mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-06-08 10:50:19 +08:00
Merge branch 'master' of github.com:PX4/Firmware into eff_plus_plus
This commit is contained in:
Lorenz Meier
@@ -36,7 +36,7 @@ then
|
||||
param set FW_T_TIME_CONST 5
|
||||
fi
|
||||
|
||||
set MIXER FMU_Q
|
||||
set MIXER phantom
|
||||
|
||||
# Provide ESC a constant 1000 us pulse
|
||||
set PWM_OUTPUTS 4
|
||||
|
||||
@@ -0,0 +1,67 @@
|
||||
Phantom FX-61 mixer
|
||||
===================
|
||||
|
||||
This file defines mixers suitable for controlling a delta wing aircraft using
|
||||
PX4/Pixhawk. The configuration assumes the elevon servos are connected to
|
||||
servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
|
||||
assumed to be unused.
|
||||
|
||||
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
|
||||
(roll), 1 (pitch) and 3 (thrust).
|
||||
|
||||
See the README for more information on the scaler format.
|
||||
|
||||
Elevon mixers
|
||||
-------------
|
||||
Three scalers total (output, roll, pitch).
|
||||
|
||||
On the assumption that the two elevon servos are physically reversed, the pitch
|
||||
input is inverted between the two servos.
|
||||
|
||||
The scaling factor are set so that pitch will have more travel than roll.
|
||||
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 0 -6000 -6000 0 -10000 10000
|
||||
S: 0 1 6500 6500 0 -10000 10000
|
||||
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 0 -6000 -6000 0 -10000 10000
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||||
S: 0 1 -6500 -6500 0 -10000 10000
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||||
|
||||
Output 2
|
||||
--------
|
||||
This mixer is empty.
|
||||
|
||||
Z:
|
||||
|
||||
Motor speed mixer
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||||
-----------------
|
||||
Two scalers total (output, thrust).
|
||||
|
||||
This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
|
||||
range. Inputs below zero are treated as zero.
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
||||
|
||||
Gimbal / flaps / payload mixer for last four channels
|
||||
-----------------------------------------------------
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 4 10000 10000 0 -10000 10000
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||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 5 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 6 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 7 10000 10000 0 -10000 10000
|
||||
@@ -172,6 +172,9 @@ ETSAirspeed::collect()
|
||||
diff_pres_pa = diff_pres_pa_raw - _diff_pres_offset;
|
||||
}
|
||||
|
||||
// The raw value still should be compensated for the known offset
|
||||
diff_pres_pa_raw -= _diff_pres_offset;
|
||||
|
||||
// Track maximum differential pressure measured (so we can work out top speed).
|
||||
if (diff_pres_pa > _max_differential_pressure_pa) {
|
||||
_max_differential_pressure_pa = diff_pres_pa;
|
||||
@@ -186,7 +189,6 @@ ETSAirspeed::collect()
|
||||
report.differential_pressure_filtered_pa = (float)diff_pres_pa;
|
||||
report.differential_pressure_raw_pa = (float)diff_pres_pa_raw;
|
||||
report.temperature = -1000.0f;
|
||||
report.voltage = 0;
|
||||
report.max_differential_pressure_pa = _max_differential_pressure_pa;
|
||||
|
||||
if (_airspeed_pub > 0 && !(_pub_blocked)) {
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||||
|
||||
@@ -225,7 +225,10 @@ MEASAirspeed::collect()
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||||
// correct for 5V rail voltage if possible
|
||||
voltage_correction(diff_press_pa_raw, temperature);
|
||||
|
||||
float diff_press_pa = fabsf(diff_press_pa_raw - _diff_pres_offset);
|
||||
// the raw value still should be compensated for the known offset
|
||||
diff_press_pa_raw -= _diff_pres_offset;
|
||||
|
||||
float diff_press_pa = fabsf(diff_press_pa_raw);
|
||||
|
||||
/*
|
||||
note that we return both the absolute value with offset
|
||||
@@ -265,7 +268,6 @@ MEASAirspeed::collect()
|
||||
}
|
||||
|
||||
report.differential_pressure_raw_pa = diff_press_pa_raw;
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||||
report.voltage = 0;
|
||||
report.max_differential_pressure_pa = _max_differential_pressure_pa;
|
||||
|
||||
if (_airspeed_pub > 0 && !(_pub_blocked)) {
|
||||
|
||||
@@ -1,7 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
|
||||
* Author: Lorenz Meier <lm@inf.ethz.ch>
|
||||
* Copyright (c) 2012-2014 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
|
||||
|
||||
@@ -1,7 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
|
||||
* Author: Anton Babushkin <anton.babushkin@me.com>
|
||||
* Copyright (c) 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
|
||||
|
||||
@@ -1,7 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
|
||||
* Author: Anton Babushkin <anton.babushkin@me.com>
|
||||
* Copyright (c) 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
|
||||
|
||||
@@ -51,6 +51,7 @@
|
||||
#include <mavlink/mavlink_log.h>
|
||||
#include <systemlib/param/param.h>
|
||||
#include <systemlib/err.h>
|
||||
#include <systemlib/airspeed.h>
|
||||
|
||||
/* oddly, ERROR is not defined for c++ */
|
||||
#ifdef ERROR
|
||||
@@ -64,19 +65,17 @@ int do_airspeed_calibration(int mavlink_fd)
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||||
{
|
||||
/* give directions */
|
||||
mavlink_log_info(mavlink_fd, CAL_STARTED_MSG, sensor_name);
|
||||
mavlink_log_info(mavlink_fd, "ensure airspeed sensor is not registering wind");
|
||||
|
||||
const int calibration_count = 2000;
|
||||
const unsigned calibration_count = 2000;
|
||||
|
||||
int diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure));
|
||||
struct differential_pressure_s diff_pres;
|
||||
|
||||
int calibration_counter = 0;
|
||||
float diff_pres_offset = 0.0f;
|
||||
|
||||
/* Reset sensor parameters */
|
||||
struct airspeed_scale airscale = {
|
||||
0.0f,
|
||||
diff_pres_offset,
|
||||
1.0f,
|
||||
};
|
||||
|
||||
@@ -95,12 +94,29 @@ int do_airspeed_calibration(int mavlink_fd)
|
||||
}
|
||||
|
||||
if (!paramreset_successful) {
|
||||
warn("FAILED to set scale / offsets for airspeed");
|
||||
mavlink_log_critical(mavlink_fd, "dpress reset failed");
|
||||
mavlink_log_info(mavlink_fd, CAL_FAILED_MSG, sensor_name);
|
||||
return ERROR;
|
||||
|
||||
/* only warn if analog scaling is zero */
|
||||
float analog_scaling = 0.0f;
|
||||
param_get(param_find("SENS_DPRES_ANSC"), &(analog_scaling));
|
||||
if (fabsf(analog_scaling) < 0.1f) {
|
||||
mavlink_log_critical(mavlink_fd, "If analog sens, retry with [SENS_DPRES_ANSC=1000]");
|
||||
close(diff_pres_sub);
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
/* set scaling offset parameter */
|
||||
if (param_set(param_find("SENS_DPRES_OFF"), &(diff_pres_offset))) {
|
||||
mavlink_log_critical(mavlink_fd, CAL_FAILED_SET_PARAMS_MSG);
|
||||
close(diff_pres_sub);
|
||||
return ERROR;
|
||||
}
|
||||
}
|
||||
|
||||
unsigned calibration_counter = 0;
|
||||
|
||||
mavlink_log_critical(mavlink_fd, "Ensure sensor is not measuring wind");
|
||||
usleep(500 * 1000);
|
||||
|
||||
while (calibration_counter < calibration_count) {
|
||||
|
||||
/* wait blocking for new data */
|
||||
@@ -112,11 +128,12 @@ int do_airspeed_calibration(int mavlink_fd)
|
||||
|
||||
if (poll_ret) {
|
||||
orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres);
|
||||
|
||||
diff_pres_offset += diff_pres.differential_pressure_raw_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);
|
||||
mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, (calibration_counter * 80) / calibration_count);
|
||||
}
|
||||
|
||||
} else if (poll_ret == 0) {
|
||||
@@ -131,6 +148,16 @@ int do_airspeed_calibration(int mavlink_fd)
|
||||
|
||||
if (isfinite(diff_pres_offset)) {
|
||||
|
||||
int fd_scale = open(AIRSPEED_DEVICE_PATH, 0);
|
||||
airscale.offset_pa = diff_pres_offset;
|
||||
if (fd_scale > 0) {
|
||||
if (OK != ioctl(fd_scale, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale)) {
|
||||
mavlink_log_critical(mavlink_fd, "airspeed offset update failed");
|
||||
}
|
||||
|
||||
close(fd_scale);
|
||||
}
|
||||
|
||||
if (param_set(param_find("SENS_DPRES_OFF"), &(diff_pres_offset))) {
|
||||
mavlink_log_critical(mavlink_fd, CAL_FAILED_SET_PARAMS_MSG);
|
||||
close(diff_pres_sub);
|
||||
@@ -147,14 +174,91 @@ int do_airspeed_calibration(int mavlink_fd)
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
mavlink_log_info(mavlink_fd, CAL_DONE_MSG, sensor_name);
|
||||
tune_neutral(true);
|
||||
close(diff_pres_sub);
|
||||
return OK;
|
||||
|
||||
} else {
|
||||
mavlink_log_info(mavlink_fd, CAL_FAILED_MSG, sensor_name);
|
||||
close(diff_pres_sub);
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
mavlink_log_critical(mavlink_fd, "Offset of %d Pa, create airflow now!", (int)diff_pres_offset);
|
||||
|
||||
/* wait 500 ms to ensure parameter propagated through the system */
|
||||
usleep(500 * 1000);
|
||||
|
||||
calibration_counter = 0;
|
||||
const int maxcount = 3000;
|
||||
|
||||
/* just take a few samples and make sure pitot tubes are not reversed, timeout after ~30 seconds */
|
||||
while (calibration_counter < maxcount) {
|
||||
|
||||
/* wait blocking for new data */
|
||||
struct pollfd fds[1];
|
||||
fds[0].fd = diff_pres_sub;
|
||||
fds[0].events = POLLIN;
|
||||
|
||||
int poll_ret = poll(fds, 1, 1000);
|
||||
|
||||
if (poll_ret) {
|
||||
orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres);
|
||||
|
||||
calibration_counter++;
|
||||
|
||||
if (fabsf(diff_pres.differential_pressure_raw_pa) < 50.0f) {
|
||||
if (calibration_counter % 100 == 0) {
|
||||
mavlink_log_critical(mavlink_fd, "Missing airflow! (%d, wanted: 50 Pa, #h101)",
|
||||
(int)diff_pres.differential_pressure_raw_pa);
|
||||
}
|
||||
continue;
|
||||
}
|
||||
|
||||
/* do not allow negative values */
|
||||
if (diff_pres.differential_pressure_raw_pa < 0.0f) {
|
||||
mavlink_log_info(mavlink_fd, "negative pressure: ERROR (%d Pa)",
|
||||
(int)diff_pres.differential_pressure_raw_pa);
|
||||
mavlink_log_critical(mavlink_fd, "%d Pa: swap static and dynamic ports!", (int)diff_pres.differential_pressure_raw_pa);
|
||||
close(diff_pres_sub);
|
||||
|
||||
/* the user setup is wrong, wipe the calibration to force a proper re-calibration */
|
||||
|
||||
diff_pres_offset = 0.0f;
|
||||
if (param_set(param_find("SENS_DPRES_OFF"), &(diff_pres_offset))) {
|
||||
mavlink_log_critical(mavlink_fd, CAL_FAILED_SET_PARAMS_MSG);
|
||||
close(diff_pres_sub);
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
/* save */
|
||||
mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 0);
|
||||
(void)param_save_default();
|
||||
|
||||
close(diff_pres_sub);
|
||||
|
||||
mavlink_log_info(mavlink_fd, CAL_FAILED_MSG, sensor_name);
|
||||
return ERROR;
|
||||
} else {
|
||||
mavlink_log_info(mavlink_fd, "positive pressure: OK (%d Pa)",
|
||||
(int)diff_pres.differential_pressure_raw_pa);
|
||||
break;
|
||||
}
|
||||
|
||||
} else if (poll_ret == 0) {
|
||||
/* any poll failure for 1s is a reason to abort */
|
||||
mavlink_log_critical(mavlink_fd, CAL_FAILED_MSG, sensor_name);
|
||||
close(diff_pres_sub);
|
||||
return ERROR;
|
||||
}
|
||||
}
|
||||
|
||||
if (calibration_counter == maxcount) {
|
||||
mavlink_log_critical(mavlink_fd, CAL_FAILED_MSG, sensor_name);
|
||||
close(diff_pres_sub);
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 100);
|
||||
|
||||
mavlink_log_info(mavlink_fd, CAL_DONE_MSG, sensor_name);
|
||||
tune_neutral(true);
|
||||
close(diff_pres_sub);
|
||||
return OK;
|
||||
}
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
|
||||
* Copyright (c) 2013, 2014 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
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
|
||||
* Copyright (c) 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
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
|
||||
* Copyright (c) 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
|
||||
|
||||
@@ -1,7 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
|
||||
* Author: Anton Babushkin <anton.babushkin@me.com>
|
||||
* Copyright (c) 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
|
||||
|
||||
@@ -1,7 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Author: Lorenz Meier <lm@inf.ethz.ch>
|
||||
* 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
|
||||
|
||||
@@ -1,7 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Author: Lorenz Meier <lm@inf.ethz.ch>
|
||||
* 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
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,9 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
|
||||
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
|
||||
* Julian Oes <joes@student.ethz.ch>
|
||||
* Anton Babushkin <anton.babushkin@me.com>
|
||||
* Copyright (c) 2013, 2014 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
|
||||
@@ -37,6 +34,11 @@
|
||||
/**
|
||||
* @file commander_helper.cpp
|
||||
* Commander helper functions implementations
|
||||
*
|
||||
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
|
||||
* @author Julian Oes <julian@oes.ch>
|
||||
* @author Anton Babushkin <anton.babushkin@me.com>
|
||||
*
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
|
||||
@@ -1,8 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
|
||||
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
|
||||
* Julian Oes <joes@student.ethz.ch>
|
||||
* Copyright (c) 2013, 2014 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
|
||||
@@ -36,6 +34,9 @@
|
||||
/**
|
||||
* @file commander_helper.h
|
||||
* Commander helper functions definitions
|
||||
*
|
||||
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
|
||||
* @author Julian Oes <julian@oes.ch>
|
||||
*/
|
||||
|
||||
#ifndef COMMANDER_HELPER_H_
|
||||
@@ -77,6 +78,8 @@ void rgbled_set_pattern(rgbled_pattern_t *pattern);
|
||||
* Use integral of current if battery capacity known (BAT_CAPACITY parameter set),
|
||||
* else use simple estimate based on voltage.
|
||||
*
|
||||
* @param voltage the current battery voltage
|
||||
* @param discharged the discharged capacity
|
||||
* @return the estimated remaining capacity in 0..1
|
||||
*/
|
||||
float battery_remaining_estimate_voltage(float voltage, float discharged);
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
|
||||
* Copyright (c) 2013, 2014 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
|
||||
|
||||
@@ -52,6 +52,7 @@
|
||||
#include <uORB/topics/vehicle_status.h>
|
||||
#include <uORB/topics/actuator_controls.h>
|
||||
#include <uORB/topics/differential_pressure.h>
|
||||
#include <uORB/topics/airspeed.h>
|
||||
#include <systemlib/systemlib.h>
|
||||
#include <systemlib/param/param.h>
|
||||
#include <systemlib/err.h>
|
||||
@@ -87,7 +88,7 @@ static const bool arming_transitions[ARMING_STATE_MAX][ARMING_STATE_MAX] = {
|
||||
};
|
||||
|
||||
// You can index into the array with an arming_state_t in order to get it's textual representation
|
||||
static const char *state_names[ARMING_STATE_MAX] = {
|
||||
static const char * const state_names[ARMING_STATE_MAX] = {
|
||||
"ARMING_STATE_INIT",
|
||||
"ARMING_STATE_STANDBY",
|
||||
"ARMING_STATE_ARMED",
|
||||
@@ -160,7 +161,7 @@ arming_state_transition(struct vehicle_status_s *status, /// current
|
||||
// Fail transition if we need safety switch press
|
||||
} else if (safety->safety_switch_available && !safety->safety_off) {
|
||||
|
||||
mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Press safety switch!");
|
||||
mavlink_log_critical(mavlink_fd, "NOT ARMING: Press safety switch!");
|
||||
|
||||
valid_transition = false;
|
||||
}
|
||||
@@ -171,16 +172,16 @@ arming_state_transition(struct vehicle_status_s *status, /// current
|
||||
// Fail transition if power is not good
|
||||
if (!status->condition_power_input_valid) {
|
||||
|
||||
mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Connect power module.");
|
||||
mavlink_log_critical(mavlink_fd, "NOT ARMING: Connect power module.");
|
||||
valid_transition = false;
|
||||
}
|
||||
|
||||
// Fail transition if power levels on the avionics rail
|
||||
// are measured but are insufficient
|
||||
if (status->condition_power_input_valid && (status->avionics_power_rail_voltage > 0.0f) &&
|
||||
(status->avionics_power_rail_voltage < 4.9f)) {
|
||||
if (status->condition_power_input_valid && ((status->avionics_power_rail_voltage > 0.0f) &&
|
||||
(status->avionics_power_rail_voltage < 4.9f))) {
|
||||
|
||||
mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Avionics power low: %6.2f V.", (double)status->avionics_power_rail_voltage);
|
||||
mavlink_log_critical(mavlink_fd, "NOT ARMING: Avionics power low: %6.2f V.", (double)status->avionics_power_rail_voltage);
|
||||
valid_transition = false;
|
||||
}
|
||||
}
|
||||
@@ -625,7 +626,7 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
|
||||
int fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
|
||||
|
||||
if (fd < 0) {
|
||||
mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL SENSOR MISSING");
|
||||
mavlink_log_critical(mavlink_fd, "ARM FAIL: ACCEL SENSOR MISSING");
|
||||
failed = true;
|
||||
goto system_eval;
|
||||
}
|
||||
@@ -633,7 +634,7 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
|
||||
ret = ioctl(fd, ACCELIOCSELFTEST, 0);
|
||||
|
||||
if (ret != OK) {
|
||||
mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL CALIBRATION");
|
||||
mavlink_log_critical(mavlink_fd, "ARM FAIL: ACCEL CALIBRATION");
|
||||
failed = true;
|
||||
goto system_eval;
|
||||
}
|
||||
@@ -647,45 +648,36 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
|
||||
float accel_magnitude = sqrtf(acc.x * acc.x + acc.y * acc.y + acc.z * acc.z);
|
||||
|
||||
if (accel_magnitude < 4.0f || accel_magnitude > 15.0f /* m/s^2 */) {
|
||||
mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL RANGE");
|
||||
mavlink_log_info(mavlink_fd, "#audio: hold still while arming");
|
||||
mavlink_log_critical(mavlink_fd, "ARM FAIL: ACCEL RANGE");
|
||||
mavlink_log_critical(mavlink_fd, "hold still while arming");
|
||||
/* this is frickin' fatal */
|
||||
failed = true;
|
||||
goto system_eval;
|
||||
}
|
||||
} else {
|
||||
mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL READ");
|
||||
mavlink_log_critical(mavlink_fd, "ARM FAIL: ACCEL READ");
|
||||
/* this is frickin' fatal */
|
||||
failed = true;
|
||||
goto system_eval;
|
||||
}
|
||||
|
||||
if (!status->is_rotary_wing) {
|
||||
|
||||
/* accel done, close it */
|
||||
close(fd);
|
||||
fd = open(AIRSPEED_DEVICE_PATH, O_RDONLY);
|
||||
fd = orb_subscribe(ORB_ID(airspeed));
|
||||
|
||||
if (fd <= 0) {
|
||||
mavlink_log_critical(mavlink_fd, "#audio: FAIL: AIRSPEED SENSOR MISSING");
|
||||
struct airspeed_s airspeed;
|
||||
|
||||
if ((ret = orb_copy(ORB_ID(airspeed), fd, &airspeed)) ||
|
||||
(hrt_elapsed_time(&airspeed.timestamp) > (50 * 1000))) {
|
||||
mavlink_log_critical(mavlink_fd, "ARM FAIL: AIRSPEED SENSOR MISSING");
|
||||
failed = true;
|
||||
goto system_eval;
|
||||
}
|
||||
|
||||
struct differential_pressure_s diff_pres;
|
||||
|
||||
ret = read(fd, &diff_pres, sizeof(diff_pres));
|
||||
|
||||
if (ret == sizeof(diff_pres)) {
|
||||
if (fabsf(diff_pres.differential_pressure_filtered_pa > 6.0f)) {
|
||||
mavlink_log_critical(mavlink_fd, "#audio: WARNING AIRSPEED CALIBRATION MISSING");
|
||||
// XXX do not make this fatal yet
|
||||
}
|
||||
} else {
|
||||
mavlink_log_critical(mavlink_fd, "#audio: FAIL: AIRSPEED READ");
|
||||
/* this is frickin' fatal */
|
||||
failed = true;
|
||||
goto system_eval;
|
||||
if (fabsf(airspeed.indicated_airspeed_m_s > 6.0f)) {
|
||||
mavlink_log_critical(mavlink_fd, "AIRSPEED WARNING: WIND OR CALIBRATION MISSING");
|
||||
// XXX do not make this fatal yet
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -1,8 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
|
||||
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
|
||||
* Julian Oes <joes@student.ethz.ch>
|
||||
* Copyright (c) 2013, 2014 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
|
||||
@@ -36,14 +34,14 @@
|
||||
/**
|
||||
* @file state_machine_helper.h
|
||||
* State machine helper functions definitions
|
||||
*
|
||||
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
|
||||
* @author Julian Oes <julian@oes.ch>
|
||||
*/
|
||||
|
||||
#ifndef STATE_MACHINE_HELPER_H_
|
||||
#define STATE_MACHINE_HELPER_H_
|
||||
|
||||
#define GPS_NOFIX_COUNTER_LIMIT 4 //need GPS_NOFIX_COUNTER_LIMIT gps packets with a bad fix to call an error (if outdoor)
|
||||
#define GPS_GOTFIX_COUNTER_REQUIRED 4 //need GPS_GOTFIX_COUNTER_REQUIRED gps packets with a good fix to obtain position lock
|
||||
|
||||
#include <uORB/uORB.h>
|
||||
#include <uORB/topics/vehicle_status.h>
|
||||
#include <uORB/topics/actuator_armed.h>
|
||||
|
||||
Submodule src/modules/ekf_att_pos_estimator/InertialNav deleted from 8b65d755b8
@@ -128,6 +128,13 @@ public:
|
||||
*/
|
||||
int start();
|
||||
|
||||
/**
|
||||
* Task status
|
||||
*
|
||||
* @return true if the mainloop is running
|
||||
*/
|
||||
bool task_running() { return _task_running; }
|
||||
|
||||
/**
|
||||
* Print the current status.
|
||||
*/
|
||||
@@ -155,7 +162,8 @@ public:
|
||||
private:
|
||||
|
||||
bool _task_should_exit; /**< if true, sensor task should exit */
|
||||
int _estimator_task; /**< task handle for sensor task */
|
||||
bool _task_running; /**< if true, task is running in its mainloop */
|
||||
int _estimator_task; /**< task handle for sensor task */
|
||||
#ifndef SENSOR_COMBINED_SUB
|
||||
int _gyro_sub; /**< gyro sensor subscription */
|
||||
int _accel_sub; /**< accel sensor subscription */
|
||||
@@ -317,12 +325,13 @@ namespace estimator
|
||||
#endif
|
||||
static const int ERROR = -1;
|
||||
|
||||
FixedwingEstimator *g_estimator;
|
||||
FixedwingEstimator *g_estimator = nullptr;
|
||||
}
|
||||
|
||||
FixedwingEstimator::FixedwingEstimator() :
|
||||
|
||||
_task_should_exit(false),
|
||||
_task_running(false),
|
||||
_estimator_task(-1),
|
||||
|
||||
/* subscriptions */
|
||||
@@ -570,61 +579,26 @@ FixedwingEstimator::check_filter_state()
|
||||
|
||||
int check = _ekf->CheckAndBound(&ekf_report);
|
||||
|
||||
const char* ekfname = "att pos estimator: ";
|
||||
const char* const feedback[] = { 0,
|
||||
"NaN in states, resetting",
|
||||
"stale IMU data, resetting",
|
||||
"got initial position lock",
|
||||
"excessive gyro offsets",
|
||||
"GPS velocity divergence",
|
||||
"excessive covariances",
|
||||
"unknown condition"};
|
||||
|
||||
switch (check) {
|
||||
case 0:
|
||||
/* all ok */
|
||||
break;
|
||||
case 1:
|
||||
{
|
||||
const char* str = "NaN in states, resetting";
|
||||
warnx("%s", str);
|
||||
mavlink_log_critical(_mavlink_fd, "%s%s", ekfname, str);
|
||||
break;
|
||||
}
|
||||
case 2:
|
||||
{
|
||||
const char* str = "stale IMU data, resetting";
|
||||
warnx("%s", str);
|
||||
mavlink_log_critical(_mavlink_fd, "%s%s", ekfname, str);
|
||||
break;
|
||||
}
|
||||
case 3:
|
||||
{
|
||||
const char* str = "switching to dynamic state";
|
||||
warnx("%s", str);
|
||||
mavlink_log_info(_mavlink_fd, "%s%s", ekfname, str);
|
||||
break;
|
||||
}
|
||||
case 4:
|
||||
{
|
||||
const char* str = "excessive gyro offsets";
|
||||
warnx("%s", str);
|
||||
mavlink_log_info(_mavlink_fd, "%s%s", ekfname, str);
|
||||
break;
|
||||
}
|
||||
case 5:
|
||||
{
|
||||
const char* str = "GPS velocity divergence";
|
||||
warnx("%s", str);
|
||||
mavlink_log_info(_mavlink_fd, "%s%s", ekfname, str);
|
||||
break;
|
||||
}
|
||||
case 6:
|
||||
{
|
||||
const char* str = "excessive covariances";
|
||||
warnx("%s", str);
|
||||
mavlink_log_info(_mavlink_fd, "%s%s", ekfname, str);
|
||||
break;
|
||||
// Print out error condition
|
||||
if (check) {
|
||||
unsigned warn_index = static_cast<unsigned>(check);
|
||||
unsigned max_warn_index = (sizeof(feedback) / sizeof(feedback[0]));
|
||||
|
||||
if (max_warn_index < warn_index) {
|
||||
warn_index = max_warn_index;
|
||||
}
|
||||
|
||||
default:
|
||||
{
|
||||
const char* str = "unknown reset condition";
|
||||
warnx("%s", str);
|
||||
mavlink_log_critical(_mavlink_fd, "%s%s", ekfname, str);
|
||||
}
|
||||
warnx("reset: %s", feedback[warn_index]);
|
||||
mavlink_log_critical(_mavlink_fd, "[ekf] re-init: %s", feedback[warn_index]);
|
||||
}
|
||||
|
||||
struct estimator_status_report rep;
|
||||
@@ -656,6 +630,10 @@ FixedwingEstimator::check_filter_state()
|
||||
rep.health_flags |= (((uint8_t)ekf_report.posHealth) << 1);
|
||||
rep.health_flags |= (((uint8_t)ekf_report.hgtHealth) << 2);
|
||||
rep.health_flags |= (((uint8_t)!ekf_report.gyroOffsetsExcessive) << 3);
|
||||
// rep.health_flags |= (((uint8_t)ekf_report.onGround) << 4);
|
||||
// rep.health_flags |= (((uint8_t)ekf_report.staticMode) << 5);
|
||||
// rep.health_flags |= (((uint8_t)ekf_report.useCompass) << 6);
|
||||
// rep.health_flags |= (((uint8_t)ekf_report.useAirspeed) << 7);
|
||||
|
||||
rep.timeout_flags |= (((uint8_t)ekf_report.velTimeout) << 0);
|
||||
rep.timeout_flags |= (((uint8_t)ekf_report.posTimeout) << 1);
|
||||
@@ -783,6 +761,8 @@ FixedwingEstimator::task_main()
|
||||
_gps.vel_e_m_s = 0.0f;
|
||||
_gps.vel_d_m_s = 0.0f;
|
||||
|
||||
_task_running = true;
|
||||
|
||||
while (!_task_should_exit) {
|
||||
|
||||
/* wait for up to 500ms for data */
|
||||
@@ -1213,10 +1193,10 @@ FixedwingEstimator::task_main()
|
||||
_baro_gps_offset = 0.0f;
|
||||
|
||||
_ekf->InitialiseFilter(initVelNED, 0.0, 0.0, 0.0f, 0.0f);
|
||||
|
||||
} else if (_ekf->statesInitialised) {
|
||||
|
||||
// We're apparently initialized in this case now
|
||||
|
||||
int check = check_filter_state();
|
||||
|
||||
if (check) {
|
||||
@@ -1224,7 +1204,6 @@ FixedwingEstimator::task_main()
|
||||
continue;
|
||||
}
|
||||
|
||||
|
||||
// Run the strapdown INS equations every IMU update
|
||||
_ekf->UpdateStrapdownEquationsNED();
|
||||
#if 0
|
||||
@@ -1292,7 +1271,11 @@ FixedwingEstimator::task_main()
|
||||
// run the fusion step
|
||||
_ekf->FuseVelposNED();
|
||||
|
||||
} else if (_ekf->statesInitialised) {
|
||||
} else if (!_gps_initialized) {
|
||||
|
||||
// force static mode
|
||||
_ekf->staticMode = true;
|
||||
|
||||
// Convert GPS measurements to Pos NE, hgt and Vel NED
|
||||
_ekf->velNED[0] = 0.0f;
|
||||
_ekf->velNED[1] = 0.0f;
|
||||
@@ -1314,7 +1297,7 @@ FixedwingEstimator::task_main()
|
||||
_ekf->fusePosData = false;
|
||||
}
|
||||
|
||||
if (newHgtData && _ekf->statesInitialised) {
|
||||
if (newHgtData) {
|
||||
// Could use a blend of GPS and baro alt data if desired
|
||||
_ekf->hgtMea = 1.0f * (_ekf->baroHgt - _baro_ref);
|
||||
_ekf->fuseHgtData = true;
|
||||
@@ -1328,7 +1311,7 @@ FixedwingEstimator::task_main()
|
||||
}
|
||||
|
||||
// Fuse Magnetometer Measurements
|
||||
if (newDataMag && _ekf->statesInitialised) {
|
||||
if (newDataMag) {
|
||||
_ekf->fuseMagData = true;
|
||||
_ekf->RecallStates(_ekf->statesAtMagMeasTime, (IMUmsec - _parameters.mag_delay_ms)); // Assume 50 msec avg delay for magnetometer data
|
||||
|
||||
@@ -1342,7 +1325,7 @@ FixedwingEstimator::task_main()
|
||||
}
|
||||
|
||||
// Fuse Airspeed Measurements
|
||||
if (newAdsData && _ekf->statesInitialised && _ekf->VtasMeas > 8.0f) {
|
||||
if (newAdsData && _ekf->VtasMeas > 7.0f) {
|
||||
_ekf->fuseVtasData = true;
|
||||
_ekf->RecallStates(_ekf->statesAtVtasMeasTime, (IMUmsec - _parameters.tas_delay_ms)); // assume 100 msec avg delay for airspeed data
|
||||
_ekf->FuseAirspeed();
|
||||
@@ -1410,7 +1393,7 @@ FixedwingEstimator::task_main()
|
||||
|
||||
_velocity_xy_filtered = 0.95f*_velocity_xy_filtered + 0.05f*sqrtf(_local_pos.vx*_local_pos.vx + _local_pos.vy*_local_pos.vy);
|
||||
_velocity_z_filtered = 0.95f*_velocity_z_filtered + 0.05f*fabsf(_local_pos.vz);
|
||||
_airspeed_filtered = 0.95f*_airspeed_filtered + + 0.05f*_airspeed.true_airspeed_m_s;
|
||||
_airspeed_filtered = 0.95f*_airspeed_filtered + 0.05f*_airspeed.true_airspeed_m_s;
|
||||
|
||||
|
||||
/* crude land detector for fixedwing only,
|
||||
@@ -1501,27 +1484,28 @@ FixedwingEstimator::task_main()
|
||||
|
||||
}
|
||||
|
||||
if (hrt_elapsed_time(&_wind.timestamp) > 99000) {
|
||||
_wind.timestamp = _global_pos.timestamp;
|
||||
_wind.windspeed_north = _ekf->states[14];
|
||||
_wind.windspeed_east = _ekf->states[15];
|
||||
_wind.covariance_north = _ekf->P[14][14];
|
||||
_wind.covariance_east = _ekf->P[15][15];
|
||||
|
||||
/* lazily publish the wind estimate only once available */
|
||||
if (_wind_pub > 0) {
|
||||
/* publish the wind estimate */
|
||||
orb_publish(ORB_ID(wind_estimate), _wind_pub, &_wind);
|
||||
|
||||
} else {
|
||||
/* advertise and publish */
|
||||
_wind_pub = orb_advertise(ORB_ID(wind_estimate), &_wind);
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
if (hrt_elapsed_time(&_wind.timestamp) > 99000) {
|
||||
_wind.timestamp = _global_pos.timestamp;
|
||||
_wind.windspeed_north = _ekf->states[14];
|
||||
_wind.windspeed_east = _ekf->states[15];
|
||||
_wind.covariance_north = _ekf->P[14][14];
|
||||
_wind.covariance_east = _ekf->P[15][15];
|
||||
|
||||
/* lazily publish the wind estimate only once available */
|
||||
if (_wind_pub > 0) {
|
||||
/* publish the wind estimate */
|
||||
orb_publish(ORB_ID(wind_estimate), _wind_pub, &_wind);
|
||||
|
||||
} else {
|
||||
/* advertise and publish */
|
||||
_wind_pub = orb_advertise(ORB_ID(wind_estimate), &_wind);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
@@ -1529,6 +1513,8 @@ FixedwingEstimator::task_main()
|
||||
perf_end(_loop_perf);
|
||||
}
|
||||
|
||||
_task_running = false;
|
||||
|
||||
warnx("exiting.\n");
|
||||
|
||||
_estimator_task = -1;
|
||||
@@ -1681,6 +1667,14 @@ int ekf_att_pos_estimator_main(int argc, char *argv[])
|
||||
err(1, "start failed");
|
||||
}
|
||||
|
||||
/* avoid memory fragmentation by not exiting start handler until the task has fully started */
|
||||
while (estimator::g_estimator == nullptr || !estimator::g_estimator->task_running()) {
|
||||
usleep(50000);
|
||||
printf(".");
|
||||
fflush(stdout);
|
||||
}
|
||||
printf("\n");
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
|
||||
@@ -2279,7 +2279,7 @@ void AttPosEKF::calcLLH(float posNED[3], double &lat, double &lon, float &hgt, d
|
||||
|
||||
void AttPosEKF::OnGroundCheck()
|
||||
{
|
||||
onGround = (((sq(velNED[0]) + sq(velNED[1]) + sq(velNED[2])) < 4.0f) && (VtasMeas < 6.0f));
|
||||
onGround = (((sq(velNED[0]) + sq(velNED[1]) + sq(velNED[2])) < 4.0f) && (VtasMeas < 8.0f));
|
||||
if (staticMode) {
|
||||
staticMode = (!refSet || (GPSstatus < GPS_FIX_3D));
|
||||
}
|
||||
@@ -2879,12 +2879,18 @@ void AttPosEKF::InitializeDynamic(float (&initvelNED)[3], float declination)
|
||||
current_ekf_state.statesNaN = false;
|
||||
|
||||
current_ekf_state.velHealth = true;
|
||||
//current_ekf_state.posHealth = ?;
|
||||
//current_ekf_state.hgtHealth = ?;
|
||||
current_ekf_state.posHealth = true;
|
||||
current_ekf_state.hgtHealth = true;
|
||||
|
||||
current_ekf_state.velTimeout = false;
|
||||
//current_ekf_state.posTimeout = ?;
|
||||
//current_ekf_state.hgtTimeout = ?;
|
||||
current_ekf_state.posTimeout = false;
|
||||
current_ekf_state.hgtTimeout = false;
|
||||
|
||||
fuseVelData = false;
|
||||
fusePosData = false;
|
||||
fuseHgtData = false;
|
||||
fuseMagData = false;
|
||||
fuseVtasData = false;
|
||||
|
||||
// Fill variables with valid data
|
||||
velNED[0] = initvelNED[0];
|
||||
|
||||
@@ -1,7 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
|
||||
* Author: Lorenz Meier
|
||||
* Copyright (c) 2013, 2014 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
|
||||
@@ -99,13 +98,21 @@ public:
|
||||
/**
|
||||
* Start the sensors task.
|
||||
*
|
||||
* @return OK on success.
|
||||
* @return OK on success.
|
||||
*/
|
||||
int start();
|
||||
|
||||
/**
|
||||
* Task status
|
||||
*
|
||||
* @return true if the mainloop is running
|
||||
*/
|
||||
bool task_running() { return _task_running; }
|
||||
|
||||
private:
|
||||
|
||||
bool _task_should_exit; /**< if true, sensor task should exit */
|
||||
bool _task_running; /**< if true, task is running in its mainloop */
|
||||
int _control_task; /**< task handle for sensor task */
|
||||
|
||||
int _att_sub; /**< vehicle attitude subscription */
|
||||
@@ -276,6 +283,7 @@ private:
|
||||
* Main sensor collection task.
|
||||
*/
|
||||
void task_main();
|
||||
|
||||
};
|
||||
|
||||
namespace att_control
|
||||
@@ -287,12 +295,13 @@ namespace att_control
|
||||
#endif
|
||||
static const int ERROR = -1;
|
||||
|
||||
FixedwingAttitudeControl *g_control;
|
||||
FixedwingAttitudeControl *g_control = nullptr;
|
||||
}
|
||||
|
||||
FixedwingAttitudeControl::FixedwingAttitudeControl() :
|
||||
|
||||
_task_should_exit(false),
|
||||
_task_running(false),
|
||||
_control_task(-1),
|
||||
|
||||
/* subscriptions */
|
||||
@@ -598,6 +607,8 @@ FixedwingAttitudeControl::task_main()
|
||||
fds[1].fd = _att_sub;
|
||||
fds[1].events = POLLIN;
|
||||
|
||||
_task_running = true;
|
||||
|
||||
while (!_task_should_exit) {
|
||||
|
||||
static int loop_counter = 0;
|
||||
@@ -921,6 +932,7 @@ FixedwingAttitudeControl::task_main()
|
||||
warnx("exiting.\n");
|
||||
|
||||
_control_task = -1;
|
||||
_task_running = false;
|
||||
_exit(0);
|
||||
}
|
||||
|
||||
@@ -966,6 +978,14 @@ int fw_att_control_main(int argc, char *argv[])
|
||||
err(1, "start failed");
|
||||
}
|
||||
|
||||
/* avoid memory fragmentation by not exiting start handler until the task has fully started */
|
||||
while (att_control::g_control == nullptr || !att_control::g_control->task_running()) {
|
||||
usleep(50000);
|
||||
printf(".");
|
||||
fflush(stdout);
|
||||
}
|
||||
printf("\n");
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
|
||||
@@ -1,7 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
|
||||
* Author: Lorenz Meier
|
||||
* Copyright (c) 2013, 2014 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
|
||||
@@ -120,10 +119,18 @@ public:
|
||||
*/
|
||||
int start();
|
||||
|
||||
/**
|
||||
* Task status
|
||||
*
|
||||
* @return true if the mainloop is running
|
||||
*/
|
||||
bool task_running() { return _task_running; }
|
||||
|
||||
private:
|
||||
int _mavlink_fd;
|
||||
|
||||
bool _task_should_exit; /**< if true, sensor task should exit */
|
||||
bool _task_running; /**< if true, task is running in its mainloop */
|
||||
int _control_task; /**< task handle for sensor task */
|
||||
|
||||
int _global_pos_sub;
|
||||
@@ -391,13 +398,14 @@ namespace l1_control
|
||||
#endif
|
||||
static const int ERROR = -1;
|
||||
|
||||
FixedwingPositionControl *g_control;
|
||||
FixedwingPositionControl *g_control = nullptr;
|
||||
}
|
||||
|
||||
FixedwingPositionControl::FixedwingPositionControl() :
|
||||
|
||||
_mavlink_fd(-1),
|
||||
_task_should_exit(false),
|
||||
_task_running(false),
|
||||
_control_task(-1),
|
||||
|
||||
/* subscriptions */
|
||||
@@ -1290,6 +1298,8 @@ FixedwingPositionControl::task_main()
|
||||
fds[1].fd = _global_pos_sub;
|
||||
fds[1].events = POLLIN;
|
||||
|
||||
_task_running = true;
|
||||
|
||||
while (!_task_should_exit) {
|
||||
|
||||
/* wait for up to 500ms for data */
|
||||
@@ -1390,6 +1400,8 @@ FixedwingPositionControl::task_main()
|
||||
perf_end(_loop_perf);
|
||||
}
|
||||
|
||||
_task_running = false;
|
||||
|
||||
warnx("exiting.\n");
|
||||
|
||||
_control_task = -1;
|
||||
@@ -1478,6 +1490,14 @@ int fw_pos_control_l1_main(int argc, char *argv[])
|
||||
err(1, "start failed");
|
||||
}
|
||||
|
||||
/* avoid memory fragmentation by not exiting start handler until the task has fully started */
|
||||
while (l1_control::g_control == nullptr || !l1_control::g_control->task_running()) {
|
||||
usleep(50000);
|
||||
printf(".");
|
||||
fflush(stdout);
|
||||
}
|
||||
printf("\n");
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
|
||||
@@ -194,16 +194,25 @@ PARAM_DEFINE_FLOAT(SENS_ACC_ZSCALE, 1.0f);
|
||||
/**
|
||||
* Differential pressure sensor offset
|
||||
*
|
||||
* The offset (zero-reading) in Pascal
|
||||
*
|
||||
* @group Sensor Calibration
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SENS_DPRES_OFF, 0.0f);
|
||||
|
||||
/**
|
||||
* Differential pressure sensor analog enabled
|
||||
* Differential pressure sensor analog scaling
|
||||
*
|
||||
* Pick the appropriate scaling from the datasheet.
|
||||
* this number defines the (linear) conversion from voltage
|
||||
* to Pascal (pa). For the MPXV7002DP this is 1000.
|
||||
*
|
||||
* NOTE: If the sensor always registers zero, try switching
|
||||
* the static and dynamic tubes.
|
||||
*
|
||||
* @group Sensor Calibration
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SENS_DPRES_ANA, 0);
|
||||
PARAM_DEFINE_FLOAT(SENS_DPRES_ANSC, 0);
|
||||
|
||||
|
||||
/**
|
||||
|
||||
@@ -248,7 +248,7 @@ private:
|
||||
float accel_offset[3];
|
||||
float accel_scale[3];
|
||||
float diff_pres_offset_pa;
|
||||
float diff_pres_analog_enabled;
|
||||
float diff_pres_analog_scale;
|
||||
|
||||
int board_rotation;
|
||||
int external_mag_rotation;
|
||||
@@ -311,7 +311,7 @@ private:
|
||||
param_t mag_offset[3];
|
||||
param_t mag_scale[3];
|
||||
param_t diff_pres_offset_pa;
|
||||
param_t diff_pres_analog_enabled;
|
||||
param_t diff_pres_analog_scale;
|
||||
|
||||
param_t rc_map_roll;
|
||||
param_t rc_map_pitch;
|
||||
@@ -501,6 +501,7 @@ Sensors::Sensors() :
|
||||
_battery_current_timestamp(0)
|
||||
{
|
||||
memset(&_rc, 0, sizeof(_rc));
|
||||
memset(&_diff_pres, 0, sizeof(_diff_pres));
|
||||
|
||||
/* basic r/c parameters */
|
||||
for (unsigned i = 0; i < _rc_max_chan_count; i++) {
|
||||
@@ -590,7 +591,7 @@ Sensors::Sensors() :
|
||||
|
||||
/* Differential pressure offset */
|
||||
_parameter_handles.diff_pres_offset_pa = param_find("SENS_DPRES_OFF");
|
||||
_parameter_handles.diff_pres_analog_enabled = param_find("SENS_DPRES_ANA");
|
||||
_parameter_handles.diff_pres_analog_scale = param_find("SENS_DPRES_ANSC");
|
||||
|
||||
_parameter_handles.battery_voltage_scaling = param_find("BAT_V_SCALING");
|
||||
_parameter_handles.battery_current_scaling = param_find("BAT_C_SCALING");
|
||||
@@ -798,7 +799,7 @@ Sensors::parameters_update()
|
||||
|
||||
/* Airspeed offset */
|
||||
param_get(_parameter_handles.diff_pres_offset_pa, &(_parameters.diff_pres_offset_pa));
|
||||
param_get(_parameter_handles.diff_pres_analog_enabled, &(_parameters.diff_pres_analog_enabled));
|
||||
param_get(_parameter_handles.diff_pres_analog_scale, &(_parameters.diff_pres_analog_scale));
|
||||
|
||||
/* scaling of ADC ticks to battery voltage */
|
||||
if (param_get(_parameter_handles.battery_voltage_scaling, &(_parameters.battery_voltage_scaling)) != OK) {
|
||||
@@ -1323,22 +1324,23 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
|
||||
} else if (ADC_AIRSPEED_VOLTAGE_CHANNEL == buf_adc[i].am_channel) {
|
||||
|
||||
/* calculate airspeed, raw is the difference from */
|
||||
float voltage = (float)(buf_adc[i].am_data) * 3.3f / 4096.0f * 2.0f; //V_ref/4096 * (voltage divider factor)
|
||||
float voltage = (float)(buf_adc[i].am_data) * 3.3f / 4096.0f * 2.0f; // V_ref/4096 * (voltage divider factor)
|
||||
|
||||
/**
|
||||
* The voltage divider pulls the signal down, only act on
|
||||
* a valid voltage from a connected sensor. Also assume a non-
|
||||
* zero offset from the sensor if its connected.
|
||||
*/
|
||||
if (voltage > 0.4f && (_parameters.diff_pres_analog_enabled > 0)) {
|
||||
if (voltage > 0.4f && (_parameters.diff_pres_analog_scale > 0.0f)) {
|
||||
|
||||
float diff_pres_pa = voltage * 1000.0f - _parameters.diff_pres_offset_pa; //for MPXV7002DP sensor
|
||||
float diff_pres_pa_raw = voltage * _parameters.diff_pres_analog_scale - _parameters.diff_pres_offset_pa;
|
||||
float diff_pres_pa = (diff_pres_pa_raw > 0.0f) ? diff_pres_pa_raw : 0.0f;
|
||||
|
||||
_diff_pres.timestamp = t;
|
||||
_diff_pres.differential_pressure_pa = diff_pres_pa;
|
||||
_diff_pres.differential_pressure_filtered_pa = diff_pres_pa;
|
||||
_diff_pres.differential_pressure_raw_pa = diff_pres_pa_raw;
|
||||
_diff_pres.differential_pressure_filtered_pa = (_diff_pres.differential_pressure_filtered_pa * 0.9f) + (diff_pres_pa * 0.1f);
|
||||
_diff_pres.temperature = -1000.0f;
|
||||
_diff_pres.voltage = voltage;
|
||||
|
||||
/* announce the airspeed if needed, just publish else */
|
||||
if (_diff_pres_pub > 0) {
|
||||
|
||||
@@ -58,7 +58,6 @@ struct differential_pressure_s {
|
||||
float differential_pressure_raw_pa; /**< Raw differential pressure reading (may be negative) */
|
||||
float differential_pressure_filtered_pa; /**< Low pass filtered 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, -1000.0f if unknown */
|
||||
|
||||
};
|
||||
|
||||
Reference in New Issue
Block a user