diff options
author | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-20 02:04:05 +0200 |
---|---|---|
committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-20 02:04:05 +0200 |
commit | 2ea32b315fb06f13813950a8ef385dd521694278 (patch) | |
tree | 2ea9711c8a3f18244685a6a356bfc43b3836730b /src | |
parent | eb9daf097e10f434e729581b3ffce6c1b322b927 (diff) | |
parent | 0b85c41cd19486e829d48cf9e604fbc25b9e52a6 (diff) | |
download | px4-firmware-2ea32b315fb06f13813950a8ef385dd521694278.tar.gz px4-firmware-2ea32b315fb06f13813950a8ef385dd521694278.tar.bz2 px4-firmware-2ea32b315fb06f13813950a8ef385dd521694278.zip |
Merged master
Diffstat (limited to 'src')
-rw-r--r-- | src/drivers/blinkm/blinkm.cpp | 141 | ||||
-rw-r--r-- | src/drivers/px4io/px4io_uploader.cpp | 9 | ||||
-rw-r--r-- | src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp | 2 | ||||
-rw-r--r-- | src/modules/mavlink/mavlink_main.cpp | 31 | ||||
-rw-r--r-- | src/modules/mavlink/mavlink_main.h | 12 | ||||
-rw-r--r-- | src/modules/mavlink/mavlink_messages.cpp | 42 | ||||
-rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 4 | ||||
-rw-r--r-- | src/modules/navigator/navigator_main.cpp | 6 | ||||
-rw-r--r-- | src/modules/uORB/objects_common.cpp | 2 | ||||
-rw-r--r-- | src/modules/uORB/topics/mission.h | 2 |
10 files changed, 187 insertions, 64 deletions
diff --git a/src/drivers/blinkm/blinkm.cpp b/src/drivers/blinkm/blinkm.cpp index 2361f4dd1..b75c2297f 100644 --- a/src/drivers/blinkm/blinkm.cpp +++ b/src/drivers/blinkm/blinkm.cpp @@ -48,11 +48,14 @@ * The recognized number off cells, will be blinked 5 times in purple color. * 2 Cells = 2 blinks * ... - * 5 Cells = 5 blinks + * 6 Cells = 6 blinks * Now the Application will show the actual selected Flightmode, GPS-Fix and Battery Warnings and Alerts. * - * System disarmed: - * The BlinkM should lit solid red. + * System disarmed and safe: + * The BlinkM should light solid cyan. + * + * System safety off but not armed: + * The BlinkM should light flashing orange * * System armed: * One message is made of 4 Blinks and a pause in the same length as the 4 blinks. @@ -67,10 +70,10 @@ * (X = on, _=off) * * The first 3 blinks indicates the status of the GPS-Signal (red): - * 0-4 satellites = X-X-X-X-_-_-_-_-_-_- - * 5 satellites = X-X-_-X-_-_-_-_-_-_- - * 6 satellites = X-_-_-X-_-_-_-_-_-_- - * >=7 satellites = _-_-_-X-_-_-_-_-_-_- + * 0-4 satellites = X-X-X-X-X-_-_-_-_-_- + * 5 satellites = X-X-_-X-X-_-_-_-_-_- + * 6 satellites = X-_-_-X-X-_-_-_-_-_- + * >=7 satellites = _-_-_-X-X-_-_-_-_-_- * If no GPS is found the first 3 blinks are white * * The fourth Blink indicates the Flightmode: @@ -119,6 +122,7 @@ #include <uORB/topics/vehicle_control_mode.h> #include <uORB/topics/actuator_armed.h> #include <uORB/topics/vehicle_gps_position.h> +#include <uORB/topics/safety.h> static const float MAX_CELL_VOLTAGE = 4.3f; static const int LED_ONTIME = 120; @@ -166,10 +170,12 @@ private: enum ledColors { LED_OFF, LED_RED, + LED_ORANGE, LED_YELLOW, LED_PURPLE, LED_GREEN, LED_BLUE, + LED_CYAN, LED_WHITE, LED_AMBER }; @@ -380,6 +386,7 @@ BlinkM::led() static int vehicle_control_mode_sub_fd; static int vehicle_gps_position_sub_fd; static int actuator_armed_sub_fd; + static int safety_sub_fd; static int num_of_cells = 0; static int detected_cells_runcount = 0; @@ -402,16 +409,20 @@ BlinkM::led() if(!topic_initialized) { vehicle_status_sub_fd = orb_subscribe(ORB_ID(vehicle_status)); - orb_set_interval(vehicle_status_sub_fd, 1000); + orb_set_interval(vehicle_status_sub_fd, 250); vehicle_control_mode_sub_fd = orb_subscribe(ORB_ID(vehicle_control_mode)); - orb_set_interval(vehicle_control_mode_sub_fd, 1000); + orb_set_interval(vehicle_control_mode_sub_fd, 250); actuator_armed_sub_fd = orb_subscribe(ORB_ID(actuator_armed)); - orb_set_interval(actuator_armed_sub_fd, 1000); + orb_set_interval(actuator_armed_sub_fd, 250); vehicle_gps_position_sub_fd = orb_subscribe(ORB_ID(vehicle_gps_position)); - orb_set_interval(vehicle_gps_position_sub_fd, 1000); + orb_set_interval(vehicle_gps_position_sub_fd, 250); + + /* Subscribe to safety topic */ + safety_sub_fd = orb_subscribe(ORB_ID(safety)); + orb_set_interval(safety_sub_fd, 250); topic_initialized = true; } @@ -433,7 +444,9 @@ BlinkM::led() if(num_of_cells > 4) { t_led_color[4] = LED_PURPLE; } - t_led_color[5] = LED_OFF; + if(num_of_cells > 5) { + t_led_color[5] = LED_PURPLE; + } t_led_color[6] = LED_OFF; t_led_color[7] = LED_OFF; t_led_blink = LED_BLINK; @@ -467,14 +480,17 @@ BlinkM::led() struct vehicle_control_mode_s vehicle_control_mode; struct actuator_armed_s actuator_armed; struct vehicle_gps_position_s vehicle_gps_position_raw; + struct safety_s safety; memset(&vehicle_status_raw, 0, sizeof(vehicle_status_raw)); memset(&vehicle_gps_position_raw, 0, sizeof(vehicle_gps_position_raw)); + memset(&safety, 0, sizeof(safety)); bool new_data_vehicle_status; bool new_data_vehicle_control_mode; bool new_data_actuator_armed; bool new_data_vehicle_gps_position; + bool new_data_safety; orb_check(vehicle_status_sub_fd, &new_data_vehicle_status); @@ -520,7 +536,12 @@ BlinkM::led() no_data_vehicle_gps_position = 3; } + /* update safety topic */ + orb_check(safety_sub_fd, &new_data_safety); + if (new_data_safety) { + orb_copy(ORB_ID(safety), safety_sub_fd, &safety); + } /* get number of used satellites in navigation */ num_of_used_sats = 0; @@ -541,19 +562,7 @@ BlinkM::led() printf("<blinkm> cells found:%d\n", num_of_cells); } else { - if(vehicle_status_raw.battery_warning == VEHICLE_BATTERY_WARNING_LOW) { - /* LED Pattern for battery low warning */ - led_color_1 = LED_YELLOW; - led_color_2 = LED_YELLOW; - led_color_3 = LED_YELLOW; - led_color_4 = LED_YELLOW; - led_color_5 = LED_YELLOW; - led_color_6 = LED_YELLOW; - led_color_7 = LED_YELLOW; - led_color_8 = LED_YELLOW; - led_blink = LED_BLINK; - - } else if(vehicle_status_raw.battery_warning == VEHICLE_BATTERY_WARNING_CRITICAL) { + if(vehicle_status_raw.battery_warning == VEHICLE_BATTERY_WARNING_CRITICAL) { /* LED Pattern for battery critical alerting */ led_color_1 = LED_RED; led_color_2 = LED_RED; @@ -565,21 +574,56 @@ BlinkM::led() led_color_8 = LED_RED; led_blink = LED_BLINK; + } else if(vehicle_status_raw.rc_signal_lost) { + /* LED Pattern for FAILSAFE */ + led_color_1 = LED_BLUE; + led_color_2 = LED_BLUE; + led_color_3 = LED_BLUE; + led_color_4 = LED_BLUE; + led_color_5 = LED_BLUE; + led_color_6 = LED_BLUE; + led_color_7 = LED_BLUE; + led_color_8 = LED_BLUE; + led_blink = LED_BLINK; + + } else if(vehicle_status_raw.battery_warning == VEHICLE_BATTERY_WARNING_LOW) { + /* LED Pattern for battery low warning */ + led_color_1 = LED_YELLOW; + led_color_2 = LED_YELLOW; + led_color_3 = LED_YELLOW; + led_color_4 = LED_YELLOW; + led_color_5 = LED_YELLOW; + led_color_6 = LED_YELLOW; + led_color_7 = LED_YELLOW; + led_color_8 = LED_YELLOW; + led_blink = LED_BLINK; + } else { /* no battery warnings here */ if(actuator_armed.armed == false) { /* system not armed */ - led_color_1 = LED_RED; - led_color_2 = LED_RED; - led_color_3 = LED_RED; - led_color_4 = LED_RED; - led_color_5 = LED_RED; - led_color_6 = LED_RED; - led_color_7 = LED_RED; - led_color_8 = LED_RED; - led_blink = LED_NOBLINK; - + if(safety.safety_off){ + led_color_1 = LED_ORANGE; + led_color_2 = LED_ORANGE; + led_color_3 = LED_ORANGE; + led_color_4 = LED_ORANGE; + led_color_5 = LED_ORANGE; + led_color_6 = LED_ORANGE; + led_color_7 = LED_ORANGE; + led_color_8 = LED_ORANGE; + led_blink = LED_BLINK; + }else{ + led_color_1 = LED_CYAN; + led_color_2 = LED_CYAN; + led_color_3 = LED_CYAN; + led_color_4 = LED_CYAN; + led_color_5 = LED_CYAN; + led_color_6 = LED_CYAN; + led_color_7 = LED_CYAN; + led_color_8 = LED_CYAN; + led_blink = LED_NOBLINK; + } } else { /* armed system - initial led pattern */ led_color_1 = LED_RED; @@ -593,23 +637,22 @@ BlinkM::led() led_blink = LED_BLINK; if(new_data_vehicle_control_mode || no_data_vehicle_control_mode < 3) { - - //XXX please check - if (vehicle_control_mode.flag_control_position_enabled) + /* indicate main control state */ + if (vehicle_status_raw.main_state == MAIN_STATE_EASY) led_color_4 = LED_GREEN; - else if (vehicle_control_mode.flag_control_velocity_enabled) + else if (vehicle_status_raw.main_state == MAIN_STATE_AUTO) led_color_4 = LED_BLUE; - else if (vehicle_control_mode.flag_control_attitude_enabled) + else if (vehicle_status_raw.main_state == MAIN_STATE_SEATBELT) led_color_4 = LED_YELLOW; - else if (vehicle_control_mode.flag_control_manual_enabled) - led_color_4 = LED_AMBER; + else if (vehicle_status_raw.main_state == MAIN_STATE_MANUAL) + led_color_4 = LED_WHITE; else led_color_4 = LED_OFF; - + led_color_5 = led_color_4; } if(new_data_vehicle_gps_position || no_data_vehicle_gps_position < 3) { - /* handling used sat�s */ + /* handling used satus */ if(num_of_used_sats >= 7) { led_color_1 = LED_OFF; led_color_2 = LED_OFF; @@ -690,8 +733,11 @@ void BlinkM::setLEDColor(int ledcolor) { case LED_RED: // red set_rgb(255,0,0); break; + case LED_ORANGE: // orange + set_rgb(255,150,0); + break; case LED_YELLOW: // yellow - set_rgb(255,70,0); + set_rgb(200,200,0); break; case LED_PURPLE: // purple set_rgb(255,0,255); @@ -702,11 +748,14 @@ void BlinkM::setLEDColor(int ledcolor) { case LED_BLUE: // blue set_rgb(0,0,255); break; + case LED_CYAN: // cyan + set_rgb(0,128,128); + break; case LED_WHITE: // white set_rgb(255,255,255); break; case LED_AMBER: // amber - set_rgb(255,20,0); + set_rgb(255,65,0); break; } } diff --git a/src/drivers/px4io/px4io_uploader.cpp b/src/drivers/px4io/px4io_uploader.cpp index dd8abbac5..28ec62356 100644 --- a/src/drivers/px4io/px4io_uploader.cpp +++ b/src/drivers/px4io/px4io_uploader.cpp @@ -201,9 +201,14 @@ PX4IO_Uploader::upload(const char *filenames[]) continue; } - if (bl_rev <= 2) + if (bl_rev <= 2) { ret = verify_rev2(fw_size); - else if(bl_rev == 3) { + } else if(bl_rev == 3) { + ret = verify_rev3(fw_size); + } else { + /* verify rev 4 and higher still uses the same approach and + * every version *needs* to be verified. + */ ret = verify_rev3(fw_size); } diff --git a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp b/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp index 840cd585e..8ea611802 100644 --- a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp +++ b/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp @@ -959,7 +959,7 @@ FixedwingEstimator::task_main() } // Publish results - if (_initialized) { + if (_initialized && (check == OK)) { diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index c90b4e2de..a9f5f4de7 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -167,12 +167,12 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length int buf_free = 0; if (instance->get_flow_control_enabled() - && ioctl(uart, FIONWRITE, (unsigned long)&buf_free) == 0) { + && ioctl(uart, FIONWRITE, (unsigned long)&buf_free) == 0) { if (buf_free == 0) { if (last_write_times[(unsigned)channel] != 0 && - hrt_elapsed_time(&last_write_times[(unsigned)channel]) > 500 * 1000UL) { + hrt_elapsed_time(&last_write_times[(unsigned)channel]) > 500 * 1000UL) { warnx("DISABLING HARDWARE FLOW CONTROL"); instance->enable_flow_control(false); @@ -186,12 +186,17 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length } } - ssize_t ret = write(uart, ch, desired); - - if (ret != desired) { - // XXX do something here, but change to using FIONWRITE and OS buf size for detection + /* If the wait until transmit flag is on, only transmit after we've received messages. + Otherwise, transmit all the time. */ + if (instance->should_transmit()) { + ssize_t ret = write(uart, ch, desired); + if (ret != desired) { + // XXX do something here, but change to using FIONWRITE and OS buf size for detection + } } + + } static void usage(void); @@ -204,6 +209,8 @@ Mavlink::Mavlink() : _task_running(false), _hil_enabled(false), _is_usb_uart(false), + _wait_to_transmit(false), + _received_messages(false), _main_loop_delay(1000), _subscriptions(nullptr), _streams(nullptr), @@ -825,10 +832,10 @@ void Mavlink::publish_mission() { /* Initialize mission publication if necessary */ if (_mission_pub < 0) { - _mission_pub = orb_advertise(ORB_ID(mission), &mission); + _mission_pub = orb_advertise(ORB_ID(offboard_mission), &mission); } else { - orb_publish(ORB_ID(mission), _mission_pub, &mission); + orb_publish(ORB_ID(offboard_mission), _mission_pub, &mission); } } @@ -1768,7 +1775,7 @@ Mavlink::task_main(int argc, char *argv[]) * set error flag instead */ bool err_flag = false; - while ((ch = getopt(argc, argv, "b:r:d:m:fpv")) != EOF) { + while ((ch = getopt(argc, argv, "b:r:d:m:fpvw")) != EOF) { switch (ch) { case 'b': _baudrate = strtoul(optarg, NULL, 10); @@ -1820,6 +1827,10 @@ Mavlink::task_main(int argc, char *argv[]) _verbose = true; break; + case 'w': + _wait_to_transmit = true; + break; + default: err_flag = true; break; @@ -2265,7 +2276,7 @@ Mavlink::stream(int argc, char *argv[]) static void usage() { - warnx("usage: mavlink {start|stop-all|stream} [-d device] [-b baudrate] [-r rate] [-m mode] [-s stream] [-f] [-p] [-v]"); + warnx("usage: mavlink {start|stop-all|stream} [-d device] [-b baudrate] [-r rate] [-m mode] [-s stream] [-f] [-p] [-v] [-w]"); } int mavlink_main(int argc, char *argv[]) diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h index 9941a5f99..66d82b471 100644 --- a/src/modules/mavlink/mavlink_main.h +++ b/src/modules/mavlink/mavlink_main.h @@ -202,6 +202,14 @@ public: int get_mavlink_fd() { return _mavlink_fd; } + + /* Functions for waiting to start transmission until message received. */ + void set_has_received_messages(bool received_messages) { _received_messages = received_messages; } + bool get_has_received_messages() { return _received_messages; } + void set_wait_to_transmit(bool wait) { _wait_to_transmit = wait; } + bool get_wait_to_transmit() { return _wait_to_transmit; } + bool should_transmit() { return (!_wait_to_transmit || (_wait_to_transmit && _received_messages)); } + protected: Mavlink *next; @@ -216,6 +224,8 @@ private: /* states */ bool _hil_enabled; /**< Hardware In the Loop mode */ bool _is_usb_uart; /**< Port is USB */ + bool _wait_to_transmit; /**< Wait to transmit until received messages. */ + bool _received_messages; /**< Whether we've received valid mavlink messages. */ unsigned _main_loop_delay; /**< mainloop delay, depends on data rate */ @@ -270,6 +280,8 @@ private: pthread_mutex_t _message_buffer_mutex; + + /** * Send one parameter. * diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index e608bf787..58af1fcb6 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -641,6 +641,47 @@ protected: }; + +class MavlinkStreamViconPositionEstimate : public MavlinkStream +{ +public: + const char *get_name() + { + return "VICON_POSITION_ESTIMATE"; + } + + MavlinkStream *new_instance() + { + return new MavlinkStreamViconPositionEstimate(); + } + +private: + MavlinkOrbSubscription *pos_sub; + struct vehicle_vicon_position_s *pos; + +protected: + void subscribe(Mavlink *mavlink) + { + pos_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_vicon_position)); + pos = (struct vehicle_vicon_position_s *)pos_sub->get_data(); + } + + void send(const hrt_abstime t) + { + if (pos_sub->update(t)) { + mavlink_msg_vicon_position_estimate_send(_channel, + pos->timestamp / 1000, + pos->x, + pos->y, + pos->z, + pos->roll, + pos->pitch, + pos->yaw); + } + } +}; + + class MavlinkStreamGPSGlobalOrigin : public MavlinkStream { public: @@ -1344,5 +1385,6 @@ MavlinkStream *streams_list[] = { new MavlinkStreamNamedValueFloat(), new MavlinkStreamCameraCapture(), new MavlinkStreamDistanceSensor(), + new MavlinkStreamViconPositionEstimate(), nullptr }; diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index c66350f5b..b4fe65fd2 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -181,6 +181,10 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg) break; } } + + /* If we've received a valid message, mark the flag indicating so. + This is used in the '-w' command-line flag. */ + _mavlink->set_has_received_messages(true); } void diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 5a94b6671..bcb3c8d0a 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -510,7 +510,7 @@ Navigator::offboard_mission_update(bool isrotaryWing) { struct mission_s offboard_mission; - if (orb_copy(ORB_ID(mission), _offboard_mission_sub, &offboard_mission) == OK) { + if (orb_copy(ORB_ID(offboard_mission), _offboard_mission_sub, &offboard_mission) == OK) { /* Check mission feasibility, for now do not handle the return value, * however warnings are issued to the gcs via mavlink from inside the MissionFeasiblityChecker */ @@ -543,7 +543,7 @@ Navigator::onboard_mission_update() { struct mission_s onboard_mission; - if (orb_copy(ORB_ID(mission), _onboard_mission_sub, &onboard_mission) == OK) { + if (orb_copy(ORB_ID(onboard_mission), _onboard_mission_sub, &onboard_mission) == OK) { _mission.set_onboard_mission_count(onboard_mission.count); _mission.set_current_onboard_mission_index(onboard_mission.current_index); @@ -611,7 +611,7 @@ Navigator::task_main() * do subscriptions */ _global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); - _offboard_mission_sub = orb_subscribe(ORB_ID(mission)); + _offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission)); _onboard_mission_sub = orb_subscribe(ORB_ID(onboard_mission)); _capabilities_sub = orb_subscribe(ORB_ID(navigation_capabilities)); _vstatus_sub = orb_subscribe(ORB_ID(vehicle_status)); diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp index c8a589bb7..90675bb2e 100644 --- a/src/modules/uORB/objects_common.cpp +++ b/src/modules/uORB/objects_common.cpp @@ -127,7 +127,7 @@ ORB_DEFINE(position_setpoint_triplet, struct position_setpoint_triplet_s); ORB_DEFINE(vehicle_global_velocity_setpoint, struct vehicle_global_velocity_setpoint_s); #include "topics/mission.h" -ORB_DEFINE(mission, struct mission_s); +ORB_DEFINE(offboard_mission, struct mission_s); ORB_DEFINE(onboard_mission, struct mission_s); #include "topics/mission_result.h" diff --git a/src/modules/uORB/topics/mission.h b/src/modules/uORB/topics/mission.h index 9594c4c6a..ef4bc1def 100644 --- a/src/modules/uORB/topics/mission.h +++ b/src/modules/uORB/topics/mission.h @@ -105,7 +105,7 @@ struct mission_s */ /* register this as object request broker structure */ -ORB_DECLARE(mission); +ORB_DECLARE(offboard_mission); ORB_DECLARE(onboard_mission); #endif |