diff options
Diffstat (limited to 'src/modules/sensors')
-rw-r--r-- | src/modules/sensors/sensor_params.c | 386 | ||||
-rw-r--r-- | src/modules/sensors/sensors.cpp | 285 |
2 files changed, 501 insertions, 170 deletions
diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index 67b7feef7..5e04241fe 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2015 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 @@ -36,20 +36,192 @@ * * Parameters defined by the sensors task. * - * @author Lorenz Meier <lm@inf.ethz.ch> - * @author Julian Oes <joes@student.ethz.ch> - * @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Lorenz Meier <lorenz@px4.io> + * @author Julian Oes <julian@px4.io> + * @author Thomas Gubler <thomas@px4.io> */ #include <nuttx/config.h> #include <systemlib/param/param.h> /** + * ID of the board this parameter set was calibrated on. + * + * @group Sensor Calibration + */ +PARAM_DEFINE_INT32(CAL_BOARD_ID, 0); + +/** + * ID of the Gyro that the calibration is for. + * + * @group Sensor Calibration + */ +PARAM_DEFINE_INT32(CAL_GYRO0_ID, 0); + +/** + * Gyro X-axis offset + * + * @min -10.0 + * @max 10.0 + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_GYRO0_XOFF, 0.0f); + +/** + * Gyro Y-axis offset + * + * @min -10.0 + * @max 10.0 + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_GYRO0_YOFF, 0.0f); + +/** + * Gyro Z-axis offset + * + * @min -5.0 + * @max 5.0 + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_GYRO0_ZOFF, 0.0f); + +/** + * Gyro X-axis scaling factor + * + * @min -1.5 + * @max 1.5 + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_GYRO0_XSCALE, 1.0f); + +/** + * Gyro Y-axis scaling factor + * + * @min -1.5 + * @max 1.5 + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_GYRO0_YSCALE, 1.0f); + +/** + * Gyro Z-axis scaling factor + * + * @min -1.5 + * @max 1.5 + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_GYRO0_ZSCALE, 1.0f); + +/** + * ID of Magnetometer the calibration is for. + * + * @group Sensor Calibration + */ +PARAM_DEFINE_INT32(CAL_MAG0_ID, 0); + +/** + * Magnetometer X-axis offset + * + * @min -500.0 + * @max 500.0 + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_MAG0_XOFF, 0.0f); + +/** + * Magnetometer Y-axis offset + * + * @min -500.0 + * @max 500.0 + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_MAG0_YOFF, 0.0f); + +/** + * Magnetometer Z-axis offset + * + * @min -500.0 + * @max 500.0 + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_MAG0_ZOFF, 0.0f); + +/** + * Magnetometer X-axis scaling factor + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_MAG0_XSCALE, 1.0f); + +/** + * Magnetometer Y-axis scaling factor + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_MAG0_YSCALE, 1.0f); + +/** + * Magnetometer Z-axis scaling factor + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_MAG0_ZSCALE, 1.0f); + +/** + * ID of the Accelerometer that the calibration is for. + * + * @group Sensor Calibration + */ +PARAM_DEFINE_INT32(CAL_ACC0_ID, 0); + +/** + * Accelerometer X-axis offset + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_ACC0_XOFF, 0.0f); + +/** + * Accelerometer Y-axis offset + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_ACC0_YOFF, 0.0f); + +/** + * Accelerometer Z-axis offset + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_ACC0_ZOFF, 0.0f); + +/** + * Accelerometer X-axis scaling factor + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_ACC0_XSCALE, 1.0f); + +/** + * Accelerometer Y-axis scaling factor + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_ACC0_YSCALE, 1.0f); + +/** + * Accelerometer Z-axis scaling factor + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_ACC0_ZSCALE, 1.0f); + +/** * ID of the Gyro that the calibration is for. * * @group Sensor Calibration */ -PARAM_DEFINE_INT32(SENS_GYRO_ID, 0); +PARAM_DEFINE_INT32(CAL_GYRO1_ID, 0); /** * Gyro X-axis offset @@ -58,7 +230,7 @@ PARAM_DEFINE_INT32(SENS_GYRO_ID, 0); * @max 10.0 * @group Sensor Calibration */ -PARAM_DEFINE_FLOAT(SENS_GYRO_XOFF, 0.0f); +PARAM_DEFINE_FLOAT(CAL_GYRO1_XOFF, 0.0f); /** * Gyro Y-axis offset @@ -67,7 +239,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_XOFF, 0.0f); * @max 10.0 * @group Sensor Calibration */ -PARAM_DEFINE_FLOAT(SENS_GYRO_YOFF, 0.0f); +PARAM_DEFINE_FLOAT(CAL_GYRO1_YOFF, 0.0f); /** * Gyro Z-axis offset @@ -76,7 +248,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_YOFF, 0.0f); * @max 5.0 * @group Sensor Calibration */ -PARAM_DEFINE_FLOAT(SENS_GYRO_ZOFF, 0.0f); +PARAM_DEFINE_FLOAT(CAL_GYRO1_ZOFF, 0.0f); /** * Gyro X-axis scaling factor @@ -85,7 +257,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_ZOFF, 0.0f); * @max 1.5 * @group Sensor Calibration */ -PARAM_DEFINE_FLOAT(SENS_GYRO_XSCALE, 1.0f); +PARAM_DEFINE_FLOAT(CAL_GYRO1_XSCALE, 1.0f); /** * Gyro Y-axis scaling factor @@ -94,7 +266,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_XSCALE, 1.0f); * @max 1.5 * @group Sensor Calibration */ -PARAM_DEFINE_FLOAT(SENS_GYRO_YSCALE, 1.0f); +PARAM_DEFINE_FLOAT(CAL_GYRO1_YSCALE, 1.0f); /** * Gyro Z-axis scaling factor @@ -103,14 +275,14 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_YSCALE, 1.0f); * @max 1.5 * @group Sensor Calibration */ -PARAM_DEFINE_FLOAT(SENS_GYRO_ZSCALE, 1.0f); +PARAM_DEFINE_FLOAT(CAL_GYRO1_ZSCALE, 1.0f); /** * ID of Magnetometer the calibration is for. * * @group Sensor Calibration */ -PARAM_DEFINE_INT32(SENS_MAG_ID, 0); +PARAM_DEFINE_INT32(CAL_MAG1_ID, 0); /** * Magnetometer X-axis offset @@ -119,7 +291,7 @@ PARAM_DEFINE_INT32(SENS_MAG_ID, 0); * @max 500.0 * @group Sensor Calibration */ -PARAM_DEFINE_FLOAT(SENS_MAG_XOFF, 0.0f); +PARAM_DEFINE_FLOAT(CAL_MAG1_XOFF, 0.0f); /** * Magnetometer Y-axis offset @@ -128,7 +300,7 @@ PARAM_DEFINE_FLOAT(SENS_MAG_XOFF, 0.0f); * @max 500.0 * @group Sensor Calibration */ -PARAM_DEFINE_FLOAT(SENS_MAG_YOFF, 0.0f); +PARAM_DEFINE_FLOAT(CAL_MAG1_YOFF, 0.0f); /** * Magnetometer Z-axis offset @@ -137,78 +309,242 @@ PARAM_DEFINE_FLOAT(SENS_MAG_YOFF, 0.0f); * @max 500.0 * @group Sensor Calibration */ -PARAM_DEFINE_FLOAT(SENS_MAG_ZOFF, 0.0f); +PARAM_DEFINE_FLOAT(CAL_MAG1_ZOFF, 0.0f); /** * Magnetometer X-axis scaling factor * * @group Sensor Calibration */ -PARAM_DEFINE_FLOAT(SENS_MAG_XSCALE, 1.0f); +PARAM_DEFINE_FLOAT(CAL_MAG1_XSCALE, 1.0f); /** * Magnetometer Y-axis scaling factor * * @group Sensor Calibration */ -PARAM_DEFINE_FLOAT(SENS_MAG_YSCALE, 1.0f); +PARAM_DEFINE_FLOAT(CAL_MAG1_YSCALE, 1.0f); /** * Magnetometer Z-axis scaling factor * * @group Sensor Calibration */ -PARAM_DEFINE_FLOAT(SENS_MAG_ZSCALE, 1.0f); +PARAM_DEFINE_FLOAT(CAL_MAG1_ZSCALE, 1.0f); /** * ID of the Accelerometer that the calibration is for. * * @group Sensor Calibration */ -PARAM_DEFINE_INT32(SENS_ACC_ID, 0); +PARAM_DEFINE_INT32(CAL_ACC1_ID, 0); /** * Accelerometer X-axis offset * * @group Sensor Calibration */ -PARAM_DEFINE_FLOAT(SENS_ACC_XOFF, 0.0f); +PARAM_DEFINE_FLOAT(CAL_ACC1_XOFF, 0.0f); /** * Accelerometer Y-axis offset * * @group Sensor Calibration */ -PARAM_DEFINE_FLOAT(SENS_ACC_YOFF, 0.0f); +PARAM_DEFINE_FLOAT(CAL_ACC1_YOFF, 0.0f); /** * Accelerometer Z-axis offset * * @group Sensor Calibration */ -PARAM_DEFINE_FLOAT(SENS_ACC_ZOFF, 0.0f); +PARAM_DEFINE_FLOAT(CAL_ACC1_ZOFF, 0.0f); /** * Accelerometer X-axis scaling factor * * @group Sensor Calibration */ -PARAM_DEFINE_FLOAT(SENS_ACC_XSCALE, 1.0f); +PARAM_DEFINE_FLOAT(CAL_ACC1_XSCALE, 1.0f); /** * Accelerometer Y-axis scaling factor * * @group Sensor Calibration */ -PARAM_DEFINE_FLOAT(SENS_ACC_YSCALE, 1.0f); +PARAM_DEFINE_FLOAT(CAL_ACC1_YSCALE, 1.0f); /** * Accelerometer Z-axis scaling factor * * @group Sensor Calibration */ -PARAM_DEFINE_FLOAT(SENS_ACC_ZSCALE, 1.0f); +PARAM_DEFINE_FLOAT(CAL_ACC1_ZSCALE, 1.0f); + +/** + * ID of the Gyro that the calibration is for. + * + * @group Sensor Calibration + */ +PARAM_DEFINE_INT32(CAL_GYRO2_ID, 0); + +/** + * Gyro X-axis offset + * + * @min -10.0 + * @max 10.0 + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_GYRO2_XOFF, 0.0f); + +/** + * Gyro Y-axis offset + * + * @min -10.0 + * @max 10.0 + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_GYRO2_YOFF, 0.0f); + +/** + * Gyro Z-axis offset + * + * @min -5.0 + * @max 5.0 + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_GYRO2_ZOFF, 0.0f); + +/** + * Gyro X-axis scaling factor + * + * @min -1.5 + * @max 1.5 + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_GYRO2_XSCALE, 1.0f); + +/** + * Gyro Y-axis scaling factor + * + * @min -1.5 + * @max 1.5 + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_GYRO2_YSCALE, 1.0f); + +/** + * Gyro Z-axis scaling factor + * + * @min -1.5 + * @max 1.5 + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_GYRO2_ZSCALE, 1.0f); + +/** + * ID of Magnetometer the calibration is for. + * + * @group Sensor Calibration + */ +PARAM_DEFINE_INT32(CAL_MAG2_ID, 0); + +/** + * Magnetometer X-axis offset + * + * @min -500.0 + * @max 500.0 + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_MAG2_XOFF, 0.0f); + +/** + * Magnetometer Y-axis offset + * + * @min -500.0 + * @max 500.0 + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_MAG2_YOFF, 0.0f); +/** + * Magnetometer Z-axis offset + * + * @min -500.0 + * @max 500.0 + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_MAG2_ZOFF, 0.0f); + +/** + * Magnetometer X-axis scaling factor + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_MAG2_XSCALE, 1.0f); + +/** + * Magnetometer Y-axis scaling factor + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_MAG2_YSCALE, 1.0f); + +/** + * Magnetometer Z-axis scaling factor + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_MAG2_ZSCALE, 1.0f); + +/** + * ID of the Accelerometer that the calibration is for. + * + * @group Sensor Calibration + */ +PARAM_DEFINE_INT32(CAL_ACC2_ID, 0); + +/** + * Accelerometer X-axis offset + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_ACC2_XOFF, 0.0f); + +/** + * Accelerometer Y-axis offset + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_ACC2_YOFF, 0.0f); + +/** + * Accelerometer Z-axis offset + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_ACC2_ZOFF, 0.0f); + +/** + * Accelerometer X-axis scaling factor + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_ACC2_XSCALE, 1.0f); + +/** + * Accelerometer Y-axis scaling factor + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_ACC2_YSCALE, 1.0f); + +/** + * Accelerometer Z-axis scaling factor + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_ACC2_ZSCALE, 1.0f); /** * Differential pressure sensor offset diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 630c54335..87d7da537 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -184,13 +184,13 @@ private: /** * Get and limit value for specified RC function. Returns NAN if not mapped. */ - float get_rc_value(enum RC_CHANNELS_FUNCTION func, float min_value, float max_value); + float get_rc_value(uint8_t func, float min_value, float max_value); /** * Get switch position for specified function. */ - switch_pos_t get_rc_sw3pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, bool on_inv, float mid_th, bool mid_inv); - switch_pos_t get_rc_sw2pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, bool on_inv); + switch_pos_t get_rc_sw3pos_position(uint8_t func, float on_th, bool on_inv, float mid_th, bool mid_inv); + switch_pos_t get_rc_sw2pos_position(uint8_t func, float on_th, bool on_inv); /** * Update paramters from RC channels if the functionality is activated and the @@ -512,7 +512,7 @@ Sensors::Sensors() : _hil_enabled(false), _publishing(true), -/* subscriptions */ + /* subscriptions */ _gyro_sub(-1), _accel_sub(-1), _mag_sub(-1), @@ -530,7 +530,7 @@ Sensors::Sensors() : _rc_parameter_map_sub(-1), _manual_control_sub(-1), -/* publications */ + /* publications */ _sensor_pub(-1), _manual_control_pub(-1), _actuator_group_3_pub(-1), @@ -539,7 +539,7 @@ Sensors::Sensors() : _airspeed_pub(-1), _diff_pres_pub(-1), -/* performance counters */ + /* performance counters */ _loop_perf(perf_alloc(PC_ELAPSED, "sensor task update")), _mag_is_external(false), @@ -619,29 +619,29 @@ Sensors::Sensors() : _parameter_handles.rc_offboard_th = param_find("RC_OFFB_TH"); /* gyro offsets */ - _parameter_handles.gyro_offset[0] = param_find("SENS_GYRO_XOFF"); - _parameter_handles.gyro_offset[1] = param_find("SENS_GYRO_YOFF"); - _parameter_handles.gyro_offset[2] = param_find("SENS_GYRO_ZOFF"); - _parameter_handles.gyro_scale[0] = param_find("SENS_GYRO_XSCALE"); - _parameter_handles.gyro_scale[1] = param_find("SENS_GYRO_YSCALE"); - _parameter_handles.gyro_scale[2] = param_find("SENS_GYRO_ZSCALE"); + _parameter_handles.gyro_offset[0] = param_find("CAL_GYRO0_XOFF"); + _parameter_handles.gyro_offset[1] = param_find("CAL_GYRO0_YOFF"); + _parameter_handles.gyro_offset[2] = param_find("CAL_GYRO0_ZOFF"); + _parameter_handles.gyro_scale[0] = param_find("CAL_GYRO0_XSCALE"); + _parameter_handles.gyro_scale[1] = param_find("CAL_GYRO0_YSCALE"); + _parameter_handles.gyro_scale[2] = param_find("CAL_GYRO0_ZSCALE"); /* accel offsets */ - _parameter_handles.accel_offset[0] = param_find("SENS_ACC_XOFF"); - _parameter_handles.accel_offset[1] = param_find("SENS_ACC_YOFF"); - _parameter_handles.accel_offset[2] = param_find("SENS_ACC_ZOFF"); - _parameter_handles.accel_scale[0] = param_find("SENS_ACC_XSCALE"); - _parameter_handles.accel_scale[1] = param_find("SENS_ACC_YSCALE"); - _parameter_handles.accel_scale[2] = param_find("SENS_ACC_ZSCALE"); + _parameter_handles.accel_offset[0] = param_find("CAL_ACC0_XOFF"); + _parameter_handles.accel_offset[1] = param_find("CAL_ACC0_YOFF"); + _parameter_handles.accel_offset[2] = param_find("CAL_ACC0_ZOFF"); + _parameter_handles.accel_scale[0] = param_find("CAL_ACC0_XSCALE"); + _parameter_handles.accel_scale[1] = param_find("CAL_ACC0_YSCALE"); + _parameter_handles.accel_scale[2] = param_find("CAL_ACC0_ZSCALE"); /* mag offsets */ - _parameter_handles.mag_offset[0] = param_find("SENS_MAG_XOFF"); - _parameter_handles.mag_offset[1] = param_find("SENS_MAG_YOFF"); - _parameter_handles.mag_offset[2] = param_find("SENS_MAG_ZOFF"); + _parameter_handles.mag_offset[0] = param_find("CAL_MAG0_XOFF"); + _parameter_handles.mag_offset[1] = param_find("CAL_MAG0_YOFF"); + _parameter_handles.mag_offset[2] = param_find("CAL_MAG0_ZOFF"); - _parameter_handles.mag_scale[0] = param_find("SENS_MAG_XSCALE"); - _parameter_handles.mag_scale[1] = param_find("SENS_MAG_YSCALE"); - _parameter_handles.mag_scale[2] = param_find("SENS_MAG_ZSCALE"); + _parameter_handles.mag_scale[0] = param_find("CAL_MAG0_XSCALE"); + _parameter_handles.mag_scale[1] = param_find("CAL_MAG0_YSCALE"); + _parameter_handles.mag_scale[2] = param_find("CAL_MAG0_ZSCALE"); /* Differential pressure offset */ _parameter_handles.diff_pres_offset_pa = param_find("SENS_DPRES_OFF"); @@ -786,9 +786,11 @@ Sensors::parameters_update() param_get(_parameter_handles.rc_map_aux3, &(_parameters.rc_map_aux3)); param_get(_parameter_handles.rc_map_aux4, &(_parameters.rc_map_aux4)); param_get(_parameter_handles.rc_map_aux5, &(_parameters.rc_map_aux5)); + for (int i = 0; i < RC_PARAM_MAP_NCHAN; i++) { param_get(_parameter_handles.rc_map_param[i], &(_parameters.rc_map_param[i])); } + param_get(_parameter_handles.rc_fails_thr, &(_parameters.rc_fails_thr)); param_get(_parameter_handles.rc_assist_th, &(_parameters.rc_assist_th)); _parameters.rc_assist_inv = (_parameters.rc_assist_th < 0); @@ -813,28 +815,28 @@ Sensors::parameters_update() _parameters.rc_offboard_th = fabs(_parameters.rc_offboard_th); /* update RC function mappings */ - _rc.function[THROTTLE] = _parameters.rc_map_throttle - 1; - _rc.function[ROLL] = _parameters.rc_map_roll - 1; - _rc.function[PITCH] = _parameters.rc_map_pitch - 1; - _rc.function[YAW] = _parameters.rc_map_yaw - 1; - - _rc.function[MODE] = _parameters.rc_map_mode_sw - 1; - _rc.function[RETURN] = _parameters.rc_map_return_sw - 1; - _rc.function[POSCTL] = _parameters.rc_map_posctl_sw - 1; - _rc.function[LOITER] = _parameters.rc_map_loiter_sw - 1; - _rc.function[ACRO] = _parameters.rc_map_acro_sw - 1; - _rc.function[OFFBOARD] = _parameters.rc_map_offboard_sw - 1; - - _rc.function[FLAPS] = _parameters.rc_map_flaps - 1; - - _rc.function[AUX_1] = _parameters.rc_map_aux1 - 1; - _rc.function[AUX_2] = _parameters.rc_map_aux2 - 1; - _rc.function[AUX_3] = _parameters.rc_map_aux3 - 1; - _rc.function[AUX_4] = _parameters.rc_map_aux4 - 1; - _rc.function[AUX_5] = _parameters.rc_map_aux5 - 1; + _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_THROTTLE] = _parameters.rc_map_throttle - 1; + _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_ROLL] = _parameters.rc_map_roll - 1; + _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PITCH] = _parameters.rc_map_pitch - 1; + _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_YAW] = _parameters.rc_map_yaw - 1; + + _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_MODE] = _parameters.rc_map_mode_sw - 1; + _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_RETURN] = _parameters.rc_map_return_sw - 1; + _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_POSCTL] = _parameters.rc_map_posctl_sw - 1; + _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_LOITER] = _parameters.rc_map_loiter_sw - 1; + _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_ACRO] = _parameters.rc_map_acro_sw - 1; + _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_OFFBOARD] = _parameters.rc_map_offboard_sw - 1; + + _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_FLAPS] = _parameters.rc_map_flaps - 1; + + _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_1] = _parameters.rc_map_aux1 - 1; + _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_2] = _parameters.rc_map_aux2 - 1; + _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_3] = _parameters.rc_map_aux3 - 1; + _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_4] = _parameters.rc_map_aux4 - 1; + _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_5] = _parameters.rc_map_aux5 - 1; for (int i = 0; i < RC_PARAM_MAP_NCHAN; i++) { - _rc.function[PARAM_1 + i] = _parameters.rc_map_param[i] - 1; + _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PARAM_1 + i] = _parameters.rc_map_param[i] - 1; } /* gyro offsets */ @@ -883,16 +885,19 @@ Sensors::parameters_update() /* set px4flow rotation */ int flowfd; flowfd = open(PX4FLOW_DEVICE_PATH, 0); + if (flowfd >= 0) { - int flowret = ioctl(flowfd, SENSORIOCSROTATION, _parameters.flow_rotation); - if (flowret) { - warnx("flow rotation could not be set"); + int flowret = ioctl(flowfd, SENSORIOCSROTATION, _parameters.flow_rotation); + + if (flowret) { + warnx("flow rotation could not be set"); close(flowfd); return ERROR; - } + } + close(flowfd); - } - + } + get_rot_matrix((enum Rotation)_parameters.board_rotation, &_board_rotation); get_rot_matrix((enum Rotation)_parameters.external_mag_rotation, &_external_mag_rotation); @@ -902,9 +907,9 @@ Sensors::parameters_update() /** fine tune board offset on parameter update **/ math::Matrix<3, 3> board_rotation_offset; - board_rotation_offset.from_euler( M_DEG_TO_RAD_F * _parameters.board_offset[0], - M_DEG_TO_RAD_F * _parameters.board_offset[1], - M_DEG_TO_RAD_F * _parameters.board_offset[2]); + board_rotation_offset.from_euler(M_DEG_TO_RAD_F * _parameters.board_offset[0], + M_DEG_TO_RAD_F * _parameters.board_offset[1], + M_DEG_TO_RAD_F * _parameters.board_offset[2]); _board_rotation = _board_rotation * board_rotation_offset; @@ -912,17 +917,20 @@ Sensors::parameters_update() param_get(_parameter_handles.baro_qnh, &(_parameters.baro_qnh)); int barofd; barofd = open(BARO_DEVICE_PATH, 0); + if (barofd < 0) { warnx("ERROR: no barometer foundon %s", BARO_DEVICE_PATH); return ERROR; } else { int baroret = ioctl(barofd, BAROIOCSMSLPRESSURE, (unsigned long)(_parameters.baro_qnh * 100)); + if (baroret) { warnx("qnh could not be set"); close(barofd); return ERROR; } + close(barofd); } @@ -942,28 +950,11 @@ Sensors::accel_init() } else { - // XXX do the check more elegantly + /* set the accel internal sampling rate to default rate */ + ioctl(fd, ACCELIOCSSAMPLERATE, ACCEL_SAMPLERATE_DEFAULT); -#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 - - /* set the accel internal sampling rate up to at leat 1000Hz */ - ioctl(fd, ACCELIOCSSAMPLERATE, 1000); - - /* set the driver to poll at 1000Hz */ - ioctl(fd, SENSORIOCSPOLLRATE, 1000); - -#elif CONFIG_ARCH_BOARD_PX4FMU_V2 || CONFIG_ARCH_BOARD_AEROCORE - - /* set the accel internal sampling rate up to at leat 800Hz */ - ioctl(fd, ACCELIOCSSAMPLERATE, 800); - - /* set the driver to poll at 800Hz */ - ioctl(fd, SENSORIOCSPOLLRATE, 800); - -#else -#error Need a board configuration, either CONFIG_ARCH_BOARD_PX4FMU_V1, CONFIG_ARCH_BOARD_PX4FMU_V2 or CONFIG_ARCH_BOARD_AEROCORE - -#endif + /* set the driver to poll at default rate */ + ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT); close(fd); } @@ -984,31 +975,12 @@ Sensors::gyro_init() } else { - // XXX do the check more elegantly - -#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 - - /* set the gyro internal sampling rate up to at least 1000Hz */ - if (ioctl(fd, GYROIOCSSAMPLERATE, 1000) != OK) { - ioctl(fd, GYROIOCSSAMPLERATE, 800); - } - - /* set the driver to poll at 1000Hz */ - if (ioctl(fd, SENSORIOCSPOLLRATE, 1000) != OK) { - ioctl(fd, SENSORIOCSPOLLRATE, 800); - } - -#else - - /* set the gyro internal sampling rate up to at least 760Hz */ - ioctl(fd, GYROIOCSSAMPLERATE, 760); - - /* set the driver to poll at 760Hz */ - ioctl(fd, SENSORIOCSPOLLRATE, 760); + /* set the gyro internal sampling rate to default rate */ + ioctl(fd, GYROIOCSSAMPLERATE, GYRO_SAMPLERATE_DEFAULT); -#endif + /* set the driver to poll at default rate */ + ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT); - close(fd); } return OK; @@ -1348,14 +1320,17 @@ Sensors::diff_pres_poll(struct sensor_combined_s &raw) raw.differential_pressure_timestamp = _diff_pres.timestamp; raw.differential_pressure_filtered_pa = _diff_pres.differential_pressure_filtered_pa; - float air_temperature_celsius = (_diff_pres.temperature > -300.0f) ? _diff_pres.temperature : (raw.baro_temp_celcius - PCB_TEMP_ESTIMATE_DEG); + float air_temperature_celsius = (_diff_pres.temperature > -300.0f) ? _diff_pres.temperature : + (raw.baro_temp_celcius - PCB_TEMP_ESTIMATE_DEG); _airspeed.timestamp = _diff_pres.timestamp; /* don't risk to feed negative airspeed into the system */ - _airspeed.indicated_airspeed_m_s = math::max(0.0f, calc_indicated_airspeed(_diff_pres.differential_pressure_filtered_pa)); - _airspeed.true_airspeed_m_s = math::max(0.0f, calc_true_airspeed(_diff_pres.differential_pressure_filtered_pa + raw.baro_pres_mbar * 1e2f, - raw.baro_pres_mbar * 1e2f, air_temperature_celsius)); + _airspeed.indicated_airspeed_m_s = math::max(0.0f, + calc_indicated_airspeed(_diff_pres.differential_pressure_filtered_pa)); + _airspeed.true_airspeed_m_s = math::max(0.0f, + calc_true_airspeed(_diff_pres.differential_pressure_filtered_pa + raw.baro_pres_mbar * 1e2f, + raw.baro_pres_mbar * 1e2f, air_temperature_celsius)); _airspeed.air_temperature_celsius = air_temperature_celsius; /* announce the airspeed if needed, just publish else */ @@ -1479,8 +1454,10 @@ Sensors::parameter_update_poll(bool forced) } #if 0 - printf("CH0: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[0], (int)_parameters.min[0], (int)(_rc.channels[0].scaling_factor * 10000), (int)(_rc.channels[0].mid), (int)_rc.function[0]); - printf("CH1: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[1], (int)_parameters.min[1], (int)(_rc.channels[1].scaling_factor * 10000), (int)(_rc.channels[1].mid), (int)_rc.function[1]); + printf("CH0: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[0], (int)_parameters.min[0], + (int)(_rc.channels[0].scaling_factor * 10000), (int)(_rc.channels[0].mid), (int)_rc.function[0]); + printf("CH1: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[1], (int)_parameters.min[1], + (int)(_rc.channels[1].scaling_factor * 10000), (int)(_rc.channels[1].mid), (int)_rc.function[1]); printf("MAN: %d %d\n", (int)(_rc.channels[0] * 100), (int)(_rc.channels[1] * 100)); fflush(stdout); usleep(5000); @@ -1496,9 +1473,10 @@ Sensors::rc_parameter_map_poll(bool forced) if (map_updated) { orb_copy(ORB_ID(rc_parameter_map), _rc_parameter_map_sub, &_rc_parameter_map); + /* update paramter handles to which the RC channels are mapped */ for (int i = 0; i < RC_PARAM_MAP_NCHAN; i++) { - if (_rc.function[PARAM_1 + i] < 0 || !_rc_parameter_map.valid[i]) { + if (_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PARAM_1 + i] < 0 || !_rc_parameter_map.valid[i]) { /* This RC channel is not mapped to a RC-Parameter Channel (e.g. RC_MAP_PARAM1 == 0) * or no request to map this channel to a param has been sent via mavlink */ @@ -1508,21 +1486,24 @@ Sensors::rc_parameter_map_poll(bool forced) /* Set the handle by index if the index is set, otherwise use the id */ if (_rc_parameter_map.param_index[i] >= 0) { _parameter_handles.rc_param[i] = param_for_index((unsigned)_rc_parameter_map.param_index[i]); + } else { _parameter_handles.rc_param[i] = param_find(_rc_parameter_map.param_id[i]); } } + warnx("rc to parameter map updated"); + for (int i = 0; i < RC_PARAM_MAP_NCHAN; i++) { warnx("\ti %d param_id %s scale %.3f value0 %.3f, min %.3f, max %.3f", - i, - _rc_parameter_map.param_id[i], - (double)_rc_parameter_map.scale[i], - (double)_rc_parameter_map.value0[i], - (double)_rc_parameter_map.value_min[i], - (double)_rc_parameter_map.value_max[i] - ); + i, + _rc_parameter_map.param_id[i], + (double)_rc_parameter_map.scale[i], + (double)_rc_parameter_map.value0[i], + (double)_rc_parameter_map.value_min[i], + (double)_rc_parameter_map.value_max[i] + ); } } } @@ -1616,7 +1597,8 @@ Sensors::adc_poll(struct sensor_combined_s &raw) _diff_pres.timestamp = t; _diff_pres.differential_pressure_raw_pa = diff_pres_pa_raw; - _diff_pres.differential_pressure_filtered_pa = (_diff_pres.differential_pressure_filtered_pa * 0.9f) + (diff_pres_pa_raw * 0.1f); + _diff_pres.differential_pressure_filtered_pa = (_diff_pres.differential_pressure_filtered_pa * 0.9f) + + (diff_pres_pa_raw * 0.1f); _diff_pres.temperature = -1000.0f; /* announce the airspeed if needed, just publish else */ @@ -1646,7 +1628,7 @@ Sensors::adc_poll(struct sensor_combined_s &raw) } float -Sensors::get_rc_value(enum RC_CHANNELS_FUNCTION func, float min_value, float max_value) +Sensors::get_rc_value(uint8_t func, float min_value, float max_value) { if (_rc.function[func] >= 0) { float value = _rc.channels[_rc.function[func]]; @@ -1667,41 +1649,41 @@ Sensors::get_rc_value(enum RC_CHANNELS_FUNCTION func, float min_value, float max } switch_pos_t -Sensors::get_rc_sw3pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, bool on_inv, float mid_th, bool mid_inv) +Sensors::get_rc_sw3pos_position(uint8_t func, float on_th, bool on_inv, float mid_th, bool mid_inv) { if (_rc.function[func] >= 0) { float value = 0.5f * _rc.channels[_rc.function[func]] + 0.5f; if (on_inv ? value < on_th : value > on_th) { - return SWITCH_POS_ON; + return manual_control_setpoint_s::SWITCH_POS_ON; } else if (mid_inv ? value < mid_th : value > mid_th) { - return SWITCH_POS_MIDDLE; + return manual_control_setpoint_s::SWITCH_POS_MIDDLE; } else { - return SWITCH_POS_OFF; + return manual_control_setpoint_s::SWITCH_POS_OFF; } } else { - return SWITCH_POS_NONE; + return manual_control_setpoint_s::SWITCH_POS_NONE; } } switch_pos_t -Sensors::get_rc_sw2pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, bool on_inv) +Sensors::get_rc_sw2pos_position(uint8_t func, float on_th, bool on_inv) { if (_rc.function[func] >= 0) { float value = 0.5f * _rc.channels[_rc.function[func]] + 0.5f; if (on_inv ? value < on_th : value > on_th) { - return SWITCH_POS_ON; + return manual_control_setpoint_s::SWITCH_POS_ON; } else { - return SWITCH_POS_OFF; + return manual_control_setpoint_s::SWITCH_POS_OFF; } } else { - return SWITCH_POS_NONE; + return manual_control_setpoint_s::SWITCH_POS_NONE; } } @@ -1709,22 +1691,23 @@ void Sensors::set_params_from_rc() { static float param_rc_values[RC_PARAM_MAP_NCHAN] = {}; + for (int i = 0; i < RC_PARAM_MAP_NCHAN; i++) { - if (_rc.function[PARAM_1 + i] < 0 || !_rc_parameter_map.valid[i]) { + if (_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PARAM_1 + i] < 0 || !_rc_parameter_map.valid[i]) { /* This RC channel is not mapped to a RC-Parameter Channel (e.g. RC_MAP_PARAM1 == 0) * or no request to map this channel to a param has been sent via mavlink */ continue; } - float rc_val = get_rc_value((enum RC_CHANNELS_FUNCTION)(PARAM_1 + i), -1.0, 1.0); + float rc_val = get_rc_value((rc_channels_s::RC_CHANNELS_FUNCTION_PARAM_1 + i), -1.0, 1.0); /* Check if the value has changed, * maybe we need to introduce a more aggressive limit here */ if (rc_val > param_rc_values[i] + FLT_EPSILON || rc_val < param_rc_values[i] - FLT_EPSILON) { param_rc_values[i] = rc_val; float param_val = math::constrain( - _rc_parameter_map.value0[i] + _rc_parameter_map.scale[i] * rc_val, - _rc_parameter_map.value_min[i], _rc_parameter_map.value_max[i]); + _rc_parameter_map.value0[i] + _rc_parameter_map.scale[i] * rc_val, + _rc_parameter_map.value_min[i], _rc_parameter_map.value_max[i]); param_set(_parameter_handles.rc_param[i], ¶m_val); } } @@ -1808,10 +1791,12 @@ Sensors::rc_poll() * DO NOT REMOVE OR ALTER STEP 1! */ if (rc_input.values[i] > (_parameters.trim[i] + _parameters.dz[i])) { - _rc.channels[i] = (rc_input.values[i] - _parameters.trim[i] - _parameters.dz[i]) / (float)(_parameters.max[i] - _parameters.trim[i] - _parameters.dz[i]); + _rc.channels[i] = (rc_input.values[i] - _parameters.trim[i] - _parameters.dz[i]) / (float)( + _parameters.max[i] - _parameters.trim[i] - _parameters.dz[i]); } else if (rc_input.values[i] < (_parameters.trim[i] - _parameters.dz[i])) { - _rc.channels[i] = (rc_input.values[i] - _parameters.trim[i] + _parameters.dz[i]) / (float)(_parameters.trim[i] - _parameters.min[i] - _parameters.dz[i]); + _rc.channels[i] = (rc_input.values[i] - _parameters.trim[i] + _parameters.dz[i]) / (float)( + _parameters.trim[i] - _parameters.min[i] - _parameters.dz[i]); } else { /* in the configured dead zone, output zero */ @@ -1847,24 +1832,24 @@ Sensors::rc_poll() manual.timestamp = rc_input.timestamp_last_signal; /* limit controls */ - manual.y = get_rc_value(ROLL, -1.0, 1.0); - manual.x = get_rc_value(PITCH, -1.0, 1.0); - manual.r = get_rc_value(YAW, -1.0, 1.0); - manual.z = get_rc_value(THROTTLE, 0.0, 1.0); - manual.flaps = get_rc_value(FLAPS, -1.0, 1.0); - manual.aux1 = get_rc_value(AUX_1, -1.0, 1.0); - manual.aux2 = get_rc_value(AUX_2, -1.0, 1.0); - manual.aux3 = get_rc_value(AUX_3, -1.0, 1.0); - manual.aux4 = get_rc_value(AUX_4, -1.0, 1.0); - manual.aux5 = get_rc_value(AUX_5, -1.0, 1.0); + manual.y = get_rc_value (rc_channels_s::RC_CHANNELS_FUNCTION_ROLL, -1.0, 1.0); + manual.x = get_rc_value (rc_channels_s::RC_CHANNELS_FUNCTION_PITCH, -1.0, 1.0); + manual.r = get_rc_value (rc_channels_s::RC_CHANNELS_FUNCTION_YAW, -1.0, 1.0); + manual.z = get_rc_value (rc_channels_s::RC_CHANNELS_FUNCTION_THROTTLE, 0.0, 1.0); + manual.flaps = get_rc_value (rc_channels_s::RC_CHANNELS_FUNCTION_FLAPS, -1.0, 1.0); + manual.aux1 = get_rc_value (rc_channels_s::RC_CHANNELS_FUNCTION_AUX_1, -1.0, 1.0); + manual.aux2 = get_rc_value (rc_channels_s::RC_CHANNELS_FUNCTION_AUX_2, -1.0, 1.0); + manual.aux3 = get_rc_value (rc_channels_s::RC_CHANNELS_FUNCTION_AUX_3, -1.0, 1.0); + manual.aux4 = get_rc_value (rc_channels_s::RC_CHANNELS_FUNCTION_AUX_4, -1.0, 1.0); + manual.aux5 = get_rc_value (rc_channels_s::RC_CHANNELS_FUNCTION_AUX_5, -1.0, 1.0); /* mode switches */ - manual.mode_switch = get_rc_sw3pos_position(MODE, _parameters.rc_auto_th, _parameters.rc_auto_inv, _parameters.rc_assist_th, _parameters.rc_assist_inv); - manual.posctl_switch = get_rc_sw2pos_position(POSCTL, _parameters.rc_posctl_th, _parameters.rc_posctl_inv); - manual.return_switch = get_rc_sw2pos_position(RETURN, _parameters.rc_return_th, _parameters.rc_return_inv); - manual.loiter_switch = get_rc_sw2pos_position(LOITER, _parameters.rc_loiter_th, _parameters.rc_loiter_inv); - manual.acro_switch = get_rc_sw2pos_position(ACRO, _parameters.rc_acro_th, _parameters.rc_acro_inv); - manual.offboard_switch = get_rc_sw2pos_position(OFFBOARD, _parameters.rc_offboard_th, _parameters.rc_offboard_inv); + manual.mode_switch = get_rc_sw3pos_position (rc_channels_s::RC_CHANNELS_FUNCTION_MODE, _parameters.rc_auto_th, _parameters.rc_auto_inv, _parameters.rc_assist_th, _parameters.rc_assist_inv); + manual.posctl_switch = get_rc_sw2pos_position (rc_channels_s::RC_CHANNELS_FUNCTION_POSCTL, _parameters.rc_posctl_th, _parameters.rc_posctl_inv); + manual.return_switch = get_rc_sw2pos_position (rc_channels_s::RC_CHANNELS_FUNCTION_RETURN, _parameters.rc_return_th, _parameters.rc_return_inv); + manual.loiter_switch = get_rc_sw2pos_position (rc_channels_s::RC_CHANNELS_FUNCTION_LOITER, _parameters.rc_loiter_th, _parameters.rc_loiter_inv); + manual.acro_switch = get_rc_sw2pos_position (rc_channels_s::RC_CHANNELS_FUNCTION_ACRO, _parameters.rc_acro_th, _parameters.rc_acro_inv); + manual.offboard_switch = get_rc_sw2pos_position (rc_channels_s::RC_CHANNELS_FUNCTION_OFFBOARD, _parameters.rc_offboard_th, _parameters.rc_offboard_inv); /* publish manual_control_setpoint topic */ if (_manual_control_pub > 0) { @@ -1899,6 +1884,7 @@ Sensors::rc_poll() /* Update parameters from RC Channels (tuning with RC) if activated */ static hrt_abstime last_rc_to_param_map_time = 0; + if (hrt_elapsed_time(&last_rc_to_param_map_time) > 1e6) { set_params_from_rc(); last_rc_to_param_map_time = hrt_absolute_time(); @@ -1920,22 +1906,31 @@ Sensors::task_main() /* start individual sensors */ int ret; ret = accel_init(); + if (ret) { goto exit_immediate; } + ret = gyro_init(); + if (ret) { goto exit_immediate; } + ret = mag_init(); + if (ret) { goto exit_immediate; } + ret = baro_init(); + if (ret) { goto exit_immediate; } + ret = adc_init(); + if (ret) { goto exit_immediate; } @@ -2075,7 +2070,7 @@ Sensors::start() nullptr); /* wait until the task is up and running or has failed */ - while(_sensors_task > 0 && _task_should_exit) { + while (_sensors_task > 0 && _task_should_exit) { usleep(100); } |