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Merge branch 'adc_fix' into paul_estimator_mavlink2

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Lorenz Meier
2014-03-17 16:55:02 +01:00
parent 45cc0262eb 4e6e40e5d8
commit 541e8362cf
14 changed files with 96 additions and 16 deletions
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ROMFS/px4fmu_common/init.d/11001_hexa_cox
+1 -1
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@@ -2,7 +2,7 @@
#
# UNTESTED UNTESTED!
#
# Generic 10” Hexa coaxial geometry
# Generic 10" Hexa coaxial geometry
#
# Lorenz Meier <lm@inf.ethz.ch>
#
ROMFS/px4fmu_common/init.d/12001_octo_cox
+1 -1
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@@ -1,6 +1,6 @@
#!nsh
#
# Generic 10” Octo coaxial geometry
# Generic 10" Octo coaxial geometry
#
# Lorenz Meier <lm@inf.ethz.ch>
#
ROMFS/px4fmu_common/init.d/3031_phantom
+30 -1
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@@ -2,9 +2,38 @@
#
# Phantom FPV Flying Wing
#
# Simon Wilks <sjwilks@gmail.com>
# Simon Wilks <sjwilks@gmail.com>, Thomas Gubler <thomasgubler@gmail.com>
#
sh /etc/init.d/rc.fw_defaults
if [ $DO_AUTOCONFIG == yes ]
then
param set FW_AIRSPD_MIN 13
param set FW_AIRSPD_TRIM 18
param set FW_AIRSPD_MAX 40
param set FW_ATT_TC 0.3
param set FW_L1_DAMPING 0.75
param set FW_L1_PERIOD 15
param set FW_PR_FF 0.2
param set FW_PR_I 0.005
param set FW_PR_IMAX 0.2
param set FW_PR_P 0.03
param set FW_P_LIM_MAX 50
param set FW_P_LIM_MIN -50
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 0
param set FW_RR_FF 0.5
param set FW_RR_I 0.02
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.08
param set FW_R_LIM 70
param set FW_R_RMAX 0
param set FW_T_HRATE_P 0.01
param set FW_T_RLL2THR 15
param set FW_T_SRATE_P 0.01
param set FW_T_TIME_CONST 5
fi
set MIXER FMU_Q
ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
+42
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@@ -0,0 +1,42 @@
#!nsh
#
# TBS Caipirinha Flying Wing
#
# Thomas Gubler <thomasgubler@gmail.com>
#
sh /etc/init.d/rc.fw_defaults
if [ $DO_AUTOCONFIG == yes ]
then
# TODO: these are the X5 default parameters, update them to the caipi
param set FW_AIRSPD_MIN 15
param set FW_AIRSPD_TRIM 20
param set FW_AIRSPD_MAX 40
param set FW_ATT_TC 0.3
param set FW_L1_DAMPING 0.74
param set FW_L1_PERIOD 15
param set FW_PR_FF 0.3
param set FW_PR_I 0
param set FW_PR_IMAX 0.2
param set FW_PR_P 0.03
param set FW_P_LIM_MAX 45
param set FW_P_LIM_MIN -45
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 0
param set FW_RR_FF 0.3
param set FW_RR_I 0
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.03
param set FW_R_LIM 60
param set FW_R_RMAX 0
param set FW_T_HRATE_P 0.01
param set FW_T_RLL2THR 15
param set FW_T_SRATE_P 0.01
param set FW_T_TIME_CONST 5
fi
set MIXER FMU_Q
ROMFS/px4fmu_common/init.d/4001_quad_x
+1 -1
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@@ -1,6 +1,6 @@
#!nsh
#
# Generic 10” Quad X geometry
# Generic 10" Quad X geometry
#
# Lorenz Meier <lm@inf.ethz.ch>
#
ROMFS/px4fmu_common/init.d/5001_quad_+
+1 -1
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@@ -1,6 +1,6 @@
#!nsh
#
# Generic 10” Quad + geometry
# Generic 10" Quad + geometry
#
# Anton Babushkin <anton.babushkin@me.com>
#
ROMFS/px4fmu_common/init.d/6001_hexa_x
+1 -1
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@@ -1,6 +1,6 @@
#!nsh
#
# Generic 10” Hexa X geometry
# Generic 10" Hexa X geometry
#
# Anton Babushkin <anton.babushkin@me.com>
#
ROMFS/px4fmu_common/init.d/7001_hexa_+
+1 -1
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@@ -1,6 +1,6 @@
#!nsh
#
# Generic 10” Hexa + geometry
# Generic 10" Hexa + geometry
#
# Anton Babushkin <anton.babushkin@me.com>
#
ROMFS/px4fmu_common/init.d/8001_octo_x
+1 -1
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@@ -1,6 +1,6 @@
#!nsh
#
# Generic 10” Octo X geometry
# Generic 10" Octo X geometry
#
# Anton Babushkin <anton.babushkin@me.com>
#
ROMFS/px4fmu_common/init.d/9001_octo_+
+1 -1
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@@ -1,6 +1,6 @@
#!nsh
#
# Generic 10” Octo + geometry
# Generic 10" Octo + geometry
#
# Anton Babushkin <anton.babushkin@me.com>
#
ROMFS/px4fmu_common/init.d/rc.autostart
+5
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@@ -97,6 +97,11 @@ then
sh /etc/init.d/3034_fx79
fi
if param compare SYS_AUTOSTART 3100
then
sh /etc/init.d/3100_tbs_caipirinha
fi
#
# Quad X
#
src/modules/sensors/sensors.cpp
+7 -4
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@@ -1171,16 +1171,19 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
hrt_abstime t = hrt_absolute_time();
/* rate limit to 100 Hz */
if (t - _last_adc >= 10000) {
/* make space for a maximum of eight channels */
struct adc_msg_s buf_adc[8];
/* make space for a maximum of ten channels (to ensure reading all channels at once) */
struct adc_msg_s buf_adc[10];
/* read all channels available */
int ret = read(_fd_adc, &buf_adc, sizeof(buf_adc));
if (ret >= (int)sizeof(buf_adc[0])) {
for (unsigned i = 0; i < sizeof(buf_adc) / sizeof(buf_adc[0]); i++) {
/* Read add channels we got */
for (unsigned i = 0; i < ret / sizeof(buf_adc[0]); i++) {
/* Save raw voltage values */
if (i < (sizeof(raw.adc_voltage_v)) / sizeof(raw.adc_voltage_v[0])) {
if (i < (sizeof(raw.adc_voltage_v) / sizeof(raw.adc_voltage_v[0]))) {
raw.adc_voltage_v[i] = buf_adc[i].am_data / (4096.0f / 3.3f);
raw.adc_mapping[i] = buf_adc[i].am_channel;
}
/* look for specific channels and process the raw voltage to measurement data */
src/modules/uORB/topics/sensor_combined.h
+2 -1
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@@ -98,7 +98,8 @@ struct sensor_combined_s {
float baro_pres_mbar; /**< Barometric pressure, already temp. comp. */
float baro_alt_meter; /**< Altitude, already temp. comp. */
float baro_temp_celcius; /**< Temperature in degrees celsius */
float adc_voltage_v[4]; /**< ADC voltages of ADC Chan 10/11/12/13 or -1 */
float adc_voltage_v[9]; /**< ADC voltages of ADC Chan 10/11/12/13 or -1 */
unsigned adc_mapping[9]; /**< Channel indices of each of these values */
float mcu_temp_celcius; /**< Internal temperature measurement of MCU */
uint64_t baro_timestamp; /**< Barometer timestamp */
src/systemcmds/tests/test_adc.c
+2 -2
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@@ -66,8 +66,8 @@ int test_adc(int argc, char *argv[])
}
for (unsigned i = 0; i < 5; i++) {
/* make space for a maximum of eight channels */
struct adc_msg_s data[8];
/* make space for a maximum of ten channels */
struct adc_msg_s data[10];
/* read all channels available */
ssize_t count = read(fd, data, sizeof(data));