + const double T1 = 15.0 + 273.15; // temperature at base height in Kelvin + const double a = -6.5 / 1000; // temperature gradient in degrees per metre + const double g = 9.80665; // gravity constant in m/s/s + const double R = 287.05; // ideal gas constant in J/kg/K + + const double p1 = _msl_pressure / 1000.0; // current pressure at MSL in kPa + const double p = double(msg.static_pressure) / 1000.0; // measured pressure in kPa + + report.altitude = (((std::pow((p / p1), (-(a * R) / g))) * T1) - T1) / a; + + publish(msg.getSrcNodeID().get(), &report); +} diff --git a/src/modules/uavcan/sensors/baro.hpp b/src/modules/uavcan/sensors/baro.hpp new file mode 100644 index 000000000..9d470219e --- /dev/null +++ b/src/modules/uavcan/sensors/baro.hpp @@ -0,0 +1,68 @@ +/**************************************************************************** + * + * 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. + * + ****************************************************************************/ + +/** + * @author Pavel Kirienko <pavel.kirienko@gmail.com> + */ + +#pragma once + +#include "sensor_bridge.hpp" +#include <drivers/drv_baro.h> + +#include <uavcan/equipment/air_data/StaticAirData.hpp> + +class UavcanBarometerBridge : public UavcanCDevSensorBridgeBase +{ +public: + static const char *const NAME; + + UavcanBarometerBridge(uavcan::INode& node); + + const char *get_name() const override { return NAME; } + + int init() override; + +private: + int ioctl(struct file *filp, int cmd, unsigned long arg) override; + + void air_data_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::air_data::StaticAirData> &msg); + + typedef uavcan::MethodBinder<UavcanBarometerBridge*, + void (UavcanBarometerBridge::*) + (const uavcan::ReceivedDataStructure<uavcan::equipment::air_data::StaticAirData>&)> + AirDataCbBinder; + + uavcan::Subscriber<uavcan::equipment::air_data::StaticAirData, AirDataCbBinder> _sub_air_data; + unsigned _msl_pressure = 101325; +}; diff --git a/src/modules/uavcan/gnss_receiver.cpp b/src/modules/uavcan/sensors/gnss.cpp index ba1fe5e49..a375db37f 100644 --- a/src/modules/uavcan/gnss_receiver.cpp +++ b/src/modules/uavcan/sensors/gnss.cpp @@ -32,52 +32,72 @@ ****************************************************************************/ /** - * @file gnss_receiver.cpp + * @file gnss.cpp * * @author Pavel Kirienko <pavel.kirienko@gmail.com> * @author Andrew Chambers <achamber@gmail.com> * */ -#include "gnss_receiver.hpp" +#include "gnss.hpp" #include <systemlib/err.h> #include <mathlib/mathlib.h> -#define MM_PER_CM 10 // Millimeters per centimeter +const char *const UavcanGnssBridge::NAME = "gnss"; -UavcanGnssReceiver::UavcanGnssReceiver(uavcan::INode &node) : +UavcanGnssBridge::UavcanGnssBridge(uavcan::INode &node) : _node(node), -_uavcan_sub_status(node), +_sub_fix(node), _report_pub(-1) { } -int UavcanGnssReceiver::init() +int UavcanGnssBridge::init() { - int res = -1; - - // GNSS fix subscription - res = _uavcan_sub_status.start(FixCbBinder(this, &UavcanGnssReceiver::gnss_fix_sub_cb)); + int res = _sub_fix.start(FixCbBinder(this, &UavcanGnssBridge::gnss_fix_sub_cb)); if (res < 0) { warnx("GNSS fix sub failed %i", res); return res; } + return res; +} - // Clear the uORB GPS report - memset(&_report, 0, sizeof(_report)); +unsigned UavcanGnssBridge::get_num_redundant_channels() const +{ + return (_receiver_node_id < 0) ? 0 : 1; +} - return res; +void UavcanGnssBridge::print_status() const +{ + printf("RX errors: %d, receiver node id: ", _sub_fix.getFailureCount()); + if (_receiver_node_id < 0) { + printf("N/A\n"); + } else { + printf("%d\n", _receiver_node_id); + } } -void UavcanGnssReceiver::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &msg) +void UavcanGnssBridge::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &msg) { - _report.timestamp_position = hrt_absolute_time(); - _report.lat = msg.lat_1e7; - _report.lon = msg.lon_1e7; - _report.alt = msg.alt_1e2 * MM_PER_CM; // Convert from centimeter (1e2) to millimeters (1e3) + // This bridge does not support redundant GNSS receivers yet. + if (_receiver_node_id < 0) { + _receiver_node_id = msg.getSrcNodeID().get(); + warnx("GNSS receiver node ID: %d", _receiver_node_id); + } else { + if (_receiver_node_id != msg.getSrcNodeID().get()) { + return; // This GNSS receiver is the redundant one, ignore it. + } + } + + auto report = ::vehicle_gps_position_s(); + + report.timestamp_position = msg.getMonotonicTimestamp().toUSec(); + report.lat = msg.latitude_deg_1e8 / 10; + report.lon = msg.longitude_deg_1e8 / 10; + report.alt = msg.height_msl_mm; - _report.timestamp_variance = _report.timestamp_position; + report.timestamp_variance = report.timestamp_position; // Check if the msg contains valid covariance information @@ -90,19 +110,19 @@ void UavcanGnssReceiver::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uav // Horizontal position uncertainty const float horizontal_pos_variance = math::max(pos_cov[0], pos_cov[4]); - _report.eph = (horizontal_pos_variance > 0) ? sqrtf(horizontal_pos_variance) : -1.0F; + report.eph = (horizontal_pos_variance > 0) ? sqrtf(horizontal_pos_variance) : -1.0F; // Vertical position uncertainty - _report.epv = (pos_cov[8] > 0) ? sqrtf(pos_cov[8]) : -1.0F; + report.epv = (pos_cov[8] > 0) ? sqrtf(pos_cov[8]) : -1.0F; } else { - _report.eph = -1.0F; - _report.epv = -1.0F; + report.eph = -1.0F; + report.epv = -1.0F; } if (valid_velocity_covariance) { float vel_cov[9]; msg.velocity_covariance.unpackSquareMatrix(vel_cov); - _report.s_variance_m_s = math::max(math::max(vel_cov[0], vel_cov[4]), vel_cov[8]); + report.s_variance_m_s = math::max(math::max(vel_cov[0], vel_cov[4]), vel_cov[8]); /* There is a nonlinear relationship between the velocity vector and the heading. * Use Jacobian to transform velocity covariance to heading covariance @@ -118,36 +138,36 @@ void UavcanGnssReceiver::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uav float vel_e = msg.ned_velocity[1]; float vel_n_sq = vel_n * vel_n; float vel_e_sq = vel_e * vel_e; - _report.c_variance_rad = + report.c_variance_rad = (vel_e_sq * vel_cov[0] + -2 * vel_n * vel_e * vel_cov[1] + // Covariance matrix is symmetric vel_n_sq* vel_cov[4]) / ((vel_n_sq + vel_e_sq) * (vel_n_sq + vel_e_sq)); } else { - _report.s_variance_m_s = -1.0F; - _report.c_variance_rad = -1.0F; + report.s_variance_m_s = -1.0F; + report.c_variance_rad = -1.0F; } - _report.fix_type = msg.status; + report.fix_type = msg.status; - _report.timestamp_velocity = _report.timestamp_position; - _report.vel_n_m_s = msg.ned_velocity[0]; - _report.vel_e_m_s = msg.ned_velocity[1]; - _report.vel_d_m_s = msg.ned_velocity[2]; - _report.vel_m_s = sqrtf(_report.vel_n_m_s * _report.vel_n_m_s + _report.vel_e_m_s * _report.vel_e_m_s + _report.vel_d_m_s * _report.vel_d_m_s); - _report.cog_rad = atan2f(_report.vel_e_m_s, _report.vel_n_m_s); - _report.vel_ned_valid = true; + report.timestamp_velocity = report.timestamp_position; + report.vel_n_m_s = msg.ned_velocity[0]; + report.vel_e_m_s = msg.ned_velocity[1]; + report.vel_d_m_s = msg.ned_velocity[2]; + report.vel_m_s = sqrtf(report.vel_n_m_s * report.vel_n_m_s + report.vel_e_m_s * report.vel_e_m_s + report.vel_d_m_s * report.vel_d_m_s); + report.cog_rad = atan2f(report.vel_e_m_s, report.vel_n_m_s); + report.vel_ned_valid = true; - _report.timestamp_time = _report.timestamp_position; - _report.time_gps_usec = uavcan::UtcTime(msg.gnss_timestamp).toUSec(); // Convert to microseconds + report.timestamp_time = report.timestamp_position; + report.time_gps_usec = uavcan::UtcTime(msg.gnss_timestamp).toUSec(); // Convert to microseconds - _report.satellites_used = msg.sats_used; + report.satellites_used = msg.sats_used; if (_report_pub > 0) { - orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report); + orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &report); } else { - _report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report); + _report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &report); } } diff --git a/src/modules/uavcan/gnss_receiver.hpp b/src/modules/uavcan/sensors/gnss.hpp index 18df8da2f..2111ff80b 100644 --- a/src/modules/uavcan/gnss_receiver.hpp +++ b/src/modules/uavcan/sensors/gnss.hpp @@ -32,7 +32,7 @@ ****************************************************************************/ /** - * @file gnss_receiver.hpp + * @file gnss.hpp * * UAVCAN --> ORB bridge for GNSS messages: * uavcan.equipment.gnss.Fix @@ -43,20 +43,28 @@ #pragma once -#include <drivers/drv_hrt.h> - #include <uORB/uORB.h> #include <uORB/topics/vehicle_gps_position.h> #include <uavcan/uavcan.hpp> #include <uavcan/equipment/gnss/Fix.hpp> -class UavcanGnssReceiver +#include "sensor_bridge.hpp" + +class UavcanGnssBridge : public IUavcanSensorBridge { public: - UavcanGnssReceiver(uavcan::INode& node); + static const char *const NAME; + + UavcanGnssBridge(uavcan::INode& node); + + const char *get_name() const override { return NAME; } + + int init() override; - int init(); + unsigned get_num_redundant_channels() const override; + + void print_status() const override; private: /** @@ -64,21 +72,14 @@ private: */ void gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &msg); - - typedef uavcan::MethodBinder<UavcanGnssReceiver*, - void (UavcanGnssReceiver::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix>&)> + typedef uavcan::MethodBinder<UavcanGnssBridge*, + void (UavcanGnssBridge::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix>&)> FixCbBinder; - /* - * libuavcan related things - */ - uavcan::INode &_node; - uavcan::Subscriber<uavcan::equipment::gnss::Fix, FixCbBinder> _uavcan_sub_status; + uavcan::INode &_node; + uavcan::Subscriber<uavcan::equipment::gnss::Fix, FixCbBinder> _sub_fix; + int _receiver_node_id = -1; - /* - * uORB - */ - struct vehicle_gps_position_s _report; ///< uORB topic for gnss position - orb_advert_t _report_pub; ///< uORB pub for gnss position + orb_advert_t _report_pub; ///< uORB pub for gnss position }; diff --git a/src/modules/uavcan/sensors/mag.cpp b/src/modules/uavcan/sensors/mag.cpp new file mode 100644 index 000000000..35ebee542 --- /dev/null +++ b/src/modules/uavcan/sensors/mag.cpp @@ -0,0 +1,150 @@ +/**************************************************************************** + * + * 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. + * + ****************************************************************************/ + +/** + * @author Pavel Kirienko <pavel.kirienko@gmail.com> + */ + +#include "mag.hpp" + +#include <systemlib/err.h> + +static const orb_id_t MAG_TOPICS[3] = { + ORB_ID(sensor_mag0), + ORB_ID(sensor_mag1), + ORB_ID(sensor_mag2) +}; + +const char *const UavcanMagnetometerBridge::NAME = "mag"; + +UavcanMagnetometerBridge::UavcanMagnetometerBridge(uavcan::INode& node) : +UavcanCDevSensorBridgeBase("uavcan_mag", "/dev/uavcan/mag", MAG_DEVICE_PATH, MAG_TOPICS), +_sub_mag(node) +{ + _device_id.devid_s.devtype = DRV_MAG_DEVTYPE_HMC5883; + + _scale.x_scale = 1.0F; + _scale.y_scale = 1.0F; + _scale.z_scale = 1.0F; +} + +int UavcanMagnetometerBridge::init() +{ + int res = device::CDev::init(); + if (res < 0) { + return res; + } + + res = _sub_mag.start(MagCbBinder(this, &UavcanMagnetometerBridge::mag_sub_cb)); + if (res < 0) { + log("failed to start uavcan sub: %d", res); + return res; + } + return 0; +} + +ssize_t UavcanMagnetometerBridge::read(struct file *filp, char *buffer, size_t buflen) +{ + static uint64_t last_read = 0; + struct mag_report *mag_buf = reinterpret_cast<struct mag_report *>(buffer); + + /* buffer must be large enough */ + unsigned count = buflen / sizeof(struct mag_report); + if (count < 1) { + return -ENOSPC; + } + + if (last_read < _report.timestamp) { + /* copy report */ + lock(); + *mag_buf = _report; + last_read = _report.timestamp; + unlock(); + return sizeof(struct mag_report); + } else { + /* no new data available, warn caller */ + return -EAGAIN; + } +} + +int UavcanMagnetometerBridge::ioctl(struct file *filp, int cmd, unsigned long arg) +{ + switch (cmd) { + case SENSORIOCSQUEUEDEPTH: { + return OK; // Pretend that this stuff is supported to keep APM happy + } + case MAGIOCSSCALE: { + std::memcpy(&_scale, reinterpret_cast<const void*>(arg), sizeof(_scale)); + return 0; + } + case MAGIOCGSCALE: { + std::memcpy(reinterpret_cast<void*>(arg), &_scale, sizeof(_scale)); + return 0; + } + case MAGIOCSELFTEST: { + return 0; // Nothing to do + } + case MAGIOCGEXTERNAL: { + return 1; // declare it external rise it's priority and to allow for correct orientation compensation + } + case MAGIOCSSAMPLERATE: { + return 0; // Pretend that this stuff is supported to keep the sensor app happy + } + case MAGIOCCALIBRATE: + case MAGIOCGSAMPLERATE: + case MAGIOCSRANGE: + case MAGIOCGRANGE: + case MAGIOCSLOWPASS: + case MAGIOCEXSTRAP: + case MAGIOCGLOWPASS: { + return -EINVAL; + } + default: { + return CDev::ioctl(filp, cmd, arg); + } + } +} + +void UavcanMagnetometerBridge::mag_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::Magnetometer> &msg) +{ + lock(); + _report.range_ga = 1.3F; // Arbitrary number, doesn't really mean anything + _report.timestamp = msg.getMonotonicTimestamp().toUSec(); + + _report.x = (msg.magnetic_field[0] - _scale.x_offset) * _scale.x_scale; + _report.y = (msg.magnetic_field[1] - _scale.y_offset) * _scale.y_scale; + _report.z = (msg.magnetic_field[2] - _scale.z_offset) * _scale.z_scale; + unlock(); + + publish(msg.getSrcNodeID().get(), &_report); +} diff --git a/src/modules/uavcan/sensors/mag.hpp b/src/modules/uavcan/sensors/mag.hpp new file mode 100644 index 000000000..74077d883 --- /dev/null +++ b/src/modules/uavcan/sensors/mag.hpp @@ -0,0 +1,70 @@ +/**************************************************************************** + * + * Copyright (C) 2014 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @author Pavel Kirienko <pavel.kirienko@gmail.com> + */ + +#pragma once + +#include "sensor_bridge.hpp" +#include <drivers/drv_mag.h> + +#include <uavcan/equipment/ahrs/Magnetometer.hpp> + +class UavcanMagnetometerBridge : public UavcanCDevSensorBridgeBase +{ +public: + static const char *const NAME; + + UavcanMagnetometerBridge(uavcan::INode& node); + + const char *get_name() const override { return NAME; } + + int init() override; + +private: + ssize_t read(struct file *filp, char *buffer, size_t buflen); + int ioctl(struct file *filp, int cmd, unsigned long arg) override; + + void mag_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::Magnetometer> &msg); + + typedef uavcan::MethodBinder<UavcanMagnetometerBridge*, + void (UavcanMagnetometerBridge::*) + (const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::Magnetometer>&)> + MagCbBinder; + + uavcan::Subscriber<uavcan::equipment::ahrs::Magnetometer, MagCbBinder> _sub_mag; + mag_scale _scale = {}; + mag_report _report = {}; +}; diff --git a/src/modules/uavcan/sensors/sensor_bridge.cpp b/src/modules/uavcan/sensors/sensor_bridge.cpp new file mode 100644 index 000000000..0999938fc --- /dev/null +++ b/src/modules/uavcan/sensors/sensor_bridge.cpp @@ -0,0 +1,161 @@ +/**************************************************************************** + * + * 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. + * + ****************************************************************************/ + +/** + * @author Pavel Kirienko <pavel.kirienko@gmail.com> + */ + +#include "sensor_bridge.hpp" +#include <cassert> + +#include "gnss.hpp" +#include "mag.hpp" +#include "baro.hpp" + +/* + * IUavcanSensorBridge + */ +void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge*> &list) +{ + list.add(new UavcanBarometerBridge(node)); + list.add(new UavcanMagnetometerBridge(node)); + list.add(new UavcanGnssBridge(node)); +} + +/* + * UavcanCDevSensorBridgeBase + */ +UavcanCDevSensorBridgeBase::~UavcanCDevSensorBridgeBase() +{ + for (unsigned i = 0; i < _max_channels; i++) { + if (_channels[i].node_id >= 0) { + (void)unregister_class_devname(_class_devname, _channels[i].class_instance); + } + } + delete [] _orb_topics; + delete [] _channels; +} + +void UavcanCDevSensorBridgeBase::publish(const int node_id, const void *report) +{ + assert(report != nullptr); + + Channel *channel = nullptr; + + // Checking if such channel already exists + for (unsigned i = 0; i < _max_channels; i++) { + if (_channels[i].node_id == node_id) { + channel = _channels + i; + break; + } + } + + // No such channel - try to create one + if (channel == nullptr) { + if (_out_of_channels) { + return; // Give up immediately - saves some CPU time + } + + log("adding channel %d...", node_id); + + // Search for the first free channel + for (unsigned i = 0; i < _max_channels; i++) { + if (_channels[i].node_id < 0) { + channel = _channels + i; + break; + } + } + + // No free channels left + if (channel == nullptr) { + _out_of_channels = true; + log("out of channels"); + return; + } + + // update device id as we now know our device node_id + _device_id.devid_s.address = static_cast<uint8_t>(node_id); + + // Ask the CDev helper which class instance we can take + const int class_instance = register_class_devname(_class_devname); + if (class_instance < 0 || class_instance >= int(_max_channels)) { + _out_of_channels = true; + log("out of class instances"); + (void)unregister_class_devname(_class_devname, class_instance); + return; + } + + // Publish to the appropriate topic, abort on failure + channel->orb_id = _orb_topics[class_instance]; + channel->node_id = node_id; + channel->class_instance = class_instance; + + channel->orb_advert = orb_advertise(channel->orb_id, report); + if (channel->orb_advert < 0) { + log("ADVERTISE FAILED"); + (void)unregister_class_devname(_class_devname, class_instance); + *channel = Channel(); + return; + } + + log("channel %d class instance %d ok", channel->node_id, channel->class_instance); + } + assert(channel != nullptr); + + (void)orb_publish(channel->orb_id, channel->orb_advert, report); +} + +unsigned UavcanCDevSensorBridgeBase::get_num_redundant_channels() const +{ + unsigned out = 0; + for (unsigned i = 0; i < _max_channels; i++) { + if (_channels[i].node_id >= 0) { + out += 1; + } + } + return out; +} + +void UavcanCDevSensorBridgeBase::print_status() const +{ + printf("devname: %s\n", _class_devname); + + for (unsigned i = 0; i < _max_channels; i++) { + if (_channels[i].node_id >= 0) { + printf("channel %d: node id %d --> class instance %d\n", + i, _channels[i].node_id, _channels[i].class_instance); + } else { + printf("channel %d: empty\n", i); + } + } +} diff --git a/src/modules/uavcan/sensors/sensor_bridge.hpp b/src/modules/uavcan/sensors/sensor_bridge.hpp new file mode 100644 index 000000000..e31960537 --- /dev/null +++ b/src/modules/uavcan/sensors/sensor_bridge.hpp @@ -0,0 +1,133 @@ +/**************************************************************************** + * + * 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. + * + ****************************************************************************/ + +/** + * @author Pavel Kirienko <pavel.kirienko@gmail.com> + */ + +#pragma once + +#include <containers/List.hpp> +#include <uavcan/uavcan.hpp> +#include <drivers/device/device.h> +#include <drivers/drv_orb_dev.h> + +/** + * A sensor bridge class must implement this interface. + */ +class IUavcanSensorBridge : uavcan::Noncopyable, public ListNode<IUavcanSensorBridge*> +{ +public: + static constexpr unsigned MAX_NAME_LEN = 20; + + virtual ~IUavcanSensorBridge() { } + + /** + * Returns ASCII name of the bridge. + */ + virtual const char *get_name() const = 0; + + /** + * Starts the bridge. + * @return Non-negative value on success, negative on error. + */ + virtual int init() = 0; + + /** + * Returns number of active redundancy channels. + */ + virtual unsigned get_num_redundant_channels() const = 0; + + /** + * Prints current status in a human readable format to stdout. + */ + virtual void print_status() const = 0; + + /** + * Sensor bridge factory. + * Creates a bridge object by its ASCII name, e.g. "gnss", "mag". + * @return nullptr if such bridge can't be created. + */ + static void make_all(uavcan::INode &node, List<IUavcanSensorBridge*> &list); +}; + +/** + * This is the base class for redundant sensors with an independent ORB topic per each redundancy channel. + * For example, sensor_mag0, sensor_mag1, etc. + */ +class UavcanCDevSensorBridgeBase : public IUavcanSensorBridge, public device::CDev +{ + struct Channel + { + int node_id = -1; + orb_id_t orb_id = nullptr; + orb_advert_t orb_advert = -1; + int class_instance = -1; + }; + + const unsigned _max_channels; + const char *const _class_devname; + orb_id_t *const _orb_topics; + Channel *const _channels; + bool _out_of_channels = false; + +protected: + template <unsigned MaxChannels> + UavcanCDevSensorBridgeBase(const char *name, const char *devname, const char *class_devname, + const orb_id_t (&orb_topics)[MaxChannels]) : + device::CDev(name, devname), + _max_channels(MaxChannels), + _class_devname(class_devname), + _orb_topics(new orb_id_t[MaxChannels]), + _channels(new Channel[MaxChannels]) + { + memcpy(_orb_topics, orb_topics, sizeof(orb_id_t) * MaxChannels); + _device_id.devid_s.bus_type = DeviceBusType_UAVCAN; + _device_id.devid_s.bus = 0; + } + + /** + * Sends one measurement into appropriate ORB topic. + * New redundancy channels will be registered automatically. + * @param node_id Sensor's Node ID + * @param report Pointer to ORB message object + */ + void publish(const int node_id, const void *report); + +public: + virtual ~UavcanCDevSensorBridgeBase(); + + unsigned get_num_redundant_channels() const override; + + void print_status() const override; +}; diff --git a/src/modules/uavcan/uavcan_clock.cpp b/src/modules/uavcan/uavcan_clock.cpp index e41d5f953..fe8ba406a 100644 --- a/src/modules/uavcan/uavcan_clock.cpp +++ b/src/modules/uavcan/uavcan_clock.cpp @@ -62,6 +62,8 @@ void adjustUtc(uavcan::UtcDuration adjustment) (void)adjustment; } +uavcan::uint64_t getUtcUSecFromCanInterrupt(); + uavcan::uint64_t getUtcUSecFromCanInterrupt() { return 0; diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp index 4535b6d6a..8147a8b89 100644 --- a/src/modules/uavcan/uavcan_main.cpp +++ b/src/modules/uavcan/uavcan_main.cpp @@ -38,8 +38,10 @@ #include <fcntl.h> #include <systemlib/err.h> #include <systemlib/systemlib.h> +#include <systemlib/param/param.h> #include <systemlib/mixer/mixer.h> #include <systemlib/board_serial.h> +#include <systemlib/scheduling_priorities.h> #include <version/version.h> #include <arch/board/board.h> #include <arch/chip/chip.h> @@ -65,16 +67,18 @@ UavcanNode *UavcanNode::_instance; UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &system_clock) : CDev("uavcan", UAVCAN_DEVICE_PATH), _node(can_driver, system_clock), - _esc_controller(_node), - _gnss_receiver(_node) + _node_mutex(), + _esc_controller(_node) { _control_topics[0] = ORB_ID(actuator_controls_0); _control_topics[1] = ORB_ID(actuator_controls_1); _control_topics[2] = ORB_ID(actuator_controls_2); _control_topics[3] = ORB_ID(actuator_controls_3); - // memset(_controls, 0, sizeof(_controls)); - // memset(_poll_fds, 0, sizeof(_poll_fds)); + const int res = pthread_mutex_init(&_node_mutex, nullptr); + if (res < 0) { + std::abort(); + } } UavcanNode::~UavcanNode() @@ -99,10 +103,18 @@ UavcanNode::~UavcanNode() } /* clean up the alternate device node */ - // unregister_driver(PWM_OUTPUT_DEVICE_PATH); + // unregister_driver(PWM_OUTPUT_DEVICE_PATH); ::close(_armed_sub); + // Removing the sensor bridges + auto br = _sensor_bridges.getHead(); + while (br != nullptr) { + auto next = br->getSibling(); + delete br; + br = next; + } + _instance = nullptr; } @@ -164,7 +176,7 @@ int UavcanNode::start(uavcan::NodeID node_id, uint32_t bitrate) * Start the task. Normally it should never exit. */ static auto run_trampoline = [](int, char *[]) {return UavcanNode::_instance->run();}; - _instance->_task = task_spawn_cmd("uavcan", SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT, StackSize, + _instance->_task = task_spawn_cmd("uavcan", SCHED_DEFAULT, SCHED_PRIORITY_ACTUATOR_OUTPUTS, StackSize, static_cast<main_t>(run_trampoline), nullptr); if (_instance->_task < 0) { @@ -214,11 +226,12 @@ int UavcanNode::init(uavcan::NodeID node_id) { int ret = -1; - /* do regular cdev init */ + // Do regular cdev init ret = CDev::init(); - if (ret != OK) + if (ret != OK) { return ret; + } _node.setName("org.pixhawk.pixhawk"); @@ -226,14 +239,24 @@ int UavcanNode::init(uavcan::NodeID node_id) fill_node_info(); - /* initializing the bridges UAVCAN <--> uORB */ + // Actuators ret = _esc_controller.init(); - if (ret < 0) + if (ret < 0) { return ret; + } - ret = _gnss_receiver.init(); - if (ret < 0) - return ret; + // Sensor bridges + IUavcanSensorBridge::make_all(_node, _sensor_bridges); + auto br = _sensor_bridges.getHead(); + while (br != nullptr) { + ret = br->init(); + if (ret < 0) { + warnx("cannot init sensor bridge '%s' (%d)", br->get_name(), ret); + return ret; + } + warnx("sensor bridge '%s' init ok", br->get_name()); + br = br->getSibling(); + } return _node.start(); } @@ -246,17 +269,38 @@ void UavcanNode::node_spin_once() } } +/* + add a fd to the list of polled events. This assumes you want + POLLIN for now. + */ +int UavcanNode::add_poll_fd(int fd) +{ + int ret = _poll_fds_num; + if (_poll_fds_num >= UAVCAN_NUM_POLL_FDS) { + errx(1, "uavcan: too many poll fds, exiting"); + } + _poll_fds[_poll_fds_num] = ::pollfd(); + _poll_fds[_poll_fds_num].fd = fd; + _poll_fds[_poll_fds_num].events = POLLIN; + _poll_fds_num += 1; + return ret; +} + + int UavcanNode::run() { + (void)pthread_mutex_lock(&_node_mutex); + const unsigned PollTimeoutMs = 50; // XXX figure out the output count _output_count = 2; _armed_sub = orb_subscribe(ORB_ID(actuator_armed)); + _test_motor_sub = orb_subscribe(ORB_ID(test_motor)); + _actuator_direct_sub = orb_subscribe(ORB_ID(actuator_direct)); - actuator_outputs_s outputs; - memset(&outputs, 0, sizeof(outputs)); + memset(&_outputs, 0, sizeof(_outputs)); const int busevent_fd = ::open(uavcan_stm32::BusEvent::DevName, 0); if (busevent_fd < 0) @@ -278,11 +322,15 @@ int UavcanNode::run() * the value returned from poll() to detect whether actuator control has timed out or not. * Instead, all ORB events need to be checked individually (see below). */ - _poll_fds_num = 0; - _poll_fds[_poll_fds_num] = ::pollfd(); - _poll_fds[_poll_fds_num].fd = busevent_fd; - _poll_fds[_poll_fds_num].events = POLLIN; - _poll_fds_num += 1; + add_poll_fd(busevent_fd); + + /* + * setup poll to look for actuator direct input if we are + * subscribed to the topic + */ + if (_actuator_direct_sub != -1) { + _actuator_direct_poll_fd_num = add_poll_fd(_actuator_direct_sub); + } while (!_task_should_exit) { // update actuator controls subscriptions if needed @@ -291,10 +339,17 @@ int UavcanNode::run() _groups_subscribed = _groups_required; } + // Mutex is unlocked while the thread is blocked on IO multiplexing + (void)pthread_mutex_unlock(&_node_mutex); + const int poll_ret = ::poll(_poll_fds, _poll_fds_num, PollTimeoutMs); + (void)pthread_mutex_lock(&_node_mutex); + node_spin_once(); // Non-blocking + bool new_output = false; + // this would be bad... if (poll_ret < 0) { log("poll error %d", errno); @@ -302,68 +357,102 @@ int UavcanNode::run() } else { // get controls for required topics bool controls_updated = false; - unsigned poll_id = 1; for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) { if (_control_subs[i] > 0) { - if (_poll_fds[poll_id].revents & POLLIN) { + if (_poll_fds[_poll_ids[i]].revents & POLLIN) { controls_updated = true; orb_copy(_control_topics[i], _control_subs[i], &_controls[i]); } - poll_id++; } } + /* + see if we have any direct actuator updates + */ + if (_actuator_direct_sub != -1 && + (_poll_fds[_actuator_direct_poll_fd_num].revents & POLLIN) && + orb_copy(ORB_ID(actuator_direct), _actuator_direct_sub, &_actuator_direct) == OK && + !_test_in_progress) { + if (_actuator_direct.nvalues > NUM_ACTUATOR_OUTPUTS) { + _actuator_direct.nvalues = NUM_ACTUATOR_OUTPUTS; + } + memcpy(&_outputs.output[0], &_actuator_direct.values[0], + _actuator_direct.nvalues*sizeof(float)); + _outputs.noutputs = _actuator_direct.nvalues; + new_output = true; + } + // can we mix? - if (controls_updated && (_mixers != nullptr)) { + if (_test_in_progress) { + memset(&_outputs, 0, sizeof(_outputs)); + if (_test_motor.motor_number < NUM_ACTUATOR_OUTPUTS) { + _outputs.output[_test_motor.motor_number] = _test_motor.value*2.0f-1.0f; + _outputs.noutputs = _test_motor.motor_number+1; + } + new_output = true; + } else if (controls_updated && (_mixers != nullptr)) { // XXX one output group has 8 outputs max, // but this driver could well serve multiple groups. unsigned num_outputs_max = 8; // Do mixing - outputs.noutputs = _mixers->mix(&outputs.output[0], num_outputs_max); - outputs.timestamp = hrt_absolute_time(); - - // iterate actuators - for (unsigned i = 0; i < outputs.noutputs; i++) { - // last resort: catch NaN, INF and out-of-band errors - if (!isfinite(outputs.output[i])) { - /* - * Value is NaN, INF or out of band - set to the minimum value. - * This will be clearly visible on the servo status and will limit the risk of accidentally - * spinning motors. It would be deadly in flight. - */ - outputs.output[i] = -1.0f; - } + _outputs.noutputs = _mixers->mix(&_outputs.output[0], num_outputs_max); - // limit outputs to valid range + new_output = true; + } + } - // never go below min - if (outputs.output[i] < -1.0f) { - outputs.output[i] = -1.0f; - } + if (new_output) { + // iterate actuators, checking for valid values + for (uint8_t i = 0; i < _outputs.noutputs; i++) { + // last resort: catch NaN, INF and out-of-band errors + if (!isfinite(_outputs.output[i])) { + /* + * Value is NaN, INF or out of band - set to the minimum value. + * This will be clearly visible on the servo status and will limit the risk of accidentally + * spinning motors. It would be deadly in flight. + */ + _outputs.output[i] = -1.0f; + } - // never go below max - if (outputs.output[i] > 1.0f) { - outputs.output[i] = 1.0f; - } + // never go below min + if (_outputs.output[i] < -1.0f) { + _outputs.output[i] = -1.0f; } - // Output to the bus - _esc_controller.update_outputs(outputs.output, outputs.noutputs); + // never go above max + if (_outputs.output[i] > 1.0f) { + _outputs.output[i] = 1.0f; + } } + // Output to the bus + _outputs.timestamp = hrt_absolute_time(); + _esc_controller.update_outputs(_outputs.output, _outputs.noutputs); + } + + + // Check motor test state + bool updated = false; + orb_check(_test_motor_sub, &updated); + if (updated) { + orb_copy(ORB_ID(test_motor), _test_motor_sub, &_test_motor); + + // Update the test status and check that we're not locked down + _test_in_progress = (_test_motor.value > 0); + _esc_controller.arm_single_esc(_test_motor.motor_number, _test_in_progress); } // Check arming state - bool updated = false; orb_check(_armed_sub, &updated); if (updated) { orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed); - // Update the armed status and check that we're not locked down - bool set_armed = _armed.armed && !_armed.lockdown; + // Update the armed status and check that we're not locked down and motor + // test is not running + bool set_armed = _armed.armed && !_armed.lockdown && !_test_in_progress; arm_actuators(set_armed); } @@ -376,10 +465,7 @@ int UavcanNode::run() } int -UavcanNode::control_callback(uintptr_t handle, - uint8_t control_group, - uint8_t control_index, - float &input) +UavcanNode::control_callback(uintptr_t handle, uint8_t control_group, uint8_t control_index, float &input) { const actuator_controls_s *controls = (actuator_controls_s *)handle; @@ -403,7 +489,7 @@ int UavcanNode::arm_actuators(bool arm) { _is_armed = arm; - _esc_controller.arm_esc(arm); + _esc_controller.arm_all_escs(arm); return OK; } @@ -414,7 +500,6 @@ UavcanNode::subscribe() uint32_t sub_groups = _groups_required & ~_groups_subscribed; uint32_t unsub_groups = _groups_subscribed & ~_groups_required; // the first fd used by CAN - _poll_fds_num = 1; for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) { if (sub_groups & (1 << i)) { warnx("subscribe to actuator_controls_%d", i); @@ -427,9 +512,7 @@ UavcanNode::subscribe() } if (_control_subs[i] > 0) { - _poll_fds[_poll_fds_num].fd = _control_subs[i]; - _poll_fds[_poll_fds_num].events = POLLIN; - _poll_fds_num++; + _poll_ids[i] = add_poll_fd(_control_subs[i]); } } } @@ -520,8 +603,31 @@ UavcanNode::print_info() warnx("not running, start first"); } - warnx("actuators control groups: sub: %u / req: %u / fds: %u", (unsigned)_groups_subscribed, (unsigned)_groups_required, _poll_fds_num); - warnx("mixer: %s", (_mixers == nullptr) ? "NONE" : "OK"); + (void)pthread_mutex_lock(&_node_mutex); + + // ESC mixer status + printf("ESC actuators control groups: sub: %u / req: %u / fds: %u\n", + (unsigned)_groups_subscribed, (unsigned)_groups_required, _poll_fds_num); + printf("ESC mixer: %s\n", (_mixers == nullptr) ? "NONE" : "OK"); + + if (_outputs.noutputs != 0) { + printf("ESC output: "); + for (uint8_t i=0; i<_outputs.noutputs; i++) { + printf("%d ", (int)(_outputs.output[i]*1000)); + } + printf("\n"); + } + + // Sensor bridges + auto br = _sensor_bridges.getHead(); + while (br != nullptr) { + printf("Sensor '%s':\n", br->get_name()); + br->print_status(); + printf("\n"); + br = br->getSibling(); + } + + (void)pthread_mutex_unlock(&_node_mutex); } /* @@ -529,79 +635,67 @@ UavcanNode::print_info() */ static void print_usage() { - warnx("usage: uavcan start <node_id> [can_bitrate]"); + warnx("usage: \n" + "\tuavcan {start|status|stop|arm|disarm}"); } extern "C" __EXPORT int uavcan_main(int argc, char *argv[]); int uavcan_main(int argc, char *argv[]) { - constexpr unsigned DEFAULT_CAN_BITRATE = 1000000; - if (argc < 2) { print_usage(); ::exit(1); } if (!std::strcmp(argv[1], "start")) { - if (argc < 3) { - print_usage(); - ::exit(1); + if (UavcanNode::instance()) { + errx(1, "already started"); } - /* - * Node ID - */ - const int node_id = atoi(argv[2]); + // Node ID + int32_t node_id = 0; + (void)param_get(param_find("UAVCAN_NODE_ID"), &node_id); if (node_id < 0 || node_id > uavcan::NodeID::Max || !uavcan::NodeID(node_id).isUnicast()) { warnx("Invalid Node ID %i", node_id); ::exit(1); } - /* - * CAN bitrate - */ - unsigned bitrate = 0; - - if (argc > 3) { - bitrate = atol(argv[3]); - } - - if (bitrate <= 0) { - bitrate = DEFAULT_CAN_BITRATE; - } - - if (UavcanNode::instance()) { - errx(1, "already started"); - } + // CAN bitrate + int32_t bitrate = 0; + (void)param_get(param_find("UAVCAN_BITRATE"), &bitrate); - /* - * Start - */ + // Start warnx("Node ID %u, bitrate %u", node_id, bitrate); return UavcanNode::start(node_id, bitrate); - } /* commands below require the app to be started */ - UavcanNode *inst = UavcanNode::instance(); + UavcanNode *const inst = UavcanNode::instance(); if (!inst) { errx(1, "application not running"); } if (!std::strcmp(argv[1], "status") || !std::strcmp(argv[1], "info")) { - - inst->print_info(); - return OK; + inst->print_info(); + ::exit(0); + } + + if (!std::strcmp(argv[1], "arm")) { + inst->arm_actuators(true); + ::exit(0); + } + + if (!std::strcmp(argv[1], "disarm")) { + inst->arm_actuators(false); + ::exit(0); } if (!std::strcmp(argv[1], "stop")) { - - delete inst; - inst = nullptr; - return OK; + delete inst; + ::exit(0); } print_usage(); diff --git a/src/modules/uavcan/uavcan_main.hpp b/src/modules/uavcan/uavcan_main.hpp index 05b66fd7b..98f2e5ad4 100644 --- a/src/modules/uavcan/uavcan_main.hpp +++ b/src/modules/uavcan/uavcan_main.hpp @@ -41,9 +41,11 @@ #include <uORB/topics/actuator_controls.h> #include <uORB/topics/actuator_outputs.h> #include <uORB/topics/actuator_armed.h> +#include <uORB/topics/test_motor.h> +#include <uORB/topics/actuator_direct.h> -#include "esc_controller.hpp" -#include "gnss_receiver.hpp" +#include "actuators/esc.hpp" +#include "sensors/sensor_bridge.hpp" /** * @file uavcan_main.hpp @@ -56,6 +58,9 @@ #define NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN 4 #define UAVCAN_DEVICE_PATH "/dev/uavcan/esc" +// we add two to allow for actuator_direct and busevent +#define UAVCAN_NUM_POLL_FDS (NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN+2) + /** * A UAVCAN node. */ @@ -77,12 +82,10 @@ public: static int start(uavcan::NodeID node_id, uint32_t bitrate); - Node& getNode() { return _node; } + Node& get_node() { return _node; } - static int control_callback(uintptr_t handle, - uint8_t control_group, - uint8_t control_index, - float &input); + // TODO: move the actuator mixing stuff into the ESC controller class + static int control_callback(uintptr_t handle, uint8_t control_group, uint8_t control_index, float &input); void subscribe(); @@ -98,6 +101,8 @@ private: int init(uavcan::NodeID node_id); void node_spin_once(); int run(); + int add_poll_fd(int fd); ///< add a fd to poll list, returning index into _poll_fds[] + int _task = -1; ///< handle to the OS task bool _task_should_exit = false; ///< flag to indicate to tear down the CAN driver @@ -105,12 +110,19 @@ private: actuator_armed_s _armed; ///< the arming request of the system bool _is_armed = false; ///< the arming status of the actuators on the bus + int _test_motor_sub = -1; ///< uORB subscription of the test_motor status + test_motor_s _test_motor; + bool _test_in_progress = false; + unsigned _output_count = 0; ///< number of actuators currently available static UavcanNode *_instance; ///< singleton pointer Node _node; ///< library instance + pthread_mutex_t _node_mutex; + UavcanEscController _esc_controller; - UavcanGnssReceiver _gnss_receiver; + + List<IUavcanSensorBridge*> _sensor_bridges; ///< List of active sensor bridges MixerGroup *_mixers = nullptr; @@ -119,6 +131,15 @@ private: int _control_subs[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN] = {}; actuator_controls_s _controls[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN] = {}; orb_id_t _control_topics[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN] = {}; - pollfd _poll_fds[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN + 1] = {}; ///< +1 for /dev/uavcan/busevent + pollfd _poll_fds[UAVCAN_NUM_POLL_FDS] = {}; unsigned _poll_fds_num = 0; + + int _actuator_direct_sub = -1; ///< uORB subscription of the actuator_direct topic + uint8_t _actuator_direct_poll_fd_num; + actuator_direct_s _actuator_direct; + + actuator_outputs_s _outputs; + + // index into _poll_fds for each _control_subs handle + uint8_t _poll_ids[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN]; }; diff --git a/src/modules/uavcan/uavcan_params.c b/src/modules/uavcan/uavcan_params.c new file mode 100644 index 000000000..e6ea8a8fb --- /dev/null +++ b/src/modules/uavcan/uavcan_params.c @@ -0,0 +1,73 @@ +/**************************************************************************** + * + * 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. + * + ****************************************************************************/ + +/** + * @author Pavel Kirienko <pavel.kirienko@gmail.com> + */ + +#include <nuttx/config.h> +#include <systemlib/param/param.h> + +/** + * Enable UAVCAN. + * + * Enables support for UAVCAN-interfaced actuators and sensors. + * + * @min 0 + * @max 1 + * @group UAVCAN + */ +PARAM_DEFINE_INT32(UAVCAN_ENABLE, 0); + +/** + * UAVCAN Node ID. + * + * Read the specs at http://uavcan.org to learn more about Node ID. + * + * @min 1 + * @max 125 + * @group UAVCAN + */ +PARAM_DEFINE_INT32(UAVCAN_NODE_ID, 1); + +/** + * UAVCAN CAN bus bitrate. + * + * @min 20000 + * @max 1000000 + * @group UAVCAN + */ +PARAM_DEFINE_INT32(UAVCAN_BITRATE, 1000000); + + + diff --git a/src/modules/unit_test/unit_test.cpp b/src/modules/unit_test/unit_test.cpp index 02d1af481..b7568ce3a 100644 --- a/src/modules/unit_test/unit_test.cpp +++ b/src/modules/unit_test/unit_test.cpp @@ -36,7 +36,11 @@ #include <systemlib/err.h> -UnitTest::UnitTest() +UnitTest::UnitTest() : + _tests_run(0), + _tests_failed(0), + _tests_passed(0), + _assertions(0) { } @@ -44,15 +48,22 @@ UnitTest::~UnitTest() { } -void UnitTest::printResults(void) +void UnitTest::print_results(void) { - warnx(mu_tests_failed() ? "SOME TESTS FAILED" : "ALL TESTS PASSED"); - warnx(" Tests passed : %d", mu_tests_passed()); - warnx(" Tests failed : %d", mu_tests_failed()); - warnx(" Assertions : %d", mu_assertion()); + warnx(_tests_failed ? "SOME TESTS FAILED" : "ALL TESTS PASSED"); + warnx(" Tests passed : %d", _tests_passed); + warnx(" Tests failed : %d", _tests_failed); + warnx(" Assertions : %d", _assertions); } -void UnitTest::printAssert(const char* msg, const char* test, const char* file, int line) +/// @brief Used internally to the ut_assert macro to print assert failures. +void UnitTest::_print_assert(const char* msg, const char* test, const char* file, int line) { - warnx("Assertion failed: %s - %s (%s:%d)", msg, test, file, line); + warnx("Assertion failed: %s - %s (%s:%d)", msg, test, file, line); +} + +/// @brief Used internally to the ut_compare macro to print assert failures. +void UnitTest::_print_compare(const char* msg, const char *v1_text, int v1, const char *v2_text, int v2, const char* file, int line) +{ + warnx("Compare failed: %s - (%s:%d) (%s:%d) (%s:%d)", msg, v1_text, v1, v2_text, v2, file, line); } diff --git a/src/modules/unit_test/unit_test.h b/src/modules/unit_test/unit_test.h index 32eb8c308..8ed4efadf 100644 --- a/src/modules/unit_test/unit_test.h +++ b/src/modules/unit_test/unit_test.h @@ -37,50 +37,85 @@ #include <systemlib/err.h> +/// @brief Base class to be used for unit tests. class __EXPORT UnitTest { - public: -#define INLINE_GLOBAL(type,func) inline type& func() { static type x; return x; } - -INLINE_GLOBAL(int, mu_tests_run) -INLINE_GLOBAL(int, mu_tests_failed) -INLINE_GLOBAL(int, mu_tests_passed) -INLINE_GLOBAL(int, mu_assertion) -INLINE_GLOBAL(int, mu_line) -INLINE_GLOBAL(const char*, mu_last_test) UnitTest(); - virtual ~UnitTest(); - - virtual void runTests(void) = 0; - void printResults(void); - - void printAssert(const char* msg, const char* test, const char* file, int line); - -#define ut_assert(message, test) \ - do { \ - if (!(test)) { \ - printAssert(message, #test, __FILE__, __LINE__); \ - return false; \ - } else { \ - mu_assertion()++; \ - } \ - } while (0) - -#define ut_run_test(test) \ - do { \ - warnx("RUNNING TEST: %s", #test); \ - mu_tests_run()++; \ - if (!test()) { \ - warnx("TEST FAILED: %s", #test); \ - mu_tests_failed()++; \ - } else { \ - warnx("TEST PASSED: %s", #test); \ - mu_tests_passed()++; \ - } \ - } while (0) + virtual ~UnitTest(); + + /// @brief Override to run your unit tests. Unit tests should be called using ut_run_test macro. + /// @return true: all unit tests succeeded, false: one or more unit tests failed + virtual bool run_tests(void) = 0; + + /// @brief Prints results from running of unit tests. + void print_results(void); + +/// @brief Macro to create a function which will run a unit test class and print results. +#define ut_declare_test(test_function, test_class) \ + bool test_function(void) \ + { \ + test_class* test = new test_class(); \ + bool success = test->run_tests(); \ + test->print_results(); \ + return success; \ + } + +protected: + +/// @brief Runs a single unit test. Unit tests must have the function signature of bool test(void). The unit +/// test should return true if it succeeded, false for fail. +#define ut_run_test(test) \ + do { \ + warnx("RUNNING TEST: %s", #test); \ + _tests_run++; \ + _init(); \ + if (!test()) { \ + warnx("TEST FAILED: %s", #test); \ + _tests_failed++; \ + } else { \ + warnx("TEST PASSED: %s", #test); \ + _tests_passed++; \ + } \ + _cleanup(); \ + } while (0) + +/// @brief Used to assert a value within a unit test. +#define ut_assert(message, test) \ + do { \ + if (!(test)) { \ + _print_assert(message, #test, __FILE__, __LINE__); \ + return false; \ + } else { \ + _assertions++; \ + } \ + } while (0) + +/// @brief Used to compare two integer values within a unit test. If possible use ut_compare instead of ut_assert +/// since it will give you better error reporting of the actual values being compared. +#define ut_compare(message, v1, v2) \ + do { \ + int _v1 = v1; \ + int _v2 = v2; \ + if (_v1 != _v2) { \ + _print_compare(message, #v1, _v1, #v2, _v2, __FILE__, __LINE__); \ + return false; \ + } else { \ + _assertions++; \ + } \ + } while (0) + + virtual void _init(void) { }; ///< Run before each unit test. Override to provide custom behavior. + virtual void _cleanup(void) { }; ///< Run after each unit test. Override to provide custom behavior. + + void _print_assert(const char* msg, const char* test, const char* file, int line); + void _print_compare(const char* msg, const char *v1_text, int v1, const char *v2_text, int v2, const char* file, int line); + int _tests_run; ///< The number of individual unit tests run + int _tests_failed; ///< The number of unit tests which failed + int _tests_passed; ///< The number of unit tests which passed + int _assertions; ///< Total number of assertions tested by all unit tests }; #endif /* UNIT_TEST_H_ */ diff --git a/src/systemcmds/motor_test/module.mk b/src/systemcmds/motor_test/module.mk new file mode 100644 index 000000000..261428ef9 --- /dev/null +++ b/src/systemcmds/motor_test/module.mk @@ -0,0 +1,43 @@ +############################################################################ +# +# Copyright (c) 2014 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Build the motor_test tool. +# + +MODULE_COMMAND = motor_test +SRCS = motor_test.c + +MODULE_STACKSIZE = 4096 + +MAXOPTIMIZATION = -Os diff --git a/src/systemcmds/motor_test/motor_test.c b/src/systemcmds/motor_test/motor_test.c new file mode 100644 index 000000000..77dc2f0d5 --- /dev/null +++ b/src/systemcmds/motor_test/motor_test.c @@ -0,0 +1,132 @@ +/**************************************************************************** + * + * Copyright (C) 2014 PX4 Development Team. All rights reserved. + * Author: Holger Steinhaus <hsteinhaus@gmx.de> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file motor_test.c + * + * Tool for drive testing + */ + +#include <nuttx/config.h> + +#include <stdio.h> +#include <stdlib.h> +#include <string.h> +#include <unistd.h> + +#include <arch/board/board.h> +#include <drivers/drv_hrt.h> +#include <uORB/topics/test_motor.h> + + +#include "systemlib/systemlib.h" +#include "systemlib/err.h" + + +__EXPORT int motor_test_main(int argc, char *argv[]); + +static void motor_test(unsigned channel, float value); +static void usage(const char *reason); + +static orb_advert_t _test_motor_pub; + +void motor_test(unsigned channel, float value) +{ + struct test_motor_s _test_motor; + + _test_motor.motor_number = channel; + _test_motor.timestamp = hrt_absolute_time(); + _test_motor.value = value; + + if (_test_motor_pub > 0) { + /* publish test state */ + orb_publish(ORB_ID(test_motor), _test_motor_pub, &_test_motor); + } else { + /* advertise and publish */ + _test_motor_pub = orb_advertise(ORB_ID(test_motor), &_test_motor); + } +} + +static void usage(const char *reason) +{ + if (reason != NULL) { + warnx("%s", reason); + } + + errx(1, + "usage:\n" + "motor_test\n" + " -m <channel> Motor to test (0..7)\n" + " -p <power> Power (0..100)\n"); +} + +int motor_test_main(int argc, char *argv[]) +{ + unsigned long channel = 0; + unsigned long lval; + float value = 0.0f; + int ch; + + if (argc != 5) { + usage("please specify motor and power"); + } + + while ((ch = getopt(argc, argv, "m:p:")) != EOF) { + switch (ch) { + + case 'm': + /* Read in motor number */ + channel = strtoul(optarg, NULL, 0); + break; + + case 'p': + /* Read in power value */ + lval = strtoul(optarg, NULL, 0); + + if (lval > 100) + usage("value invalid"); + + value = ((float)lval)/100.f; + break; + default: + usage(NULL); + } + } + + motor_test(channel, value); + + printf("motor %d set to %.2f\n", channel, (double)value); + + exit(0); +} diff --git a/src/systemcmds/mtd/24xxxx_mtd.c b/src/systemcmds/mtd/24xxxx_mtd.c index 991363797..f85ed8e2d 100644 --- a/src/systemcmds/mtd/24xxxx_mtd.c +++ b/src/systemcmds/mtd/24xxxx_mtd.c @@ -80,11 +80,17 @@ /* As a minimum, the size of the AT24 part and its 7-bit I2C address are required. */ #ifndef CONFIG_AT24XX_SIZE -# warning "Assuming AT24 size 64" +/* XXX this is a well vetted special case, + * do not issue a warning any more + * # warning "Assuming AT24 size 64" + */ # define CONFIG_AT24XX_SIZE 64 #endif #ifndef CONFIG_AT24XX_ADDR -# warning "Assuming AT24 address of 0x50" +/* XXX this is a well vetted special case, + * do not issue a warning any more + * # warning "Assuming AT24 address of 0x50" + */ # define CONFIG_AT24XX_ADDR 0x50 #endif @@ -115,7 +121,10 @@ */ #ifndef CONFIG_AT24XX_MTD_BLOCKSIZE -# warning "Assuming driver block size is the same as the FLASH page size" +/* XXX this is a well vetted special case, + * do not issue a warning any more + * # warning "Assuming driver block size is the same as the FLASH page size" + */ # define CONFIG_AT24XX_MTD_BLOCKSIZE AT24XX_PAGESIZE #endif diff --git a/src/systemcmds/nshterm/module.mk b/src/systemcmds/nshterm/module.mk index 7d2c59f91..a12bc369e 100644 --- a/src/systemcmds/nshterm/module.mk +++ b/src/systemcmds/nshterm/module.mk @@ -38,6 +38,8 @@ MODULE_COMMAND = nshterm SRCS = nshterm.c -MODULE_STACKSIZE = 1400 +MODULE_STACKSIZE = 1600 MAXOPTIMIZATION = -Os + +MODULE_PRIORITY = "SCHED_PRIORITY_DEFAULT-30" diff --git a/src/systemcmds/nshterm/nshterm.c b/src/systemcmds/nshterm/nshterm.c index fca1798e6..edeb5c624 100644 --- a/src/systemcmds/nshterm/nshterm.c +++ b/src/systemcmds/nshterm/nshterm.c @@ -51,6 +51,8 @@ #include <fcntl.h> #include <systemlib/err.h> +#include <uORB/topics/actuator_armed.h> + __EXPORT int nshterm_main(int argc, char *argv[]); int @@ -62,9 +64,30 @@ nshterm_main(int argc, char *argv[]) } unsigned retries = 0; int fd = -1; + int armed_fd = orb_subscribe(ORB_ID(actuator_armed)); + struct actuator_armed_s armed; + /* we assume the system does not provide arming status feedback */ + bool armed_updated = false; + + /* try the first 30 seconds or if arming system is ready */ + while ((retries < 300) || armed_updated) { + + /* abort if an arming topic is published and system is armed */ + bool updated = false; + if (orb_check(armed_fd, &updated)) { + /* the system is now providing arming status feedback. + * instead of timing out, we resort to abort bringing + * up the terminal. + */ + armed_updated = true; + orb_copy(ORB_ID(actuator_armed), armed_fd, &armed); + + if (armed.armed) { + /* this is not an error, but we are done */ + exit(0); + } + } - /* try the first 30 seconds */ - while (retries < 300) { /* the retries are to cope with the behaviour of /dev/ttyACM0 */ /* which may not be ready immediately. */ fd = open(argv[1], O_RDWR); @@ -87,7 +110,7 @@ nshterm_main(int argc, char *argv[]) /* Back up the original uart configuration to restore it after exit */ if ((termios_state = tcgetattr(fd, &uart_config)) < 0) { - warnx("ERROR get termios config %s: %d\n", argv[1], termios_state); + warnx("ERR get config %s: %d\n", argv[1], termios_state); close(fd); return -1; } @@ -96,7 +119,7 @@ nshterm_main(int argc, char *argv[]) uart_config.c_oflag |= (ONLCR | OPOST/* | OCRNL*/); if ((termios_state = tcsetattr(fd, TCSANOW, &uart_config)) < 0) { - warnx("ERROR setting baudrate / termios config for %s (tcsetattr)\n", argv[1]); + warnx("ERR set config %s\n", argv[1]); close(fd); return -1; } diff --git a/src/systemcmds/pwm/pwm.c b/src/systemcmds/pwm/pwm.c index c8d698b86..eeba89fa8 100644 --- a/src/systemcmds/pwm/pwm.c +++ b/src/systemcmds/pwm/pwm.c @@ -74,34 +74,34 @@ usage(const char *reason) "usage:\n" "pwm arm|disarm|rate|failsafe|disarmed|min|max|test|info ...\n" "\n" - " arm Arm output\n" - " disarm Disarm output\n" + "arm\t\t\t\tArm output\n" + "disarm\t\t\t\tDisarm output\n" "\n" - " rate ... Configure PWM rates\n" - " [-g <channel group>] Channel group that should update at the alternate rate\n" - " [-m <chanmask> ] Directly supply channel mask\n" - " [-a] Configure all outputs\n" - " -r <alt_rate> PWM rate (50 to 400 Hz)\n" + "rate ...\t\t\tConfigure PWM rates\n" + "\t[-g <channel group>]\t(e.g. 0,1,2)\n" + "\t[-m <channel mask> ]\t(e.g. 0xF)\n" + "\t[-a]\t\t\tConfigure all outputs\n" + "\t-r <alt_rate>\t\tPWM rate (50 to 400 Hz)\n" "\n" - " failsafe ... Configure failsafe PWM values\n" - " disarmed ... Configure disarmed PWM values\n" - " min ... Configure minimum PWM values\n" - " max ... Configure maximum PWM values\n" - " [-c <channels>] Supply channels (e.g. 1234)\n" - " [-m <chanmask> ] Directly supply channel mask (e.g. 0xF)\n" - " [-a] Configure all outputs\n" - " -p <pwm value> PWM value\n" + "failsafe ...\t\t\tFailsafe PWM\n" + "disarmed ...\t\t\tDisarmed PWM\n" + "min ...\t\t\t\tMinimum PWM\n" + "max ...\t\t\t\tMaximum PWM\n" + "\t[-c <channels>]\t\t(e.g. 1234)\n" + "\t[-m <channel mask> ]\t(e.g. 0xF)\n" + "\t[-a]\t\t\tConfigure all outputs\n" + "\t-p <pwm value>\t\tPWM value\n" "\n" - " test ... Directly set PWM values\n" - " [-c <channels>] Supply channels (e.g. 1234)\n" - " [-m <chanmask> ] Directly supply channel mask (e.g. 0xF)\n" - " [-a] Configure all outputs\n" - " -p <pwm value> PWM value\n" + "test ...\t\t\tDirectly set PWM\n" + "\t[-c <channels>]\t\t(e.g. 1234)\n" + "\t[-m <channel mask> ]\t(e.g. 0xF)\n" + "\t[-a]\t\t\tConfigure all outputs\n" + "\t-p <pwm value>\t\tPWM value\n" "\n" - " info Print information about the PWM device\n" + "info\t\t\t\tPrint information\n" "\n" - " -v Print verbose information\n" - " -d <device> PWM output device (defaults to " PWM_OUTPUT_DEVICE_PATH ")\n" + "\t-v\t\t\tVerbose\n" + "\t-d <dev>\t\t(default " PWM_OUTPUT_DEVICE_PATH ")\n" ); } @@ -123,7 +123,7 @@ pwm_main(int argc, char *argv[]) unsigned single_ch = 0; unsigned pwm_value = 0; - if (argc < 1) + if (argc < 2) usage(NULL); while ((ch = getopt(argc-1, &argv[1], "d:vc:g:m:ap:r:")) != EOF) { @@ -165,7 +165,7 @@ pwm_main(int argc, char *argv[]) /* Read in mask directly */ set_mask = strtoul(optarg, &ep, 0); if (*ep != '\0') - usage("bad set_mask value"); + usage("BAD set_mask VAL"); break; case 'a': @@ -176,12 +176,12 @@ pwm_main(int argc, char *argv[]) case 'p': pwm_value = strtoul(optarg, &ep, 0); if (*ep != '\0') - usage("bad PWM value provided"); + usage("BAD PWM VAL"); break; case 'r': alt_rate = strtoul(optarg, &ep, 0); if (*ep != '\0') - usage("bad alternative rate provided"); + usage("BAD rate VAL"); break; default: break; @@ -189,7 +189,7 @@ pwm_main(int argc, char *argv[]) } if (print_verbose && set_mask > 0) { - warnx("Chose channels: "); + warnx("Channels: "); printf(" "); for (unsigned i = 0; i<PWM_OUTPUT_MAX_CHANNELS; i++) { if (set_mask & 1<<i) @@ -364,7 +364,7 @@ pwm_main(int argc, char *argv[]) usage("no channels set"); } if (pwm_value == 0) - usage("no PWM value provided"); + usage("no PWM provided"); struct pwm_output_values pwm_values = {.values = {0}, .channel_count = 0}; @@ -383,7 +383,7 @@ pwm_main(int argc, char *argv[]) ret = ioctl(fd, PWM_SERVO_SET_FAILSAFE_PWM, (long unsigned int)&pwm_values); if (ret != OK) - errx(ret, "failed setting failsafe values"); + errx(ret, "BAD input VAL"); } exit(0); @@ -393,7 +393,7 @@ pwm_main(int argc, char *argv[]) usage("no channels set"); } if (pwm_value == 0) - usage("no PWM value provided"); + usage("no PWM provided"); /* get current servo values */ struct pwm_output_values last_spos; @@ -487,7 +487,7 @@ pwm_main(int argc, char *argv[]) steps_timing_index < sizeof(steps_timings_us) / sizeof(steps_timings_us[0]); steps_timing_index++ ) { - warnx("Sending step input with 0 to 100%% over a %u microseconds ramp", steps_timings_us[steps_timing_index]); + warnx("Step input (0 to 100%%) over %u us ramp", steps_timings_us[steps_timing_index]); while (1) { for (unsigned i = 0; i < servo_count; i++) { @@ -526,7 +526,7 @@ pwm_main(int argc, char *argv[]) err(1, "PWM_SERVO_SET(%d)", i); } } - warnx("Key pressed, user abort\n"); + warnx("User abort\n"); exit(0); } } @@ -654,9 +654,28 @@ pwm_main(int argc, char *argv[]) } } exit(0); + } else if (!strcmp(argv[1], "terminatefail")) { + + if (argc < 3) { + errx(1, "arg missing [on|off]"); + } else { + + if (!strcmp(argv[2], "on")) { + /* force failsafe */ + ret = ioctl(fd, PWM_SERVO_SET_TERMINATION_FAILSAFE, 1); + } else { + /* force failsafe */ + ret = ioctl(fd, PWM_SERVO_SET_TERMINATION_FAILSAFE, 0); + } + + if (ret != OK) { + warnx("FAILED setting termination failsafe %s", argv[2]); + } + } + exit(0); } - usage("specify arm|disarm|rate|failsafe|disarmed|min|max|test|info|forcefail"); + usage(NULL); return 0; } diff --git a/src/systemcmds/reflect/module.mk b/src/systemcmds/reflect/module.mk new file mode 100644 index 000000000..973eb775d --- /dev/null +++ b/src/systemcmds/reflect/module.mk @@ -0,0 +1,41 @@ +############################################################################ +# +# Copyright (c) 2014 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Dump file utility +# + +MODULE_COMMAND = reflect +SRCS = reflect.c + +MAXOPTIMIZATION = -Os diff --git a/src/systemcmds/reflect/reflect.c b/src/systemcmds/reflect/reflect.c new file mode 100644 index 000000000..6bb53c71a --- /dev/null +++ b/src/systemcmds/reflect/reflect.c @@ -0,0 +1,111 @@ +/**************************************************************************** + * + * Copyright (c) 2014 Andrew Tridgell. 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 reflect.c + * + * simple data reflector for load testing terminals (especially USB) + * + * @author Andrew Tridgell + */ + +#include <nuttx/config.h> +#include <unistd.h> +#include <stdio.h> +#include <string.h> +#include <stdlib.h> +#include <stdbool.h> +#include <assert.h> +#include <systemlib/err.h> + +__EXPORT int reflect_main(int argc, char *argv[]); + +// memory corruption checking +#define MAX_BLOCKS 1000 +static uint32_t nblocks; +struct block { + uint32_t v[256]; +}; +static struct block *blocks[MAX_BLOCKS]; + +#define VALUE(i) ((i*7) ^ 0xDEADBEEF) + +static void allocate_blocks(void) +{ + while (nblocks < MAX_BLOCKS) { + blocks[nblocks] = calloc(1, sizeof(struct block)); + if (blocks[nblocks] == NULL) { + break; + } + for (uint32_t i=0; i<sizeof(blocks[nblocks]->v)/sizeof(uint32_t); i++) { + blocks[nblocks]->v[i] = VALUE(i); + } + nblocks++; + } + printf("Allocated %u blocks\n", nblocks); +} + +static void check_blocks(void) +{ + for (uint32_t n=0; n<nblocks; n++) { + for (uint32_t i=0; i<sizeof(blocks[nblocks]->v)/sizeof(uint32_t); i++) { + assert(blocks[n]->v[i] == VALUE(i)); + } + } +} + +int +reflect_main(int argc, char *argv[]) +{ + uint32_t total = 0; + printf("Starting reflector\n"); + + allocate_blocks(); + + while (true) { + char buf[128]; + ssize_t n = read(0, buf, sizeof(buf)); + if (n < 0) { + break; + } + if (n > 0) { + write(1, buf, n); + } + total += n; + if (total > 1024000) { + check_blocks(); + total = 0; + } + } + return OK; +} diff --git a/src/systemcmds/tests/tests_main.c b/src/systemcmds/tests/tests_main.c index e3f26924f..0f56704e6 100644 --- a/src/systemcmds/tests/tests_main.c +++ b/src/systemcmds/tests/tests_main.c @@ -110,7 +110,9 @@ const struct { {"conv", test_conv, OPT_NOJIGTEST | OPT_NOALLTEST}, {"mount", test_mount, OPT_NOJIGTEST | OPT_NOALLTEST}, {"mtd", test_mtd, 0}, +#ifndef TESTS_MATHLIB_DISABLE {"mathlib", test_mathlib, 0}, +#endif {"help", test_help, OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST}, {NULL, NULL, 0} }; diff --git a/src/systemcmds/ver/ver.c b/src/systemcmds/ver/ver.c index 9ae080ee2..2ead3e632 100644 --- a/src/systemcmds/ver/ver.c +++ b/src/systemcmds/ver/ver.c @@ -44,14 +44,16 @@ #include <string.h> #include <version/version.h> #include <systemlib/err.h> +#include <systemlib/mcu_version.h> -// string constants for version commands +/* string constants for version commands */ static const char sz_ver_hw_str[] = "hw"; static const char sz_ver_hwcmp_str[] = "hwcmp"; static const char sz_ver_git_str[] = "git"; static const char sz_ver_bdate_str[] = "bdate"; static const char sz_ver_gcc_str[] = "gcc"; static const char sz_ver_all_str[] = "all"; +static const char mcu_ver_str[] = "mcu"; static void usage(const char *reason) { @@ -59,55 +61,87 @@ static void usage(const char *reason) printf("%s\n", reason); } - printf("usage: ver {hw|hwcmp|git|bdate|gcc|all}\n\n"); + printf("usage: ver {hw|hwcmp|git|bdate|gcc|all|mcu}\n\n"); } __EXPORT int ver_main(int argc, char *argv[]); int ver_main(int argc, char *argv[]) { - int ret = 1; //defaults to an error + /* defaults to an error */ + int ret = 1; - // first check if there are at least 2 params + /* first check if there are at least 2 params */ if (argc >= 2) { if (argv[1] != NULL) { - if (!strncmp(argv[1], sz_ver_hw_str, sizeof(sz_ver_hw_str))) { - printf("%s\n", HW_ARCH); - ret = 0; - } else if (!strncmp(argv[1], sz_ver_hwcmp_str, sizeof(sz_ver_hwcmp_str))) { + if (!strncmp(argv[1], sz_ver_hwcmp_str, sizeof(sz_ver_hwcmp_str))) { if (argc >= 3 && argv[2] != NULL) { - // compare 3rd parameter with HW_ARCH string, in case of match, return 0 + /* compare 3rd parameter with HW_ARCH string, in case of match, return 0 */ ret = strncmp(HW_ARCH, argv[2], strlen(HW_ARCH)); if (ret == 0) { printf("ver hwcmp match: %s\n", HW_ARCH); } + return ret; } else { errx(1, "Not enough arguments, try 'ver hwcmp PX4FMU_V2'"); } + } - } else if (!strncmp(argv[1], sz_ver_git_str, sizeof(sz_ver_git_str))) { - printf("%s\n", FW_GIT); - ret = 0; + /* check if we want to show all */ + bool show_all = !strncmp(argv[1], sz_ver_all_str, sizeof(sz_ver_all_str)); - } else if (!strncmp(argv[1], sz_ver_bdate_str, sizeof(sz_ver_bdate_str))) { - printf("%s %s\n", __DATE__, __TIME__); + if (show_all || !strncmp(argv[1], sz_ver_hw_str, sizeof(sz_ver_hw_str))) { + printf("HW arch: %s\n", HW_ARCH); ret = 0; - } else if (!strncmp(argv[1], sz_ver_gcc_str, sizeof(sz_ver_gcc_str))) { - printf("%s\n", __VERSION__); + } + + if (show_all || !strncmp(argv[1], sz_ver_git_str, sizeof(sz_ver_git_str))) { + printf("FW git-hash: %s\n", FW_GIT); ret = 0; - } else if (!strncmp(argv[1], sz_ver_all_str, sizeof(sz_ver_all_str))) { - printf("HW arch: %s\n", HW_ARCH); + } + + if (show_all || !strncmp(argv[1], sz_ver_bdate_str, sizeof(sz_ver_bdate_str))) { printf("Build datetime: %s %s\n", __DATE__, __TIME__); - printf("FW git-hash: %s\n", FW_GIT); - printf("GCC toolchain: %s\n", __VERSION__); ret = 0; - } else { + } + + if (show_all || !strncmp(argv[1], sz_ver_gcc_str, sizeof(sz_ver_gcc_str))) { + printf("Toolchain: %s\n", __VERSION__); + ret = 0; + + } + + if (show_all || !strncmp(argv[1], mcu_ver_str, sizeof(mcu_ver_str))) { + + char rev; + char* revstr; + + int chip_version = mcu_version(&rev, &revstr); + + if (chip_version < 0) { + printf("UNKNOWN MCU\n"); + + } else { + printf("MCU: %s, rev. %c\n", revstr, rev); + + if (chip_version < MCU_REV_STM32F4_REV_3) { + printf("\nWARNING WARNING WARNING!\n" + "Revision %c has a silicon errata\n" + "This device can only utilize a maximum of 1MB flash safely!\n" + "http://px4.io/help/errata\n\n", rev); + } + } + + ret = 0; + } + + if (ret == 1) { errx(1, "unknown command.\n"); } diff --git a/uavcan b/uavcan -Subproject 6980ee824074aa2f7a62221bf6040ee41111952 +Subproject 4de0338824972de4d3a8e29697ea1a2d95a926c |