diff options
Diffstat (limited to 'ROMFS/px4fmu_common')
24 files changed, 1590 insertions, 0 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rc.FMU_quad_x b/ROMFS/px4fmu_common/init.d/rc.FMU_quad_x new file mode 100644 index 000000000..8787443ea --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.FMU_quad_x @@ -0,0 +1,67 @@ +#!nsh +# +# Flight startup script for PX4FMU with PWM outputs. +# + +# Disable the USB interface +set USB no + +# Disable autostarting other apps +set MODE custom + +echo "[init] doing PX4FMU Quad startup..." + +# +# Start the ORB +# +uorb start + +# +# Load microSD params +# +echo "[init] loading microSD params" +param select /fs/microsd/parameters +if [ -f /fs/microsd/parameters ] +then + param load /fs/microsd/parameters +fi + +# +# Force some key parameters to sane values +# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor +# see https://pixhawk.ethz.ch/mavlink/ +# +param set MAV_TYPE 2 + +# +# Start MAVLink +# +mavlink start -d /dev/ttyS0 -b 57600 +usleep 5000 + +# +# Start the sensors and test them. +# +sh /etc/init.d/rc.sensors + +# +# Start the commander. +# +commander start + +# +# Start the attitude estimator +# +attitude_estimator_ekf start + +echo "[init] starting PWM output" +fmu mode_pwm +mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix + +# +# Start attitude control +# +multirotor_att_control start + +echo "[init] startup done, exiting" +exit
\ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/rc.PX4IO b/ROMFS/px4fmu_common/init.d/rc.PX4IO new file mode 100644 index 000000000..1e3963b9a --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.PX4IO @@ -0,0 +1,80 @@ +#!nsh + +# Disable USB and autostart +set USB no +set MODE camflyer + +# +# Start the ORB +# +uorb start + +# +# Load microSD params +# +echo "[init] loading microSD params" +param select /fs/microsd/parameters +if [ -f /fs/microsd/parameters ] +then + param load /fs/microsd/parameters +fi + +# +# Force some key parameters to sane values +# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor +# see https://pixhawk.ethz.ch/mavlink/ +# +param set MAV_TYPE 1 + +# +# Start the sensors. +# +sh /etc/init.d/rc.sensors + +# +# Start MAVLink +# +mavlink start -d /dev/ttyS1 -b 57600 +usleep 5000 + +# +# Start the commander. +# +commander start + +# +# Start GPS interface +# +gps start + +# +# Start the attitude estimator +# +kalman_demo start + +# +# Start PX4IO interface +# +px4io start + +# +# Load mixer and start controllers +# +mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix +control_demo start + +# +# Start logging +# +sdlog start -s 10 + +# +# Start system state +# +if blinkm start +then + echo "using BlinkM for state indication" + blinkm systemstate +else + echo "no BlinkM found, OK." +fi diff --git a/ROMFS/px4fmu_common/init.d/rc.PX4IOAR b/ROMFS/px4fmu_common/init.d/rc.PX4IOAR new file mode 100644 index 000000000..72df68e35 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.PX4IOAR @@ -0,0 +1,98 @@ +#!nsh +# +# Flight startup script for PX4FMU on PX4IOAR carrier board. +# + +# Disable the USB interface +set USB no + +# Disable autostarting other apps +set MODE ardrone + +echo "[init] doing PX4IOAR startup..." + +# +# Start the ORB +# +uorb start + +# +# Init the parameter storage +# +echo "[init] loading microSD params" +param select /fs/microsd/parameters +if [ -f /fs/microsd/parameters ] +then + param load /fs/microsd/parameters +fi + +# +# Force some key parameters to sane values +# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor +# see https://pixhawk.ethz.ch/mavlink/ +# +param set MAV_TYPE 2 + +# +# Start the sensors. +# +sh /etc/init.d/rc.sensors + +# +# Start MAVLink +# +mavlink start -d /dev/ttyS0 -b 57600 +usleep 5000 + +# +# Start the commander. +# +commander start + +# +# Start the attitude estimator +# +attitude_estimator_ekf start + +# +# Configure PX4FMU for operation with PX4IOAR +# +fmu mode_gpio_serial + +# +# Fire up the multi rotor attitude controller +# +multirotor_att_control start + +# +# Fire up the AR.Drone interface. +# +ardrone_interface start -d /dev/ttyS1 + +# +# Start GPS capture +# +gps start + +# +# Start logging +# +sdlog start -s 10 + +# +# Start system state +# +if blinkm start +then + echo "using BlinkM for state indication" + blinkm systemstate +else + echo "no BlinkM found, OK." +fi + +# +# startup is done; we don't want the shell because we +# use the same UART for telemetry +# +echo "[init] startup done" +exit
\ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/rc.boarddetect b/ROMFS/px4fmu_common/init.d/rc.boarddetect new file mode 100644 index 000000000..f233e51df --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.boarddetect @@ -0,0 +1,66 @@ +#!nsh +# +# If we are still in flight mode, work out what airframe +# configuration we have and start up accordingly. +# +if [ $MODE != autostart ] +then + echo "[init] automatic startup cancelled by user script" +else + echo "[init] detecting attached hardware..." + + # + # Assume that we are PX4FMU in standalone mode + # + set BOARD PX4FMU + + # + # Are we attached to a PX4IOAR (AR.Drone carrier board)? + # + if boardinfo test name PX4IOAR + then + set BOARD PX4IOAR + if [ -f /etc/init.d/rc.PX4IOAR ] + then + echo "[init] reading /etc/init.d/rc.PX4IOAR" + usleep 500 + sh /etc/init.d/rc.PX4IOAR + fi + else + echo "[init] PX4IOAR not detected" + fi + + # + # Are we attached to a PX4IO? + # + if boardinfo test name PX4IO + then + set BOARD PX4IO + if [ -f /etc/init.d/rc.PX4IO ] + then + echo "[init] reading /etc/init.d/rc.PX4IO" + usleep 500 + sh /etc/init.d/rc.PX4IO + fi + else + echo "[init] PX4IO not detected" + fi + + # + # Looks like we are stand-alone + # + if [ $BOARD == PX4FMU ] + then + echo "[init] no expansion board detected" + if [ -f /etc/init.d/rc.standalone ] + then + echo "[init] reading /etc/init.d/rc.standalone" + sh /etc/init.d/rc.standalone + fi + fi + + # + # We may not reach here if the airframe-specific script exits the shell. + # + echo "[init] startup done." +fi
\ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/rc.jig b/ROMFS/px4fmu_common/init.d/rc.jig new file mode 100644 index 000000000..e2b5d8f30 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.jig @@ -0,0 +1,10 @@ +#!nsh +# +# Test jig startup script +# + +echo "[testing] doing production test.." + +tests jig + +echo "[testing] testing done" diff --git a/ROMFS/px4fmu_common/init.d/rc.logging b/ROMFS/px4fmu_common/init.d/rc.logging new file mode 100644 index 000000000..09c2d00d1 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.logging @@ -0,0 +1,9 @@ +#!nsh +# +# Initialise logging services. +# + +if [ -d /fs/microsd ] +then + sdlog start +fi diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors new file mode 100644 index 000000000..42c2f52e9 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.sensors @@ -0,0 +1,34 @@ +#!nsh +# +# Standard startup script for PX4FMU onboard sensor drivers. +# + +# +# Start sensor drivers here. +# + +ms5611 start +adc start + +if mpu6000 start +then + echo "using MPU6000 and HMC5883L" + hmc5883 start +else + echo "using L3GD20 and LSM303D" + l3gd20 start + lsm303 start +fi + +# +# Start the sensor collection task. +# IMPORTANT: this also loads param offsets +# ALWAYS start this task before the +# preflight_check. +# +sensors start + +# +# Check sensors - run AFTER 'sensors start' +# +preflight_check
\ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/rc.standalone b/ROMFS/px4fmu_common/init.d/rc.standalone new file mode 100644 index 000000000..67e95215b --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.standalone @@ -0,0 +1,13 @@ +#!nsh +# +# Flight startup script for PX4FMU standalone configuration. +# + +echo "[init] doing standalone PX4FMU startup..." + +# +# Start the ORB +# +uorb start + +echo "[init] startup done" diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS new file mode 100755 index 000000000..89a767879 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -0,0 +1,79 @@ +#!nsh +# +# PX4FMU startup script. +# +# This script is responsible for: +# +# - mounting the microSD card (if present) +# - running the user startup script from the microSD card (if present) +# - detecting the configuration of the system and picking a suitable +# startup script to continue with +# +# Note: DO NOT add configuration-specific commands to this script; +# add them to the per-configuration scripts instead. +# + +# +# Default to auto-start mode. An init script on the microSD card +# can change this to prevent automatic startup of the flight script. +# +set MODE autostart +set USB autoconnect + +# +# Start playing the startup tune +# +tone_alarm start + +# +# Try to mount the microSD card. +# +echo "[init] looking for microSD..." +if mount -t vfat /dev/mmcsd0 /fs/microsd +then + echo "[init] card mounted at /fs/microsd" +else + echo "[init] no microSD card found" +fi + +# +# Look for an init script on the microSD card. +# +# To prevent automatic startup in the current flight mode, +# the script should set MODE to some other value. +# +if [ -f /fs/microsd/etc/rc ] +then + echo "[init] reading /fs/microsd/etc/rc" + sh /fs/microsd/etc/rc +fi +# Also consider rc.txt files +if [ -f /fs/microsd/etc/rc.txt ] +then + echo "[init] reading /fs/microsd/etc/rc.txt" + sh /fs/microsd/etc/rc.txt +fi + +# +# Check for USB host +# +if [ $USB != autoconnect ] +then + echo "[init] not connecting USB" +else + if sercon + then + echo "[init] USB interface connected" + else + echo "[init] No USB connected" + fi +fi + +# if this is an APM build then there will be a rc.APM script +# from an EXTERNAL_SCRIPTS build option +if [ -f /etc/init.d/rc.APM ] +then + echo Running rc.APM + # if APM startup is successful then nsh will exit + sh /etc/init.d/rc.APM +fi diff --git a/ROMFS/px4fmu_common/logging/logconv.m b/ROMFS/px4fmu_common/logging/logconv.m new file mode 100644 index 000000000..3750ddae2 --- /dev/null +++ b/ROMFS/px4fmu_common/logging/logconv.m @@ -0,0 +1,586 @@ +% This Matlab Script can be used to import the binary logged values of the
+% PX4FMU into data that can be plotted and analyzed.
+
+%% ************************************************************************
+% PX4LOG_PLOTSCRIPT: Main function
+% ************************************************************************
+function PX4Log_Plotscript
+
+% Clear everything
+clc
+clear all
+close all
+
+% ************************************************************************
+% SETTINGS
+% ************************************************************************
+
+% Set the path to your sysvector.bin file here
+filePath = 'sysvector.bin';
+
+% Set the minimum and maximum times to plot here [in seconds]
+mintime=0; %The minimum time/timestamp to display, as set by the user [0 for first element / start]
+maxtime=0; %The maximum time/timestamp to display, as set by the user [0 for last element / end]
+
+%Determine which data to plot. Not completely implemented yet.
+bDisplayGPS=true;
+
+%conversion factors
+fconv_gpsalt=1E-3; %[mm] to [m]
+fconv_gpslatlong=1E-7; %[gps_raw_position_unit] to [deg]
+fconv_timestamp=1E-6; % [microseconds] to [seconds]
+
+% ************************************************************************
+% Import the PX4 logs
+% ************************************************************************
+ImportPX4LogData();
+
+%Translate min and max plot times to indices
+time=double(sysvector.timestamp) .*fconv_timestamp;
+mintime_log=time(1); %The minimum time/timestamp found in the log
+maxtime_log=time(end); %The maximum time/timestamp found in the log
+CurTime=mintime_log; %The current time at which to draw the aircraft position
+
+[imintime,imaxtime]=FindMinMaxTimeIndices();
+
+% ************************************************************************
+% PLOT & GUI SETUP
+% ************************************************************************
+NrFigures=5;
+NrAxes=10;
+h.figures(1:NrFigures)=0.0; % Temporary initialization of figure handle array - these are numbered consecutively
+h.axes(1:NrAxes)=0.0; % Temporary initialization of axes handle array - these are numbered consecutively
+h.pathpoints=[]; % Temporary initiliazation of path points
+
+% Setup the GUI to control the plots
+InitControlGUI();
+% Setup the plotting-GUI (figures, axes) itself.
+InitPlotGUI();
+
+% ************************************************************************
+% DRAW EVERYTHING
+% ************************************************************************
+DrawRawData();
+DrawCurrentAircraftState();
+
+%% ************************************************************************
+% *** END OF MAIN SCRIPT ***
+% NESTED FUNCTION DEFINTIONS FROM HERE ON
+% ************************************************************************
+
+
+%% ************************************************************************
+% IMPORTPX4LOGDATA (nested function)
+% ************************************************************************
+% Attention: This is the import routine for firmware from ca. 03/2013.
+% Other firmware versions might require different import
+% routines.
+
+function ImportPX4LogData()
+ % Work around a Matlab bug (not related to PX4)
+ % where timestamps from 1.1.1970 do not allow to
+ % read the file's size
+ if ismac
+ system('touch -t 201212121212.12 sysvector.bin');
+ end
+
+ % ************************************************************************
+ % RETRIEVE SYSTEM VECTOR
+ % *************************************************************************
+ % //All measurements in NED frame
+ %
+ % uint64_t timestamp; //[us]
+ % float gyro[3]; //[rad/s]
+ % float accel[3]; //[m/s^2]
+ % float mag[3]; //[gauss]
+ % float baro; //pressure [millibar]
+ % float baro_alt; //altitude above MSL [meter]
+ % float baro_temp; //[degree celcius]
+ % float control[4]; //roll, pitch, yaw [-1..1], thrust [0..1]
+ % float actuators[8]; //motor 1-8, in motor units (PWM: 1000-2000,AR.Drone: 0-512)
+ % float vbat; //battery voltage in [volt]
+ % float bat_current - current drawn from battery at this time instant
+ % float bat_discharged - discharged energy in mAh
+ % float adc[4]; //remaining auxiliary ADC ports [volt]
+ % float local_position[3]; //tangent plane mapping into x,y,z [m]
+ % int32_t gps_raw_position[3]; //latitude [degrees] north, longitude [degrees] east, altitude above MSL [millimeter]
+ % float attitude[3]; //pitch, roll, yaw [rad]
+ % float rotMatrix[9]; //unitvectors
+ % float actuator_control[4]; //unitvector
+ % float optical_flow[4]; //roll, pitch, yaw [-1..1], thrust [0..1]
+ % float diff_pressure; - pressure difference in millibar
+ % float ind_airspeed;
+ % float true_airspeed;
+
+ % Definition of the logged values
+ logFormat{1} = struct('name', 'timestamp', 'bytes', 8, 'array', 1, 'precision', 'uint64', 'machineformat', 'ieee-le.l64');
+ logFormat{2} = struct('name', 'gyro', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
+ logFormat{3} = struct('name', 'accel', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
+ logFormat{4} = struct('name', 'mag', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
+ logFormat{5} = struct('name', 'baro', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
+ logFormat{6} = struct('name', 'baro_alt', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
+ logFormat{7} = struct('name', 'baro_temp', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
+ logFormat{8} = struct('name', 'control', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le');
+ logFormat{9} = struct('name', 'actuators', 'bytes', 4, 'array', 8, 'precision', 'float', 'machineformat', 'ieee-le');
+ logFormat{10} = struct('name', 'vbat', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
+ logFormat{11} = struct('name', 'bat_current', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
+ logFormat{12} = struct('name', 'bat_discharged', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
+ logFormat{13} = struct('name', 'adc', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le');
+ logFormat{14} = struct('name', 'local_position', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
+ logFormat{15} = struct('name', 'gps_raw_position', 'bytes', 4, 'array', 3, 'precision', 'uint32', 'machineformat', 'ieee-le');
+ logFormat{16} = struct('name', 'attitude', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
+ logFormat{17} = struct('name', 'rot_matrix', 'bytes', 4, 'array', 9, 'precision', 'float', 'machineformat', 'ieee-le');
+ logFormat{18} = struct('name', 'vicon_position', 'bytes', 4, 'array', 6, 'precision', 'float', 'machineformat', 'ieee-le');
+ logFormat{19} = struct('name', 'actuator_control', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le');
+ logFormat{20} = struct('name', 'optical_flow', 'bytes', 4, 'array', 6, 'precision', 'float', 'machineformat', 'ieee-le');
+ logFormat{21} = struct('name', 'diff_pressure', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
+ logFormat{22} = struct('name', 'ind_airspeed', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
+ logFormat{23} = struct('name', 'true_airspeed', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
+
+ % First get length of one line
+ columns = length(logFormat);
+ lineLength = 0;
+
+ for i=1:columns
+ lineLength = lineLength + logFormat{i}.bytes * logFormat{i}.array;
+ end
+
+
+ if exist(filePath, 'file')
+
+ fileInfo = dir(filePath);
+ fileSize = fileInfo.bytes;
+
+ elements = int64(fileSize./(lineLength));
+
+ fid = fopen(filePath, 'r');
+ offset = 0;
+ for i=1:columns
+ % using fread with a skip speeds up the import drastically, do not
+ % import the values one after the other
+ sysvector.(genvarname(logFormat{i}.name)) = transpose(fread(...
+ fid, ...
+ [logFormat{i}.array, elements], [num2str(logFormat{i}.array),'*',logFormat{i}.precision,'=>',logFormat{i}.precision], ...
+ lineLength - logFormat{i}.bytes*logFormat{i}.array, ...
+ logFormat{i}.machineformat) ...
+ );
+ offset = offset + logFormat{i}.bytes*logFormat{i}.array;
+ fseek(fid, offset,'bof');
+ end
+
+ % shot the flight time
+ time_us = sysvector.timestamp(end) - sysvector.timestamp(1);
+ time_s = time_us*1e-6;
+ time_m = time_s/60;
+
+ % close the logfile
+ fclose(fid);
+
+ disp(['end log2matlab conversion' char(10)]);
+ else
+ disp(['file: ' filePath ' does not exist' char(10)]);
+ end
+end
+
+%% ************************************************************************
+% INITCONTROLGUI (nested function)
+% ************************************************************************
+%Setup central control GUI components to control current time where data is shown
+function InitControlGUI()
+ %**********************************************************************
+ % GUI size definitions
+ %**********************************************************************
+ dxy=5; %margins
+ %Panel: Plotctrl
+ dlabels=120;
+ dsliders=200;
+ dedits=80;
+ hslider=20;
+
+ hpanel1=40; %panel1
+ hpanel2=220;%panel2
+ hpanel3=3*hslider+4*dxy+3*dxy;%panel3.
+
+ width=dlabels+dsliders+dedits+4*dxy+2*dxy; %figure width
+ height=hpanel1+hpanel2+hpanel3+4*dxy; %figure height
+
+ %**********************************************************************
+ % Create GUI
+ %**********************************************************************
+ h.figures(1)=figure('Units','pixels','position',[200 200 width height],'Name','Control GUI');
+ h.guistatepanel=uipanel('Title','Current GUI state','Units','pixels','Position',[dxy dxy width-2*dxy hpanel1],'parent',h.figures(1));
+ h.aircraftstatepanel=uipanel('Title','Current aircraft state','Units','pixels','Position',[dxy hpanel1+2*dxy width-2*dxy hpanel2],'parent',h.figures(1));
+ h.plotctrlpanel=uipanel('Title','Plot Control','Units','pixels','Position',[dxy hpanel1+hpanel2+3*dxy width-2*dxy hpanel3],'parent',h.figures(1));
+
+ %%Control GUI-elements
+ %Slider: Current time
+ h.labels.CurTime=uicontrol(gcf,'style','text','Position',[dxy dxy dlabels hslider],'String','Current time t[s]:','parent',h.plotctrlpanel,'HorizontalAlignment','left');
+ h.sliders.CurTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels dxy dsliders hslider],...
+ 'min',mintime,'max',maxtime,'value',mintime,'callback',@curtime_callback,'parent',h.plotctrlpanel);
+ temp=get(h.sliders.CurTime,'Max')-get(h.sliders.CurTime,'Min');
+ set(h.sliders.CurTime,'SliderStep',[1.0/temp 5.0/temp]);
+ h.edits.CurTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders dxy dedits hslider],'String',get(h.sliders.CurTime,'value'),...
+ 'BackgroundColor','white','callback',@curtime_callback,'parent',h.plotctrlpanel);
+
+ %Slider: MaxTime
+ h.labels.MaxTime=uicontrol(gcf,'style','text','position',[dxy 2*dxy+hslider dlabels hslider],'String','Max. time t[s] to display:','parent',h.plotctrlpanel,'HorizontalAlignment','left');
+ h.sliders.MaxTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels 2*dxy+hslider dsliders hslider],...
+ 'min',mintime_log,'max',maxtime_log,'value',maxtime,'callback',@minmaxtime_callback,'parent',h.plotctrlpanel);
+ h.edits.MaxTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders 2*dxy+hslider dedits hslider],'String',get(h.sliders.MaxTime,'value'),...
+ 'BackgroundColor','white','callback',@minmaxtime_callback,'parent',h.plotctrlpanel);
+
+ %Slider: MinTime
+ h.labels.MinTime=uicontrol(gcf,'style','text','position',[dxy 3*dxy+2*hslider dlabels hslider],'String','Min. time t[s] to dispay :','parent',h.plotctrlpanel,'HorizontalAlignment','left');
+ h.sliders.MinTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels 3*dxy+2*hslider dsliders hslider],...
+ 'min',mintime_log,'max',maxtime_log,'value',mintime,'callback',@minmaxtime_callback,'parent',h.plotctrlpanel);
+ h.edits.MinTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders 3*dxy+2*hslider dedits hslider],'String',get(h.sliders.MinTime,'value'),...
+ 'BackgroundColor','white','callback',@minmaxtime_callback,'parent',h.plotctrlpanel);
+
+ %%Current data/state GUI-elements (Multiline-edit-box)
+ h.edits.AircraftState=uicontrol(gcf,'style','edit','Units','normalized','position',[.02 .02 0.96 0.96],'Min',1,'Max',10,'String','This shows the current aircraft state',...
+ 'HorizontalAlignment','left','parent',h.aircraftstatepanel);
+
+ h.labels.GUIState=uicontrol(gcf,'style','text','Units','pixels','position',[dxy dxy width-4*dxy hslider],'String','Current state of this GUI',...
+ 'HorizontalAlignment','left','parent',h.guistatepanel);
+
+end
+
+%% ************************************************************************
+% INITPLOTGUI (nested function)
+% ************************************************************************
+function InitPlotGUI()
+
+ % Setup handles to lines and text
+ h.markertext=[];
+ templinehandle=0.0;%line([0 1],[0 5]); % Just a temporary handle to init array
+ h.markerline(1:NrAxes)=templinehandle; % the actual handle-array to the lines - these are numbered consecutively
+ h.markerline(1:NrAxes)=0.0;
+
+ % Setup all other figures and axes for plotting
+ % PLOT WINDOW 1: GPS POSITION
+ h.figures(2)=figure('units','normalized','Toolbar','figure', 'Name', 'GPS Position');
+ h.axes(1)=axes();
+ set(h.axes(1),'Parent',h.figures(2));
+
+ % PLOT WINDOW 2: IMU, baro altitude
+ h.figures(3)=figure('Name', 'IMU / Baro Altitude');
+ h.axes(2)=subplot(4,1,1);
+ h.axes(3)=subplot(4,1,2);
+ h.axes(4)=subplot(4,1,3);
+ h.axes(5)=subplot(4,1,4);
+ set(h.axes(2:5),'Parent',h.figures(3));
+
+ % PLOT WINDOW 3: ATTITUDE ESTIMATE, ACTUATORS/CONTROLS, AIRSPEEDS,...
+ h.figures(4)=figure('Name', 'Attitude Estimate / Actuators / Airspeeds');
+ h.axes(6)=subplot(4,1,1);
+ h.axes(7)=subplot(4,1,2);
+ h.axes(8)=subplot(4,1,3);
+ h.axes(9)=subplot(4,1,4);
+ set(h.axes(6:9),'Parent',h.figures(4));
+
+ % PLOT WINDOW 4: LOG STATS
+ h.figures(5) = figure('Name', 'Log Statistics');
+ h.axes(10)=subplot(1,1,1);
+ set(h.axes(10:10),'Parent',h.figures(5));
+
+end
+
+%% ************************************************************************
+% DRAWRAWDATA (nested function)
+% ************************************************************************
+%Draws the raw data from the sysvector, but does not add any
+%marker-lines or so
+function DrawRawData()
+ % ************************************************************************
+ % PLOT WINDOW 1: GPS POSITION & GUI
+ % ************************************************************************
+ figure(h.figures(2));
+ % Only plot GPS data if available
+ if (sum(double(sysvector.gps_raw_position(imintime:imaxtime,1)))>0) && (bDisplayGPS)
+ %Draw data
+ plot3(h.axes(1),double(sysvector.gps_raw_position(imintime:imaxtime,1))*fconv_gpslatlong, ...
+ double(sysvector.gps_raw_position(imintime:imaxtime,2))*fconv_gpslatlong, ...
+ double(sysvector.gps_raw_position(imintime:imaxtime,3))*fconv_gpsalt,'r.');
+ title(h.axes(1),'GPS Position Data(if available)');
+ xlabel(h.axes(1),'Latitude [deg]');
+ ylabel(h.axes(1),'Longitude [deg]');
+ zlabel(h.axes(1),'Altitude above MSL [m]');
+ grid on
+
+ %Reset path
+ h.pathpoints=0;
+ end
+
+ % ************************************************************************
+ % PLOT WINDOW 2: IMU, baro altitude
+ % ************************************************************************
+ figure(h.figures(3));
+ plot(h.axes(2),time(imintime:imaxtime),sysvector.mag(imintime:imaxtime,:));
+ title(h.axes(2),'Magnetometers [Gauss]');
+ legend(h.axes(2),'x','y','z');
+ plot(h.axes(3),time(imintime:imaxtime),sysvector.accel(imintime:imaxtime,:));
+ title(h.axes(3),'Accelerometers [m/s²]');
+ legend(h.axes(3),'x','y','z');
+ plot(h.axes(4),time(imintime:imaxtime),sysvector.gyro(imintime:imaxtime,:));
+ title(h.axes(4),'Gyroscopes [rad/s]');
+ legend(h.axes(4),'x','y','z');
+ plot(h.axes(5),time(imintime:imaxtime),sysvector.baro_alt(imintime:imaxtime),'color','blue');
+ if(bDisplayGPS)
+ hold on;
+ plot(h.axes(5),time(imintime:imaxtime),double(sysvector.gps_raw_position(imintime:imaxtime,3)).*fconv_gpsalt,'color','red');
+ hold off
+ legend('Barometric Altitude [m]','GPS Altitude [m]');
+ else
+ legend('Barometric Altitude [m]');
+ end
+ title(h.axes(5),'Altitude above MSL [m]');
+
+ % ************************************************************************
+ % PLOT WINDOW 3: ATTITUDE ESTIMATE, ACTUATORS/CONTROLS, AIRSPEEDS,...
+ % ************************************************************************
+ figure(h.figures(4));
+ %Attitude Estimate
+ plot(h.axes(6),time(imintime:imaxtime), sysvector.attitude(imintime:imaxtime,:).*180./3.14159);
+ title(h.axes(6),'Estimated attitude [deg]');
+ legend(h.axes(6),'roll','pitch','yaw');
+ %Actuator Controls
+ plot(h.axes(7),time(imintime:imaxtime), sysvector.actuator_control(imintime:imaxtime,:));
+ title(h.axes(7),'Actuator control [-]');
+ legend(h.axes(7),'0','1','2','3');
+ %Actuator Controls
+ plot(h.axes(8),time(imintime:imaxtime), sysvector.actuators(imintime:imaxtime,1:8));
+ title(h.axes(8),'Actuator PWM (raw-)outputs [µs]');
+ legend(h.axes(8),'CH1','CH2','CH3','CH4','CH5','CH6','CH7','CH8');
+ set(h.axes(8), 'YLim',[800 2200]);
+ %Airspeeds
+ plot(h.axes(9),time(imintime:imaxtime), sysvector.ind_airspeed(imintime:imaxtime));
+ hold on
+ plot(h.axes(9),time(imintime:imaxtime), sysvector.true_airspeed(imintime:imaxtime));
+ hold off
+ %add GPS total airspeed here
+ title(h.axes(9),'Airspeed [m/s]');
+ legend(h.axes(9),'Indicated Airspeed (IAS)','True Airspeed (TAS)','GPS Airspeed');
+ %calculate time differences and plot them
+ intervals = zeros(0,imaxtime - imintime);
+ for k = imintime+1:imaxtime
+ intervals(k) = time(k) - time(k-1);
+ end
+ plot(h.axes(10), time(imintime:imaxtime), intervals);
+
+ %Set same timescale for all plots
+ for i=2:NrAxes
+ set(h.axes(i),'XLim',[mintime maxtime]);
+ end
+
+ set(h.labels.GUIState,'String','OK','BackgroundColor',[240/255 240/255 240/255]);
+end
+
+%% ************************************************************************
+% DRAWCURRENTAIRCRAFTSTATE(nested function)
+% ************************************************************************
+function DrawCurrentAircraftState()
+ %find current data index
+ i=find(time>=CurTime,1,'first');
+
+ %**********************************************************************
+ % Current aircraft state label update
+ %**********************************************************************
+ acstate{1,:}=[sprintf('%s \t\t','GPS Pos:'),'[lat=',num2str(double(sysvector.gps_raw_position(i,1))*fconv_gpslatlong),'°, ',...
+ 'lon=',num2str(double(sysvector.gps_raw_position(i,2))*fconv_gpslatlong),'°, ',...
+ 'alt=',num2str(double(sysvector.gps_raw_position(i,3))*fconv_gpsalt),'m]'];
+ acstate{2,:}=[sprintf('%s \t\t','Mags[gauss]'),'[x=',num2str(sysvector.mag(i,1)),...
+ ', y=',num2str(sysvector.mag(i,2)),...
+ ', z=',num2str(sysvector.mag(i,3)),']'];
+ acstate{3,:}=[sprintf('%s \t\t','Accels[m/s²]'),'[x=',num2str(sysvector.accel(i,1)),...
+ ', y=',num2str(sysvector.accel(i,2)),...
+ ', z=',num2str(sysvector.accel(i,3)),']'];
+ acstate{4,:}=[sprintf('%s \t\t','Gyros[rad/s]'),'[x=',num2str(sysvector.gyro(i,1)),...
+ ', y=',num2str(sysvector.gyro(i,2)),...
+ ', z=',num2str(sysvector.gyro(i,3)),']'];
+ acstate{5,:}=[sprintf('%s \t\t','Altitude[m]'),'[Barometric: ',num2str(sysvector.baro_alt(i)),'m, GPS: ',num2str(double(sysvector.gps_raw_position(i,3))*fconv_gpsalt),'m]'];
+ acstate{6,:}=[sprintf('%s \t','Est. attitude[deg]:'),'[Roll=',num2str(sysvector.attitude(i,1).*180./3.14159),...
+ ', Pitch=',num2str(sysvector.attitude(i,2).*180./3.14159),...
+ ', Yaw=',num2str(sysvector.attitude(i,3).*180./3.14159),']'];
+ acstate{7,:}=sprintf('%s \t[','Actuator Ctrls [-]:');
+ for j=1:4
+ acstate{7,:}=[acstate{7,:},num2str(sysvector.actuator_control(i,j)),','];
+ end
+ acstate{7,:}=[acstate{7,:},']'];
+ acstate{8,:}=sprintf('%s \t[','Actuator Outputs [PWM/µs]:');
+ for j=1:8
+ acstate{8,:}=[acstate{8,:},num2str(sysvector.actuators(i,j)),','];
+ end
+ acstate{8,:}=[acstate{8,:},']'];
+ acstate{9,:}=[sprintf('%s \t','Airspeed[m/s]:'),'[IAS: ',num2str(sysvector.ind_airspeed(i)),', TAS: ',num2str(sysvector.true_airspeed(i)),']'];
+
+ set(h.edits.AircraftState,'String',acstate);
+
+ %**********************************************************************
+ % GPS Plot Update
+ %**********************************************************************
+ %Plot traveled path, and and time.
+ figure(h.figures(2));
+ hold on;
+ if(CurTime>mintime+1) %the +1 is only a small bugfix
+ h.pathline=plot3(h.axes(1),double(sysvector.gps_raw_position(imintime:i,1))*fconv_gpslatlong, ...
+ double(sysvector.gps_raw_position(imintime:i,2))*fconv_gpslatlong, ...
+ double(sysvector.gps_raw_position(imintime:i,3))*fconv_gpsalt,'b','LineWidth',2);
+ end;
+ hold off
+ %Plot current position
+ newpoint=[double(sysvector.gps_raw_position(i,1))*fconv_gpslatlong double(sysvector.gps_raw_position(i,2))*fconv_gpslatlong double(sysvector.gps_raw_position(i,3))*fconv_gpsalt];
+ if(numel(h.pathpoints)<=3) %empty path
+ h.pathpoints(1,1:3)=newpoint;
+ else %Not empty, append new point
+ h.pathpoints(size(h.pathpoints,1)+1,:)=newpoint;
+ end
+ axes(h.axes(1));
+ line(h.pathpoints(:,1),h.pathpoints(:,2),h.pathpoints(:,3),'LineStyle','none','Marker','.','MarkerEdge','black','MarkerSize',20);
+
+
+ % Plot current time (small label next to current gps position)
+ textdesc=strcat(' t=',num2str(time(i)),'s');
+ if(isvalidhandle(h.markertext))
+ delete(h.markertext); %delete old text
+ end
+ h.markertext=text(double(sysvector.gps_raw_position(i,1))*fconv_gpslatlong,double(sysvector.gps_raw_position(i,2))*fconv_gpslatlong,...
+ double(sysvector.gps_raw_position(i,3))*fconv_gpsalt,textdesc);
+ set(h.edits.CurTime,'String',CurTime);
+
+ %**********************************************************************
+ % Plot the lines showing the current time in the 2-d plots
+ %**********************************************************************
+ for i=2:NrAxes
+ if(isvalidhandle(h.markerline(i))) delete(h.markerline(i)); end
+ ylims=get(h.axes(i),'YLim');
+ h.markerline(i)=line([CurTime CurTime] ,get(h.axes(i),'YLim'),'Color','black');
+ set(h.markerline(i),'parent',h.axes(i));
+ end
+
+ set(h.labels.GUIState,'String','OK','BackgroundColor',[240/255 240/255 240/255]);
+end
+
+%% ************************************************************************
+% MINMAXTIME CALLBACK (nested function)
+% ************************************************************************
+function minmaxtime_callback(hObj,event) %#ok<INUSL>
+ new_mintime=get(h.sliders.MinTime,'Value');
+ new_maxtime=get(h.sliders.MaxTime,'Value');
+
+ %Safety checks:
+ bErr=false;
+ %1: mintime must be < maxtime
+ if((new_mintime>maxtime) || (new_maxtime<mintime))
+ set(h.labels.GUIState,'String','Error: Mintime cannot be bigger than maxtime! Values were not changed.','BackgroundColor','red');
+ bErr=true;
+ else
+ %2: MinTime must be <=CurTime
+ if(new_mintime>CurTime)
+ set(h.labels.GUIState,'String','Error: Mintime cannot be bigger than CurTime! CurTime set to new mintime.','BackgroundColor','red');
+ mintime=new_mintime;
+ CurTime=mintime;
+ bErr=true;
+ end
+ %3: MaxTime must be >CurTime
+ if(new_maxtime<CurTime)
+ set(h.labels.GUIState,'String','Error: Maxtime cannot be smaller than CurTime! CurTime set to new maxtime.','BackgroundColor','red');
+ maxtime=new_maxtime;
+ CurTime=maxtime;
+ bErr=true;
+ end
+ end
+
+ if(bErr==false)
+ maxtime=new_maxtime;
+ mintime=new_mintime;
+ end
+
+ %Needs to be done in case values were reset above
+ set(h.sliders.MinTime,'Value',mintime);
+ set(h.sliders.MaxTime,'Value',maxtime);
+
+ %Update curtime-slider
+ set(h.sliders.CurTime,'Value',CurTime);
+ set(h.sliders.CurTime,'Max',maxtime);
+ set(h.sliders.CurTime,'Min',mintime);
+ temp=get(h.sliders.CurTime,'Max')-get(h.sliders.CurTime,'Min');
+ set(h.sliders.CurTime,'SliderStep',[1.0/temp 5.0/temp]); %Set Stepsize to constant [in seconds]
+
+ %update edit fields
+ set(h.edits.CurTime,'String',get(h.sliders.CurTime,'Value'));
+ set(h.edits.MinTime,'String',get(h.sliders.MinTime,'Value'));
+ set(h.edits.MaxTime,'String',get(h.sliders.MaxTime,'Value'));
+
+ %Finally, we have to redraw. Update time indices first.
+ [imintime,imaxtime]=FindMinMaxTimeIndices();
+ DrawRawData(); %Rawdata only
+ DrawCurrentAircraftState(); %path info & markers
+end
+
+
+%% ************************************************************************
+% CURTIME CALLBACK (nested function)
+% ************************************************************************
+function curtime_callback(hObj,event) %#ok<INUSL>
+ %find current time
+ if(hObj==h.sliders.CurTime)
+ CurTime=get(h.sliders.CurTime,'Value');
+ elseif (hObj==h.edits.CurTime)
+ temp=str2num(get(h.edits.CurTime,'String'));
+ if(temp<maxtime && temp>mintime)
+ CurTime=temp;
+ else
+ %Error
+ set(h.labels.GUIState,'String','Error: You tried to set an invalid current time! Previous value restored.','BackgroundColor','red');
+ end
+ else
+ %Error
+ set(h.labels.GUIState,'String','Error: curtime_callback','BackgroundColor','red');
+ end
+
+ set(h.sliders.CurTime,'Value',CurTime);
+ set(h.edits.CurTime,'String',num2str(CurTime));
+
+ %Redraw time markers, but don't have to redraw the whole raw data
+ DrawCurrentAircraftState();
+end
+
+%% ************************************************************************
+% FINDMINMAXINDICES (nested function)
+% ************************************************************************
+function [idxmin,idxmax] = FindMinMaxTimeIndices()
+ for i=1:size(sysvector.timestamp,1)
+ if time(i)>=mintime; idxmin=i; break; end
+ end
+ for i=1:size(sysvector.timestamp,1)
+ if maxtime==0; idxmax=size(sysvector.timestamp,1); break; end
+ if time(i)>=maxtime; idxmax=i; break; end
+ end
+ mintime=time(idxmin);
+ maxtime=time(idxmax);
+end
+
+%% ************************************************************************
+% ISVALIDHANDLE (nested function)
+% ************************************************************************
+function isvalid = isvalidhandle(handle)
+ if(exist(varname(handle))>0 && length(ishandle(handle))>0)
+ if(ishandle(handle)>0)
+ if(handle>0.0)
+ isvalid=true;
+ return;
+ end
+ end
+ end
+ isvalid=false;
+end
+
+%% ************************************************************************
+% JUST SOME SMALL HELPER FUNCTIONS (nested function)
+% ************************************************************************
+function out = varname(var)
+ out = inputname(1);
+end
+
+%This is the end of the matlab file / the main function
+end
diff --git a/ROMFS/px4fmu_common/mixers/FMU_AERT.mix b/ROMFS/px4fmu_common/mixers/FMU_AERT.mix new file mode 100644 index 000000000..75e82bb00 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_AERT.mix @@ -0,0 +1,64 @@ +Aileron/rudder/elevator/throttle mixer for PX4FMU +================================================== + +This file defines mixers suitable for controlling a fixed wing aircraft with +aileron, rudder, elevator and throttle controls using PX4FMU. The configuration +assumes the aileron servo(s) are connected to PX4FMU servo output 0, the +elevator to output 1, the rudder to output 2 and the throttle to output 3. + +Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 +(roll), 1 (pitch) and 3 (thrust). + +Aileron mixer +------------- +Two scalers total (output, roll). + +This mixer assumes that the aileron servos are set up correctly mechanically; +depending on the actual configuration it may be necessary to reverse the scaling +factors (to reverse the servo movement) and adjust the offset, scaling and +endpoints to suit. + +As there is only one output, if using two servos adjustments to compensate for +differences between the servos must be made mechanically. To obtain the correct +motion using a Y cable, the servos can be positioned reversed from one another. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 0 10000 10000 0 -10000 10000 + +Elevator mixer +------------ +Two scalers total (output, roll). + +This mixer assumes that the elevator servo is set up correctly mechanically; +depending on the actual configuration it may be necessary to reverse the scaling +factors (to reverse the servo movement) and adjust the offset, scaling and +endpoints to suit. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 1 -10000 -10000 0 -10000 10000 + +Rudder mixer +------------ +Two scalers total (output, yaw). + +This mixer assumes that the rudder servo is set up correctly mechanically; +depending on the actual configuration it may be necessary to reverse the scaling +factors (to reverse the servo movement) and adjust the offset, scaling and +endpoints to suit. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 2 10000 10000 0 -10000 10000 + +Motor speed mixer +----------------- +Two scalers total (output, thrust). + +This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1) +range. Inputs below zero are treated as zero. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 3 0 20000 -10000 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/FMU_AET.mix b/ROMFS/px4fmu_common/mixers/FMU_AET.mix new file mode 100644 index 000000000..20cb88b91 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_AET.mix @@ -0,0 +1,60 @@ +Aileron/elevator/throttle mixer for PX4FMU +================================================== + +This file defines mixers suitable for controlling a fixed wing aircraft with +aileron, elevator and throttle controls using PX4FMU. The configuration assumes +the aileron servo(s) are connected to PX4FMU servo output 0, the elevator to +output 1 and the throttle to output 3. + +Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 +(roll), 1 (pitch) and 3 (thrust). + +Aileron mixer +------------- +Two scalers total (output, roll). + +This mixer assumes that the aileron servos are set up correctly mechanically; +depending on the actual configuration it may be necessary to reverse the scaling +factors (to reverse the servo movement) and adjust the offset, scaling and +endpoints to suit. + +As there is only one output, if using two servos adjustments to compensate for +differences between the servos must be made mechanically. To obtain the correct +motion using a Y cable, the servos can be positioned reversed from one another. + +Alternatively, output 2 could be used as a second aileron servo output with +separate mixing. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 0 10000 10000 0 -10000 10000 + +Elevator mixer +------------ +Two scalers total (output, roll). + +This mixer assumes that the elevator servo is set up correctly mechanically; +depending on the actual configuration it may be necessary to reverse the scaling +factors (to reverse the servo movement) and adjust the offset, scaling and +endpoints to suit. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 1 -10000 -10000 0 -10000 10000 + +Output 2 +-------- +This mixer is empty. + +Z: + +Motor speed mixer +----------------- +Two scalers total (output, thrust). + +This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1) +range. Inputs below zero are treated as zero. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 3 0 20000 -10000 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/FMU_Q.mix b/ROMFS/px4fmu_common/mixers/FMU_Q.mix new file mode 100644 index 000000000..ebcb66b24 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_Q.mix @@ -0,0 +1,52 @@ +Delta-wing mixer for PX4FMU +=========================== + +Designed for Bormatec Camflyer Q + +This file defines mixers suitable for controlling a delta wing aircraft using +PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU +servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is +assumed to be unused. + +Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 +(roll), 1 (pitch) and 3 (thrust). + +See the README for more information on the scaler format. + +Elevon mixers +------------- +Three scalers total (output, roll, pitch). + +On the assumption that the two elevon servos are physically reversed, the pitch +input is inverted between the two servos. + +The scaling factor for roll inputs is adjusted to implement differential travel +for the elevons. + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 0 -5000 -8000 0 -10000 10000 +S: 0 1 8000 8000 0 -10000 10000 + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 0 -8000 -5000 0 -10000 10000 +S: 0 1 -8000 -8000 0 -10000 10000 + +Output 2 +-------- +This mixer is empty. + +Z: + +Motor speed mixer +----------------- +Two scalers total (output, thrust). + +This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1) +range. Inputs below zero are treated as zero. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 3 0 20000 -10000 -10000 10000 + diff --git a/ROMFS/px4fmu_common/mixers/FMU_RET.mix b/ROMFS/px4fmu_common/mixers/FMU_RET.mix new file mode 100644 index 000000000..95beb8927 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_RET.mix @@ -0,0 +1,53 @@ +Rudder/elevator/throttle mixer for PX4FMU +========================================= + +This file defines mixers suitable for controlling a fixed wing aircraft with +rudder, elevator and throttle controls using PX4FMU. The configuration assumes +the rudder servo is connected to PX4FMU servo output 0, the elevator to output 1 +and the throttle to output 3. + +Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 +(roll), 1 (pitch) and 3 (thrust). + +Rudder mixer +------------ +Two scalers total (output, roll). + +This mixer assumes that the rudder servo is set up correctly mechanically; +depending on the actual configuration it may be necessary to reverse the scaling +factors (to reverse the servo movement) and adjust the offset, scaling and +endpoints to suit. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 0 10000 10000 0 -10000 10000 + +Elevator mixer +------------ +Two scalers total (output, roll). + +This mixer assumes that the elevator servo is set up correctly mechanically; +depending on the actual configuration it may be necessary to reverse the scaling +factors (to reverse the servo movement) and adjust the offset, scaling and +endpoints to suit. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 1 -10000 -10000 0 -10000 10000 + +Output 2 +-------- +This mixer is empty. + +Z: + +Motor speed mixer +----------------- +Two scalers total (output, thrust). + +This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1) +range. Inputs below zero are treated as zero. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 3 0 20000 -10000 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/FMU_X5.mix b/ROMFS/px4fmu_common/mixers/FMU_X5.mix new file mode 100644 index 000000000..9f81e1dc3 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_X5.mix @@ -0,0 +1,50 @@ +Delta-wing mixer for PX4FMU +=========================== + +This file defines mixers suitable for controlling a delta wing aircraft using +PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU +servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is +assumed to be unused. + +Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 +(roll), 1 (pitch) and 3 (thrust). + +See the README for more information on the scaler format. + +Elevon mixers +------------- +Three scalers total (output, roll, pitch). + +On the assumption that the two elevon servos are physically reversed, the pitch +input is inverted between the two servos. + +The scaling factor for roll inputs is adjusted to implement differential travel +for the elevons. + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 0 -3000 -5000 0 -10000 10000 +S: 0 1 -5000 -5000 0 -10000 10000 + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 0 -5000 -3000 0 -10000 10000 +S: 0 1 5000 5000 0 -10000 10000 + +Output 2 +-------- +This mixer is empty. + +Z: + +Motor speed mixer +----------------- +Two scalers total (output, thrust). + +This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1) +range. Inputs below zero are treated as zero. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 3 0 20000 -10000 -10000 10000 + diff --git a/ROMFS/px4fmu_common/mixers/FMU_delta.mix b/ROMFS/px4fmu_common/mixers/FMU_delta.mix new file mode 100644 index 000000000..981466704 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_delta.mix @@ -0,0 +1,50 @@ +Delta-wing mixer for PX4FMU +=========================== + +This file defines mixers suitable for controlling a delta wing aircraft using +PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU +servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is +assumed to be unused. + +Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 +(roll), 1 (pitch) and 3 (thrust). + +See the README for more information on the scaler format. + +Elevon mixers +------------- +Three scalers total (output, roll, pitch). + +On the assumption that the two elevon servos are physically reversed, the pitch +input is inverted between the two servos. + +The scaling factor for roll inputs is adjusted to implement differential travel +for the elevons. + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 0 3000 5000 0 -10000 10000 +S: 0 1 5000 5000 0 -10000 10000 + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 0 5000 3000 0 -10000 10000 +S: 0 1 -5000 -5000 0 -10000 10000 + +Output 2 +-------- +This mixer is empty. + +Z: + +Motor speed mixer +----------------- +Two scalers total (output, thrust). + +This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1) +range. Inputs below zero are treated as zero. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 3 0 20000 -10000 -10000 10000 + diff --git a/ROMFS/px4fmu_common/mixers/FMU_hex_+.mix b/ROMFS/px4fmu_common/mixers/FMU_hex_+.mix new file mode 100644 index 000000000..b5e38ce9e --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_hex_+.mix @@ -0,0 +1,7 @@ +Multirotor mixer for PX4FMU +=========================== + +This file defines a single mixer for a hexacopter in the + configuration. All controls +are mixed 100%. + +R: 6+ 10000 10000 10000 0 diff --git a/ROMFS/px4fmu_common/mixers/FMU_hex_x.mix b/ROMFS/px4fmu_common/mixers/FMU_hex_x.mix new file mode 100644 index 000000000..8e8d122ad --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_hex_x.mix @@ -0,0 +1,7 @@ +Multirotor mixer for PX4FMU +=========================== + +This file defines a single mixer for a hexacopter in the X configuration. All controls +are mixed 100%. + +R: 6x 10000 10000 10000 0 diff --git a/ROMFS/px4fmu_common/mixers/FMU_octo_+.mix b/ROMFS/px4fmu_common/mixers/FMU_octo_+.mix new file mode 100644 index 000000000..2cb70e814 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_octo_+.mix @@ -0,0 +1,7 @@ +Multirotor mixer for PX4FMU +=========================== + +This file defines a single mixer for a octocopter in the + configuration. All controls +are mixed 100%. + +R: 8+ 10000 10000 10000 0 diff --git a/ROMFS/px4fmu_common/mixers/FMU_octo_x.mix b/ROMFS/px4fmu_common/mixers/FMU_octo_x.mix new file mode 100644 index 000000000..edc71f013 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_octo_x.mix @@ -0,0 +1,7 @@ +Multirotor mixer for PX4FMU +=========================== + +This file defines a single mixer for a octocopter in the X configuration. All controls +are mixed 100%. + +R: 8x 10000 10000 10000 0 diff --git a/ROMFS/px4fmu_common/mixers/FMU_pass.mix b/ROMFS/px4fmu_common/mixers/FMU_pass.mix new file mode 100644 index 000000000..e9a81f2bb --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_pass.mix @@ -0,0 +1,23 @@ +Passthrough mixer for PX4FMU +============================ + +This file defines passthrough mixers suitable for testing. + +Channel group 0, channels 0-3 are passed directly through to the outputs. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 0 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 1 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 2 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 3 10000 10000 0 -10000 10000 + diff --git a/ROMFS/px4fmu_common/mixers/FMU_quad_+.mix b/ROMFS/px4fmu_common/mixers/FMU_quad_+.mix new file mode 100644 index 000000000..dfdf1d58e --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_quad_+.mix @@ -0,0 +1,7 @@ +Multirotor mixer for PX4FMU +=========================== + +This file defines a single mixer for a quadrotor in the + configuration. All controls +are mixed 100%. + +R: 4+ 10000 10000 10000 0 diff --git a/ROMFS/px4fmu_common/mixers/FMU_quad_x.mix b/ROMFS/px4fmu_common/mixers/FMU_quad_x.mix new file mode 100644 index 000000000..12a3bee20 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_quad_x.mix @@ -0,0 +1,7 @@ +Multirotor mixer for PX4FMU +=========================== + +This file defines a single mixer for a quadrotor in the X configuration. All controls +are mixed 100%. + +R: 4x 10000 10000 10000 0 diff --git a/ROMFS/px4fmu_common/mixers/README b/ROMFS/px4fmu_common/mixers/README new file mode 100644 index 000000000..6649c53c2 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/README @@ -0,0 +1,154 @@ +PX4 mixer definitions +===================== + +Files in this directory implement example mixers that can be used as a basis +for customisation, or for general testing purposes. + +Mixer basics +------------ + +Mixers combine control values from various sources (control tasks, user inputs, +etc.) and produce output values suitable for controlling actuators; servos, +motors, switches and so on. + +An actuator derives its value from the combination of one or more control +values. Each of the control values is scaled according to the actuator's +configuration and then combined to produce the actuator value, which may then be +further scaled to suit the specific output type. + +Internally, all scaling is performed using floating point values. Inputs and +outputs are clamped to the range -1.0 to 1.0. + +control control control + | | | + v v v + scale scale scale + | | | + | v | + +-------> mix <------+ + | + scale + | + v + out + +Scaling +------- + +Basic scalers provide linear scaling of the input to the output. + +Each scaler allows the input value to be scaled independently for inputs +greater/less than zero. An offset can be applied to the output, and lower and +upper boundary constraints can be applied. Negative scaling factors cause the +output to be inverted (negative input produces positive output). + +Scaler pseudocode: + +if (input < 0) + output = (input * NEGATIVE_SCALE) + OFFSET +else + output = (input * POSITIVE_SCALE) + OFFSET + +if (output < LOWER_LIMIT) + output = LOWER_LIMIT +if (output > UPPER_LIMIT) + output = UPPER_LIMIT + +Syntax +------ + +Mixer definitions are text files; lines beginning with a single capital letter +followed by a colon are significant. All other lines are ignored, meaning that +explanatory text can be freely mixed with the definitions. + +Each file may define more than one mixer; the allocation of mixers to actuators +is specific to the device reading the mixer definition, and the number of +actuator outputs generated by a mixer is specific to the mixer. + +A mixer begins with a line of the form + + <tag>: <mixer arguments> + +The tag selects the mixer type; 'M' for a simple summing mixer, 'R' for a +multirotor mixer, etc. + +Null Mixer +.......... + +A null mixer consumes no controls and generates a single actuator output whose +value is always zero. Typically a null mixer is used as a placeholder in a +collection of mixers in order to achieve a specific pattern of actuator outputs. + +The null mixer definition has the form: + + Z: + +Simple Mixer +............ + +A simple mixer combines zero or more control inputs into a single actuator +output. Inputs are scaled, and the mixing function sums the result before +applying an output scaler. + +A simple mixer definition begins with: + + M: <control count> + O: <-ve scale> <+ve scale> <offset> <lower limit> <upper limit> + +If <control count> is zero, the sum is effectively zero and the mixer will +output a fixed value that is <offset> constrained by <lower limit> and <upper +limit>. + +The second line defines the output scaler with scaler parameters as discussed +above. Whilst the calculations are performed as floating-point operations, the +values stored in the definition file are scaled by a factor of 10000; i.e. an +offset of -0.5 is encoded as -5000. + +The definition continues with <control count> entries describing the control +inputs and their scaling, in the form: + + S: <group> <index> <-ve scale> <+ve scale> <offset> <lower limit> <upper limit> + +The <group> value identifies the control group from which the scaler will read, +and the <index> value an offset within that group. These values are specific to +the device reading the mixer definition. + +When used to mix vehicle controls, mixer group zero is the vehicle attitude +control group, and index values zero through three are normally roll, pitch, +yaw and thrust respectively. + +The remaining fields on the line configure the control scaler with parameters as +discussed above. Whilst the calculations are performed as floating-point +operations, the values stored in the definition file are scaled by a factor of +10000; i.e. an offset of -0.5 is encoded as -5000. + +Multirotor Mixer +................ + +The multirotor mixer combines four control inputs (roll, pitch, yaw, thrust) +into a set of actuator outputs intended to drive motor speed controllers. + +The mixer definition is a single line of the form: + +R: <geometry> <roll scale> <pitch scale> <yaw scale> <deadband> + +The supported geometries include: + + 4x - quadrotor in X configuration + 4+ - quadrotor in + configuration + 6x - hexcopter in X configuration + 6+ - hexcopter in + configuration + 8x - octocopter in X configuration + 8+ - octocopter in + configuration + +Each of the roll, pitch and yaw scale values determine scaling of the roll, +pitch and yaw controls relative to the thrust control. Whilst the calculations +are performed as floating-point operations, the values stored in the definition +file are scaled by a factor of 10000; i.e. an factor of 0.5 is encoded as 5000. + +Roll, pitch and yaw inputs are expected to range from -1.0 to 1.0, whilst the +thrust input ranges from 0.0 to 1.0. Output for each actuator is in the +range -1.0 to 1.0. + +In the case where an actuator saturates, all actuator values are rescaled so that +the saturating actuator is limited to 1.0. |