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Merge pull request #1372 from PX4/swissfang

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UAV Outback challenge improvements from Team Swiss Fang
This commit is contained in:
Lorenz Meier
2014-10-07 10:13:56 +02:00
parent 5d52978bc7 c7f7de352d
commit d856356fce
17 changed files with 1140 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ROMFS/px4fmu_common/init.d/3035_viper
-1
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@@ -9,4 +9,3 @@ sh /etc/init.d/rc.fw_defaults
set MIXER Viper
set FAILSAFE "-c567 -p 1000"
ROMFS/px4fmu_common/init.d/rc.autostart
+6
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@@ -21,6 +21,12 @@
# Simulation setups
#
if param compare SYS_AUTOSTART 901
then
sh /etc/init.d/901_bottle_drop_test.hil
set MODE custom
fi
if param compare SYS_AUTOSTART 1000
then
sh /etc/init.d/1000_rc_fw_easystar.hil
ROMFS/px4fmu_common/init.d/rc.fw_apps
+2
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@@ -13,3 +13,5 @@ ekf_att_pos_estimator start
#
fw_att_control start
fw_pos_control_l1 start
bottle_drop start
ROMFS/px4fmu_common/init.d/rc.sensors
+5
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@@ -68,6 +68,11 @@ else
fi
fi
# Check for flow sensor
if px4flow start
then
fi
#
# Start the sensor collection task.
# IMPORTANT: this also loads param offsets
ROMFS/px4fmu_common/mixers/FMU_FX79.mix
+5 -8
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@@ -52,21 +52,18 @@ M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
Gimbal / flaps / payload mixer for last four channels
Inputs to the mixer come from channel group 2 (payload), channels 0
(bay servo 1), 1 (bay servo 2) and 3 (drop release).
-----------------------------------------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 4 10000 10000 0 -10000 10000
S: 2 0 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 5 10000 10000 0 -10000 10000
S: 2 1 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 6 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 7 10000 10000 0 -10000 10000
S: 2 2 -10000 -10000 0 -10000 10000
ROMFS/px4fmu_common/mixers/Viper.mix
+1 -1
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@@ -66,6 +66,6 @@ S: 2 1 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 2 2 -10000 -10000 0 -10000 10000
S: 2 2 -8000 -8000 0 -10000 10000
makefiles/config_px4fmu-v2_default.mk
+5
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@@ -128,6 +128,11 @@ MODULES += lib/geo_lookup
MODULES += lib/conversion
MODULES += lib/launchdetection
#
# OBC challenge
#
MODULES += modules/bottle_drop
#
# Demo apps
#
src/drivers/gps/ubx.cpp
+12
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@@ -189,6 +189,18 @@ UBX::configure(unsigned &baudrate)
return 1;
}
#ifdef UBX_CONFIGURE_SBAS
/* send a SBAS message to set the SBAS options */
memset(&_buf.payload_tx_cfg_sbas, 0, sizeof(_buf.payload_tx_cfg_sbas));
_buf.payload_tx_cfg_sbas.mode = UBX_TX_CFG_SBAS_MODE;
send_message(UBX_MSG_CFG_SBAS, _buf.raw, sizeof(_buf.payload_tx_cfg_sbas));
if (wait_for_ack(UBX_MSG_CFG_SBAS, UBX_CONFIG_TIMEOUT, true) < 0) {
return 1;
}
#endif
/* configure message rates */
/* the last argument is divisor for measurement rate (set by CFG RATE), i.e. 1 means 5Hz */
src/drivers/gps/ubx.h
+17
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@@ -73,6 +73,7 @@
#define UBX_ID_CFG_MSG 0x01
#define UBX_ID_CFG_RATE 0x08
#define UBX_ID_CFG_NAV5 0x24
#define UBX_ID_CFG_SBAS 0x16
#define UBX_ID_MON_VER 0x04
#define UBX_ID_MON_HW 0x09
@@ -89,6 +90,7 @@
#define UBX_MSG_CFG_MSG ((UBX_CLASS_CFG) | UBX_ID_CFG_MSG << 8)
#define UBX_MSG_CFG_RATE ((UBX_CLASS_CFG) | UBX_ID_CFG_RATE << 8)
#define UBX_MSG_CFG_NAV5 ((UBX_CLASS_CFG) | UBX_ID_CFG_NAV5 << 8)
#define UBX_MSG_CFG_SBAS ((UBX_CLASS_CFG) | UBX_ID_CFG_SBAS << 8)
#define UBX_MSG_MON_HW ((UBX_CLASS_MON) | UBX_ID_MON_HW << 8)
#define UBX_MSG_MON_VER ((UBX_CLASS_MON) | UBX_ID_MON_VER << 8)
@@ -128,6 +130,11 @@
#define UBX_TX_CFG_NAV5_DYNMODEL 7 /**< 0 Portable, 2 Stationary, 3 Pedestrian, 4 Automotive, 5 Sea, 6 Airborne <1g, 7 Airborne <2g, 8 Airborne <4g */
#define UBX_TX_CFG_NAV5_FIXMODE 2 /**< 1 2D only, 2 3D only, 3 Auto 2D/3D */
/* TX CFG-SBAS message contents */
#define UBX_TX_CFG_SBAS_MODE_ENABLED 1 /**< SBAS enabled */
#define UBX_TX_CFG_SBAS_MODE_DISABLED 0 /**< SBAS disabled */
#define UBX_TX_CFG_SBAS_MODE UBX_TX_CFG_SBAS_MODE_DISABLED /**< SBAS enabled or disabled */
/* TX CFG-MSG message contents */
#define UBX_TX_CFG_MSG_RATE1_5HZ 0x01 /**< {0x00, 0x01, 0x00, 0x00, 0x00, 0x00} the second entry is for UART1 */
#define UBX_TX_CFG_MSG_RATE1_1HZ 0x05 /**< {0x00, 0x05, 0x00, 0x00, 0x00, 0x00} the second entry is for UART1 */
@@ -383,6 +390,15 @@ typedef struct {
uint32_t reserved4;
} ubx_payload_tx_cfg_nav5_t;
/* tx cfg-sbas */
typedef struct {
uint8_t mode;
uint8_t usage;
uint8_t maxSBAS;
uint8_t scanmode2;
uint32_t scanmode1;
} ubx_payload_tx_cfg_sbas_t;
/* Tx CFG-MSG */
typedef struct {
union {
@@ -413,6 +429,7 @@ typedef union {
ubx_payload_tx_cfg_prt_t payload_tx_cfg_prt;
ubx_payload_tx_cfg_rate_t payload_tx_cfg_rate;
ubx_payload_tx_cfg_nav5_t payload_tx_cfg_nav5;
ubx_payload_tx_cfg_sbas_t payload_tx_cfg_sbas;
ubx_payload_tx_cfg_msg_t payload_tx_cfg_msg;
uint8_t raw[];
} ubx_buf_t;
src/drivers/hil/hil.cpp
+2 -1
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@@ -392,7 +392,8 @@ HIL::task_main()
if (fds[0].revents & POLLIN) {
/* get controls - must always do this to avoid spinning */
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, _t_actuators, &_controls);
orb_copy(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS :
ORB_ID(actuator_controls_1), _t_actuators, &_controls);
/* can we mix? */
if (_mixers != nullptr) {
src/lib/external_lgpl/tecs/tecs.cpp
+1 -1
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@@ -236,9 +236,9 @@ void TECS::_update_height_demand(float demand, float state)
// // _hgt_rate_dem);
_hgt_dem_adj = demand;//0.025f * demand + 0.975f * _hgt_dem_adj_last;
_hgt_rate_dem = (_hgt_dem_adj-state)*_heightrate_p + _heightrate_ff * (_hgt_dem_adj - _hgt_dem_adj_last)/_DT;
_hgt_dem_adj_last = _hgt_dem_adj;
_hgt_rate_dem = (_hgt_dem_adj-state)*_heightrate_p + _heightrate_ff * (_hgt_dem_adj - _hgt_dem_adj_last)/_DT;
// Limit height rate of change
if (_hgt_rate_dem > _maxClimbRate) {
_hgt_rate_dem = _maxClimbRate;
src/modules/bottle_drop/bottle_drop.cpp
+907
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File diff suppressed because it is too large Load Diff
src/modules/bottle_drop/bottle_drop_params.c
+131
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@@ -0,0 +1,131 @@
/****************************************************************************
*
* Copyright (c) 2013, 2014 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.
*
****************************************************************************/
/**
* @file bottle_drop_params.c
* Bottle drop parameters
*
* @author Dominik Juchli <juchlid@ethz.ch>
*/
#include <nuttx/config.h>
#include <systemlib/param/param.h>
/**
* Ground drag property
*
* This parameter encodes the ground drag coefficient and the corresponding
* decrease in wind speed from the plane altitude to ground altitude.
*
* @unit unknown
* @min 0.001
* @max 0.1
* @group Payload drop
*/
PARAM_DEFINE_FLOAT(BD_GPROPERTIES, 0.03f);
/**
* Plane turn radius
*
* The planes known minimal turn radius - use a higher value
* to make the plane maneuver more distant from the actual drop
* position. This is to ensure the wings are level during the drop.
*
* @unit meter
* @min 30.0
* @max 500.0
* @group Payload drop
*/
PARAM_DEFINE_FLOAT(BD_TURNRADIUS, 120.0f);
/**
* Drop precision
*
* If the system is closer than this distance on passing over the
* drop position, it will release the payload. This is a safeguard
* to prevent a drop out of the required accuracy.
*
* @unit meter
* @min 1.0
* @max 80.0
* @group Payload drop
*/
PARAM_DEFINE_FLOAT(BD_PRECISION, 30.0f);
/**
* Payload drag coefficient of the dropped object
*
* The drag coefficient (cd) is the typical drag
* constant for air. It is in general object specific,
* but the closest primitive shape to the actual object
* should give good results:
* http://en.wikipedia.org/wiki/Drag_coefficient
*
* @unit meter
* @min 0.08
* @max 1.5
* @group Payload drop
*/
PARAM_DEFINE_FLOAT(BD_OBJ_CD, 0.1f);
/**
* Payload mass
*
* A typical small toy ball:
* 0.025 kg
*
* OBC water bottle:
* 0.6 kg
*
* @unit kilogram
* @min 0.001
* @max 5.0
* @group Payload drop
*/
PARAM_DEFINE_FLOAT(BD_OBJ_MASS, 0.6f);
/**
* Payload front surface area
*
* A typical small toy ball:
* (0.045 * 0.045) / 4.0 * pi = 0.001590 m^2
*
* OBC water bottle:
* (0.063 * 0.063) / 4.0 * pi = 0.003117 m^2
*
* @unit m^2
* @min 0.001
* @max 0.5
* @group Payload drop
*/
PARAM_DEFINE_FLOAT(BD_OBJ_SURFACE, 0.00311724531f);
src/modules/bottle_drop/module.mk
+41
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@@ -0,0 +1,41 @@
############################################################################
#
# Copyright (c) 2013, 2014 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.
#
############################################################################
#
# Daemon application
#
MODULE_COMMAND = bottle_drop
SRCS = bottle_drop.cpp \
bottle_drop_params.c
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+1 -2
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@@ -1230,8 +1230,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
_att_sp.thrust = 0.0f;
} else if (pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF &&
launch_detection_state != LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS) {
/* Copy thrust and pitch values from tecs
* making sure again that the correct thrust is used,
/* making sure again that the correct thrust is used,
* without depending on library calls for safety reasons */
_att_sp.thrust = launchDetector.getThrottlePreTakeoff();
} else {
src/modules/mavlink/mavlink_main.cpp
+4 -1
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@@ -1396,7 +1396,7 @@ Mavlink::task_main(int argc, char *argv[])
configure_stream("POSITION_TARGET_GLOBAL_INT", 3.0f);
configure_stream("ATTITUDE_TARGET", 3.0f);
configure_stream("DISTANCE_SENSOR", 0.5f);
configure_stream("OPTICAL_FLOW", 20.0f);
configure_stream("OPTICAL_FLOW", 5.0f);
break;
case MAVLINK_MODE_ONBOARD:
@@ -1404,6 +1404,9 @@ Mavlink::task_main(int argc, char *argv[])
configure_stream("ATTITUDE", 50.0f);
configure_stream("GLOBAL_POSITION_INT", 50.0f);
configure_stream("CAMERA_CAPTURE", 2.0f);
configure_stream("ATTITUDE_TARGET", 10.0f);
configure_stream("POSITION_TARGET_GLOBAL_INT", 10.0f);
configure_stream("VFR_HUD", 10.0f);
break;
default:
src/modules/navigator/navigator_main.cpp
-2
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@@ -388,11 +388,9 @@ Navigator::task_main()
/* global position updated */
if (fds[0].revents & POLLIN) {
global_position_update();
static int gposcounter = 0;
if (_geofence.getSource() == Geofence::GF_SOURCE_GLOBALPOS) {
have_geofence_position_data = true;
}
gposcounter++;
}
/* Check geofence violation */