diff options
-rw-r--r-- | ROMFS/px4fmu_common/mixers/IO_pass.mix | 38 | ||||
-rw-r--r-- | makefiles/firmware.mk | 12 | ||||
-rw-r--r-- | makefiles/nuttx.mk | 6 | ||||
-rw-r--r-- | src/drivers/px4io/px4io.cpp | 21 | ||||
-rw-r--r-- | src/modules/att_pos_estimator_ekf/kalman_main.cpp | 16 | ||||
-rw-r--r-- | src/modules/fixedwing_backside/fixedwing_backside_main.cpp | 18 | ||||
-rw-r--r-- | src/modules/px4iofirmware/mixer.cpp | 18 | ||||
-rw-r--r-- | src/systemcmds/mixer/mixer.c | 4 |
8 files changed, 101 insertions, 32 deletions
diff --git a/ROMFS/px4fmu_common/mixers/IO_pass.mix b/ROMFS/px4fmu_common/mixers/IO_pass.mix new file mode 100644 index 000000000..39f875ddb --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/IO_pass.mix @@ -0,0 +1,38 @@ +Passthrough mixer for PX4IO +============================ + +This file defines passthrough mixers suitable for testing. + +Channel group 0, channels 0-7 are passed directly through to the outputs. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 0 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 1 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 2 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 3 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 4 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 5 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 6 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 7 10000 10000 0 -10000 10000 diff --git a/makefiles/firmware.mk b/makefiles/firmware.mk index 6b09e6ec3..f1c1b496a 100644 --- a/makefiles/firmware.mk +++ b/makefiles/firmware.mk @@ -177,6 +177,12 @@ GLOBAL_DEPS += $(MAKEFILE_LIST) EXTRA_CLEANS = ################################################################################ +# NuttX libraries and paths +################################################################################ + +include $(PX4_MK_DIR)/nuttx.mk + +################################################################################ # Modules ################################################################################ @@ -297,12 +303,6 @@ $(LIBRARY_CLEANS): clean ################################################################################ -# NuttX libraries and paths -################################################################################ - -include $(PX4_MK_DIR)/nuttx.mk - -################################################################################ # ROMFS generation ################################################################################ diff --git a/makefiles/nuttx.mk b/makefiles/nuttx.mk index 346735a02..d283096b2 100644 --- a/makefiles/nuttx.mk +++ b/makefiles/nuttx.mk @@ -69,10 +69,14 @@ INCLUDE_DIRS += $(NUTTX_EXPORT_DIR)include \ LIB_DIRS += $(NUTTX_EXPORT_DIR)libs LIBS += -lapps -lnuttx -LINK_DEPS += $(NUTTX_EXPORT_DIR)libs/libapps.a \ +NUTTX_LIBS = $(NUTTX_EXPORT_DIR)libs/libapps.a \ $(NUTTX_EXPORT_DIR)libs/libnuttx.a +LINK_DEPS += $(NUTTX_LIBS) $(NUTTX_CONFIG_HEADER): $(NUTTX_ARCHIVE) @$(ECHO) %% Unpacking $(NUTTX_ARCHIVE) $(Q) $(UNZIP_CMD) -q -o -d $(WORK_DIR) $(NUTTX_ARCHIVE) $(Q) $(TOUCH) $@ + + $(LDSCRIPT): $(NUTTX_CONFIG_HEADER) + $(NUTTX_LIBS): $(NUTTX_CONFIG_HEADER) diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 0934e614b..19163cebe 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -1302,7 +1302,7 @@ PX4IO::print_status() io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_VBATT), io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_IBATT), io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE)); - printf("amp_per_volt %.3f amp_offset %.3f mAhDischarged %.3f\n", + printf("amp_per_volt %.3f amp_offset %.3f mAh discharged %.3f\n", (double)_battery_amp_per_volt, (double)_battery_amp_bias, (double)_battery_mamphour_total); @@ -1496,7 +1496,7 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg) case MIXERIOCLOADBUF: { const char *buf = (const char *)arg; - ret = mixer_send(buf, strnlen(buf, 1024)); + ret = mixer_send(buf, strnlen(buf, 2048)); break; } @@ -1637,6 +1637,13 @@ test(void) if (ioctl(fd, PWM_SERVO_ARM, 0)) err(1, "failed to arm servos"); + /* Open console directly to grab CTRL-C signal */ + int console = open("/dev/console", O_NONBLOCK | O_RDONLY | O_NOCTTY); + if (!console) + err(1, "failed opening console"); + + warnx("Press CTRL-C or 'c' to abort."); + for (;;) { /* sweep all servos between 1000..2000 */ @@ -1671,6 +1678,16 @@ test(void) if (value != servos[i]) errx(1, "servo %d readback error, got %u expected %u", i, value, servos[i]); } + + /* Check if user wants to quit */ + char c; + if (read(console, &c, 1) == 1) { + if (c == 0x03 || c == 0x63) { + warnx("User abort\n"); + close(console); + exit(0); + } + } } } diff --git a/src/modules/att_pos_estimator_ekf/kalman_main.cpp b/src/modules/att_pos_estimator_ekf/kalman_main.cpp index 3b411031a..890184427 100644 --- a/src/modules/att_pos_estimator_ekf/kalman_main.cpp +++ b/src/modules/att_pos_estimator_ekf/kalman_main.cpp @@ -44,6 +44,7 @@ #include <string.h> #include <systemlib/systemlib.h> #include <systemlib/param/param.h> +#include <systemlib/err.h> #include <drivers/drv_hrt.h> #include <math.h> #include "KalmanNav.hpp" @@ -73,7 +74,7 @@ usage(const char *reason) if (reason) fprintf(stderr, "%s\n", reason); - fprintf(stderr, "usage: kalman_demo {start|stop|status} [-p <additional params>]\n\n"); + warnx("usage: att_pos_estimator_ekf {start|stop|status} [-p <additional params>]"); exit(1); } @@ -94,13 +95,14 @@ int att_pos_estimator_ekf_main(int argc, char *argv[]) if (!strcmp(argv[1], "start")) { if (thread_running) { - printf("kalman_demo already running\n"); + warnx("already running"); /* this is not an error */ exit(0); } thread_should_exit = false; - deamon_task = task_spawn_cmd("kalman_demo", + + deamon_task = task_spawn_cmd("att_pos_estimator_ekf", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 4096, @@ -116,10 +118,10 @@ int att_pos_estimator_ekf_main(int argc, char *argv[]) if (!strcmp(argv[1], "status")) { if (thread_running) { - printf("\tkalman_demo app is running\n"); + warnx("is running\n"); } else { - printf("\tkalman_demo app not started\n"); + warnx("not started\n"); } exit(0); @@ -132,7 +134,7 @@ int att_pos_estimator_ekf_main(int argc, char *argv[]) int kalman_demo_thread_main(int argc, char *argv[]) { - printf("[kalman_demo] starting\n"); + warnx("starting\n"); using namespace math; @@ -144,7 +146,7 @@ int kalman_demo_thread_main(int argc, char *argv[]) nav.update(); } - printf("[kalman_demo] exiting.\n"); + printf("exiting.\n"); thread_running = false; diff --git a/src/modules/fixedwing_backside/fixedwing_backside_main.cpp b/src/modules/fixedwing_backside/fixedwing_backside_main.cpp index e2330427d..4803a526e 100644 --- a/src/modules/fixedwing_backside/fixedwing_backside_main.cpp +++ b/src/modules/fixedwing_backside/fixedwing_backside_main.cpp @@ -47,6 +47,7 @@ #include <systemlib/systemlib.h> #include <controllib/fixedwing.hpp> #include <systemlib/param/param.h> +#include <systemlib/err.h> #include <drivers/drv_hrt.h> #include <math.h> @@ -80,7 +81,7 @@ usage(const char *reason) if (reason) fprintf(stderr, "%s\n", reason); - fprintf(stderr, "usage: control_demo {start|stop|status} [-p <additional params>]\n\n"); + fprintf(stderr, "usage: fixedwing_backside {start|stop|status} [-p <additional params>]\n\n"); exit(1); } @@ -101,13 +102,14 @@ int fixedwing_backside_main(int argc, char *argv[]) if (!strcmp(argv[1], "start")) { if (thread_running) { - printf("control_demo already running\n"); + warnx("already running"); /* this is not an error */ exit(0); } thread_should_exit = false; - deamon_task = task_spawn_cmd("control_demo", + + deamon_task = task_spawn_cmd("fixedwing_backside", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 10, 5120, @@ -128,10 +130,10 @@ int fixedwing_backside_main(int argc, char *argv[]) if (!strcmp(argv[1], "status")) { if (thread_running) { - printf("\tcontrol_demo app is running\n"); + warnx("is running"); } else { - printf("\tcontrol_demo app not started\n"); + warnx("not started"); } exit(0); @@ -144,7 +146,7 @@ int fixedwing_backside_main(int argc, char *argv[]) int control_demo_thread_main(int argc, char *argv[]) { - printf("[control_Demo] starting\n"); + warnx("starting"); using namespace control; @@ -156,7 +158,7 @@ int control_demo_thread_main(int argc, char *argv[]) autopilot.update(); } - printf("[control_demo] exiting.\n"); + warnx("exiting."); thread_running = false; @@ -165,6 +167,6 @@ int control_demo_thread_main(int argc, char *argv[]) void test() { - printf("beginning control lib test\n"); + warnx("beginning control lib test"); control::basicBlocksTest(); } diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index 0b8ed6dc5..a2193b526 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -294,8 +294,7 @@ mixer_handle_text(const void *buffer, size_t length) case F2I_MIXER_ACTION_APPEND: isr_debug(2, "append %d", length); - /* check for overflow - this is really fatal */ - /* XXX could add just what will fit & try to parse, then repeat... */ + /* check for overflow - this would be really fatal */ if ((mixer_text_length + text_length + 1) > sizeof(mixer_text)) { r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK; return; @@ -314,8 +313,13 @@ mixer_handle_text(const void *buffer, size_t length) /* if anything was parsed */ if (resid != mixer_text_length) { - /* ideally, this should test resid == 0 ? */ - r_status_flags |= PX4IO_P_STATUS_FLAGS_MIXER_OK; + /* only set mixer ok if no residual is left over */ + if (resid == 0) { + r_status_flags |= PX4IO_P_STATUS_FLAGS_MIXER_OK; + } else { + /* not yet reached the end of the mixer, set as not ok */ + r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK; + } isr_debug(2, "used %u", mixer_text_length - resid); @@ -338,11 +342,13 @@ mixer_set_failsafe() { /* * Check if a custom failsafe value has been written, - * else use the opportunity to set decent defaults. + * or if the mixer is not ok and bail out. */ - if (r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM) + if ((r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM) || + !(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) return; + /* set failsafe defaults to the values for all inputs = 0 */ float outputs[IO_SERVO_COUNT]; unsigned mixed; diff --git a/src/systemcmds/mixer/mixer.c b/src/systemcmds/mixer/mixer.c index 55c4f0836..e642ed067 100644 --- a/src/systemcmds/mixer/mixer.c +++ b/src/systemcmds/mixer/mixer.c @@ -88,8 +88,8 @@ load(const char *devname, const char *fname) { int dev; FILE *fp; - char line[80]; - char buf[512]; + char line[120]; + char buf[2048]; /* open the device */ if ((dev = open(devname, 0)) < 0) |