merge origin/master

apps/drivers/hil/Makefile

@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (C) 2012 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.
+#
+############################################################################
+
+#
+# Interface driver for the PX4FMU board
+#
+
+APPNAME		 = hil
+PRIORITY	 = SCHED_PRIORITY_DEFAULT
+STACKSIZE	 = 2048
+
+include $(APPDIR)/mk/app.mk

apps/drivers/px4fmu/fmu.cpp

@@ -74,7 +74,6 @@ public:
 	enum Mode {
 		MODE_2PWM,
 		MODE_4PWM,
-		MODE_HIL_8PWM,
 		MODE_NONE
 	};
 	PX4FMU();
@@ -270,12 +269,6 @@ PX4FMU::set_mode(Mode mode)
 		_update_rate = 50;	/* default output rate */
 		break;
 
-	case MODE_HIL_8PWM:
-		debug("MODE_HIL_8PWM");
-		/* do not actually start a pwm device */
-		_update_rate = 50;	/* default output rate */
-		break;
-
 	case MODE_NONE:
 		debug("MODE_NONE");
 		/* disable servo outputs and set a very low update rate */
@@ -328,26 +321,7 @@ PX4FMU::task_main()
 	fds[1].fd = _t_armed;
 	fds[1].events = POLLIN;
 
-	unsigned num_outputs;
+	unsigned num_outputs = (_mode == MODE_2PWM) ? 2 : 4;
-
-	/* select the number of (real or virtual) outputs */
-	switch (_mode) {
-	case MODE_2PWM:
-		num_outputs = 2;
-		break;
-
-	case MODE_4PWM:
-		num_outputs = 4;
-		break;
-
-	case MODE_HIL_8PWM:
-		num_outputs = 8;
-		break;
-
-	case MODE_NONE:
-		num_outputs = 0;
-		break;
-	}
 
 	log("starting");
 
@@ -360,11 +334,7 @@ PX4FMU::task_main()
 			if (update_rate_in_ms < 2)
 				update_rate_in_ms = 2;
 			orb_set_interval(_t_actuators, update_rate_in_ms);
-
-			if (_mode != MODE_HIL_8PWM) {
-				/* do not attempt to set servos in HIL mode */
 			up_pwm_servo_set_rate(_update_rate);
-			}
 			_current_update_rate = _update_rate;
 		}
 
@@ -397,13 +367,9 @@ PX4FMU::task_main()
 					outputs.output[i] = 1500 + (600 * outputs.output[i]);
 
 					/* output to the servo */
-					if (_mode != MODE_HIL_8PWM) {
-						/* do not attempt to set servos in HIL mode */
 					up_pwm_servo_set(i, outputs.output[i]);
 				}
 
-				}
-
 				/* and publish for anyone that cares to see */
 				orb_publish(ORB_ID_VEHICLE_CONTROLS, _t_outputs, &outputs);
 			}
@@ -417,14 +383,7 @@ PX4FMU::task_main()
 			orb_copy(ORB_ID(actuator_armed), _t_armed, &aa);
 
 			/* update PWM servo armed status */
-
+			up_pwm_servo_arm(aa.armed);
-			/*
-			 * armed  = system wants to fly
-			 * locked = there is a low-level safety lock
-			 *          in place, such as in hardware-in-the-loop
-			 *          simulation setups.
-			 */
-			up_pwm_servo_arm(aa.armed && !aa.lockdown);
 		}
 	}
 
@@ -460,7 +419,7 @@ PX4FMU::ioctl(file *filp, int cmd, unsigned long arg)
 {
 	int ret;
 
-	// XXX disable debug output, users got confused
+	// XXX disabled, confusing users
 	//debug("ioctl 0x%04x 0x%08x", cmd, arg);
 
 	/* try it as a GPIO ioctl first */
@@ -474,11 +433,6 @@ PX4FMU::ioctl(file *filp, int cmd, unsigned long arg)
 	case MODE_4PWM:
 		ret = pwm_ioctl(filp, cmd, arg);
 		break;
-	case MODE_HIL_8PWM:
-		/* do nothing */
-		debug("loading mixer for virtual HIL device");
-		ret = 0;
-		break;
 	default:
 		debug("not in a PWM mode");
 		break;
@@ -752,7 +706,6 @@ enum PortMode {
 	PORT_GPIO_AND_SERIAL,
 	PORT_PWM_AND_SERIAL,
 	PORT_PWM_AND_GPIO,
-	PORT_HIL_PWM
 };
 
 PortMode g_port_mode;
@@ -801,11 +754,6 @@ fmu_new_mode(PortMode new_mode, int update_rate)
 		/* select 2-pin PWM mode */
 		servo_mode = PX4FMU::MODE_2PWM;
 		break;
-
-	case PORT_HIL_PWM:
-		/* virtual PWM mode */
-		servo_mode = PX4FMU::MODE_HIL_8PWM;
-		break;
 	}
 
 	/* adjust GPIO config for serial mode(s) */
@@ -935,14 +883,11 @@ fmu_main(int argc, char *argv[])
 
 		} else if (!strcmp(argv[i], "mode_pwm_gpio")) {
 			new_mode = PORT_PWM_AND_GPIO;
-
-		} else if (!strcmp(argv[i], "mode_hil_pwm")) {
-			new_mode = PORT_HIL_PWM;
 		}
 
 		/* look for the optional pwm update rate for the supported modes */
 		if (strcmp(argv[i], "-u") == 0 || strcmp(argv[i], "--update-rate") == 0) {
-			if (new_mode == PORT_FULL_PWM || new_mode == PORT_PWM_AND_GPIO || PORT_HIL_PWM) {
+			if (new_mode == PORT_FULL_PWM || new_mode == PORT_PWM_AND_GPIO) {
 				if (argc > i + 1) {
 					pwm_update_rate_in_hz = atoi(argv[i + 1]);
 				} else {
@@ -968,7 +913,7 @@ fmu_main(int argc, char *argv[])
 
 	/* test, etc. here */
 
-	fprintf(stderr, "FMU: unrecognized command, try:\n");
+	fprintf(stderr, "FMU: unrecognised command, try:\n");
-	fprintf(stderr, "  mode_gpio, mode_serial, mode_pwm [-u pwm_update_rate_in_hz], mode_gpio_serial,\n  mode_pwm_serial, mode_pwm_gpio, mode_hil_pwm\n");
+	fprintf(stderr, "  mode_gpio, mode_serial, mode_pwm [-u pwm_update_rate_in_hz], mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio\n");
 	return -EINVAL;
 }

apps/mavlink/orb_listener.c

@@ -436,7 +436,7 @@ l_actuator_outputs(struct listener *l)
 		/* only send in HIL mode */
 		if (mavlink_hil_enabled) {
 
-			/* translate the current system state to mavlink state and mode */
+			/* translate the current syste state to mavlink state and mode */
 			uint8_t mavlink_state = 0;
 			uint8_t mavlink_mode = 0;
 			get_mavlink_mode_and_state(&mavlink_state, &mavlink_mode);

apps/px4/tests/test_sensors.c

@@ -130,7 +130,7 @@ accel(int argc, char *argv[])
 		return ERROR;
 
 	} else {
-		printf("\tACCEL values: acc: x:%8.4f\ty:%8.4f\tz:%8.4f\n", (double)buf.x, (double)buf.y, (double)buf.z);
+		printf("\tACCEL accel: x:%8.4f\ty:%8.4f\tz:%8.4f m/s^2\n", (double)buf.x, (double)buf.y, (double)buf.z);
 	}
 
 	// /* wait at least 10ms, sensor should have data after no more than 2ms */
@@ -182,7 +182,7 @@ gyro(int argc, char *argv[])
 		return ERROR;
 
 	} else {
-		printf("\tGYRO values: rates: x:%8.4f\ty:%8.4f\tz:%8.4f\n", (double)buf.x, (double)buf.y, (double)buf.z);
+		printf("\tGYRO rates: x:%8.4f\ty:%8.4f\tz:%8.4f rad/s\n", (double)buf.x, (double)buf.y, (double)buf.z);
 	}
 
 	/* Let user know everything is ok */
@@ -219,7 +219,7 @@ mag(int argc, char *argv[])
 		return ERROR;
 
 	} else {
-		printf("\tMAG values: mag. field: x:%8.4f\ty:%8.4f\tz:%8.4f\n", (double)buf.x, (double)buf.y, (double)buf.z);
+		printf("\tMAG values: x:%8.4f\ty:%8.4f\tz:%8.4f\n", (double)buf.x, (double)buf.y, (double)buf.z);
 	}
 
 	/* Let user know everything is ok */
@@ -256,7 +256,7 @@ baro(int argc, char *argv[])
 		return ERROR;
 
 	} else {
-		printf("\tBARO values: pressure: %8.4f mbar\taltitude: %8.4f m\ttemperature: %8.4f deg Celsius\n", (double)buf.pressure, (double)buf.altitude, (double)buf.temperature);
+		printf("\tBARO pressure: %8.4f mbar\talt: %8.4f m\ttemp: %8.4f deg C\n", (double)buf.pressure, (double)buf.altitude, (double)buf.temperature);
 	}
 
 	/* Let user know everything is ok */

apps/systemlib/mixer/mixer_group.cpp

@@ -168,6 +168,7 @@ mixer_load_simple(Mixer::ControlCallback control_cb, uintptr_t cb_handle, int fd
 
 	/* let's assume we're going to read a simple mixer */
 	mixinfo = (mixer_simple_s *)malloc(MIXER_SIMPLE_SIZE(inputs));
+	mixinfo->control_count = inputs;
 
 	/* first, get the output scaler */
 	ret = mixer_getline(fd, buf, sizeof(buf));

nuttx/configs/px4fmu/nsh/appconfig

@@ -98,6 +98,7 @@ CONFIGURED_APPS += drivers/stm32
 CONFIGURED_APPS += drivers/led
 CONFIGURED_APPS += drivers/stm32/tone_alarm
 CONFIGURED_APPS += drivers/px4fmu
+CONFIGURED_APPS += drivers/hil
 
 # Testing stuff
 CONFIGURED_APPS += px4/sensors_bringup