diff options
36 files changed, 608 insertions, 131 deletions
diff --git a/.gitignore b/.gitignore index 5b345b34a..c992dbf5a 100644 --- a/.gitignore +++ b/.gitignore @@ -37,3 +37,4 @@ mavlink/include/mavlink/v0.9/ tags .tags_sorted_by_file .pydevproject +.ropeproject diff --git a/ROMFS/px4fmu_common/init.d/2100_mpx_easystar b/ROMFS/px4fmu_common/init.d/2100_mpx_easystar index 465a22c53..db0e40fc2 100644 --- a/ROMFS/px4fmu_common/init.d/2100_mpx_easystar +++ b/ROMFS/px4fmu_common/init.d/2100_mpx_easystar @@ -5,4 +5,4 @@ sh /etc/init.d/rc.fw_defaults -set MIXER FMU_RET +set MIXER easystar.mix diff --git a/ROMFS/px4fmu_common/init.d/rc.io b/ROMFS/px4fmu_common/init.d/rc.io index 6e8fdbc0f..e23aebd87 100644 --- a/ROMFS/px4fmu_common/init.d/rc.io +++ b/ROMFS/px4fmu_common/init.d/rc.io @@ -11,7 +11,7 @@ px4io recovery # Adjust PX4IO update rate limit # set PX4IO_LIMIT 400 -if hw_ver compare PX4FMU_V1 +if ver hwcmp PX4FMU_V1 then set PX4IO_LIMIT 200 fi diff --git a/ROMFS/px4fmu_common/init.d/rc.logging b/ROMFS/px4fmu_common/init.d/rc.logging index c5aef8273..3469d5f5f 100644 --- a/ROMFS/px4fmu_common/init.d/rc.logging +++ b/ROMFS/px4fmu_common/init.d/rc.logging @@ -5,7 +5,7 @@ if [ -d /fs/microsd ] then - if hw_ver compare PX4FMU_V1 + if ver hwcmp PX4FMU_V1 then echo "Start sdlog2 at 50Hz" sdlog2 start -r 50 -a -b 8 -t diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_defaults index 4db62607a..a8c6dc811 100644 --- a/ROMFS/px4fmu_common/init.d/rc.mc_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults @@ -32,9 +32,9 @@ then param set MPC_Z_VEL_D 0.0 param set MPC_Z_VEL_MAX 3 param set MPC_Z_FF 0.5 - param set MPC_TILT_MAX 1.0 + param set MPC_TILTMAX_AIR 45.0 + param set MPC_TILTMAX_LND 15.0 param set MPC_LAND_SPEED 1.0 - param set MPC_LAND_TILT 0.3 fi set PWM_RATE 400 diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors index 235be2431..1e14930fe 100644 --- a/ROMFS/px4fmu_common/init.d/rc.sensors +++ b/ROMFS/px4fmu_common/init.d/rc.sensors @@ -22,7 +22,7 @@ then echo "[init] Using L3GD20(H)" fi -if hw_ver compare PX4FMU_V2 +if ver hwcmp PX4FMU_V2 then if lsm303d start then diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 492afcb4c..756ee8ef8 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -248,7 +248,7 @@ then echo "[init] ERROR: PX4IO not found, disabling output" # Avoid using ttyS0 for MAVLink on FMUv1 - if hw_ver compare PX4FMU_V1 + if ver hwcmp PX4FMU_V1 then set FMU_MODE serial fi @@ -262,7 +262,7 @@ then if [ $HIL == yes ] then set OUTPUT_MODE hil - if hw_ver compare PX4FMU_V1 + if ver hwcmp PX4FMU_V1 then set FMU_MODE serial fi @@ -308,7 +308,7 @@ then tone_alarm $TUNE_OUT_ERROR fi - if hw_ver compare PX4FMU_V1 + if ver hwcmp PX4FMU_V1 then if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ] then @@ -383,7 +383,7 @@ then tone_alarm $TUNE_OUT_ERROR fi - if hw_ver compare PX4FMU_V1 + if ver hwcmp PX4FMU_V1 then if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ] then diff --git a/ROMFS/px4fmu_common/mixers/easystar.mix b/ROMFS/px4fmu_common/mixers/easystar.mix new file mode 100644 index 000000000..0051ffdbb --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/easystar.mix @@ -0,0 +1,31 @@ +EASYSTAR / EASYSTAR II MIXER +============================ + +Aileron mixer +------------- +One output - would be easy to add support for 2 servos + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 0 10000 10000 0 -10000 10000 + +Elevator mixer +------------ + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 1 -10000 -10000 0 -10000 10000 + +Rudder mixer +------------ + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 2 -10000 -10000 0 -10000 10000 + +Motor speed mixer +----------------- + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 3 0 20000 -10000 -10000 10000 diff --git a/Tools/px_romfs_pruner.py b/Tools/px_romfs_pruner.py index ceef9f9be..fcc40b09e 100644 --- a/Tools/px_romfs_pruner.py +++ b/Tools/px_romfs_pruner.py @@ -43,29 +43,30 @@ from __future__ import print_function import argparse import os + def main(): - + # Parse commandline arguments parser = argparse.ArgumentParser(description="ROMFS pruner.") parser.add_argument('--folder', action="store", help="ROMFS scratch folder.") args = parser.parse_args() - + print("Pruning ROMFS files.") - - # go through + + # go through for (root, dirs, files) in os.walk(args.folder): for file in files: # only prune text files - if ".zip" in file or ".bin" in file: + if ".zip" in file or ".bin" in file or ".swp" in file: continue - - file_path = os.path.join(root, file) - + + file_path = os.path.join(root, file) + # read file line by line pruned_content = "" with open(file_path, "r") as f: - for line in f: - + for line in f: + # handle mixer files differently than startup files if file_path.endswith(".mix"): if line.startswith(("Z:", "M:", "R: ", "O:", "S:")): @@ -73,11 +74,11 @@ def main(): else: if not line.isspace() and not line.strip().startswith("#"): pruned_content += line - + # overwrite old scratch file with open(file_path, "w") as f: f.write(pruned_content) - - + + if __name__ == '__main__': - main()
\ No newline at end of file + main() diff --git a/Tools/tests-host/.gitignore b/Tools/tests-host/.gitignore index 61e091551..87b314c61 100644 --- a/Tools/tests-host/.gitignore +++ b/Tools/tests-host/.gitignore @@ -1,2 +1,4 @@ ./obj/* mixer_test +sbus2_test +autodeclination_test diff --git a/Tools/tests-host/Makefile b/Tools/tests-host/Makefile index 7ab1454f0..f0737ef88 100644 --- a/Tools/tests-host/Makefile +++ b/Tools/tests-host/Makefile @@ -1,47 +1,39 @@ CC=g++ -CFLAGS=-I. -I../../src/modules -I ../../src/include -I../../src/drivers -I../../src -D__EXPORT="" -Dnullptr="0" +CFLAGS=-I. -I../../src/modules -I ../../src/include -I../../src/drivers \ + -I../../src -I../../src/lib -D__EXPORT="" -Dnullptr="0" -lm -ODIR=obj -LDIR =../lib +all: mixer_test sbus2_test autodeclination_test -LIBS=-lm +MIXER_FILES=../../src/systemcmds/tests/test_mixer.cpp \ + ../../src/systemcmds/tests/test_conv.cpp \ + ../../src/modules/systemlib/mixer/mixer_simple.cpp \ + ../../src/modules/systemlib/mixer/mixer_multirotor.cpp \ + ../../src/modules/systemlib/mixer/mixer.cpp \ + ../../src/modules/systemlib/mixer/mixer_group.cpp \ + ../../src/modules/systemlib/mixer/mixer_load.c \ + ../../src/modules/systemlib/pwm_limit/pwm_limit.c \ + hrt.cpp \ + mixer_test.cpp -#_DEPS = test.h -#DEPS = $(patsubst %,$(IDIR)/%,$(_DEPS)) +SBUS2_FILES=../../src/modules/px4iofirmware/sbus.c \ + hrt.cpp \ + sbus2_test.cpp -_OBJ = mixer_test.o test_mixer.o mixer_simple.o mixer_multirotor.o \ - mixer.o mixer_group.o mixer_load.o test_conv.o pwm_limit.o hrt.o -OBJ = $(patsubst %,$(ODIR)/%,$(_OBJ)) +AUTODECLINATION_FILES= ../../src/lib/geo/geo_mag_declination.c \ + hrt.cpp \ + autodeclination_test.cpp -#$(DEPS) -$(ODIR)/%.o: %.cpp - mkdir -p obj - $(CC) -c -o $@ $< $(CFLAGS) +mixer_test: $(MIXER_FILES) + $(CC) -o mixer_test $(MIXER_FILES) $(CFLAGS) -$(ODIR)/%.o: ../../src/systemcmds/tests/%.cpp - $(CC) -c -o $@ $< $(CFLAGS) +sbus2_test: $(SBUS2_FILES) + $(CC) -o sbus2_test $(SBUS2_FILES) $(CFLAGS) -$(ODIR)/%.o: ../../src/modules/systemlib/%.cpp - $(CC) -c -o $@ $< $(CFLAGS) - -$(ODIR)/%.o: ../../src/modules/systemlib/mixer/%.cpp - $(CC) -c -o $@ $< $(CFLAGS) - -$(ODIR)/%.o: ../../src/modules/systemlib/pwm_limit/%.cpp - $(CC) -c -o $@ $< $(CFLAGS) - -$(ODIR)/%.o: ../../src/modules/systemlib/pwm_limit/%.c - $(CC) -c -o $@ $< $(CFLAGS) - -$(ODIR)/%.o: ../../src/modules/systemlib/mixer/%.c - $(CC) -c -o $@ $< $(CFLAGS) - -# -mixer_test: $(OBJ) - g++ -o $@ $^ $(CFLAGS) $(LIBS) +autodeclination_test: $(SBUS2_FILES) + $(CC) -o autodeclination_test $(AUTODECLINATION_FILES) $(CFLAGS) .PHONY: clean clean: - rm -f $(ODIR)/*.o *~ core $(INCDIR)/*~
\ No newline at end of file + rm -f $(ODIR)/*.o *~ core $(INCDIR)/*~ mixer_test sbus2_test autodeclination_test
\ No newline at end of file diff --git a/Tools/tests-host/autodeclination_test.cpp b/Tools/tests-host/autodeclination_test.cpp new file mode 100644 index 000000000..93bc340bb --- /dev/null +++ b/Tools/tests-host/autodeclination_test.cpp @@ -0,0 +1,28 @@ + +#include <stdio.h> +#include <stdlib.h> +#include <unistd.h> +#include <string.h> +#include <systemlib/mixer/mixer.h> +#include <systemlib/err.h> +#include <drivers/drv_hrt.h> +#include <px4iofirmware/px4io.h> +#include "../../src/systemcmds/tests/tests.h" +#include <geo/geo.h> + +int main(int argc, char *argv[]) { + warnx("autodeclination test started"); + + if (argc < 3) + errx(1, "Need lat/lon!"); + + char* p_end; + + float lat = strtod(argv[1], &p_end); + float lon = strtod(argv[2], &p_end); + + float declination = get_mag_declination(lat, lon); + + printf("lat: %f lon: %f, dec: %f\n", lat, lon, declination); + +} diff --git a/Tools/tests-host/board_config.h b/Tools/tests-host/board_config.h new file mode 100644 index 000000000..e69de29bb --- /dev/null +++ b/Tools/tests-host/board_config.h diff --git a/Tools/tests-host/debug.h b/Tools/tests-host/debug.h new file mode 100644 index 000000000..9824d13fc --- /dev/null +++ b/Tools/tests-host/debug.h @@ -0,0 +1,5 @@ + +#pragma once + +#include <systemlib/err.h> +#define lowsyslog warnx
\ No newline at end of file diff --git a/Tools/tests-host/mixer_test.cpp b/Tools/tests-host/mixer_test.cpp index e311617f9..06499afd0 100644 --- a/Tools/tests-host/mixer_test.cpp +++ b/Tools/tests-host/mixer_test.cpp @@ -11,4 +11,4 @@ int main(int argc, char *argv[]) { test_mixer(3, args); test_conv(1, args); -}
\ No newline at end of file +} diff --git a/Tools/tests-host/run_tests.sh b/Tools/tests-host/run_tests.sh new file mode 100755 index 000000000..ff5ee509a --- /dev/null +++ b/Tools/tests-host/run_tests.sh @@ -0,0 +1,6 @@ +#!/bin/sh + +make clean +make all +./mixer_test +./sbus2_test ../../../../data/sbus2/sbus2_r7008SB_gps_baro_tx_off.txt
\ No newline at end of file diff --git a/Tools/tests-host/sbus2_test.cpp b/Tools/tests-host/sbus2_test.cpp new file mode 100644 index 000000000..d8fcb695d --- /dev/null +++ b/Tools/tests-host/sbus2_test.cpp @@ -0,0 +1,75 @@ + +#include <stdio.h> +#include <unistd.h> +#include <string.h> +#include <systemlib/mixer/mixer.h> +#include <systemlib/err.h> +#include <drivers/drv_hrt.h> +#include <px4iofirmware/px4io.h> +#include "../../src/systemcmds/tests/tests.h" + +int main(int argc, char *argv[]) { + warnx("SBUS2 test started"); + + if (argc < 2) + errx(1, "Need a filename for the input file"); + + warnx("loading data from: %s", argv[1]); + + FILE *fp; + + fp = fopen(argv[1],"rt"); + + if (!fp) + errx(1, "failed opening file"); + + float f; + unsigned x; + int ret; + + // Trash the first 20 lines + for (unsigned i = 0; i < 20; i++) { + (void)fscanf(fp, "%f,%x,,", &f, &x); + } + + // Init the parser + uint8_t frame[30]; + unsigned partial_frame_count = 0; + uint16_t rc_values[18]; + uint16_t num_values; + bool sbus_failsafe; + bool sbus_frame_drop; + uint16_t max_channels = sizeof(rc_values) / sizeof(rc_values[0]); + + float last_time = 0; + + while (EOF != (ret = fscanf(fp, "%f,%x,,", &f, &x))) { + if (((f - last_time) * 1000 * 1000) > 3000) { + partial_frame_count = 0; + warnx("FRAME RESET\n\n"); + } + + frame[partial_frame_count] = x; + partial_frame_count++; + + //warnx("%f: 0x%02x, first: 0x%02x, last: 0x%02x, pcount: %u", (double)f, x, frame[0], frame[24], partial_frame_count); + + if (partial_frame_count == sizeof(frame)) + partial_frame_count = 0; + + last_time = f; + + // Pipe the data into the parser + hrt_abstime now = hrt_absolute_time(); + + //if (partial_frame_count % 25 == 0) + //sbus_parse(now, frame, &partial_frame_count, rc_values, &num_values, &sbus_failsafe, &sbus_frame_drop, max_channels); + } + + if (ret == EOF) { + warnx("Test finished, reached end of file"); + } else { + warnx("Test aborted, errno: %d", ret); + } + +} diff --git a/makefiles/config_px4fmu-v1_default.mk b/makefiles/config_px4fmu-v1_default.mk index 532e978d0..61a417f30 100644 --- a/makefiles/config_px4fmu-v1_default.mk +++ b/makefiles/config_px4fmu-v1_default.mk @@ -55,8 +55,8 @@ MODULES += systemcmds/top MODULES += systemcmds/tests MODULES += systemcmds/config MODULES += systemcmds/nshterm -MODULES += systemcmds/hw_ver MODULES += systemcmds/dumpfile +MODULES += systemcmds/ver # # General system control diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk index e13421acc..65ca24325 100644 --- a/makefiles/config_px4fmu-v2_default.mk +++ b/makefiles/config_px4fmu-v2_default.mk @@ -63,8 +63,8 @@ MODULES += systemcmds/tests MODULES += systemcmds/config MODULES += systemcmds/nshterm MODULES += systemcmds/mtd -MODULES += systemcmds/hw_ver MODULES += systemcmds/dumpfile +MODULES += systemcmds/ver # # General system control diff --git a/makefiles/config_px4fmu-v2_test.mk b/makefiles/config_px4fmu-v2_test.mk index 79922374d..84274bf75 100644 --- a/makefiles/config_px4fmu-v2_test.mk +++ b/makefiles/config_px4fmu-v2_test.mk @@ -29,7 +29,7 @@ MODULES += systemcmds/reboot MODULES += systemcmds/tests MODULES += systemcmds/nshterm MODULES += systemcmds/mtd -MODULES += systemcmds/hw_ver +MODULES += systemcmds/ver # # Library modules diff --git a/makefiles/firmware.mk b/makefiles/firmware.mk index 1b646d9e0..60602e76f 100644 --- a/makefiles/firmware.mk +++ b/makefiles/firmware.mk @@ -113,7 +113,7 @@ endif $(info % GIT_DESC = $(GIT_DESC)) # -# Set a default target so that included makefiles or errors here don't +# Set a default target so that included makefiles or errors here don't # cause confusion. # # XXX We could do something cute here with $(DEFAULT_GOAL) if it's not one @@ -177,7 +177,7 @@ GLOBAL_DEPS += $(MAKEFILE_LIST) # # Extra things we should clean # -EXTRA_CLEANS = +EXTRA_CLEANS = # @@ -371,6 +371,8 @@ $(ROMFS_IMG): $(ROMFS_SCRATCH) $(ROMFS_DEPS) $(GLOBAL_DEPS) $(ROMFS_SCRATCH): $(ROMFS_DEPS) $(GLOBAL_DEPS) $(Q) $(MKDIR) -p $(ROMFS_SCRATCH) $(Q) $(COPYDIR) $(ROMFS_ROOT)/* $(ROMFS_SCRATCH) +# delete all files in ROMFS_SCRATCH which start with a . or end with a ~ + $(Q) $(RM) $(ROMFS_SCRATCH)/*/.[!.]* $(ROMFS_SCRATCH)/*/*~ ifneq ($(ROMFS_EXTRA_FILES),) $(Q) $(MKDIR) -p $(ROMFS_SCRATCH)/extras $(Q) $(COPY) $(ROMFS_EXTRA_FILES) $(ROMFS_SCRATCH)/extras diff --git a/src/drivers/drv_hrt.h b/src/drivers/drv_hrt.h index d130d68b3..8bfc90c64 100644 --- a/src/drivers/drv_hrt.h +++ b/src/drivers/drv_hrt.h @@ -41,6 +41,7 @@ #include <sys/types.h> #include <stdbool.h> +#include <inttypes.h> #include <time.h> #include <queue.h> diff --git a/src/lib/geo/geo.h b/src/lib/geo/geo.h index 3d7ba050f..1d0cd524a 100644 --- a/src/lib/geo/geo.h +++ b/src/lib/geo/geo.h @@ -50,6 +50,8 @@ __BEGIN_DECLS +#include "geo/geo_mag_declination.h" + #include <stdbool.h> #define CONSTANTS_ONE_G 9.80665f /* m/s^2 */ diff --git a/src/lib/geo/geo_mag_declination.c b/src/lib/geo/geo_mag_declination.c new file mode 100644 index 000000000..09eac38f4 --- /dev/null +++ b/src/lib/geo/geo_mag_declination.c @@ -0,0 +1,136 @@ +/**************************************************************************** + * + * 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. +* +*/ + +#include <geo/geo.h> + +/** set this always to the sampling in degrees for the table below */ +#define SAMPLING_RES 10.0f +#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 int8_t 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 = (-(SAMPLING_MIN_LAT) + min_lat) / SAMPLING_RES; + unsigned min_lon_index = (-(SAMPLING_MIN_LON) + min_lon) / 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/systemcmds/hw_ver/hw_ver.c b/src/lib/geo/geo_mag_declination.h index 4b84523cc..0ac062d6d 100644 --- a/src/systemcmds/hw_ver/hw_ver.c +++ b/src/lib/geo/geo_mag_declination.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2014 PX4 Development Team. All rights reserved. + * 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 @@ -12,7 +12,7 @@ * notice, this list of conditions and the following disclaimer in * the documentation and/or other materials provided with the * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be + * 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. * @@ -32,42 +32,16 @@ ****************************************************************************/ /** - * @file hw_ver.c - * - * Show and test hardware version. - */ - -#include <nuttx/config.h> - -#include <stdio.h> -#include <string.h> -#include <errno.h> -#include <version/version.h> - -__EXPORT int hw_ver_main(int argc, char *argv[]); +* @file geo_mag_declination.h +* +* Calculation / lookup table for earth magnetic field declination. +* +*/ -int -hw_ver_main(int argc, char *argv[]) -{ - if (argc >= 2) { - if (!strcmp(argv[1], "show")) { - printf(HW_ARCH "\n"); - exit(0); - } +#pragma once - if (!strcmp(argv[1], "compare")) { - if (argc >= 3) { - int ret = strcmp(HW_ARCH, argv[2]) != 0; - if (ret == 0) { - printf("hw_ver match: %s\n", HW_ARCH); - } - exit(ret); +__BEGIN_DECLS - } else { - errx(1, "not enough arguments, try 'compare PX4FMU_1'"); - } - } - } +__EXPORT float get_mag_declination(float lat, float lon); - errx(1, "expected a command, try 'show' or 'compare'"); -} +__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/lib/mathlib/CMSIS/Include/arm_math.h b/src/lib/mathlib/CMSIS/Include/arm_math.h index 6f66f9ee3..61d3a3b61 100644 --- a/src/lib/mathlib/CMSIS/Include/arm_math.h +++ b/src/lib/mathlib/CMSIS/Include/arm_math.h @@ -5193,7 +5193,7 @@ void arm_rfft_fast_f32( *pIa = Ialpha;
/* Calculating pIb from Ialpha and Ibeta by equation pIb = -(1/2) * Ialpha + (sqrt(3)/2) * Ibeta */
- *pIb = -0.5 * Ialpha + (float32_t) 0.8660254039 *Ibeta;
+ *pIb = (float32_t)-0.5 * Ialpha + (float32_t) 0.8660254039 *Ibeta;
}
diff --git a/src/modules/commander/commander_helper.cpp b/src/modules/commander/commander_helper.cpp index fe6c9bfaa..0fd3c9e9e 100644 --- a/src/modules/commander/commander_helper.cpp +++ b/src/modules/commander/commander_helper.cpp @@ -199,15 +199,9 @@ int led_init() } /* the blue LED is only available on FMUv1 but not FMUv2 */ -#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 - - if (ioctl(leds, LED_ON, LED_BLUE)) { - warnx("Blue LED: ioctl fail\n"); - return ERROR; - } - -#endif + (void)ioctl(leds, LED_ON, LED_BLUE); + /* we consider the amber led mandatory */ if (ioctl(leds, LED_ON, LED_AMBER)) { warnx("Amber LED: ioctl fail\n"); return ERROR; @@ -217,11 +211,7 @@ int led_init() rgbleds = open(RGBLED_DEVICE_PATH, 0); if (rgbleds == -1) { -#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2 - errx(1, "Unable to open " RGBLED_DEVICE_PATH); -#else - warnx("No RGB LED found"); -#endif + warnx("No RGB LED found at " RGBLED_DEVICE_PATH); } return 0; diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 678ce1645..bef8a5a55 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -819,11 +819,11 @@ protected: void send(const hrt_abstime t) { - bool updated = status_sub->update(t); - updated |= pos_sp_triplet_sub->update(t); - updated |= act_sub->update(t); + bool updated = act_sub->update(t); + (void)pos_sp_triplet_sub->update(t); + (void)status_sub->update(t); - if (updated) { + if (updated && (status->arming_state == ARMING_STATE_ARMED)) { /* translate the current syste state to mavlink state and mode */ uint8_t mavlink_state; uint8_t mavlink_base_mode; @@ -1353,7 +1353,7 @@ protected: uint8_t orientation = 0; uint8_t covariance = 20; - mavlink_msg_distance_sensor_send(_channel, range->timestamp / 1000, type, id, orientation, + mavlink_msg_distance_sensor_send(_channel, range->timestamp / 1000, type, id, orientation, range->minimum_distance*100, range->maximum_distance*100, range->distance*100, covariance); } }; diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index ddbf4fc69..1cfbde1d2 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -432,8 +432,8 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg) memset(&manual, 0, sizeof(manual)); manual.timestamp = hrt_absolute_time(); - manual.roll = man.x / 1000.0f; - manual.pitch = man.y / 1000.0f; + manual.pitch = man.x / 1000.0f; + manual.roll = man.y / 1000.0f; manual.yaw = man.r / 1000.0f; manual.throttle = man.z / 1000.0f; diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp index 6b0c44fb3..36d95bf06 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -496,7 +496,8 @@ MulticopterAttitudeControl::control_attitude(float dt) //} } else { /* move yaw setpoint */ - _v_att_sp.yaw_body = _wrap_pi(_v_att_sp.yaw_body + _manual_control_sp.yaw * _params.man_yaw_max * dt); + yaw_sp_move_rate = _manual_control_sp.yaw * _params.man_yaw_max; + _v_att_sp.yaw_body = _wrap_pi(_v_att_sp.yaw_body + yaw_sp_move_rate * dt); _v_att_sp.R_valid = false; publish_att_sp = true; } diff --git a/src/modules/systemlib/mixer/mixer_load.c b/src/modules/systemlib/mixer/mixer_load.c index b05273c0d..bf3428a50 100644 --- a/src/modules/systemlib/mixer/mixer_load.c +++ b/src/modules/systemlib/mixer/mixer_load.c @@ -41,6 +41,7 @@ #include <string.h> #include <stdio.h> #include <ctype.h> +#include <systemlib/err.h> #include "mixer_load.h" diff --git a/src/systemcmds/esc_calib/esc_calib.c b/src/systemcmds/esc_calib/esc_calib.c index ad1996694..7d80af307 100644 --- a/src/systemcmds/esc_calib/esc_calib.c +++ b/src/systemcmds/esc_calib/esc_calib.c @@ -182,7 +182,7 @@ esc_calib_main(int argc, char *argv[]) if (orb_updated) { errx(1, "ABORTING! Attitude control still active. Please ensure to shut down all controllers:\n" - "\tmultirotor_att_control stop\n" + "\tmc_att_control stop\n" "\tfw_att_control stop\n"); } diff --git a/src/systemcmds/pwm/pwm.c b/src/systemcmds/pwm/pwm.c index 7c23f38c2..1828c660f 100644 --- a/src/systemcmds/pwm/pwm.c +++ b/src/systemcmds/pwm/pwm.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -443,6 +443,110 @@ pwm_main(int argc, char *argv[]) exit(0); } } + usleep(2000); + } + exit(0); + + + } else if (!strcmp(argv[1], "steps")) { + + if (set_mask == 0) { + usage("no channels set"); + } + + /* get current servo values */ + struct pwm_output_values last_spos; + + for (unsigned i = 0; i < servo_count; i++) { + + ret = ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&last_spos.values[i]); + if (ret != OK) + err(1, "PWM_SERVO_GET(%d)", i); + } + + /* perform PWM output */ + + /* Open console directly to grab CTRL-C signal */ + struct pollfd fds; + fds.fd = 0; /* stdin */ + fds.events = POLLIN; + + warnx("Running 5 steps. WARNING! Motors will be live in 5 seconds\nPress any key to abort now."); + sleep(5); + + unsigned off = 900; + unsigned idle = 1300; + unsigned full = 2000; + unsigned steps_timings_us[] = {2000, 5000, 20000, 50000}; + + unsigned phase = 0; + unsigned phase_counter = 0; + unsigned const phase_maxcount = 20; + + for ( unsigned steps_timing_index = 0; + steps_timing_index < sizeof(steps_timings_us) / sizeof(steps_timings_us[0]); + steps_timing_index++ ) { + + warnx("Sending step input with 0 to 100%% over a %u microseconds ramp", steps_timings_us[steps_timing_index]); + + while (1) { + for (unsigned i = 0; i < servo_count; i++) { + if (set_mask & 1<<i) { + + unsigned val; + + if (phase == 0) { + val = idle; + } else if (phase == 1) { + /* ramp - depending how steep it is this ramp will look instantaneous on the output */ + val = idle + (full - idle) * (phase_maxcount / (float)phase_counter); + } else { + val = off; + } + + ret = ioctl(fd, PWM_SERVO_SET(i), val); + if (ret != OK) + err(1, "PWM_SERVO_SET(%d)", i); + } + } + + /* abort on user request */ + char c; + ret = poll(&fds, 1, 0); + if (ret > 0) { + + int ret = read(0, &c, 1); + if (ret > 0) { + /* reset output to the last value */ + for (unsigned i = 0; i < servo_count; i++) { + if (set_mask & 1<<i) { + ret = ioctl(fd, PWM_SERVO_SET(i), last_spos.values[i]); + if (ret != OK) + err(1, "PWM_SERVO_SET(%d)", i); + } + } + warnx("Key pressed, user abort\n"); + exit(0); + } + } + if (phase == 1) { + usleep(steps_timings_us[steps_timing_index] / phase_maxcount); + + } else if (phase == 0) { + usleep(50000); + } else if (phase == 2) { + usleep(50000); + } else { + break; + } + + phase_counter++; + + if (phase_counter > phase_maxcount) { + phase++; + phase_counter = 0; + } + } } exit(0); diff --git a/src/systemcmds/hw_ver/module.mk b/src/systemcmds/ver/module.mk index 3cc08b6a1..2eeb80b61 100644 --- a/src/systemcmds/hw_ver/module.mk +++ b/src/systemcmds/ver/module.mk @@ -32,12 +32,13 @@ ############################################################################ # -# Show and test hardware version +# "version" nsh-command displays version infromation for hw,sw, gcc,build etc +# can be also included and used in own code via "ver.h" # -MODULE_COMMAND = hw_ver -SRCS = hw_ver.c +MODULE_COMMAND = ver +SRCS = ver.c -MODULE_STACKSIZE = 1024 +MODULE_STACKSIZE = 1024 -MAXOPTIMIZATION = -Os +MAXOPTIMIZATION = -Os diff --git a/src/systemcmds/ver/ver.c b/src/systemcmds/ver/ver.c new file mode 100644 index 000000000..9ae080ee2 --- /dev/null +++ b/src/systemcmds/ver/ver.c @@ -0,0 +1,123 @@ +/**************************************************************************** +* +* Copyright (c) 2014 PX4 Development Team. 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 PX4 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 ver.c +* +* Version command, unifies way of showing versions of HW, SW, Build, GCC +* In case you want to add new version just extend version_main function +* +* @author Vladimir Kulla <ufon@kullaonline.net> +*/ + +#include <stdio.h> +#include <string.h> +#include <version/version.h> +#include <systemlib/err.h> + +// string constants for version commands +static const char sz_ver_hw_str[] = "hw"; +static const char sz_ver_hwcmp_str[] = "hwcmp"; +static const char sz_ver_git_str[] = "git"; +static const char sz_ver_bdate_str[] = "bdate"; +static const char sz_ver_gcc_str[] = "gcc"; +static const char sz_ver_all_str[] = "all"; + +static void usage(const char *reason) +{ + if (reason != NULL) { + printf("%s\n", reason); + } + + printf("usage: ver {hw|hwcmp|git|bdate|gcc|all}\n\n"); +} + +__EXPORT int ver_main(int argc, char *argv[]); + +int ver_main(int argc, char *argv[]) +{ + int ret = 1; //defaults to an error + + // first check if there are at least 2 params + if (argc >= 2) { + if (argv[1] != NULL) { + if (!strncmp(argv[1], sz_ver_hw_str, sizeof(sz_ver_hw_str))) { + printf("%s\n", HW_ARCH); + ret = 0; + + } else if (!strncmp(argv[1], sz_ver_hwcmp_str, sizeof(sz_ver_hwcmp_str))) { + if (argc >= 3 && argv[2] != NULL) { + // compare 3rd parameter with HW_ARCH string, in case of match, return 0 + ret = strncmp(HW_ARCH, argv[2], strlen(HW_ARCH)); + + if (ret == 0) { + printf("ver hwcmp match: %s\n", HW_ARCH); + } + + } else { + errx(1, "Not enough arguments, try 'ver hwcmp PX4FMU_V2'"); + } + + } else if (!strncmp(argv[1], sz_ver_git_str, sizeof(sz_ver_git_str))) { + printf("%s\n", FW_GIT); + ret = 0; + + } else if (!strncmp(argv[1], sz_ver_bdate_str, sizeof(sz_ver_bdate_str))) { + printf("%s %s\n", __DATE__, __TIME__); + ret = 0; + + } else if (!strncmp(argv[1], sz_ver_gcc_str, sizeof(sz_ver_gcc_str))) { + printf("%s\n", __VERSION__); + ret = 0; + + } else if (!strncmp(argv[1], sz_ver_all_str, sizeof(sz_ver_all_str))) { + printf("HW arch: %s\n", HW_ARCH); + printf("Build datetime: %s %s\n", __DATE__, __TIME__); + printf("FW git-hash: %s\n", FW_GIT); + printf("GCC toolchain: %s\n", __VERSION__); + ret = 0; + + } else { + errx(1, "unknown command.\n"); + } + + } else { + usage("Error, input parameter NULL.\n"); + } + + } else { + usage("Error, not enough parameters."); + } + + return ret; +} |