Merge branch 'autodeclination' into ekf_params

11 files changed, 207 insertions, 1 deletions

diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h
index 7a93e513e..972573f9f 100644
--- a/src/drivers/drv_pwm_output.h
+++ b/src/drivers/drv_pwm_output.h
@@ -199,6 +199,9 @@ ORB_DECLARE(output_pwm);
 /** get the lockdown override flag to enable outputs in HIL */
 #define PWM_SERVO_GET_DISABLE_LOCKDOWN		_IOC(_PWM_SERVO_BASE, 22)
 
+/** force safety switch off (to disable use of safety switch) */
+#define PWM_SERVO_SET_FORCE_SAFETY_OFF _IOC(_PWM_SERVO_BASE, 23)
+
 /*
  *
  *
diff --git a/src/drivers/drv_tone_alarm.h b/src/drivers/drv_tone_alarm.h
index 147d7123a..b7981e9c4 100644
--- a/src/drivers/drv_tone_alarm.h
+++ b/src/drivers/drv_tone_alarm.h
@@ -148,6 +148,7 @@ enum {
 	TONE_BATTERY_WARNING_FAST_TUNE,
 	TONE_GPS_WARNING_TUNE,
 	TONE_ARMING_FAILURE_TUNE,
+	TONE_PARACHUTE_RELEASE_TUNE,
 	TONE_NUMBER_OF_TUNES
 };
 
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index a70ff6c5c..7258d5f9e 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -736,6 +736,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 
 	case PWM_SERVO_SET_ARM_OK:
 	case PWM_SERVO_CLEAR_ARM_OK:
+	case PWM_SERVO_SET_FORCE_SAFETY_OFF:
 		// these are no-ops, as no safety switch
 		break;
 
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index e318e206a..e5a39ffb0 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -2129,6 +2129,10 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
 
 	case PWM_SERVO_GET_DISABLE_LOCKDOWN:
 		*(unsigned *)arg = _lockdown_override;
+
+	case PWM_SERVO_SET_FORCE_SAFETY_OFF:
+		/* force safety swith off */
+		ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, PX4IO_FORCE_SAFETY_MAGIC);
 		break;
 
 	case DSM_BIND_START:
diff --git a/src/drivers/stm32/tone_alarm/tone_alarm.cpp b/src/drivers/stm32/tone_alarm/tone_alarm.cpp
index 8ed0de58c..810f4aacc 100644
--- a/src/drivers/stm32/tone_alarm/tone_alarm.cpp
+++ b/src/drivers/stm32/tone_alarm/tone_alarm.cpp
@@ -335,6 +335,7 @@ ToneAlarm::ToneAlarm() :
 	_default_tunes[TONE_BATTERY_WARNING_FAST_TUNE] = "MBNT255a8a8a8a8a8a8a8a8a8a8a8a8a8a8a8a8";	//battery warning fast
 	_default_tunes[TONE_GPS_WARNING_TUNE] = "MFT255L4AAAL1F#";					//gps warning slow
 	_default_tunes[TONE_ARMING_FAILURE_TUNE] = "MFT255L4<<<BAP";
+	_default_tunes[TONE_PARACHUTE_RELEASE_TUNE] = "MFT255L16agagagag";			// parachute release
 
 	_tune_names[TONE_STARTUP_TUNE] = "startup";			// startup tune
 	_tune_names[TONE_ERROR_TUNE] = "error";				// ERROR tone
@@ -346,6 +347,7 @@ ToneAlarm::ToneAlarm() :
 	_tune_names[TONE_BATTERY_WARNING_FAST_TUNE] = "fast_bat";	// battery warning fast
 	_tune_names[TONE_GPS_WARNING_TUNE] = "gps_warning";	            // gps warning
 	_tune_names[TONE_ARMING_FAILURE_TUNE] = "arming_failure";            //fail to arm
+	_tune_names[TONE_PARACHUTE_RELEASE_TUNE] = "parachute_release";	// parachute release
 }
 
 ToneAlarm::~ToneAlarm()
diff --git a/src/lib/geo/geo.h b/src/lib/geo/geo.h
index 0a3f85d97..d987afe33 100644
--- a/src/lib/geo/geo.h
+++ b/src/lib/geo/geo.h
@@ -48,6 +48,8 @@
 #include "uORB/topics/fence.h"
 #include "uORB/topics/vehicle_global_position.h"
 
+#include "geo/geo_mag_declination.h"
+
 __BEGIN_DECLS
 
 #include <stdbool.h>
diff --git a/src/lib/geo/geo_mag_declination.c b/src/lib/geo/geo_mag_declination.c
new file mode 100644
index 000000000..7b4aa69a2
--- /dev/null
+++ b/src/lib/geo/geo_mag_declination.c
@@ -0,0 +1,135 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 MAV GEO Library (MAVGEO). All rights reserved.
+ *
+ * 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 MAVGEO 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 geo_mag_declination.c
+*
+* Calculation / lookup table for earth magnetic field declination.
+* 
+* Lookup table from Scott Ferguson <scottfromscott@gmail.com>
+*
+* XXX Lookup table currently too coarse in resolution (only full degrees)
+* and lat/lon res - needs extension medium term.
+*
+*/
+
+
+/** set this always to the sampling in degrees for the table below */
+#define SAMPLING_RES		10
+#define SAMPLING_MIN_LAT	-60.0f
+#define SAMPLING_MAX_LAT	60.0f
+#define SAMPLING_MIN_LON	-180.0f
+#define SAMPLING_MAX_LON	180.0f
+
+static const char declination_table[13][37] = \
+{
+	46, 45, 44, 42, 41, 40, 38, 36, 33, 28, 23, 16, 10, 4, -1, -5, -9, -14, -19, -26, -33, -40, -48, -55, -61, \
+	-66, -71, -74, -75, -72, -61, -25, 22, 40, 45, 47, 46, 30, 30, 30, 30, 29, 29, 29, 29, 27, 24, 18, 11, 3, \
+	-3, -9, -12, -15, -17, -21, -26, -32, -39, -45, -51, -55, -57, -56, -53, -44, -31, -14, 0, 13, 21, 26, \
+	29, 30, 21, 22, 22, 22, 22, 22, 22, 22, 21, 18, 13, 5, -3, -11, -17, -20, -21, -22, -23, -25, -29, -35, \
+	-40, -44, -45, -44, -40, -32, -22, -12, -3, 3, 9, 14, 18, 20, 21, 16, 17, 17, 17, 17, 17, 16, 16, 16, 13, \
+	8, 0, -9, -16, -21, -24, -25, -25, -23, -20, -21, -24, -28, -31, -31, -29, -24, -17, -9, -3, 0, 4, 7, \
+	10, 13, 15, 16, 12, 13, 13, 13, 13, 13, 12, 12, 11, 9, 3, -4, -12, -19, -23, -24, -24, -22, -17, -12, -9, \
+	-10, -13, -17, -18, -16, -13, -8, -3, 0, 1, 3, 6, 8, 10, 12, 12, 10, 10, 10, 10, 10, 10, 10, 9, 9, 6, 0, -6, \
+	-14, -20, -22, -22, -19, -15, -10, -6, -2, -2, -4, -7, -8, -8, -7, -4, 0, 1, 1, 2, 4, 6, 8, 10, 10, 9, 9, 9, \
+	9, 9, 9, 8, 8, 7, 4, -1, -8, -15, -19, -20, -18, -14, -9, -5, -2, 0, 1, 0, -2, -3, -4, -3, -2, 0, 0, 0, 1, 3, 5, \
+	7, 8, 9, 8, 8, 8, 9, 9, 9, 8, 8, 6, 2, -3, -9, -15, -18, -17, -14, -10, -6, -2, 0, 1, 2, 2, 0, -1, -1, -2, -1, 0, \
+	0, 0, 0, 1, 3, 5, 7, 8, 8, 9, 9, 10, 10, 10, 10, 8, 5, 0, -5, -11, -15, -16, -15, -12, -8, -4, -1, 0, 2, 3, 2, 1, 0, \
+	0, 0, 0, 0, -1, -2, -2, -1, 0, 3, 6, 8, 6, 9, 10, 11, 12, 12, 11, 9, 5, 0, -7, -12, -15, -15, -13, -10, -7, -3, \
+	0, 1, 2, 3, 3, 3, 2, 1, 0, 0, -1, -3, -4, -5, -5, -2, 0, 3, 6, 5, 8, 11, 13, 15, 15, 14, 11, 5, -1, -9, -14, -17, \
+	-16, -14, -11, -7, -3, 0, 1, 3, 4, 5, 5, 5, 4, 3, 1, -1, -4, -7, -8, -8, -6, -2, 1, 5, 4, 8, 12, 15, 17, 18, 16, \
+	12, 5, -3, -12, -18, -20, -19, -16, -13, -8, -4, -1, 1, 4, 6, 8, 9, 9, 9, 7, 3, -1, -6, -10, -12, -11, -9, -5, \
+	0, 4, 3, 9, 14, 17, 20, 21, 19, 14, 4, -8, -19, -25, -26, -25, -21, -17, -12, -7, -2, 1, 5, 9, 13, 15, 16, 16, \
+	13, 7, 0, -7, -12, -15, -14, -11, -6, -1, 3
+};
+
+static float get_lookup_table_val(unsigned lat, unsigned lon);
+
+__EXPORT float get_mag_declination(float lat, float lon)
+{
+	/*
+	 * If the values exceed valid ranges, return zero as default
+	 * as we have no way of knowing what the closest real value
+	 * would be.
+	 */
+	if (lat < -90.0f || lat > 90.0f ||
+	    lon < -180.0f || lon > 180.0f) {
+		return 0.0f;
+	}
+
+	/* round down to nearest sampling resolution */
+	int min_lat = (((int)lat) / SAMPLING_RES) * SAMPLING_RES;
+	int min_lon = (((int)lon) / SAMPLING_RES) * SAMPLING_RES;
+
+	/* for the rare case of hitting the bounds exactly
+	 * the rounding logic wouldn't fit, so enforce it.
+	 */
+
+	/* limit to table bounds - required for maxima even when table spans full globe range */
+	if (lat <= SAMPLING_MIN_LAT) {
+		min_lat = SAMPLING_MIN_LAT;
+	}
+
+	if (lat >= SAMPLING_MAX_LAT) {
+		min_lat = (((int)lat) / SAMPLING_RES) * SAMPLING_RES - SAMPLING_RES;
+	}
+
+	if (lon <= SAMPLING_MIN_LON) {
+		min_lon = SAMPLING_MIN_LON;
+	}
+
+	if (lon >= SAMPLING_MAX_LON) {
+		min_lon = (((int)lon) / SAMPLING_RES) * SAMPLING_RES - SAMPLING_RES;
+	}
+
+	/* find index of nearest low sampling point */
+	unsigned min_lat_index = (90 + min_lat)  / SAMPLING_RES;
+	unsigned min_lon_index = (180 + min_lat) / SAMPLING_RES;
+
+	float declination_sw = get_lookup_table_val(min_lat_index, min_lon_index);
+	float declination_se = get_lookup_table_val(min_lat_index, min_lon_index + 1);
+	float declination_ne = get_lookup_table_val(min_lat_index + 1, min_lon_index + 1);
+	float declination_nw = get_lookup_table_val(min_lat_index + 1, min_lon_index);
+
+	/* perform bilinear interpolation on the four grid corners */
+
+	float declination_min = ((lon - min_lon) / SAMPLING_RES) * (declination_se - declination_sw) + declination_sw;
+	float declination_max = ((lon - min_lon) / SAMPLING_RES) * (declination_ne - declination_nw) + declination_nw;
+
+	return (lat - min_lat) / SAMPLING_RES * (declination_max - declination_min) + declination_min;
+}
+
+float get_lookup_table_val(unsigned lat_index, unsigned lon_index)
+{
+	return declination_table[lat_index][lon_index];
+}
\ No newline at end of file
diff --git a/src/lib/geo/geo_mag_declination.h b/src/lib/geo/geo_mag_declination.h
new file mode 100644
index 000000000..0ac062d6d
--- /dev/null
+++ b/src/lib/geo/geo_mag_declination.h
@@ -0,0 +1,47 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 MAV GEO Library (MAVGEO). All rights reserved.
+ *
+ * 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 MAVGEO 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 geo_mag_declination.h
+*
+* Calculation / lookup table for earth magnetic field declination.
+*
+*/
+
+#pragma once
+
+__BEGIN_DECLS
+
+__EXPORT float get_mag_declination(float lat, float lon);
+
+__END_DECLS
diff --git a/src/lib/geo/module.mk b/src/lib/geo/module.mk
index 30a2dc99f..9500a2bcc 100644
--- a/src/lib/geo/module.mk
+++ b/src/lib/geo/module.mk
@@ -35,4 +35,5 @@
 # Geo library
 #
 
-SRCS		 = geo.c
+SRCS		=	geo.c \
+			geo_mag_declination.c
diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h
index a978d483a..6c20d6006 100644
--- a/src/modules/px4iofirmware/protocol.h
+++ b/src/modules/px4iofirmware/protocol.h
@@ -211,6 +211,10 @@ enum {							/* DSM bind states */
 						/* 12 occupied by CRC */
 #define PX4IO_P_SETUP_RC_THR_FAILSAFE_US	13	/**< the throttle failsafe pulse length in microseconds */
 
+#define PX4IO_P_SETUP_FORCE_SAFETY_OFF	       12	/* force safety switch into
+                                                           'armed' (PWM enabled) state */
+#define PX4IO_FORCE_SAFETY_MAGIC            22027       /* required argument for force safety (random) */
+
 /* autopilot control values, -10000..10000 */
 #define PX4IO_PAGE_CONTROLS			51		/**< actuator control groups, one after the other, 8 wide */
 #define PX4IO_P_CONTROLS_GROUP_0		(PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 0)	/**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index 6752e7b4b..9e5d7e7e2 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -570,6 +570,12 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 			dsm_bind(value & 0x0f, (value >> 4) & 0xF);
 			break;
 
+		case PX4IO_P_SETUP_FORCE_SAFETY_OFF:
+			if (value == PX4IO_FORCE_SAFETY_MAGIC) {
+				r_status_flags |= PX4IO_P_STATUS_FLAGS_SAFETY_OFF;
+			}
+			break;
+
 		default:
 			return -1;
 		}