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author | Anton Babushkin <anton.babushkin@me.com> | 2013-06-17 14:44:45 +0400 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2013-06-17 14:44:45 +0400 |
commit | 22a925adeb2cae7496c31da35cd5f93d2993c01f (patch) | |
tree | 62584c904a420e0a4a448db757f41126341c6bd4 /src/modules | |
parent | 138ce117ab0a9b95f473f34ce8644fa6456b32a6 (diff) | |
parent | badaa5e4a23561834ff4badbe3a62fbf3d3e02aa (diff) | |
download | px4-firmware-22a925adeb2cae7496c31da35cd5f93d2993c01f.tar.gz px4-firmware-22a925adeb2cae7496c31da35cd5f93d2993c01f.tar.bz2 px4-firmware-22a925adeb2cae7496c31da35cd5f93d2993c01f.zip |
Merge branch 'master' into sdlog2
Diffstat (limited to 'src/modules')
-rwxr-xr-x | src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp | 2 | ||||
-rw-r--r-- | src/modules/sdlog2/sdlog2.c | 19 | ||||
-rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 8 | ||||
-rw-r--r-- | src/modules/uORB/objects_common.cpp | 6 | ||||
-rw-r--r-- | src/modules/uORB/topics/filtered_bottom_flow.h | 74 | ||||
-rw-r--r-- | src/modules/uORB/topics/vehicle_bodyframe_speed_setpoint.h | 69 |
6 files changed, 176 insertions, 2 deletions
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 8e18c3c9a..16d5ad626 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp @@ -126,7 +126,7 @@ int attitude_estimator_ekf_main(int argc, char *argv[]) attitude_estimator_ekf_task = task_spawn("attitude_estimator_ekf", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, - 12400, + 14000, attitude_estimator_ekf_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL); exit(0); diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index f67cfad87..178986f61 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -241,7 +241,7 @@ int sdlog2_main(int argc, char *argv[]) deamon_task = task_spawn("sdlog2", SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT - 30, - 2048, + 3000, sdlog2_thread_main, (const char **)argv); exit(0); @@ -661,6 +661,7 @@ int sdlog2_thread_main(int argc, char *argv[]) int vicon_pos_sub; int flow_sub; int rc_sub; + int airspeed_sub; } subs; /* log message buffer: header + body */ @@ -680,6 +681,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct log_STAT_s log_STAT; struct log_RC_s log_RC; struct log_OUT0_s log_OUT0; + struct log_AIRS_s log_AIRS; struct log_ARSP_s log_ARSP; } body; } log_msg = { @@ -784,6 +786,12 @@ int sdlog2_thread_main(int argc, char *argv[]) fds[fdsc_count].events = POLLIN; fdsc_count++; + /* --- AIRSPEED --- */ + subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed)); + fds[fdsc_count].fd = subs.airspeed_sub; + fds[fdsc_count].events = POLLIN; + fdsc_count++; + /* WARNING: If you get the error message below, * then the number of registered messages (fdsc) * differs from the number of messages in the above list. @@ -1070,6 +1078,15 @@ int sdlog2_thread_main(int argc, char *argv[]) LOGBUFFER_WRITE_AND_COUNT(RC); } + /* --- AIRSPEED --- */ + if (fds[ifds++].revents & POLLIN) { + orb_copy(ORB_ID(airspeed), subs.airspeed_sub, &buf.airspeed); + log_msg.msg_type = LOG_AIRS_MSG; + log_msg.body.log_AIRS.indicated_airspeed = buf.airspeed.indicated_airspeed_m_s; + log_msg.body.log_AIRS.true_airspeed = buf.airspeed.true_airspeed_m_s; + LOGBUFFER_WRITE_AND_COUNT(AIRS); + } + /* signal the other thread new data, but not yet unlock */ if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) { #ifdef SDLOG2_DEBUG diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index fc5687988..efb999a50 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -172,6 +172,13 @@ struct log_OUT0_s { float output[8]; }; +/* --- AIRS - AIRSPEED --- */ +#define LOG_AIRS_MSG 13 +struct log_AIRS_s { + float indicated_airspeed; + float true_airspeed; +}; + /* --- ARSP - ATTITUDE RATE SET POINT --- */ #define LOG_ARSP_MSG 13 struct log_ARSP_s { @@ -196,6 +203,7 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(STAT, "BBBBBfffB", "State,FlightMode,CtlMode,SASMode,Armed,BatV,BatC,BatRem,BatWarn"), LOG_FORMAT(RC, "ffffffff", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7"), LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"), + LOG_FORMAT(AIRS, "ff", "IndSpeed,TrueSpeed"), LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"), }; diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp index 4197f6fb2..e22b58cad 100644 --- a/src/modules/uORB/objects_common.cpp +++ b/src/modules/uORB/objects_common.cpp @@ -101,6 +101,9 @@ ORB_DEFINE(vehicle_command, struct vehicle_command_s); #include "topics/vehicle_local_position_setpoint.h" ORB_DEFINE(vehicle_local_position_setpoint, struct vehicle_local_position_setpoint_s); +#include "topics/vehicle_bodyframe_speed_setpoint.h" +ORB_DEFINE(vehicle_bodyframe_speed_setpoint, struct vehicle_bodyframe_speed_setpoint_s); + #include "topics/vehicle_global_position_setpoint.h" ORB_DEFINE(vehicle_global_position_setpoint, struct vehicle_global_position_setpoint_s); @@ -119,6 +122,9 @@ ORB_DEFINE(offboard_control_setpoint, struct offboard_control_setpoint_s); #include "topics/optical_flow.h" ORB_DEFINE(optical_flow, struct optical_flow_s); +#include "topics/filtered_bottom_flow.h" +ORB_DEFINE(filtered_bottom_flow, struct filtered_bottom_flow_s); + #include "topics/omnidirectional_flow.h" ORB_DEFINE(omnidirectional_flow, struct omnidirectional_flow_s); diff --git a/src/modules/uORB/topics/filtered_bottom_flow.h b/src/modules/uORB/topics/filtered_bottom_flow.h new file mode 100644 index 000000000..ab6de2613 --- /dev/null +++ b/src/modules/uORB/topics/filtered_bottom_flow.h @@ -0,0 +1,74 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2013 PX4 Development Team. All rights reserved. + * Author: Samuel Zihlmann <samuezih@ee.ethz.ch> + * Lorenz Meier <lm@inf.ethz.ch> + * + * 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 filtered_bottom_flow.h + * Definition of the filtered bottom flow uORB topic. + */ + +#ifndef TOPIC_FILTERED_BOTTOM_FLOW_H_ +#define TOPIC_FILTERED_BOTTOM_FLOW_H_ + +#include <stdint.h> +#include <stdbool.h> +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + +/** + * Filtered bottom flow in bodyframe. + */ +struct filtered_bottom_flow_s +{ + uint64_t timestamp; /**< time of this estimate, in microseconds since system start */ + + float sumx; /**< Integrated bodyframe x flow in meters */ + float sumy; /**< Integrated bodyframe y flow in meters */ + + float vx; /**< Flow bodyframe x speed, m/s */ + float vy; /**< Flow bodyframe y Speed, m/s */ +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(filtered_bottom_flow); + +#endif diff --git a/src/modules/uORB/topics/vehicle_bodyframe_speed_setpoint.h b/src/modules/uORB/topics/vehicle_bodyframe_speed_setpoint.h new file mode 100644 index 000000000..fbfab09f3 --- /dev/null +++ b/src/modules/uORB/topics/vehicle_bodyframe_speed_setpoint.h @@ -0,0 +1,69 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2013 PX4 Development Team. All rights reserved. + * Author: Samuel Zihlmann <samuezih@ee.ethz.ch> + * Lorenz Meier <lm@inf.ethz.ch> + * + * 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 vehicle_bodyframe_speed_setpoint.h + * Definition of the bodyframe speed setpoint uORB topic. + */ + +#ifndef TOPIC_VEHICLE_BODYFRAME_SPEED_SETPOINT_H_ +#define TOPIC_VEHICLE_BODYFRAME_SPEED_SETPOINT_H_ + +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + +struct vehicle_bodyframe_speed_setpoint_s +{ + uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */ + + float vx; /**< in m/s */ + float vy; /**< in m/s */ +// float vz; /**< in m/s */ + float thrust_sp; + float yaw_sp; /**< in radian -PI +PI */ +}; /**< Speed in bodyframe to go to */ + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(vehicle_bodyframe_speed_setpoint); + +#endif |