Mirrors_Framework/PX4-Autopilot
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Merge branch 'master' of github.com:PX4/Firmware into ardrone

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This commit is contained in:
Lorenz Meier
2012-09-26 19:45:10 +02:00
parent 705172d302 a8b2e40b31
commit 66aa281c07
2 changed files with 73 additions and 7 deletions
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apps/ardrone_interface/ardrone_interface.c
+20 -6
View File
@@ -49,6 +49,7 @@
#include <debug.h>
#include <termios.h>
#include <time.h>
#include <systemlib/err.h>
#include <sys/prctl.h>
#include <arch/board/up_hrt.h>
#include <uORB/uORB.h>
@@ -73,7 +74,7 @@ int ardrone_interface_thread_main(int argc, char *argv[]);
/**
* Open the UART connected to the motor controllers
*/
static int ardrone_open_uart(struct termios *uart_config_original);
static int ardrone_open_uart(char *uart_name, struct termios *uart_config_original);
/**
* Print the correct usage.
@@ -133,15 +134,15 @@ int ardrone_interface_main(int argc, char *argv[])
exit(1);
}
static int ardrone_open_uart(struct termios *uart_config_original)
static int ardrone_open_uart(char *uart_name, struct termios *uart_config_original)
{
/* baud rate */
int speed = B115200;
int uart;
const char* uart_name = "/dev/ttyS1";
/* open uart */
printf("[ardrone_interface] UART is /dev/ttyS1, baud rate is 115200\n");
printf("[ardrone_interface] UART is %s, baud rate is%d\n",uart_name,speed);
uart = open(uart_name, O_RDWR | O_NOCTTY);
/* Try to set baud rate */
@@ -182,6 +183,8 @@ int ardrone_interface_thread_main(int argc, char *argv[])
{
thread_running = true;
char *device = "/dev/ttyS1";
/* welcome user */
printf("[ardrone_interface] Control started, taking over motors\n");
@@ -205,9 +208,20 @@ int ardrone_interface_thread_main(int argc, char *argv[])
if (motor > 0 && motor < 5) {
test_motor = motor;
} else {
thread_running = false;
errx(1, "supply a motor # between 1 and 4. Example: -m 1\n %s", commandline_usage);
}
} else {
thread_running = false;
errx(1, "missing parameter to -m 1..4\n %s", commandline_usage);
}
}
if (strcmp(argv[i], "-d") == 0 || strcmp(argv[i], "--device") == 0) { //device set
if (argc > i + 1) {
device = argv[i + 1];
} else {
thread_running = false;
errx(1, "missing parameter to -m 1..4\n %s", commandline_usage);
}
}
@@ -240,7 +254,7 @@ int ardrone_interface_thread_main(int argc, char *argv[])
fflush(stdout);
/* enable UART, writes potentially an empty buffer, but multiplexing is disabled */
ardrone_write = ardrone_open_uart(&uart_config_original);
ardrone_write = ardrone_open_uart(device, &uart_config_original);
/* initialize multiplexing, deactivate all outputs - must happen after UART open to claim GPIOs on PX4FMU */
gpios = ar_multiplexing_init();
@@ -270,7 +284,7 @@ int ardrone_interface_thread_main(int argc, char *argv[])
//ar_multiplexing_deinit(gpios);
/* enable UART, writes potentially an empty buffer, but multiplexing is disabled */
ardrone_write = ardrone_open_uart(&uart_config_original);
ardrone_write = ardrone_open_uart(device, &uart_config_original);
/* initialize multiplexing, deactivate all outputs - must happen after UART open to claim GPIOs on PX4FMU */
gpios = ar_multiplexing_init();
apps/commander/commander.c
+53 -1
View File
@@ -72,7 +72,7 @@
#include <uORB/topics/subsystem_info.h>
#include <uORB/topics/actuator_controls.h>
#include <mavlink/mavlink_log.h>
#include <systemlib/param/param.h>
#include <systemlib/systemlib.h>
#include <systemlib/err.h>
@@ -141,6 +141,7 @@ static void led_deinit(void);
static int led_toggle(int led);
static int led_on(int led);
static int led_off(int led);
static int pm_save_eeprom(bool only_unsaved);
static void do_gyro_calibration(int status_pub, struct vehicle_status_s *status);
static void do_mag_calibration(int status_pub, struct vehicle_status_s *status);
static void do_accel_calibration(int status_pub, struct vehicle_status_s *status);
@@ -271,6 +272,33 @@ static void cal_bsort(float a[], int n)
}
}
static const char *parameter_file = "/eeprom/parameters";
static int pm_save_eeprom(bool only_unsaved)
{
/* delete the file in case it exists */
unlink(parameter_file);
/* create the file */
int fd = open(parameter_file, O_WRONLY | O_CREAT | O_EXCL);
if (fd < 0) {
warn("opening '%s' for writing failed", parameter_file);
return -1;
}
int result = param_export(fd, only_unsaved);
close(fd);
if (result != 0) {
unlink(parameter_file);
warn("error exporting parameters to '%s'", parameter_file);
return -2;
}
return 0;
}
void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
{
/* set to mag calibration mode */
@@ -492,6 +520,14 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
free(mag_minima[1]);
free(mag_minima[2]);
/* auto-save to EEPROM */
int save_ret = pm_save_eeprom(false);
if(save_ret != 0) {
warn("WARNING: auto-save of params to EEPROM failed");
}
mavlink_log_info(mavlink_fd, "[commander] magnetometer calibration finished");
close(sub_sensor_combined);
}
@@ -571,10 +607,18 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
warn("WARNING: failed to set scale / offsets for gyro");
close(fd);
/* auto-save to EEPROM */
int save_ret = pm_save_eeprom(false);
if(save_ret != 0) {
warn("WARNING: auto-save of params to EEPROM failed");
}
/* exit to gyro calibration mode */
status->flag_preflight_gyro_calibration = false;
state_machine_publish(status_pub, status, mavlink_fd);
mavlink_log_info(mavlink_fd, "[commander] gyro calibration finished");
// char offset_output[50];
// 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]);
// mavlink_log_info(mavlink_fd, offset_output);
@@ -680,10 +724,18 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status)
warn("WARNING: failed to set scale / offsets for accel");
close(fd);
/* auto-save to EEPROM */
int save_ret = pm_save_eeprom(false);
if(save_ret != 0) {
warn("WARNING: auto-save of params to EEPROM failed");
}
/* exit to gyro calibration mode */
status->flag_preflight_accel_calibration = false;
state_machine_publish(status_pub, status, mavlink_fd);
mavlink_log_info(mavlink_fd, "[commander] acceleration calibration finished");
// char offset_output[50];
// sprintf(offset_output, "[commander] accel cal: x:%8.4f y:%8.4f z:%8.4f", (double)accel_offset[0],
// (double)accel_offset[1], (double)accel_offset[2]);