diff options
Diffstat (limited to 'src/modules')
35 files changed, 635 insertions, 170 deletions
diff --git a/src/modules/commander/accelerometer_calibration.cpp b/src/modules/commander/accelerometer_calibration.cpp index 24da452b1..be465ab76 100644 --- a/src/modules/commander/accelerometer_calibration.cpp +++ b/src/modules/commander/accelerometer_calibration.cpp @@ -131,6 +131,7 @@ #include <fcntl.h> #include <sys/prctl.h> #include <math.h> +#include <float.h> #include <mathlib/mathlib.h> #include <string.h> #include <drivers/drv_hrt.h> @@ -526,7 +527,7 @@ int mat_invert3(float src[3][3], float dst[3][3]) src[0][1] * (src[1][0] * src[2][2] - src[1][2] * src[2][0]) + src[0][2] * (src[1][0] * src[2][1] - src[1][1] * src[2][0]); - if (det == 0.0f) { + if (fabsf(det) < FLT_EPSILON) { return ERROR; // Singular matrix } diff --git a/src/modules/commander/calibration_routines.cpp b/src/modules/commander/calibration_routines.cpp index 9d79124e7..43f341ae7 100644 --- a/src/modules/commander/calibration_routines.cpp +++ b/src/modules/commander/calibration_routines.cpp @@ -40,6 +40,7 @@ */ #include <math.h> +#include <float.h> #include "calibration_routines.h" @@ -179,9 +180,9 @@ int sphere_fit_least_squares(const float x[], const float y[], const float z[], aA = Q2 + 16.0f * (A2 - 2.0f * A * x_sum + x_sum2); aB = Q2 + 16.0f * (B2 - 2.0f * B * y_sum + y_sum2); aC = Q2 + 16.0f * (C2 - 2.0f * C * z_sum + z_sum2); - aA = (aA == 0.0f) ? 1.0f : aA; - aB = (aB == 0.0f) ? 1.0f : aB; - aC = (aC == 0.0f) ? 1.0f : aC; + aA = (fabsf(aA) < FLT_EPSILON) ? 1.0f : aA; + aB = (fabsf(aB) < FLT_EPSILON) ? 1.0f : aB; + aC = (fabsf(aC) < FLT_EPSILON) ? 1.0f : aC; //Compute next iteration nA = A - ((F2 + 16.0f * (B * XY + C * XZ + x_sum * (-A2 - Q0) + A * (x_sum2 + Q1 - C * z_sum - B * y_sum))) / aA); diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index bb42889ea..efa26eb97 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -52,6 +52,7 @@ #include <fcntl.h> #include <errno.h> #include <systemlib/err.h> +#include <systemlib/circuit_breaker.h> #include <debug.h> #include <sys/prctl.h> #include <sys/stat.h> @@ -76,6 +77,7 @@ #include <uORB/topics/parameter_update.h> #include <uORB/topics/differential_pressure.h> #include <uORB/topics/safety.h> +#include <uORB/topics/system_power.h> #include <uORB/topics/mission_result.h> #include <uORB/topics/telemetry_status.h> @@ -371,16 +373,16 @@ void print_status() static orb_advert_t status_pub; -transition_result_t arm_disarm(bool arm, const int mavlink_fd, const char *armedBy) +transition_result_t arm_disarm(bool arm, const int mavlink_fd_local, const char *armedBy) { transition_result_t arming_res = TRANSITION_NOT_CHANGED; // Transition the armed state. By passing mavlink_fd to arming_state_transition it will // output appropriate error messages if the state cannot transition. - arming_res = arming_state_transition(&status, &safety, arm ? ARMING_STATE_ARMED : ARMING_STATE_STANDBY, &armed, mavlink_fd); + arming_res = arming_state_transition(&status, &safety, arm ? ARMING_STATE_ARMED : ARMING_STATE_STANDBY, &armed, mavlink_fd_local); if (arming_res == TRANSITION_CHANGED && mavlink_fd) { - mavlink_log_info(mavlink_fd, "[cmd] %s by %s", arm ? "ARMED" : "DISARMED", armedBy); + mavlink_log_info(mavlink_fd_local, "[cmd] %s by %s", arm ? "ARMED" : "DISARMED", armedBy); } else if (arming_res == TRANSITION_DENIED) { tune_negative(true); @@ -507,7 +509,14 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe cmd_result = VEHICLE_CMD_RESULT_ACCEPTED; } else { - mavlink_log_info(mavlink_fd, "Unsupported OVERRIDE_GOTO: %f %f %f %f %f %f %f %f", cmd->param1, cmd->param2, cmd->param3, cmd->param4, cmd->param5, cmd->param6, cmd->param7); + mavlink_log_info(mavlink_fd, "Unsupported OVERRIDE_GOTO: %f %f %f %f %f %f %f %f", + (double)cmd->param1, + (double)cmd->param2, + (double)cmd->param3, + (double)cmd->param4, + (double)cmd->param5, + (double)cmd->param6, + (double)cmd->param7); } } break; @@ -700,6 +709,12 @@ int commander_thread_main(int argc, char *argv[]) status.counter++; status.timestamp = hrt_absolute_time(); + status.condition_power_input_valid = true; + status.avionics_power_rail_voltage = -1.0f; + + // CIRCUIT BREAKERS + status.circuit_breaker_engaged_power_check = false; + /* publish initial state */ status_pub = orb_advertise(ORB_ID(vehicle_status), &status); @@ -752,7 +767,6 @@ int commander_thread_main(int argc, char *argv[]) hrt_abstime last_idle_time = 0; hrt_abstime start_time = 0; - hrt_abstime last_auto_state_valid = 0; bool status_changed = true; bool param_init_forced = true; @@ -846,6 +860,11 @@ int commander_thread_main(int argc, char *argv[]) struct position_setpoint_triplet_s pos_sp_triplet; memset(&pos_sp_triplet, 0, sizeof(pos_sp_triplet)); + /* Subscribe to system power */ + int system_power_sub = orb_subscribe(ORB_ID(system_power)); + struct system_power_s system_power; + memset(&system_power, 0, sizeof(system_power)); + control_status_leds(&status, &armed, true); /* now initialized */ @@ -862,6 +881,7 @@ int commander_thread_main(int argc, char *argv[]) bool arming_state_changed = false; bool main_state_changed = false; bool failsafe_old = false; + bool system_checked = false; while (!thread_should_exit) { @@ -903,6 +923,9 @@ int commander_thread_main(int argc, char *argv[]) /* check and update system / component ID */ param_get(_param_system_id, &(status.system_id)); param_get(_param_component_id, &(status.component_id)); + + status.circuit_breaker_engaged_power_check = circuit_breaker_enabled("CBRK_SUPPLY_CHK", CBRK_SUPPLY_CHK_KEY); + status_changed = true; /* re-check RC calibration */ @@ -915,6 +938,15 @@ int commander_thread_main(int argc, char *argv[]) param_get(_param_enable_datalink_loss, &datalink_loss_enabled); } + /* Perform system checks (again) once params are loaded and MAVLink is up. */ + if (!system_checked && mavlink_fd && + (telemetry.heartbeat_time > 0) && + (hrt_elapsed_time(&telemetry.heartbeat_time) < 1 * 1000 * 1000)) { + + (void)rc_calibration_check(mavlink_fd); + system_checked = true; + } + orb_check(sp_man_sub, &updated); if (updated) { @@ -945,6 +977,26 @@ int commander_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres); } + orb_check(system_power_sub, &updated); + + if (updated) { + orb_copy(ORB_ID(system_power), system_power_sub, &system_power); + + if (hrt_elapsed_time(&system_power.timestamp) < 200000) { + if (system_power.servo_valid && + !system_power.brick_valid && + !system_power.usb_connected) { + /* flying only on servo rail, this is unsafe */ + status.condition_power_input_valid = false; + } else { + status.condition_power_input_valid = true; + } + + /* copy avionics voltage */ + status.avionics_power_rail_voltage = system_power.voltage5V_v; + } + } + check_valid(diff_pres.timestamp, DIFFPRESS_TIMEOUT, true, &(status.condition_airspeed_valid), &status_changed); /* update safety topic */ @@ -1254,12 +1306,13 @@ int commander_thread_main(int argc, char *argv[]) if (status.arming_state == ARMING_STATE_STANDBY && sp_man.r > STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) { if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) { - if (safety.safety_switch_available && !safety.safety_off && status.hil_state == HIL_STATE_OFF) { - print_reject_arm("#audio: NOT ARMING: Press safety switch first."); - } else if (status.main_state != MAIN_STATE_MANUAL) { + /* we check outside of the transition function here because the requirement + * for being in manual mode only applies to manual arming actions. + * the system can be armed in auto if armed via the GCS. + */ + if (status.main_state != MAIN_STATE_MANUAL) { print_reject_arm("#audio: NOT ARMING: Switch to MANUAL mode first."); - } else { arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed, mavlink_fd); if (arming_ret == TRANSITION_CHANGED) { @@ -1289,6 +1342,7 @@ int commander_thread_main(int argc, char *argv[]) } else if (arming_ret == TRANSITION_DENIED) { /* DENIED here indicates bug in the commander */ mavlink_log_critical(mavlink_fd, "ERROR: arming state transition denied"); + tune_negative(true); } /* evaluate the main state machine according to mode switches */ diff --git a/src/modules/commander/commander_helper.cpp b/src/modules/commander/commander_helper.cpp index 940a04aa1..80e6861f6 100644 --- a/src/modules/commander/commander_helper.cpp +++ b/src/modules/commander/commander_helper.cpp @@ -209,12 +209,18 @@ int led_init() /* the blue LED is only available on FMUv1 & AeroCore but not FMUv2 */ (void)ioctl(leds, LED_ON, LED_BLUE); + /* switch blue off */ + led_off(LED_BLUE); + /* we consider the amber led mandatory */ if (ioctl(leds, LED_ON, LED_AMBER)) { warnx("Amber LED: ioctl fail\n"); return ERROR; } + /* switch amber off */ + led_off(LED_AMBER); + /* then try RGB LEDs, this can fail on FMUv1*/ rgbleds = open(RGBLED_DEVICE_PATH, 0); diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 74885abf6..423ce2f23 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2013, 2014 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 @@ -46,20 +46,32 @@ #include <dirent.h> #include <fcntl.h> #include <string.h> +#include <math.h> #include <uORB/uORB.h> #include <uORB/topics/vehicle_status.h> #include <uORB/topics/actuator_controls.h> +#include <uORB/topics/differential_pressure.h> #include <systemlib/systemlib.h> #include <systemlib/param/param.h> #include <systemlib/err.h> #include <drivers/drv_hrt.h> +#include <drivers/drv_accel.h> +#include <drivers/drv_airspeed.h> #include <drivers/drv_device.h> #include <mavlink/mavlink_log.h> #include "state_machine_helper.h" #include "commander_helper.h" +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + +static int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd); + // This array defines the arming state transitions. The rows are the new state, and the columns // are the current state. Using new state and current state you can index into the array which // will be true for a valid transition or false for a invalid transition. In some cases even @@ -98,18 +110,31 @@ arming_state_transition(struct vehicle_status_s *status, /// current ASSERT(ARMING_STATE_INIT == 0); ASSERT(ARMING_STATE_IN_AIR_RESTORE == ARMING_STATE_MAX - 1); - /* - * Perform an atomic state update - */ - irqstate_t flags = irqsave(); - transition_result_t ret = TRANSITION_DENIED; + arming_state_t current_arming_state = status->arming_state; + /* only check transition if the new state is actually different from the current one */ - if (new_arming_state == status->arming_state) { + if (new_arming_state == current_arming_state) { ret = TRANSITION_NOT_CHANGED; } else { + + /* + * Get sensing state if necessary + */ + int prearm_ret = OK; + + /* only perform the check if we have to */ + if (new_arming_state == ARMING_STATE_ARMED) { + prearm_ret = prearm_check(status, mavlink_fd); + } + + /* + * Perform an atomic state update + */ + irqstate_t flags = irqsave(); + /* enforce lockdown in HIL */ if (status->hil_state == HIL_STATE_ON) { armed->lockdown = true; @@ -124,15 +149,44 @@ arming_state_transition(struct vehicle_status_s *status, /// current if (valid_transition) { // We have a good transition. Now perform any secondary validation. if (new_arming_state == ARMING_STATE_ARMED) { - // Fail transition if we need safety switch press - // Allow if coming from in air restore + + // Do not perform pre-arm checks if coming from in air restore // Allow if HIL_STATE_ON - if (status->arming_state != ARMING_STATE_IN_AIR_RESTORE && status->hil_state == HIL_STATE_OFF && safety->safety_switch_available && !safety->safety_off) { - if (mavlink_fd) { - mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Press safety switch first."); + if (status->arming_state != ARMING_STATE_IN_AIR_RESTORE && + status->hil_state == HIL_STATE_OFF) { + + // Fail transition if pre-arm check fails + if (prearm_ret) { + valid_transition = false; + + // Fail transition if we need safety switch press + } else if (safety->safety_switch_available && !safety->safety_off) { + + mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Press safety switch!"); + + valid_transition = false; + } + + // Perform power checks only if circuit breaker is not + // engaged for these checks + if (!status->circuit_breaker_engaged_power_check) { + // Fail transition if power is not good + if (!status->condition_power_input_valid) { + + mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Connect power module."); + valid_transition = false; + } + + // Fail transition if power levels on the avionics rail + // are measured but are insufficient + if (status->condition_power_input_valid && (status->avionics_power_rail_voltage > 0.0f) && + (status->avionics_power_rail_voltage < 4.9f)) { + + mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Avionics power low: %6.2f V.", (double)status->avionics_power_rail_voltage); + valid_transition = false; + } } - valid_transition = false; } } else if (new_arming_state == ARMING_STATE_STANDBY && status->arming_state == ARMING_STATE_ARMED_ERROR) { @@ -157,17 +211,15 @@ arming_state_transition(struct vehicle_status_s *status, /// current ret = TRANSITION_CHANGED; status->arming_state = new_arming_state; } - } - /* end of atomic state update */ - irqrestore(flags); + /* end of atomic state update */ + irqrestore(flags); + } if (ret == TRANSITION_DENIED) { - static const char *errMsg = "Invalid arming transition from %s to %s"; + static const char *errMsg = "INVAL: %s - %s"; - if (mavlink_fd) { - mavlink_log_critical(mavlink_fd, errMsg, state_names[status->arming_state], state_names[new_arming_state]); - } + mavlink_log_critical(mavlink_fd, errMsg, state_names[status->arming_state], state_names[new_arming_state]); warnx(errMsg, state_names[status->arming_state], state_names[new_arming_state]); } @@ -539,3 +591,80 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en return status->nav_state != nav_state_old; } +int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd) +{ + int ret; + + int fd = open(ACCEL_DEVICE_PATH, O_RDONLY); + + if (fd < 0) { + mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL SENSOR MISSING"); + ret = fd; + goto system_eval; + } + + ret = ioctl(fd, ACCELIOCSELFTEST, 0); + + if (ret != OK) { + mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL CALIBRATION"); + goto system_eval; + } + + /* check measurement result range */ + struct accel_report acc; + ret = read(fd, &acc, sizeof(acc)); + + if (ret == sizeof(acc)) { + /* evaluate values */ + float accel_scale = sqrtf(acc.x * acc.x + acc.y * acc.y + acc.z * acc.z); + + if (accel_scale < 9.78f || accel_scale > 9.83f) { + mavlink_log_info(mavlink_fd, "#audio: Accelerometer calibration recommended."); + } + + if (accel_scale > 30.0f /* m/s^2 */) { + mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL RANGE"); + /* this is frickin' fatal */ + ret = ERROR; + goto system_eval; + } else { + ret = OK; + } + } else { + mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL READ"); + /* this is frickin' fatal */ + ret = ERROR; + goto system_eval; + } + + if (!status->is_rotary_wing) { + fd = open(AIRSPEED_DEVICE_PATH, O_RDONLY); + + if (fd < 0) { + mavlink_log_critical(mavlink_fd, "#audio: FAIL: AIRSPEED SENSOR MISSING"); + ret = fd; + goto system_eval; + } + + struct differential_pressure_s diff_pres; + + ret = read(fd, &diff_pres, sizeof(diff_pres)); + + if (ret == sizeof(diff_pres)) { + if (fabsf(diff_pres.differential_pressure_filtered_pa > 5.0f)) { + mavlink_log_critical(mavlink_fd, "#audio: WARNING AIRSPEED CALIBRATION MISSING"); + // XXX do not make this fatal yet + ret = OK; + } + } else { + mavlink_log_critical(mavlink_fd, "#audio: FAIL: AIRSPEED READ"); + /* this is frickin' fatal */ + ret = ERROR; + goto system_eval; + } + } + +system_eval: + close(fd); + return ret; +} diff --git a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp index 9622f7e40..deaaf55fe 100644 --- a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp +++ b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp @@ -2503,12 +2503,12 @@ void AttPosEKF::InitializeDynamic(float (&initvelNED)[3], float declination) // Calculate initial Tbn matrix and rotate Mag measurements into NED // to set initial NED magnetic field states - Mat3f DCM; - quat2Tbn(DCM, initQuat); + quat2Tbn(Tbn, initQuat); + Tnb = Tbn.transpose(); Vector3f initMagNED; - initMagNED.x = DCM.x.x*initMagXYZ.x + DCM.x.y*initMagXYZ.y + DCM.x.z*initMagXYZ.z; - initMagNED.y = DCM.y.x*initMagXYZ.x + DCM.y.y*initMagXYZ.y + DCM.y.z*initMagXYZ.z; - initMagNED.z = DCM.z.x*initMagXYZ.x + DCM.z.y*initMagXYZ.y + DCM.z.z*initMagXYZ.z; + initMagNED.x = Tbn.x.x*initMagXYZ.x + Tbn.x.y*initMagXYZ.y + Tbn.x.z*initMagXYZ.z; + initMagNED.y = Tbn.y.x*initMagXYZ.x + Tbn.y.y*initMagXYZ.y + Tbn.y.z*initMagXYZ.z; + initMagNED.z = Tbn.z.x*initMagXYZ.x + Tbn.z.y*initMagXYZ.y + Tbn.z.z*initMagXYZ.z; magstate.q0 = initQuat[0]; magstate.q1 = initQuat[1]; @@ -2521,7 +2521,7 @@ void AttPosEKF::InitializeDynamic(float (&initvelNED)[3], float declination) magstate.magYbias = magBias.y; magstate.magZbias = magBias.z; magstate.R_MAG = sq(magMeasurementSigma); - magstate.DCM = DCM; + magstate.DCM = Tbn; // write to state vector for (uint8_t j=0; j<=3; j++) states[j] = initQuat[j]; // quaternions diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 43acee96f..026a4d6c9 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -474,7 +474,7 @@ Mavlink::get_instance_id() return _instance_id; } -const mavlink_channel_t +mavlink_channel_t Mavlink::get_channel() { return _channel; @@ -2109,7 +2109,7 @@ Mavlink::task_main(int argc, char *argv[]) write_ptr = (uint8_t*)&msg; // Pull a single message from the buffer - int read_count = available; + size_t read_count = available; if (read_count > sizeof(mavlink_message_t)) { read_count = sizeof(mavlink_message_t); } diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h index 5f4117ae5..f94036a17 100644 --- a/src/modules/mavlink/mavlink_main.h +++ b/src/modules/mavlink/mavlink_main.h @@ -213,15 +213,15 @@ public: */ int enable_flow_control(bool enabled); - const mavlink_channel_t get_channel(); + mavlink_channel_t get_channel(); - void configure_stream_threadsafe(const char *stream_name, const float rate); + void configure_stream_threadsafe(const char *stream_name, float rate); bool _task_should_exit; /**< if true, mavlink task should exit */ int get_mavlink_fd() { return _mavlink_fd; } - MavlinkStream * get_streams() { return _streams; } const + MavlinkStream * get_streams() const { return _streams; } /* Functions for waiting to start transmission until message received. */ @@ -311,15 +311,15 @@ private: pthread_mutex_t _message_buffer_mutex; - perf_counter_t _loop_perf; /**< loop performance counter */ - perf_counter_t _txerr_perf; /**< TX error counter */ - bool _param_initialized; param_t _param_system_id; param_t _param_component_id; param_t _param_system_type; param_t _param_use_hil_gps; + perf_counter_t _loop_perf; /**< loop performance counter */ + perf_counter_t _txerr_perf; /**< TX error counter */ + /** * Send one parameter. * diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index e1ebc16cc..667be87b7 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -45,7 +45,6 @@ #include <uORB/uORB.h> #include <uORB/topics/sensor_combined.h> -#include <uORB/topics/rc_channels.h> #include <uORB/topics/vehicle_attitude.h> #include <uORB/topics/vehicle_gps_position.h> #include <uORB/topics/vehicle_global_position.h> @@ -678,7 +677,7 @@ protected: cm_uint16_from_m_float(gps.epv), gps.vel_m_s * 100.0f, _wrap_2pi(gps.cog_rad) * M_RAD_TO_DEG_F * 1e2f, - gps.satellites_visible); + gps.satellites_used); } } }; diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index bb977d277..6d361052c 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -741,7 +741,6 @@ MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg) hil_gps.timestamp_variance = timestamp; hil_gps.s_variance_m_s = 5.0f; - hil_gps.p_variance_m = hil_gps.eph * hil_gps.eph; hil_gps.timestamp_velocity = timestamp; hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s @@ -751,9 +750,8 @@ MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg) hil_gps.vel_ned_valid = true; hil_gps.cog_rad = _wrap_pi(gps.cog * M_DEG_TO_RAD_F * 1e-2f); - hil_gps.timestamp_satellites = timestamp; hil_gps.fix_type = gps.fix_type; - hil_gps.satellites_visible = gps.satellites_visible; + hil_gps.satellites_used = gps.satellites_visible; //TODO: rename mavlink_hil_gps_t sats visible to used? if (_gps_pub < 0) { _gps_pub = orb_advertise(ORB_ID(vehicle_gps_position), &hil_gps); diff --git a/src/modules/mavlink/mavlink_stream.cpp b/src/modules/mavlink/mavlink_stream.cpp index ed6776e5c..7279206db 100644 --- a/src/modules/mavlink/mavlink_stream.cpp +++ b/src/modules/mavlink/mavlink_stream.cpp @@ -44,10 +44,10 @@ #include "mavlink_main.h" MavlinkStream::MavlinkStream() : - _last_sent(0), + next(nullptr), _channel(MAVLINK_COMM_0), _interval(1000000), - next(nullptr) + _last_sent(0) { } diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp index 20e016da3..19c10198c 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -72,6 +72,7 @@ #include <systemlib/err.h> #include <systemlib/perf_counter.h> #include <systemlib/systemlib.h> +#include <systemlib/circuit_breaker.h> #include <lib/mathlib/mathlib.h> #include <lib/geo/geo.h> @@ -123,6 +124,8 @@ private: orb_advert_t _v_rates_sp_pub; /**< rate setpoint publication */ orb_advert_t _actuators_0_pub; /**< attitude actuator controls publication */ + bool _actuators_0_circuit_breaker_enabled; /**< circuit breaker to suppress output */ + struct vehicle_attitude_s _v_att; /**< vehicle attitude */ struct vehicle_attitude_setpoint_s _v_att_sp; /**< vehicle attitude setpoint */ struct vehicle_rates_setpoint_s _v_rates_sp; /**< vehicle rates setpoint */ @@ -267,6 +270,8 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() : _v_rates_sp_pub(-1), _actuators_0_pub(-1), + _actuators_0_circuit_breaker_enabled(false), + /* performance counters */ _loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control")) @@ -402,6 +407,8 @@ MulticopterAttitudeControl::parameters_update() param_get(_params_handles.acro_yaw_max, &v); _params.acro_rate_max(2) = math::radians(v); + _actuators_0_circuit_breaker_enabled = circuit_breaker_enabled("CBRK_RATE_CTRL", CBRK_RATE_CTRL_KEY); + return OK; } @@ -840,11 +847,13 @@ MulticopterAttitudeControl::task_main() _actuators.control[3] = (isfinite(_thrust_sp)) ? _thrust_sp : 0.0f; _actuators.timestamp = hrt_absolute_time(); - if (_actuators_0_pub > 0) { - orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators); + if (!_actuators_0_circuit_breaker_enabled) { + if (_actuators_0_pub > 0) { + orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators); - } else { - _actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators); + } else { + _actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators); + } } } } diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index c24c172af..bcc3e2ae7 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -466,7 +466,7 @@ MulticopterPositionControl::update_ref() { if (_local_pos.ref_timestamp != _ref_timestamp) { double lat_sp, lon_sp; - float alt_sp; + float alt_sp = 0.0f; if (_ref_timestamp != 0) { /* calculate current position setpoint in global frame */ diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index cbf7ac987..a1c6f09d0 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -42,6 +42,8 @@ #include <string.h> #include <stdlib.h> #include <unistd.h> +#include <math.h> +#include <float.h> #include <systemlib/err.h> #include <geo/geo.h> diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp index 6d7afcf4b..142a73409 100644 --- a/src/modules/navigator/rtl.cpp +++ b/src/modules/navigator/rtl.cpp @@ -222,7 +222,7 @@ RTL::set_rtl_item() _navigator->set_can_loiter_at_sp(true); if (autoland) { - mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: loiter %.1fs", _mission_item.time_inside); + mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: loiter %.1fs", (double)_mission_item.time_inside); } else { mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: completed, loiter"); diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c index 9870ebd05..05eae047c 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -49,6 +49,7 @@ #include <sys/prctl.h> #include <termios.h> #include <math.h> +#include <float.h> #include <uORB/uORB.h> #include <uORB/topics/parameter_update.h> #include <uORB/topics/actuator_controls.h> @@ -477,7 +478,11 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) float flow_dt = flow_prev > 0 ? (flow.flow_timestamp - flow_prev) * 1e-6f : 0.1f; flow_prev = flow.flow_timestamp; - if (flow.ground_distance_m > 0.31f && flow.ground_distance_m < 4.0f && att.R[2][2] > 0.7f && flow.ground_distance_m != sonar_prev) { + if ((flow.ground_distance_m > 0.31f) && + (flow.ground_distance_m < 4.0f) && + (att.R[2][2] > 0.7f) && + (fabsf(flow.ground_distance_m - sonar_prev) > FLT_EPSILON)) { + sonar_time = t; sonar_prev = flow.ground_distance_m; corr_sonar = flow.ground_distance_m + surface_offset + z_est[0]; @@ -646,25 +651,22 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) } else if (t > ref_init_start + ref_init_delay) { ref_inited = true; - /* update baro offset */ - baro_offset -= z_est[0]; /* set position estimate to (0, 0, 0), use GPS velocity for XY */ x_est[0] = 0.0f; x_est[1] = gps.vel_n_m_s; y_est[0] = 0.0f; y_est[1] = gps.vel_e_m_s; - z_est[0] = 0.0f; local_pos.ref_lat = lat; local_pos.ref_lon = lon; - local_pos.ref_alt = alt; + local_pos.ref_alt = alt + z_est[0]; local_pos.ref_timestamp = t; /* initialize projection */ map_projection_init(&ref, lat, lon); warnx("init ref: lat=%.7f, lon=%.7f, alt=%.2f", (double)lat, (double)lon, (double)alt); - mavlink_log_info(mavlink_fd, "[inav] init ref: lat=%.7f, lon=%.7f, alt=%.2f", (double)lat, (double)lon, (double)alt); + mavlink_log_info(mavlink_fd, "[inav] init ref: %.7f, %.7f, %.2f", (double)lat, (double)lon, (double)alt); } } @@ -913,6 +915,10 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) memcpy(x_est_prev, x_est, sizeof(x_est)); memcpy(y_est_prev, y_est, sizeof(y_est)); } + } else { + /* gradually reset xy velocity estimates */ + inertial_filter_correct(-x_est[1], dt, x_est, 1, params.w_xy_res_v); + inertial_filter_correct(-y_est[1], dt, y_est, 1, params.w_xy_res_v); } /* detect land */ @@ -928,6 +934,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) landed = false; landed_time = 0; } + /* reset xy velocity estimates when landed */ + x_est[1] = 0.0f; + y_est[1] = 0.0f; } else { if (alt_disp2 < land_disp2 && thrust < params.land_thr) { @@ -952,11 +961,11 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) float updates_dt = (t - updates_counter_start) * 0.000001f; warnx( "updates rate: accelerometer = %.1f/s, baro = %.1f/s, gps = %.1f/s, attitude = %.1f/s, flow = %.1f/s", - accel_updates / updates_dt, - baro_updates / updates_dt, - gps_updates / updates_dt, - attitude_updates / updates_dt, - flow_updates / updates_dt); + (double)(accel_updates / updates_dt), + (double)(baro_updates / updates_dt), + (double)(gps_updates / updates_dt), + (double)(attitude_updates / updates_dt), + (double)(flow_updates / updates_dt)); updates_counter_start = t; accel_updates = 0; baro_updates = 0; diff --git a/src/modules/position_estimator_inav/position_estimator_inav_params.c b/src/modules/position_estimator_inav/position_estimator_inav_params.c index d88419c25..0581f8236 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_params.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_params.c @@ -46,6 +46,7 @@ PARAM_DEFINE_FLOAT(INAV_W_Z_SONAR, 3.0f); PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_P, 1.0f); PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_V, 2.0f); PARAM_DEFINE_FLOAT(INAV_W_XY_FLOW, 5.0f); +PARAM_DEFINE_FLOAT(INAV_W_XY_RES_V, 0.5f); PARAM_DEFINE_FLOAT(INAV_W_GPS_FLOW, 0.1f); PARAM_DEFINE_FLOAT(INAV_W_ACC_BIAS, 0.05f); PARAM_DEFINE_FLOAT(INAV_FLOW_K, 0.15f); @@ -65,6 +66,7 @@ int parameters_init(struct position_estimator_inav_param_handles *h) h->w_xy_gps_p = param_find("INAV_W_XY_GPS_P"); h->w_xy_gps_v = param_find("INAV_W_XY_GPS_V"); h->w_xy_flow = param_find("INAV_W_XY_FLOW"); + h->w_xy_res_v = param_find("INAV_W_XY_RES_V"); h->w_gps_flow = param_find("INAV_W_GPS_FLOW"); h->w_acc_bias = param_find("INAV_W_ACC_BIAS"); h->flow_k = param_find("INAV_FLOW_K"); @@ -87,6 +89,7 @@ int parameters_update(const struct position_estimator_inav_param_handles *h, str param_get(h->w_xy_gps_p, &(p->w_xy_gps_p)); param_get(h->w_xy_gps_v, &(p->w_xy_gps_v)); param_get(h->w_xy_flow, &(p->w_xy_flow)); + param_get(h->w_xy_res_v, &(p->w_xy_res_v)); param_get(h->w_gps_flow, &(p->w_gps_flow)); param_get(h->w_acc_bias, &(p->w_acc_bias)); param_get(h->flow_k, &(p->flow_k)); diff --git a/src/modules/position_estimator_inav/position_estimator_inav_params.h b/src/modules/position_estimator_inav/position_estimator_inav_params.h index df1cfaa71..423f0d879 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_params.h +++ b/src/modules/position_estimator_inav/position_estimator_inav_params.h @@ -47,6 +47,7 @@ struct position_estimator_inav_params { float w_xy_gps_p; float w_xy_gps_v; float w_xy_flow; + float w_xy_res_v; float w_gps_flow; float w_acc_bias; float flow_k; @@ -66,6 +67,7 @@ struct position_estimator_inav_param_handles { param_t w_xy_gps_p; param_t w_xy_gps_v; param_t w_xy_flow; + param_t w_xy_res_v; param_t w_gps_flow; param_t w_acc_bias; param_t flow_k; diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c index 62e6b12cb..185cb20dd 100644 --- a/src/modules/px4iofirmware/controls.c +++ b/src/modules/px4iofirmware/controls.c @@ -47,8 +47,8 @@ #include "px4io.h" #define RC_FAILSAFE_TIMEOUT 2000000 /**< two seconds failsafe timeout */ -#define RC_CHANNEL_HIGH_THRESH 5000 -#define RC_CHANNEL_LOW_THRESH -5000 +#define RC_CHANNEL_HIGH_THRESH 5000 /* 75% threshold */ +#define RC_CHANNEL_LOW_THRESH -8000 /* 10% threshold */ static bool ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len); diff --git a/src/modules/px4iofirmware/i2c.c b/src/modules/px4iofirmware/i2c.c index 79b6546b3..76762c0fc 100644 --- a/src/modules/px4iofirmware/i2c.c +++ b/src/modules/px4iofirmware/i2c.c @@ -331,6 +331,7 @@ i2c_tx_complete(void) i2c_tx_setup(); } +#ifdef DEBUG static void i2c_dump(void) { @@ -339,3 +340,4 @@ i2c_dump(void) debug("CCR 0x%08x TRISE 0x%08x", rCCR, rTRISE); debug("SR1 0x%08x SR2 0x%08x", rSR1, rSR2); } +#endif diff --git a/src/modules/px4iofirmware/sbus.c b/src/modules/px4iofirmware/sbus.c index 0e7dc621c..70ccab180 100644 --- a/src/modules/px4iofirmware/sbus.c +++ b/src/modules/px4iofirmware/sbus.c @@ -119,13 +119,15 @@ sbus_init(const char *device) bool sbus1_output(uint16_t *values, uint16_t num_values) { - write(sbus_fd, 'A', 1); + char a = 'A'; + write(sbus_fd, &a, 1); } bool sbus2_output(uint16_t *values, uint16_t num_values) { - write(sbus_fd, 'B', 1); + char b = 'B'; + write(sbus_fd, &b, 1); } bool diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index e483b35e8..39e5b6c41 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -74,6 +74,7 @@ #include <uORB/topics/vehicle_global_position.h> #include <uORB/topics/position_setpoint_triplet.h> #include <uORB/topics/vehicle_gps_position.h> +#include <uORB/topics/satellite_info.h> #include <uORB/topics/vehicle_vicon_position.h> #include <uORB/topics/vehicle_global_velocity_setpoint.h> #include <uORB/topics/optical_flow.h> @@ -141,6 +142,8 @@ PARAM_DEFINE_INT32(SDLOG_EXT, -1); fds[fdsc_count].events = POLLIN; \ fdsc_count++; +#define MIN(X,Y) ((X) < (Y) ? (X) : (Y)) + static bool main_thread_should_exit = false; /**< Deamon exit flag */ static bool thread_running = false; /**< Deamon status flag */ static int deamon_task; /**< Handle of deamon task / thread */ @@ -944,6 +947,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct tecs_status_s tecs_status; struct system_power_s system_power; struct servorail_status_s servorail_status; + struct satellite_info_s sat_info; struct wind_estimate_s wind_estimate; } buf; @@ -1007,6 +1011,7 @@ int sdlog2_thread_main(int argc, char *argv[]) int global_pos_sub; int triplet_sub; int gps_pos_sub; + int sat_info_sub; int vicon_pos_sub; int flow_sub; int rc_sub; @@ -1026,6 +1031,7 @@ int sdlog2_thread_main(int argc, char *argv[]) subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command)); subs.status_sub = orb_subscribe(ORB_ID(vehicle_status)); subs.gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); + subs.sat_info_sub = orb_subscribe(ORB_ID(satellite_info)); subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); subs.att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); subs.att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); @@ -1066,11 +1072,14 @@ int sdlog2_thread_main(int argc, char *argv[]) hrt_abstime barometer_timestamp = 0; hrt_abstime differential_pressure_timestamp = 0; + /* initialize calculated mean SNR */ + float snr_mean = 0.0f; + /* enable logging on start if needed */ if (log_on_start) { /* check GPS topic to get GPS time */ if (log_name_timestamp) { - if (copy_if_updated(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf_gps_pos)) { + if (!orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf_gps_pos)) { gps_time = buf_gps_pos.time_gps_usec; } } @@ -1128,14 +1137,6 @@ int sdlog2_thread_main(int argc, char *argv[]) /* --- GPS POSITION - UNIT #1 --- */ if (gps_pos_updated) { - float snr_mean = 0.0f; - - for (unsigned i = 0; i < buf_gps_pos.satellites_visible; i++) { - snr_mean += buf_gps_pos.satellite_snr[i]; - } - - snr_mean /= buf_gps_pos.satellites_visible; - log_msg.msg_type = LOG_GPS_MSG; log_msg.body.log_GPS.gps_time = buf_gps_pos.time_gps_usec; log_msg.body.log_GPS.fix_type = buf_gps_pos.fix_type; @@ -1148,44 +1149,55 @@ int sdlog2_thread_main(int argc, char *argv[]) log_msg.body.log_GPS.vel_e = buf_gps_pos.vel_e_m_s; log_msg.body.log_GPS.vel_d = buf_gps_pos.vel_d_m_s; log_msg.body.log_GPS.cog = buf_gps_pos.cog_rad; - log_msg.body.log_GPS.sats = buf_gps_pos.satellites_visible; + log_msg.body.log_GPS.sats = buf_gps_pos.satellites_used; log_msg.body.log_GPS.snr_mean = snr_mean; log_msg.body.log_GPS.noise_per_ms = buf_gps_pos.noise_per_ms; log_msg.body.log_GPS.jamming_indicator = buf_gps_pos.jamming_indicator; LOGBUFFER_WRITE_AND_COUNT(GPS); + } + + /* --- SATELLITE INFO - UNIT #1 --- */ + if (_extended_logging) { + + if (copy_if_updated(ORB_ID(satellite_info), subs.sat_info_sub, &buf.sat_info)) { - if (_extended_logging) { /* log the SNR of each satellite for a detailed view of signal quality */ - unsigned gps_msg_max_snr = sizeof(buf_gps_pos.satellite_snr) / sizeof(buf_gps_pos.satellite_snr[0]); + unsigned sat_info_count = MIN(buf.sat_info.count, sizeof(buf.sat_info.snr) / sizeof(buf.sat_info.snr[0])); unsigned log_max_snr = sizeof(log_msg.body.log_GS0A.satellite_snr) / sizeof(log_msg.body.log_GS0A.satellite_snr[0]); log_msg.msg_type = LOG_GS0A_MSG; memset(&log_msg.body.log_GS0A, 0, sizeof(log_msg.body.log_GS0A)); - /* fill set A */ - for (unsigned i = 0; i < gps_msg_max_snr; i++) { + snr_mean = 0.0f; - int satindex = buf_gps_pos.satellite_prn[i] - 1; + /* fill set A and calculate mean SNR */ + for (unsigned i = 0; i < sat_info_count; i++) { + + snr_mean += buf.sat_info.snr[i]; + + int satindex = buf.sat_info.svid[i] - 1; /* handles index exceeding and wraps to to arithmetic errors */ if ((satindex >= 0) && (satindex < (int)log_max_snr)) { /* map satellites by their ID so that logs from two receivers can be compared */ - log_msg.body.log_GS0A.satellite_snr[satindex] = buf_gps_pos.satellite_snr[i]; + log_msg.body.log_GS0A.satellite_snr[satindex] = buf.sat_info.snr[i]; } } LOGBUFFER_WRITE_AND_COUNT(GS0A); + snr_mean /= sat_info_count; log_msg.msg_type = LOG_GS0B_MSG; memset(&log_msg.body.log_GS0B, 0, sizeof(log_msg.body.log_GS0B)); + /* fill set B */ - for (unsigned i = 0; i < gps_msg_max_snr; i++) { + for (unsigned i = 0; i < sat_info_count; i++) { /* get second bank of satellites, thus deduct bank size from index */ - int satindex = buf_gps_pos.satellite_prn[i] - 1 - log_max_snr; + int satindex = buf.sat_info.svid[i] - 1 - log_max_snr; /* handles index exceeding and wraps to to arithmetic errors */ if ((satindex >= 0) && (satindex < (int)log_max_snr)) { /* map satellites by their ID so that logs from two receivers can be compared */ - log_msg.body.log_GS0B.satellite_snr[satindex] = buf_gps_pos.satellite_snr[i]; + log_msg.body.log_GS0B.satellite_snr[satindex] = buf.sat_info.snr[i]; } } LOGBUFFER_WRITE_AND_COUNT(GS0B); @@ -1394,8 +1406,8 @@ int sdlog2_thread_main(int argc, char *argv[]) if (copy_if_updated(ORB_ID(rc_channels), subs.rc_sub, &buf.rc)) { log_msg.msg_type = LOG_RC_MSG; /* Copy only the first 8 channels of 14 */ - memcpy(log_msg.body.log_RC.channel, buf.rc.chan, sizeof(log_msg.body.log_RC.channel)); - log_msg.body.log_RC.channel_count = buf.rc.chan_count; + memcpy(log_msg.body.log_RC.channel, buf.rc.channels, sizeof(log_msg.body.log_RC.channel)); + log_msg.body.log_RC.channel_count = buf.rc.channel_count; log_msg.body.log_RC.signal_lost = buf.rc.signal_lost; LOGBUFFER_WRITE_AND_COUNT(RC); } diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 8908adf4c..3307354a0 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -1223,9 +1223,9 @@ 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.chan[0].scaling_factor * 10000), (int)(_rc.chan[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.chan[1].scaling_factor * 10000), (int)(_rc.chan[1].mid), (int)_rc.function[1]); - printf("MAN: %d %d\n", (int)(_rc.chan[0].scaled * 100), (int)(_rc.chan[1].scaled * 100)); + 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); #endif @@ -1315,7 +1315,7 @@ Sensors::adc_poll(struct sensor_combined_s &raw) * a valid voltage from a connected sensor. Also assume a non- * zero offset from the sensor if its connected. */ - if (voltage > 0.4f && _parameters.diff_pres_analog_enabled) { + if (voltage > 0.4f && (_parameters.diff_pres_analog_enabled > 0)) { float diff_pres_pa = voltage * 1000.0f - _parameters.diff_pres_offset_pa; //for MPXV7002DP sensor @@ -1355,7 +1355,7 @@ float Sensors::get_rc_value(enum RC_CHANNELS_FUNCTION func, float min_value, float max_value) { if (_rc.function[func] >= 0) { - float value = _rc.chan[_rc.function[func]].scaled; + float value = _rc.channels[_rc.function[func]]; if (value < min_value) { return min_value; @@ -1376,7 +1376,7 @@ 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) { if (_rc.function[func] >= 0) { - float value = 0.5f * _rc.chan[_rc.function[func]].scaled + 0.5f; + float value = 0.5f * _rc.channels[_rc.function[func]] + 0.5f; if (on_inv ? value < on_th : value > on_th) { return SWITCH_POS_ON; @@ -1397,7 +1397,7 @@ switch_pos_t Sensors::get_rc_sw2pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, bool on_inv) { if (_rc.function[func] >= 0) { - float value = 0.5f * _rc.chan[_rc.function[func]].scaled + 0.5f; + float value = 0.5f * _rc.channels[_rc.function[func]] + 0.5f; if (on_inv ? value < on_th : value > on_th) { return SWITCH_POS_ON; @@ -1489,25 +1489,25 @@ Sensors::rc_poll() * DO NOT REMOVE OR ALTER STEP 1! */ if (rc_input.values[i] > (_parameters.trim[i] + _parameters.dz[i])) { - _rc.chan[i].scaled = (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.chan[i].scaled = (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 */ - _rc.chan[i].scaled = 0.0f; + _rc.channels[i] = 0.0f; } - _rc.chan[i].scaled *= _parameters.rev[i]; + _rc.channels[i] *= _parameters.rev[i]; /* handle any parameter-induced blowups */ - if (!isfinite(_rc.chan[i].scaled)) { - _rc.chan[i].scaled = 0.0f; + if (!isfinite(_rc.channels[i])) { + _rc.channels[i] = 0.0f; } } - _rc.chan_count = rc_input.channel_count; + _rc.channel_count = rc_input.channel_count; _rc.rssi = rc_input.rssi; _rc.signal_lost = signal_lost; _rc.timestamp = rc_input.timestamp_last_signal; diff --git a/src/modules/systemlib/circuit_breaker.c b/src/modules/systemlib/circuit_breaker.c new file mode 100644 index 000000000..8f697749e --- /dev/null +++ b/src/modules/systemlib/circuit_breaker.c @@ -0,0 +1,93 @@ +/**************************************************************************** + * + * Copyright (c) 2014 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* + * @file circuit_breaker.c + * + * Circuit breaker parameters. + * Analog to real aviation circuit breakers these parameters + * allow to disable subsystems. They are not supported as standard + * operation procedure and are only provided for development purposes. + * To ensure they are not activated accidentally, the associated + * parameter needs to set to the key (magic). + */ + +#include <systemlib/param/param.h> +#include <systemlib/circuit_breaker.h> + +/** + * Circuit breaker for power supply check + * + * Setting this parameter to 894281 will disable the power valid + * checks in the commander. + * WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK + * + * @min 0 + * @max 894281 + * @group Circuit Breaker + */ +PARAM_DEFINE_INT32(CBRK_SUPPLY_CHK, 0); + +/** + * Circuit breaker for rate controller output + * + * Setting this parameter to 140253 will disable the rate + * controller uORB publication. + * WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK + * + * @min 0 + * @max 140253 + * @group Circuit Breaker + */ +PARAM_DEFINE_INT32(CBRK_RATE_CTRL, 0); + +/** + * Circuit breaker for IO safety + * + * Setting this parameter to 894281 will disable IO safety. + * WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK + * + * @min 0 + * @max 22027 + * @group Circuit Breaker + */ +PARAM_DEFINE_INT32(CBRK_IO_SAFETY, 0); + +bool circuit_breaker_enabled(const char* breaker, int32_t magic) +{ + int32_t val; + (void)param_get(param_find(breaker), &val); + + return (val == magic); +} + diff --git a/src/modules/systemlib/circuit_breaker.h b/src/modules/systemlib/circuit_breaker.h new file mode 100644 index 000000000..1175dbce8 --- /dev/null +++ b/src/modules/systemlib/circuit_breaker.h @@ -0,0 +1,64 @@ +/**************************************************************************** + * + * Copyright (c) 2014 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* + * @file circuit_breaker.h + * + * Circuit breaker functionality. + */ + +#ifndef CIRCUIT_BREAKER_H_ +#define CIRCUIT_BREAKER_H_ + +/* SAFETY WARNING -- SAFETY WARNING -- SAFETY WARNING + * + * OBEY THE DOCUMENTATION FOR ALL CIRCUIT BREAKERS HERE, + * ENSURE TO READ CAREFULLY ALL SAFETY WARNINGS. + * http://pixhawk.org/dev/circuit_breakers + * + * CIRCUIT BREAKERS ARE NOT PART OF THE STANDARD OPERATION PROCEDURE + * AND MAY DISABLE CHECKS THAT ARE VITAL FOR SAFE FLIGHT. + */ +#define CBRK_SUPPLY_CHK_KEY 894281 +#define CBRK_RATE_CTRL_KEY 140253 +#define CBRK_IO_SAFETY_KEY 22027 + +#include <stdbool.h> + +__BEGIN_DECLS + +__EXPORT bool circuit_breaker_enabled(const char* breaker, int32_t magic); + +__END_DECLS + +#endif /* CIRCUIT_BREAKER_H_ */ diff --git a/src/modules/systemlib/err.c b/src/modules/systemlib/err.c index 6c0e876d1..998b5ac7d 100644 --- a/src/modules/systemlib/err.c +++ b/src/modules/systemlib/err.c @@ -86,7 +86,7 @@ warnerr_core(int errcode, const char *fmt, va_list args) fprintf(stderr, "\n"); #elif CONFIG_ARCH_LOWPUTC lowsyslog("%s: ", getprogname()); - lowvyslog(fmt, args); + lowvsyslog(fmt, args); /* convenience as many parts of NuttX use negative errno */ if (errcode < 0) diff --git a/src/modules/systemlib/module.mk b/src/modules/systemlib/module.mk index 3953b757d..147903aa0 100644 --- a/src/modules/systemlib/module.mk +++ b/src/modules/systemlib/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (c) 2012-2014 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 @@ -52,5 +52,6 @@ SRCS = err.c \ rc_check.c \ otp.c \ board_serial.c \ - pwm_limit/pwm_limit.c + pwm_limit/pwm_limit.c \ + circuit_breaker.c diff --git a/src/modules/systemlib/rc_check.c b/src/modules/systemlib/rc_check.c index c0c1a5cb4..b35b333af 100644 --- a/src/modules/systemlib/rc_check.c +++ b/src/modules/systemlib/rc_check.c @@ -42,6 +42,7 @@ #include <stdio.h> #include <fcntl.h> +#include <systemlib/err.h> #include <systemlib/rc_check.h> #include <systemlib/param/param.h> #include <mavlink/mavlink_log.h> @@ -98,32 +99,32 @@ int rc_calibration_check(int mavlink_fd) { /* assert min..center..max ordering */ if (param_min < 500) { count++; - mavlink_log_critical(mavlink_fd, "ERR: RC_%d_MIN < 500", i+1); + mavlink_log_critical(mavlink_fd, "#audio ERR: RC_%d_MIN < 500", i+1); /* give system time to flush error message in case there are more */ usleep(100000); } if (param_max > 2500) { count++; - mavlink_log_critical(mavlink_fd, "ERR: RC_%d_MAX > 2500", i+1); + mavlink_log_critical(mavlink_fd, "#audio ERR: RC_%d_MAX > 2500", i+1); /* give system time to flush error message in case there are more */ usleep(100000); } if (param_trim < param_min) { count++; - mavlink_log_critical(mavlink_fd, "ERR: RC_%d_TRIM < MIN (%d/%d)", i+1, (int)param_trim, (int)param_min); + mavlink_log_critical(mavlink_fd, "#audio ERR: RC_%d_TRIM < MIN (%d/%d)", i+1, (int)param_trim, (int)param_min); /* give system time to flush error message in case there are more */ usleep(100000); } if (param_trim > param_max) { count++; - mavlink_log_critical(mavlink_fd, "ERR: RC_%d_TRIM > MAX (%d/%d)", i+1, (int)param_trim, (int)param_max); + mavlink_log_critical(mavlink_fd, "#audio ERR: RC_%d_TRIM > MAX (%d/%d)", i+1, (int)param_trim, (int)param_max); /* give system time to flush error message in case there are more */ usleep(100000); } /* assert deadzone is sane */ if (param_dz > 500) { - mavlink_log_critical(mavlink_fd, "ERR: RC_%d_DZ > 500", i+1); + mavlink_log_critical(mavlink_fd, "#audio ERR: RC_%d_DZ > 500", i+1); /* give system time to flush error message in case there are more */ usleep(100000); count++; @@ -139,7 +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)); + mavlink_log_critical(mavlink_fd, "#audio 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); } diff --git a/src/modules/systemlib/systemlib.c b/src/modules/systemlib/systemlib.c index 57a751e1c..9fff3eb88 100644 --- a/src/modules/systemlib/systemlib.c +++ b/src/modules/systemlib/systemlib.c @@ -64,6 +64,9 @@ systemreset(bool to_bootloader) *(uint32_t *)0x40002850 = 0xb007b007; } up_systemreset(); + + /* lock up here */ + while(true); } static void kill_task(FAR struct tcb_s *tcb, FAR void *arg); diff --git a/src/modules/uORB/Subscription.cpp b/src/modules/uORB/Subscription.cpp index c1d1a938f..44b6debc7 100644 --- a/src/modules/uORB/Subscription.cpp +++ b/src/modules/uORB/Subscription.cpp @@ -40,6 +40,7 @@ #include "topics/parameter_update.h" #include "topics/actuator_controls.h" #include "topics/vehicle_gps_position.h" +#include "topics/satellite_info.h" #include "topics/sensor_combined.h" #include "topics/vehicle_attitude.h" #include "topics/vehicle_global_position.h" @@ -88,6 +89,7 @@ T Subscription<T>::getData() { template class __EXPORT Subscription<parameter_update_s>; template class __EXPORT Subscription<actuator_controls_s>; template class __EXPORT Subscription<vehicle_gps_position_s>; +template class __EXPORT Subscription<satellite_info_s>; template class __EXPORT Subscription<sensor_combined_s>; template class __EXPORT Subscription<vehicle_attitude_s>; template class __EXPORT Subscription<vehicle_global_position_s>; diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp index 7c3bb0009..687fc1d4a 100644 --- a/src/modules/uORB/objects_common.cpp +++ b/src/modules/uORB/objects_common.cpp @@ -75,6 +75,9 @@ ORB_DEFINE(sensor_combined, struct sensor_combined_s); #include "topics/vehicle_gps_position.h" ORB_DEFINE(vehicle_gps_position, struct vehicle_gps_position_s); +#include "topics/satellite_info.h" +ORB_DEFINE(satellite_info, struct satellite_info_s); + #include "topics/home_position.h" ORB_DEFINE(home_position, struct home_position_s); diff --git a/src/modules/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h index 370c54442..829d8e57d 100644 --- a/src/modules/uORB/topics/rc_channels.h +++ b/src/modules/uORB/topics/rc_channels.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2014 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 @@ -43,59 +43,43 @@ #include "../uORB.h" /** - * The number of RC channel inputs supported. - * Current (Q4/2013) radios support up to 18 channels, - * leaving at a sane value of 16. - * This number can be greater then number of RC channels, - * because single RC channel can be mapped to multiple - * functions, e.g. for various mode switches. - */ -#define RC_CHANNELS_MAPPED_MAX 16 - -/** * This defines the mapping of the RC functions. * The value assigned to the specific function corresponds to the entry of - * the channel array chan[]. + * the channel array channels[]. */ enum RC_CHANNELS_FUNCTION { THROTTLE = 0, - ROLL = 1, - PITCH = 2, - YAW = 3, - MODE = 4, - RETURN = 5, - POSCTL = 6, - LOITER = 7, - OFFBOARD_MODE = 8, - ACRO = 9, - FLAPS = 10, - AUX_1 = 11, - AUX_2 = 12, - AUX_3 = 13, - AUX_4 = 14, - AUX_5 = 15, - RC_CHANNELS_FUNCTION_MAX /**< indicates the number of functions. There can be more functions than RC channels. */ + ROLL, + PITCH, + YAW, + MODE, + RETURN, + POSCTL, + LOITER, + OFFBOARD_MODE, + ACRO, + FLAPS, + AUX_1, + AUX_2, + AUX_3, + AUX_4, + AUX_5, + RC_CHANNELS_FUNCTION_MAX /**< Indicates the number of functions. There can be more functions than RC channels. */ }; /** * @addtogroup topics * @{ */ - struct rc_channels_s { - - uint64_t timestamp; /**< In microseconds since boot time. */ - uint64_t timestamp_last_valid; /**< timestamp of last valid RC signal. */ - struct { - float scaled; /**< Scaled to -1..1 (throttle: 0..1) */ - } chan[RC_CHANNELS_MAPPED_MAX]; - uint8_t chan_count; /**< number of valid channels */ - - /*String array to store the names of the functions*/ - char function_name[RC_CHANNELS_FUNCTION_MAX][20]; - int8_t function[RC_CHANNELS_FUNCTION_MAX]; - uint8_t rssi; /**< Overall receive signal strength */ - bool signal_lost; /**< control signal lost, should be checked together with topic timeout */ + uint64_t timestamp; /**< Timestamp in microseconds since boot time */ + uint64_t timestamp_last_valid; /**< Timestamp of last valid RC signal */ + float channels[RC_CHANNELS_FUNCTION_MAX]; /**< Scaled to -1..1 (throttle: 0..1) */ + uint8_t channel_count; /**< Number of valid channels */ + char function_name[RC_CHANNELS_FUNCTION_MAX][20]; /**< String array to store the names of the functions */ + int8_t function[RC_CHANNELS_FUNCTION_MAX]; /**< Functions mapping */ + uint8_t rssi; /**< Receive signal strength index */ + bool signal_lost; /**< Control signal lost, should be checked together with topic timeout */ }; /**< radio control channels. */ /** diff --git a/src/modules/uORB/topics/satellite_info.h b/src/modules/uORB/topics/satellite_info.h new file mode 100644 index 000000000..37c2faa96 --- /dev/null +++ b/src/modules/uORB/topics/satellite_info.h @@ -0,0 +1,89 @@ +/**************************************************************************** + * + * Copyright (C) 2014 PX4 Development Team. All rights reserved. + * Author: @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> + * @author Lorenz Meier <lm@inf.ethz.ch> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file satellite_info.h + * Definition of the GNSS satellite info uORB topic. + */ + +#ifndef TOPIC_SAT_INFO_H_ +#define TOPIC_SAT_INFO_H_ + +#include <stdint.h> +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + +/** + * GNSS Satellite Info. + */ + +#define SAT_INFO_MAX_SATELLITES 20 + +struct satellite_info_s { + uint64_t timestamp; /**< Timestamp of satellite info */ + uint8_t count; /**< Number of satellites in satellite info */ + uint8_t svid[SAT_INFO_MAX_SATELLITES]; /**< Space vehicle ID [1..255], see scheme below */ + uint8_t used[SAT_INFO_MAX_SATELLITES]; /**< 0: Satellite not used, 1: used for navigation */ + uint8_t elevation[SAT_INFO_MAX_SATELLITES]; /**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */ + uint8_t azimuth[SAT_INFO_MAX_SATELLITES]; /**< Direction of satellite, 0: 0 deg, 255: 360 deg. */ + uint8_t snr[SAT_INFO_MAX_SATELLITES]; /**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99, zero when not tracking this satellite. */ +}; + +/** + * NAV_SVINFO space vehicle ID (svid) scheme according to u-blox protocol specs + * u-bloxM8-V15_ReceiverDescriptionProtocolSpec_Public_(UBX-13003221).pdf + * + * GPS 1-32 + * SBAS 120-158 + * Galileo 211-246 + * BeiDou 159-163, 33-64 + * QZSS 193-197 + * GLONASS 65-96, 255 + * + */ + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(satellite_info); + +#endif diff --git a/src/modules/uORB/topics/vehicle_gps_position.h b/src/modules/uORB/topics/vehicle_gps_position.h index bbacb733a..80d65cd69 100644 --- a/src/modules/uORB/topics/vehicle_gps_position.h +++ b/src/modules/uORB/topics/vehicle_gps_position.h @@ -61,7 +61,6 @@ struct vehicle_gps_position_s { uint64_t timestamp_variance; float s_variance_m_s; /**< speed accuracy estimate m/s */ - float p_variance_m; /**< position accuracy estimate m */ float c_variance_rad; /**< course accuracy estimate rad */ uint8_t fix_type; /**< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. */ @@ -82,14 +81,7 @@ struct vehicle_gps_position_s { uint64_t timestamp_time; /**< Timestamp for time information */ uint64_t time_gps_usec; /**< Timestamp (microseconds in GPS format), this is the timestamp which comes from the gps module */ - uint64_t timestamp_satellites; /**< Timestamp for sattelite information */ - uint8_t satellites_visible; /**< Number of satellites visible. If unknown, set to 255 */ - uint8_t satellite_prn[20]; /**< Global satellite ID */ - uint8_t satellite_used[20]; /**< 0: Satellite not used, 1: used for localization */ - uint8_t satellite_elevation[20]; /**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */ - uint8_t satellite_azimuth[20]; /**< Direction of satellite, 0: 0 deg, 255: 360 deg. */ - uint8_t satellite_snr[20]; /**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99, zero when not tracking this satellite. */ - bool satellite_info_available; /**< 0 for no info, 1 for info available */ + uint8_t satellites_used; /**< Number of satellites used */ }; /** diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index 5dc46dacb..56590047f 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h @@ -191,6 +191,8 @@ struct vehicle_status_s { bool condition_local_altitude_valid; bool condition_airspeed_valid; /**< set to true by the commander app if there is a valid airspeed measurement available */ bool condition_landed; /**< true if vehicle is landed, always true if disarmed */ + bool condition_power_input_valid; /**< set if input power is valid */ + float avionics_power_rail_voltage; /**< voltage of the avionics power rail */ bool rc_signal_found_once; bool rc_signal_lost; /**< true if RC reception lost */ @@ -220,6 +222,8 @@ struct vehicle_status_s { uint16_t errors_count2; uint16_t errors_count3; uint16_t errors_count4; + + bool circuit_breaker_engaged_power_check; }; /** |