merge hil into fw_control

apps/drivers/px4fmu/fmu.cpp

@@ -74,6 +74,7 @@ public:
 	enum Mode {
 		MODE_2PWM,
 		MODE_4PWM,
+		MODE_HIL_8PWM,
 		MODE_NONE
 	};
 	PX4FMU();
@@ -269,6 +270,12 @@ PX4FMU::set_mode(Mode mode)
 		_update_rate = 50;	/* default output rate */
 		break;
 
+	case MODE_HIL_8PWM:
+		debug("MODE_HIL_8PWM");
+		/* do not actually start a pwm device */
+		_update_rate = 50;	/* default output rate */
+		break;
+
 	case MODE_NONE:
 		debug("MODE_NONE");
 		/* disable servo outputs and set a very low update rate */
@@ -321,7 +328,26 @@ PX4FMU::task_main()
 	fds[1].fd = _t_armed;
 	fds[1].events = POLLIN;
 
-	unsigned num_outputs = (_mode == MODE_2PWM) ? 2 : 4;
+	unsigned num_outputs;
+
+	/* select the number of (real or virtual) outputs */
+	switch (_mode) {
+	case MODE_2PWM:
+		num_outputs = 2;
+		break;
+
+	case MODE_4PWM:
+		num_outputs = 4;
+		break;
+
+	case MODE_HIL_8PWM:
+		num_outputs = 8;
+		break;
+
+	case MODE_NONE:
+		num_outputs = 0;
+		break;
+	}
 
 	log("starting");
 
@@ -334,7 +360,11 @@ PX4FMU::task_main()
 			if (update_rate_in_ms < 2)
 				update_rate_in_ms = 2;
 			orb_set_interval(_t_actuators, update_rate_in_ms);
-			up_pwm_servo_set_rate(_update_rate);
+
+			if (_mode != MODE_HIL_8PWM) {
+				/* do not attempt to set servos in HIL mode */
+				up_pwm_servo_set_rate(_update_rate);
+			}
 			_current_update_rate = _update_rate;
 		}
 
@@ -367,7 +397,11 @@ PX4FMU::task_main()
 					outputs.output[i] = 1500 + (600 * outputs.output[i]);
 
 					/* output to the servo */
-					up_pwm_servo_set(i, outputs.output[i]);
+					if (_mode != MODE_HIL_8PWM) {
+						/* do not attempt to set servos in HIL mode */
+						up_pwm_servo_set(i, outputs.output[i]);
+					}
+					
 				}
 
 				/* and publish for anyone that cares to see */
@@ -383,7 +417,14 @@ PX4FMU::task_main()
 			orb_copy(ORB_ID(actuator_armed), _t_armed, &aa);
 
 			/* update PWM servo armed status */
-			up_pwm_servo_arm(aa.armed);
+
+			/*
+			 * armed  = system wants to fly
+			 * locked = there is a low-level safety lock
+			 *          in place, such as in hardware-in-the-loop
+			 *          simulation setups.
+			 */
+			up_pwm_servo_arm(aa.armed && !aa.lockdown);
 		}
 	}
 
@@ -419,7 +460,8 @@ PX4FMU::ioctl(file *filp, int cmd, unsigned long arg)
 {
 	int ret;
 
-	debug("ioctl 0x%04x 0x%08x", cmd, arg);
+	// XXX disable debug output, users got confused
+	//debug("ioctl 0x%04x 0x%08x", cmd, arg);
 
 	/* try it as a GPIO ioctl first */
 	ret = gpio_ioctl(filp, cmd, arg);
@@ -432,6 +474,11 @@ PX4FMU::ioctl(file *filp, int cmd, unsigned long arg)
 	case MODE_4PWM:
 		ret = pwm_ioctl(filp, cmd, arg);
 		break;
+	case MODE_HIL_8PWM:
+		/* do nothing */
+		debug("loading mixer for virtual HIL device");
+		ret = 0;
+		break;
 	default:
 		debug("not in a PWM mode");
 		break;
@@ -705,6 +752,7 @@ enum PortMode {
 	PORT_GPIO_AND_SERIAL,
 	PORT_PWM_AND_SERIAL,
 	PORT_PWM_AND_GPIO,
+	PORT_HIL_PWM
 };
 
 PortMode g_port_mode;
@@ -753,6 +801,11 @@ fmu_new_mode(PortMode new_mode, int update_rate)
 		/* select 2-pin PWM mode */
 		servo_mode = PX4FMU::MODE_2PWM;
 		break;
+
+	case PORT_HIL_PWM:
+		/* virtual PWM mode */
+		servo_mode = PX4FMU::MODE_HIL_8PWM;
+		break;
 	}
 
 	/* adjust GPIO config for serial mode(s) */
@@ -882,11 +935,14 @@ fmu_main(int argc, char *argv[])
 
 		} else if (!strcmp(argv[i], "mode_pwm_gpio")) {
 			new_mode = PORT_PWM_AND_GPIO;
+
+		} else if (!strcmp(argv[i], "mode_hil_pwm")) {
+			new_mode = PORT_HIL_PWM;
 		}
 
 		/* look for the optional pwm update rate for the supported modes */
 		if (strcmp(argv[i], "-u") == 0 || strcmp(argv[i], "--update-rate") == 0) {
-			if (new_mode == PORT_FULL_PWM || new_mode == PORT_PWM_AND_GPIO) {
+			if (new_mode == PORT_FULL_PWM || new_mode == PORT_PWM_AND_GPIO || PORT_HIL_PWM) {
 				if (argc > i + 1) {
 					pwm_update_rate_in_hz = atoi(argv[i + 1]);
 				} else {
@@ -912,7 +968,7 @@ fmu_main(int argc, char *argv[])
 
 	/* test, etc. here */
 
-	fprintf(stderr, "FMU: unrecognised command, try:\n");
+	fprintf(stderr, "FMU: unrecognized command, try:\n");
-	fprintf(stderr, "  mode_gpio, mode_serial, mode_pwm [-u pwm_update_rate_in_hz], mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio\n");
+	fprintf(stderr, "  mode_gpio, mode_serial, mode_pwm [-u pwm_update_rate_in_hz], mode_gpio_serial,\n  mode_pwm_serial, mode_pwm_gpio, mode_hil_pwm\n");
 	return -EINVAL;
 }

apps/mavlink/mavlink.c

@@ -143,15 +143,10 @@ set_hil_on_off(bool hil_enabled)
 	/* Enable HIL */
 	if (hil_enabled && !mavlink_hil_enabled) {
 
-		//printf("\n HIL ON \n");
-
 		/* Advertise topics */
 		pub_hil_attitude = orb_advertise(ORB_ID(vehicle_attitude), &hil_attitude);
 		pub_hil_global_pos = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos);
 
-		printf("\n pub_hil_attitude :%i\n", pub_hil_attitude);
-		printf("\n pub_hil_global_pos :%i\n", pub_hil_global_pos);
-
 		mavlink_hil_enabled = true;
 
 		/* ramp up some HIL-related subscriptions */

apps/mavlink/orb_listener.c

@@ -419,7 +419,7 @@ l_actuator_outputs(struct listener *l)
 	/* copy actuator data into local buffer */
 	orb_copy(ids[l->arg], *l->subp, &act_outputs);
 
-	if (gcs_link)
+	if (gcs_link) {
 		mavlink_msg_servo_output_raw_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000,
 					  l->arg /* port number */,
 					  act_outputs.output[0],
@@ -430,6 +430,30 @@ l_actuator_outputs(struct listener *l)
 					  act_outputs.output[5],
 					  act_outputs.output[6],
 					  act_outputs.output[7]);
+
+		/* only send in HIL mode */
+		if (mavlink_hil_enabled) {
+
+			/* translate the current system state to mavlink state and mode */
+			uint8_t mavlink_state = 0;
+			uint8_t mavlink_mode = 0;
+			get_mavlink_mode_and_state(&mavlink_state, &mavlink_mode);
+
+			/* HIL message as per MAVLink spec */
+			mavlink_msg_hil_controls_send(chan,
+				hrt_absolute_time(),
+				act_outputs.output[0],
+				act_outputs.output[1],
+				act_outputs.output[2],
+				act_outputs.output[3],
+				act_outputs.output[4],
+				act_outputs.output[5],
+				act_outputs.output[6],
+				act_outputs.output[7],
+				mavlink_mode,
+				0);
+		}
+	}
 }
 
 void
@@ -482,28 +506,6 @@ l_vehicle_attitude_controls(struct listener *l)
 						   "ctrl3       ",
 						   actuators.control[3]);
 	}
-
-	/* Only send in HIL mode */
-	if (mavlink_hil_enabled) {
-		/* 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(&mavlink_state, &mavlink_mode);
-
-		/* HIL message as per MAVLink spec */
-		mavlink_msg_hil_controls_send(chan,
-			hrt_absolute_time(),
-			actuators.control[0],
-			actuators.control[1],
-			actuators.control[2],
-			actuators.control[3],
-			0,
-			0,
-			0,
-			0,
-			mavlink_mode,
-			0);
-	}
 }
 
 void