add bitmask param metadata

Tools/px4params/srcparser.py

@@ -1,5 +1,7 @@
 import sys
 import re
+import math
+
 global default_var
 default_var = {}
 
@@ -52,6 +54,7 @@ class Parameter(object):
     def __init__(self, name, type, default = ""):
         self.fields = {}
         self.values = {}
+        self.bitmask = {}
         self.name = name
         self.type = type
         self.default = default
@@ -77,6 +80,12 @@ class Parameter(object):
         """
         self.values[code] = value
 
+    def SetBitmaskBit(self, index, bit):
+        """
+        Set named enum value
+        """
+        self.bitmask[index] = bit
+
     def GetFieldCodes(self):
         """
         Return list of existing field codes in convenient order
@@ -115,6 +124,24 @@ class Parameter(object):
                 return ""
         return fv
 
+    def GetBitmaskList(self):
+        """
+        Return list of existing bitmask codes in convenient order
+        """
+        keys = self.bitmask.keys()
+        keys.sort(key=float)
+        return keys
+
+    def GetBitmaskBit(self, index):
+        """
+        Return value of the given bitmask code or None if not found.
+        """
+        fv =  self.bitmask.get(index)
+        if not fv:
+                # required because python 3 sorted does not accept None
+                return ""
+        return fv
+
 class SourceParser(object):
     """
     Parses provided data and stores all found parameters internally.
@@ -133,7 +160,7 @@ class SourceParser(object):
     re_remove_dots = re.compile(r'\.+$')
     re_remove_carriage_return = re.compile('\n+')
 
-    valid_tags = set(["group", "board", "min", "max", "unit", "decimal", "increment", "reboot_required", "value", "boolean"])
+    valid_tags = set(["group", "board", "min", "max", "unit", "decimal", "increment", "reboot_required", "value", "boolean", "bit"])
 
     # Order of parameter groups
     priority = {
@@ -164,6 +191,7 @@ class SourceParser(object):
                 long_desc = None
                 tags = {}
                 def_values = {}
+                def_bitmask = {}
             elif state is not None and state != "comment-processed":
                 m = self.re_comment_end.search(line)
                 if m:
@@ -187,6 +215,10 @@ class SourceParser(object):
                                 # Take the meta info string and split the code and description
                                 metainfo = desc.split(" ",  1)
                                 def_values[metainfo[0]] = metainfo[1]
+                            elif (tag == "bit"):
+                                # Take the meta info string and split the code and description
+                                metainfo = desc.split(" ",  1)
+                                def_bitmask[metainfo[0]] = metainfo[1]
                             else:
                                 tags[tag] = desc
                             current_tag = tag
@@ -262,6 +294,8 @@ class SourceParser(object):
                                 param.SetField(tag, tags[tag])
                         for def_value in def_values:
                             param.SetEnumValue(def_value, def_values[def_value])
+                        for def_bit in def_bitmask:
+                            param.SetBitmaskBit(def_bit, def_bitmask[def_bit])
                     # Store the parameter
                     if group not in self.param_groups:
                         self.param_groups[group] = ParameterGroup(group)
@@ -324,6 +358,16 @@ class SourceParser(object):
                         if param.GetEnumValue(code) == "":
                             sys.stderr.write("Description for enum value is empty: {0} {1}\n".format(name, code))
                             return False
+                for index in param.GetBitmaskList():
+                        if not self.IsNumber(index):
+                            sys.stderr.write("bit value not number: {0} {1}\n".format(name, index))
+                            return False
+                        if not int(min) <= math.pow(2, int(index)) <= int(max):
+                            sys.stderr.write("Bitmask bit must be between {0} and {1}: {2} {3}\n".format(min, max, name, math.pow(2, int(index))))
+                            return False
+                        if param.GetBitmaskBit(index) == "":
+                            sys.stderr.write("Description for bitmask bit is empty: {0} {1}\n".format(name, index))
+                            return False
         return True
 
     def GetParamGroups(self):

Tools/px4params/xmlout.py

@@ -63,6 +63,14 @@ class XMLOutput():
                         xml_value = ET.SubElement(xml_values, "value")
                         xml_value.attrib["code"] = code;
                         xml_value.text = param.GetEnumValue(code)
+
+                if len(param.GetBitmaskList()) > 0:
+                    xml_values = ET.SubElement(xml_param, "bitmask")
+                    for index in param.GetBitmaskList():
+                        xml_value = ET.SubElement(xml_values, "bit")
+                        xml_value.attrib["index"] = index;
+                        xml_value.text = param.GetBitmaskBit(index)
+
         indent(xml_parameters)
         self.xml_document = ET.ElementTree(xml_parameters)
 

src/modules/ekf2/ekf2_params.c

@@ -128,14 +128,23 @@ PARAM_DEFINE_FLOAT(EKF2_EV_DELAY, 175);
  * 2 : Maximum allowed horizontal position error set by EKF2_REQ_EPH
  * 3 : Maximum allowed vertical position error set by EKF2_REQ_EPV
  * 4 : Maximum allowed speed error set by EKF2_REQ_SACC
- * 5 : Maximum allowed horizontal position rate set by EKF2_REQ_HDRIFT. This check can only be used if the vehciel is stationary during alignment.
+ * 5 : Maximum allowed horizontal position rate set by EKF2_REQ_HDRIFT. This check can only be used if the vehicle is stationary during alignment.
- * 6 : Maximum allowed vertical position rate set by EKF2_REQ_VDRIFT. This check can only be used if the vehciel is stationary during alignment.
+ * 6 : Maximum allowed vertical position rate set by EKF2_REQ_VDRIFT. This check can only be used if the vehicle is stationary during alignment.
- * 7 : Maximum allowed horizontal speed set by EKF2_REQ_HDRIFT. This check can only be used if the vehciel is stationary during alignment.
+ * 7 : Maximum allowed horizontal speed set by EKF2_REQ_HDRIFT. This check can only be used if the vehicle is stationary during alignment.
  * 8 : Maximum allowed vertical velocity discrepancy set by EKF2_REQ_VDRIFT
  *
  * @group EKF2
  * @min 0
  * @max 511
+ * @bit 0 Min sat count (EKF2_REQ_NSATS)
+ * @bit 1 Min GDoP (EKF2_REQ_GDOP)
+ * @bit 2 Max horizontal position error (EKF2_REQ_EPH)
+ * @bit 3 Max vertical position error (EKF2_REQ_EPV)
+ * @bit 4 Max speed error (EKF2_REQ_SACC)
+ * @bit 5 Max horizontal position rate (EKF2_REQ_HDRIFT)
+ * @bit 6 Max vertical position rate (EKF2_REQ_VDRIFT)
+ * @bit 7 Max horizontal speed (EKF2_REQ_HDRIFT)
+ * @bit 8 Max vertical velocity discrepancy (EKF2_REQ_VDRIFT)
  */
 PARAM_DEFINE_INT32(EKF2_GPS_CHECK, 21);
 
@@ -402,11 +411,14 @@ PARAM_DEFINE_FLOAT(EKF2_MAG_GATE, 3.0f);
  * Set bits in the following positions to enable functions.
  * 0 : Set to true to use the declination from the geo_lookup library when the GPS position becomes available, set to false to always use the EKF2_MAG_DECL value.
  * 1 : Set to true to save the EKF2_MAG_DECL parameter to the value returned by the EKF when the vehicle disarms.
- * 2 : Set to true to always use the declination as an observaton when 3-axis magnetometer fusion is being used.
+ * 2 : Set to true to always use the declination as an observation when 3-axis magnetometer fusion is being used.
  *
  * @group EKF2
  * @min 0
  * @max 7
+ * @bit 0 use geo_lookup declination
+ * @bit 1 save EKF2_MAG_DECL on disarm
+ * @bit 2 use declination as an observation
  */
 PARAM_DEFINE_INT32(EKF2_DECL_TYPE, 7);
 
@@ -484,10 +496,15 @@ PARAM_DEFINE_INT32(EKF2_REC_RPL, 0);
  * 2 : Set to true to inhibit IMU bias estimation
  * 3 : Set to true to enable vision position fusion
  * 4 : Set to true to enable vision yaw fusion
- * *
+ *
  * @group EKF2
  * @min 0
  * @max 28
+ * @bit 0 use GPS
+ * @bit 1 use optical flow
+ * @bit 2 inhibit IMU bias estimation
+ * @bit 3 vision position fusion
+ * @bit 4 vision yaw fusion
  */
 PARAM_DEFINE_INT32(EKF2_AID_MASK, 1);