mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 05:42:49 +08:00
Merge branch 'master' into telemetry
to resolve Conflicts: sw/airborne/firmwares/fixedwing/ap_downlink.h
This commit is contained in:
Felix Ruess
@@ -40,9 +40,6 @@ ROTORCRAFT_INC = -I$(SRC_FIRMWARE) -I$(SRC_BOARD)
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||||
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ap.ARCHDIR = $(ARCH)
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||||
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||||
# would be better to auto-generate this
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$(TARGET).CFLAGS += -DFIRMWARE=ROTORCRAFT
|
||||
|
||||
ap.CFLAGS += $(ROTORCRAFT_INC)
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ap.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -DPERIPHERALS_AUTO_INIT
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ap.srcs = $(SRC_FIRMWARE)/main.c
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@@ -35,9 +35,6 @@ $(TARGET).CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
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$(TARGET).CFLAGS += -DPERIPHERALS_AUTO_INIT
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$(TARGET).CFLAGS += $(FIXEDWING_INC)
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# would be better to auto-generate this
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$(TARGET).CFLAGS += -DFIRMWARE=FIXEDWING
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$(TARGET).srcs += mcu.c
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$(TARGET).srcs += $(SRC_ARCH)/mcu_arch.c
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@@ -11,10 +11,12 @@
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- automatic baudrate detection
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Warning: you still need to tell the driver
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a) which paparazzi uart you use
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b) inside the ublox gps there are also many ports. the tiny/ppzgps use ublox_internal_port1 but if for instance you use a LS-SAM or I2C device you need to configure:
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1. Which paparazzi uart you use
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2. Inside the ublox gps there are also many ports.
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The tiny/ppzgps use ublox_internal_port1 (UART1) but if for instance you use a LS-SAM
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or I2C device you need to set this by defining GPS_PORT_ID.
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</description>
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<define name="GPS_PORT_ID" value="GPS_PORT_UART2" description=""/>
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<define name="GPS_PORT_ID" value="GPS_PORT_UART1" description="Port inside the Ublox GPS (GPS_PORT_DDC, GPS_PORT_UART1, GPS_PORT_UART2, GPS_PORT_USB, GPS_PORT_SPI)"/>
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</doc>
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<header>
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<file name="gps_ubx_ucenter.h"/>
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@@ -33,7 +33,7 @@
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#include "led.h"
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// ADC for absolute pressure
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#define BARO_ABS_ADS
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#ifndef BARO_ABS_ADS
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#define BARO_ABS_ADS ads1114_1
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#endif
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@@ -32,7 +32,6 @@
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#include <inttypes.h>
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#include "std.h"
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#include "paparazzi.h"
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#include "mcu_periph/sys_time.h"
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#include "generated/airframe.h"
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@@ -27,7 +27,6 @@
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*
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*/
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#include "gps_ubx_ucenter.h"
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//////////////////////////////////////////////////////////////////////////////////////
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@@ -295,6 +294,9 @@ static inline void gps_ubx_ucenter_config_port(void)
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#if GPS_PORT_ID == GPS_PORT_UART1 || GPS_PORT_ID == GPS_PORT_UART2
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UbxSend_CFG_PRT(GPS_PORT_ID, 0x0, 0x0, 0x000008D0, 38400, UBX_PROTO_MASK, UBX_PROTO_MASK, 0x0, 0x0);
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#endif
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#if GPS_PORT_ID == GPS_PORT_USB
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UbxSend_CFG_PRT(GPS_PORT_ID, 0x0, 0x0, 0x0, 0, UBX_PROTO_MASK, UBX_PROTO_MASK, 0x0, 0x0);
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#endif
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}
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#define GPS_SBAS_ENABLED 0x01
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@@ -319,6 +321,9 @@ static inline void gps_ubx_ucenter_enable_msg(uint8_t class, uint8_t id, uint8_t
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#if GPS_PORT_ID == GPS_PORT_UART2
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UbxSend_CFG_MSG(class, id, 0, 0, rate, 0);
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#endif
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#if GPS_PORT_ID == GPS_PORT_USB
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UbxSend_CFG_MSG(class, id, 0, 0, 0, rate);
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#endif
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#if GPS_PORT_ID == GPS_PORT_DDC
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UbxSend_CFG_MSG(class, id, rate, 0, 0, 0);
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#endif
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@@ -385,10 +390,10 @@ static bool_t gps_ubx_ucenter_configure(uint8_t nr)
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gps_ubx_ucenter_enable_msg(UBX_NAV_ID, UBX_NAV_SVINFO_ID, 4);
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break;
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case 11:
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#if defined FIRMWARE && FIRMWARE == ROTORCRAFT
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gps_ubx_ucenter_enable_msg(UBX_NAV_ID, UBX_NAV_SOL_ID, 1);
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#else
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#if GPS_UBX_UCENTER_SLOW_NAV_SOL
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gps_ubx_ucenter_enable_msg(UBX_NAV_ID, UBX_NAV_SOL_ID, 8);
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#else
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gps_ubx_ucenter_enable_msg(UBX_NAV_ID, UBX_NAV_SOL_ID, 1);
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#endif
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break;
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case 12:
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@@ -416,7 +421,3 @@ static bool_t gps_ubx_ucenter_configure(uint8_t nr)
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}
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return TRUE; // Continue, except for the last case
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}
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@@ -20,7 +20,7 @@
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*/
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/**
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* @file modules/sensors/baro_mpl3155.c
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* @file modules/sensors/baro_mpl3115.c
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*
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* Module for the baro MPL3115A2 from Freescale (i2c)
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*
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@@ -20,7 +20,7 @@
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*/
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/**
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* @file modules/sensors/baro_mpl3155.h
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* @file modules/sensors/baro_mpl3115.h
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*
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* Module for the baro MPL3115A2 from Freescale (i2c)
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*
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@@ -3,14 +3,13 @@ Q=@
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CC = gcc
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CFLAGS = -std=c99 -I.. -I../.. -I../../../include -I../../booz -I../../../booz -Wall
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CFLAGS = -std=c99 -I.. -I../.. -I../../../include -Wall
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LDFLAGS = -lm -lgsl -lgslcblas
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CFLAGS +=
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# imu wants airframe to fetch its neutrals
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# ahrs wants airframe to fetch IMU_BODY_TO_IMU_ANGLES
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#CFLAGS += -I../../../../var/BOOZ2_A7
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CFLAGS += -I../../../../var/ahrs_test
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@@ -51,28 +50,15 @@ AHRS_TYPE = AHRS_TYPE_ICQ
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#AHRS_TYPE = AHRS_TYPE_FCR2
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#AHRS_TYPE = AHRS_TYPE_FCQ
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endif
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ifndef PROPAGATE_LOW_PASS_RATES
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PROPAGATE_LOW_PASS_RATES = 0
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endif
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ifndef GRAVITY_UPDATE_NORM_HEURISTIC
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GRAVITY_UPDATE_NORM_HEURISTIC = 0
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endif
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ifndef GRAVITY_UPDATE_COORDINATED_TURN
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GRAVITY_UPDATE_COORDINATED_TURN = 0
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endif
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ifndef MAG_UPDATE_YAW_ONLY
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MAG_UPDATE_YAW_ONLY = 0
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endif
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ifndef DISABLE_MAG_UPDATE
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DISABLE_MAG_UPDATE = 0
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endif
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ifndef USE_GPS_HEADING
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USE_GPS_HEADING = 0
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endif
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ifndef FREQUENCY
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FREQENCY = 512
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endif
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PROPAGATE_LOW_PASS_RATES ?= 0
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GRAVITY_UPDATE_NORM_HEURISTIC ?= 0
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GRAVITY_UPDATE_COORDINATED_TURN ?= 0
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MAG_UPDATE_YAW_ONLY ?= 0
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DISABLE_MAG_UPDATE ?= 0
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USE_GPS_HEADING ?= 0
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FREQENCY ?= 512
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AHRS_CFLAGS += -DAHRS_TYPE=$(AHRS_TYPE)
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@@ -114,10 +100,6 @@ ifeq ($(AHRS_TYPE), AHRS_TYPE_ICQ)
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AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl_quat.h\"
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AHRS_SRCS += ../../subsystems/ahrs/ahrs_int_cmpl_quat.c
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endif
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ifeq ($(AHRS_TYPE), AHRS_TYPE_FLQ)
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AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_lkf_quat.h\"
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AHRS_SRCS += ../../subsystems/ahrs/ahrs_float_lkf_quat.c
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endif
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ifeq ($(AHRS_TYPE), AHRS_TYPE_FCR)
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AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_dcm.h\"
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AHRS_SRCS += ../../subsystems/ahrs/ahrs_float_dcm.c
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@@ -135,9 +117,14 @@ endif
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RAOS_SRCS = ./ahrs_on_synth.c \
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../../state.c \
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../../subsystems/imu.c \
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../../subsystems/imu/imu_dummy.c \
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../../math/pprz_trig_int.c \
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../../math/pprz_orientation_conversion.c \
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../../math/pprz_geodetic_int.c \
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../../math/pprz_geodetic_float.c \
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../../math/pprz_geodetic_double.c \
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../../../simulator/nps/nps_random.c
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@@ -31,6 +31,7 @@ from array import array
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import numpy
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import matplotlib.pyplot as plt
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def run_simulation(ahrs_type, build_opt, traj_nb):
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print "\nBuilding ahrs"
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args = ["make", "clean", "run_ahrs_on_synth", "AHRS_TYPE=AHRS_TYPE_" + ahrs_type] + build_opt
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@@ -44,7 +45,8 @@ def run_simulation(ahrs_type, build_opt, traj_nb):
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print "Running simulation"
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print " using traj " + str(traj_nb)
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p = subprocess.Popen(args=["./run_ahrs_on_synth",str(traj_nb)], stdout=subprocess.PIPE, stderr=subprocess.STDOUT, shell=False)
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p = subprocess.Popen(args=["./run_ahrs_on_synth", str(traj_nb)], stdout=subprocess.PIPE, stderr=subprocess.STDOUT,
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shell=False)
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outputlines = p.stdout.readlines()
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p.wait()
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# for i in outputlines:
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@@ -57,13 +59,8 @@ def run_simulation(ahrs_type, build_opt, traj_nb):
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('bp_true', 'float32'), ('bq_true', 'float32'), ('br_true', 'float32'),
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('phi_ahrs', 'float32'), ('theta_ahrs', 'float32'), ('psi_ahrs', 'float32'),
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('p_ahrs', 'float32'), ('q_ahrs', 'float32'), ('r_ahrs', 'float32'),
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('bp_ahrs', 'float32'), ('bq_ahrs', 'float32'), ('br_ahrs', 'float32')
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]
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pos_data_type = [ ('x0_true', 'float32'), ('y0_true', 'float32'), ('z0_true', 'float32'),
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('x1_true', 'float32'), ('y1_true', 'float32'), ('z1_true', 'float32'),
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('x2_true', 'float32'), ('y2_true', 'float32'), ('z2_true', 'float32'),
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('x3_true', 'float32'), ('y3_true', 'float32'), ('z3_true', 'float32'),
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]
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('bp_ahrs', 'float32'), ('bq_ahrs', 'float32'), ('br_ahrs', 'float32')]
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mydescr = numpy.dtype(ahrs_data_type)
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data = [[] for dummy in xrange(len(mydescr))]
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# import code; code.interact(local=locals())
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@@ -71,7 +68,7 @@ def run_simulation(ahrs_type, build_opt, traj_nb):
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if line.startswith("#"):
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print " " + line,
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else:
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fields = line.strip().split(' ');
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fields = line.strip().split(' ')
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# print fields
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for i, number in enumerate(fields):
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data[i].append(number)
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@@ -83,7 +80,6 @@ def run_simulation(ahrs_type, build_opt, traj_nb):
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return numpy.rec.array(data, dtype=mydescr)
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|
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|
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|
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def plot_simulation_results(plot_true_state, lsty, type, sim_res):
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print "Plotting Results"
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@@ -132,7 +128,6 @@ def plot_simulation_results(plot_true_state, lsty, type, sim_res):
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xlabel('time in s')
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title('br')
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if plot_true_state:
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subplot(3, 3, 1)
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plt.plot(sim_res.time, sim_res.phi_true, 'r--')
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@@ -154,6 +149,5 @@ def plot_simulation_results(plot_true_state, lsty, type, sim_res):
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plot(sim_res.time, sim_res.br_true, 'r--')
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|
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|
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def show_plot():
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plt.show();
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plt.show()
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|
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@@ -24,51 +24,51 @@ import ahrs_utils
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||||
|
||||
def main():
|
||||
|
||||
# traj_nb = 0; # static
|
||||
# traj_nb = 1; # sine orientation
|
||||
# traj_nb = 2; # sine X quad
|
||||
# traj_nb = 3; # step_phi
|
||||
# traj_nb = 4; # step_phi_2nd_order
|
||||
# traj_nb = 5; # step_bias
|
||||
# traj_nb = 6; # coordinated circle
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||||
# traj_nb = 7; # stop stop X quad
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||||
traj_nb = 8; # bungee takeoff
|
||||
# traj_nb = 0 # static
|
||||
# traj_nb = 1 # sine orientation
|
||||
# traj_nb = 2 # sine X quad
|
||||
# traj_nb = 3 # step_phi
|
||||
# traj_nb = 4 # step_phi_2nd_order
|
||||
# traj_nb = 5 # step_bias
|
||||
# traj_nb = 6 # coordinated circle
|
||||
# traj_nb = 7 # stop stop X quad
|
||||
traj_nb = 8 # bungee takeoff
|
||||
|
||||
build_opt1 = [];
|
||||
# build_opt1 = ["Q="];
|
||||
build_opt1 += ["FREQUENCY=120"];
|
||||
# build_opt1 += ["PROPAGATE_LOW_PASS_RATES=1"];
|
||||
build_opt1 += ["GRAVITY_UPDATE_COORDINATED_TURN=1"];
|
||||
build_opt1 += ["GRAVITY_UPDATE_NORM_HEURISTIC=1"];
|
||||
# build_opt1 += ["DISABLE_MAG_UPDATE=1"];
|
||||
# build_opt1 += ["USE_GPS_HEADING=1"];
|
||||
# build_opt1 += ["MAG_UPDATE_YAW_ONLY=1"];
|
||||
build_opt1 = []
|
||||
# build_opt1 = ["Q="]
|
||||
build_opt1 += ["FREQUENCY=120"]
|
||||
# build_opt1 += ["PROPAGATE_LOW_PASS_RATES=1"]
|
||||
build_opt1 += ["GRAVITY_UPDATE_COORDINATED_TURN=1"]
|
||||
build_opt1 += ["GRAVITY_UPDATE_NORM_HEURISTIC=1"]
|
||||
# build_opt1 += ["DISABLE_MAG_UPDATE=1"]
|
||||
# build_opt1 += ["USE_GPS_HEADING=1"]
|
||||
# build_opt1 += ["MAG_UPDATE_YAW_ONLY=1"]
|
||||
|
||||
# ahrs_type1 = "FCQ";
|
||||
# ahrs_type1 = "FCR2";
|
||||
# ahrs_type1 = "FLQ";
|
||||
ahrs_type1 = "ICQ";
|
||||
# ahrs_type1 = "FCR";
|
||||
# ahrs_type1 = "FCQ"
|
||||
# ahrs_type1 = "FCR2"
|
||||
# ahrs_type1 = "FLQ"
|
||||
ahrs_type1 = "ICQ"
|
||||
# ahrs_type1 = "FCR"
|
||||
|
||||
sim_res1 = ahrs_utils.run_simulation(ahrs_type1, build_opt1, traj_nb)
|
||||
# import code; code.interact(local=locals())
|
||||
|
||||
build_opt2 = [];
|
||||
build_opt2 += ["FREQUENCY=120"];
|
||||
build_opt2 += ["GRAVITY_UPDATE_COORDINATED_TURN=1"];
|
||||
build_opt2 += ["GRAVITY_UPDATE_NORM_HEURISTIC=1"];
|
||||
build_opt2 += ["USE_AHRS_GPS_ACCELERATIONS=1"];
|
||||
# build_opt2 += ["DISABLE_MAG_UPDATE=1"];
|
||||
# build_opt2 += ["USE_GPS_HEADING=1"];
|
||||
# build_opt2 += ["MAG_UPDATE_YAW_ONLY=0"];
|
||||
# build_opt2 += ["PROPAGATE_LOW_PASS_RATES=1"];
|
||||
# build_opt2 = build_opt1;
|
||||
build_opt2 = []
|
||||
build_opt2 += ["FREQUENCY=120"]
|
||||
build_opt2 += ["GRAVITY_UPDATE_COORDINATED_TURN=1"]
|
||||
build_opt2 += ["GRAVITY_UPDATE_NORM_HEURISTIC=1"]
|
||||
build_opt2 += ["USE_AHRS_GPS_ACCELERATIONS=1"]
|
||||
# build_opt2 += ["DISABLE_MAG_UPDATE=1"]
|
||||
# build_opt2 += ["USE_GPS_HEADING=1"]
|
||||
# build_opt2 += ["MAG_UPDATE_YAW_ONLY=0"]
|
||||
# build_opt2 += ["PROPAGATE_LOW_PASS_RATES=1"]
|
||||
# build_opt2 = build_opt1
|
||||
|
||||
# ahrs_type2 = "FLQ";
|
||||
# ahrs_type2 = "FCR2";
|
||||
# ahrs_type2 = "ICQ";
|
||||
ahrs_type2 = "FCR";
|
||||
# ahrs_type2 = ahrs_type1;
|
||||
# ahrs_type2 = "FLQ"
|
||||
# ahrs_type2 = "FCR2"
|
||||
# ahrs_type2 = "ICQ"
|
||||
ahrs_type2 = "FCR"
|
||||
# ahrs_type2 = ahrs_type1
|
||||
|
||||
sim_res2 = ahrs_utils.run_simulation(ahrs_type2, build_opt2, traj_nb)
|
||||
|
||||
|
||||
@@ -37,10 +37,6 @@ static void report(void) {
|
||||
int output_sensors = FALSE;
|
||||
int output_pos = FALSE;
|
||||
|
||||
#if AHRS_TYPE == AHRS_TYPE_ICE || AHRS_TYPE == AHRS_TYPE_ICQ
|
||||
EULERS_FLOAT_OF_BFP(ahrs_float.ltp_to_imu_euler, ahrs.ltp_to_imu_euler);
|
||||
RATES_FLOAT_OF_BFP(ahrs_float.imu_rate, ahrs.imu_rate);
|
||||
#endif
|
||||
printf("%f ", aos.time);
|
||||
|
||||
printf("%f %f %f ", DegOfRad(aos.ltp_to_imu_euler.phi),
|
||||
@@ -55,23 +51,37 @@ static void report(void) {
|
||||
DegOfRad(aos.gyro_bias.q),
|
||||
DegOfRad(aos.gyro_bias.r));
|
||||
|
||||
|
||||
printf("%f %f %f ", DegOfRad(ahrs_float.ltp_to_imu_euler.phi),
|
||||
DegOfRad(ahrs_float.ltp_to_imu_euler.theta),
|
||||
DegOfRad(ahrs_float.ltp_to_imu_euler.psi));
|
||||
|
||||
printf("%f %f %f ", DegOfRad(ahrs_float.imu_rate.p),
|
||||
DegOfRad(ahrs_float.imu_rate.q),
|
||||
DegOfRad(ahrs_float.imu_rate.r));
|
||||
|
||||
#if AHRS_TYPE == AHRS_TYPE_ICQ
|
||||
struct Int32Eulers ltp_to_imu_euler_i;
|
||||
INT32_EULERS_OF_QUAT(ltp_to_imu_euler_i, ahrs_impl.ltp_to_imu_quat);
|
||||
struct FloatEulers ltp_to_imu_euler_f;
|
||||
EULERS_FLOAT_OF_BFP(ltp_to_imu_euler_f, ltp_to_imu_euler_i);
|
||||
printf("%f %f %f ", DegOfRad(ltp_to_imu_euler_f.phi),
|
||||
DegOfRad(ltp_to_imu_euler_f.theta),
|
||||
DegOfRad(ltp_to_imu_euler_f.psi));
|
||||
|
||||
struct FloatRates imu_rate_f;
|
||||
RATES_FLOAT_OF_BFP(imu_rate_f, ahrs_impl.imu_rate);
|
||||
printf("%f %f %f ", DegOfRad(imu_rate_f.p),
|
||||
DegOfRad(imu_rate_f.q),
|
||||
DegOfRad(imu_rate_f.r));
|
||||
|
||||
struct FloatRates bias;
|
||||
RATES_FLOAT_OF_BFP(bias, ahrs_impl.gyro_bias);
|
||||
printf("%f %f %f ", DegOfRad(bias.p),
|
||||
DegOfRad(bias.q),
|
||||
DegOfRad(bias.r));
|
||||
#endif
|
||||
#if AHRS_TYPE == AHRS_TYPE_FLQ || AHRS_TYPE == AHRS_TYPE_FCR2 || AHRS_TYPE == AHRS_TYPE_FCQ || AHRS_TYPE == AHRS_TYPE_FCR
|
||||
|
||||
#elif AHRS_TYPE == AHRS_TYPE_FCR2 || AHRS_TYPE == AHRS_TYPE_FCQ || AHRS_TYPE == AHRS_TYPE_FCR
|
||||
|
||||
printf("%f %f %f ", DegOfRad(ahrs_impl.ltp_to_imu_euler.phi),
|
||||
DegOfRad(ahrs_impl.ltp_to_imu_euler.theta),
|
||||
DegOfRad(ahrs_impl.ltp_to_imu_euler.psi));
|
||||
|
||||
printf("%f %f %f ", DegOfRad(ahrs_impl.imu_rate.p),
|
||||
DegOfRad(ahrs_impl.imu_rate.q),
|
||||
DegOfRad(ahrs_impl.imu_rate.r));
|
||||
|
||||
printf("%f %f %f ", DegOfRad(ahrs_impl.gyro_bias.p),
|
||||
DegOfRad(ahrs_impl.gyro_bias.q),
|
||||
DegOfRad(ahrs_impl.gyro_bias.r));
|
||||
|
||||
Reference in New Issue
Block a user