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fixed remarks by Freek

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This commit is contained in:
Roland Meertens
2015-10-29 16:44:10 +01:00
parent 56cb25f98e
commit 3efa3cd58e
9 changed files with 21 additions and 47 deletions
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conf/airframes/RM/rm_ardrone2.xml
+1 -1
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@@ -35,7 +35,7 @@
<load name="bat_voltage_ardrone2.xml"/>
<load name="uartrotation.xml">
<configure name="STEREO_UART" value="UART1"/>
<configure name="STEREO_BAUD" value="B115200"/>
<configure name="STEREO_BAUD" value="B1000000"/>
</load>
</modules>
conf/messages.xml
+1 -2
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@@ -2092,8 +2092,7 @@
</message>
<!-- 245 is free -->
<message name="SERIALRMAT" id="246">
</message>
<!-- 246 is free -->
<message name="PPRZ_DEBUG" id="247">
conf/modules/uartrotation.xml
+6 -12
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@@ -2,33 +2,27 @@
<module name="uartrotation">
<doc>
<description>Writes rotation to the uart bus</description>
<description>Writes rotation to the uart bus. Meant for sending the rotation
to the ODROID board or to the stereo camera boards.
Can be used to improve vision algorithms.
The protocol that is used is the stereocommunication protocol.
</description>
<configure name="STEREO_UART" value="UARTX" description="Sets the UART port number of the connected camera (required)"/>
<configure name="STEREO_BAUD" value="BXXXXX" description="Sets the BAUD rate of the connected camera (required: must be same as camera)"/>
</doc>
<header>
<file name="uartrotation.h"/>
</header>
<init fun="uart_rotation_init()"/>
<periodic fun="write_serial_rot()" freq="512."/>
<makefile>
<file name="uartrotation.c"/>
<file name="stereoprotocol.c" dir="subsystems"/>
<!-- <define name="USE_$(STEREO_UART)"/>
<define name="UART_LINK" value="$(STEREO_UART_LOWER)"/>
<define name="$(STEREO_UART)_BAUD" value="$(STEREO_BAUD)"/>-->
<raw>
STEREO_UART_LOWER=$(shell echo $(STEREO_UART) | tr A-Z a-z)
ap.CFLAGS += -DUSE_$(STEREO_UART)
ap.CFLAGS += -DUART_LINK=$(STEREO_UART_LOWER)
ap.CFLAGS += -D$(STEREO_UART)_BAUD=$(STEREO_BAUD)
</raw>
<!--
ODROID_GPS_PORT_LOWER=$(shell echo $(GPS_PORT) | tr A-Z a-z)
ap.CFLAGS += -DUSE_$(GPS_PORT) -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
ap.CFLAGS += -DUSE_GPS -DGPS_LINK=$(ODROID_GPS_PORT_LOWER)
-->
</makefile>
</module>
conf/telemetry/default_rotorcraft.xml
-1
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@@ -26,7 +26,6 @@
<message name="AIR_DATA" period="1.3"/>
<message name="SURVEY" period="2.5"/>
<message name="OPTIC_FLOW_EST" period="0.25"/>
<message name="SERIALRMAT" period="0.25"/>
<message name="VECTORNAV_INFO" period="0.5"/>
</mode>
sw/airborne/modules/guidance_opticflow/guidance_opticflow_hover.c
-1
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@@ -151,7 +151,6 @@ void guidance_h_module_run(bool_t in_flight)
static void stabilization_opticflow_vel_cb(uint8_t sender_id __attribute__((unused)),
uint32_t stamp, float vel_x, float vel_y, float vel_z)
{
printf("Stabilisation before %f %f \n", vel_x, vel_y);
/* Check if we are in the correct AP_MODE before setting commands */
if (autopilot_mode != AP_MODE_MODULE) {
return;
sw/airborne/modules/optical_flow/px4flow.c
+1 -2
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@@ -46,9 +46,8 @@ struct mavlink_msg_req req;
static void decode_optical_flow_msg(struct mavlink_message *msg __attribute__((unused)))
{
optical_flow_available = TRUE;
// printf("Stabilisation decoded %d %d height: %f \n", optical_flow.flow_x, optical_flow.flow_y,optical_flow.ground_distance);
// X and Y negated to get to the body of the drone
// Y negated to get to the body of the drone
AbiSendMsgVELOCITY_ESTIMATE(PIX4FLOWSENDER_ID, 0,
(optical_flow.flow_x/optical_flow.ground_distance),
-1.0*(optical_flow.flow_y/optical_flow.ground_distance),
sw/airborne/modules/sensors/stereocam.c
-5
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@@ -37,12 +37,7 @@
// define coms link for stereocam
#define STEREO_PORT (&((UART_LINK).device))
struct link_device *dev = STEREO_PORT;
#define StereoGetch() STEREO_PORT ->get_byte(STEREO_PORT->periph)
#define StereoSend1(c) STEREO_PORT->put_byte(STEREO_PORT->periph, c)
#define StereoUartSend1(c) StereoSend1(c)
#define StereoSend(_dat,_len) { for (uint8_t i = 0; i< (_len); i++) StereoSend1(_dat[i]); };
#define StereoUartSetBaudrate(_b) uart_periph_set_baudrate(STEREO_PORT, _b);
//typedef struct MsgProperties {
// uint16_t positionImageStart;
sw/airborne/modules/uartrotation/uartrotation.c
+7 -17
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@@ -19,47 +19,37 @@
*/
/**
* @file "modules/readlocationfromodroid/readlocationfromodroid.c"
* @author Roland
* reads from the odroid and sends information of the drone to the odroid using JSON messages
* @author Roland + Kirk
* Sends rotation using the stereoboard protocol over the UART.
*/
#include "modules/uartrotation/uartrotation.h"
#include "subsystems/abi.h"
#include <serial_port.h>
#include <stdio.h>
#include <inttypes.h>
#include <errno.h>
#include "state.h"
#include "subsystems/gps.h"
#include "subsystems/ins/ins_int.h"
#include "firmwares/rotorcraft/autopilot.h"
#include "mcu_periph/uart.h"
#include "subsystems/gps.h"
#include "subsystems/datalink/telemetry.h"
#include "subsystems/stereoprotocol.h"
#include "navdata.h"
int frameNumberSending=0;
static int frame_number_sending=0;
static abi_event odroid_agl_ev;
float lastKnownHeight = 0.0;
int pleaseResetOdroid = 0;
//uart_periph_set_baudrate(UART_LINK, B115200);
static void write_serial_rot(struct transport_tx *trans, struct link_device *devasdf) {
void write_serial_rot() {
struct Int32RMat *ltp_to_body_mat = stateGetNedToBodyRMat_i();
int32_t lengthArrayInformation = 11*sizeof(int32_t);
static int32_t lengthArrayInformation = 11*sizeof(int32_t);
uint8_t ar[lengthArrayInformation];
int32_t *pointer = (int32_t*)ar;
for(int indexRot = 0; indexRot < 9; indexRot++){
pointer[indexRot]=ltp_to_body_mat->m[indexRot];
}
pointer[9]=(int32_t)(state.alt_agl_f*100); //height above ground level in CM.
pointer[10]=frameNumberSending++;
printf("Whoo sending serial\n");
pointer[10]=frame_number_sending++;
stereoprot_sendArray( &((UART_LINK).device),ar, lengthArrayInformation, 1);
printf("Whoo sending serial2\n");
}
void uart_rotation_init() {
register_periodic_telemetry(DefaultPeriodic, "SERIALRMAT", write_serial_rot);
}
sw/airborne/modules/uartrotation/uartrotation.h
+5 -6
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@@ -18,15 +18,14 @@
* <http://www.gnu.org/licenses/>.
*/
/**
* @file "modules/readlocationfromodroid/readlocationfromodroid.h"
* @file "modules/uartrotation/uartrotation.h"
* @author Roland
* reads from the odroid
* Sends rotation using the stereoboard protocol over the UART.
*/
#ifndef READLOCATIONFROMODROID_H
#define READLOCATIONFROMODROID_H
#ifndef UARTROTATION_H
#define UARTROTATION_H
#include <inttypes.h>
extern void odroid_loc_init(void);
extern void odroid_loc_periodic(void);
extern void write_serial_rot(void);
#endif