mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-06-06 06:43:21 +08:00
Ported almost everything to new param interface, ready for serious testing
This commit is contained in:
Lorenz Meier
+84
-92
@@ -68,6 +68,7 @@
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#include <uORB/topics/rc_channels.h>
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#include <uORB/topics/vehicle_gps_position.h>
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#include <uORB/topics/vehicle_command.h>
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#include <uORB/topics/subsystem_info.h>
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#include <mavlink/mavlink_log.h>
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#include <systemlib/param/param.h>
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@@ -108,7 +109,7 @@ static int deamon_task; /**< Handle of deamon task / thread */
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/* pthread loops */
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static void *command_handling_loop(void *arg);
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// static void *subsystem_info_loop(void *arg);
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static void *orb_receive_loop(void *arg);
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__EXPORT int commander_main(int argc, char *argv[]);
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@@ -137,6 +138,16 @@ int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, u
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*/
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static void usage(const char *reason);
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/**
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* Sort calibration values.
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*
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* Sorts the calibration values with bubble sort.
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*
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* @param a The array to sort
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* @param n The number of entries in the array
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*/
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static void cal_bsort(int16_t a[], int n);
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static int buzzer_init()
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{
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buzzer = open("/dev/tone_alarm", O_WRONLY);
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@@ -227,7 +238,7 @@ int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, u
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return 0;
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}
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void cal_bsort(int16_t a[], int n)
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static void cal_bsort(int16_t a[], int n)
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{
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int i,j,t;
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for(i=0;i<n-1;i++)
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@@ -465,9 +476,17 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *current_status
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gyro_offset[1] = gyro_offset[1] / calibration_count;
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gyro_offset[2] = gyro_offset[2] / calibration_count;
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global_data_parameter_storage->pm.param_values[PARAM_SENSOR_GYRO_XOFFSET] = gyro_offset[0];
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global_data_parameter_storage->pm.param_values[PARAM_SENSOR_GYRO_YOFFSET] = gyro_offset[1];
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global_data_parameter_storage->pm.param_values[PARAM_SENSOR_GYRO_ZOFFSET] = gyro_offset[2];
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if (param_set(param_find("SENSOR_GYRO_XOFF"), &(gyro_offset[0]))) {
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mavlink_log_critical(mavlink_fd, "[commander] Setting X gyro offset failed!");
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}
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if (param_set(param_find("SENSOR_GYRO_YOFF"), &(gyro_offset[1]))) {
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mavlink_log_critical(mavlink_fd, "[commander] Setting Y gyro offset failed!");
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}
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if (param_set(param_find("SENSOR_GYRO_ZOFF"), &(gyro_offset[2]))) {
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mavlink_log_critical(mavlink_fd, "[commander] Setting Z gyro offset failed!");
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}
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char offset_output[50];
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sprintf(offset_output, "[commander] gyro cal: x:%8.4f y:%8.4f z:%8.4f", (double)gyro_offset[0], (double)gyro_offset[1], (double)gyro_offset[2]);
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@@ -625,6 +644,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
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/* send any requested ACKs */
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if (cmd->confirmation > 0) {
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/* send acknowledge command */
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// XXX TODO
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}
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}
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@@ -641,7 +661,7 @@ static void *command_handling_loop(void *arg)
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int cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
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struct vehicle_command_s cmd;
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while (1) {
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while (!thread_should_exit) {
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struct pollfd fds[1] = { { .fd = cmd_sub, .events = POLLIN } };
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if (poll(fds, 1, 5000) == 0) {
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@@ -655,71 +675,37 @@ static void *command_handling_loop(void *arg)
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}
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}
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close(cmd_sub);
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return NULL;
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}
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// static void *subsystem_info_loop(void *arg) //handles status information coming from subsystems (present, enabled, health), these values do not indicate the quality (variance) of the signal
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// {
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// /* Set thread name */
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// prctl(PR_SET_NAME, "commander subsys", getpid());
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static void *orb_receive_loop(void *arg) //handles status information coming from subsystems (present, enabled, health), these values do not indicate the quality (variance) of the signal
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{
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/* Set thread name */
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prctl(PR_SET_NAME, "commander orb rcv", getpid());
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// uint8_t current_info_local = SUBSYSTEM_INFO_BUFFER_SIZE;
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// uint16_t total_counter = 0;
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/* Subscribe to command topic */
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int subsys_sub = orb_subscribe(ORB_ID(subsystem_info));
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struct subsystem_info_s info;
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// while (1) {
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while (!thread_should_exit) {
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struct pollfd fds[1] = { { .fd = subsys_sub, .events = POLLIN } };
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// if (0 == global_data_wait(&global_data_subsystem_info->access_conf)) {
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// // printf("got subsystem_info\n");
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if (poll(fds, 1, 5000) == 0) {
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/* timeout, but this is no problem, silently ignore */
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} else {
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/* got command */
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orb_copy(ORB_ID(subsystem_info), subsys_sub, &info);
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// while (current_info_local != global_data_subsystem_info->current_info) {
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// // printf("current_info_local = %d, current_info = %d \n", current_info_local, global_data_subsystem_info->current_info);
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printf("Subsys changed: %d\n", (int)info.subsystem_type);
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}
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}
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// current_info_local++;
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close(subsys_sub);
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// if (current_info_local >= SUBSYSTEM_INFO_BUFFER_SIZE)
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// current_info_local = 0;
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// /* Handle the new subsystem info and write updated version of global_data_sys_status */
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// subsystem_info_t *info = &(global_data_subsystem_info->info[current_info_local]);
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// // printf("Commander got subsystem info: %d %d %d\n", info->present, info->enabled, info->health);
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// if (info->present != 0) {
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// update_state_machine_subsystem_present(stat_pub, ¤t_status, &info->subsystem_type);
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// } else {
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// update_state_machine_subsystem_notpresent(stat_pub, ¤t_status, &info->subsystem_type);
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// }
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// if (info->enabled != 0) {
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// update_state_machine_subsystem_enabled(stat_pub, ¤t_status, &info->subsystem_type);
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// } else {
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// update_state_machine_subsystem_disabled(stat_pub, ¤t_status, &info->subsystem_type);
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// }
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// if (info->health != 0) {
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// update_state_machine_subsystem_healthy(stat_pub, ¤t_status, &info->subsystem_type);
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// } else {
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// update_state_machine_subsystem_unhealthy(stat_pub, ¤t_status, &info->subsystem_type);
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// }
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// total_counter++;
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// }
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// if (global_data_subsystem_info->counter - total_counter > SUBSYSTEM_INFO_BUFFER_SIZE) {
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// printf("[commander] Warning: Too many subsystem status updates, subsystem_info buffer full\n"); //TODO: add to error queue
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// global_data_subsystem_info->counter = total_counter; //this makes sure we print the warning only once
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// }
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// global_data_unlock(&global_data_subsystem_info->access_conf);
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// }
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// }
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// return NULL;
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// }
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return NULL;
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}
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@@ -736,16 +722,31 @@ enum BAT_CHEM {
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*/
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float battery_remaining_estimate_voltage(int cells, int chemistry, float voltage);
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PARAM_DEFINE_FLOAT(BAT_VOLT_EMPTY, 3.2f);
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PARAM_DEFINE_FLOAT(BAT_VOLT_FULL, 4.05f);
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PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.2f);
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PARAM_DEFINE_FLOAT(BAT_V_FULL, 4.05f);
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float battery_remaining_estimate_voltage(int cells, int chemistry, float voltage)
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{
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float ret = 0;
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// XXX do this properly
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// XXX rebase on parameters
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const float chemistry_voltage_empty[] = {3.2f};
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const float chemistry_voltage_full[] = {4.05f};
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static param_t bat_volt_empty;
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static param_t bat_volt_full;
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static bool initialized = false;
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static unsigned int counter = 0;
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if (!initialized) {
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bat_volt_empty = param_find("BAT_V_EMPTY");
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bat_volt_full = param_find("BAT_V_FULL");
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initialized = true;
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}
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float chemistry_voltage_empty[1];
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float chemistry_voltage_full[1];
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if (counter % 100 == 0) {
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param_get(bat_volt_empty, chemistry_voltage_empty+0);
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param_get(bat_volt_full, chemistry_voltage_full+0);
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}
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counter++;
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ret = (voltage - cells * chemistry_voltage_empty[chemistry]) / (cells * (chemistry_voltage_full[chemistry] - chemistry_voltage_empty[chemistry]));
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@@ -817,9 +818,9 @@ int commander_thread_main(int argc, char *argv[])
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/* welcome user */
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printf("[commander] I am in command now!\n");
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/* Pthreads */
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/* pthreads for command and subsystem info handling */
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pthread_t command_handling_thread;
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// pthread_t subsystem_info_thread;
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pthread_t subsystem_info_thread;
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/* initialize */
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if (led_init() != 0) {
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@@ -853,31 +854,21 @@ int commander_thread_main(int argc, char *argv[])
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mavlink_log_info(mavlink_fd, "[commander] system is running");
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/* load EEPROM parameters */
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if (OK == get_params_from_eeprom(global_data_parameter_storage)) {
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printf("[commander] Loaded EEPROM params in RAM\n");
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mavlink_log_info(mavlink_fd, "[commander] Loaded EEPROM params in RAM");
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} else {
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fprintf(stderr, "[commander] ERROR loading EEPROM params in RAM\n");
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mavlink_log_critical(mavlink_fd, "[commander] ERROR loading EEPROM params in RAM");
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}
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/* create pthreads */
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pthread_attr_t command_handling_attr;
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pthread_attr_init(&command_handling_attr);
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pthread_attr_setstacksize(&command_handling_attr, 4096);
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pthread_create(&command_handling_thread, &command_handling_attr, command_handling_loop, NULL);
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// pthread_attr_t subsystem_info_attr;
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// pthread_attr_init(&subsystem_info_attr);
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// pthread_attr_setstacksize(&subsystem_info_attr, 2048);
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// pthread_create(&subsystem_info_thread, &subsystem_info_attr, subsystem_info_loop, NULL);
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pthread_attr_t subsystem_info_attr;
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pthread_attr_init(&subsystem_info_attr);
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pthread_attr_setstacksize(&subsystem_info_attr, 2048);
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pthread_create(&subsystem_info_thread, &subsystem_info_attr, orb_receive_loop, NULL);
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/* Start monitoring loop */
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uint16_t counter = 0;
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uint8_t flight_env;
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// uint8_t fix_type;
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/* Initialize to 3.0V to make sure the low-pass loads below valid threshold */
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float battery_voltage = VOLTAGE_BATTERY_HIGH_VOLTS;
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bool battery_voltage_valid = true;
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@@ -888,9 +879,6 @@ int commander_thread_main(int argc, char *argv[])
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int16_t mode_switch_rc_value;
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float bat_remain = 1.0f;
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// bool arm_done = false;
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// bool disarm_done = false;
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uint16_t stick_off_counter = 0;
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uint16_t stick_on_counter = 0;
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@@ -919,7 +907,7 @@ int commander_thread_main(int argc, char *argv[])
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/* now initialized */
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commander_initialized = true;
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while (1) {
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while (!thread_should_exit) {
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/* Get current values */
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orb_copy(ORB_ID(rc_channels), rc_sub, &rc);
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@@ -930,8 +918,6 @@ int commander_thread_main(int argc, char *argv[])
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battery_voltage_valid = sensors.battery_voltage_valid;
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bat_remain = battery_remaining_estimate_voltage(3, BAT_CHEM_LITHIUM_POLYMERE, battery_voltage);
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// flight_env = (uint8_t)(global_data_parameter_storage->pm.param_values[PARAM_FLIGHT_ENV]);
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/* Slow but important 8 Hz checks */
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if (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 8) == 0) {
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/* toggle activity (blue) led at 1 Hz in standby, 10 Hz in armed mode */
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@@ -1186,11 +1172,17 @@ int commander_thread_main(int argc, char *argv[])
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/* wait for threads to complete */
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pthread_join(command_handling_thread, NULL);
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// pthread_join(subsystem_info_thread, NULL);
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pthread_join(subsystem_info_thread, NULL);
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/* close fds */
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led_deinit();
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buzzer_deinit();
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close(rc_sub);
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close(gps_sub);
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close(sensor_sub);
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printf("[commander] exiting..\n");
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fflush(stdout);
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thread_running = false;
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@@ -248,7 +248,7 @@ static float pid(float error, float error_deriv, uint16_t dt, float scale, float
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* discrete low pass filter, cuts out the
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* high frequency noise that can drive the controller crazy
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*/
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float RC = 1.0 / (2.0f * M_PI * fCut);
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float RC = 1.0f / (2.0f * M_PI_F * fCut);
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derivative = lderiv +
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(delta_time / (RC + delta_time)) * (derivative - lderiv);
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@@ -288,17 +288,17 @@ static float pid(float error, float error_deriv, uint16_t dt, float scale, float
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return output;
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}
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PARAM_DEFINE_FLOAT(FW_ATT_ROLL_P, 0.0f);
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PARAM_DEFINE_FLOAT(FW_ATT_ROLL_I, 0.0f);
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PARAM_DEFINE_FLOAT(FW_ATT_ROLL_D, 0.0f);
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PARAM_DEFINE_FLOAT(FW_ATT_ROLL_AWU, 0.0f);
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PARAM_DEFINE_FLOAT(FW_ATT_ROLL_LIM, 0.0f);
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PARAM_DEFINE_FLOAT(FW_ATT_P, 2.0f);
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PARAM_DEFINE_FLOAT(FW_ATT_I, 0.0f);
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PARAM_DEFINE_FLOAT(FW_ATT_D, 0.0f);
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PARAM_DEFINE_FLOAT(FW_ATT_AWU, 5.0f);
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PARAM_DEFINE_FLOAT(FW_ATT_LIM, 10.0f);
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PARAM_DEFINE_FLOAT(FW_ATT_PITCH_P, 0.0f);
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PARAM_DEFINE_FLOAT(FW_ATT_PITCH_I, 0.0f);
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PARAM_DEFINE_FLOAT(FW_ATT_PITCH_D, 0.0f);
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PARAM_DEFINE_FLOAT(FW_ATT_PITCH_AWU, 0.0f);
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PARAM_DEFINE_FLOAT(FW_ATT_PITCH_LIM, 0.0f);
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PARAM_DEFINE_FLOAT(FW_POS_P, 2.0f);
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PARAM_DEFINE_FLOAT(FW_POS_I, 0.0f);
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PARAM_DEFINE_FLOAT(FW_POS_D, 0.0f);
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PARAM_DEFINE_FLOAT(FW_POS_AWU, 5.0f);
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PARAM_DEFINE_FLOAT(FW_POS_LIM, 10.0f);
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/**
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* Load parameters from global storage.
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@@ -308,21 +308,50 @@ PARAM_DEFINE_FLOAT(FW_ATT_PITCH_LIM, 0.0f);
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* Fetches the current parameters from the global parameter storage and writes them
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* to the plane_data structure
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*/
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static void get_parameters(plane_data_t * plane_data)
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static void get_parameters(plane_data_t * pdata)
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{
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plane_data->Kp_att = global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_P];
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plane_data->Ki_att = global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_I];
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plane_data->Kd_att = global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_D];
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plane_data->Kp_pos = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_P];
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plane_data->Ki_pos = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_I];
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plane_data->Kd_pos = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_D];
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plane_data->intmax_att = global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_AWU];
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plane_data->intmax_pos = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_AWU];
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plane_data->airspeed = global_data_parameter_storage->pm.param_values[PARAM_AIRSPEED];
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plane_data->wp_x = global_data_parameter_storage->pm.param_values[PARAM_WPLON];
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plane_data->wp_y = global_data_parameter_storage->pm.param_values[PARAM_WPLAT];
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plane_data->wp_z = global_data_parameter_storage->pm.param_values[PARAM_WPALT];
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plane_data->mode = global_data_parameter_storage->pm.param_values[PARAM_FLIGHTMODE];
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static bool initialized = false;
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static param_t att_p;
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static param_t att_i;
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static param_t att_d;
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static param_t att_awu;
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static param_t att_lim;
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static param_t pos_p;
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static param_t pos_i;
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static param_t pos_d;
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static param_t pos_awu;
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static param_t pos_lim;
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if (!initialized) {
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att_p = param_find("FW_ATT_P");
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att_i = param_find("FW_ATT_I");
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att_d = param_find("FW_ATT_D");
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att_awu = param_find("FW_ATT_AWU");
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att_lim = param_find("FW_ATT_LIM");
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pos_p = param_find("FW_POS_P");
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pos_i = param_find("FW_POS_I");
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pos_d = param_find("FW_POS_D");
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pos_awu = param_find("FW_POS_AWU");
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pos_lim = param_find("FW_POS_LIM");
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initialized = true;
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}
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param_get(att_p, &(pdata->Kp_att));
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param_get(att_i, &(pdata->Ki_att));
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param_get(att_d, &(pdata->Kd_att));
|
||||
param_get(pos_p, &(pdata->Kp_pos));
|
||||
param_get(pos_i, &(pdata->Ki_pos));
|
||||
param_get(pos_d, &(pdata->Kd_pos));
|
||||
param_get(att_awu, &(pdata->intmax_att));
|
||||
param_get(pos_awu, &(pdata->intmax_pos));
|
||||
pdata->airspeed = 10;
|
||||
pdata->wp_x = 48;
|
||||
pdata->wp_y = 8;
|
||||
pdata->wp_z = 100;
|
||||
pdata->mode = 1;
|
||||
}
|
||||
|
||||
/**
|
||||
|
||||
+55
-73
@@ -75,9 +75,15 @@
|
||||
#include <uORB/topics/optical_flow.h>
|
||||
#include <uORB/topics/actuator_outputs.h>
|
||||
#include <uORB/topics/manual_control_setpoint.h>
|
||||
#include <systemlib/param/param.h>
|
||||
|
||||
#include "waypoints.h"
|
||||
#include "mavlink_log.h"
|
||||
|
||||
/* define MAVLink specific parameters */
|
||||
PARAM_DEFINE_INT32(MAV_SYS_ID, 1);
|
||||
PARAM_DEFINE_INT32(MAV_COMP_ID, 50);
|
||||
PARAM_DEFINE_INT32(MAV_TYPE, MAV_TYPE_GENERIC);
|
||||
|
||||
__EXPORT int mavlink_main(int argc, char *argv[]);
|
||||
int mavlink_thread_main(int argc, char *argv[]);
|
||||
@@ -90,8 +96,7 @@ static int mavlink_task;
|
||||
static bool mavlink_link_termination_allowed = false;
|
||||
static bool mavlink_exit_requested = false;
|
||||
|
||||
static int system_type = MAV_TYPE_FIXED_WING;
|
||||
mavlink_system_t mavlink_system = {100, 50, 0, 0, 0, 0}; // System ID, 1-255, Component/Subsystem ID, 1-255
|
||||
mavlink_system_t mavlink_system = {100, 50, MAV_TYPE_FIXED_WING, 0, 0, 0}; // System ID, 1-255, Component/Subsystem ID, 1-255
|
||||
static uint8_t chan = MAVLINK_COMM_0;
|
||||
static mavlink_status_t status;
|
||||
|
||||
@@ -531,7 +536,7 @@ static void *uorb_receiveloop(void *arg)
|
||||
struct mavlink_subscriptions *subs = (struct mavlink_subscriptions *)arg;
|
||||
|
||||
/* Set thread name */
|
||||
prctl(PR_SET_NAME, "mavlink uORB", getpid());
|
||||
prctl(PR_SET_NAME, "mavlink orb rcv", getpid());
|
||||
|
||||
|
||||
/* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */
|
||||
@@ -787,7 +792,7 @@ static void *uorb_receiveloop(void *arg)
|
||||
get_mavlink_mode_and_state(&v_status, &mavlink_state, &mavlink_mode);
|
||||
|
||||
/* send heartbeat */
|
||||
mavlink_msg_heartbeat_send(chan, system_type, MAV_AUTOPILOT_GENERIC, mavlink_mode, v_status.state_machine, mavlink_state);
|
||||
mavlink_msg_heartbeat_send(chan, mavlink_system.type, MAV_AUTOPILOT_PX4, mavlink_mode, v_status.state_machine, mavlink_state);
|
||||
}
|
||||
|
||||
/* --- RC CHANNELS --- */
|
||||
@@ -1080,7 +1085,7 @@ void handleMessage(mavlink_message_t *msg)
|
||||
|| (cmd_mavlink.target_component == MAV_COMP_ID_ALL))) {
|
||||
//check for MAVLINK terminate command
|
||||
if (cmd_mavlink.command == MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN && ((int)cmd_mavlink.param1) == 3) {
|
||||
/* This is the link shutdown command, terminate mavlink */ //TODO: check what happens with global_data buffers that are read by the mavlink app
|
||||
/* This is the link shutdown command, terminate mavlink */
|
||||
printf("[mavlink] Terminating .. \n");
|
||||
fflush(stdout);
|
||||
usleep(50000);
|
||||
@@ -1250,63 +1255,6 @@ void handleMessage(mavlink_message_t *msg)
|
||||
hil_attitude.timestamp = hrt_absolute_time();
|
||||
orb_publish(ORB_ID(vehicle_attitude), pub_hil_attitude, &hil_attitude);
|
||||
}
|
||||
|
||||
// if (msg->msgid == MAVLINK_MSG_ID_ATTITUDE) {
|
||||
// mavlink_attitude_t att;
|
||||
// mavlink_msg_attitude_decode(msg, &att);
|
||||
// float RAD2DEG = 57.3f;
|
||||
|
||||
// // printf("\n\n\n ATTITUDE \n\n\n %i \n", (int)(1000*att.rollspeed));
|
||||
|
||||
// global_data_lock(&global_data_attitude->access_conf);
|
||||
// global_data_attitude->roll = RAD2DEG * att.roll;
|
||||
// global_data_attitude->pitch = RAD2DEG * att.pitch;
|
||||
// global_data_attitude->yaw = RAD2DEG * att.yaw;
|
||||
// global_data_attitude->rollspeed = att.rollspeed;
|
||||
// global_data_attitude->pitchspeed = att.pitchspeed;
|
||||
// global_data_attitude->yawspeed = att.yawspeed;
|
||||
|
||||
// global_data_attitude->counter++;
|
||||
// global_data_attitude->timestamp = hrt_absolute_time();
|
||||
// global_data_unlock(&global_data_attitude->access_conf);
|
||||
// global_data_broadcast(&global_data_attitude->access_conf);
|
||||
// }
|
||||
|
||||
// if (msg->msgid == MAVLINK_MSG_ID_RAW_IMU) {
|
||||
// mavlink_raw_imu_t imu;
|
||||
// mavlink_msg_raw_imu_decode(msg, &imu);
|
||||
|
||||
// // printf("\n\n\n RAW_IMU : %i \n %i \n %i \n %i \n %i \n %i \n\n\n", (int)(1000*imu.xgyro),
|
||||
// // (int)(1000*imu.ygyro), (int)(1000*imu.zgyro));
|
||||
|
||||
// global_data_lock(&global_data_attitude->access_conf);
|
||||
// global_data_attitude->rollspeed = 1000 * imu.xgyro;
|
||||
// global_data_attitude->pitchspeed = 1000 * imu.ygyro;
|
||||
// global_data_attitude->yawspeed = 1000 * imu.zgyro;
|
||||
|
||||
// global_data_attitude->counter++;
|
||||
// global_data_attitude->timestamp = hrt_absolute_time();
|
||||
// global_data_unlock(&global_data_attitude->access_conf);
|
||||
// global_data_broadcast(&global_data_attitude->access_conf);
|
||||
// }
|
||||
|
||||
// if (msg->msgid == MAVLINK_MSG_ID_SCALED_IMU) {
|
||||
// mavlink_raw_imu_t imu;
|
||||
// mavlink_msg_raw_imu_decode(msg, &imu);
|
||||
|
||||
// // printf("\n\n\n SCALED_IMU : %i \n %i \n %i \n %i \n %i \n %i \n\n\n", (int)(1000*imu.xgyro),
|
||||
// // (int)(1000*imu.ygyro), (int)(1000*imu.zgyro));
|
||||
|
||||
// global_data_lock(&global_data_attitude->access_conf);
|
||||
// global_data_attitude->rollspeed = 1000 * imu.xgyro;
|
||||
// global_data_attitude->pitchspeed = 1000 * imu.ygyro;
|
||||
// global_data_attitude->yawspeed = 1000 * imu.zgyro;
|
||||
|
||||
// global_data_attitude->counter++;
|
||||
// global_data_attitude->timestamp = hrt_absolute_time();
|
||||
// global_data_unlock(&global_data_attitude->access_conf);
|
||||
// global_data_broadcast(&global_data_attitude->access_conf);
|
||||
// }
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1483,6 +1431,11 @@ int mavlink_thread_main(int argc, char *argv[])
|
||||
/* Flush UART */
|
||||
fflush(stdout);
|
||||
|
||||
/* Initialize system properties */
|
||||
param_t param_system_id = param_find("MAV_SYS_ID");
|
||||
param_t param_component_id = param_find("MAV_COMP_ID");
|
||||
param_t param_system_type = param_find("MAV_TYPE");
|
||||
|
||||
/* topics to subscribe globally */
|
||||
/* subscribe to ORB for global position */
|
||||
mavlink_subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
|
||||
@@ -1507,7 +1460,8 @@ int mavlink_thread_main(int argc, char *argv[])
|
||||
mavlink_wpm_init(wpm);
|
||||
|
||||
uint16_t counter = 0;
|
||||
int lowspeed_counter = 0;
|
||||
/* arm counter to go off immediately */
|
||||
int lowspeed_counter = 10;
|
||||
|
||||
/* make sure all threads have registered their subscriptions */
|
||||
while (!mavlink_subs.initialized) {
|
||||
@@ -1565,21 +1519,34 @@ int mavlink_thread_main(int argc, char *argv[])
|
||||
orb_copy(ORB_ID(vehicle_global_position), mavlink_subs.global_pos_sub, &global_pos);
|
||||
orb_copy(ORB_ID(vehicle_local_position), local_pos_sub, &local_pos);
|
||||
|
||||
/* check if waypoint has been reached against the last positions */
|
||||
mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos);
|
||||
|
||||
// sleep
|
||||
usleep(50000);
|
||||
|
||||
// 1 Hz
|
||||
/* 1 Hz */
|
||||
if (lowspeed_counter == 10) {
|
||||
/* update system and component id */
|
||||
int32_t system_id;
|
||||
param_get(param_system_id, &system_id);
|
||||
if (system_id > 0 && system_id < 255) {
|
||||
mavlink_system.sysid = system_id;
|
||||
}
|
||||
|
||||
int32_t component_id;
|
||||
param_get(param_component_id, &component_id);
|
||||
if (component_id > 0 && component_id < 255) {
|
||||
mavlink_system.compid = component_id;
|
||||
}
|
||||
|
||||
int32_t system_type;
|
||||
param_get(param_system_type, &system_type);
|
||||
if (system_type >= 0 && system_type < MAV_AUTOPILOT_ENUM_END) {
|
||||
mavlink_system.type = system_type;
|
||||
}
|
||||
|
||||
/* translate the current syste state to mavlink state and mode */
|
||||
uint8_t mavlink_state = 0;
|
||||
uint8_t mavlink_mode = 0;
|
||||
get_mavlink_mode_and_state(&v_status, &mavlink_state, &mavlink_mode);
|
||||
|
||||
/* send heartbeat */
|
||||
mavlink_msg_heartbeat_send(chan, system_type, MAV_AUTOPILOT_GENERIC, mavlink_mode, v_status.state_machine, mavlink_state);
|
||||
mavlink_msg_heartbeat_send(chan, system_type, MAV_AUTOPILOT_PX4, mavlink_mode, v_status.state_machine, mavlink_state);
|
||||
|
||||
/* send status (values already copied in the section above) */
|
||||
mavlink_msg_sys_status_send(chan, v_status.onboard_control_sensors_present, v_status.onboard_control_sensors_enabled,
|
||||
@@ -1595,18 +1562,33 @@ int mavlink_thread_main(int argc, char *argv[])
|
||||
|
||||
lowspeed_counter = 0;
|
||||
}
|
||||
|
||||
lowspeed_counter++;
|
||||
|
||||
/* sleep quarter the time */
|
||||
usleep(25000);
|
||||
|
||||
/* check if waypoint has been reached against the last positions */
|
||||
mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos);
|
||||
|
||||
/* sleep quarter the time */
|
||||
usleep(25000);
|
||||
|
||||
/* send parameters at 20 Hz (if queued for sending) */
|
||||
mavlink_pm_queued_send();
|
||||
usleep(50000);
|
||||
/* sleep quarter the time */
|
||||
usleep(25000);
|
||||
mavlink_pm_queued_send();
|
||||
|
||||
/* sleep 10 ms */
|
||||
usleep(10000);
|
||||
|
||||
/* send one string at 10 Hz */
|
||||
mavlink_missionlib_send_gcs_string(mavlink_message_string);
|
||||
mavlink_message_string[0] = '\0';
|
||||
counter++;
|
||||
|
||||
/* sleep 15 ms */
|
||||
usleep(15000);
|
||||
}
|
||||
|
||||
/* wait for threads to complete */
|
||||
|
||||
@@ -207,10 +207,6 @@ void attitude_blackmagic_init(void)
|
||||
|
||||
void attitude_blackmagic(const float_vect3 *accel, const float_vect3 *mag, const float_vect3 *gyro)
|
||||
{
|
||||
//Transform accelerometer used in all directions
|
||||
// float_vect3 acc_nav;
|
||||
//body2navi(&global_data.accel_si, &global_data.attitude, &acc_nav);
|
||||
|
||||
// Kalman Filter
|
||||
|
||||
//Calculate new linearized A matrix
|
||||
|
||||
+8
-147
@@ -123,142 +123,6 @@ void kill_task(FAR _TCB *tcb, FAR void *arg)
|
||||
kill(tcb->pid, SIGUSR1);
|
||||
}
|
||||
|
||||
union param_union {
|
||||
float f;
|
||||
char c[4];
|
||||
};
|
||||
|
||||
int store_params_in_eeprom(struct global_data_parameter_storage_t *params)
|
||||
{
|
||||
int ret = ERROR;
|
||||
int fd = open("/dev/eeprom", O_RDWR | O_NONBLOCK);
|
||||
int lseek_res = lseek(fd, EEPROM_OFFSET, SEEK_SET); //don't touch first 64 bytes
|
||||
int write_res;
|
||||
|
||||
if (fd < 0) {
|
||||
fprintf(stderr, "onboard eeprom: open fail\n");
|
||||
ret = ERROR;
|
||||
|
||||
} else if (lseek_res < 0) {
|
||||
fprintf(stderr, "onboard eeprom: set offet fail\n");
|
||||
ret = ERROR;
|
||||
|
||||
} else {
|
||||
/*Write start magic byte */
|
||||
uint8_t mb = EEPROM_PARAM_MAGIC_BYTE;
|
||||
write_res = write(fd, &mb, sizeof(mb));
|
||||
|
||||
if (write_res != sizeof(mb)) {
|
||||
ret = ERROR;
|
||||
|
||||
} else {
|
||||
for (int i = 0; i < PARAM_MAX_COUNT; i++) {
|
||||
|
||||
union param_union p;
|
||||
p.f = params->pm.param_values[i];
|
||||
write_res = write(fd, p.c, sizeof(p.f));
|
||||
|
||||
if (write_res != sizeof(p.f)) return ERROR;
|
||||
}
|
||||
|
||||
/*Write end magic byte */
|
||||
write_res = write(fd, &mb, sizeof(mb));
|
||||
|
||||
if (write_res != sizeof(mb)) {
|
||||
ret = ERROR;
|
||||
|
||||
} else {
|
||||
ret = OK;
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
close(fd);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
int get_params_from_eeprom(struct global_data_parameter_storage_t *params)
|
||||
{
|
||||
int ret = ERROR;
|
||||
uint8_t magic_byte = 0;
|
||||
int fd = open("/dev/eeprom", O_RDWR | O_NONBLOCK);
|
||||
int lseek_res = lseek(fd, EEPROM_OFFSET, SEEK_SET); //don't touch first 64 bytes
|
||||
|
||||
if (fd < 0) {
|
||||
fprintf(stderr, "onboard eeprom: open fail\n");
|
||||
ret = ERROR;
|
||||
|
||||
} else if (lseek_res < 0) {
|
||||
fprintf(stderr, "onboard eeprom: set offet fail\n");
|
||||
ret = ERROR;
|
||||
|
||||
} else {
|
||||
/*Get start magic byte */
|
||||
magic_byte = 0;
|
||||
int read_res = read(fd, &magic_byte, sizeof(uint8_t));
|
||||
|
||||
if (read_res != sizeof(uint8_t)) {
|
||||
ret = ERROR;
|
||||
|
||||
} else {
|
||||
if (magic_byte != EEPROM_PARAM_MAGIC_BYTE) {
|
||||
ret = ERROR;
|
||||
fprintf(stderr, "onboard eeprom: parameters: start magic byte wrong\n");
|
||||
|
||||
} else {
|
||||
/*get end magic byte */
|
||||
lseek_res = lseek(fd, EEPROM_OFFSET + 1 + params->pm.size * sizeof(float), SEEK_SET); // jump to 2nd magic byte
|
||||
|
||||
if (lseek_res == OK) {
|
||||
/*Get end magic */
|
||||
read_res = read(fd, &magic_byte, sizeof(uint8_t));
|
||||
|
||||
if (read_res != sizeof(uint8_t)) {
|
||||
ret = ERROR;
|
||||
|
||||
} else {
|
||||
if (magic_byte != EEPROM_PARAM_MAGIC_BYTE) {
|
||||
ret = ERROR;
|
||||
printf("onboard eeprom: parameters: end magic byte wrong\n");
|
||||
|
||||
} else {
|
||||
lseek_res = lseek(fd, EEPROM_OFFSET + 1, SEEK_SET);
|
||||
|
||||
/* read data */
|
||||
if (lseek_res == OK) {
|
||||
|
||||
for (int i = 0; i < PARAM_MAX_COUNT; i++) {
|
||||
union param_union p;
|
||||
read_res = read(fd, p.c, sizeof(p.f));
|
||||
params->pm.param_values[i] = p.f;
|
||||
if (read_res != sizeof(p.f)) return ERROR;
|
||||
}
|
||||
|
||||
ret = OK;
|
||||
|
||||
} else {
|
||||
/* lseek #2 failed */
|
||||
ret = ERROR;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
} else {
|
||||
/* lseek #1 failed */
|
||||
ret = ERROR;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
close(fd);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
#define PX4_BOARD_ID_FMU (5)
|
||||
|
||||
int fmu_get_board_info(struct fmu_board_info_s *info)
|
||||
@@ -268,23 +132,20 @@ int fmu_get_board_info(struct fmu_board_info_s *info)
|
||||
int statres;
|
||||
|
||||
/* Copy version-specific fields */
|
||||
statres = stat("/dev/bma280", &sb);
|
||||
statres = stat("/dev/bma180", &sb);
|
||||
|
||||
if (statres == OK) {
|
||||
/* BMA280 indicates a v1.7+ board */
|
||||
strcpy(info->board_name, "FMU v1.7");
|
||||
info->board_version = 17;
|
||||
|
||||
} else {
|
||||
statres = stat("/dev/bma180", &sb);
|
||||
|
||||
if (statres == OK) {
|
||||
/* BMA180 indicates a v1.5-v1.6 board */
|
||||
strcpy(info->board_name, "FMU v1.6");
|
||||
info->board_version = 16;
|
||||
|
||||
} else {
|
||||
statres = stat("/dev/accel", &sb);
|
||||
if (statres == OK) {
|
||||
/* MPU-6000 indicates a v1.7+ board */
|
||||
strcpy(info->board_name, "FMU v1.7");
|
||||
info->board_version = 17;
|
||||
} else {
|
||||
/* If no BMA pressure sensor is present, it is a v1.3 board */
|
||||
/* If no BMA and no MPU is present, it is a v1.3 board */
|
||||
strcpy(info->board_name, "FMU v1.3");
|
||||
info->board_version = 13;
|
||||
}
|
||||
|
||||
@@ -50,12 +50,6 @@ __EXPORT int reboot(void);
|
||||
/** Sends SIGUSR1 to all processes */
|
||||
__EXPORT void killall(void);
|
||||
|
||||
struct global_data_parameter_storage_t;
|
||||
|
||||
__EXPORT int store_params_in_eeprom(struct global_data_parameter_storage_t *params);
|
||||
|
||||
__EXPORT int get_params_from_eeprom(struct global_data_parameter_storage_t *params);
|
||||
|
||||
enum MULT_PORTS {
|
||||
MULT_0_US2_RXTX = 0,
|
||||
MULT_1_US2_FLOW,
|
||||
|
||||
@@ -108,6 +108,9 @@ ORB_DEFINE(manual_control_setpoint, struct manual_control_setpoint_s);
|
||||
#include "topics/optical_flow.h"
|
||||
ORB_DEFINE(optical_flow, struct optical_flow_s);
|
||||
|
||||
#include "topics/subsystem_info.h"
|
||||
ORB_DEFINE(subsystem_info, struct subsystem_info_s);
|
||||
|
||||
#include "topics/actuator_controls.h"
|
||||
ORB_DEFINE(actuator_controls_0, struct actuator_controls_s);
|
||||
ORB_DEFINE(actuator_controls_1, struct actuator_controls_s);
|
||||
|
||||
@@ -62,11 +62,6 @@ enum RC_CHANNELS_STATUS
|
||||
* This defines the mapping of the RC functions.
|
||||
* The value assigned to the specific function corresponds to the entry of
|
||||
* the channel array chan[].
|
||||
* Ex. To read out the scaled Pitch value:
|
||||
* pitch = global_data_rc_channels->chan[PITCH].scale;
|
||||
* The override is on channel 8, since we don't usually have a 12 channel RC
|
||||
* and channel 5/6 (GRAUPNER/FUTABA) are mapped to the second ROLL servo, which
|
||||
* can only be disabled on more advanced RC sets.
|
||||
*/
|
||||
enum RC_CHANNELS_FUNCTION
|
||||
{
|
||||
@@ -98,7 +93,7 @@ struct rc_channels_s {
|
||||
uint16_t override;
|
||||
enum RC_CHANNELS_STATUS status; /**< status of the channel */
|
||||
} chan[RC_CHANNELS_FUNCTION_MAX];
|
||||
uint8_t chan_count; /**< maximum number of valid channels */
|
||||
uint8_t chan_count; /**< maximum number of valid channels */
|
||||
|
||||
/*String array to store the names of the functions*/
|
||||
const char function_name[RC_CHANNELS_FUNCTION_MAX][20];
|
||||
|
||||
@@ -0,0 +1,92 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
|
||||
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
|
||||
* @author Julian Oes <joes@student.ethz.ch>
|
||||
*
|
||||
* 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 subsystem_info.h
|
||||
* Definition of the subsystem info topic.
|
||||
*/
|
||||
|
||||
#ifndef TOPIC_SUBSYSTEM_INFO_H_
|
||||
#define TOPIC_SUBSYSTEM_INFO_H_
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include "../uORB.h"
|
||||
|
||||
/**
|
||||
* @addtogroup topics
|
||||
*/
|
||||
|
||||
enum SUBSYSTEM_TYPE
|
||||
{
|
||||
SUBSYSTEM_TYPE_GYRO = 1,
|
||||
SUBSYSTEM_TYPE_ACC = 2,
|
||||
SUBSYSTEM_TYPE_MAG = 4,
|
||||
SUBSYSTEM_TYPE_ABSPRESSURE = 8,
|
||||
SUBSYSTEM_TYPE_DIFFPRESSURE = 16,
|
||||
SUBSYSTEM_TYPE_GPS = 32,
|
||||
SUBSYSTEM_TYPE_OPTICALFLOW = 64,
|
||||
SUBSYSTEM_TYPE_CVPOSITION = 128,
|
||||
SUBSYSTEM_TYPE_LASERPOSITION = 256,
|
||||
SUBSYSTEM_TYPE_EXTERNALGROUNDTRUTH = 512,
|
||||
SUBSYSTEM_TYPE_ANGULARRATECONTROL = 1024,
|
||||
SUBSYSTEM_TYPE_ATTITUDESTABILIZATION = 2048,
|
||||
SUBSYSTEM_TYPE_YAWPOSITION = 4096,
|
||||
SUBSYSTEM_TYPE_ALTITUDECONTROL = 16384,
|
||||
SUBSYSTEM_TYPE_POSITIONCONTROL = 32768,
|
||||
SUBSYSTEM_TYPE_MOTORCONTROL = 65536
|
||||
};
|
||||
|
||||
/**
|
||||
* State of individual sub systems
|
||||
*/
|
||||
struct subsystem_info_s {
|
||||
bool present;
|
||||
bool enabled;
|
||||
bool ok;
|
||||
|
||||
enum SUBSYSTEM_TYPE subsystem_type;
|
||||
};
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/* register this as object request broker structure */
|
||||
ORB_DECLARE(subsystem_info);
|
||||
|
||||
#endif /* TOPIC_SUBSYSTEM_INFO_H_ */
|
||||
|
||||
Reference in New Issue
Block a user