diff --git a/ROMFS/px4fmu_common/init.d/11001_hexa_cox b/ROMFS/px4fmu_common/init.d/11001_hexa_cox index b98ab47748d..38e65435b65 100644 --- a/ROMFS/px4fmu_common/init.d/11001_hexa_cox +++ b/ROMFS/px4fmu_common/init.d/11001_hexa_cox @@ -2,7 +2,7 @@ # # UNTESTED UNTESTED! # -# Generic 10” Hexa coaxial geometry +# Generic 10" Hexa coaxial geometry # # Lorenz Meier # diff --git a/ROMFS/px4fmu_common/init.d/12001_octo_cox b/ROMFS/px4fmu_common/init.d/12001_octo_cox index 655cb6226ef..99f902a6dd9 100644 --- a/ROMFS/px4fmu_common/init.d/12001_octo_cox +++ b/ROMFS/px4fmu_common/init.d/12001_octo_cox @@ -1,6 +1,6 @@ #!nsh # -# Generic 10” Octo coaxial geometry +# Generic 10" Octo coaxial geometry # # Lorenz Meier # diff --git a/ROMFS/px4fmu_common/init.d/3031_phantom b/ROMFS/px4fmu_common/init.d/3031_phantom index a3004d1e137..6cbd2364303 100644 --- a/ROMFS/px4fmu_common/init.d/3031_phantom +++ b/ROMFS/px4fmu_common/init.d/3031_phantom @@ -2,9 +2,38 @@ # # Phantom FPV Flying Wing # -# Simon Wilks +# Simon Wilks , Thomas Gubler # 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 diff --git a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha new file mode 100644 index 00000000000..7dbda54d3a9 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha @@ -0,0 +1,42 @@ +#!nsh +# +# TBS Caipirinha Flying Wing +# +# Thomas Gubler +# + +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 diff --git a/ROMFS/px4fmu_common/init.d/4001_quad_x b/ROMFS/px4fmu_common/init.d/4001_quad_x index 345b0e3e4ef..06c54a41dba 100644 --- a/ROMFS/px4fmu_common/init.d/4001_quad_x +++ b/ROMFS/px4fmu_common/init.d/4001_quad_x @@ -1,6 +1,6 @@ #!nsh # -# Generic 10” Quad X geometry +# Generic 10" Quad X geometry # # Lorenz Meier # diff --git a/ROMFS/px4fmu_common/init.d/5001_quad_+ b/ROMFS/px4fmu_common/init.d/5001_quad_+ index 55b31067d1f..1fb25e5d88a 100644 --- a/ROMFS/px4fmu_common/init.d/5001_quad_+ +++ b/ROMFS/px4fmu_common/init.d/5001_quad_+ @@ -1,6 +1,6 @@ #!nsh # -# Generic 10” Quad + geometry +# Generic 10" Quad + geometry # # Anton Babushkin # diff --git a/ROMFS/px4fmu_common/init.d/6001_hexa_x b/ROMFS/px4fmu_common/init.d/6001_hexa_x index 7714a508cfc..34fc6523fef 100644 --- a/ROMFS/px4fmu_common/init.d/6001_hexa_x +++ b/ROMFS/px4fmu_common/init.d/6001_hexa_x @@ -1,6 +1,6 @@ #!nsh # -# Generic 10” Hexa X geometry +# Generic 10" Hexa X geometry # # Anton Babushkin # diff --git a/ROMFS/px4fmu_common/init.d/7001_hexa_+ b/ROMFS/px4fmu_common/init.d/7001_hexa_+ index 60db8c06904..235e376a6ee 100644 --- a/ROMFS/px4fmu_common/init.d/7001_hexa_+ +++ b/ROMFS/px4fmu_common/init.d/7001_hexa_+ @@ -1,6 +1,6 @@ #!nsh # -# Generic 10” Hexa + geometry +# Generic 10" Hexa + geometry # # Anton Babushkin # diff --git a/ROMFS/px4fmu_common/init.d/8001_octo_x b/ROMFS/px4fmu_common/init.d/8001_octo_x index 411aee1140d..769217dc78b 100644 --- a/ROMFS/px4fmu_common/init.d/8001_octo_x +++ b/ROMFS/px4fmu_common/init.d/8001_octo_x @@ -1,6 +1,6 @@ #!nsh # -# Generic 10” Octo X geometry +# Generic 10" Octo X geometry # # Anton Babushkin # diff --git a/ROMFS/px4fmu_common/init.d/9001_octo_+ b/ROMFS/px4fmu_common/init.d/9001_octo_+ index 81132fd3e70..28b074a545a 100644 --- a/ROMFS/px4fmu_common/init.d/9001_octo_+ +++ b/ROMFS/px4fmu_common/init.d/9001_octo_+ @@ -1,6 +1,6 @@ #!nsh # -# Generic 10” Octo + geometry +# Generic 10" Octo + geometry # # Anton Babushkin # diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart index 7aaf7133ef5..4ae6a279401 100644 --- a/ROMFS/px4fmu_common/init.d/rc.autostart +++ b/ROMFS/px4fmu_common/init.d/rc.autostart @@ -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 # diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index ba75fe82e63..8214c650916 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -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 */ diff --git a/src/modules/uORB/topics/sensor_combined.h b/src/modules/uORB/topics/sensor_combined.h index 92812efd490..a02b6a02c7f 100644 --- a/src/modules/uORB/topics/sensor_combined.h +++ b/src/modules/uORB/topics/sensor_combined.h @@ -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 */ diff --git a/src/systemcmds/tests/test_adc.c b/src/systemcmds/tests/test_adc.c index 030ac6e23c7..7302f63cce9 100644 --- a/src/systemcmds/tests/test_adc.c +++ b/src/systemcmds/tests/test_adc.c @@ -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));