aboutsummaryrefslogtreecommitdiff
diff options
context:
space:
mode:
Diffstat
-rw-r--r--ROMFS/Makefile2
-rw-r--r--ROMFS/scripts/rc.hil57
-rw-r--r--ROMFS/scripts/rc.usb14
-rw-r--r--apps/drivers/boards/px4fmu/px4fmu_spi.c14
-rw-r--r--apps/mavlink/mavlink.c3
-rw-r--r--apps/px4io/controls.c2
-rw-r--r--apps/sensors/sensors.cpp2
7 files changed, 84 insertions, 10 deletions
diff --git a/ROMFS/Makefile b/ROMFS/Makefile
index 15167bf47..ed39ab825 100644
--- a/ROMFS/Makefile
+++ b/ROMFS/Makefile
@@ -22,6 +22,8 @@ ROMFS_FSSPEC := $(SRCROOT)/scripts/rcS~init.d/rcS \
$(SRCROOT)/scripts/rc.PX4IO~init.d/rc.PX4IO \
$(SRCROOT)/scripts/rc.PX4IOAR~init.d/rc.PX4IOAR \
$(SRCROOT)/scripts/rc.FMU_quad_x~init.d/rc.FMU_quad_x \
+ $(SRCROOT)/scripts/rc.usb~init.d/rc.usb \
+ $(SRCROOT)/scripts/rc.hil~init.d/rc.hil \
$(SRCROOT)/mixers/FMU_pass.mix~mixers/FMU_pass.mix \
$(SRCROOT)/mixers/FMU_Q.mix~mixers/FMU_Q.mix \
$(SRCROOT)/mixers/FMU_X5.mix~mixers/FMU_X5.mix \
diff --git a/ROMFS/scripts/rc.hil b/ROMFS/scripts/rc.hil
new file mode 100644
index 000000000..3b37ac26b
--- /dev/null
+++ b/ROMFS/scripts/rc.hil
@@ -0,0 +1,57 @@
+#!nsh
+#
+# USB HIL start
+#
+
+echo "[HIL] starting.."
+
+uorb start
+
+# Tell MAVLink that this link is "fast"
+mavlink start -b 230400 -d /dev/console
+
+# Create a fake HIL /dev/pwm_output interface
+hil mode_pwm
+
+#
+# Load microSD params
+#
+echo "[init] loading microSD params"
+param select /fs/microsd/parameters
+if [ -f /fs/microsd/parameters ]
+then
+ param load /fs/microsd/parameters
+fi
+
+#
+# Force some key parameters to sane values
+# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
+# see https://pixhawk.ethz.ch/mavlink/
+#
+param set MAV_TYPE 1
+
+#
+# Start the commander (depends on orb, mavlink)
+#
+commander start
+
+#
+# Start the sensors (depends on orb, px4io)
+#
+sh /etc/init.d/rc.sensors
+
+#
+# Start the attitude estimator (depends on orb)
+#
+kalman_demo start
+
+#
+# Load mixer and start controllers (depends on px4io)
+#
+mixer load /dev/pwm_output /etc/mixers/FMU_AET.mix
+control_demo start
+
+echo "[HIL] setup done, running"
+
+# Exit shell to make it available to MAVLink
+exit
diff --git a/ROMFS/scripts/rc.usb b/ROMFS/scripts/rc.usb
new file mode 100644
index 000000000..31af3991a
--- /dev/null
+++ b/ROMFS/scripts/rc.usb
@@ -0,0 +1,14 @@
+#!nsh
+#
+# USB MAVLink start
+#
+
+echo "Starting MAVLink on this USB console"
+
+# Tell MAVLink that this link is "fast"
+mavlink start -b 230400 -d /dev/console
+
+echo "MAVLink started, exiting shell.."
+
+# Exit shell to make it available to MAVLink
+exit
diff --git a/apps/drivers/boards/px4fmu/px4fmu_spi.c b/apps/drivers/boards/px4fmu/px4fmu_spi.c
index 70245a3ec..7a02eaeb7 100644
--- a/apps/drivers/boards/px4fmu/px4fmu_spi.c
+++ b/apps/drivers/boards/px4fmu/px4fmu_spi.c
@@ -92,21 +92,21 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
case PX4_SPIDEV_GYRO:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
- stm32_gpiowrite(GPIO_SPI_CS_MPU, selected);
- stm32_gpiowrite(GPIO_SPI_CS_ACCEL, selected);
+ stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
+ stm32_gpiowrite(GPIO_SPI_CS_ACCEL, 1);
break;
case PX4_SPIDEV_ACCEL:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI_CS_ACCEL, !selected);
- stm32_gpiowrite(GPIO_SPI_CS_MPU, selected);
- stm32_gpiowrite(GPIO_SPI_CS_GYRO, selected);
+ stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
+ stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
break;
case PX4_SPIDEV_MPU:
/* Making sure the other peripherals are not selected */
- stm32_gpiowrite(GPIO_SPI_CS_ACCEL, selected);
- stm32_gpiowrite(GPIO_SPI_CS_GYRO, selected);
+ stm32_gpiowrite(GPIO_SPI_CS_ACCEL, 1);
+ stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
stm32_gpiowrite(GPIO_SPI_CS_MPU, !selected);
break;
@@ -125,7 +125,7 @@ __EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devi
__EXPORT void stm32_spi3select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
{
/* there can only be one device on this bus, so always select it */
- stm32_gpiowrite(GPIO_SPI_CS_SDCARD, 0);
+ stm32_gpiowrite(GPIO_SPI_CS_SDCARD, !selected);
}
__EXPORT uint8_t stm32_spi3status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c
index b958d5f96..644b779af 100644
--- a/apps/mavlink/mavlink.c
+++ b/apps/mavlink/mavlink.c
@@ -442,7 +442,8 @@ int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_conf
int termios_state;
*is_usb = false;
- if (strcmp(uart_name, "/dev/ttyACM0") != OK) {
+ /* make some wild guesses including that USB serial is indicated by either /dev/ttyACM0 or /dev/console */
+ if (strcmp(uart_name, "/dev/ttyACM0") != OK && strcmp(uart_name, "/dev/console") != OK) {
/* Back up the original uart configuration to restore it after exit */
if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
fprintf(stderr, "[mavlink] ERROR getting baudrate / termios config for %s: %d\n", uart_name, termios_state);
diff --git a/apps/px4io/controls.c b/apps/px4io/controls.c
index e80a41f15..dc36f6c93 100644
--- a/apps/px4io/controls.c
+++ b/apps/px4io/controls.c
@@ -177,7 +177,7 @@ controls_tick() {
scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_MAX] - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]));
} else if (raw < (conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])) {
- scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE] - conf[PX4IO_P_RC_CONFIG_MIN]));
+ scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE] - conf[PX4IO_P_RC_CONFIG_MIN]));
} else {
/* in the configured dead zone, output zero */
diff --git a/apps/sensors/sensors.cpp b/apps/sensors/sensors.cpp
index d725c7727..1f3f7707e 100644
--- a/apps/sensors/sensors.cpp
+++ b/apps/sensors/sensors.cpp
@@ -1157,7 +1157,7 @@ Sensors::ppm_poll()
_rc.chan[i].scaled = (rc_input.values[i] - _parameters.trim[i] - _parameters.dz[i]) / (float)(_parameters.max[i] - _parameters.trim[i] - _parameters.dz[i]);
} else if (rc_input.values[i] < (_parameters.trim[i] - _parameters.dz[i])) {
- _rc.chan[i].scaled = (rc_input.values[i] - _parameters.trim[i] - _parameters.dz[i]) / (float)(_parameters.trim[i] - _parameters.min[i] - _parameters.dz[i]);
+ _rc.chan[i].scaled = (rc_input.values[i] - _parameters.trim[i] + _parameters.dz[i]) / (float)(_parameters.trim[i] - _parameters.min[i] - _parameters.dz[i]);
} else {
/* in the configured dead zone, output zero */
generated by cgit v1.2.3 (git 2.39.1) at 2024-09-13 00:28:00 +0000