Mirrors_Framework/PX4-Autopilot
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Merge branch 'master' of github.com:PX4/Firmware into master_release

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This commit is contained in:
Lorenz Meier
2015-06-27 11:54:17 -07:00
parent 064c02a817 a1dd0bc758
commit d19de58102
14 changed files with 84 additions and 52 deletions
Download Patch File Download Diff File Expand all files Collapse all files
makefiles/posix/config_posix_sitl.mk
+1
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@@ -40,6 +40,7 @@ MODULES += modules/position_estimator_inav
MODULES += modules/navigator
MODULES += modules/mc_pos_control
MODULES += modules/mc_att_control
MODULES += modules/land_detector
#
# Library modules
posix-configs/SITL/init/rcS
+9
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@@ -22,6 +22,9 @@ param set CAL_ACC0_YSCALE 1.01
param set CAL_ACC0_ZSCALE 1.01
param set CAL_ACC1_XOFF 0.01
param set CAL_MAG0_XOFF 0.01
param set MPC_XY_P 0.4
param set MPC_XY_VEL_P 0.2
param set MPC_XY_VEL_D 0.005
rgbled start
tone_alarm start
gyrosim start
@@ -32,8 +35,14 @@ gpssim start
hil mode_pwm
commander start
sensors start
land_detector start multicopter
navigator start
attitude_estimator_q start
position_estimator_inav start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 ../../ROMFS/px4fmu_common/mixers/quad_x.main.mix
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
mavlink stream -r 50 -s ATTITUDE -u 14556
mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556
src/drivers/ll40ls/ll40ls.cpp
+2
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@@ -329,6 +329,8 @@ test(const bool use_i2c, const int bus)
}
warnx("periodic read %u", i);
warnx("valid %u", (float)report.current_distance > report.min_distance
&& (float)report.current_distance < report.max_distance ? 1 : 0);
warnx("measurement: %0.3f m", (double)report.current_distance);
warnx("time: %lld", report.timestamp);
}
src/drivers/mb12xx/mb12xx.cpp
+4
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@@ -832,6 +832,7 @@ test()
}
warnx("single read");
warnx("measurement: %0.2f m", (double)report.current_distance);
warnx("time: %llu", report.timestamp);
/* start the sensor polling at 2Hz */
@@ -860,6 +861,9 @@ test()
}
warnx("periodic read %u", i);
warnx("valid %u", (float)report.current_distance > report.min_distance
&& (float)report.current_distance < report.max_distance ? 1 : 0);
warnx("measurement: %0.3f", (double)report.current_distance);
warnx("time: %llu", report.timestamp);
}
src/drivers/ms5611/ms5611_i2c.cpp
+4 -4
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@@ -71,8 +71,8 @@ public:
virtual ~MS5611_I2C();
virtual int init();
virtual int dev_read(unsigned offset, void *data, unsigned count);
virtual int dev_ioctl(unsigned operation, unsigned &arg);
virtual int read(unsigned offset, void *data, unsigned count);
virtual int ioctl(unsigned operation, unsigned &arg);
#ifdef __PX4_NUTTX
protected:
@@ -139,7 +139,7 @@ MS5611_I2C::init()
}
int
MS5611_I2C::dev_read(unsigned offset, void *data, unsigned count)
MS5611_I2C::read(unsigned offset, void *data, unsigned count)
{
union _cvt {
uint8_t b[4];
@@ -162,7 +162,7 @@ MS5611_I2C::dev_read(unsigned offset, void *data, unsigned count)
}
int
MS5611_I2C::dev_ioctl(unsigned operation, unsigned &arg)
MS5611_I2C::ioctl(unsigned operation, unsigned &arg)
{
int ret;
src/drivers/sf0x/sf0x.cpp
+4 -2
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@@ -854,7 +854,7 @@ test()
}
warnx("single read");
warnx("val: %0.2f m", (double)report.current_distance);
warnx("measurement: %0.2f m", (double)report.current_distance);
warnx("time: %llu", report.timestamp);
/* start the sensor polling at 2 Hz rate */
@@ -885,7 +885,9 @@ test()
}
warnx("read #%u", i);
warnx("val: %0.3f m", (double)report.current_distance);
warnx("valid %u", (float)report.current_distance > report.min_distance
&& (float)report.current_distance < report.max_distance ? 1 : 0);
warnx("measurement: %0.3f m", (double)report.current_distance);
warnx("time: %llu", report.timestamp);
}
src/drivers/trone/trone.cpp
+8 -2
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@@ -125,6 +125,7 @@ private:
work_s _work;
ringbuffer::RingBuffer *_reports;
bool _sensor_ok;
uint8_t _valid;
int _measure_ticks;
bool _collect_phase;
int _class_instance;
@@ -211,7 +212,7 @@ static const uint8_t crc_table[] = {
0xfa, 0xfd, 0xf4, 0xf3
};
/* static uint8_t crc8(uint8_t *p, uint8_t len) {
static uint8_t crc8(uint8_t *p, uint8_t len) {
uint16_t i;
uint16_t crc = 0x0;
@@ -221,7 +222,7 @@ static const uint8_t crc_table[] = {
}
return crc & 0xFF;
}*/
}
/*
* Driver 'main' command.
@@ -234,6 +235,7 @@ TRONE::TRONE(int bus, int address) :
_max_distance(TRONE_MAX_DISTANCE),
_reports(nullptr),
_sensor_ok(false),
_valid(0),
_measure_ticks(0),
_collect_phase(false),
_class_instance(-1),
@@ -592,6 +594,10 @@ TRONE::collect()
/* TODO: set proper ID */
report.id = 0;
// This validation check can be used later
_valid = crc8(val, 2) == val[2] && (float)report.current_distance > report.min_distance
&& (float)report.current_distance < report.max_distance ? 1 : 0;
/* publish it, if we are the primary */
if (_distance_sensor_topic != nullptr) {
orb_publish(ORB_ID(distance_sensor), _distance_sensor_topic, &report);
src/modules/land_detector/FixedwingLandDetector.cpp
+2 -2
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@@ -87,12 +87,12 @@ bool FixedwingLandDetector::update()
if (hrt_elapsed_time(&_vehicleLocalPosition.timestamp) < 500 * 1000) {
float val = 0.97f * _velocity_xy_filtered + 0.03f * sqrtf(_vehicleLocalPosition.vx *
_vehicleLocalPosition.vx + _vehicleLocalPosition.vy * _vehicleLocalPosition.vy);
if (isfinite(val)) {
if (PX4_ISFINITE(val)) {
_velocity_xy_filtered = val;
}
val = 0.99f * _velocity_z_filtered + 0.01f * fabsf(_vehicleLocalPosition.vz);
if (isfinite(val)) {
if (PX4_ISFINITE(val)) {
_velocity_z_filtered = val;
}
}
src/modules/land_detector/land_detector_main.cpp
+24 -16
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@@ -38,6 +38,10 @@
* @author Johan Jansen <jnsn.johan@gmail.com>
*/
#include <px4_config.h>
#include <px4_defines.h>
#include <px4_tasks.h>
#include <px4_posix.h>
#include <unistd.h> //usleep
#include <stdio.h>
#include <string.h>
@@ -80,7 +84,7 @@ static void land_detector_deamon_thread(int argc, char *argv[])
static void land_detector_stop()
{
if (land_detector_task == nullptr || _landDetectorTaskID == -1) {
errx(1, "not running");
warnx("not running");
return;
}
@@ -95,7 +99,7 @@ static void land_detector_stop()
/* if we have given up, kill it */
if (++i > 50) {
task_delete(_landDetectorTaskID);
px4_task_delete(_landDetectorTaskID);
break;
}
} while (land_detector_task->isRunning());
@@ -104,7 +108,7 @@ static void land_detector_stop()
delete land_detector_task;
land_detector_task = nullptr;
_landDetectorTaskID = -1;
errx(0, "land_detector has been stopped");
warnx("land_detector has been stopped");
}
/**
@@ -113,7 +117,7 @@ static void land_detector_stop()
static int land_detector_start(const char *mode)
{
if (land_detector_task != nullptr || _landDetectorTaskID != -1) {
errx(1, "already running");
warnx("already running");
return -1;
}
@@ -125,13 +129,13 @@ static int land_detector_start(const char *mode)
land_detector_task = new MulticopterLandDetector();
} else {
errx(1, "[mode] must be either 'fixedwing' or 'multicopter'");
warnx("[mode] must be either 'fixedwing' or 'multicopter'");
return -1;
}
//Check if alloc worked
if (land_detector_task == nullptr) {
errx(1, "alloc failed");
warnx("alloc failed");
return -1;
}
@@ -140,11 +144,11 @@ static int land_detector_start(const char *mode)
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
1000,
(main_t)&land_detector_deamon_thread,
(px4_main_t)&land_detector_deamon_thread,
nullptr);
if (_landDetectorTaskID < 0) {
errx(1, "task start failed: %d", -errno);
warnx("task start failed: %d", -errno);
return -1;
}
@@ -163,9 +167,9 @@ static int land_detector_start(const char *mode)
usleep(50000);
if (hrt_absolute_time() > timeout) {
err(1, "start failed - timeout");
warnx("start failed - timeout");
land_detector_stop();
exit(1);
return 1;
}
}
printf("\n");
@@ -174,7 +178,6 @@ static int land_detector_start(const char *mode)
//Remember current active mode
strncpy(_currentMode, mode, 12);
exit(0);
return 0;
}
@@ -189,12 +192,16 @@ int land_detector_main(int argc, char *argv[])
}
if (argc >= 2 && !strcmp(argv[1], "start")) {
land_detector_start(argv[2]);
if (land_detector_start(argv[2]) != 0) {
warnx("land_detector start failed");
return 1;
}
return 0;
}
if (!strcmp(argv[1], "stop")) {
land_detector_stop();
exit(0);
return 0;
}
if (!strcmp(argv[1], "status")) {
@@ -204,13 +211,14 @@ int land_detector_main(int argc, char *argv[])
warnx("running (%s): %s", _currentMode, (land_detector_task->isLanded()) ? "LANDED" : "IN AIR");
} else {
errx(1, "exists, but not running (%s)", _currentMode);
warnx("exists, but not running (%s)", _currentMode);
}
exit(0);
return 0;
} else {
errx(1, "not running");
warnx("not running");
return 1;
}
}
src/modules/navigator/navigator_main.cpp
+2 -2
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@@ -310,7 +310,7 @@ Navigator::task_main()
const hrt_abstime mavlink_open_interval = 500000;
/* wakeup source(s) */
struct pollfd fds[8];
px4_pollfd_struct_t fds[8];
/* Setup of loop */
fds[0].fd = _global_pos_sub;
@@ -333,7 +333,7 @@ Navigator::task_main()
while (!_task_should_exit) {
/* wait for up to 100ms for data */
int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
if (pret == 0) {
/* timed out - periodic check for _task_should_exit, etc. */
src/modules/position_estimator_inav/module.mk
+1 -1
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@@ -42,5 +42,5 @@ SRCS = position_estimator_inav_main.c \
MODULE_STACKSIZE = 1200
EXTRACFLAGS = -Wframe-larger-than=3500 -Wno-unused
EXTRACFLAGS = -Wframe-larger-than=3500
src/modules/position_estimator_inav/position_estimator_inav_main.c
+19 -19
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@@ -1071,25 +1071,25 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
inertial_filter_correct(-y_est[1], dt, y_est, 1, params.w_xy_res_v);
}
// if (inav_verbose_mode) {
// /* print updates rate */
// if (t > updates_counter_start + updates_counter_len) {
// float updates_dt = (t - updates_counter_start) * 0.000001f;
// warnx(
// "updates rate: accelerometer = %.1f/s, baro = %.1f/s, gps = %.1f/s, attitude = %.1f/s, flow = %.1f/s",
// (double)(accel_updates / updates_dt),
// (double)(baro_updates / updates_dt),
// (double)(gps_updates / updates_dt),
// (double)(attitude_updates / updates_dt),
// (double)(flow_updates / updates_dt));
// updates_counter_start = t;
// accel_updates = 0;
// baro_updates = 0;
// gps_updates = 0;
// attitude_updates = 0;
// flow_updates = 0;
// }
// }
if (inav_verbose_mode) {
/* print updates rate */
if (t > updates_counter_start + updates_counter_len) {
float updates_dt = (t - updates_counter_start) * 0.000001f;
warnx(
"updates rate: accelerometer = %.1f/s, baro = %.1f/s, gps = %.1f/s, attitude = %.1f/s, flow = %.1f/s",
(double)(accel_updates / updates_dt),
(double)(baro_updates / updates_dt),
(double)(gps_updates / updates_dt),
(double)(attitude_updates / updates_dt),
(double)(flow_updates / updates_dt));
updates_counter_start = t;
accel_updates = 0;
baro_updates = 0;
gps_updates = 0;
attitude_updates = 0;
flow_updates = 0;
}
}
if (t > pub_last + PUB_INTERVAL) {
pub_last = t;
src/modules/px4iofirmware/dsm.c
+2 -2
View File
@@ -292,9 +292,9 @@ dsm_bind(uint16_t cmd, int pulses)
/*Pulse RX pin a number of times*/
for (int i = 0; i < pulses; i++) {
up_udelay(25);
up_udelay(120);
stm32_gpiowrite(usart1RxAsOutp, false);
up_udelay(25);
up_udelay(120);
stm32_gpiowrite(usart1RxAsOutp, true);
}
break;
src/platforms/posix/drivers/gpssim/gpssim.cpp
+2 -2
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@@ -272,8 +272,8 @@ GPSSIM::receive(int timeout) {
_report_gps_pos.lon = gps.lon;
_report_gps_pos.alt = gps.alt;
_report_gps_pos.timestamp_variance = hrt_absolute_time();
_report_gps_pos.eph = (float)gps.eph;
_report_gps_pos.epv = (float)gps.epv;
_report_gps_pos.eph = (float)gps.eph * 1e-2f;
_report_gps_pos.epv = (float)gps.epv * 1e-2f;
_report_gps_pos.vel_m_s = (float)(gps.vel)/100.0f;
_report_gps_pos.vel_n_m_s = (float)(gps.vn)/100.0f;
_report_gps_pos.vel_e_m_s = (float)(gps.ve)/100.0f;