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-rw-r--r--src/modules/commander/airspeed_calibration.cpp44
-rw-r--r--src/modules/mavlink/missionlib.c1
-rw-r--r--src/modules/mavlink/orb_listener.c28
-rw-r--r--src/modules/multirotor_att_control/multirotor_rate_control.c52
-rw-r--r--src/modules/sensors/sensors.cpp1
-rw-r--r--src/modules/systemlib/airspeed.c2
-rw-r--r--src/modules/uORB/topics/differential_pressure.h4
7 files changed, 70 insertions, 62 deletions
diff --git a/src/modules/commander/airspeed_calibration.cpp b/src/modules/commander/airspeed_calibration.cpp
index 248eb4a66..1809f9688 100644
--- a/src/modules/commander/airspeed_calibration.cpp
+++ b/src/modules/commander/airspeed_calibration.cpp
@@ -37,12 +37,15 @@
*/
#include "airspeed_calibration.h"
+#include "calibration_messages.h"
#include "commander_helper.h"
#include <stdio.h>
+#include <fcntl.h>
#include <poll.h>
#include <math.h>
#include <drivers/drv_hrt.h>
+#include <drivers/drv_airspeed.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/differential_pressure.h>
#include <mavlink/mavlink_log.h>
@@ -55,10 +58,13 @@
#endif
static const int ERROR = -1;
+static const char *sensor_name = "dpress";
+
int do_airspeed_calibration(int mavlink_fd)
{
/* give directions */
- mavlink_log_info(mavlink_fd, "airspeed calibration starting, keep it still");
+ mavlink_log_info(mavlink_fd, CAL_STARTED_MSG, sensor_name);
+ mavlink_log_info(mavlink_fd, "don't move system");
const int calibration_count = 2500;
@@ -68,6 +74,28 @@ int do_airspeed_calibration(int mavlink_fd)
int calibration_counter = 0;
float diff_pres_offset = 0.0f;
+ /* Reset sensor parameters */
+ struct airspeed_scale airscale = {
+ 0.0f,
+ 1.0f,
+ };
+
+ bool paramreset_successful = false;
+ int fd = open(AIRSPEED_DEVICE_PATH, 0);
+ if (fd > 0) {
+ if (OK == ioctl(fd, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale)) {
+ paramreset_successful = true;
+ }
+ close(fd);
+ }
+
+ if (!paramreset_successful) {
+ warn("WARNING: failed to set scale / offsets for airspeed sensor");
+ mavlink_log_critical(mavlink_fd, "could not reset dpress sensor");
+ mavlink_log_info(mavlink_fd, CAL_FAILED_MSG, sensor_name);
+ return ERROR;
+ }
+
while (calibration_counter < calibration_count) {
/* wait blocking for new data */
@@ -82,9 +110,12 @@ int do_airspeed_calibration(int mavlink_fd)
diff_pres_offset += diff_pres.differential_pressure_pa;
calibration_counter++;
+ if (calibration_counter % (calibration_count / 20) == 0)
+ mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, (calibration_counter * 100) / calibration_count);
+
} else if (poll_ret == 0) {
/* any poll failure for 1s is a reason to abort */
- mavlink_log_info(mavlink_fd, "airspeed calibration aborted");
+ mavlink_log_critical(mavlink_fd, CAL_FAILED_MSG, sensor_name);
close(diff_pres_sub);
return ERROR;
}
@@ -95,7 +126,7 @@ int do_airspeed_calibration(int mavlink_fd)
if (isfinite(diff_pres_offset)) {
if (param_set(param_find("SENS_DPRES_OFF"), &(diff_pres_offset))) {
- mavlink_log_critical(mavlink_fd, "Setting offs failed!");
+ mavlink_log_critical(mavlink_fd, CAL_FAILED_SET_PARAMS_MSG);
close(diff_pres_sub);
return ERROR;
}
@@ -105,17 +136,18 @@ int do_airspeed_calibration(int mavlink_fd)
if (save_ret != 0) {
warn("WARNING: auto-save of params to storage failed");
- mavlink_log_info(mavlink_fd, "FAILED storing calibration");
+ mavlink_log_critical(mavlink_fd, CAL_FAILED_SAVE_PARAMS_MSG);
close(diff_pres_sub);
return ERROR;
}
- mavlink_log_info(mavlink_fd, "airspeed calibration done");
+ mavlink_log_info(mavlink_fd, CAL_DONE_MSG, sensor_name);
+ tune_neutral();
close(diff_pres_sub);
return OK;
} else {
- mavlink_log_info(mavlink_fd, "airspeed calibration FAILED (NaN)");
+ mavlink_log_info(mavlink_fd, CAL_FAILED_MSG, sensor_name);
close(diff_pres_sub);
return ERROR;
}
diff --git a/src/modules/mavlink/missionlib.c b/src/modules/mavlink/missionlib.c
index d37b18a19..fa23f996f 100644
--- a/src/modules/mavlink/missionlib.c
+++ b/src/modules/mavlink/missionlib.c
@@ -64,6 +64,7 @@
#include <systemlib/systemlib.h>
#include <mavlink/mavlink_log.h>
+#include "geo/geo.h"
#include "waypoints.h"
#include "orb_topics.h"
#include "missionlib.h"
diff --git a/src/modules/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c
index f6860930c..abc91d34f 100644
--- a/src/modules/mavlink/orb_listener.c
+++ b/src/modules/mavlink/orb_listener.c
@@ -75,6 +75,7 @@ struct actuator_armed_s armed;
struct actuator_controls_effective_s actuators_effective_0;
struct actuator_controls_s actuators_0;
struct vehicle_attitude_s att;
+struct airspeed_s airspeed;
struct mavlink_subscriptions mavlink_subs;
@@ -92,6 +93,8 @@ static unsigned int gps_counter;
*/
static uint64_t last_sensor_timestamp;
+static hrt_abstime last_sent_vfr = 0;
+
static void *uorb_receive_thread(void *arg);
struct listener {
@@ -229,7 +232,7 @@ l_vehicle_attitude(const struct listener *l)
/* copy attitude data into local buffer */
orb_copy(ORB_ID(vehicle_attitude), mavlink_subs.att_sub, &att);
- if (gcs_link)
+ if (gcs_link) {
/* send sensor values */
mavlink_msg_attitude_send(MAVLINK_COMM_0,
last_sensor_timestamp / 1000,
@@ -240,6 +243,17 @@ l_vehicle_attitude(const struct listener *l)
att.pitchspeed,
att.yawspeed);
+ /* limit VFR message rate to 10Hz */
+ hrt_abstime t = hrt_absolute_time();
+ if (t >= last_sent_vfr + 100000) {
+ last_sent_vfr = t;
+ float groundspeed = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy);
+ uint16_t heading = (att.yaw + M_PI_F) / M_PI_F * 180.0f;
+ float throttle = actuators_effective_0.control_effective[3] * (UINT16_MAX - 1);
+ mavlink_msg_vfr_hud_send(MAVLINK_COMM_0, airspeed.true_airspeed_m_s, groundspeed, heading, throttle, global_pos.alt, -global_pos.vz);
+ }
+ }
+
attitude_counter++;
}
@@ -681,17 +695,7 @@ l_home(const struct listener *l)
void
l_airspeed(const struct listener *l)
{
- struct airspeed_s airspeed;
-
orb_copy(ORB_ID(airspeed), mavlink_subs.airspeed_sub, &airspeed);
-
- float groundspeed = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy);
- uint16_t heading = (att.yaw + M_PI_F) / M_PI_F * 180.0f;
- float throttle = actuators_effective_0.control_effective[3] * (UINT16_MAX - 1);
- float alt = global_pos.relative_alt;
- float climb = -global_pos.vz;
-
- mavlink_msg_vfr_hud_send(MAVLINK_COMM_0, airspeed.true_airspeed_m_s, groundspeed, heading, throttle, alt, climb);
}
void
@@ -849,7 +853,7 @@ uorb_receive_start(void)
mavlink_subs.optical_flow = orb_subscribe(ORB_ID(optical_flow));
orb_set_interval(mavlink_subs.optical_flow, 200); /* 5Hz updates */
- /* --- AIRSPEED / VFR / HUD --- */
+ /* --- AIRSPEED --- */
mavlink_subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed));
orb_set_interval(mavlink_subs.airspeed_sub, 200); /* 5Hz updates */
diff --git a/src/modules/multirotor_att_control/multirotor_rate_control.c b/src/modules/multirotor_att_control/multirotor_rate_control.c
index adb63186c..86ac0e4ff 100644
--- a/src/modules/multirotor_att_control/multirotor_rate_control.c
+++ b/src/modules/multirotor_att_control/multirotor_rate_control.c
@@ -59,31 +59,23 @@
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>
-PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.3f); /* same on Flamewheel */
+PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.3f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.005f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.2f);
-//PARAM_DEFINE_FLOAT(MC_YAWRATE_AWU, 0.0f);
-//PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 1.0f);
-PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.09f); /* 0.15 F405 Flamewheel */
+PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.09f);
PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.002f);
PARAM_DEFINE_FLOAT(MC_ATTRATE_I, 0.0f);
-//PARAM_DEFINE_FLOAT(MC_ATTRATE_AWU, 0.05f);
-//PARAM_DEFINE_FLOAT(MC_ATTRATE_LIM, 1.0f); /**< roughly < 500 deg/s limit */
struct mc_rate_control_params {
float yawrate_p;
float yawrate_d;
float yawrate_i;
- //float yawrate_awu;
- //float yawrate_lim;
float attrate_p;
float attrate_d;
float attrate_i;
- //float attrate_awu;
- //float attrate_lim;
float rate_lim;
};
@@ -93,14 +85,10 @@ struct mc_rate_control_param_handles {
param_t yawrate_p;
param_t yawrate_i;
param_t yawrate_d;
- //param_t yawrate_awu;
- //param_t yawrate_lim;
param_t attrate_p;
param_t attrate_i;
param_t attrate_d;
- //param_t attrate_awu;
- //param_t attrate_lim;
};
/**
@@ -122,14 +110,10 @@ static int parameters_init(struct mc_rate_control_param_handles *h)
h->yawrate_p = param_find("MC_YAWRATE_P");
h->yawrate_i = param_find("MC_YAWRATE_I");
h->yawrate_d = param_find("MC_YAWRATE_D");
- //h->yawrate_awu = param_find("MC_YAWRATE_AWU");
- //h->yawrate_lim = param_find("MC_YAWRATE_LIM");
h->attrate_p = param_find("MC_ATTRATE_P");
h->attrate_i = param_find("MC_ATTRATE_I");
h->attrate_d = param_find("MC_ATTRATE_D");
- //h->attrate_awu = param_find("MC_ATTRATE_AWU");
- //h->attrate_lim = param_find("MC_ATTRATE_LIM");
return OK;
}
@@ -139,14 +123,10 @@ static int parameters_update(const struct mc_rate_control_param_handles *h, stru
param_get(h->yawrate_p, &(p->yawrate_p));
param_get(h->yawrate_i, &(p->yawrate_i));
param_get(h->yawrate_d, &(p->yawrate_d));
- //param_get(h->yawrate_awu, &(p->yawrate_awu));
- //param_get(h->yawrate_lim, &(p->yawrate_lim));
param_get(h->attrate_p, &(p->attrate_p));
param_get(h->attrate_i, &(p->attrate_i));
param_get(h->attrate_d, &(p->attrate_d));
- //param_get(h->attrate_awu, &(p->attrate_awu));
- //param_get(h->attrate_lim, &(p->attrate_lim));
return OK;
}
@@ -168,6 +148,7 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
static PID_t pitch_rate_controller;
static PID_t roll_rate_controller;
+ static PID_t yaw_rate_controller;
static struct mc_rate_control_params p;
static struct mc_rate_control_param_handles h;
@@ -182,7 +163,7 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
pid_init(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, PID_MODE_DERIVATIV_CALC_NO_SP, 0.003f);
pid_init(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, PID_MODE_DERIVATIV_CALC_NO_SP, 0.003f);
-
+ pid_init(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, p.yawrate_d, 1.0f, 1.0f, PID_MODE_DERIVATIV_CALC_NO_SP, 0.003f);
}
/* load new parameters with lower rate */
@@ -191,35 +172,24 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
parameters_update(&h, &p);
pid_set_parameters(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f);
pid_set_parameters(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f);
+ pid_set_parameters(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, p.yawrate_d, 1.0f, 1.0f);
}
/* reset integrals if needed */
if (reset_integral) {
pid_reset_integral(&pitch_rate_controller);
pid_reset_integral(&roll_rate_controller);
- // TODO pid_reset_integral(&yaw_rate_controller);
+ pid_reset_integral(&yaw_rate_controller);
}
- /* control pitch (forward) output */
- float pitch_control = pid_calculate(&pitch_rate_controller, rate_sp->pitch ,
- rates[1], 0.0f, deltaT);
-
- /* control roll (left/right) output */
- float roll_control = pid_calculate(&roll_rate_controller, rate_sp->roll ,
- rates[0], 0.0f, deltaT);
-
- /* control yaw rate */ //XXX use library here
- float yaw_rate_control = p.yawrate_p * (rate_sp->yaw - rates[2]);
-
- /* increase resilience to faulty control inputs */
- if (!isfinite(yaw_rate_control)) {
- yaw_rate_control = 0.0f;
- warnx("rej. NaN ctrl yaw");
- }
+ /* run pitch, roll and yaw controllers */
+ float pitch_control = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0.0f, deltaT);
+ float roll_control = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0.0f, deltaT);
+ float yaw_control = pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0.0f, deltaT);
actuators->control[0] = roll_control;
actuators->control[1] = pitch_control;
- actuators->control[2] = yaw_rate_control;
+ actuators->control[2] = yaw_control;
actuators->control[3] = rate_sp->thrust;
motor_skip_counter++;
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index da0c11372..6d38b98ec 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -1121,6 +1121,7 @@ Sensors::parameter_update_poll(bool forced)
if (OK != ioctl(fd, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale))
warn("WARNING: failed to set scale / offsets for airspeed sensor");
+ close(fd);
}
#if 0
diff --git a/src/modules/systemlib/airspeed.c b/src/modules/systemlib/airspeed.c
index 310fbf60f..1a479c205 100644
--- a/src/modules/systemlib/airspeed.c
+++ b/src/modules/systemlib/airspeed.c
@@ -59,7 +59,7 @@
float calc_indicated_airspeed(float differential_pressure)
{
- if (differential_pressure > 0) {
+ if (differential_pressure > 0.0f) {
return sqrtf((2.0f*differential_pressure) / CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C);
} else {
return -sqrtf((2.0f*fabsf(differential_pressure)) / CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C);
diff --git a/src/modules/uORB/topics/differential_pressure.h b/src/modules/uORB/topics/differential_pressure.h
index e4d2c92ce..5d94d4288 100644
--- a/src/modules/uORB/topics/differential_pressure.h
+++ b/src/modules/uORB/topics/differential_pressure.h
@@ -54,8 +54,8 @@
struct differential_pressure_s {
uint64_t timestamp; /**< microseconds since system boot, needed to integrate */
uint64_t error_count;
- uint16_t differential_pressure_pa; /**< Differential pressure reading */
- uint16_t max_differential_pressure_pa; /**< Maximum differential pressure reading */
+ float differential_pressure_pa; /**< Differential pressure reading */
+ float max_differential_pressure_pa; /**< Maximum differential pressure reading */
float voltage; /**< Voltage from analog airspeed sensors (voltage divider already compensated) */
float temperature; /**< Temperature provided by sensor */
generated by cgit v1.2.3 (git 2.39.1) at 2024-08-03 06:43:14 +0000