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author | Thomas Gubler <thomasgubler@gmail.com> | 2014-09-30 15:40:11 +0200 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-09-30 15:40:11 +0200 |
commit | e7313683cdee3e436518fd88cbc403c7251673f7 (patch) | |
tree | e47fa29f07ef163ca95e38193f29a62d4cccf1a2 /src | |
parent | 6da52c5543012a1391c5e5c4384434c1292b919b (diff) | |
parent | 47f151d4cefa5d7a9da34d6139aa493259f8b2fd (diff) | |
download | px4-firmware-e7313683cdee3e436518fd88cbc403c7251673f7.tar.gz px4-firmware-e7313683cdee3e436518fd88cbc403c7251673f7.tar.bz2 px4-firmware-e7313683cdee3e436518fd88cbc403c7251673f7.zip |
Merge remote-tracking branch 'upstream/master' into swissfang
Diffstat (limited to 'src')
-rw-r--r-- | src/drivers/mpu6000/mpu6000.cpp | 17 | ||||
-rw-r--r-- | src/drivers/px4io/px4io.cpp | 9 | ||||
-rw-r--r-- | src/lib/conversion/module.mk | 2 | ||||
-rw-r--r-- | src/modules/commander/commander.cpp | 23 | ||||
-rw-r--r-- | src/modules/navigator/navigator_main.cpp | 5 | ||||
-rw-r--r-- | src/modules/systemlib/circuit_breaker.c | 16 | ||||
-rw-r--r-- | src/modules/systemlib/circuit_breaker.h | 1 | ||||
-rw-r--r-- | src/modules/uORB/topics/vehicle_status.h | 2 |
8 files changed, 51 insertions, 24 deletions
diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp index 6f5dae7ad..b22bb2e07 100644 --- a/src/drivers/mpu6000/mpu6000.cpp +++ b/src/drivers/mpu6000/mpu6000.cpp @@ -910,12 +910,14 @@ 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 +970,9 @@ 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 +1053,11 @@ 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: diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 6f8d6f5f6..fbb5d4f2e 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 @@ -1051,6 +1053,9 @@ PX4IO::task_main() } } + /* Update Circuit breakers */ + _cb_flighttermination = circuit_breaker_enabled("CBRK_FLIGHTTERM", CBRK_FLIGHTTERM_KEY); + } } @@ -1170,7 +1175,7 @@ PX4IO::io_set_arming_state() } /* Do not set failsafe if circuit breaker is enabled */ - if (armed.force_failsafe && !circuit_breaker_enabled("CBRK_FLIGHTTERM", CBRK_FLIGHTTERM_KEY)) { + if (armed.force_failsafe && !_cb_flighttermination) { set |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE; } else { clear |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE; 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/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index bf15bbeb6..9ebe006f0 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -775,6 +775,8 @@ 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); @@ -980,8 +982,8 @@ int commander_thread_main(int argc, char *argv[]) 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*/ + 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; bool main_state_changed = false; @@ -1028,8 +1030,14 @@ 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; @@ -1417,8 +1425,9 @@ int commander_thread_main(int argc, char *argv[]) } /* check if GPS fix is ok */ - if (gps_position.fix_type >= 3 && //XXX check eph and epv ? - hrt_elapsed_time(&gps_position.timestamp_position) < FAILSAFE_DEFAULT_TIMEOUT) { + 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; @@ -1615,7 +1624,7 @@ int commander_thread_main(int argc, char *argv[]) /* Check engine failure * only for fixed wing for now */ - if (!circuit_breaker_enabled("CBRK_ENGINEFAIL", CBRK_ENGINEFAIL_KEY) && + if (!status.circuit_breaker_engaged_enginefailure_check && status.is_rotary_wing == false && armed.armed && ((actuator_controls.control[3] > ef_throttle_thres && diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index b81155efe..4e2511e7a 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -430,9 +430,6 @@ Navigator::task_main() _can_loiter_at_sp = false; break; case NAVIGATION_STATE_AUTO_MISSION: - /* Some failsafe modes prohibit the fallback to mission - * usually this is done after some time to make sure - * that the full failsafe operation is performed */ _navigation_mode = &_mission; break; case NAVIGATION_STATE_AUTO_LOITER: @@ -448,7 +445,7 @@ Navigator::task_main() case NAVIGATION_STATE_AUTO_RTL: _navigation_mode = &_rtl; break; - case NAVIGATION_STATE_AUTO_RTGS: //XXX OBC: differentiate between rc loss and dl loss here + case NAVIGATION_STATE_AUTO_RTGS: /* Use complex data link loss mode only when enabled via param * otherwise use rtl */ if (_param_datalinkloss_obc.get() != 0) { diff --git a/src/modules/systemlib/circuit_breaker.c b/src/modules/systemlib/circuit_breaker.c index 2058fa0d5..8ad79f94d 100644 --- a/src/modules/systemlib/circuit_breaker.c +++ b/src/modules/systemlib/circuit_breaker.c @@ -120,7 +120,21 @@ PARAM_DEFINE_INT32(CBRK_FLIGHTTERM, 121212); * @max 284953 * @group Circuit Breaker */ -PARAM_DEFINE_INT32(CBRK_ENGINEFAIL, 0); +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); /** * Circuit breaker for gps failure detection diff --git a/src/modules/systemlib/circuit_breaker.h b/src/modules/systemlib/circuit_breaker.h index 6a55e4948..b3431722f 100644 --- a/src/modules/systemlib/circuit_breaker.h +++ b/src/modules/systemlib/circuit_breaker.h @@ -55,6 +55,7 @@ #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/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index 9dccb2309..505039d90 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h @@ -239,6 +239,8 @@ 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; }; /** |