diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/drivers/batt_smbus/batt_smbus.cpp | 540 | ||||
| -rw-r--r-- | src/drivers/batt_smbus/module.mk | 8 | ||||
| -rw-r--r-- | src/drivers/device/i2c.h | 2 | ||||
| -rw-r--r-- | src/drivers/drv_batt_smbus.h | 47 | ||||
| -rw-r--r-- | src/drivers/px4flow/px4flow.cpp | 11 | ||||
| -rw-r--r-- | src/modules/commander/module.mk | 2 | ||||
| -rw-r--r-- | src/modules/fw_att_control/fw_att_control_main.cpp | 23 | ||||
| -rw-r--r-- | src/modules/mavlink/module.mk | 4 | ||||
| -rw-r--r-- | src/modules/navigator/navigator_params.c | 8 | ||||
| -rw-r--r-- | src/modules/navigator/rtl_params.c | 11 | ||||
| -rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 2 |
11 files changed, 634 insertions, 24 deletions
diff --git a/src/drivers/batt_smbus/batt_smbus.cpp b/src/drivers/batt_smbus/batt_smbus.cpp new file mode 100644 index 000000000..dd83dacaf --- /dev/null +++ b/src/drivers/batt_smbus/batt_smbus.cpp @@ -0,0 +1,540 @@ +/**************************************************************************** + * + * Copyright (C) 2012, 2013 PX4 Development Team. All rights reserved. + * Author: Randy Mackay <rmackay9@yahoo.com> + * + * 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 batt_smbus.cpp + * + * Driver for a battery monitor connected via SMBus (I2C). + * + */ + +#include <nuttx/config.h> + +#include <sys/types.h> +#include <stdint.h> +#include <stdlib.h> +#include <stdbool.h> +#include <sched.h> +#include <semaphore.h> +#include <string.h> +#include <fcntl.h> +#include <poll.h> +#include <errno.h> +#include <stdio.h> +#include <math.h> +#include <unistd.h> +#include <ctype.h> + +#include <nuttx/arch.h> +#include <nuttx/wqueue.h> +#include <nuttx/clock.h> + +#include <board_config.h> + +#include <systemlib/perf_counter.h> +#include <systemlib/err.h> +#include <systemlib/systemlib.h> + +#include <uORB/uORB.h> +#include <uORB/topics/subsystem_info.h> +#include <uORB/topics/battery_status.h> + +#include <float.h> + +#include <drivers/device/i2c.h> +#include <drivers/drv_hrt.h> +#include <drivers/drv_batt_smbus.h> +#include <drivers/device/ringbuffer.h> + +#define BATT_SMBUS_ADDR_MIN 0x08 /* lowest possible address */ +#define BATT_SMBUS_ADDR_MAX 0x7F /* highest possible address */ + +#define BATT_SMBUS_I2C_BUS PX4_I2C_BUS_EXPANSION +#define BATT_SMBUS_ADDR 0x0B /* I2C address */ +#define BATT_SMBUS_TEMP 0x08 /* temperature register */ +#define BATT_SMBUS_VOLTAGE 0x09 /* voltage register */ +#define BATT_SMBUS_DESIGN_CAPACITY 0x18 /* design capacity register */ +#define BATT_SMBUS_DESIGN_VOLTAGE 0x19 /* design voltage register */ +#define BATT_SMBUS_SERIALNUM 0x1c /* serial number register */ +#define BATT_SMBUS_MANUFACTURE_NAME 0x20 /* manufacturer name */ +#define BATT_SMBUS_MANUFACTURE_INFO 0x25 /* cell voltage register */ +#define BATT_SMBUS_CURRENT 0x2a /* current register */ +#define BATT_SMBUS_MEASUREMENT_INTERVAL_MS (1000000 / 10) /* time in microseconds, measure at 10hz */ + +#define BATT_SMBUS_PEC_POLYNOMIAL 0x07 /* Polynomial for calculating PEC */ + +#ifndef CONFIG_SCHED_WORKQUEUE +# error This requires CONFIG_SCHED_WORKQUEUE. +#endif + +class BATT_SMBUS : public device::I2C +{ +public: + BATT_SMBUS(int bus = PX4_I2C_BUS_EXPANSION, uint16_t batt_smbus_addr = BATT_SMBUS_ADDR); + virtual ~BATT_SMBUS(); + + virtual int init(); + virtual int test(); + int search(); /* search all possible slave addresses for a smart battery */ + +protected: + virtual int probe(); // check if the device can be contacted + +private: + + // start periodic reads from the battery + void start(); + + // stop periodic reads from the battery + void stop(); + + // static function that is called by worker queue + static void cycle_trampoline(void *arg); + + // perform a read from the battery + void cycle(); + + // read_reg - read a word from specified register + int read_reg(uint8_t reg, uint16_t &val); + + // read_block - returns number of characters read if successful, zero if unsuccessful + uint8_t read_block(uint8_t reg, uint8_t* data, uint8_t max_len, bool append_zero); + + // get_PEC - calculate PEC for a read or write from the battery + // buff is the data that was read or will be written + uint8_t get_PEC(uint8_t cmd, bool reading, const uint8_t buff[], uint8_t len) const; + + // internal variables + work_s _work; // work queue for scheduling reads + RingBuffer *_reports; // buffer of recorded voltages, currents + struct battery_status_s _last_report; // last published report, used for test() + orb_advert_t _batt_topic; + orb_id_t _batt_orb_id; +}; + +/* for now, we only support one BATT_SMBUS */ +namespace +{ +BATT_SMBUS *g_batt_smbus; +} + +void batt_smbus_usage(); + +extern "C" __EXPORT int batt_smbus_main(int argc, char *argv[]); + +// constructor +BATT_SMBUS::BATT_SMBUS(int bus, uint16_t batt_smbus_addr) : + I2C("batt_smbus", BATT_SMBUS_DEVICE_PATH, bus, batt_smbus_addr, 400000), + _work{}, + _reports(nullptr), + _batt_topic(-1), + _batt_orb_id(nullptr) +{ + // work_cancel in the dtor will explode if we don't do this... + memset(&_work, 0, sizeof(_work)); +} + +// destructor +BATT_SMBUS::~BATT_SMBUS() +{ + /* make sure we are truly inactive */ + stop(); + + if (_reports != nullptr) { + delete _reports; + } +} + +int +BATT_SMBUS::init() +{ + int ret = ENOTTY; + + // attempt to initialise I2C bus + ret = I2C::init(); + + if (ret != OK) { + errx(1,"failed to init I2C"); + return ret; + } else { + /* allocate basic report buffers */ + _reports = new RingBuffer(2, sizeof(struct battery_status_s)); + if (_reports == nullptr) { + ret = ENOTTY; + } else { + // start work queue + start(); + } + } + + // init orb id + _batt_orb_id = ORB_ID(battery_status); + + return ret; +} + +int +BATT_SMBUS::test() +{ + int sub = orb_subscribe(ORB_ID(battery_status)); + bool updated = false; + struct battery_status_s status; + uint64_t start_time = hrt_absolute_time(); + + // loop for 5 seconds + while ((hrt_absolute_time() - start_time) < 5000000) { + + // display new info that has arrived from the orb + orb_check(sub, &updated); + if (updated) { + if (orb_copy(ORB_ID(battery_status), sub, &status) == OK) { + warnx("V=%4.2f C=%4.2f", status.voltage_v, status.current_a); + } + } + + // sleep for 0.05 seconds + usleep(50000); + } + + return OK; +} + +/* search all possible slave addresses for a smart battery */ +int +BATT_SMBUS::search() +{ + bool found_slave = false; + uint16_t tmp; + + // search through all valid SMBus addresses + for (uint8_t i=BATT_SMBUS_ADDR_MIN; i<=BATT_SMBUS_ADDR_MAX; i++) { + set_address(i); + if (read_reg(BATT_SMBUS_VOLTAGE, tmp) == OK) { + warnx("battery found at 0x%x",(int)i); + found_slave = true; + } + // short sleep + usleep(1); + } + + // display completion message + if (found_slave) { + warnx("Done."); + } else { + warnx("No smart batteries found."); + } + + return OK; +} + +int +BATT_SMBUS::probe() +{ + // always return OK to ensure device starts + return OK; +} + +// start periodic reads from the battery +void +BATT_SMBUS::start() +{ + /* reset the report ring and state machine */ + _reports->flush(); + + /* schedule a cycle to start things */ + work_queue(HPWORK, &_work, (worker_t)&BATT_SMBUS::cycle_trampoline, this, 1); +} + +// stop periodic reads from the battery +void +BATT_SMBUS::stop() +{ + work_cancel(HPWORK, &_work); +} + +// static function that is called by worker queue +void +BATT_SMBUS::cycle_trampoline(void *arg) +{ + BATT_SMBUS *dev = (BATT_SMBUS *)arg; + + dev->cycle(); +} + +// perform a read from the battery +void +BATT_SMBUS::cycle() +{ + // read data from sensor + struct battery_status_s new_report; + + // set time of reading + new_report.timestamp = hrt_absolute_time(); + + // read voltage + uint16_t tmp; + if (read_reg(BATT_SMBUS_VOLTAGE, tmp) == OK) { + // initialise new_report + memset(&new_report, 0, sizeof(new_report)); + + // convert millivolts to volts + new_report.voltage_v = ((float)tmp) / 1000.0f; + + // read current + usleep(1); + uint8_t buff[4]; + if (read_block(BATT_SMBUS_CURRENT, buff, 4, false) == 4) { + new_report.current_a = (float)((int32_t)((uint32_t)buff[3]<<24 | (uint32_t)buff[2]<<16 | (uint32_t)buff[1]<<8 | (uint32_t)buff[0])) / 1000.0f; + } + + // publish to orb + if (_batt_topic != -1) { + orb_publish(_batt_orb_id, _batt_topic, &new_report); + } else { + _batt_topic = orb_advertise(_batt_orb_id, &new_report); + if (_batt_topic < 0) { + errx(1, "ADVERT FAIL"); + } + } + + // copy report for test() + _last_report = new_report; + + /* post a report to the ring */ + _reports->force(&new_report); + + /* notify anyone waiting for data */ + poll_notify(POLLIN); + } + + /* schedule a fresh cycle call when the measurement is done */ + work_queue(HPWORK, &_work, (worker_t)&BATT_SMBUS::cycle_trampoline, this, USEC2TICK(BATT_SMBUS_MEASUREMENT_INTERVAL_MS)); +} + +int +BATT_SMBUS::read_reg(uint8_t reg, uint16_t &val) +{ + uint8_t buff[3]; // 2 bytes of data + PEC + + // read from register + int ret = transfer(®, 1, buff, 3); + if (ret == OK) { + // check PEC + uint8_t pec = get_PEC(reg, true, buff, 2); + if (pec == buff[2]) { + val = (uint16_t)buff[1] << 8 | (uint16_t)buff[0]; + } else { + ret = ENOTTY; + } + } + + // return success or failure + return ret; +} + +// read_block - returns number of characters read if successful, zero if unsuccessful +uint8_t BATT_SMBUS::read_block(uint8_t reg, uint8_t* data, uint8_t max_len, bool append_zero) +{ + uint8_t buff[max_len+2]; // buffer to hold results + + usleep(1); + + // read bytes including PEC + int ret = transfer(®, 1, buff, max_len+2); + + // return zero on failure + if (ret != OK) { + return 0; + } + + // get length + uint8_t bufflen = buff[0]; + + // sanity check length returned by smbus + if (bufflen == 0 || bufflen > max_len) { + return 0; + } + + // check PEC + uint8_t pec = get_PEC(reg, true, buff, bufflen+1); + if (pec != buff[bufflen+1]) { + // debug + warnx("CurrPEC:%x vs MyPec:%x",(int)buff[bufflen+1],(int)pec); + return 0; + } else { + warnx("CurPEC ok: %x",(int)pec); + } + + // copy data + memcpy(data, &buff[1], bufflen); + + // optionally add zero to end + if (append_zero) { + data[bufflen] = '\0'; + } + + // return success + return bufflen; +} + +// get_PEC - calculate PEC for a read or write from the battery +// buff is the data that was read or will be written +uint8_t BATT_SMBUS::get_PEC(uint8_t cmd, bool reading, const uint8_t buff[], uint8_t len) const +{ + // exit immediately if no data + if (len <= 0) { + return 0; + } + + // prepare temp buffer for calcing crc + uint8_t tmp_buff[len+3]; + tmp_buff[0] = (uint8_t)get_address() << 1; + tmp_buff[1] = cmd; + tmp_buff[2] = tmp_buff[0] | (uint8_t)reading; + memcpy(&tmp_buff[3],buff,len); + + // initialise crc to zero + uint8_t crc = 0; + uint8_t shift_reg = 0; + bool do_invert; + + // for each byte in the stream + for (uint8_t i=0; i<sizeof(tmp_buff); i++) { + // load next data byte into the shift register + shift_reg = tmp_buff[i]; + // for each bit in the current byte + for (uint8_t j=0; j<8; j++) { + do_invert = (crc ^ shift_reg) & 0x80; + crc <<= 1; + shift_reg <<= 1; + if (do_invert) { + crc ^= BATT_SMBUS_PEC_POLYNOMIAL; + } + } + } + + // return result + return crc; +} + +///////////////////////// shell functions /////////////////////// + +void +batt_smbus_usage() +{ + warnx("missing command: try 'start', 'test', 'stop', 'search'"); + warnx("options:"); + warnx(" -b i2cbus (%d)", BATT_SMBUS_I2C_BUS); + warnx(" -a addr (0x%x)", BATT_SMBUS_ADDR); +} + +int +batt_smbus_main(int argc, char *argv[]) +{ + int i2cdevice = BATT_SMBUS_I2C_BUS; + int batt_smbusadr = BATT_SMBUS_ADDR; /* 7bit */ + + int ch; + + /* jump over start/off/etc and look at options first */ + while ((ch = getopt(argc, argv, "a:b:")) != EOF) { + switch (ch) { + case 'a': + batt_smbusadr = strtol(optarg, NULL, 0); + break; + + case 'b': + i2cdevice = strtol(optarg, NULL, 0); + break; + + default: + batt_smbus_usage(); + exit(0); + } + } + + if (optind >= argc) { + batt_smbus_usage(); + exit(1); + } + + const char *verb = argv[optind]; + + if (!strcmp(verb, "start")) { + if (g_batt_smbus != nullptr) { + errx(1, "already started"); + } else { + // create new global object + g_batt_smbus = new BATT_SMBUS(i2cdevice, batt_smbusadr); + + if (g_batt_smbus == nullptr) { + errx(1, "new failed"); + } + + if (OK != g_batt_smbus->init()) { + delete g_batt_smbus; + g_batt_smbus = nullptr; + errx(1, "init failed"); + } + } + + exit(0); + } + + /* need the driver past this point */ + if (g_batt_smbus == nullptr) { + warnx("not started"); + batt_smbus_usage(); + exit(1); + } + + if (!strcmp(verb, "test")) { + g_batt_smbus->test(); + exit(0); + } + + if (!strcmp(verb, "stop")) { + delete g_batt_smbus; + g_batt_smbus = nullptr; + exit(0); + } + + if (!strcmp(verb, "search")) { + g_batt_smbus->search(); + exit(0); + } + + batt_smbus_usage(); + exit(0); +} diff --git a/src/drivers/batt_smbus/module.mk b/src/drivers/batt_smbus/module.mk new file mode 100644 index 000000000..b32ea6e55 --- /dev/null +++ b/src/drivers/batt_smbus/module.mk @@ -0,0 +1,8 @@ +# +# driver for SMBus smart batteries +# + +MODULE_COMMAND = batt_smbus +SRCS = batt_smbus.cpp + +MAXOPTIMIZATION = -Os diff --git a/src/drivers/device/i2c.h b/src/drivers/device/i2c.h index 705b398b0..206e71ddc 100644 --- a/src/drivers/device/i2c.h +++ b/src/drivers/device/i2c.h @@ -58,7 +58,7 @@ public: /** * Get the address */ - int16_t get_address() { return _address; } + int16_t get_address() const { return _address; } protected: /** diff --git a/src/drivers/drv_batt_smbus.h b/src/drivers/drv_batt_smbus.h new file mode 100644 index 000000000..ca130c84e --- /dev/null +++ b/src/drivers/drv_batt_smbus.h @@ -0,0 +1,47 @@ +/**************************************************************************** + * + * Copyright (C) 2012-2013 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 drv_batt_smbus.h + * + * SMBus battery monitor device API + */ + +#pragma once + +#include <stdint.h> +#include <sys/ioctl.h> +#include "drv_orb_dev.h" + +/* device path */ +#define BATT_SMBUS_DEVICE_PATH "/dev/batt_smbus" diff --git a/src/drivers/px4flow/px4flow.cpp b/src/drivers/px4flow/px4flow.cpp index 682cbf241..036798543 100644 --- a/src/drivers/px4flow/px4flow.cpp +++ b/src/drivers/px4flow/px4flow.cpp @@ -75,13 +75,14 @@ #include <board_config.h> /* Configuration Constants */ -#define I2C_FLOW_ADDRESS 0x42 //* 7-bit address. 8-bit address is 0x84 -//range 0x42 - 0x49 +#define I2C_FLOW_ADDRESS 0x42 ///< 7-bit address. 8-bit address is 0x84, range 0x42 - 0x49 /* PX4FLOW Registers addresses */ -#define PX4FLOW_REG 0x16 /* Measure Register 22*/ +#define PX4FLOW_REG 0x16 ///< Measure Register 22 + +#define PX4FLOW_CONVERSION_INTERVAL 20000 ///< in microseconds! 20000 = 50 Hz 100000 = 10Hz +#define PX4FLOW_I2C_MAX_BUS_SPEED 400000 ///< 400 KHz maximum speed -#define PX4FLOW_CONVERSION_INTERVAL 20000 //in microseconds! 20000 = 50 Hz 100000 = 10Hz /* oddly, ERROR is not defined for c++ */ #ifdef ERROR # undef ERROR @@ -204,7 +205,7 @@ private: extern "C" __EXPORT int px4flow_main(int argc, char *argv[]); PX4FLOW::PX4FLOW(int bus, int address, enum Rotation rotation) : - I2C("PX4FLOW", PX4FLOW_DEVICE_PATH, bus, address, 400000), //400khz + I2C("PX4FLOW", PX4FLOW_DEVICE_PATH, bus, address, PX4FLOW_I2C_MAX_BUS_SPEED), /* 100-400 KHz */ _reports(nullptr), _sensor_ok(false), _measure_ticks(0), diff --git a/src/modules/commander/module.mk b/src/modules/commander/module.mk index dac2ce59a..0e2a5356b 100644 --- a/src/modules/commander/module.mk +++ b/src/modules/commander/module.mk @@ -52,5 +52,5 @@ MODULE_STACKSIZE = 1200 MAXOPTIMIZATION = -Os -EXTRACXXFLAGS = -Wframe-larger-than=1900 +EXTRACXXFLAGS = -Wframe-larger-than=2000 diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp index 8d18ae68c..45dcddb9c 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -400,7 +400,8 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() : /* fetch initial parameter values */ parameters_update(); - // set correct uORB ID, depending on if vehicle is VTOL or not + + /* set correct uORB ID, depending on if vehicle is VTOL or not */ if (_parameters.autostart_id >= 13000 && _parameters.autostart_id <= 13999) { /* VTOL airframe?*/ _rates_sp_id = ORB_ID(fw_virtual_rates_setpoint); _actuators_id = ORB_ID(actuator_controls_virtual_fw); @@ -724,22 +725,24 @@ FixedwingAttitudeControl::task_main() R.set(_att.R); R_adapted.set(_att.R); - //move z to x + /* move z to x */ R_adapted(0, 0) = R(0, 2); R_adapted(1, 0) = R(1, 2); R_adapted(2, 0) = R(2, 2); - //move x to z + + /* move x to z */ R_adapted(0, 2) = R(0, 0); R_adapted(1, 2) = R(1, 0); R_adapted(2, 2) = R(2, 0); - //change direction of pitch (convert to right handed system) + /* change direction of pitch (convert to right handed system) */ R_adapted(0, 0) = -R_adapted(0, 0); R_adapted(1, 0) = -R_adapted(1, 0); R_adapted(2, 0) = -R_adapted(2, 0); math::Vector<3> euler_angles; //adapted euler angles for fixed wing operation euler_angles = R_adapted.to_euler(); - //fill in new attitude data + + /* fill in new attitude data */ _att.roll = euler_angles(0); _att.pitch = euler_angles(1); _att.yaw = euler_angles(2); @@ -753,7 +756,7 @@ FixedwingAttitudeControl::task_main() _att.R[2][1] = R_adapted(2, 1); _att.R[2][2] = R_adapted(2, 2); - // lastly, roll- and yawspeed have to be swaped + /* lastly, roll- and yawspeed have to be swaped */ float helper = _att.rollspeed; _att.rollspeed = -_att.yawspeed; _att.yawspeed = helper; @@ -824,6 +827,7 @@ FixedwingAttitudeControl::task_main() float roll_sp = _parameters.rollsp_offset_rad; float pitch_sp = _parameters.pitchsp_offset_rad; + float yaw_manual = 0.0f; float throttle_sp = 0.0f; /* Read attitude setpoint from uorb if @@ -849,7 +853,7 @@ FixedwingAttitudeControl::task_main() _yaw_ctrl.reset_integrator(); } } else if (_vcontrol_mode.flag_control_velocity_enabled) { - /* + /* * Velocity should be controlled and manual is enabled. */ roll_sp = (_manual.y * _parameters.man_roll_max - _parameters.trim_roll) @@ -884,6 +888,8 @@ FixedwingAttitudeControl::task_main() + _parameters.rollsp_offset_rad; pitch_sp = -(_manual.x * _parameters.man_pitch_max - _parameters.trim_pitch) + _parameters.pitchsp_offset_rad; + /* allow manual control of rudder deflection */ + yaw_manual = _manual.r; throttle_sp = _manual.z; _actuators.control[4] = _manual.flaps; @@ -983,6 +989,9 @@ FixedwingAttitudeControl::task_main() _pitch_ctrl.get_desired_rate(), _parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator); _actuators.control[2] = (isfinite(yaw_u)) ? yaw_u + _parameters.trim_yaw : _parameters.trim_yaw; + + /* add in manual rudder control */ + _actuators.control[2] += yaw_manual; if (!isfinite(yaw_u)) { _yaw_ctrl.reset_integrator(); perf_count(_nonfinite_output_perf); diff --git a/src/modules/mavlink/module.mk b/src/modules/mavlink/module.mk index 91fdd6154..f9d30dcbe 100644 --- a/src/modules/mavlink/module.mk +++ b/src/modules/mavlink/module.mk @@ -53,4 +53,6 @@ MAXOPTIMIZATION = -Os MODULE_STACKSIZE = 1024 -EXTRACXXFLAGS = -Weffc++ +EXTRACXXFLAGS = -Weffc++ -Wno-attributes -Wno-packed + +EXTRACFLAGS = -Wno-packed diff --git a/src/modules/navigator/navigator_params.c b/src/modules/navigator/navigator_params.c index 1f40e634e..5f8f8d02f 100644 --- a/src/modules/navigator/navigator_params.c +++ b/src/modules/navigator/navigator_params.c @@ -50,7 +50,8 @@ * Default value of loiter radius for missions, loiter, RTL, etc. (fixedwing only). * * @unit meters - * @min 0.0 + * @min 20 + * @max 200 * @group Mission */ PARAM_DEFINE_FLOAT(NAV_LOITER_RAD, 50.0f); @@ -61,10 +62,11 @@ PARAM_DEFINE_FLOAT(NAV_LOITER_RAD, 50.0f); * Default acceptance radius, overridden by acceptance radius of waypoint if set. * * @unit meters - * @min 1.0 + * @min 0.05 + * @max 200 * @group Mission */ -PARAM_DEFINE_FLOAT(NAV_ACC_RAD, 25.0f); +PARAM_DEFINE_FLOAT(NAV_ACC_RAD, 10.0f); /** * Set OBC mode for data link loss diff --git a/src/modules/navigator/rtl_params.c b/src/modules/navigator/rtl_params.c index bfe6ce7e1..1568233b0 100644 --- a/src/modules/navigator/rtl_params.c +++ b/src/modules/navigator/rtl_params.c @@ -53,7 +53,8 @@ * Default value of loiter radius after RTL (fixedwing only). * * @unit meters - * @min 0.0 + * @min 20 + * @max 200 * @group RTL */ PARAM_DEFINE_FLOAT(RTL_LOITER_RAD, 50.0f); @@ -65,10 +66,10 @@ PARAM_DEFINE_FLOAT(RTL_LOITER_RAD, 50.0f); * * @unit meters * @min 0 - * @max 1 + * @max 150 * @group RTL */ -PARAM_DEFINE_FLOAT(RTL_RETURN_ALT, 100); +PARAM_DEFINE_FLOAT(RTL_RETURN_ALT, 60); /** @@ -78,7 +79,7 @@ PARAM_DEFINE_FLOAT(RTL_RETURN_ALT, 100); * Land (i.e. slowly descend) from this altitude if autolanding allowed. * * @unit meters - * @min 0 + * @min 2 * @max 100 * @group RTL */ @@ -92,7 +93,7 @@ PARAM_DEFINE_FLOAT(RTL_DESCEND_ALT, 20); * * @unit seconds * @min -1 - * @max + * @max 300 * @group RTL */ PARAM_DEFINE_FLOAT(RTL_LAND_DELAY, -1.0f); diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index b78b430aa..5b047f538 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -468,7 +468,7 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"), LOG_FORMAT(AIRS, "fff", "IndSpeed,TrueSpeed,AirTemp"), LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"), - LOG_FORMAT(FLOW, "hhfffBB", "RawX,RawY,CompX,CompY,Dist,Q,SensID"), + LOG_FORMAT(FLOW, "QBffffffLLHhB", "IntT,ID,RawX,RawY,RX,RY,RZ,Dist,TSpan,DtSonar,FrmCnt,GT,Qlty"), LOG_FORMAT(GPOS, "LLfffffff", "Lat,Lon,Alt,VelN,VelE,VelD,EPH,EPV,TALT"), LOG_FORMAT(GPSP, "BLLffBfbf", "NavState,Lat,Lon,Alt,Yaw,Type,LoitR,LoitDir,PitMin"), LOG_FORMAT(ESC, "HBBBHHffiffH", "count,nESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"), |