From 80cd2e6c9b03eb078aafe2814ff1c9d2753ac073 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 13 Apr 2014 23:29:12 +0200 Subject: Added fields to range finder clarifying sensor properties --- src/drivers/drv_range_finder.h | 11 +++++++++-- 1 file changed, 9 insertions(+), 2 deletions(-) diff --git a/src/drivers/drv_range_finder.h b/src/drivers/drv_range_finder.h index cf91f7030..e45939b37 100644 --- a/src/drivers/drv_range_finder.h +++ b/src/drivers/drv_range_finder.h @@ -46,6 +46,10 @@ #define RANGE_FINDER_DEVICE_PATH "/dev/range_finder" +enum RANGE_FINDER_TYPE { + RANGE_FINDER_TYPE_LASER = 0, +}; + /** * range finder report structure. Reads from the device must be in multiples of this * structure. @@ -53,8 +57,11 @@ struct range_finder_report { uint64_t timestamp; uint64_t error_count; - float distance; /** in meters */ - uint8_t valid; /** 1 == within sensor range, 0 = outside sensor range */ + unsigned type; /**< type, following RANGE_FINDER_TYPE enum */ + float distance; /**< in meters */ + float minimum_distance; /**< minimum distance the sensor can measure */ + float maximum_distance; /**< maximum distance the sensor can measure */ + uint8_t valid; /**< 1 == within sensor range, 0 = outside sensor range */ }; /* -- cgit v1.2.3 From f84669039579aeef80e232c3c9a444d20bcbdf39 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 13 Apr 2014 23:30:09 +0200 Subject: Added rangefinder message to MAVLink app --- src/modules/mavlink/mavlink_main.cpp | 1 + src/modules/mavlink/mavlink_messages.cpp | 47 ++++++++++++++++++++++++++++++++ src/modules/mavlink/module.mk | 2 ++ 3 files changed, 50 insertions(+) diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 1ed3f4001..c90b4e2de 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -1942,6 +1942,7 @@ Mavlink::task_main(int argc, char *argv[]) configure_stream("NAMED_VALUE_FLOAT", 1.0f * rate_mult); configure_stream("GLOBAL_POSITION_SETPOINT_INT", 3.0f * rate_mult); configure_stream("ROLL_PITCH_YAW_THRUST_SETPOINT", 3.0f * rate_mult); + configure_stream("DISTANCE_SENSOR", 0.5f); break; case MAVLINK_MODE_CAMERA: diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 47603b390..e608bf787 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -72,6 +72,7 @@ #include #include #include +#include #include "mavlink_messages.h" @@ -1271,6 +1272,51 @@ protected: } }; +class MavlinkStreamDistanceSensor : public MavlinkStream +{ +public: + const char *get_name() + { + return "DISTANCE_SENSOR"; + } + + MavlinkStream *new_instance() + { + return new MavlinkStreamDistanceSensor(); + } + +private: + MavlinkOrbSubscription *range_sub; + struct range_finder_report *range; + +protected: + void subscribe(Mavlink *mavlink) + { + range_sub = mavlink->add_orb_subscription(ORB_ID(sensor_range_finder)); + range = (struct range_finder_report *)range_sub->get_data(); + } + + void send(const hrt_abstime t) + { + (void)range_sub->update(t); + + uint8_t type; + + switch (range->type) { + case RANGE_FINDER_TYPE_LASER: + type = MAV_DISTANCE_SENSOR_LASER; + break; + } + + uint8_t id = 0; + uint8_t orientation = 0; + uint8_t covariance = 20; + + mavlink_msg_distance_sensor_send(_channel, range->timestamp / 1000, type, id, orientation, + range->minimum_distance*100, range->maximum_distance*100, range->distance*100, covariance); + } +}; + MavlinkStream *streams_list[] = { new MavlinkStreamHeartbeat(), new MavlinkStreamSysStatus(), @@ -1297,5 +1343,6 @@ MavlinkStream *streams_list[] = { new MavlinkStreamAttitudeControls(), new MavlinkStreamNamedValueFloat(), new MavlinkStreamCameraCapture(), + new MavlinkStreamDistanceSensor(), nullptr }; diff --git a/src/modules/mavlink/module.mk b/src/modules/mavlink/module.mk index 515fbfadc..dcca11977 100644 --- a/src/modules/mavlink/module.mk +++ b/src/modules/mavlink/module.mk @@ -46,3 +46,5 @@ SRCS += mavlink_main.cpp \ mavlink_commands.cpp INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink + +MAXOPTIMIZATION = -Os -- cgit v1.2.3 From 5c08a1aeaca2c86b66ee1ad05b0178ff214847e1 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 13 Apr 2014 23:32:52 +0200 Subject: Untangled local pos and distance messages, now sending distance messages only for actual distance measuring devices --- src/modules/sdlog2/sdlog2.c | 18 +++--------------- src/modules/sdlog2/sdlog2_messages.h | 5 ++++- 2 files changed, 7 insertions(+), 16 deletions(-) diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 1bf6f1de3..611491cf9 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -908,9 +908,6 @@ int sdlog2_thread_main(int argc, char *argv[]) hrt_abstime barometer_timestamp = 0; hrt_abstime differential_pressure_timestamp = 0; - /* track changes in distance status */ - bool dist_bottom_present = false; - /* enable logging on start if needed */ if (log_on_start) { /* check GPS topic to get GPS time */ @@ -1099,6 +1096,8 @@ int sdlog2_thread_main(int argc, char *argv[]) log_msg.body.log_LPOS.x = buf.local_pos.x; log_msg.body.log_LPOS.y = buf.local_pos.y; log_msg.body.log_LPOS.z = buf.local_pos.z; + log_msg.body.log_LPOS.ground_dist = buf.local_pos.dist_bottom; + log_msg.body.log_LPOS.ground_dist_rate = buf.local_pos.dist_bottom_rate; log_msg.body.log_LPOS.vx = buf.local_pos.vx; log_msg.body.log_LPOS.vy = buf.local_pos.vy; log_msg.body.log_LPOS.vz = buf.local_pos.vz; @@ -1108,19 +1107,8 @@ int sdlog2_thread_main(int argc, char *argv[]) log_msg.body.log_LPOS.xy_flags = (buf.local_pos.xy_valid ? 1 : 0) | (buf.local_pos.v_xy_valid ? 2 : 0) | (buf.local_pos.xy_global ? 8 : 0); log_msg.body.log_LPOS.z_flags = (buf.local_pos.z_valid ? 1 : 0) | (buf.local_pos.v_z_valid ? 2 : 0) | (buf.local_pos.z_global ? 8 : 0); log_msg.body.log_LPOS.landed = buf.local_pos.landed; + log_msg.body.log_LPOS.ground_dist_flags = (buf.local_pos.dist_bottom_valid ? 1 : 0); LOGBUFFER_WRITE_AND_COUNT(LPOS); - - if (buf.local_pos.dist_bottom_valid) { - dist_bottom_present = true; - } - - if (dist_bottom_present) { - log_msg.msg_type = LOG_DIST_MSG; - log_msg.body.log_DIST.bottom = buf.local_pos.dist_bottom; - log_msg.body.log_DIST.bottom_rate = buf.local_pos.dist_bottom_rate; - log_msg.body.log_DIST.flags = (buf.local_pos.dist_bottom_valid ? 1 : 0); - LOGBUFFER_WRITE_AND_COUNT(DIST); - } } /* --- LOCAL POSITION SETPOINT --- */ diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index d0585df39..2538dcd2f 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -101,6 +101,8 @@ struct log_LPOS_s { float x; float y; float z; + float ground_dist; + float ground_dist_rate; float vx; float vy; float vz; @@ -110,6 +112,7 @@ struct log_LPOS_s { uint8_t xy_flags; uint8_t z_flags; uint8_t landed; + uint8_t ground_dist_flags; }; /* --- LPSP - LOCAL POSITION SETPOINT --- */ @@ -343,7 +346,7 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"), LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"), LOG_FORMAT(SENS, "fffff", "BaroPres,BaroAlt,BaroTemp,DiffPres,DiffPresFilt"), - LOG_FORMAT(LPOS, "ffffffLLfBBB", "X,Y,Z,VX,VY,VZ,RefLat,RefLon,RefAlt,XYFlags,ZFlags,Landed"), + LOG_FORMAT(LPOS, "ffffffffLLfBBBB", "X,Y,Z,VX,VY,VZ,RefLat,RefLon,RefAlt,XYFlags,ZFlags,Landed"), LOG_FORMAT(LPSP, "ffff", "X,Y,Z,Yaw"), LOG_FORMAT(GPS, "QBffLLfffff", "GPSTime,FixType,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog"), LOG_FORMAT(ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"), -- cgit v1.2.3 From f8232fa2698b37983f4c3f05926c9d6a7a107acf Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 20 Apr 2014 02:05:20 +0200 Subject: fw_config_fixes --- ROMFS/px4fmu_common/init.d/3031_phantom | 8 ++++---- ROMFS/px4fmu_common/init.d/3032_skywalker_x5 | 2 +- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/3031_phantom b/ROMFS/px4fmu_common/init.d/3031_phantom index 6cbd23643..24372bddc 100644 --- a/ROMFS/px4fmu_common/init.d/3031_phantom +++ b/ROMFS/px4fmu_common/init.d/3031_phantom @@ -10,8 +10,8 @@ sh /etc/init.d/rc.fw_defaults if [ $DO_AUTOCONFIG == yes ] then param set FW_AIRSPD_MIN 13 - param set FW_AIRSPD_TRIM 18 - param set FW_AIRSPD_MAX 40 + param set FW_AIRSPD_TRIM 15 + param set FW_AIRSPD_MAX 25 param set FW_ATT_TC 0.3 param set FW_L1_DAMPING 0.75 param set FW_L1_PERIOD 15 @@ -23,12 +23,12 @@ then param set FW_P_LIM_MIN -50 param set FW_P_RMAX_NEG 0 param set FW_P_RMAX_POS 0 - param set FW_P_ROLLFF 0 + param set FW_P_ROLLFF 1 param set FW_RR_FF 0.5 param set FW_RR_I 0.02 param set FW_RR_IMAX 0.2 param set FW_RR_P 0.08 - param set FW_R_LIM 70 + param set FW_R_LIM 50 param set FW_R_RMAX 0 param set FW_T_HRATE_P 0.01 param set FW_T_RLL2THR 15 diff --git a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 index bf5a87068..465166f25 100644 --- a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 +++ b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 @@ -23,7 +23,7 @@ then param set FW_P_LIM_MIN -45 param set FW_P_RMAX_NEG 0 param set FW_P_RMAX_POS 0 - param set FW_P_ROLLFF 0 + param set FW_P_ROLLFF 1 param set FW_RR_FF 0.3 param set FW_RR_I 0 param set FW_RR_IMAX 0.2 -- cgit v1.2.3