diff options
Diffstat (limited to 'src/modules/systemlib')
| -rw-r--r-- | src/modules/systemlib/mixer/mixer.h | 3 | ||||
| -rw-r--r-- | src/modules/systemlib/mixer/mixer_load.c | 1 | ||||
| -rw-r--r-- | src/modules/systemlib/mixer/mixer_multirotor.cpp | 112 | ||||
| -rwxr-xr-x | src/modules/systemlib/mixer/multi_tables | 15 | ||||
| -rw-r--r-- | src/modules/systemlib/param/param.c | 64 | ||||
| -rw-r--r-- | src/modules/systemlib/perf_counter.c | 16 | ||||
| -rw-r--r-- | src/modules/systemlib/perf_counter.h | 14 | ||||
| -rw-r--r-- | src/modules/systemlib/pid/pid.c | 2 | ||||
| -rw-r--r-- | src/modules/systemlib/pwm_limit/pwm_limit.c | 14 | ||||
| -rw-r--r-- | src/modules/systemlib/rc_check.c | 2 |
10 files changed, 122 insertions, 121 deletions
diff --git a/src/modules/systemlib/mixer/mixer.h b/src/modules/systemlib/mixer/mixer.h index 1c889a811..225570fa4 100644 --- a/src/modules/systemlib/mixer/mixer.h +++ b/src/modules/systemlib/mixer/mixer.h @@ -447,6 +447,7 @@ public: QUAD_WIDE, /**< quad in wide configuration */ HEX_X, /**< hex in X configuration */ HEX_PLUS, /**< hex in + configuration */ + HEX_COX, OCTA_X, OCTA_PLUS, OCTA_COX, @@ -516,7 +517,7 @@ private: float _roll_scale; float _pitch_scale; float _yaw_scale; - float _deadband; + float _idle_speed; unsigned _rotor_count; const Rotor *_rotors; diff --git a/src/modules/systemlib/mixer/mixer_load.c b/src/modules/systemlib/mixer/mixer_load.c index b05273c0d..bf3428a50 100644 --- a/src/modules/systemlib/mixer/mixer_load.c +++ b/src/modules/systemlib/mixer/mixer_load.c @@ -41,6 +41,7 @@ #include <string.h> #include <stdio.h> #include <ctype.h> +#include <systemlib/err.h> #include "mixer_load.h" diff --git a/src/modules/systemlib/mixer/mixer_multirotor.cpp b/src/modules/systemlib/mixer/mixer_multirotor.cpp index bf77795d5..092c0e2b0 100644 --- a/src/modules/systemlib/mixer/mixer_multirotor.cpp +++ b/src/modules/systemlib/mixer/mixer_multirotor.cpp @@ -67,6 +67,11 @@ namespace { +float constrain(float val, float min, float max) +{ + return (val < min) ? min : ((val > max) ? max : val); +} + /* * These tables automatically generated by multi_tables - do not edit. */ @@ -110,6 +115,14 @@ const MultirotorMixer::Rotor _config_hex_plus[] = { { 0.866025, 0.500000, 1.00 }, { -0.866025, -0.500000, -1.00 }, }; +const MultirotorMixer::Rotor _config_hex_cox[] = { + { -0.866025, 0.500000, -1.00 }, + { -0.866025, 0.500000, 1.00 }, + { -0.000000, -1.000000, -1.00 }, + { -0.000000, -1.000000, 1.00 }, + { 0.866025, 0.500000, -1.00 }, + { 0.866025, 0.500000, 1.00 }, +}; const MultirotorMixer::Rotor _config_octa_x[] = { { -0.382683, 0.923880, -1.00 }, { 0.382683, -0.923880, -1.00 }, @@ -147,6 +160,7 @@ const MultirotorMixer::Rotor *_config_index[MultirotorMixer::MAX_GEOMETRY] = { &_config_quad_wide[0], &_config_hex_x[0], &_config_hex_plus[0], + &_config_hex_cox[0], &_config_octa_x[0], &_config_octa_plus[0], &_config_octa_cox[0], @@ -158,6 +172,7 @@ const unsigned _config_rotor_count[MultirotorMixer::MAX_GEOMETRY] = { 4, /* quad_wide */ 6, /* hex_x */ 6, /* hex_plus */ + 6, /* hex_cox */ 8, /* octa_x */ 8, /* octa_plus */ 8, /* octa_cox */ @@ -171,12 +186,12 @@ MultirotorMixer::MultirotorMixer(ControlCallback control_cb, float roll_scale, float pitch_scale, float yaw_scale, - float deadband) : + float idle_speed) : Mixer(control_cb, cb_handle), _roll_scale(roll_scale), _pitch_scale(pitch_scale), _yaw_scale(yaw_scale), - _deadband(-1.0f + deadband), /* shift to output range here to avoid runtime calculation */ + _idle_speed(-1.0f + idle_speed * 2.0f), /* shift to output range here to avoid runtime calculation */ _rotor_count(_config_rotor_count[geometry]), _rotors(_config_index[geometry]) { @@ -247,6 +262,9 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl } else if (!strcmp(geomname, "6x")) { geometry = MultirotorMixer::HEX_X; + } else if (!strcmp(geomname, "6c")) { + geometry = MultirotorMixer::HEX_COX; + } else if (!strcmp(geomname, "8+")) { geometry = MultirotorMixer::OCTA_PLUS; @@ -276,67 +294,67 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl unsigned MultirotorMixer::mix(float *outputs, unsigned space) { - float roll = get_control(0, 0) * _roll_scale; + float roll = constrain(get_control(0, 0) * _roll_scale, -1.0f, 1.0f); //lowsyslog("roll: %d, get_control0: %d, %d\n", (int)(roll), (int)(get_control(0, 0)), (int)(_roll_scale)); - float pitch = get_control(0, 1) * _pitch_scale; - float yaw = get_control(0, 2) * _yaw_scale; - float thrust = get_control(0, 3); + float pitch = constrain(get_control(0, 1) * _pitch_scale, -1.0f, 1.0f); + float yaw = constrain(get_control(0, 2) * _yaw_scale, -1.0f, 1.0f); + float thrust = constrain(get_control(0, 3), 0.0f, 1.0f); //lowsyslog("thrust: %d, get_control3: %d\n", (int)(thrust), (int)(get_control(0, 3))); - float max = 0.0f; - float fixup_scale; + float min_out = 0.0f; + float max_out = 0.0f; + float scale_yaw = 1.0f; - /* use an output factor to prevent too strong control signals at low throttle */ - float min_thrust = 0.05f; - float max_thrust = 1.0f; - float startpoint_full_control = 0.40f; - float output_factor; + /* perform initial mix pass yielding unbounded outputs, ignore yaw */ + for (unsigned i = 0; i < _rotor_count; i++) { + float out = roll * _rotors[i].roll_scale + + pitch * _rotors[i].pitch_scale + + thrust; - /* keep roll, pitch and yaw control to 0 below min thrust */ - if (thrust <= min_thrust) { - output_factor = 0.0f; - /* linearly increase the output factor from 0 to 1 between min_thrust and startpoint_full_control */ + /* limit yaw if it causes outputs clipping */ + if (out >= 0.0f && out < -yaw * _rotors[i].yaw_scale) { + yaw = -out / _rotors[i].yaw_scale; + } - } else if (thrust < startpoint_full_control && thrust > min_thrust) { - output_factor = (thrust / max_thrust) / (startpoint_full_control - min_thrust); - /* and then stay at full control */ + /* calculate min and max output values */ + if (out < min_out) { + min_out = out; + } + if (out > max_out) { + max_out = out; + } - } else { - output_factor = max_thrust; + outputs[i] = out; } - roll *= output_factor; - pitch *= output_factor; - yaw *= output_factor; - - - /* perform initial mix pass yielding un-bounded outputs */ - for (unsigned i = 0; i < _rotor_count; i++) { - float tmp = roll * _rotors[i].roll_scale + - pitch * _rotors[i].pitch_scale + - yaw * _rotors[i].yaw_scale + - thrust; + /* scale down roll/pitch controls if some outputs are negative, don't add yaw, keep total thrust */ + if (min_out < 0.0) { + float scale_in = thrust / (thrust - min_out); - if (tmp > max) - max = tmp; + /* mix again with adjusted controls */ + for (unsigned i = 0; i < _rotor_count; i++) { + outputs[i] = scale_in * (roll * _rotors[i].roll_scale + pitch * _rotors[i].pitch_scale) + thrust; + } - outputs[i] = tmp; + } else { + /* roll/pitch mixed without limiting, add yaw control */ + for (unsigned i = 0; i < _rotor_count; i++) { + outputs[i] += yaw * _rotors[i].yaw_scale; + } } - /* scale values into the -1.0 - 1.0 range */ - if (max > 1.0f) { - fixup_scale = 2.0f / max; + /* scale down all outputs if some outputs are too large, reduce total thrust */ + float scale_out; + if (max_out > 1.0f) { + scale_out = 1.0f / max_out; } else { - fixup_scale = 2.0f; + scale_out = 1.0f; } - for (unsigned i = 0; i < _rotor_count; i++) - outputs[i] = -1.0f + (outputs[i] * fixup_scale); - - /* ensure outputs are out of the deadband */ - for (unsigned i = 0; i < _rotor_count; i++) - if (outputs[i] < _deadband) - outputs[i] = _deadband; + /* scale outputs to range _idle_speed..1, and do final limiting */ + for (unsigned i = 0; i < _rotor_count; i++) { + outputs[i] = constrain(_idle_speed + (outputs[i] * (1.0f - _idle_speed) * scale_out), _idle_speed, 1.0f); + } return _rotor_count; } diff --git a/src/modules/systemlib/mixer/multi_tables b/src/modules/systemlib/mixer/multi_tables index 050bf2f47..b5698036e 100755 --- a/src/modules/systemlib/mixer/multi_tables +++ b/src/modules/systemlib/mixer/multi_tables @@ -52,6 +52,15 @@ set hex_plus { 120 CW } +set hex_cox { + 60 CW + 60 CCW + 180 CW + 180 CCW + -60 CW + -60 CCW +} + set octa_x { 22.5 CW -157.5 CW @@ -85,7 +94,7 @@ set octa_cox { -135 CW } -set tables {quad_x quad_plus quad_v quad_wide hex_x hex_plus octa_x octa_plus octa_cox} +set tables {quad_x quad_plus quad_v quad_wide hex_x hex_plus hex_cox octa_x octa_plus octa_cox} proc factors {a d} { puts [format "\t{ %9.6f, %9.6f, %5.2f }," [rcos [expr $a + 90]] [rcos $a] [expr -$d]]} @@ -104,13 +113,13 @@ foreach table $tables { puts "};" } -puts "const MultirotorMixer::Rotor *_config_index\[MultirotorMixer::Geometry::MAX_GEOMETRY\] = {" +puts "const MultirotorMixer::Rotor *_config_index\[MultirotorMixer::MAX_GEOMETRY\] = {" foreach table $tables { puts [format "\t&_config_%s\[0\]," $table] } puts "};" -puts "const unsigned _config_rotor_count\[MultirotorMixer::Geometry::MAX_GEOMETRY\] = {" +puts "const unsigned _config_rotor_count\[MultirotorMixer::MAX_GEOMETRY\] = {" foreach table $tables { upvar #0 $table angles puts [format "\t%u, /* %s */" [expr [llength $angles] / 2] $table] diff --git a/src/modules/systemlib/param/param.c b/src/modules/systemlib/param/param.c index 2d773fd25..7a499ca72 100644 --- a/src/modules/systemlib/param/param.c +++ b/src/modules/systemlib/param/param.c @@ -521,73 +521,15 @@ param_save_default(void) return ERROR; } - if (res == OK) { - res = param_export(fd, false); + res = param_export(fd, false); - if (res != OK) { - warnx("failed to write parameters to file: %s", filename); - } + if (res != OK) { + warnx("failed to write parameters to file: %s", filename); } close(fd); return res; - -#if 0 - const char *filename_tmp = malloc(strlen(filename) + 5); - sprintf(filename_tmp, "%s.tmp", filename); - - /* delete temp file if exist */ - res = unlink(filename_tmp); - - if (res != OK && errno == ENOENT) - res = OK; - - if (res != OK) - warn("failed to delete temp file: %s", filename_tmp); - - if (res == OK) { - /* write parameters to temp file */ - fd = open(filename_tmp, O_WRONLY | O_CREAT | O_EXCL); - - if (fd < 0) { - warn("failed to open temp file: %s", filename_tmp); - res = ERROR; - } - - if (res == OK) { - res = param_export(fd, false); - - if (res != OK) - warnx("failed to write parameters to file: %s", filename_tmp); - } - - close(fd); - } - - if (res == OK) { - /* delete parameters file */ - res = unlink(filename); - - if (res != OK && errno == ENOENT) - res = OK; - - if (res != OK) - warn("failed to delete parameters file: %s", filename); - } - - if (res == OK) { - /* rename temp file to parameters */ - res = rename(filename_tmp, filename); - - if (res != OK) - warn("failed to rename %s to %s", filename_tmp, filename); - } - - free(filename_tmp); - - return res; -#endif } /** diff --git a/src/modules/systemlib/perf_counter.c b/src/modules/systemlib/perf_counter.c index b4ca0ed3e..22182e39e 100644 --- a/src/modules/systemlib/perf_counter.c +++ b/src/modules/systemlib/perf_counter.c @@ -282,12 +282,18 @@ perf_reset(perf_counter_t handle) void perf_print_counter(perf_counter_t handle) { + perf_print_counter_fd(0, handle); +} + +void +perf_print_counter_fd(int fd, perf_counter_t handle) +{ if (handle == NULL) return; switch (handle->type) { case PC_COUNT: - printf("%s: %llu events\n", + dprintf(fd, "%s: %llu events\n", handle->name, ((struct perf_ctr_count *)handle)->event_count); break; @@ -295,7 +301,7 @@ perf_print_counter(perf_counter_t handle) case PC_ELAPSED: { struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle; - printf("%s: %llu events, %lluus elapsed, %llu avg, min %lluus max %lluus\n", + dprintf(fd, "%s: %llu events, %lluus elapsed, %llu avg, min %lluus max %lluus\n", handle->name, pce->event_count, pce->time_total, @@ -308,7 +314,7 @@ perf_print_counter(perf_counter_t handle) case PC_INTERVAL: { struct perf_ctr_interval *pci = (struct perf_ctr_interval *)handle; - printf("%s: %llu events, %llu avg, min %lluus max %lluus\n", + dprintf(fd, "%s: %llu events, %llu avg, min %lluus max %lluus\n", handle->name, pci->event_count, (pci->time_last - pci->time_first) / pci->event_count, @@ -349,12 +355,12 @@ perf_event_count(perf_counter_t handle) } void -perf_print_all(void) +perf_print_all(int fd) { perf_counter_t handle = (perf_counter_t)sq_peek(&perf_counters); while (handle != NULL) { - perf_print_counter(handle); + perf_print_counter_fd(fd, handle); handle = (perf_counter_t)sq_next(&handle->link); } } diff --git a/src/modules/systemlib/perf_counter.h b/src/modules/systemlib/perf_counter.h index d8f69fdbf..6835ee4a2 100644 --- a/src/modules/systemlib/perf_counter.h +++ b/src/modules/systemlib/perf_counter.h @@ -121,16 +121,26 @@ __EXPORT extern void perf_cancel(perf_counter_t handle); __EXPORT extern void perf_reset(perf_counter_t handle); /** - * Print one performance counter. + * Print one performance counter to stdout * * @param handle The counter to print. */ __EXPORT extern void perf_print_counter(perf_counter_t handle); /** + * Print one performance counter to a fd. + * + * @param fd File descriptor to print to - e.g. 0 for stdout + * @param handle The counter to print. + */ +__EXPORT extern void perf_print_counter_fd(int fd, perf_counter_t handle); + +/** * Print all of the performance counters. + * + * @param fd File descriptor to print to - e.g. 0 for stdout */ -__EXPORT extern void perf_print_all(void); +__EXPORT extern void perf_print_all(int fd); /** * Reset all of the performance counters. diff --git a/src/modules/systemlib/pid/pid.c b/src/modules/systemlib/pid/pid.c index 6a4e9392a..45f218a5b 100644 --- a/src/modules/systemlib/pid/pid.c +++ b/src/modules/systemlib/pid/pid.c @@ -53,7 +53,7 @@ #define SIGMA 0.000001f -__EXPORT void pid_init(PID_t *pid, uint8_t mode, float dt_min) +__EXPORT void pid_init(PID_t *pid, pid_mode_t mode, float dt_min) { pid->mode = mode; pid->dt_min = dt_min; diff --git a/src/modules/systemlib/pwm_limit/pwm_limit.c b/src/modules/systemlib/pwm_limit/pwm_limit.c index 190b315f1..ea5ba9e52 100644 --- a/src/modules/systemlib/pwm_limit/pwm_limit.c +++ b/src/modules/systemlib/pwm_limit/pwm_limit.c @@ -136,12 +136,26 @@ void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_ } effective_pwm[i] = output[i] * (max_pwm[i] - ramp_min_pwm)/2 + (max_pwm[i] + ramp_min_pwm)/2; + + /* last line of defense against invalid inputs */ + if (effective_pwm[i] < ramp_min_pwm) { + effective_pwm[i] = ramp_min_pwm; + } else if (effective_pwm[i] > max_pwm[i]) { + effective_pwm[i] = max_pwm[i]; + } } } break; case PWM_LIMIT_STATE_ON: for (unsigned i=0; i<num_channels; i++) { effective_pwm[i] = output[i] * (max_pwm[i] - min_pwm[i])/2 + (max_pwm[i] + min_pwm[i])/2; + + /* last line of defense against invalid inputs */ + if (effective_pwm[i] < min_pwm[i]) { + effective_pwm[i] = min_pwm[i]; + } else if (effective_pwm[i] > max_pwm[i]) { + effective_pwm[i] = max_pwm[i]; + } } break; default: diff --git a/src/modules/systemlib/rc_check.c b/src/modules/systemlib/rc_check.c index 21e15ec56..c0c1a5cb4 100644 --- a/src/modules/systemlib/rc_check.c +++ b/src/modules/systemlib/rc_check.c @@ -140,7 +140,7 @@ int rc_calibration_check(int mavlink_fd) { /* sanity checks pass, enable channel */ if (count) { mavlink_log_critical(mavlink_fd, "ERROR: %d config error(s) for RC channel %d.", count, (i + 1)); - warnx(mavlink_fd, "ERROR: %d config error(s) for RC channel %d.", count, (i + 1)); + warnx("ERROR: %d config error(s) for RC channel %d.", count, (i + 1)); usleep(100000); } |