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Merge remote-tracking branch 'upstream/master' into hott_v2

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This commit is contained in:
Simon Wilks
2013-05-01 19:49:28 +02:00
parent 0af9b60db7 bfc6183fd4
commit a2adff9663
36 changed files with 1621 additions and 53 deletions
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ROMFS/Makefile
+1
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@@ -32,6 +32,7 @@ ROMFS_FSSPEC := $(SRCROOT)/scripts/rcS~init.d/rcS \
$(SRCROOT)/mixers/FMU_RET.mix~mixers/FMU_ERT.mix \
$(SRCROOT)/mixers/FMU_quad_x.mix~mixers/FMU_quad_x.mix \
$(SRCROOT)/mixers/FMU_quad_+.mix~mixers/FMU_quad_+.mix \
$(SRCROOT)/mixers/FMU_quad_v.mix~mixers/FMU_quad_v.mix \
$(SRCROOT)/mixers/FMU_hex_x.mix~mixers/FMU_hex_x.mix \
$(SRCROOT)/mixers/FMU_hex_+.mix~mixers/FMU_hex_+.mix \
$(SRCROOT)/mixers/FMU_octo_x.mix~mixers/FMU_octo_x.mix \
ROMFS/mixers/FMU_quad_v.mix
+7
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@@ -0,0 +1,7 @@
Multirotor mixer for PX4FMU
===========================
This file defines a single mixer for a quadrotor in the V configuration. All controls
are mixed 100%.
R: 4v 10000 10000 10000 0
apps/attitude_estimator_ekf/Makefile
+3 -2
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@@ -35,8 +35,9 @@ APPNAME = attitude_estimator_ekf
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 2048
CSRCS = attitude_estimator_ekf_main.c \
attitude_estimator_ekf_params.c \
CXXSRCS = attitude_estimator_ekf_main.cpp
CSRCS = attitude_estimator_ekf_params.c \
codegen/eye.c \
codegen/attitudeKalmanfilter.c \
codegen/mrdivide.c \
apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c → apps/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+12 -5
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@@ -66,11 +66,17 @@
#include <systemlib/perf_counter.h>
#include <systemlib/err.h>
#ifdef __cplusplus
extern "C" {
#endif
#include "codegen/attitudeKalmanfilter_initialize.h"
#include "codegen/attitudeKalmanfilter.h"
#include "attitude_estimator_ekf_params.h"
#ifdef __cplusplus
}
#endif
__EXPORT int attitude_estimator_ekf_main(int argc, char *argv[]);
extern "C" __EXPORT int attitude_estimator_ekf_main(int argc, char *argv[]);
static bool thread_should_exit = false; /**< Deamon exit flag */
static bool thread_running = false; /**< Deamon status flag */
@@ -265,10 +271,11 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
/* Main loop*/
while (!thread_should_exit) {
struct pollfd fds[2] = {
{ .fd = sub_raw, .events = POLLIN },
{ .fd = sub_params, .events = POLLIN }
};
struct pollfd fds[2];
fds[0].fd = sub_raw;
fds[0].events = POLLIN;
fds[1].fd = sub_params;
fds[1].events = POLLIN;
int ret = poll(fds, 2, 1000);
if (ret < 0) {
apps/drivers/blinkm/blinkm.cpp
+2 -1
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@@ -92,6 +92,7 @@
#include <nuttx/config.h>
#include <arch/board/board.h>
#include <drivers/device/i2c.h>
#include <sys/types.h>
@@ -841,7 +842,7 @@ int
blinkm_main(int argc, char *argv[])
{
int i2cdevice = 3;
int i2cdevice = PX4_I2C_BUS_EXPANSION;
int blinkmadr = 9;
int x;
apps/drivers/gps/ubx.cpp
+13 -5
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@@ -33,7 +33,14 @@
*
****************************************************************************/
/* @file U-Blox protocol implementation */
/**
* @file ubx.cpp
*
* U-Blox protocol implementation. Following u-blox 6/7 Receiver Description
* including Prototol Specification.
*
* @see http://www.u-blox.com/images/downloads/Product_Docs/u-blox6_ReceiverDescriptionProtocolSpec_%28GPS.G6-SW-10018%29.pdf
*/
#include <unistd.h>
#include <stdio.h>
@@ -633,16 +640,17 @@ UBX::handle_message()
}
case NAV_VELNED: {
// printf("GOT NAV_VELNED MESSAGE\n");
if (!_waiting_for_ack) {
/* 35.15 NAV-VELNED (0x01 0x12) message (page 181 / 210 of reference manual */
gps_bin_nav_velned_packet_t *packet = (gps_bin_nav_velned_packet_t *) _rx_buffer;
_gps_position->vel_m_s = (float)packet->speed * 1e-2f;
_gps_position->vel_n_m_s = (float)packet->velN * 1e-2f;
_gps_position->vel_e_m_s = (float)packet->velE * 1e-2f;
_gps_position->vel_d_m_s = (float)packet->velD * 1e-2f;
_gps_position->vel_n_m_s = (float)packet->velN * 1e-2f; /* NED NORTH velocity */
_gps_position->vel_e_m_s = (float)packet->velE * 1e-2f; /* NED EAST velocity */
_gps_position->vel_d_m_s = (float)packet->velD * 1e-2f; /* NED DOWN velocity */
_gps_position->cog_rad = (float)packet->heading * M_DEG_TO_RAD_F * 1e-5f;
_gps_position->c_variance_rad = (float)packet->cAcc * M_DEG_TO_RAD_F * 1e-5f;
_gps_position->vel_ned_valid = true;
_gps_position->timestamp_velocity = hrt_absolute_time();
}
apps/drivers/mkblctrl/Makefile
+44
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@@ -0,0 +1,44 @@
############################################################################
#
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
#
# Interface driver for the Mikrokopter BLCtrl
#
APPNAME = mkblctrl
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 2048
INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
include $(APPDIR)/mk/app.mk
apps/drivers/mkblctrl/mkblctrl.cpp
+1437
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File diff suppressed because it is too large Load Diff
apps/drivers/stm32/drv_hrt.c
+1 -1
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@@ -125,7 +125,7 @@
# define HRT_TIMER_VECTOR STM32_IRQ_TIM8CC
# define HRT_TIMER_CLOCK STM32_APB2_TIM8_CLKIN
# if CONFIG_STM32_TIM8
# error must not set CONFIG_STM32_TIM8=y and HRT_TIMER=6
# error must not set CONFIG_STM32_TIM8=y and HRT_TIMER=8
# endif
#elif HRT_TIMER == 9
# define HRT_TIMER_BASE STM32_TIM9_BASE
apps/drivers/stm32/tone_alarm/tone_alarm.cpp
+4 -4
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@@ -494,7 +494,7 @@ ToneAlarm::init()
return ret;
/* configure the GPIO to the idle state */
stm32_configgpio(GPIO_TONE_ALARM);
stm32_configgpio(GPIO_TONE_ALARM_IDLE);
/* clock/power on our timer */
modifyreg32(STM32_RCC_APB1ENR, 0, TONE_ALARM_CLOCK_ENABLE);
@@ -606,6 +606,8 @@ ToneAlarm::start_note(unsigned note)
rEGR = GTIM_EGR_UG; // force a reload of the period
rCCER |= TONE_CCER; // enable the output
// configure the GPIO to enable timer output
stm32_configgpio(GPIO_TONE_ALARM);
}
void
@@ -616,10 +618,8 @@ ToneAlarm::stop_note()
/*
* Make sure the GPIO is not driving the speaker.
*
* XXX this presumes PX4FMU and the onboard speaker driver FET.
*/
stm32_gpiowrite(GPIO_TONE_ALARM, 0);
stm32_configgpio(GPIO_TONE_ALARM_IDLE);
}
void
apps/examples/kalman_demo/KalmanNav.cpp
+2
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@@ -355,6 +355,8 @@ int KalmanNav::predictState(float dt)
float LDot = vN / R;
float lDot = vE / (cosLSing * R);
float rotRate = 2 * omega + lDot;
// XXX position prediction using speed
float vNDot = fN - vE * rotRate * sinL +
vD * LDot;
float vDDot = fD - vE * rotRate * cosL -
apps/examples/kalman_demo/Makefile
+2 -2
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@@ -1,6 +1,6 @@
############################################################################
#
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
@@ -32,7 +32,7 @@
############################################################################
#
# Basic example application
# Full attitude / position Extended Kalman Filter
#
APPNAME = kalman_demo
apps/examples/nsh/Makefile
+2
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@@ -64,6 +64,8 @@ ROOTDEPPATH = --dep-path .
VPATH =
MAXOPTIMIZATION = -Os
all: .built
.PHONY: clean depend distclean
apps/mavlink/mavlink_receiver.c
+8 -6
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@@ -477,25 +477,27 @@ handle_message(mavlink_message_t *msg)
/* gps */
hil_gps.timestamp_position = gps.time_usec;
// hil_gps.counter = hil_counter++;
hil_gps.time_gps_usec = gps.time_usec;
hil_gps.lat = gps.lat;
hil_gps.lon = gps.lon;
hil_gps.alt = gps.alt;
// hil_gps.counter_pos_valid = hil_counter++;
hil_gps.eph_m = (float)gps.eph * 1e-2f; // from cm to m
hil_gps.epv_m = (float)gps.epv * 1e-2f; // from cm to m
hil_gps.s_variance_m_s = 5.0f;
hil_gps.p_variance_m = hil_gps.eph_m * hil_gps.eph_m;
hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s
/* gps.cog is in degrees 0..360 * 100, heading is -PI..PI */
float heading_rad = gps.cog * M_DEG_TO_RAD_F * 1e-2f - M_PI_F;
/* gps.cog is in degrees 0..360 * 100, heading is -PI..+PI */
float heading_rad = gps.cog * M_DEG_TO_RAD_F * 1e-2f;
/* go back to -PI..PI */
if (heading_rad > M_PI_F)
heading_rad -= 2.0f * M_PI_F;
hil_gps.vel_n_m_s = (float)gps.vel * 1e-2f * cosf(heading_rad);
hil_gps.vel_e_m_s = (float)gps.vel * 1e-2f * sinf(heading_rad);
hil_gps.vel_d_m_s = 0.0f;
/* COG (course over ground) is speced as 0..360 degrees (compass) */
hil_gps.cog_rad = heading_rad + M_PI_F; // from deg*100 to rad
hil_gps.vel_ned_valid = true;
/* COG (course over ground) is speced as -PI..+PI */
hil_gps.cog_rad = heading_rad;
hil_gps.fix_type = gps.fix_type;
hil_gps.satellites_visible = gps.satellites_visible;
apps/mavlink/orb_listener.c
+13 -5
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@@ -229,6 +229,13 @@ l_vehicle_gps_position(const struct listener *l)
/* copy gps data into local buffer */
orb_copy(ORB_ID(vehicle_gps_position), mavlink_subs.gps_sub, &gps);
/* GPS COG is 0..2PI in degrees * 1e2 */
float cog_deg = gps.cog_rad;
if (cog_deg > M_PI_F)
cog_deg -= 2.0f * M_PI_F;
cog_deg *= M_RAD_TO_DEG_F;
/* GPS position */
mavlink_msg_gps_raw_int_send(MAVLINK_COMM_0,
gps.timestamp_position,
@@ -236,13 +243,14 @@ l_vehicle_gps_position(const struct listener *l)
gps.lat,
gps.lon,
gps.alt,
(uint16_t)(gps.eph_m * 1e2f), // from m to cm
(uint16_t)(gps.epv_m * 1e2f), // from m to cm
(uint16_t)(gps.vel_m_s * 1e2f), // from m/s to cm/s
(uint16_t)(gps.cog_rad * M_RAD_TO_DEG_F * 1e2f), // from rad to deg * 100
gps.eph_m * 1e2f, // from m to cm
gps.epv_m * 1e2f, // from m to cm
gps.vel_m_s * 1e2f, // from m/s to cm/s
cog_deg * 1e2f, // from rad to deg * 100
gps.satellites_visible);
if (gps.satellite_info_available && (gps_counter % 4 == 0)) {
/* update SAT info every 10 seconds */
if (gps.satellite_info_available && (gps_counter % 50 == 0)) {
mavlink_msg_gps_status_send(MAVLINK_COMM_0,
gps.satellites_visible,
gps.satellite_prn,
apps/nshlib/Makefile
+2
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@@ -107,6 +107,8 @@ endif
ROOTDEPPATH = --dep-path .
VPATH =
MAXOPTIMIZATION = -Os
# Build targets
all: .built
apps/px4/tests/Makefile
+2
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@@ -40,3 +40,5 @@ PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 12000
include $(APPDIR)/mk/app.mk
MAXOPTIMIZATION = -Os
apps/system/i2c/Makefile
+1
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@@ -64,6 +64,7 @@ VPATH =
APPNAME = i2c
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 2048
MAXOPTIMIZATION = -Os
# Build targets
apps/systemcmds/bl_update/Makefile
+2
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@@ -40,3 +40,5 @@ PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 4096
include $(APPDIR)/mk/app.mk
MAXOPTIMIZATION = -Os
apps/systemcmds/boardinfo/Makefile
+2
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@@ -40,3 +40,5 @@ PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 2048
include $(APPDIR)/mk/app.mk
MAXOPTIMIZATION = -Os
apps/systemcmds/calibration/Makefile
+2
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@@ -40,3 +40,5 @@ PRIORITY = SCHED_PRIORITY_MAX - 1
STACKSIZE = 4096
include $(APPDIR)/mk/app.mk
MAXOPTIMIZATION = -Os
apps/systemcmds/delay_test/Makefile
+2
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@@ -40,3 +40,5 @@ PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 2048
include $(APPDIR)/mk/app.mk
MAXOPTIMIZATION = -Os
apps/systemcmds/eeprom/Makefile
+2
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@@ -40,3 +40,5 @@ PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 4096
include $(APPDIR)/mk/app.mk
MAXOPTIMIZATION = -Os
apps/systemcmds/mixer/Makefile
+2
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@@ -40,3 +40,5 @@ PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 4096
include $(APPDIR)/mk/app.mk
MAXOPTIMIZATION = -Os
apps/systemcmds/param/Makefile
+2
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@@ -40,3 +40,5 @@ PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 4096
include $(APPDIR)/mk/app.mk
MAXOPTIMIZATION = -Os
apps/systemcmds/perf/Makefile
+2
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@@ -40,3 +40,5 @@ PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 2048
include $(APPDIR)/mk/app.mk
MAXOPTIMIZATION = -Os
apps/systemcmds/preflight_check/Makefile
+2
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@@ -40,3 +40,5 @@ PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 2048
include $(APPDIR)/mk/app.mk
MAXOPTIMIZATION = -Os
apps/systemcmds/reboot/Makefile
+2
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@@ -40,3 +40,5 @@ PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 2048
include $(APPDIR)/mk/app.mk
MAXOPTIMIZATION = -Os
apps/systemcmds/top/Makefile
+2
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@@ -40,3 +40,5 @@ PRIORITY = SCHED_PRIORITY_DEFAULT - 10
STACKSIZE = 3000
include $(APPDIR)/mk/app.mk
MAXOPTIMIZATION = -Os
apps/systemlib/mixer/mixer.h
+1
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@@ -418,6 +418,7 @@ public:
enum Geometry {
QUAD_X = 0, /**< quad in X configuration */
QUAD_PLUS, /**< quad in + configuration */
QUAD_V, /**< quad in V configuration */
HEX_X, /**< hex in X configuration */
HEX_PLUS, /**< hex in + configuration */
OCTA_X,
apps/systemlib/mixer/mixer_multirotor.cpp
+11
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@@ -82,6 +82,12 @@ const MultirotorMixer::Rotor _config_quad_plus[] = {
{ 0.000000, 1.000000, -1.00 },
{ -0.000000, -1.000000, -1.00 },
};
const MultirotorMixer::Rotor _config_quad_v[] = {
{ -0.927184, 0.374607, 1.00 },
{ 0.694658, -0.719340, 1.00 },
{ 0.927184, 0.374607, -1.00 },
{ -0.694658, -0.719340, -1.00 },
};
const MultirotorMixer::Rotor _config_hex_x[] = {
{ -1.000000, 0.000000, -1.00 },
{ 1.000000, 0.000000, 1.00 },
@@ -121,6 +127,7 @@ const MultirotorMixer::Rotor _config_octa_plus[] = {
const MultirotorMixer::Rotor *_config_index[MultirotorMixer::Geometry::MAX_GEOMETRY] = {
&_config_quad_x[0],
&_config_quad_plus[0],
&_config_quad_v[0],
&_config_hex_x[0],
&_config_hex_plus[0],
&_config_octa_x[0],
@@ -129,6 +136,7 @@ const MultirotorMixer::Rotor *_config_index[MultirotorMixer::Geometry::MAX_GEOME
const unsigned _config_rotor_count[MultirotorMixer::Geometry::MAX_GEOMETRY] = {
4, /* quad_x */
4, /* quad_plus */
4, /* quad_v */
6, /* hex_x */
6, /* hex_plus */
8, /* octa_x */
@@ -184,6 +192,9 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
} else if (!strcmp(geomname, "4x")) {
geometry = MultirotorMixer::QUAD_X;
} else if (!strcmp(geomname, "4v")) {
geometry = MultirotorMixer::QUAD_V;
} else if (!strcmp(geomname, "6+")) {
geometry = MultirotorMixer::HEX_PLUS;
apps/systemlib/mixer/multi_tables
+8 -1
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@@ -20,6 +20,13 @@ set quad_plus {
180 CW
}
set quad_v {
68 CCW
-136 CCW
-68 CW
136 CW
}
set hex_x {
90 CW
-90 CCW
@@ -60,7 +67,7 @@ set octa_plus {
90 CW
}
set tables {quad_x quad_plus hex_x hex_plus octa_x octa_plus}
set tables {quad_x quad_plus quad_v hex_x hex_plus octa_x octa_plus}
proc factors {a d} { puts [format "\t{ %9.6f, %9.6f, %5.2f }," [rcos [expr $a + 90]] [rcos $a] [expr -$d]]}
apps/uORB/topics/vehicle_gps_position.h
+20 -19
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@@ -55,38 +55,39 @@
*/
struct vehicle_gps_position_s
{
uint64_t timestamp_position; /**< Timestamp for position information */
int32_t lat; /**< Latitude in 1E7 degrees */
int32_t lon; /**< Longitude in 1E7 degrees */
int32_t alt; /**< Altitude in 1E3 meters (millimeters) above MSL */
uint64_t timestamp_position; /**< Timestamp for position information */
int32_t lat; /**< Latitude in 1E7 degrees */
int32_t lon; /**< Longitude in 1E7 degrees */
int32_t alt; /**< Altitude in 1E3 meters (millimeters) above MSL */
uint64_t timestamp_variance;
float s_variance_m_s; /**< speed accuracy estimate m/s */
float p_variance_m; /**< position accuracy estimate m */
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. */
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. */
float eph_m; /**< GPS HDOP horizontal dilution of position in m */
float epv_m; /**< GPS VDOP horizontal dilution of position in m */
float eph_m; /**< GPS HDOP horizontal dilution of position in m */
float epv_m; /**< GPS VDOP horizontal dilution of position in m */
uint64_t timestamp_velocity; /**< Timestamp for velocity informations */
float vel_m_s; /**< GPS ground speed (m/s) */
float vel_n_m_s; /**< GPS ground speed in m/s */
float vel_e_m_s; /**< GPS ground speed in m/s */
float vel_d_m_s; /**< GPS ground speed in m/s */
float cog_rad; /**< Course over ground (NOT heading, but direction of movement) in rad */
bool vel_ned_valid; /**< Flag to indicate if NED speed is valid */
uint64_t timestamp_velocity; /**< Timestamp for velocity informations */
float vel_m_s; /**< GPS ground speed (m/s) */
float vel_n_m_s; /**< GPS ground speed in m/s */
float vel_e_m_s; /**< GPS ground speed in m/s */
float vel_d_m_s; /**< GPS ground speed in m/s */
float cog_rad; /**< Course over ground (NOT heading, but direction of movement) in rad, -PI..PI */
bool vel_ned_valid; /**< Flag to indicate if NED speed is valid */
uint64_t timestamp_time; /**< Timestamp for time information */
uint64_t time_gps_usec; /**< Timestamp (microseconds in GPS format), this is the timestamp which comes from the gps module */
uint64_t timestamp_satellites; /**< Timestamp for sattelite information */
uint64_t timestamp_satellites; /**< Timestamp for sattelite information */
uint8_t satellites_visible; /**< Number of satellites visible. If unknown, set to 255 */
uint8_t satellite_prn[20]; /**< Global satellite ID */
uint8_t satellite_used[20]; /**< 0: Satellite not used, 1: used for localization */
uint8_t satellite_elevation[20]; /**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */
uint8_t satellite_azimuth[20]; /**< Direction of satellite, 0: 0 deg, 255: 360 deg. */
uint8_t satellite_elevation[20]; /**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */
uint8_t satellite_azimuth[20]; /**< Direction of satellite, 0: 0 deg, 255: 360 deg. */
uint8_t satellite_snr[20]; /**< Signal to noise ratio of satellite */
bool satellite_info_available; /**< 0 for no info, 1 for info available */
bool satellite_info_available; /**< 0 for no info, 1 for info available */
};
/**
nuttx/configs/px4fmu/include/board.h
+1
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@@ -326,6 +326,7 @@
*/
#define TONE_ALARM_TIMER 3 /* timer 3 */
#define TONE_ALARM_CHANNEL 3 /* channel 3 */
#define GPIO_TONE_ALARM_IDLE (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN8)
#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF2|GPIO_SPEED_2MHz|GPIO_FLOAT|GPIO_PUSHPULL|GPIO_PORTC|GPIO_PIN8)
/************************************************************************************
nuttx/configs/px4fmu/nsh/appconfig
+1
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@@ -124,6 +124,7 @@ CONFIGURED_APPS += drivers/blinkm
CONFIGURED_APPS += drivers/stm32/tone_alarm
CONFIGURED_APPS += drivers/stm32/adc
CONFIGURED_APPS += drivers/px4fmu
CONFIGURED_APPS += drivers/mkblctrl
CONFIGURED_APPS += drivers/hil
CONFIGURED_APPS += drivers/gps
CONFIGURED_APPS += drivers/mb12xx
nuttx/configs/px4io/common/Make.defs
+1 -2
View File
@@ -112,7 +112,6 @@ ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \
ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
ARCHOPTIMIZATION += -g
ARCHSCRIPT += -g
endif
ARCHCFLAGS = -std=gnu99
@@ -145,7 +144,7 @@ ARCHDEFINES =
ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10
# this seems to be the only way to add linker flags
ARCHSCRIPT += --warn-common \
EXTRA_LIBS += --warn-common \
--gc-sections
CFLAGS = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common