Merge branch 'tobi'

6 files changed, 29 insertions, 75 deletions

diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
index d2e0efb56..159a70701 100644
--- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
+++ b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
@@ -257,7 +257,7 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
 			{ .fd = sub_raw,   .events = POLLIN },
 			{ .fd = sub_params, .events = POLLIN }
 		};
-		int ret = poll(fds, 1, 1000);
+		int ret = poll(fds, 2, 1000);
 
 		if (ret < 0) {
 			/* XXX this is seriously bad - should be an emergency */
diff --git a/apps/commander/commander.c b/apps/commander/commander.c
index 36e484f10..c569a6aa4 100644
--- a/apps/commander/commander.c
+++ b/apps/commander/commander.c
@@ -293,7 +293,7 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
 	struct sensor_combined_s raw;
 
 	/* 30 seconds */
-	const uint64_t calibration_interval_us = 45 * 1000000;
+	int calibration_interval_ms = 30 * 1000;
 	unsigned int calibration_counter = 0;
 
 	float mag_max[3] = {-FLT_MAX, -FLT_MAX, -FLT_MAX};
@@ -312,10 +312,10 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
 		warn("WARNING: failed to set scale / offsets for mag");
 	close(fd);
 
-	mavlink_log_info(mavlink_fd, "[commander] Please rotate around all axes.");
+	mavlink_log_info(mavlink_fd, "[commander] Please rotate around X");
 	
 	uint64_t calibration_start = hrt_absolute_time();
-	while ((hrt_absolute_time() - calibration_start) < calibration_interval_us) {
+	while ((hrt_absolute_time() - calibration_start)/1000 < calibration_interval_ms) {
 
 		/* wait blocking for new data */
 		struct pollfd fds[1] = { { .fd = sub_sensor_combined, .events = POLLIN } };
@@ -348,11 +348,13 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
 			calibration_counter++;
 		} else {
 			/* any poll failure for 1s is a reason to abort */
-			mavlink_log_info(mavlink_fd, "[commander] mag calibration aborted, please retry.");
+			mavlink_log_info(mavlink_fd, "[commander] mag cal canceled");
 			break;
 		}
 	}
 
+	mavlink_log_info(mavlink_fd, "[commander] mag calibration done");
+
 	/* disable calibration mode */
 	status->flag_preflight_mag_calibration = false;
 	state_machine_publish(status_pub, status, mavlink_fd);
diff --git a/apps/gps/ubx.c b/apps/gps/ubx.c
index 8a658b623..b1655afd7 100644
--- a/apps/gps/ubx.c
+++ b/apps/gps/ubx.c
@@ -781,6 +781,8 @@ void *ubx_watchdog_loop(void *args)
 		} else {
 			/* gps healthy */
 			ubx_success_count++;
+			ubx_healthy = true;
+			ubx_fail_count = 0;
 
 			if (!ubx_healthy && ubx_success_count == UBX_HEALTH_SUCCESS_COUNTER_LIMIT) {
 				//printf("[gps] ublox UBX module status ok (baud=%d)\r\n", current_gps_speed);
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c
index 580287805..c13f462ea 100644
--- a/apps/mavlink/mavlink.c
+++ b/apps/mavlink/mavlink.c
@@ -1824,7 +1824,9 @@ int mavlink_thread_main(int argc, char *argv[])
 		mavlink_pm_queued_send();
 		/* sleep quarter the time */
 		usleep(25000);
-		mavlink_pm_queued_send();
+		if (baudrate > 57600) {
+			mavlink_pm_queued_send();
+		}
 
 		/* sleep 10 ms */
 		usleep(10000);
diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c
index 18efe1ae2..c563dcce7 100644
--- a/apps/multirotor_att_control/multirotor_att_control_main.c
+++ b/apps/multirotor_att_control/multirotor_att_control_main.c
@@ -223,6 +223,7 @@ mc_thread_main(int argc, char *argv[])
 
 		/** STEP 3: Identify the controller setup to run and set up the inputs correctly */
 
+
 		/* run attitude controller */
 		if (state.flag_control_attitude_enabled && !state.flag_control_rates_enabled) {
 			multirotor_control_attitude(&att_sp, &att, NULL, &actuators);
@@ -253,7 +254,6 @@ mc_thread_main(int argc, char *argv[])
 			orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
 		}
 
-
 		perf_end(mc_loop_perf);
 	}
 
@@ -321,7 +321,7 @@ int multirotor_att_control_main(int argc, char *argv[])
 		mc_task = task_spawn("multirotor_att_control",
 				     SCHED_DEFAULT,
 				     SCHED_PRIORITY_MAX - 15,
-				     4096,
+				     6000,
 				     mc_thread_main,
 				     NULL);
 		exit(0);
diff --git a/apps/multirotor_att_control/multirotor_rate_control.c b/apps/multirotor_att_control/multirotor_rate_control.c
index d332660f6..5a5bffca9 100644
--- a/apps/multirotor_att_control/multirotor_rate_control.c
+++ b/apps/multirotor_att_control/multirotor_rate_control.c
@@ -56,18 +56,21 @@
 // PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 0.1f);
 
 PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.2f); /* 0.15 F405 Flamewheel */
-PARAM_DEFINE_FLOAT(MC_ATTRATE_I, 0.0f);
-PARAM_DEFINE_FLOAT(MC_ATTRATE_AWU, 0.05f);
+PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.0f);
+//PARAM_DEFINE_FLOAT(MC_ATTRATE_I, 0.0f);
+//PARAM_DEFINE_FLOAT(MC_ATTRATE_AWU, 0.05f);
 PARAM_DEFINE_FLOAT(MC_ATTRATE_LIM, 8.0f);	/**< roughly < 500 deg/s limit */
 
 struct mc_rate_control_params {
 
 	float yawrate_p;
+	float yawrate_d;
 	float yawrate_i;
 	float yawrate_awu;
 	float yawrate_lim;
 
 	float attrate_p;
+	float attrate_d;
 	float attrate_i;
 	float attrate_awu;
 	float attrate_lim;
@@ -79,11 +82,13 @@ struct mc_rate_control_param_handles {
 
 	param_t yawrate_p;
 	param_t yawrate_i;
+	param_t yawrate_d;
 	param_t yawrate_awu;
 	param_t yawrate_lim;
 
 	param_t attrate_p;
 	param_t attrate_i;
+	param_t attrate_d;
 	param_t attrate_awu;
 	param_t attrate_lim;
 };
@@ -106,11 +111,13 @@ static int parameters_init(struct mc_rate_control_param_handles *h)
 	/* PID parameters */
 	h->yawrate_p 	=	param_find("MC_YAWRATE_P");
 	h->yawrate_i 	=	param_find("MC_YAWRATE_I");
+	h->yawrate_d 	=	param_find("MC_YAWRATE_D");
 	h->yawrate_awu 	=	param_find("MC_YAWRATE_AWU");
 	h->yawrate_lim 	=	param_find("MC_YAWRATE_LIM");
 
 	h->attrate_p 	= 	param_find("MC_ATTRATE_P");
 	h->attrate_i 	= 	param_find("MC_ATTRATE_I");
+	h->attrate_d 	= 	param_find("MC_ATTRATE_D");
 	h->attrate_awu 	= 	param_find("MC_ATTRATE_AWU");
 	h->attrate_lim 	= 	param_find("MC_ATTRATE_LIM");
 
@@ -121,11 +128,13 @@ static int parameters_update(const struct mc_rate_control_param_handles *h, stru
 {
 	param_get(h->yawrate_p, &(p->yawrate_p));
 	param_get(h->yawrate_i, &(p->yawrate_i));
+	param_get(h->yawrate_d, &(p->yawrate_d));
 	param_get(h->yawrate_awu, &(p->yawrate_awu));
 	param_get(h->yawrate_lim, &(p->yawrate_lim));
 
 	param_get(h->attrate_p, &(p->attrate_p));
 	param_get(h->attrate_i, &(p->attrate_i));
+	param_get(h->attrate_d, &(p->attrate_d));
 	param_get(h->attrate_awu, &(p->attrate_awu));
 	param_get(h->attrate_lim, &(p->attrate_lim));
 
@@ -157,83 +166,22 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 	if (motor_skip_counter % 2500 == 0) {
 		/* update parameters from storage */
 		parameters_update(&h, &p);
-		printf("p.yawrate_p: %8.4f", (double)p.yawrate_p);
 	}
 
 	/* calculate current control outputs */
 	
 	/* control pitch (forward) output */
-	float pitch_control = 5 * deltaT * (rates[1] - rate_sp->pitch);
+	float pitch_control = p.attrate_p * deltaT * (rate_sp->pitch - rates[1]);
 	/* control roll (left/right) output */
-	float roll_control = p.attrate_p * deltaT * (rates[0] - rate_sp->roll);
+	float roll_control = p.attrate_p * deltaT * (rate_sp->roll - rates[0]);
 
 	/* control yaw rate */
-	float yaw_rate_control = p.yawrate_p * deltaT * (rates[2] - rate_sp->yaw);
-
-	/*
-	 * compensate the vertical loss of thrust
-	 * when thrust plane has an angle.
-	 * start with a factor of 1.0 (no change)
-	 */
-	float zcompensation = 1.0f;
-
-	// if (fabsf(att->roll) > 0.3f) {
-	// 	zcompensation *= 1.04675160154f;
-
-	// } else {
-	// 	zcompensation *= 1.0f / cosf(att->roll);
-	// }
-
-	// if (fabsf(att->pitch) > 0.3f) {
-	// 	zcompensation *= 1.04675160154f;
-
-	// } else {
-	// 	zcompensation *= 1.0f / cosf(att->pitch);
-	// }
-
-	float motor_thrust = 0.0f;
-
-	motor_thrust = rate_sp->thrust;
-
-	/* compensate thrust vector for roll / pitch contributions */
-	motor_thrust *= zcompensation;
-
-	// /* limit yaw rate output */
-	// if (yaw_rate_control > p.yawrate_lim) {
-	// 	yaw_rate_control = p.yawrate_lim;
-	// 	yaw_speed_controller.saturated = 1;
-	// }
-
-	// if (yaw_rate_control < -p.yawrate_lim) {
-	// 	yaw_rate_control = -p.yawrate_lim;
-	// 	yaw_speed_controller.saturated = 1;
-	// }
-
-	// if (pitch_control > p.attrate_lim) {
-	// 	pitch_control = p.attrate_lim;
-	// 	pitch_controller.saturated = 1;
-	// }
-
-	// if (pitch_control < -p.attrate_lim) {
-	// 	pitch_control = -p.attrate_lim;
-	// 	pitch_controller.saturated = 1;
-	// }
-
-
-	// if (roll_control > p.attrate_lim) {
-	// 	roll_control = p.attrate_lim;
-	// 	roll_controller.saturated = 1;
-	// }
-
-	// if (roll_control < -p.attrate_lim) {
-	// 	roll_control = -p.attrate_lim;
-	// 	roll_controller.saturated = 1;
-	// }
+	float yaw_rate_control = p.yawrate_p * deltaT * (rate_sp->yaw - rates[2]);
 
 	actuators->control[0] = roll_control;
 	actuators->control[1] = pitch_control;
 	actuators->control[2] = yaw_rate_control;
-	actuators->control[3] = motor_thrust;
+	actuators->control[3] = rate_sp->thrust;
 
 	motor_skip_counter++;
 }