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Porting to new param interface, updated mixers

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This commit is contained in:
Lorenz Meier
2012-08-20 23:52:13 +02:00
parent df07ff8056
commit d1261e227c
9 changed files with 175 additions and 23 deletions
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ROMFS/Makefile
+3 -1
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@@ -25,7 +25,9 @@ ROMFS_FSSPEC := $(SRCROOT)/scripts/rcS~init.d/rcS \
$(SRCROOT)/mixers/FMU_delta.mix~mixers/FMU_delta.mix \
$(SRCROOT)/mixers/FMU_AERT.mix~mixers/FMU_AERT.mix \
$(SRCROOT)/mixers/FMU_AET.mix~mixers/FMU_AET.mix \
$(SRCROOT)/mixers/FMU_RET.mix~mixers/FMU_ERT.mix
$(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
#
# Add the PX4IO firmware to the spec if someone has dropped it into the
ROMFS/mixers/FMU_quad_+.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 + configuration, with 10% contribution from
roll and pitch and 20% contribution from yaw and no deadband.
R: 4+ 1000 1000 2000 0
ROMFS/mixers/FMU_quad_x.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 X configuration, with 10% contribution from
roll and pitch and 20% contribution from yaw and no deadband.
R: 4x 1000 1000 2000 0
apps/commander/Makefile
+1 -1
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@@ -37,7 +37,7 @@
APPNAME = commander
PRIORITY = SCHED_PRIORITY_MAX - 30
STACKSIZE = 4096
STACKSIZE = 2048
INCLUDES = $(TOPDIR)/../mavlink/include/mavlink
apps/commander/commander.c
+93 -15
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@@ -69,7 +69,8 @@
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vehicle_command.h>
#include <mavlink/mavlink_log.h>
#include <systemlib/param/param.h>
#include <systemlib/systemlib.h>
#include <arch/board/up_cpuload.h>
@@ -95,15 +96,15 @@ static int leds;
static int buzzer;
static int mavlink_fd;
static bool commander_initialized = false;
static struct vehicle_status_s current_status; /**< Main state machine */
static struct vehicle_status_s current_status; /**< Main state machine */
static int stat_pub;
static uint16_t nofix_counter = 0;
static uint16_t gotfix_counter = 0;
static void do_gyro_calibration(int status_pub, struct vehicle_status_s *current_status);
static void do_mag_calibration(int status_pub, struct vehicle_status_s *current_status);
static void handle_command(int status_pub, struct vehicle_status_s *current_status, struct vehicle_command_s *cmd);
static bool thread_should_exit = false; /**< Deamon exit flag */
static bool thread_running = false; /**< Deamon status flag */
static int deamon_task; /**< Handle of deamon task / thread */
/* pthread loops */
static void *command_handling_loop(void *arg);
@@ -111,9 +112,30 @@ static void *command_handling_loop(void *arg);
__EXPORT int commander_main(int argc, char *argv[]);
#ifdef CONFIG_TONE_ALARM
/**
* Mainloop of commander.
*/
int commander_thread_main(int argc, char *argv[]);
static int buzzer_init(void);
static void buzzer_deinit(void);
static int led_init(void);
static void led_deinit(void);
static int led_toggle(int led);
static int led_on(int led);
static int led_off(int led);
static void do_gyro_calibration(int status_pub, struct vehicle_status_s *current_status);
static void do_mag_calibration(int status_pub, struct vehicle_status_s *current_status);
static void handle_command(int status_pub, struct vehicle_status_s *current_status, struct vehicle_command_s *cmd);
int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, uint8_t new_state);
/**
* Print the correct usage.
*/
static void usage(const char *reason);
static int buzzer_init()
{
@@ -131,13 +153,7 @@ static void buzzer_deinit()
{
close(buzzer);
}
#endif
static int led_init(void);
static void led_deinit(void);
static int led_toggle(int led);
static int led_on(int led);
static int led_off(int led);
static int led_init()
{
@@ -581,6 +597,13 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
}
break;
/*
* do not report an error for commands that are
* handled directly by MAVLink.
*/
case MAV_CMD_PREFLIGHT_STORAGE:
break;
default: {
mavlink_log_critical(mavlink_fd, "[commander] refusing unsupported command");
result = MAV_RESULT_UNSUPPORTED;
@@ -705,6 +728,9 @@ enum BAT_CHEM {
*/
float battery_remaining_estimate_voltage(int cells, int chemistry, float voltage);
PARAM_DEFINE_FLOAT(BAT_VOLT_EMPTY, 3.2f);
PARAM_DEFINE_FLOAT(BAT_VOLT_FULL, 4.05f);
float battery_remaining_estimate_voltage(int cells, int chemistry, float voltage)
{
float ret = 0;
@@ -721,11 +747,61 @@ float battery_remaining_estimate_voltage(int cells, int chemistry, float voltage
return ret;
}
/****************************************************************************
* Name: commander
****************************************************************************/
static void
usage(const char *reason)
{
if (reason)
fprintf(stderr, "%s\n", reason);
fprintf(stderr, "usage: deamon {start|stop|status} [-p <additional params>]\n\n");
exit(1);
}
/**
* The deamon app only briefly exists to start
* the background job. The stack size assigned in the
* Makefile does only apply to this management task.
*
* The actual stack size should be set in the call
* to task_create().
*/
int commander_main(int argc, char *argv[])
{
if (argc < 1)
usage("missing command");
if (!strcmp(argv[1], "start")) {
if (thread_running) {
printf("commander already running\n");
/* this is not an error */
exit(0);
}
thread_should_exit = false;
deamon_task = task_create("commander", SCHED_PRIORITY_MAX - 50, 4096, commander_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL);
thread_running = true;
exit(0);
}
if (!strcmp(argv[1], "stop")) {
thread_should_exit = true;
exit(0);
}
if (!strcmp(argv[1], "status")) {
if (thread_running) {
printf("\tcommander is running\n");
} else {
printf("\tcommander not started\n");
}
exit(0);
}
usage("unrecognized command");
exit(1);
}
int commander_thread_main(int argc, char *argv[])
{
/* not yet initialized */
commander_initialized = false;
@@ -1108,6 +1184,8 @@ int commander_main(int argc, char *argv[])
led_deinit();
buzzer_deinit();
thread_running = false;
return 0;
}
apps/examples/px4_deamon_app/px4_deamon_app.c
+3 -3
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@@ -42,8 +42,8 @@
#include <stdio.h>
static bool thread_should_exit = false; /**< Deamon exit flag */
static bool thread_running = false; /**< Deamon status flag */
static int deamon_task; /**< Handle of deamon task / thread */
static bool thread_running = false; /**< Deamon status flag */
static int deamon_task; /**< Handle of deamon task / thread */
/**
* Deamon management function.
@@ -94,7 +94,7 @@ usage(const char *reason)
*/
int px4_deamon_app_main(int argc, char *argv[])
{
if (argc < 1)
if (argc < 1)
usage("missing command");
if (!strcmp(argv[1], "start")) {
apps/mavlink/Makefile
+1 -1
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@@ -37,7 +37,7 @@
APPNAME = mavlink
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 4096
STACKSIZE = 2048
INCLUDES = $(TOPDIR)/../mavlink/include/mavlink
apps/mavlink/mavlink.c
+1 -1
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@@ -1447,7 +1447,7 @@ int mavlink_main(int argc, char *argv[])
}
thread_should_exit = false;
mavlink_task = task_create("mavlink", SCHED_PRIORITY_DEFAULT, 4096, mavlink_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL);
mavlink_task = task_create("mavlink", SCHED_PRIORITY_DEFAULT, 4400, mavlink_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL);
thread_running = true;
exit(0);
}
apps/sensors/sensors.c
+59 -1
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@@ -60,6 +60,8 @@
#include <arch/board/up_adc.h>
#include <systemlib/systemlib.h>
#include <systemlib/param/param.h>
#include <uORB/uORB.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/rc_channels.h>
@@ -124,9 +126,65 @@ extern unsigned ppm_decoded_channels;
extern uint64_t ppm_last_valid_decode;
#endif
/* file handle that will be used for subscribing */
/* file handle that will be used for publishing sensor data */
static int sensor_pub;
PARAM_DEFINE_FLOAT(sensor_gyro_xoffset, 0.0f);
PARAM_DEFINE_FLOAT(sensor_gyro_yoffset, 0.0f);
PARAM_DEFINE_FLOAT(sensor_gyro_zoffset, 0.0f);
PARAM_DEFINE_FLOAT(sensor_mag_xoff, 0.0f);
PARAM_DEFINE_FLOAT(sensor_mag_yoff, 0.0f);
PARAM_DEFINE_FLOAT(sensor_mag_zoff, 0.0f);
PARAM_DEFINE_FLOAT(RC1_MIN, 1000.0f);
PARAM_DEFINE_FLOAT(RC1_TRIM, 1500.0f);
PARAM_DEFINE_FLOAT(RC1_MAX, 2000.0f);
PARAM_DEFINE_FLOAT(RC1_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC2_MIN, 1000);
PARAM_DEFINE_FLOAT(RC2_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC2_MAX, 2000);
PARAM_DEFINE_FLOAT(RC2_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC3_MIN, 1000);
PARAM_DEFINE_FLOAT(RC3_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC3_MAX, 2000);
PARAM_DEFINE_FLOAT(RC3_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC4_MIN, 1000);
PARAM_DEFINE_FLOAT(RC4_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC4_MAX, 2000);
PARAM_DEFINE_FLOAT(RC4_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC5_MIN, 1000);
PARAM_DEFINE_FLOAT(RC5_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC5_MAX, 2000);
PARAM_DEFINE_FLOAT(RC5_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC6_MIN, 1000);
PARAM_DEFINE_FLOAT(RC6_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC6_MAX, 2000);
PARAM_DEFINE_FLOAT(RC6_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC7_MIN, 1000);
PARAM_DEFINE_FLOAT(RC7_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC7_MAX, 2000);
PARAM_DEFINE_FLOAT(RC7_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC8_MIN, 1000);
PARAM_DEFINE_FLOAT(RC8_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC8_MAX, 2000);
PARAM_DEFINE_FLOAT(RC8_REV, 1.0f);
PARAM_DEFINE_INT32(RC_TYPE, 1); // 1 = FUTABA
PARAM_DEFINE_INT32(RC_MAP_ROLL, 1);
PARAM_DEFINE_INT32(RC_MAP_PITCH, 2);
PARAM_DEFINE_INT32(RC_MAP_THROTTLE, 3);
PARAM_DEFINE_INT32(RC_MAP_YAW, 4);
PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 5);
/**
* Sensor readout and publishing.
*