Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-06-04 21:23:57 +08:00
Code Issues Actions 4 Packages Projects Releases Wiki Activity

merge origin/master

Browse Source
This commit is contained in:
Thomas Gubler
2012-11-10 18:35:46 +01:00
parent 536ab4bce3 ee5abb0745
commit 12e6905834
7 changed files with 909 additions and 68 deletions
Download Patch File Download Diff File Expand all files Collapse all files
apps/drivers/hil/Makefile
+42
View File
@@ -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/hil/hil.cpp
+852
View File
File diff suppressed because it is too large Load Diff
apps/drivers/px4fmu/fmu.cpp
+8 -63
View File
@@ -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;
/* 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;
}
unsigned num_outputs = (_mode == MODE_2PWM) ? 2 : 4;
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);
}
up_pwm_servo_set_rate(_update_rate);
_current_update_rate = _update_rate;
}
@@ -397,11 +367,7 @@ 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]);
}
up_pwm_servo_set(i, outputs.output[i]);
}
/* and publish for anyone that cares to see */
@@ -417,14 +383,7 @@ PX4FMU::task_main()
orb_copy(ORB_ID(actuator_armed), _t_armed, &aa);
/* update PWM servo armed status */
/*
* 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);
up_pwm_servo_arm(aa.armed);
}
}
@@ -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, " 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, "FMU: unrecognised command, try:\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
+1 -1
View File
@@ -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
+4 -4
View File
@@ -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
+1
View File
@@ -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
+1
View File
@@ -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