Mirrors_Framework/PX4-Autopilot
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This commit is contained in:
Lorenz Meier
2014-07-07 18:49:36 +02:00
parent cd9f4f33a5 be73ad0bdb
commit 6a8990b3ba
51 changed files with 1308 additions and 641 deletions
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CONTRIBUTING.md
+44
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@@ -0,0 +1,44 @@
# Contributing to PX4 Firmware
We follow the [Github flow](https://guides.github.com/introduction/flow/) development model.
### Fork the project, then clone your repo
First [fork and clone](https://help.github.com/articles/fork-a-repo) the project project.
### Create a feature branch
*Always* branch off master for new features.
```
git checkout -b mydescriptivebranchname
```
### Edit and build the code
The [developer guide](http://pixhawk.org/dev/start) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](http://pixhawk.org/dev/code_style) when editing files.
### Commit your changes
Always write descriptive commit messages and add a fixes or relates note to them with an [issue number](https://github.com/px4/Firmware/issues) (Github will link these then conveniently)
**Example:**
```
Change how the attitude controller works
- Fixes rate feed forward
- Allows a local body rate override
Fixes issue #123
```
### Test your changes
Since we care about safety, we will regularly ask you for test results. Best is to do a test flight (or bench test where it applies) and upload the logfile from it (on the microSD card in the logs directory) to Google Drive or Dropbox and share the link.
### Push your changes
Push changes to your repo and send a [pull request](https://github.com/PX4/Firmware/compare/).
Make sure to provide some testing feedback and if possible the link to a flight log file.
ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb
+28
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@@ -0,0 +1,28 @@
#!nsh
#
# Hobbyking Micro Integrated PCB Quadcopter
# with SimonK ESC firmware and Mystery A1510 motors
#
# Thomas Gubler <thomasgubler@gmail.com>
#
echo "HK Micro PCB Quad"
sh /etc/init.d/4001_quad_x
if [ $DO_AUTOCONFIG == yes ]
then
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.1
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.003
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.1
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.003
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_D 0.0
fi
set PWM_MIN 1200
ROMFS/px4fmu_common/init.d/rc.autostart
+5
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@@ -136,6 +136,11 @@ then
sh /etc/init.d/4011_dji_f450
fi
if param compare SYS_AUTOSTART 4020
then
sh /etc/init.d/4020_hk_micro_pcb
fi
#
# Quad +
#
makefiles/config_px4fmu-v2_default.mk
-1
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@@ -33,7 +33,6 @@ MODULES += drivers/hil
MODULES += drivers/hott/hott_telemetry
MODULES += drivers/hott/hott_sensors
MODULES += drivers/blinkm
MODULES += drivers/roboclaw
MODULES += drivers/airspeed
MODULES += drivers/ets_airspeed
MODULES += drivers/meas_airspeed
makefiles/config_px4fmu-v2_test.mk
+1
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@@ -25,6 +25,7 @@ MODULES += drivers/l3gd20
MODULES += drivers/hmc5883
MODULES += drivers/ms5611
MODULES += drivers/pca8574
MODULES += drivers/roboclaw
MODULES += systemcmds/perf
MODULES += systemcmds/reboot
MODULES += systemcmds/tests
src/drivers/blinkm/blinkm.cpp
+1 -1
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@@ -293,7 +293,7 @@ BlinkM::BlinkM(int bus, int blinkm) :
safety_sub_fd(-1),
num_of_cells(0),
detected_cells_runcount(0),
t_led_color({0}),
t_led_color{0},
t_led_blink(0),
led_thread_runcount(0),
led_interval(1000),
src/drivers/gps/gps.cpp
-1
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@@ -299,7 +299,6 @@ GPS::task_main()
_report_gps_pos.alt = (int32_t)1200e3f;
_report_gps_pos.timestamp_variance = hrt_absolute_time();
_report_gps_pos.s_variance_m_s = 10.0f;
_report_gps_pos.p_variance_m = 10.0f;
_report_gps_pos.c_variance_rad = 0.1f;
_report_gps_pos.fix_type = 3;
_report_gps_pos.eph = 0.9f;
src/drivers/gps/ubx.cpp
+106 -19
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@@ -95,7 +95,8 @@ UBX::UBX(const int &fd, struct vehicle_gps_position_s *gps_position, struct sate
_got_velned(false),
_disable_cmd_last(0),
_ack_waiting_msg(0),
_ubx_version(0)
_ubx_version(0),
_use_nav_pvt(false)
{
decode_init();
}
@@ -190,38 +191,45 @@ UBX::configure(unsigned &baudrate)
/* configure message rates */
/* the last argument is divisor for measurement rate (set by CFG RATE), i.e. 1 means 5Hz */
configure_message_rate(UBX_MSG_NAV_POSLLH, 1);
/* try to set rate for NAV-PVT */
/* (implemented for ubx7+ modules only, use NAV-SOL, NAV-POSLLH, NAV-VELNED and NAV-TIMEUTC for ubx6) */
configure_message_rate(UBX_MSG_NAV_PVT, 1);
if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
return 1;
_use_nav_pvt = false;
} else {
_use_nav_pvt = true;
}
UBX_WARN("%susing NAV-PVT", _use_nav_pvt ? "" : "not ");
configure_message_rate(UBX_MSG_NAV_TIMEUTC, 5);
if (!_use_nav_pvt) {
configure_message_rate(UBX_MSG_NAV_TIMEUTC, 5);
if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
return 1;
}
if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
return 1;
}
configure_message_rate(UBX_MSG_NAV_POSLLH, 1);
if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
return 1;
}
configure_message_rate(UBX_MSG_NAV_SOL, 1);
configure_message_rate(UBX_MSG_NAV_SOL, 1);
if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
return 1;
}
if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
return 1;
}
configure_message_rate(UBX_MSG_NAV_VELNED, 1);
if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
return 1;
configure_message_rate(UBX_MSG_NAV_VELNED, 1);
if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
return 1;
}
}
configure_message_rate(UBX_MSG_NAV_SVINFO, (_satellite_info != nullptr) ? 5 : 0);
if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
return 1;
}
configure_message_rate(UBX_MSG_MON_HW, 1);
if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
return 1;
}
@@ -454,11 +462,23 @@ UBX::payload_rx_init()
_rx_state = UBX_RXMSG_HANDLE; // handle by default
switch (_rx_msg) {
case UBX_MSG_NAV_PVT:
if ( (_rx_payload_length != UBX_PAYLOAD_RX_NAV_PVT_SIZE_UBX7) /* u-blox 7 msg format */
&& (_rx_payload_length != UBX_PAYLOAD_RX_NAV_PVT_SIZE_UBX8)) /* u-blox 8+ msg format */
_rx_state = UBX_RXMSG_ERROR_LENGTH;
else if (!_configured)
_rx_state = UBX_RXMSG_IGNORE; // ignore if not _configured
else if (!_use_nav_pvt)
_rx_state = UBX_RXMSG_DISABLE; // disable if not using NAV-PVT
break;
case UBX_MSG_NAV_POSLLH:
if (_rx_payload_length != sizeof(ubx_payload_rx_nav_posllh_t))
_rx_state = UBX_RXMSG_ERROR_LENGTH;
else if (!_configured)
_rx_state = UBX_RXMSG_IGNORE; // ignore if not _configured
else if (_use_nav_pvt)
_rx_state = UBX_RXMSG_DISABLE; // disable if using NAV-PVT instead
break;
case UBX_MSG_NAV_SOL:
@@ -466,6 +486,8 @@ UBX::payload_rx_init()
_rx_state = UBX_RXMSG_ERROR_LENGTH;
else if (!_configured)
_rx_state = UBX_RXMSG_IGNORE; // ignore if not _configured
else if (_use_nav_pvt)
_rx_state = UBX_RXMSG_DISABLE; // disable if using NAV-PVT instead
break;
case UBX_MSG_NAV_TIMEUTC:
@@ -473,6 +495,8 @@ UBX::payload_rx_init()
_rx_state = UBX_RXMSG_ERROR_LENGTH;
else if (!_configured)
_rx_state = UBX_RXMSG_IGNORE; // ignore if not _configured
else if (_use_nav_pvt)
_rx_state = UBX_RXMSG_DISABLE; // disable if using NAV-PVT instead
break;
case UBX_MSG_NAV_SVINFO:
@@ -489,6 +513,8 @@ UBX::payload_rx_init()
_rx_state = UBX_RXMSG_ERROR_LENGTH;
else if (!_configured)
_rx_state = UBX_RXMSG_IGNORE; // ignore if not _configured
else if (_use_nav_pvt)
_rx_state = UBX_RXMSG_DISABLE; // disable if using NAV-PVT instead
break;
case UBX_MSG_MON_VER:
@@ -675,6 +701,68 @@ UBX::payload_rx_done(void)
// handle message
switch (_rx_msg) {
case UBX_MSG_NAV_PVT:
UBX_TRACE_RXMSG("Rx NAV-PVT\n");
_gps_position->fix_type = _buf.payload_rx_nav_pvt.fixType;
_gps_position->satellites_used = _buf.payload_rx_nav_pvt.numSV;
_gps_position->lat = _buf.payload_rx_nav_pvt.lat;
_gps_position->lon = _buf.payload_rx_nav_pvt.lon;
_gps_position->alt = _buf.payload_rx_nav_pvt.hMSL;
_gps_position->eph = (float)_buf.payload_rx_nav_pvt.hAcc * 1e-3f;
_gps_position->epv = (float)_buf.payload_rx_nav_pvt.vAcc * 1e-3f;
_gps_position->s_variance_m_s = (float)_buf.payload_rx_nav_pvt.sAcc * 1e-3f;
_gps_position->vel_m_s = (float)_buf.payload_rx_nav_pvt.gSpeed * 1e-3f;
_gps_position->vel_n_m_s = (float)_buf.payload_rx_nav_pvt.velN * 1e-3f;
_gps_position->vel_e_m_s = (float)_buf.payload_rx_nav_pvt.velE * 1e-3f;
_gps_position->vel_d_m_s = (float)_buf.payload_rx_nav_pvt.velD * 1e-3f;
_gps_position->vel_ned_valid = true;
_gps_position->cog_rad = (float)_buf.payload_rx_nav_pvt.headMot * M_DEG_TO_RAD_F * 1e-5f;
_gps_position->c_variance_rad = (float)_buf.payload_rx_nav_pvt.headAcc * M_DEG_TO_RAD_F * 1e-5f;
{
/* convert to unix timestamp */
struct tm timeinfo;
timeinfo.tm_year = _buf.payload_rx_nav_pvt.year - 1900;
timeinfo.tm_mon = _buf.payload_rx_nav_pvt.month - 1;
timeinfo.tm_mday = _buf.payload_rx_nav_pvt.day;
timeinfo.tm_hour = _buf.payload_rx_nav_pvt.hour;
timeinfo.tm_min = _buf.payload_rx_nav_pvt.min;
timeinfo.tm_sec = _buf.payload_rx_nav_pvt.sec;
time_t epoch = mktime(&timeinfo);
#ifndef CONFIG_RTC
//Since we lack a hardware RTC, set the system time clock based on GPS UTC
//TODO generalize this by moving into gps.cpp?
timespec ts;
ts.tv_sec = epoch;
ts.tv_nsec = _buf.payload_rx_nav_pvt.nano;
clock_settime(CLOCK_REALTIME, &ts);
#endif
_gps_position->time_gps_usec = (uint64_t)epoch * 1000000; //TODO: test this
_gps_position->time_gps_usec += (uint64_t)(_buf.payload_rx_nav_pvt.nano * 1e-3f);
}
_gps_position->timestamp_time = hrt_absolute_time();
_gps_position->timestamp_velocity = hrt_absolute_time();
_gps_position->timestamp_variance = hrt_absolute_time();
_gps_position->timestamp_position = hrt_absolute_time();
_rate_count_vel++;
_rate_count_lat_lon++;
_got_posllh = true;
_got_velned = true;
ret = 1;
break;
case UBX_MSG_NAV_POSLLH:
UBX_TRACE_RXMSG("Rx NAV-POSLLH\n");
@@ -697,7 +785,6 @@ UBX::payload_rx_done(void)
_gps_position->fix_type = _buf.payload_rx_nav_sol.gpsFix;
_gps_position->s_variance_m_s = (float)_buf.payload_rx_nav_sol.sAcc * 1e-2f; // from cm to m
_gps_position->p_variance_m = (float)_buf.payload_rx_nav_sol.pAcc * 1e-2f; // from cm to m
_gps_position->satellites_used = _buf.payload_rx_nav_sol.numSV;
_gps_position->timestamp_variance = hrt_absolute_time();
src/drivers/gps/ubx.h
+16 -5
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@@ -104,6 +104,13 @@
#define UBX_RX_NAV_PVT_FLAGS_PSMSTATE 0x1C /**< psmState (Power Save Mode state (see Power Management)) */
#define UBX_RX_NAV_PVT_FLAGS_HEADVEHVALID 0x20 /**< headVehValid (Heading of vehicle is valid) */
/* RX NAV-TIMEUTC message content details */
/* Bitfield "valid" masks */
#define UBX_RX_NAV_TIMEUTC_VALID_VALIDTOW 0x01 /**< validTOW (1 = Valid Time of Week) */
#define UBX_RX_NAV_TIMEUTC_VALID_VALIDKWN 0x02 /**< validWKN (1 = Valid Week Number) */
#define UBX_RX_NAV_TIMEUTC_VALID_VALIDUTC 0x04 /**< validUTC (1 = Valid UTC Time) */
#define UBX_RX_NAV_TIMEUTC_VALID_UTCSTANDARD 0xF0 /**< utcStandard (0..15 = UTC standard identifier) */
/* TX CFG-PRT message contents */
#define UBX_TX_CFG_PRT_PORTID 0x01 /**< UART1 */
#define UBX_TX_CFG_PRT_MODE 0x000008D0 /**< 0b0000100011010000: 8N1 */
@@ -176,7 +183,7 @@ typedef struct {
uint32_t reserved2;
} ubx_payload_rx_nav_sol_t;
/* Rx NAV-PVT */
/* Rx NAV-PVT (ubx8) */
typedef struct {
uint32_t iTOW; /**< GPS Time of Week [ms] */
uint16_t year; /**< Year (UTC)*/
@@ -185,7 +192,7 @@ typedef struct {
uint8_t hour; /**< Hour of day, range 0..23 (UTC) */
uint8_t min; /**< Minute of hour, range 0..59 (UTC) */
uint8_t sec; /**< Seconds of minute, range 0..60 (UTC) */
uint8_t valid; /**< Validity flags (see UBX_RX_NAV_PVT_VALID_...) */
uint8_t valid; /**< Validity flags (see UBX_RX_NAV_PVT_VALID_...) */
uint32_t tAcc; /**< Time accuracy estimate (UTC) [ns] */
int32_t nano; /**< Fraction of second (UTC) [-1e9...1e9 ns] */
uint8_t fixType; /**< GNSSfix type: 0 = No fix, 1 = Dead Reckoning only, 2 = 2D fix, 3 = 3d-fix, 4 = GNSS + dead reckoning, 5 = time only fix */
@@ -208,9 +215,11 @@ typedef struct {
uint16_t pDOP; /**< Position DOP [0.01] */
uint16_t reserved2;
uint32_t reserved3;
int32_t headVeh; /**< Heading of vehicle (2-D) [1e-5 deg] */
uint32_t reserved4;
int32_t headVeh; /**< (ubx8+ only) Heading of vehicle (2-D) [1e-5 deg] */
uint32_t reserved4; /**< (ubx8+ only) */
} ubx_payload_rx_nav_pvt_t;
#define UBX_PAYLOAD_RX_NAV_PVT_SIZE_UBX7 (sizeof(ubx_payload_rx_nav_pvt_t) - 8)
#define UBX_PAYLOAD_RX_NAV_PVT_SIZE_UBX8 (sizeof(ubx_payload_rx_nav_pvt_t))
/* Rx NAV-TIMEUTC */
typedef struct {
@@ -223,7 +232,7 @@ typedef struct {
uint8_t hour; /**< Hour of day, range 0..23 (UTC) */
uint8_t min; /**< Minute of hour, range 0..59 (UTC) */
uint8_t sec; /**< Seconds of minute, range 0..60 (UTC) */
uint8_t valid; /**< Validity Flags (see ubx documentation) */
uint8_t valid; /**< Validity Flags (see UBX_RX_NAV_TIMEUTC_VALID_...) */
} ubx_payload_rx_nav_timeutc_t;
/* Rx NAV-SVINFO Part 1 */
@@ -388,6 +397,7 @@ typedef struct {
/* General message and payload buffer union */
typedef union {
ubx_payload_rx_nav_pvt_t payload_rx_nav_pvt;
ubx_payload_rx_nav_posllh_t payload_rx_nav_posllh;
ubx_payload_rx_nav_sol_t payload_rx_nav_sol;
ubx_payload_rx_nav_timeutc_t payload_rx_nav_timeutc;
@@ -526,6 +536,7 @@ private:
uint16_t _ack_waiting_msg;
ubx_buf_t _buf;
uint32_t _ubx_version;
bool _use_nav_pvt;
};
#endif /* UBX_H_ */
src/lib/geo/geo.c
+11 -13
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@@ -294,23 +294,21 @@ __EXPORT int get_distance_to_arc(struct crosstrack_error_s *crosstrack_error, do
// calculate the position of the start and end points. We should not be doing this often
// as this function generally will not be called repeatedly when we are out of the sector.
// TO DO - this is messed up and won't compile
float start_disp_x = radius * sinf(arc_start_bearing);
float start_disp_y = radius * cosf(arc_start_bearing);
float end_disp_x = radius * sinf(_wrapPI(arc_start_bearing + arc_sweep));
float end_disp_y = radius * cosf(_wrapPI(arc_start_bearing + arc_sweep));
float lon_start = lon_now + start_disp_x / 111111.0f;
float lat_start = lat_now + start_disp_y * cosf(lat_now) / 111111.0f;
float lon_end = lon_now + end_disp_x / 111111.0f;
float lat_end = lat_now + end_disp_y * cosf(lat_now) / 111111.0f;
float dist_to_start = get_distance_to_next_waypoint(lat_now, lon_now, lat_start, lon_start);
float dist_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
double start_disp_x = (double)radius * sin(arc_start_bearing);
double start_disp_y = (double)radius * cos(arc_start_bearing);
double end_disp_x = (double)radius * sin(_wrapPI((double)(arc_start_bearing + arc_sweep)));
double end_disp_y = (double)radius * cos(_wrapPI((double)(arc_start_bearing + arc_sweep)));
double lon_start = lon_now + start_disp_x / 111111.0;
double lat_start = lat_now + start_disp_y * cos(lat_now) / 111111.0;
double lon_end = lon_now + end_disp_x / 111111.0;
double lat_end = lat_now + end_disp_y * cos(lat_now) / 111111.0;
double dist_to_start = get_distance_to_next_waypoint(lat_now, lon_now, lat_start, lon_start);
double dist_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
if (dist_to_start < dist_to_end) {
crosstrack_error->distance = dist_to_start;
crosstrack_error->bearing = get_bearing_to_next_waypoint(lat_now, lon_now, lat_start, lon_start);
} else {
crosstrack_error->past_end = true;
crosstrack_error->distance = dist_to_end;
@@ -319,7 +317,7 @@ __EXPORT int get_distance_to_arc(struct crosstrack_error_s *crosstrack_error, do
}
crosstrack_error->bearing = _wrapPI(crosstrack_error->bearing);
crosstrack_error->bearing = _wrapPI((double)crosstrack_error->bearing);
return_value = OK;
return return_value;
}
src/modules/commander/commander.cpp
+63 -27
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@@ -472,7 +472,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
// Follow exactly what the mavlink spec says for values: 0.0f for disarm, 1.0f for arm.
// We use an float epsilon delta to test float equality.
if (cmd->param1 != 0.0f && (fabsf(cmd->param1 - 1.0f) > 2.0f * FLT_EPSILON)) {
mavlink_log_info(mavlink_fd, "Unsupported ARM_DISARM parameter: %.6f", cmd->param1);
mavlink_log_info(mavlink_fd, "Unsupported ARM_DISARM parameter: %.6f", (double)cmd->param1);
} else {
@@ -634,7 +634,7 @@ int commander_thread_main(int argc, char *argv[])
/* welcome user */
warnx("starting");
char *main_states_str[MAIN_STATE_MAX];
const char *main_states_str[MAIN_STATE_MAX];
main_states_str[MAIN_STATE_MANUAL] = "MANUAL";
main_states_str[MAIN_STATE_ALTCTL] = "ALTCTL";
main_states_str[MAIN_STATE_POSCTL] = "POSCTL";
@@ -643,7 +643,7 @@ int commander_thread_main(int argc, char *argv[])
main_states_str[MAIN_STATE_AUTO_RTL] = "AUTO_RTL";
main_states_str[MAIN_STATE_ACRO] = "ACRO";
char *arming_states_str[ARMING_STATE_MAX];
const char *arming_states_str[ARMING_STATE_MAX];
arming_states_str[ARMING_STATE_INIT] = "INIT";
arming_states_str[ARMING_STATE_STANDBY] = "STANDBY";
arming_states_str[ARMING_STATE_ARMED] = "ARMED";
@@ -652,7 +652,7 @@ int commander_thread_main(int argc, char *argv[])
arming_states_str[ARMING_STATE_REBOOT] = "REBOOT";
arming_states_str[ARMING_STATE_IN_AIR_RESTORE] = "IN_AIR_RESTORE";
char *nav_states_str[NAVIGATION_STATE_MAX];
const char *nav_states_str[NAVIGATION_STATE_MAX];
nav_states_str[NAVIGATION_STATE_MANUAL] = "MANUAL";
nav_states_str[NAVIGATION_STATE_ALTCTL] = "ALTCTL";
nav_states_str[NAVIGATION_STATE_POSCTL] = "POSCTL";
@@ -773,7 +773,7 @@ int commander_thread_main(int argc, char *argv[])
bool updated = false;
bool rc_calibration_ok = (OK == rc_calibration_check(mavlink_fd));
rc_calibration_check(mavlink_fd);
/* Subscribe to safety topic */
int safety_sub = orb_subscribe(ORB_ID(safety));
@@ -796,10 +796,16 @@ int commander_thread_main(int argc, char *argv[])
struct offboard_control_setpoint_s sp_offboard;
memset(&sp_offboard, 0, sizeof(sp_offboard));
/* Subscribe to telemetry status */
int telemetry_sub = orb_subscribe(ORB_ID(telemetry_status));
struct telemetry_status_s telemetry;
memset(&telemetry, 0, sizeof(telemetry));
/* Subscribe to telemetry status topics */
int telemetry_subs[TELEMETRY_STATUS_ORB_ID_NUM];
uint64_t telemetry_last_heartbeat[TELEMETRY_STATUS_ORB_ID_NUM];
bool telemetry_lost[TELEMETRY_STATUS_ORB_ID_NUM];
for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
telemetry_subs[i] = orb_subscribe(telemetry_status_orb_id[i]);
telemetry_last_heartbeat[i] = 0;
telemetry_lost[i] = true;
}
/* Subscribe to global position */
int global_position_sub = orb_subscribe(ORB_ID(vehicle_global_position));
@@ -881,7 +887,6 @@ int commander_thread_main(int argc, char *argv[])
bool arming_state_changed = false;
bool main_state_changed = false;
bool failsafe_old = false;
bool system_checked = false;
while (!thread_should_exit) {
@@ -929,7 +934,7 @@ int commander_thread_main(int argc, char *argv[])
status_changed = true;
/* re-check RC calibration */
rc_calibration_ok = (OK == rc_calibration_check(mavlink_fd));
rc_calibration_check(mavlink_fd);
}
/* navigation parameters */
@@ -938,15 +943,6 @@ int commander_thread_main(int argc, char *argv[])
param_get(_param_enable_datalink_loss, &datalink_loss_enabled);
}
/* Perform system checks (again) once params are loaded and MAVLink is up. */
if (!system_checked && mavlink_fd &&
(telemetry.heartbeat_time > 0) &&
(hrt_elapsed_time(&telemetry.heartbeat_time) < 1 * 1000 * 1000)) {
(void)rc_calibration_check(mavlink_fd);
system_checked = true;
}
orb_check(sp_man_sub, &updated);
if (updated) {
@@ -959,10 +955,26 @@ int commander_thread_main(int argc, char *argv[])
orb_copy(ORB_ID(offboard_control_setpoint), sp_offboard_sub, &sp_offboard);
}
orb_check(telemetry_sub, &updated);
for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
orb_check(telemetry_subs[i], &updated);
if (updated) {
orb_copy(ORB_ID(telemetry_status), telemetry_sub, &telemetry);
if (updated) {
struct telemetry_status_s telemetry;
memset(&telemetry, 0, sizeof(telemetry));
orb_copy(telemetry_status_orb_id[i], telemetry_subs[i], &telemetry);
/* perform system checks when new telemetry link connected */
if (mavlink_fd &&
telemetry_last_heartbeat[i] == 0 &&
telemetry.heartbeat_time > 0 &&
hrt_elapsed_time(&telemetry.heartbeat_time) < DL_TIMEOUT) {
(void)rc_calibration_check(mavlink_fd);
}
telemetry_last_heartbeat[i] = telemetry.heartbeat_time;
}
}
orb_check(sensor_sub, &updated);
@@ -1366,18 +1378,35 @@ int commander_thread_main(int argc, char *argv[])
}
}
/* data link check */
if (hrt_absolute_time() < telemetry.heartbeat_time + DL_TIMEOUT) {
/* data links check */
bool have_link = false;
for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
if (hrt_elapsed_time(&telemetry_last_heartbeat[i]) < DL_TIMEOUT) {
/* handle the case where data link was regained */
if (telemetry_lost[i]) {
mavlink_log_critical(mavlink_fd, "#audio: data link %i regained", i);
telemetry_lost[i] = false;
}
have_link = true;
} else {
if (!telemetry_lost[i]) {
mavlink_log_critical(mavlink_fd, "#audio: data link %i lost", i);
telemetry_lost[i] = true;
}
}
}
if (have_link) {
/* handle the case where data link was regained */
if (status.data_link_lost) {
mavlink_log_critical(mavlink_fd, "#audio: data link regained");
status.data_link_lost = false;
status_changed = true;
}
} else {
if (!status.data_link_lost) {
mavlink_log_critical(mavlink_fd, "#audio: CRITICAL: DATA LINK LOST");
mavlink_log_critical(mavlink_fd, "#audio: CRITICAL: ALL DATA LINKS LOST");
status.data_link_lost = true;
status_changed = true;
}
@@ -1718,6 +1747,13 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin
}
print_reject_mode(status, "AUTO_MISSION");
// fallback to LOITER if home position not set
res = main_state_transition(status, MAIN_STATE_AUTO_LOITER);
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}
}
// fallback to POSCTL
src/modules/commander/state_machine_helper.cpp
+1 -1
View File
@@ -271,7 +271,6 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
}
break;
case MAIN_STATE_AUTO_MISSION:
case MAIN_STATE_AUTO_LOITER:
/* need global position estimate */
if (status->condition_global_position_valid) {
@@ -279,6 +278,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
}
break;
case MAIN_STATE_AUTO_MISSION:
case MAIN_STATE_AUTO_RTL:
/* need global position and home position */
if (status->condition_global_position_valid && status->condition_home_position_valid) {
src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+1 -1
View File
@@ -1533,7 +1533,7 @@ FixedwingEstimator::start()
_estimator_task = task_spawn_cmd("ekf_att_pos_estimator",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 40,
6000,
5000,
(main_t)&FixedwingEstimator::task_main_trampoline,
nullptr);
src/modules/ekf_att_pos_estimator/estimator_23states.cpp
+478 -150
View File
File diff suppressed because it is too large Load Diff
src/modules/ekf_att_pos_estimator/estimator_23states.h
+19 -1
View File
@@ -29,6 +29,10 @@ public:
float covDelAngMax; // maximum delta angle between covariance predictions
float rngFinderPitch; // pitch angle of laser range finder in radians. Zero is aligned with the Z body axis. Positive is RH rotation about Y body axis.
float a1; // optical flow sensor misalgnment angle about X axis (rad)
float a2; // optical flow sensor misalgnment angle about Y axis (rad)
float a3; // optical flow sensor misalgnment angle about Z axis (rad)
float yawVarScale;
float windVelSigma;
float dAngBiasSigma;
@@ -55,6 +59,9 @@ public:
covDelAngMax = 0.02f; // maximum delta angle between covariance predictions
rngFinderPitch = 0.0f; // pitch angle of laser range finder in radians. Zero is aligned with the Z body axis. Positive is RH rotation about Y body axis.
EAS2TAS = 1.0f;
a1 = 0.0f; // optical flow sensor misalgnment angle about X axis (rad)
a2 = 0.0f; // optical flow sensor misalgnment angle about Y axis (rad)
a3 = 0.0f; // optical flow sensor misalgnment angle about Z axis (rad)
yawVarScale = 1.0f;
windVelSigma = 0.1f;
@@ -115,6 +122,7 @@ public:
float statesAtMagMeasTime[n_states]; // filter satates at the effective measurement time
float statesAtVtasMeasTime[n_states]; // filter states at the effective measurement time
float statesAtRngTime[n_states]; // filter states at the effective measurement time
float statesAtOptFlowTime[n_states]; // States at the effective optical flow measurement time
Vector3f correctedDelAng; // delta angles about the xyz body axes corrected for errors (rad)
Vector3f correctedDelVel; // delta velocities along the XYZ body axes corrected for errors (m/s)
@@ -147,9 +155,13 @@ public:
float innovMag[3]; // innovation output
float varInnovMag[3]; // innovation variance output
Vector3f magData; // magnetometer flux radings in X,Y,Z body axes
float losData[2]; // optical flow LOS rate measurements (rad/sec)
float innovVtas; // innovation output
float innovRng; ///< Range finder innovation
float innovOptFlow[2]; // optical flow LOS innovations (rad/sec)
float varInnovOptFlow[2]; // optical flow innovations variances (rad/sec)^2
float varInnovVtas; // innovation variance output
float varInnovRng; // range finder innovation variance
float VtasMeas; // true airspeed measurement (m/s)
float magDeclination; ///< magnetic declination
double latRef; // WGS-84 latitude of reference point (rad)
@@ -178,12 +190,18 @@ public:
bool fuseMagData; // boolean true when magnetometer data is to be fused
bool fuseVtasData; // boolean true when airspeed data is to be fused
bool fuseRngData; ///< true when range data is fused
bool fuseOptFlowData; // true when optical flow data is fused
bool inhibitWindStates; // true when wind states and covariances are to remain constant
bool inhibitMagStates; // true when magnetic field states and covariances are to remain constant
bool inhibitGndHgtState; // true when the terrain ground height offset state and covariances are to remain constant
bool onGround; ///< boolean true when the flight vehicle is on the ground (not flying)
bool staticMode; ///< boolean true if no position feedback is fused
bool useAirspeed; ///< boolean true if airspeed data is being used
bool useCompass; ///< boolean true if magnetometer data is being used
bool useRangeFinder; ///< true when rangefinder is being used
bool useOpticalFlow; // true when optical flow data is being used
bool ekfDiverged;
uint64_t lastReset;
@@ -208,7 +226,7 @@ void FuseAirspeed();
void FuseRangeFinder();
void FuseOpticalFlow();
void FuseOptFlow();
void zeroRows(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last);
src/modules/ekf_att_pos_estimator/estimator_utilities.cpp
+20
View File
@@ -8,6 +8,7 @@
#ifdef EKF_DEBUG
#include <stdio.h>
#include <stdarg.h>
static void
ekf_debug_print(const char *fmt, va_list args)
@@ -101,6 +102,25 @@ Vector3f operator*( Mat3f matIn, Vector3f vecIn)
return vecOut;
}
// overload * operator to provide a matrix product
Mat3f operator*( Mat3f matIn1, Mat3f matIn2)
{
Mat3f matOut;
matOut.x.x = matIn1.x.x*matIn2.x.x + matIn1.x.y*matIn2.y.x + matIn1.x.z*matIn2.z.x;
matOut.x.y = matIn1.x.x*matIn2.x.y + matIn1.x.y*matIn2.y.y + matIn1.x.z*matIn2.z.y;
matOut.x.z = matIn1.x.x*matIn2.x.z + matIn1.x.y*matIn2.y.z + matIn1.x.z*matIn2.z.z;
matOut.y.x = matIn1.y.x*matIn2.x.x + matIn1.y.y*matIn2.y.x + matIn1.y.z*matIn2.z.x;
matOut.y.y = matIn1.y.x*matIn2.x.y + matIn1.y.y*matIn2.y.y + matIn1.y.z*matIn2.z.y;
matOut.y.z = matIn1.y.x*matIn2.x.z + matIn1.y.y*matIn2.y.z + matIn1.y.z*matIn2.z.z;
matOut.z.x = matIn1.z.x*matIn2.x.x + matIn1.z.y*matIn2.y.x + matIn1.z.z*matIn2.z.x;
matOut.z.y = matIn1.z.x*matIn2.x.y + matIn1.z.y*matIn2.y.y + matIn1.z.z*matIn2.z.y;
matOut.z.z = matIn1.z.x*matIn2.x.z + matIn1.z.y*matIn2.y.z + matIn1.z.z*matIn2.z.z;
return matOut;
}
// overload % operator to provide a vector cross product
Vector3f operator%( Vector3f vecIn1, Vector3f vecIn2)
{
src/modules/ekf_att_pos_estimator/estimator_utilities.h
+2 -1
View File
@@ -41,6 +41,7 @@ Vector3f operator*(float sclIn1, Vector3f vecIn1);
Vector3f operator+( Vector3f vecIn1, Vector3f vecIn2);
Vector3f operator-( Vector3f vecIn1, Vector3f vecIn2);
Vector3f operator*( Mat3f matIn, Vector3f vecIn);
Mat3f operator*( Mat3f matIn1, Mat3f matIn2);
Vector3f operator%( Vector3f vecIn1, Vector3f vecIn2);
Vector3f operator*(Vector3f vecIn1, float sclIn1);
@@ -79,4 +80,4 @@ struct ekf_status_report {
bool velOffsetExcessive;
};
void ekf_debug(const char *fmt, ...);
void ekf_debug(const char *fmt, ...);
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+14 -18
View File
@@ -414,6 +414,17 @@ FixedwingPositionControl::FixedwingPositionControl() :
_attitude_sp_pub(-1),
_nav_capabilities_pub(-1),
_att(),
_att_sp(),
_nav_capabilities(),
_manual(),
_airspeed(),
_control_mode(),
_global_pos(),
_pos_sp_triplet(),
_sensor_combined(),
_range_finder(),
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "fw l1 control")),
@@ -433,18 +444,8 @@ FixedwingPositionControl::FixedwingPositionControl() :
_airspeed_valid(false),
_groundspeed_undershoot(0.0f),
_global_pos_valid(false),
_att(),
_att_sp(),
_nav_capabilities(),
_manual(),
_airspeed(),
_control_mode(),
_global_pos(),
_pos_sp_triplet(),
_sensor_combined(),
_mTecs(),
_was_pos_control_mode(false),
_range_finder()
_was_pos_control_mode(false)
{
_nav_capabilities.turn_distance = 0.0f;
@@ -806,12 +807,8 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
float eas2tas = 1.0f; // XXX calculate actual number based on current measurements
// XXX re-visit
float baro_altitude = _global_pos.alt;
/* filter speed and altitude for controller */
math::Vector<3> accel_body(_sensor_combined.accelerometer_m_s2);
math::Vector<3> accel_earth = _R_nb * accel_body;
float altitude_error = _pos_sp_triplet.current.alt - _global_pos.alt;
@@ -944,8 +941,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
float airspeed_land = 1.3f * _parameters.airspeed_min;
float airspeed_approach = 1.3f * _parameters.airspeed_min;
/* Calculate distance (to landing waypoint) and altitude of last ordinary waypoint L */
float L_wp_distance = get_distance_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1));
/* Calculate altitude of last ordinary waypoint L */
float L_altitude_rel = _pos_sp_triplet.previous.valid ? _pos_sp_triplet.previous.alt - _pos_sp_triplet.current.alt : 0.0f;
float bearing_airplane_currwp = get_bearing_to_next_waypoint(current_position(0), current_position(1), curr_wp(0), curr_wp(1));
@@ -1449,7 +1445,7 @@ FixedwingPositionControl::start()
_control_task = task_spawn_cmd("fw_pos_control_l1",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
4048,
3500,
(main_t)&FixedwingPositionControl::task_main_trampoline,
nullptr);
src/modules/fw_pos_control_l1/mtecs/mTecs.cpp
+1 -1
View File
@@ -220,7 +220,7 @@ int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flight
/* Apply overrride given by the limitOverride argument (this is used for limits which are not given by
* parameters such as pitch limits with takeoff waypoints or throttle limits when the launchdetector
* is running) */
bool limitApplied = limitOverride.applyOverride(*outputLimiterThrottle, *outputLimiterPitch);
limitOverride.applyOverride(*outputLimiterThrottle, *outputLimiterPitch);
/* Write part of the status message */
_status.flightPathAngleSp = flightPathAngleSp;
src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h
+2 -2
View File
@@ -56,9 +56,9 @@ class BlockOutputLimiter: public SuperBlock
{
public:
// methods
BlockOutputLimiter(SuperBlock *parent, const char *name, bool isAngularLimit = false) :
BlockOutputLimiter(SuperBlock *parent, const char *name, bool fAngularLimit = false) :
SuperBlock(parent, name),
_isAngularLimit(isAngularLimit),
_isAngularLimit(fAngularLimit),
_min(this, "MIN"),
_max(this, "MAX")
{};
src/modules/mavlink/mavlink_ftp.cpp
+1 -1
View File
@@ -346,7 +346,7 @@ MavlinkFTP::_workWrite(Request *req)
MavlinkFTP::ErrorCode
MavlinkFTP::_workRemove(Request *req)
{
auto hdr = req->header();
//auto hdr = req->header();
// for now, send error reply
return kErrPerm;
src/modules/mavlink/mavlink_main.cpp
+1 -1
View File
@@ -2238,7 +2238,7 @@ Mavlink::start(int argc, char *argv[])
task_spawn_cmd(buf,
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
1950,
2700,
(main_t)&Mavlink::start_helper,
(const char **)argv);
src/modules/mavlink/mavlink_receiver.cpp
+43 -38
View File
@@ -421,32 +421,35 @@ MavlinkReceiver::handle_message_quad_swarm_roll_pitch_yaw_thrust(mavlink_message
void
MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg)
{
mavlink_radio_status_t rstatus;
mavlink_msg_radio_status_decode(msg, &rstatus);
/* telemetry status supported only on first TELEMETRY_STATUS_ORB_ID_NUM mavlink channels */
if (_mavlink->get_channel() < TELEMETRY_STATUS_ORB_ID_NUM) {
mavlink_radio_status_t rstatus;
mavlink_msg_radio_status_decode(msg, &rstatus);
struct telemetry_status_s tstatus;
memset(&tstatus, 0, sizeof(tstatus));
struct telemetry_status_s tstatus;
memset(&tstatus, 0, sizeof(tstatus));
tstatus.timestamp = hrt_absolute_time();
tstatus.heartbeat_time = _telemetry_heartbeat_time;
tstatus.type = TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO;
tstatus.rssi = rstatus.rssi;
tstatus.remote_rssi = rstatus.remrssi;
tstatus.txbuf = rstatus.txbuf;
tstatus.noise = rstatus.noise;
tstatus.remote_noise = rstatus.remnoise;
tstatus.rxerrors = rstatus.rxerrors;
tstatus.fixed = rstatus.fixed;
tstatus.timestamp = hrt_absolute_time();
tstatus.heartbeat_time = _telemetry_heartbeat_time;
tstatus.type = TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO;
tstatus.rssi = rstatus.rssi;
tstatus.remote_rssi = rstatus.remrssi;
tstatus.txbuf = rstatus.txbuf;
tstatus.noise = rstatus.noise;
tstatus.remote_noise = rstatus.remnoise;
tstatus.rxerrors = rstatus.rxerrors;
tstatus.fixed = rstatus.fixed;
if (_telemetry_status_pub < 0) {
_telemetry_status_pub = orb_advertise(ORB_ID(telemetry_status), &tstatus);
if (_telemetry_status_pub < 0) {
_telemetry_status_pub = orb_advertise(telemetry_status_orb_id[_mavlink->get_channel()], &tstatus);
} else {
orb_publish(ORB_ID(telemetry_status), _telemetry_status_pub, &tstatus);
} else {
orb_publish(telemetry_status_orb_id[_mavlink->get_channel()], _telemetry_status_pub, &tstatus);
}
/* this means that heartbeats alone won't be published to the radio status no more */
_radio_status_available = true;
}
/* this means that heartbeats alone won't be published to the radio status no more */
_radio_status_available = true;
}
void
@@ -475,28 +478,31 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
void
MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg)
{
mavlink_heartbeat_t hb;
mavlink_msg_heartbeat_decode(msg, &hb);
/* telemetry status supported only on first TELEMETRY_STATUS_ORB_ID_NUM mavlink channels */
if (_mavlink->get_channel() < TELEMETRY_STATUS_ORB_ID_NUM) {
mavlink_heartbeat_t hb;
mavlink_msg_heartbeat_decode(msg, &hb);
/* ignore own heartbeats, accept only heartbeats from GCS */
if (msg->sysid != mavlink_system.sysid && hb.type == MAV_TYPE_GCS) {
_telemetry_heartbeat_time = hrt_absolute_time();
/* ignore own heartbeats, accept only heartbeats from GCS */
if (msg->sysid != mavlink_system.sysid && hb.type == MAV_TYPE_GCS) {
_telemetry_heartbeat_time = hrt_absolute_time();
/* if no radio status messages arrive, lets at least publish that heartbeats were received */
if (!_radio_status_available) {
/* if no radio status messages arrive, lets at least publish that heartbeats were received */
if (!_radio_status_available) {
struct telemetry_status_s tstatus;
memset(&tstatus, 0, sizeof(tstatus));
struct telemetry_status_s tstatus;
memset(&tstatus, 0, sizeof(tstatus));
tstatus.timestamp = _telemetry_heartbeat_time;
tstatus.heartbeat_time = _telemetry_heartbeat_time;
tstatus.type = TELEMETRY_STATUS_RADIO_TYPE_GENERIC;
tstatus.timestamp = _telemetry_heartbeat_time;
tstatus.heartbeat_time = _telemetry_heartbeat_time;
tstatus.type = TELEMETRY_STATUS_RADIO_TYPE_GENERIC;
if (_telemetry_status_pub < 0) {
_telemetry_status_pub = orb_advertise(ORB_ID(telemetry_status), &tstatus);
if (_telemetry_status_pub < 0) {
_telemetry_status_pub = orb_advertise(telemetry_status_orb_id[_mavlink->get_channel()], &tstatus);
} else {
orb_publish(ORB_ID(telemetry_status), _telemetry_status_pub, &tstatus);
} else {
orb_publish(telemetry_status_orb_id[_mavlink->get_channel()], _telemetry_status_pub, &tstatus);
}
}
}
}
@@ -741,7 +747,6 @@ MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg)
hil_gps.timestamp_variance = timestamp;
hil_gps.s_variance_m_s = 5.0f;
hil_gps.p_variance_m = hil_gps.eph * hil_gps.eph;
hil_gps.timestamp_velocity = timestamp;
hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s
src/modules/navigator/loiter.cpp
+24 -9
View File
@@ -36,6 +36,7 @@
* Helper class to loiter
*
* @author Julian Oes <julian@oes.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#include <string.h>
@@ -51,28 +52,42 @@
#include <uORB/topics/position_setpoint_triplet.h>
#include "loiter.h"
#include "navigator.h"
Loiter::Loiter(Navigator *navigator, const char *name) :
MissionBlock(navigator, name)
{
/* load initial params */
updateParams();
/* initial reset */
on_inactive();
}
Loiter::~Loiter()
{
}
bool
Loiter::on_active(struct position_setpoint_triplet_s *pos_sp_triplet)
{
/* set loiter item, don't reuse an existing position setpoint */
return set_loiter_item(pos_sp_triplet);
}
void
Loiter::on_inactive()
{
}
void
Loiter::on_activation()
{
/* set current mission item to loiter */
set_loiter_item(&_mission_item);
/* convert mission item to current setpoint */
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
pos_sp_triplet->previous.valid = false;
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
pos_sp_triplet->next.valid = false;
_navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == SETPOINT_TYPE_LOITER);
_navigator->set_position_setpoint_triplet_updated();
}
void
Loiter::on_active()
{
}
src/modules/navigator/loiter.h
+3 -13
View File
@@ -50,25 +50,15 @@
class Loiter : public MissionBlock
{
public:
/**
* Constructor
*/
Loiter(Navigator *navigator, const char *name);
/**
* Destructor
*/
~Loiter();
/**
* This function is called while the mode is inactive
*/
virtual void on_inactive();
/**
* This function is called while the mode is active
*/
virtual bool on_active(struct position_setpoint_triplet_s *pos_sp_triplet);
virtual void on_activation();
virtual void on_active();
};
#endif
src/modules/navigator/mission.cpp
+186 -133
View File
@@ -54,25 +54,28 @@
#include <uORB/topics/mission.h>
#include <uORB/topics/mission_result.h>
#include "navigator.h"
#include "mission.h"
#include "navigator.h"
Mission::Mission(Navigator *navigator, const char *name) :
MissionBlock(navigator, name),
_param_onboard_enabled(this, "ONBOARD_EN"),
_param_takeoff_alt(this, "TAKEOFF_ALT"),
_onboard_mission({0}),
_offboard_mission({0}),
_current_onboard_mission_index(-1),
_current_offboard_mission_index(-1),
_mission_result_pub(-1),
_mission_result({0}),
_mission_type(MISSION_TYPE_NONE)
_mission_type(MISSION_TYPE_NONE),
_need_takeoff(true),
_takeoff(false)
{
/* load initial params */
updateParams();
/* set initial mission items */
on_inactive();
}
Mission::~Mission()
@@ -82,8 +85,6 @@ Mission::~Mission()
void
Mission::on_inactive()
{
_first_run = true;
/* check anyway if missions have changed so that feedback to groundstation is given */
bool onboard_updated;
orb_check(_navigator->get_onboard_mission_sub(), &onboard_updated);
@@ -96,13 +97,21 @@ Mission::on_inactive()
if (offboard_updated) {
update_offboard_mission();
}
if (!_navigator->get_can_loiter_at_sp() || _navigator->get_vstatus()->condition_landed) {
_need_takeoff = true;
}
}
bool
Mission::on_active(struct position_setpoint_triplet_s *pos_sp_triplet)
void
Mission::on_activation()
{
bool updated = false;
set_mission_items();
}
void
Mission::on_active()
{
/* check if anything has changed */
bool onboard_updated;
orb_check(_navigator->get_onboard_mission_sub(), &onboard_updated);
@@ -117,20 +126,21 @@ Mission::on_active(struct position_setpoint_triplet_s *pos_sp_triplet)
}
/* reset mission items if needed */
if (onboard_updated || offboard_updated || _first_run) {
set_mission_items(pos_sp_triplet);
updated = true;
_first_run = false;
if (onboard_updated || offboard_updated) {
set_mission_items();
}
/* lets check if we reached the current mission item */
if (_mission_type != MISSION_TYPE_NONE && is_mission_item_reached()) {
advance_mission();
set_mission_items(pos_sp_triplet);
updated = true;
}
set_mission_items();
return updated;
} else {
/* if waypoint position reached allow loiter on the setpoint */
if (_waypoint_position_reached && _mission_item.nav_cmd != NAV_CMD_IDLE) {
_navigator->set_can_loiter_at_sp(true);
}
}
}
void
@@ -151,6 +161,7 @@ Mission::update_onboard_mission()
}
/* otherwise, just leave it */
}
} else {
_onboard_mission.count = 0;
_onboard_mission.current_index = 0;
@@ -167,10 +178,12 @@ Mission::update_offboard_mission()
if (_offboard_mission.current_index >= 0
&& _offboard_mission.current_index < (int)_offboard_mission.count) {
_current_offboard_mission_index = _offboard_mission.current_index;
} else {
/* if less WPs available, reset to first WP */
if (_current_offboard_mission_index >= (int)_offboard_mission.count) {
_current_offboard_mission_index = 0;
/* if not initialized, set it to 0 */
} else if (_current_offboard_mission_index < 0) {
_current_offboard_mission_index = 0;
@@ -184,6 +197,7 @@ Mission::update_offboard_mission()
if (_offboard_mission.dataman_id == 0) {
dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0;
} else {
dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1;
}
@@ -192,11 +206,13 @@ Mission::update_offboard_mission()
(size_t)_offboard_mission.count,
_navigator->get_geofence(),
_navigator->get_home_position()->alt);
} else {
_offboard_mission.count = 0;
_offboard_mission.current_index = 0;
_current_offboard_mission_index = 0;
}
report_current_offboard_mission_item();
}
@@ -204,46 +220,55 @@ Mission::update_offboard_mission()
void
Mission::advance_mission()
{
switch (_mission_type) {
case MISSION_TYPE_ONBOARD:
_current_onboard_mission_index++;
break;
if (_takeoff) {
_takeoff = false;
case MISSION_TYPE_OFFBOARD:
_current_offboard_mission_index++;
break;
} else {
switch (_mission_type) {
case MISSION_TYPE_ONBOARD:
_current_onboard_mission_index++;
break;
case MISSION_TYPE_NONE:
default:
break;
case MISSION_TYPE_OFFBOARD:
_current_offboard_mission_index++;
break;
case MISSION_TYPE_NONE:
default:
break;
}
}
}
void
Mission::set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet)
Mission::set_mission_items()
{
set_previous_pos_setpoint(pos_sp_triplet);
/* make sure param is up to date */
updateParams();
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
/* set previous position setpoint to current */
set_previous_pos_setpoint();
/* try setting onboard mission item */
if (is_current_onboard_mission_item_set(&pos_sp_triplet->current)) {
if (_param_onboard_enabled.get() && read_mission_item(true, true, &_mission_item)) {
/* if mission type changed, notify */
if (_mission_type != MISSION_TYPE_ONBOARD) {
mavlink_log_info(_navigator->get_mavlink_fd(),
"#audio: onboard mission running");
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: onboard mission running");
}
_mission_type = MISSION_TYPE_ONBOARD;
_navigator->set_can_loiter_at_sp(false);
/* try setting offboard mission item */
} else if (is_current_offboard_mission_item_set(&pos_sp_triplet->current)) {
} else if (read_mission_item(false, true, &_mission_item)) {
/* if mission type changed, notify */
if (_mission_type != MISSION_TYPE_OFFBOARD) {
mavlink_log_info(_navigator->get_mavlink_fd(),
"#audio: offboard mission running");
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: offboard mission running");
}
_mission_type = MISSION_TYPE_OFFBOARD;
_navigator->set_can_loiter_at_sp(false);
} else {
/* no mission available, switch to loiter */
if (_mission_type != MISSION_TYPE_NONE) {
mavlink_log_info(_navigator->get_mavlink_fd(),
"#audio: mission finished");
@@ -252,125 +277,152 @@ Mission::set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet)
"#audio: no mission available");
}
_mission_type = MISSION_TYPE_NONE;
_navigator->set_can_loiter_at_sp(pos_sp_triplet->current.valid && _waypoint_position_reached);
set_loiter_item(pos_sp_triplet);
/* set loiter mission item */
set_loiter_item(&_mission_item);
/* update position setpoint triplet */
pos_sp_triplet->previous.valid = false;
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
pos_sp_triplet->next.valid = false;
_navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == SETPOINT_TYPE_LOITER);
reset_mission_item_reached();
report_mission_finished();
_navigator->set_position_setpoint_triplet_updated();
return;
}
}
bool
Mission::is_current_onboard_mission_item_set(struct position_setpoint_s *current_pos_sp)
{
/* make sure param is up to date */
updateParams();
if (_param_onboard_enabled.get() > 0 &&
_current_onboard_mission_index >= 0&&
_current_onboard_mission_index < (int)_onboard_mission.count) {
struct mission_item_s new_mission_item;
if (read_mission_item(DM_KEY_WAYPOINTS_ONBOARD, true, &_current_onboard_mission_index,
&new_mission_item)) {
/* convert the current mission item and set it valid */
mission_item_to_position_setpoint(&new_mission_item, current_pos_sp);
current_pos_sp->valid = true;
/* do takeoff on first waypoint for rotary wing vehicles */
if (_navigator->get_vstatus()->is_rotary_wing) {
/* force takeoff if landed (additional protection) */
if (!_takeoff && _navigator->get_vstatus()->condition_landed) {
_need_takeoff = true;
}
reset_mission_item_reached();
/* TODO: report this somehow */
memcpy(&_mission_item, &new_mission_item, sizeof(struct mission_item_s));
return true;
/* new current mission item set, check if we need takeoff */
if (_need_takeoff && (
_mission_item.nav_cmd == NAV_CMD_TAKEOFF ||
_mission_item.nav_cmd == NAV_CMD_WAYPOINT ||
_mission_item.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
_mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT ||
_mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED ||
_mission_item.nav_cmd == NAV_CMD_RETURN_TO_LAUNCH)) {
_takeoff = true;
_need_takeoff = false;
}
}
return false;
}
bool
Mission::is_current_offboard_mission_item_set(struct position_setpoint_s *current_pos_sp)
{
if (_current_offboard_mission_index >= 0 &&
_current_offboard_mission_index < (int)_offboard_mission.count) {
dm_item_t dm_current;
if (_offboard_mission.dataman_id == 0) {
dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0;
if (_takeoff) {
/* do takeoff before going to setpoint */
/* set mission item as next position setpoint */
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->next);
/* calculate takeoff altitude */
float takeoff_alt = _mission_item.altitude;
if (_mission_item.altitude_is_relative) {
takeoff_alt += _navigator->get_home_position()->alt;
}
/* perform takeoff at least to NAV_TAKEOFF_ALT above home/ground, even if first waypoint is lower */
if (_navigator->get_vstatus()->condition_landed) {
takeoff_alt = fmaxf(takeoff_alt, _navigator->get_global_position()->alt + _param_takeoff_alt.get());
} else {
dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1;
takeoff_alt = fmaxf(takeoff_alt, _navigator->get_home_position()->alt + _param_takeoff_alt.get());
}
struct mission_item_s new_mission_item;
if (read_mission_item(dm_current, true, &_current_offboard_mission_index, &new_mission_item)) {
/* convert the current mission item and set it valid */
mission_item_to_position_setpoint(&new_mission_item, current_pos_sp);
current_pos_sp->valid = true;
reset_mission_item_reached();
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: takeoff to %.1fm above home", takeoff_alt - _navigator->get_home_position()->alt);
_mission_item.lat = _navigator->get_global_position()->lat;
_mission_item.lon = _navigator->get_global_position()->lon;
_mission_item.altitude = takeoff_alt;
_mission_item.altitude_is_relative = false;
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
} else {
/* set current position setpoint from mission item */
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
/* require takeoff after landing or idle */
if (pos_sp_triplet->current.type == SETPOINT_TYPE_LAND || pos_sp_triplet->current.type == SETPOINT_TYPE_IDLE) {
_need_takeoff = true;
}
_navigator->set_can_loiter_at_sp(false);
reset_mission_item_reached();
if (_mission_type == MISSION_TYPE_OFFBOARD) {
report_current_offboard_mission_item();
memcpy(&_mission_item, &new_mission_item, sizeof(struct mission_item_s));
return true;
}
}
return false;
}
// TODO: report onboard mission item somehow
void
Mission::get_next_onboard_mission_item(struct position_setpoint_s *next_pos_sp)
{
int next_temp_mission_index = _onboard_mission.current_index + 1;
/* try to read next mission item */
struct mission_item_s mission_item_next;
/* try if there is a next onboard mission */
if (_onboard_mission.current_index >= 0 &&
next_temp_mission_index < (int)_onboard_mission.count) {
struct mission_item_s new_mission_item;
if (read_mission_item(DM_KEY_WAYPOINTS_ONBOARD, false, &next_temp_mission_index, &new_mission_item)) {
/* convert next mission item to position setpoint */
mission_item_to_position_setpoint(&new_mission_item, next_pos_sp);
next_pos_sp->valid = true;
return;
}
}
if (read_mission_item(_mission_type == MISSION_TYPE_ONBOARD, false, &mission_item_next)) {
/* got next mission item, update setpoint triplet */
mission_item_to_position_setpoint(&mission_item_next, &pos_sp_triplet->next);
/* give up */
next_pos_sp->valid = false;
return;
}
void
Mission::get_next_offboard_mission_item(struct position_setpoint_s *next_pos_sp)
{
/* try if there is a next offboard mission */
int next_temp_mission_index = _offboard_mission.current_index + 1;
warnx("next index: %d, count; %d", next_temp_mission_index, _offboard_mission.count);
if (_offboard_mission.current_index >= 0 &&
next_temp_mission_index < (int)_offboard_mission.count) {
dm_item_t dm_current;
if (_offboard_mission.dataman_id == 0) {
dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0;
} else {
dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1;
}
struct mission_item_s new_mission_item;
if (read_mission_item(dm_current, false, &next_temp_mission_index, &new_mission_item)) {
/* convert next mission item to position setpoint */
mission_item_to_position_setpoint(&new_mission_item, next_pos_sp);
next_pos_sp->valid = true;
return;
/* next mission item is not available */
pos_sp_triplet->next.valid = false;
}
}
/* give up */
next_pos_sp->valid = false;
return;
_navigator->set_position_setpoint_triplet_updated();
}
bool
Mission::read_mission_item(const dm_item_t dm_item, bool is_current, int *mission_index,
struct mission_item_s *new_mission_item)
Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s *mission_item)
{
/* select onboard/offboard mission */
int *mission_index_ptr;
struct mission_s *mission;
dm_item_t dm_item;
int mission_index_next;
if (onboard) {
/* onboard mission */
mission_index_next = _current_onboard_mission_index + 1;
mission_index_ptr = is_current ? &_current_onboard_mission_index : &mission_index_next;
mission = &_onboard_mission;
dm_item = DM_KEY_WAYPOINTS_ONBOARD;
} else {
/* offboard mission */
mission_index_next = _current_offboard_mission_index + 1;
mission_index_ptr = is_current ? &_current_offboard_mission_index : &mission_index_next;
mission = &_offboard_mission;
if (_offboard_mission.dataman_id == 0) {
dm_item = DM_KEY_WAYPOINTS_OFFBOARD_0;
} else {
dm_item = DM_KEY_WAYPOINTS_OFFBOARD_1;
}
}
if (*mission_index_ptr < 0 || *mission_index_ptr >= (int)mission->count) {
/* mission item index out of bounds */
return false;
}
/* repeat several to get the mission item because we might have to follow multiple DO_JUMPS */
for (int i=0; i<10; i++) {
for (int i = 0; i < 10; i++) {
const ssize_t len = sizeof(struct mission_item_s);
/* read mission item to temp storage first to not overwrite current mission item if data damaged */
struct mission_item_s mission_item_tmp;
/* read mission item from datamanager */
if (dm_read(dm_item, *mission_index, new_mission_item, len) != len) {
if (dm_read(dm_item, *mission_index_ptr, &mission_item_tmp, len) != len) {
/* not supposed to happen unless the datamanager can't access the SD card, etc. */
mavlink_log_critical(_navigator->get_mavlink_fd(),
"#audio: ERROR waypoint could not be read");
@@ -378,18 +430,17 @@ Mission::read_mission_item(const dm_item_t dm_item, bool is_current, int *missio
}
/* check for DO_JUMP item, and whether it hasn't not already been repeated enough times */
if (new_mission_item->nav_cmd == NAV_CMD_DO_JUMP) {
if (mission_item_tmp.nav_cmd == NAV_CMD_DO_JUMP) {
/* do DO_JUMP as many times as requested */
if (new_mission_item->do_jump_current_count < new_mission_item->do_jump_repeat_count) {
if (mission_item_tmp.do_jump_current_count < mission_item_tmp.do_jump_repeat_count) {
/* only raise the repeat count if this is for the current mission item
* but not for the next mission item */
if (is_current) {
(new_mission_item->do_jump_current_count)++;
(mission_item_tmp.do_jump_current_count)++;
/* save repeat count */
if (dm_write(dm_item, *mission_index, DM_PERSIST_IN_FLIGHT_RESET,
new_mission_item, len) != len) {
if (dm_write(dm_item, *mission_index_ptr, DM_PERSIST_IN_FLIGHT_RESET, &mission_item_tmp, len) != len) {
/* not supposed to happen unless the datamanager can't access the
* dataman */
mavlink_log_critical(_navigator->get_mavlink_fd(),
@@ -399,16 +450,18 @@ Mission::read_mission_item(const dm_item_t dm_item, bool is_current, int *missio
}
/* set new mission item index and repeat
* we don't have to validate here, if it's invalid, we should realize this later .*/
*mission_index = new_mission_item->do_jump_mission_index;
*mission_index_ptr = mission_item_tmp.do_jump_mission_index;
} else {
mavlink_log_info(_navigator->get_mavlink_fd(),
"#audio: DO JUMP repetitions completed");
/* no more DO_JUMPS, therefore just try to continue with next mission item */
(*mission_index)++;
(*mission_index_ptr)++;
}
} else {
/* if it's not a DO_JUMP, then we were successful */
memcpy(mission_item, &mission_item_tmp, sizeof(struct mission_item_s));
return true;
}
}
src/modules/navigator/mission.h
+9 -39
View File
@@ -65,25 +65,15 @@ class Navigator;
class Mission : public MissionBlock
{
public:
/**
* Constructor
*/
Mission(Navigator *navigator, const char *name);
/**
* Destructor
*/
virtual ~Mission();
/**
* This function is called while the mode is inactive
*/
virtual void on_inactive();
/**
* This function is called while the mode is active
*/
virtual bool on_active(struct position_setpoint_triplet_s *pos_sp_triplet);
virtual void on_activation();
virtual void on_active();
private:
/**
@@ -104,36 +94,13 @@ private:
/**
* Set new mission items
*/
void set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet);
void set_mission_items();
/**
* Try to set the current position setpoint from an onboard mission item
* @return true if mission item successfully set
*/
bool is_current_onboard_mission_item_set(struct position_setpoint_s *current_pos_sp);
/**
* Try to set the current position setpoint from an offboard mission item
* @return true if mission item successfully set
*/
bool is_current_offboard_mission_item_set(struct position_setpoint_s *current_pos_sp);
/**
* Try to set the next position setpoint from an onboard mission item
*/
void get_next_onboard_mission_item(struct position_setpoint_s *next_pos_sp);
/**
* Try to set the next position setpoint from an offboard mission item
*/
void get_next_offboard_mission_item(struct position_setpoint_s *next_pos_sp);
/**
* Read a mission item from the dataman and watch out for DO_JUMPS
* Read current or next mission item from the dataman and watch out for DO_JUMPS
* @return true if successful
*/
bool read_mission_item(const dm_item_t dm_item, bool is_current, int *mission_index,
struct mission_item_s *new_mission_item);
bool read_mission_item(bool onboard, bool is_current, struct mission_item_s *mission_item);
/**
* Report that a mission item has been reached
@@ -156,12 +123,15 @@ private:
void publish_mission_result();
control::BlockParamFloat _param_onboard_enabled;
control::BlockParamFloat _param_takeoff_alt;
struct mission_s _onboard_mission;
struct mission_s _offboard_mission;
int _current_onboard_mission_index;
int _current_offboard_mission_index;
bool _need_takeoff;
bool _takeoff;
orb_advert_t _mission_result_pub;
struct mission_result_s _mission_result;
src/modules/navigator/mission_block.cpp
+41 -34
View File
@@ -47,6 +47,7 @@
#include <systemlib/err.h>
#include <geo/geo.h>
#include <mavlink/mavlink_log.h>
#include <uORB/uORB.h>
@@ -59,8 +60,7 @@ MissionBlock::MissionBlock(Navigator *navigator, const char *name) :
_waypoint_position_reached(false),
_waypoint_yaw_reached(false),
_time_first_inside_orbit(0),
_mission_item({0}),
_mission_item_valid(false)
_mission_item({0})
{
}
@@ -71,6 +71,10 @@ MissionBlock::~MissionBlock()
bool
MissionBlock::is_mission_item_reached()
{
if (_mission_item.nav_cmd == NAV_CMD_IDLE) {
return false;
}
if (_mission_item.nav_cmd == NAV_CMD_LAND) {
return _navigator->get_vstatus()->condition_landed;
}
@@ -84,7 +88,6 @@ MissionBlock::is_mission_item_reached()
hrt_abstime now = hrt_absolute_time();
if (!_waypoint_position_reached) {
float dist = -1.0f;
float dist_xy = -1.0f;
float dist_z = -1.0f;
@@ -201,44 +204,48 @@ MissionBlock::mission_item_to_position_setpoint(const struct mission_item_s *ite
}
void
MissionBlock::set_previous_pos_setpoint(struct position_setpoint_triplet_s *pos_sp_triplet)
MissionBlock::set_previous_pos_setpoint()
{
/* reuse current setpoint as previous setpoint */
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
if (pos_sp_triplet->current.valid) {
memcpy(&pos_sp_triplet->previous, &pos_sp_triplet->current, sizeof(struct position_setpoint_s));
}
}
bool
MissionBlock::set_loiter_item(struct position_setpoint_triplet_s *pos_sp_triplet)
void
MissionBlock::set_loiter_item(struct mission_item_s *item)
{
/* don't change setpoint if 'can_loiter_at_sp' flag set */
if (!(_navigator->get_can_loiter_at_sp() && pos_sp_triplet->current.valid)) {
/* use current position */
pos_sp_triplet->current.lat = _navigator->get_global_position()->lat;
pos_sp_triplet->current.lon = _navigator->get_global_position()->lon;
pos_sp_triplet->current.alt = _navigator->get_global_position()->alt;
pos_sp_triplet->current.yaw = NAN; /* NAN means to use current yaw */
if (_navigator->get_vstatus()->condition_landed) {
/* landed, don't takeoff, but switch to IDLE mode */
item->nav_cmd = NAV_CMD_IDLE;
_navigator->set_can_loiter_at_sp(true);
} else {
item->nav_cmd = NAV_CMD_LOITER_UNLIMITED;
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
if (_navigator->get_can_loiter_at_sp() && pos_sp_triplet->current.valid) {
/* use current position setpoint */
item->lat = pos_sp_triplet->current.lat;
item->lon = pos_sp_triplet->current.lon;
item->altitude = pos_sp_triplet->current.alt;
} else {
/* use current position */
item->lat = _navigator->get_global_position()->lat;
item->lon = _navigator->get_global_position()->lon;
item->altitude = _navigator->get_global_position()->alt;
}
item->altitude_is_relative = false;
item->yaw = NAN;
item->loiter_radius = _navigator->get_loiter_radius();
item->loiter_direction = 1;
item->acceptance_radius = _navigator->get_acceptance_radius();
item->time_inside = 0.0f;
item->pitch_min = 0.0f;
item->autocontinue = false;
item->origin = ORIGIN_ONBOARD;
}
if (pos_sp_triplet->current.type != SETPOINT_TYPE_LOITER
|| (fabsf(pos_sp_triplet->current.loiter_radius - _navigator->get_loiter_radius()) > FLT_EPSILON)
|| pos_sp_triplet->current.loiter_direction != 1
|| pos_sp_triplet->previous.valid
|| !pos_sp_triplet->current.valid
|| pos_sp_triplet->next.valid) {
/* position setpoint triplet should be updated */
pos_sp_triplet->current.type = SETPOINT_TYPE_LOITER;
pos_sp_triplet->current.loiter_radius = _navigator->get_loiter_radius();
pos_sp_triplet->current.loiter_direction = 1;
pos_sp_triplet->previous.valid = false;
pos_sp_triplet->current.valid = true;
pos_sp_triplet->next.valid = false;
return true;
}
return false;
}
src/modules/navigator/mission_block.h
+5 -9
View File
@@ -64,6 +64,7 @@ public:
*/
virtual ~MissionBlock();
protected:
/**
* Check if mission item has been reached
* @return true if successfully reached
@@ -85,22 +86,17 @@ public:
/**
* Set previous position setpoint to current setpoint
*/
void set_previous_pos_setpoint(struct position_setpoint_triplet_s *pos_sp_triplet);
void set_previous_pos_setpoint();
/**
* Set a loiter item, if possible reuse the position setpoint, otherwise take the current position
*
* @param the position setpoint triplet to set
* @return true if setpoint has changed
* Set a loiter mission item, if possible reuse the position setpoint, otherwise take the current position
*/
bool set_loiter_item(position_setpoint_triplet_s *pos_sp_triplet);
void set_loiter_item(struct mission_item_s *item);
mission_item_s _mission_item;
bool _waypoint_position_reached;
bool _waypoint_yaw_reached;
hrt_abstime _time_first_inside_orbit;
mission_item_s _mission_item;
bool _mission_item_valid;
};
#endif
src/modules/navigator/navigator.h
+3 -1
View File
@@ -103,6 +103,7 @@ public:
* Setters
*/
void set_can_loiter_at_sp(bool can_loiter) { _can_loiter_at_sp = can_loiter; }
void set_position_setpoint_triplet_updated() { _pos_sp_triplet_updated = true; }
/**
* Getters
@@ -110,6 +111,7 @@ public:
struct vehicle_status_s* get_vstatus() { return &_vstatus; }
struct vehicle_global_position_s* get_global_position() { return &_global_pos; }
struct home_position_s* get_home_position() { return &_home_pos; }
struct position_setpoint_triplet_s* get_position_setpoint_triplet() { return &_pos_sp_triplet; }
int get_onboard_mission_sub() { return _onboard_mission_sub; }
int get_offboard_mission_sub() { return _offboard_mission_sub; }
Geofence& get_geofence() { return _geofence; }
@@ -162,7 +164,7 @@ private:
NavigatorMode *_navigation_mode_array[NAVIGATOR_MODE_ARRAY_SIZE]; /**< array of navigation modes */
bool _can_loiter_at_sp; /**< flags if current position SP can be used to loiter */
bool _update_triplet; /**< flags if position SP triplet needs to be published */
bool _pos_sp_triplet_updated; /**< flags if position SP triplet needs to be published */
control::BlockParamFloat _param_loiter_radius; /**< loiter radius for fixedwing */
control::BlockParamFloat _param_acceptance_radius; /**< acceptance for takeoff */
src/modules/navigator/navigator_main.cpp
+6 -9
View File
@@ -121,7 +121,7 @@ Navigator::Navigator() :
_mission(this, "MIS"),
_loiter(this, "LOI"),
_rtl(this, "RTL"),
_update_triplet(false),
_pos_sp_triplet_updated(false),
_param_loiter_radius(this, "LOITER_RAD"),
_param_acceptance_radius(this, "ACC_RAD")
{
@@ -371,24 +371,21 @@ Navigator::task_main()
/* iterate through navigation modes and set active/inactive for each */
for(unsigned int i = 0; i < NAVIGATOR_MODE_ARRAY_SIZE; i++) {
if (_navigation_mode == _navigation_mode_array[i]) {
_update_triplet = _navigation_mode_array[i]->on_active(&_pos_sp_triplet);
} else {
_navigation_mode_array[i]->on_inactive();
}
_navigation_mode_array[i]->run(_navigation_mode == _navigation_mode_array[i]);
}
/* if nothing is running, set position setpoint triplet invalid */
if (_navigation_mode == nullptr) {
// TODO publish empty sp only once
_pos_sp_triplet.previous.valid = false;
_pos_sp_triplet.current.valid = false;
_pos_sp_triplet.next.valid = false;
_update_triplet = true;
_pos_sp_triplet_updated = true;
}
if (_update_triplet) {
if (_pos_sp_triplet_updated) {
publish_position_setpoint_triplet();
_update_triplet = false;
_pos_sp_triplet_updated = false;
}
perf_end(_loop_perf);
src/modules/navigator/navigator_mode.cpp
+34 -9
View File
@@ -33,12 +33,14 @@
/**
* @file navigator_mode.cpp
*
* Helper class for different modes in navigator
* Base class for different modes in navigator
*
* @author Julian Oes <julian@oes.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#include "navigator_mode.h"
#include "navigator.h"
NavigatorMode::NavigatorMode(Navigator *navigator, const char *name) :
SuperBlock(NULL, name),
@@ -56,15 +58,38 @@ NavigatorMode::~NavigatorMode()
}
void
NavigatorMode::on_inactive()
{
_first_run = true;
NavigatorMode::run(bool active) {
if (active) {
if (_first_run) {
/* first run */
_first_run = false;
on_activation();
} else {
/* periodic updates when active */
on_active();
}
} else {
/* periodic updates when inactive */
_first_run = true;
on_inactive();
}
}
bool
NavigatorMode::on_active(struct position_setpoint_triplet_s *pos_sp_triplet)
void
NavigatorMode::on_inactive()
{
}
void
NavigatorMode::on_activation()
{
/* invalidate position setpoint by default */
_navigator->get_position_setpoint_triplet()->current.valid = false;
}
void
NavigatorMode::on_active()
{
pos_sp_triplet->current.valid = false;
_first_run = false;
return false;
}
src/modules/navigator/navigator_mode.h
+13 -6
View File
@@ -33,9 +33,10 @@
/**
* @file navigator_mode.h
*
* Helper class for different modes in navigator
* Base class for different modes in navigator
*
* @author Julian Oes <julian@oes.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#ifndef NAVIGATOR_MODE_H
@@ -65,21 +66,27 @@ public:
*/
virtual ~NavigatorMode();
void run(bool active);
/**
* This function is called while the mode is inactive
*/
virtual void on_inactive();
/**
* This function is called while the mode is active
*
* @param position setpoint triplet to set
* @return true if position setpoint triplet has been changed
* This function is called one time when mode become active, poos_sp_triplet must be initialized here
*/
virtual bool on_active(struct position_setpoint_triplet_s *pos_sp_triplet);
virtual void on_activation();
/**
* This function is called while the mode is active
*/
virtual void on_active();
protected:
Navigator *_navigator;
private:
bool _first_run;
};
src/modules/navigator/rtl.cpp
+36 -39
View File
@@ -75,62 +75,57 @@ RTL::~RTL()
void
RTL::on_inactive()
{
_first_run = true;
/* reset RTL state only if setpoint moved */
if (!_navigator->get_can_loiter_at_sp()) {
_rtl_state = RTL_STATE_NONE;
}
}
bool
RTL::on_active(struct position_setpoint_triplet_s *pos_sp_triplet)
void
RTL::on_activation()
{
bool updated = false;
/* decide where to enter the RTL procedure when we switch into it */
if (_rtl_state == RTL_STATE_NONE) {
/* for safety reasons don't go into RTL if landed */
if (_navigator->get_vstatus()->condition_landed) {
_rtl_state = RTL_STATE_LANDED;
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: no RTL when landed");
if (_first_run) {
_first_run = false;
/* if lower than return altitude, climb up first */
} else if (_navigator->get_global_position()->alt < _navigator->get_home_position()->alt
+ _param_return_alt.get()) {
_rtl_state = RTL_STATE_CLIMB;
/* decide where to enter the RTL procedure when we switch into it */
if (_rtl_state == RTL_STATE_NONE) {
/* for safety reasons don't go into RTL if landed */
if (_navigator->get_vstatus()->condition_landed) {
_rtl_state = RTL_STATE_LANDED;
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: no RTL when landed");
/* if lower than return altitude, climb up first */
} else if (_navigator->get_global_position()->alt < _navigator->get_home_position()->alt
+ _param_return_alt.get()) {
_rtl_state = RTL_STATE_CLIMB;
/* otherwise go straight to return */
} else {
/* set altitude setpoint to current altitude */
_rtl_state = RTL_STATE_RETURN;
_mission_item.altitude_is_relative = false;
_mission_item.altitude = _navigator->get_global_position()->alt;
}
/* otherwise go straight to return */
} else {
/* set altitude setpoint to current altitude */
_rtl_state = RTL_STATE_RETURN;
_mission_item.altitude_is_relative = false;
_mission_item.altitude = _navigator->get_global_position()->alt;
}
set_rtl_item(pos_sp_triplet);
updated = true;
} else if (_rtl_state != RTL_STATE_LANDED && is_mission_item_reached()) {
advance_rtl();
set_rtl_item(pos_sp_triplet);
updated = true;
}
return updated;
set_rtl_item();
}
void
RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet)
RTL::on_active()
{
if (_rtl_state != RTL_STATE_LANDED && is_mission_item_reached()) {
advance_rtl();
set_rtl_item();
}
}
void
RTL::set_rtl_item()
{
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
/* make sure we have the latest params */
updateParams();
set_previous_pos_setpoint(pos_sp_triplet);
set_previous_pos_setpoint();
_navigator->set_can_loiter_at_sp(false);
switch (_rtl_state) {
@@ -277,11 +272,13 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet)
break;
}
reset_mission_item_reached();
/* convert mission item to current position setpoint and make it valid */
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
reset_mission_item_reached();
pos_sp_triplet->current.valid = true;
pos_sp_triplet->next.valid = false;
_navigator->set_position_setpoint_triplet_updated();
}
void
src/modules/navigator/rtl.h
+4 -18
View File
@@ -57,35 +57,21 @@ class Navigator;
class RTL : public MissionBlock
{
public:
/**
* Constructor
*/
RTL(Navigator *navigator, const char *name);
/**
* Destructor
*/
~RTL();
/**
* This function is called while the mode is inactive
*/
void on_inactive();
virtual void on_inactive();
/**
* This function is called while the mode is active
*
* @param position setpoint triplet that needs to be set
* @return true if updated
*/
bool on_active(position_setpoint_triplet_s *pos_sp_triplet);
virtual void on_activation();
virtual void on_active();
private:
/**
* Set the RTL item
*/
void set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet);
void set_rtl_item();
/**
* Move to next RTL item
src/modules/px4iofirmware/controls.c
+2 -2
View File
@@ -47,8 +47,8 @@
#include "px4io.h"
#define RC_FAILSAFE_TIMEOUT 2000000 /**< two seconds failsafe timeout */
#define RC_CHANNEL_HIGH_THRESH 5000
#define RC_CHANNEL_LOW_THRESH -5000
#define RC_CHANNEL_HIGH_THRESH 5000 /* 75% threshold */
#define RC_CHANNEL_LOW_THRESH -8000 /* 10% threshold */
static bool ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len);
src/modules/px4iofirmware/i2c.c
+3
View File
@@ -64,12 +64,15 @@
#define rCCR REG(STM32_I2C_CCR_OFFSET)
#define rTRISE REG(STM32_I2C_TRISE_OFFSET)
void i2c_reset(void);
static int i2c_interrupt(int irq, void *context);
static void i2c_rx_setup(void);
static void i2c_tx_setup(void);
static void i2c_rx_complete(void);
static void i2c_tx_complete(void);
#ifdef DEBUG
static void i2c_dump(void);
#endif
static DMA_HANDLE rx_dma;
static DMA_HANDLE tx_dma;
src/modules/px4iofirmware/px4io.h
+2 -2
View File
@@ -219,8 +219,8 @@ extern bool dsm_input(uint16_t *values, uint16_t *num_values);
extern void dsm_bind(uint16_t cmd, int pulses);
extern int sbus_init(const char *device);
extern bool sbus_input(uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_channels);
extern bool sbus1_output(uint16_t *values, uint16_t num_values);
extern bool sbus2_output(uint16_t *values, uint16_t num_values);
extern void sbus1_output(uint16_t *values, uint16_t num_values);
extern void sbus2_output(uint16_t *values, uint16_t num_values);
/** global debug level for isr_debug() */
extern volatile uint8_t debug_level;
src/modules/px4iofirmware/registers.c
+1 -1
View File
@@ -711,7 +711,7 @@ registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_val
{
#define SELECT_PAGE(_page_name) \
do { \
*values = &_page_name[0]; \
*values = (uint16_t *)&_page_name[0]; \
*num_values = sizeof(_page_name) / sizeof(_page_name[0]); \
} while(0)
src/modules/px4iofirmware/sbus.c
+2 -2
View File
@@ -116,14 +116,14 @@ sbus_init(const char *device)
return sbus_fd;
}
bool
void
sbus1_output(uint16_t *values, uint16_t num_values)
{
char a = 'A';
write(sbus_fd, &a, 1);
}
bool
void
sbus2_output(uint16_t *values, uint16_t num_values)
{
char b = 'B';
src/modules/sdlog2/sdlog2.c
+18 -13
View File
@@ -979,7 +979,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct log_GVSP_s log_GVSP;
struct log_BATT_s log_BATT;
struct log_DIST_s log_DIST;
struct log_TELE_s log_TELE;
struct log_TEL_s log_TEL;
struct log_EST0_s log_EST0;
struct log_EST1_s log_EST1;
struct log_PWR_s log_PWR;
@@ -1019,7 +1019,7 @@ int sdlog2_thread_main(int argc, char *argv[])
int esc_sub;
int global_vel_sp_sub;
int battery_sub;
int telemetry_sub;
int telemetry_subs[TELEMETRY_STATUS_ORB_ID_NUM];
int range_finder_sub;
int estimator_status_sub;
int tecs_status_sub;
@@ -1049,7 +1049,9 @@ int sdlog2_thread_main(int argc, char *argv[])
subs.esc_sub = orb_subscribe(ORB_ID(esc_status));
subs.global_vel_sp_sub = orb_subscribe(ORB_ID(vehicle_global_velocity_setpoint));
subs.battery_sub = orb_subscribe(ORB_ID(battery_status));
subs.telemetry_sub = orb_subscribe(ORB_ID(telemetry_status));
for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
subs.telemetry_subs[i] = orb_subscribe(telemetry_status_orb_id[i]);
}
subs.range_finder_sub = orb_subscribe(ORB_ID(sensor_range_finder));
subs.estimator_status_sub = orb_subscribe(ORB_ID(estimator_status));
subs.tecs_status_sub = orb_subscribe(ORB_ID(tecs_status));
@@ -1479,16 +1481,19 @@ int sdlog2_thread_main(int argc, char *argv[])
}
/* --- TELEMETRY --- */
if (copy_if_updated(ORB_ID(telemetry_status), subs.telemetry_sub, &buf.telemetry)) {
log_msg.msg_type = LOG_TELE_MSG;
log_msg.body.log_TELE.rssi = buf.telemetry.rssi;
log_msg.body.log_TELE.remote_rssi = buf.telemetry.remote_rssi;
log_msg.body.log_TELE.noise = buf.telemetry.noise;
log_msg.body.log_TELE.remote_noise = buf.telemetry.remote_noise;
log_msg.body.log_TELE.rxerrors = buf.telemetry.rxerrors;
log_msg.body.log_TELE.fixed = buf.telemetry.fixed;
log_msg.body.log_TELE.txbuf = buf.telemetry.txbuf;
LOGBUFFER_WRITE_AND_COUNT(TELE);
for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
if (copy_if_updated(telemetry_status_orb_id[i], subs.telemetry_subs[i], &buf.telemetry)) {
log_msg.msg_type = LOG_TEL0_MSG + i;
log_msg.body.log_TEL.rssi = buf.telemetry.rssi;
log_msg.body.log_TEL.remote_rssi = buf.telemetry.remote_rssi;
log_msg.body.log_TEL.noise = buf.telemetry.noise;
log_msg.body.log_TEL.remote_noise = buf.telemetry.remote_noise;
log_msg.body.log_TEL.rxerrors = buf.telemetry.rxerrors;
log_msg.body.log_TEL.fixed = buf.telemetry.fixed;
log_msg.body.log_TEL.txbuf = buf.telemetry.txbuf;
log_msg.body.log_TEL.heartbeat_time = buf.telemetry.heartbeat_time;
LOGBUFFER_WRITE_AND_COUNT(TEL);
}
}
/* --- BOTTOM DISTANCE --- */
src/modules/sdlog2/sdlog2_format.h
+8
View File
@@ -91,6 +91,14 @@ struct log_format_s {
.labels = _labels \
}
#define LOG_FORMAT_S(_name, _struct_name, _format, _labels) { \
.type = LOG_##_name##_MSG, \
.length = sizeof(struct log_##_struct_name##_s) + LOG_PACKET_HEADER_LEN, \
.name = #_name, \
.format = _format, \
.labels = _labels \
}
#define LOG_FORMAT_MSG 0x80
#define LOG_PACKET_SIZE(_name) LOG_PACKET_HEADER_LEN + sizeof(struct log_##_name##_s)
src/modules/sdlog2/sdlog2_messages.h
+22 -13
View File
@@ -276,18 +276,7 @@ struct log_DIST_s {
uint8_t flags;
};
/* --- TELE - TELEMETRY STATUS --- */
#define LOG_TELE_MSG 22
struct log_TELE_s {
uint8_t rssi;
uint8_t remote_rssi;
uint8_t noise;
uint8_t remote_noise;
uint16_t rxerrors;
uint16_t fixed;
uint8_t txbuf;
};
// ID 22 available
// ID 23 available
/* --- PWR - ONBOARD POWER SYSTEM --- */
@@ -385,6 +374,23 @@ struct log_EST1_s {
float s[16];
};
/* --- TEL0..3 - TELEMETRY STATUS --- */
#define LOG_TEL0_MSG 34
#define LOG_TEL1_MSG 35
#define LOG_TEL2_MSG 36
#define LOG_TEL3_MSG 37
struct log_TEL_s {
uint8_t rssi;
uint8_t remote_rssi;
uint8_t noise;
uint8_t remote_noise;
uint16_t rxerrors;
uint16_t fixed;
uint8_t txbuf;
uint64_t heartbeat_time;
};
/********** SYSTEM MESSAGES, ID > 0x80 **********/
/* --- TIME - TIME STAMP --- */
@@ -432,7 +438,10 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"),
LOG_FORMAT(BATT, "ffff", "V,VFilt,C,Discharged"),
LOG_FORMAT(DIST, "ffB", "Bottom,BottomRate,Flags"),
LOG_FORMAT(TELE, "BBBBHHB", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf"),
LOG_FORMAT_S(TEL0, TEL, "BBBBHHBQ", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),
LOG_FORMAT_S(TEL1, TEL, "BBBBHHBQ", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),
LOG_FORMAT_S(TEL2, TEL, "BBBBHHBQ", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),
LOG_FORMAT_S(TEL3, TEL, "BBBBHHBQ", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),
LOG_FORMAT(EST0, "ffffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,nStat,fNaN,fHealth,fTOut"),
LOG_FORMAT(EST1, "ffffffffffffffff", "s12,s13,s14,s15,s16,s17,s18,s19,s20,s21,s22,s23,s24,s25,s26,s27"),
LOG_FORMAT(PWR, "fffBBBBB", "Periph5V,Servo5V,RSSI,UsbOk,BrickOk,ServoOk,PeriphOC,HipwrOC"),
src/modules/systemlib/cpuload.c
+1 -1
View File
@@ -67,7 +67,7 @@ __EXPORT void sched_note_switch(FAR struct tcb_s *pFromTcb, FAR struct tcb_s *pT
__EXPORT struct system_load_s system_load;
extern FAR struct _TCB *sched_gettcb(pid_t pid);
extern FAR struct tcb_s *sched_gettcb(pid_t pid);
void cpuload_initialize_once()
{
src/modules/systemlib/err.c
+1 -1
View File
@@ -86,7 +86,7 @@ warnerr_core(int errcode, const char *fmt, va_list args)
fprintf(stderr, "\n");
#elif CONFIG_ARCH_LOWPUTC
lowsyslog("%s: ", getprogname());
lowvyslog(fmt, args);
lowvsyslog(fmt, args);
/* convenience as many parts of NuttX use negative errno */
if (errcode < 0)
src/modules/systemlib/systemlib.c
+3
View File
@@ -54,6 +54,9 @@
#include "systemlib.h"
// Didn't seem right to include up_internal.h, so direct extern instead.
extern void up_systemreset(void) noreturn_function;
void
systemreset(bool to_bootloader)
{
src/modules/uORB/objects_common.cpp
+4 -1
View File
@@ -186,7 +186,10 @@ ORB_DEFINE(actuator_outputs_2, struct actuator_outputs_s);
ORB_DEFINE(actuator_outputs_3, struct actuator_outputs_s);
#include "topics/telemetry_status.h"
ORB_DEFINE(telemetry_status, struct telemetry_status_s);
ORB_DEFINE(telemetry_status_0, struct telemetry_status_s);
ORB_DEFINE(telemetry_status_1, struct telemetry_status_s);
ORB_DEFINE(telemetry_status_2, struct telemetry_status_s);
ORB_DEFINE(telemetry_status_3, struct telemetry_status_s);
#include "topics/debug_key_value.h"
ORB_DEFINE(debug_key_value, struct debug_key_value_s);
src/modules/uORB/topics/telemetry_status.h
+13 -1
View File
@@ -72,6 +72,18 @@ struct telemetry_status_s {
* @}
*/
ORB_DECLARE(telemetry_status);
ORB_DECLARE(telemetry_status_0);
ORB_DECLARE(telemetry_status_1);
ORB_DECLARE(telemetry_status_2);
ORB_DECLARE(telemetry_status_3);
#define TELEMETRY_STATUS_ORB_ID_NUM 4
static const struct orb_metadata *telemetry_status_orb_id[TELEMETRY_STATUS_ORB_ID_NUM] = {
ORB_ID(telemetry_status_0),
ORB_ID(telemetry_status_1),
ORB_ID(telemetry_status_2),
ORB_ID(telemetry_status_3),
};
#endif /* TOPIC_TELEMETRY_STATUS_H */
src/modules/uORB/topics/vehicle_gps_position.h
-1
View File
@@ -61,7 +61,6 @@ struct vehicle_gps_position_s {
uint64_t timestamp_variance;
float s_variance_m_s; /**< speed accuracy estimate m/s */
float p_variance_m; /**< position accuracy estimate m */
float c_variance_rad; /**< course accuracy estimate rad */
uint8_t fix_type; /**< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. */
src/systemcmds/param/param.c
+3 -2
View File
@@ -46,6 +46,7 @@
#include <stdbool.h>
#include <unistd.h>
#include <fcntl.h>
#include <math.h>
#include <sys/stat.h>
#include <arch/board/board.h>
@@ -228,8 +229,8 @@ do_show_print(void *arg, param_t param)
if (!(arg == NULL)) {
/* start search */
char *ss = search_string;
char *pp = p_name;
const char *ss = search_string;
const char *pp = p_name;
bool mismatch = false;
/* XXX this comparison is only ok for trailing wildcards */

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