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-rw-r--r--makefiles/config_px4fmu_default.mk1
-rwxr-xr-xnuttx/configs/px4fmu/nsh/defconfig4
-rw-r--r--src/drivers/device/i2c.h9
-rw-r--r--src/drivers/md25/md25.cpp553
-rw-r--r--src/drivers/md25/md25.hpp293
-rw-r--r--src/drivers/md25/md25_main.cpp264
-rw-r--r--src/drivers/md25/module.mk42
-rw-r--r--src/modules/controllib/fixedwing.cpp64
-rw-r--r--src/modules/controllib/fixedwing.hpp12
-rw-r--r--src/modules/fixedwing_backside/params.c17
-rw-r--r--src/modules/mavlink/mavlink_receiver.c122
11 files changed, 1225 insertions, 156 deletions
diff --git a/makefiles/config_px4fmu_default.mk b/makefiles/config_px4fmu_default.mk
index 7f12ca731..6d3af560f 100644
--- a/makefiles/config_px4fmu_default.mk
+++ b/makefiles/config_px4fmu_default.mk
@@ -30,6 +30,7 @@ MODULES += drivers/hil
MODULES += drivers/hott_telemetry
MODULES += drivers/blinkm
MODULES += drivers/mkblctrl
+MODULES += drivers/md25
MODULES += modules/sensors
#
diff --git a/nuttx/configs/px4fmu/nsh/defconfig b/nuttx/configs/px4fmu/nsh/defconfig
index cf30b835f..02e224302 100755
--- a/nuttx/configs/px4fmu/nsh/defconfig
+++ b/nuttx/configs/px4fmu/nsh/defconfig
@@ -647,10 +647,14 @@ CONFIG_DISABLE_POLL=n
# CONFIG_LIBC_FIXEDPRECISION - Sets 7 digits after dot for printing:
# 5.1234567
# CONFIG_HAVE_LONG_LONG - Enabled printf("%llu)
+# CONFIG_LIBC_STRERR - allow printing of error text
+# CONFIG_LIBC_STRERR_SHORT - allow printing of short error text
#
CONFIG_NOPRINTF_FIELDWIDTH=n
CONFIG_LIBC_FLOATINGPOINT=y
CONFIG_HAVE_LONG_LONG=y
+CONFIG_LIBC_STRERROR=n
+CONFIG_LIBC_STRERROR_SHORT=n
#
# Allow for architecture optimized implementations
diff --git a/src/drivers/device/i2c.h b/src/drivers/device/i2c.h
index 7daba31be..b4a9cdd53 100644
--- a/src/drivers/device/i2c.h
+++ b/src/drivers/device/i2c.h
@@ -53,6 +53,15 @@ namespace device __EXPORT
class __EXPORT I2C : public CDev
{
+public:
+
+ /**
+ * Get the address
+ */
+ uint16_t get_address() {
+ return _address;
+ }
+
protected:
/**
* The number of times a read or write operation will be retried on
diff --git a/src/drivers/md25/md25.cpp b/src/drivers/md25/md25.cpp
new file mode 100644
index 000000000..71932ad65
--- /dev/null
+++ b/src/drivers/md25/md25.cpp
@@ -0,0 +1,553 @@
+/****************************************************************************
+ *
+ * Copyright (c) 2013 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 md25.cpp
+ *
+ * Driver for MD25 I2C Motor Driver
+ *
+ * references:
+ * http://www.robot-electronics.co.uk/htm/md25tech.htm
+ * http://www.robot-electronics.co.uk/files/rpi_md25.c
+ *
+ */
+
+#include "md25.hpp"
+#include <poll.h>
+#include <stdio.h>
+
+#include <systemlib/err.h>
+#include <arch/board/board.h>
+
+// registers
+enum {
+ // RW: read/write
+ // R: read
+ REG_SPEED1_RW = 0,
+ REG_SPEED2_RW,
+ REG_ENC1A_R,
+ REG_ENC1B_R,
+ REG_ENC1C_R,
+ REG_ENC1D_R,
+ REG_ENC2A_R,
+ REG_ENC2B_R,
+ REG_ENC2C_R,
+ REG_ENC2D_R,
+ REG_BATTERY_VOLTS_R,
+ REG_MOTOR1_CURRENT_R,
+ REG_MOTOR2_CURRENT_R,
+ REG_SW_VERSION_R,
+ REG_ACCEL_RATE_RW,
+ REG_MODE_RW,
+ REG_COMMAND_RW,
+};
+
+MD25::MD25(const char *deviceName, int bus,
+ uint16_t address, uint32_t speed) :
+ I2C("MD25", deviceName, bus, address, speed),
+ _controlPoll(),
+ _actuators(NULL, ORB_ID(actuator_controls_0), 20),
+ _version(0),
+ _motor1Speed(0),
+ _motor2Speed(0),
+ _revolutions1(0),
+ _revolutions2(0),
+ _batteryVoltage(0),
+ _motor1Current(0),
+ _motor2Current(0),
+ _motorAccel(0),
+ _mode(MODE_UNSIGNED_SPEED),
+ _command(CMD_RESET_ENCODERS)
+{
+ // setup control polling
+ _controlPoll.fd = _actuators.getHandle();
+ _controlPoll.events = POLLIN;
+
+ // if initialization fails raise an error, unless
+ // probing
+ int ret = I2C::init();
+
+ if (ret != OK) {
+ warnc(ret, "I2C::init failed for bus: %d address: %d\n", bus, address);
+ }
+
+ // setup default settings, reset encoders
+ setMotor1Speed(0);
+ setMotor2Speed(0);
+ resetEncoders();
+ _setMode(MD25::MODE_UNSIGNED_SPEED);
+ setSpeedRegulation(true);
+ setTimeout(true);
+}
+
+MD25::~MD25()
+{
+}
+
+int MD25::readData()
+{
+ uint8_t sendBuf[1];
+ sendBuf[0] = REG_SPEED1_RW;
+ uint8_t recvBuf[17];
+ int ret = transfer(sendBuf, sizeof(sendBuf),
+ recvBuf, sizeof(recvBuf));
+
+ if (ret == OK) {
+ _version = recvBuf[REG_SW_VERSION_R];
+ _motor1Speed = _uint8ToNorm(recvBuf[REG_SPEED1_RW]);
+ _motor2Speed = _uint8ToNorm(recvBuf[REG_SPEED2_RW]);
+ _revolutions1 = -int32_t((recvBuf[REG_ENC1A_R] << 24) +
+ (recvBuf[REG_ENC1B_R] << 16) +
+ (recvBuf[REG_ENC1C_R] << 8) +
+ recvBuf[REG_ENC1D_R]) / 360.0;
+ _revolutions2 = -int32_t((recvBuf[REG_ENC2A_R] << 24) +
+ (recvBuf[REG_ENC2B_R] << 16) +
+ (recvBuf[REG_ENC2C_R] << 8) +
+ recvBuf[REG_ENC2D_R]) / 360.0;
+ _batteryVoltage = recvBuf[REG_BATTERY_VOLTS_R] / 10.0;
+ _motor1Current = recvBuf[REG_MOTOR1_CURRENT_R] / 10.0;
+ _motor2Current = recvBuf[REG_MOTOR2_CURRENT_R] / 10.0;
+ _motorAccel = recvBuf[REG_ACCEL_RATE_RW];
+ _mode = e_mode(recvBuf[REG_MODE_RW]);
+ _command = e_cmd(recvBuf[REG_COMMAND_RW]);
+ }
+
+ return ret;
+}
+
+void MD25::status(char *string, size_t n)
+{
+ snprintf(string, n,
+ "version:\t%10d\n" \
+ "motor 1 speed:\t%10.2f\n" \
+ "motor 2 speed:\t%10.2f\n" \
+ "revolutions 1:\t%10.2f\n" \
+ "revolutions 2:\t%10.2f\n" \
+ "battery volts :\t%10.2f\n" \
+ "motor 1 current :\t%10.2f\n" \
+ "motor 2 current :\t%10.2f\n" \
+ "motor accel :\t%10d\n" \
+ "mode :\t%10d\n" \
+ "command :\t%10d\n",
+ getVersion(),
+ double(getMotor1Speed()),
+ double(getMotor2Speed()),
+ double(getRevolutions1()),
+ double(getRevolutions2()),
+ double(getBatteryVolts()),
+ double(getMotor1Current()),
+ double(getMotor2Current()),
+ getMotorAccel(),
+ getMode(),
+ getCommand());
+}
+
+uint8_t MD25::getVersion()
+{
+ return _version;
+}
+
+float MD25::getMotor1Speed()
+{
+ return _motor1Speed;
+}
+
+float MD25::getMotor2Speed()
+{
+ return _motor2Speed;
+}
+
+float MD25::getRevolutions1()
+{
+ return _revolutions1;
+}
+
+float MD25::getRevolutions2()
+{
+ return _revolutions2;
+}
+
+float MD25::getBatteryVolts()
+{
+ return _batteryVoltage;
+}
+
+float MD25::getMotor1Current()
+{
+ return _motor1Current;
+}
+float MD25::getMotor2Current()
+{
+ return _motor2Current;
+}
+
+uint8_t MD25::getMotorAccel()
+{
+ return _motorAccel;
+}
+
+MD25::e_mode MD25::getMode()
+{
+ return _mode;
+}
+
+MD25::e_cmd MD25::getCommand()
+{
+ return _command;
+}
+
+int MD25::resetEncoders()
+{
+ return _writeUint8(REG_COMMAND_RW,
+ CMD_RESET_ENCODERS);
+}
+
+int MD25::_setMode(e_mode mode)
+{
+ return _writeUint8(REG_MODE_RW,
+ mode);
+}
+
+int MD25::setSpeedRegulation(bool enable)
+{
+ if (enable) {
+ return _writeUint8(REG_COMMAND_RW,
+ CMD_ENABLE_SPEED_REGULATION);
+
+ } else {
+ return _writeUint8(REG_COMMAND_RW,
+ CMD_DISABLE_SPEED_REGULATION);
+ }
+}
+
+int MD25::setTimeout(bool enable)
+{
+ if (enable) {
+ return _writeUint8(REG_COMMAND_RW,
+ CMD_ENABLE_TIMEOUT);
+
+ } else {
+ return _writeUint8(REG_COMMAND_RW,
+ CMD_DISABLE_TIMEOUT);
+ }
+}
+
+int MD25::setDeviceAddress(uint8_t address)
+{
+ uint8_t sendBuf[1];
+ sendBuf[0] = CMD_CHANGE_I2C_SEQ_0;
+ int ret = OK;
+ ret = transfer(sendBuf, sizeof(sendBuf),
+ nullptr, 0);
+
+ if (ret != OK) {
+ warnc(ret, "MD25::setDeviceAddress");
+ return ret;
+ }
+
+ usleep(5000);
+ sendBuf[0] = CMD_CHANGE_I2C_SEQ_1;
+ ret = transfer(sendBuf, sizeof(sendBuf),
+ nullptr, 0);
+
+ if (ret != OK) {
+ warnc(ret, "MD25::setDeviceAddress");
+ return ret;
+ }
+
+ usleep(5000);
+ sendBuf[0] = CMD_CHANGE_I2C_SEQ_2;
+ ret = transfer(sendBuf, sizeof(sendBuf),
+ nullptr, 0);
+
+ if (ret != OK) {
+ warnc(ret, "MD25::setDeviceAddress");
+ return ret;
+ }
+
+ return OK;
+}
+
+int MD25::setMotor1Speed(float value)
+{
+ return _writeUint8(REG_SPEED1_RW,
+ _normToUint8(value));
+}
+
+int MD25::setMotor2Speed(float value)
+{
+ return _writeUint8(REG_SPEED2_RW,
+ _normToUint8(value));
+}
+
+void MD25::update()
+{
+ // wait for an actuator publication,
+ // check for exit condition every second
+ // note "::poll" is required to distinguish global
+ // poll from member function for driver
+ if (::poll(&_controlPoll, 1, 1000) < 0) return; // poll error
+
+ // if new data, send to motors
+ if (_actuators.updated()) {
+ _actuators.update();
+ setMotor1Speed(_actuators.control[CH_SPEED_LEFT]);
+ setMotor2Speed(_actuators.control[CH_SPEED_RIGHT]);
+ }
+}
+
+int MD25::probe()
+{
+ uint8_t goodAddress = 0;
+ bool found = false;
+ int ret = OK;
+
+ // try initial address first, if good, then done
+ if (readData() == OK) return ret;
+
+ // try all other addresses
+ uint8_t testAddress = 0;
+
+ //printf("searching for MD25 address\n");
+ while (true) {
+ set_address(testAddress);
+ ret = readData();
+
+ if (ret == OK && !found) {
+ //printf("device found at address: 0x%X\n", testAddress);
+ if (!found) {
+ found = true;
+ goodAddress = testAddress;
+ }
+ }
+
+ if (testAddress > 254) {
+ break;
+ }
+
+ testAddress++;
+ }
+
+ if (found) {
+ set_address(goodAddress);
+ return OK;
+
+ } else {
+ set_address(0);
+ return ret;
+ }
+}
+
+int MD25::search()
+{
+ uint8_t goodAddress = 0;
+ bool found = false;
+ int ret = OK;
+ // try all other addresses
+ uint8_t testAddress = 0;
+
+ //printf("searching for MD25 address\n");
+ while (true) {
+ set_address(testAddress);
+ ret = readData();
+
+ if (ret == OK && !found) {
+ printf("device found at address: 0x%X\n", testAddress);
+
+ if (!found) {
+ found = true;
+ goodAddress = testAddress;
+ }
+ }
+
+ if (testAddress > 254) {
+ break;
+ }
+
+ testAddress++;
+ }
+
+ if (found) {
+ set_address(goodAddress);
+ return OK;
+
+ } else {
+ set_address(0);
+ return ret;
+ }
+}
+
+int MD25::_writeUint8(uint8_t reg, uint8_t value)
+{
+ uint8_t sendBuf[2];
+ sendBuf[0] = reg;
+ sendBuf[1] = value;
+ return transfer(sendBuf, sizeof(sendBuf),
+ nullptr, 0);
+}
+
+int MD25::_writeInt8(uint8_t reg, int8_t value)
+{
+ uint8_t sendBuf[2];
+ sendBuf[0] = reg;
+ sendBuf[1] = value;
+ return transfer(sendBuf, sizeof(sendBuf),
+ nullptr, 0);
+}
+
+float MD25::_uint8ToNorm(uint8_t value)
+{
+ // TODO, should go from 0 to 255
+ // possibly should handle this differently
+ return (value - 128) / 127.0;
+}
+
+uint8_t MD25::_normToUint8(float value)
+{
+ if (value > 1) value = 1;
+
+ if (value < -1) value = -1;
+
+ // TODO, should go from 0 to 255
+ // possibly should handle this differently
+ return 127 * value + 128;
+}
+
+int md25Test(const char *deviceName, uint8_t bus, uint8_t address)
+{
+ printf("md25 test: starting\n");
+
+ // setup
+ MD25 md25("/dev/md25", bus, address);
+
+ // print status
+ char buf[200];
+ md25.status(buf, sizeof(buf));
+ printf("%s\n", buf);
+
+ // setup for test
+ md25.setSpeedRegulation(true);
+ md25.setTimeout(true);
+ float dt = 0.1;
+ float speed = 0.2;
+ float t = 0;
+
+ // motor 1 test
+ printf("md25 test: spinning motor 1 forward for 1 rev at 0.1 speed\n");
+ t = 0;
+
+ while (true) {
+ t += dt;
+ md25.setMotor1Speed(speed);
+ md25.readData();
+ usleep(1000000 * dt);
+
+ if (md25.getRevolutions1() > 1) {
+ printf("finished 1 revolution fwd\n");
+ break;
+ }
+
+ if (t > 2.0f) break;
+ }
+
+ md25.setMotor1Speed(0);
+ printf("revolution of wheel 1: %8.4f\n", double(md25.getRevolutions1()));
+ md25.resetEncoders();
+
+ t = 0;
+
+ while (true) {
+ t += dt;
+ md25.setMotor1Speed(-speed);
+ md25.readData();
+ usleep(1000000 * dt);
+
+ if (md25.getRevolutions1() < -1) {
+ printf("finished 1 revolution rev\n");
+ break;
+ }
+
+ if (t > 2.0f) break;
+ }
+
+ md25.setMotor1Speed(0);
+ printf("revolution of wheel 1: %8.4f\n", double(md25.getRevolutions1()));
+ md25.resetEncoders();
+
+ // motor 2 test
+ printf("md25 test: spinning motor 2 forward for 1 rev at 0.1 speed\n");
+ t = 0;
+
+ while (true) {
+ t += dt;
+ md25.setMotor2Speed(speed);
+ md25.readData();
+ usleep(1000000 * dt);
+
+ if (md25.getRevolutions2() > 1) {
+ printf("finished 1 revolution fwd\n");
+ break;
+ }
+
+ if (t > 2.0f) break;
+ }
+
+ md25.setMotor2Speed(0);
+ printf("revolution of wheel 2: %8.4f\n", double(md25.getRevolutions2()));
+ md25.resetEncoders();
+
+ t = 0;
+
+ while (true) {
+ t += dt;
+ md25.setMotor2Speed(-speed);
+ md25.readData();
+ usleep(1000000 * dt);
+
+ if (md25.getRevolutions2() < -1) {
+ printf("finished 1 revolution rev\n");
+ break;
+ }
+
+ if (t > 2.0f) break;
+ }
+
+ md25.setMotor2Speed(0);
+ printf("revolution of wheel 2: %8.4f\n", double(md25.getRevolutions2()));
+ md25.resetEncoders();
+
+ printf("Test complete\n");
+ return 0;
+}
+
+// vi:noet:smarttab:autoindent:ts=4:sw=4:tw=78
diff --git a/src/drivers/md25/md25.hpp b/src/drivers/md25/md25.hpp
new file mode 100644
index 000000000..e77511b16
--- /dev/null
+++ b/src/drivers/md25/md25.hpp
@@ -0,0 +1,293 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2013 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 md25.cpp
+ *
+ * Driver for MD25 I2C Motor Driver
+ *
+ * references:
+ * http://www.robot-electronics.co.uk/htm/md25tech.htm
+ * http://www.robot-electronics.co.uk/files/rpi_md25.c
+ *
+ */
+
+#pragma once
+
+#include <poll.h>
+#include <stdio.h>
+#include <controllib/block/UOrbSubscription.hpp>
+#include <uORB/topics/actuator_controls.h>
+#include <drivers/device/i2c.h>
+
+/**
+ * This is a driver for the MD25 motor controller utilizing the I2C interface.
+ */
+class MD25 : public device::I2C
+{
+public:
+
+ /**
+ * modes
+ *
+ * NOTE: this driver assumes we are always
+ * in mode 0!
+ *
+ * seprate speed mode:
+ * motor speed1 = speed1
+ * motor speed2 = speed2
+ * turn speed mode:
+ * motor speed1 = speed1 + speed2
+ * motor speed2 = speed2 - speed2
+ * unsigned:
+ * full rev (0), stop(128), full fwd (255)
+ * signed:
+ * full rev (-127), stop(0), full fwd (128)
+ *
+ * modes numbers:
+ * 0 : unsigned separate (default)
+ * 1 : signed separate
+ * 2 : unsigned turn
+ * 3 : signed turn
+ */
+ enum e_mode {
+ MODE_UNSIGNED_SPEED = 0,
+ MODE_SIGNED_SPEED,
+ MODE_UNSIGNED_SPEED_TURN,
+ MODE_SIGNED_SPEED_TURN,
+ };
+
+ /** commands */
+ enum e_cmd {
+ CMD_RESET_ENCODERS = 32,
+ CMD_DISABLE_SPEED_REGULATION = 48,
+ CMD_ENABLE_SPEED_REGULATION = 49,
+ CMD_DISABLE_TIMEOUT = 50,
+ CMD_ENABLE_TIMEOUT = 51,
+ CMD_CHANGE_I2C_SEQ_0 = 160,
+ CMD_CHANGE_I2C_SEQ_1 = 170,
+ CMD_CHANGE_I2C_SEQ_2 = 165,
+ };
+
+ /** control channels */
+ enum e_channels {
+ CH_SPEED_LEFT = 0,
+ CH_SPEED_RIGHT
+ };
+
+ /**
+ * constructor
+ * @param deviceName the name of the device e.g. "/dev/md25"
+ * @param bus the I2C bus
+ * @param address the adddress on the I2C bus
+ * @param speed the speed of the I2C communication
+ */
+ MD25(const char *deviceName,
+ int bus,
+ uint16_t address,
+ uint32_t speed = 100000);
+
+ /**
+ * deconstructor
+ */
+ virtual ~MD25();
+
+ /**
+ * @return software version
+ */
+ uint8_t getVersion();
+
+ /**
+ * @return speed of motor, normalized (-1, 1)
+ */
+ float getMotor1Speed();
+
+ /**
+ * @return speed of motor 2, normalized (-1, 1)
+ */
+ float getMotor2Speed();
+
+ /**
+ * @return number of rotations since reset
+ */
+ float getRevolutions1();
+
+ /**
+ * @return number of rotations since reset
+ */
+ float getRevolutions2();
+
+ /**
+ * @return battery voltage, volts
+ */
+ float getBatteryVolts();
+
+ /**
+ * @return motor 1 current, amps
+ */
+ float getMotor1Current();
+
+ /**
+ * @return motor 2 current, amps
+ */
+ float getMotor2Current();
+
+ /**
+ * @return the motor acceleration
+ * controls motor speed change (1-10)
+ * accel rate | time for full fwd. to full rev.
+ * 1 | 6.375 s
+ * 2 | 1.6 s
+ * 3 | 0.675 s
+ * 5(default) | 1.275 s
+ * 10 | 0.65 s
+ */
+ uint8_t getMotorAccel();
+
+ /**
+ * @return motor output mode
+ * */
+ e_mode getMode();
+
+ /**
+ * @return current command register value
+ */
+ e_cmd getCommand();
+
+ /**
+ * resets the encoders
+ * @return non-zero -> error
+ * */
+ int resetEncoders();
+
+ /**
+ * enable/disable speed regulation
+ * @return non-zero -> error
+ */
+ int setSpeedRegulation(bool enable);
+
+ /**
+ * set the timeout for the motors
+ * enable/disable timeout (motor stop)
+ * after 2 sec of no i2c messages
+ * @return non-zero -> error
+ */
+ int setTimeout(bool enable);
+
+ /**
+ * sets the device address
+ * can only be done with one MD25
+ * on the bus
+ * @return non-zero -> error
+ */
+ int setDeviceAddress(uint8_t address);
+
+ /**
+ * set motor 1 speed
+ * @param normSpeed normalize speed between -1 and 1
+ * @return non-zero -> error
+ */
+ int setMotor1Speed(float normSpeed);
+
+ /**
+ * set motor 2 speed
+ * @param normSpeed normalize speed between -1 and 1
+ * @return non-zero -> error
+ */
+ int setMotor2Speed(float normSpeed);
+
+ /**
+ * main update loop that updates MD25 motor
+ * speeds based on actuator publication
+ */
+ void update();
+
+ /**
+ * probe for device
+ */
+ virtual int probe();
+
+ /**
+ * search for device
+ */
+ int search();
+
+ /**
+ * read data from i2c
+ */
+ int readData();
+
+ /**
+ * print status
+ */
+ void status(char *string, size_t n);
+
+private:
+ /** poll structure for control packets */
+ struct pollfd _controlPoll;
+
+ /** actuator controls subscription */
+ control::UOrbSubscription<actuator_controls_s> _actuators;
+
+ // local copy of data from i2c device
+ uint8_t _version;
+ float _motor1Speed;
+ float _motor2Speed;
+ float _revolutions1;
+ float _revolutions2;
+ float _batteryVoltage;
+ float _motor1Current;
+ float _motor2Current;
+ uint8_t _motorAccel;
+ e_mode _mode;
+ e_cmd _command;
+
+ // private methods
+ int _writeUint8(uint8_t reg, uint8_t value);
+ int _writeInt8(uint8_t reg, int8_t value);
+ float _uint8ToNorm(uint8_t value);
+ uint8_t _normToUint8(float value);
+
+ /**
+ * set motor control mode,
+ * this driver assumed we are always in mode 0
+ * so we don't let the user change the mode
+ * @return non-zero -> error
+ */
+ int _setMode(e_mode);
+};
+
+// unit testing
+int md25Test(const char *deviceName, uint8_t bus, uint8_t address);
+
+// vi:noet:smarttab:autoindent:ts=4:sw=4:tw=78
diff --git a/src/drivers/md25/md25_main.cpp b/src/drivers/md25/md25_main.cpp
new file mode 100644
index 000000000..85aaab7f6
--- /dev/null
+++ b/src/drivers/md25/md25_main.cpp
@@ -0,0 +1,264 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2013 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 md25.cpp
+ *
+ * Driver for MD25 I2C Motor Driver
+ *
+ * references:
+ * http://www.robot-electronics.co.uk/htm/md25tech.htm
+ * http://www.robot-electronics.co.uk/files/rpi_md25.c
+ *
+ */
+
+#include <nuttx/config.h>
+#include <unistd.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <math.h>
+
+#include <systemlib/systemlib.h>
+#include <systemlib/param/param.h>
+
+#include <arch/board/board.h>
+#include "MD25.hpp"
+
+static bool thread_should_exit = false; /**< Deamon exit flag */
+static bool thread_running = false; /**< Deamon status flag */
+static int deamon_task; /**< Handle of deamon task / thread */
+
+/**
+ * Deamon management function.
+ */
+extern "C" __EXPORT int md25_main(int argc, char *argv[]);
+
+/**
+ * Mainloop of deamon.
+ */
+int md25_thread_main(int argc, char *argv[]);
+
+/**
+ * Print the correct usage.
+ */
+static void usage(const char *reason);
+
+static void
+usage(const char *reason)
+{
+ if (reason)
+ fprintf(stderr, "%s\n", reason);
+
+ fprintf(stderr, "usage: md25 {start|stop|status|search|test|change_address}\n\n");
+ exit(1);
+}
+
+/**
+ * The deamon app only briefly exists to start
+ * the background job. The stack size assigned in the
+ * Makefile does only apply to this management task.
+ *
+ * The actual stack size should be set in the call
+ * to task_create().
+ */
+int md25_main(int argc, char *argv[])
+{
+
+ if (argc < 1)
+ usage("missing command");
+
+ if (!strcmp(argv[1], "start")) {
+
+ if (thread_running) {
+ printf("md25 already running\n");
+ /* this is not an error */
+ exit(0);
+ }
+
+ thread_should_exit = false;
+ deamon_task = task_spawn("md25",
+ SCHED_DEFAULT,
+ SCHED_PRIORITY_MAX - 10,
+ 2048,
+ md25_thread_main,
+ (const char **)argv);
+ exit(0);
+ }
+
+ if (!strcmp(argv[1], "test")) {
+
+ if (argc < 4) {
+ printf("usage: md25 test bus address\n");
+ exit(0);
+ }
+
+ const char *deviceName = "/dev/md25";
+
+ uint8_t bus = strtoul(argv[2], nullptr, 0);
+
+ uint8_t address = strtoul(argv[3], nullptr, 0);
+
+ md25Test(deviceName, bus, address);
+
+ exit(0);
+ }
+
+ if (!strcmp(argv[1], "probe")) {
+ if (argc < 4) {
+ printf("usage: md25 probe bus address\n");
+ exit(0);
+ }
+
+ const char *deviceName = "/dev/md25";
+
+ uint8_t bus = strtoul(argv[2], nullptr, 0);
+
+ uint8_t address = strtoul(argv[3], nullptr, 0);
+
+ MD25 md25(deviceName, bus, address);
+
+ int ret = md25.probe();
+
+ if (ret == OK) {
+ printf("MD25 found on bus %d at address 0x%X\n", bus, md25.get_address());
+
+ } else {
+ printf("MD25 not found on bus %d\n", bus);
+ }
+
+ exit(0);
+ }
+
+ if (!strcmp(argv[1], "search")) {
+ if (argc < 3) {
+ printf("usage: md25 search bus\n");
+ exit(0);
+ }
+
+ const char *deviceName = "/dev/md25";
+
+ uint8_t bus = strtoul(argv[2], nullptr, 0);
+
+ uint8_t address = strtoul(argv[3], nullptr, 0);
+
+ MD25 md25(deviceName, bus, address);
+
+ md25.search();
+
+ exit(0);
+ }
+
+ if (!strcmp(argv[1], "change_address")) {
+ if (argc < 5) {
+ printf("usage: md25 change_address bus old_address new_address\n");
+ exit(0);
+ }
+
+ const char *deviceName = "/dev/md25";
+
+ uint8_t bus = strtoul(argv[2], nullptr, 0);
+
+ uint8_t old_address = strtoul(argv[3], nullptr, 0);
+
+ uint8_t new_address = strtoul(argv[4], nullptr, 0);
+
+ MD25 md25(deviceName, bus, old_address);
+
+ int ret = md25.setDeviceAddress(new_address);
+
+ if (ret == OK) {
+ printf("MD25 new address set to 0x%X\n", new_address);
+
+ } else {
+ printf("MD25 failed to set address to 0x%X\n", new_address);
+ }
+
+ exit(0);
+ }
+
+ if (!strcmp(argv[1], "stop")) {
+ thread_should_exit = true;
+ exit(0);
+ }
+
+ if (!strcmp(argv[1], "status")) {
+ if (thread_running) {
+ printf("\tmd25 app is running\n");
+
+ } else {
+ printf("\tmd25 app not started\n");
+ }
+
+ exit(0);
+ }
+
+ usage("unrecognized command");
+ exit(1);
+}
+
+int md25_thread_main(int argc, char *argv[])
+{
+ printf("[MD25] starting\n");
+
+ if (argc < 5) {
+ // extra md25 in arg list since this is a thread
+ printf("usage: md25 start bus address\n");
+ exit(0);
+ }
+
+ const char *deviceName = "/dev/md25";
+
+ uint8_t bus = strtoul(argv[3], nullptr, 0);
+
+ uint8_t address = strtoul(argv[4], nullptr, 0);
+
+ // start
+ MD25 md25("/dev/md25", bus, address);
+
+ thread_running = true;
+
+ // loop
+ while (!thread_should_exit) {
+ md25.update();
+ }
+
+ // exit
+ printf("[MD25] exiting.\n");
+ thread_running = false;
+ return 0;
+}
+
+// vi:noet:smarttab:autoindent:ts=4:sw=4:tw=78
diff --git a/src/drivers/md25/module.mk b/src/drivers/md25/module.mk
new file mode 100644
index 000000000..13821a6b5
--- /dev/null
+++ b/src/drivers/md25/module.mk
@@ -0,0 +1,42 @@
+############################################################################
+#
+# Copyright (c) 2013 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.
+#
+############################################################################
+
+#
+# MD25 I2C Based Motor Controller
+# http://www.robot-electronics.co.uk/htm/md25tech.htm
+#
+
+MODULE_COMMAND = md25
+
+SRCS = md25.cpp \
+ md25_main.cpp
diff --git a/src/modules/controllib/fixedwing.cpp b/src/modules/controllib/fixedwing.cpp
index 1cc28b9dd..7be38015c 100644
--- a/src/modules/controllib/fixedwing.cpp
+++ b/src/modules/controllib/fixedwing.cpp
@@ -56,9 +56,9 @@ BlockYawDamper::BlockYawDamper(SuperBlock *parent, const char *name) :
BlockYawDamper::~BlockYawDamper() {};
-void BlockYawDamper::update(float rCmd, float r)
+void BlockYawDamper::update(float rCmd, float r, float outputScale)
{
- _rudder = _r2Rdr.update(rCmd -
+ _rudder = outputScale*_r2Rdr.update(rCmd -
_rWashout.update(_rLowPass.update(r)));
}
@@ -77,13 +77,13 @@ BlockStabilization::BlockStabilization(SuperBlock *parent, const char *name) :
BlockStabilization::~BlockStabilization() {};
void BlockStabilization::update(float pCmd, float qCmd, float rCmd,
- float p, float q, float r)
+ float p, float q, float r, float outputScale)
{
- _aileron = _p2Ail.update(
+ _aileron = outputScale*_p2Ail.update(
pCmd - _pLowPass.update(p));
- _elevator = _q2Elv.update(
+ _elevator = outputScale*_q2Elv.update(
qCmd - _qLowPass.update(q));
- _yawDamper.update(rCmd, r);
+ _yawDamper.update(rCmd, r, outputScale);
}
BlockWaypointGuidance::BlockWaypointGuidance(SuperBlock *parent, const char *name) :
@@ -156,21 +156,21 @@ BlockMultiModeBacksideAutopilot::BlockMultiModeBacksideAutopilot(SuperBlock *par
_theLimit(this, "THE"),
_vLimit(this, "V"),
- // altitude/roc hold
+ // altitude/climb rate hold
_h2Thr(this, "H2THR"),
- _roc2Thr(this, "ROC2THR"),
+ _cr2Thr(this, "CR2THR"),
// guidance block
_guide(this, ""),
- // block params
- _trimAil(this, "TRIM_ROLL", false), /* general roll trim (full name: TRIM_ROLL) */
- _trimElv(this, "TRIM_PITCH", false), /* general pitch trim */
- _trimRdr(this, "TRIM_YAW", false), /* general yaw trim */
- _trimThr(this, "TRIM_THR", true), /* FWB_ specific throttle trim (full name: FWB_TRIM_THR) */
+ _trimAil(this, "TRIM_ROLL", false), /* general roll trim (full name: TRIM_ROLL) */
+ _trimElv(this, "TRIM_PITCH", false), /* general pitch trim */
+ _trimRdr(this, "TRIM_YAW", false), /* general yaw trim */
+ _trimThr(this, "TRIM_THR"), /* FWB_ specific throttle trim (full name: FWB_TRIM_THR) */
+ _trimV(this, "TRIM_V"), /* FWB_ specific trim velocity (full name : FWB_TRIM_V) */
_vCmd(this, "V_CMD"),
- _rocMax(this, "ROC_MAX"),
+ _crMax(this, "CR_MAX"),
_attPoll(),
_lastPosCmd(),
_timeStamp(0)
@@ -228,7 +228,15 @@ void BlockMultiModeBacksideAutopilot::update()
_guide.update(_pos, _att, _posCmd, _lastPosCmd);
// calculate velocity, XXX should be airspeed, but using ground speed for now
- float v = sqrtf(_pos.vx * _pos.vx + _pos.vy * _pos.vy + _pos.vz * _pos.vz);
+ // for the purpose of control we will limit the velocity feedback between
+ // the min/max velocity
+ float v = _vLimit.update(sqrtf(
+ _pos.vx * _pos.vx +
+ _pos.vy * _pos.vy +
+ _pos.vz * _pos.vz));
+
+ // limit velocity command between min/max velocity
+ float vCmd = _vLimit.update(_vCmd.get());
// altitude hold
float dThrottle = _h2Thr.update(_posCmd.altitude - _pos.alt);
@@ -240,16 +248,19 @@ void BlockMultiModeBacksideAutopilot::update()
// velocity hold
// negative sign because nose over to increase speed
- float thetaCmd = _theLimit.update(-_v2Theta.update(
- _vLimit.update(_vCmd.get()) - v));
+ float thetaCmd = _theLimit.update(-_v2Theta.update(vCmd - v));
float qCmd = _theta2Q.update(thetaCmd - _att.pitch);
// yaw rate cmd
float rCmd = 0;
// stabilization
+ float velocityRatio = _trimV.get()/v;
+ float outputScale = velocityRatio*velocityRatio;
+ // this term scales the output based on the dynamic pressure change from trim
_stabilization.update(pCmd, qCmd, rCmd,
- _att.rollspeed, _att.pitchspeed, _att.yawspeed);
+ _att.rollspeed, _att.pitchspeed, _att.yawspeed,
+ outputScale);
// output
_actuators.control[CH_AIL] = _stabilization.getAileron() + _trimAil.get();
@@ -280,13 +291,18 @@ void BlockMultiModeBacksideAutopilot::update()
} else if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) {
// calculate velocity, XXX should be airspeed, but using ground speed for now
- float v = sqrtf(_pos.vx * _pos.vx + _pos.vy * _pos.vy + _pos.vz * _pos.vz);
+ // for the purpose of control we will limit the velocity feedback between
+ // the min/max velocity
+ float v = _vLimit.update(sqrtf(
+ _pos.vx * _pos.vx +
+ _pos.vy * _pos.vy +
+ _pos.vz * _pos.vz));
// pitch channel -> rate of climb
// TODO, might want to put a gain on this, otherwise commanding
// from +1 -> -1 m/s for rate of climb
- //float dThrottle = _roc2Thr.update(
- //_rocMax.get()*_manual.pitch - _pos.vz);
+ //float dThrottle = _cr2Thr.update(
+ //_crMax.get()*_manual.pitch - _pos.vz);
// roll channel -> bank angle
float phiCmd = _phiLimit.update(_manual.roll * _phiLimit.getMax());
@@ -294,8 +310,10 @@ void BlockMultiModeBacksideAutopilot::update()
// throttle channel -> velocity
// negative sign because nose over to increase speed
- float vCmd = _manual.throttle * (_vLimit.getMax() - _vLimit.getMin()) + _vLimit.getMin();
- float thetaCmd = _theLimit.update(-_v2Theta.update(_vLimit.update(vCmd) - v));
+ float vCmd = _vLimit.update(_manual.throttle *
+ (_vLimit.getMax() - _vLimit.getMin()) +
+ _vLimit.getMin());
+ float thetaCmd = _theLimit.update(-_v2Theta.update(vCmd - v));
float qCmd = _theta2Q.update(thetaCmd - _att.pitch);
// yaw rate cmd
diff --git a/src/modules/controllib/fixedwing.hpp b/src/modules/controllib/fixedwing.hpp
index 281cbb4cb..53d0cf893 100644
--- a/src/modules/controllib/fixedwing.hpp
+++ b/src/modules/controllib/fixedwing.hpp
@@ -193,7 +193,7 @@ public:
* good idea to declare a member to store the temporary
* variable.
*/
- void update(float rCmd, float r);
+ void update(float rCmd, float r, float outputScale = 1.0);
/**
* Rudder output value accessor
@@ -226,7 +226,8 @@ public:
BlockStabilization(SuperBlock *parent, const char *name);
virtual ~BlockStabilization();
void update(float pCmd, float qCmd, float rCmd,
- float p, float q, float r);
+ float p, float q, float r,
+ float outputScale = 1.0);
float getAileron() { return _aileron; }
float getElevator() { return _elevator; }
float getRudder() { return _yawDamper.getRudder(); }
@@ -310,9 +311,9 @@ private:
BlockLimit _theLimit;
BlockLimit _vLimit;
- // altitude/ roc hold
+ // altitude/ climb rate hold
BlockPID _h2Thr;
- BlockPID _roc2Thr;
+ BlockPID _cr2Thr;
// guidance
BlockWaypointGuidance _guide;
@@ -322,8 +323,9 @@ private:
BlockParam<float> _trimElv;
BlockParam<float> _trimRdr;
BlockParam<float> _trimThr;
+ BlockParam<float> _trimV;
BlockParam<float> _vCmd;
- BlockParam<float> _rocMax;
+ BlockParam<float> _crMax;
struct pollfd _attPoll;
vehicle_global_position_setpoint_s _lastPosCmd;
diff --git a/src/modules/fixedwing_backside/params.c b/src/modules/fixedwing_backside/params.c
index 428b779b1..db30af416 100644
--- a/src/modules/fixedwing_backside/params.c
+++ b/src/modules/fixedwing_backside/params.c
@@ -59,13 +59,14 @@ PARAM_DEFINE_FLOAT(FWB_V_MAX, 16.0f); // maximum commanded velocity
// rate of climb
// this is what rate of climb is commanded (in m/s)
// when the pitch stick is fully defelcted in simple mode
-PARAM_DEFINE_FLOAT(FWB_ROC_MAX, 1.0f);
+PARAM_DEFINE_FLOAT(FWB_CR_MAX, 1.0f);
-// rate of climb -> thr
-PARAM_DEFINE_FLOAT(FWB_ROC2THR_P, 0.01f); // rate of climb to throttle PID
-PARAM_DEFINE_FLOAT(FWB_ROC2THR_I, 0.0f);
-PARAM_DEFINE_FLOAT(FWB_ROC2THR_D, 0.0f);
-PARAM_DEFINE_FLOAT(FWB_ROC2THR_D_LP, 0.0f);
-PARAM_DEFINE_FLOAT(FWB_ROC2THR_I_MAX, 0.0f);
+// climb rate -> thr
+PARAM_DEFINE_FLOAT(FWB_CR2THR_P, 0.01f); // rate of climb to throttle PID
+PARAM_DEFINE_FLOAT(FWB_CR2THR_I, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_CR2THR_D, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_CR2THR_D_LP, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_CR2THR_I_MAX, 0.0f);
-PARAM_DEFINE_FLOAT(FWB_TRIM_THR, 0.8f); // trim throttle (0,1)
+PARAM_DEFINE_FLOAT(FWB_TRIM_THR, 0.8f); // trim throttle (0,1)
+PARAM_DEFINE_FLOAT(FWB_TRIM_V, 12.0f); // trim velocity, m/s
diff --git a/src/modules/mavlink/mavlink_receiver.c b/src/modules/mavlink/mavlink_receiver.c
index e62e4dcc4..a42612f9e 100644
--- a/src/modules/mavlink/mavlink_receiver.c
+++ b/src/modules/mavlink/mavlink_receiver.c
@@ -308,82 +308,6 @@ handle_message(mavlink_message_t *msg)
uint64_t timestamp = hrt_absolute_time();
- /* TODO, set ground_press/ temp during calib */
- static const float ground_press = 1013.25f; // mbar
- static const float ground_tempC = 21.0f;
- static const float ground_alt = 0.0f;
- static const float T0 = 273.15f;
- static const float R = 287.05f;
- static const float g = 9.806f;
-
- if (msg->msgid == MAVLINK_MSG_ID_RAW_IMU) {
-
- mavlink_raw_imu_t imu;
- mavlink_msg_raw_imu_decode(msg, &imu);
-
- /* packet counter */
- static uint16_t hil_counter = 0;
- static uint16_t hil_frames = 0;
- static uint64_t old_timestamp = 0;
-
- /* sensors general */
- hil_sensors.timestamp = imu.time_usec;
-
- /* hil gyro */
- static const float mrad2rad = 1.0e-3f;
- hil_sensors.gyro_counter = hil_counter;
- hil_sensors.gyro_raw[0] = imu.xgyro;
- hil_sensors.gyro_raw[1] = imu.ygyro;
- hil_sensors.gyro_raw[2] = imu.zgyro;
- hil_sensors.gyro_rad_s[0] = imu.xgyro * mrad2rad;
- hil_sensors.gyro_rad_s[1] = imu.ygyro * mrad2rad;
- hil_sensors.gyro_rad_s[2] = imu.zgyro * mrad2rad;
-
- /* accelerometer */
- hil_sensors.accelerometer_counter = hil_counter;
- static const float mg2ms2 = 9.8f / 1000.0f;
- hil_sensors.accelerometer_raw[0] = imu.xacc;
- hil_sensors.accelerometer_raw[1] = imu.yacc;
- hil_sensors.accelerometer_raw[2] = imu.zacc;
- hil_sensors.accelerometer_m_s2[0] = mg2ms2 * imu.xacc;
- hil_sensors.accelerometer_m_s2[1] = mg2ms2 * imu.yacc;
- hil_sensors.accelerometer_m_s2[2] = mg2ms2 * imu.zacc;
- hil_sensors.accelerometer_mode = 0; // TODO what is this?
- hil_sensors.accelerometer_range_m_s2 = 32.7f; // int16
-
- /* adc */
- hil_sensors.adc_voltage_v[0] = 0;
- hil_sensors.adc_voltage_v[1] = 0;
- hil_sensors.adc_voltage_v[2] = 0;
-
- /* magnetometer */
- float mga2ga = 1.0e-3f;
- hil_sensors.magnetometer_counter = hil_counter;
- hil_sensors.magnetometer_raw[0] = imu.xmag;
- hil_sensors.magnetometer_raw[1] = imu.ymag;
- hil_sensors.magnetometer_raw[2] = imu.zmag;
- hil_sensors.magnetometer_ga[0] = imu.xmag * mga2ga;
- hil_sensors.magnetometer_ga[1] = imu.ymag * mga2ga;
- hil_sensors.magnetometer_ga[2] = imu.zmag * mga2ga;
- hil_sensors.magnetometer_range_ga = 32.7f; // int16
- hil_sensors.magnetometer_mode = 0; // TODO what is this
- hil_sensors.magnetometer_cuttoff_freq_hz = 50.0f;
-
- /* publish */
- orb_publish(ORB_ID(sensor_combined), pub_hil_sensors, &hil_sensors);
-
- // increment counters
- hil_counter += 1 ;
- hil_frames += 1 ;
-
- // output
- if ((timestamp - old_timestamp) > 10000000) {
- printf("receiving hil imu at %d hz\n", hil_frames/10);
- old_timestamp = timestamp;
- hil_frames = 0;
- }
- }
-
if (msg->msgid == MAVLINK_MSG_ID_HIGHRES_IMU) {
mavlink_highres_imu_t imu;
@@ -437,13 +361,9 @@ handle_message(mavlink_message_t *msg)
hil_sensors.magnetometer_mode = 0; // TODO what is this
hil_sensors.magnetometer_cuttoff_freq_hz = 50.0f;
+ /* baro */
hil_sensors.baro_pres_mbar = imu.abs_pressure;
-
- float tempC = imu.temperature;
- float tempAvgK = T0 + (tempC + ground_tempC) / 2.0f;
- float h = ground_alt + (R / g) * tempAvgK * logf(ground_press / imu.abs_pressure);
-
- hil_sensors.baro_alt_meter = h;
+ hil_sensors.baro_alt_meter = imu.pressure_alt;
hil_sensors.baro_temp_celcius = imu.temperature;
hil_sensors.gyro_counter = hil_counter;
@@ -516,44 +436,6 @@ handle_message(mavlink_message_t *msg)
}
}
- if (msg->msgid == MAVLINK_MSG_ID_RAW_PRESSURE) {
-
- mavlink_raw_pressure_t press;
- mavlink_msg_raw_pressure_decode(msg, &press);
-
- /* packet counter */
- static uint16_t hil_counter = 0;
- static uint16_t hil_frames = 0;
- static uint64_t old_timestamp = 0;
-
- /* sensors general */
- hil_sensors.timestamp = press.time_usec;
-
- /* baro */
-
- float tempC = press.temperature / 100.0f;
- float tempAvgK = T0 + (tempC + ground_tempC) / 2.0f;
- float h = ground_alt + (R / g) * tempAvgK * logf(ground_press / press.press_abs);
- hil_sensors.baro_counter = hil_counter;
- hil_sensors.baro_pres_mbar = press.press_abs;
- hil_sensors.baro_alt_meter = h;
- hil_sensors.baro_temp_celcius = tempC;
-
- /* publish */
- orb_publish(ORB_ID(sensor_combined), pub_hil_sensors, &hil_sensors);
-
- // increment counters
- hil_counter += 1 ;
- hil_frames += 1 ;
-
- // output
- if ((timestamp - old_timestamp) > 10000000) {
- printf("receiving hil pressure at %d hz\n", hil_frames/10);
- old_timestamp = timestamp;
- hil_frames = 0;
- }
- }
-
if (msg->msgid == MAVLINK_MSG_ID_HIL_STATE) {
mavlink_hil_state_t hil_state;
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-25 21:06:11 +0000