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-rw-r--r--ROMFS/px4fmu_common/init.d/11001_hexa_cox2
-rw-r--r--ROMFS/px4fmu_common/init.d/12001_octo_cox2
-rw-r--r--ROMFS/px4fmu_common/init.d/3031_phantom31
-rw-r--r--ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha42
-rw-r--r--ROMFS/px4fmu_common/init.d/4001_quad_x2
-rw-r--r--ROMFS/px4fmu_common/init.d/5001_quad_+2
-rw-r--r--ROMFS/px4fmu_common/init.d/6001_hexa_x2
-rw-r--r--ROMFS/px4fmu_common/init.d/7001_hexa_+2
-rw-r--r--ROMFS/px4fmu_common/init.d/8001_octo_x2
-rw-r--r--ROMFS/px4fmu_common/init.d/9001_octo_+2
-rw-r--r--ROMFS/px4fmu_common/init.d/rc.autostart5
-rw-r--r--src/modules/sensors/sensors.cpp11
-rw-r--r--src/modules/uORB/topics/sensor_combined.h3
-rw-r--r--src/systemcmds/tests/test_adc.c4
14 files changed, 96 insertions, 16 deletions
diff --git a/ROMFS/px4fmu_common/init.d/11001_hexa_cox b/ROMFS/px4fmu_common/init.d/11001_hexa_cox
index b98ab4774..38e65435b 100644
--- a/ROMFS/px4fmu_common/init.d/11001_hexa_cox
+++ b/ROMFS/px4fmu_common/init.d/11001_hexa_cox
@@ -2,7 +2,7 @@
#
# UNTESTED UNTESTED!
#
-# Generic 10” Hexa coaxial geometry
+# Generic 10" Hexa coaxial geometry
#
# Lorenz Meier <lm@inf.ethz.ch>
#
diff --git a/ROMFS/px4fmu_common/init.d/12001_octo_cox b/ROMFS/px4fmu_common/init.d/12001_octo_cox
index 655cb6226..99f902a6d 100644
--- a/ROMFS/px4fmu_common/init.d/12001_octo_cox
+++ b/ROMFS/px4fmu_common/init.d/12001_octo_cox
@@ -1,6 +1,6 @@
#!nsh
#
-# Generic 10” Octo coaxial geometry
+# Generic 10" Octo coaxial geometry
#
# Lorenz Meier <lm@inf.ethz.ch>
#
diff --git a/ROMFS/px4fmu_common/init.d/3031_phantom b/ROMFS/px4fmu_common/init.d/3031_phantom
index a3004d1e1..6cbd23643 100644
--- a/ROMFS/px4fmu_common/init.d/3031_phantom
+++ b/ROMFS/px4fmu_common/init.d/3031_phantom
@@ -2,9 +2,38 @@
#
# Phantom FPV Flying Wing
#
-# Simon Wilks <sjwilks@gmail.com>
+# Simon Wilks <sjwilks@gmail.com>, Thomas Gubler <thomasgubler@gmail.com>
#
sh /etc/init.d/rc.fw_defaults
+if [ $DO_AUTOCONFIG == yes ]
+then
+ param set FW_AIRSPD_MIN 13
+ param set FW_AIRSPD_TRIM 18
+ param set FW_AIRSPD_MAX 40
+ param set FW_ATT_TC 0.3
+ param set FW_L1_DAMPING 0.75
+ param set FW_L1_PERIOD 15
+ param set FW_PR_FF 0.2
+ param set FW_PR_I 0.005
+ param set FW_PR_IMAX 0.2
+ param set FW_PR_P 0.03
+ param set FW_P_LIM_MAX 50
+ param set FW_P_LIM_MIN -50
+ param set FW_P_RMAX_NEG 0
+ param set FW_P_RMAX_POS 0
+ param set FW_P_ROLLFF 0
+ param set FW_RR_FF 0.5
+ param set FW_RR_I 0.02
+ param set FW_RR_IMAX 0.2
+ param set FW_RR_P 0.08
+ param set FW_R_LIM 70
+ param set FW_R_RMAX 0
+ param set FW_T_HRATE_P 0.01
+ param set FW_T_RLL2THR 15
+ param set FW_T_SRATE_P 0.01
+ param set FW_T_TIME_CONST 5
+fi
+
set MIXER FMU_Q
diff --git a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
new file mode 100644
index 000000000..7dbda54d3
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
@@ -0,0 +1,42 @@
+#!nsh
+#
+# TBS Caipirinha Flying Wing
+#
+# Thomas Gubler <thomasgubler@gmail.com>
+#
+
+sh /etc/init.d/rc.fw_defaults
+
+if [ $DO_AUTOCONFIG == yes ]
+then
+
+ # TODO: these are the X5 default parameters, update them to the caipi
+
+ param set FW_AIRSPD_MIN 15
+ param set FW_AIRSPD_TRIM 20
+ param set FW_AIRSPD_MAX 40
+ param set FW_ATT_TC 0.3
+ param set FW_L1_DAMPING 0.74
+ param set FW_L1_PERIOD 15
+ param set FW_PR_FF 0.3
+ param set FW_PR_I 0
+ param set FW_PR_IMAX 0.2
+ param set FW_PR_P 0.03
+ param set FW_P_LIM_MAX 45
+ param set FW_P_LIM_MIN -45
+ param set FW_P_RMAX_NEG 0
+ param set FW_P_RMAX_POS 0
+ param set FW_P_ROLLFF 0
+ param set FW_RR_FF 0.3
+ param set FW_RR_I 0
+ param set FW_RR_IMAX 0.2
+ param set FW_RR_P 0.03
+ param set FW_R_LIM 60
+ param set FW_R_RMAX 0
+ param set FW_T_HRATE_P 0.01
+ param set FW_T_RLL2THR 15
+ param set FW_T_SRATE_P 0.01
+ param set FW_T_TIME_CONST 5
+fi
+
+set MIXER FMU_Q
diff --git a/ROMFS/px4fmu_common/init.d/4001_quad_x b/ROMFS/px4fmu_common/init.d/4001_quad_x
index 345b0e3e4..06c54a41d 100644
--- a/ROMFS/px4fmu_common/init.d/4001_quad_x
+++ b/ROMFS/px4fmu_common/init.d/4001_quad_x
@@ -1,6 +1,6 @@
#!nsh
#
-# Generic 10” Quad X geometry
+# Generic 10" Quad X geometry
#
# Lorenz Meier <lm@inf.ethz.ch>
#
diff --git a/ROMFS/px4fmu_common/init.d/5001_quad_+ b/ROMFS/px4fmu_common/init.d/5001_quad_+
index 55b31067d..1fb25e5d8 100644
--- a/ROMFS/px4fmu_common/init.d/5001_quad_+
+++ b/ROMFS/px4fmu_common/init.d/5001_quad_+
@@ -1,6 +1,6 @@
#!nsh
#
-# Generic 10” Quad + geometry
+# Generic 10" Quad + geometry
#
# Anton Babushkin <anton.babushkin@me.com>
#
diff --git a/ROMFS/px4fmu_common/init.d/6001_hexa_x b/ROMFS/px4fmu_common/init.d/6001_hexa_x
index 7714a508c..34fc6523f 100644
--- a/ROMFS/px4fmu_common/init.d/6001_hexa_x
+++ b/ROMFS/px4fmu_common/init.d/6001_hexa_x
@@ -1,6 +1,6 @@
#!nsh
#
-# Generic 10” Hexa X geometry
+# Generic 10" Hexa X geometry
#
# Anton Babushkin <anton.babushkin@me.com>
#
diff --git a/ROMFS/px4fmu_common/init.d/7001_hexa_+ b/ROMFS/px4fmu_common/init.d/7001_hexa_+
index 60db8c069..235e376a6 100644
--- a/ROMFS/px4fmu_common/init.d/7001_hexa_+
+++ b/ROMFS/px4fmu_common/init.d/7001_hexa_+
@@ -1,6 +1,6 @@
#!nsh
#
-# Generic 10” Hexa + geometry
+# Generic 10" Hexa + geometry
#
# Anton Babushkin <anton.babushkin@me.com>
#
diff --git a/ROMFS/px4fmu_common/init.d/8001_octo_x b/ROMFS/px4fmu_common/init.d/8001_octo_x
index 411aee114..769217dc7 100644
--- a/ROMFS/px4fmu_common/init.d/8001_octo_x
+++ b/ROMFS/px4fmu_common/init.d/8001_octo_x
@@ -1,6 +1,6 @@
#!nsh
#
-# Generic 10” Octo X geometry
+# Generic 10" Octo X geometry
#
# Anton Babushkin <anton.babushkin@me.com>
#
diff --git a/ROMFS/px4fmu_common/init.d/9001_octo_+ b/ROMFS/px4fmu_common/init.d/9001_octo_+
index 81132fd3e..28b074a54 100644
--- a/ROMFS/px4fmu_common/init.d/9001_octo_+
+++ b/ROMFS/px4fmu_common/init.d/9001_octo_+
@@ -1,6 +1,6 @@
#!nsh
#
-# Generic 10” Octo + geometry
+# Generic 10" Octo + geometry
#
# Anton Babushkin <anton.babushkin@me.com>
#
diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart
index 7aaf7133e..4ae6a2794 100644
--- a/ROMFS/px4fmu_common/init.d/rc.autostart
+++ b/ROMFS/px4fmu_common/init.d/rc.autostart
@@ -97,6 +97,11 @@ then
sh /etc/init.d/3034_fx79
fi
+if param compare SYS_AUTOSTART 3100
+then
+ sh /etc/init.d/3100_tbs_caipirinha
+fi
+
#
# Quad X
#
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index ba75fe82e..8214c6509 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -1171,16 +1171,19 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
hrt_abstime t = hrt_absolute_time();
/* rate limit to 100 Hz */
if (t - _last_adc >= 10000) {
- /* make space for a maximum of eight channels */
- struct adc_msg_s buf_adc[8];
+ /* make space for a maximum of ten channels (to ensure reading all channels at once) */
+ struct adc_msg_s buf_adc[10];
/* read all channels available */
int ret = read(_fd_adc, &buf_adc, sizeof(buf_adc));
if (ret >= (int)sizeof(buf_adc[0])) {
- for (unsigned i = 0; i < sizeof(buf_adc) / sizeof(buf_adc[0]); i++) {
+
+ /* Read add channels we got */
+ for (unsigned i = 0; i < ret / sizeof(buf_adc[0]); i++) {
/* Save raw voltage values */
- if (i < (sizeof(raw.adc_voltage_v)) / sizeof(raw.adc_voltage_v[0])) {
+ if (i < (sizeof(raw.adc_voltage_v) / sizeof(raw.adc_voltage_v[0]))) {
raw.adc_voltage_v[i] = buf_adc[i].am_data / (4096.0f / 3.3f);
+ raw.adc_mapping[i] = buf_adc[i].am_channel;
}
/* look for specific channels and process the raw voltage to measurement data */
diff --git a/src/modules/uORB/topics/sensor_combined.h b/src/modules/uORB/topics/sensor_combined.h
index 92812efd4..a02b6a02c 100644
--- a/src/modules/uORB/topics/sensor_combined.h
+++ b/src/modules/uORB/topics/sensor_combined.h
@@ -98,7 +98,8 @@ struct sensor_combined_s {
float baro_pres_mbar; /**< Barometric pressure, already temp. comp. */
float baro_alt_meter; /**< Altitude, already temp. comp. */
float baro_temp_celcius; /**< Temperature in degrees celsius */
- float adc_voltage_v[4]; /**< ADC voltages of ADC Chan 10/11/12/13 or -1 */
+ float adc_voltage_v[9]; /**< ADC voltages of ADC Chan 10/11/12/13 or -1 */
+ unsigned adc_mapping[9]; /**< Channel indices of each of these values */
float mcu_temp_celcius; /**< Internal temperature measurement of MCU */
uint64_t baro_timestamp; /**< Barometer timestamp */
diff --git a/src/systemcmds/tests/test_adc.c b/src/systemcmds/tests/test_adc.c
index 030ac6e23..7302f63cc 100644
--- a/src/systemcmds/tests/test_adc.c
+++ b/src/systemcmds/tests/test_adc.c
@@ -66,8 +66,8 @@ int test_adc(int argc, char *argv[])
}
for (unsigned i = 0; i < 5; i++) {
- /* make space for a maximum of eight channels */
- struct adc_msg_s data[8];
+ /* make space for a maximum of ten channels */
+ struct adc_msg_s data[10];
/* read all channels available */
ssize_t count = read(fd, data, sizeof(data));
generated by cgit v1.2.3 (git 2.39.1) at 2024-08-03 13:06:32 +0000