mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-06-07 17:35:22 +08:00
Merge branch 'master' of github.com:PX4/Firmware into isvtol
This commit is contained in:
Lorenz Meier
@@ -38,3 +38,4 @@ tags
|
||||
.pydevproject
|
||||
.ropeproject
|
||||
*.orig
|
||||
Firmware.zip
|
||||
|
||||
+87
@@ -0,0 +1,87 @@
|
||||
# Build and autotest script for PX4 Firmware
|
||||
# http://travis-ci.org
|
||||
|
||||
language: cpp
|
||||
|
||||
before_script:
|
||||
- sudo apt-get update -q
|
||||
# Travis specific tools
|
||||
- sudo apt-get install s3cmd grep zip mailutils
|
||||
# General toolchain dependencies
|
||||
- sudo apt-get install libc6:i386 libgcc1:i386 gcc-4.6-base:i386 libstdc++5:i386 libstdc++6:i386
|
||||
- sudo apt-get install python-serial python-argparse
|
||||
- sudo apt-get install flex bison libncurses5-dev autoconf texinfo build-essential libtool zlib1g-dev genromfs git wget
|
||||
- pushd .
|
||||
- cd ~
|
||||
- wget https://launchpadlibrarian.net/174121628/gcc-arm-none-eabi-4_7-2014q2-20140408-linux.tar.bz2
|
||||
- tar -jxf gcc-arm-none-eabi-4_7-2014q2-20140408-linux.tar.bz2
|
||||
- exportline="export PATH=$HOME/gcc-arm-none-eabi-4_7-2014q2/bin:\$PATH"
|
||||
- if grep -Fxq "$exportline" ~/.profile; then echo nothing to do ; else echo $exportline >> ~/.profile; fi
|
||||
- . ~/.profile
|
||||
- popd
|
||||
|
||||
git:
|
||||
depth: 500
|
||||
|
||||
env:
|
||||
global:
|
||||
# AWS KEY: $PX4_AWS_KEY
|
||||
- secure: "XknnZHWBbpHbN4f3fuAVwUztdLIu8ej4keC3aQSDofo3uw8AFEzojfsQsN9u77ShWSIV4iYJWh9C9ALkCx7TocJ+xYjiboo10YhM9lH/8u+EXjYWG6GHS8ua0wkir+cViSxoLNaMtmcb/rPTicJecAGANxLsIHyBAgTL3fkbLSA="
|
||||
# AWS SECRET: $PX4_AWS_SECRET
|
||||
- secure: "h6oajlW68dWIr+wZhO58Dv6e68dZHrBLVA6lPXZmheFQBW6Xam1HuLGA0LOW6cL9TnrAsOZ8g4goB58eMQnMEijFZKi3mhRwZhd/Xjq/ZGJOWBUrLoQHZUw2dQk5ja5vmUlKEoQnFZjDuMjx8KfX5ZMNy8A3yssWZtJYHD8c+bk="
|
||||
- PX4_AWS_BUCKET=px4-travis
|
||||
- PX4_EMAIL_SUBJECT="Travis CI result"
|
||||
# Email address: $PX4_EMAIL
|
||||
- secure: "ei3hKAw6Pk+vEkQBI5Y2Ak74BRAaXcK2UHVnVadviBHI4EVPwn1YGP6A4Y0wnLe4U7ETTl0UiijRoVxyDW0Mq896Pv0siw02amNpjSZZYu+RfN1+//MChB48OxsLDirUdHVrULhl/bOARM02h2Bg28jDE2g7IqmJwg3em3oMbjU="
|
||||
- PX4_REPORT=report.txt
|
||||
|
||||
script:
|
||||
- arm-none-eabi-gcc --version
|
||||
- echo 'Running Tests..' && echo -en 'travis_fold:start:script.1\\r'
|
||||
- make tests
|
||||
- echo -en 'travis_fold:end:script.1\\r'
|
||||
- echo 'Building NuttX..' && echo -en 'travis_fold:start:script.2\\r'
|
||||
- make archives
|
||||
- echo -en 'travis_fold:end:script.2\\r'
|
||||
- echo 'Building Firmware..' && echo -en 'travis_fold:start:script.3\\r'
|
||||
- make -j6
|
||||
- echo -en 'travis_fold:end:script.3\\r'
|
||||
- zip Firmware.zip Images/*.px4
|
||||
|
||||
# We use an encrypted env variable to ensure this only executes when artifacts are uploaded.
|
||||
after_script:
|
||||
- echo "Branch $TRAVIS_BRANCH (pull request: $TRAVIS_PULL_REQUEST) ready for flight testing." >> $PX4_REPORT
|
||||
- git log -n1 > $PX4_REPORT
|
||||
- echo " " >> $PX4_REPORT
|
||||
- echo "Files available at:" >> $PX4_REPORT
|
||||
- echo "https://px4-travis.s3.amazonaws.com/PX4/Firmware/$TRAVIS_BUILD_NUMBER/$TRAVIS_BUILD_NUMBER.1/Firmware.zip" >> $PX4_REPORT
|
||||
- echo "Description of desired tests is available at:" >> $PX4_REPORT
|
||||
- echo "https://github.com/PX4/Firmware/pull/$TRAVIS_PULL_REQUEST" >> $PX4_REPORT
|
||||
- echo " " >> $PX4_REPORT
|
||||
- echo "Thanks for testing!" >> $PX4_REPORT
|
||||
- echo " " >> $PX4_REPORT
|
||||
- /usr/bin/mail -s "$SUBJECT ($TRAVIS_COMMIT)" "$PX4_EMAIL" < "$PX4_REPORT"
|
||||
#- s3cmd put --acl-public --guess-mime-type --config=.s3cfg Firmware.zip s3://s3-website-us-east-1.amazonaws.com/#$TRAVIS_JOB_ID/
|
||||
|
||||
deploy:
|
||||
provider: releases
|
||||
api_key:
|
||||
secure: cdHWLRBxA5UlYpOS0Sp891QK7PFmMgQ5ZWs1aPt+sw0rIrowyWMHCwXNBEdUqaExHYNYgXCUDI0EzNgfB7ZcR63Qv1MQeoyamV4jsxlyAqDqmxNtWO82S6RhHGeMLk26VgFKzynVcEk1IYlQP2nqzMQLdu+jTrngERuAIrCdRuc=
|
||||
file: "Firmware.zip"
|
||||
skip_cleanup: true
|
||||
on:
|
||||
tags: true
|
||||
all_branches: true
|
||||
repo: PX4/Firmware
|
||||
|
||||
addons:
|
||||
artifacts:
|
||||
paths:
|
||||
- "Firmware.zip"
|
||||
key:
|
||||
secure: j4y9x9KXUiarGrnpFBLPIkEKIH8X6oSRUO61TwxTOamsE0eEKnIaCz1Xq83q7DoqzomHBD3qXAFPV9dhLr1zdKEPJDIyV45GVD4ClIQIzh/P3Uc7kDNxKzdmxY12SH6D0orMpC4tCf1sNK7ETepltWfcnjaDk1Rjs9+TVY7LuzM=
|
||||
secret:
|
||||
secure: CJC7VPGtEhJu8Pix85iPF8xUvMPZvTgnHyd9MrSlPKCFFMrlgz9eMT0WWW/TPQ+s4LPwJIfEQx2Q0BRT5tOXuvsTLuOG68mplVddhTWbHb0m0qTQErXFHEppvW4ayuSdeLJ4TjTWphBVainL0mcLLRwQfuAJJDDs/sGan3WrG+Y=
|
||||
bucket: px4-travis
|
||||
region: us-east-1
|
||||
endpoint: s3-website-us-east-1.amazonaws.com
|
||||
@@ -229,6 +229,14 @@ updatesubmodules:
|
||||
#
|
||||
testbuild:
|
||||
$(Q) (cd $(PX4_BASE) && $(MAKE) distclean && $(MAKE) archives && $(MAKE) -j8)
|
||||
$(Q) (zip -r Firmware.zip $(PX4_BASE)/Images)
|
||||
|
||||
#
|
||||
# Unittest targets. Builds and runs the host-level
|
||||
# unit tests.
|
||||
.PHONY: tests
|
||||
tests:
|
||||
$(Q) (cd $(PX4_BASE)/unittests && $(MAKE) unittests)
|
||||
|
||||
#
|
||||
# Cleanup targets. 'clean' should remove all built products and force
|
||||
@@ -237,14 +245,14 @@ testbuild:
|
||||
#
|
||||
.PHONY: clean
|
||||
clean:
|
||||
$(Q) $(RMDIR) $(BUILD_DIR)*.build
|
||||
$(Q) $(REMOVE) $(IMAGE_DIR)*.px4
|
||||
$(Q) $(RMDIR) $(BUILD_DIR)*.build > /dev/null
|
||||
$(Q) $(REMOVE) $(IMAGE_DIR)*.px4 > /dev/null
|
||||
|
||||
.PHONY: distclean
|
||||
distclean: clean
|
||||
$(Q) $(REMOVE) $(ARCHIVE_DIR)*.export
|
||||
$(Q) $(MAKE) -C $(NUTTX_SRC) -r $(MQUIET) distclean
|
||||
$(Q) (cd $(NUTTX_SRC)/configs && $(FIND) . -maxdepth 1 -type l -delete)
|
||||
$(Q) $(REMOVE) $(ARCHIVE_DIR)*.export > /dev/null
|
||||
$(Q) $(MAKE) -C $(NUTTX_SRC) -r $(MQUIET) distclean > /dev/null
|
||||
$(Q) (cd $(NUTTX_SRC)/configs && $(FIND) . -maxdepth 1 -type l -delete) > /dev/null
|
||||
|
||||
#
|
||||
# Print some help text
|
||||
|
||||
+1
-1
Submodule NuttX updated: c7b0638592...b66de65069
@@ -1,10 +1,15 @@
|
||||
## PX4 Aerial Middleware and Flight Control Stack ##
|
||||
|
||||
[](https://travis-ci.org/PX4/Firmware)
|
||||
|
||||
[](https://gitter.im/PX4/Firmware?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge)
|
||||
|
||||
* Official Website: http://px4.io
|
||||
* License: BSD 3-clause (see LICENSE.md)
|
||||
* Supported airframes:
|
||||
* Multicopters
|
||||
* Fixed wing
|
||||
* [Multicopters](http://px4.io/platforms/multicopters/start)
|
||||
* [Fixed wing](http://px4.io/platforms/planes/start)
|
||||
* [VTOL](http://px4.io/platforms/vtol/start)
|
||||
* Binaries (always up-to-date from master):
|
||||
* [Downloads](https://pixhawk.org/downloads)
|
||||
* Mailing list: [Google Groups](http://groups.google.com/group/px4users)
|
||||
|
||||
@@ -9,8 +9,8 @@ sh /etc/init.d/rc.vtol_defaults
|
||||
|
||||
set MIXER FMU_caipirinha_vtol
|
||||
|
||||
set PWM_OUTPUTS 12
|
||||
set PWM_OUT 12
|
||||
set PWM_MAX 2000
|
||||
set PWM_RATE 400
|
||||
param set VTOL_MOT_COUNT 2
|
||||
param set IDLE_PWM_MC 1080
|
||||
param set VT_MOT_COUNT 2
|
||||
param set VT_IDLE_PWM_MC 1080
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
|
||||
set VEHICLE_TYPE vtol
|
||||
|
||||
if [ $DO_AUTOCONFIG == yes ]
|
||||
if [ $AUTOCNF == yes ]
|
||||
then
|
||||
#
|
||||
#Default controller parameters for MC
|
||||
|
||||
@@ -584,7 +584,7 @@ then
|
||||
sh /etc/init.d/rc.interface
|
||||
|
||||
# Start standard vtol apps
|
||||
if [ $LOAD_DEFAULT_APPS == yes ]
|
||||
if [ $LOAD_DAPPS == yes ]
|
||||
then
|
||||
sh /etc/init.d/rc.vtol_apps
|
||||
fi
|
||||
|
||||
@@ -1,54 +0,0 @@
|
||||
|
||||
CC=g++
|
||||
CFLAGS=-I. -I../../src/modules -I ../../src/include -I../../src/drivers \
|
||||
-I../../src -I../../src/lib -D__EXPORT="" -Dnullptr="0" -lm
|
||||
|
||||
all: mixer_test sbus2_test autodeclination_test st24_test sf0x_test
|
||||
|
||||
MIXER_FILES=../../src/systemcmds/tests/test_mixer.cpp \
|
||||
../../src/systemcmds/tests/test_conv.cpp \
|
||||
../../src/modules/systemlib/mixer/mixer_simple.cpp \
|
||||
../../src/modules/systemlib/mixer/mixer_multirotor.cpp \
|
||||
../../src/modules/systemlib/mixer/mixer.cpp \
|
||||
../../src/modules/systemlib/mixer/mixer_group.cpp \
|
||||
../../src/modules/systemlib/mixer/mixer_load.c \
|
||||
../../src/modules/systemlib/pwm_limit/pwm_limit.c \
|
||||
hrt.cpp \
|
||||
mixer_test.cpp
|
||||
|
||||
SBUS2_FILES=../../src/modules/px4iofirmware/sbus.c \
|
||||
hrt.cpp \
|
||||
sbus2_test.cpp
|
||||
|
||||
ST24_FILES=../../src/lib/rc/st24.c \
|
||||
hrt.cpp \
|
||||
st24_test.cpp
|
||||
|
||||
SF0X_FILES= \
|
||||
hrt.cpp \
|
||||
sf0x_test.cpp \
|
||||
../../src/drivers/sf0x/sf0x_parser.cpp
|
||||
|
||||
AUTODECLINATION_FILES= ../../src/lib/geo_lookup/geo_mag_declination.c \
|
||||
hrt.cpp \
|
||||
autodeclination_test.cpp
|
||||
|
||||
mixer_test: $(MIXER_FILES)
|
||||
$(CC) -o mixer_test $(MIXER_FILES) $(CFLAGS)
|
||||
|
||||
sbus2_test: $(SBUS2_FILES)
|
||||
$(CC) -o sbus2_test $(SBUS2_FILES) $(CFLAGS)
|
||||
|
||||
sf0x_test: $(SF0X_FILES)
|
||||
$(CC) -o sf0x_test $(SF0X_FILES) $(CFLAGS)
|
||||
|
||||
autodeclination_test: $(SBUS2_FILES)
|
||||
$(CC) -o autodeclination_test $(AUTODECLINATION_FILES) $(CFLAGS)
|
||||
|
||||
st24_test: $(ST24_FILES)
|
||||
$(CC) -o st24_test $(ST24_FILES) $(CFLAGS)
|
||||
|
||||
.PHONY: clean
|
||||
|
||||
clean:
|
||||
rm -f $(ODIR)/*.o *~ core $(INCDIR)/*~ mixer_test sbus2_test autodeclination_test st24_test sf0x_test
|
||||
@@ -1,28 +0,0 @@
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <unistd.h>
|
||||
#include <string.h>
|
||||
#include <systemlib/mixer/mixer.h>
|
||||
#include <systemlib/err.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <px4iofirmware/px4io.h>
|
||||
#include "../../src/systemcmds/tests/tests.h"
|
||||
#include <geo/geo.h>
|
||||
|
||||
int main(int argc, char *argv[]) {
|
||||
warnx("autodeclination test started");
|
||||
|
||||
if (argc < 3)
|
||||
errx(1, "Need lat/lon!");
|
||||
|
||||
char* p_end;
|
||||
|
||||
float lat = strtod(argv[1], &p_end);
|
||||
float lon = strtod(argv[2], &p_end);
|
||||
|
||||
float declination = get_mag_declination(lat, lon);
|
||||
|
||||
printf("lat: %f lon: %f, dec: %f\n", lat, lon, declination);
|
||||
|
||||
}
|
||||
@@ -0,0 +1,10 @@
|
||||
# JTAG for the STM32F4x chip used on the Gumstix AeroCore is available on
|
||||
# the first interface of a Quad FTDI chip. nTRST is bit 4.
|
||||
interface ftdi
|
||||
ftdi_vid_pid 0x0403 0x6011
|
||||
|
||||
ftdi_layout_init 0x0000 0x001b
|
||||
ftdi_layout_signal nTRST -data 0x0010
|
||||
|
||||
source [find target/stm32f4x.cfg]
|
||||
reset_config trst_only
|
||||
@@ -30,6 +30,11 @@ upload-serial-px4fmu-v1: $(BUNDLE) $(UPLOADER)
|
||||
upload-serial-px4fmu-v2: $(BUNDLE) $(UPLOADER)
|
||||
$(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
|
||||
|
||||
upload-serial-aerocore:
|
||||
openocd -f $(PX4_BASE)/makefiles/gumstix-aerocore.cfg -c 'init; reset halt; flash write_image erase $(PX4_BASE)/../Bootloader/px4aerocore_bl.bin 0x08000000; flash write_image erase $(PX4_BASE)/Build/aerocore_default.build/firmware.bin 0x08004000; reset run; exit'
|
||||
|
||||
|
||||
|
||||
#
|
||||
# JTAG firmware uploading with OpenOCD
|
||||
#
|
||||
|
||||
@@ -139,8 +139,7 @@ ARCHCWARNINGS = $(ARCHWARNINGS) \
|
||||
-Wold-style-declaration \
|
||||
-Wmissing-parameter-type \
|
||||
-Wmissing-prototypes \
|
||||
-Wnested-externs \
|
||||
-Wunsuffixed-float-constants
|
||||
-Wnested-externs
|
||||
ARCHWARNINGSXX = $(ARCHWARNINGS) \
|
||||
-Wno-psabi
|
||||
ARCHDEFINES =
|
||||
|
||||
@@ -139,8 +139,7 @@ ARCHCWARNINGS = $(ARCHWARNINGS) \
|
||||
-Wold-style-declaration \
|
||||
-Wmissing-parameter-type \
|
||||
-Wmissing-prototypes \
|
||||
-Wnested-externs \
|
||||
-Wunsuffixed-float-constants
|
||||
-Wnested-externs
|
||||
ARCHWARNINGSXX = $(ARCHWARNINGS) \
|
||||
-Wno-psabi
|
||||
ARCHDEFINES =
|
||||
|
||||
@@ -128,8 +128,7 @@ ARCHCWARNINGS = $(ARCHWARNINGS) \
|
||||
-Wold-style-declaration \
|
||||
-Wmissing-parameter-type \
|
||||
-Wmissing-prototypes \
|
||||
-Wnested-externs \
|
||||
-Wunsuffixed-float-constants
|
||||
-Wnested-externs
|
||||
ARCHWARNINGSXX = $(ARCHWARNINGS)
|
||||
ARCHDEFINES =
|
||||
ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10
|
||||
|
||||
@@ -128,8 +128,7 @@ ARCHCWARNINGS = $(ARCHWARNINGS) \
|
||||
-Wold-style-declaration \
|
||||
-Wmissing-parameter-type \
|
||||
-Wmissing-prototypes \
|
||||
-Wnested-externs \
|
||||
-Wunsuffixed-float-constants
|
||||
-Wnested-externs
|
||||
ARCHWARNINGSXX = $(ARCHWARNINGS)
|
||||
ARCHDEFINES =
|
||||
ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10
|
||||
|
||||
@@ -194,6 +194,8 @@ public:
|
||||
*/
|
||||
void print_info();
|
||||
|
||||
void print_registers();
|
||||
|
||||
protected:
|
||||
virtual int probe();
|
||||
|
||||
@@ -1414,6 +1416,21 @@ MPU6000::print_info()
|
||||
_gyro_reports->print_info("gyro queue");
|
||||
}
|
||||
|
||||
void
|
||||
MPU6000::print_registers()
|
||||
{
|
||||
printf("MPU6000 registers\n");
|
||||
for (uint8_t reg=MPUREG_PRODUCT_ID; reg<=108; reg++) {
|
||||
uint8_t v = read_reg(reg);
|
||||
printf("%02x:%02x ",(unsigned)reg, (unsigned)v);
|
||||
if ((reg - (MPUREG_PRODUCT_ID-1)) % 13 == 0) {
|
||||
printf("\n");
|
||||
}
|
||||
}
|
||||
printf("\n");
|
||||
}
|
||||
|
||||
|
||||
MPU6000_gyro::MPU6000_gyro(MPU6000 *parent, const char *path) :
|
||||
CDev("MPU6000_gyro", path),
|
||||
_parent(parent),
|
||||
@@ -1479,6 +1496,7 @@ void start(bool, enum Rotation);
|
||||
void test(bool);
|
||||
void reset(bool);
|
||||
void info(bool);
|
||||
void regdump(bool);
|
||||
void usage();
|
||||
|
||||
/**
|
||||
@@ -1654,10 +1672,26 @@ info(bool external_bus)
|
||||
exit(0);
|
||||
}
|
||||
|
||||
/**
|
||||
* Dump the register information
|
||||
*/
|
||||
void
|
||||
regdump(bool external_bus)
|
||||
{
|
||||
MPU6000 **g_dev_ptr = external_bus?&g_dev_ext:&g_dev_int;
|
||||
if (*g_dev_ptr == nullptr)
|
||||
errx(1, "driver not running");
|
||||
|
||||
printf("regdump @ %p\n", *g_dev_ptr);
|
||||
(*g_dev_ptr)->print_registers();
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
void
|
||||
usage()
|
||||
{
|
||||
warnx("missing command: try 'start', 'info', 'test', 'reset'");
|
||||
warnx("missing command: try 'start', 'info', 'test', 'reset', 'regdump'");
|
||||
warnx("options:");
|
||||
warnx(" -X (external bus)");
|
||||
warnx(" -R rotation");
|
||||
@@ -1714,5 +1748,11 @@ mpu6000_main(int argc, char *argv[])
|
||||
if (!strcmp(verb, "info"))
|
||||
mpu6000::info(external_bus);
|
||||
|
||||
errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
|
||||
/*
|
||||
* Print register information.
|
||||
*/
|
||||
if (!strcmp(verb, "regdump"))
|
||||
mpu6000::regdump(external_bus);
|
||||
|
||||
errx(1, "unrecognized command, try 'start', 'test', 'reset', 'info' or 'regdump'");
|
||||
}
|
||||
|
||||
@@ -200,9 +200,11 @@ private:
|
||||
ECL_L1_Pos_Controller _l1_control;
|
||||
TECS _tecs;
|
||||
fwPosctrl::mTecs _mTecs;
|
||||
bool _was_pos_control_mode;
|
||||
bool _was_velocity_control_mode;
|
||||
bool _was_alt_control_mode;
|
||||
enum FW_POSCTRL_MODE {
|
||||
FW_POSCTRL_MODE_AUTO,
|
||||
FW_POSCTRL_MODE_POSITION,
|
||||
FW_POSCTRL_MODE_OTHER
|
||||
} _control_mode_current; ///< used to check the mode in the last control loop iteration. Use to check if the last iteration was in the same mode.
|
||||
|
||||
struct {
|
||||
float l1_period;
|
||||
@@ -471,7 +473,7 @@ FixedwingPositionControl::FixedwingPositionControl() :
|
||||
_global_pos_valid(false),
|
||||
_l1_control(),
|
||||
_mTecs(),
|
||||
_was_pos_control_mode(false)
|
||||
_control_mode_current(FW_POSCTRL_MODE_OTHER)
|
||||
{
|
||||
_nav_capabilities.turn_distance = 0.0f;
|
||||
|
||||
@@ -908,22 +910,19 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi
|
||||
/* no throttle limit as default */
|
||||
float throttle_max = 1.0f;
|
||||
|
||||
/* AUTONOMOUS FLIGHT */
|
||||
if (_control_mode.flag_control_auto_enabled &&
|
||||
pos_sp_triplet.current.valid) {
|
||||
/* AUTONOMOUS FLIGHT */
|
||||
|
||||
// XXX this should only execute if auto AND safety off (actuators active),
|
||||
// else integrators should be constantly reset.
|
||||
if (pos_sp_triplet.current.valid) {
|
||||
|
||||
if (!_was_pos_control_mode) {
|
||||
/* Reset integrators if switching to this mode from a other mode in which posctl was not active */
|
||||
if (_control_mode_current == FW_POSCTRL_MODE_OTHER) {
|
||||
/* reset integrators */
|
||||
if (_mTecs.getEnabled()) {
|
||||
_mTecs.resetIntegrators();
|
||||
_mTecs.resetDerivatives(_airspeed.true_airspeed_m_s);
|
||||
}
|
||||
}
|
||||
|
||||
_was_pos_control_mode = true;
|
||||
_was_velocity_control_mode = false;
|
||||
_control_mode_current = FW_POSCTRL_MODE_AUTO;
|
||||
|
||||
/* reset hold altitude */
|
||||
_hold_alt = _global_pos.alt;
|
||||
@@ -1208,15 +1207,15 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi
|
||||
tecs_update_pitch_throttle(_pos_sp_triplet.current.alt,
|
||||
calculate_target_airspeed(_parameters.airspeed_trim),
|
||||
eas2tas,
|
||||
math::radians(_parameters.pitch_limit_min),
|
||||
math::radians(_parameters.pitch_limit_max),
|
||||
_parameters.throttle_min,
|
||||
takeoff_throttle,
|
||||
_parameters.throttle_cruise,
|
||||
false,
|
||||
math::radians(_parameters.pitch_limit_min),
|
||||
_global_pos.alt,
|
||||
ground_speed);
|
||||
math::radians(_parameters.pitch_limit_min),
|
||||
math::radians(_parameters.pitch_limit_max),
|
||||
_parameters.throttle_min,
|
||||
takeoff_throttle,
|
||||
_parameters.throttle_cruise,
|
||||
false,
|
||||
math::radians(_parameters.pitch_limit_min),
|
||||
_global_pos.alt,
|
||||
ground_speed);
|
||||
}
|
||||
} else {
|
||||
/* Tell the attitude controller to stop integrating while we are waiting
|
||||
@@ -1248,53 +1247,63 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi
|
||||
_att_sp.roll_reset_integral = true;
|
||||
}
|
||||
|
||||
} else if (_control_mode.flag_control_velocity_enabled) {
|
||||
} else if (_control_mode.flag_control_velocity_enabled &&
|
||||
_control_mode.flag_control_altitude_enabled) {
|
||||
/* POSITION CONTROL: pitch stick moves altitude setpoint, throttle stick sets airspeed */
|
||||
|
||||
const float deadBand = (60.0f/1000.0f);
|
||||
const float factor = 1.0f - deadBand;
|
||||
if (!_was_velocity_control_mode) {
|
||||
if (_control_mode_current != FW_POSCTRL_MODE_POSITION) {
|
||||
/* Need to init because last loop iteration was in a different mode */
|
||||
_hold_alt = _global_pos.alt;
|
||||
_was_alt_control_mode = false;
|
||||
}
|
||||
_was_velocity_control_mode = true;
|
||||
_was_pos_control_mode = false;
|
||||
// Get demanded airspeed
|
||||
/* Reset integrators if switching to this mode from a other mode in which posctl was not active */
|
||||
if (_control_mode_current == FW_POSCTRL_MODE_OTHER) {
|
||||
/* reset integrators */
|
||||
if (_mTecs.getEnabled()) {
|
||||
_mTecs.resetIntegrators();
|
||||
_mTecs.resetDerivatives(_airspeed.true_airspeed_m_s);
|
||||
}
|
||||
}
|
||||
_control_mode_current = FW_POSCTRL_MODE_POSITION;
|
||||
|
||||
/* Get demanded airspeed */
|
||||
float altctrl_airspeed = _parameters.airspeed_min +
|
||||
(_parameters.airspeed_max - _parameters.airspeed_min) *
|
||||
_manual.z;
|
||||
|
||||
// Get demanded vertical velocity from pitch control
|
||||
float pitch = 0.0f;
|
||||
/* Get demanded vertical velocity from pitch control */
|
||||
static bool was_in_deadband = false;
|
||||
if (_manual.x > deadBand) {
|
||||
pitch = (_manual.x - deadBand) / factor;
|
||||
} else if (_manual.x < - deadBand) {
|
||||
pitch = (_manual.x + deadBand) / factor;
|
||||
}
|
||||
if (pitch > 0.0f) {
|
||||
float pitch = (_manual.x - deadBand) / factor;
|
||||
_hold_alt -= (_parameters.max_climb_rate * dt) * pitch;
|
||||
_was_alt_control_mode = false;
|
||||
} else if (pitch < 0.0f) {
|
||||
was_in_deadband = false;
|
||||
} else if (_manual.x < - deadBand) {
|
||||
float pitch = (_manual.x + deadBand) / factor;
|
||||
_hold_alt -= (_parameters.max_sink_rate * dt) * pitch;
|
||||
_was_alt_control_mode = false;
|
||||
} else if (!_was_alt_control_mode) {
|
||||
was_in_deadband = false;
|
||||
} else if (!was_in_deadband) {
|
||||
/* store altitude at which manual.x was inside deadBand
|
||||
* The aircraft should immediately try to fly at this altitude
|
||||
* as this is what the pilot expects when he moves the stick to the center */
|
||||
_hold_alt = _global_pos.alt;
|
||||
_was_alt_control_mode = true;
|
||||
was_in_deadband = true;
|
||||
}
|
||||
tecs_update_pitch_throttle(_hold_alt,
|
||||
altctrl_airspeed,
|
||||
eas2tas,
|
||||
math::radians(_parameters.pitch_limit_min),
|
||||
math::radians(_parameters.pitch_limit_max),
|
||||
_parameters.throttle_min,
|
||||
_parameters.throttle_max,
|
||||
_parameters.throttle_cruise,
|
||||
false,
|
||||
math::radians(_parameters.pitch_limit_min),
|
||||
_global_pos.alt,
|
||||
ground_speed,
|
||||
TECS_MODE_NORMAL);
|
||||
altctrl_airspeed,
|
||||
eas2tas,
|
||||
math::radians(_parameters.pitch_limit_min),
|
||||
math::radians(_parameters.pitch_limit_max),
|
||||
_parameters.throttle_min,
|
||||
_parameters.throttle_max,
|
||||
_parameters.throttle_cruise,
|
||||
false,
|
||||
math::radians(_parameters.pitch_limit_min),
|
||||
_global_pos.alt,
|
||||
ground_speed,
|
||||
TECS_MODE_NORMAL);
|
||||
} else {
|
||||
_was_velocity_control_mode = false;
|
||||
_was_pos_control_mode = false;
|
||||
_control_mode_current = FW_POSCTRL_MODE_OTHER;
|
||||
|
||||
/** MANUAL FLIGHT **/
|
||||
|
||||
@@ -1311,10 +1320,12 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi
|
||||
}
|
||||
}
|
||||
|
||||
/* Copy thrust output for publication */
|
||||
if (_vehicle_status.engine_failure || _vehicle_status.engine_failure_cmd) {
|
||||
/* Set thrust to 0 to minimize damage */
|
||||
_att_sp.thrust = 0.0f;
|
||||
} else if (pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF &&
|
||||
} else if (_control_mode_current == FW_POSCTRL_MODE_AUTO && // launchdetector only available in auto
|
||||
pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF &&
|
||||
launch_detection_state != LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS) {
|
||||
/* making sure again that the correct thrust is used,
|
||||
* without depending on library calls for safety reasons */
|
||||
@@ -1327,8 +1338,9 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi
|
||||
|
||||
/* During a takeoff waypoint while waiting for launch the pitch sp is set
|
||||
* already (not by tecs) */
|
||||
if (!(pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF &&
|
||||
launch_detection_state == LAUNCHDETECTION_RES_NONE)) {
|
||||
if (!(_control_mode_current == FW_POSCTRL_MODE_AUTO &&
|
||||
pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF &&
|
||||
launch_detection_state == LAUNCHDETECTION_RES_NONE)) {
|
||||
_att_sp.pitch_body = _mTecs.getEnabled() ? _mTecs.getPitchSetpoint() : _tecs.get_pitch_demand();
|
||||
}
|
||||
|
||||
|
||||
@@ -1052,10 +1052,6 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
|
||||
landed = false;
|
||||
landed_time = 0;
|
||||
}
|
||||
/* reset xy velocity estimates when landed */
|
||||
x_est[1] = 0.0f;
|
||||
y_est[1] = 0.0f;
|
||||
|
||||
} else {
|
||||
if (alt_disp2 < land_disp2 && thrust < params.land_thr) {
|
||||
if (landed_time == 0) {
|
||||
|
||||
@@ -33,6 +33,8 @@
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <inttypes.h>
|
||||
|
||||
/**
|
||||
* @file protocol.h
|
||||
*
|
||||
|
||||
@@ -238,11 +238,11 @@ VtolAttitudeControl::VtolAttitudeControl() :
|
||||
_params.idle_pwm_mc = PWM_LOWEST_MIN;
|
||||
_params.vtol_motor_count = 0;
|
||||
|
||||
_params_handles.idle_pwm_mc = param_find("IDLE_PWM_MC");
|
||||
_params_handles.vtol_motor_count = param_find("VTOL_MOT_COUNT");
|
||||
_params_handles.mc_airspeed_min = param_find("VTOL_MC_AIRSPEED_MIN");
|
||||
_params_handles.mc_airspeed_max = param_find("VTOL_MC_AIRSPEED_MAX");
|
||||
_params_handles.mc_airspeed_trim = param_find("VTOL_MC_AIRSPEED_TRIM");
|
||||
_params_handles.idle_pwm_mc = param_find("VT_IDLE_PWM_MC");
|
||||
_params_handles.vtol_motor_count = param_find("VT_MOT_COUNT");
|
||||
_params_handles.mc_airspeed_min = param_find("VT_MC_ARSPD_MIN");
|
||||
_params_handles.mc_airspeed_max = param_find("VT_MC_ARSPD_MAX");
|
||||
_params_handles.mc_airspeed_trim = param_find("VT_MC_ARSPD_TRIM");
|
||||
|
||||
/* fetch initial parameter values */
|
||||
parameters_update();
|
||||
|
||||
@@ -1,13 +1,88 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 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
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file vtol_att_control_params.c
|
||||
* Parameters for vtol attitude controller.
|
||||
*
|
||||
* @author Roman Bapst <bapstr@ethz.ch>
|
||||
*/
|
||||
|
||||
#include <systemlib/param/param.h>
|
||||
|
||||
// number of engines
|
||||
PARAM_DEFINE_INT32(VTOL_MOT_COUNT,0);
|
||||
// idle pwm in multicopter mode
|
||||
PARAM_DEFINE_INT32(IDLE_PWM_MC,900);
|
||||
// min airspeed in multicopter mode
|
||||
PARAM_DEFINE_FLOAT(VTOL_MC_AIRSPEED_MIN,2);
|
||||
// max airspeed in multicopter mode
|
||||
PARAM_DEFINE_FLOAT(VTOL_MC_AIRSPEED_MAX,30);
|
||||
// trim airspeed in multicopter mode
|
||||
PARAM_DEFINE_FLOAT(VTOL_MC_AIRSPEED_TRIM,10);
|
||||
/**
|
||||
* VTOL number of engines
|
||||
*
|
||||
* @min 1.0
|
||||
* @group VTOL Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_INT32(VT_MOT_COUNT,0);
|
||||
|
||||
/**
|
||||
* Idle speed of VTOL when in multicopter mode
|
||||
*
|
||||
* @min 900
|
||||
* @group VTOL Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_INT32(VT_IDLE_PWM_MC,900);
|
||||
|
||||
/**
|
||||
* Minimum airspeed in multicopter mode
|
||||
*
|
||||
* This is the minimum speed of the air flowing over the control surfaces.
|
||||
*
|
||||
* @min 0.0
|
||||
* @group VTOL Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(VT_MC_ARSPD_MIN,2.0f);
|
||||
|
||||
/**
|
||||
* Maximum airspeed in multicopter mode
|
||||
*
|
||||
* This is the maximum speed of the air flowing over the control surfaces.
|
||||
*
|
||||
* @min 0.0
|
||||
* @group VTOL Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(VT_MC_ARSPD_MAX,30.0f);
|
||||
|
||||
/**
|
||||
* Trim airspeed when in multicopter mode
|
||||
*
|
||||
* This is the airflow over the control surfaces for which no airspeed scaling is applied in multicopter mode.
|
||||
*
|
||||
* @min 0.0
|
||||
* @group VTOL Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(VT_MC_ARSPD_TRIM,10.0f);
|
||||
|
||||
|
||||
@@ -0,0 +1,60 @@
|
||||
|
||||
CC=g++
|
||||
CFLAGS=-I. -I../src/modules -I ../src/include -I../src/drivers \
|
||||
-I../src -I../src/lib -D__EXPORT="" -Dnullptr="0" -lm
|
||||
|
||||
all: mixer_test sbus2_test autodeclination_test st24_test sf0x_test
|
||||
|
||||
MIXER_FILES=../src/systemcmds/tests/test_mixer.cpp \
|
||||
../src/systemcmds/tests/test_conv.cpp \
|
||||
../src/modules/systemlib/mixer/mixer_simple.cpp \
|
||||
../src/modules/systemlib/mixer/mixer_multirotor.cpp \
|
||||
../src/modules/systemlib/mixer/mixer.cpp \
|
||||
../src/modules/systemlib/mixer/mixer_group.cpp \
|
||||
../src/modules/systemlib/mixer/mixer_load.c \
|
||||
../src/modules/systemlib/pwm_limit/pwm_limit.c \
|
||||
hrt.cpp \
|
||||
mixer_test.cpp
|
||||
|
||||
SBUS2_FILES=../src/modules/px4iofirmware/sbus.c \
|
||||
hrt.cpp \
|
||||
sbus2_test.cpp
|
||||
|
||||
ST24_FILES=../src/lib/rc/st24.c \
|
||||
hrt.cpp \
|
||||
st24_test.cpp
|
||||
|
||||
SF0X_FILES= \
|
||||
hrt.cpp \
|
||||
sf0x_test.cpp \
|
||||
../src/drivers/sf0x/sf0x_parser.cpp
|
||||
|
||||
AUTODECLINATION_FILES= ../src/lib/geo_lookup/geo_mag_declination.c \
|
||||
hrt.cpp \
|
||||
autodeclination_test.cpp
|
||||
|
||||
mixer_test: $(MIXER_FILES)
|
||||
$(CC) -o mixer_test $(MIXER_FILES) $(CFLAGS)
|
||||
|
||||
sbus2_test: $(SBUS2_FILES)
|
||||
$(CC) -o sbus2_test $(SBUS2_FILES) $(CFLAGS)
|
||||
|
||||
sf0x_test: $(SF0X_FILES)
|
||||
$(CC) -o sf0x_test $(SF0X_FILES) $(CFLAGS)
|
||||
|
||||
autodeclination_test: $(SBUS2_FILES)
|
||||
$(CC) -o autodeclination_test $(AUTODECLINATION_FILES) $(CFLAGS)
|
||||
|
||||
st24_test: $(ST24_FILES)
|
||||
$(CC) -o st24_test $(ST24_FILES) $(CFLAGS)
|
||||
|
||||
unittests: clean mixer_test sbus2_test sf0x_test autodeclination_test st24_test
|
||||
./mixer_test
|
||||
./sbus2_test
|
||||
./sf0x_test
|
||||
./autodeclination_test
|
||||
./st24_test
|
||||
|
||||
.PHONY: clean
|
||||
clean:
|
||||
rm -f $(ODIR)/*.o *~ core $(INCDIR)/*~ mixer_test sbus2_test autodeclination_test st24_test sf0x_test
|
||||
@@ -0,0 +1,52 @@
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <unistd.h>
|
||||
#include <string.h>
|
||||
#include <math.h>
|
||||
#include <systemlib/mixer/mixer.h>
|
||||
#include <systemlib/err.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <px4iofirmware/px4io.h>
|
||||
// #include "../../src/systemcmds/tests/tests.h"
|
||||
#include <geo/geo.h>
|
||||
|
||||
int main(int argc, char *argv[]) {
|
||||
warnx("autodeclination test started");
|
||||
|
||||
char* latstr = 0;
|
||||
char* lonstr = 0;
|
||||
char* declstr = 0;
|
||||
|
||||
if (argc < 4) {
|
||||
warnx("Too few arguments. Using default lat / lon and declination");
|
||||
latstr = "47.0";
|
||||
lonstr = "8.0";
|
||||
declstr = "0.6";
|
||||
} else {
|
||||
latstr = argv[1];
|
||||
lonstr = argv[2];
|
||||
declstr = argv[3];
|
||||
}
|
||||
|
||||
char* p_end;
|
||||
|
||||
float lat = strtod(latstr, &p_end);
|
||||
float lon = strtod(lonstr, &p_end);
|
||||
float decl_truth = strtod(declstr, &p_end);
|
||||
|
||||
float declination = get_mag_declination(lat, lon);
|
||||
|
||||
printf("lat: %f lon: %f, expected dec: %f, estimated dec: %f\n", lat, lon, declination, decl_truth);
|
||||
|
||||
int ret = 0;
|
||||
|
||||
// Fail if the declination differs by more than one degree
|
||||
float decldiff = fabs(decl_truth - declination);
|
||||
if (decldiff > 0.5f) {
|
||||
warnx("declination differs more than 1 degree: difference: %12.8f", decldiff);
|
||||
ret = 1;
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
@@ -3,12 +3,17 @@
|
||||
#include "../../src/systemcmds/tests/tests.h"
|
||||
|
||||
int main(int argc, char *argv[]) {
|
||||
|
||||
int ret;
|
||||
|
||||
warnx("Host execution started");
|
||||
|
||||
char* args[] = {argv[0], "../../ROMFS/px4fmu_common/mixers/IO_pass.mix",
|
||||
"../../ROMFS/px4fmu_common/mixers/FMU_quad_w.mix"};
|
||||
char* args[] = {argv[0], "../ROMFS/px4fmu_common/mixers/IO_pass.mix",
|
||||
"../ROMFS/px4fmu_common/mixers/FMU_quad_w.mix"};
|
||||
|
||||
test_mixer(3, args);
|
||||
if (ret = test_mixer(3, args));
|
||||
|
||||
test_conv(1, args);
|
||||
|
||||
return 0;
|
||||
}
|
||||
@@ -11,14 +11,20 @@
|
||||
int main(int argc, char *argv[]) {
|
||||
warnx("SBUS2 test started");
|
||||
|
||||
if (argc < 2)
|
||||
errx(1, "Need a filename for the input file");
|
||||
char *filepath = 0;
|
||||
|
||||
warnx("loading data from: %s", argv[1]);
|
||||
if (argc < 2) {
|
||||
warnx("Using default input file");
|
||||
filepath = "testdata/sbus2_r7008SB.txt";
|
||||
} else {
|
||||
filepath = argv[1];
|
||||
}
|
||||
|
||||
warnx("loading data from: %s", filepath);
|
||||
|
||||
FILE *fp;
|
||||
|
||||
fp = fopen(argv[1],"rt");
|
||||
fp = fopen(filepath,"rt");
|
||||
|
||||
if (!fp)
|
||||
errx(1, "failed opening file");
|
||||
@@ -47,7 +53,7 @@ int main(int argc, char *argv[]) {
|
||||
while (EOF != (ret = fscanf(fp, "%f,%x,,", &f, &x))) {
|
||||
if (((f - last_time) * 1000 * 1000) > 3000) {
|
||||
partial_frame_count = 0;
|
||||
warnx("FRAME RESET\n\n");
|
||||
//warnx("FRAME RESET\n\n");
|
||||
}
|
||||
|
||||
frame[partial_frame_count] = x;
|
||||
@@ -69,8 +75,10 @@ int main(int argc, char *argv[]) {
|
||||
|
||||
if (ret == EOF) {
|
||||
warnx("Test finished, reached end of file");
|
||||
ret = 0;
|
||||
} else {
|
||||
warnx("Test aborted, errno: %d", ret);
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
@@ -43,7 +43,7 @@ int main(int argc, char *argv[])
|
||||
|
||||
for (unsigned l = 0; l < sizeof(lines) / sizeof(lines[0]); l++) {
|
||||
|
||||
printf("\n%s", _linebuf);
|
||||
//printf("\n%s", _linebuf);
|
||||
|
||||
int parse_ret;
|
||||
|
||||
@@ -51,11 +51,11 @@ int main(int argc, char *argv[])
|
||||
parse_ret = sf0x_parser(lines[l][i], _parserbuf, &_parsebuf_index, &state, &dist_m);
|
||||
|
||||
if (parse_ret == 0) {
|
||||
printf("\nparsed: %f %s\n", dist_m, (parse_ret == 0) ? "OK" : "");
|
||||
//printf("\nparsed: %f %s\n", dist_m, (parse_ret == 0) ? "OK" : "");
|
||||
}
|
||||
}
|
||||
|
||||
printf("%s", lines[l]);
|
||||
//printf("%s", lines[l]);
|
||||
|
||||
}
|
||||
|
||||
@@ -11,15 +11,22 @@ int main(int argc, char *argv[])
|
||||
{
|
||||
warnx("ST24 test started");
|
||||
|
||||
char* defaultfile = "testdata/st24_data.txt";
|
||||
|
||||
char* filepath = 0;
|
||||
|
||||
if (argc < 2) {
|
||||
errx(1, "Need a filename for the input file");
|
||||
warnx("Too few arguments. Using default file: %s", defaultfile);
|
||||
filepath = defaultfile;
|
||||
} else {
|
||||
filepath = argv[1];
|
||||
}
|
||||
|
||||
warnx("loading data from: %s", argv[1]);
|
||||
warnx("loading data from: %s", filepath);
|
||||
|
||||
FILE *fp;
|
||||
|
||||
fp = fopen(argv[1], "rt");
|
||||
fp = fopen(filepath, "rt");
|
||||
|
||||
if (!fp) {
|
||||
errx(1, "failed opening file");
|
||||
@@ -56,21 +63,22 @@ int main(int argc, char *argv[])
|
||||
|
||||
|
||||
if (!st24_decode(b, &rssi, &rx_count, &channel_count, channels, sizeof(channels) / sizeof(channels[0]))) {
|
||||
warnx("decoded: %u channels (converted to PPM range)", (unsigned)channel_count);
|
||||
//warnx("decoded: %u channels (converted to PPM range)", (unsigned)channel_count);
|
||||
|
||||
for (unsigned i = 0; i < channel_count; i++) {
|
||||
|
||||
int16_t val = channels[i];
|
||||
warnx("channel %u: %d 0x%03X", i, static_cast<int>(val), static_cast<int>(val));
|
||||
//warnx("channel %u: %d 0x%03X", i, static_cast<int>(val), static_cast<int>(val));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (ret == EOF) {
|
||||
warnx("Test finished, reached end of file");
|
||||
|
||||
ret = 0;
|
||||
} else {
|
||||
warnx("Test aborted, errno: %d", ret);
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
Vendored
+2192
File diff suppressed because it is too large
Load Diff
Vendored
+18019
File diff suppressed because it is too large
Load Diff
Reference in New Issue
Block a user