diff options
140 files changed, 4556 insertions, 1200 deletions
diff --git a/NuttX b/NuttX -Subproject 41fffa0df192e4a26d2325c7ac5d9b5d7ba0211 +Subproject 5ee4b2b2c26bbc35d1669840f0676e8aa383b98 diff --git a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery index c4be16943..b1aa8c00b 100644 --- a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery +++ b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery @@ -27,3 +27,4 @@ fi set MIXER FMU_quad_w set PWM_OUTPUTS 1234 +set PWM_MIN 1200 diff --git a/ROMFS/px4fmu_common/init.d/3035_viper b/ROMFS/px4fmu_common/init.d/3035_viper index 3714b612f..f3b0e8418 100644 --- a/ROMFS/px4fmu_common/init.d/3035_viper +++ b/ROMFS/px4fmu_common/init.d/3035_viper @@ -9,4 +9,3 @@ sh /etc/init.d/rc.fw_defaults set MIXER Viper -set FAILSAFE "-c567 -p 1000" diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart index 4f0ec0278..01aa8ed13 100644 --- a/ROMFS/px4fmu_common/init.d/rc.autostart +++ b/ROMFS/px4fmu_common/init.d/rc.autostart @@ -22,6 +22,12 @@ # Simulation setups # +if param compare SYS_AUTOSTART 901 +then + sh /etc/init.d/901_bottle_drop_test.hil + set MODE custom +fi + if param compare SYS_AUTOSTART 1000 then sh /etc/init.d/1000_rc_fw_easystar.hil diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_apps b/ROMFS/px4fmu_common/init.d/rc.fw_apps index 9aca3fc5f..c97b3477f 100644 --- a/ROMFS/px4fmu_common/init.d/rc.fw_apps +++ b/ROMFS/px4fmu_common/init.d/rc.fw_apps @@ -13,3 +13,5 @@ ekf_att_pos_estimator start # fw_att_control start fw_pos_control_l1 start + +bottle_drop start diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors index ecb408a54..739df7ac0 100644 --- a/ROMFS/px4fmu_common/init.d/rc.sensors +++ b/ROMFS/px4fmu_common/init.d/rc.sensors @@ -68,6 +68,11 @@ else fi fi +# Check for flow sensor +if px4flow start +then +fi + # # Start the sensor collection task. # IMPORTANT: this also loads param offsets diff --git a/ROMFS/px4fmu_common/mixers/FMU_FX79.mix b/ROMFS/px4fmu_common/mixers/FMU_FX79.mix index 112d9b891..b8879af9e 100755 --- a/ROMFS/px4fmu_common/mixers/FMU_FX79.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_FX79.mix @@ -52,21 +52,18 @@ M: 1 O: 10000 10000 0 -10000 10000 S: 0 3 0 20000 -10000 -10000 10000 -Gimbal / flaps / payload mixer for last four channels +Inputs to the mixer come from channel group 2 (payload), channels 0 +(bay servo 1), 1 (bay servo 2) and 3 (drop release). ----------------------------------------------------- M: 1 O: 10000 10000 0 -10000 10000 -S: 0 4 10000 10000 0 -10000 10000 +S: 2 0 10000 10000 0 -10000 10000 M: 1 O: 10000 10000 0 -10000 10000 -S: 0 5 10000 10000 0 -10000 10000 +S: 2 1 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 +S: 2 2 -10000 -10000 0 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/Viper.mix b/ROMFS/px4fmu_common/mixers/Viper.mix index 5a0381bd8..5aa3828f2 100755 --- a/ROMFS/px4fmu_common/mixers/Viper.mix +++ b/ROMFS/px4fmu_common/mixers/Viper.mix @@ -66,6 +66,6 @@ S: 2 1 10000 10000 0 -10000 10000 M: 1 O: 10000 10000 0 -10000 10000 -S: 2 2 -10000 -10000 0 -10000 10000 +S: 2 2 -8000 -8000 0 -10000 10000 diff --git a/ROMFS/px4fmu_test/init.d/rcS b/ROMFS/px4fmu_test/init.d/rcS index 56482d140..bc248ac04 100644 --- a/ROMFS/px4fmu_test/init.d/rcS +++ b/ROMFS/px4fmu_test/init.d/rcS @@ -75,3 +75,33 @@ if [ -f /fs/microsd/mount_test_cmds.txt ] then tests mount fi + +# +# Run unit tests at board boot, reporting failure as needed. +# Add new unit tests using the same pattern as below. +# + +set unit_test_failure 0 + +if mavlink_tests +then +else + set unit_test_failure 1 + set unit_test_failure_list "${unit_test_failure_list} mavlink_tests" +fi + +if commander_tests +then +else + set unit_test_failure 1 + set unit_test_failure_list "${unit_test_failure_list} commander_tests" +fi + +if [ $unit_test_failure == 0 ] +then + echo + echo "All Unit Tests PASSED" +else + echo + echo "Some Unit Tests FAILED:${unit_test_failure_list}" +fi
\ No newline at end of file diff --git a/Tools/px_romfs_pruner.py b/Tools/px_romfs_pruner.py index fcc40b09e..aef1cc7a3 100644 --- a/Tools/px_romfs_pruner.py +++ b/Tools/px_romfs_pruner.py @@ -57,7 +57,7 @@ def main(): 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 or ".swp" in file: + if ".zip" in file or ".bin" in file or ".swp" in file or ".data" in file: continue file_path = os.path.join(root, file) diff --git a/Tools/px_uploader.py b/Tools/px_uploader.py index b46db00b5..d4e461226 100755 --- a/Tools/px_uploader.py +++ b/Tools/px_uploader.py @@ -178,9 +178,9 @@ class uploader(object): MAVLINK_REBOOT_ID1 = bytearray(b'\xfe\x21\x72\xff\x00\x4c\x00\x00\x80\x3f\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf6\x00\x01\x00\x00\x48\xf0') MAVLINK_REBOOT_ID0 = bytearray(b'\xfe\x21\x45\xff\x00\x4c\x00\x00\x80\x3f\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf6\x00\x00\x00\x00\xd7\xac') - def __init__(self, portname, baudrate, interCharTimeout=0.001, timeout=0.5): + def __init__(self, portname, baudrate): # open the port, keep the default timeout short so we can poll quickly - self.port = serial.Serial(portname, baudrate) + self.port = serial.Serial(portname, baudrate, timeout=0.5) self.otp = b'' self.sn = b'' @@ -195,7 +195,7 @@ class uploader(object): def __recv(self, count=1): c = self.port.read(count) if len(c) < 1: - raise RuntimeError("timeout waiting for data (%u bytes)", count) + raise RuntimeError("timeout waiting for data (%u bytes)" % count) # print("recv " + binascii.hexlify(c)) return c @@ -459,6 +459,7 @@ if os.path.exists("/usr/sbin/ModemManager"): # Load the firmware file fw = firmware(args.firmware) print("Loaded firmware for %x,%x, waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision'))) +print("If the board does not respond within 1-2 seconds, unplug and re-plug the USB connector.") # Spin waiting for a device to show up while True: @@ -508,9 +509,12 @@ while True: except Exception: # most probably a timeout talking to the port, no bootloader, try to reboot the board print("attempting reboot on %s..." % port) + print("if the board does not respond, unplug and re-plug the USB connector.") up.send_reboot() # wait for the reboot, without we might run into Serial I/O Error 5 time.sleep(0.5) + # always close the port + up.close() continue try: diff --git a/Tools/sdlog2/sdlog2_dump.py b/Tools/sdlog2/sdlog2_dump.py index ca2efb021..8b0ccb2d7 100644..100755 --- a/Tools/sdlog2/sdlog2_dump.py +++ b/Tools/sdlog2/sdlog2_dump.py @@ -154,8 +154,8 @@ class SDLog2Parser: first_data_msg = False self.__parseMsg(msg_descr) bytes_read += self.__ptr - if not self.__debug_out and self.__time_msg != None and self.__csv_updated: - self.__printCSVRow() + if not self.__debug_out and self.__time_msg != None and self.__csv_updated: + self.__printCSVRow() f.close() def __bytesLeft(self): diff --git a/Tools/tests-host/.gitignore b/Tools/tests-host/.gitignore index 87b314c61..37e923b5e 100644 --- a/Tools/tests-host/.gitignore +++ b/Tools/tests-host/.gitignore @@ -1,4 +1,6 @@ ./obj/* mixer_test +sf0x_test sbus2_test autodeclination_test +st24_test diff --git a/Tools/tests-host/Makefile b/Tools/tests-host/Makefile index f0737ef88..8742e2f7c 100644 --- a/Tools/tests-host/Makefile +++ b/Tools/tests-host/Makefile @@ -3,7 +3,7 @@ CC=g++ CFLAGS=-I. -I../../src/modules -I ../../src/include -I../../src/drivers \ -I../../src -I../../src/lib -D__EXPORT="" -Dnullptr="0" -lm -all: mixer_test sbus2_test autodeclination_test +all: mixer_test sbus2_test autodeclination_test st24_test sf0x_test MIXER_FILES=../../src/systemcmds/tests/test_mixer.cpp \ ../../src/systemcmds/tests/test_conv.cpp \ @@ -20,7 +20,16 @@ SBUS2_FILES=../../src/modules/px4iofirmware/sbus.c \ hrt.cpp \ sbus2_test.cpp -AUTODECLINATION_FILES= ../../src/lib/geo/geo_mag_declination.c \ +ST24_FILES=../../src/lib/rc/st24.c \ + hrt.cpp \ + st24_test.cpp + +SF0X_FILES= \ + hrt.cpp \ + sf0x_test.cpp \ + ../../src/drivers/sf0x/sf0x_parser.cpp + +AUTODECLINATION_FILES= ../../src/lib/geo_lookup/geo_mag_declination.c \ hrt.cpp \ autodeclination_test.cpp @@ -30,10 +39,16 @@ mixer_test: $(MIXER_FILES) sbus2_test: $(SBUS2_FILES) $(CC) -o sbus2_test $(SBUS2_FILES) $(CFLAGS) +sf0x_test: $(SF0X_FILES) + $(CC) -o sf0x_test $(SF0X_FILES) $(CFLAGS) + autodeclination_test: $(SBUS2_FILES) $(CC) -o autodeclination_test $(AUTODECLINATION_FILES) $(CFLAGS) +st24_test: $(ST24_FILES) + $(CC) -o st24_test $(ST24_FILES) $(CFLAGS) + .PHONY: clean clean: - rm -f $(ODIR)/*.o *~ core $(INCDIR)/*~ mixer_test sbus2_test autodeclination_test
\ No newline at end of file + rm -f $(ODIR)/*.o *~ core $(INCDIR)/*~ mixer_test sbus2_test autodeclination_test st24_test sf0x_test diff --git a/Tools/tests-host/sbus2_test.cpp b/Tools/tests-host/sbus2_test.cpp index d8fcb695d..e2c18369c 100644 --- a/Tools/tests-host/sbus2_test.cpp +++ b/Tools/tests-host/sbus2_test.cpp @@ -29,7 +29,8 @@ int main(int argc, char *argv[]) { // Trash the first 20 lines for (unsigned i = 0; i < 20; i++) { - (void)fscanf(fp, "%f,%x,,", &f, &x); + char buf[200]; + (void)fgets(buf, sizeof(buf), fp); } // Init the parser diff --git a/Tools/upload.sh b/Tools/upload.sh new file mode 100755 index 000000000..17d87fe61 --- /dev/null +++ b/Tools/upload.sh @@ -0,0 +1,28 @@ +#!/bin/bash + +EXEDIR=`pwd` +BASEDIR=$(dirname $0) + +SYSTYPE=`uname -s` + +# +# Serial port defaults. +# +# XXX The uploader should be smarter than this. +# +if [ $SYSTYPE=Darwin ]; +then +SERIAL_PORTS="/dev/tty.usbmodemPX*,/dev/tty.usbmodem*" +fi + +if [ $SYSTYPE=Linux ]; +then +SERIAL_PORTS="/dev/serial/by-id/usb-3D_Robotics*" +fi + +if [ $SYSTYPE="" ]; +then +SERIAL_PORTS="COM32,COM31,COM30,COM29,COM28,COM27,COM26,COM25,COM24,COM23,COM22,COM21,COM20,COM19,COM18,COM17,COM16,COM15,COM14,COM13,COM12,COM11,COM10,COM9,COM8,COM7,COM6,COM5,COM4,COM3,COM2,COM1,COM0" +fi + +python $BASEDIR/px_uploader.py --port $SERIAL_PORTS $1
\ No newline at end of file diff --git a/Tools/usb_serialload.py b/Tools/usb_serialload.py new file mode 100644 index 000000000..5c864532f --- /dev/null +++ b/Tools/usb_serialload.py @@ -0,0 +1,55 @@ +import serial, time + + +port = serial.Serial('/dev/ttyACM0', baudrate=57600, timeout=2) + +data = '01234567890123456789012345678901234567890123456789' +#data = 'hellohello' +outLine = 'echo %s\n' % data + +port.write('\n\n\n') +port.write('free\n') +line = port.readline(80) +while line != '': + print(line) + line = port.readline(80) + + +i = 0 +bytesOut = 0 +bytesIn = 0 + +startTime = time.time() +lastPrint = startTime +while True: + bytesOut += port.write(outLine) + line = port.readline(80) + bytesIn += len(line) + # check command line echo + if (data not in line): + print('command error %d: %s' % (i,line)) + #break + # read echo output + line = port.readline(80) + if (data not in line): + print('echo output error %d: %s' % (i,line)) + #break + bytesIn += len(line) + #print('%d: %s' % (i,line)) + #print('%d: bytesOut: %d, bytesIn: %d' % (i, bytesOut, bytesIn)) + + elapsedT = time.time() - lastPrint + if (time.time() - lastPrint >= 5): + outRate = bytesOut / elapsedT + inRate = bytesIn / elapsedT + usbRate = (bytesOut + bytesIn) / elapsedT + lastPrint = time.time() + print('elapsed time: %f' % (time.time() - startTime)) + print('data rates (bytes/sec): out: %f, in: %f, total: %f' % (outRate, inRate, usbRate)) + + bytesOut = 0 + bytesIn = 0 + + i += 1 + #if (i > 2): break + diff --git a/makefiles/config_px4fmu-v1_default.mk b/makefiles/config_px4fmu-v1_default.mk index 6f39b56a1..9fe16fbb6 100644 --- a/makefiles/config_px4fmu-v1_default.mk +++ b/makefiles/config_px4fmu-v1_default.mk @@ -24,16 +24,16 @@ MODULES += drivers/l3gd20 MODULES += drivers/mpu6000 MODULES += drivers/hmc5883 MODULES += drivers/ms5611 -MODULES += drivers/mb12xx +#MODULES += drivers/mb12xx MODULES += drivers/gps MODULES += drivers/hil -MODULES += drivers/blinkm +#MODULES += drivers/blinkm MODULES += drivers/rgbled MODULES += drivers/mkblctrl MODULES += drivers/airspeed -MODULES += drivers/ets_airspeed +#MODULES += drivers/ets_airspeed MODULES += drivers/meas_airspeed -MODULES += drivers/frsky_telemetry +#MODULES += drivers/frsky_telemetry MODULES += modules/sensors # diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk index 5f146686c..d17dff5bb 100644 --- a/makefiles/config_px4fmu-v2_default.mk +++ b/makefiles/config_px4fmu-v2_default.mk @@ -129,6 +129,11 @@ MODULES += lib/conversion MODULES += lib/launchdetection # +# OBC challenge +# +MODULES += modules/bottle_drop + +# # Demo apps # #MODULES += examples/math_demo diff --git a/makefiles/config_px4fmu-v2_test.mk b/makefiles/config_px4fmu-v2_test.mk index a41670a77..2f4d9d6a4 100644 --- a/makefiles/config_px4fmu-v2_test.mk +++ b/makefiles/config_px4fmu-v2_test.mk @@ -56,6 +56,7 @@ LIBRARIES += lib/mathlib/CMSIS MODULES += modules/unit_test MODULES += modules/mavlink/mavlink_tests +MODULES += modules/commander/commander_tests # # Transitional support - add commands from the NuttX export archive. diff --git a/mavlink/include/mavlink/v1.0 b/mavlink/include/mavlink/v1.0 -Subproject 2423e47b4f9169e77f7194b36fa2118e018c94e +Subproject ad5e5a645dec152419264ad32221f7c113ea5c3 diff --git a/nuttx-configs/px4fmu-v1/nsh/defconfig b/nuttx-configs/px4fmu-v1/nsh/defconfig index cd9c05b13..edf49b26e 100644 --- a/nuttx-configs/px4fmu-v1/nsh/defconfig +++ b/nuttx-configs/px4fmu-v1/nsh/defconfig @@ -287,7 +287,7 @@ CONFIG_STM32_USART_SINGLEWIRE=y # # CONFIG_STM32_I2C_DYNTIMEO is not set CONFIG_STM32_I2CTIMEOSEC=0 -CONFIG_STM32_I2CTIMEOMS=1 +CONFIG_STM32_I2CTIMEOMS=10 # CONFIG_STM32_I2C_DUTY16_9 is not set # diff --git a/src/drivers/boards/aerocore/aerocore_init.c b/src/drivers/boards/aerocore/aerocore_init.c index 4e3ba2d7e..1ce235da8 100644 --- a/src/drivers/boards/aerocore/aerocore_init.c +++ b/src/drivers/boards/aerocore/aerocore_init.c @@ -93,6 +93,19 @@ # endif #endif +/* + * Ideally we'd be able to get these from up_internal.h, + * but since we want to be able to disable the NuttX use + * of leds for system indication at will and there is no + * separate switch, we need to build independent of the + * CONFIG_ARCH_LEDS configuration switch. + */ +__BEGIN_DECLS +extern void led_init(void); +extern void led_on(int led); +extern void led_off(int led); +__END_DECLS + /**************************************************************************** * Protected Functions ****************************************************************************/ diff --git a/src/drivers/boards/aerocore/board_config.h b/src/drivers/boards/aerocore/board_config.h index 70142a314..776a2071e 100644 --- a/src/drivers/boards/aerocore/board_config.h +++ b/src/drivers/boards/aerocore/board_config.h @@ -171,6 +171,25 @@ __BEGIN_DECLS extern void stm32_spiinitialize(void); +/**************************************************************************** + * Name: nsh_archinitialize + * + * Description: + * Perform architecture specific initialization for NSH. + * + * CONFIG_NSH_ARCHINIT=y : + * Called from the NSH library + * + * CONFIG_BOARD_INITIALIZE=y, CONFIG_NSH_LIBRARY=y, && + * CONFIG_NSH_ARCHINIT=n : + * Called from board_initialize(). + * + ****************************************************************************/ + +#ifdef CONFIG_NSH_LIBRARY +int nsh_archinitialize(void); +#endif + #endif /* __ASSEMBLY__ */ __END_DECLS diff --git a/src/drivers/boards/px4fmu-v1/board_config.h b/src/drivers/boards/px4fmu-v1/board_config.h index a70a6240c..188885be2 100644 --- a/src/drivers/boards/px4fmu-v1/board_config.h +++ b/src/drivers/boards/px4fmu-v1/board_config.h @@ -209,6 +209,27 @@ __BEGIN_DECLS extern void stm32_spiinitialize(void); +extern void stm32_usbinitialize(void); + +/**************************************************************************** + * Name: nsh_archinitialize + * + * Description: + * Perform architecture specific initialization for NSH. + * + * CONFIG_NSH_ARCHINIT=y : + * Called from the NSH library + * + * CONFIG_BOARD_INITIALIZE=y, CONFIG_NSH_LIBRARY=y, && + * CONFIG_NSH_ARCHINIT=n : + * Called from board_initialize(). + * + ****************************************************************************/ + +#ifdef CONFIG_NSH_LIBRARY +int nsh_archinitialize(void); +#endif + #endif /* __ASSEMBLY__ */ __END_DECLS diff --git a/src/drivers/boards/px4fmu-v2/board_config.h b/src/drivers/boards/px4fmu-v2/board_config.h index 0190a5b5b..ee365e47c 100644 --- a/src/drivers/boards/px4fmu-v2/board_config.h +++ b/src/drivers/boards/px4fmu-v2/board_config.h @@ -229,6 +229,27 @@ __BEGIN_DECLS extern void stm32_spiinitialize(void); +extern void stm32_usbinitialize(void); + +/**************************************************************************** + * Name: nsh_archinitialize + * + * Description: + * Perform architecture specific initialization for NSH. + * + * CONFIG_NSH_ARCHINIT=y : + * Called from the NSH library + * + * CONFIG_BOARD_INITIALIZE=y, CONFIG_NSH_LIBRARY=y, && + * CONFIG_NSH_ARCHINIT=n : + * Called from board_initialize(). + * + ****************************************************************************/ + +#ifdef CONFIG_NSH_LIBRARY +int nsh_archinitialize(void); +#endif + #endif /* __ASSEMBLY__ */ __END_DECLS diff --git a/src/drivers/boards/px4fmu-v2/px4fmu2_init.c b/src/drivers/boards/px4fmu-v2/px4fmu2_init.c index bf41bb1fe..9b25c574a 100644 --- a/src/drivers/boards/px4fmu-v2/px4fmu2_init.c +++ b/src/drivers/boards/px4fmu-v2/px4fmu2_init.c @@ -94,6 +94,19 @@ # endif #endif +/* + * Ideally we'd be able to get these from up_internal.h, + * but since we want to be able to disable the NuttX use + * of leds for system indication at will and there is no + * separate switch, we need to build independent of the + * CONFIG_ARCH_LEDS configuration switch. + */ +__BEGIN_DECLS +extern void led_init(void); +extern void led_on(int led); +extern void led_off(int led); +__END_DECLS + /**************************************************************************** * Protected Functions ****************************************************************************/ diff --git a/src/drivers/boards/px4io-v2/board_config.h b/src/drivers/boards/px4io-v2/board_config.h index ef9bb5cad..10a93be0b 100644 --- a/src/drivers/boards/px4io-v2/board_config.h +++ b/src/drivers/boards/px4io-v2/board_config.h @@ -77,6 +77,7 @@ #define GPIO_LED1 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14) #define GPIO_LED2 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN15) #define GPIO_LED3 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN13) +#define GPIO_LED4 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN11) /* Safety switch button *******************************************************/ diff --git a/src/drivers/boards/px4io-v2/px4iov2_init.c b/src/drivers/boards/px4io-v2/px4iov2_init.c index 9f8c0eeb2..5c3343ccc 100644 --- a/src/drivers/boards/px4io-v2/px4iov2_init.c +++ b/src/drivers/boards/px4io-v2/px4iov2_init.c @@ -108,6 +108,7 @@ __EXPORT void stm32_boardinitialize(void) stm32_configgpio(GPIO_LED1); stm32_configgpio(GPIO_LED2); stm32_configgpio(GPIO_LED3); + stm32_configgpio(GPIO_LED4); stm32_configgpio(GPIO_BTN_SAFETY); diff --git a/src/drivers/device/device.cpp b/src/drivers/device/device.cpp index f1f777dce..d46901683 100644 --- a/src/drivers/device/device.cpp +++ b/src/drivers/device/device.cpp @@ -97,6 +97,7 @@ Device::Device(const char *name, /* setup a default device ID. When bus_type is UNKNOWN the other fields are invalid */ + _device_id.devid = 0; _device_id.devid_s.bus_type = DeviceBusType_UNKNOWN; _device_id.devid_s.bus = 0; _device_id.devid_s.address = 0; diff --git a/src/drivers/drv_gps.h b/src/drivers/drv_gps.h index e14f4e00d..76a211000 100644 --- a/src/drivers/drv_gps.h +++ b/src/drivers/drv_gps.h @@ -57,7 +57,8 @@ typedef enum { GPS_DRIVER_MODE_NONE = 0, GPS_DRIVER_MODE_UBX, - GPS_DRIVER_MODE_MTK + GPS_DRIVER_MODE_MTK, + GPS_DRIVER_MODE_ASHTECH } gps_driver_mode_t; diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h index 5aff6825b..6873f24b6 100644 --- a/src/drivers/drv_pwm_output.h +++ b/src/drivers/drv_pwm_output.h @@ -165,7 +165,7 @@ ORB_DECLARE(output_pwm); #define DSM2_BIND_PULSES 3 /* DSM_BIND_START ioctl parameter, pulses required to start dsm2 pairing */ #define DSMX_BIND_PULSES 7 /* DSM_BIND_START ioctl parameter, pulses required to start dsmx pairing */ -#define DSMX8_BIND_PULSES 10 /* DSM_BIND_START ioctl parameter, pulses required to start 8 or more channel dsmx pairing */ +#define DSMX8_BIND_PULSES 9 /* DSM_BIND_START ioctl parameter, pulses required to start 8 or more channel dsmx pairing */ /** power up DSM receiver */ #define DSM_BIND_POWER_UP _IOC(_PWM_SERVO_BASE, 11) @@ -205,10 +205,16 @@ ORB_DECLARE(output_pwm); #define PWM_SERVO_GET_DISABLE_LOCKDOWN _IOC(_PWM_SERVO_BASE, 22) /** force safety switch off (to disable use of safety switch) */ -#define PWM_SERVO_SET_FORCE_SAFETY_OFF _IOC(_PWM_SERVO_BASE, 23) +#define PWM_SERVO_SET_FORCE_SAFETY_OFF _IOC(_PWM_SERVO_BASE, 23) /** force failsafe mode (failsafe values are set immediately even if failsafe condition not met) */ -#define PWM_SERVO_SET_FORCE_FAILSAFE _IOC(_PWM_SERVO_BASE, 24) +#define PWM_SERVO_SET_FORCE_FAILSAFE _IOC(_PWM_SERVO_BASE, 24) + +/** make failsafe non-recoverable (termination) if it occurs */ +#define PWM_SERVO_SET_TERMINATION_FAILSAFE _IOC(_PWM_SERVO_BASE, 25) + +/** force safety switch on (to enable use of safety switch) */ +#define PWM_SERVO_SET_FORCE_SAFETY_ON _IOC(_PWM_SERVO_BASE, 26) /* * diff --git a/src/drivers/drv_rc_input.h b/src/drivers/drv_rc_input.h index 47fa8fa59..b249c2a09 100644 --- a/src/drivers/drv_rc_input.h +++ b/src/drivers/drv_rc_input.h @@ -83,7 +83,8 @@ enum RC_INPUT_SOURCE { RC_INPUT_SOURCE_PX4FMU_PPM, RC_INPUT_SOURCE_PX4IO_PPM, RC_INPUT_SOURCE_PX4IO_SPEKTRUM, - RC_INPUT_SOURCE_PX4IO_SBUS + RC_INPUT_SOURCE_PX4IO_SBUS, + RC_INPUT_SOURCE_PX4IO_ST24 }; /** diff --git a/src/drivers/gps/ashtech.cpp b/src/drivers/gps/ashtech.cpp new file mode 100644 index 000000000..a2e292de2 --- /dev/null +++ b/src/drivers/gps/ashtech.cpp @@ -0,0 +1,641 @@ +#include "ashtech.h" + +#include <unistd.h> +#include <stdlib.h> +#include <stdio.h> +#include <poll.h> +#include <math.h> +#include <string.h> +#include <assert.h> +#include <systemlib/err.h> +#include <uORB/uORB.h> +#include <uORB/topics/vehicle_gps_position.h> +#include <uORB/topics/satellite_info.h> +#include <drivers/drv_hrt.h> + +#include <fcntl.h> +#include <math.h> + +ASHTECH::ASHTECH(const int &fd, struct vehicle_gps_position_s *gps_position, struct satellite_info_s *satellite_info): + _fd(fd), + _satellite_info(satellite_info), + _gps_position(gps_position) +{ + decode_init(); + _decode_state = NME_DECODE_UNINIT; + _rx_buffer_bytes = 0; +} + +ASHTECH::~ASHTECH() +{ +} + +/* + * All NMEA descriptions are taken from + * http://www.trimble.com/OEM_ReceiverHelp/V4.44/en/NMEA-0183messages_MessageOverview.html + */ + +int ASHTECH::handle_message(int len) +{ + char * endp; + + if (len < 7) { return 0; } + + int uiCalcComma = 0; + + for (int i = 0 ; i < len; i++) { + if (_rx_buffer[i] == ',') { uiCalcComma++; } + } + + char *bufptr = (char *)(_rx_buffer + 6); + + if ((memcmp(_rx_buffer + 3, "ZDA,", 3) == 0) && (uiCalcComma == 6)) { + /* + UTC day, month, and year, and local time zone offset + An example of the ZDA message string is: + + $GPZDA,172809.456,12,07,1996,00,00*45 + + ZDA message fields + Field Meaning + 0 Message ID $GPZDA + 1 UTC + 2 Day, ranging between 01 and 31 + 3 Month, ranging between 01 and 12 + 4 Year + 5 Local time zone offset from GMT, ranging from 00 through 13 hours + 6 Local time zone offset from GMT, ranging from 00 through 59 minutes + 7 The checksum data, always begins with * + Fields 5 and 6 together yield the total offset. For example, if field 5 is -5 and field 6 is +15, local time is 5 hours and 15 minutes earlier than GMT. + */ + double ashtech_time = 0.0; + int day = 0, month = 0, year = 0, local_time_off_hour __attribute__((unused)) = 0, local_time_off_min __attribute__((unused)) = 0; + + if (bufptr && *(++bufptr) != ',') { ashtech_time = strtod(bufptr, &endp); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { day = strtol(bufptr, &endp, 10); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { month = strtol(bufptr, &endp, 10); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { year = strtol(bufptr, &endp, 10); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { local_time_off_hour = strtol(bufptr, &endp, 10); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { local_time_off_min = strtol(bufptr, &endp, 10); bufptr = endp; } + + + int ashtech_hour = ashtech_time / 10000; + int ashtech_minute = (ashtech_time - ashtech_hour * 10000) / 100; + double ashtech_sec = ashtech_time - ashtech_hour * 10000 - ashtech_minute * 100; + /* + * convert to unix timestamp + */ + struct tm timeinfo; + timeinfo.tm_year = year - 1900; + timeinfo.tm_mon = month - 1; + timeinfo.tm_mday = day; + timeinfo.tm_hour = ashtech_hour; + timeinfo.tm_min = ashtech_minute; + timeinfo.tm_sec = int(ashtech_sec); + time_t epoch = mktime(&timeinfo); + + _gps_position->time_gps_usec = (uint64_t)epoch * 1000000; //TODO: test this + _gps_position->time_gps_usec += (uint64_t)((ashtech_sec - int(ashtech_sec)) * 1e6); + _gps_position->timestamp_time = hrt_absolute_time(); + } + + else if ((memcmp(_rx_buffer + 3, "GGA,", 3) == 0) && (uiCalcComma == 14)) { + /* + Time, position, and fix related data + An example of the GBS message string is: + + $GPGGA,172814.0,3723.46587704,N,12202.26957864,W,2,6,1.2,18.893,M,-25.669,M,2.0,0031*4F + + Note - The data string exceeds the ASHTECH standard length. + GGA message fields + Field Meaning + 0 Message ID $GPGGA + 1 UTC of position fix + 2 Latitude + 3 Direction of latitude: + N: North + S: South + 4 Longitude + 5 Direction of longitude: + E: East + W: West + 6 GPS Quality indicator: + 0: Fix not valid + 1: GPS fix + 2: Differential GPS fix, OmniSTAR VBS + 4: Real-Time Kinematic, fixed integers + 5: Real-Time Kinematic, float integers, OmniSTAR XP/HP or Location RTK + 7 Number of SVs in use, range from 00 through to 24+ + 8 HDOP + 9 Orthometric height (MSL reference) + 10 M: unit of measure for orthometric height is meters + 11 Geoid separation + 12 M: geoid separation measured in meters + 13 Age of differential GPS data record, Type 1 or Type 9. Null field when DGPS is not used. + 14 Reference station ID, range 0000-4095. A null field when any reference station ID is selected and no corrections are received1. + 15 + The checksum data, always begins with * + Note - If a user-defined geoid model, or an inclined + */ + double ashtech_time __attribute__((unused)) = 0.0, lat = 0.0, lon = 0.0, alt = 0.0; + int num_of_sv __attribute__((unused)) = 0, fix_quality = 0; + double hdop __attribute__((unused)) = 99.9; + char ns = '?', ew = '?'; + + if (bufptr && *(++bufptr) != ',') { ashtech_time = strtod(bufptr, &endp); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { lat = strtod(bufptr, &endp); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { ns = *(bufptr++); } + + if (bufptr && *(++bufptr) != ',') { lon = strtod(bufptr, &endp); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { ew = *(bufptr++); } + + if (bufptr && *(++bufptr) != ',') { fix_quality = strtol(bufptr, &endp, 10); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { num_of_sv = strtol(bufptr, &endp, 10); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { hdop = strtod(bufptr, &endp); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { alt = strtod(bufptr, &endp); bufptr = endp; } + + if (ns == 'S') { + lat = -lat; + } + + if (ew == 'W') { + lon = -lon; + } + + _gps_position->lat = (int(lat * 0.01) + (lat * 0.01 - int(lat * 0.01)) * 100.0 / 60.0) * 10000000; + _gps_position->lon = (int(lon * 0.01) + (lon * 0.01 - int(lon * 0.01)) * 100.0 / 60.0) * 10000000; + _gps_position->alt = alt * 1000; + _rate_count_lat_lon++; + + if (fix_quality <= 0) { + _gps_position->fix_type = 0; + + } else { + /* + * in this NMEA message float integers (value 5) mode has higher value than fixed integers (value 4), whereas it provides lower quality, + * and since value 3 is not being used, I "moved" value 5 to 3 to add it to _gps_position->fix_type + */ + if (fix_quality == 5) { fix_quality = 3; } + + /* + * fix quality 1 means just a normal 3D fix, so I'm subtracting 1 here. This way we'll have 3 for auto, 4 for DGPS, 5 for floats, 6 for fixed. + */ + _gps_position->fix_type = 3 + fix_quality - 1; + } + + _gps_position->timestamp_position = hrt_absolute_time(); + + _gps_position->vel_m_s = 0; /**< GPS ground speed (m/s) */ + _gps_position->vel_n_m_s = 0; /**< GPS ground speed in m/s */ + _gps_position->vel_e_m_s = 0; /**< GPS ground speed in m/s */ + _gps_position->vel_d_m_s = 0; /**< GPS ground speed in m/s */ + _gps_position->cog_rad = + 0; /**< Course over ground (NOT heading, but direction of movement) in rad, -PI..PI */ + _gps_position->vel_ned_valid = true; /**< Flag to indicate if NED speed is valid */ + _gps_position->c_variance_rad = 0.1; + _gps_position->timestamp_velocity = hrt_absolute_time(); + return 1; + + } else if ((memcmp(_rx_buffer, "$PASHR,POS,", 11) == 0) && (uiCalcComma == 18)) { + /* + Example $PASHR,POS,2,10,125410.00,5525.8138702,N,03833.9587380,E,131.555,1.0,0.0,0.007,-0.001,2.0,1.0,1.7,1.0,*34 + + $PASHR,POS,d1,d2,m3,m4,c5,m6,c7,f8,f9,f10,f11,f12,f13,f14,f15,f16,s17*cc + Parameter Description Range + d1 Position mode 0: standalone + 1: differential + 2: RTK float + 3: RTK fixed + 5: Dead reckoning + 9: SBAS (see NPT setting) + d2 Number of satellite used in position fix 0-99 + m3 Current UTC time of position fix (hhmmss.ss) 000000.00-235959.99 + m4 Latitude of position (ddmm.mmmmmm) 0-90 degrees 00-59.9999999 minutes + c5 Latitude sector N, S + m6 Longitude of position (dddmm.mmmmmm) 0-180 degrees 00-59.9999999 minutes + c7 Longitude sector E,W + f8 Altitude above ellipsoid +9999.000 + f9 Differential age (data link age), seconds 0.0-600.0 + f10 True track/course over ground in degrees 0.0-359.9 + f11 Speed over ground in knots 0.0-999.9 + f12 Vertical velocity in decimeters per second +999.9 + f13 PDOP 0-99.9 + f14 HDOP 0-99.9 + f15 VDOP 0-99.9 + f16 TDOP 0-99.9 + s17 Reserved no data + *cc Checksum + */ + bufptr = (char *)(_rx_buffer + 10); + + /* + * Ashtech would return empty space as coordinate (lat, lon or alt) if it doesn't have a fix yet + */ + int coordinatesFound = 0; + double ashtech_time __attribute__((unused)) = 0.0, lat = 0.0, lon = 0.0, alt = 0.0; + int num_of_sv __attribute__((unused)) = 0, fix_quality = 0; + double track_true = 0.0, ground_speed = 0.0 , age_of_corr __attribute__((unused)) = 0.0; + double hdop __attribute__((unused)) = 99.9, vdop __attribute__((unused)) = 99.9, pdop __attribute__((unused)) = 99.9, tdop __attribute__((unused)) = 99.9, vertic_vel = 0.0; + char ns = '?', ew = '?'; + + if (bufptr && *(++bufptr) != ',') { fix_quality = strtol(bufptr, &endp, 10); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { num_of_sv = strtol(bufptr, &endp, 10); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { ashtech_time = strtod(bufptr, &endp); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { + /* + * if a coordinate is skipped (i.e. no fix), it either won't get into this block (two commas in a row) + * or strtod won't find anything and endp will point exactly where bufptr is. The same is for lon and alt. + */ + lat = strtod(bufptr, &endp); + if (bufptr != endp) {coordinatesFound++;} + bufptr = endp; + } + + if (bufptr && *(++bufptr) != ',') { ns = *(bufptr++); } + + if (bufptr && *(++bufptr) != ',') { + lon = strtod(bufptr, &endp); + if (bufptr != endp) {coordinatesFound++;} + bufptr = endp; + } + + if (bufptr && *(++bufptr) != ',') { ew = *(bufptr++); } + + if (bufptr && *(++bufptr) != ',') { + alt = strtod(bufptr, &endp); + if (bufptr != endp) {coordinatesFound++;} + bufptr = endp; + } + + if (bufptr && *(++bufptr) != ',') { age_of_corr = strtod(bufptr, &endp); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { track_true = strtod(bufptr, &endp); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { ground_speed = strtod(bufptr, &endp); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { vertic_vel = strtod(bufptr, &endp); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { pdop = strtod(bufptr, &endp); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { hdop = strtod(bufptr, &endp); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { vdop = strtod(bufptr, &endp); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { tdop = strtod(bufptr, &endp); bufptr = endp; } + + if (ns == 'S') { + lat = -lat; + } + + if (ew == 'W') { + lon = -lon; + } + + _gps_position->lat = (int(lat * 0.01) + (lat * 0.01 - int(lat * 0.01)) * 100.0 / 60.0) * 10000000; + _gps_position->lon = (int(lon * 0.01) + (lon * 0.01 - int(lon * 0.01)) * 100.0 / 60.0) * 10000000; + _gps_position->alt = alt * 1000; + _rate_count_lat_lon++; + + if (coordinatesFound < 3) { + _gps_position->fix_type = 0; + + } else { + _gps_position->fix_type = 3 + fix_quality; + } + + _gps_position->timestamp_position = hrt_absolute_time(); + + double track_rad = track_true * M_PI / 180.0; + + double velocity_ms = ground_speed / 1.9438445; /** knots to m/s */ + double velocity_north = velocity_ms * cos(track_rad); + double velocity_east = velocity_ms * sin(track_rad); + + _gps_position->vel_m_s = velocity_ms; /**< GPS ground speed (m/s) */ + _gps_position->vel_n_m_s = velocity_north; /**< GPS ground speed in m/s */ + _gps_position->vel_e_m_s = velocity_east; /**< GPS ground speed in m/s */ + _gps_position->vel_d_m_s = -vertic_vel; /**< GPS ground speed in m/s */ + _gps_position->cog_rad = + track_rad; /**< Course over ground (NOT heading, but direction of movement) in rad, -PI..PI */ + _gps_position->vel_ned_valid = true; /**< Flag to indicate if NED speed is valid */ + _gps_position->c_variance_rad = 0.1; + _gps_position->timestamp_velocity = hrt_absolute_time(); + return 1; + + } else if ((memcmp(_rx_buffer + 3, "GST,", 3) == 0) && (uiCalcComma == 8)) { + /* + Position error statistics + An example of the GST message string is: + + $GPGST,172814.0,0.006,0.023,0.020,273.6,0.023,0.020,0.031*6A + + The Talker ID ($--) will vary depending on the satellite system used for the position solution: + + $GP - GPS only + $GL - GLONASS only + $GN - Combined + GST message fields + Field Meaning + 0 Message ID $GPGST + 1 UTC of position fix + 2 RMS value of the pseudorange residuals; includes carrier phase residuals during periods of RTK (float) and RTK (fixed) processing + 3 Error ellipse semi-major axis 1 sigma error, in meters + 4 Error ellipse semi-minor axis 1 sigma error, in meters + 5 Error ellipse orientation, degrees from true north + 6 Latitude 1 sigma error, in meters + 7 Longitude 1 sigma error, in meters + 8 Height 1 sigma error, in meters + 9 The checksum data, always begins with * + */ + double ashtech_time __attribute__((unused)) = 0.0, lat_err = 0.0, lon_err = 0.0, alt_err = 0.0; + double min_err __attribute__((unused)) = 0.0, maj_err __attribute__((unused)) = 0.0, deg_from_north __attribute__((unused)) = 0.0, rms_err __attribute__((unused)) = 0.0; + + if (bufptr && *(++bufptr) != ',') { ashtech_time = strtod(bufptr, &endp); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { rms_err = strtod(bufptr, &endp); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { maj_err = strtod(bufptr, &endp); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { min_err = strtod(bufptr, &endp); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { deg_from_north = strtod(bufptr, &endp); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { lat_err = strtod(bufptr, &endp); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { lon_err = strtod(bufptr, &endp); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { alt_err = strtod(bufptr, &endp); bufptr = endp; } + + _gps_position->eph = sqrt(lat_err * lat_err + lon_err * lon_err); + _gps_position->epv = alt_err; + + _gps_position->s_variance_m_s = 0; + _gps_position->timestamp_variance = hrt_absolute_time(); + + } else if ((memcmp(_rx_buffer + 3, "GSV,", 3) == 0)) { + /* + The GSV message string identifies the number of SVs in view, the PRN numbers, elevations, azimuths, and SNR values. An example of the GSV message string is: + + $GPGSV,4,1,13,02,02,213,,03,-3,000,,11,00,121,,14,13,172,05*67 + + GSV message fields + Field Meaning + 0 Message ID $GPGSV + 1 Total number of messages of this type in this cycle + 2 Message number + 3 Total number of SVs visible + 4 SV PRN number + 5 Elevation, in degrees, 90 maximum + 6 Azimuth, degrees from True North, 000 through 359 + 7 SNR, 00 through 99 dB (null when not tracking) + 8-11 Information about second SV, same format as fields 4 through 7 + 12-15 Information about third SV, same format as fields 4 through 7 + 16-19 Information about fourth SV, same format as fields 4 through 7 + 20 The checksum data, always begins with * + */ + /* + * currently process only gps, because do not know what + * Global satellite ID I should use for non GPS sats + */ + bool bGPS = false; + + if (memcmp(_rx_buffer, "$GP", 3) != 0) { + return 0; + + } else { + bGPS = true; + } + + int all_msg_num = 0, this_msg_num = 0, tot_sv_visible = 0; + struct gsv_sat { + int svid; + int elevation; + int azimuth; + int snr; + } sat[4]; + memset(sat, 0, sizeof(sat)); + + if (bufptr && *(++bufptr) != ',') { all_msg_num = strtol(bufptr, &endp, 10); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { this_msg_num = strtol(bufptr, &endp, 10); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { tot_sv_visible = strtol(bufptr, &endp, 10); bufptr = endp; } + + if ((this_msg_num < 1) || (this_msg_num > all_msg_num)) { + return 0; + } + + if ((this_msg_num == 0) && (bGPS == true)) { + memset(_satellite_info->svid, 0, sizeof(_satellite_info->svid)); + memset(_satellite_info->used, 0, sizeof(_satellite_info->used)); + memset(_satellite_info->snr, 0, sizeof(_satellite_info->snr)); + memset(_satellite_info->elevation, 0, sizeof(_satellite_info->elevation)); + memset(_satellite_info->azimuth, 0, sizeof(_satellite_info->azimuth)); + } + + int end = 4; + + if (this_msg_num == all_msg_num) { + end = tot_sv_visible - (this_msg_num - 1) * 4; + _gps_position->satellites_used = tot_sv_visible; + _satellite_info->count = SAT_INFO_MAX_SATELLITES; + _satellite_info->timestamp = hrt_absolute_time(); + } + + for (int y = 0 ; y < end ; y++) { + if (bufptr && *(++bufptr) != ',') { sat[y].svid = strtol(bufptr, &endp, 10); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { sat[y].elevation = strtol(bufptr, &endp, 10); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { sat[y].azimuth = strtol(bufptr, &endp, 10); bufptr = endp; } + + if (bufptr && *(++bufptr) != ',') { sat[y].snr = strtol(bufptr, &endp, 10); bufptr = endp; } + + _satellite_info->svid[y + (this_msg_num - 1) * 4] = sat[y].svid; + _satellite_info->used[y + (this_msg_num - 1) * 4] = ((sat[y].snr > 0) ? true : false); + _satellite_info->snr[y + (this_msg_num - 1) * 4] = sat[y].snr; + _satellite_info->elevation[y + (this_msg_num - 1) * 4] = sat[y].elevation; + _satellite_info->azimuth[y + (this_msg_num - 1) * 4] = sat[y].azimuth; + } + } + + return 0; +} + + +int ASHTECH::receive(unsigned timeout) +{ + { + /* poll descriptor */ + pollfd fds[1]; + fds[0].fd = _fd; + fds[0].events = POLLIN; + + uint8_t buf[32]; + + /* timeout additional to poll */ + uint64_t time_started = hrt_absolute_time(); + + int j = 0; + ssize_t bytes_count = 0; + + while (true) { + + /* pass received bytes to the packet decoder */ + while (j < bytes_count) { + int l = 0; + + if ((l = parse_char(buf[j])) > 0) { + /* return to configure during configuration or to the gps driver during normal work + * if a packet has arrived */ + if (handle_message(l) > 0) { + return 1; + } + } + + /* in case we keep trying but only get crap from GPS */ + if (time_started + timeout * 1000 * 2 < hrt_absolute_time()) { + return -1; + } + + j++; + } + + /* everything is read */ + j = bytes_count = 0; + + /* then poll for new data */ + int ret = ::poll(fds, sizeof(fds) / sizeof(fds[0]), timeout * 2); + + if (ret < 0) { + /* something went wrong when polling */ + return -1; + + } else if (ret == 0) { + /* Timeout */ + return -1; + + } else if (ret > 0) { + /* if we have new data from GPS, go handle it */ + if (fds[0].revents & POLLIN) { + /* + * We are here because poll says there is some data, so this + * won't block even on a blocking device. If more bytes are + * available, we'll go back to poll() again... + */ + bytes_count = ::read(_fd, buf, sizeof(buf)); + } + } + } + } + +} +#define HEXDIGIT_CHAR(d) ((char)((d) + (((d) < 0xA) ? '0' : 'A'-0xA))) + +int ASHTECH::parse_char(uint8_t b) +{ + int iRet = 0; + + switch (_decode_state) { + /* First, look for sync1 */ + case NME_DECODE_UNINIT: + if (b == '$') { + _decode_state = NME_DECODE_GOT_SYNC1; + _rx_buffer_bytes = 0; + _rx_buffer[_rx_buffer_bytes++] = b; + } + + break; + + case NME_DECODE_GOT_SYNC1: + if (b == '$') { + _decode_state = NME_DECODE_GOT_SYNC1; + _rx_buffer_bytes = 0; + + } else if (b == '*') { + _decode_state = NME_DECODE_GOT_ASTERIKS; + } + + if (_rx_buffer_bytes >= (sizeof(_rx_buffer) - 5)) { + _decode_state = NME_DECODE_UNINIT; + _rx_buffer_bytes = 0; + + } else { + _rx_buffer[_rx_buffer_bytes++] = b; + } + + break; + + case NME_DECODE_GOT_ASTERIKS: + _rx_buffer[_rx_buffer_bytes++] = b; + _decode_state = NME_DECODE_GOT_FIRST_CS_BYTE; + break; + + case NME_DECODE_GOT_FIRST_CS_BYTE: + _rx_buffer[_rx_buffer_bytes++] = b; + uint8_t checksum = 0; + uint8_t *buffer = _rx_buffer + 1; + uint8_t *bufend = _rx_buffer + _rx_buffer_bytes - 3; + + for (; buffer < bufend; buffer++) { checksum ^= *buffer; } + + if ((HEXDIGIT_CHAR(checksum >> 4) == *(_rx_buffer + _rx_buffer_bytes - 2)) && + (HEXDIGIT_CHAR(checksum & 0x0F) == *(_rx_buffer + _rx_buffer_bytes - 1))) { + iRet = _rx_buffer_bytes; + } + + _decode_state = NME_DECODE_UNINIT; + _rx_buffer_bytes = 0; + break; + } + + return iRet; +} + +void ASHTECH::decode_init(void) +{ + +} + +/* + * ashtech board configuration script + */ + +const char comm[] = "$PASHS,POP,20\r\n"\ + "$PASHS,NME,ZDA,B,ON,3\r\n"\ + "$PASHS,NME,GGA,B,OFF\r\n"\ + "$PASHS,NME,GST,B,ON,3\r\n"\ + "$PASHS,NME,POS,B,ON,0.05\r\n"\ + "$PASHS,NME,GSV,B,ON,3\r\n"\ + "$PASHS,SPD,A,8\r\n"\ + "$PASHS,SPD,B,9\r\n"; + +int ASHTECH::configure(unsigned &baudrate) +{ + /* try different baudrates */ + const unsigned baudrates_to_try[] = {9600, 38400, 19200, 57600, 115200}; + + + for (unsigned int baud_i = 0; baud_i < sizeof(baudrates_to_try) / sizeof(baudrates_to_try[0]); baud_i++) { + baudrate = baudrates_to_try[baud_i]; + set_baudrate(_fd, baudrate); + write(_fd, (uint8_t *)comm, sizeof(comm)); + } + + set_baudrate(_fd, 115200); + return 0; +} diff --git a/src/drivers/gps/ashtech.h b/src/drivers/gps/ashtech.h new file mode 100644 index 000000000..6ba522b9c --- /dev/null +++ b/src/drivers/gps/ashtech.h @@ -0,0 +1,96 @@ +/**************************************************************************** + * + * Copyright (C) 2013. All rights reserved. + * Author: Boriskin Aleksey <a.d.boriskin@gmail.com> + * Kistanov Alexander <akistanov@gramant.ru> + * + * 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 ASHTECH protocol definitions */ + +#ifndef ASHTECH_H_ +#define ASHTECH_H_ + +#include "gps_helper.h" + +#ifndef RECV_BUFFER_SIZE +#define RECV_BUFFER_SIZE 512 + +#define SAT_INFO_MAX_SATELLITES 20 +#endif + + +class ASHTECH : public GPS_Helper +{ + enum ashtech_decode_state_t { + NME_DECODE_UNINIT, + NME_DECODE_GOT_SYNC1, + NME_DECODE_GOT_ASTERIKS, + NME_DECODE_GOT_FIRST_CS_BYTE + }; + + int _fd; + struct satellite_info_s *_satellite_info; + struct vehicle_gps_position_s *_gps_position; + int ashtechlog_fd; + + ashtech_decode_state_t _decode_state; + uint8_t _rx_buffer[RECV_BUFFER_SIZE]; + uint16_t _rx_buffer_bytes; + bool _parse_error; /** parse error flag */ + char *_parse_pos; /** parse position */ + + bool _gsv_in_progress; /**< Indicates that gsv data parsing is in progress */ + /* int _satellites_count; **< Number of satellites info parsed. */ + uint8_t count; /**< Number of satellites in satellite info */ + uint8_t svid[SAT_INFO_MAX_SATELLITES]; /**< Space vehicle ID [1..255], see scheme below */ + uint8_t used[SAT_INFO_MAX_SATELLITES]; /**< 0: Satellite not used, 1: used for navigation */ + uint8_t elevation[SAT_INFO_MAX_SATELLITES]; /**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */ + uint8_t azimuth[SAT_INFO_MAX_SATELLITES]; /**< Direction of satellite, 0: 0 deg, 255: 360 deg. */ + uint8_t snr[SAT_INFO_MAX_SATELLITES]; /**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99, zero when not tracking this satellite. */ + +public: + ASHTECH(const int &fd, struct vehicle_gps_position_s *gps_position, struct satellite_info_s *satellite_info); + ~ASHTECH(); + int receive(unsigned timeout); + int configure(unsigned &baudrate); + void decode_init(void); + int handle_message(int len); + int parse_char(uint8_t b); + /** Read int ASHTECH parameter */ + int32_t read_int(); + /** Read float ASHTECH parameter */ + double read_float(); + /** Read char ASHTECH parameter */ + char read_char(); + +}; + +#endif /* ASHTECH_H_ */ diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp index 34dd63086..5fb4b9ff8 100644 --- a/src/drivers/gps/gps.cpp +++ b/src/drivers/gps/gps.cpp @@ -69,6 +69,7 @@ #include "ubx.h" #include "mtk.h" +#include "ashtech.h" #define TIMEOUT_5HZ 500 @@ -341,6 +342,10 @@ GPS::task_main() _Helper = new MTK(_serial_fd, &_report_gps_pos); break; + case GPS_DRIVER_MODE_ASHTECH: + _Helper = new ASHTECH(_serial_fd, &_report_gps_pos, _p_report_sat_info); + break; + default: break; } @@ -402,6 +407,10 @@ GPS::task_main() mode_str = "MTK"; break; + case GPS_DRIVER_MODE_ASHTECH: + mode_str = "ASHTECH"; + break; + default: break; } @@ -429,6 +438,10 @@ GPS::task_main() break; case GPS_DRIVER_MODE_MTK: + _mode = GPS_DRIVER_MODE_ASHTECH; + break; + + case GPS_DRIVER_MODE_ASHTECH: _mode = GPS_DRIVER_MODE_UBX; break; @@ -475,6 +488,10 @@ GPS::print_info() warnx("protocol: MTK"); break; + case GPS_DRIVER_MODE_ASHTECH: + warnx("protocol: ASHTECH"); + break; + default: break; } diff --git a/src/drivers/gps/module.mk b/src/drivers/gps/module.mk index b00818424..4f99b0d3b 100644 --- a/src/drivers/gps/module.mk +++ b/src/drivers/gps/module.mk @@ -40,6 +40,7 @@ MODULE_COMMAND = gps SRCS = gps.cpp \ gps_helper.cpp \ mtk.cpp \ + ashtech.cpp \ ubx.cpp MODULE_STACKSIZE = 1200 diff --git a/src/drivers/gps/ubx.cpp b/src/drivers/gps/ubx.cpp index d0854f5e9..b0eb4ab66 100644 --- a/src/drivers/gps/ubx.cpp +++ b/src/drivers/gps/ubx.cpp @@ -189,6 +189,18 @@ UBX::configure(unsigned &baudrate) return 1; } +#ifdef UBX_CONFIGURE_SBAS + /* send a SBAS message to set the SBAS options */ + memset(&_buf.payload_tx_cfg_sbas, 0, sizeof(_buf.payload_tx_cfg_sbas)); + _buf.payload_tx_cfg_sbas.mode = UBX_TX_CFG_SBAS_MODE; + + send_message(UBX_MSG_CFG_SBAS, _buf.raw, sizeof(_buf.payload_tx_cfg_sbas)); + + if (wait_for_ack(UBX_MSG_CFG_SBAS, UBX_CONFIG_TIMEOUT, true) < 0) { + return 1; + } +#endif + /* configure message rates */ /* the last argument is divisor for measurement rate (set by CFG RATE), i.e. 1 means 5Hz */ diff --git a/src/drivers/gps/ubx.h b/src/drivers/gps/ubx.h index 219a5762a..c74eb9168 100644 --- a/src/drivers/gps/ubx.h +++ b/src/drivers/gps/ubx.h @@ -73,6 +73,7 @@ #define UBX_ID_CFG_MSG 0x01 #define UBX_ID_CFG_RATE 0x08 #define UBX_ID_CFG_NAV5 0x24 +#define UBX_ID_CFG_SBAS 0x16 #define UBX_ID_MON_VER 0x04 #define UBX_ID_MON_HW 0x09 @@ -89,6 +90,7 @@ #define UBX_MSG_CFG_MSG ((UBX_CLASS_CFG) | UBX_ID_CFG_MSG << 8) #define UBX_MSG_CFG_RATE ((UBX_CLASS_CFG) | UBX_ID_CFG_RATE << 8) #define UBX_MSG_CFG_NAV5 ((UBX_CLASS_CFG) | UBX_ID_CFG_NAV5 << 8) +#define UBX_MSG_CFG_SBAS ((UBX_CLASS_CFG) | UBX_ID_CFG_SBAS << 8) #define UBX_MSG_MON_HW ((UBX_CLASS_MON) | UBX_ID_MON_HW << 8) #define UBX_MSG_MON_VER ((UBX_CLASS_MON) | UBX_ID_MON_VER << 8) @@ -128,6 +130,11 @@ #define UBX_TX_CFG_NAV5_DYNMODEL 7 /**< 0 Portable, 2 Stationary, 3 Pedestrian, 4 Automotive, 5 Sea, 6 Airborne <1g, 7 Airborne <2g, 8 Airborne <4g */ #define UBX_TX_CFG_NAV5_FIXMODE 2 /**< 1 2D only, 2 3D only, 3 Auto 2D/3D */ +/* TX CFG-SBAS message contents */ +#define UBX_TX_CFG_SBAS_MODE_ENABLED 1 /**< SBAS enabled */ +#define UBX_TX_CFG_SBAS_MODE_DISABLED 0 /**< SBAS disabled */ +#define UBX_TX_CFG_SBAS_MODE UBX_TX_CFG_SBAS_MODE_DISABLED /**< SBAS enabled or disabled */ + /* TX CFG-MSG message contents */ #define UBX_TX_CFG_MSG_RATE1_5HZ 0x01 /**< {0x00, 0x01, 0x00, 0x00, 0x00, 0x00} the second entry is for UART1 */ #define UBX_TX_CFG_MSG_RATE1_1HZ 0x05 /**< {0x00, 0x05, 0x00, 0x00, 0x00, 0x00} the second entry is for UART1 */ @@ -383,6 +390,15 @@ typedef struct { uint32_t reserved4; } ubx_payload_tx_cfg_nav5_t; +/* tx cfg-sbas */ +typedef struct { + uint8_t mode; + uint8_t usage; + uint8_t maxSBAS; + uint8_t scanmode2; + uint32_t scanmode1; +} ubx_payload_tx_cfg_sbas_t; + /* Tx CFG-MSG */ typedef struct { union { @@ -413,6 +429,7 @@ typedef union { ubx_payload_tx_cfg_prt_t payload_tx_cfg_prt; ubx_payload_tx_cfg_rate_t payload_tx_cfg_rate; ubx_payload_tx_cfg_nav5_t payload_tx_cfg_nav5; + ubx_payload_tx_cfg_sbas_t payload_tx_cfg_sbas; ubx_payload_tx_cfg_msg_t payload_tx_cfg_msg; uint8_t raw[]; } ubx_buf_t; diff --git a/src/drivers/hil/hil.cpp b/src/drivers/hil/hil.cpp index f17e99e9d..f0dc0c651 100644 --- a/src/drivers/hil/hil.cpp +++ b/src/drivers/hil/hil.cpp @@ -392,7 +392,8 @@ HIL::task_main() if (fds[0].revents & POLLIN) { /* get controls - must always do this to avoid spinning */ - orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, _t_actuators, &_controls); + orb_copy(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS : + ORB_ID(actuator_controls_1), _t_actuators, &_controls); /* can we mix? */ if (_mixers != nullptr) { diff --git a/src/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp index e4ecfa6b5..81f767965 100644 --- a/src/drivers/hmc5883/hmc5883.cpp +++ b/src/drivers/hmc5883/hmc5883.cpp @@ -1049,11 +1049,9 @@ int HMC5883::calibrate(struct file *filp, unsigned enable) * LSM/Ga, giving 1.16 and 1.08 */ float expected_cal[3] = { 1.16f, 1.08f, 1.08f }; - warnx("starting mag scale calibration"); - /* start the sensor polling at 50 Hz */ if (OK != ioctl(filp, SENSORIOCSPOLLRATE, 50)) { - warn("failed to set 2Hz poll rate"); + warn("FAILED: SENSORIOCSPOLLRATE 2Hz"); ret = 1; goto out; } @@ -1061,25 +1059,25 @@ int HMC5883::calibrate(struct file *filp, unsigned enable) /* Set to 2.5 Gauss. We ask for 3 to get the right part of * the chained if statement above. */ if (OK != ioctl(filp, MAGIOCSRANGE, 3)) { - warnx("failed to set 2.5 Ga range"); + warnx("FAILED: MAGIOCSRANGE 3.3 Ga"); ret = 1; goto out; } if (OK != ioctl(filp, MAGIOCEXSTRAP, 1)) { - warnx("failed to enable sensor calibration mode"); + warnx("FAILED: MAGIOCEXSTRAP 1"); ret = 1; goto out; } if (OK != ioctl(filp, MAGIOCGSCALE, (long unsigned int)&mscale_previous)) { - warn("WARNING: failed to get scale / offsets for mag"); + warn("FAILED: MAGIOCGSCALE 1"); ret = 1; goto out; } if (OK != ioctl(filp, MAGIOCSSCALE, (long unsigned int)&mscale_null)) { - warn("WARNING: failed to set null scale / offsets for mag"); + warn("FAILED: MAGIOCSSCALE 1"); ret = 1; goto out; } @@ -1094,7 +1092,7 @@ int HMC5883::calibrate(struct file *filp, unsigned enable) ret = ::poll(&fds, 1, 2000); if (ret != 1) { - warn("timed out waiting for sensor data"); + warn("ERROR: TIMEOUT 1"); goto out; } @@ -1102,7 +1100,7 @@ int HMC5883::calibrate(struct file *filp, unsigned enable) sz = ::read(fd, &report, sizeof(report)); if (sz != sizeof(report)) { - warn("periodic read failed"); + warn("ERROR: READ 1"); ret = -EIO; goto out; } @@ -1118,7 +1116,7 @@ int HMC5883::calibrate(struct file *filp, unsigned enable) ret = ::poll(&fds, 1, 2000); if (ret != 1) { - warn("timed out waiting for sensor data"); + warn("ERROR: TIMEOUT 2"); goto out; } @@ -1126,7 +1124,7 @@ int HMC5883::calibrate(struct file *filp, unsigned enable) sz = ::read(fd, &report, sizeof(report)); if (sz != sizeof(report)) { - warn("periodic read failed"); + warn("ERROR: READ 2"); ret = -EIO; goto out; } @@ -1142,33 +1140,19 @@ int HMC5883::calibrate(struct file *filp, unsigned enable) sum_excited[1] += cal[1]; sum_excited[2] += cal[2]; } - - //warnx("periodic read %u", i); - //warnx("measurement: %.6f %.6f %.6f", (double)report.x, (double)report.y, (double)report.z); - //warnx("cal: %.6f %.6f %.6f", (double)cal[0], (double)cal[1], (double)cal[2]); } if (good_count < 5) { - warn("failed calibration"); ret = -EIO; goto out; } -#if 0 - warnx("measurement avg: %.6f %.6f %.6f", - (double)sum_excited[0]/good_count, - (double)sum_excited[1]/good_count, - (double)sum_excited[2]/good_count); -#endif - float scaling[3]; scaling[0] = sum_excited[0] / good_count; scaling[1] = sum_excited[1] / good_count; scaling[2] = sum_excited[2] / good_count; - warnx("axes scaling: %.6f %.6f %.6f", (double)scaling[0], (double)scaling[1], (double)scaling[2]); - /* set scaling in device */ mscale_previous.x_scale = scaling[0]; mscale_previous.y_scale = scaling[1]; @@ -1179,29 +1163,26 @@ int HMC5883::calibrate(struct file *filp, unsigned enable) out: if (OK != ioctl(filp, MAGIOCSSCALE, (long unsigned int)&mscale_previous)) { - warn("failed to set new scale / offsets for mag"); + warn("FAILED: MAGIOCSSCALE 2"); } /* set back to normal mode */ /* Set to 1.1 Gauss */ if (OK != ::ioctl(fd, MAGIOCSRANGE, 1)) { - warnx("failed to set 1.1 Ga range"); + warnx("FAILED: MAGIOCSRANGE 1.1 Ga"); } if (OK != ::ioctl(fd, MAGIOCEXSTRAP, 0)) { - warnx("failed to disable sensor calibration mode"); + warnx("FAILED: MAGIOCEXSTRAP 0"); } if (ret == OK) { - if (!check_scale()) { - warnx("mag scale calibration successfully finished."); - } else { - warnx("mag scale calibration finished with invalid results."); + if (check_scale()) { + /* failed */ + warnx("FAILED: SCALE"); ret = ERROR; } - } else { - warnx("mag scale calibration failed."); } return ret; diff --git a/src/drivers/hott/messages.cpp b/src/drivers/hott/messages.cpp index 086132573..f1b12b067 100644 --- a/src/drivers/hott/messages.cpp +++ b/src/drivers/hott/messages.cpp @@ -115,9 +115,9 @@ publish_gam_message(const uint8_t *buffer) esc.esc[0].esc_vendor = ESC_VENDOR_GRAUPNER_HOTT; esc.esc[0].esc_rpm = (uint16_t)((msg.rpm_H << 8) | (msg.rpm_L & 0xff)) * 10; - esc.esc[0].esc_temperature = msg.temperature1 - 20; - esc.esc[0].esc_voltage = (uint16_t)((msg.main_voltage_H << 8) | (msg.main_voltage_L & 0xff)); - esc.esc[0].esc_current = (uint16_t)((msg.current_H << 8) | (msg.current_L & 0xff)); + esc.esc[0].esc_temperature = static_cast<float>(msg.temperature1) - 20.0F; + esc.esc[0].esc_voltage = static_cast<float>((msg.main_voltage_H << 8) | (msg.main_voltage_L & 0xff)) * 0.1F; + esc.esc[0].esc_current = static_cast<float>((msg.current_H << 8) | (msg.current_L & 0xff)) * 0.1F; /* announce the esc if needed, just publish else */ if (_esc_pub > 0) { @@ -186,18 +186,18 @@ build_gam_response(uint8_t *buffer, size_t *size) msg.gam_sensor_id = GAM_SENSOR_ID; msg.sensor_text_id = GAM_SENSOR_TEXT_ID; - msg.temperature1 = (uint8_t)(esc.esc[0].esc_temperature + 20); + msg.temperature1 = (uint8_t)(esc.esc[0].esc_temperature + 20.0F); msg.temperature2 = 20; // 0 deg. C. - uint16_t voltage = (uint16_t)(esc.esc[0].esc_voltage); + const uint16_t voltage = (uint16_t)(esc.esc[0].esc_voltage * 10.0F); msg.main_voltage_L = (uint8_t)voltage & 0xff; msg.main_voltage_H = (uint8_t)(voltage >> 8) & 0xff; - uint16_t current = (uint16_t)(esc.esc[0].esc_current); + const uint16_t current = (uint16_t)(esc.esc[0].esc_current * 10.0F); msg.current_L = (uint8_t)current & 0xff; msg.current_H = (uint8_t)(current >> 8) & 0xff; - uint16_t rpm = (uint16_t)(esc.esc[0].esc_rpm * 0.1f); + const uint16_t rpm = (uint16_t)(esc.esc[0].esc_rpm * 0.1f); msg.rpm_L = (uint8_t)rpm & 0xff; msg.rpm_H = (uint8_t)(rpm >> 8) & 0xff; diff --git a/src/drivers/l3gd20/l3gd20.cpp b/src/drivers/l3gd20/l3gd20.cpp index cfae8761c..82fa5cc6e 100644 --- a/src/drivers/l3gd20/l3gd20.cpp +++ b/src/drivers/l3gd20/l3gd20.cpp @@ -176,6 +176,7 @@ static const int ERROR = -1; #define L3G4200D_DEFAULT_RATE 800 #define L3GD20_DEFAULT_RANGE_DPS 2000 #define L3GD20_DEFAULT_FILTER_FREQ 30 +#define L3GD20_TEMP_OFFSET_CELSIUS 40 #ifndef SENSOR_BOARD_ROTATION_DEFAULT #define SENSOR_BOARD_ROTATION_DEFAULT SENSOR_BOARD_ROTATION_270_DEG @@ -856,7 +857,7 @@ L3GD20::measure() #pragma pack(push, 1) struct { uint8_t cmd; - uint8_t temp; + int8_t temp; uint8_t status; int16_t x; int16_t y; @@ -930,6 +931,8 @@ L3GD20::measure() report.z_raw = raw_report.z; + report.temperature_raw = raw_report.temp; + report.x = ((report.x_raw * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale; report.y = ((report.y_raw * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale; report.z = ((report.z_raw * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale; @@ -938,6 +941,8 @@ L3GD20::measure() report.y = _gyro_filter_y.apply(report.y); report.z = _gyro_filter_z.apply(report.z); + report.temperature = L3GD20_TEMP_OFFSET_CELSIUS - raw_report.temp; + // apply user specified rotation rotate_3f(_rotation, report.x, report.y, report.z); @@ -1091,9 +1096,11 @@ test() warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x); warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y); warnx("gyro z: \t% 9.5f\trad/s", (double)g_report.z); + warnx("temp: \t%d\tC", (int)g_report.temperature); warnx("gyro x: \t%d\traw", (int)g_report.x_raw); warnx("gyro y: \t%d\traw", (int)g_report.y_raw); warnx("gyro z: \t%d\traw", (int)g_report.z_raw); + warnx("temp: \t%d\traw", (int)g_report.temperature_raw); warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s, (int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f)); diff --git a/src/drivers/ll40ls/ll40ls.cpp b/src/drivers/ll40ls/ll40ls.cpp index a69e6ee55..6793acd81 100644 --- a/src/drivers/ll40ls/ll40ls.cpp +++ b/src/drivers/ll40ls/ll40ls.cpp @@ -73,14 +73,19 @@ /* Configuration Constants */ #define LL40LS_BUS PX4_I2C_BUS_EXPANSION -#define LL40LS_BASEADDR 0x42 /* 7-bit address */ -#define LL40LS_DEVICE_PATH "/dev/ll40ls" +#define LL40LS_BASEADDR 0x62 /* 7-bit address */ +#define LL40LS_BASEADDR_OLD 0x42 /* previous 7-bit address */ +#define LL40LS_DEVICE_PATH_INT "/dev/ll40ls_int" +#define LL40LS_DEVICE_PATH_EXT "/dev/ll40ls_ext" /* LL40LS Registers addresses */ #define LL40LS_MEASURE_REG 0x00 /* Measure range register */ -#define LL40LS_MSRREG_ACQUIRE 0x04 /* Value to initiate a measurement, varies based on sensor revision */ +#define LL40LS_MSRREG_ACQUIRE 0x04 /* Value to initiate a measurement, varies based on sensor revision */ #define LL40LS_DISTHIGH_REG 0x8F /* High byte of distance register, auto increment */ +#define LL40LS_WHO_AM_I_REG 0x11 +#define LL40LS_WHO_AM_I_REG_VAL 0xCA +#define LL40LS_SIGNAL_STRENGTH_REG 0x5b /* Device limits */ #define LL40LS_MIN_DISTANCE (0.00f) @@ -101,7 +106,7 @@ static const int ERROR = -1; class LL40LS : public device::I2C { public: - LL40LS(int bus = LL40LS_BUS, int address = LL40LS_BASEADDR); + LL40LS(int bus, const char *path, int address = LL40LS_BASEADDR); virtual ~LL40LS(); virtual int init(); @@ -116,6 +121,7 @@ public: protected: virtual int probe(); + virtual int read_reg(uint8_t reg, uint8_t &val); private: float _min_distance; @@ -132,6 +138,10 @@ private: perf_counter_t _sample_perf; perf_counter_t _comms_errors; perf_counter_t _buffer_overflows; + uint16_t _last_distance; + + /**< the bus the device is connected to */ + int _bus; /** * Test whether the device supported by the driver is present at a @@ -188,8 +198,8 @@ private: */ extern "C" __EXPORT int ll40ls_main(int argc, char *argv[]); -LL40LS::LL40LS(int bus, int address) : - I2C("LL40LS", LL40LS_DEVICE_PATH, bus, address, 100000), +LL40LS::LL40LS(int bus, const char *path, int address) : + I2C("LL40LS", path, bus, address, 100000), _min_distance(LL40LS_MIN_DISTANCE), _max_distance(LL40LS_MAX_DISTANCE), _reports(nullptr), @@ -200,10 +210,12 @@ LL40LS::LL40LS(int bus, int address) : _range_finder_topic(-1), _sample_perf(perf_alloc(PC_ELAPSED, "ll40ls_read")), _comms_errors(perf_alloc(PC_COUNT, "ll40ls_comms_errors")), - _buffer_overflows(perf_alloc(PC_COUNT, "ll40ls_buffer_overflows")) + _buffer_overflows(perf_alloc(PC_COUNT, "ll40ls_buffer_overflows")), + _last_distance(0), + _bus(bus) { // up the retries since the device misses the first measure attempts - I2C::_retries = 3; + _retries = 3; // enable debug() calls _debug_enabled = false; @@ -271,8 +283,50 @@ out: } int +LL40LS::read_reg(uint8_t reg, uint8_t &val) +{ + return transfer(®, 1, &val, 1); +} + +int LL40LS::probe() { + // cope with both old and new I2C bus address + const uint8_t addresses[2] = {LL40LS_BASEADDR, LL40LS_BASEADDR_OLD}; + + // more retries for detection + _retries = 10; + + for (uint8_t i=0; i<sizeof(addresses); i++) { + uint8_t val=0, who_am_i=0; + + // set the I2C bus address + set_address(addresses[i]); + + if (read_reg(LL40LS_WHO_AM_I_REG, who_am_i) == OK && who_am_i == LL40LS_WHO_AM_I_REG_VAL) { + // it is responding correctly to a WHO_AM_I + goto ok; + } + + if (read_reg(LL40LS_SIGNAL_STRENGTH_REG, val) == OK && val != 0) { + // very likely to be a ll40ls. px4flow does not + // respond to this + goto ok; + } + + debug("WHO_AM_I byte mismatch 0x%02x should be 0x%02x val=0x%02x\n", + (unsigned)who_am_i, + LL40LS_WHO_AM_I_REG_VAL, + (unsigned)val); + } + + // not found on any address + return -EIO; + +ok: + _retries = 3; + + // start a measurement return measure(); } @@ -521,6 +575,8 @@ LL40LS::collect() float si_units = distance * 0.01f; /* cm to m */ struct range_finder_report report; + _last_distance = distance; + /* this should be fairly close to the end of the measurement, so the best approximation of the time */ report.timestamp = hrt_absolute_time(); report.error_count = perf_event_count(_comms_errors); @@ -648,6 +704,8 @@ LL40LS::print_info() perf_print_counter(_buffer_overflows); printf("poll interval: %u ticks\n", _measure_ticks); _reports->print_info("report queue"); + printf("distance: %ucm (0x%04x)\n", + (unsigned)_last_distance, (unsigned)_last_distance); } /** @@ -662,55 +720,89 @@ namespace ll40ls #endif const int ERROR = -1; -LL40LS *g_dev; +LL40LS *g_dev_int; +LL40LS *g_dev_ext; -void start(); -void stop(); -void test(); -void reset(); -void info(); +void start(int bus); +void stop(int bus); +void test(int bus); +void reset(int bus); +void info(int bus); +void usage(); /** * Start the driver. */ void -start() +start(int bus) { - int fd; - - if (g_dev != nullptr) { - errx(1, "already started"); + /* create the driver, attempt expansion bus first */ + if (bus == -1 || bus == PX4_I2C_BUS_EXPANSION) { + if (g_dev_ext != nullptr) + errx(0, "already started external"); + g_dev_ext = new LL40LS(PX4_I2C_BUS_EXPANSION, LL40LS_DEVICE_PATH_EXT); + if (g_dev_ext != nullptr && OK != g_dev_ext->init()) { + delete g_dev_ext; + g_dev_ext = nullptr; + } } - /* create the driver */ - g_dev = new LL40LS(LL40LS_BUS); - - if (g_dev == nullptr) { - goto fail; - } +#ifdef PX4_I2C_BUS_ONBOARD + /* if this failed, attempt onboard sensor */ + if (bus == -1 || bus == PX4_I2C_BUS_ONBOARD) { + if (g_dev_int != nullptr) + errx(0, "already started internal"); + g_dev_int = new LL40LS(PX4_I2C_BUS_ONBOARD, LL40LS_DEVICE_PATH_INT); + if (g_dev_int != nullptr && OK != g_dev_int->init()) { + /* tear down the failing onboard instance */ + delete g_dev_int; + g_dev_int = nullptr; - if (OK != g_dev->init()) { - goto fail; + if (bus == PX4_I2C_BUS_ONBOARD) { + goto fail; + } + } + if (g_dev_int == nullptr && bus == PX4_I2C_BUS_ONBOARD) { + goto fail; + } } +#endif /* set the poll rate to default, starts automatic data collection */ - fd = open(LL40LS_DEVICE_PATH, O_RDONLY); - - if (fd < 0) { - goto fail; - } - - if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) { - goto fail; - } + if (g_dev_int != nullptr) { + int fd = open(LL40LS_DEVICE_PATH_INT, O_RDONLY); + if (fd == -1) { + goto fail; + } + int ret = ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT); + close(fd); + if (ret < 0) { + goto fail; + } + } + + if (g_dev_ext != nullptr) { + int fd = open(LL40LS_DEVICE_PATH_EXT, O_RDONLY); + if (fd == -1) { + goto fail; + } + int ret = ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT); + close(fd); + if (ret < 0) { + goto fail; + } + } exit(0); fail: - - if (g_dev != nullptr) { - delete g_dev; - g_dev = nullptr; + if (g_dev_int != nullptr && (bus == -1 || bus == PX4_I2C_BUS_ONBOARD)) { + delete g_dev_int; + g_dev_int = nullptr; + } + if (g_dev_ext != nullptr && (bus == -1 || bus == PX4_I2C_BUS_EXPANSION)) { + delete g_dev_ext; + g_dev_ext = nullptr; } errx(1, "driver start failed"); @@ -719,11 +811,12 @@ fail: /** * Stop the driver */ -void stop() +void stop(int bus) { - if (g_dev != nullptr) { - delete g_dev; - g_dev = nullptr; + LL40LS **g_dev = (bus == PX4_I2C_BUS_ONBOARD?&g_dev_int:&g_dev_ext); + if (*g_dev != nullptr) { + delete *g_dev; + *g_dev = nullptr; } else { errx(1, "driver not running"); @@ -738,16 +831,17 @@ void stop() * and automatic modes. */ void -test() +test(int bus) { struct range_finder_report report; ssize_t sz; int ret; + const char *path = (bus==PX4_I2C_BUS_ONBOARD?LL40LS_DEVICE_PATH_INT:LL40LS_DEVICE_PATH_EXT); - int fd = open(LL40LS_DEVICE_PATH, O_RDONLY); + int fd = open(path, O_RDONLY); if (fd < 0) { - err(1, "%s open failed (try 'll40ls start' if the driver is not running", LL40LS_DEVICE_PATH); + err(1, "%s open failed (try 'll40ls start' if the driver is not running", path); } /* do a simple demand read */ @@ -803,9 +897,10 @@ test() * Reset the driver. */ void -reset() +reset(int bus) { - int fd = open(LL40LS_DEVICE_PATH, O_RDONLY); + const char *path = (bus==PX4_I2C_BUS_ONBOARD?LL40LS_DEVICE_PATH_INT:LL40LS_DEVICE_PATH_EXT); + int fd = open(path, O_RDONLY); if (fd < 0) { err(1, "failed "); @@ -826,8 +921,9 @@ reset() * Print a little info about the driver. */ void -info() +info(int bus) { + LL40LS *g_dev = (bus == PX4_I2C_BUS_ONBOARD?g_dev_int:g_dev_ext); if (g_dev == nullptr) { errx(1, "driver not running"); } @@ -838,44 +934,76 @@ info() exit(0); } +void +usage() +{ + warnx("missing command: try 'start', 'stop', 'info', 'test', 'reset', 'info'"); + warnx("options:"); + warnx(" -X only external bus"); +#ifdef PX4_I2C_BUS_ONBOARD + warnx(" -I only internal bus"); +#endif +} + } // namespace int ll40ls_main(int argc, char *argv[]) { + int ch; + int bus = -1; + + while ((ch = getopt(argc, argv, "XI")) != EOF) { + switch (ch) { +#ifdef PX4_I2C_BUS_ONBOARD + case 'I': + bus = PX4_I2C_BUS_ONBOARD; + break; +#endif + case 'X': + bus = PX4_I2C_BUS_EXPANSION; + break; + default: + ll40ls::usage(); + exit(0); + } + } + + const char *verb = argv[optind]; + /* * Start/load the driver. */ - if (!strcmp(argv[1], "start")) { - ll40ls::start(); + if (!strcmp(verb, "start")) { + ll40ls::start(bus); } /* * Stop the driver */ - if (!strcmp(argv[1], "stop")) { - ll40ls::stop(); + if (!strcmp(verb, "stop")) { + ll40ls::stop(bus); } /* * Test the driver/device. */ - if (!strcmp(argv[1], "test")) { - ll40ls::test(); + if (!strcmp(verb, "test")) { + ll40ls::test(bus); } /* * Reset the driver. */ - if (!strcmp(argv[1], "reset")) { - ll40ls::reset(); + if (!strcmp(verb, "reset")) { + ll40ls::reset(bus); } /* * Print driver information. */ - if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) { - ll40ls::info(); + if (!strcmp(verb, "info") || !strcmp(verb, "status")) { + ll40ls::info(bus); } errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'"); diff --git a/src/drivers/lsm303d/lsm303d.cpp b/src/drivers/lsm303d/lsm303d.cpp index 6880cf0f8..01c89192a 100644 --- a/src/drivers/lsm303d/lsm303d.cpp +++ b/src/drivers/lsm303d/lsm303d.cpp @@ -1519,8 +1519,10 @@ LSM303D::measure() { // if the accel doesn't have any data ready then re-schedule // for 100 microseconds later. This ensures we don't double - // read a value and then miss the next value - if (stm32_gpioread(GPIO_EXTI_ACCEL_DRDY) == 0) { + // read a value and then miss the next value. + // Note that DRDY is not available when the lsm303d is + // connected on the external bus + if (_bus == PX4_SPI_BUS_SENSORS && stm32_gpioread(GPIO_EXTI_ACCEL_DRDY) == 0) { perf_count(_accel_reschedules); hrt_call_delay(&_accel_call, 100); return; diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp index 3996b76a6..1055487cb 100644 --- a/src/drivers/mkblctrl/mkblctrl.cpp +++ b/src/drivers/mkblctrl/mkblctrl.cpp @@ -600,8 +600,8 @@ MK::task_main() esc.esc[i].esc_address = (uint8_t) BLCTRL_BASE_ADDR + i; esc.esc[i].esc_vendor = ESC_VENDOR_MIKROKOPTER; esc.esc[i].esc_version = (uint16_t) Motor[i].Version; - esc.esc[i].esc_voltage = (uint16_t) 0; - esc.esc[i].esc_current = (uint16_t) Motor[i].Current; + esc.esc[i].esc_voltage = 0.0F; + esc.esc[i].esc_current = static_cast<float>(Motor[i].Current) * 0.1F; esc.esc[i].esc_rpm = (uint16_t) 0; esc.esc[i].esc_setpoint = (float) Motor[i].SetPoint_PX4; @@ -614,7 +614,7 @@ MK::task_main() esc.esc[i].esc_setpoint_raw = (uint16_t) Motor[i].SetPoint; } - esc.esc[i].esc_temperature = (uint16_t) Motor[i].Temperature; + esc.esc[i].esc_temperature = static_cast<float>(Motor[i].Temperature); esc.esc[i].esc_state = (uint16_t) Motor[i].State; esc.esc[i].esc_errorcount = (uint16_t) 0; diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp index 6f5dae7ad..a95e041a1 100644 --- a/src/drivers/mpu6000/mpu6000.cpp +++ b/src/drivers/mpu6000/mpu6000.cpp @@ -229,6 +229,7 @@ private: perf_counter_t _gyro_reads; perf_counter_t _sample_perf; perf_counter_t _bad_transfers; + perf_counter_t _good_transfers; math::LowPassFilter2p _accel_filter_x; math::LowPassFilter2p _accel_filter_y; @@ -404,6 +405,7 @@ MPU6000::MPU6000(int bus, const char *path_accel, const char *path_gyro, spi_dev _gyro_reads(perf_alloc(PC_COUNT, "mpu6000_gyro_read")), _sample_perf(perf_alloc(PC_ELAPSED, "mpu6000_read")), _bad_transfers(perf_alloc(PC_COUNT, "mpu6000_bad_transfers")), + _good_transfers(perf_alloc(PC_COUNT, "mpu6000_good_transfers")), _accel_filter_x(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ), _accel_filter_y(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ), _accel_filter_z(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ), @@ -456,6 +458,7 @@ MPU6000::~MPU6000() perf_free(_accel_reads); perf_free(_gyro_reads); perf_free(_bad_transfers); + perf_free(_good_transfers); } int @@ -910,12 +913,14 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg) // adjust filters float cutoff_freq_hz = _accel_filter_x.get_cutoff_freq(); float sample_rate = 1.0e6f/ticks; + _set_dlpf_filter(cutoff_freq_hz); _accel_filter_x.set_cutoff_frequency(sample_rate, cutoff_freq_hz); _accel_filter_y.set_cutoff_frequency(sample_rate, cutoff_freq_hz); _accel_filter_z.set_cutoff_frequency(sample_rate, cutoff_freq_hz); float cutoff_freq_hz_gyro = _gyro_filter_x.get_cutoff_freq(); + _set_dlpf_filter(cutoff_freq_hz_gyro); _gyro_filter_x.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro); _gyro_filter_y.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro); _gyro_filter_z.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro); @@ -968,11 +973,9 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg) return _accel_filter_x.get_cutoff_freq(); case ACCELIOCSLOWPASS: - if (arg == 0) { - // allow disabling of on-chip filter using - // zero as desired filter frequency - _set_dlpf_filter(0); - } + // set hardware filtering + _set_dlpf_filter(arg); + // set software filtering _accel_filter_x.set_cutoff_frequency(1.0e6f / _call_interval, arg); _accel_filter_y.set_cutoff_frequency(1.0e6f / _call_interval, arg); _accel_filter_z.set_cutoff_frequency(1.0e6f / _call_interval, arg); @@ -1053,14 +1056,11 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg) case GYROIOCGLOWPASS: return _gyro_filter_x.get_cutoff_freq(); case GYROIOCSLOWPASS: + // set hardware filtering + _set_dlpf_filter(arg); _gyro_filter_x.set_cutoff_frequency(1.0e6f / _call_interval, arg); _gyro_filter_y.set_cutoff_frequency(1.0e6f / _call_interval, arg); _gyro_filter_z.set_cutoff_frequency(1.0e6f / _call_interval, arg); - if (arg == 0) { - // allow disabling of on-chip filter using 0 - // as desired frequency - _set_dlpf_filter(0); - } return OK; case GYROIOCSSCALE: @@ -1282,8 +1282,14 @@ MPU6000::measure() // all zero data - probably a SPI bus error perf_count(_bad_transfers); perf_end(_sample_perf); + // note that we don't call reset() here as a reset() + // costs 20ms with interrupts disabled. That means if + // the mpu6k does go bad it would cause a FMU failure, + // regardless of whether another sensor is available, return; } + + perf_count(_good_transfers); /* @@ -1402,6 +1408,8 @@ MPU6000::print_info() perf_print_counter(_sample_perf); perf_print_counter(_accel_reads); perf_print_counter(_gyro_reads); + perf_print_counter(_bad_transfers); + perf_print_counter(_good_transfers); _accel_reports->print_info("accel queue"); _gyro_reports->print_info("gyro queue"); } diff --git a/src/drivers/px4flow/px4flow.cpp b/src/drivers/px4flow/px4flow.cpp index 60ad3c1af..6c68636c6 100644 --- a/src/drivers/px4flow/px4flow.cpp +++ b/src/drivers/px4flow/px4flow.cpp @@ -76,7 +76,7 @@ #define PX4FLOW_BUS PX4_I2C_BUS_EXPANSION #define I2C_FLOW_ADDRESS 0x42 //* 7-bit address. 8-bit address is 0x84 //range 0x42 - 0x49 - + /* PX4FLOW Registers addresses */ #define PX4FLOW_REG 0x00 /* Measure Register */ @@ -212,8 +212,9 @@ PX4FLOW::~PX4FLOW() stop(); /* free any existing reports */ - if (_reports != nullptr) + if (_reports != nullptr) { delete _reports; + } } int @@ -222,22 +223,25 @@ PX4FLOW::init() int ret = ERROR; /* do I2C init (and probe) first */ - if (I2C::init() != OK) + if (I2C::init() != OK) { goto out; + } /* allocate basic report buffers */ _reports = new RingBuffer(2, sizeof(struct optical_flow_s)); - if (_reports == nullptr) + if (_reports == nullptr) { goto out; + } /* get a publish handle on the px4flow topic */ struct optical_flow_s zero_report; memset(&zero_report, 0, sizeof(zero_report)); _px4flow_topic = orb_advertise(ORB_ID(optical_flow), &zero_report); - if (_px4flow_topic < 0) + if (_px4flow_topic < 0) { debug("failed to create px4flow object. Did you start uOrb?"); + } ret = OK; /* sensor is ok, but we don't really know if it is within range */ @@ -249,6 +253,17 @@ out: int PX4FLOW::probe() { + uint8_t val[22]; + + // to be sure this is not a ll40ls Lidar (which can also be on + // 0x42) we check if a 22 byte transfer works from address + // 0. The ll40ls gives an error for that, whereas the flow + // happily returns some data + if (transfer(nullptr, 0, &val[0], 22) != OK) { + return -EIO; + } + + // that worked, so start a measurement cycle return measure(); } @@ -260,20 +275,20 @@ PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg) case SENSORIOCSPOLLRATE: { switch (arg) { - /* switching to manual polling */ + /* switching to manual polling */ case SENSOR_POLLRATE_MANUAL: stop(); _measure_ticks = 0; return OK; - /* external signalling (DRDY) not supported */ + /* external signalling (DRDY) not supported */ case SENSOR_POLLRATE_EXTERNAL: - /* zero would be bad */ + /* zero would be bad */ case 0: return -EINVAL; - /* set default/max polling rate */ + /* set default/max polling rate */ case SENSOR_POLLRATE_MAX: case SENSOR_POLLRATE_DEFAULT: { /* do we need to start internal polling? */ @@ -283,13 +298,14 @@ PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg) _measure_ticks = USEC2TICK(PX4FLOW_CONVERSION_INTERVAL); /* if we need to start the poll state machine, do it */ - if (want_start) + if (want_start) { start(); + } return OK; } - /* adjust to a legal polling interval in Hz */ + /* adjust to a legal polling interval in Hz */ default: { /* do we need to start internal polling? */ bool want_start = (_measure_ticks == 0); @@ -298,15 +314,17 @@ PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg) unsigned ticks = USEC2TICK(1000000 / arg); /* check against maximum rate */ - if (ticks < USEC2TICK(PX4FLOW_CONVERSION_INTERVAL)) + if (ticks < USEC2TICK(PX4FLOW_CONVERSION_INTERVAL)) { return -EINVAL; + } /* update interval for next measurement */ _measure_ticks = ticks; /* if we need to start the poll state machine, do it */ - if (want_start) + if (want_start) { start(); + } return OK; } @@ -314,25 +332,29 @@ PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg) } case SENSORIOCGPOLLRATE: - if (_measure_ticks == 0) + if (_measure_ticks == 0) { return SENSOR_POLLRATE_MANUAL; + } return (1000 / _measure_ticks); case SENSORIOCSQUEUEDEPTH: { - /* lower bound is mandatory, upper bound is a sanity check */ - if ((arg < 1) || (arg > 100)) - return -EINVAL; + /* lower bound is mandatory, upper bound is a sanity check */ + if ((arg < 1) || (arg > 100)) { + return -EINVAL; + } + + irqstate_t flags = irqsave(); + + if (!_reports->resize(arg)) { + irqrestore(flags); + return -ENOMEM; + } - irqstate_t flags = irqsave(); - if (!_reports->resize(arg)) { irqrestore(flags); - return -ENOMEM; - } - irqrestore(flags); - return OK; - } + return OK; + } case SENSORIOCGQUEUEDEPTH: return _reports->size(); @@ -355,8 +377,9 @@ PX4FLOW::read(struct file *filp, char *buffer, size_t buflen) int ret = 0; /* buffer must be large enough */ - if (count < 1) + if (count < 1) { return -ENOSPC; + } /* if automatic measurement is enabled */ if (_measure_ticks > 0) { @@ -417,13 +440,13 @@ PX4FLOW::measure() uint8_t cmd = PX4FLOW_REG; ret = transfer(&cmd, 1, nullptr, 0); - if (OK != ret) - { + if (OK != ret) { perf_count(_comms_errors); log("i2c::transfer returned %d", ret); - printf("i2c::transfer flow returned %d"); + printf("i2c::transfer flow returned %d"); return ret; } + ret = OK; return ret; @@ -435,14 +458,13 @@ PX4FLOW::collect() int ret = -EIO; /* read from the sensor */ - uint8_t val[22] = {0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0}; + uint8_t val[22] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; perf_begin(_sample_perf); ret = transfer(nullptr, 0, &val[0], 22); - if (ret < 0) - { + if (ret < 0) { log("error reading from sensor: %d", ret); perf_count(_comms_errors); perf_end(_sample_perf); @@ -467,12 +489,12 @@ PX4FLOW::collect() int16_t gdist = val[21] << 8 | val[20]; struct optical_flow_s report; - report.flow_comp_x_m = float(flowcx)/1000.0f; - report.flow_comp_y_m = float(flowcy)/1000.0f; - report.flow_raw_x= val[3] << 8 | val[2]; - report.flow_raw_y= val[5] << 8 | val[4]; - report.ground_distance_m =float(gdist)/1000.0f; - report.quality= val[10]; + report.flow_comp_x_m = float(flowcx) / 1000.0f; + report.flow_comp_y_m = float(flowcy) / 1000.0f; + report.flow_raw_x = val[3] << 8 | val[2]; + report.flow_raw_y = val[5] << 8 | val[4]; + report.ground_distance_m = float(gdist) / 1000.0f; + report.quality = val[10]; report.sensor_id = 0; report.timestamp = hrt_absolute_time(); @@ -509,11 +531,13 @@ PX4FLOW::start() true, true, true, - SUBSYSTEM_TYPE_OPTICALFLOW}; + SUBSYSTEM_TYPE_OPTICALFLOW + }; static orb_advert_t pub = -1; if (pub > 0) { orb_publish(ORB_ID(subsystem_info), pub, &info); + } else { pub = orb_advertise(ORB_ID(subsystem_info), &info); } @@ -567,8 +591,9 @@ PX4FLOW::cycle() } /* measurement phase */ - if (OK != measure()) + if (OK != measure()) { log("measure error"); + } /* next phase is collection */ _collect_phase = true; @@ -619,33 +644,37 @@ start() { int fd; - if (g_dev != nullptr) + if (g_dev != nullptr) { errx(1, "already started"); + } /* create the driver */ g_dev = new PX4FLOW(PX4FLOW_BUS); - if (g_dev == nullptr) + if (g_dev == nullptr) { goto fail; + } - if (OK != g_dev->init()) + if (OK != g_dev->init()) { goto fail; + } /* set the poll rate to default, starts automatic data collection */ fd = open(PX4FLOW_DEVICE_PATH, O_RDONLY); - if (fd < 0) + if (fd < 0) { goto fail; + } - if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX) < 0) + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX) < 0) { goto fail; + } exit(0); fail: - if (g_dev != nullptr) - { + if (g_dev != nullptr) { delete g_dev; g_dev = nullptr; } @@ -658,15 +687,14 @@ fail: */ void stop() { - if (g_dev != nullptr) - { + if (g_dev != nullptr) { delete g_dev; g_dev = nullptr; - } - else - { + + } else { errx(1, "driver not running"); } + exit(0); } @@ -684,14 +712,17 @@ test() int fd = open(PX4FLOW_DEVICE_PATH, O_RDONLY); - if (fd < 0) + if (fd < 0) { err(1, "%s open failed (try 'px4flow start' if the driver is not running", PX4FLOW_DEVICE_PATH); + } /* do a simple demand read */ sz = read(fd, &report, sizeof(report)); if (sz != sizeof(report)) - // err(1, "immediate read failed"); + { + warnx("immediate read failed"); + } warnx("single read"); warnx("flowx: %0.2f m/s", (double)report.flow_comp_x_m); @@ -700,8 +731,9 @@ test() /* start the sensor polling at 2Hz */ - if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) + if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) { errx(1, "failed to set 2Hz poll rate"); + } /* read the sensor 5x and report each value */ for (unsigned i = 0; i < 5; i++) { @@ -712,14 +744,16 @@ test() fds.events = POLLIN; ret = poll(&fds, 1, 2000); - if (ret != 1) + if (ret != 1) { errx(1, "timed out waiting for sensor data"); + } /* now go get it */ sz = read(fd, &report, sizeof(report)); - if (sz != sizeof(report)) + if (sz != sizeof(report)) { err(1, "periodic read failed"); + } warnx("periodic read %u", i); warnx("flowx: %0.2f m/s", (double)report.flow_comp_x_m); @@ -740,14 +774,17 @@ reset() { int fd = open(PX4FLOW_DEVICE_PATH, O_RDONLY); - if (fd < 0) + if (fd < 0) { err(1, "failed "); + } - if (ioctl(fd, SENSORIOCRESET, 0) < 0) + if (ioctl(fd, SENSORIOCRESET, 0) < 0) { err(1, "driver reset failed"); + } - if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) { err(1, "driver poll restart failed"); + } exit(0); } @@ -758,8 +795,9 @@ reset() void info() { - if (g_dev == nullptr) + if (g_dev == nullptr) { errx(1, "driver not running"); + } printf("state @ %p\n", g_dev); g_dev->print_info(); @@ -775,32 +813,37 @@ px4flow_main(int argc, char *argv[]) /* * Start/load the driver. */ - if (!strcmp(argv[1], "start")) + if (!strcmp(argv[1], "start")) { px4flow::start(); + } - /* - * Stop the driver - */ - if (!strcmp(argv[1], "stop")) - px4flow::stop(); + /* + * Stop the driver + */ + if (!strcmp(argv[1], "stop")) { + px4flow::stop(); + } /* * Test the driver/device. */ - if (!strcmp(argv[1], "test")) + if (!strcmp(argv[1], "test")) { px4flow::test(); + } /* * Reset the driver. */ - if (!strcmp(argv[1], "reset")) + if (!strcmp(argv[1], "reset")) { px4flow::reset(); + } /* * Print driver information. */ - if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) + if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) { px4flow::info(); + } errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'"); } diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp index 122a3cd17..3d3e1b0eb 100644 --- a/src/drivers/px4fmu/fmu.cpp +++ b/src/drivers/px4fmu/fmu.cpp @@ -829,6 +829,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) case PWM_SERVO_SET_ARM_OK: case PWM_SERVO_CLEAR_ARM_OK: case PWM_SERVO_SET_FORCE_SAFETY_OFF: + case PWM_SERVO_SET_FORCE_SAFETY_ON: // these are no-ops, as no safety switch break; diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 97919538f..6d68d9f60 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -295,6 +295,7 @@ private: float _battery_amp_bias; ///< current sensor bias float _battery_mamphour_total;///< amp hours consumed so far uint64_t _battery_last_timestamp;///< last amp hour calculation timestamp + bool _cb_flighttermination; ///< true if the flight termination circuit breaker is enabled #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 bool _dsm_vcc_ctl; ///< true if relay 1 controls DSM satellite RX power @@ -515,7 +516,8 @@ PX4IO::PX4IO(device::Device *interface) : _battery_amp_per_volt(90.0f / 5.0f), // this matches the 3DR current sensor _battery_amp_bias(0), _battery_mamphour_total(0), - _battery_last_timestamp(0) + _battery_last_timestamp(0), + _cb_flighttermination(true) #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 , _dsm_vcc_ctl(false) #endif @@ -1051,6 +1053,9 @@ PX4IO::task_main() } } + /* Update Circuit breakers */ + _cb_flighttermination = circuit_breaker_enabled("CBRK_FLIGHTTERM", CBRK_FLIGHTTERM_KEY); + } } @@ -1169,12 +1174,21 @@ PX4IO::io_set_arming_state() clear |= PX4IO_P_SETUP_ARMING_LOCKDOWN; } - if (armed.force_failsafe) { + /* Do not set failsafe if circuit breaker is enabled */ + if (armed.force_failsafe && !_cb_flighttermination) { set |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE; } else { clear |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE; } + // XXX this is for future support in the commander + // but can be removed if unneeded + // if (armed.termination_failsafe) { + // set |= PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE; + // } else { + // clear |= PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE; + // } + if (armed.ready_to_arm) { set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK; @@ -1233,28 +1247,40 @@ PX4IO::io_set_rc_config() */ param_get(param_find("RC_MAP_ROLL"), &ichan); + /* subtract one from 1-based index - this might be + * a negative number now + */ + ichan -= 1; + if ((ichan >= 0) && (ichan < (int)_max_rc_input)) - input_map[ichan - 1] = 0; + input_map[ichan] = 0; param_get(param_find("RC_MAP_PITCH"), &ichan); if ((ichan >= 0) && (ichan < (int)_max_rc_input)) - input_map[ichan - 1] = 1; + input_map[ichan] = 1; param_get(param_find("RC_MAP_YAW"), &ichan); if ((ichan >= 0) && (ichan < (int)_max_rc_input)) - input_map[ichan - 1] = 2; + input_map[ichan] = 2; param_get(param_find("RC_MAP_THROTTLE"), &ichan); if ((ichan >= 0) && (ichan < (int)_max_rc_input)) - input_map[ichan - 1] = 3; + input_map[ichan] = 3; - param_get(param_find("RC_MAP_MODE_SW"), &ichan); + param_get(param_find("RC_MAP_FLAPS"), &ichan); if ((ichan >= 0) && (ichan < (int)_max_rc_input)) - input_map[ichan - 1] = 4; + input_map[ichan] = 4; + + param_get(param_find("RC_MAP_MODE_SW"), &ichan); + + if ((ichan >= 0) && (ichan < (int)_max_rc_input)) { + /* use out of normal bounds index to indicate special channel */ + input_map[ichan] = PX4IO_P_RC_CONFIG_ASSIGNMENT_MODESWITCH; + } /* * Iterate all possible RC inputs. @@ -1603,6 +1629,9 @@ PX4IO::io_publish_raw_rc() } else if (_status & PX4IO_P_STATUS_FLAGS_RC_SBUS) { rc_val.input_source = RC_INPUT_SOURCE_PX4IO_SBUS; + } else if (_status & PX4IO_P_STATUS_FLAGS_RC_ST24) { + rc_val.input_source = RC_INPUT_SOURCE_PX4IO_ST24; + } else { rc_val.input_source = RC_INPUT_SOURCE_UNKNOWN; @@ -1920,13 +1949,15 @@ PX4IO::print_status(bool extended_status) io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FREEMEM)); uint16_t flags = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS); uint16_t io_status_flags = flags; - printf("status 0x%04x%s%s%s%s%s%s%s%s%s%s%s%s\n", + printf("status 0x%04x%s%s%s%s%s%s%s%s%s%s%s%s%s%s\n", flags, ((flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED) ? " OUTPUTS_ARMED" : ""), ((flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) ? " SAFETY_OFF" : " SAFETY_SAFE"), ((flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) ? " OVERRIDE" : ""), ((flags & PX4IO_P_STATUS_FLAGS_RC_OK) ? " RC_OK" : " RC_FAIL"), ((flags & PX4IO_P_STATUS_FLAGS_RC_PPM) ? " PPM" : ""), + ((flags & PX4IO_P_STATUS_FLAGS_RC_DSM) ? " DSM" : ""), + ((flags & PX4IO_P_STATUS_FLAGS_RC_ST24) ? " ST24" : ""), ((flags & PX4IO_P_STATUS_FLAGS_RC_SBUS) ? " SBUS" : ""), ((flags & PX4IO_P_STATUS_FLAGS_FMU_OK) ? " FMU_OK" : " FMU_FAIL"), ((flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) ? " RAW_PWM_PASSTHROUGH" : ""), @@ -2038,7 +2069,8 @@ PX4IO::print_status(bool extended_status) ((arming & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) ? " INAIR_RESTART_OK" : ""), ((arming & PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE) ? " ALWAYS_PWM_ENABLE" : ""), ((arming & PX4IO_P_SETUP_ARMING_LOCKDOWN) ? " LOCKDOWN" : ""), - ((arming & PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE) ? " FORCE_FAILSAFE" : "") + ((arming & PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE) ? " FORCE_FAILSAFE" : ""), + ((arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE) ? " TERM_FAILSAFE" : "") ); #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 printf("rates 0x%04x default %u alt %u relays 0x%04x\n", @@ -2251,6 +2283,11 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg) ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, PX4IO_FORCE_SAFETY_MAGIC); break; + case PWM_SERVO_SET_FORCE_SAFETY_ON: + /* force safety switch on */ + ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_ON, PX4IO_FORCE_SAFETY_MAGIC); + break; + case PWM_SERVO_SET_FORCE_FAILSAFE: /* force failsafe mode instantly */ if (arg == 0) { @@ -2262,6 +2299,17 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg) } break; + case PWM_SERVO_SET_TERMINATION_FAILSAFE: + /* if failsafe occurs, do not allow the system to recover */ + if (arg == 0) { + /* clear termination failsafe flag */ + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE, 0); + } else { + /* set termination failsafe flag */ + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE); + } + break; + case DSM_BIND_START: /* only allow DSM2, DSM-X and DSM-X with more than 7 channels */ @@ -2439,6 +2487,9 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg) } else if (status & PX4IO_P_STATUS_FLAGS_RC_SBUS) { rc_val->input_source = RC_INPUT_SOURCE_PX4IO_SBUS; + } else if (status & PX4IO_P_STATUS_FLAGS_RC_ST24) { + rc_val->input_source = RC_INPUT_SOURCE_PX4IO_ST24; + } else { rc_val->input_source = RC_INPUT_SOURCE_UNKNOWN; } diff --git a/src/drivers/sf0x/module.mk b/src/drivers/sf0x/module.mk index dc2c66d56..26e77d1cc 100644 --- a/src/drivers/sf0x/module.mk +++ b/src/drivers/sf0x/module.mk @@ -37,6 +37,7 @@ MODULE_COMMAND = sf0x -SRCS = sf0x.cpp +SRCS = sf0x.cpp \ + sf0x_parser.cpp MAXOPTIMIZATION = -Os diff --git a/src/drivers/sf0x/sf0x.cpp b/src/drivers/sf0x/sf0x.cpp index d382d08d0..fdd524189 100644 --- a/src/drivers/sf0x/sf0x.cpp +++ b/src/drivers/sf0x/sf0x.cpp @@ -72,6 +72,8 @@ #include <board_config.h> +#include "sf0x_parser.h" + /* Configuration Constants */ /* oddly, ERROR is not defined for c++ */ @@ -120,6 +122,7 @@ private: int _fd; char _linebuf[10]; unsigned _linebuf_index; + enum SF0X_PARSE_STATE _parse_state; hrt_abstime _last_read; orb_advert_t _range_finder_topic; @@ -186,6 +189,7 @@ SF0X::SF0X(const char *port) : _collect_phase(false), _fd(-1), _linebuf_index(0), + _parse_state(SF0X_PARSE_STATE0_UNSYNC), _last_read(0), _range_finder_topic(-1), _consecutive_fail_count(0), @@ -200,12 +204,6 @@ SF0X::SF0X(const char *port) : warnx("FAIL: laser fd"); } - /* tell it to stop auto-triggering */ - char stop_auto = ' '; - (void)::write(_fd, &stop_auto, 1); - usleep(100); - (void)::write(_fd, &stop_auto, 1); - struct termios uart_config; int termios_state; @@ -520,20 +518,15 @@ SF0X::collect() /* clear buffer if last read was too long ago */ uint64_t read_elapsed = hrt_elapsed_time(&_last_read); - /* timed out - retry */ - if (read_elapsed > (SF0X_CONVERSION_INTERVAL * 2)) { - _linebuf_index = 0; - } - /* the buffer for read chars is buflen minus null termination */ - unsigned readlen = sizeof(_linebuf) - 1; + char readbuf[sizeof(_linebuf)]; + unsigned readlen = sizeof(readbuf) - 1; /* read from the sensor (uart buffer) */ - ret = ::read(_fd, &_linebuf[_linebuf_index], readlen - _linebuf_index); + ret = ::read(_fd, &readbuf[0], readlen); if (ret < 0) { - _linebuf[sizeof(_linebuf) - 1] = '\0'; - debug("read err: %d lbi: %d buf: %s", ret, (int)_linebuf_index, _linebuf); + debug("read err: %d", ret); perf_count(_comms_errors); perf_end(_sample_perf); @@ -548,84 +541,23 @@ SF0X::collect() return -EAGAIN; } - /* let the write pointer point to the next free entry */ - _linebuf_index += ret; - _last_read = hrt_absolute_time(); - /* require a reasonable amount of minimum bytes */ - if (_linebuf_index < 6) { - /* we need at this format: x.xx\r\n */ - return -EAGAIN; - - } else if (_linebuf[_linebuf_index - 2] != '\r' || _linebuf[_linebuf_index - 1] != '\n') { - - if (_linebuf_index == readlen) { - /* we have a full buffer, but no line ending - abort */ - _linebuf_index = 0; - perf_count(_comms_errors); - return -ENOMEM; - } else { - /* incomplete read, reschedule ourselves */ - return -EAGAIN; - } - } - - char *end; float si_units; - bool valid; - - /* enforce line ending */ - _linebuf[_linebuf_index] = '\0'; - - if (_linebuf[0] == '-' && _linebuf[1] == '-' && _linebuf[2] == '.') { - si_units = -1.0f; - valid = false; - - } else { - - /* we need to find a dot in the string, as we're missing the meters part else */ - valid = false; - - /* wipe out partially read content from last cycle(s), check for dot */ - for (unsigned i = 0; i < (_linebuf_index - 2); i++) { - if (_linebuf[i] == '\n') { - /* wipe out any partial measurements */ - for (unsigned j = 0; j <= i; j++) { - _linebuf[j] = ' '; - } - } - - /* we need a digit before the dot and a dot for a valid number */ - if (i > 0 && ((_linebuf[i - 1] >= '0') && (_linebuf[i - 1] <= '9')) && (_linebuf[i] == '.')) { - valid = true; - } - } - - if (valid) { - si_units = strtod(_linebuf, &end); - - /* we require at least four characters for a valid number */ - if (end > _linebuf + 3) { - valid = true; - } else { - si_units = -1.0f; - valid = false; - } + bool valid = false; + + for (int i = 0; i < ret; i++) { + if (OK == sf0x_parser(readbuf[i], _linebuf, &_linebuf_index, &_parse_state, &si_units)) { + valid = true; } } - debug("val (float): %8.4f, raw: %s, valid: %s", (double)si_units, _linebuf, ((valid) ? "OK" : "NO")); - - /* done with this chunk, resetting - even if invalid */ - _linebuf_index = 0; - - /* if its invalid, there is no reason to forward the value */ if (!valid) { - perf_count(_comms_errors); - return -EINVAL; + return -EAGAIN; } + debug("val (float): %8.4f, raw: %s, valid: %s", (double)si_units, _linebuf, ((valid) ? "OK" : "NO")); + struct range_finder_report report; /* this should be fairly close to the end of the measurement, so the best approximation of the time */ diff --git a/src/lib/conversion/module.mk b/src/lib/conversion/module.mk index f5f59a2dc..4593c4887 100644 --- a/src/lib/conversion/module.mk +++ b/src/lib/conversion/module.mk @@ -36,3 +36,5 @@ # SRCS = rotation.cpp + +MAXOPTIMIZATION = -Os diff --git a/src/lib/conversion/rotation.h b/src/lib/conversion/rotation.h index 5187b448f..917c7f830 100644 --- a/src/lib/conversion/rotation.h +++ b/src/lib/conversion/rotation.h @@ -74,6 +74,7 @@ enum Rotation { ROTATION_ROLL_270_YAW_135 = 23, ROTATION_PITCH_90 = 24, ROTATION_PITCH_270 = 25, + ROTATION_ROLL_270_YAW_270 = 26, ROTATION_MAX }; @@ -109,7 +110,8 @@ const rot_lookup_t rot_lookup[] = { {270, 0, 90 }, {270, 0, 135 }, { 0, 90, 0 }, - { 0, 270, 0 } + { 0, 270, 0 }, + {270, 0, 270 } }; /** diff --git a/src/lib/external_lgpl/tecs/tecs.cpp b/src/lib/external_lgpl/tecs/tecs.cpp index 023bd71bf..0ed210cf4 100644 --- a/src/lib/external_lgpl/tecs/tecs.cpp +++ b/src/lib/external_lgpl/tecs/tecs.cpp @@ -236,9 +236,9 @@ void TECS::_update_height_demand(float demand, float state) // // _hgt_rate_dem); _hgt_dem_adj = demand;//0.025f * demand + 0.975f * _hgt_dem_adj_last; + _hgt_rate_dem = (_hgt_dem_adj-state)*_heightrate_p + _heightrate_ff * (_hgt_dem_adj - _hgt_dem_adj_last)/_DT; _hgt_dem_adj_last = _hgt_dem_adj; - _hgt_rate_dem = (_hgt_dem_adj-state)*_heightrate_p + _heightrate_ff * (_hgt_dem_adj - _hgt_dem_adj_last)/_DT; // Limit height rate of change if (_hgt_rate_dem > _maxClimbRate) { _hgt_rate_dem = _maxClimbRate; @@ -299,7 +299,7 @@ void TECS::_update_throttle(float throttle_cruise, const math::Matrix<3,3> &rotM // Calculate throttle demand // If underspeed condition is set, then demand full throttle if (_underspeed) { - _throttle_dem_unc = 1.0f; + _throttle_dem = 1.0f; } else { // Calculate gain scaler from specific energy error to throttle @@ -363,10 +363,10 @@ void TECS::_update_throttle(float throttle_cruise, const math::Matrix<3,3> &rotM } else { _throttle_dem = ff_throttle; } - } - // Constrain throttle demand - _throttle_dem = constrain(_throttle_dem, _THRminf, _THRmaxf); + // Constrain throttle demand + _throttle_dem = constrain(_throttle_dem, _THRminf, _THRmaxf); + } } void TECS::_detect_bad_descent(void) diff --git a/src/lib/external_lgpl/tecs/tecs.h b/src/lib/external_lgpl/tecs/tecs.h index 8ac31de6f..eb45237b7 100644 --- a/src/lib/external_lgpl/tecs/tecs.h +++ b/src/lib/external_lgpl/tecs/tecs.h @@ -345,9 +345,6 @@ private: // climbout mode bool _climbOutDem; - // throttle demand before limiting - float _throttle_dem_unc; - // pitch demand before limiting float _pitch_dem_unc; diff --git a/src/lib/geo/geo.c b/src/lib/geo/geo.c index 1c8d2a2a7..f595467b3 100644 --- a/src/lib/geo/geo.c +++ b/src/lib/geo/geo.c @@ -362,8 +362,12 @@ __EXPORT int get_distance_to_line(struct crosstrack_error_s *crosstrack_error, d crosstrack_error->distance = 0.0f; crosstrack_error->bearing = 0.0f; + dist_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end); + // Return error if arguments are bad - if (lat_now == 0.0 || lon_now == 0.0 || lat_start == 0.0 || lon_start == 0.0 || lat_end == 0.0d || lon_end == 0.0d) { return return_value; } + if (dist_to_end < 0.1f) { + return ERROR; + } bearing_end = get_bearing_to_next_waypoint(lat_now, lon_now, lat_end, lon_end); bearing_track = get_bearing_to_next_waypoint(lat_start, lon_start, lat_end, lon_end); @@ -377,7 +381,6 @@ __EXPORT int get_distance_to_line(struct crosstrack_error_s *crosstrack_error, d return return_value; } - dist_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end); crosstrack_error->distance = (dist_to_end) * sinf(bearing_diff); if (sin(bearing_diff) >= 0) { @@ -414,10 +417,10 @@ __EXPORT int get_distance_to_arc(struct crosstrack_error_s *crosstrack_error, do crosstrack_error->bearing = 0.0f; // Return error if arguments are bad - if (lat_now == 0.0 || lon_now == 0.0 || lat_center == 0.0 || lon_center == 0.0 || radius == 0.0f) { return return_value; } + if (radius < 0.1f) { return return_value; } - if (arc_sweep >= 0) { + if (arc_sweep >= 0.0f) { bearing_sector_start = arc_start_bearing; bearing_sector_end = arc_start_bearing + arc_sweep; @@ -463,8 +466,8 @@ __EXPORT int get_distance_to_arc(struct crosstrack_error_s *crosstrack_error, do double start_disp_x = (double)radius * sin(arc_start_bearing); double start_disp_y = (double)radius * cos(arc_start_bearing); - double end_disp_x = (double)radius * sin(_wrapPI((double)(arc_start_bearing + arc_sweep))); - double end_disp_y = (double)radius * cos(_wrapPI((double)(arc_start_bearing + arc_sweep))); + double end_disp_x = (double)radius * sin(_wrap_pi((double)(arc_start_bearing + arc_sweep))); + double end_disp_y = (double)radius * cos(_wrap_pi((double)(arc_start_bearing + arc_sweep))); double lon_start = lon_now + start_disp_x / 111111.0; double lat_start = lat_now + start_disp_y * cos(lat_now) / 111111.0; double lon_end = lon_now + end_disp_x / 111111.0; @@ -484,7 +487,7 @@ __EXPORT int get_distance_to_arc(struct crosstrack_error_s *crosstrack_error, do } - crosstrack_error->bearing = _wrapPI((double)crosstrack_error->bearing); + crosstrack_error->bearing = _wrap_pi((double)crosstrack_error->bearing); return_value = OK; return return_value; } diff --git a/src/modules/commander/accelerometer_calibration.cpp b/src/modules/commander/accelerometer_calibration.cpp index 7a4e7a766..0cb41489f 100644 --- a/src/modules/commander/accelerometer_calibration.cpp +++ b/src/modules/commander/accelerometer_calibration.cpp @@ -83,7 +83,7 @@ * | accel_T[1][i] | * [ accel_T[2][i] ] * - * b = [ accel_corr_ref[0][i] ] // One measurement per axis is enough + * b = [ accel_corr_ref[0][i] ] // One measurement per side is enough * | accel_corr_ref[2][i] | * [ accel_corr_ref[4][i] ] * @@ -162,6 +162,11 @@ int do_accel_calibration(int mavlink_fd) mavlink_log_info(mavlink_fd, CAL_STARTED_MSG, sensor_name); + mavlink_log_info(mavlink_fd, "You need to put the system on all six sides"); + sleep(3); + mavlink_log_info(mavlink_fd, "Follow the instructions on the screen"); + sleep(5); + struct accel_scale accel_scale = { 0.0f, 1.0f, @@ -258,7 +263,7 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float const int samples_num = 2500; float accel_ref[6][3]; bool data_collected[6] = { false, false, false, false, false, false }; - const char *orientation_strs[6] = { "x+", "x-", "y+", "y-", "z+", "z-" }; + const char *orientation_strs[6] = { "front", "back", "left", "right", "top", "bottom" }; int sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined)); @@ -287,29 +292,37 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float break; } - mavlink_log_info(mavlink_fd, "directions left: %s%s%s%s%s%s", - (!data_collected[0]) ? "x+ " : "", - (!data_collected[1]) ? "x- " : "", - (!data_collected[2]) ? "y+ " : "", - (!data_collected[3]) ? "y- " : "", - (!data_collected[4]) ? "z+ " : "", - (!data_collected[5]) ? "z- " : ""); + /* inform user which axes are still needed */ + mavlink_log_info(mavlink_fd, "pending: %s%s%s%s%s%s", + (!data_collected[0]) ? "front " : "", + (!data_collected[1]) ? "back " : "", + (!data_collected[2]) ? "left " : "", + (!data_collected[3]) ? "right " : "", + (!data_collected[4]) ? "up " : "", + (!data_collected[5]) ? "down " : ""); + + /* allow user enough time to read the message */ + sleep(3); int orient = detect_orientation(mavlink_fd, sensor_combined_sub); if (orient < 0) { - res = ERROR; - break; + mavlink_log_info(mavlink_fd, "invalid motion, hold still..."); + sleep(3); + continue; } + /* inform user about already handled side */ if (data_collected[orient]) { - mavlink_log_info(mavlink_fd, "%s done, rotate to a different axis", orientation_strs[orient]); + mavlink_log_info(mavlink_fd, "%s side done, rotate to a different side", orientation_strs[orient]); + sleep(4); continue; } - mavlink_log_info(mavlink_fd, "accel measurement started: %s axis", orientation_strs[orient]); + mavlink_log_info(mavlink_fd, "Hold still, starting to measure %s side", orientation_strs[orient]); + sleep(1); read_accelerometer_avg(sensor_combined_sub, &(accel_ref[orient][0]), samples_num); - mavlink_log_info(mavlink_fd, "result for %s axis: [ %.2f %.2f %.2f ]", orientation_strs[orient], + mavlink_log_info(mavlink_fd, "result for %s side: [ %.2f %.2f %.2f ]", orientation_strs[orient], (double)accel_ref[orient][0], (double)accel_ref[orient][1], (double)accel_ref[orient][2]); @@ -400,7 +413,7 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) /* is still now */ if (t_still == 0) { /* first time */ - mavlink_log_info(mavlink_fd, "detected rest position, waiting..."); + mavlink_log_info(mavlink_fd, "detected rest position, hold still..."); t_still = t; t_timeout = t + timeout; @@ -418,6 +431,7 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) /* not still, reset still start time */ if (t_still != 0) { mavlink_log_info(mavlink_fd, "detected motion, hold still..."); + sleep(3); t_still = 0; } } diff --git a/src/modules/commander/airspeed_calibration.cpp b/src/modules/commander/airspeed_calibration.cpp index 339b11bbe..cae1d7684 100644 --- a/src/modules/commander/airspeed_calibration.cpp +++ b/src/modules/commander/airspeed_calibration.cpp @@ -61,6 +61,15 @@ static const int ERROR = -1; static const char *sensor_name = "dpress"; +#define HUMAN_ASPD_CAL_FAILED_MSG "Calibration failed, see http://px4.io/help/aspd" + +static void feedback_calibration_failed(int mavlink_fd) +{ + sleep(5); + mavlink_log_critical(mavlink_fd, CAL_FAILED_MSG, sensor_name); + mavlink_log_critical(mavlink_fd, HUMAN_ASPD_CAL_FAILED_MSG); +} + int do_airspeed_calibration(int mavlink_fd) { /* give directions */ @@ -99,7 +108,7 @@ int do_airspeed_calibration(int mavlink_fd) float analog_scaling = 0.0f; param_get(param_find("SENS_DPRES_ANSC"), &(analog_scaling)); if (fabsf(analog_scaling) < 0.1f) { - mavlink_log_critical(mavlink_fd, "If analog sens, retry with [SENS_DPRES_ANSC=1000]"); + mavlink_log_critical(mavlink_fd, "No airspeed sensor, see http://px4.io/help/aspd"); close(diff_pres_sub); return ERROR; } @@ -138,7 +147,7 @@ int do_airspeed_calibration(int mavlink_fd) } else if (poll_ret == 0) { /* any poll failure for 1s is a reason to abort */ - mavlink_log_critical(mavlink_fd, CAL_FAILED_MSG, sensor_name); + feedback_calibration_failed(mavlink_fd); close(diff_pres_sub); return ERROR; } @@ -175,7 +184,7 @@ int do_airspeed_calibration(int mavlink_fd) } } else { - mavlink_log_info(mavlink_fd, CAL_FAILED_MSG, sensor_name); + feedback_calibration_failed(mavlink_fd); close(diff_pres_sub); return ERROR; } @@ -207,7 +216,7 @@ int do_airspeed_calibration(int mavlink_fd) if (fabsf(diff_pres.differential_pressure_raw_pa) < 50.0f) { if (calibration_counter % 500 == 0) { - mavlink_log_info(mavlink_fd, "Create airflow! (%d, wanted: 50 Pa)", + mavlink_log_info(mavlink_fd, "Create air pressure! (got %d, wanted: 50 Pa)", (int)diff_pres.differential_pressure_raw_pa); } continue; @@ -215,9 +224,9 @@ int do_airspeed_calibration(int mavlink_fd) /* do not allow negative values */ if (diff_pres.differential_pressure_raw_pa < 0.0f) { - mavlink_log_critical(mavlink_fd, "Swap static and dynamic ports!"); mavlink_log_info(mavlink_fd, "ERROR: Negative pressure difference detected! (%d Pa)", (int)diff_pres.differential_pressure_raw_pa); + mavlink_log_critical(mavlink_fd, "Swap static and dynamic ports!"); close(diff_pres_sub); /* the user setup is wrong, wipe the calibration to force a proper re-calibration */ @@ -235,7 +244,7 @@ int do_airspeed_calibration(int mavlink_fd) close(diff_pres_sub); - mavlink_log_info(mavlink_fd, CAL_FAILED_MSG, sensor_name); + feedback_calibration_failed(mavlink_fd); return ERROR; } else { mavlink_log_info(mavlink_fd, "Positive pressure: OK (%d Pa)", @@ -245,14 +254,14 @@ int do_airspeed_calibration(int mavlink_fd) } else if (poll_ret == 0) { /* any poll failure for 1s is a reason to abort */ - mavlink_log_critical(mavlink_fd, CAL_FAILED_MSG, sensor_name); + feedback_calibration_failed(mavlink_fd); close(diff_pres_sub); return ERROR; } } if (calibration_counter == maxcount) { - mavlink_log_critical(mavlink_fd, CAL_FAILED_MSG, sensor_name); + feedback_calibration_failed(mavlink_fd); close(diff_pres_sub); return ERROR; } diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index a5a772825..46caddd46 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -128,8 +128,6 @@ extern struct system_load_s system_load; #define POSITION_TIMEOUT (2 * 1000 * 1000) /**< consider the local or global position estimate invalid after 600ms */ #define FAILSAFE_DEFAULT_TIMEOUT (3 * 1000 * 1000) /**< hysteresis time - the failsafe will trigger after 3 seconds in this state */ -#define RC_TIMEOUT 500000 -#define DL_TIMEOUT (10 * 1000 * 1000) #define OFFBOARD_TIMEOUT 500000 #define DIFFPRESS_TIMEOUT 2000000 @@ -209,7 +207,9 @@ void usage(const char *reason); /** * React to commands that are sent e.g. from the mavlink module. */ -bool handle_command(struct vehicle_status_s *status, const struct safety_s *safety, struct vehicle_command_s *cmd, struct actuator_armed_s *armed, struct home_position_s *home, struct vehicle_global_position_s *global_pos, orb_advert_t *home_pub); +bool handle_command(struct vehicle_status_s *status, const struct safety_s *safety, struct vehicle_command_s *cmd, + struct actuator_armed_s *armed, struct home_position_s *home, struct vehicle_global_position_s *global_pos, + orb_advert_t *home_pub); /** * Mainloop of commander. @@ -232,7 +232,8 @@ void print_reject_arm(const char *msg); void print_status(); -transition_result_t check_navigation_state_machine(struct vehicle_status_s *status, struct vehicle_control_mode_s *control_mode, struct vehicle_local_position_s *local_pos); +transition_result_t check_navigation_state_machine(struct vehicle_status_s *status, + struct vehicle_control_mode_s *control_mode, struct vehicle_local_position_s *local_pos); transition_result_t arm_disarm(bool arm, const int mavlink_fd, const char *armedBy); @@ -262,7 +263,7 @@ int commander_main(int argc, char *argv[]) daemon_task = task_spawn_cmd("commander", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 40, - 2950, + 3200, commander_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL); @@ -395,7 +396,8 @@ transition_result_t arm_disarm(bool arm, const int mavlink_fd_local, const char // Transition the armed state. By passing mavlink_fd to arming_state_transition it will // output appropriate error messages if the state cannot transition. - arming_res = arming_state_transition(&status, &safety, arm ? ARMING_STATE_ARMED : ARMING_STATE_STANDBY, &armed, true /* fRunPreArmChecks */, mavlink_fd_local); + arming_res = arming_state_transition(&status, &safety, arm ? ARMING_STATE_ARMED : ARMING_STATE_STANDBY, &armed, + true /* fRunPreArmChecks */, mavlink_fd_local); if (arming_res == TRANSITION_CHANGED && mavlink_fd) { mavlink_log_info(mavlink_fd_local, "[cmd] %s by %s", arm ? "ARMED" : "DISARMED", armedBy); @@ -408,11 +410,12 @@ transition_result_t arm_disarm(bool arm, const int mavlink_fd_local, const char } bool handle_command(struct vehicle_status_s *status_local, const struct safety_s *safety_local, - struct vehicle_command_s *cmd, struct actuator_armed_s *armed_local, - struct home_position_s *home, struct vehicle_global_position_s *global_pos, orb_advert_t *home_pub) + struct vehicle_command_s *cmd, struct actuator_armed_s *armed_local, + struct home_position_s *home, struct vehicle_global_position_s *global_pos, orb_advert_t *home_pub) { /* only handle commands that are meant to be handled by this system and component */ - if (cmd->target_system != status_local->system_id || ((cmd->target_component != status_local->component_id) && (cmd->target_component != 0))) { // component_id 0: valid for all components + if (cmd->target_system != status_local->system_id || ((cmd->target_component != status_local->component_id) + && (cmd->target_component != 0))) { // component_id 0: valid for all components return false; } @@ -539,13 +542,13 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s } else { mavlink_log_critical(mavlink_fd, "REJ CMD: %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f", - (double)cmd->param1, - (double)cmd->param2, - (double)cmd->param3, - (double)cmd->param4, - (double)cmd->param5, - (double)cmd->param6, - (double)cmd->param7); + (double)cmd->param1, + (double)cmd->param2, + (double)cmd->param3, + (double)cmd->param4, + (double)cmd->param5, + (double)cmd->param6, + (double)cmd->param7); } } break; @@ -555,11 +558,44 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s if (cmd->param1 > 0.5f) { //XXX update state machine? armed_local->force_failsafe = true; - warnx("forcing failsafe"); + warnx("forcing failsafe (termination)"); + } else { armed_local->force_failsafe = false; - warnx("disabling failsafe"); + warnx("disabling failsafe (termination)"); + } + + /* param2 is currently used for other failsafe modes */ + status_local->engine_failure_cmd = false; + status_local->data_link_lost_cmd = false; + status_local->gps_failure_cmd = false; + status_local->rc_signal_lost_cmd = false; + + if ((int)cmd->param2 <= 0) { + /* reset all commanded failure modes */ + warnx("reset all non-flighttermination failsafe commands"); + + } else if ((int)cmd->param2 == 1) { + /* trigger engine failure mode */ + status_local->engine_failure_cmd = true; + warnx("engine failure mode commanded"); + + } else if ((int)cmd->param2 == 2) { + /* trigger data link loss mode */ + status_local->data_link_lost_cmd = true; + warnx("data link loss mode commanded"); + + } else if ((int)cmd->param2 == 3) { + /* trigger gps loss mode */ + status_local->gps_failure_cmd = true; + warnx("gps loss mode commanded"); + + } else if ((int)cmd->param2 == 4) { + /* trigger rc loss mode */ + status_local->rc_signal_lost_cmd = true; + warnx("rc loss mode commanded"); } + cmd_result = VEHICLE_CMD_RESULT_ACCEPTED; } break; @@ -611,6 +647,35 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s } break; + case VEHICLE_CMD_NAV_GUIDED_ENABLE: { + transition_result_t res = TRANSITION_DENIED; + static main_state_t main_state_pre_offboard = MAIN_STATE_MANUAL; + + if (status_local->main_state != MAIN_STATE_OFFBOARD) { + main_state_pre_offboard = status_local->main_state; + } + + if (cmd->param1 > 0.5f) { + res = main_state_transition(status_local, MAIN_STATE_OFFBOARD); + + if (res == TRANSITION_DENIED) { + print_reject_mode(status_local, "OFFBOARD"); + status_local->offboard_control_set_by_command = false; + + } else { + /* Set flag that offboard was set via command, main state is not overridden by rc */ + status_local->offboard_control_set_by_command = true; + } + + } else { + /* If the mavlink command is used to enable or disable offboard control: + * switch back to previous mode when disabling */ + res = main_state_transition(status_local, main_state_pre_offboard); + status_local->offboard_control_set_by_command = false; + } + } + break; + case VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN: case VEHICLE_CMD_PREFLIGHT_CALIBRATION: case VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS: @@ -659,6 +724,12 @@ int commander_thread_main(int argc, char *argv[]) param_t _param_takeoff_alt = param_find("NAV_TAKEOFF_ALT"); param_t _param_enable_parachute = param_find("NAV_PARACHUTE_EN"); param_t _param_enable_datalink_loss = param_find("COM_DL_LOSS_EN"); + param_t _param_datalink_loss_timeout = param_find("COM_DL_LOSS_T"); + param_t _param_rc_loss_timeout = param_find("COM_RC_LOSS_T"); + param_t _param_datalink_regain_timeout = param_find("COM_DL_REG_T"); + param_t _param_ef_throttle_thres = param_find("COM_EF_THROT"); + param_t _param_ef_current2throttle_thres = param_find("COM_EF_C2T"); + param_t _param_ef_time_thres = param_find("COM_EF_TIME"); /* welcome user */ warnx("starting"); @@ -746,9 +817,12 @@ int commander_thread_main(int argc, char *argv[]) // CIRCUIT BREAKERS status.circuit_breaker_engaged_power_check = false; status.circuit_breaker_engaged_airspd_check = false; + status.circuit_breaker_engaged_enginefailure_check = false; + status.circuit_breaker_engaged_gpsfailure_check = false; /* publish initial state */ status_pub = orb_advertise(ORB_ID(vehicle_status), &status); + if (status_pub < 0) { warnx("ERROR: orb_advertise for topic vehicle_status failed (uorb app running?).\n"); warnx("exiting."); @@ -774,11 +848,14 @@ int commander_thread_main(int argc, char *argv[]) /* init mission state, do it here to allow navigator to use stored mission even if mavlink failed to start */ orb_advert_t mission_pub = -1; mission_s mission; + if (dm_read(DM_KEY_MISSION_STATE, 0, &mission, sizeof(mission_s)) == sizeof(mission_s)) { if (mission.dataman_id >= 0 && mission.dataman_id <= 1) { - warnx("loaded mission state: dataman_id=%d, count=%u, current=%d", mission.dataman_id, mission.count, mission.current_seq); + warnx("loaded mission state: dataman_id=%d, count=%u, current=%d", mission.dataman_id, mission.count, + mission.current_seq); mavlink_log_info(mavlink_fd, "[cmd] dataman_id=%d, count=%u, current=%d", - mission.dataman_id, mission.count, mission.current_seq); + mission.dataman_id, mission.count, mission.current_seq); + } else { const char *missionfail = "reading mission state failed"; warnx("%s", missionfail); @@ -851,11 +928,13 @@ int commander_thread_main(int argc, char *argv[]) /* Subscribe to telemetry status topics */ int telemetry_subs[TELEMETRY_STATUS_ORB_ID_NUM]; uint64_t telemetry_last_heartbeat[TELEMETRY_STATUS_ORB_ID_NUM]; + uint64_t telemetry_last_dl_loss[TELEMETRY_STATUS_ORB_ID_NUM]; bool telemetry_lost[TELEMETRY_STATUS_ORB_ID_NUM]; for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) { telemetry_subs[i] = orb_subscribe(telemetry_status_orb_id[i]); telemetry_last_heartbeat[i] = 0; + telemetry_last_dl_loss[i] = 0; telemetry_lost[i] = true; } @@ -941,6 +1020,15 @@ int commander_thread_main(int argc, char *argv[]) transition_result_t arming_ret; int32_t datalink_loss_enabled = false; + int32_t datalink_loss_timeout = 10; + float rc_loss_timeout = 0.5; + int32_t datalink_regain_timeout = 0; + + /* Thresholds for engine failure detection */ + int32_t ef_throttle_thres = 1.0f; + int32_t ef_current2throttle_thres = 0.0f; + int32_t ef_time_thres = 1000.0f; + uint64_t timestamp_engine_healthy = 0; /**< absolute time when engine was healty */ /* check which state machines for changes, clear "changed" flag */ bool arming_state_changed = false; @@ -988,8 +1076,14 @@ int commander_thread_main(int argc, char *argv[]) param_get(_param_system_id, &(status.system_id)); param_get(_param_component_id, &(status.component_id)); - status.circuit_breaker_engaged_power_check = circuit_breaker_enabled("CBRK_SUPPLY_CHK", CBRK_SUPPLY_CHK_KEY); - status.circuit_breaker_engaged_airspd_check = circuit_breaker_enabled("CBRK_AIRSPD_CHK", CBRK_AIRSPD_CHK_KEY); + status.circuit_breaker_engaged_power_check = + circuit_breaker_enabled("CBRK_SUPPLY_CHK", CBRK_SUPPLY_CHK_KEY); + status.circuit_breaker_engaged_airspd_check = + circuit_breaker_enabled("CBRK_AIRSPD_CHK", CBRK_AIRSPD_CHK_KEY); + status.circuit_breaker_engaged_enginefailure_check = + circuit_breaker_enabled("CBRK_ENGINEFAIL", CBRK_ENGINEFAIL_KEY); + status.circuit_breaker_engaged_gpsfailure_check = + circuit_breaker_enabled("CBRK_GPSFAIL", CBRK_GPSFAIL_KEY); status_changed = true; @@ -1001,6 +1095,12 @@ int commander_thread_main(int argc, char *argv[]) param_get(_param_takeoff_alt, &takeoff_alt); param_get(_param_enable_parachute, ¶chute_enabled); param_get(_param_enable_datalink_loss, &datalink_loss_enabled); + param_get(_param_datalink_loss_timeout, &datalink_loss_timeout); + param_get(_param_rc_loss_timeout, &rc_loss_timeout); + param_get(_param_datalink_regain_timeout, &datalink_regain_timeout); + param_get(_param_ef_throttle_thres, &ef_throttle_thres); + param_get(_param_ef_current2throttle_thres, &ef_current2throttle_thres); + param_get(_param_ef_time_thres, &ef_time_thres); } orb_check(sp_man_sub, &updated); @@ -1021,6 +1121,7 @@ int commander_thread_main(int argc, char *argv[]) status.offboard_control_signal_lost = false; status_changed = true; } + } else { if (!status.offboard_control_signal_lost) { status.offboard_control_signal_lost = true; @@ -1039,9 +1140,9 @@ int commander_thread_main(int argc, char *argv[]) /* perform system checks when new telemetry link connected */ if (mavlink_fd && - telemetry_last_heartbeat[i] == 0 && - telemetry.heartbeat_time > 0 && - hrt_elapsed_time(&telemetry.heartbeat_time) < DL_TIMEOUT) { + telemetry_last_heartbeat[i] == 0 && + telemetry.heartbeat_time > 0 && + hrt_elapsed_time(&telemetry.heartbeat_time) < datalink_loss_timeout * 1e6) { (void)rc_calibration_check(mavlink_fd); } @@ -1054,6 +1155,27 @@ int commander_thread_main(int argc, char *argv[]) if (updated) { orb_copy(ORB_ID(sensor_combined), sensor_sub, &sensors); + + /* Check if the barometer is healthy and issue a warning in the GCS if not so. + * Because the barometer is used for calculating AMSL altitude which is used to ensure + * vertical separation from other airtraffic the operator has to know when the + * barometer is inoperational. + * */ + if (hrt_elapsed_time(&sensors.baro_timestamp) < FAILSAFE_DEFAULT_TIMEOUT) { + /* handle the case where baro was regained */ + if (status.barometer_failure) { + status.barometer_failure = false; + status_changed = true; + mavlink_log_critical(mavlink_fd, "baro healthy"); + } + + } else { + if (!status.barometer_failure) { + status.barometer_failure = true; + status_changed = true; + mavlink_log_critical(mavlink_fd, "baro failed"); + } + } } orb_check(diff_pres_sub, &updated); @@ -1069,10 +1191,11 @@ int commander_thread_main(int argc, char *argv[]) if (hrt_elapsed_time(&system_power.timestamp) < 200000) { if (system_power.servo_valid && - !system_power.brick_valid && - !system_power.usb_connected) { + !system_power.brick_valid && + !system_power.usb_connected) { /* flying only on servo rail, this is unsafe */ status.condition_power_input_valid = false; + } else { status.condition_power_input_valid = true; } @@ -1092,9 +1215,11 @@ int commander_thread_main(int argc, char *argv[]) /* disarm if safety is now on and still armed */ if (status.hil_state == HIL_STATE_OFF && safety.safety_switch_available && !safety.safety_off && armed.armed) { - arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR); + arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : + ARMING_STATE_STANDBY_ERROR); - if (TRANSITION_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed, true /* fRunPreArmChecks */, mavlink_fd)) { + if (TRANSITION_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed, + true /* fRunPreArmChecks */, mavlink_fd)) { mavlink_log_info(mavlink_fd, "DISARMED by safety switch"); arming_state_changed = true; } @@ -1138,9 +1263,8 @@ int commander_thread_main(int argc, char *argv[]) } } - check_valid(global_position.timestamp, POSITION_TIMEOUT, eph_good, &(status.condition_global_position_valid), &status_changed); - - /* check if GPS fix is ok */ + check_valid(global_position.timestamp, POSITION_TIMEOUT, eph_good, &(status.condition_global_position_valid), + &status_changed); /* update home position */ if (!status.condition_home_position_valid && status.condition_global_position_valid && !armed.armed && @@ -1190,8 +1314,11 @@ int commander_thread_main(int argc, char *argv[]) local_eph_good = false; } } - check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.xy_valid && local_eph_good, &(status.condition_local_position_valid), &status_changed); - check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.z_valid, &(status.condition_local_altitude_valid), &status_changed); + + check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.xy_valid + && local_eph_good, &(status.condition_local_position_valid), &status_changed); + check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.z_valid, + &(status.condition_local_altitude_valid), &status_changed); if (status.condition_local_altitude_valid) { if (status.condition_landed != local_position.landed) { @@ -1222,7 +1349,8 @@ int commander_thread_main(int argc, char *argv[]) /* get throttle (if armed), as we only care about energy negative throttle also counts */ float throttle = (armed.armed) ? fabsf(actuator_controls.control[3]) : 0.0f; - status.battery_remaining = battery_remaining_estimate_voltage(battery.voltage_filtered_v, battery.discharged_mah, throttle); + status.battery_remaining = battery_remaining_estimate_voltage(battery.voltage_filtered_v, battery.discharged_mah, + throttle); } } @@ -1279,8 +1407,8 @@ int commander_thread_main(int argc, char *argv[]) last_idle_time = system_load.tasks[0].total_runtime; /* check if board is connected via USB */ - //struct stat statbuf; - //on_usb_power = (stat("/dev/ttyACM0", &statbuf) == 0); + struct stat statbuf; + on_usb_power = (stat("/dev/ttyACM0", &statbuf) == 0); } /* if battery voltage is getting lower, warn using buzzer, etc. */ @@ -1290,26 +1418,30 @@ int commander_thread_main(int argc, char *argv[]) status.battery_warning = VEHICLE_BATTERY_WARNING_LOW; status_changed = true; - } else if (status.condition_battery_voltage_valid && status.battery_remaining < 0.09f && !critical_battery_voltage_actions_done && low_battery_voltage_actions_done) { + } else if (!on_usb_power && status.condition_battery_voltage_valid && status.battery_remaining < 0.09f + && !critical_battery_voltage_actions_done && low_battery_voltage_actions_done) { /* critical battery voltage, this is rather an emergency, change state machine */ critical_battery_voltage_actions_done = true; mavlink_log_emergency(mavlink_fd, "CRITICAL BATTERY, LAND IMMEDIATELY"); status.battery_warning = VEHICLE_BATTERY_WARNING_CRITICAL; if (armed.armed) { - arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_ARMED_ERROR, &armed, true /* fRunPreArmChecks */, mavlink_fd); + arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_ARMED_ERROR, &armed, true /* fRunPreArmChecks */, + mavlink_fd); if (arming_ret == TRANSITION_CHANGED) { arming_state_changed = true; } } else { - arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_STANDBY_ERROR, &armed, true /* fRunPreArmChecks */, mavlink_fd); + arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_STANDBY_ERROR, &armed, true /* fRunPreArmChecks */, + mavlink_fd); if (arming_ret == TRANSITION_CHANGED) { arming_state_changed = true; } } + status_changed = true; } @@ -1318,7 +1450,8 @@ int commander_thread_main(int argc, char *argv[]) /* If in INIT state, try to proceed to STANDBY state */ if (status.arming_state == ARMING_STATE_INIT && low_prio_task == LOW_PRIO_TASK_NONE) { /* TODO: check for sensors */ - arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed, true /* fRunPreArmChecks */, mavlink_fd); + arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed, true /* fRunPreArmChecks */, + mavlink_fd); if (arming_ret == TRANSITION_CHANGED) { arming_state_changed = true; @@ -1346,11 +1479,31 @@ int commander_thread_main(int argc, char *argv[]) /* Initialize map projection if gps is valid */ if (!map_projection_global_initialized() - && (gps_position.eph < eph_threshold) - && (gps_position.epv < epv_threshold) - && hrt_elapsed_time((hrt_abstime*)&gps_position.timestamp_position) < 1e6) { + && (gps_position.eph < eph_threshold) + && (gps_position.epv < epv_threshold) + && hrt_elapsed_time((hrt_abstime *)&gps_position.timestamp_position) < 1e6) { /* set reference for global coordinates <--> local coordiantes conversion and map_projection */ - globallocalconverter_init((double)gps_position.lat * 1.0e-7, (double)gps_position.lon * 1.0e-7, (float)gps_position.alt * 1.0e-3f, hrt_absolute_time()); + globallocalconverter_init((double)gps_position.lat * 1.0e-7, (double)gps_position.lon * 1.0e-7, + (float)gps_position.alt * 1.0e-3f, hrt_absolute_time()); + } + + /* check if GPS fix is ok */ + if (status.circuit_breaker_engaged_gpsfailure_check || + (gps_position.fix_type >= 3 && + hrt_elapsed_time(&gps_position.timestamp_position) < FAILSAFE_DEFAULT_TIMEOUT)) { + /* handle the case where gps was regained */ + if (status.gps_failure) { + status.gps_failure = false; + status_changed = true; + mavlink_log_critical(mavlink_fd, "gps regained"); + } + + } else { + if (!status.gps_failure) { + status.gps_failure = true; + status_changed = true; + mavlink_log_critical(mavlink_fd, "gps fix lost"); + } } /* start mission result check */ @@ -1358,10 +1511,30 @@ int commander_thread_main(int argc, char *argv[]) if (updated) { orb_copy(ORB_ID(mission_result), mission_result_sub, &mission_result); + + /* Check for geofence violation */ + if (armed.armed && (mission_result.geofence_violated || mission_result.flight_termination)) { + //XXX: make this configurable to select different actions (e.g. navigation modes) + /* this will only trigger if geofence is activated via param and a geofence file is present, also there is a circuit breaker to disable the actual flight termination in the px4io driver */ + armed.force_failsafe = true; + status_changed = true; + static bool flight_termination_printed = false; + + if (!flight_termination_printed) { + warnx("Flight termination because of navigator request or geofence"); + mavlink_log_critical(mavlink_fd, "GF violation: flight termination"); + flight_termination_printed = true; + } + + if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) { + mavlink_log_critical(mavlink_fd, "GF violation: flight termination"); + } + } // no reset is done here on purpose, on geofence violation we want to stay in flighttermination } /* RC input check */ - if (!status.rc_input_blocked && sp_man.timestamp != 0 && hrt_absolute_time() < sp_man.timestamp + RC_TIMEOUT) { + if (!status.rc_input_blocked && sp_man.timestamp != 0 && + hrt_absolute_time() < sp_man.timestamp + (uint64_t)(rc_loss_timeout * 1e6f)) { /* handle the case where RC signal was regained */ if (!status.rc_signal_found_once) { status.rc_signal_found_once = true; @@ -1386,11 +1559,15 @@ int commander_thread_main(int argc, char *argv[]) if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) { /* disarm to STANDBY if ARMED or to STANDBY_ERROR if ARMED_ERROR */ - arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR); - arming_ret = arming_state_transition(&status, &safety, new_arming_state, &armed, true /* fRunPreArmChecks */, mavlink_fd); + arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : + ARMING_STATE_STANDBY_ERROR); + arming_ret = arming_state_transition(&status, &safety, new_arming_state, &armed, true /* fRunPreArmChecks */, + mavlink_fd); + if (arming_ret == TRANSITION_CHANGED) { arming_state_changed = true; } + stick_off_counter = 0; } else { @@ -1412,8 +1589,11 @@ int commander_thread_main(int argc, char *argv[]) */ if (status.main_state != MAIN_STATE_MANUAL) { print_reject_arm("NOT ARMING: Switch to MANUAL mode first."); + } else { - arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed, true /* fRunPreArmChecks */, mavlink_fd); + arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed, true /* fRunPreArmChecks */, + mavlink_fd); + if (arming_ret == TRANSITION_CHANGED) { arming_state_changed = true; } @@ -1436,6 +1616,7 @@ int commander_thread_main(int argc, char *argv[]) } else { mavlink_log_info(mavlink_fd, "DISARMED by RC"); } + arming_state_changed = true; } else if (arming_ret == TRANSITION_DENIED) { @@ -1471,16 +1652,29 @@ int commander_thread_main(int argc, char *argv[]) /* data links check */ bool have_link = false; + for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) { - if (telemetry_last_heartbeat[i] != 0 && hrt_elapsed_time(&telemetry_last_heartbeat[i]) < DL_TIMEOUT) { - /* handle the case where data link was regained */ - if (telemetry_lost[i]) { + if (telemetry_last_heartbeat[i] != 0 && + hrt_elapsed_time(&telemetry_last_heartbeat[i]) < datalink_loss_timeout * 1e6) { + /* handle the case where data link was regained, + * accept datalink as healthy only after datalink_regain_timeout seconds + * */ + if (telemetry_lost[i] && + hrt_elapsed_time(&telemetry_last_dl_loss[i]) > datalink_regain_timeout * 1e6) { + mavlink_log_critical(mavlink_fd, "data link %i regained", i); telemetry_lost[i] = false; + have_link = true; + + } else if (!telemetry_lost[i]) { + /* telemetry was healthy also in last iteration + * we don't have to check a timeout */ + have_link = true; } - have_link = true; } else { + telemetry_last_dl_loss[i] = hrt_absolute_time(); + if (!telemetry_lost[i]) { mavlink_log_critical(mavlink_fd, "data link %i lost", i); telemetry_lost[i] = true; @@ -1499,10 +1693,42 @@ int commander_thread_main(int argc, char *argv[]) if (!status.data_link_lost) { mavlink_log_critical(mavlink_fd, "ALL DATA LINKS LOST"); status.data_link_lost = true; + status.data_link_lost_counter++; status_changed = true; } } + /* Check engine failure + * only for fixed wing for now + */ + if (!status.circuit_breaker_engaged_enginefailure_check && + status.is_rotary_wing == false && + armed.armed && + ((actuator_controls.control[3] > ef_throttle_thres && + battery.current_a / actuator_controls.control[3] < + ef_current2throttle_thres) || + (status.engine_failure))) { + /* potential failure, measure time */ + if (timestamp_engine_healthy > 0 && + hrt_elapsed_time(×tamp_engine_healthy) > + ef_time_thres * 1e6 && + !status.engine_failure) { + status.engine_failure = true; + status_changed = true; + mavlink_log_critical(mavlink_fd, "Engine Failure"); + } + + } else { + /* no failure reset flag */ + timestamp_engine_healthy = hrt_absolute_time(); + + if (status.engine_failure) { + status.engine_failure = false; + status_changed = true; + } + } + + /* handle commands last, as the system needs to be updated to handle them */ orb_check(cmd_sub, &updated); @@ -1516,6 +1742,57 @@ int commander_thread_main(int argc, char *argv[]) } } + /* Check for failure combinations which lead to flight termination */ + if (armed.armed) { + /* At this point the data link and the gps system have been checked + * If we are not in a manual (RC stick controlled mode) + * and both failed we want to terminate the flight */ + if (status.main_state != MAIN_STATE_MANUAL && + status.main_state != MAIN_STATE_ACRO && + status.main_state != MAIN_STATE_ALTCTL && + status.main_state != MAIN_STATE_POSCTL && + ((status.data_link_lost && status.gps_failure) || + (status.data_link_lost_cmd && status.gps_failure_cmd))) { + armed.force_failsafe = true; + status_changed = true; + static bool flight_termination_printed = false; + + if (!flight_termination_printed) { + warnx("Flight termination because of data link loss && gps failure"); + mavlink_log_critical(mavlink_fd, "DL and GPS lost: flight termination"); + flight_termination_printed = true; + } + + if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) { + mavlink_log_critical(mavlink_fd, "DL and GPS lost: flight termination"); + } + } + + /* At this point the rc signal and the gps system have been checked + * If we are in manual (controlled with RC): + * if both failed we want to terminate the flight */ + if ((status.main_state == MAIN_STATE_ACRO || + status.main_state == MAIN_STATE_MANUAL || + status.main_state == MAIN_STATE_ALTCTL || + status.main_state == MAIN_STATE_POSCTL) && + ((status.rc_signal_lost && status.gps_failure) || + (status.rc_signal_lost_cmd && status.gps_failure_cmd))) { + armed.force_failsafe = true; + status_changed = true; + static bool flight_termination_printed = false; + + if (!flight_termination_printed) { + warnx("Flight termination because of RC signal loss && gps failure"); + flight_termination_printed = true; + } + + if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) { + mavlink_log_critical(mavlink_fd, "RC and GPS lost: flight termination"); + } + } + } + + hrt_abstime t1 = hrt_absolute_time(); /* print new state */ @@ -1550,6 +1827,7 @@ int commander_thread_main(int argc, char *argv[]) /* mark home position as set */ status.condition_home_position_valid = true; } + arming_state_changed = false; } @@ -1557,7 +1835,8 @@ int commander_thread_main(int argc, char *argv[]) /* now set navigation state according to failsafe and main state */ bool nav_state_changed = set_nav_state(&status, (bool)datalink_loss_enabled, - mission_result.finished); + mission_result.finished, + mission_result.stay_in_failsafe); // TODO handle mode changes by commands if (main_state_changed) { @@ -1593,7 +1872,8 @@ int commander_thread_main(int argc, char *argv[]) } /* play arming and battery warning tunes */ - if (!arm_tune_played && armed.armed && (!safety.safety_switch_available || (safety.safety_switch_available && safety.safety_off))) { + if (!arm_tune_played && armed.armed && (!safety.safety_switch_available || (safety.safety_switch_available + && safety.safety_off))) { /* play tune when armed */ set_tune(TONE_ARMING_WARNING_TUNE); arm_tune_played = true; @@ -1763,9 +2043,15 @@ set_main_state_rc(struct vehicle_status_s *status_local, struct manual_control_s /* set main state according to RC switches */ transition_result_t res = TRANSITION_DENIED; + /* if offboard is set allready by a mavlink command, abort */ + if (status.offboard_control_set_by_command) { + return main_state_transition(status_local, MAIN_STATE_OFFBOARD); + } + /* offboard switch overrides main switch */ if (sp_man->offboard_switch == SWITCH_POS_ON) { res = main_state_transition(status_local, MAIN_STATE_OFFBOARD); + if (res == TRANSITION_DENIED) { print_reject_mode(status_local, "OFFBOARD"); @@ -1787,6 +2073,7 @@ set_main_state_rc(struct vehicle_status_s *status_local, struct manual_control_s } else { res = main_state_transition(status_local, MAIN_STATE_MANUAL); } + // TRANSITION_DENIED is not possible here break; @@ -1801,7 +2088,7 @@ set_main_state_rc(struct vehicle_status_s *status_local, struct manual_control_s print_reject_mode(status_local, "POSCTL"); } - // fallback to ALTCTL + // fallback to ALTCTL res = main_state_transition(status_local, MAIN_STATE_ALTCTL); if (res != TRANSITION_DENIED) { @@ -1825,14 +2112,14 @@ set_main_state_rc(struct vehicle_status_s *status_local, struct manual_control_s break; // changed successfully or already in this state } - print_reject_mode(status_local, "AUTO_RTL"); + print_reject_mode(status_local, "AUTO_RTL"); - // fallback to LOITER if home position not set - res = main_state_transition(status_local, MAIN_STATE_AUTO_LOITER); + // fallback to LOITER if home position not set + res = main_state_transition(status_local, MAIN_STATE_AUTO_LOITER); - if (res != TRANSITION_DENIED) { - break; // changed successfully or already in this state - } + if (res != TRANSITION_DENIED) { + break; // changed successfully or already in this state + } } else if (sp_man->loiter_switch == SWITCH_POS_ON) { res = main_state_transition(status_local, MAIN_STATE_AUTO_LOITER); @@ -1841,7 +2128,7 @@ set_main_state_rc(struct vehicle_status_s *status_local, struct manual_control_s break; // changed successfully or already in this state } - print_reject_mode(status_local, "AUTO_LOITER"); + print_reject_mode(status_local, "AUTO_LOITER"); } else { res = main_state_transition(status_local, MAIN_STATE_AUTO_MISSION); @@ -1850,22 +2137,22 @@ set_main_state_rc(struct vehicle_status_s *status_local, struct manual_control_s break; // changed successfully or already in this state } - print_reject_mode(status_local, "AUTO_MISSION"); + print_reject_mode(status_local, "AUTO_MISSION"); - // fallback to LOITER if home position not set - res = main_state_transition(status_local, MAIN_STATE_AUTO_LOITER); + // fallback to LOITER if home position not set + res = main_state_transition(status_local, MAIN_STATE_AUTO_LOITER); - if (res != TRANSITION_DENIED) { - break; // changed successfully or already in this state - } + if (res != TRANSITION_DENIED) { + break; // changed successfully or already in this state + } } - // fallback to POSCTL - res = main_state_transition(status_local, MAIN_STATE_POSCTL); + // fallback to POSCTL + res = main_state_transition(status_local, MAIN_STATE_POSCTL); - if (res != TRANSITION_DENIED) { - break; // changed successfully or already in this state - } + if (res != TRANSITION_DENIED) { + break; // changed successfully or already in this state + } // fallback to ALTCTL res = main_state_transition(status_local, MAIN_STATE_ALTCTL); @@ -1947,6 +2234,7 @@ set_control_mode() control_mode.flag_control_position_enabled = false; control_mode.flag_control_velocity_enabled = false; break; + case OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE: control_mode.flag_control_rates_enabled = true; control_mode.flag_control_attitude_enabled = true; @@ -1955,22 +2243,30 @@ set_control_mode() control_mode.flag_control_position_enabled = false; control_mode.flag_control_velocity_enabled = false; break; - case OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY: + + case OFFBOARD_CONTROL_MODE_DIRECT_FORCE: control_mode.flag_control_rates_enabled = true; - control_mode.flag_control_attitude_enabled = true; - control_mode.flag_control_altitude_enabled = true; /* XXX: hack for now */ - control_mode.flag_control_climb_rate_enabled = true; - control_mode.flag_control_position_enabled = true; /* XXX: hack for now */ - control_mode.flag_control_velocity_enabled = true; + control_mode.flag_control_attitude_enabled = false; + control_mode.flag_control_force_enabled = true; + control_mode.flag_control_altitude_enabled = false; + control_mode.flag_control_climb_rate_enabled = false; + control_mode.flag_control_position_enabled = false; + control_mode.flag_control_velocity_enabled = false; break; - case OFFBOARD_CONTROL_MODE_DIRECT_POSITION: + + case OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED: + case OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_OFFSET_NED: + case OFFBOARD_CONTROL_MODE_DIRECT_BODY_NED: + case OFFBOARD_CONTROL_MODE_DIRECT_BODY_OFFSET_NED: control_mode.flag_control_rates_enabled = true; control_mode.flag_control_attitude_enabled = true; control_mode.flag_control_altitude_enabled = true; control_mode.flag_control_climb_rate_enabled = true; control_mode.flag_control_position_enabled = true; control_mode.flag_control_velocity_enabled = true; + //XXX: the flags could depend on sp_offboard.ignore break; + default: control_mode.flag_control_rates_enabled = false; control_mode.flag_control_attitude_enabled = false; @@ -1979,6 +2275,7 @@ set_control_mode() control_mode.flag_control_position_enabled = false; control_mode.flag_control_velocity_enabled = false; } + break; case NAVIGATION_STATE_POSCTL: @@ -1997,6 +2294,7 @@ set_control_mode() case NAVIGATION_STATE_AUTO_LOITER: case NAVIGATION_STATE_AUTO_RTL: case NAVIGATION_STATE_AUTO_RTGS: + case NAVIGATION_STATE_AUTO_LANDENGFAIL: control_mode.flag_control_manual_enabled = false; control_mode.flag_control_auto_enabled = true; control_mode.flag_control_rates_enabled = true; @@ -2008,6 +2306,18 @@ set_control_mode() control_mode.flag_control_termination_enabled = false; break; + case NAVIGATION_STATE_AUTO_LANDGPSFAIL: + control_mode.flag_control_manual_enabled = false; + control_mode.flag_control_auto_enabled = false; + control_mode.flag_control_rates_enabled = true; + control_mode.flag_control_attitude_enabled = true; + control_mode.flag_control_altitude_enabled = false; + control_mode.flag_control_climb_rate_enabled = true; + control_mode.flag_control_position_enabled = false; + control_mode.flag_control_velocity_enabled = false; + control_mode.flag_control_termination_enabled = false; + break; + case NAVIGATION_STATE_LAND: control_mode.flag_control_manual_enabled = false; control_mode.flag_control_auto_enabled = true; @@ -2175,7 +2485,8 @@ void *commander_low_prio_loop(void *arg) int calib_ret = ERROR; /* try to go to INIT/PREFLIGHT arming state */ - if (TRANSITION_DENIED == arming_state_transition(&status, &safety, ARMING_STATE_INIT, &armed, true /* fRunPreArmChecks */, mavlink_fd)) { + if (TRANSITION_DENIED == arming_state_transition(&status, &safety, ARMING_STATE_INIT, &armed, + true /* fRunPreArmChecks */, mavlink_fd)) { answer_command(cmd, VEHICLE_CMD_RESULT_DENIED); break; } diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c index dba68700b..1b0c4258b 100644 --- a/src/modules/commander/commander_params.c +++ b/src/modules/commander/commander_params.c @@ -105,3 +105,69 @@ PARAM_DEFINE_FLOAT(BAT_CAPACITY, -1.0f); * @max 1 */ PARAM_DEFINE_INT32(COM_DL_LOSS_EN, 0); + + /** Datalink loss time threshold + * + * After this amount of seconds without datalink the data link lost mode triggers + * + * @group commander + * @unit second + * @min 0 + * @max 30 + */ +PARAM_DEFINE_INT32(COM_DL_LOSS_T, 10); + +/** Datalink regain time threshold + * + * After a data link loss: after this this amount of seconds with a healthy datalink the 'datalink loss' + * flag is set back to false + * + * @group commander + * @unit second + * @min 0 + * @max 30 + */ +PARAM_DEFINE_INT32(COM_DL_REG_T, 0); + +/** Engine Failure Throttle Threshold + * + * Engine failure triggers only above this throttle value + * + * @group commander + * @min 0.0f + * @max 1.0f + */ +PARAM_DEFINE_FLOAT(COM_EF_THROT, 0.5f); + +/** Engine Failure Current/Throttle Threshold + * + * Engine failure triggers only below this current/throttle value + * + * @group commander + * @min 0.0f + * @max 7.0f + */ +PARAM_DEFINE_FLOAT(COM_EF_C2T, 5.0f); + +/** Engine Failure Time Threshold + * + * Engine failure triggers only if the throttle threshold and the + * current to throttle threshold are violated for this time + * + * @group commander + * @unit second + * @min 0.0f + * @max 7.0f + */ +PARAM_DEFINE_FLOAT(COM_EF_TIME, 10.0f); + +/** RC loss time threshold + * + * After this amount of seconds without RC connection the rc lost flag is set to true + * + * @group commander + * @unit second + * @min 0 + * @max 35 + */ +PARAM_DEFINE_FLOAT(COM_RC_LOSS_T, 0.5); diff --git a/src/modules/commander/commander_tests/commander_tests.cpp b/src/modules/commander/commander_tests/commander_tests.cpp index 0abb84a82..2bfa5d0bb 100644 --- a/src/modules/commander/commander_tests/commander_tests.cpp +++ b/src/modules/commander/commander_tests/commander_tests.cpp @@ -48,7 +48,5 @@ extern "C" __EXPORT int commander_tests_main(int argc, char *argv[]); int commander_tests_main(int argc, char *argv[]) { - stateMachineHelperTest(); - - return 0; + return stateMachineHelperTest() ? 0 : -1; } diff --git a/src/modules/commander/commander_tests/state_machine_helper_test.cpp b/src/modules/commander/commander_tests/state_machine_helper_test.cpp index 08dda2fab..874090e93 100644 --- a/src/modules/commander/commander_tests/state_machine_helper_test.cpp +++ b/src/modules/commander/commander_tests/state_machine_helper_test.cpp @@ -49,7 +49,7 @@ public: StateMachineHelperTest(); virtual ~StateMachineHelperTest(); - virtual void runTests(void); + virtual bool run_tests(void); private: bool armingStateTransitionTest(); @@ -488,16 +488,13 @@ bool StateMachineHelperTest::isSafeTest(void) return true; } -void StateMachineHelperTest::runTests(void) +bool StateMachineHelperTest::run_tests(void) { ut_run_test(armingStateTransitionTest); ut_run_test(mainStateTransitionTest); ut_run_test(isSafeTest); + + return (_tests_failed == 0); } -void stateMachineHelperTest(void) -{ - StateMachineHelperTest* test = new StateMachineHelperTest(); - test->runTests(); - test->printResults(); -} +ut_declare_test(stateMachineHelperTest, StateMachineHelperTest)
\ No newline at end of file diff --git a/src/modules/commander/commander_tests/state_machine_helper_test.h b/src/modules/commander/commander_tests/state_machine_helper_test.h index bbf66255e..cf6719095 100644 --- a/src/modules/commander/commander_tests/state_machine_helper_test.h +++ b/src/modules/commander/commander_tests/state_machine_helper_test.h @@ -39,6 +39,6 @@ #ifndef STATE_MACHINE_HELPER_TEST_H_ #define STATE_MACHINE_HELPER_TEST_ -void stateMachineHelperTest(void); +bool stateMachineHelperTest(void); #endif /* STATE_MACHINE_HELPER_TEST_H_ */ diff --git a/src/modules/commander/gyro_calibration.cpp b/src/modules/commander/gyro_calibration.cpp index d89c67c2b..8ab14dd52 100644 --- a/src/modules/commander/gyro_calibration.cpp +++ b/src/modules/commander/gyro_calibration.cpp @@ -63,7 +63,10 @@ static const char *sensor_name = "gyro"; int do_gyro_calibration(int mavlink_fd) { mavlink_log_info(mavlink_fd, CAL_STARTED_MSG, sensor_name); - mavlink_log_info(mavlink_fd, "don't move system"); + mavlink_log_info(mavlink_fd, "HOLD STILL"); + + /* wait for the user to respond */ + sleep(2); struct gyro_scale gyro_scale = { 0.0f, diff --git a/src/modules/commander/mag_calibration.cpp b/src/modules/commander/mag_calibration.cpp index 23900f386..7be8de9c6 100644 --- a/src/modules/commander/mag_calibration.cpp +++ b/src/modules/commander/mag_calibration.cpp @@ -155,7 +155,7 @@ int do_mag_calibration(int mavlink_fd) uint64_t calibration_deadline = hrt_absolute_time() + calibration_interval; unsigned poll_errcount = 0; - mavlink_log_info(mavlink_fd, "rotate in a figure 8 around all axis"); + mavlink_log_info(mavlink_fd, "Turn on all sides: front/back,left/right,up/down"); calibration_counter = 0; diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 684c61a17..9568752ae 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -443,7 +443,8 @@ transition_result_t hil_state_transition(hil_state_t new_state, int status_pub, /** * Check failsafe and main status and set navigation status for navigator accordingly */ -bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_enabled, const bool mission_finished) +bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_enabled, const bool mission_finished, + const bool stay_in_failsafe) { navigation_state_t nav_state_old = status->nav_state; @@ -457,11 +458,11 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en case MAIN_STATE_ALTCTL: case MAIN_STATE_POSCTL: /* require RC for all manual modes */ - if (status->rc_signal_lost && armed) { + if ((status->rc_signal_lost || status->rc_signal_lost_cmd) && armed) { status->failsafe = true; if (status->condition_global_position_valid && status->condition_home_position_valid) { - status->nav_state = NAVIGATION_STATE_AUTO_RTL; + status->nav_state = NAVIGATION_STATE_AUTO_RCRECOVER; } else if (status->condition_local_position_valid) { status->nav_state = NAVIGATION_STATE_LAND; } else if (status->condition_local_altitude_valid) { @@ -497,14 +498,29 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en case MAIN_STATE_AUTO_MISSION: /* go into failsafe + * - if commanded to do so + * - if we have an engine failure * - if either the datalink is enabled and lost as well as RC is lost * - if there is no datalink and the mission is finished */ - if (((status->data_link_lost && data_link_loss_enabled) && status->rc_signal_lost) || + if (status->engine_failure_cmd) { + status->nav_state = NAVIGATION_STATE_AUTO_LANDENGFAIL; + } else if (status->data_link_lost_cmd) { + status->nav_state = NAVIGATION_STATE_AUTO_RTGS; + } else if (status->gps_failure_cmd) { + status->nav_state = NAVIGATION_STATE_AUTO_LANDGPSFAIL; + } else if (status->rc_signal_lost_cmd) { + status->nav_state = NAVIGATION_STATE_AUTO_RTGS; //XXX + /* Finished handling commands which have priority , now handle failures */ + } else if (status->gps_failure) { + status->nav_state = NAVIGATION_STATE_AUTO_LANDGPSFAIL; + } else if (status->engine_failure) { + status->nav_state = NAVIGATION_STATE_AUTO_LANDENGFAIL; + } else if (((status->data_link_lost && data_link_loss_enabled) && status->rc_signal_lost) || (!data_link_loss_enabled && status->rc_signal_lost && mission_finished)) { status->failsafe = true; if (status->condition_global_position_valid && status->condition_home_position_valid) { - status->nav_state = NAVIGATION_STATE_AUTO_RTL; + status->nav_state = NAVIGATION_STATE_AUTO_RTGS; } else if (status->condition_local_position_valid) { status->nav_state = NAVIGATION_STATE_LAND; } else if (status->condition_local_altitude_valid) { @@ -528,31 +544,20 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en } /* don't bother if RC is lost and mission is not yet finished */ - } else if (status->rc_signal_lost) { + } else if (status->rc_signal_lost && !stay_in_failsafe) { /* this mode is ok, we don't need RC for missions */ status->nav_state = NAVIGATION_STATE_AUTO_MISSION; - } else { + } else if (!stay_in_failsafe){ /* everything is perfect */ status->nav_state = NAVIGATION_STATE_AUTO_MISSION; } break; case MAIN_STATE_AUTO_LOITER: - /* go into failsafe if datalink and RC is lost */ - if ((status->data_link_lost && data_link_loss_enabled) && status->rc_signal_lost) { - status->failsafe = true; - - if (status->condition_global_position_valid && status->condition_home_position_valid) { - status->nav_state = NAVIGATION_STATE_AUTO_RTL; - } else if (status->condition_local_position_valid) { - status->nav_state = NAVIGATION_STATE_LAND; - } else if (status->condition_local_altitude_valid) { - status->nav_state = NAVIGATION_STATE_DESCEND; - } else { - status->nav_state = NAVIGATION_STATE_TERMINATION; - } - + /* go into failsafe on a engine failure */ + if (status->engine_failure) { + status->nav_state = NAVIGATION_STATE_AUTO_LANDENGFAIL; /* also go into failsafe if just datalink is lost */ } else if (status->data_link_lost && data_link_loss_enabled) { status->failsafe = true; @@ -593,8 +598,12 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en break; case MAIN_STATE_AUTO_RTL: - /* require global position and home */ - if ((!status->condition_global_position_valid || !status->condition_home_position_valid)) { + /* require global position and home, also go into failsafe on an engine failure */ + + if (status->engine_failure) { + status->nav_state = NAVIGATION_STATE_AUTO_LANDENGFAIL; + } else if ((!status->condition_global_position_valid || + !status->condition_home_position_valid)) { status->failsafe = true; if (status->condition_local_position_valid) { diff --git a/src/modules/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h index 69ce8bbce..61d0f29d0 100644 --- a/src/modules/commander/state_machine_helper.h +++ b/src/modules/commander/state_machine_helper.h @@ -63,7 +63,7 @@ transition_result_t main_state_transition(struct vehicle_status_s *current_state transition_result_t hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_status_s *current_state, const int mavlink_fd); -bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_enabled, const bool mission_finished); +bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_enabled, const bool mission_finished, const bool stay_in_failsafe); int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd); diff --git a/src/modules/dataman/dataman.c b/src/modules/dataman/dataman.c index ca1fe9bbb..b2355d4d8 100644 --- a/src/modules/dataman/dataman.c +++ b/src/modules/dataman/dataman.c @@ -797,7 +797,7 @@ start(void) sem_init(&g_init_sema, 1, 0); /* start the worker thread */ - if ((task = task_spawn_cmd("dataman", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 2000, task_main, NULL)) <= 0) { + if ((task = task_spawn_cmd("dataman", SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT, 2000, task_main, NULL)) <= 0) { warn("task start failed"); return -1; } diff --git a/src/modules/dataman/module.mk b/src/modules/dataman/module.mk index 234607b3d..7ebe09fb7 100644 --- a/src/modules/dataman/module.mk +++ b/src/modules/dataman/module.mk @@ -40,3 +40,5 @@ MODULE_COMMAND = dataman SRCS = dataman.c MODULE_STACKSIZE = 1200 + +MAXOPTIMIZATION = -Os diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp index 97abb76a9..685f5e12f 100644 --- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp +++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp @@ -382,6 +382,7 @@ FixedwingEstimator::FixedwingEstimator() : _local_pos({}), _gps({}), _wind({}), + _distance{}, _gyro_offsets({}), _accel_offsets({}), @@ -596,12 +597,12 @@ FixedwingEstimator::check_filter_state() const char* const feedback[] = { 0, "NaN in states, resetting", - "stale IMU data, resetting", + "stale sensor data, resetting", "got initial position lock", "excessive gyro offsets", - "GPS velocity divergence", + "velocity diverted, check accel config", "excessive covariances", - "unknown condition"}; + "unknown condition, resetting"}; // Print out error condition if (check) { @@ -613,7 +614,7 @@ FixedwingEstimator::check_filter_state() } warnx("reset: %s", feedback[warn_index]); - mavlink_log_critical(_mavlink_fd, "[ekf] re-init: %s", feedback[warn_index]); + mavlink_log_critical(_mavlink_fd, "[ekf check] %s", feedback[warn_index]); } struct estimator_status_report rep; @@ -782,7 +783,7 @@ FixedwingEstimator::task_main() while (!_task_should_exit) { - /* wait for up to 500ms for data */ + /* wait for up to 100ms for data */ int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100); /* timed out - periodic check for _task_should_exit, etc. */ @@ -1084,7 +1085,7 @@ FixedwingEstimator::task_main() float baro_elapsed = (_baro.timestamp - baro_last) / 1e6f; - _ekf->updateDtHgtFilt(math::constrain(baro_elapsed, 0.001f, 0.1)); + _ekf->updateDtHgtFilt(math::constrain(baro_elapsed, 0.001f, 0.1f)); _ekf->baroHgt = _baro.altitude; @@ -1369,7 +1370,7 @@ FixedwingEstimator::task_main() if (newRangeData) { _ekf->fuseRngData = true; _ekf->useRangeFinder = true; - _ekf->RecallStates(_ekf->statesAtRngTime, (IMUmsec - 500.0f)); + _ekf->RecallStates(_ekf->statesAtRngTime, (IMUmsec - 100.0f)); _ekf->GroundEKF(); } diff --git a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp index 94a6d165f..c17e034ad 100644 --- a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp +++ b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp @@ -119,6 +119,7 @@ AttPosEKF::AttPosEKF() : inhibitWindStates(true), inhibitMagStates(true), inhibitGndState(true), + inhibitScaleState(true), onGround(true), staticMode(true), @@ -2560,15 +2561,15 @@ void AttPosEKF::CovarianceInit() P[22][22] = sq(0.5f); } -float AttPosEKF::ConstrainFloat(float val, float min, float max) +float AttPosEKF::ConstrainFloat(float val, float min_val, float max_val) { float ret; - if (val > max) { - ret = max; - ekf_debug("> max: %8.4f, val: %8.4f", (double)max, (double)val); - } else if (val < min) { - ret = min; - ekf_debug("< min: %8.4f, val: %8.4f", (double)min, (double)val); + if (val > max_val) { + ret = max_val; + ekf_debug("> max: %8.4f, val: %8.4f", (double)max_val, (double)val); + } else if (val < min_val) { + ret = min_val; + ekf_debug("< min: %8.4f, val: %8.4f", (double)min_val, (double)val); } else { ret = val; } 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 5cff390e2..80b58ec71 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -721,8 +721,14 @@ void FixedwingAttitudeControl::task_main() { float pitch_sp = _parameters.pitchsp_offset_rad; float throttle_sp = 0.0f; - if (_vcontrol_mode.flag_control_velocity_enabled - || _vcontrol_mode.flag_control_position_enabled) { + /* Read attitude setpoint from uorb if + * - velocity control or position control is enabled (pos controller is running) + * - manual control is disabled (another app may send the setpoint, but it should + * for sure not be set from the remote control values) + */ + if (_vcontrol_mode.flag_control_velocity_enabled || + _vcontrol_mode.flag_control_position_enabled || + !_vcontrol_mode.flag_control_manual_enabled) { /* read in attitude setpoint from attitude setpoint uorb topic */ roll_sp = _att_sp.roll_body + _parameters.rollsp_offset_rad; pitch_sp = _att_sp.pitch_body @@ -890,9 +896,13 @@ void FixedwingAttitudeControl::task_main() { } } - /* throttle passed through */ - _actuators.control[3] = - (isfinite(throttle_sp)) ? throttle_sp : 0.0f; + + /* throttle passed through if it is finite and if no engine failure was + * detected */ + _actuators.control[3] = (isfinite(throttle_sp) && + !(_vehicle_status.engine_failure || + _vehicle_status.engine_failure_cmd)) ? + throttle_sp : 0.0f; if (!isfinite(throttle_sp)) { if (_debug && loop_counter % 10 == 0) { warnx("throttle_sp %.4f", (double) throttle_sp); diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index 23167eef4..6017369aa 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -88,7 +88,6 @@ #include <launchdetection/LaunchDetector.h> #include <ecl/l1/ecl_l1_pos_controller.h> #include <external_lgpl/tecs/tecs.h> -#include <drivers/drv_range_finder.h> #include "landingslope.h" #include "mtecs/mTecs.h" @@ -141,11 +140,11 @@ private: int _pos_sp_triplet_sub; int _att_sub; /**< vehicle attitude subscription */ int _airspeed_sub; /**< airspeed subscription */ - int _control_mode_sub; /**< vehicle status subscription */ + int _control_mode_sub; /**< control mode subscription */ + int _vehicle_status_sub; /**< vehicle status subscription */ int _params_sub; /**< notification of parameter updates */ int _manual_control_sub; /**< notification of manual control updates */ int _sensor_combined_sub; /**< for body frame accelerations */ - int _range_finder_sub; /**< range finder subscription */ orb_advert_t _attitude_sp_pub; /**< attitude setpoint */ orb_advert_t _tecs_status_pub; /**< TECS status publication */ @@ -156,21 +155,21 @@ private: struct navigation_capabilities_s _nav_capabilities; /**< navigation capabilities */ struct manual_control_setpoint_s _manual; /**< r/c channel data */ struct airspeed_s _airspeed; /**< airspeed */ - struct vehicle_control_mode_s _control_mode; /**< vehicle status */ + struct vehicle_control_mode_s _control_mode; /**< control mode */ + struct vehicle_status_s _vehicle_status; /**< vehicle status */ struct vehicle_global_position_s _global_pos; /**< global vehicle position */ struct position_setpoint_triplet_s _pos_sp_triplet; /**< triplet of mission items */ struct sensor_combined_s _sensor_combined; /**< for body frame accelerations */ - struct range_finder_report _range_finder; /**< range finder report */ perf_counter_t _loop_perf; /**< loop performance counter */ /* land states */ - /* not in non-abort mode for landing yet */ bool land_noreturn_horizontal; bool land_noreturn_vertical; bool land_stayonground; bool land_motor_lim; bool land_onslope; + bool land_useterrain; /* takeoff/launch states */ LaunchDetectionResult launch_detection_state; @@ -241,7 +240,9 @@ private: float land_flare_alt_relative; float land_thrust_lim_alt_relative; float land_heading_hold_horizontal_distance; - float range_finder_rel_alt; + float land_flare_pitch_min_deg; + float land_flare_pitch_max_deg; + int land_use_terrain_estimate; } _parameters; /**< local copies of interesting parameters */ @@ -287,7 +288,9 @@ private: param_t land_flare_alt_relative; param_t land_thrust_lim_alt_relative; param_t land_heading_hold_horizontal_distance; - param_t range_finder_rel_alt; + param_t land_flare_pitch_min_deg; + param_t land_flare_pitch_max_deg; + param_t land_use_terrain_estimate; } _parameter_handles; /**< handles for interesting parameters */ @@ -304,20 +307,19 @@ private: void control_update(); /** - * Check for changes in vehicle status. + * Check for changes in control mode */ void vehicle_control_mode_poll(); /** - * Check for airspeed updates. + * Check for changes in vehicle status. */ - bool vehicle_airspeed_poll(); + void vehicle_status_poll(); /** - * Check for range finder updates. + * Check for airspeed updates. */ - bool range_finder_poll(); - + bool vehicle_airspeed_poll(); /** * Check for position updates. @@ -340,9 +342,9 @@ private: void navigation_capabilities_publish(); /** - * Get the relative alt either from the difference between estimate and waypoint or from the laser range finder + * Return the terrain estimate during landing: uses the wp altitude value or the terrain estimate if available */ - float get_relative_landingalt(float land_setpoint_alt, float current_alt, const struct range_finder_report &range_finder, float range_finder_use_relative_alt); + float get_terrain_altitude_landing(float land_setpoint_alt, const struct vehicle_global_position_s &global_pos); /** * Control position. @@ -412,10 +414,10 @@ FixedwingPositionControl::FixedwingPositionControl() : _att_sub(-1), _airspeed_sub(-1), _control_mode_sub(-1), + _vehicle_status_sub(-1), _params_sub(-1), _manual_control_sub(-1), _sensor_combined_sub(-1), - _range_finder_sub(-1), /* publications */ _attitude_sp_pub(-1), @@ -429,10 +431,10 @@ FixedwingPositionControl::FixedwingPositionControl() : _manual(), _airspeed(), _control_mode(), + _vehicle_status(), _global_pos(), _pos_sp_triplet(), _sensor_combined(), - _range_finder(), /* performance counters */ _loop_perf(perf_alloc(PC_ELAPSED, "fw l1 control")), @@ -442,6 +444,7 @@ FixedwingPositionControl::FixedwingPositionControl() : land_stayonground(false), land_motor_lim(false), land_onslope(false), + land_useterrain(false), launch_detection_state(LAUNCHDETECTION_RES_NONE), last_manual(false), landingslope(), @@ -480,7 +483,9 @@ FixedwingPositionControl::FixedwingPositionControl() : _parameter_handles.land_flare_alt_relative = param_find("FW_LND_FLALT"); _parameter_handles.land_thrust_lim_alt_relative = param_find("FW_LND_TLALT"); _parameter_handles.land_heading_hold_horizontal_distance = param_find("FW_LND_HHDIST"); - _parameter_handles.range_finder_rel_alt = param_find("FW_LND_RFRALT"); + _parameter_handles.land_flare_pitch_min_deg = param_find("FW_FLARE_PMIN"); + _parameter_handles.land_flare_pitch_max_deg = param_find("FW_FLARE_PMAX"); + _parameter_handles.land_use_terrain_estimate= param_find("FW_LND_USETER"); _parameter_handles.time_const = param_find("FW_T_TIME_CONST"); _parameter_handles.time_const_throt = param_find("FW_T_THRO_CONST"); @@ -581,8 +586,9 @@ FixedwingPositionControl::parameters_update() } param_get(_parameter_handles.land_heading_hold_horizontal_distance, &(_parameters.land_heading_hold_horizontal_distance)); - - param_get(_parameter_handles.range_finder_rel_alt, &(_parameters.range_finder_rel_alt)); + param_get(_parameter_handles.land_flare_pitch_min_deg, &(_parameters.land_flare_pitch_min_deg)); + param_get(_parameter_handles.land_flare_pitch_max_deg, &(_parameters.land_flare_pitch_max_deg)); + param_get(_parameter_handles.land_use_terrain_estimate, &(_parameters.land_use_terrain_estimate)); _l1_control.set_l1_damping(_parameters.l1_damping); _l1_control.set_l1_period(_parameters.l1_period); @@ -639,16 +645,27 @@ FixedwingPositionControl::parameters_update() void FixedwingPositionControl::vehicle_control_mode_poll() { - bool vstatus_updated; + bool updated; - /* Check HIL state if vehicle status has changed */ - orb_check(_control_mode_sub, &vstatus_updated); + orb_check(_control_mode_sub, &updated); - if (vstatus_updated) { + if (updated) { orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode); } } +void +FixedwingPositionControl::vehicle_status_poll() +{ + bool updated; + + orb_check(_vehicle_status_sub, &updated); + + if (updated) { + orb_copy(ORB_ID(vehicle_status), _vehicle_status_sub, &_vehicle_status); + } +} + bool FixedwingPositionControl::vehicle_airspeed_poll() { @@ -675,20 +692,6 @@ FixedwingPositionControl::vehicle_airspeed_poll() return airspeed_updated; } -bool -FixedwingPositionControl::range_finder_poll() -{ - /* check if there is a range finder measurement */ - bool range_finder_updated; - orb_check(_range_finder_sub, &range_finder_updated); - - if (range_finder_updated) { - orb_copy(ORB_ID(sensor_range_finder), _range_finder_sub, &_range_finder); - } - - return range_finder_updated; -} - void FixedwingPositionControl::vehicle_attitude_poll() { @@ -826,21 +829,23 @@ void FixedwingPositionControl::navigation_capabilities_publish() } } -float FixedwingPositionControl::get_relative_landingalt(float land_setpoint_alt, float current_alt, const struct range_finder_report &range_finder, float range_finder_use_relative_alt) +float FixedwingPositionControl::get_terrain_altitude_landing(float land_setpoint_alt, const struct vehicle_global_position_s &global_pos) { - float rel_alt_estimated = current_alt - land_setpoint_alt; - - /* only use range finder if: - * parameter (range_finder_use_relative_alt) > 0 - * the measurement is valid - * the estimated relative altitude (from global altitude estimate and landing waypoint) <= range_finder_use_relative_alt - */ - if (range_finder_use_relative_alt < 0 || !range_finder.valid || range_finder.distance > range_finder_use_relative_alt ) { - return rel_alt_estimated; + if (!isfinite(global_pos.terrain_alt)) { + return land_setpoint_alt; } - return range_finder.distance; - + /* Decide if the terrain estimation can be used, once we switched to using the terrain we stick with it + * for the whole landing */ + if (_parameters.land_use_terrain_estimate && (global_pos.terrain_alt_valid || land_useterrain)) { + if(!land_useterrain) { + mavlink_log_info(_mavlink_fd, "#audio: Landing, using terrain estimate"); + land_useterrain = true; + } + return global_pos.terrain_alt; + } else { + return land_setpoint_alt; + } } bool @@ -945,10 +950,17 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi } else if (pos_sp_triplet.current.type == SETPOINT_TYPE_LAND) { float bearing_lastwp_currwp = get_bearing_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1)); + float bearing_airplane_currwp = get_bearing_to_next_waypoint(current_position(0), current_position(1), curr_wp(0), curr_wp(1)); /* Horizontal landing control */ /* switch to heading hold for the last meters, continue heading hold after */ float wp_distance = get_distance_to_next_waypoint(current_position(0), current_position(1), curr_wp(0), curr_wp(1)); + /* calculate a waypoint distance value which is 0 when the aircraft is behind the waypoint */ + float wp_distance_save = wp_distance; + if (fabsf(bearing_airplane_currwp - bearing_lastwp_currwp) >= math::radians(90.0f)) { + wp_distance_save = 0.0f; + } + //warnx("wp dist: %d, alt err: %d, noret: %s", (int)wp_distance, (int)altitude_error, (land_noreturn) ? "YES" : "NO"); if (wp_distance < _parameters.land_heading_hold_horizontal_distance || land_noreturn_horizontal) { @@ -984,29 +996,30 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi /* Vertical landing control */ //xxx: using the tecs altitude controller for slope control for now - -// /* do not go down too early */ -// if (wp_distance > 50.0f) { -// altitude_error = (_global_triplet.current.alt + 25.0f) - _global_pos.alt; -// } /* apply minimum pitch (flare) and limit roll if close to touch down, altitude error is negative (going down) */ // XXX this could make a great param - float flare_pitch_angle_rad = -math::radians(5.0f);//math::radians(pos_sp_triplet.current.param1) float throttle_land = _parameters.throttle_min + (_parameters.throttle_max - _parameters.throttle_min) * 0.1f; float airspeed_land = 1.3f * _parameters.airspeed_min; float airspeed_approach = 1.3f * _parameters.airspeed_min; + /* Get an estimate of the terrain altitude if available, otherwise terrain_alt will be + * equal to _pos_sp_triplet.current.alt */ + float terrain_alt = get_terrain_altitude_landing(_pos_sp_triplet.current.alt, _global_pos); + /* Calculate distance (to landing waypoint) and altitude of last ordinary waypoint L */ - float L_altitude_rel = _pos_sp_triplet.previous.valid ? _pos_sp_triplet.previous.alt - _pos_sp_triplet.current.alt : 0.0f; + float L_altitude_rel = _pos_sp_triplet.previous.valid ? + _pos_sp_triplet.previous.alt - terrain_alt : 0.0f; - float bearing_airplane_currwp = get_bearing_to_next_waypoint(current_position(0), current_position(1), curr_wp(0), curr_wp(1)); float landing_slope_alt_rel_desired = landingslope.getLandingSlopeRelativeAltitudeSave(wp_distance, bearing_lastwp_currwp, bearing_airplane_currwp); - float relative_alt = get_relative_landingalt(_pos_sp_triplet.current.alt, _global_pos.alt, _range_finder, _parameters.range_finder_rel_alt); - - if ( (relative_alt < landingslope.flare_relative_alt()) || land_noreturn_vertical) { //checking for land_noreturn to avoid unwanted climb out - + /* Check if we should start flaring with a vertical and a + * horizontal limit (with some tolerance) + * The horizontal limit is only applied when we are in front of the wp + */ + if (((_global_pos.alt < terrain_alt + landingslope.flare_relative_alt()) && + (wp_distance_save < landingslope.flare_length() + 5.0f)) || + land_noreturn_vertical) { //checking for land_noreturn to avoid unwanted climb out /* land with minimal speed */ // /* force TECS to only control speed with pitch, altitude is only implicitely controlled now */ @@ -1015,7 +1028,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi /* kill the throttle if param requests it */ throttle_max = _parameters.throttle_max; - if (relative_alt < landingslope.motor_lim_relative_alt() || land_motor_lim) { + if (_global_pos.alt < terrain_alt + landingslope.motor_lim_relative_alt() || land_motor_lim) { throttle_max = math::min(throttle_max, _parameters.throttle_land_max); if (!land_motor_lim) { land_motor_lim = true; @@ -1033,12 +1046,13 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi land_stayonground = true; } - tecs_update_pitch_throttle(_pos_sp_triplet.current.alt + flare_curve_alt_rel, + tecs_update_pitch_throttle(terrain_alt + flare_curve_alt_rel, calculate_target_airspeed(airspeed_land), eas2tas, - flare_pitch_angle_rad, math::radians(15.0f), + math::radians(_parameters.land_flare_pitch_min_deg), + math::radians(_parameters.land_flare_pitch_max_deg), 0.0f, throttle_max, throttle_land, - false, flare_pitch_angle_rad, - _pos_sp_triplet.current.alt + relative_alt, ground_speed, + false, land_motor_lim ? math::radians(_parameters.land_flare_pitch_min_deg) : math::radians(_parameters.pitch_limit_min), + _global_pos.alt, ground_speed, land_motor_lim ? TECS_MODE_LAND_THROTTLELIM : TECS_MODE_LAND); if (!land_noreturn_vertical) { @@ -1059,8 +1073,8 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi * if current position is below the slope continue at previous wp altitude * until the intersection with slope * */ - float altitude_desired_rel = relative_alt; - if (relative_alt > landing_slope_alt_rel_desired || land_onslope) { + float altitude_desired_rel; + if (_global_pos.alt > terrain_alt + landing_slope_alt_rel_desired || land_onslope) { /* stay on slope */ altitude_desired_rel = landing_slope_alt_rel_desired; if (!land_onslope) { @@ -1069,10 +1083,11 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi } } else { /* continue horizontally */ - altitude_desired_rel = _pos_sp_triplet.previous.valid ? L_altitude_rel : relative_alt; + altitude_desired_rel = _pos_sp_triplet.previous.valid ? L_altitude_rel : + _global_pos.alt - terrain_alt; } - tecs_update_pitch_throttle(_pos_sp_triplet.current.alt + altitude_desired_rel, + tecs_update_pitch_throttle(terrain_alt + altitude_desired_rel, calculate_target_airspeed(airspeed_approach), eas2tas, math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max), @@ -1081,7 +1096,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi _parameters.throttle_cruise, false, math::radians(_parameters.pitch_limit_min), - _pos_sp_triplet.current.alt + relative_alt, + _global_pos.alt, ground_speed); } @@ -1210,16 +1225,20 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi } } - /* Copy thrust and pitch values from tecs - * making sure again that the correct thrust is used, - * without depending on library calls for safety reasons */ - if (pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF && + if (_vehicle_status.engine_failure || _vehicle_status.engine_failure_cmd) { + /* Set thrust to 0 to minimize damage */ + _att_sp.thrust = 0.0f; + } else if (pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF && launch_detection_state != LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS) { + /* making sure again that the correct thrust is used, + * without depending on library calls for safety reasons */ _att_sp.thrust = launchDetector.getThrottlePreTakeoff(); + } else { + /* Copy thrust and pitch values from tecs */ + _att_sp.thrust = math::min(_mTecs.getEnabled() ? _mTecs.getThrottleSetpoint() : + _tecs.get_throttle_demand(), throttle_max); } - else { - _att_sp.thrust = math::min(_mTecs.getEnabled() ? _mTecs.getThrottleSetpoint() : _tecs.get_throttle_demand(), throttle_max); - } + /* During a takeoff waypoint while waiting for launch the pitch sp is set * already (not by tecs) */ if (!(pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF && @@ -1249,13 +1268,15 @@ FixedwingPositionControl::task_main() _att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); _sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined)); _control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); + _vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status)); _airspeed_sub = orb_subscribe(ORB_ID(airspeed)); _params_sub = orb_subscribe(ORB_ID(parameter_update)); _manual_control_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); - _range_finder_sub = orb_subscribe(ORB_ID(sensor_range_finder)); - /* rate limit vehicle status updates to 5Hz */ + /* rate limit control mode updates to 5Hz */ orb_set_interval(_control_mode_sub, 200); + /* rate limit vehicle status updates to 5Hz */ + orb_set_interval(_vehicle_status_sub, 200); /* rate limit position updates to 50 Hz */ orb_set_interval(_global_pos_sub, 20); @@ -1294,9 +1315,12 @@ FixedwingPositionControl::task_main() perf_begin(_loop_perf); - /* check vehicle status for changes to publication state */ + /* check vehicle control mode for changes to publication state */ vehicle_control_mode_poll(); + /* check vehicle status for changes to publication state */ + vehicle_status_poll(); + /* only update parameters if they changed */ if (fds[0].revents & POLLIN) { /* read from param to clear updated flag */ @@ -1326,7 +1350,6 @@ FixedwingPositionControl::task_main() vehicle_setpoint_poll(); vehicle_sensor_combined_poll(); vehicle_airspeed_poll(); - range_finder_poll(); // vehicle_baro_poll(); math::Vector<3> ground_speed(_global_pos.vel_n, _global_pos.vel_e, _global_pos.vel_d); @@ -1390,6 +1413,7 @@ void FixedwingPositionControl::reset_landing_state() land_stayonground = false; land_motor_lim = false; land_onslope = false; + land_useterrain = false; } void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_sp, float eas2tas, @@ -1408,7 +1432,12 @@ void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_ flightPathAngle = -asinf(ground_speed(2)/ground_speed_length); } fwPosctrl::LimitOverride limitOverride; - if (climbout_mode) { + if (_vehicle_status.engine_failure || _vehicle_status.engine_failure_cmd) { + /* Force the slow downwards spiral */ + limitOverride.enablePitchMinOverride(-1.0f); + limitOverride.enablePitchMaxOverride(5.0f); + + } else if (climbout_mode) { limitOverride.enablePitchMinOverride(M_RAD_TO_DEG_F * climbout_pitch_min_rad); } else { limitOverride.disablePitchMinOverride(); @@ -1424,7 +1453,13 @@ void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_ _mTecs.updateAltitudeSpeed(flightPathAngle, altitude, alt_sp, _airspeed.true_airspeed_m_s, v_sp, mode, limitOverride); } else { - /* No underspeed protection in landing mode */ + if (_vehicle_status.engine_failure || _vehicle_status.engine_failure_cmd) { + /* Force the slow downwards spiral */ + pitch_min_rad = M_DEG_TO_RAD_F * -1.0f; + pitch_max_rad = M_DEG_TO_RAD_F * 5.0f; + } + +/* No underspeed protection in landing mode */ _tecs.set_detect_underspeed_enabled(!(mode == TECS_MODE_LAND || mode == TECS_MODE_LAND_THROTTLELIM)); /* Using tecs library */ diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c index 847ecbb5c..c00d82232 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c @@ -412,12 +412,28 @@ PARAM_DEFINE_FLOAT(FW_LND_TLALT, -1.0f); PARAM_DEFINE_FLOAT(FW_LND_HHDIST, 15.0f); /** - * Relative altitude threshold for range finder measurements for use during landing + * Enable or disable usage of terrain estimate during landing * - * range finder measurements will only be used if the estimated relative altitude (gobal_pos.alt - landing_waypoint.alt) is < FW_LND_RFRALT - * set to < 0 to disable - * the correct value of this parameter depends on your range measuring device as well as on the terrain at the landing location + * 0: disabled, 1: enabled * * @group L1 Control */ -PARAM_DEFINE_FLOAT(FW_LND_RFRALT, -1.0f); +PARAM_DEFINE_INT32(FW_LND_USETER, 0); + +/** + * Flare, minimum pitch + * + * Minimum pitch during flare, a positive sign means nose up + * Applied once FW_LND_TLALT is reached + * + */ +PARAM_DEFINE_FLOAT(FW_FLARE_PMIN, 2.5f); + +/** + * Flare, maximum pitch + * + * Maximum pitch during flare, a positive sign means nose up + * Applied once FW_LND_TLALT is reached + * + */ +PARAM_DEFINE_FLOAT(FW_FLARE_PMAX, 15.0f); diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c index e49288a74..9afe74af1 100644 --- a/src/modules/mavlink/mavlink.c +++ b/src/modules/mavlink/mavlink.c @@ -68,14 +68,17 @@ PARAM_DEFINE_INT32(MAV_TYPE, MAV_TYPE_FIXED_WING); * @group MAVLink */ PARAM_DEFINE_INT32(MAV_USEHILGPS, 0); +/** + * Forward external setpoint messages + * If set to 1 incomming external setpoint messages will be directly forwarded to the controllers if in offboard + * control mode + * @group MAVLink + */ +PARAM_DEFINE_INT32(MAV_FWDEXTSP, 1); mavlink_system_t mavlink_system = { 100, - 50, - MAV_TYPE_FIXED_WING, - 0, - 0, - 0 + 50 }; // System ID, 1-255, Component/Subsystem ID, 1-255 /* diff --git a/src/modules/mavlink/mavlink_ftp.cpp b/src/modules/mavlink/mavlink_ftp.cpp index 2a85c3702..f17497aa8 100644 --- a/src/modules/mavlink/mavlink_ftp.cpp +++ b/src/modules/mavlink/mavlink_ftp.cpp @@ -34,6 +34,7 @@ /// @file mavlink_ftp.cpp /// @author px4dev, Don Gagne <don@thegagnes.com> +#include <crc32.h> #include <unistd.h> #include <stdio.h> #include <fcntl.h> @@ -180,12 +181,16 @@ MavlinkFTP::_process_request(Request *req) errorCode = _workList(payload); break; - case kCmdOpenFile: - errorCode = _workOpen(payload, false); + case kCmdOpenFileRO: + errorCode = _workOpen(payload, O_RDONLY); break; case kCmdCreateFile: - errorCode = _workOpen(payload, true); + errorCode = _workOpen(payload, O_CREAT | O_EXCL | O_WRONLY); + break; + + case kCmdOpenFileWO: + errorCode = _workOpen(payload, O_CREAT | O_WRONLY); break; case kCmdReadFile: @@ -200,6 +205,14 @@ MavlinkFTP::_process_request(Request *req) errorCode = _workRemoveFile(payload); break; + case kCmdRename: + errorCode = _workRename(payload); + break; + + case kCmdTruncateFile: + errorCode = _workTruncateFile(payload); + break; + case kCmdCreateDirectory: errorCode = _workCreateDirectory(payload); break; @@ -208,6 +221,11 @@ MavlinkFTP::_process_request(Request *req) errorCode = _workRemoveDirectory(payload); break; + + case kCmdCalcFileCRC32: + errorCode = _workCalcFileCRC32(payload); + break; + default: errorCode = kErrUnknownCommand; break; @@ -222,6 +240,7 @@ out: warnx("FTP: ack\n"); #endif } else { + int r_errno = errno; warnx("FTP: nak %u", errorCode); payload->req_opcode = payload->opcode; payload->opcode = kRspNak; @@ -229,7 +248,7 @@ out: payload->data[0] = errorCode; if (errorCode == kErrFailErrno) { payload->size = 2; - payload->data[1] = errno; + payload->data[1] = r_errno; } } @@ -396,27 +415,27 @@ MavlinkFTP::_workList(PayloadHeader* payload) /// @brief Responds to an Open command MavlinkFTP::ErrorCode -MavlinkFTP::_workOpen(PayloadHeader* payload, bool create) +MavlinkFTP::_workOpen(PayloadHeader* payload, int oflag) { int session_index = _find_unused_session(); if (session_index < 0) { warnx("FTP: Open failed - out of sessions\n"); return kErrNoSessionsAvailable; } - + char *filename = _data_as_cstring(payload); - + uint32_t fileSize = 0; - if (!create) { - struct stat st; - if (stat(filename, &st) != 0) { + struct stat st; + if (stat(filename, &st) != 0) { + // fail only if requested open for read + if (oflag & O_RDONLY) return kErrFailErrno; - } - fileSize = st.st_size; + else + st.st_size = 0; } + fileSize = st.st_size; - int oflag = create ? (O_CREAT | O_EXCL | O_APPEND) : O_RDONLY; - int fd = ::open(filename, oflag); if (fd < 0) { return kErrFailErrno; @@ -424,12 +443,8 @@ MavlinkFTP::_workOpen(PayloadHeader* payload, bool create) _session_fds[session_index] = fd; payload->session = session_index; - if (create) { - payload->size = 0; - } else { - payload->size = sizeof(uint32_t); - *((uint32_t*)payload->data) = fileSize; - } + payload->size = sizeof(uint32_t); + *((uint32_t*)payload->data) = fileSize; return kErrNone; } @@ -470,29 +485,33 @@ MavlinkFTP::_workRead(PayloadHeader* payload) MavlinkFTP::ErrorCode MavlinkFTP::_workWrite(PayloadHeader* payload) { -#if 0 - // NYI: Coming soon - auto hdr = req->header(); + int session_index = payload->session; - // look up session - auto session = getSession(hdr->session); - if (session == nullptr) { - return kErrNoSession; + if (!_valid_session(session_index)) { + return kErrInvalidSession; } - // append to file - int result = session->append(hdr->offset, &hdr->data[0], hdr->size); + // Seek to the specified position +#ifdef MAVLINK_FTP_DEBUG + warnx("seek %d", payload->offset); +#endif + if (lseek(_session_fds[session_index], payload->offset, SEEK_SET) < 0) { + // Unable to see to the specified location + warnx("seek fail"); + return kErrFailErrno; + } - if (result < 0) { - // XXX might also be no space, I/O, etc. - return kErrNotAppend; + int bytes_written = ::write(_session_fds[session_index], &payload->data[0], payload->size); + if (bytes_written < 0) { + // Negative return indicates error other than eof + warnx("write fail %d", bytes_written); + return kErrFailErrno; } - hdr->size = result; + payload->size = sizeof(uint32_t); + *((uint32_t*)payload->data) = bytes_written; + return kErrNone; -#else - return kErrUnknownCommand; -#endif } /// @brief Responds to a RemoveFile command @@ -510,6 +529,81 @@ MavlinkFTP::_workRemoveFile(PayloadHeader* payload) } } +/// @brief Responds to a TruncateFile command +MavlinkFTP::ErrorCode +MavlinkFTP::_workTruncateFile(PayloadHeader* payload) +{ + char file[kMaxDataLength]; + const char temp_file[] = "/fs/microsd/.trunc.tmp"; + strncpy(file, _data_as_cstring(payload), kMaxDataLength); + payload->size = 0; + + // emulate truncate(file, payload->offset) by + // copying to temp and overwrite with O_TRUNC flag. + + struct stat st; + if (stat(file, &st) != 0) { + return kErrFailErrno; + } + + if (!S_ISREG(st.st_mode)) { + errno = EISDIR; + return kErrFailErrno; + } + + // check perms allow us to write (not romfs) + if (!(st.st_mode & (S_IWUSR | S_IWGRP | S_IWOTH))) { + errno = EROFS; + return kErrFailErrno; + } + + if (payload->offset == (unsigned)st.st_size) { + // nothing to do + return kErrNone; + } + else if (payload->offset == 0) { + // 1: truncate all data + int fd = ::open(file, O_TRUNC | O_WRONLY); + if (fd < 0) { + return kErrFailErrno; + } + + ::close(fd); + return kErrNone; + } + else if (payload->offset > (unsigned)st.st_size) { + // 2: extend file + int fd = ::open(file, O_WRONLY); + if (fd < 0) { + return kErrFailErrno; + } + + if (lseek(fd, payload->offset - 1, SEEK_SET) < 0) { + ::close(fd); + return kErrFailErrno; + } + + bool ok = 1 == ::write(fd, "", 1); + ::close(fd); + + return (ok)? kErrNone : kErrFailErrno; + } + else { + // 3: truncate + if (_copy_file(file, temp_file, payload->offset) != 0) { + return kErrFailErrno; + } + if (_copy_file(temp_file, file, payload->offset) != 0) { + return kErrFailErrno; + } + if (::unlink(temp_file) != 0) { + return kErrFailErrno; + } + + return kErrNone; + } +} + /// @brief Responds to a Terminate command MavlinkFTP::ErrorCode MavlinkFTP::_workTerminate(PayloadHeader* payload) @@ -542,6 +636,33 @@ MavlinkFTP::_workReset(PayloadHeader* payload) return kErrNone; } +/// @brief Responds to a Rename command +MavlinkFTP::ErrorCode +MavlinkFTP::_workRename(PayloadHeader* payload) +{ + char oldpath[kMaxDataLength]; + char newpath[kMaxDataLength]; + + char *ptr = _data_as_cstring(payload); + size_t oldpath_sz = strlen(ptr); + + if (oldpath_sz == payload->size) { + // no newpath + errno = EINVAL; + return kErrFailErrno; + } + + strncpy(oldpath, ptr, kMaxDataLength); + strncpy(newpath, ptr + oldpath_sz + 1, kMaxDataLength); + + if (rename(oldpath, newpath) == 0) { + payload->size = 0; + return kErrNone; + } else { + return kErrFailErrno; + } +} + /// @brief Responds to a RemoveDirectory command MavlinkFTP::ErrorCode MavlinkFTP::_workRemoveDirectory(PayloadHeader* payload) @@ -572,6 +693,39 @@ MavlinkFTP::_workCreateDirectory(PayloadHeader* payload) } } +/// @brief Responds to a CalcFileCRC32 command +MavlinkFTP::ErrorCode +MavlinkFTP::_workCalcFileCRC32(PayloadHeader* payload) +{ + char file_buf[256]; + uint32_t checksum = 0; + ssize_t bytes_read; + strncpy(file_buf, _data_as_cstring(payload), kMaxDataLength); + + int fd = ::open(file_buf, O_RDONLY); + if (fd < 0) { + return kErrFailErrno; + } + + do { + bytes_read = ::read(fd, file_buf, sizeof(file_buf)); + if (bytes_read < 0) { + int r_errno = errno; + ::close(fd); + errno = r_errno; + return kErrFailErrno; + } + + checksum = crc32part((uint8_t*)file_buf, bytes_read, checksum); + } while (bytes_read == sizeof(file_buf)); + + ::close(fd); + + payload->size = sizeof(uint32_t); + *((uint32_t*)payload->data) = checksum; + return kErrNone; +} + /// @brief Returns true if the specified session is a valid open session bool MavlinkFTP::_valid_session(unsigned index) @@ -645,3 +799,55 @@ MavlinkFTP::_return_request(Request *req) _unlock_request_queue(); } +/// @brief Copy file (with limited space) +int +MavlinkFTP::_copy_file(const char *src_path, const char *dst_path, ssize_t length) +{ + char buff[512]; + int src_fd = -1, dst_fd = -1; + int op_errno = 0; + + src_fd = ::open(src_path, O_RDONLY); + if (src_fd < 0) { + return -1; + } + + dst_fd = ::open(dst_path, O_CREAT | O_TRUNC | O_WRONLY); + if (dst_fd < 0) { + op_errno = errno; + ::close(src_fd); + errno = op_errno; + return -1; + } + + while (length > 0) { + ssize_t bytes_read, bytes_written; + size_t blen = (length > sizeof(buff))? sizeof(buff) : length; + + bytes_read = ::read(src_fd, buff, blen); + if (bytes_read == 0) { + // EOF + break; + } + else if (bytes_read < 0) { + warnx("cp: read"); + op_errno = errno; + break; + } + + bytes_written = ::write(dst_fd, buff, bytes_read); + if (bytes_written != bytes_read) { + warnx("cp: short write"); + op_errno = errno; + break; + } + + length -= bytes_written; + } + + ::close(src_fd); + ::close(dst_fd); + + errno = op_errno; + return (length > 0)? -1 : 0; +} diff --git a/src/modules/mavlink/mavlink_ftp.h b/src/modules/mavlink/mavlink_ftp.h index 657e2f855..bef6775a9 100644 --- a/src/modules/mavlink/mavlink_ftp.h +++ b/src/modules/mavlink/mavlink_ftp.h @@ -89,13 +89,17 @@ public: kCmdTerminateSession, ///< Terminates open Read session kCmdResetSessions, ///< Terminates all open Read sessions kCmdListDirectory, ///< List files in <path> from <offset> - kCmdOpenFile, ///< Opens file at <path> for reading, returns <session> + kCmdOpenFileRO, ///< Opens file at <path> for reading, returns <session> kCmdReadFile, ///< Reads <size> bytes from <offset> in <session> kCmdCreateFile, ///< Creates file at <path> for writing, returns <session> - kCmdWriteFile, ///< Appends <size> bytes to file in <session> + kCmdWriteFile, ///< Writes <size> bytes to <offset> in <session> kCmdRemoveFile, ///< Remove file at <path> kCmdCreateDirectory, ///< Creates directory at <path> kCmdRemoveDirectory, ///< Removes Directory at <path>, must be empty + kCmdOpenFileWO, ///< Opens file at <path> for writing, returns <session> + kCmdTruncateFile, ///< Truncate file at <path> to <offset> length + kCmdRename, ///< Rename <path1> to <path2> + kCmdCalcFileCRC32, ///< Calculate CRC32 for file at <path> kRspAck = 128, ///< Ack response kRspNak ///< Nak response @@ -138,9 +142,10 @@ private: static void _worker_trampoline(void *arg); void _process_request(Request *req); void _reply(Request *req); + int _copy_file(const char *src_path, const char *dst_path, ssize_t length); ErrorCode _workList(PayloadHeader *payload); - ErrorCode _workOpen(PayloadHeader *payload, bool create); + ErrorCode _workOpen(PayloadHeader *payload, int oflag); ErrorCode _workRead(PayloadHeader *payload); ErrorCode _workWrite(PayloadHeader *payload); ErrorCode _workTerminate(PayloadHeader *payload); @@ -148,6 +153,9 @@ private: ErrorCode _workRemoveDirectory(PayloadHeader *payload); ErrorCode _workCreateDirectory(PayloadHeader *payload); ErrorCode _workRemoveFile(PayloadHeader *payload); + ErrorCode _workTruncateFile(PayloadHeader *payload); + ErrorCode _workRename(PayloadHeader *payload); + ErrorCode _workCalcFileCRC32(PayloadHeader *payload); static const unsigned kRequestQueueSize = 2; ///< Max number of queued requests Request _request_bufs[kRequestQueueSize]; ///< Request buffers which hold work diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 940e64144..c251dd3b2 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -123,6 +123,7 @@ Mavlink::Mavlink() : _task_running(false), _hil_enabled(false), _use_hil_gps(false), + _forward_externalsp(false), _is_usb_uart(false), _wait_to_transmit(false), _received_messages(false), @@ -166,8 +167,10 @@ Mavlink::Mavlink() : _param_initialized(false), _param_system_id(0), _param_component_id(0), - _param_system_type(0), + _param_system_type(MAV_TYPE_FIXED_WING), _param_use_hil_gps(0), + _param_forward_externalsp(0), + _system_type(0), /* performance counters */ _loop_perf(perf_alloc(PC_ELAPSED, "mavlink_el")), @@ -483,6 +486,7 @@ void Mavlink::mavlink_update_system(void) _param_component_id = param_find("MAV_COMP_ID"); _param_system_type = param_find("MAV_TYPE"); _param_use_hil_gps = param_find("MAV_USEHILGPS"); + _param_forward_externalsp = param_find("MAV_FWDEXTSP"); } /* update system and component id */ @@ -522,13 +526,18 @@ void Mavlink::mavlink_update_system(void) param_get(_param_system_type, &system_type); if (system_type >= 0 && system_type < MAV_TYPE_ENUM_END) { - mavlink_system.type = system_type; + _system_type = system_type; } int32_t use_hil_gps; param_get(_param_use_hil_gps, &use_hil_gps); _use_hil_gps = (bool)use_hil_gps; + + int32_t forward_externalsp; + param_get(_param_forward_externalsp, &forward_externalsp); + + _forward_externalsp = (bool)forward_externalsp; } int Mavlink::get_system_id() @@ -748,7 +757,7 @@ Mavlink::send_message(const uint8_t msgid, const void *msg) pthread_mutex_lock(&_send_mutex); - int buf_free = get_free_tx_buf(); + unsigned buf_free = get_free_tx_buf(); uint8_t payload_len = mavlink_message_lengths[msgid]; unsigned packet_len = payload_len + MAVLINK_NUM_NON_PAYLOAD_BYTES; @@ -756,7 +765,7 @@ Mavlink::send_message(const uint8_t msgid, const void *msg) _last_write_try_time = hrt_absolute_time(); /* check if there is space in the buffer, let it overflow else */ - if (buf_free < TX_BUFFER_GAP) { + if ((buf_free < TX_BUFFER_GAP) || (buf_free < packet_len)) { /* no enough space in buffer to send */ count_txerr(); count_txerrbytes(packet_len); @@ -813,14 +822,14 @@ Mavlink::resend_message(mavlink_message_t *msg) pthread_mutex_lock(&_send_mutex); - int buf_free = get_free_tx_buf(); + unsigned buf_free = get_free_tx_buf(); _last_write_try_time = hrt_absolute_time(); unsigned packet_len = msg->len + MAVLINK_NUM_NON_PAYLOAD_BYTES; /* check if there is space in the buffer, let it overflow else */ - if (buf_free < TX_BUFFER_GAP) { + if ((buf_free < TX_BUFFER_GAP) || (buf_free < packet_len)) { /* no enough space in buffer to send */ count_txerr(); count_txerrbytes(packet_len); @@ -1396,7 +1405,7 @@ Mavlink::task_main(int argc, char *argv[]) configure_stream("POSITION_TARGET_GLOBAL_INT", 3.0f); configure_stream("ATTITUDE_TARGET", 3.0f); configure_stream("DISTANCE_SENSOR", 0.5f); - configure_stream("OPTICAL_FLOW", 20.0f); + configure_stream("OPTICAL_FLOW", 5.0f); break; case MAVLINK_MODE_ONBOARD: @@ -1404,6 +1413,9 @@ Mavlink::task_main(int argc, char *argv[]) configure_stream("ATTITUDE", 50.0f); configure_stream("GLOBAL_POSITION_INT", 50.0f); configure_stream("CAMERA_CAPTURE", 2.0f); + configure_stream("ATTITUDE_TARGET", 10.0f); + configure_stream("POSITION_TARGET_GLOBAL_INT", 10.0f); + configure_stream("VFR_HUD", 10.0f); break; default: @@ -1624,7 +1636,7 @@ Mavlink::start(int argc, char *argv[]) task_spawn_cmd(buf, SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT, - 2700, + 2900, (main_t)&Mavlink::start_helper, (const char **)argv); diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h index 7f9d225bb..ad5e5001b 100644 --- a/src/modules/mavlink/mavlink_main.h +++ b/src/modules/mavlink/mavlink_main.h @@ -137,6 +137,8 @@ public: bool get_use_hil_gps() { return _use_hil_gps; } + bool get_forward_externalsp() { return _forward_externalsp; } + bool get_flow_control_enabled() { return _flow_control_enabled; } bool get_forwarding_on() { return _forwarding_on; } @@ -232,7 +234,7 @@ public: bool should_transmit() { return (!_wait_to_transmit || (_wait_to_transmit && _received_messages)); } bool message_buffer_write(const void *ptr, int size); - + void lockMessageBufferMutex(void) { pthread_mutex_lock(&_message_buffer_mutex); } void unlockMessageBufferMutex(void) { pthread_mutex_unlock(&_message_buffer_mutex); } @@ -263,6 +265,8 @@ public: struct mavlink_logbuffer *get_logbuffer() { return &_logbuffer; } + unsigned get_system_type() { return _system_type; } + protected: Mavlink *next; @@ -275,6 +279,7 @@ private: /* states */ bool _hil_enabled; /**< Hardware In the Loop mode */ bool _use_hil_gps; /**< Accept GPS HIL messages (for example from an external motion capturing system to fake indoor gps) */ + bool _forward_externalsp; /**< Forward external setpoint messages to controllers directly if in offboard mode */ bool _is_usb_uart; /**< Port is USB */ bool _wait_to_transmit; /**< Wait to transmit until received messages. */ bool _received_messages; /**< Whether we've received valid mavlink messages. */ @@ -349,6 +354,9 @@ private: param_t _param_component_id; param_t _param_system_type; param_t _param_use_hil_gps; + param_t _param_forward_externalsp; + + unsigned _system_type; perf_counter_t _loop_perf; /**< loop performance counter */ perf_counter_t _txerr_perf; /**< TX error counter */ diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index a2f3828ff..b4911427f 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -162,6 +162,8 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set break; case NAVIGATION_STATE_AUTO_RTL: + /* fallthrough */ + case NAVIGATION_STATE_AUTO_RCRECOVER: *mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED; @@ -170,6 +172,8 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set break; case NAVIGATION_STATE_LAND: + case NAVIGATION_STATE_AUTO_LANDENGFAIL: + case NAVIGATION_STATE_AUTO_LANDGPSFAIL: /* fallthrough */ case NAVIGATION_STATE_DESCEND: *mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED @@ -298,7 +302,7 @@ protected: msg.base_mode = 0; msg.custom_mode = 0; get_mavlink_mode_state(&status, &pos_sp_triplet, &msg.system_status, &msg.base_mode, &msg.custom_mode); - msg.type = mavlink_system.type; + msg.type = _mavlink->get_system_type(); msg.autopilot = MAV_AUTOPILOT_PX4; msg.mavlink_version = 3; @@ -337,11 +341,18 @@ private: /* do not allow top copying this class */ MavlinkStreamStatustext(MavlinkStreamStatustext &); MavlinkStreamStatustext& operator = (const MavlinkStreamStatustext &); + FILE *fp = nullptr; protected: explicit MavlinkStreamStatustext(Mavlink *mavlink) : MavlinkStream(mavlink) {} + ~MavlinkStreamStatustext() { + if (fp) { + fclose(fp); + } + } + void send(const hrt_abstime t) { if (!mavlink_logbuffer_is_empty(_mavlink->get_logbuffer())) { @@ -355,6 +366,31 @@ protected: strncpy(msg.text, logmsg.text, sizeof(msg.text)); _mavlink->send_message(MAVLINK_MSG_ID_STATUSTEXT, &msg); + + /* write log messages in first instance to disk */ + if (_mavlink->get_instance_id() == 0) { + if (fp) { + fputs(msg.text, fp); + fputs("\n", fp); + fsync(fileno(fp)); + } else { + /* string to hold the path to the log */ + char log_file_name[32] = ""; + char log_file_path[64] = ""; + + timespec ts; + clock_gettime(CLOCK_REALTIME, &ts); + /* use GPS time for log file naming, e.g. /fs/microsd/2014-01-19/19_37_52.bin */ + time_t gps_time_sec = ts.tv_sec + (ts.tv_nsec / 1e9); + struct tm t; + gmtime_r(&gps_time_sec, &t); + + // XXX we do not want to interfere here with the SD log app + strftime(log_file_name, sizeof(log_file_name), "msgs_%Y_%m_%d_%H_%M_%S.txt", &t); + snprintf(log_file_path, sizeof(log_file_path), "/fs/microsd/%s", log_file_name); + fp = fopen(log_file_path, "ab"); + } + } } } } @@ -1317,15 +1353,17 @@ protected: const float pwm_center = (PWM_HIGHEST_MAX + PWM_LOWEST_MIN) / 2; + unsigned system_type = _mavlink->get_system_type(); + /* scale outputs depending on system type */ - if (mavlink_system.type == MAV_TYPE_QUADROTOR || - mavlink_system.type == MAV_TYPE_HEXAROTOR || - mavlink_system.type == MAV_TYPE_OCTOROTOR) { + if (system_type == MAV_TYPE_QUADROTOR || + system_type == MAV_TYPE_HEXAROTOR || + system_type == MAV_TYPE_OCTOROTOR) { /* multirotors: set number of rotor outputs depending on type */ unsigned n; - switch (mavlink_system.type) { + switch (system_type) { case MAV_TYPE_QUADROTOR: n = 4; break; diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 373d06d4d..bc092c7e9 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -37,6 +37,7 @@ * * @author Lorenz Meier <lm@inf.ethz.ch> * @author Anton Babushkin <anton.babushkin@me.com> + * @author Thomas Gubler <thomasgubler@gmail.com> */ /* XXX trim includes */ @@ -105,10 +106,11 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) : _flow_pub(-1), _range_pub(-1), _offboard_control_sp_pub(-1), - _local_pos_sp_pub(-1), _global_vel_sp_pub(-1), _att_sp_pub(-1), _rates_sp_pub(-1), + _force_sp_pub(-1), + _pos_sp_triplet_pub(-1), _vicon_position_pub(-1), _vision_position_pub(-1), _telemetry_status_pub(-1), @@ -154,6 +156,14 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg) handle_message_vicon_position_estimate(msg); break; + case MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED: + handle_message_set_position_target_local_ned(msg); + break; + + case MAVLINK_MSG_ID_SET_ATTITUDE_TARGET: + handle_message_set_attitude_target(msg); + break; + case MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE: handle_message_vision_position_estimate(msg); break; @@ -381,11 +391,9 @@ MavlinkReceiver::handle_message_hil_optical_flow(mavlink_message_t *msg) f.timestamp = hrt_absolute_time(); f.flow_timestamp = flow.time_usec; - f.flow_raw_x = flow.flow_x; - f.flow_raw_y = flow.flow_y; - f.flow_comp_x_m = flow.flow_comp_m_x; - f.flow_comp_y_m = flow.flow_comp_m_y; - f.ground_distance_m = flow.ground_distance; + f.flow_raw_x = flow.integrated_x; + f.flow_raw_y = flow.integrated_y; + f.ground_distance_m = flow.distance; f.quality = flow.quality; f.sensor_id = flow.sensor_id; @@ -403,7 +411,7 @@ MavlinkReceiver::handle_message_hil_optical_flow(mavlink_message_t *msg) r.timestamp = hrt_absolute_time(); r.error_count = 0; r.type = RANGE_FINDER_TYPE_LASER; - r.distance = flow.ground_distance; + r.distance = flow.distance; r.minimum_distance = 0.0f; r.maximum_distance = 40.0f; // this is set to match the typical range of real sensors, could be made configurable r.valid = (r.distance > r.minimum_distance) && (r.distance < r.maximum_distance); @@ -475,6 +483,189 @@ MavlinkReceiver::handle_message_vicon_position_estimate(mavlink_message_t *msg) } void +MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t *msg) +{ + mavlink_set_position_target_local_ned_t set_position_target_local_ned; + mavlink_msg_set_position_target_local_ned_decode(msg, &set_position_target_local_ned); + + struct offboard_control_setpoint_s offboard_control_sp; + memset(&offboard_control_sp, 0, sizeof(offboard_control_sp));//XXX breaks compatibility with multiple setpoints + + /* Only accept messages which are intended for this system */ + if ((mavlink_system.sysid == set_position_target_local_ned.target_system || + set_position_target_local_ned.target_system == 0) && + (mavlink_system.compid == set_position_target_local_ned.target_component || + set_position_target_local_ned.target_component == 0)) { + + /* convert mavlink type (local, NED) to uORB offboard control struct */ + switch (set_position_target_local_ned.coordinate_frame) { + case MAV_FRAME_LOCAL_NED: + offboard_control_sp.mode = OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED; + break; + case MAV_FRAME_LOCAL_OFFSET_NED: + offboard_control_sp.mode = OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_OFFSET_NED; + break; + case MAV_FRAME_BODY_NED: + offboard_control_sp.mode = OFFBOARD_CONTROL_MODE_DIRECT_BODY_NED; + break; + case MAV_FRAME_BODY_OFFSET_NED: + offboard_control_sp.mode = OFFBOARD_CONTROL_MODE_DIRECT_BODY_OFFSET_NED; + break; + default: + /* invalid setpoint, avoid publishing */ + return; + } + offboard_control_sp.position[0] = set_position_target_local_ned.x; + offboard_control_sp.position[1] = set_position_target_local_ned.y; + offboard_control_sp.position[2] = set_position_target_local_ned.z; + offboard_control_sp.velocity[0] = set_position_target_local_ned.vx; + offboard_control_sp.velocity[1] = set_position_target_local_ned.vy; + offboard_control_sp.velocity[2] = set_position_target_local_ned.vz; + offboard_control_sp.acceleration[0] = set_position_target_local_ned.afx; + offboard_control_sp.acceleration[1] = set_position_target_local_ned.afy; + offboard_control_sp.acceleration[2] = set_position_target_local_ned.afz; + offboard_control_sp.yaw = set_position_target_local_ned.yaw; + offboard_control_sp.yaw_rate = set_position_target_local_ned.yaw_rate; + offboard_control_sp.isForceSetpoint = (bool)(set_position_target_local_ned.type_mask & (1 << 9)); + + /* If we are in force control mode, for now set offboard mode to force control */ + if (offboard_control_sp.isForceSetpoint) { + offboard_control_sp.mode = OFFBOARD_CONTROL_MODE_DIRECT_FORCE; + } + + /* set ignore flags */ + for (int i = 0; i < 9; i++) { + offboard_control_sp.ignore &= ~(1 << i); + offboard_control_sp.ignore |= (set_position_target_local_ned.type_mask & (1 << i)); + } + offboard_control_sp.ignore &= ~(1 << OFB_IGN_BIT_YAW); + offboard_control_sp.ignore |= (set_position_target_local_ned.type_mask & (1 << 10)) << + OFB_IGN_BIT_YAW; + offboard_control_sp.ignore &= ~(1 << OFB_IGN_BIT_YAWRATE); + offboard_control_sp.ignore |= (set_position_target_local_ned.type_mask & (1 << 11)) << + OFB_IGN_BIT_YAWRATE; + + offboard_control_sp.timestamp = hrt_absolute_time(); + + if (_offboard_control_sp_pub < 0) { + _offboard_control_sp_pub = orb_advertise(ORB_ID(offboard_control_setpoint), &offboard_control_sp); + + } else { + orb_publish(ORB_ID(offboard_control_setpoint), _offboard_control_sp_pub, &offboard_control_sp); + } + + /* If we are in offboard control mode and offboard control loop through is enabled + * also publish the setpoint topic which is read by the controller */ + if (_mavlink->get_forward_externalsp()) { + bool updated; + orb_check(_control_mode_sub, &updated); + if (updated) { + orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode); + } + if (_control_mode.flag_control_offboard_enabled) { + if (offboard_control_sp.isForceSetpoint && + offboard_control_sp_ignore_position_all(offboard_control_sp) && + offboard_control_sp_ignore_velocity_all(offboard_control_sp)) { + /* The offboard setpoint is a force setpoint only, directly writing to the force + * setpoint topic and not publishing the setpoint triplet topic */ + struct vehicle_force_setpoint_s force_sp; + force_sp.x = offboard_control_sp.acceleration[0]; + force_sp.y = offboard_control_sp.acceleration[1]; + force_sp.z = offboard_control_sp.acceleration[2]; + //XXX: yaw + if (_force_sp_pub < 0) { + _force_sp_pub = orb_advertise(ORB_ID(vehicle_force_setpoint), &force_sp); + } else { + orb_publish(ORB_ID(vehicle_force_setpoint), _force_sp_pub, &force_sp); + } + } else { + /* It's not a pure force setpoint: publish to setpoint triplet topic */ + struct position_setpoint_triplet_s pos_sp_triplet; + pos_sp_triplet.previous.valid = false; + pos_sp_triplet.next.valid = false; + pos_sp_triplet.current.valid = true; + pos_sp_triplet.current.type = SETPOINT_TYPE_POSITION; //XXX support others + + /* set the local pos values if the setpoint type is 'local pos' and none + * of the local pos fields is set to 'ignore' */ + if (offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED && + !offboard_control_sp_ignore_position_some(offboard_control_sp)) { + pos_sp_triplet.current.position_valid = true; + pos_sp_triplet.current.x = offboard_control_sp.position[0]; + pos_sp_triplet.current.y = offboard_control_sp.position[1]; + pos_sp_triplet.current.z = offboard_control_sp.position[2]; + } else { + pos_sp_triplet.current.position_valid = false; + } + + /* set the local vel values if the setpoint type is 'local pos' and none + * of the local vel fields is set to 'ignore' */ + if (offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED && + !offboard_control_sp_ignore_velocity_some(offboard_control_sp)) { + pos_sp_triplet.current.velocity_valid = true; + pos_sp_triplet.current.vx = offboard_control_sp.velocity[0]; + pos_sp_triplet.current.vy = offboard_control_sp.velocity[1]; + pos_sp_triplet.current.vz = offboard_control_sp.velocity[2]; + } else { + pos_sp_triplet.current.velocity_valid = false; + } + + /* set the local acceleration values if the setpoint type is 'local pos' and none + * of the accelerations fields is set to 'ignore' */ + if (offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED && + !offboard_control_sp_ignore_acceleration_some(offboard_control_sp)) { + pos_sp_triplet.current.acceleration_valid = true; + pos_sp_triplet.current.a_x = offboard_control_sp.acceleration[0]; + pos_sp_triplet.current.a_y = offboard_control_sp.acceleration[1]; + pos_sp_triplet.current.a_z = offboard_control_sp.acceleration[2]; + pos_sp_triplet.current.acceleration_is_force = + offboard_control_sp.isForceSetpoint; + + } else { + pos_sp_triplet.current.acceleration_valid = false; + } + + /* set the yaw sp value if the setpoint type is 'local pos' and the yaw + * field is not set to 'ignore' */ + if (offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED && + !offboard_control_sp_ignore_yaw(offboard_control_sp)) { + pos_sp_triplet.current.yaw_valid = true; + pos_sp_triplet.current.yaw = offboard_control_sp.yaw; + + } else { + pos_sp_triplet.current.yaw_valid = false; + } + + /* set the yawrate sp value if the setpoint type is 'local pos' and the yawrate + * field is not set to 'ignore' */ + if (offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED && + !offboard_control_sp_ignore_yawrate(offboard_control_sp)) { + pos_sp_triplet.current.yawspeed_valid = true; + pos_sp_triplet.current.yawspeed = offboard_control_sp.yaw_rate; + + } else { + pos_sp_triplet.current.yawspeed_valid = false; + } + //XXX handle global pos setpoints (different MAV frames) + + + if (_pos_sp_triplet_pub < 0) { + _pos_sp_triplet_pub = orb_advertise(ORB_ID(position_setpoint_triplet), + &pos_sp_triplet); + } else { + orb_publish(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_pub, + &pos_sp_triplet); + } + + } + + } + + } + } +} + +void MavlinkReceiver::handle_message_vision_position_estimate(mavlink_message_t *msg) { mavlink_vision_position_estimate_t pos; @@ -514,6 +705,103 @@ MavlinkReceiver::handle_message_vision_position_estimate(mavlink_message_t *msg) } void +MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg) +{ + mavlink_set_attitude_target_t set_attitude_target; + mavlink_msg_set_attitude_target_decode(msg, &set_attitude_target); + + struct offboard_control_setpoint_s offboard_control_sp; + memset(&offboard_control_sp, 0, sizeof(offboard_control_sp)); //XXX breaks compatibility with multiple setpoints + + /* Only accept messages which are intended for this system */ + if ((mavlink_system.sysid == set_attitude_target.target_system || + set_attitude_target.target_system == 0) && + (mavlink_system.compid == set_attitude_target.target_component || + set_attitude_target.target_component == 0)) { + for (int i = 0; i < 4; i++) { + offboard_control_sp.attitude[i] = set_attitude_target.q[i]; + } + offboard_control_sp.attitude_rate[0] = set_attitude_target.body_roll_rate; + offboard_control_sp.attitude_rate[1] = set_attitude_target.body_pitch_rate; + offboard_control_sp.attitude_rate[2] = set_attitude_target.body_yaw_rate; + + /* set correct ignore flags for body rate fields: copy from mavlink message */ + for (int i = 0; i < 3; i++) { + offboard_control_sp.ignore &= ~(1 << (i + OFB_IGN_BIT_BODYRATE_X)); + offboard_control_sp.ignore |= (set_attitude_target.type_mask & (1 << i)) << OFB_IGN_BIT_BODYRATE_X; + } + /* set correct ignore flags for thrust field: copy from mavlink message */ + offboard_control_sp.ignore &= ~(1 << OFB_IGN_BIT_THRUST); + offboard_control_sp.ignore |= ((set_attitude_target.type_mask & (1 << 6)) << OFB_IGN_BIT_THRUST); + /* set correct ignore flags for attitude field: copy from mavlink message */ + offboard_control_sp.ignore &= ~(1 << OFB_IGN_BIT_ATT); + offboard_control_sp.ignore |= ((set_attitude_target.type_mask & (1 << 7)) << OFB_IGN_BIT_ATT); + + + offboard_control_sp.timestamp = hrt_absolute_time(); + offboard_control_sp.mode =OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE; //XXX handle rate control mode + + if (_offboard_control_sp_pub < 0) { + _offboard_control_sp_pub = orb_advertise(ORB_ID(offboard_control_setpoint), &offboard_control_sp); + + } else { + orb_publish(ORB_ID(offboard_control_setpoint), _offboard_control_sp_pub, &offboard_control_sp); + } + + /* If we are in offboard control mode and offboard control loop through is enabled + * also publish the setpoint topic which is read by the controller */ + if (_mavlink->get_forward_externalsp()) { + bool updated; + orb_check(_control_mode_sub, &updated); + if (updated) { + orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode); + } + + if (_control_mode.flag_control_offboard_enabled) { + + /* Publish attitude setpoint if attitude and thrust ignore bits are not set */ + if (!(offboard_control_sp_ignore_attitude(offboard_control_sp) || + offboard_control_sp_ignore_thrust(offboard_control_sp))) { + struct vehicle_attitude_setpoint_s att_sp; + att_sp.timestamp = hrt_absolute_time(); + mavlink_quaternion_to_euler(set_attitude_target.q, + &att_sp.roll_body, &att_sp.pitch_body, &att_sp.yaw_body); + mavlink_quaternion_to_dcm(set_attitude_target.q, att_sp.R_body); + att_sp.R_valid = true; + att_sp.thrust = set_attitude_target.thrust; + memcpy(att_sp.q_d, set_attitude_target.q, sizeof(att_sp.q_d)); + att_sp.q_d_valid = true; + if (_att_sp_pub < 0) { + _att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp); + } else { + orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &att_sp); + } + } + + /* Publish attitude rate setpoint if bodyrate and thrust ignore bits are not set */ + ///XXX add support for ignoring individual axes + if (!(offboard_control_sp_ignore_bodyrates_some(offboard_control_sp) || + offboard_control_sp_ignore_thrust(offboard_control_sp))) { + struct vehicle_rates_setpoint_s rates_sp; + rates_sp.timestamp = hrt_absolute_time(); + rates_sp.roll = set_attitude_target.body_roll_rate; + rates_sp.pitch = set_attitude_target.body_pitch_rate; + rates_sp.yaw = set_attitude_target.body_yaw_rate; + rates_sp.thrust = set_attitude_target.thrust; + + if (_att_sp_pub < 0) { + _rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp); + } else { + orb_publish(ORB_ID(vehicle_rates_setpoint), _rates_sp_pub, &rates_sp); + } + } + } + + } + } +} + +void MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg) { /* telemetry status supported only on first TELEMETRY_STATUS_ORB_ID_NUM mavlink channels */ @@ -534,6 +822,8 @@ MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg) tstatus.remote_noise = rstatus.remnoise; tstatus.rxerrors = rstatus.rxerrors; tstatus.fixed = rstatus.fixed; + tstatus.system_id = msg->sysid; + tstatus.component_id = msg->compid; if (_telemetry_status_pub < 0) { _telemetry_status_pub = orb_advertise(telemetry_status_orb_id[_mavlink->get_channel()], &tstatus); @@ -1106,7 +1396,7 @@ MavlinkReceiver::receive_start(Mavlink *parent) struct sched_param param; (void)pthread_attr_getschedparam(&receiveloop_attr, ¶m); - param.sched_priority = SCHED_PRIORITY_MAX - 40; + param.sched_priority = SCHED_PRIORITY_MAX - 80; (void)pthread_attr_setschedparam(&receiveloop_attr, ¶m); pthread_attr_setstacksize(&receiveloop_attr, 2900); diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h index c4e12d8d8..e5f2c6a73 100644 --- a/src/modules/mavlink/mavlink_receiver.h +++ b/src/modules/mavlink/mavlink_receiver.h @@ -71,6 +71,7 @@ #include <uORB/topics/debug_key_value.h> #include <uORB/topics/airspeed.h> #include <uORB/topics/battery_status.h> +#include <uORB/topics/vehicle_force_setpoint.h> #include "mavlink_ftp.h" @@ -117,6 +118,8 @@ private: void handle_message_vicon_position_estimate(mavlink_message_t *msg); void handle_message_vision_position_estimate(mavlink_message_t *msg); void handle_message_quad_swarm_roll_pitch_yaw_thrust(mavlink_message_t *msg); + void handle_message_set_position_target_local_ned(mavlink_message_t *msg); + void handle_message_set_attitude_target(mavlink_message_t *msg); void handle_message_radio_status(mavlink_message_t *msg); void handle_message_manual_control(mavlink_message_t *msg); void handle_message_heartbeat(mavlink_message_t *msg); @@ -145,10 +148,11 @@ private: orb_advert_t _flow_pub; orb_advert_t _range_pub; orb_advert_t _offboard_control_sp_pub; - orb_advert_t _local_pos_sp_pub; orb_advert_t _global_vel_sp_pub; orb_advert_t _att_sp_pub; orb_advert_t _rates_sp_pub; + orb_advert_t _force_sp_pub; + orb_advert_t _pos_sp_triplet_pub; orb_advert_t _vicon_position_pub; orb_advert_t _vision_position_pub; orb_advert_t _telemetry_status_pub; diff --git a/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp b/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp index 022041c74..4caa820b6 100644 --- a/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp +++ b/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp @@ -65,7 +65,7 @@ MavlinkFtpTest::~MavlinkFtpTest() } /// @brief Called before every test to initialize the FTP Server. -void MavlinkFtpTest::init(void) +void MavlinkFtpTest::_init(void) { _ftp_server = new MavlinkFTP;; _ftp_server->set_unittest_worker(MavlinkFtpTest::receive_message, this); @@ -74,7 +74,7 @@ void MavlinkFtpTest::init(void) } /// @brief Called after every test to take down the FTP Server. -void MavlinkFtpTest::cleanup(void) +void MavlinkFtpTest::_cleanup(void) { delete _ftp_server; @@ -265,7 +265,7 @@ bool MavlinkFtpTest::_open_badfile_test(void) MavlinkFTP::PayloadHeader *reply; const char *dir = "/foo"; // non-existent file - payload.opcode = MavlinkFTP::kCmdOpenFile; + payload.opcode = MavlinkFTP::kCmdOpenFileRO; payload.offset = 0; bool success = _send_receive_msg(&payload, // FTP payload header @@ -295,7 +295,7 @@ bool MavlinkFtpTest::_open_terminate_test(void) struct stat st; const ReadTestCase *test = &_rgReadTestCases[i]; - payload.opcode = MavlinkFTP::kCmdOpenFile; + payload.opcode = MavlinkFTP::kCmdOpenFileRO; payload.offset = 0; bool success = _send_receive_msg(&payload, // FTP payload header @@ -342,7 +342,7 @@ bool MavlinkFtpTest::_terminate_badsession_test(void) MavlinkFTP::PayloadHeader *reply; const char *file = _rgReadTestCases[0].file; - payload.opcode = MavlinkFTP::kCmdOpenFile; + payload.opcode = MavlinkFTP::kCmdOpenFileRO; payload.offset = 0; bool success = _send_receive_msg(&payload, // FTP payload header @@ -400,7 +400,7 @@ bool MavlinkFtpTest::_read_test(void) // Test case data files are created for specific boundary conditions ut_compare("Test case data files are out of date", test->length, st.st_size); - payload.opcode = MavlinkFTP::kCmdOpenFile; + payload.opcode = MavlinkFTP::kCmdOpenFileRO; payload.offset = 0; bool success = _send_receive_msg(&payload, // FTP payload header @@ -463,7 +463,7 @@ bool MavlinkFtpTest::_read_badsession_test(void) MavlinkFTP::PayloadHeader *reply; const char *file = _rgReadTestCases[0].file; - payload.opcode = MavlinkFTP::kCmdOpenFile; + payload.opcode = MavlinkFTP::kCmdOpenFileRO; payload.offset = 0; bool success = _send_receive_msg(&payload, // FTP payload header @@ -738,7 +738,7 @@ void MavlinkFtpTest::_cleanup_microsd(void) } /// @brief Runs all the unit tests -void MavlinkFtpTest::runTests(void) +bool MavlinkFtpTest::run_tests(void) { ut_run_test(_ack_test); ut_run_test(_bad_opcode_test); @@ -753,5 +753,9 @@ void MavlinkFtpTest::runTests(void) ut_run_test(_removedirectory_test); ut_run_test(_createdirectory_test); ut_run_test(_removefile_test); + + return (_tests_failed == 0); + } +ut_declare_test(mavlink_ftp_test, MavlinkFtpTest) diff --git a/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.h b/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.h index babd909da..2696192cc 100644 --- a/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.h +++ b/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.h @@ -46,10 +46,7 @@ public: MavlinkFtpTest(); virtual ~MavlinkFtpTest(); - virtual void init(void); - virtual void cleanup(void); - - virtual void runTests(void); + virtual bool run_tests(void); static void receive_message(const mavlink_message_t *msg, MavlinkFtpTest* ftpTest); @@ -65,6 +62,9 @@ public: MavlinkFtpTest& operator=(const MavlinkFtpTest&); private: + virtual void _init(void); + virtual void _cleanup(void); + bool _ack_test(void); bool _bad_opcode_test(void); bool _bad_datasize_test(void); @@ -105,3 +105,4 @@ private: static const char _unittest_microsd_file[]; }; +bool mavlink_ftp_test(void); diff --git a/src/modules/mavlink/mavlink_tests/mavlink_tests.cpp b/src/modules/mavlink/mavlink_tests/mavlink_tests.cpp index d9c1e413a..10cbcb0ec 100644 --- a/src/modules/mavlink/mavlink_tests/mavlink_tests.cpp +++ b/src/modules/mavlink/mavlink_tests/mavlink_tests.cpp @@ -43,10 +43,5 @@ extern "C" __EXPORT int mavlink_tests_main(int argc, char *argv[]); int mavlink_tests_main(int argc, char *argv[]) { - MavlinkFtpTest* test = new MavlinkFtpTest; - - test->runTests(); - test->printResults(); - - return 0; + return mavlink_ftp_test() ? 0 : -1; } diff --git a/src/modules/mavlink/mavlink_tests/module.mk b/src/modules/mavlink/mavlink_tests/module.mk index 07cfce1dc..1cc28cce1 100644 --- a/src/modules/mavlink/mavlink_tests/module.mk +++ b/src/modules/mavlink/mavlink_tests/module.mk @@ -45,4 +45,6 @@ INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink MODULE_STACKSIZE = 5000 +MAXOPTIMIZATION = -Os + EXTRACXXFLAGS = -Weffc++ -DMAVLINK_FTP_UNIT_TEST diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index ecc40428d..d52138522 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -76,6 +76,7 @@ #define TILT_COS_MAX 0.7f #define SIGMA 0.000001f +#define MIN_DIST 0.01f /** * Multicopter position control app start / stop handling function @@ -179,6 +180,7 @@ private: bool _reset_pos_sp; bool _reset_alt_sp; + bool _mode_auto; math::Vector<3> _pos; math::Vector<3> _pos_sp; @@ -220,6 +222,11 @@ private: void reset_alt_sp(); /** + * Check if position setpoint is too far from current position and adjust it if needed. + */ + void limit_pos_sp_offset(); + + /** * Set position setpoint using manual control */ void control_manual(float dt); @@ -229,6 +236,14 @@ private: */ void control_offboard(float dt); + bool cross_sphere_line(const math::Vector<3>& sphere_c, float sphere_r, + const math::Vector<3> line_a, const math::Vector<3> line_b, math::Vector<3>& res); + + /** + * Set position setpoint for AUTO + */ + void control_auto(float dt); + /** * Select between barometric and global (AMSL) altitudes */ @@ -283,7 +298,8 @@ MulticopterPositionControl::MulticopterPositionControl() : _ref_timestamp(0), _reset_pos_sp(true), - _reset_alt_sp(true) + _reset_alt_sp(true), + _mode_auto(false) { memset(&_att, 0, sizeof(_att)); memset(&_att_sp, 0, sizeof(_att_sp)); @@ -534,6 +550,29 @@ MulticopterPositionControl::reset_alt_sp() } void +MulticopterPositionControl::limit_pos_sp_offset() +{ + math::Vector<3> pos_sp_offs; + pos_sp_offs.zero(); + + if (_control_mode.flag_control_position_enabled) { + pos_sp_offs(0) = (_pos_sp(0) - _pos(0)) / _params.sp_offs_max(0); + pos_sp_offs(1) = (_pos_sp(1) - _pos(1)) / _params.sp_offs_max(1); + } + + if (_control_mode.flag_control_altitude_enabled) { + pos_sp_offs(2) = (_pos_sp(2) - _pos(2)) / _params.sp_offs_max(2); + } + + float pos_sp_offs_norm = pos_sp_offs.length(); + + if (pos_sp_offs_norm > 1.0f) { + pos_sp_offs /= pos_sp_offs_norm; + _pos_sp = _pos + pos_sp_offs.emult(_params.sp_offs_max); + } +} + +void MulticopterPositionControl::control_manual(float dt) { _sp_move_rate.zero(); @@ -614,7 +653,6 @@ MulticopterPositionControl::control_offboard(float dt) _pos_sp(0) = _pos_sp_triplet.current.x; _pos_sp(1) = _pos_sp_triplet.current.y; _pos_sp(2) = _pos_sp_triplet.current.z; - _att_sp.yaw_body = _pos_sp_triplet.current.yaw; } else if (_control_mode.flag_control_velocity_enabled && _pos_sp_triplet.current.velocity_valid) { /* control velocity */ @@ -624,6 +662,11 @@ MulticopterPositionControl::control_offboard(float dt) /* set position setpoint move rate */ _sp_move_rate(0) = _pos_sp_triplet.current.vx; _sp_move_rate(1) = _pos_sp_triplet.current.vy; + } + + if (_pos_sp_triplet.current.yaw_valid) { + _att_sp.yaw_body = _pos_sp_triplet.current.yaw; + } else if (_pos_sp_triplet.current.yawspeed_valid) { _att_sp.yaw_body = _att_sp.yaw_body + _pos_sp_triplet.current.yawspeed * dt; } @@ -647,6 +690,170 @@ MulticopterPositionControl::control_offboard(float dt) } } +bool +MulticopterPositionControl::cross_sphere_line(const math::Vector<3>& sphere_c, float sphere_r, + const math::Vector<3> line_a, const math::Vector<3> line_b, math::Vector<3>& res) +{ + /* project center of sphere on line */ + /* normalized AB */ + math::Vector<3> ab_norm = line_b - line_a; + ab_norm.normalize(); + math::Vector<3> d = line_a + ab_norm * ((sphere_c - line_a) * ab_norm); + float cd_len = (sphere_c - d).length(); + + /* we have triangle CDX with known CD and CX = R, find DX */ + if (sphere_r > cd_len) { + /* have two roots, select one in A->B direction from D */ + float dx_len = sqrtf(sphere_r * sphere_r - cd_len * cd_len); + res = d + ab_norm * dx_len; + return true; + + } else { + /* have no roots, return D */ + res = d; + return false; + } +} + +void +MulticopterPositionControl::control_auto(float dt) +{ + if (!_mode_auto) { + _mode_auto = true; + /* reset position setpoint on AUTO mode activation */ + reset_pos_sp(); + reset_alt_sp(); + } + + bool updated; + orb_check(_pos_sp_triplet_sub, &updated); + + if (updated) { + orb_copy(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_sub, &_pos_sp_triplet); + } + + if (_pos_sp_triplet.current.valid) { + /* in case of interrupted mission don't go to waypoint but stay at current position */ + _reset_pos_sp = true; + _reset_alt_sp = true; + + /* project setpoint to local frame */ + math::Vector<3> curr_sp; + map_projection_project(&_ref_pos, + _pos_sp_triplet.current.lat, _pos_sp_triplet.current.lon, + &curr_sp.data[0], &curr_sp.data[1]); + curr_sp(2) = -(_pos_sp_triplet.current.alt - _ref_alt); + + /* scaled space: 1 == position error resulting max allowed speed, L1 = 1 in this space */ + math::Vector<3> scale = _params.pos_p.edivide(_params.vel_max); // TODO add mult param here + + /* convert current setpoint to scaled space */ + math::Vector<3> curr_sp_s = curr_sp.emult(scale); + + /* by default use current setpoint as is */ + math::Vector<3> pos_sp_s = curr_sp_s; + + if (_pos_sp_triplet.current.type == SETPOINT_TYPE_POSITION && _pos_sp_triplet.previous.valid) { + /* follow "previous - current" line */ + math::Vector<3> prev_sp; + map_projection_project(&_ref_pos, + _pos_sp_triplet.previous.lat, _pos_sp_triplet.previous.lon, + &prev_sp.data[0], &prev_sp.data[1]); + prev_sp(2) = -(_pos_sp_triplet.previous.alt - _ref_alt); + + if ((curr_sp - prev_sp).length() > MIN_DIST) { + + /* find X - cross point of L1 sphere and trajectory */ + math::Vector<3> pos_s = _pos.emult(scale); + math::Vector<3> prev_sp_s = prev_sp.emult(scale); + math::Vector<3> prev_curr_s = curr_sp_s - prev_sp_s; + math::Vector<3> curr_pos_s = pos_s - curr_sp_s; + float curr_pos_s_len = curr_pos_s.length(); + if (curr_pos_s_len < 1.0f) { + /* copter is closer to waypoint than L1 radius */ + /* check next waypoint and use it to avoid slowing down when passing via waypoint */ + if (_pos_sp_triplet.next.valid) { + math::Vector<3> next_sp; + map_projection_project(&_ref_pos, + _pos_sp_triplet.next.lat, _pos_sp_triplet.next.lon, + &next_sp.data[0], &next_sp.data[1]); + next_sp(2) = -(_pos_sp_triplet.next.alt - _ref_alt); + + if ((next_sp - curr_sp).length() > MIN_DIST) { + math::Vector<3> next_sp_s = next_sp.emult(scale); + + /* calculate angle prev - curr - next */ + math::Vector<3> curr_next_s = next_sp_s - curr_sp_s; + math::Vector<3> prev_curr_s_norm = prev_curr_s.normalized(); + + /* cos(a) * curr_next, a = angle between current and next trajectory segments */ + float cos_a_curr_next = prev_curr_s_norm * curr_next_s; + + /* cos(b), b = angle pos - curr_sp - prev_sp */ + float cos_b = -curr_pos_s * prev_curr_s_norm / curr_pos_s_len; + + if (cos_a_curr_next > 0.0f && cos_b > 0.0f) { + float curr_next_s_len = curr_next_s.length(); + /* if curr - next distance is larger than L1 radius, limit it */ + if (curr_next_s_len > 1.0f) { + cos_a_curr_next /= curr_next_s_len; + } + + /* feed forward position setpoint offset */ + math::Vector<3> pos_ff = prev_curr_s_norm * + cos_a_curr_next * cos_b * cos_b * (1.0f - curr_pos_s_len) * + (1.0f - expf(-curr_pos_s_len * curr_pos_s_len * 20.0f)); + pos_sp_s += pos_ff; + } + } + } + + } else { + bool near = cross_sphere_line(pos_s, 1.0f, prev_sp_s, curr_sp_s, pos_sp_s); + if (near) { + /* L1 sphere crosses trajectory */ + + } else { + /* copter is too far from trajectory */ + /* if copter is behind prev waypoint, go directly to prev waypoint */ + if ((pos_sp_s - prev_sp_s) * prev_curr_s < 0.0f) { + pos_sp_s = prev_sp_s; + } + + /* if copter is in front of curr waypoint, go directly to curr waypoint */ + if ((pos_sp_s - curr_sp_s) * prev_curr_s > 0.0f) { + pos_sp_s = curr_sp_s; + } + + pos_sp_s = pos_s + (pos_sp_s - pos_s).normalized(); + } + } + } + } + + /* move setpoint not faster than max allowed speed */ + math::Vector<3> pos_sp_old_s = _pos_sp.emult(scale); + + /* difference between current and desired position setpoints, 1 = max speed */ + math::Vector<3> d_pos_m = (pos_sp_s - pos_sp_old_s).edivide(_params.pos_p); + float d_pos_m_len = d_pos_m.length(); + if (d_pos_m_len > dt) { + pos_sp_s = pos_sp_old_s + (d_pos_m / d_pos_m_len * dt).emult(_params.pos_p); + } + + /* scale result back to normal space */ + _pos_sp = pos_sp_s.edivide(scale); + + /* update yaw setpoint if needed */ + if (isfinite(_pos_sp_triplet.current.yaw)) { + _att_sp.yaw_body = _pos_sp_triplet.current.yaw; + } + + } else { + /* no waypoint, do nothing, setpoint was already reset */ + } +} + void MulticopterPositionControl::task_main() { @@ -750,41 +957,16 @@ MulticopterPositionControl::task_main() if (_control_mode.flag_control_manual_enabled) { /* manual control */ control_manual(dt); + _mode_auto = false; } else if (_control_mode.flag_control_offboard_enabled) { /* offboard control */ control_offboard(dt); + _mode_auto = false; } else { /* AUTO */ - bool updated; - orb_check(_pos_sp_triplet_sub, &updated); - - if (updated) { - orb_copy(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_sub, &_pos_sp_triplet); - } - - if (_pos_sp_triplet.current.valid) { - /* in case of interrupted mission don't go to waypoint but stay at current position */ - _reset_pos_sp = true; - _reset_alt_sp = true; - - /* project setpoint to local frame */ - map_projection_project(&_ref_pos, - _pos_sp_triplet.current.lat, _pos_sp_triplet.current.lon, - &_pos_sp.data[0], &_pos_sp.data[1]); - _pos_sp(2) = -(_pos_sp_triplet.current.alt - _ref_alt); - - /* update yaw setpoint if needed */ - if (isfinite(_pos_sp_triplet.current.yaw)) { - _att_sp.yaw_body = _pos_sp_triplet.current.yaw; - } - - } else { - /* no waypoint, loiter, reset position setpoint if needed */ - reset_pos_sp(); - reset_alt_sp(); - } + control_auto(dt); } /* fill local position setpoint */ @@ -846,16 +1028,6 @@ MulticopterPositionControl::task_main() _vel_sp(2) = _params.land_speed; } - - if (!_control_mode.flag_control_manual_enabled) { - /* limit 3D speed only in non-manual modes */ - float vel_sp_norm = _vel_sp.edivide(_params.vel_max).length(); - - if (vel_sp_norm > 1.0f) { - _vel_sp /= vel_sp_norm; - } - } - _global_vel_sp.vx = _vel_sp(0); _global_vel_sp.vy = _vel_sp(1); _global_vel_sp.vz = _vel_sp(2); @@ -1132,9 +1304,9 @@ MulticopterPositionControl::task_main() /* position controller disabled, reset setpoints */ _reset_alt_sp = true; _reset_pos_sp = true; + _mode_auto = false; reset_int_z = true; reset_int_xy = true; - } /* reset altitude controller integral (hovering throttle) to manual throttle after manual throttle control */ diff --git a/src/modules/navigator/geofence.cpp b/src/modules/navigator/geofence.cpp index 49aec21e0..0f431ded2 100644 --- a/src/modules/navigator/geofence.cpp +++ b/src/modules/navigator/geofence.cpp @@ -48,6 +48,7 @@ #include <ctype.h> #include <nuttx/config.h> #include <unistd.h> +#include <mavlink/mavlink_log.h> /* Oddly, ERROR is not defined for C++ */ @@ -62,7 +63,12 @@ Geofence::Geofence() : _altitude_min(0), _altitude_max(0), _verticesCount(0), - param_geofence_on(this, "ON") + _param_geofence_on(this, "ON"), + _param_altitude_mode(this, "ALTMODE"), + _param_source(this, "SOURCE"), + _param_counter_threshold(this, "COUNT"), + _outside_counter(0), + _mavlinkFd(-1) { /* Load initial params */ updateParams(); @@ -74,23 +80,69 @@ Geofence::~Geofence() } -bool Geofence::inside(const struct vehicle_global_position_s *vehicle) +bool Geofence::inside(const struct vehicle_global_position_s &global_position) { - return inside(vehicle->lat, vehicle->lon, vehicle->alt); + return inside(global_position.lat, global_position.lon, global_position.alt); +} + +bool Geofence::inside(const struct vehicle_global_position_s &global_position, float baro_altitude_amsl) +{ + return inside(global_position.lat, global_position.lon, baro_altitude_amsl); +} + + +bool Geofence::inside(const struct vehicle_global_position_s &global_position, + const struct vehicle_gps_position_s &gps_position,float baro_altitude_amsl) { + updateParams(); + + if (getAltitudeMode() == Geofence::GF_ALT_MODE_WGS84) { + if (getSource() == Geofence::GF_SOURCE_GLOBALPOS) { + return inside(global_position); + } else { + return inside((double)gps_position.lat * 1.0e-7, (double)gps_position.lon * 1.0e-7, + (double)gps_position.alt * 1.0e-3); + } + } else { + if (getSource() == Geofence::GF_SOURCE_GLOBALPOS) { + return inside(global_position, baro_altitude_amsl); + } else { + return inside((double)gps_position.lat * 1.0e-7, (double)gps_position.lon * 1.0e-7, + baro_altitude_amsl); + } + } } bool Geofence::inside(double lat, double lon, float altitude) { + bool inside_fence = inside_polygon(lat, lon, altitude); + + if (inside_fence) { + _outside_counter = 0; + return inside_fence; + } { + _outside_counter++; + if(_outside_counter > _param_counter_threshold.get()) { + return inside_fence; + } else { + return true; + } + } +} + + +bool Geofence::inside_polygon(double lat, double lon, float altitude) +{ /* Return true if geofence is disabled */ - if (param_geofence_on.get() != 1) + if (_param_geofence_on.get() != 1) return true; if (valid()) { if (!isEmpty()) { /* Vertical check */ - if (altitude > _altitude_max || altitude < _altitude_min) + if (altitude > _altitude_max || altitude < _altitude_min) { return false; + } /*Horizontal check */ /* Adaptation of algorithm originally presented as @@ -280,8 +332,10 @@ Geofence::loadFromFile(const char *filename) { _verticesCount = pointCounter; warnx("Geofence: imported successfully"); + mavlink_log_info(_mavlinkFd, "Geofence imported"); } else { warnx("Geofence: import error"); + mavlink_log_critical(_mavlinkFd, "#audio: Geofence import error"); } return ERROR; diff --git a/src/modules/navigator/geofence.h b/src/modules/navigator/geofence.h index 2eb126ab5..9d647cb68 100644 --- a/src/modules/navigator/geofence.h +++ b/src/modules/navigator/geofence.h @@ -42,6 +42,9 @@ #define GEOFENCE_H_ #include <uORB/topics/fence.h> +#include <uORB/topics/vehicle_global_position.h> +#include <uORB/topics/vehicle_gps_position.h> +#include <uORB/topics/sensor_combined.h> #include <controllib/blocks.hpp> #include <controllib/block/BlockParam.hpp> @@ -49,30 +52,32 @@ class Geofence : public control::SuperBlock { -private: - orb_advert_t _fence_pub; /**< publish fence topic */ - - float _altitude_min; - float _altitude_max; - - unsigned _verticesCount; - - /* Params */ - control::BlockParamInt param_geofence_on; public: Geofence(); ~Geofence(); + /* Altitude mode, corresponding to the param GF_ALTMODE */ + enum { + GF_ALT_MODE_WGS84 = 0, + GF_ALT_MODE_AMSL = 1 + }; + + /* Source, corresponding to the param GF_SOURCE */ + enum { + GF_SOURCE_GLOBALPOS = 0, + GF_SOURCE_GPS = 1 + }; + /** - * Return whether craft is inside geofence. + * Return whether system is inside geofence. * * Calculate whether point is inside arbitrary polygon * @param craft pointer craft coordinates - * @param fence pointer to array of coordinates, one per vertex. First and last vertex are assumed connected - * @return true: craft is inside fence, false:craft is outside fence + * @return true: system is inside fence, false: system is outside fence */ - bool inside(const struct vehicle_global_position_s *craft); - bool inside(double lat, double lon, float altitude); + bool inside(const struct vehicle_global_position_s &global_position, + const struct vehicle_gps_position_s &gps_position,float baro_altitude_amsl); + bool inside_polygon(double lat, double lon, float altitude); int clearDm(); @@ -88,6 +93,34 @@ public: int loadFromFile(const char *filename); bool isEmpty() {return _verticesCount == 0;} + + int getAltitudeMode() { return _param_altitude_mode.get(); } + + int getSource() { return _param_source.get(); } + + void setMavlinkFd(int value) { _mavlinkFd = value; } + +private: + orb_advert_t _fence_pub; /**< publish fence topic */ + + float _altitude_min; + float _altitude_max; + + unsigned _verticesCount; + + /* Params */ + control::BlockParamInt _param_geofence_on; + control::BlockParamInt _param_altitude_mode; + control::BlockParamInt _param_source; + control::BlockParamInt _param_counter_threshold; + + uint8_t _outside_counter; + + int _mavlinkFd; + + bool inside(double lat, double lon, float altitude); + bool inside(const struct vehicle_global_position_s &global_position); + bool inside(const struct vehicle_global_position_s &global_position, float baro_altitude_amsl); }; diff --git a/src/modules/navigator/geofence_params.c b/src/modules/navigator/geofence_params.c index 653b1ad84..fca3918e1 100644 --- a/src/modules/navigator/geofence_params.c +++ b/src/modules/navigator/geofence_params.c @@ -58,3 +58,39 @@ * @group Geofence */ PARAM_DEFINE_INT32(GF_ON, 1); + +/** + * Geofence altitude mode + * + * Select which altitude reference should be used + * 0 = WGS84, 1 = AMSL + * + * @min 0 + * @max 1 + * @group Geofence + */ +PARAM_DEFINE_INT32(GF_ALTMODE, 0); + +/** + * Geofence source + * + * Select which position source should be used. Selecting GPS instead of global position makes sure that there is + * no dependence on the position estimator + * 0 = global position, 1 = GPS + * + * @min 0 + * @max 1 + * @group Geofence + */ +PARAM_DEFINE_INT32(GF_SOURCE, 0); + +/** + * Geofence counter limit + * + * Set how many subsequent position measurements outside of the fence are needed before geofence violation is triggered + * + * @min -1 + * @max 10 + * @group Geofence + */ +PARAM_DEFINE_INT32(GF_COUNT, -1); diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index b33b2049f..7fac69a61 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -37,6 +37,7 @@ * * @author Julian Oes <julian@oes.ch> * @author Thomas Gubler <thomasgubler@gmail.com> + * @author Anton Babushkin <anton.babushkin@me.com> */ #include <sys/types.h> @@ -62,18 +63,16 @@ Mission::Mission(Navigator *navigator, const char *name) : MissionBlock(navigator, name), - _param_onboard_enabled(this, "ONBOARD_EN"), - _param_takeoff_alt(this, "TAKEOFF_ALT"), - _param_dist_1wp(this, "DIST_1WP"), - _param_altmode(this, "ALTMODE"), + _param_onboard_enabled(this, "MIS_ONBOARD_EN", false), + _param_takeoff_alt(this, "MIS_TAKEOFF_ALT", false), + _param_dist_1wp(this, "MIS_DIST_1WP", false), + _param_altmode(this, "MIS_ALTMODE", false), _onboard_mission({0}), _offboard_mission({0}), _current_onboard_mission_index(-1), _current_offboard_mission_index(-1), _need_takeoff(true), _takeoff(false), - _mission_result_pub(-1), - _mission_result({0}), _mission_type(MISSION_TYPE_NONE), _inited(false), _dist_1wp_ok(false), @@ -115,6 +114,7 @@ Mission::on_inactive() update_offboard_mission(); } + /* require takeoff after non-loiter or landing */ if (!_navigator->get_can_loiter_at_sp() || _navigator->get_vstatus()->condition_landed) { _need_takeoff = true; } @@ -149,8 +149,19 @@ Mission::on_active() /* lets check if we reached the current mission item */ if (_mission_type != MISSION_TYPE_NONE && is_mission_item_reached()) { - advance_mission(); - set_mission_items(); + if (_mission_item.autocontinue) { + /* switch to next waypoint if 'autocontinue' flag set */ + advance_mission(); + set_mission_items(); + + } else { + /* else just report that item reached */ + if (_mission_type == MISSION_TYPE_OFFBOARD) { + if (!(_navigator->get_mission_result()->seq_reached == _current_offboard_mission_index && _navigator->get_mission_result()->reached)) { + set_mission_item_reached(); + } + } + } } else if (_mission_type != MISSION_TYPE_NONE &&_param_altmode.get() == MISSION_ALTMODE_FOH) { altitude_sp_foh_update(); @@ -223,7 +234,7 @@ Mission::update_offboard_mission() _current_offboard_mission_index = 0; } - report_current_offboard_mission_item(); + set_current_offboard_mission_item(); } @@ -361,6 +372,10 @@ Mission::set_mission_items() /* no mission available or mission finished, switch to loiter */ if (_mission_type != MISSION_TYPE_NONE) { mavlink_log_critical(_navigator->get_mavlink_fd(), "mission finished, loitering"); + + /* use last setpoint for loiter */ + _navigator->set_can_loiter_at_sp(true); + } else if (!user_feedback_done) { /* only tell users that we got no mission if there has not been any * better, more specific feedback yet @@ -377,10 +392,11 @@ Mission::set_mission_items() mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current); pos_sp_triplet->next.valid = false; + /* reuse setpoint for LOITER only if it's not IDLE */ _navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == SETPOINT_TYPE_LOITER); reset_mission_item_reached(); - report_mission_finished(); + set_mission_finished(); _navigator->set_position_setpoint_triplet_updated(); return; @@ -417,7 +433,7 @@ Mission::set_mission_items() takeoff_alt += _navigator->get_home_position()->alt; } - /* perform takeoff at least to NAV_TAKEOFF_ALT above home/ground, even if first waypoint is lower */ + /* takeoff to at least NAV_TAKEOFF_ALT above home/ground, even if first waypoint is lower */ if (_navigator->get_vstatus()->condition_landed) { takeoff_alt = fmaxf(takeoff_alt, _navigator->get_global_position()->alt + _param_takeoff_alt.get()); @@ -425,32 +441,46 @@ Mission::set_mission_items() takeoff_alt = fmaxf(takeoff_alt, _navigator->get_home_position()->alt + _param_takeoff_alt.get()); } - mavlink_log_critical(_navigator->get_mavlink_fd(), "takeoff to %.1f meters above home", (double)(takeoff_alt - _navigator->get_home_position()->alt)); + /* check if we already above takeoff altitude */ + if (_navigator->get_global_position()->alt < takeoff_alt - _navigator->get_acceptance_radius()) { + mavlink_log_critical(_navigator->get_mavlink_fd(), "takeoff to %.1f meters above home", (double)(takeoff_alt - _navigator->get_home_position()->alt)); - _mission_item.lat = _navigator->get_global_position()->lat; - _mission_item.lon = _navigator->get_global_position()->lon; - _mission_item.altitude = takeoff_alt; - _mission_item.altitude_is_relative = false; + _mission_item.nav_cmd = NAV_CMD_TAKEOFF; + _mission_item.lat = _navigator->get_global_position()->lat; + _mission_item.lon = _navigator->get_global_position()->lon; + _mission_item.altitude = takeoff_alt; + _mission_item.altitude_is_relative = false; + _mission_item.autocontinue = true; + _mission_item.time_inside = 0; - mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current); + mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current); - } else { - /* set current position setpoint from mission item */ - mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current); + _navigator->set_position_setpoint_triplet_updated(); + return; - /* require takeoff after landing or idle */ - if (pos_sp_triplet->current.type == SETPOINT_TYPE_LAND || pos_sp_triplet->current.type == SETPOINT_TYPE_IDLE) { - _need_takeoff = true; + } else { + /* skip takeoff */ + _takeoff = false; } + } - _navigator->set_can_loiter_at_sp(false); - reset_mission_item_reached(); + /* set current position setpoint from mission item */ + mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current); - if (_mission_type == MISSION_TYPE_OFFBOARD) { - report_current_offboard_mission_item(); - } - // TODO: report onboard mission item somehow + /* require takeoff after landing or idle */ + if (pos_sp_triplet->current.type == SETPOINT_TYPE_LAND || pos_sp_triplet->current.type == SETPOINT_TYPE_IDLE) { + _need_takeoff = true; + } + + _navigator->set_can_loiter_at_sp(false); + reset_mission_item_reached(); + + if (_mission_type == MISSION_TYPE_OFFBOARD) { + set_current_offboard_mission_item(); + } + // TODO: report onboard mission item somehow + if (_mission_item.autocontinue && _mission_item.time_inside <= 0.001f) { /* try to read next mission item */ struct mission_item_s mission_item_next; @@ -462,6 +492,10 @@ Mission::set_mission_items() /* next mission item is not available */ pos_sp_triplet->next.valid = false; } + + } else { + /* vehicle will be paused on current waypoint, don't set next item */ + pos_sp_triplet->next.valid = false; } /* Save the distance between the current sp and the previous one */ @@ -668,45 +702,28 @@ Mission::save_offboard_mission_state() } void -Mission::report_mission_item_reached() +Mission::set_mission_item_reached() { - if (_mission_type == MISSION_TYPE_OFFBOARD) { - _mission_result.reached = true; - _mission_result.seq_reached = _current_offboard_mission_index; - } - publish_mission_result(); + _navigator->get_mission_result()->reached = true; + _navigator->get_mission_result()->seq_reached = _current_offboard_mission_index; + _navigator->publish_mission_result(); } void -Mission::report_current_offboard_mission_item() +Mission::set_current_offboard_mission_item() { warnx("current offboard mission index: %d", _current_offboard_mission_index); - _mission_result.seq_current = _current_offboard_mission_index; - publish_mission_result(); + _navigator->get_mission_result()->reached = false; + _navigator->get_mission_result()->finished = false; + _navigator->get_mission_result()->seq_current = _current_offboard_mission_index; + _navigator->publish_mission_result(); save_offboard_mission_state(); } void -Mission::report_mission_finished() -{ - _mission_result.finished = true; - publish_mission_result(); -} - -void -Mission::publish_mission_result() +Mission::set_mission_finished() { - /* lazily publish the mission result only once available */ - if (_mission_result_pub > 0) { - /* publish mission result */ - orb_publish(ORB_ID(mission_result), _mission_result_pub, &_mission_result); - - } else { - /* advertise and publish */ - _mission_result_pub = orb_advertise(ORB_ID(mission_result), &_mission_result); - } - /* reset reached bool */ - _mission_result.reached = false; - _mission_result.finished = false; + _navigator->get_mission_result()->finished = true; + _navigator->publish_mission_result(); } diff --git a/src/modules/navigator/mission.h b/src/modules/navigator/mission.h index a91c89968..ea7cc0927 100644 --- a/src/modules/navigator/mission.h +++ b/src/modules/navigator/mission.h @@ -37,6 +37,7 @@ * * @author Julian Oes <julian@oes.ch> * @author Thomas Gubler <thomasgubler@gmail.com> + * @author Anton Babushkin <anton.babushkin@me.com> */ #ifndef NAVIGATOR_MISSION_H @@ -130,24 +131,19 @@ private: void save_offboard_mission_state(); /** - * Report that a mission item has been reached + * Set a mission item as reached */ - void report_mission_item_reached(); + void set_mission_item_reached(); /** - * Rport the current mission item + * Set the current offboard mission item */ - void report_current_offboard_mission_item(); + void set_current_offboard_mission_item(); /** - * Report that the mission is finished if one exists or that none exists + * Set that the mission is finished if one exists or that none exists */ - void report_mission_finished(); - - /** - * Publish the mission result so commander and mavlink know what is going on - */ - void publish_mission_result(); + void set_mission_finished(); control::BlockParamInt _param_onboard_enabled; control::BlockParamFloat _param_takeoff_alt; @@ -159,11 +155,8 @@ private: int _current_onboard_mission_index; int _current_offboard_mission_index; - bool _need_takeoff; - bool _takeoff; - - orb_advert_t _mission_result_pub; - struct mission_result_s _mission_result; + bool _need_takeoff; /**< if true, then takeoff must be performed before going to the first waypoint (if needed) */ + bool _takeoff; /**< takeoff state flag */ enum { MISSION_TYPE_NONE, diff --git a/src/modules/navigator/mission_feasibility_checker.cpp b/src/modules/navigator/mission_feasibility_checker.cpp index 7ae7f60cb..389cdd0d2 100644 --- a/src/modules/navigator/mission_feasibility_checker.cpp +++ b/src/modules/navigator/mission_feasibility_checker.cpp @@ -120,7 +120,7 @@ bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMiss return false; } - if (!geofence.inside(missionitem.lat, missionitem.lon, missionitem.altitude)) { + if (!geofence.inside_polygon(missionitem.lat, missionitem.lon, missionitem.altitude)) { mavlink_log_info(_mavlink_fd, "#audio: Geofence violation waypoint %d", i); return false; } diff --git a/src/modules/navigator/module.mk b/src/modules/navigator/module.mk index b50198996..c44d4c35e 100644 --- a/src/modules/navigator/module.mk +++ b/src/modules/navigator/module.mk @@ -46,13 +46,19 @@ SRCS = navigator_main.cpp \ loiter.cpp \ rtl.cpp \ rtl_params.c \ - offboard.cpp \ mission_feasibility_checker.cpp \ geofence.cpp \ - geofence_params.c + geofence_params.c \ + datalinkloss.cpp \ + datalinkloss_params.c \ + rcloss.cpp \ + rcloss_params.c \ + enginefailure.cpp \ + gpsfailure.cpp \ + gpsfailure_params.c INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink MODULE_STACKSIZE = 1200 -EXTRACXXFLAGS = -Weffc++ +MAXOPTIMIZATION = -Os diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h index 8edbb63b3..d550dcc4c 100644 --- a/src/modules/navigator/navigator.h +++ b/src/modules/navigator/navigator.h @@ -35,6 +35,7 @@ * Helper class to access missions * @author Julian Oes <julian@oes.ch> * @author Anton Babushkin <anton.babushkin@me.com> + * @author Thomas Gubler <thomasgubler@gmail.com> */ #ifndef NAVIGATOR_H @@ -50,20 +51,25 @@ #include <uORB/topics/vehicle_control_mode.h> #include <uORB/topics/position_setpoint_triplet.h> #include <uORB/topics/vehicle_global_position.h> +#include <uORB/topics/vehicle_gps_position.h> #include <uORB/topics/parameter_update.h> +#include <uORB/topics/mission_result.h> +#include <uORB/topics/vehicle_attitude_setpoint.h> #include "navigator_mode.h" #include "mission.h" #include "loiter.h" #include "rtl.h" -#include "offboard.h" +#include "datalinkloss.h" +#include "enginefailure.h" +#include "gpsfailure.h" +#include "rcloss.h" #include "geofence.h" /** * Number of navigation modes that need on_active/on_inactive calls - * Currently: mission, loiter, and rtl */ -#define NAVIGATOR_MODE_ARRAY_SIZE 4 +#define NAVIGATOR_MODE_ARRAY_SIZE 7 class Navigator : public control::SuperBlock { @@ -101,6 +107,17 @@ public: void load_fence_from_file(const char *filename); /** + * Publish the mission result so commander and mavlink know what is going on + */ + void publish_mission_result(); + + /** + * Publish the attitude sp, only to be used in very special modes when position control is deactivated + * Example: mode that is triggered on gps failure + */ + void publish_att_sp(); + + /** * Setters */ void set_can_loiter_at_sp(bool can_loiter) { _can_loiter_at_sp = can_loiter; } @@ -112,11 +129,15 @@ public: struct vehicle_status_s* get_vstatus() { return &_vstatus; } struct vehicle_control_mode_s* get_control_mode() { return &_control_mode; } struct vehicle_global_position_s* get_global_position() { return &_global_pos; } + struct vehicle_gps_position_s* get_gps_position() { return &_gps_pos; } + struct sensor_combined_s* get_sensor_combined() { return &_sensor_combined; } struct home_position_s* get_home_position() { return &_home_pos; } - struct position_setpoint_triplet_s* get_position_setpoint_triplet() { return &_pos_sp_triplet; } + struct position_setpoint_triplet_s* get_position_setpoint_triplet() { return &_pos_sp_triplet; } + struct mission_result_s* get_mission_result() { return &_mission_result; } + struct vehicle_attitude_setpoint_s* get_att_sp() { return &_att_sp; } + int get_onboard_mission_sub() { return _onboard_mission_sub; } int get_offboard_mission_sub() { return _offboard_mission_sub; } - int get_offboard_control_sp_sub() { return _offboard_control_sp_sub; } Geofence& get_geofence() { return _geofence; } bool get_can_loiter_at_sp() { return _can_loiter_at_sp; } float get_loiter_radius() { return _param_loiter_radius.get(); } @@ -131,25 +152,35 @@ private: int _mavlink_fd; /**< the file descriptor to send messages over mavlink */ int _global_pos_sub; /**< global position subscription */ + int _gps_pos_sub; /**< gps position subscription */ + int _sensor_combined_sub; /**< sensor combined subscription */ int _home_pos_sub; /**< home position subscription */ int _vstatus_sub; /**< vehicle status subscription */ int _capabilities_sub; /**< notification of vehicle capabilities updates */ - int _offboard_control_sp_sub; /*** offboard control subscription */ int _control_mode_sub; /**< vehicle control mode subscription */ int _onboard_mission_sub; /**< onboard mission subscription */ int _offboard_mission_sub; /**< offboard mission subscription */ int _param_update_sub; /**< param update subscription */ orb_advert_t _pos_sp_triplet_pub; /**< publish position setpoint triplet */ + orb_advert_t _mission_result_pub; + orb_advert_t _att_sp_pub; /**< publish att sp + used only in very special failsafe modes + when pos control is deactivated */ vehicle_status_s _vstatus; /**< vehicle status */ vehicle_control_mode_s _control_mode; /**< vehicle control mode */ vehicle_global_position_s _global_pos; /**< global vehicle position */ + vehicle_gps_position_s _gps_pos; /**< gps position */ + sensor_combined_s _sensor_combined; /**< sensor values */ home_position_s _home_pos; /**< home position for RTL */ mission_item_s _mission_item; /**< current mission item */ navigation_capabilities_s _nav_caps; /**< navigation capabilities */ position_setpoint_triplet_s _pos_sp_triplet; /**< triplet of position setpoints */ + mission_result_s _mission_result; + vehicle_attitude_setpoint_s _att_sp; + bool _mission_item_valid; /**< flags if the current mission item is valid */ perf_counter_t _loop_perf; /**< loop performance counter */ @@ -157,14 +188,18 @@ private: Geofence _geofence; /**< class that handles the geofence */ bool _geofence_violation_warning_sent; /**< prevents spaming to mavlink */ - bool _fence_valid; /**< flag if fence is valid */ bool _inside_fence; /**< vehicle is inside fence */ NavigatorMode *_navigation_mode; /**< abstract pointer to current navigation mode class */ Mission _mission; /**< class that handles the missions */ Loiter _loiter; /**< class that handles loiter */ RTL _rtl; /**< class that handles RTL */ - Offboard _offboard; /**< class that handles offboard */ + RCLoss _rcLoss; /**< class that handles RTL according to + OBC rules (rc loss mode) */ + DataLinkLoss _dataLinkLoss; /**< class that handles the OBC datalink loss mode */ + EngineFailure _engineFailure; /**< class that handles the engine failure mode + (FW only!) */ + GpsFailure _gpsFailure; /**< class that handles the OBC gpsfailure loss mode */ NavigatorMode *_navigation_mode_array[NAVIGATOR_MODE_ARRAY_SIZE]; /**< array of navigation modes */ @@ -173,12 +208,24 @@ private: control::BlockParamFloat _param_loiter_radius; /**< loiter radius for fixedwing */ control::BlockParamFloat _param_acceptance_radius; /**< acceptance for takeoff */ + control::BlockParamInt _param_datalinkloss_obc; /**< if true: obc mode on data link loss enabled */ + control::BlockParamInt _param_rcloss_obc; /**< if true: obc mode on rc loss enabled */ /** * Retrieve global position */ void global_position_update(); /** + * Retrieve gps position + */ + void gps_position_update(); + + /** + * Retrieve sensor values + */ + void sensor_combined_update(); + + /** * Retrieve home position */ void home_position_update(); diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 042c46afd..a867dd0da 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -40,6 +40,7 @@ * @author Jean Cyr <jean.m.cyr@gmail.com> * @author Julian Oes <julian@oes.ch> * @author Anton Babushkin <anton.babushkin@me.com> + * @author Thomas Gubler <thomasgubler@gmail.com> */ #include <nuttx/config.h> @@ -67,7 +68,7 @@ #include <uORB/topics/mission.h> #include <uORB/topics/fence.h> #include <uORB/topics/navigation_capabilities.h> -#include <uORB/topics/offboard_control_setpoint.h> +#include <drivers/drv_baro.h> #include <systemlib/err.h> #include <systemlib/systemlib.h> @@ -85,6 +86,7 @@ */ extern "C" __EXPORT int navigator_main(int argc, char *argv[]); +#define GEOFENCE_CHECK_INTERVAL 200000 namespace navigator { @@ -98,43 +100,56 @@ Navigator::Navigator() : _navigator_task(-1), _mavlink_fd(-1), _global_pos_sub(-1), + _gps_pos_sub(-1), _home_pos_sub(-1), _vstatus_sub(-1), _capabilities_sub(-1), - _offboard_control_sp_sub(-1), _control_mode_sub(-1), _onboard_mission_sub(-1), _offboard_mission_sub(-1), _param_update_sub(-1), _pos_sp_triplet_pub(-1), + _mission_result_pub(-1), + _att_sp_pub(-1), _vstatus{}, _control_mode{}, _global_pos{}, + _gps_pos{}, + _sensor_combined{}, _home_pos{}, _mission_item{}, _nav_caps{}, _pos_sp_triplet{}, + _mission_result{}, + _att_sp{}, _mission_item_valid(false), _loop_perf(perf_alloc(PC_ELAPSED, "navigator")), _geofence{}, _geofence_violation_warning_sent(false), - _fence_valid(false), _inside_fence(true), _navigation_mode(nullptr), _mission(this, "MIS"), _loiter(this, "LOI"), _rtl(this, "RTL"), - _offboard(this, "OFF"), + _rcLoss(this, "RCL"), + _dataLinkLoss(this, "DLL"), + _engineFailure(this, "EF"), + _gpsFailure(this, "GPSF"), _can_loiter_at_sp(false), _pos_sp_triplet_updated(false), _param_loiter_radius(this, "LOITER_RAD"), - _param_acceptance_radius(this, "ACC_RAD") + _param_acceptance_radius(this, "ACC_RAD"), + _param_datalinkloss_obc(this, "DLL_OBC"), + _param_rcloss_obc(this, "RCL_OBC") { /* Create a list of our possible navigation types */ _navigation_mode_array[0] = &_mission; _navigation_mode_array[1] = &_loiter; _navigation_mode_array[2] = &_rtl; - _navigation_mode_array[3] = &_offboard; + _navigation_mode_array[3] = &_dataLinkLoss; + _navigation_mode_array[4] = &_engineFailure; + _navigation_mode_array[5] = &_gpsFailure; + _navigation_mode_array[6] = &_rcLoss; updateParams(); } @@ -171,6 +186,18 @@ Navigator::global_position_update() } void +Navigator::gps_position_update() +{ + orb_copy(ORB_ID(vehicle_gps_position), _gps_pos_sub, &_gps_pos); +} + +void +Navigator::sensor_combined_update() +{ + orb_copy(ORB_ID(sensor_combined), _sensor_combined_sub, &_sensor_combined); +} + +void Navigator::home_position_update() { orb_copy(ORB_ID(home_position), _home_pos_sub, &_home_pos); @@ -221,6 +248,7 @@ Navigator::task_main() warnx("Initializing.."); _mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); + _geofence.setMavlinkFd(_mavlink_fd); /* Try to load the geofence: * if /fs/microsd/etc/geofence.txt load from this file @@ -232,6 +260,7 @@ Navigator::task_main() _geofence.loadFromFile(GEOFENCE_FILENAME); } else { + mavlink_log_critical(_mavlink_fd, "#audio: No geofence file"); if (_geofence.clearDm() > 0) warnx("Geofence cleared"); else @@ -240,6 +269,8 @@ Navigator::task_main() /* do subscriptions */ _global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); + _gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); + _sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined)); _capabilities_sub = orb_subscribe(ORB_ID(navigation_capabilities)); _vstatus_sub = orb_subscribe(ORB_ID(vehicle_status)); _control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); @@ -247,12 +278,13 @@ Navigator::task_main() _onboard_mission_sub = orb_subscribe(ORB_ID(onboard_mission)); _offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission)); _param_update_sub = orb_subscribe(ORB_ID(parameter_update)); - _offboard_control_sp_sub = orb_subscribe(ORB_ID(offboard_control_setpoint)); /* copy all topics first time */ vehicle_status_update(); vehicle_control_mode_update(); global_position_update(); + gps_position_update(); + sensor_combined_update(); home_position_update(); navigation_capabilities_update(); params_update(); @@ -264,7 +296,7 @@ Navigator::task_main() const hrt_abstime mavlink_open_interval = 500000; /* wakeup source(s) */ - struct pollfd fds[6]; + struct pollfd fds[8]; /* Setup of loop */ fds[0].fd = _global_pos_sub; @@ -279,6 +311,10 @@ Navigator::task_main() fds[4].events = POLLIN; fds[5].fd = _param_update_sub; fds[5].events = POLLIN; + fds[6].fd = _sensor_combined_sub; + fds[6].events = POLLIN; + fds[7].fd = _gps_pos_sub; + fds[7].events = POLLIN; while (!_task_should_exit) { @@ -303,6 +339,21 @@ Navigator::task_main() _mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); } + static bool have_geofence_position_data = false; + + /* gps updated */ + if (fds[7].revents & POLLIN) { + gps_position_update(); + if (_geofence.getSource() == Geofence::GF_SOURCE_GPS) { + have_geofence_position_data = true; + } + } + + /* sensors combined updated */ + if (fds[6].revents & POLLIN) { + sensor_combined_update(); + } + /* parameters updated */ if (fds[5].revents & POLLIN) { params_update(); @@ -332,9 +383,21 @@ Navigator::task_main() /* global position updated */ if (fds[0].revents & POLLIN) { global_position_update(); + if (_geofence.getSource() == Geofence::GF_SOURCE_GLOBALPOS) { + have_geofence_position_data = true; + } + } - /* Check geofence violation */ - if (!_geofence.inside(&_global_pos)) { + /* Check geofence violation */ + static hrt_abstime last_geofence_check = 0; + if (have_geofence_position_data && hrt_elapsed_time(&last_geofence_check) > GEOFENCE_CHECK_INTERVAL) { + bool inside = _geofence.inside(_global_pos, _gps_pos, _sensor_combined.baro_alt_meter); + last_geofence_check = hrt_absolute_time(); + have_geofence_position_data = false; + if (!inside) { + /* inform other apps via the mission result */ + _mission_result.geofence_violated = true; + publish_mission_result(); /* Issue a warning about the geofence violation once */ if (!_geofence_violation_warning_sent) { @@ -342,6 +405,9 @@ Navigator::task_main() _geofence_violation_warning_sent = true; } } else { + /* inform other apps via the mission result */ + _mission_result.geofence_violated = false; + publish_mission_result(); /* Reset the _geofence_violation_warning_sent field */ _geofence_violation_warning_sent = false; } @@ -355,6 +421,7 @@ Navigator::task_main() case NAVIGATION_STATE_POSCTL: case NAVIGATION_STATE_LAND: case NAVIGATION_STATE_TERMINATION: + case NAVIGATION_STATE_OFFBOARD: _navigation_mode = nullptr; _can_loiter_at_sp = false; break; @@ -364,14 +431,30 @@ Navigator::task_main() case NAVIGATION_STATE_AUTO_LOITER: _navigation_mode = &_loiter; break; + case NAVIGATION_STATE_AUTO_RCRECOVER: + if (_param_rcloss_obc.get() != 0) { + _navigation_mode = &_rcLoss; + } else { + _navigation_mode = &_rtl; + } + break; case NAVIGATION_STATE_AUTO_RTL: - _navigation_mode = &_rtl; + _navigation_mode = &_rtl; break; case NAVIGATION_STATE_AUTO_RTGS: - _navigation_mode = &_rtl; /* TODO: change this to something else */ + /* Use complex data link loss mode only when enabled via param + * otherwise use rtl */ + if (_param_datalinkloss_obc.get() != 0) { + _navigation_mode = &_dataLinkLoss; + } else { + _navigation_mode = &_rtl; + } break; - case NAVIGATION_STATE_OFFBOARD: - _navigation_mode = &_offboard; + case NAVIGATION_STATE_AUTO_LANDENGFAIL: + _navigation_mode = &_engineFailure; + break; + case NAVIGATION_STATE_AUTO_LANDGPSFAIL: + _navigation_mode = &_gpsFailure; break; default: _navigation_mode = nullptr; @@ -442,7 +525,7 @@ Navigator::status() // warnx("Compass heading in degrees %5.5f", (double)(_global_pos.yaw * M_RAD_TO_DEG_F)); // } - if (_fence_valid) { + if (_geofence.valid()) { warnx("Geofence is valid"); /* TODO: needed? */ // warnx("Vertex longitude latitude"); @@ -450,7 +533,7 @@ Navigator::status() // warnx("%6u %9.5f %8.5f", i, (double)_fence.vertices[i].lon, (double)_fence.vertices[i].lat); } else { - warnx("Geofence not set"); + warnx("Geofence not set (no /etc/geofence.txt on microsd) or not valid"); } } @@ -534,3 +617,34 @@ int navigator_main(int argc, char *argv[]) return 0; } + +void +Navigator::publish_mission_result() +{ + /* lazily publish the mission result only once available */ + if (_mission_result_pub > 0) { + /* publish mission result */ + orb_publish(ORB_ID(mission_result), _mission_result_pub, &_mission_result); + + } else { + /* advertise and publish */ + _mission_result_pub = orb_advertise(ORB_ID(mission_result), &_mission_result); + } + /* reset reached bool */ + _mission_result.reached = false; + _mission_result.finished = false; +} + +void +Navigator::publish_att_sp() +{ + /* lazily publish the attitude sp only once available */ + if (_att_sp_pub > 0) { + /* publish att sp*/ + orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &_att_sp); + + } else { + /* advertise and publish */ + _att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_att_sp); + } +} diff --git a/src/modules/navigator/navigator_mode.cpp b/src/modules/navigator/navigator_mode.cpp index f43215665..3807c5ea8 100644 --- a/src/modules/navigator/navigator_mode.cpp +++ b/src/modules/navigator/navigator_mode.cpp @@ -43,7 +43,7 @@ #include "navigator.h" NavigatorMode::NavigatorMode(Navigator *navigator, const char *name) : - SuperBlock(NULL, name), + SuperBlock(navigator, name), _navigator(navigator), _first_run(true) { @@ -63,6 +63,9 @@ NavigatorMode::run(bool active) { if (_first_run) { /* first run */ _first_run = false; + /* Reset stay in failsafe flag */ + _navigator->get_mission_result()->stay_in_failsafe = false; + _navigator->publish_mission_result(); on_activation(); } else { diff --git a/src/modules/navigator/navigator_params.c b/src/modules/navigator/navigator_params.c index 084afe340..1f40e634e 100644 --- a/src/modules/navigator/navigator_params.c +++ b/src/modules/navigator/navigator_params.c @@ -37,6 +37,7 @@ * Parameters for navigator in general * * @author Julian Oes <julian@oes.ch> + * @author Thomas Gubler <thomasgubler@gmail.com> */ #include <nuttx/config.h> @@ -64,3 +65,56 @@ PARAM_DEFINE_FLOAT(NAV_LOITER_RAD, 50.0f); * @group Mission */ PARAM_DEFINE_FLOAT(NAV_ACC_RAD, 25.0f); + +/** + * Set OBC mode for data link loss + * + * If set to 1 the behaviour on data link loss is set to a mode according to the OBC rules + * + * @min 0 + * @group Mission + */ +PARAM_DEFINE_INT32(NAV_DLL_OBC, 0); + +/** + * Set OBC mode for rc loss + * + * If set to 1 the behaviour on data link loss is set to a mode according to the OBC rules + * + * @min 0 + * @group Mission + */ +PARAM_DEFINE_INT32(NAV_RCL_OBC, 0); + +/** + * Airfield home Lat + * + * Latitude of airfield home waypoint + * + * @unit degrees * 1e7 + * @min 0.0 + * @group DLL + */ +PARAM_DEFINE_INT32(NAV_AH_LAT, -265847810); + +/** + * Airfield home Lon + * + * Longitude of airfield home waypoint + * + * @unit degrees * 1e7 + * @min 0.0 + * @group DLL + */ +PARAM_DEFINE_INT32(NAV_AH_LON, 1518423250); + +/** + * Airfield home alt + * + * Altitude of airfield home waypoint + * + * @unit m + * @min 0.0 + * @group DLL + */ +PARAM_DEFINE_FLOAT(NAV_AH_ALT, 600.0f); diff --git a/src/modules/navigator/offboard.cpp b/src/modules/navigator/offboard.cpp deleted file mode 100644 index dcb5c6000..000000000 --- a/src/modules/navigator/offboard.cpp +++ /dev/null @@ -1,129 +0,0 @@ -/**************************************************************************** - * - * 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 offboard.cpp - * - * Helper class for offboard commands - * - * @author Julian Oes <julian@oes.ch> - */ - -#include <string.h> -#include <stdlib.h> -#include <stdbool.h> -#include <math.h> -#include <fcntl.h> - -#include <mavlink/mavlink_log.h> -#include <systemlib/err.h> - -#include <uORB/uORB.h> -#include <uORB/topics/position_setpoint_triplet.h> - -#include "navigator.h" -#include "offboard.h" - -Offboard::Offboard(Navigator *navigator, const char *name) : - NavigatorMode(navigator, name), - _offboard_control_sp({0}) -{ - /* load initial params */ - updateParams(); - /* initial reset */ - on_inactive(); -} - -Offboard::~Offboard() -{ -} - -void -Offboard::on_inactive() -{ -} - -void -Offboard::on_activation() -{ -} - -void -Offboard::on_active() -{ - struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); - - bool updated; - orb_check(_navigator->get_offboard_control_sp_sub(), &updated); - if (updated) { - update_offboard_control_setpoint(); - } - - /* copy offboard setpoints to the corresponding topics */ - if (_navigator->get_control_mode()->flag_control_position_enabled - && _offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_POSITION) { - /* position control */ - pos_sp_triplet->current.x = _offboard_control_sp.p1; - pos_sp_triplet->current.y = _offboard_control_sp.p2; - pos_sp_triplet->current.yaw = _offboard_control_sp.p3; - pos_sp_triplet->current.z = -_offboard_control_sp.p4; - - pos_sp_triplet->current.type = SETPOINT_TYPE_OFFBOARD; - pos_sp_triplet->current.valid = true; - pos_sp_triplet->current.position_valid = true; - - _navigator->set_position_setpoint_triplet_updated(); - - } else if (_navigator->get_control_mode()->flag_control_velocity_enabled - && _offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY) { - /* velocity control */ - pos_sp_triplet->current.vx = _offboard_control_sp.p2; - pos_sp_triplet->current.vy = _offboard_control_sp.p1; - pos_sp_triplet->current.yawspeed = _offboard_control_sp.p3; - pos_sp_triplet->current.vz = _offboard_control_sp.p4; - - pos_sp_triplet->current.type = SETPOINT_TYPE_OFFBOARD; - pos_sp_triplet->current.valid = true; - pos_sp_triplet->current.velocity_valid = true; - - _navigator->set_position_setpoint_triplet_updated(); - } - -} - - -void -Offboard::update_offboard_control_setpoint() -{ - orb_copy(ORB_ID(offboard_control_setpoint), _navigator->get_offboard_control_sp_sub(), &_offboard_control_sp); - -} diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp index 142a73409..b6c4b8fdf 100644 --- a/src/modules/navigator/rtl.cpp +++ b/src/modules/navigator/rtl.cpp @@ -58,9 +58,9 @@ RTL::RTL(Navigator *navigator, const char *name) : MissionBlock(navigator, name), _rtl_state(RTL_STATE_NONE), - _param_return_alt(this, "RETURN_ALT"), - _param_descend_alt(this, "DESCEND_ALT"), - _param_land_delay(this, "LAND_DELAY") + _param_return_alt(this, "RTL_RETURN_ALT", false), + _param_descend_alt(this, "RTL_DESCEND_ALT", false), + _param_land_delay(this, "RTL_LAND_DELAY", false) { /* load initial params */ updateParams(); diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c index 185cb20dd..ad60ee03e 100644 --- a/src/modules/px4iofirmware/controls.c +++ b/src/modules/px4iofirmware/controls.c @@ -43,6 +43,7 @@ #include <drivers/drv_hrt.h> #include <systemlib/perf_counter.h> #include <systemlib/ppm_decode.h> +#include <rc/st24.h> #include "px4io.h" @@ -51,11 +52,62 @@ #define RC_CHANNEL_LOW_THRESH -8000 /* 10% threshold */ static bool ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len); +static bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated); static perf_counter_t c_gather_dsm; static perf_counter_t c_gather_sbus; static perf_counter_t c_gather_ppm; +static int _dsm_fd; + +static uint16_t rc_value_override = 0; + +bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated) +{ + perf_begin(c_gather_dsm); + uint16_t temp_count = r_raw_rc_count; + uint8_t n_bytes = 0; + uint8_t *bytes; + *dsm_updated = dsm_input(r_raw_rc_values, &temp_count, &n_bytes, &bytes); + if (*dsm_updated) { + r_raw_rc_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM; + r_raw_rc_count = temp_count & 0x7fff; + if (temp_count & 0x8000) + r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_RC_DSM11; + else + r_raw_rc_flags &= ~PX4IO_P_RAW_RC_FLAGS_RC_DSM11; + + r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FRAME_DROP); + r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE); + + } + perf_end(c_gather_dsm); + + /* get data from FD and attempt to parse with DSM and ST24 libs */ + uint8_t st24_rssi, rx_count; + uint16_t st24_channel_count = 0; + + *st24_updated = false; + + for (unsigned i = 0; i < n_bytes; i++) { + /* set updated flag if one complete packet was parsed */ + *st24_updated |= (OK == st24_decode(bytes[i], &st24_rssi, &rx_count, + &st24_channel_count, r_raw_rc_values, PX4IO_RC_INPUT_CHANNELS)); + } + + if (*st24_updated) { + + *rssi = st24_rssi; + r_raw_rc_count = st24_channel_count; + + r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_ST24; + r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FRAME_DROP); + r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE); + } + + return (*dsm_updated | *st24_updated); +} + void controls_init(void) { @@ -65,7 +117,7 @@ controls_init(void) system_state.rc_channels_timestamp_valid = 0; /* DSM input (USART1) */ - dsm_init("/dev/ttyS0"); + _dsm_fd = dsm_init("/dev/ttyS0"); /* S.bus input (USART3) */ sbus_init("/dev/ttyS2"); @@ -116,20 +168,8 @@ controls_tick() { #endif perf_begin(c_gather_dsm); - uint16_t temp_count = r_raw_rc_count; - bool dsm_updated = dsm_input(r_raw_rc_values, &temp_count); - if (dsm_updated) { - r_raw_rc_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM; - r_raw_rc_count = temp_count & 0x7fff; - if (temp_count & 0x8000) - r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_RC_DSM11; - else - r_raw_rc_flags &= ~PX4IO_P_RAW_RC_FLAGS_RC_DSM11; - - r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FRAME_DROP); - r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE); - - } + bool dsm_updated, st24_updated; + (void)dsm_port_input(&rssi, &dsm_updated, &st24_updated); perf_end(c_gather_dsm); perf_begin(c_gather_sbus); @@ -191,7 +231,7 @@ controls_tick() { /* * If we received a new frame from any of the RC sources, process it. */ - if (dsm_updated || sbus_updated || ppm_updated) { + if (dsm_updated || sbus_updated || ppm_updated || st24_updated) { /* record a bitmask of channels assigned */ unsigned assigned_channels = 0; @@ -278,6 +318,9 @@ controls_tick() { r_rc_values[mapped] = SIGNED_TO_REG(scaled); assigned_channels |= (1 << mapped); + } else if (mapped == PX4IO_P_RC_CONFIG_ASSIGNMENT_MODESWITCH) { + /* pick out override channel, indicated by special mapping */ + rc_value_override = SIGNED_TO_REG(scaled); } } } @@ -371,7 +414,7 @@ controls_tick() { * requested override. * */ - if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && (REG_TO_SIGNED(r_rc_values[4]) < RC_CHANNEL_LOW_THRESH)) + if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && (REG_TO_SIGNED(rc_value_override) < RC_CHANNEL_LOW_THRESH)) override = true; if (override) { @@ -379,7 +422,7 @@ controls_tick() { r_status_flags |= PX4IO_P_STATUS_FLAGS_OVERRIDE; /* mix new RC input control values to servos */ - if (dsm_updated || sbus_updated || ppm_updated) + if (dsm_updated || sbus_updated || ppm_updated || st24_updated) mixer_tick(); } else { diff --git a/src/modules/px4iofirmware/dsm.c b/src/modules/px4iofirmware/dsm.c index d3f365822..6e57c9ec7 100644 --- a/src/modules/px4iofirmware/dsm.c +++ b/src/modules/px4iofirmware/dsm.c @@ -452,10 +452,12 @@ dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values) * * @param[out] values pointer to per channel array of decoded values * @param[out] num_values pointer to number of raw channel values returned, high order bit 0:10 bit data, 1:11 bit data + * @param[out] n_butes number of bytes read + * @param[out] bytes pointer to the buffer of read bytes * @return true=decoded raw channel values updated, false=no update */ bool -dsm_input(uint16_t *values, uint16_t *num_values) +dsm_input(uint16_t *values, uint16_t *num_values, uint8_t *n_bytes, uint8_t **bytes) { ssize_t ret; hrt_abstime now; @@ -478,8 +480,12 @@ dsm_input(uint16_t *values, uint16_t *num_values) ret = read(dsm_fd, &dsm_frame[dsm_partial_frame_count], DSM_FRAME_SIZE - dsm_partial_frame_count); /* if the read failed for any reason, just give up here */ - if (ret < 1) + if (ret < 1) { return false; + } else { + *n_bytes = ret; + *bytes = &dsm_frame[dsm_partial_frame_count]; + } dsm_last_rx_time = now; diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index 606c639f9..c0b8ac358 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -58,14 +58,7 @@ extern "C" { /* * Maximum interval in us before FMU signal is considered lost */ -#define FMU_INPUT_DROP_LIMIT_US 200000 - -/* XXX need to move the RC_CHANNEL_FUNCTION out of rc_channels.h and into systemlib */ -#define ROLL 0 -#define PITCH 1 -#define YAW 2 -#define THROTTLE 3 -#define OVERRIDE 4 +#define FMU_INPUT_DROP_LIMIT_US 500000 /* current servo arm/disarm state */ static bool mixer_servos_armed = false; @@ -98,7 +91,8 @@ mixer_tick(void) { /* check that we are receiving fresh data from the FMU */ - if (hrt_elapsed_time(&system_state.fmu_data_received_time) > FMU_INPUT_DROP_LIMIT_US) { + if ((system_state.fmu_data_received_time == 0) || + hrt_elapsed_time(&system_state.fmu_data_received_time) > FMU_INPUT_DROP_LIMIT_US) { /* too long without FMU input, time to go to failsafe */ if (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) { @@ -109,6 +103,9 @@ mixer_tick(void) } else { r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK; + + /* this flag is never cleared once OK */ + r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_INITIALIZED; } /* default to failsafe mixing - it will be forced below if flag is set */ @@ -139,7 +136,9 @@ mixer_tick(void) (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) && !(r_setup_arming & PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED) && - !(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK)) { + !(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) && + /* do not enter manual override if we asked for termination failsafe and FMU is lost */ + !(r_setup_arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE)) { /* if allowed, mix from RC inputs directly */ source = MIX_OVERRIDE; @@ -155,29 +154,11 @@ mixer_tick(void) } /* - * Check if we should force failsafe - and do it if we have to - */ - if (r_setup_arming & PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE) { - source = MIX_FAILSAFE; - } - - /* - * Set failsafe status flag depending on mixing source - */ - if (source == MIX_FAILSAFE) { - r_status_flags |= PX4IO_P_STATUS_FLAGS_FAILSAFE; - } else { - r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FAILSAFE); - } - - /* * Decide whether the servos should be armed right now. * * We must be armed, and we must have a PWM source; either raw from * FMU or from the mixer. * - * XXX correct behaviour for failsafe may require an additional case - * here. */ should_arm = ( /* IO initialised without error */ (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK) @@ -195,6 +176,38 @@ mixer_tick(void) && (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK); /* + * Check if failsafe termination is set - if yes, + * set the force failsafe flag once entering the first + * failsafe condition. + */ + if ( /* if we have requested flight termination style failsafe (noreturn) */ + (r_setup_arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE) && + /* and we ended up in a failsafe condition */ + (source == MIX_FAILSAFE) && + /* and we should be armed, so we intended to provide outputs */ + should_arm && + /* and FMU is initialized */ + (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_INITIALIZED)) { + r_setup_arming |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE; + } + + /* + * Check if we should force failsafe - and do it if we have to + */ + if (r_setup_arming & PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE) { + source = MIX_FAILSAFE; + } + + /* + * Set failsafe status flag depending on mixing source + */ + if (source == MIX_FAILSAFE) { + r_status_flags |= PX4IO_P_STATUS_FLAGS_FAILSAFE; + } else { + r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FAILSAFE); + } + + /* * Run the mixers. */ if (source == MIX_FAILSAFE) { diff --git a/src/modules/px4iofirmware/module.mk b/src/modules/px4iofirmware/module.mk index 01869569f..eb99e8a96 100644 --- a/src/modules/px4iofirmware/module.mk +++ b/src/modules/px4iofirmware/module.mk @@ -14,7 +14,8 @@ SRCS = adc.c \ ../systemlib/mixer/mixer_group.cpp \ ../systemlib/mixer/mixer_multirotor.cpp \ ../systemlib/mixer/mixer_simple.cpp \ - ../systemlib/pwm_limit/pwm_limit.c + ../systemlib/pwm_limit/pwm_limit.c \ + ../../lib/rc/st24.c ifeq ($(BOARD),px4io-v1) SRCS += i2c.c diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h index 050783687..9b2e047cb 100644 --- a/src/modules/px4iofirmware/protocol.h +++ b/src/modules/px4iofirmware/protocol.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2014 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 @@ -111,6 +111,8 @@ #define PX4IO_P_STATUS_FLAGS_INIT_OK (1 << 10) /* initialisation of the IO completed without error */ #define PX4IO_P_STATUS_FLAGS_FAILSAFE (1 << 11) /* failsafe is active */ #define PX4IO_P_STATUS_FLAGS_SAFETY_OFF (1 << 12) /* safety is off */ +#define PX4IO_P_STATUS_FLAGS_FMU_INITIALIZED (1 << 13) /* FMU was initialized and OK once */ +#define PX4IO_P_STATUS_FLAGS_RC_ST24 (1 << 14) /* ST24 input is valid */ #define PX4IO_P_STATUS_ALARMS 3 /* alarm flags - alarms latch, write 1 to a bit to clear it */ #define PX4IO_P_STATUS_ALARMS_VBATT_LOW (1 << 0) /* [1] VBatt is very close to regulator dropout */ @@ -180,6 +182,7 @@ #define PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED (1 << 6) /* Disable the IO-internal evaluation of the RC */ #define PX4IO_P_SETUP_ARMING_LOCKDOWN (1 << 7) /* If set, the system operates normally, but won't actuate any servos */ #define PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE (1 << 8) /* If set, the system will always output the failsafe values */ +#define PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE (1 << 9) /* If set, the system will never return from a failsafe, but remain in failsafe once triggered. */ #define PX4IO_P_SETUP_PWM_RATES 2 /* bitmask, 0 = low rate, 1 = high rate */ #define PX4IO_P_SETUP_PWM_DEFAULTRATE 3 /* 'low' PWM frame output rate in Hz */ @@ -218,6 +221,7 @@ enum { /* DSM bind states */ hence index 12 can safely be used. */ #define PX4IO_P_SETUP_RC_THR_FAILSAFE_US 13 /**< the throttle failsafe pulse length in microseconds */ +#define PX4IO_P_SETUP_FORCE_SAFETY_ON 14 /* force safety switch into 'disarmed' (PWM disabled state) */ #define PX4IO_FORCE_SAFETY_MAGIC 22027 /* required argument for force safety (random) */ /* autopilot control values, -10000..10000 */ @@ -243,6 +247,7 @@ enum { /* DSM bind states */ #define PX4IO_P_RC_CONFIG_MAX 2 /**< highest input value */ #define PX4IO_P_RC_CONFIG_DEADZONE 3 /**< band around center that is ignored */ #define PX4IO_P_RC_CONFIG_ASSIGNMENT 4 /**< mapped input value */ +#define PX4IO_P_RC_CONFIG_ASSIGNMENT_MODESWITCH 100 /**< magic value for mode switch */ #define PX4IO_P_RC_CONFIG_OPTIONS 5 /**< channel options bitmask */ #define PX4IO_P_RC_CONFIG_OPTIONS_ENABLED (1 << 0) #define PX4IO_P_RC_CONFIG_OPTIONS_REVERSE (1 << 1) diff --git a/src/modules/px4iofirmware/px4io.c b/src/modules/px4iofirmware/px4io.c index cd134ccb4..30f32b38e 100644 --- a/src/modules/px4iofirmware/px4io.c +++ b/src/modules/px4iofirmware/px4io.c @@ -124,6 +124,9 @@ heartbeat_blink(void) { static bool heartbeat = false; LED_BLUE(heartbeat = !heartbeat); +#ifdef GPIO_LED4 + LED_RING(heartbeat); +#endif } static uint64_t reboot_time; @@ -191,6 +194,9 @@ user_start(int argc, char *argv[]) LED_AMBER(false); LED_BLUE(false); LED_SAFETY(false); +#ifdef GPIO_LED4 + LED_RING(false); +#endif /* turn on servo power (if supported) */ #ifdef POWER_SERVO diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h index b00a96717..8186e4c78 100644 --- a/src/modules/px4iofirmware/px4io.h +++ b/src/modules/px4iofirmware/px4io.h @@ -140,6 +140,7 @@ extern pwm_limit_t pwm_limit; #define LED_BLUE(_s) stm32_gpiowrite(GPIO_LED1, !(_s)) #define LED_AMBER(_s) stm32_gpiowrite(GPIO_LED2, !(_s)) #define LED_SAFETY(_s) stm32_gpiowrite(GPIO_LED3, !(_s)) +#define LED_RING(_s) stm32_gpiowrite(GPIO_LED4, !(_s)) #ifdef CONFIG_ARCH_BOARD_PX4IO_V1 @@ -215,7 +216,7 @@ extern uint16_t adc_measure(unsigned channel); extern void controls_init(void); extern void controls_tick(void); extern int dsm_init(const char *device); -extern bool dsm_input(uint16_t *values, uint16_t *num_values); +extern bool dsm_input(uint16_t *values, uint16_t *num_values, uint8_t *n_bytes, uint8_t **bytes); extern void dsm_bind(uint16_t cmd, int pulses); extern int sbus_init(const char *device); extern bool sbus_input(uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_channels); diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index 0da778b6f..49c2a9f56 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2014 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 @@ -190,7 +190,8 @@ volatile uint16_t r_page_setup[] = PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE | \ PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED | \ PX4IO_P_SETUP_ARMING_LOCKDOWN | \ - PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE) + PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE | \ + PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE) #define PX4IO_P_SETUP_RATES_VALID ((1 << PX4IO_SERVO_COUNT) - 1) #define PX4IO_P_SETUP_RELAYS_VALID ((1 << PX4IO_RELAY_CHANNELS) - 1) @@ -518,6 +519,19 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) r_status_flags |= PX4IO_P_STATUS_FLAGS_INIT_OK; } + /* + * If the failsafe termination flag is set, do not allow the autopilot to unset it + */ + value |= (r_setup_arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE); + + /* + * If failsafe termination is enabled and force failsafe bit is set, do not allow + * the autopilot to clear it. + */ + if (r_setup_arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE) { + value |= (r_setup_arming & PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE); + } + r_setup_arming = value; break; @@ -589,6 +603,12 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) dsm_bind(value & 0x0f, (value >> 4) & 0xF); break; + case PX4IO_P_SETUP_FORCE_SAFETY_ON: + if (value == PX4IO_FORCE_SAFETY_MAGIC) { + r_status_flags &= ~PX4IO_P_STATUS_FLAGS_SAFETY_OFF; + } + break; + case PX4IO_P_SETUP_FORCE_SAFETY_OFF: if (value == PX4IO_FORCE_SAFETY_MAGIC) { r_status_flags |= PX4IO_P_STATUS_FLAGS_SAFETY_OFF; @@ -672,7 +692,8 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] == UINT8_MAX) { disabled = true; - } else if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_RC_MAPPED_CONTROL_CHANNELS) { + } else if ((conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_RC_MAPPED_CONTROL_CHANNELS) && + (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] != PX4IO_P_RC_CONFIG_ASSIGNMENT_MODESWITCH)) { count++; } diff --git a/src/modules/px4iofirmware/sbus.c b/src/modules/px4iofirmware/sbus.c index 0f0414148..d76ec55f0 100644 --- a/src/modules/px4iofirmware/sbus.c +++ b/src/modules/px4iofirmware/sbus.c @@ -57,11 +57,12 @@ #define SBUS_FLAGS_BYTE 23 #define SBUS_FAILSAFE_BIT 3 #define SBUS_FRAMELOST_BIT 2 +#define SBUS1_FRAME_DELAY 14000 /* Measured values with Futaba FX-30/R6108SB: -+100% on TX: PCM 1.100/1.520/1.950ms -> SBus raw values: 350/1024/1700 (100% ATV) - -+140% on TX: PCM 0.930/1.520/2.112ms -> SBus raw values: 78/1024/1964 (140% ATV) + -+140% on TX: PCM 0.930/1.520/2.112ms -> SBus raw values: 78/1024/1964 (140% ATV) -+152% on TX: PCM 0.884/1.520/2.160ms -> SBus raw values: 1/1024/2047 (140% ATV plus dirty tricks) */ @@ -80,6 +81,7 @@ static int sbus_fd = -1; static hrt_abstime last_rx_time; static hrt_abstime last_frame_time; +static hrt_abstime last_txframe_time = 0; static uint8_t frame[SBUS_FRAME_SIZE]; @@ -87,13 +89,15 @@ static unsigned partial_frame_count; unsigned sbus_frame_drops; -static bool sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_channels); +static bool sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, + bool *sbus_frame_drop, uint16_t max_channels); int sbus_init(const char *device) { - if (sbus_fd < 0) + if (sbus_fd < 0) { sbus_fd = open(device, O_RDWR | O_NONBLOCK); + } if (sbus_fd >= 0) { struct termios t; @@ -113,16 +117,49 @@ sbus_init(const char *device) } else { debug("S.Bus: open failed"); } + return sbus_fd; } void sbus1_output(uint16_t *values, uint16_t num_values) { - char a = 'A'; - write(sbus_fd, &a, 1); -} + uint8_t byteindex = 1; /*Data starts one byte into the sbus frame. */ + uint8_t offset = 0; + uint16_t value; + hrt_abstime now; + + now = hrt_absolute_time(); + + if ((now - last_txframe_time) > SBUS1_FRAME_DELAY) { + last_txframe_time = now; + uint8_t oframe[SBUS_FRAME_SIZE] = { 0x0f }; + + /* 16 is sbus number of servos/channels minus 2 single bit channels. + * currently ignoring single bit channels. */ + for (unsigned i = 0; (i < num_values) && (i < 16); ++i) { + value = (uint16_t)(((values[i] - SBUS_SCALE_OFFSET) / SBUS_SCALE_FACTOR) + .5f); + + /*protect from out of bounds values and limit to 11 bits*/ + if (value > 0x07ff ) { + value = 0x07ff; + } + + while (offset >= 8) { + ++byteindex; + offset -= 8; + } + + oframe[byteindex] |= (value << (offset)) & 0xff; + oframe[byteindex + 1] |= (value >> (8 - offset)) & 0xff; + oframe[byteindex + 2] |= (value >> (16 - offset)) & 0xff; + offset += 11; + } + + write(sbus_fd, oframe, SBUS_FRAME_SIZE); + } +} void sbus2_output(uint16_t *values, uint16_t num_values) { @@ -167,8 +204,9 @@ sbus_input(uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sb ret = read(sbus_fd, &frame[partial_frame_count], SBUS_FRAME_SIZE - partial_frame_count); /* if the read failed for any reason, just give up here */ - if (ret < 1) + if (ret < 1) { return false; + } last_rx_time = now; @@ -180,8 +218,9 @@ sbus_input(uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sb /* * If we don't have a full frame, return */ - if (partial_frame_count < SBUS_FRAME_SIZE) + if (partial_frame_count < SBUS_FRAME_SIZE) { return false; + } /* * Great, it looks like we might have a frame. Go ahead and @@ -228,7 +267,8 @@ static const struct sbus_bit_pick sbus_decoder[SBUS_INPUT_CHANNELS][3] = { }; static bool -sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_values) +sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, + uint16_t max_values) { /* check frame boundary markers to avoid out-of-sync cases */ if ((frame[0] != 0x0f)) { @@ -237,23 +277,27 @@ sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, bool } switch (frame[24]) { - case 0x00: + case 0x00: /* this is S.BUS 1 */ break; - case 0x03: + + case 0x03: /* S.BUS 2 SLOT0: RX battery and external voltage */ break; - case 0x83: + + case 0x83: /* S.BUS 2 SLOT1 */ break; - case 0x43: - case 0xC3: - case 0x23: - case 0xA3: - case 0x63: - case 0xE3: + + case 0x43: + case 0xC3: + case 0x23: + case 0xA3: + case 0x63: + case 0xE3: break; - default: + + default: /* we expect one of the bits above, but there are some we don't know yet */ break; } @@ -283,7 +327,7 @@ sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, bool /* convert 0-2048 values to 1000-2000 ppm encoding in a not too sloppy fashion */ - values[channel] = (uint16_t)(value * SBUS_SCALE_FACTOR +.5f) + SBUS_SCALE_OFFSET; + values[channel] = (uint16_t)(value * SBUS_SCALE_FACTOR + .5f) + SBUS_SCALE_OFFSET; } /* decode switch channels if data fields are wide enough */ @@ -304,16 +348,17 @@ sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, bool /* report that we failed to read anything valid off the receiver */ *sbus_failsafe = true; *sbus_frame_drop = true; - } - else if (frame[SBUS_FLAGS_BYTE] & (1 << SBUS_FRAMELOST_BIT)) { /* a frame was lost */ + + } else if (frame[SBUS_FLAGS_BYTE] & (1 << SBUS_FRAMELOST_BIT)) { /* a frame was lost */ /* set a special warning flag - * - * Attention! This flag indicates a skipped frame only, not a total link loss! Handling this - * condition as fail-safe greatly reduces the reliability and range of the radio link, + * + * Attention! This flag indicates a skipped frame only, not a total link loss! Handling this + * condition as fail-safe greatly reduces the reliability and range of the radio link, * e.g. by prematurely issueing return-to-launch!!! */ *sbus_failsafe = false; *sbus_frame_drop = true; + } else { *sbus_failsafe = false; *sbus_frame_drop = false; diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index e13593077..af580f1f7 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -90,6 +90,7 @@ #include <uORB/topics/system_power.h> #include <uORB/topics/servorail_status.h> #include <uORB/topics/wind_estimate.h> +#include <uORB/topics/encoders.h> #include <systemlib/systemlib.h> #include <systemlib/param/param.h> @@ -628,6 +629,9 @@ void sdlog2_start_log() perf_print_all(perf_fd); close(perf_fd); + /* reset performance counters to get in-flight min and max values in post flight log */ + perf_reset_all(); + logging_enabled = true; } @@ -951,6 +955,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct servorail_status_s servorail_status; struct satellite_info_s sat_info; struct wind_estimate_s wind_estimate; + struct encoders_s encoders; } buf; memset(&buf, 0, sizeof(buf)); @@ -993,6 +998,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct log_GS1B_s log_GS1B; struct log_TECS_s log_TECS; struct log_WIND_s log_WIND; + struct log_ENCD_s log_ENCD; } body; } log_msg = { LOG_PACKET_HEADER_INIT(0) @@ -1030,12 +1036,12 @@ int sdlog2_thread_main(int argc, char *argv[]) int system_power_sub; int servorail_status_sub; int wind_sub; + int encoders_sub; } subs; subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command)); subs.status_sub = orb_subscribe(ORB_ID(vehicle_status)); subs.gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); - subs.sat_info_sub = orb_subscribe(ORB_ID(satellite_info)); subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); subs.att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); subs.att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); @@ -1054,9 +1060,6 @@ int sdlog2_thread_main(int argc, char *argv[]) subs.esc_sub = orb_subscribe(ORB_ID(esc_status)); subs.global_vel_sp_sub = orb_subscribe(ORB_ID(vehicle_global_velocity_setpoint)); subs.battery_sub = orb_subscribe(ORB_ID(battery_status)); - for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) { - subs.telemetry_subs[i] = orb_subscribe(telemetry_status_orb_id[i]); - } subs.range_finder_sub = orb_subscribe(ORB_ID(sensor_range_finder)); subs.estimator_status_sub = orb_subscribe(ORB_ID(estimator_status)); subs.tecs_status_sub = orb_subscribe(ORB_ID(tecs_status)); @@ -1065,6 +1068,25 @@ int sdlog2_thread_main(int argc, char *argv[]) subs.wind_sub = orb_subscribe(ORB_ID(wind_estimate)); /* we need to rate-limit wind, as we do not need the full update rate */ orb_set_interval(subs.wind_sub, 90); + subs.encoders_sub = orb_subscribe(ORB_ID(encoders)); + + /* add new topics HERE */ + + + for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) { + subs.telemetry_subs[i] = orb_subscribe(telemetry_status_orb_id[i]); + } + + if (_extended_logging) { + subs.sat_info_sub = orb_subscribe(ORB_ID(satellite_info)); + } + + /* close non-needed fd's */ + + /* close stdin */ + close(0); + /* close stdout */ + close(1); thread_running = true; @@ -1649,6 +1671,16 @@ int sdlog2_thread_main(int argc, char *argv[]) LOGBUFFER_WRITE_AND_COUNT(WIND); } + /* --- ENCODERS --- */ + if (copy_if_updated(ORB_ID(encoders), subs.encoders_sub, &buf.encoders)) { + log_msg.msg_type = LOG_ENCD_MSG; + log_msg.body.log_ENCD.cnt0 = buf.encoders.counts[0]; + log_msg.body.log_ENCD.vel0 = buf.encoders.velocity[0]; + log_msg.body.log_ENCD.cnt1 = buf.encoders.counts[1]; + log_msg.body.log_ENCD.vel1 = buf.encoders.velocity[1]; + LOGBUFFER_WRITE_AND_COUNT(ENCD); + } + /* signal the other thread new data, but not yet unlock */ if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) { /* only request write if several packets can be written at once */ diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index d2845eb75..fa9bdacb8 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -241,15 +241,15 @@ struct log_GPSP_s { #define LOG_ESC_MSG 18 struct log_ESC_s { uint16_t counter; - uint8_t esc_count; - uint8_t esc_connectiontype; - uint8_t esc_num; + uint8_t esc_count; + uint8_t esc_connectiontype; + uint8_t esc_num; uint16_t esc_address; uint16_t esc_version; - uint16_t esc_voltage; - uint16_t esc_current; - uint16_t esc_rpm; - uint16_t esc_temperature; + float esc_voltage; + float esc_current; + int32_t esc_rpm; + float esc_temperature; float esc_setpoint; uint16_t esc_setpoint_raw; }; @@ -407,6 +407,16 @@ struct log_VISN_s { float qw; }; +/* --- ENCODERS - ENCODER DATA --- */ +#define LOG_ENCD_MSG 39 +struct log_ENCD_s { + int64_t cnt0; + float vel0; + int64_t cnt1; + float vel1; +}; + + /********** SYSTEM MESSAGES, ID > 0x80 **********/ /* --- TIME - TIME STAMP --- */ @@ -452,7 +462,7 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(FLOW, "hhfffBB", "RawX,RawY,CompX,CompY,Dist,Q,SensID"), LOG_FORMAT(GPOS, "LLfffffff", "Lat,Lon,Alt,VelN,VelE,VelD,EPH,EPV,TALT"), LOG_FORMAT(GPSP, "BLLffBfbf", "NavState,Lat,Lon,Alt,Yaw,Type,LoitR,LoitDir,PitMin"), - LOG_FORMAT(ESC, "HBBBHHHHHHfH", "count,nESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"), + LOG_FORMAT(ESC, "HBBBHHffiffH", "count,nESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"), LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"), LOG_FORMAT(BATT, "ffff", "V,VFilt,C,Discharged"), LOG_FORMAT(DIST, "ffB", "Bottom,BottomRate,Flags"), @@ -471,6 +481,7 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(GS1B, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"), LOG_FORMAT(TECS, "fffffffffffffB", "ASP,AF,FSP,F,FF,AsSP,AsF,AsDSP,AsD,TERSP,TER,EDRSP,EDR,M"), LOG_FORMAT(WIND, "ffff", "X,Y,CovX,CovY"), + LOG_FORMAT(ENCD, "qfqf", "cnt0,vel0,cnt1,vel1"), /* system-level messages, ID >= 0x80 */ /* FMT: don't write format of format message, it's useless */ diff --git a/src/modules/systemlib/circuit_breaker.c b/src/modules/systemlib/circuit_breaker.c index 64317a18a..12187d70e 100644 --- a/src/modules/systemlib/circuit_breaker.c +++ b/src/modules/systemlib/circuit_breaker.c @@ -95,6 +95,47 @@ PARAM_DEFINE_INT32(CBRK_IO_SAFETY, 0); */ PARAM_DEFINE_INT32(CBRK_AIRSPD_CHK, 0); +/** + * Circuit breaker for flight termination + * + * Setting this parameter to 121212 will disable the flight termination action. + * --> The IO driver will not do flight termination if requested by the FMU + * WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK + * + * @min 0 + * @max 121212 + * @group Circuit Breaker + */ +PARAM_DEFINE_INT32(CBRK_FLIGHTTERM, 121212); + +/** + * Circuit breaker for engine failure detection + * + * Setting this parameter to 284953 will disable the engine failure detection. + * If the aircraft is in engine failure mode the enine failure flag will be + * set to healthy + * WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK + * + * @min 0 + * @max 284953 + * @group Circuit Breaker + */ +PARAM_DEFINE_INT32(CBRK_ENGINEFAIL, 284953); + +/** + * Circuit breaker for gps failure detection + * + * Setting this parameter to 240024 will disable the gps failure detection. + * If the aircraft is in gps failure mode the gps failure flag will be + * set to healthy + * WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK + * + * @min 0 + * @max 240024 + * @group Circuit Breaker + */ +PARAM_DEFINE_INT32(CBRK_GPSFAIL, 240024); + bool circuit_breaker_enabled(const char* breaker, int32_t magic) { int32_t val; diff --git a/src/modules/systemlib/circuit_breaker.h b/src/modules/systemlib/circuit_breaker.h index b60584608..b3431722f 100644 --- a/src/modules/systemlib/circuit_breaker.h +++ b/src/modules/systemlib/circuit_breaker.h @@ -53,6 +53,9 @@ #define CBRK_RATE_CTRL_KEY 140253 #define CBRK_IO_SAFETY_KEY 22027 #define CBRK_AIRSPD_CHK_KEY 162128 +#define CBRK_FLIGHTTERM_KEY 121212 +#define CBRK_ENGINEFAIL_KEY 284953 +#define CBRK_GPSFAIL_KEY 240024 #include <stdbool.h> diff --git a/src/modules/systemlib/mixer/mixer.h b/src/modules/systemlib/mixer/mixer.h index cdf60febc..17989558e 100644 --- a/src/modules/systemlib/mixer/mixer.h +++ b/src/modules/systemlib/mixer/mixer.h @@ -130,6 +130,9 @@ #include <nuttx/config.h> #include "drivers/drv_mixer.h" + +#include <uORB/topics/multirotor_motor_limits.h> + #include "mixer_load.h" /** @@ -531,6 +534,9 @@ private: float _yaw_scale; float _idle_speed; + orb_advert_t _limits_pub; + multirotor_motor_limits_s _limits; + unsigned _rotor_count; const Rotor *_rotors; diff --git a/src/modules/systemlib/mixer/mixer_multirotor.cpp b/src/modules/systemlib/mixer/mixer_multirotor.cpp index 4b22a46d0..57e17b67d 100644 --- a/src/modules/systemlib/mixer/mixer_multirotor.cpp +++ b/src/modules/systemlib/mixer/mixer_multirotor.cpp @@ -36,7 +36,8 @@ * * Multi-rotor mixers. */ - +#include <uORB/uORB.h> +#include <uORB/topics/multirotor_motor_limits.h> #include <nuttx/config.h> #include <sys/types.h> @@ -302,6 +303,11 @@ MultirotorMixer::mix(float *outputs, unsigned space) float min_out = 0.0f; float max_out = 0.0f; + _limits.roll_pitch = false; + _limits.yaw = false; + _limits.throttle_upper = false; + _limits.throttle_lower = false; + /* perform initial mix pass yielding unbounded outputs, ignore yaw */ for (unsigned i = 0; i < _rotor_count; i++) { float out = roll * _rotors[i].roll_scale + @@ -311,6 +317,7 @@ MultirotorMixer::mix(float *outputs, unsigned space) /* limit yaw if it causes outputs clipping */ if (out >= 0.0f && out < -yaw * _rotors[i].yaw_scale) { yaw = -out / _rotors[i].yaw_scale; + _limits.yaw = true; } /* calculate min and max output values */ @@ -332,6 +339,7 @@ MultirotorMixer::mix(float *outputs, unsigned space) for (unsigned i = 0; i < _rotor_count; i++) { outputs[i] = scale_in * (roll * _rotors[i].roll_scale + pitch * _rotors[i].pitch_scale) + thrust; } + _limits.roll_pitch = true; } else { /* roll/pitch mixed without limiting, add yaw control */ @@ -344,6 +352,7 @@ MultirotorMixer::mix(float *outputs, unsigned space) float scale_out; if (max_out > 1.0f) { scale_out = 1.0f / max_out; + _limits.throttle_upper = true; } else { scale_out = 1.0f; @@ -351,9 +360,20 @@ MultirotorMixer::mix(float *outputs, unsigned space) /* scale outputs to range _idle_speed..1, and do final limiting */ for (unsigned i = 0; i < _rotor_count; i++) { + if (outputs[i] < _idle_speed) { + _limits.throttle_lower = true; + } outputs[i] = constrain(_idle_speed + (outputs[i] * (1.0f - _idle_speed) * scale_out), _idle_speed, 1.0f); } +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) || defined(CONFIG_ARCH_BOARD_PX4FMU_V2) + /* publish/advertise motor limits if running on FMU */ + if (_limits_pub > 0) { + orb_publish(ORB_ID(multirotor_motor_limits), _limits_pub, &_limits); + } else { + _limits_pub = orb_advertise(ORB_ID(multirotor_motor_limits), &_limits); + } +#endif return _rotor_count; } diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp index f7d5f8737..b91a00c1e 100644 --- a/src/modules/uORB/objects_common.cpp +++ b/src/modules/uORB/objects_common.cpp @@ -192,12 +192,18 @@ ORB_DEFINE(actuator_outputs_1, struct actuator_outputs_s); ORB_DEFINE(actuator_outputs_2, struct actuator_outputs_s); ORB_DEFINE(actuator_outputs_3, struct actuator_outputs_s); +#include "topics/multirotor_motor_limits.h" +ORB_DEFINE(multirotor_motor_limits, struct multirotor_motor_limits_s); + #include "topics/telemetry_status.h" ORB_DEFINE(telemetry_status_0, struct telemetry_status_s); ORB_DEFINE(telemetry_status_1, struct telemetry_status_s); ORB_DEFINE(telemetry_status_2, struct telemetry_status_s); ORB_DEFINE(telemetry_status_3, struct telemetry_status_s); +#include "topics/test_motor.h" +ORB_DEFINE(test_motor, struct test_motor_s); + #include "topics/debug_key_value.h" ORB_DEFINE(debug_key_value, struct debug_key_value_s); diff --git a/src/modules/uORB/topics/esc_status.h b/src/modules/uORB/topics/esc_status.h index 628824efa..b45c49788 100644 --- a/src/modules/uORB/topics/esc_status.h +++ b/src/modules/uORB/topics/esc_status.h @@ -78,6 +78,7 @@ enum ESC_CONNECTION_TYPE { /** * Electronic speed controller status. + * Unsupported float fields should be assigned NaN. */ struct esc_status_s { /* use of a counter and timestamp recommended (but not necessary) */ @@ -89,17 +90,17 @@ struct esc_status_s { enum ESC_CONNECTION_TYPE esc_connectiontype; /**< how ESCs connected to the system */ struct { - uint16_t esc_address; /**< Address of current ESC (in most cases 1-8 / must be set by driver) */ enum ESC_VENDOR esc_vendor; /**< Vendor of current ESC */ - uint16_t esc_version; /**< Version of current ESC - if supported */ - uint16_t esc_voltage; /**< Voltage measured from current ESC - if supported */ - uint16_t esc_current; /**< Current measured from current ESC (100mA steps) - if supported */ - uint16_t esc_rpm; /**< RPM measured from current ESC - if supported */ - uint16_t esc_temperature; /**< Temperature measured from current ESC - if supported */ - float esc_setpoint; /**< setpoint of current ESC */ + uint32_t esc_errorcount; /**< Number of reported errors by ESC - if supported */ + int32_t esc_rpm; /**< Motor RPM, negative for reverse rotation [RPM] - if supported */ + float esc_voltage; /**< Voltage measured from current ESC [V] - if supported */ + float esc_current; /**< Current measured from current ESC [A] - if supported */ + float esc_temperature; /**< Temperature measured from current ESC [degC] - if supported */ + float esc_setpoint; /**< setpoint of current ESC */ uint16_t esc_setpoint_raw; /**< setpoint of current ESC (Value sent to ESC) */ - uint16_t esc_state; /**< State of ESC - depend on Vendor */ - uint16_t esc_errorcount; /**< Number of reported errors by ESC - if supported */ + uint16_t esc_address; /**< Address of current ESC (in most cases 1-8 / must be set by driver) */ + uint16_t esc_version; /**< Version of current ESC - if supported */ + uint16_t esc_state; /**< State of ESC - depend on Vendor */ } esc[CONNECTED_ESC_MAX]; }; diff --git a/src/modules/uORB/topics/mission_result.h b/src/modules/uORB/topics/mission_result.h index beb797e62..c7d25d1f0 100644 --- a/src/modules/uORB/topics/mission_result.h +++ b/src/modules/uORB/topics/mission_result.h @@ -55,8 +55,11 @@ struct mission_result_s { unsigned seq_reached; /**< Sequence of the mission item which has been reached */ unsigned seq_current; /**< Sequence of the current mission item */ - bool reached; /**< true if mission has been reached */ - bool finished; /**< true if mission has been completed */ + bool reached; /**< true if mission has been reached */ + bool finished; /**< true if mission has been completed */ + bool stay_in_failsafe; /**< true if the commander should not switch out of the failsafe mode*/ + bool geofence_violated; /**< true if the geofence is violated */ + bool flight_termination; /**< true if the navigator demands a flight termination from the commander app */ }; /** diff --git a/src/modules/uORB/topics/offboard_control_setpoint.h b/src/modules/uORB/topics/offboard_control_setpoint.h index d7b131e3c..72a28e501 100644 --- a/src/modules/uORB/topics/offboard_control_setpoint.h +++ b/src/modules/uORB/topics/offboard_control_setpoint.h @@ -53,11 +53,42 @@ enum OFFBOARD_CONTROL_MODE { OFFBOARD_CONTROL_MODE_DIRECT = 0, OFFBOARD_CONTROL_MODE_DIRECT_RATES = 1, OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE = 2, - OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY = 3, - OFFBOARD_CONTROL_MODE_DIRECT_POSITION = 4, - OFFBOARD_CONTROL_MODE_ATT_YAW_RATE = 5, - OFFBOARD_CONTROL_MODE_ATT_YAW_POS = 6, - OFFBOARD_CONTROL_MODE_MULTIROTOR_SIMPLE = 7, /**< roll / pitch rotated aligned to the takeoff orientation, throttle stabilized, yaw pos */ + OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED = 3, + OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_OFFSET_NED = 4, + OFFBOARD_CONTROL_MODE_DIRECT_BODY_NED = 5, + OFFBOARD_CONTROL_MODE_DIRECT_BODY_OFFSET_NED = 6, + OFFBOARD_CONTROL_MODE_DIRECT_GLOBAL = 7, + OFFBOARD_CONTROL_MODE_DIRECT_FORCE = 8, + OFFBOARD_CONTROL_MODE_ATT_YAW_RATE = 9, + OFFBOARD_CONTROL_MODE_ATT_YAW_POS = 10, + OFFBOARD_CONTROL_MODE_MULTIROTOR_SIMPLE = 11 /**< roll / pitch rotated aligned to the takeoff orientation, throttle stabilized, yaw pos */ +}; + +enum OFFBOARD_CONTROL_FRAME { + OFFBOARD_CONTROL_FRAME_LOCAL_NED = 0, + OFFBOARD_CONTROL_FRAME_LOCAL_OFFSET_NED = 1, + OFFBOARD_CONTROL_FRAME_BODY_NED = 2, + OFFBOARD_CONTROL_FRAME_BODY_OFFSET_NED = 3, + OFFBOARD_CONTROL_FRAME_GLOBAL = 4 +}; + +/* mappings for the ignore bitmask */ +enum {OFB_IGN_BIT_POS_X, + OFB_IGN_BIT_POS_Y, + OFB_IGN_BIT_POS_Z, + OFB_IGN_BIT_VEL_X, + OFB_IGN_BIT_VEL_Y, + OFB_IGN_BIT_VEL_Z, + OFB_IGN_BIT_ACC_X, + OFB_IGN_BIT_ACC_Y, + OFB_IGN_BIT_ACC_Z, + OFB_IGN_BIT_BODYRATE_X, + OFB_IGN_BIT_BODYRATE_Y, + OFB_IGN_BIT_BODYRATE_Z, + OFB_IGN_BIT_ATT, + OFB_IGN_BIT_THRUST, + OFB_IGN_BIT_YAW, + OFB_IGN_BIT_YAWRATE, }; /** @@ -70,10 +101,21 @@ struct offboard_control_setpoint_s { enum OFFBOARD_CONTROL_MODE mode; /**< The current control inputs mode */ - float p1; /**< ailerons roll / roll rate input */ - float p2; /**< elevator / pitch / pitch rate */ - float p3; /**< rudder / yaw rate / yaw */ - float p4; /**< throttle / collective thrust / altitude */ + double position[3]; /**< lat, lon, alt / x, y, z */ + float velocity[3]; /**< x vel, y vel, z vel */ + float acceleration[3]; /**< x acc, y acc, z acc */ + float attitude[4]; /**< attitude of vehicle (quaternion) */ + float attitude_rate[3]; /**< body angular rates (x, y, z) */ + float thrust; /**< thrust */ + float yaw; /**< yaw: this is the yaw from the position_target message + (not from the full attitude_target message) */ + float yaw_rate; /**< yaw rate: this is the yaw from the position_target message + (not from the full attitude_target message) */ + + uint16_t ignore; /**< if field i is set to true, the value should be ignored, see definition at top of file + for mapping */ + + bool isForceSetpoint; /**< the acceleration vector should be interpreted as force */ float override_mode_switch; @@ -87,6 +129,147 @@ struct offboard_control_setpoint_s { * @} */ +/** + * Returns true if the position setpoint at index should be ignored + */ +inline bool offboard_control_sp_ignore_position(const struct offboard_control_setpoint_s &offboard_control_sp, int index) { + return (bool)(offboard_control_sp.ignore & (1 << (OFB_IGN_BIT_POS_X + index))); +} + +/** + * Returns true if all position setpoints should be ignored + */ +inline bool offboard_control_sp_ignore_position_all(const struct offboard_control_setpoint_s &offboard_control_sp) { + for (int i = 0; i < 3; i++) { + if (!offboard_control_sp_ignore_position(offboard_control_sp, i)) { + return false; + } + } + return true; +} + +/** + * Returns true if some position setpoints should be ignored + */ +inline bool offboard_control_sp_ignore_position_some(const struct offboard_control_setpoint_s &offboard_control_sp) { + for (int i = 0; i < 3; i++) { + if (offboard_control_sp_ignore_position(offboard_control_sp, i)) { + return true; + } + } + return false; +} + +/** + * Returns true if the velocity setpoint at index should be ignored + */ +inline bool offboard_control_sp_ignore_velocity(const struct offboard_control_setpoint_s &offboard_control_sp, int index) { + return (bool)(offboard_control_sp.ignore & (1 << (OFB_IGN_BIT_VEL_X + index))); +} + +/** + * Returns true if all velocity setpoints should be ignored + */ +inline bool offboard_control_sp_ignore_velocity_all(const struct offboard_control_setpoint_s &offboard_control_sp) { + for (int i = 0; i < 3; i++) { + if (!offboard_control_sp_ignore_velocity(offboard_control_sp, i)) { + return false; + } + } + return true; +} + +/** + * Returns true if some velocity setpoints should be ignored + */ +inline bool offboard_control_sp_ignore_velocity_some(const struct offboard_control_setpoint_s &offboard_control_sp) { + for (int i = 0; i < 3; i++) { + if (offboard_control_sp_ignore_velocity(offboard_control_sp, i)) { + return true; + } + } + return false; +} + +/** + * Returns true if the acceleration setpoint at index should be ignored + */ +inline bool offboard_control_sp_ignore_acceleration(const struct offboard_control_setpoint_s &offboard_control_sp, int index) { + return (bool)(offboard_control_sp.ignore & (1 << (OFB_IGN_BIT_ACC_X + index))); +} + +/** + * Returns true if all acceleration setpoints should be ignored + */ +inline bool offboard_control_sp_ignore_acceleration_all(const struct offboard_control_setpoint_s &offboard_control_sp) { + for (int i = 0; i < 3; i++) { + if (!offboard_control_sp_ignore_acceleration(offboard_control_sp, i)) { + return false; + } + } + return true; +} + +/** + * Returns true if some acceleration setpoints should be ignored + */ +inline bool offboard_control_sp_ignore_acceleration_some(const struct offboard_control_setpoint_s &offboard_control_sp) { + for (int i = 0; i < 3; i++) { + if (offboard_control_sp_ignore_acceleration(offboard_control_sp, i)) { + return true; + } + } + return false; +} + +/** + * Returns true if the bodyrate setpoint at index should be ignored + */ +inline bool offboard_control_sp_ignore_bodyrates(const struct offboard_control_setpoint_s &offboard_control_sp, int index) { + return (bool)(offboard_control_sp.ignore & (1 << (OFB_IGN_BIT_BODYRATE_X + index))); +} + +/** + * Returns true if some of the bodyrate setpoints should be ignored + */ +inline bool offboard_control_sp_ignore_bodyrates_some(const struct offboard_control_setpoint_s &offboard_control_sp) { + for (int i = 0; i < 3; i++) { + if (offboard_control_sp_ignore_bodyrates(offboard_control_sp, i)) { + return true; + } + } + return false; +} + +/** + * Returns true if the attitude setpoint should be ignored + */ +inline bool offboard_control_sp_ignore_attitude(const struct offboard_control_setpoint_s &offboard_control_sp) { + return (bool)(offboard_control_sp.ignore & (1 << OFB_IGN_BIT_ATT)); +} + +/** + * Returns true if the thrust setpoint should be ignored + */ +inline bool offboard_control_sp_ignore_thrust(const struct offboard_control_setpoint_s &offboard_control_sp) { + return (bool)(offboard_control_sp.ignore & (1 << OFB_IGN_BIT_THRUST)); +} + +/** + * Returns true if the yaw setpoint should be ignored + */ +inline bool offboard_control_sp_ignore_yaw(const struct offboard_control_setpoint_s &offboard_control_sp) { + return (bool)(offboard_control_sp.ignore & (1 << OFB_IGN_BIT_YAW)); +} + +/** + * Returns true if the yaw rate setpoint should be ignored + */ +inline bool offboard_control_sp_ignore_yawrate(const struct offboard_control_setpoint_s &offboard_control_sp) { + return (bool)(offboard_control_sp.ignore & (1 << OFB_IGN_BIT_YAWRATE)); +} + + /* register this as object request broker structure */ ORB_DECLARE(offboard_control_setpoint); diff --git a/src/modules/uORB/topics/position_setpoint_triplet.h b/src/modules/uORB/topics/position_setpoint_triplet.h index ec2131abd..cb2262534 100644 --- a/src/modules/uORB/topics/position_setpoint_triplet.h +++ b/src/modules/uORB/topics/position_setpoint_triplet.h @@ -79,10 +79,17 @@ struct position_setpoint_s double lon; /**< longitude, in deg */ float alt; /**< altitude AMSL, in m */ float yaw; /**< yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw */ + bool yaw_valid; /**< true if yaw setpoint valid */ float yawspeed; /**< yawspeed (only for multirotors, in rad/s) */ + bool yawspeed_valid; /**< true if yawspeed setpoint valid */ float loiter_radius; /**< loiter radius (only for fixed wing), in m */ int8_t loiter_direction; /**< loiter direction: 1 = CW, -1 = CCW */ float pitch_min; /**< minimal pitch angle for fixed wing takeoff waypoints */ + float a_x; //**< acceleration x setpoint */ + float a_y; //**< acceleration y setpoint */ + float a_z; //**< acceleration z setpoint */ + bool acceleration_valid; //*< true if acceleration setpoint is valid/should be used */ + bool acceleration_is_force; //*< interprete acceleration as force */ }; /** diff --git a/src/modules/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h index 8978de471..16916cc4d 100644 --- a/src/modules/uORB/topics/rc_channels.h +++ b/src/modules/uORB/topics/rc_channels.h @@ -34,6 +34,8 @@ /** * @file rc_channels.h * Definition of the rc_channels uORB topic. + * + * @deprecated DO NOT USE FOR NEW CODE */ #ifndef RC_CHANNELS_H_ @@ -63,10 +65,13 @@ enum RC_CHANNELS_FUNCTION { AUX_2, AUX_3, AUX_4, - AUX_5, - RC_CHANNELS_FUNCTION_MAX /**< Indicates the number of functions. There can be more functions than RC channels. */ + AUX_5 }; +// MAXIMUM FUNCTIONS IS != MAXIMUM RC INPUT CHANNELS + +#define RC_CHANNELS_FUNCTION_MAX 18 + /** * @addtogroup topics * @{ @@ -76,7 +81,6 @@ struct rc_channels_s { uint64_t timestamp_last_valid; /**< Timestamp of last valid RC signal */ float channels[RC_CHANNELS_FUNCTION_MAX]; /**< Scaled to -1..1 (throttle: 0..1) */ uint8_t channel_count; /**< Number of valid channels */ - char function_name[RC_CHANNELS_FUNCTION_MAX][20]; /**< String array to store the names of the functions */ int8_t function[RC_CHANNELS_FUNCTION_MAX]; /**< Functions mapping */ uint8_t rssi; /**< Receive signal strength index */ bool signal_lost; /**< Control signal lost, should be checked together with topic timeout */ diff --git a/src/modules/uORB/topics/telemetry_status.h b/src/modules/uORB/topics/telemetry_status.h index 1297c1a9d..93193f32b 100644 --- a/src/modules/uORB/topics/telemetry_status.h +++ b/src/modules/uORB/topics/telemetry_status.h @@ -67,6 +67,8 @@ struct telemetry_status_s { uint8_t noise; /**< background noise level */ uint8_t remote_noise; /**< remote background noise level */ uint8_t txbuf; /**< how full the tx buffer is as a percentage */ + uint8_t system_id; /**< system id of the remote system */ + uint8_t component_id; /**< component id of the remote system */ }; /** diff --git a/src/modules/navigator/offboard.h b/src/modules/uORB/topics/test_motor.h index 66b923bdb..491096934 100644 --- a/src/modules/navigator/offboard.h +++ b/src/modules/uORB/topics/test_motor.h @@ -1,6 +1,6 @@ -/*************************************************************************** +/**************************************************************************** * - * Copyright (c) 2014 PX4 Development Team. All rights reserved. + * 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 @@ -30,43 +30,41 @@ * POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************/ + /** - * @file offboard.h + * @file test_motor.h + * + * Test a single drive motor while the vehicle is disarmed * - * Helper class for offboard commands + * Publishing values to this topic causes a single motor to spin, e.g. for + * ground test purposes. This topic will be ignored while the vehicle is armed. * - * @author Julian Oes <julian@oes.ch> */ -#ifndef NAVIGATOR_OFFBOARD_H -#define NAVIGATOR_OFFBOARD_H - -#include <controllib/blocks.hpp> -#include <controllib/block/BlockParam.hpp> - -#include <uORB/uORB.h> -#include <uORB/topics/offboard_control_setpoint.h> - -#include "navigator_mode.h" - -class Navigator; +#ifndef TOPIC_TEST_MOTOR_H +#define TOPIC_TEST_MOTOR_H -class Offboard : public NavigatorMode -{ -public: - Offboard(Navigator *navigator, const char *name); +#include <stdint.h> +#include "../uORB.h" - ~Offboard(); +#define NUM_MOTOR_OUTPUTS 8 - virtual void on_inactive(); +/** + * @addtogroup topics + * @{ + */ - virtual void on_activation(); +struct test_motor_s { + uint64_t timestamp; /**< output timestamp in us since system boot */ + unsigned motor_number; /**< number of motor to spin */ + float value; /**< output data, in natural output units */ +}; - virtual void on_active(); -private: - void update_offboard_control_setpoint(); +/** + * @} + */ - struct offboard_control_setpoint_s _offboard_control_sp; -}; +/* actuator output sets; this list can be expanded as more drivers emerge */ +ORB_DECLARE(test_motor); #endif diff --git a/src/modules/uORB/topics/vehicle_command.h b/src/modules/uORB/topics/vehicle_command.h index 44aa50572..f264accbb 100644 --- a/src/modules/uORB/topics/vehicle_command.h +++ b/src/modules/uORB/topics/vehicle_command.h @@ -65,6 +65,9 @@ enum VEHICLE_CMD { VEHICLE_CMD_NAV_TAKEOFF = 22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude| */ VEHICLE_CMD_NAV_ROI = 80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| */ VEHICLE_CMD_NAV_PATHPLANNING = 81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */ + VEHICLE_CMD_NAV_GUIDED_LIMITS=90, /* set limits for external control |timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout| absolute altitude min (in meters, WGS84) - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit| absolute altitude max (in meters)- if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit| horizontal move limit (in meters, WGS84) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit| Empty| Empty| Empty| */ + VEHICLE_CMD_NAV_GUIDED_MASTER=91, /* set id of master controller |System ID| Component ID| Empty| Empty| Empty| Empty| Empty| */ + VEHICLE_CMD_NAV_GUIDED_ENABLE=92, /* hand control over to an external controller |On / Off (> 0.5f on)| Empty| Empty| Empty| Empty| Empty| Empty| */ VEHICLE_CMD_NAV_LAST = 95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ VEHICLE_CMD_CONDITION_DELAY = 112, /* Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty| */ VEHICLE_CMD_CONDITION_CHANGE_ALT = 113, /* Ascend/descend at rate. Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude| */ diff --git a/src/modules/uORB/topics/vehicle_control_mode.h b/src/modules/uORB/topics/vehicle_control_mode.h index b071e0fa3..78de55b7d 100644 --- a/src/modules/uORB/topics/vehicle_control_mode.h +++ b/src/modules/uORB/topics/vehicle_control_mode.h @@ -79,6 +79,7 @@ struct vehicle_control_mode_s { bool flag_control_offboard_enabled; /**< true if offboard control should be used */ bool flag_control_rates_enabled; /**< true if rates are stabilized */ bool flag_control_attitude_enabled; /**< true if attitude stabilization is mixed in */ + bool flag_control_force_enabled; /**< true if force control is mixed in */ bool flag_control_velocity_enabled; /**< true if horizontal velocity (implies direction) is controlled */ bool flag_control_position_enabled; /**< true if position is controlled */ bool flag_control_altitude_enabled; /**< true if altitude is controlled */ diff --git a/src/modules/uORB/topics/vehicle_gps_position.h b/src/modules/uORB/topics/vehicle_gps_position.h index 80d65cd69..31e616f4f 100644 --- a/src/modules/uORB/topics/vehicle_gps_position.h +++ b/src/modules/uORB/topics/vehicle_gps_position.h @@ -62,7 +62,7 @@ struct vehicle_gps_position_s { uint64_t timestamp_variance; float s_variance_m_s; /**< speed accuracy estimate m/s */ float c_variance_rad; /**< course accuracy estimate rad */ - uint8_t fix_type; /**< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. */ + uint8_t fix_type; /**< 0-1: no fix, 2: 2D fix, 3: 3D fix, 4: RTCM code differential, 5: Real-Time Kinematic, float, 6: Real-Time Kinematic, fixed, 8: Extrapolated. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. */ float eph; /**< GPS HDOP horizontal dilution of position in m */ float epv; /**< GPS VDOP horizontal dilution of position in m */ diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index 973987f5c..6bd156ccd 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h @@ -104,7 +104,10 @@ typedef enum { NAVIGATION_STATE_AUTO_MISSION, /**< Auto mission mode */ NAVIGATION_STATE_AUTO_LOITER, /**< Auto loiter mode */ NAVIGATION_STATE_AUTO_RTL, /**< Auto return to launch mode */ + NAVIGATION_STATE_AUTO_RCRECOVER, /**< RC recover mode */ NAVIGATION_STATE_AUTO_RTGS, /**< Auto return to groundstation on data link loss */ + NAVIGATION_STATE_AUTO_LANDENGFAIL, /**< Auto land on engine failure */ + NAVIGATION_STATE_AUTO_LANDGPSFAIL, /**< Auto land on gps failure (e.g. open loop loiter down) */ NAVIGATION_STATE_ACRO, /**< Acro mode */ NAVIGATION_STATE_LAND, /**< Land mode */ NAVIGATION_STATE_DESCEND, /**< Descend mode (no position control) */ @@ -200,14 +203,25 @@ struct vehicle_status_s { bool rc_signal_found_once; bool rc_signal_lost; /**< true if RC reception lost */ + bool rc_signal_lost_cmd; /**< true if RC lost mode is commanded */ bool rc_input_blocked; /**< set if RC input should be ignored */ - bool data_link_lost; /**< datalink to GCS lost */ + bool data_link_lost; /**< datalink to GCS lost */ + bool data_link_lost_cmd; /**< datalink to GCS lost mode commanded */ + uint8_t data_link_lost_counter; /**< counts unique data link lost events */ + bool engine_failure; /** Set to true if an engine failure is detected */ + bool engine_failure_cmd; /** Set to true if an engine failure mode is commanded */ + bool gps_failure; /** Set to true if a gps failure is detected */ + bool gps_failure_cmd; /** Set to true if a gps failure mode is commanded */ + + bool barometer_failure; /** Set to true if a barometer failure is detected */ bool offboard_control_signal_found_once; bool offboard_control_signal_lost; bool offboard_control_signal_weak; uint64_t offboard_control_signal_lost_interval; /**< interval in microseconds without an offboard control message */ + bool offboard_control_set_by_command; /**< true if the offboard mode was set by a mavlink command + and should not be overridden by RC */ /* see SYS_STATUS mavlink message for the following */ uint32_t onboard_control_sensors_present; @@ -229,6 +243,8 @@ struct vehicle_status_s { bool circuit_breaker_engaged_power_check; bool circuit_breaker_engaged_airspd_check; + bool circuit_breaker_engaged_enginefailure_check; + bool circuit_breaker_engaged_gpsfailure_check; }; /** diff --git a/src/modules/uavcan/actuators/esc.cpp b/src/modules/uavcan/actuators/esc.cpp index 223d94731..1990651ef 100644 --- a/src/modules/uavcan/actuators/esc.cpp +++ b/src/modules/uavcan/actuators/esc.cpp @@ -73,7 +73,7 @@ int UavcanEscController::init() void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs) { - if ((outputs == nullptr) || (num_outputs > MAX_ESCS)) { + if ((outputs == nullptr) || (num_outputs > uavcan::equipment::esc::RawCommand::FieldTypes::cmd::MaxSize)) { perf_count(_perfcnt_invalid_input); return; } @@ -93,25 +93,24 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs) */ uavcan::equipment::esc::RawCommand msg; + static const int cmd_max = uavcan::equipment::esc::RawCommand::FieldTypes::cmd::RawValueType::max(); + if (_armed) { for (unsigned i = 0; i < num_outputs; i++) { - float scaled = (outputs[i] + 1.0F) * 0.5F * uavcan::equipment::esc::RawCommand::CMD_MAX; + float scaled = (outputs[i] + 1.0F) * 0.5F * cmd_max; if (scaled < 1.0F) { scaled = 1.0F; // Since we're armed, we don't want to stop it completely } - if (scaled < uavcan::equipment::esc::RawCommand::CMD_MIN) { - scaled = uavcan::equipment::esc::RawCommand::CMD_MIN; - perf_count(_perfcnt_scaling_error); - } else if (scaled > uavcan::equipment::esc::RawCommand::CMD_MAX) { - scaled = uavcan::equipment::esc::RawCommand::CMD_MAX; + if (scaled > cmd_max) { + scaled = cmd_max; perf_count(_perfcnt_scaling_error); - } else { - ; // Correct value } - msg.cmd.push_back(static_cast<unsigned>(scaled)); + msg.cmd.push_back(static_cast<int>(scaled)); + + _esc_status.esc[i].esc_setpoint_raw = abs(static_cast<int>(scaled)); } } @@ -129,10 +128,31 @@ void UavcanEscController::arm_esc(bool arm) void UavcanEscController::esc_status_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status> &msg) { - // TODO save status into a local storage; publish to ORB later from orb_pub_timer_cb() + if (msg.esc_index < CONNECTED_ESC_MAX) { + _esc_status.esc_count = uavcan::max<int>(_esc_status.esc_count, msg.esc_index + 1); + _esc_status.timestamp = msg.getMonotonicTimestamp().toUSec(); + + auto &ref = _esc_status.esc[msg.esc_index]; + + ref.esc_address = msg.getSrcNodeID().get(); + + ref.esc_voltage = msg.voltage; + ref.esc_current = msg.current; + ref.esc_temperature = msg.temperature; + ref.esc_setpoint = msg.power_rating_pct; + ref.esc_rpm = msg.rpm; + ref.esc_errorcount = msg.error_count; + } } void UavcanEscController::orb_pub_timer_cb(const uavcan::TimerEvent&) { - // TODO publish to ORB + _esc_status.counter += 1; + _esc_status.esc_connectiontype = ESC_CONNECTION_TYPE_CAN; + + if (_esc_status_pub > 0) { + (void)orb_publish(ORB_ID(esc_status), _esc_status_pub, &_esc_status); + } else { + _esc_status_pub = orb_advertise(ORB_ID(esc_status), &_esc_status); + } } diff --git a/src/modules/uavcan/actuators/esc.hpp b/src/modules/uavcan/actuators/esc.hpp index cf0988210..f4a3877e6 100644 --- a/src/modules/uavcan/actuators/esc.hpp +++ b/src/modules/uavcan/actuators/esc.hpp @@ -48,6 +48,8 @@ #include <uavcan/equipment/esc/RawCommand.hpp> #include <uavcan/equipment/esc/Status.hpp> #include <systemlib/perf_counter.h> +#include <uORB/topics/esc_status.h> + class UavcanEscController { @@ -73,9 +75,8 @@ private: void orb_pub_timer_cb(const uavcan::TimerEvent &event); - static constexpr unsigned MAX_RATE_HZ = 100; ///< XXX make this configurable - static constexpr unsigned ESC_STATUS_UPDATE_RATE_HZ = 5; - static constexpr unsigned MAX_ESCS = uavcan::equipment::esc::RawCommand::FieldTypes::cmd::MaxSize; + static constexpr unsigned MAX_RATE_HZ = 200; ///< XXX make this configurable + static constexpr unsigned ESC_STATUS_UPDATE_RATE_HZ = 10; typedef uavcan::MethodBinder<UavcanEscController*, void (UavcanEscController::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status>&)> @@ -84,6 +85,10 @@ private: typedef uavcan::MethodBinder<UavcanEscController*, void (UavcanEscController::*)(const uavcan::TimerEvent&)> TimerCbBinder; + bool _armed = false; + esc_status_s _esc_status = {}; + orb_advert_t _esc_status_pub = -1; + /* * libuavcan related things */ @@ -94,12 +99,6 @@ private: uavcan::TimerEventForwarder<TimerCbBinder> _orb_timer; /* - * ESC states - */ - bool _armed = false; - uavcan::equipment::esc::Status _states[MAX_ESCS]; - - /* * Perf counters */ perf_counter_t _perfcnt_invalid_input = perf_alloc(PC_COUNT, "uavcan_esc_invalid_input"); diff --git a/src/modules/unit_test/unit_test.cpp b/src/modules/unit_test/unit_test.cpp index be3b9461a..b7568ce3a 100644 --- a/src/modules/unit_test/unit_test.cpp +++ b/src/modules/unit_test/unit_test.cpp @@ -36,7 +36,11 @@ #include <systemlib/err.h> -UnitTest::UnitTest() +UnitTest::UnitTest() : + _tests_run(0), + _tests_failed(0), + _tests_passed(0), + _assertions(0) { } @@ -44,20 +48,22 @@ UnitTest::~UnitTest() { } -void UnitTest::printResults(void) +void UnitTest::print_results(void) { - warnx(mu_tests_failed() ? "SOME TESTS FAILED" : "ALL TESTS PASSED"); - warnx(" Tests passed : %d", mu_tests_passed()); - warnx(" Tests failed : %d", mu_tests_failed()); - warnx(" Assertions : %d", mu_assertion()); + warnx(_tests_failed ? "SOME TESTS FAILED" : "ALL TESTS PASSED"); + warnx(" Tests passed : %d", _tests_passed); + warnx(" Tests failed : %d", _tests_failed); + warnx(" Assertions : %d", _assertions); } -void UnitTest::printAssert(const char* msg, const char* test, const char* file, int line) +/// @brief Used internally to the ut_assert macro to print assert failures. +void UnitTest::_print_assert(const char* msg, const char* test, const char* file, int line) { - warnx("Assertion failed: %s - %s (%s:%d)", msg, test, file, line); + warnx("Assertion failed: %s - %s (%s:%d)", msg, test, file, line); } -void UnitTest::printCompare(const char* msg, const char *v1_text, int v1, const char *v2_text, int v2, const char* file, int line) +/// @brief Used internally to the ut_compare macro to print assert failures. +void UnitTest::_print_compare(const char* msg, const char *v1_text, int v1, const char *v2_text, int v2, const char* file, int line) { warnx("Compare failed: %s - (%s:%d) (%s:%d) (%s:%d)", msg, v1_text, v1, v2_text, v2, file, line); } diff --git a/src/modules/unit_test/unit_test.h b/src/modules/unit_test/unit_test.h index 1a5489709..8ed4efadf 100644 --- a/src/modules/unit_test/unit_test.h +++ b/src/modules/unit_test/unit_test.h @@ -37,68 +37,85 @@ #include <systemlib/err.h> +/// @brief Base class to be used for unit tests. class __EXPORT UnitTest { - public: -#define INLINE_GLOBAL(type,func) inline type& func() { static type x; return x; } - -INLINE_GLOBAL(int, mu_tests_run) -INLINE_GLOBAL(int, mu_tests_failed) -INLINE_GLOBAL(int, mu_tests_passed) -INLINE_GLOBAL(int, mu_assertion) -INLINE_GLOBAL(int, mu_line) -INLINE_GLOBAL(const char*, mu_last_test) UnitTest(); - virtual ~UnitTest(); + virtual ~UnitTest(); - virtual void init(void) { }; - virtual void cleanup(void) { }; - - virtual void runTests(void) = 0; - void printResults(void); - - void printAssert(const char* msg, const char* test, const char* file, int line); - void printCompare(const char* msg, const char *v1_text, int v1, const char *v2_text, int v2, const char* file, int line); - -#define ut_assert(message, test) \ - do { \ - if (!(test)) { \ - printAssert(message, #test, __FILE__, __LINE__); \ - return false; \ - } else { \ - mu_assertion()++; \ - } \ - } while (0) - -#define ut_compare(message, v1, v2) \ - do { \ - int _v1 = v1; \ - int _v2 = v2; \ - if (_v1 != _v2) { \ - printCompare(message, #v1, _v1, #v2, _v2, __FILE__, __LINE__); \ - return false; \ - } else { \ - mu_assertion()++; \ - } \ + /// @brief Override to run your unit tests. Unit tests should be called using ut_run_test macro. + /// @return true: all unit tests succeeded, false: one or more unit tests failed + virtual bool run_tests(void) = 0; + + /// @brief Prints results from running of unit tests. + void print_results(void); + +/// @brief Macro to create a function which will run a unit test class and print results. +#define ut_declare_test(test_function, test_class) \ + bool test_function(void) \ + { \ + test_class* test = new test_class(); \ + bool success = test->run_tests(); \ + test->print_results(); \ + return success; \ + } + +protected: + +/// @brief Runs a single unit test. Unit tests must have the function signature of bool test(void). The unit +/// test should return true if it succeeded, false for fail. +#define ut_run_test(test) \ + do { \ + warnx("RUNNING TEST: %s", #test); \ + _tests_run++; \ + _init(); \ + if (!test()) { \ + warnx("TEST FAILED: %s", #test); \ + _tests_failed++; \ + } else { \ + warnx("TEST PASSED: %s", #test); \ + _tests_passed++; \ + } \ + _cleanup(); \ } while (0) - -#define ut_run_test(test) \ - do { \ - warnx("RUNNING TEST: %s", #test); \ - mu_tests_run()++; \ - init(); \ - if (!test()) { \ - warnx("TEST FAILED: %s", #test); \ - mu_tests_failed()++; \ - } else { \ - warnx("TEST PASSED: %s", #test); \ - mu_tests_passed()++; \ - } \ - cleanup(); \ - } while (0) + +/// @brief Used to assert a value within a unit test. +#define ut_assert(message, test) \ + do { \ + if (!(test)) { \ + _print_assert(message, #test, __FILE__, __LINE__); \ + return false; \ + } else { \ + _assertions++; \ + } \ + } while (0) + +/// @brief Used to compare two integer values within a unit test. If possible use ut_compare instead of ut_assert +/// since it will give you better error reporting of the actual values being compared. +#define ut_compare(message, v1, v2) \ + do { \ + int _v1 = v1; \ + int _v2 = v2; \ + if (_v1 != _v2) { \ + _print_compare(message, #v1, _v1, #v2, _v2, __FILE__, __LINE__); \ + return false; \ + } else { \ + _assertions++; \ + } \ + } while (0) + + virtual void _init(void) { }; ///< Run before each unit test. Override to provide custom behavior. + virtual void _cleanup(void) { }; ///< Run after each unit test. Override to provide custom behavior. + + void _print_assert(const char* msg, const char* test, const char* file, int line); + void _print_compare(const char* msg, const char *v1_text, int v1, const char *v2_text, int v2, const char* file, int line); + int _tests_run; ///< The number of individual unit tests run + int _tests_failed; ///< The number of unit tests which failed + int _tests_passed; ///< The number of unit tests which passed + int _assertions; ///< Total number of assertions tested by all unit tests }; #endif /* UNIT_TEST_H_ */ diff --git a/src/systemcmds/motor_test/module.mk b/src/systemcmds/motor_test/module.mk new file mode 100644 index 000000000..eb36d2ded --- /dev/null +++ b/src/systemcmds/motor_test/module.mk @@ -0,0 +1,41 @@ +############################################################################ +# +# 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. +# +############################################################################ + +# +# Build the motor_test tool. +# + +MODULE_COMMAND = motor_test +SRCS = motor_test.c + +MODULE_STACKSIZE = 4096 diff --git a/src/systemcmds/motor_test/motor_test.c b/src/systemcmds/motor_test/motor_test.c new file mode 100644 index 000000000..079f99674 --- /dev/null +++ b/src/systemcmds/motor_test/motor_test.c @@ -0,0 +1,128 @@ +/**************************************************************************** + * + * Copyright (C) 2014 PX4 Development Team. All rights reserved. + * Author: Holger Steinhaus <hsteinhaus@gmx.de> + * + * 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 motor_test.c + * + * Tool for drive testing + */ + +#include <nuttx/config.h> + +#include <stdio.h> +#include <stdlib.h> +#include <string.h> +#include <unistd.h> + +#include <arch/board/board.h> +#include <drivers/drv_hrt.h> +#include <uORB/topics/test_motor.h> + + +#include "systemlib/systemlib.h" +#include "systemlib/err.h" + + +__EXPORT int motor_test_main(int argc, char *argv[]); +static void motor_test(unsigned channel, float value); +static void usage(const char *reason); + +void motor_test(unsigned channel, float value) +{ + orb_advert_t _test_motor_pub; + struct test_motor_s _test_motor; + + _test_motor.motor_number = channel; + _test_motor.timestamp = hrt_absolute_time(); + _test_motor.value = value; + + if (_test_motor_pub > 0) { + /* publish armed state */ + orb_publish(ORB_ID(test_motor), _test_motor_pub, &_test_motor); + } else { + /* advertise and publish */ + _test_motor_pub = orb_advertise(ORB_ID(test_motor), &_test_motor); + } +} + +static void usage(const char *reason) +{ + if (reason != NULL) + warnx("%s", reason); + + errx(1, + "usage:\n" + "motor_test\n" + " -m <channel> Motor to test (0..7)\n" + " -p <power> Power (0..100)\n"); +} + +int motor_test_main(int argc, char *argv[]) +{ + unsigned long channel, lval; + float value; + int ch; + + if (argc != 5) { + usage("please specify motor and power"); + } + + while ((ch = getopt(argc, argv, "m:p:")) != EOF) { + switch (ch) { + + case 'm': + /* Read in channels supplied as one int and convert to mask: 1234 -> 0xF */ + channel = strtoul(optarg, NULL, 0); + break; + + case 'p': + /* Read in custom low value */ + lval = strtoul(optarg, NULL, 0); + + if (lval > 100) + usage("value invalid"); + + value = (float)lval/100.f; + break; + default: + usage(NULL); + } + } + + motor_test(channel, value); + + printf("motor %d set to %.2f\n", channel, value); + + exit(0); +} diff --git a/src/systemcmds/mtd/24xxxx_mtd.c b/src/systemcmds/mtd/24xxxx_mtd.c index 991363797..f85ed8e2d 100644 --- a/src/systemcmds/mtd/24xxxx_mtd.c +++ b/src/systemcmds/mtd/24xxxx_mtd.c @@ -80,11 +80,17 @@ /* As a minimum, the size of the AT24 part and its 7-bit I2C address are required. */ #ifndef CONFIG_AT24XX_SIZE -# warning "Assuming AT24 size 64" +/* XXX this is a well vetted special case, + * do not issue a warning any more + * # warning "Assuming AT24 size 64" + */ # define CONFIG_AT24XX_SIZE 64 #endif #ifndef CONFIG_AT24XX_ADDR -# warning "Assuming AT24 address of 0x50" +/* XXX this is a well vetted special case, + * do not issue a warning any more + * # warning "Assuming AT24 address of 0x50" + */ # define CONFIG_AT24XX_ADDR 0x50 #endif @@ -115,7 +121,10 @@ */ #ifndef CONFIG_AT24XX_MTD_BLOCKSIZE -# warning "Assuming driver block size is the same as the FLASH page size" +/* XXX this is a well vetted special case, + * do not issue a warning any more + * # warning "Assuming driver block size is the same as the FLASH page size" + */ # define CONFIG_AT24XX_MTD_BLOCKSIZE AT24XX_PAGESIZE #endif diff --git a/src/systemcmds/nshterm/module.mk b/src/systemcmds/nshterm/module.mk index 7d2c59f91..a12bc369e 100644 --- a/src/systemcmds/nshterm/module.mk +++ b/src/systemcmds/nshterm/module.mk @@ -38,6 +38,8 @@ MODULE_COMMAND = nshterm SRCS = nshterm.c -MODULE_STACKSIZE = 1400 +MODULE_STACKSIZE = 1600 MAXOPTIMIZATION = -Os + +MODULE_PRIORITY = "SCHED_PRIORITY_DEFAULT-30" diff --git a/src/systemcmds/nshterm/nshterm.c b/src/systemcmds/nshterm/nshterm.c index fca1798e6..f06c49552 100644 --- a/src/systemcmds/nshterm/nshterm.c +++ b/src/systemcmds/nshterm/nshterm.c @@ -87,7 +87,7 @@ nshterm_main(int argc, char *argv[]) /* Back up the original uart configuration to restore it after exit */ if ((termios_state = tcgetattr(fd, &uart_config)) < 0) { - warnx("ERROR get termios config %s: %d\n", argv[1], termios_state); + warnx("ERR get config %s: %d\n", argv[1], termios_state); close(fd); return -1; } @@ -96,7 +96,7 @@ nshterm_main(int argc, char *argv[]) uart_config.c_oflag |= (ONLCR | OPOST/* | OCRNL*/); if ((termios_state = tcsetattr(fd, TCSANOW, &uart_config)) < 0) { - warnx("ERROR setting baudrate / termios config for %s (tcsetattr)\n", argv[1]); + warnx("ERR set config %s\n", argv[1]); close(fd); return -1; } diff --git a/src/systemcmds/pwm/pwm.c b/src/systemcmds/pwm/pwm.c index c8d698b86..478c2a772 100644 --- a/src/systemcmds/pwm/pwm.c +++ b/src/systemcmds/pwm/pwm.c @@ -654,9 +654,28 @@ pwm_main(int argc, char *argv[]) } } exit(0); + } else if (!strcmp(argv[1], "terminatefail")) { + + if (argc < 3) { + errx(1, "arg missing [on|off]"); + } else { + + if (!strcmp(argv[2], "on")) { + /* force failsafe */ + ret = ioctl(fd, PWM_SERVO_SET_TERMINATION_FAILSAFE, 1); + } else { + /* force failsafe */ + ret = ioctl(fd, PWM_SERVO_SET_TERMINATION_FAILSAFE, 0); + } + + if (ret != OK) { + warnx("FAILED setting termination failsafe %s", argv[2]); + } + } + exit(0); } - usage("specify arm|disarm|rate|failsafe|disarmed|min|max|test|info|forcefail"); + usage("specify arm|disarm|rate|failsafe\n\t\tdisarmed|min|max|test|info|forcefail|terminatefail"); return 0; } diff --git a/src/systemcmds/tests/tests_main.c b/src/systemcmds/tests/tests_main.c index e3f26924f..0f56704e6 100644 --- a/src/systemcmds/tests/tests_main.c +++ b/src/systemcmds/tests/tests_main.c @@ -110,7 +110,9 @@ const struct { {"conv", test_conv, OPT_NOJIGTEST | OPT_NOALLTEST}, {"mount", test_mount, OPT_NOJIGTEST | OPT_NOALLTEST}, {"mtd", test_mtd, 0}, +#ifndef TESTS_MATHLIB_DISABLE {"mathlib", test_mathlib, 0}, +#endif {"help", test_help, OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST}, {NULL, NULL, 0} }; diff --git a/uavcan b/uavcan -Subproject 286adbcc56c4b093143b647ec7546abb149cd53 +Subproject 4de0338824972de4d3a8e29697ea1a2d95a926c |