diff options
author | px4dev <px4@purgatory.org> | 2013-07-14 13:04:44 -0700 |
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committer | px4dev <px4@purgatory.org> | 2013-07-14 13:04:44 -0700 |
commit | dca9019f75ddf31a5477db935252eb009a0be655 (patch) | |
tree | 6fd0661f9e2c7035097bf2b044b33e95ae352caf /src/modules | |
parent | 6cf120831289368015b7b4f51db4f99f418e7129 (diff) | |
parent | 60ce9759d9d5a9b5f2e9fd218852fa595cc7bebd (diff) | |
download | px4-firmware-dca9019f75ddf31a5477db935252eb009a0be655.tar.gz px4-firmware-dca9019f75ddf31a5477db935252eb009a0be655.tar.bz2 px4-firmware-dca9019f75ddf31a5477db935252eb009a0be655.zip |
Merge branch 'master' of https://github.com/PX4/Firmware into fmuv2_bringup
Diffstat (limited to 'src/modules')
-rw-r--r-- | src/modules/att_pos_estimator_ekf/KalmanNav.cpp | 12 | ||||
-rw-r--r-- | src/modules/commander/commander.c | 27 | ||||
-rw-r--r-- | src/modules/gpio_led/gpio_led.c | 13 | ||||
-rw-r--r-- | src/modules/mavlink/waypoints.c | 2 | ||||
-rw-r--r-- | src/modules/px4iofirmware/controls.c | 11 | ||||
-rw-r--r-- | src/modules/px4iofirmware/dsm.c | 41 | ||||
-rw-r--r-- | src/modules/px4iofirmware/protocol.h | 10 | ||||
-rw-r--r-- | src/modules/px4iofirmware/px4io.h | 1 | ||||
-rw-r--r-- | src/modules/px4iofirmware/registers.c | 12 | ||||
-rw-r--r-- | src/modules/sdlog2/sdlog2.c | 31 | ||||
-rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 34 | ||||
-rw-r--r-- | src/modules/sensors/sensor_params.c | 1 | ||||
-rw-r--r-- | src/modules/sensors/sensors.cpp | 12 | ||||
-rw-r--r-- | src/modules/uORB/topics/esc_status.h | 3 | ||||
-rw-r--r-- | src/modules/uORB/topics/vehicle_global_position_setpoint.h | 2 |
15 files changed, 170 insertions, 42 deletions
diff --git a/src/modules/att_pos_estimator_ekf/KalmanNav.cpp b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp index 97d7fdd75..191d20f30 100644 --- a/src/modules/att_pos_estimator_ekf/KalmanNav.cpp +++ b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp @@ -661,10 +661,10 @@ int KalmanNav::correctPos() Vector y(6); y(0) = _gps.vel_n_m_s - vN; y(1) = _gps.vel_e_m_s - vE; - y(2) = double(_gps.lat) - lat * 1.0e7 * M_RAD_TO_DEG; - y(3) = double(_gps.lon) - lon * 1.0e7 * M_RAD_TO_DEG; - y(4) = double(_gps.alt) / 1.0e3 - alt; - y(5) = double(_sensors.baro_alt_meter) - alt; + y(2) = double(_gps.lat) - double(lat) * 1.0e7 * M_RAD_TO_DEG; + y(3) = double(_gps.lon) - double(lon) * 1.0e7 * M_RAD_TO_DEG; + y(4) = _gps.alt / 1.0e3f - alt; + y(5) = _sensors.baro_alt_meter - alt; // compute correction // http://en.wikipedia.org/wiki/Extended_Kalman_filter @@ -698,7 +698,7 @@ int KalmanNav::correctPos() vD += xCorrect(VD); lat += double(xCorrect(LAT)); lon += double(xCorrect(LON)); - alt += double(xCorrect(ALT)); + alt += xCorrect(ALT); // update state covariance // http://en.wikipedia.org/wiki/Extended_Kalman_filter @@ -710,7 +710,7 @@ int KalmanNav::correctPos() static int counter = 0; if (beta > _faultPos.get() && (counter % 10 == 0)) { warnx("fault in gps: beta = %8.4f", (double)beta); - warnx("Y/N: vN: %8.4f, vE: %8.4f, lat: %8.4f, lon: %8.4f, alt: %8.4f", + warnx("Y/N: vN: %8.4f, vE: %8.4f, lat: %8.4f, lon: %8.4f, alt: %8.4f, baro: %8.4f", double(y(0) / sqrtf(RPos(0, 0))), double(y(1) / sqrtf(RPos(1, 1))), double(y(2) / sqrtf(RPos(2, 2))), diff --git a/src/modules/commander/commander.c b/src/modules/commander/commander.c index 67f053e22..928d9b85e 100644 --- a/src/modules/commander/commander.c +++ b/src/modules/commander/commander.c @@ -1389,6 +1389,7 @@ int commander_thread_main(int argc, char *argv[]) uint64_t start_time = hrt_absolute_time(); uint64_t failsave_ll_start_time = 0; + enum VEHICLE_MANUAL_SAS_MODE manual_sas_mode; bool state_changed = true; bool param_init_forced = true; @@ -1828,8 +1829,9 @@ int commander_thread_main(int argc, char *argv[]) } else if (sp_man.manual_sas_switch < -STICK_ON_OFF_LIMIT) { - /* bottom stick position, set altitude hold */ - current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_ALTITUDE; + /* bottom stick position, set default */ + /* this MUST be mapped to extremal position to switch easy in case of emergency */ + current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS; } else if (sp_man.manual_sas_switch > STICK_ON_OFF_LIMIT) { @@ -1837,8 +1839,14 @@ int commander_thread_main(int argc, char *argv[]) current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_SIMPLE; } else { - /* center stick position, set default */ - current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS; + /* center stick position, set altitude hold */ + current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_ALTITUDE; + } + + if (current_status.manual_sas_mode != manual_sas_mode) { + /* publish SAS mode changes immediately */ + manual_sas_mode = current_status.manual_sas_mode; + state_changed = true; } /* @@ -1849,8 +1857,10 @@ int commander_thread_main(int argc, char *argv[]) (current_status.system_type == VEHICLE_TYPE_HEXAROTOR) || (current_status.system_type == VEHICLE_TYPE_OCTOROTOR) ) && - ((sp_man.yaw < -STICK_ON_OFF_LIMIT)) && - (sp_man.throttle < STICK_THRUST_RANGE * 0.2f)) { + current_status.flag_control_manual_enabled && + current_status.manual_sas_mode == VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS && + sp_man.yaw < -STICK_ON_OFF_LIMIT && + sp_man.throttle < STICK_THRUST_RANGE * 0.1f) { if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) { update_state_machine_disarm(stat_pub, ¤t_status, mavlink_fd); stick_on_counter = 0; @@ -1862,7 +1872,10 @@ int commander_thread_main(int argc, char *argv[]) } /* check if left stick is in lower right position --> arm */ - if (sp_man.yaw > STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.2f) { + if (current_status.flag_control_manual_enabled && + current_status.manual_sas_mode == VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS && + sp_man.yaw > STICK_ON_OFF_LIMIT && + sp_man.throttle < STICK_THRUST_RANGE * 0.1f) { if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) { update_state_machine_arm(stat_pub, ¤t_status, mavlink_fd); stick_on_counter = 0; diff --git a/src/modules/gpio_led/gpio_led.c b/src/modules/gpio_led/gpio_led.c index 8b4c0cb30..1aef739c7 100644 --- a/src/modules/gpio_led/gpio_led.c +++ b/src/modules/gpio_led/gpio_led.c @@ -53,11 +53,7 @@ #include <uORB/topics/vehicle_status.h> #include <poll.h> #include <drivers/drv_gpio.h> - -#define PX4IO_RELAY1 (1<<0) -#define PX4IO_RELAY2 (1<<1) -#define PX4IO_ACC1 (1<<2) -#define PX4IO_ACC2 (1<<3) +#include <modules/px4iofirmware/protocol.h> struct gpio_led_s { struct work_s work; @@ -186,10 +182,9 @@ void gpio_led_start(FAR void *arg) char *gpio_dev; if (priv->use_io) { - gpio_dev = "/dev/px4io"; - + gpio_dev = PX4IO_DEVICE_PATH; } else { - gpio_dev = "/dev/px4fmu"; + gpio_dev = PX4FMU_DEVICE_PATH; } /* open GPIO device */ @@ -203,6 +198,7 @@ void gpio_led_start(FAR void *arg) } /* configure GPIO pin */ + /* px4fmu only, px4io doesn't support GPIO_SET_OUTPUT and will ignore */ ioctl(priv->gpio_fd, GPIO_SET_OUTPUT, priv->pin); /* subscribe to vehicle status topic */ @@ -263,7 +259,6 @@ void gpio_led_cycle(FAR void *arg) if (led_state_new) { ioctl(priv->gpio_fd, GPIO_SET, priv->pin); - } else { ioctl(priv->gpio_fd, GPIO_CLEAR, priv->pin); } diff --git a/src/modules/mavlink/waypoints.c b/src/modules/mavlink/waypoints.c index 405046750..eea928a17 100644 --- a/src/modules/mavlink/waypoints.c +++ b/src/modules/mavlink/waypoints.c @@ -373,7 +373,7 @@ void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_ dist = mavlink_wpm_distance_to_point_global_wgs84(wpm->current_active_wp_id, (float)global_pos->lat * 1e-7f, (float)global_pos->lon * 1e-7f, global_pos->alt); } else if (coordinate_frame == (int)MAV_FRAME_GLOBAL_RELATIVE_ALT) { - dist = mavlink_wpm_distance_to_point_global_wgs84(wpm->current_active_wp_id, global_pos->lat, global_pos->lon, global_pos->relative_alt); + dist = mavlink_wpm_distance_to_point_global_wgs84(wpm->current_active_wp_id, (float)global_pos->lat * 1e-7f, (float)global_pos->lon * 1e-7f, global_pos->relative_alt); } else if (coordinate_frame == (int)MAV_FRAME_LOCAL_ENU || coordinate_frame == (int)MAV_FRAME_LOCAL_NED) { dist = mavlink_wpm_distance_to_point_local(wpm->current_active_wp_id, local_pos->x, local_pos->y, local_pos->z); diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c index 5a95a8aa9..74037d1c2 100644 --- a/src/modules/px4iofirmware/controls.c +++ b/src/modules/px4iofirmware/controls.c @@ -95,9 +95,16 @@ controls_tick() { */ perf_begin(c_gather_dsm); - bool dsm_updated = dsm_input(r_raw_rc_values, &r_raw_rc_count); - if (dsm_updated) + uint16_t temp_count = r_raw_rc_count; + bool dsm_updated = dsm_input(r_raw_rc_values, &temp_count); + if (dsm_updated) { r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM; + r_raw_rc_count = temp_count & 0x7fff; + if (temp_count & 0x8000) + r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM11; + else + r_status_flags &= ~PX4IO_P_STATUS_FLAGS_RC_DSM11; + } perf_end(c_gather_dsm); perf_begin(c_gather_sbus); diff --git a/src/modules/px4iofirmware/dsm.c b/src/modules/px4iofirmware/dsm.c index ea35e5513..ab6e3fec4 100644 --- a/src/modules/px4iofirmware/dsm.c +++ b/src/modules/px4iofirmware/dsm.c @@ -40,6 +40,7 @@ */ #include <nuttx/config.h> +#include <nuttx/arch.h> #include <fcntl.h> #include <unistd.h> @@ -101,6 +102,41 @@ dsm_init(const char *device) return dsm_fd; } +void +dsm_bind(uint16_t cmd, int pulses) +{ + const uint32_t usart1RxAsOutp = GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN10; + + if (dsm_fd < 0) + return; + + switch (cmd) { + case dsm_bind_power_down: + // power down DSM satellite + POWER_RELAY1(0); + break; + case dsm_bind_power_up: + POWER_RELAY1(1); + dsm_guess_format(true); + break; + case dsm_bind_set_rx_out: + stm32_configgpio(usart1RxAsOutp); + break; + case dsm_bind_send_pulses: + for (int i = 0; i < pulses; i++) { + stm32_gpiowrite(usart1RxAsOutp, false); + up_udelay(50); + stm32_gpiowrite(usart1RxAsOutp, true); + up_udelay(50); + } + break; + case dsm_bind_reinit_uart: + // Restore USART rx pin + stm32_configgpio(GPIO_USART1_RX); + break; + } +} + bool dsm_input(uint16_t *values, uint16_t *num_values) { @@ -218,7 +254,7 @@ dsm_guess_format(bool reset) /* * Iterate the set of sensible sniffed channel sets and see whether - * decoding in 10 or 11-bit mode has yielded anything we recognise. + * decoding in 10 or 11-bit mode has yielded anything we recognize. * * XXX Note that due to what seem to be bugs in the DSM2 high-resolution * stream, we may want to sniff for longer in some cases when we think we @@ -349,6 +385,9 @@ dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values) values[channel] = value; } + if (channel_shift == 11) + *num_values |= 0x8000; + /* * XXX Note that we may be in failsafe here; we need to work out how to detect that. */ diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h index fa57dfc3f..dc5c40638 100644 --- a/src/modules/px4iofirmware/protocol.h +++ b/src/modules/px4iofirmware/protocol.h @@ -106,6 +106,7 @@ #define PX4IO_P_STATUS_FLAGS_ARM_SYNC (1 << 9) /* the arming state between IO and FMU is in sync */ #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_RC_DSM11 (1 << 12) /* DSM input is 11 bit data */ #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 */ @@ -169,7 +170,14 @@ #define PX4IO_P_SETUP_VBATT_SCALE 6 /* [1] battery voltage correction factor (float) */ #define PX4IO_P_SETUP_VSERVO_SCALE 6 /* [2] servo voltage correction factor (float) */ - /* 7 */ +#define PX4IO_P_SETUP_DSM 7 /* DSM bind state */ +enum { /* DSM bind states */ + dsm_bind_power_down = 0, + dsm_bind_power_up, + dsm_bind_set_rx_out, + dsm_bind_send_pulses, + dsm_bind_reinit_uart +}; /* 8 */ #define PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */ diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h index ccf175e45..bd78f2638 100644 --- a/src/modules/px4iofirmware/px4io.h +++ b/src/modules/px4iofirmware/px4io.h @@ -200,6 +200,7 @@ 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 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); diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index 873ee73f1..9606faa86 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -360,16 +360,16 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) value &= PX4IO_P_SETUP_RELAYS_VALID; r_setup_relays = value; #ifdef POWER_RELAY1 - POWER_RELAY1(value & (1 << 0) ? 1 : 0); + POWER_RELAY1((value & PX4IO_P_SETUP_RELAYS_POWER1) ? 1 : 0); #endif #ifdef POWER_RELAY2 - POWER_RELAY2(value & (1 << 1) ? 1 : 0); + POWER_RELAY2((value & PX4IO_P_SETUP_RELAYS_POWER2) ? 1 : 0); #endif #ifdef POWER_ACC1 - POWER_ACC1(value & (1 << 2) ? 1 : 0); + POWER_ACC1((value & PX4IO_P_SETUP_RELAYS_ACC1) ? 1 : 0); #endif #ifdef POWER_ACC2 - POWER_ACC2(value & (1 << 3) ? 1 : 0); + POWER_ACC2((value & PX4IO_P_SETUP_RELAYS_ACC2) ? 1 : 0); #endif break; @@ -382,6 +382,10 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) isr_debug(0, "set debug %u\n", (unsigned)r_page_setup[PX4IO_P_SETUP_SET_DEBUG]); break; + case PX4IO_P_SETUP_DSM: + dsm_bind(value & 0x0f, (value >> 4) & 7); + break; + default: return -1; } diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 3e6b20472..3713e0b30 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -72,6 +72,7 @@ #include <uORB/topics/vehicle_local_position.h> #include <uORB/topics/vehicle_local_position_setpoint.h> #include <uORB/topics/vehicle_global_position.h> +#include <uORB/topics/vehicle_global_position_setpoint.h> #include <uORB/topics/vehicle_gps_position.h> #include <uORB/topics/vehicle_vicon_position.h> #include <uORB/topics/optical_flow.h> @@ -615,7 +616,7 @@ int sdlog2_thread_main(int argc, char *argv[]) /* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */ /* number of messages */ - const ssize_t fdsc = 18; + const ssize_t fdsc = 19; /* Sanity check variable and index */ ssize_t fdsc_count = 0; /* file descriptors to wait for */ @@ -637,6 +638,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct vehicle_local_position_s local_pos; struct vehicle_local_position_setpoint_s local_pos_sp; struct vehicle_global_position_s global_pos; + struct vehicle_global_position_setpoint_s global_pos_sp; struct vehicle_gps_position_s gps_pos; struct vehicle_vicon_position_s vicon_pos; struct optical_flow_s flow; @@ -660,6 +662,7 @@ int sdlog2_thread_main(int argc, char *argv[]) int local_pos_sub; int local_pos_sp_sub; int global_pos_sub; + int global_pos_sp_sub; int gps_pos_sub; int vicon_pos_sub; int flow_sub; @@ -689,6 +692,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct log_ARSP_s log_ARSP; struct log_FLOW_s log_FLOW; struct log_GPOS_s log_GPOS; + struct log_GPSP_s log_GPSP; struct log_ESC_s log_ESC; } body; } log_msg = { @@ -775,6 +779,12 @@ int sdlog2_thread_main(int argc, char *argv[]) fds[fdsc_count].events = POLLIN; fdsc_count++; + /* --- GLOBAL POSITION SETPOINT--- */ + subs.global_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint)); + fds[fdsc_count].fd = subs.global_pos_sp_sub; + fds[fdsc_count].events = POLLIN; + fdsc_count++; + /* --- VICON POSITION --- */ subs.vicon_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position)); fds[fdsc_count].fd = subs.vicon_pos_sub; @@ -1077,6 +1087,25 @@ int sdlog2_thread_main(int argc, char *argv[]) LOGBUFFER_WRITE_AND_COUNT(GPOS); } + /* --- GLOBAL POSITION SETPOINT --- */ + if (fds[ifds++].revents & POLLIN) { + orb_copy(ORB_ID(vehicle_global_position_setpoint), subs.global_pos_sp_sub, &buf.global_pos_sp); + log_msg.msg_type = LOG_GPSP_MSG; + log_msg.body.log_GPSP.altitude_is_relative = buf.global_pos_sp.altitude_is_relative; + log_msg.body.log_GPSP.lat = buf.global_pos_sp.lat; + log_msg.body.log_GPSP.lon = buf.global_pos_sp.lon; + log_msg.body.log_GPSP.altitude = buf.global_pos_sp.altitude; + log_msg.body.log_GPSP.yaw = buf.global_pos_sp.yaw; + log_msg.body.log_GPSP.loiter_radius = buf.global_pos_sp.loiter_radius; + log_msg.body.log_GPSP.loiter_direction = buf.global_pos_sp.loiter_direction; + log_msg.body.log_GPSP.nav_cmd = buf.global_pos_sp.nav_cmd; + log_msg.body.log_GPSP.param1 = buf.global_pos_sp.param1; + log_msg.body.log_GPSP.param2 = buf.global_pos_sp.param2; + log_msg.body.log_GPSP.param3 = buf.global_pos_sp.param3; + log_msg.body.log_GPSP.param4 = buf.global_pos_sp.param4; + LOGBUFFER_WRITE_AND_COUNT(GPSP); + } + /* --- VICON POSITION --- */ if (fds[ifds++].revents & POLLIN) { orb_copy(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos); diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index abc882d23..934e4dec8 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -149,15 +149,15 @@ struct log_ATTC_s { /* --- STAT - VEHICLE STATE --- */ #define LOG_STAT_MSG 10 struct log_STAT_s { - unsigned char state; - unsigned char flight_mode; - unsigned char manual_control_mode; - unsigned char manual_sas_mode; - unsigned char armed; + uint8_t state; + uint8_t flight_mode; + uint8_t manual_control_mode; + uint8_t manual_sas_mode; + uint8_t armed; float battery_voltage; float battery_current; float battery_remaining; - unsigned char battery_warning; + uint8_t battery_warning; }; /* --- RC - RC INPUT CHANNELS --- */ @@ -210,13 +210,29 @@ struct log_GPOS_s { float vel_d; }; +/* --- GPSP - GLOBAL POSITION SETPOINT --- */ +#define LOG_GPSP_MSG 17 +struct log_GPSP_s { + uint8_t altitude_is_relative; + int32_t lat; + int32_t lon; + float altitude; + float yaw; + float loiter_radius; + int8_t loiter_direction; + uint8_t nav_cmd; + float param1; + float param2; + float param3; + float param4; +}; + /* --- ESC - ESC STATE --- */ -#define LOG_ESC_MSG 64 +#define LOG_ESC_MSG 18 struct log_ESC_s { uint16_t counter; uint8_t esc_count; uint8_t esc_connectiontype; - uint8_t esc_num; uint16_t esc_address; uint16_t esc_version; @@ -227,6 +243,7 @@ struct log_ESC_s { float esc_setpoint; uint16_t esc_setpoint_raw; }; + #pragma pack(pop) /* construct list of all message formats */ @@ -248,6 +265,7 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"), LOG_FORMAT(FLOW, "hhfffBB", "RawX,RawY,CompX,CompY,Dist,Q,SensID"), LOG_FORMAT(GPOS, "LLffff", "Lat,Lon,Alt,VelN,VelE,VelD"), + LOG_FORMAT(GPSP, "BLLfffbBffff", "AltRel,Lat,Lon,Alt,Yaw,LoiterR,LoiterDir,NavCmd,P1,P2,P3,P4"), LOG_FORMAT(ESC, "HBBBHHHHHHfH", "Counter,NumESC,Conn,No,Version,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"), }; diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index f6f4d60c7..252c1b7a9 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -155,6 +155,7 @@ PARAM_DEFINE_FLOAT(RC14_REV, 1.0f); PARAM_DEFINE_FLOAT(RC14_DZ, 0.0f); PARAM_DEFINE_INT32(RC_TYPE, 1); /** 1 = FUTABA, 2 = Spektrum, 3 = Graupner HoTT, 4 = Turnigy 9x */ +PARAM_DEFINE_INT32(RC_RL1_DSM_VCC, 0); /* Relay 1 controls DSM VCC */ /* default is conversion factor for the PX4IO / PX4IOAR board, the factor for PX4FMU standalone is different */ PARAM_DEFINE_FLOAT(BAT_V_SCALING, (3.3f * 52.0f / 5.0f / 4095.0f)); diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 1ded14a91..ae5a55109 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -230,6 +230,8 @@ private: float rc_scale_flaps; float battery_voltage_scaling; + + int rc_rl1_DSM_VCC_control; } _parameters; /**< local copies of interesting parameters */ struct { @@ -278,6 +280,8 @@ private: param_t rc_scale_flaps; param_t battery_voltage_scaling; + + param_t rc_rl1_DSM_VCC_control; } _parameter_handles; /**< handles for interesting parameters */ @@ -514,6 +518,9 @@ Sensors::Sensors() : _parameter_handles.battery_voltage_scaling = param_find("BAT_V_SCALING"); + /* DSM VCC relay control */ + _parameter_handles.rc_rl1_DSM_VCC_control = param_find("RC_RL1_DSM_VCC"); + /* fetch initial parameter values */ parameters_update(); } @@ -730,6 +737,11 @@ Sensors::parameters_update() warnx("Failed updating voltage scaling param"); } + /* relay 1 DSM VCC control */ + if (param_get(_parameter_handles.rc_rl1_DSM_VCC_control, &(_parameters.rc_rl1_DSM_VCC_control)) != OK) { + warnx("Failed updating relay 1 DSM VCC control"); + } + return OK; } diff --git a/src/modules/uORB/topics/esc_status.h b/src/modules/uORB/topics/esc_status.h index e67a39e1e..00cf59b28 100644 --- a/src/modules/uORB/topics/esc_status.h +++ b/src/modules/uORB/topics/esc_status.h @@ -63,7 +63,8 @@ enum ESC_VENDOR { ESC_VENDOR_GENERIC = 0, /**< generic ESC */ - ESC_VENDOR_MIKROKOPTER /**< Mikrokopter */ + ESC_VENDOR_MIKROKOPTER, /**< Mikrokopter */ + ESC_VENDOR_GRAUPNER_HOTT /**< Graupner HoTT ESC */ }; enum ESC_CONNECTION_TYPE { diff --git a/src/modules/uORB/topics/vehicle_global_position_setpoint.h b/src/modules/uORB/topics/vehicle_global_position_setpoint.h index 3ae3ff28c..5c8ce1e4d 100644 --- a/src/modules/uORB/topics/vehicle_global_position_setpoint.h +++ b/src/modules/uORB/topics/vehicle_global_position_setpoint.h @@ -66,7 +66,7 @@ struct vehicle_global_position_setpoint_s float altitude; /**< altitude in meters */ float yaw; /**< in radians NED -PI..+PI */ float loiter_radius; /**< loiter radius in meters, 0 for a VTOL to hover */ - uint8_t loiter_direction; /**< 1: positive / clockwise, -1, negative. */ + int8_t loiter_direction; /**< 1: positive / clockwise, -1, negative. */ enum NAV_CMD nav_cmd; /**< true if loitering is enabled */ float param1; float param2; |