Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-22 22:32:11 +08:00
Code Issues Actions 7 Packages Projects Releases Wiki Activity

Merged stack size changes

Browse Source
This commit is contained in:
Lorenz Meier
2014-03-10 19:06:54 +01:00
parent 7de6513950 368c2390cf
commit a6d9b7e864
13 changed files with 190 additions and 51 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Tools/px_romfs_pruner.py
+83
View File
@@ -0,0 +1,83 @@
#!/usr/bin/env python
############################################################################
#
# Copyright (C) 2014 PX4 Development Team. All rights reserved.
# Author: Julian Oes <joes@student.ethz.ch>
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
"""
px_romfs_pruner.py:
Delete all comments and newlines before ROMFS is converted to an image
"""
from __future__ import print_function
import argparse
import os
def main():
# Parse commandline arguments
parser = argparse.ArgumentParser(description="ROMFS pruner.")
parser.add_argument('--folder', action="store", help="ROMFS scratch folder.")
args = parser.parse_args()
print("Pruning ROMFS files.")
# go through
for (root, dirs, files) in os.walk(args.folder):
for file in files:
# only prune text files
if ".zip" in file or ".bin" in file:
continue
file_path = os.path.join(root, file)
# read file line by line
pruned_content = ""
with open(file_path, "r") as f:
for line in f:
# handle mixer files differently than startup files
if file_path.endswith(".mix"):
if line.startswith(("Z:", "M:", "R: ", "O:", "S:")):
pruned_content += line
else:
if not line.isspace() and not line.strip().startswith("#"):
pruned_content += line
# overwrite old scratch file
with open(file_path, "w") as f:
f.write(pruned_content)
if __name__ == '__main__':
main()
makefiles/firmware.mk
+4
View File
@@ -355,6 +355,9 @@ ROMFS_OBJ = $(ROMFS_CSRC:.c=.o)
LIBS += $(ROMFS_OBJ)
LINK_DEPS += $(ROMFS_OBJ)
# Remove all comments from startup and mixer files
ROMFS_PRUNER = $(PX4_BASE)/Tools/px_romfs_pruner.py
# Turn the ROMFS image into an object file
$(ROMFS_OBJ): $(ROMFS_IMG) $(GLOBAL_DEPS)
$(call BIN_TO_OBJ,$<,$@,romfs_img)
@@ -372,6 +375,7 @@ ifneq ($(ROMFS_EXTRA_FILES),)
$(Q) $(MKDIR) -p $(ROMFS_SCRATCH)/extras
$(Q) $(COPY) $(ROMFS_EXTRA_FILES) $(ROMFS_SCRATCH)/extras
endif
$(Q) $(PYTHON) -u $(ROMFS_PRUNER) --folder $(ROMFS_SCRATCH)
EXTRA_CLEANS += $(ROMGS_OBJ) $(ROMFS_IMG)
nuttx-configs/px4fmu-v1/nsh/defconfig
+3 -3
View File
@@ -417,7 +417,7 @@ CONFIG_PREALLOC_TIMERS=50
#
# Stack and heap information
#
CONFIG_IDLETHREAD_STACKSIZE=6000
CONFIG_IDLETHREAD_STACKSIZE=4096
CONFIG_USERMAIN_STACKSIZE=4096
CONFIG_PTHREAD_STACK_MIN=512
CONFIG_PTHREAD_STACK_DEFAULT=2048
@@ -720,11 +720,11 @@ CONFIG_SCHED_WORKQUEUE=y
CONFIG_SCHED_HPWORK=y
CONFIG_SCHED_WORKPRIORITY=192
CONFIG_SCHED_WORKPERIOD=5000
CONFIG_SCHED_WORKSTACKSIZE=2000
CONFIG_SCHED_WORKSTACKSIZE=2048
CONFIG_SCHED_LPWORK=y
CONFIG_SCHED_LPWORKPRIORITY=50
CONFIG_SCHED_LPWORKPERIOD=50000
CONFIG_SCHED_LPWORKSTACKSIZE=2000
CONFIG_SCHED_LPWORKSTACKSIZE=2048
# CONFIG_LIB_KBDCODEC is not set
# CONFIG_LIB_SLCDCODEC is not set
src/lib/launchdetection/CatapultLaunchMethod.cpp
+9 -8
View File
@@ -41,12 +41,16 @@
#include "CatapultLaunchMethod.h"
#include <systemlib/err.h>
CatapultLaunchMethod::CatapultLaunchMethod() :
namespace launchdetection
{
CatapultLaunchMethod::CatapultLaunchMethod(SuperBlock *parent) :
SuperBlock(parent, "CAT"),
last_timestamp(hrt_absolute_time()),
integrator(0.0f),
launchDetected(false),
threshold_accel(NULL, "LAUN_CAT_A", false),
threshold_time(NULL, "LAUN_CAT_T", false)
threshold_accel(this, "A"),
threshold_time(this, "T")
{
}
@@ -83,14 +87,11 @@ bool CatapultLaunchMethod::getLaunchDetected()
return launchDetected;
}
void CatapultLaunchMethod::updateParams()
{
threshold_accel.update();
threshold_time.update();
}
void CatapultLaunchMethod::reset()
{
integrator = 0.0f;
launchDetected = false;
}
}
src/lib/launchdetection/CatapultLaunchMethod.h
+8 -3
View File
@@ -44,17 +44,20 @@
#include "LaunchMethod.h"
#include <drivers/drv_hrt.h>
#include <controllib/blocks.hpp>
#include <controllib/block/BlockParam.hpp>
class CatapultLaunchMethod : public LaunchMethod
namespace launchdetection
{
class CatapultLaunchMethod : public LaunchMethod, public control::SuperBlock
{
public:
CatapultLaunchMethod();
CatapultLaunchMethod(SuperBlock *parent);
~CatapultLaunchMethod();
void update(float accel_x);
bool getLaunchDetected();
void updateParams();
void reset();
private:
@@ -68,3 +71,5 @@ private:
};
#endif /* CATAPULTLAUNCHMETHOD_H_ */
}
src/lib/launchdetection/LaunchDetector.cpp
+7 -11
View File
@@ -42,12 +42,16 @@
#include "CatapultLaunchMethod.h"
#include <systemlib/err.h>
namespace launchdetection
{
LaunchDetector::LaunchDetector() :
launchdetection_on(NULL, "LAUN_ALL_ON", false),
throttlePreTakeoff(NULL, "LAUN_THR_PRE", false)
SuperBlock(NULL, "LAUN"),
launchdetection_on(this, "ALL_ON"),
throttlePreTakeoff(this, "THR_PRE")
{
/* init all detectors */
launchMethods[0] = new CatapultLaunchMethod();
launchMethods[0] = new CatapultLaunchMethod(this);
/* update all parameters of all detectors */
@@ -87,12 +91,4 @@ bool LaunchDetector::getLaunchDetected()
return false;
}
void LaunchDetector::updateParams() {
launchdetection_on.update();
throttlePreTakeoff.update();
for (uint8_t i = 0; i < sizeof(launchMethods)/sizeof(LaunchMethod); i++) {
launchMethods[i]->updateParams();
}
}
src/lib/launchdetection/LaunchDetector.h
+6 -3
View File
@@ -45,10 +45,13 @@
#include <stdint.h>
#include "LaunchMethod.h"
#include <controllib/blocks.hpp>
#include <controllib/block/BlockParam.hpp>
class __EXPORT LaunchDetector
namespace launchdetection
{
class __EXPORT LaunchDetector : public control::SuperBlock
{
public:
LaunchDetector();
@@ -57,7 +60,6 @@ public:
void update(float accel_x);
bool getLaunchDetected();
void updateParams();
bool launchDetectionEnabled() { return (bool)launchdetection_on.get(); };
float getThrottlePreTakeoff() {return throttlePreTakeoff.get(); }
@@ -72,5 +74,6 @@ private:
};
}
#endif // LAUNCHDETECTOR_H
src/lib/launchdetection/LaunchMethod.h
+6 -1
View File
@@ -41,15 +41,20 @@
#ifndef LAUNCHMETHOD_H_
#define LAUNCHMETHOD_H_
namespace launchdetection
{
class LaunchMethod
{
public:
virtual void update(float accel_x) = 0;
virtual bool getLaunchDetected() = 0;
virtual void updateParams() = 0;
virtual void reset() = 0;
protected:
private:
};
}
#endif /* LAUNCHMETHOD_H_ */
src/modules/fw_att_control/fw_att_control_main.cpp
+45 -11
View File
@@ -166,6 +166,15 @@ private:
float airspeed_min;
float airspeed_trim;
float airspeed_max;
float trim_roll;
float trim_pitch;
float trim_yaw;
float rollsp_offset_deg; /**< Roll Setpoint Offset in deg */
float pitchsp_offset_deg; /**< Pitch Setpoint Offset in deg */
float rollsp_offset_rad; /**< Roll Setpoint Offset in rad */
float pitchsp_offset_rad; /**< Pitch Setpoint Offset in rad */
} _parameters; /**< local copies of interesting parameters */
struct {
@@ -197,6 +206,12 @@ private:
param_t airspeed_min;
param_t airspeed_trim;
param_t airspeed_max;
param_t trim_roll;
param_t trim_pitch;
param_t trim_yaw;
param_t rollsp_offset_deg;
param_t pitchsp_offset_deg;
} _parameter_handles; /**< handles for interesting parameters */
@@ -335,6 +350,12 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
_parameter_handles.y_coordinated_min_speed = param_find("FW_YCO_VMIN");
_parameter_handles.trim_roll = param_find("TRIM_ROLL");
_parameter_handles.trim_pitch = param_find("TRIM_PITCH");
_parameter_handles.trim_yaw = param_find("TRIM_YAW");
_parameter_handles.rollsp_offset_deg = param_find("FW_RSP_OFF");
_parameter_handles.pitchsp_offset_deg = param_find("FW_PSP_OFF");
/* fetch initial parameter values */
parameters_update();
}
@@ -395,6 +416,15 @@ FixedwingAttitudeControl::parameters_update()
param_get(_parameter_handles.airspeed_trim, &(_parameters.airspeed_trim));
param_get(_parameter_handles.airspeed_max, &(_parameters.airspeed_max));
param_get(_parameter_handles.trim_roll, &(_parameters.trim_roll));
param_get(_parameter_handles.trim_pitch, &(_parameters.trim_pitch));
param_get(_parameter_handles.trim_yaw, &(_parameters.trim_yaw));
param_get(_parameter_handles.rollsp_offset_deg, &(_parameters.rollsp_offset_deg));
param_get(_parameter_handles.pitchsp_offset_deg, &(_parameters.pitchsp_offset_deg));
_parameters.rollsp_offset_rad = math::radians(_parameters.rollsp_offset_deg);
_parameters.pitchsp_offset_rad = math::radians(_parameters.pitchsp_offset_deg);
/* pitch control parameters */
_pitch_ctrl.set_time_constant(_parameters.tconst);
_pitch_ctrl.set_k_p(_parameters.p_p);
@@ -648,13 +678,13 @@ FixedwingAttitudeControl::task_main()
float airspeed_scaling = _parameters.airspeed_trim / airspeed;
//warnx("aspd scale: %6.2f act scale: %6.2f", airspeed_scaling, actuator_scaling);
float roll_sp = 0.0f;
float pitch_sp = 0.0f;
float roll_sp = _parameters.rollsp_offset_rad;
float pitch_sp = _parameters.pitchsp_offset_rad;
float throttle_sp = 0.0f;
if (_vcontrol_mode.flag_control_velocity_enabled || _vcontrol_mode.flag_control_position_enabled) {
roll_sp = _att_sp.roll_body;
pitch_sp = _att_sp.pitch_body;
roll_sp = _att_sp.roll_body + _parameters.rollsp_offset_rad;
pitch_sp = _att_sp.pitch_body + _parameters.pitchsp_offset_rad;
throttle_sp = _att_sp.thrust;
/* reset integrals where needed */
@@ -670,9 +700,13 @@ FixedwingAttitudeControl::task_main()
* With this mapping the stick angle is a 1:1 representation of
* the commanded attitude. If more than 45 degrees are desired,
* a scaling parameter can be applied to the remote.
*
* The trim gets subtracted here from the manual setpoint to get
* the intended attitude setpoint. Later, after the rate control step the
* trim is added again to the control signal.
*/
roll_sp = _manual.roll * 0.75f;
pitch_sp = _manual.pitch * 0.75f;
roll_sp = (_manual.roll - _parameters.trim_roll) * 0.75f + _parameters.rollsp_offset_rad;
pitch_sp = (_manual.pitch - _parameters.trim_pitch) * 0.75f + _parameters.pitchsp_offset_rad;
throttle_sp = _manual.throttle;
_actuators.control[4] = _manual.flaps;
@@ -685,7 +719,7 @@ FixedwingAttitudeControl::task_main()
att_sp.timestamp = hrt_absolute_time();
att_sp.roll_body = roll_sp;
att_sp.pitch_body = pitch_sp;
att_sp.yaw_body = 0.0f;
att_sp.yaw_body = 0.0f - _parameters.trim_yaw;
att_sp.thrust = throttle_sp;
/* lazily publish the setpoint only once available */
@@ -719,12 +753,12 @@ FixedwingAttitudeControl::task_main()
speed_body_u, speed_body_v, speed_body_w,
_roll_ctrl.get_desired_rate(), _pitch_ctrl.get_desired_rate()); //runs last, because is depending on output of roll and pitch attitude
/* Run attitude RATE controllers which need the desired attitudes from above */
/* Run attitude RATE controllers which need the desired attitudes from above, add trim */
float roll_u = _roll_ctrl.control_bodyrate(_att.pitch,
_att.rollspeed, _att.yawspeed,
_yaw_ctrl.get_desired_rate(),
_parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator);
_actuators.control[0] = (isfinite(roll_u)) ? roll_u : 0.0f;
_actuators.control[0] = (isfinite(roll_u)) ? roll_u + _parameters.trim_roll : _parameters.trim_roll;
if (!isfinite(roll_u)) {
warnx("roll_u %.4f", roll_u);
}
@@ -733,7 +767,7 @@ FixedwingAttitudeControl::task_main()
_att.pitchspeed, _att.yawspeed,
_yaw_ctrl.get_desired_rate(),
_parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator);
_actuators.control[1] = (isfinite(pitch_u)) ? pitch_u : 0.0f;
_actuators.control[1] = (isfinite(pitch_u)) ? pitch_u + _parameters.trim_pitch : _parameters.trim_pitch;
if (!isfinite(pitch_u)) {
warnx("pitch_u %.4f, _yaw_ctrl.get_desired_rate() %.4f, airspeed %.4f, airspeed_scaling %.4f, roll_sp %.4f, pitch_sp %.4f, _roll_ctrl.get_desired_rate() %.4f, _pitch_ctrl.get_desired_rate() %.4f att_sp.roll_body %.4f",
pitch_u, _yaw_ctrl.get_desired_rate(), airspeed, airspeed_scaling, roll_sp, pitch_sp, _roll_ctrl.get_desired_rate(), _pitch_ctrl.get_desired_rate(), _att_sp.roll_body);
@@ -743,7 +777,7 @@ FixedwingAttitudeControl::task_main()
_att.pitchspeed, _att.yawspeed,
_pitch_ctrl.get_desired_rate(),
_parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator);
_actuators.control[2] = (isfinite(yaw_u)) ? yaw_u : 0.0f;
_actuators.control[2] = (isfinite(yaw_u)) ? yaw_u + _parameters.trim_yaw : _parameters.trim_yaw;
if (!isfinite(yaw_u)) {
warnx("yaw_u %.4f", yaw_u);
}
src/modules/fw_att_control/fw_att_control_params.c
+10
View File
@@ -176,3 +176,13 @@ PARAM_DEFINE_FLOAT(FW_AIRSPD_TRIM, 20.0f);
// @Description If the airspeed is above this value the TECS controller will try to decrease airspeed more aggressively
// @Range 0.0 to 30
PARAM_DEFINE_FLOAT(FW_AIRSPD_MAX, 50.0f);
// @DisplayName Roll Setpoint Offset
// @Description An airframe specific offset of the roll setpoint in degrees, the value is added to the roll setpoint and should correspond to the typical cruise speed of the airframe
// @Range -90.0 to 90.0
PARAM_DEFINE_FLOAT(FW_RSP_OFF, 0.0f);
// @DisplayName Pitch Setpoint Offset
// @Description An airframe specific offset of the pitch setpoint in degrees, the value is added to the pitch setpoint and should correspond to the typical cruise speed of the airframe
// @Range -90.0 to 90.0
PARAM_DEFINE_FLOAT(FW_PSP_OFF, 0.0f);
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+2 -1
View File
@@ -186,7 +186,7 @@ private:
float target_bearing;
/* Launch detection */
LaunchDetector launchDetector;
launchdetection::LaunchDetector launchDetector;
/* throttle and airspeed states */
float _airspeed_error; ///< airspeed error to setpoint in m/s
@@ -989,6 +989,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
} else {
/* no takeoff detection --> fly */
launch_detected = true;
warnx("launchdetection off");
}
}
src/modules/navigator/geofence.cpp
+4 -7
View File
@@ -55,11 +55,13 @@
#endif
static const int ERROR = -1;
Geofence::Geofence() : _fence_pub(-1),
Geofence::Geofence() :
SuperBlock(NULL, "GF"),
_fence_pub(-1),
_altitude_min(0),
_altitude_max(0),
_verticesCount(0),
param_geofence_on(NULL, "GF_ON", false)
param_geofence_on(this, "ON")
{
/* Load initial params */
updateParams();
@@ -292,8 +294,3 @@ int Geofence::clearDm()
{
dm_clear(DM_KEY_FENCE_POINTS);
}
void Geofence::updateParams()
{
param_geofence_on.update();
}
src/modules/navigator/geofence.h
+3 -3
View File
@@ -41,11 +41,13 @@
#define GEOFENCE_H_
#include <uORB/topics/fence.h>
#include <controllib/blocks.hpp>
#include <controllib/block/BlockParam.hpp>
#define GEOFENCE_FILENAME "/fs/microsd/etc/geofence.txt"
class Geofence {
class Geofence : public control::SuperBlock
{
private:
orb_advert_t _fence_pub; /**< publish fence topic */
@@ -85,8 +87,6 @@ public:
int loadFromFile(const char *filename);
bool isEmpty() {return _verticesCount == 0;}
void updateParams();
};