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Merged paparazzi master into paparazzi dev and resolved conflicts

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This commit is contained in:
Christophe De Wagter
2011-05-12 20:03:39 +02:00
parent 126316aa76 65f17b5ced
commit 331c474d51
12 changed files with 55 additions and 61 deletions
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conf/control_panel.xml.example
+4
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@@ -53,6 +53,10 @@
<arg flag="-b" variable="ivy_bus"/>
</program>
<program name="Joystick" command="sw/ground_segment/joystick/input2ivy">
<arg flag="-b" variable="ivy_bus"/>
</program>
<program name="Hardware in the Loop" command="sw/simulator/simhitl">
<arg flag="-fbw" variable="fbw_serial_port"/>
<arg flag="-ap" variable="ap_serial_port"/>
conf/flight_plans/versatile_carto_fixe_muret.xml
+10 -5
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@@ -54,6 +54,12 @@ float varsweepsize=110;
<set value="NAV_MODE_ROLL" var="nav_mode"/>
<attitude roll="0" throttle="0" vmode="throttle"/>
</block>
<block name="Geo init">
<while cond="LessThan(NavBlockTime(), 10)"/>
<call fun="NavSetGroundReferenceHere()"/>
<deroute block="Holding point"/>
</block>
<block name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png">
<exception cond="estimator_z > ground_alt+25" deroute="Standby"/>
<set value="0" var="kill_throttle"/>
@@ -111,10 +117,12 @@ float varsweepsize=110;
<block name="Carto survey S1-S2-S3" strip_button="Survey (wp S1-S2)" strip_icon="survey.png">
<call fun="nav_survey_computefourth_corner(WP_S1,WP_S2,WP_S3,WP_S4)"/>
<call fun="nav_survey_losange_carto_init(WP_S1,WP_S2,WP_S3, 50,150)"/>
<call fun="nav_survey_losange_carto()"/>
</block>
<block name="Carto survey S1-S3-S2" strip_button="Survey (wp S1-S2)" strip_icon="survey.png">
<call fun="nav_survey_computefourth_corner(WP_S1,WP_S2,WP_S3,WP_S4)"/>
<call fun="nav_survey_losange_carto_init(WP_S1,WP_S3,WP_S2, 0,150)"/>
<call fun="nav_survey_losange_carto()"/>
</block>
@@ -136,10 +144,12 @@ float varsweepsize=110;
</block>
<block name="Carto survey SP1-SP2-SP3 fin" strip_button="Survey (wp S1-S2)" strip_icon="survey.png">
<call fun="nav_survey_computefourth_corner(WP_S1,WP_S2,WP_S3,WP_S4)"/>
<call fun="nav_survey_losange_carto_init(WP_SP1,WP_SP2,WP_SP3, 20,150)"/>
<call fun="nav_survey_losange_carto()"/>
</block>
<block name="Carto survey SP1-SP3-SP2 fin " strip_button="Survey (wp S1-S2)" strip_icon="survey.png">
<call fun="nav_survey_computefourth_corner(WP_S1,WP_S2,WP_S3,WP_S4)"/>
<call fun="nav_survey_losange_carto_init(WP_SP1,WP_SP3,WP_SP2, 0,150)"/>
<call fun="nav_survey_losange_carto()"/>
</block>
@@ -148,11 +158,6 @@ float varsweepsize=110;
</block>
<block name="Geo init">
<while cond="LessThan(NavBlockTime(), 10)"/>
<call fun="NavSetGroundReferenceHere()"/>
</block>
<block name="Survey S1-S2" strip_button="Survey (wp S1-S2)" strip_icon="survey.png">
<survey_rectangle grid="150" wp1="S1" wp2="S2"/>
</block>
conf/joystick/cockpit_sx.xml
+4 -4
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@@ -12,10 +12,10 @@
<message class="datalink" name="RC_4CH" send_always="true">
<field name="mode" value="mode + 1"/> <!-- only AUTO1 and AUTO2 available -->
<field name="throttle" value="Fit(throttle,0-100,100,0,127)"/>
<field name="roll" value="roll"/>
<field name="pitch" value="pitch"/>
<field name="yaw" value="yaw"/>
<field name="throttle" value="Fit(throttle,-100,100,0,127)"/>
<field name="roll" value="Fit(roll,-100,100,-127,127)"/>
<field name="pitch" value="Fit(pitch,-100,100,-127,127)"/>
<field name="yaw" value="Fit(yaw,-100,100,-127,127)"/>
</message>
</messages>
conf/messages.xml
+8 -4
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@@ -794,10 +794,14 @@
<field name="speed_sp" type="float"/>
</message>
<!--126 is free -->
<!--127 is free -->
<!--128 is free -->
<!--129 is free -->
<!--126 is free -->
<!--127 is free -->
<message name="CAMERA_SNAPSHOT" id="128">
<field name="snapshot_image_number" type="uint16"/>
</message>
<!--129 is free -->
<message name="STAB_ATTITUDE_FLOAT" id="130">
<field name="est_p" type="float" alt_unit="degres/s" alt_unit_coef="57.29578"/>
conf/modules/cartography.xml
+1 -10
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@@ -5,18 +5,9 @@
<file name="cartography.h"/>
</header>
<init fun="init_carto()"/>
<periodic fun="periodic_1Hz_carto()" freq="1." start="start_carto()" stop="stop_carto()" autorun="TRUE"/>
<periodic fun="periodic_10Hz_carto()" period="0.1" start="start_carto()" stop="stop_carto()" autorun="FALSE"/>
<periodic fun="periodic_downlink_carto()" freq="2." autorun="FALSE"/>
<makefile>
<raw>
#Exemple of RAW makefile part
</raw>
<define name="DEMO_MODULE_LED" value="2"/>
<file name="cartography.c"/>
</makefile>
<makefile target="sim">
<define name="SOME_FLAG"/>
<configure name="SOME_DEFINE" value="bla"/>
</makefile>
</module>
conf/telemetry/default_fixedwing_imu.xml
+3
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@@ -29,6 +29,9 @@
<message name="IMU_ACCEL" period=".8"/>
<message name="IMU_GYRO" period=".6"/>
<message name="IMU_MAG" period="1.3"/>
<message name="IMU_ACCEL_RAW" period="5.2"/>
<message name="IMU_GYRO_RAW" period="5.3"/>
<message name="IMU_MAG_RAW" period="5.4"/>
</mode>
<mode name="minimal">
<message name="ALIVE" period="5"/>
sw/airborne/firmwares/fixedwing/main_ap.c
+1
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@@ -744,3 +744,4 @@ static inline void on_mag_event(void)
#endif
}
#endif // USE_AHRS
sw/airborne/math/pprz_algebra_float.h
+3 -2
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@@ -518,7 +518,7 @@ static inline float float_rmat_reorthogonalize(struct FloatRMat* rm) {
FLOAT_QUAT_NORMALIZE(_a2c); \
}
/* _a2c = _a2b comp _b2c , aka _a2c = _a2b * _b2c */
/* _a2c = _a2b comp _b2c , aka _a2c = _b2c * _a2b */
#define FLOAT_QUAT_COMP(_a2c, _a2b, _b2c) { \
(_a2c).qi = (_a2b).qi*(_b2c).qi - (_a2b).qx*(_b2c).qx - (_a2b).qy*(_b2c).qy - (_a2b).qz*(_b2c).qz; \
(_a2c).qx = (_a2b).qi*(_b2c).qx + (_a2b).qx*(_b2c).qi + (_a2b).qy*(_b2c).qz - (_a2b).qz*(_b2c).qy; \
@@ -526,7 +526,8 @@ static inline float float_rmat_reorthogonalize(struct FloatRMat* rm) {
(_a2c).qz = (_a2b).qi*(_b2c).qz + (_a2b).qx*(_b2c).qy - (_a2b).qy*(_b2c).qx + (_a2b).qz*(_b2c).qi; \
}
#define FLOAT_QUAT_MULT(_a2c, _a2b, _b2c) FLOAT_QUAT_COMP(_a2c, _a2b, _b2c)
/* Quaternion multiplication q_a2c = q_b2c * q_a2b */
#define FLOAT_QUAT_MULT(_a2c, _b2c, _a2b) FLOAT_QUAT_COMP(_a2c, _a2b, _b2c)
/* _a2b = _a2c comp_inv _b2c , aka _a2b = _a2c * inv(_b2c) */
#define FLOAT_QUAT_COMP_INV_NORM_SHORTEST(_a2b, _a2c, _b2c) { \
sw/airborne/modules/cartography/cartography.c
+11 -27
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@@ -90,8 +90,7 @@ uint16_t railnumberSinceBoot=1; //used to count the number of rails the plane ha
#define USE_ONBOARD_CAMERA
#ifdef USE_ONBOARD_CAMERA
bool_t CAMERA_SNAPSHOT_REQUIERED=FALSE; //declared in main_ap.c
uint16_t camera_snapshot_image_number=0; //declared in main_ap.c
uint16_t camera_snapshot_image_number=0;
#endif
@@ -137,8 +136,11 @@ bool_t ProjectionInsideLimitOfRail;
#include "modules/cartography/cartography.h"
#include "led.h"
#include "generated/modules.h"
#ifndef DOWNLINK_DEVICE
#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
#endif
#include "downlink.h"
#include "mcu_periph/uart.h"
#include "std.h"
@@ -147,33 +149,16 @@ bool_t ProjectionInsideLimitOfRail;
////////////////////////////////////////////////////////////////////////////////////////////////
void init_carto(void) {
// this part is already done by led_init in fact
LED_INIT(DEMO_MODULE_LED);
LED_OFF(DEMO_MODULE_LED);
}
void periodic_1Hz_carto(void) {
/*uint8_t toto=3;
float lat=3.14159;
float lon=1.234;
LED_TOGGLE(DEMO_MODULE_LED);
DOWNLINK_SEND_MARK(DefaultChannel,&toto,&lat,&lon);
*/
}
void periodic_10Hz_carto(void) {
/* LED_TOGGLE(DEMO_MODULE_LED);
*/
void periodic_downlink_carto(void) {
DOWNLINK_SEND_CAMERA_SNAPSHOT(DefaultChannel,&camera_snapshot_image_number);
}
void start_carto(void) {
/* LED_ON(DEMO_MODULE_LED);
*/
}
void stop_carto(void) {
/* LED_OFF(DEMO_MODULE_LED);
*/
}
@@ -189,7 +174,7 @@ bool_t nav_survey_Snapshoot(void)
{
camera_snapshot_image_number=railnumberSinceBoot;
PRTDEBSTR(SNAPSHOT)
CAMERA_SNAPSHOT_REQUIERED=TRUE;
cartography_periodic_downlink_carto_status = MODULES_START;
return FALSE;
}
@@ -198,7 +183,7 @@ bool_t nav_survey_Snapshoot_Continu(void)
{
camera_snapshot_image_number=railnumberSinceBoot;
PRTDEBSTR(SNAPSHOT)
CAMERA_SNAPSHOT_REQUIERED=TRUE;
cartography_periodic_downlink_carto_status = MODULES_START;
return TRUE;
}
@@ -207,7 +192,7 @@ bool_t nav_survey_StopSnapshoot(void)
{
camera_snapshot_image_number=0;
PRTDEBSTR(STOP SNAPSHOT)
CAMERA_SNAPSHOT_REQUIERED=TRUE;
cartography_periodic_downlink_carto_status = MODULES_START;
return FALSE;
}
@@ -735,8 +720,7 @@ bool_t nav_survey_losange_carto(void)
CAMERA_SNAPSHOT_REQUIERED=TRUE;
cartography_periodic_downlink_carto_status = MODULES_START;
return TRUE; //apparament pour les fonctions de tache=> true
}
sw/airborne/modules/cartography/cartography.h
+2 -3
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@@ -7,8 +7,7 @@
void init_carto(void);
void periodic_1Hz_carto(void);
void periodic_10Hz_carto(void);
void periodic_downlink_carto(void);
void start_carto(void);
void stop_carto(void);
@@ -49,4 +48,4 @@ extern bool_t nav_survey_losange_carto(void); // !!!! important il faut mettre
#endif
sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
+1 -1
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@@ -216,11 +216,11 @@ void ahrs_update_accel(void)
// DCM filter uses g-force as positive
// accelerometer measures [0 0 -g] in a static case
accel_float.x = -accel_float.x;
accel_float.y = -accel_float.y;
accel_float.z = -accel_float.z;
#ifdef USE_GPS
if (gps.fix == GPS_FIX_3D) { //Remove centrifugal acceleration.
accel_float.y += gps.speed_3d/100. * Omega[2]; // Centrifugal force on Acc_y = GPS_speed*GyroZ
sw/ground_segment/joystick/input2ivy.ml
+7 -5
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@@ -349,14 +349,15 @@ let eval_input = fun buttons axis input ->
let scale = fun x min max ->
min + ((x - min_input) * (max - min)) / (max_input - min_input)
(** Fit a given interval of value into [min_input; max_input] *)
let fit = fun x min max min_input max_input ->
min_input + ((x - min) * (max_input - min_input)) / (max - min)
(** Scale a value in the given bounds *)
let bound = fun x min max ->
if x < min then min else (if x > max then max else x)
(** Fit a given interval of value into [min_input; max_input] *)
let fit = fun x min max min_input max_input ->
let v = min_input + ((x - min) * (max_input - min_input)) / (max - min) in
bound v min_input max_input
(** Return a pprz RC mode
* mode > max -> 2
* mode < min -> 0
@@ -371,7 +372,8 @@ let pprz_mode = fun mode ->
(** Eval a function call (TO BE COMPLETED) *)
let eval_call = fun f args ->
match f, args with
"-", [a1; a2] -> a1 - a2
"-", [a] -> - a
| "-", [a1; a2] -> a1 - a2
| "+", [a1; a2] -> a1 + a2
| "*", [a1; a2] -> a1 * a2
| "%", [a1; a2] -> a1 / a2