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-rw-r--r--src/modules/commander/commander.cpp2
-rw-r--r--src/modules/mavlink/mavlink_main.cpp2
-rw-r--r--src/modules/mavlink/module.mk2
-rw-r--r--src/modules/px4iofirmware/controls.c42
-rw-r--r--src/modules/px4iofirmware/module.mk3
-rw-r--r--src/modules/px4iofirmware/protocol.h1
-rw-r--r--src/modules/sensors/sensor_params.c30
-rw-r--r--src/modules/uORB/topics/vehicle_command.h28
8 files changed, 98 insertions, 12 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 0ea8511da..cd1db4e51 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -966,7 +966,7 @@ int commander_thread_main(int argc, char *argv[])
pthread_attr_t commander_low_prio_attr;
pthread_attr_init(&commander_low_prio_attr);
- pthread_attr_setstacksize(&commander_low_prio_attr, 2600);
+ pthread_attr_setstacksize(&commander_low_prio_attr, 2400);
struct sched_param param;
(void)pthread_attr_getschedparam(&commander_low_prio_attr, &param);
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 0132a3193..f8e819ce7 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -1621,7 +1621,7 @@ Mavlink::start(int argc, char *argv[])
task_spawn_cmd(buf,
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
- 2700,
+ 2400,
(main_t)&Mavlink::start_helper,
(char * const *)argv);
diff --git a/src/modules/mavlink/module.mk b/src/modules/mavlink/module.mk
index f9d30dcbe..e82b8bd93 100644
--- a/src/modules/mavlink/module.mk
+++ b/src/modules/mavlink/module.mk
@@ -51,7 +51,7 @@ INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink
MAXOPTIMIZATION = -Os
-MODULE_STACKSIZE = 1024
+MODULE_STACKSIZE = 1200
EXTRACXXFLAGS = -Weffc++ -Wno-attributes -Wno-packed
diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c
index d20f776d6..e04ffc940 100644
--- a/src/modules/px4iofirmware/controls.c
+++ b/src/modules/px4iofirmware/controls.c
@@ -45,6 +45,7 @@
#include <systemlib/perf_counter.h>
#include <systemlib/ppm_decode.h>
#include <rc/st24.h>
+#include <rc/sumd.h>
#include "px4io.h"
@@ -53,7 +54,7 @@
#define RC_CHANNEL_LOW_THRESH -8000 /* 10% threshold */
static bool ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len);
-static bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated);
+static bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated, bool *sumd_updated);
static perf_counter_t c_gather_dsm;
static perf_counter_t c_gather_sbus;
@@ -63,7 +64,7 @@ static int _dsm_fd;
static uint16_t rc_value_override = 0;
-bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated)
+bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated, bool *sumd_updated)
{
perf_begin(c_gather_dsm);
uint16_t temp_count = r_raw_rc_count;
@@ -106,7 +107,31 @@ bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated)
r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
}
- return (*dsm_updated | *st24_updated);
+
+ /* get data from FD and attempt to parse with SUMD libs */
+ uint8_t sumd_rssi, sumd_rx_count;
+ uint16_t sumd_channel_count = 0;
+
+ *sumd_updated = false;
+
+ for (unsigned i = 0; i < n_bytes; i++) {
+ /* set updated flag if one complete packet was parsed */
+ st24_rssi = RC_INPUT_RSSI_MAX;
+ *sumd_updated |= (OK == sumd_decode(bytes[i], &sumd_rssi, &sumd_rx_count,
+ &sumd_channel_count, r_raw_rc_values, PX4IO_RC_INPUT_CHANNELS));
+ }
+
+ if (*sumd_updated) {
+
+ *rssi = sumd_rssi;
+ r_raw_rc_count = sumd_channel_count;
+
+ r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_SUMD;
+ r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FRAME_DROP);
+ r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
+ }
+
+ return (*dsm_updated | *st24_updated | *sumd_updated);
}
void
@@ -169,14 +194,17 @@ controls_tick() {
#endif
perf_begin(c_gather_dsm);
- bool dsm_updated, st24_updated;
- (void)dsm_port_input(&rssi, &dsm_updated, &st24_updated);
+ bool dsm_updated, st24_updated, sumd_updated;
+ (void)dsm_port_input(&rssi, &dsm_updated, &st24_updated, &sumd_updated);
if (dsm_updated) {
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM;
}
if (st24_updated) {
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_ST24;
}
+ if (sumd_updated) {
+ r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_SUMD;
+ }
perf_end(c_gather_dsm);
perf_begin(c_gather_sbus);
@@ -238,7 +266,7 @@ controls_tick() {
/*
* If we received a new frame from any of the RC sources, process it.
*/
- if (dsm_updated || sbus_updated || ppm_updated || st24_updated) {
+ if (dsm_updated || sbus_updated || ppm_updated || st24_updated || sumd_updated) {
/* record a bitmask of channels assigned */
unsigned assigned_channels = 0;
@@ -438,7 +466,7 @@ controls_tick() {
r_status_flags |= PX4IO_P_STATUS_FLAGS_OVERRIDE;
/* mix new RC input control values to servos */
- if (dsm_updated || sbus_updated || ppm_updated || st24_updated)
+ if (dsm_updated || sbus_updated || ppm_updated || st24_updated || sumd_updated)
mixer_tick();
} else {
diff --git a/src/modules/px4iofirmware/module.mk b/src/modules/px4iofirmware/module.mk
index 844e493cd..34c231174 100644
--- a/src/modules/px4iofirmware/module.mk
+++ b/src/modules/px4iofirmware/module.mk
@@ -14,7 +14,8 @@ SRCS = adc.c \
../systemlib/mixer/mixer_multirotor.cpp \
../systemlib/mixer/mixer_simple.cpp \
../systemlib/pwm_limit/pwm_limit.c \
- ../../lib/rc/st24.c
+ ../../lib/rc/st24.c \
+ ../../lib/rc/sumd.c
ifeq ($(BOARD),px4io-v1)
SRCS += i2c.c
diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h
index bd777428f..874dc0c39 100644
--- a/src/modules/px4iofirmware/protocol.h
+++ b/src/modules/px4iofirmware/protocol.h
@@ -115,6 +115,7 @@
#define PX4IO_P_STATUS_FLAGS_SAFETY_OFF (1 << 12) /* safety is off */
#define PX4IO_P_STATUS_FLAGS_FMU_INITIALIZED (1 << 13) /* FMU was initialized and OK once */
#define PX4IO_P_STATUS_FLAGS_RC_ST24 (1 << 14) /* ST24 input is valid */
+#define PX4IO_P_STATUS_FLAGS_RC_SUMD (1 << 15) /* SUMD input is valid */
#define PX4IO_P_STATUS_ALARMS 3 /* alarm flags - alarms latch, write 1 to a bit to clear it */
#define PX4IO_P_STATUS_ALARMS_VBATT_LOW (1 << 0) /* [1] VBatt is very close to regulator dropout */
diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c
index 5ec678033..272e4b14f 100644
--- a/src/modules/sensors/sensor_params.c
+++ b/src/modules/sensors/sensor_params.c
@@ -994,6 +994,36 @@ PARAM_DEFINE_FLOAT(BAT_C_SCALING, 0.0124); /* scaling for 3DR power brick */
/**
+ * RC channel count
+ *
+ * This parameter is used by Ground Station software to save the number
+ * of channels which were used during RC calibration. It is only meant
+ * for ground station use.
+ *
+ * @min 0
+ * @max 18
+ * @group Radio Calibration
+ */
+
+PARAM_DEFINE_INT32(RC_CHAN_CNT, 0);
+
+/**
+ * RC mode switch threshold automaic distribution
+ *
+ * This parameter is used by Ground Station software to specify whether
+ * the threshold values for flight mode switches were automatically calculated.
+ * 0 indicates that the threshold values were set by the user. Any other value
+ * indicates that the threshold value where automatically set by the ground
+ * station software. It is only meant for ground station use.
+ *
+ * @min 0
+ * @max 1
+ * @group Radio Calibration
+ */
+
+PARAM_DEFINE_INT32(RC_TH_USER, 1);
+
+/**
* Roll control channel mapping.
*
* The channel index (starting from 1 for channel 1) indicates
diff --git a/src/modules/uORB/topics/vehicle_command.h b/src/modules/uORB/topics/vehicle_command.h
index 6b4cb483b..35161a326 100644
--- a/src/modules/uORB/topics/vehicle_command.h
+++ b/src/modules/uORB/topics/vehicle_command.h
@@ -38,6 +38,7 @@
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Anton Matosov <anton.matosov@gmail.com>
*/
#ifndef TOPIC_VEHICLE_COMMAND_H_
@@ -85,6 +86,15 @@ enum VEHICLE_CMD {
VEHICLE_CMD_DO_REPEAT_SERVO = 184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty| */
VEHICLE_CMD_DO_FLIGHTTERMINATION=185, /* Terminate flight immediately |Flight termination activated if > 0.5| Empty| Empty| Empty| Empty| Empty| Empty| */
VEHICLE_CMD_DO_CONTROL_VIDEO = 200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| */
+ VEHICLE_CMD_DO_MOUNT_CONFIGURE=204, /* Mission command to configure a camera or antenna mount |Mount operation mode (see MAV_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty| */
+ VEHICLE_CMD_DO_MOUNT_CONTROL=205, /* Mission command to control a camera or antenna mount |pitch or lat in degrees, depending on mount mode.| roll or lon in degrees depending on mount mode| yaw or alt (in meters) depending on mount mode| reserved| reserved| reserved| MAV_MOUNT_MODE enum value| */
+ VEHICLE_CMD_DO_SET_CAM_TRIGG_DIST=206, /* Mission command to set CAM_TRIGG_DIST for this flight |Camera trigger distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty| */
+ VEHICLE_CMD_DO_FENCE_ENABLE=207, /* Mission command to enable the geofence |enable? (0=disable, 1=enable)| Empty| Empty| Empty| Empty| Empty| Empty| */
+ VEHICLE_CMD_DO_PARACHUTE=208, /* Mission command to trigger a parachute |action (0=disable, 1=enable, 2=release, for some systems see PARACHUTE_ACTION enum, not in general message set.)| Empty| Empty| Empty| Empty| Empty| Empty| */
+ VEHICLE_CMD_DO_INVERTED_FLIGHT=210, /* Change to/from inverted flight |inverted (0=normal, 1=inverted)| Empty| Empty| Empty| Empty| Empty| Empty| */
+ VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT=220, /* Mission command to control a camera or antenna mount, using a quaternion as reference. |q1 - quaternion param #1, w (1 in null-rotation)| q2 - quaternion param #2, x (0 in null-rotation)| q3 - quaternion param #3, y (0 in null-rotation)| q4 - quaternion param #4, z (0 in null-rotation)| Empty| Empty| Empty| */
+ VEHICLE_CMD_DO_GUIDED_MASTER=221, /* set id of master controller |System ID| Component ID| Empty| Empty| Empty| Empty| Empty| */
+ VEHICLE_CMD_DO_GUIDED_LIMITS=222, /* set limits for external control |timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout| absolute altitude min (in meters, AMSL) - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit| absolute altitude max (in meters)- if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit| horizontal move limit (in meters, AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit| Empty| Empty| Empty| */
VEHICLE_CMD_DO_LAST = 240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
VEHICLE_CMD_PREFLIGHT_CALIBRATION = 241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Empty| Empty| */
VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS = 242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units| */
@@ -101,7 +111,7 @@ enum VEHICLE_CMD {
/**
* Commands for commander app.
*
- * Should contain all of MAVLink's VEHICLE_CMD_RESULT values
+ * Should contain all of MAVLink's MAV_CMD_RESULT values
* but can contain additional ones.
*/
enum VEHICLE_CMD_RESULT {
@@ -114,6 +124,22 @@ enum VEHICLE_CMD_RESULT {
};
/**
+ * Commands for gimbal app.
+ *
+ * Should contain all of MAVLink's MAV_MOUNT_MODE values
+ * but can contain additional ones.
+ */
+typedef enum VEHICLE_MOUNT_MODE
+{
+ VEHICLE_MOUNT_MODE_RETRACT=0, /* Load and keep safe position (Roll,Pitch,Yaw) from permant memory and stop stabilization | */
+ VEHICLE_MOUNT_MODE_NEUTRAL=1, /* Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory. | */
+ VEHICLE_MOUNT_MODE_MAVLINK_TARGETING=2, /* Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization | */
+ VEHICLE_MOUNT_MODE_RC_TARGETING=3, /* Load neutral position and start RC Roll,Pitch,Yaw control with stabilization | */
+ VEHICLE_MOUNT_MODE_GPS_POINT=4, /* Load neutral position and start to point to Lat,Lon,Alt | */
+ VEHICLE_MOUNT_MODE_ENUM_END=5, /* | */
+} VEHICLE_MOUNT_MODE;
+
+/**
* @addtogroup topics
* @{
*/
generated by cgit v1.2.3 (git 2.39.1) at 2024-09-13 02:29:47 +0000