Merge branch 'master' into vector_control2

ROMFS/px4fmu_common/init.d/rc.custom_dji_f330_mkblctrl

@@ -97,9 +97,9 @@ fi
 #
 if [ $MKBLCTRL_FRAME == x ]
 then
-    mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
+    mixer load /dev/mkblctrl /etc/mixers/FMU_quad_x.mix
 else
-    mixer load /dev/pwm_output /etc/mixers/FMU_quad_+.mix
+    mixer load /dev/mkblctrl /etc/mixers/FMU_quad_+.mix
 fi
 
 #

Tools/px_uploader.py

@@ -370,14 +370,17 @@ class uploader(object):
                 self.port.close()
                 
         def send_reboot(self):
-                # try reboot via NSH first
-                self.__send(uploader.NSH_INIT)
-                self.__send(uploader.NSH_REBOOT_BL)
-                self.__send(uploader.NSH_INIT)
-                self.__send(uploader.NSH_REBOOT)
-                # then try MAVLINK command
-                self.__send(uploader.MAVLINK_REBOOT_ID1)
-                self.__send(uploader.MAVLINK_REBOOT_ID0)
+                try:
+                    # try reboot via NSH first
+                    self.__send(uploader.NSH_INIT)
+                    self.__send(uploader.NSH_REBOOT_BL)
+                    self.__send(uploader.NSH_INIT)
+                    self.__send(uploader.NSH_REBOOT)
+                    # then try MAVLINK command
+                    self.__send(uploader.MAVLINK_REBOOT_ID1)
+                    self.__send(uploader.MAVLINK_REBOOT_ID0)
+                except:
+                    return
                 
                 
 

makefiles/config_px4fmu-v1_backside.mk

@@ -69,12 +69,13 @@ MODULES		+= modules/mavlink_onboard
 MODULES		+= modules/gpio_led
 
 #
-# Estimation modules (EKF / other filters)
+# Estimation modules (EKF/ SO3 / other filters)
 #
 #MODULES		+= modules/attitude_estimator_ekf
 MODULES		+= modules/att_pos_estimator_ekf
 #MODULES		+= modules/position_estimator_inav
 MODULES		+= examples/flow_position_estimator
+MODULES		+= modules/attitude_estimator_so3
 
 #
 # Vehicle Control

makefiles/config_px4fmu-v1_default.mk

@@ -69,9 +69,10 @@ MODULES		+= modules/mavlink_onboard
 MODULES		+= modules/gpio_led
 
 #
-# Estimation modules (EKF / other filters)
+# Estimation modules (EKF/ SO3 / other filters)
 #
 MODULES		+= modules/attitude_estimator_ekf
+MODULES		+= modules/attitude_estimator_so3
 MODULES		+= modules/att_pos_estimator_ekf
 MODULES		+= modules/position_estimator_inav
 MODULES		+= examples/flow_position_estimator

makefiles/config_px4fmu-v2_default.mk

@@ -68,9 +68,10 @@ MODULES		+= modules/mavlink
 MODULES		+= modules/mavlink_onboard
 
 #
-# Estimation modules (EKF / other filters)
+# Estimation modules (EKF/ SO3 / other filters)
 #
 MODULES		+= modules/attitude_estimator_ekf
+MODULES		+= modules/attitude_estimator_so3
 MODULES		+= modules/att_pos_estimator_ekf
 MODULES		+= modules/position_estimator_inav
 MODULES		+= examples/flow_position_estimator

src/drivers/mkblctrl/mkblctrl.cpp

@@ -1,6 +1,7 @@
 /****************************************************************************
  *
  *   Copyright (C) 2012,2013 PX4 Development Team. All rights reserved.
+ *   Author: Marco Bauer <marco@wtns.de>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -35,7 +36,8 @@
  * @file mkblctrl.cpp
  *
  * Driver/configurator for the Mikrokopter BL-Ctrl.
- * Marco Bauer
+ *
+ * @author Marco Bauer <marco@wtns.de>
  *
  */
 
@@ -88,8 +90,8 @@
 #define BLCTRL_MIN_VALUE				-0.920F
 #define MOTOR_STATE_PRESENT_MASK		0x80
 #define MOTOR_STATE_ERROR_MASK		0x7F
-#define MOTOR_SPINUP_COUNTER			2500
-#define ESC_UORB_PUBLISH_DELAY			200
+#define MOTOR_SPINUP_COUNTER			30
+#define ESC_UORB_PUBLISH_DELAY		500000
 
 class MK : public device::I2C
 {
@@ -111,7 +113,7 @@ public:
 		FRAME_X,
 	};
 
-	MK(int bus);
+	MK(int bus, const char *_device_path);
 	~MK();
 
 	virtual int	ioctl(file *filp, int cmd, unsigned long arg);
@@ -125,7 +127,7 @@ public:
 	int		set_overrideSecurityChecks(bool overrideSecurityChecks);
 	int		set_px4mode(int px4mode);
 	int		set_frametype(int frametype);
-	unsigned int		mk_check_for_blctrl(unsigned int count, bool showOutput);
+	unsigned int		mk_check_for_blctrl(unsigned int count, bool showOutput, bool initI2C);
 
 private:
 	static const unsigned _max_actuators = MAX_MOTORS;
@@ -140,6 +142,7 @@ private:
 	unsigned int		_motor;
 	int    _px4mode;
 	int    _frametype;
+	char				_device[20];					///< device
 
 	orb_advert_t	_t_outputs;
 	orb_advert_t	_t_esc_status;
@@ -242,7 +245,7 @@ MK	*g_mk;
 
 } // namespace
 
-MK::MK(int bus) :
+MK::MK(int bus, const char *_device_path) :
 	I2C("mkblctrl", "/dev/mkblctrl", bus, 0, I2C_BUS_SPEED),
 	_mode(MODE_NONE),
 	_update_rate(50),
@@ -262,6 +265,10 @@ MK::MK(int bus) :
 	_armed(false),
 	_mixers(nullptr)
 {
+	strncpy(_device, _device_path, sizeof(_device));
+	/* enforce null termination */
+	_device[sizeof(_device) - 1] = '\0';
+
 	_debug_enabled = true;
 }
 
@@ -288,7 +295,7 @@ MK::~MK()
 
 	/* clean up the alternate device node */
 	if (_primary_pwm_device)
-		unregister_driver(PWM_OUTPUT_DEVICE_PATH);
+		unregister_driver(_device);
 
 	g_mk = nullptr;
 }
@@ -310,13 +317,15 @@ MK::init(unsigned motors)
 
 	usleep(500000);
 
-	/* try to claim the generic PWM output device node as well - it's OK if we fail at this */
-	ret = register_driver(PWM_OUTPUT_DEVICE_PATH, &fops, 0666, (void *)this);
+   if (sizeof(_device) > 0) {
+	   ret = register_driver(_device, &fops, 0666, (void *)this);
 
-	if (ret == OK) {
-		log("default PWM output device");
-		_primary_pwm_device = true;
-	}
+	   if (ret == OK) {
+			log("creating alternate output device");
+			_primary_pwm_device = true;
+		}
+
+   }
 
 	/* reset GPIOs */
 	gpio_reset();
@@ -620,10 +629,7 @@ MK::task_main()
 					}
 
 					/* output to BLCtrl's */
-					if (_motortest == true) {
-						mk_servo_test(i);
-
-					} else {
+					if (_motortest != true) {
 						//mk_servo_set_value(i, scaling(outputs.output[i], -1.0f, 1.0f, 0, 1024));	// scale the output to 0 - 1024 and sent to output routine
 						// 11 Bit
 						Motor[i].SetPoint_PX4 = outputs.output[i];
@@ -655,7 +661,7 @@ MK::task_main()
 		 * Only update esc topic every half second.
 		 */
 
-		if (hrt_absolute_time() - esc.timestamp > 500000) {
+		if (hrt_absolute_time() - esc.timestamp > ESC_UORB_PUBLISH_DELAY) {
 			esc.counter++;
 			esc.timestamp = hrt_absolute_time();
 			esc.esc_count = (uint8_t) _num_outputs;
@@ -679,14 +685,21 @@ MK::task_main()
 				esc.esc[i].esc_temperature = (uint16_t) Motor[i].Temperature;
 				esc.esc[i].esc_state = (uint16_t) Motor[i].State;
 				esc.esc[i].esc_errorcount = (uint16_t) 0;
+
+   			// if motortest is requested - do it...
+   			if (_motortest == true) {
+	   		   mk_servo_test(i);
+			   }
+
 			}
 
 			orb_publish(ORB_ID(esc_status), _t_esc_status, &esc);
+
 		}
 
 	}
 
-	//::close(_t_esc_status);
+	::close(_t_esc_status);
 	::close(_t_actuators);
 	::close(_t_actuator_armed);
 
@@ -713,8 +726,12 @@ MK::mk_servo_arm(bool status)
 
 
 unsigned int
-MK::mk_check_for_blctrl(unsigned int count, bool showOutput)
+MK::mk_check_for_blctrl(unsigned int count, bool showOutput, bool initI2C)
 {
+	if(initI2C) {
+		I2C::init();
+	}
+
 	_retries = 50;
 	uint8_t foundMotorCount = 0;
 
@@ -938,6 +955,7 @@ MK::mk_servo_test(unsigned int chan)
 		if (_motor >= _num_outputs) {
 			_motor = -1;
 			_motortest = false;
+			fprintf(stderr, "[mkblctrl] Motortest finished...\n");
 		}
 	}
 
@@ -1353,7 +1371,7 @@ mk_new_mode(PortMode new_mode, int update_rate, int motorcount, bool motortest,
 
 	/* count used motors */
 	do {
-		if (g_mk->mk_check_for_blctrl(8, false) != 0) {
+		if (g_mk->mk_check_for_blctrl(8, false, false) != 0) {
 			shouldStop = 4;
 
 		} else {
@@ -1363,7 +1381,7 @@ mk_new_mode(PortMode new_mode, int update_rate, int motorcount, bool motortest,
 		sleep(1);
 	} while (shouldStop < 3);
 
-	g_mk->set_motor_count(g_mk->mk_check_for_blctrl(8, true));
+	g_mk->set_motor_count(g_mk->mk_check_for_blctrl(8, true, false));
 
 	/* (re)set the PWM output mode */
 	g_mk->set_mode(servo_mode);
@@ -1376,13 +1394,13 @@ mk_new_mode(PortMode new_mode, int update_rate, int motorcount, bool motortest,
 }
 
 int
-mk_start(unsigned bus, unsigned motors)
+mk_start(unsigned bus, unsigned motors, char *device_path)
 {
 	int ret = OK;
 
 	if (g_mk == nullptr) {
 
-		g_mk = new MK(bus);
+		g_mk = new MK(bus, device_path);
 
 		if (g_mk == nullptr) {
 			ret = -ENOMEM;
@@ -1401,6 +1419,52 @@ mk_start(unsigned bus, unsigned motors)
 }
 
 
+int
+mk_check_for_i2c_esc_bus(char *device_path, int motors)
+{
+	int ret;
+
+	if (g_mk == nullptr) {
+
+		g_mk = new MK(3, device_path);
+
+		if (g_mk == nullptr) {
+			return -1;
+
+		} else {
+			ret = g_mk->mk_check_for_blctrl(8, false, true);
+			delete g_mk;
+			g_mk = nullptr;
+
+			if (ret > 0) {
+				return 3;
+			}
+
+		}
+
+
+		g_mk = new MK(1, device_path);
+
+		if (g_mk == nullptr) {
+			return -1;
+
+		} else {
+			ret = g_mk->mk_check_for_blctrl(8, false, true);
+			delete g_mk;
+			g_mk = nullptr;
+
+			if (ret > 0) {
+				return 1;
+			}
+
+		}
+	}
+
+	return -1;
+}
+
+
+
 } // namespace
 
 extern "C" __EXPORT int mkblctrl_main(int argc, char *argv[]);
@@ -1411,13 +1475,14 @@ mkblctrl_main(int argc, char *argv[])
 	PortMode port_mode = PORT_FULL_PWM;
 	int pwm_update_rate_in_hz = UPDATE_RATE;
 	int motorcount = 8;
-	int bus = 1;
+	int bus = -1;
 	int px4mode = MAPPING_PX4;
 	int frametype = FRAME_PLUS;	// + plus is default
 	bool motortest = false;
 	bool overrideSecurityChecks = false;
 	bool showHelp = false;
 	bool newMode = false;
+	char *devicepath = "";
 
 	/*
 	 * optional parameters
@@ -1477,36 +1542,69 @@ mkblctrl_main(int argc, char *argv[])
 			newMode = true;
 		}
 
+		/* look for the optional device parameter */
+		if (strcmp(argv[i], "-d") == 0 || strcmp(argv[i], "--device") == 0) {
+			if (argc > i + 1) {
+				devicepath = argv[i + 1];
+				newMode = true;
+
+			} else {
+				errx(1, "missing the devicename (-d)");
+				return 1;
+			}
+		}
+
 	}
 
 	if (showHelp) {
 		fprintf(stderr, "mkblctrl: help:\n");
-		fprintf(stderr, "  [-mkmode frame{+/x}] [-b i2c_bus_number] [-t motortest] [--override-security-checks] [-h / --help]\n\n");
-		fprintf(stderr, "\t -mkmode frame {+/x} \t\t Type of frame, if Mikrokopter motor order is used.\n");
-		fprintf(stderr, "\t -b i2c_bus_number \t\t Set the i2c bus where the ESCs are connected to (default 1).\n");
-		fprintf(stderr, "\t -t motortest \t\t\t Spin up once every motor in order of motoraddress. (DANGER !!!)\n");
+		fprintf(stderr, "  [-mkmode {+/x}] [-b i2c_bus_number] [-d devicename] [--override-security-checks] [-h / --help]\n\n");
+		fprintf(stderr, "\t -mkmode {+/x} \t\t Type of frame, if Mikrokopter motor order is used.\n");
+		fprintf(stderr, "\t -b {i2c_bus_number} \t\t Set the i2c bus where the ESCs are connected to (default autoscan).\n");
+		fprintf(stderr, "\t -d {devicepath & name}\t\t Create alternate pwm device.\n");
 		fprintf(stderr, "\t --override-security-checks \t\t Disable all security checks (arming and number of ESCs). Used to test single Motors etc. (DANGER !!!)\n");
+		fprintf(stderr, "\n");
+		fprintf(stderr, "Motortest:\n");
+		fprintf(stderr, "First you have to start mkblctrl, the you can enter Motortest Mode with:\n");
+		fprintf(stderr, "mkblctrl -t\n");
+      fprintf(stderr, "This will spin up once every motor in order of motoraddress. (DANGER !!!)\n");
 		exit(1);
 	}
 
 
-	if (g_mk == nullptr) {
-		if (mk_start(bus, motorcount) != OK) {
-			errx(1, "failed to start the MK-BLCtrl driver");
+	if (!motortest) {
+   	if (g_mk == nullptr) {
+      	if (bus == -1) {
+      		bus = mk_check_for_i2c_esc_bus(devicepath, motorcount);
+      	}
 
-		} else {
-			newMode = true;
-		}
-	}
+      	if (bus != -1) {
+     			if (mk_start(bus, motorcount, devicepath) != OK) {
+     				errx(1, "failed to start the MK-BLCtrl driver");
+     			}
+      	} else {
+      		errx(1, "failed to start the MK-BLCtrl driver (cannot find i2c esc's)");
+      	}
 
+      	/* parameter set ? */
+      	if (newMode) {
+      		/* switch parameter */
+      		return mk_new_mode(port_mode, pwm_update_rate_in_hz, motorcount, motortest, px4mode, frametype, overrideSecurityChecks);
+      	}
 
-	/* parameter set ? */
-	if (newMode) {
-		/* switch parameter */
-		return mk_new_mode(port_mode, pwm_update_rate_in_hz, motorcount, motortest, px4mode, frametype, overrideSecurityChecks);
-	}
+      	exit(0);
+      } else {
+         errx(1, "MK-BLCtrl driver already running");
+      }
 
-	/* test, etc. here g*/
+   } else {
+      if (g_mk == nullptr) {
+         errx(1, "MK-BLCtrl driver not running. You have to start it first.");
 
-	exit(1);
+      } else {
+         g_mk->set_motor_test(motortest);
+         exit(0);
+
+      }
+   }
 }

src/lib/external_lgpl/tecs/tecs.cpp

@@ -299,7 +299,7 @@ void TECS::_update_throttle(float throttle_cruise, const math::Dcm &rotMat)
 
 		// Rate limit PD + FF throttle
 		// Calculate the throttle increment from the specified slew time
-		if (fabsf(_throttle_slewrate) < 0.01f) {
+		if (fabsf(_throttle_slewrate) > 0.01f) {
 			float thrRateIncr = _DT * (_THRmaxf - _THRminf) * _throttle_slewrate;
 
 			_throttle_dem = constrain(_throttle_dem,

src/modules/attitude_estimator_so3/README

@@ -0,0 +1,3 @@
+Synopsis
+
+ nsh> attitude_estimator_so3_comp start

src/modules/attitude_estimator_so3/attitude_estimator_so3_params.c

@@ -0,0 +1,86 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Hyon Lim <limhyon@gmail.com>
+ *           Anton Babushkin <anton.babushkin@me.com>
+ *
+ * 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 attitude_estimator_so3_params.c
+ *
+ * Parameters for nonlinear complementary filters on the SO(3).
+ */
+
+#include "attitude_estimator_so3_params.h"
+
+/* This is filter gain for nonlinear SO3 complementary filter */
+/* NOTE : How to tune the gain? First of all, stick with this default gain. And let the quad in stable place.
+   Log the steady state reponse of filter. If it is too slow, increase SO3_COMP_KP.
+   If you are flying from ground to high altitude in short amount of time, please increase SO3_COMP_KI which
+   will compensate gyro bias which depends on temperature and vibration of your vehicle */
+PARAM_DEFINE_FLOAT(SO3_COMP_KP, 1.0f); //! This parameter will give you about 15 seconds convergence time.
+                                       //! You can set this gain higher if you want more fast response.
+                                       //! But note that higher gain will give you also higher overshoot.
+PARAM_DEFINE_FLOAT(SO3_COMP_KI, 0.05f); //! This gain will incorporate slow time-varying bias (e.g., temperature change)
+					//! This gain is depend on your vehicle status.
+
+/* offsets in roll, pitch and yaw of sensor plane and body */
+PARAM_DEFINE_FLOAT(SO3_ROLL_OFFS, 0.0f);
+PARAM_DEFINE_FLOAT(SO3_PITCH_OFFS, 0.0f);
+PARAM_DEFINE_FLOAT(SO3_YAW_OFFS, 0.0f);
+
+int parameters_init(struct attitude_estimator_so3_param_handles *h)
+{
+	/* Filter gain parameters */
+	h->Kp = 	param_find("SO3_COMP_KP");
+	h->Ki = 	param_find("SO3_COMP_KI");
+
+	/* Attitude offset (WARNING: Do not change if you do not know what exactly this variable wil lchange) */
+	h->roll_off  =	param_find("SO3_ROLL_OFFS");
+	h->pitch_off =	param_find("SO3_PITCH_OFFS");
+	h->yaw_off   =	param_find("SO3_YAW_OFFS");
+
+	return OK;
+}
+
+int parameters_update(const struct attitude_estimator_so3_param_handles *h, struct attitude_estimator_so3_params *p)
+{
+	/* Update filter gain */
+	param_get(h->Kp, &(p->Kp));
+	param_get(h->Ki, &(p->Ki));
+
+	/* Update attitude offset */
+	param_get(h->roll_off, &(p->roll_off));
+	param_get(h->pitch_off, &(p->pitch_off));
+	param_get(h->yaw_off, &(p->yaw_off));
+
+	return OK;
+}

src/modules/attitude_estimator_so3/attitude_estimator_so3_params.h

@@ -0,0 +1,67 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Hyon Lim <limhyon@gmail.com>
+ *           Anton Babushkin <anton.babushkin@me.com>
+ *
+ * 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 attitude_estimator_so3_params.h
+ *
+ * Parameters for nonlinear complementary filters on the SO(3).
+ */
+
+#include <systemlib/param/param.h>
+
+struct attitude_estimator_so3_params {
+	float Kp;
+	float Ki;
+	float roll_off;
+	float pitch_off;
+	float yaw_off;
+};
+
+struct attitude_estimator_so3_param_handles {
+	param_t Kp, Ki;
+	param_t roll_off, pitch_off, yaw_off;
+};
+
+/**
+ * Initialize all parameter handles and values
+ *
+ */
+int parameters_init(struct attitude_estimator_so3_param_handles *h);
+
+/**
+ * Update all parameters
+ *
+ */
+int parameters_update(const struct attitude_estimator_so3_param_handles *h, struct attitude_estimator_so3_params *p);

src/modules/attitude_estimator_so3/module.mk

@@ -0,0 +1,8 @@
+#
+# Attitude estimator (Nonlinear SO(3) complementary Filter)
+#
+
+MODULE_COMMAND	 = attitude_estimator_so3
+
+SRCS		 = attitude_estimator_so3_main.cpp \
+		   attitude_estimator_so3_params.c

src/modules/attitude_estimator_so3_comp/README

@@ -1,5 +0,0 @@
-Synopsis
-
- nsh> attitude_estimator_so3_comp start -d /dev/ttyS1 -b 115200
-
-Option -d is for debugging packet. See code for detailed packet structure.

src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_params.c

@@ -1,63 +0,0 @@
-/*
- * Author: Hyon Lim <limhyon@gmail.com, hyonlim@snu.ac.kr>
- *
- * @file attitude_estimator_so3_comp_params.c
- *
- * Implementation of nonlinear complementary filters on the SO(3).
- * This code performs attitude estimation by using accelerometer, gyroscopes and magnetometer.
- * Result is provided as quaternion, 1-2-3 Euler angle and rotation matrix.
- * 
- * Theory of nonlinear complementary filters on the SO(3) is based on [1].
- * Quaternion realization of [1] is based on [2].
- * Optmized quaternion update code is based on Sebastian Madgwick's implementation.
- * 
- * References
- *  [1] Mahony, R.; Hamel, T.; Pflimlin, Jean-Michel, "Nonlinear Complementary Filters on the Special Orthogonal Group," Automatic Control, IEEE Transactions on , vol.53, no.5, pp.1203,1218, June 2008
- *  [2] Euston, M.; Coote, P.; Mahony, R.; Jonghyuk Kim; Hamel, T., "A complementary filter for attitude estimation of a fixed-wing UAV," Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on , vol., no., pp.340,345, 22-26 Sept. 2008
- */
-
-#include "attitude_estimator_so3_comp_params.h"
-
-/* This is filter gain for nonlinear SO3 complementary filter */
-/* NOTE : How to tune the gain? First of all, stick with this default gain. And let the quad in stable place.
-   Log the steady state reponse of filter. If it is too slow, increase SO3_COMP_KP.
-   If you are flying from ground to high altitude in short amount of time, please increase SO3_COMP_KI which
-   will compensate gyro bias which depends on temperature and vibration of your vehicle */
-PARAM_DEFINE_FLOAT(SO3_COMP_KP, 1.0f); //! This parameter will give you about 15 seconds convergence time.
-                                       //! You can set this gain higher if you want more fast response.
-                                       //! But note that higher gain will give you also higher overshoot.
-PARAM_DEFINE_FLOAT(SO3_COMP_KI, 0.05f); //! This gain will incorporate slow time-varying bias (e.g., temperature change)
-					//! This gain is depend on your vehicle status.
-
-/* offsets in roll, pitch and yaw of sensor plane and body */
-PARAM_DEFINE_FLOAT(ATT_ROLL_OFFS, 0.0f);
-PARAM_DEFINE_FLOAT(ATT_PITCH_OFFS, 0.0f);
-PARAM_DEFINE_FLOAT(ATT_YAW_OFFS, 0.0f);
-
-int parameters_init(struct attitude_estimator_so3_comp_param_handles *h)
-{
-	/* Filter gain parameters */
-	h->Kp = 	param_find("SO3_COMP_KP");
-	h->Ki = 	param_find("SO3_COMP_KI");
-
-	/* Attitude offset (WARNING: Do not change if you do not know what exactly this variable wil lchange) */
-	h->roll_off  =	param_find("ATT_ROLL_OFFS");
-	h->pitch_off =	param_find("ATT_PITCH_OFFS");
-	h->yaw_off   =	param_find("ATT_YAW_OFFS");
-
-	return OK;
-}
-
-int parameters_update(const struct attitude_estimator_so3_comp_param_handles *h, struct attitude_estimator_so3_comp_params *p)
-{
-	/* Update filter gain */
-	param_get(h->Kp, &(p->Kp));
-	param_get(h->Ki, &(p->Ki));
-
-	/* Update attitude offset */
-	param_get(h->roll_off, &(p->roll_off));
-	param_get(h->pitch_off, &(p->pitch_off));
-	param_get(h->yaw_off, &(p->yaw_off));
-
-	return OK;
-}

src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_params.h

@@ -1,44 +0,0 @@
-/*
- * Author: Hyon Lim <limhyon@gmail.com, hyonlim@snu.ac.kr>
- *
- * @file attitude_estimator_so3_comp_params.h
- *
- * Implementation of nonlinear complementary filters on the SO(3).
- * This code performs attitude estimation by using accelerometer, gyroscopes and magnetometer.
- * Result is provided as quaternion, 1-2-3 Euler angle and rotation matrix.
- * 
- * Theory of nonlinear complementary filters on the SO(3) is based on [1].
- * Quaternion realization of [1] is based on [2].
- * Optmized quaternion update code is based on Sebastian Madgwick's implementation.
- * 
- * References
- *  [1] Mahony, R.; Hamel, T.; Pflimlin, Jean-Michel, "Nonlinear Complementary Filters on the Special Orthogonal Group," Automatic Control, IEEE Transactions on , vol.53, no.5, pp.1203,1218, June 2008
- *  [2] Euston, M.; Coote, P.; Mahony, R.; Jonghyuk Kim; Hamel, T., "A complementary filter for attitude estimation of a fixed-wing UAV," Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on , vol., no., pp.340,345, 22-26 Sept. 2008
- */
-
-#include <systemlib/param/param.h>
-
-struct attitude_estimator_so3_comp_params {
-	float Kp;
-	float Ki;
-	float roll_off;
-	float pitch_off;
-	float yaw_off;
-};
-
-struct attitude_estimator_so3_comp_param_handles {
-	param_t Kp, Ki;
-	param_t roll_off, pitch_off, yaw_off;
-};
-
-/**
- * Initialize all parameter handles and values
- *
- */
-int parameters_init(struct attitude_estimator_so3_comp_param_handles *h);
-
-/**
- * Update all parameters
- *
- */
-int parameters_update(const struct attitude_estimator_so3_comp_param_handles *h, struct attitude_estimator_so3_comp_params *p);

src/modules/attitude_estimator_so3_comp/module.mk

@@ -1,8 +0,0 @@
-#
-# Attitude estimator (Nonlinear SO3 complementary Filter)
-#
-
-MODULE_COMMAND	 = attitude_estimator_so3_comp
-
-SRCS		 = attitude_estimator_so3_comp_main.cpp \
-		   attitude_estimator_so3_comp_params.c

src/modules/commander/commander.cpp

@@ -871,7 +871,7 @@ int commander_thread_main(int argc, char *argv[])
 		check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.xy_valid, &(status.condition_local_position_valid), &status_changed);
 		check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.z_valid, &(status.condition_local_altitude_valid), &status_changed);
 
-		if (status.condition_local_altitude_valid) {
+		if (status.is_rotary_wing && status.condition_local_altitude_valid) {
 			if (status.condition_landed != local_position.landed) {
 				status.condition_landed = local_position.landed;
 				status_changed = true;
@@ -1539,7 +1539,8 @@ check_navigation_state_machine(struct vehicle_status_s *status, struct vehicle_c
 			// TODO AUTO_LAND handling
 			if (status->navigation_state == NAVIGATION_STATE_AUTO_TAKEOFF) {
 				/* don't switch to other states until takeoff not completed */
-				if (local_pos->z > -takeoff_alt || status->condition_landed) {
+				// XXX: only respect the condition_landed when the local position is actually valid
+				if (status->is_rotary_wing && status->condition_local_altitude_valid && (local_pos->z > -takeoff_alt || status->condition_landed)) {
 					return TRANSITION_NOT_CHANGED;
 				}
 			}
@@ -1549,7 +1550,7 @@ check_navigation_state_machine(struct vehicle_status_s *status, struct vehicle_c
 			    status->navigation_state != NAVIGATION_STATE_AUTO_MISSION &&
 			    status->navigation_state != NAVIGATION_STATE_AUTO_RTL) {
 				/* possibly on ground, switch to TAKEOFF if needed */
-				if (local_pos->z > -takeoff_alt || status->condition_landed) {
+				if (status->is_rotary_wing && status->condition_local_altitude_valid && (local_pos->z > -takeoff_alt || status->condition_landed)) {
 					res = navigation_state_transition(status, NAVIGATION_STATE_AUTO_TAKEOFF, control_mode);
 					return res;
 				}

src/modules/fw_att_control/fw_att_control_params.c

@@ -33,9 +33,9 @@
  ****************************************************************************/
 
 /**
- * @file fw_pos_control_l1_params.c
+ * @file fw_att_control_params.c
  *
- * Parameters defined by the L1 position control task
+ * Parameters defined by the fixed-wing attitude control task
  *
  * @author Lorenz Meier <lm@inf.ethz.ch>
  */

src/modules/mavlink/orb_listener.c

@@ -240,7 +240,7 @@ l_vehicle_attitude(const struct listener *l)
 					  att.rollspeed,
 					  att.pitchspeed,
 					  att.yawspeed);
-
+					  	
 		/* limit VFR message rate to 10Hz */
 		hrt_abstime t = hrt_absolute_time();
 		if (t >= last_sent_vfr + 100000) {
@@ -250,6 +250,19 @@ l_vehicle_attitude(const struct listener *l)
 			float throttle = armed.armed ? actuators_0.control[3] * 100.0f : 0.0f;
 			mavlink_msg_vfr_hud_send(MAVLINK_COMM_0, airspeed.true_airspeed_m_s, groundspeed, heading, throttle, global_pos.alt, -global_pos.vz);
 		}
+		
+		/* send quaternion values if it exists */
+		if(att.q_valid) {
+			mavlink_msg_attitude_quaternion_send(MAVLINK_COMM_0,
+												last_sensor_timestamp / 1000,
+												att.q[0],
+												att.q[1],
+												att.q[2],
+												att.q[3],
+												att.rollspeed,
+												att.pitchspeed,
+												att.yawspeed);
+		}
 	}
 
 	attitude_counter++;