diff options
-rw-r--r-- | ROMFS/px4fmu_common/init.d/10015_tbs_discovery (renamed from ROMFS/px4fmu_common/init.d/15_tbs_discovery) | 7 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/10016_3dr_iris (renamed from ROMFS/px4fmu_common/init.d/16_3dr_iris) | 7 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/2100_mpx_easystar (renamed from ROMFS/px4fmu_common/init.d/100_mpx_easystar) | 7 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/2101_hk_bixler (renamed from ROMFS/px4fmu_common/init.d/101_hk_bixler) | 7 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/2102_3dr_skywalker (renamed from ROMFS/px4fmu_common/init.d/102_3dr_skywalker) | 7 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/3030_io_camflyer (renamed from ROMFS/px4fmu_common/init.d/30_io_camflyer) | 7 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/3031_io_phantom (renamed from ROMFS/px4fmu_common/init.d/31_io_phantom) | 7 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/3032_skywalker_x5 (renamed from ROMFS/px4fmu_common/init.d/32_skywalker_x5) | 7 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/3033_io_wingwing (renamed from ROMFS/px4fmu_common/init.d/33_io_wingwing) | 7 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/3034_io_fx79 (renamed from ROMFS/px4fmu_common/init.d/34_io_fx79) | 7 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/4008_ardrone (renamed from ROMFS/px4fmu_common/init.d/08_ardrone) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/4009_ardrone_flow (renamed from ROMFS/px4fmu_common/init.d/09_ardrone_flow) | 5 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/4010_dji_f330 (renamed from ROMFS/px4fmu_common/init.d/10_dji_f330) | 30 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/4011_dji_f450 (renamed from ROMFS/px4fmu_common/init.d/11_dji_f450) | 9 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/40_io_segway | 5 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/666_fmu_q_x550 | 7 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/800_sdlogger | 9 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.hexa (renamed from ROMFS/px4fmu_common/init.d/12-13_hex) | 12 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.mc_interface | 49 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.octo | 94 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rcS | 120 | ||||
-rw-r--r-- | makefiles/config_px4fmu-v2_logging.mk | 159 | ||||
-rw-r--r-- | src/modules/fw_att_control/fw_att_control_main.cpp | 3 | ||||
-rw-r--r-- | src/modules/mavlink/orb_listener.c | 37 | ||||
-rw-r--r-- | src/systemcmds/param/param.c | 35 |
25 files changed, 275 insertions, 369 deletions
diff --git a/ROMFS/px4fmu_common/init.d/15_tbs_discovery b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery index c79e9d283..81d4b5d57 100644 --- a/ROMFS/px4fmu_common/init.d/15_tbs_discovery +++ b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery @@ -32,8 +32,6 @@ fi # param set MAV_TYPE 2 -set EXIT_ON_END no - # # Start and configure PX4IO or FMU interface # @@ -74,8 +72,3 @@ pwm max -c 1234 -p 1900 # Start common for all multirotors apps # sh /etc/init.d/rc.multirotor - -if [ $EXIT_ON_END == yes ] -then - exit -fi diff --git a/ROMFS/px4fmu_common/init.d/16_3dr_iris b/ROMFS/px4fmu_common/init.d/10016_3dr_iris index f6b071cf1..b0f4eda79 100644 --- a/ROMFS/px4fmu_common/init.d/16_3dr_iris +++ b/ROMFS/px4fmu_common/init.d/10016_3dr_iris @@ -32,8 +32,6 @@ fi # param set MAV_TYPE 2 -set EXIT_ON_END no - # # Start and configure PX4IO or FMU interface # @@ -73,8 +71,3 @@ pwm min -c 1234 -p 1050 # Start common for all multirotors apps # sh /etc/init.d/rc.multirotor - -if [ $EXIT_ON_END == yes ] -then - exit -fi diff --git a/ROMFS/px4fmu_common/init.d/100_mpx_easystar b/ROMFS/px4fmu_common/init.d/2100_mpx_easystar index abe378b22..97c2d7c90 100644 --- a/ROMFS/px4fmu_common/init.d/100_mpx_easystar +++ b/ROMFS/px4fmu_common/init.d/2100_mpx_easystar @@ -42,8 +42,6 @@ fi # param set MAV_TYPE 1 -set EXIT_ON_END no - # # Start and configure PX4IO or FMU interface # @@ -80,8 +78,3 @@ fi # Start common fixedwing apps # sh /etc/init.d/rc.fixedwing - -if [ $EXIT_ON_END == yes ] -then - exit -fi diff --git a/ROMFS/px4fmu_common/init.d/101_hk_bixler b/ROMFS/px4fmu_common/init.d/2101_hk_bixler index c616da988..995d3ba07 100644 --- a/ROMFS/px4fmu_common/init.d/101_hk_bixler +++ b/ROMFS/px4fmu_common/init.d/2101_hk_bixler @@ -42,8 +42,6 @@ fi # param set MAV_TYPE 1 -set EXIT_ON_END no - # # Start and configure PX4IO or FMU interface # @@ -80,8 +78,3 @@ fi # Start common fixedwing apps # sh /etc/init.d/rc.fixedwing - -if [ $EXIT_ON_END == yes ] -then - exit -fi diff --git a/ROMFS/px4fmu_common/init.d/102_3dr_skywalker b/ROMFS/px4fmu_common/init.d/2102_3dr_skywalker index e5d21c321..a6d2ace96 100644 --- a/ROMFS/px4fmu_common/init.d/102_3dr_skywalker +++ b/ROMFS/px4fmu_common/init.d/2102_3dr_skywalker @@ -42,8 +42,6 @@ fi # param set MAV_TYPE 1 -set EXIT_ON_END no - # # Start and configure PX4IO or FMU interface # @@ -82,8 +80,3 @@ fi # Start common fixedwing apps # sh /etc/init.d/rc.fixedwing - -if [ $EXIT_ON_END == yes ] -then - exit -fi diff --git a/ROMFS/px4fmu_common/init.d/30_io_camflyer b/ROMFS/px4fmu_common/init.d/3030_io_camflyer index 8a8bc1590..65f01c974 100644 --- a/ROMFS/px4fmu_common/init.d/30_io_camflyer +++ b/ROMFS/px4fmu_common/init.d/3030_io_camflyer @@ -20,8 +20,6 @@ fi # param set MAV_TYPE 1 -set EXIT_ON_END no - # # Start and configure PX4IO or FMU interface # @@ -58,8 +56,3 @@ fi # Start common fixedwing apps # sh /etc/init.d/rc.fixedwing - -if [ $EXIT_ON_END == yes ] -then - exit -fi
\ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/31_io_phantom b/ROMFS/px4fmu_common/init.d/3031_io_phantom index 62cfe1a9c..0cf6ee39a 100644 --- a/ROMFS/px4fmu_common/init.d/31_io_phantom +++ b/ROMFS/px4fmu_common/init.d/3031_io_phantom @@ -47,8 +47,6 @@ fi # param set MAV_TYPE 1 -set EXIT_ON_END no - # # Start and configure PX4IO or FMU interface # @@ -85,8 +83,3 @@ fi # Start common fixedwing apps # sh /etc/init.d/rc.fixedwing - -if [ $EXIT_ON_END == yes ] -then - exit -fi
\ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/32_skywalker_x5 b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 index 1e752f13a..41e041654 100644 --- a/ROMFS/px4fmu_common/init.d/32_skywalker_x5 +++ b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 @@ -20,8 +20,6 @@ fi # param set MAV_TYPE 1 -set EXIT_ON_END no - # # Start and configure PX4IO or FMU interface # @@ -58,8 +56,3 @@ fi # Start common fixedwing apps # sh /etc/init.d/rc.fixedwing - -if [ $EXIT_ON_END == yes ] -then - exit -fi diff --git a/ROMFS/px4fmu_common/init.d/33_io_wingwing b/ROMFS/px4fmu_common/init.d/3033_io_wingwing index 538c69711..82ff425e6 100644 --- a/ROMFS/px4fmu_common/init.d/33_io_wingwing +++ b/ROMFS/px4fmu_common/init.d/3033_io_wingwing @@ -46,8 +46,6 @@ fi # param set MAV_TYPE 1 -set EXIT_ON_END no - # # Start and configure PX4IO or FMU interface # @@ -84,8 +82,3 @@ fi # Start common fixedwing apps # sh /etc/init.d/rc.fixedwing - -if [ $EXIT_ON_END == yes ] -then - exit -fi
\ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/34_io_fx79 b/ROMFS/px4fmu_common/init.d/3034_io_fx79 index 989204952..759c17bb4 100644 --- a/ROMFS/px4fmu_common/init.d/34_io_fx79 +++ b/ROMFS/px4fmu_common/init.d/3034_io_fx79 @@ -46,8 +46,6 @@ fi # param set MAV_TYPE 1 -set EXIT_ON_END no - # # Start and configure PX4IO or FMU interface # @@ -84,8 +82,3 @@ fi # Start common fixedwing apps # sh /etc/init.d/rc.fixedwing - -if [ $EXIT_ON_END == yes ] -then - exit -fi diff --git a/ROMFS/px4fmu_common/init.d/08_ardrone b/ROMFS/px4fmu_common/init.d/4008_ardrone index f6f09ac22..f6f09ac22 100644 --- a/ROMFS/px4fmu_common/init.d/08_ardrone +++ b/ROMFS/px4fmu_common/init.d/4008_ardrone diff --git a/ROMFS/px4fmu_common/init.d/09_ardrone_flow b/ROMFS/px4fmu_common/init.d/4009_ardrone_flow index 9b739f245..2886bcb75 100644 --- a/ROMFS/px4fmu_common/init.d/09_ardrone_flow +++ b/ROMFS/px4fmu_common/init.d/4009_ardrone_flow @@ -55,11 +55,6 @@ ardrone_interface start -d /dev/ttyS1 sh /etc/init.d/rc.sensors # -# Start the commander. -# -commander start - -# # Start the attitude estimator # attitude_estimator_ekf start diff --git a/ROMFS/px4fmu_common/init.d/10_dji_f330 b/ROMFS/px4fmu_common/init.d/4010_dji_f330 index 467b56bbf..7054210e2 100644 --- a/ROMFS/px4fmu_common/init.d/10_dji_f330 +++ b/ROMFS/px4fmu_common/init.d/4010_dji_f330 @@ -41,14 +41,6 @@ then param save fi - -# -# Force some key parameters to sane values -# MAV_TYPE 2 = quadrotor -# -param set MAV_TYPE 2 - -set EXIT_ON_END no # # Start and configure PX4IO or FMU interface @@ -69,29 +61,9 @@ else set EXIT_ON_END yes fi -# -# Load mixer -# -mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix - -# -# Set PWM output frequency -# -pwm rate -c 1234 -r 400 - -# -# Set disarmed, min and max PWM signals (for DJI ESCs) -# -pwm disarmed -c 1234 -p 900 -pwm min -c 1234 -p 1200 -pwm max -c 1234 -p 1800 +sh /etc/init.d/rc.mc_interface # # Start common for all multirotors apps # sh /etc/init.d/rc.multirotor - -if [ $EXIT_ON_END == yes ] -then - exit -fi diff --git a/ROMFS/px4fmu_common/init.d/11_dji_f450 b/ROMFS/px4fmu_common/init.d/4011_dji_f450 index 818f9375e..a1d253191 100644 --- a/ROMFS/px4fmu_common/init.d/11_dji_f450 +++ b/ROMFS/px4fmu_common/init.d/4011_dji_f450 @@ -32,8 +32,6 @@ fi # param set MAV_TYPE 2 -set EXIT_ON_END no - # # Start and configure PX4IO or FMU interface # @@ -43,8 +41,6 @@ then mavlink start usleep 5000 - commander start - sh /etc/init.d/rc.io else # Start MAVLink (on UART1 / ttyS0) @@ -76,8 +72,3 @@ pwm max -c 1234 -p 1800 # Start common multirotor apps # sh /etc/init.d/rc.multirotor - -if [ $EXIT_ON_END == yes ] -then - exit -fi diff --git a/ROMFS/px4fmu_common/init.d/40_io_segway b/ROMFS/px4fmu_common/init.d/40_io_segway index fb9dec043..ad455b440 100644 --- a/ROMFS/px4fmu_common/init.d/40_io_segway +++ b/ROMFS/px4fmu_common/init.d/40_io_segway @@ -28,11 +28,6 @@ usleep 5000 # Start and configure PX4IO interface # sh /etc/init.d/rc.io - -# -# Start the commander (depends on orb, mavlink) -# -commander start # # Start the sensors (depends on orb, px4io) diff --git a/ROMFS/px4fmu_common/init.d/666_fmu_q_x550 b/ROMFS/px4fmu_common/init.d/666_fmu_q_x550 index 1ee84b9b0..acd8027fb 100644 --- a/ROMFS/px4fmu_common/init.d/666_fmu_q_x550 +++ b/ROMFS/px4fmu_common/init.d/666_fmu_q_x550 @@ -34,8 +34,6 @@ fi # param set MAV_TYPE 2 -set EXIT_ON_END no - # # Start and configure PX4IO or FMU interface # @@ -76,8 +74,3 @@ pwm max -c 1234 -p 1900 # Start common for all multirotors apps # sh /etc/init.d/rc.multirotor - -if [ $EXIT_ON_END == yes ] -then - exit -fi diff --git a/ROMFS/px4fmu_common/init.d/800_sdlogger b/ROMFS/px4fmu_common/init.d/800_sdlogger index 955fe0e2a..9b90cbdd0 100644 --- a/ROMFS/px4fmu_common/init.d/800_sdlogger +++ b/ROMFS/px4fmu_common/init.d/800_sdlogger @@ -13,8 +13,6 @@ then param save fi -set EXIT_ON_END no - # # Start and configure PX4IO or FMU interface # @@ -24,8 +22,6 @@ then mavlink start usleep 5000 - commander start - sh /etc/init.d/rc.io # Set PWM values for DJI ESCs else @@ -53,8 +49,3 @@ then sdlog2 start -r 200 -e -b 16 fi fi - -if [ $EXIT_ON_END == yes ] -then - exit -fi diff --git a/ROMFS/px4fmu_common/init.d/12-13_hex b/ROMFS/px4fmu_common/init.d/rc.hexa index a7578bcaf..097db28e4 100644 --- a/ROMFS/px4fmu_common/init.d/12-13_hex +++ b/ROMFS/px4fmu_common/init.d/rc.hexa @@ -52,7 +52,7 @@ param set MAV_TYPE 13 set EXIT_ON_END no # -# Start and configure PX4IO or FMU interface +# Start and configure PX4IO interface # if px4io detect then @@ -62,18 +62,14 @@ then sh /etc/init.d/rc.io else - # Start MAVLink (on UART1 / ttyS0) - mavlink start -d /dev/ttyS0 - usleep 5000 - fmu mode_pwm - param set BAT_V_SCALING 0.004593 - set EXIT_ON_END yes + # This is not possible on a hexa + tone_alarm error fi # # Load mixer # -mixer load /dev/pwm_output /etc/mixers/FMU_hex_x.mix +mixer load /dev/pwm_output $MIXER # # Set PWM output frequency to 400 Hz diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_interface b/ROMFS/px4fmu_common/init.d/rc.mc_interface new file mode 100644 index 000000000..6bb2e84ec --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.mc_interface @@ -0,0 +1,49 @@ +#!nsh +# +# Script to set PWM min / max limits and mixer +# + +# +# Load mixer +# +if [ $FRAME_GEOMETRY == x ] +then + echo "Frame geometry X" + mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix +else + if [ $FRAME_GEOMETRY == w ] + then + echo "Frame geometry W" + mixer load /dev/pwm_output /etc/mixers/FMU_quad_w.mix + else + echo "Frame geometry +" + mixer load /dev/pwm_output /etc/mixers/FMU_quad_+.mix + fi +fi + +if [ $FRAME_COUNT == 4 ] +then + set OUTPUTS 1234 + param set MAV_TYPE 2 +else + if [ $FRAME_COUNT == 6 ] + then + set OUTPUTS 123456 + param set MAV_TYPE 13 + else + set OUTPUTS 12345678 + fi +fi + + +# +# Set PWM output frequency +# +pwm rate -c $OUTPUTS -r $PWM_RATE + +# +# Set disarmed, min and max PWM signals (for DJI ESCs) +# +pwm disarmed -c $OUTPUTS -p $PWM_DISARMED +pwm min -c $OUTPUTS -p $PWM_MIN +pwm max -c $OUTPUTS -p $PWM_MAX diff --git a/ROMFS/px4fmu_common/init.d/rc.octo b/ROMFS/px4fmu_common/init.d/rc.octo new file mode 100644 index 000000000..ecb12e96e --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.octo @@ -0,0 +1,94 @@ +#!nsh + +echo "[init] Octorotor startup" + +# +# Load default params for this platform +# +if param compare SYS_AUTOCONFIG 1 +then + # Set all params here, then disable autoconfig + param set SYS_AUTOCONFIG 0 + + param set MC_ATTRATE_D 0.004 + param set MC_ATTRATE_I 0.0 + param set MC_ATTRATE_P 0.12 + param set MC_ATT_D 0.0 + param set MC_ATT_I 0.0 + param set MC_ATT_P 7.0 + param set MC_YAWPOS_D 0.0 + param set MC_YAWPOS_I 0.0 + param set MC_YAWPOS_P 2.0 + param set MC_YAWRATE_D 0.005 + param set MC_YAWRATE_I 0.2 + param set MC_YAWRATE_P 0.3 + param set NAV_TAKEOFF_ALT 3.0 + param set MPC_TILT_MAX 0.5 + param set MPC_THR_MAX 0.7 + param set MPC_THR_MIN 0.3 + param set MPC_XY_D 0 + param set MPC_XY_P 0.5 + param set MPC_XY_VEL_D 0 + param set MPC_XY_VEL_I 0 + param set MPC_XY_VEL_MAX 3 + param set MPC_XY_VEL_P 0.2 + param set MPC_Z_D 0 + param set MPC_Z_P 1 + param set MPC_Z_VEL_D 0 + param set MPC_Z_VEL_I 0.1 + param set MPC_Z_VEL_MAX 2 + param set MPC_Z_VEL_P 0.20 + + param save +fi + +# +# Force some key parameters to sane values +# MAV_TYPE list: https://pixhawk.ethz.ch/mavlink/ +# 14 = octorotor +# +param set MAV_TYPE 14 + +set EXIT_ON_END no + +# +# Start and configure PX4IO interface +# +if px4io detect +then + # Start MAVLink (depends on orb) + mavlink start + usleep 5000 + + sh /etc/init.d/rc.io +else + # This is not possible on an octo + tone_alarm error +fi + +# +# Load mixer +# +mixer load /dev/pwm_output $MIXER + +# +# Set PWM output frequency to 400 Hz +# +pwm rate -a -r 400 + +# +# Set disarmed, min and max PWM signals +# +pwm disarmed -c 12345678 -p 900 +pwm min -c 12345678 -p 1100 +pwm max -c 12345678 -p 1900 + +# +# Start common for all multirotors apps +# +sh /etc/init.d/rc.multirotor + +if [ $EXIT_ON_END == yes ] +then + exit +fi diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 6eac00d0c..d647e7d65 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -204,64 +204,103 @@ then tone_alarm MNGGG fi fi + + set EXIT_ON_END no # # Check if auto-setup from one of the standard scripts is wanted # SYS_AUTOSTART = 0 means no autostart (default) # + # AUTOSTART PARTITION: + # 0 .. 999 Reserved (historical) + # 1000 .. 1999 Simulation setups + # 2000 .. 2999 Standard planes + # 3000 .. 3999 Flying wing + # 4000 .. 4999 Quad X + # 5000 .. 5999 Quad + + # 6000 .. 6999 Hexa X + # 7000 .. 7999 Hexa + + # 8000 .. 8999 Octo X + # 9000 .. 9999 Octo + + # 10000 .. 19999 Wide arm / H frame - if param compare SYS_AUTOSTART 8 + if param compare SYS_AUTOSTART 4008 8 then - sh /etc/init.d/08_ardrone + sh /etc/init.d/4008_ardrone set MODE custom fi - if param compare SYS_AUTOSTART 9 + if param compare SYS_AUTOSTART 4009 9 then - sh /etc/init.d/09_ardrone_flow + sh /etc/init.d/4009_ardrone_flow set MODE custom fi - if param compare SYS_AUTOSTART 10 + if param compare SYS_AUTOSTART 4010 10 then - sh /etc/init.d/10_dji_f330 + set FRAME_GEOMETRY x + set FRAME_COUNT 4 + set PWM_MIN 1200 + set PWM_MAX 1900 + set PWM_DISARMED 900 + sh /etc/init.d/4010_dji_f330 set MODE custom fi - if param compare SYS_AUTOSTART 11 + if param compare SYS_AUTOSTART 4011 11 then - sh /etc/init.d/11_dji_f450 + sh /etc/init.d/4011_dji_f450 set MODE custom fi - if param compare SYS_AUTOSTART 12 + if param compare SYS_AUTOSTART 4012 + then + sh /etc/init.d/666_fmu_q_x550 + set MODE custom + fi + + if param compare SYS_AUTOSTART 6012 12 then set MIXER /etc/mixers/FMU_hex_x.mix - sh /etc/init.d/12-13_hex + sh /etc/init.d/rc.hexa set MODE custom fi - if param compare SYS_AUTOSTART 13 + if param compare SYS_AUTOSTART 7013 13 then set MIXER /etc/mixers/FMU_hex_+.mix - sh /etc/init.d/12-13_hex + sh /etc/init.d/rc.hexa + set MODE custom + fi + + if param compare SYS_AUTOSTART 8001 + then + set MIXER /etc/mixers/FMU_octo_x.mix + sh /etc/init.d/rc.octo + set MODE custom + fi + + if param compare SYS_AUTOSTART 9001 + then + set MIXER /etc/mixers/FMU_octo_+.mix + sh /etc/init.d/rc.octo set MODE custom fi - if param compare SYS_AUTOSTART 15 + if param compare SYS_AUTOSTART 10015 15 then - sh /etc/init.d/15_tbs_discovery + sh /etc/init.d/10015_tbs_discovery set MODE custom fi - if param compare SYS_AUTOSTART 16 + if param compare SYS_AUTOSTART 10016 16 then - sh /etc/init.d/16_3dr_iris + sh /etc/init.d/10016_3dr_iris set MODE custom fi # PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 X Frame - if param compare SYS_AUTOSTART 17 + if param compare SYS_AUTOSTART 4017 17 then set MKBLCTRL_MODE no set MKBLCTRL_FRAME x @@ -270,7 +309,7 @@ then fi # PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 + Frame - if param compare SYS_AUTOSTART 18 + if param compare SYS_AUTOSTART 5018 18 then set MKBLCTRL_MODE no set MKBLCTRL_FRAME + @@ -279,7 +318,7 @@ then fi # PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 X Frame Mikrokopter-Addressing - if param compare SYS_AUTOSTART 19 + if param compare SYS_AUTOSTART 4019 19 then set MKBLCTRL_MODE yes set MKBLCTRL_FRAME x @@ -288,7 +327,7 @@ then fi # PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 + Frame Mikrokopter-Addressing - if param compare SYS_AUTOSTART 20 + if param compare SYS_AUTOSTART 5020 20 then set MKBLCTRL_MODE yes set MKBLCTRL_FRAME + @@ -297,7 +336,7 @@ then fi # PX4FMU v1 with IO + PPM-based ESCs on Quad X-shape frame - if param compare SYS_AUTOSTART 21 + if param compare SYS_AUTOSTART 4021 21 then set FRAME_GEOMETRY x set ESC_MAKER afro @@ -306,40 +345,40 @@ then fi # PX4FMU v1 with IO + PPM-based ESCs on Quad X-shape frame - if param compare SYS_AUTOSTART 22 + if param compare SYS_AUTOSTART 10022 22 then set FRAME_GEOMETRY w sh /etc/init.d/rc.custom_io_esc set MODE custom fi - if param compare SYS_AUTOSTART 30 + if param compare SYS_AUTOSTART 3030 30 then - sh /etc/init.d/30_io_camflyer + sh /etc/init.d/3030_io_camflyer set MODE custom fi - if param compare SYS_AUTOSTART 31 + if param compare SYS_AUTOSTART 3031 31 then - sh /etc/init.d/31_io_phantom + sh /etc/init.d/3031_io_phantom set MODE custom fi - if param compare SYS_AUTOSTART 32 + if param compare SYS_AUTOSTART 3032 32 then - sh /etc/init.d/32_skywalker_x5 + sh /etc/init.d/3032_skywalker_x5 set MODE custom fi - if param compare SYS_AUTOSTART 33 + if param compare SYS_AUTOSTART 3033 33 then - sh /etc/init.d/33_io_wingwing + sh /etc/init.d/3033_io_wingwing set MODE custom fi - if param compare SYS_AUTOSTART 34 + if param compare SYS_AUTOSTART 3034 34 then - sh /etc/init.d/34_io_fx79 + sh /etc/init.d/3034_io_fx79 set MODE custom fi @@ -349,21 +388,21 @@ then set MODE custom fi - if param compare SYS_AUTOSTART 100 + if param compare SYS_AUTOSTART 2100 100 then - sh /etc/init.d/100_mpx_easystar + sh /etc/init.d/2100_mpx_easystar set MODE custom fi - if param compare SYS_AUTOSTART 101 + if param compare SYS_AUTOSTART 2101 101 then - sh /etc/init.d/101_hk_bixler + sh /etc/init.d/2101_hk_bixler set MODE custom fi - if param compare SYS_AUTOSTART 102 + if param compare SYS_AUTOSTART 2102 102 then - sh /etc/init.d/102_3dr_skywalker + sh /etc/init.d/2102_3dr_skywalker set MODE custom fi @@ -412,5 +451,10 @@ then fi + if [ $EXIT_ON_END == yes ] + then + exit + fi + # End of autostart fi diff --git a/makefiles/config_px4fmu-v2_logging.mk b/makefiles/config_px4fmu-v2_logging.mk deleted file mode 100644 index 561ce0982..000000000 --- a/makefiles/config_px4fmu-v2_logging.mk +++ /dev/null @@ -1,159 +0,0 @@ -# -# Makefile for the px4fmu_default configuration -# - -# -# Use the configuration's ROMFS, copy the px4iov2 firmware into -# the ROMFS if it's available -# -ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_logging -ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v2_default.bin - -# -# Board support modules -# -MODULES += drivers/device -MODULES += drivers/stm32 -MODULES += drivers/stm32/adc -MODULES += drivers/stm32/tone_alarm -MODULES += drivers/led -MODULES += drivers/px4fmu -MODULES += drivers/px4io -MODULES += drivers/boards/px4fmu-v2 -MODULES += drivers/rgbled -MODULES += drivers/mpu6000 -MODULES += drivers/lsm303d -MODULES += drivers/l3gd20 -MODULES += drivers/hmc5883 -MODULES += drivers/ms5611 -MODULES += drivers/mb12xx -MODULES += drivers/gps -MODULES += drivers/hil -MODULES += drivers/hott/hott_telemetry -MODULES += drivers/hott/hott_sensors -MODULES += drivers/blinkm -MODULES += drivers/roboclaw -MODULES += drivers/airspeed -MODULES += drivers/ets_airspeed -MODULES += drivers/meas_airspeed -MODULES += modules/sensors - -# Needs to be burned to the ground and re-written; for now, -# just don't build it. -#MODULES += drivers/mkblctrl - -# -# System commands -# -MODULES += systemcmds/ramtron -MODULES += systemcmds/bl_update -MODULES += systemcmds/boardinfo -MODULES += systemcmds/mixer -MODULES += systemcmds/param -MODULES += systemcmds/perf -MODULES += systemcmds/preflight_check -MODULES += systemcmds/pwm -MODULES += systemcmds/esc_calib -MODULES += systemcmds/reboot -MODULES += systemcmds/top -MODULES += systemcmds/tests -MODULES += systemcmds/config -MODULES += systemcmds/nshterm - -# -# General system control -# -MODULES += modules/commander -MODULES += modules/navigator -MODULES += modules/mavlink -MODULES += modules/mavlink_onboard - -# -# Estimation modules (EKF/ SO3 / other filters) -# -MODULES += modules/attitude_estimator_ekf -MODULES += modules/attitude_estimator_so3 -MODULES += modules/att_pos_estimator_ekf -MODULES += modules/position_estimator_inav -MODULES += examples/flow_position_estimator - -# -# Vehicle Control -# -#MODULES += modules/segway # XXX Needs GCC 4.7 fix -MODULES += modules/fw_pos_control_l1 -MODULES += modules/fw_att_control -MODULES += modules/multirotor_att_control -MODULES += modules/multirotor_pos_control - -# -# Logging -# -MODULES += modules/sdlog2 - -# -# Unit tests -# -#MODULES += modules/unit_test -#MODULES += modules/commander/commander_tests - -# -# Library modules -# -MODULES += modules/systemlib -MODULES += modules/systemlib/mixer -MODULES += modules/controllib -MODULES += modules/uORB - -# -# Libraries -# -LIBRARIES += lib/mathlib/CMSIS -MODULES += lib/mathlib -MODULES += lib/mathlib/math/filter -MODULES += lib/ecl -MODULES += lib/external_lgpl -MODULES += lib/geo -MODULES += lib/conversion -MODULES += modules/dataman -MODULES += lib/launchdetection - -# -# Demo apps -# -#MODULES += examples/math_demo -# Tutorial code from -# https://pixhawk.ethz.ch/px4/dev/hello_sky -MODULES += examples/px4_simple_app - -# Tutorial code from -# https://pixhawk.ethz.ch/px4/dev/daemon -#MODULES += examples/px4_daemon_app - -# Tutorial code from -# https://pixhawk.ethz.ch/px4/dev/debug_values -#MODULES += examples/px4_mavlink_debug - -# Tutorial code from -# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control -#MODULES += examples/fixedwing_control - -# Hardware test -#MODULES += examples/hwtest - -# -# Transitional support - add commands from the NuttX export archive. -# -# In general, these should move to modules over time. -# -# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro -# to make the table a bit more readable. -# -define _B - $(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4) -endef - -# command priority stack entrypoint -BUILTIN_COMMANDS := \ - $(call _B, sercon, , 2048, sercon_main ) \ - $(call _B, serdis, , 2048, serdis_main ) diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp index df9d325b3..c94180d68 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -533,7 +533,8 @@ FixedwingAttitudeControl::task_main() /* rate limit vehicle status updates to 5Hz */ orb_set_interval(_vcontrol_mode_sub, 200); - orb_set_interval(_att_sub, 100); + /* rate limit attitude control to 50 Hz (with some margin, so 17 ms) */ + orb_set_interval(_att_sub, 17); parameters_update(); diff --git a/src/modules/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c index e168dded3..6e177bc4d 100644 --- a/src/modules/mavlink/orb_listener.c +++ b/src/modules/mavlink/orb_listener.c @@ -350,20 +350,26 @@ l_input_rc(const struct listener *l) /* copy rc channels into local buffer */ orb_copy(ORB_ID(input_rc), mavlink_subs.input_rc_sub, &rc_raw); - if (gcs_link) - /* Channels are sent in MAVLink main loop at a fixed interval */ - mavlink_msg_rc_channels_raw_send(chan, - rc_raw.timestamp / 1000, - 0, - (rc_raw.channel_count > 0) ? rc_raw.values[0] : UINT16_MAX, - (rc_raw.channel_count > 1) ? rc_raw.values[1] : UINT16_MAX, - (rc_raw.channel_count > 2) ? rc_raw.values[2] : UINT16_MAX, - (rc_raw.channel_count > 3) ? rc_raw.values[3] : UINT16_MAX, - (rc_raw.channel_count > 4) ? rc_raw.values[4] : UINT16_MAX, - (rc_raw.channel_count > 5) ? rc_raw.values[5] : UINT16_MAX, - (rc_raw.channel_count > 6) ? rc_raw.values[6] : UINT16_MAX, - (rc_raw.channel_count > 7) ? rc_raw.values[7] : UINT16_MAX, - 255); + if (gcs_link) { + + const unsigned port_width = 8; + + for (unsigned i = 0; (i * port_width) < (rc_raw.channel_count + port_width); i++) { + /* Channels are sent in MAVLink main loop at a fixed interval */ + mavlink_msg_rc_channels_raw_send(chan, + rc_raw.timestamp / 1000, + i, + (rc_raw.channel_count > (i * port_width) + 0) ? rc_raw.values[(i * port_width) + 0] : UINT16_MAX, + (rc_raw.channel_count > (i * port_width) + 1) ? rc_raw.values[(i * port_width) + 1] : UINT16_MAX, + (rc_raw.channel_count > (i * port_width) + 2) ? rc_raw.values[(i * port_width) + 2] : UINT16_MAX, + (rc_raw.channel_count > (i * port_width) + 3) ? rc_raw.values[(i * port_width) + 3] : UINT16_MAX, + (rc_raw.channel_count > (i * port_width) + 4) ? rc_raw.values[(i * port_width) + 4] : UINT16_MAX, + (rc_raw.channel_count > (i * port_width) + 5) ? rc_raw.values[(i * port_width) + 5] : UINT16_MAX, + (rc_raw.channel_count > (i * port_width) + 6) ? rc_raw.values[(i * port_width) + 6] : UINT16_MAX, + (rc_raw.channel_count > (i * port_width) + 7) ? rc_raw.values[(i * port_width) + 7] : UINT16_MAX, + rc_raw.rssi); + } + } } void @@ -492,7 +498,8 @@ l_actuator_outputs(const struct listener *l) if (gcs_link) { mavlink_msg_servo_output_raw_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000, - l->arg /* port number */, + l->arg /* port number - needs GCS support */, + /* QGC has port number support already */ act_outputs.output[0], act_outputs.output[1], act_outputs.output[2], diff --git a/src/systemcmds/param/param.c b/src/systemcmds/param/param.c index 40a9297a7..65f291f40 100644 --- a/src/systemcmds/param/param.c +++ b/src/systemcmds/param/param.c @@ -1,7 +1,6 @@ /**************************************************************************** * * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier <lm@inf.ethz.ch> * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -63,7 +62,7 @@ static void do_import(const char* param_file_name); static void do_show(const char* search_string); static void do_show_print(void *arg, param_t param); static void do_set(const char* name, const char* val); -static void do_compare(const char* name, const char* val); +static void do_compare(const char* name, const char* vals[], unsigned comparisons); int param_main(int argc, char *argv[]) @@ -121,7 +120,7 @@ param_main(int argc, char *argv[]) if (!strcmp(argv[1], "compare")) { if (argc >= 4) { - do_compare(argv[2], argv[3]); + do_compare(argv[2], &argv[3], argc - 3); } else { errx(1, "not enough arguments.\nTry 'param compare PARAM_NAME 3'"); } @@ -306,7 +305,7 @@ do_set(const char* name, const char* val) } static void -do_compare(const char* name, const char* val) +do_compare(const char* name, const char* vals[], unsigned comparisons) { int32_t i; float f; @@ -330,12 +329,16 @@ do_compare(const char* name, const char* val) /* convert string */ char* end; - int j = strtol(val,&end,10); - if (i == j) { - printf(" %d: ", i); - ret = 0; - } + for (unsigned k = 0; k < comparisons; k++) { + + int j = strtol(vals[k],&end,10); + + if (i == j) { + printf(" %d: ", i); + ret = 0; + } + } } break; @@ -345,10 +348,14 @@ do_compare(const char* name, const char* val) /* convert string */ char* end; - float g = strtod(val, &end); - if (fabsf(f - g) < 1e-7f) { - printf(" %4.4f: ", (double)f); - ret = 0; + + for (unsigned k = 0; k < comparisons; k++) { + + float g = strtod(vals[k], &end); + if (fabsf(f - g) < 1e-7f) { + printf(" %4.4f: ", (double)f); + ret = 0; + } } } @@ -359,7 +366,7 @@ do_compare(const char* name, const char* val) } if (ret == 0) { - printf("%c %s: equal\n", + printf("%c %s: match\n", param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'), param_name(param)); } |