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author | Julian Oes <julian@oes.ch> | 2013-12-29 14:48:54 +0100 |
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committer | Julian Oes <julian@oes.ch> | 2013-12-29 14:48:54 +0100 |
commit | c1e50b8a1f9669d27e80ebec2d709533db57777f (patch) | |
tree | 401b44e4537589ee58b61aa8171509027af4d38d /src/modules | |
parent | 7e29028429fce33b88dd1eeb6d3ac89aa5cb5891 (diff) | |
parent | 31f808d8721a4aec1b93ce68bee39ba8b3119a5f (diff) | |
download | px4-firmware-c1e50b8a1f9669d27e80ebec2d709533db57777f.tar.gz px4-firmware-c1e50b8a1f9669d27e80ebec2d709533db57777f.tar.bz2 px4-firmware-c1e50b8a1f9669d27e80ebec2d709533db57777f.zip |
Merge remote-tracking branch 'px4/master' into navigator_new
Diffstat (limited to 'src/modules')
-rwxr-xr-x | src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c | 20 | ||||
-rw-r--r-- | src/modules/px4iofirmware/controls.c | 16 | ||||
-rw-r--r-- | src/modules/px4iofirmware/protocol.h | 3 | ||||
-rw-r--r-- | src/modules/px4iofirmware/registers.c | 12 | ||||
-rw-r--r-- | src/modules/px4iofirmware/sbus.c | 2 | ||||
-rw-r--r-- | src/modules/sensors/sensor_params.c | 16 | ||||
-rw-r--r-- | src/modules/systemlib/ppm_decode.h | 1 |
7 files changed, 42 insertions, 28 deletions
diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c index 52dac652b..3cfddf28e 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c @@ -52,11 +52,13 @@ PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q3, 0.005f); PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q4, 0.0f); /* gyro measurement noise */ -PARAM_DEFINE_FLOAT(EKF_ATT_V3_R0, 0.0008f); -PARAM_DEFINE_FLOAT(EKF_ATT_V3_R1, 10000.0f); -PARAM_DEFINE_FLOAT(EKF_ATT_V3_R2, 1.0f); -/* accelerometer measurement noise */ -PARAM_DEFINE_FLOAT(EKF_ATT_V3_R3, 0.0f); +PARAM_DEFINE_FLOAT(EKF_ATT_V4_R0, 0.0008f); +/* accel measurement noise */ +PARAM_DEFINE_FLOAT(EKF_ATT_V4_R1, 10000.0f); +/* mag measurement noise */ +PARAM_DEFINE_FLOAT(EKF_ATT_V4_R2, 100.0f); +/* offset estimation - UNUSED */ +PARAM_DEFINE_FLOAT(EKF_ATT_V4_R3, 0.0f); /* offsets in roll, pitch and yaw of sensor plane and body */ PARAM_DEFINE_FLOAT(ATT_ROLL_OFF3, 0.0f); @@ -72,10 +74,10 @@ int parameters_init(struct attitude_estimator_ekf_param_handles *h) h->q3 = param_find("EKF_ATT_V3_Q3"); h->q4 = param_find("EKF_ATT_V3_Q4"); - h->r0 = param_find("EKF_ATT_V3_R0"); - h->r1 = param_find("EKF_ATT_V3_R1"); - h->r2 = param_find("EKF_ATT_V3_R2"); - h->r3 = param_find("EKF_ATT_V3_R3"); + h->r0 = param_find("EKF_ATT_V4_R0"); + h->r1 = param_find("EKF_ATT_V4_R1"); + h->r2 = param_find("EKF_ATT_V4_R2"); + h->r3 = param_find("EKF_ATT_V4_R3"); h->roll_off = param_find("ATT_ROLL_OFF3"); h->pitch_off = param_find("ATT_PITCH_OFF3"); diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c index f630b6f2a..541eed0e1 100644 --- a/src/modules/px4iofirmware/controls.c +++ b/src/modules/px4iofirmware/controls.c @@ -50,7 +50,7 @@ #define RC_CHANNEL_HIGH_THRESH 5000 #define RC_CHANNEL_LOW_THRESH -5000 -static bool ppm_input(uint16_t *values, uint16_t *num_values); +static bool ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len); static perf_counter_t c_gather_dsm; static perf_counter_t c_gather_sbus; @@ -94,7 +94,7 @@ controls_tick() { * other. Don't do that. */ - /* receive signal strenght indicator (RSSI). 0 = no connection, 1000: perfect connection */ + /* receive signal strenght indicator (RSSI). 0 = no connection, 255: perfect connection */ uint16_t rssi = 0; perf_begin(c_gather_dsm); @@ -108,7 +108,7 @@ controls_tick() { else r_status_flags &= ~PX4IO_P_STATUS_FLAGS_RC_DSM11; - rssi = 1000; + rssi = 255; } perf_end(c_gather_dsm); @@ -125,11 +125,11 @@ controls_tick() { * disable the PPM decoder completely if we have S.bus signal. */ perf_begin(c_gather_ppm); - bool ppm_updated = ppm_input(r_raw_rc_values, &r_raw_rc_count); + bool ppm_updated = ppm_input(r_raw_rc_values, &r_raw_rc_count, &r_page_status[PX4IO_P_STATUS_RC_DATA]); if (ppm_updated) { /* XXX sample RSSI properly here */ - rssi = 1000; + rssi = 255; r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_PPM; } @@ -321,7 +321,7 @@ controls_tick() { } static bool -ppm_input(uint16_t *values, uint16_t *num_values) +ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len) { bool result = false; @@ -345,6 +345,10 @@ ppm_input(uint16_t *values, uint16_t *num_values) /* clear validity */ ppm_last_valid_decode = 0; + /* store PPM frame length */ + if (num_values) + *frame_len = ppm_frame_length; + /* good if we got any channels */ result = (*num_values > 0); } diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h index c10f0167c..e5bef6eb3 100644 --- a/src/modules/px4iofirmware/protocol.h +++ b/src/modules/px4iofirmware/protocol.h @@ -128,7 +128,8 @@ #define PX4IO_P_STATUS_VSERVO 6 /* [2] servo rail voltage in mV */ #define PX4IO_P_STATUS_VRSSI 7 /* [2] RSSI voltage */ #define PX4IO_P_STATUS_PRSSI 8 /* [2] RSSI PWM value */ -#define PX4IO_P_STATUS_NRSSI 9 /* [2] Normalized RSSI value, 0: no reception, 1000: perfect reception */ +#define PX4IO_P_STATUS_NRSSI 9 /* [2] Normalized RSSI value, 0: no reception, 255: perfect reception */ +#define PX4IO_P_STATUS_RC_DATA 10 /* [1] + [2] Details about the RC source (PPM frame length, Spektrum protocol type) */ /* array of post-mix actuator outputs, -10000..10000 */ #define PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */ diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index 916b893c4..0358725db 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -89,7 +89,9 @@ uint16_t r_page_status[] = { [PX4IO_P_STATUS_IBATT] = 0, [PX4IO_P_STATUS_VSERVO] = 0, [PX4IO_P_STATUS_VRSSI] = 0, - [PX4IO_P_STATUS_PRSSI] = 0 + [PX4IO_P_STATUS_PRSSI] = 0, + [PX4IO_P_STATUS_NRSSI] = 0, + [PX4IO_P_STATUS_RC_DATA] = 0 }; /** @@ -582,6 +584,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) /* this option is normally set last */ if (value & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) { uint8_t count = 0; + bool disabled = false; /* assert min..center..max ordering */ if (conf[PX4IO_P_RC_CONFIG_MIN] < 500) { @@ -600,7 +603,10 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) if (conf[PX4IO_P_RC_CONFIG_DEADZONE] > 500) { count++; } - if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_RC_MAPPED_CONTROL_CHANNELS) { + + if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] == UINT8_MAX) { + disabled = true; + } else if ((int)(conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]) < 0 || conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_RC_MAPPED_CONTROL_CHANNELS) { count++; } @@ -608,7 +614,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) if (count) { isr_debug(0, "ERROR: %d config error(s) for RC%d.\n", count, (channel + 1)); r_status_flags &= ~PX4IO_P_STATUS_FLAGS_INIT_OK; - } else { + } else if (!disabled) { conf[index] |= PX4IO_P_RC_CONFIG_OPTIONS_ENABLED; } } diff --git a/src/modules/px4iofirmware/sbus.c b/src/modules/px4iofirmware/sbus.c index 6aca2bd11..11ccd7356 100644 --- a/src/modules/px4iofirmware/sbus.c +++ b/src/modules/px4iofirmware/sbus.c @@ -280,7 +280,7 @@ sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint *rssi = 100; // XXX magic number indicating bad signal, but not a signal loss (yet) } - *rssi = 1000; + *rssi = 255; return true; } diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index c54128cb5..763723554 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -104,49 +104,49 @@ PARAM_DEFINE_FLOAT(RC1_MIN, 1000.0f); PARAM_DEFINE_FLOAT(RC1_TRIM, 1500.0f); PARAM_DEFINE_FLOAT(RC1_MAX, 2000.0f); PARAM_DEFINE_FLOAT(RC1_REV, 1.0f); -PARAM_DEFINE_FLOAT(RC1_DZ, 0.0f); +PARAM_DEFINE_FLOAT(RC1_DZ, 10.0f); PARAM_DEFINE_FLOAT(RC2_MIN, 1000); PARAM_DEFINE_FLOAT(RC2_TRIM, 1500); PARAM_DEFINE_FLOAT(RC2_MAX, 2000); PARAM_DEFINE_FLOAT(RC2_REV, 1.0f); -PARAM_DEFINE_FLOAT(RC2_DZ, 0.0f); +PARAM_DEFINE_FLOAT(RC2_DZ, 10.0f); PARAM_DEFINE_FLOAT(RC3_MIN, 1000); PARAM_DEFINE_FLOAT(RC3_TRIM, 1500); PARAM_DEFINE_FLOAT(RC3_MAX, 2000); PARAM_DEFINE_FLOAT(RC3_REV, 1.0f); -PARAM_DEFINE_FLOAT(RC3_DZ, 0.0f); +PARAM_DEFINE_FLOAT(RC3_DZ, 10.0f); PARAM_DEFINE_FLOAT(RC4_MIN, 1000); PARAM_DEFINE_FLOAT(RC4_TRIM, 1500); PARAM_DEFINE_FLOAT(RC4_MAX, 2000); PARAM_DEFINE_FLOAT(RC4_REV, 1.0f); -PARAM_DEFINE_FLOAT(RC4_DZ, 30.0f); +PARAM_DEFINE_FLOAT(RC4_DZ, 10.0f); PARAM_DEFINE_FLOAT(RC5_MIN, 1000); PARAM_DEFINE_FLOAT(RC5_TRIM, 1500); PARAM_DEFINE_FLOAT(RC5_MAX, 2000); PARAM_DEFINE_FLOAT(RC5_REV, 1.0f); -PARAM_DEFINE_FLOAT(RC5_DZ, 0.0f); +PARAM_DEFINE_FLOAT(RC5_DZ, 10.0f); PARAM_DEFINE_FLOAT(RC6_MIN, 1000); PARAM_DEFINE_FLOAT(RC6_TRIM, 1500); PARAM_DEFINE_FLOAT(RC6_MAX, 2000); PARAM_DEFINE_FLOAT(RC6_REV, 1.0f); -PARAM_DEFINE_FLOAT(RC6_DZ, 0.0f); +PARAM_DEFINE_FLOAT(RC6_DZ, 10.0f); PARAM_DEFINE_FLOAT(RC7_MIN, 1000); PARAM_DEFINE_FLOAT(RC7_TRIM, 1500); PARAM_DEFINE_FLOAT(RC7_MAX, 2000); PARAM_DEFINE_FLOAT(RC7_REV, 1.0f); -PARAM_DEFINE_FLOAT(RC7_DZ, 0.0f); +PARAM_DEFINE_FLOAT(RC7_DZ, 10.0f); PARAM_DEFINE_FLOAT(RC8_MIN, 1000); PARAM_DEFINE_FLOAT(RC8_TRIM, 1500); PARAM_DEFINE_FLOAT(RC8_MAX, 2000); PARAM_DEFINE_FLOAT(RC8_REV, 1.0f); -PARAM_DEFINE_FLOAT(RC8_DZ, 0.0f); +PARAM_DEFINE_FLOAT(RC8_DZ, 10.0f); PARAM_DEFINE_FLOAT(RC9_MIN, 1000); PARAM_DEFINE_FLOAT(RC9_TRIM, 1500); diff --git a/src/modules/systemlib/ppm_decode.h b/src/modules/systemlib/ppm_decode.h index 6c5e15345..5a1ad84da 100644 --- a/src/modules/systemlib/ppm_decode.h +++ b/src/modules/systemlib/ppm_decode.h @@ -57,6 +57,7 @@ __BEGIN_DECLS * PPM decoder state */ __EXPORT extern uint16_t ppm_buffer[PPM_MAX_CHANNELS]; /**< decoded PPM channel values */ +__EXPORT extern uint16_t ppm_frame_length; /**< length of the decoded PPM frame (includes gap) */ __EXPORT extern unsigned ppm_decoded_channels; /**< count of decoded channels */ __EXPORT extern hrt_abstime ppm_last_valid_decode; /**< timestamp of the last valid decode */ |