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

ROMFS/px4fmu_common/init.d/4008_ardrone

@@ -14,19 +14,20 @@ sh /etc/init.d/rc.mc_defaults
 if [ $DO_AUTOCONFIG == yes ]
 then
     # Set all params here, then disable autoconfig
-    param set MC_ROLL_P 5.0
-    param set MC_ROLLRATE_P 0.13
-    param set MC_ROLLRATE_I 0.0
-    param set MC_ROLLRATE_D 0.0
-    param set MC_PITCH_P 5.0
-    param set MC_PITCHRATE_P 0.13
-    param set MC_PITCHRATE_I 0.0
-    param set MC_PITCHRATE_D 0.0
-    param set MC_YAW_P 1.0
-    param set MC_YAWRATE_P 0.15
-    param set MC_YAWRATE_I 0.0
+    param set MC_ROLL_P 6.0
+    param set MC_ROLLRATE_P 0.14
+    param set MC_ROLLRATE_I 0.1
+    param set MC_ROLLRATE_D 0.002
+    param set MC_PITCH_P 6.0
+    param set MC_PITCHRATE_P 0.14
+    param set MC_PITCHRATE_I 0.1
+    param set MC_PITCHRATE_D 0.002
+    param set MC_YAW_P 2.0
+    param set MC_YAWRATE_P 0.2
+    param set MC_YAWRATE_I 0.2
     param set MC_YAWRATE_D 0.0
-    param set MC_YAW_FF 0.15
+    param set MC_YAW_FF 0.8
+    
     param set BAT_V_SCALING 0.00838095238
 fi
 

ROMFS/px4fmu_common/mixers/README

@@ -0,0 +1,154 @@
+PX4 mixer definitions
+=====================
+
+Files in this directory implement example mixers that can be used as a basis
+for customisation, or for general testing purposes.
+
+Mixer basics
+------------
+
+Mixers combine control values from various sources (control tasks, user inputs,
+etc.) and produce output values suitable for controlling actuators; servos,
+motors, switches and so on.
+
+An actuator derives its value from the combination of one or more control
+values. Each of the control values is scaled according to the actuator's
+configuration and then combined to produce the actuator value, which may then be
+further scaled to suit the specific output type.
+
+Internally, all scaling is performed using floating point values. Inputs and
+outputs are clamped to the range -1.0 to 1.0.
+
+control    control   control
+   |          |         |
+   v          v         v
+ scale      scale     scale
+   |          |         |
+   |          v         |
+   +-------> mix <------+
+              |
+            scale
+              |
+              v
+             out
+
+Scaling
+-------
+
+Basic scalers provide linear scaling of the input to the output.
+
+Each scaler allows the input value to be scaled independently for inputs
+greater/less than zero. An offset can be applied to the output, and lower and
+upper boundary constraints can be applied. Negative scaling factors cause the
+output to be inverted (negative input produces positive output).
+
+Scaler pseudocode:
+
+if (input < 0)
+    output = (input * NEGATIVE_SCALE) + OFFSET
+else
+    output = (input * POSITIVE_SCALE) + OFFSET
+
+if (output < LOWER_LIMIT)
+    output = LOWER_LIMIT
+if (output > UPPER_LIMIT)
+    output = UPPER_LIMIT
+
+Syntax
+------
+
+Mixer definitions are text files; lines beginning with a single capital letter
+followed by a colon are significant. All other lines are ignored, meaning that
+explanatory text can be freely mixed with the definitions.
+
+Each file may define more than one mixer; the allocation of mixers to actuators
+is specific to the device reading the mixer definition, and the number of
+actuator outputs generated by a mixer is specific to the mixer.
+
+A mixer begins with a line of the form
+
+	<tag>: <mixer arguments>
+
+The tag selects the mixer type; 'M' for a simple summing mixer, 'R' for a 
+multirotor mixer, etc.
+
+Null Mixer
+..........
+
+A null mixer consumes no controls and generates a single actuator output whose
+value is always zero.  Typically a null mixer is used as a placeholder in a
+collection of mixers in order to achieve a specific pattern of actuator outputs.
+
+The null mixer definition has the form:
+
+  Z:
+
+Simple Mixer
+............
+
+A simple mixer combines zero or more control inputs into a single actuator
+output.  Inputs are scaled, and the mixing function sums the result before
+applying an output scaler.
+
+A simple mixer definition begins with:
+
+  M: <control count>
+  O: <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
+
+If <control count> is zero, the sum is effectively zero and the mixer will
+output a fixed value that is <offset> constrained by <lower limit> and <upper
+limit>.
+
+The second line defines the output scaler with scaler parameters as discussed
+above. Whilst the calculations are performed as floating-point operations, the
+values stored in the definition file are scaled by a factor of 10000; i.e. an
+offset of -0.5 is encoded as -5000.
+
+The definition continues with <control count> entries describing the control
+inputs and their scaling, in the form:
+
+  S: <group> <index> <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
+
+The <group> value identifies the control group from which the scaler will read,
+and the <index> value an offset within that group.  These values are specific to
+the device reading the mixer definition.
+
+When used to mix vehicle controls, mixer group zero is the vehicle attitude
+control group, and index values zero through three are normally roll, pitch,
+yaw and thrust respectively.
+
+The remaining fields on the line configure the control scaler with parameters as
+discussed above. Whilst the calculations are performed as floating-point
+operations, the values stored in the definition file are scaled by a factor of
+10000; i.e. an offset of -0.5 is encoded as -5000.
+
+Multirotor Mixer
+................
+
+The multirotor mixer combines four control inputs (roll, pitch, yaw, thrust)
+into a set of actuator outputs intended to drive motor speed controllers.
+
+The mixer definition is a single line of the form:
+
+R: <geometry> <roll scale> <pitch scale> <yaw scale> <deadband>
+
+The supported geometries include:
+
+  4x - quadrotor in X configuration
+  4+ - quadrotor in + configuration
+  6x - hexcopter in X configuration
+  6+ - hexcopter in + configuration
+  8x - octocopter in X configuration
+  8+ - octocopter in + configuration
+  
+Each of the roll, pitch and yaw scale values determine scaling of the roll,
+pitch and yaw controls relative to the thrust control.  Whilst the calculations
+are performed as floating-point operations, the values stored in the definition
+file are scaled by a factor of 10000; i.e. an factor of 0.5 is encoded as 5000.
+
+Roll, pitch and yaw inputs are expected to range from -1.0 to 1.0, whilst the
+thrust input ranges from 0.0 to 1.0.  Output for each actuator is in the 
+range -1.0 to 1.0.
+
+In the case where an actuator saturates, all actuator values are rescaled so that 
+the saturating actuator is limited to 1.0.

nuttx-configs/px4fmu-v1/nsh/defconfig

@@ -504,8 +504,8 @@ CONFIG_MTD_BYTE_WRITE=y
 #
 # USART1 Configuration
 #
-CONFIG_USART1_RXBUFSIZE=256
-CONFIG_USART1_TXBUFSIZE=128
+CONFIG_USART1_RXBUFSIZE=300
+CONFIG_USART1_TXBUFSIZE=300
 CONFIG_USART1_BAUD=57600
 CONFIG_USART1_BITS=8
 CONFIG_USART1_PARITY=0
@@ -528,8 +528,8 @@ CONFIG_USART2_OFLOWCONTROL=y
 #
 # UART5 Configuration
 #
-CONFIG_UART5_RXBUFSIZE=256
-CONFIG_UART5_TXBUFSIZE=128
+CONFIG_UART5_RXBUFSIZE=300
+CONFIG_UART5_TXBUFSIZE=300
 CONFIG_UART5_BAUD=57600
 CONFIG_UART5_BITS=8
 CONFIG_UART5_PARITY=0

nuttx-configs/px4fmu-v2/include/board.h

@@ -268,6 +268,10 @@
 #define GPIO_SPI2_MOSI	(GPIO_SPI2_MOSI_1|GPIO_SPEED_50MHz)
 #define GPIO_SPI2_SCK	(GPIO_SPI2_SCK_2|GPIO_SPEED_50MHz)
 
+#define GPIO_SPI4_MISO	(GPIO_SPI4_MISO_1|GPIO_SPEED_50MHz)
+#define GPIO_SPI4_MOSI	(GPIO_SPI4_MOSI_1|GPIO_SPEED_50MHz)
+#define GPIO_SPI4_SCK	(GPIO_SPI4_SCK_1|GPIO_SPEED_50MHz)
+
 /************************************************************************************
  * Public Data
  ************************************************************************************/

nuttx-configs/px4fmu-v2/nsh/defconfig

@@ -235,7 +235,7 @@ CONFIG_STM32_SDIO=y
 CONFIG_STM32_SPI1=y
 CONFIG_STM32_SPI2=y
 # CONFIG_STM32_SPI3 is not set
-# CONFIG_STM32_SPI4 is not set
+CONFIG_STM32_SPI4=y
 # CONFIG_STM32_SPI5 is not set
 # CONFIG_STM32_SPI6 is not set
 CONFIG_STM32_SYSCFG=y

src/drivers/boards/px4fmu-v1/board_config.h

@@ -86,6 +86,7 @@ __BEGIN_DECLS
 #define GPIO_SPI_CS_SDCARD	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
 
 #define PX4_SPI_BUS_SENSORS	1
+#define PX4_SPI_BUS_EXT		2
 
 /*
  * Use these in place of the spi_dev_e enumeration to
@@ -98,7 +99,7 @@ __BEGIN_DECLS
 /*
  * Optional devices on IO's external port
  */
-#define PX4_SPIDEV_ACCEL_MAG 2
+#define PX4_SPIDEV_ACCEL_MAG	2
 
 /*
  * I2C busses

src/drivers/boards/px4fmu-v2/board_config.h

@@ -106,8 +106,11 @@ __BEGIN_DECLS
 #define GPIO_SPI_CS_BARO	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
 #define GPIO_SPI_CS_FRAM	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
 #define GPIO_SPI_CS_MPU		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
+#define GPIO_SPI_CS_EXT0	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4)
+#define GPIO_SPI_CS_EXT1	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN14)
 
 #define PX4_SPI_BUS_SENSORS	1
+#define PX4_SPI_BUS_EXT		4
 
 /* Use these in place of the spi_dev_e enumeration to select a specific SPI device on SPI1 */
 #define PX4_SPIDEV_GYRO		1
@@ -115,6 +118,10 @@ __BEGIN_DECLS
 #define PX4_SPIDEV_BARO		3
 #define PX4_SPIDEV_MPU		4
 
+/* External bus */
+#define PX4_SPIDEV_EXT0		1
+#define PX4_SPIDEV_EXT1		2
+
 /* I2C busses */
 #define PX4_I2C_BUS_EXPANSION	1
 #define PX4_I2C_BUS_LED		2

src/drivers/boards/px4fmu-v2/px4fmu2_init.c

@@ -192,6 +192,7 @@ stm32_boardinitialize(void)
 
 static struct spi_dev_s *spi1;
 static struct spi_dev_s *spi2;
+static struct spi_dev_s *spi4;
 static struct sdio_dev_s *sdio;
 
 #include <math.h>
@@ -305,6 +306,17 @@ __EXPORT int nsh_archinitialize(void)
 
 	message("[boot] Initialized SPI port 2 (RAMTRON FRAM)\n");
 
+	spi4 = up_spiinitialize(4);
+
+	/* Default SPI4 to 1MHz and de-assert the known chip selects. */
+	SPI_SETFREQUENCY(spi4, 10000000);
+	SPI_SETBITS(spi4, 8);
+	SPI_SETMODE(spi4, SPIDEV_MODE3);
+	SPI_SELECT(spi4, PX4_SPIDEV_EXT0, false);
+	SPI_SELECT(spi4, PX4_SPIDEV_EXT1, false);
+
+	message("[boot] Initialized SPI port 4\n");
+
 	#ifdef CONFIG_MMCSD
 	/* First, get an instance of the SDIO interface */
 

src/drivers/boards/px4fmu-v2/px4fmu_spi.c

@@ -94,6 +94,13 @@ __EXPORT void weak_function stm32_spiinitialize(void)
 	stm32_configgpio(GPIO_SPI_CS_FRAM);
 	stm32_gpiowrite(GPIO_SPI_CS_FRAM, 1);
 #endif
+
+#ifdef CONFIG_STM32_SPI4
+	stm32_configgpio(GPIO_SPI_CS_EXT0);
+	stm32_configgpio(GPIO_SPI_CS_EXT1);
+	stm32_gpiowrite(GPIO_SPI_CS_EXT0, 1);
+	stm32_gpiowrite(GPIO_SPI_CS_EXT1, 1);
+#endif
 }
 
 __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
@@ -157,3 +164,31 @@ __EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devi
 	return SPI_STATUS_PRESENT;
 }
 #endif
+
+__EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
+{
+	/* SPI select is active low, so write !selected to select the device */
+
+	switch (devid) {
+	case PX4_SPIDEV_EXT0:
+		/* Making sure the other peripherals are not selected */
+		stm32_gpiowrite(GPIO_SPI_CS_EXT0, !selected);
+		stm32_gpiowrite(GPIO_SPI_CS_EXT1, 1);
+		break;
+
+	case PX4_SPIDEV_EXT1:
+		/* Making sure the other peripherals are not selected */
+		stm32_gpiowrite(GPIO_SPI_CS_EXT1, !selected);
+		stm32_gpiowrite(GPIO_SPI_CS_EXT0, 1);
+		break;
+
+	default:
+		break;
+
+	}
+}
+
+__EXPORT uint8_t stm32_spi4status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
+{
+	return SPI_STATUS_PRESENT;
+}

src/modules/ekf_att_pos_estimator/estimator.cpp

@@ -5,7 +5,7 @@
 // Define EKF_DEBUG here to enable the debug print calls
 // if the macro is not set, these will be completely
 // optimized out by the compiler.
-#define EKF_DEBUG
+//#define EKF_DEBUG
 
 #ifdef EKF_DEBUG
 #include <stdio.h>

src/modules/mavlink/mavlink_main.cpp

@@ -415,7 +415,7 @@ Mavlink::instance_exists(const char *device_name, Mavlink *self)
 void
 Mavlink::forward_message(mavlink_message_t *msg, Mavlink *self)
 {
-	
+
 	Mavlink *inst;
 	LL_FOREACH(_mavlink_instances, inst) {
 		if (inst != self) {
@@ -886,7 +886,7 @@ int Mavlink::map_mavlink_mission_item_to_mission_item(const mavlink_mission_item
 
 	switch (mavlink_mission_item->command) {
 	case MAV_CMD_NAV_TAKEOFF:
-		mission_item->pitch_min = mavlink_mission_item->param2;
+		mission_item->pitch_min = mavlink_mission_item->param1;
 		break;
 
 	default:

src/modules/navigator/mission_feasibility_checker.cpp

@@ -63,7 +63,7 @@ MissionFeasibilityChecker::MissionFeasibilityChecker() : _mavlink_fd(-1), _capab
 }
 
 
-bool MissionFeasibilityChecker::checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence)
+bool MissionFeasibilityChecker::checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt)
 {
 	/* Init if not done yet */
 	init();
@@ -76,24 +76,24 @@ bool MissionFeasibilityChecker::checkMissionFeasible(bool isRotarywing, dm_item_
 
 
 	if (isRotarywing)
-		return checkMissionFeasibleRotarywing(dm_current, nMissionItems, geofence);
+		return checkMissionFeasibleRotarywing(dm_current, nMissionItems, geofence, home_alt);
 	else
-		return checkMissionFeasibleFixedwing(dm_current, nMissionItems, geofence);
+		return checkMissionFeasibleFixedwing(dm_current, nMissionItems, geofence, home_alt);
 }
 
-bool MissionFeasibilityChecker::checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence)
+bool MissionFeasibilityChecker::checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt)
 {
 
-	return checkGeofence(dm_current, nMissionItems, geofence);
+	return  (checkGeofence(dm_current, nMissionItems, geofence) && checkHomePositionAltitude(dm_current, nMissionItems, home_alt));
 }
 
-bool MissionFeasibilityChecker::checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence)
+bool MissionFeasibilityChecker::checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt)
 {
 	/* Update fixed wing navigation capabilites */
 	updateNavigationCapabilities();
 //	warnx("_nav_caps.landing_slope_angle_rad %.4f, _nav_caps.landing_horizontal_slope_displacement %.4f", _nav_caps.landing_slope_angle_rad, _nav_caps.landing_horizontal_slope_displacement);
 
-	return (checkFixedWingLanding(dm_current, nMissionItems) && checkGeofence(dm_current, nMissionItems, geofence));
+	return (checkFixedWingLanding(dm_current, nMissionItems) && checkGeofence(dm_current, nMissionItems, geofence) && checkHomePositionAltitude(dm_current, nMissionItems, home_alt));
 }
 
 bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence)
@@ -109,7 +109,7 @@ bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMiss
 				return false;
 			}
 
-			if (!geofence.inside(missionitem.lat, missionitem.lon, missionitem.altitude)) { //xxx: handle relative altitude
+			if (!geofence.inside(missionitem.lat, missionitem.lon, missionitem.altitude)) {
 				mavlink_log_info(_mavlink_fd, "#audio: Geofence violation waypoint %d", i);
 				return false;
 			}
@@ -119,6 +119,36 @@ bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMiss
 	return true;
 }
 
+bool MissionFeasibilityChecker::checkHomePositionAltitude(dm_item_t dm_current, size_t nMissionItems, float home_alt, bool throw_error)
+{
+	/* Check if all all waypoints are above the home altitude, only return false if bool throw_error = true */
+	for (size_t i = 0; i < nMissionItems; i++) {
+		static struct mission_item_s missionitem;
+		const ssize_t len = sizeof(struct mission_item_s);
+
+		if (dm_read(dm_current, i, &missionitem, len) != len) {
+			/* not supposed to happen unless the datamanager can't access the SD card, etc. */
+			if (throw_error) {
+				return false;
+			} else	{
+				return true;
+			}
+		}
+
+		if (home_alt > missionitem.altitude) {
+			if (throw_error) {
+				mavlink_log_info(_mavlink_fd, "Waypoint %d below home", i);
+				return false;
+			} else	{
+				mavlink_log_info(_mavlink_fd, "#audio: warning waypoint %d below home", i);
+				return true;
+			}
+		}
+	}
+
+	return true;
+}
+
 bool MissionFeasibilityChecker::checkFixedWingLanding(dm_item_t dm_current, size_t nMissionItems)
 {
 	/* Go through all mission items and search for a landing waypoint

src/modules/navigator/mission_feasibility_checker.h

@@ -61,14 +61,15 @@ private:
 
 	/* Checks for all airframes */
 	bool checkGeofence(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence);
+	bool checkHomePositionAltitude(dm_item_t dm_current, size_t nMissionItems, float home_alt, bool throw_error = false);
 
 	/* Checks specific to fixedwing airframes */
-	bool checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence);
+	bool checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt);
 	bool checkFixedWingLanding(dm_item_t dm_current, size_t nMissionItems);
 	void updateNavigationCapabilities();
 
 	/* Checks specific to rotarywing airframes */
-	bool checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence);
+	bool checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt);
 public:
 
 	MissionFeasibilityChecker();
@@ -77,7 +78,7 @@ public:
 	/*
 	 * Returns true if mission is feasible and false otherwise
 	 */
-	bool checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence);
+	bool checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt);
 
 };
 

src/modules/navigator/navigator_main.cpp

@@ -519,7 +519,7 @@ Navigator::offboard_mission_update(bool isrotaryWing)
 			dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1;
 		}
 
-		missionFeasiblityChecker.checkMissionFeasible(isrotaryWing, dm_current, (size_t)offboard_mission.count, _geofence);
+		missionFeasiblityChecker.checkMissionFeasible(isrotaryWing, dm_current, (size_t)offboard_mission.count, _geofence, _home_pos.alt);
 
 		_mission.set_offboard_dataman_id(offboard_mission.dataman_id);