Merge branch 'master' of github.com:paparazzi/paparazzi

conf/boards/disco.makefile

@@ -2,6 +2,7 @@
 #
 # disco.makefile
 #
+# http://wiki.paparazziuav.org/wiki/Parrot_Disco
 #
 
 BOARD=disco
@@ -39,8 +40,8 @@ $(TARGET).srcs +=  $(SRC_BOARD)/board.c
 
 # Compile the video specific parts
 VIDEO_SRC = boards/bebop
-#$(TARGET).CFLAGS += -DI2C_BUF_LEN=56 -DUSE_I2C0
-#$(TARGET).srcs +=  $(VIDEO_SRC)/mt9v117.c $(VIDEO_SRC)/mt9f002.c modules/computer_vision/lib/isp/libisp.c modules/computer_vision/lib/isp/libisp_config.c
+$(TARGET).CFLAGS += -DI2C_BUF_LEN=56 -DUSE_I2C0
+$(TARGET).srcs +=  $(VIDEO_SRC)/mt9v117.c $(VIDEO_SRC)/mt9f002.c modules/computer_vision/lib/isp/libisp.c modules/computer_vision/lib/isp/libisp_config.c
 
 # Link static (Done for GLIBC)
 $(TARGET).CFLAGS += -DLINUX_LINK_STATIC

conf/modules/imu_disco.xml

@@ -19,7 +19,7 @@
   </doc>
   <autoload name="imu_common"/>
   <autoload name="imu_nps"/>
-  <!--autoload name="sonar_bebop"/-->
+  <autoload name="sonar_bebop"/>
   <header>
     <file name="imu_disco.h" dir="subsystems/imu"/>
   </header>

conf/userconf/OPENUAS/openuas_conf.xml

@@ -1,4 +1,15 @@
 <conf>
+  <aircraft
+   name="Disco"
+   ac_id="241"
+   airframe="airframes/OPENUAS/openuas_parrot_disco.xml"
+   radio="radios/spektrum.xml"
+   telemetry="telemetry/default_fixedwing_imu.xml"
+   flight_plan="flight_plans/versatile.xml"
+   settings="settings/fixedwing_basic.xml"
+   settings_modules="modules/digital_cam_video.xml modules/video_rtp_stream.xml modules/video_capture.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml modules/geo_mag.xml modules/air_data.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_full_pid_fw.xml modules/stabilization_adaptive_fw.xml modules/ahrs_float_cmpl_quat.xml modules/tune_airspeed.xml modules/airspeed_ms45xx_i2c.xml modules/imu_common.xml"
+   gui_color="#f39cf39cf39c"
+  />
   <aircraft
    name="EFlite-T28"
    ac_id="230"
@@ -41,7 +52,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_survey.xml"
    settings="settings/rotorcraft_basic.xml settings/estimation/ahrs_secondary.xml"
-   settings_modules="modules/digital_cam_video.xml modules/video_capture.xml modules/nav_survey_poly_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/video_rtp_stream.xml modules/cv_blob_locator.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/digital_cam_video.xml modules/video_capture.xml modules/nav_survey_poly_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/video_rtp_stream.xml modules/cv_blob_locator.xml modules/air_data.xml modules/geo_mag.xml modules/guidance_indi.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#ffffe8b36503"
   />
   <aircraft

sw/airborne/boards/disco/board.c

@@ -37,39 +37,39 @@
 #include "boards/bebop/mt9f002.h"
 
 /* Initialize MT9F002 chipset (Front camera) */
-//struct mt9f002_t mt9f002 = {
-//  // Precomputed values to go from InputCLK of (26/2)MHz to 96MH
-//  .interface = MT9F002_PARALLEL,
-//  .input_clk_freq = (26 / 2),
-//  .vt_pix_clk_div = 7,
-//  .vt_sys_clk_div = 1,
-//  .pre_pll_clk_div = 1,
-//  .pll_multiplier = 59,
-//  .op_pix_clk_div = 8,
-//  .op_sys_clk_div = 1,
-//  .shift_vt_pix_clk_div = 1,
-//  .rowSpeed_2_0 = 1,
-//  .row_speed_10_8 = 1,
-//
-//  // Initial values
-//  .target_fps = MT9F002_TARGET_FPS,
-//  .target_exposure = MT9F002_TARGET_EXPOSURE,
-//  .gain_green1 = MT9F002_GAIN_GREEN1,
-//  .gain_blue = MT9F002_GAIN_BLUE,
-//  .gain_red = MT9F002_GAIN_RED,
-//  .gain_green2 = MT9F002_GAIN_GREEN2,
-//  .output_width = MT9F002_OUTPUT_WIDTH,
-//  .output_height = MT9F002_OUTPUT_HEIGHT,
-//  .output_scaler = MT9F002_OUTPUT_SCALER,
-//  .offset_x = MT9F002_INITIAL_OFFSET_X,
-//  .offset_y = MT9F002_INITIAL_OFFSET_Y,
-//
-//  .x_odd_inc = MT9F002_X_ODD_INC_VAL,
-//  .y_odd_inc = MT9F002_Y_ODD_INC_VAL,
-//
-//  // I2C connection port
-//  .i2c_periph = &i2c0
-//};
+struct mt9f002_t mt9f002 = {
+  // Precomputed values to go from InputCLK of (26/2)MHz to 96MH
+  .interface = MT9F002_PARALLEL,
+  .input_clk_freq = (26 / 2),
+  .vt_pix_clk_div = 7,
+  .vt_sys_clk_div = 1,
+  .pre_pll_clk_div = 1,
+  .pll_multiplier = 59,
+  .op_pix_clk_div = 8,
+  .op_sys_clk_div = 1,
+  .shift_vt_pix_clk_div = 1,
+  .rowSpeed_2_0 = 1,
+  .row_speed_10_8 = 1,
+
+  // Initial values
+  .target_fps = MT9F002_TARGET_FPS,
+  .target_exposure = MT9F002_TARGET_EXPOSURE,
+  .gain_green1 = MT9F002_GAIN_GREEN1,
+  .gain_blue = MT9F002_GAIN_BLUE,
+  .gain_red = MT9F002_GAIN_RED,
+  .gain_green2 = MT9F002_GAIN_GREEN2,
+  .output_width = MT9F002_OUTPUT_WIDTH,
+  .output_height = MT9F002_OUTPUT_HEIGHT,
+  .output_scaler = MT9F002_OUTPUT_SCALER,
+  .offset_x = MT9F002_INITIAL_OFFSET_X,
+  .offset_y = MT9F002_INITIAL_OFFSET_Y,
+
+  .x_odd_inc = MT9F002_X_ODD_INC_VAL,
+  .y_odd_inc = MT9F002_Y_ODD_INC_VAL,
+
+  // I2C connection port
+  .i2c_periph = &i2c0
+};
 
 static int kill_gracefull(char *process_name)
 {
@@ -110,7 +110,7 @@ static int kill_gracefull(char *process_name)
 void board_init(void)
 {
   /*
-   *  Process running by default for firmware >= v1.98
+   *  Process running by default for firmware >= v1.0.5
    *
    * -  /bin/sh - /usr/bin/DragonStarter.sh -out2null
    * -  //usr/bin/dragon-prog

sw/airborne/modules/computer_vision/video_thread.c

@@ -1,5 +1,5 @@
 /*
-* Copyright (C) 2015
+* Copyright (C) 2015 The Paparazzi Team
 *
 * This file is part of Paparazzi.
 *
@@ -26,7 +26,6 @@
 // Own header
 #include "modules/computer_vision/video_thread.h"
 
-
 #include <stdlib.h>
 #include <stdio.h>
 #include <errno.h>
@@ -42,11 +41,11 @@
 
 #include "mcu_periph/sys_time.h"
 
-// include board for bottom_camera and front_camera on ARDrone2 and Bebop
+// include board for bottom_camera and front_camera on ARDrone2, Bebop and Disco
 #include BOARD_CONFIG
 
-// Bebop uses ISP
-#ifdef BOARD_BEBOP
+// Bebop and Disco can use the ISP (Image Signal Processors) to speed up thing
+#if defined(BOARD_BEBOP) || defined(BOARD_DISCO)
 #include "lib/isp/libisp.h"
 #endif
 
@@ -79,7 +78,6 @@ void video_thread_periodic(void)
   /* currently no direct periodic functionality */
 }
 
-
 /**
  * Handles all the video streaming and saving of the image shots
  * This is a separate thread, so it needs to be thread safe!
@@ -95,7 +93,7 @@ static void *video_thread_function(void *data)
 
   // create the images
   if (vid->filters & VIDEO_FILTER_DEBAYER) {
-    // fixme: don't hardcode size, works for bebop front camera for now
+    // fixme: don't hardcode size, works for Bebop front camera for now
 #define IMG_FLT_SIZE 272
     image_create(&img_color, IMG_FLT_SIZE, IMG_FLT_SIZE, IMAGE_YUV422);
   }
@@ -106,14 +104,14 @@ static void *video_thread_function(void *data)
     return 0;
   }
 
-#ifdef BOARD_BEBOP
+#if defined(BOARD_BEBOP) || defined(BOARD_DISCO)
   // Configure ISP if needed
   if (vid->filters & VIDEO_FILTER_ISP) {
     configure_isp(vid->thread.dev);
   }
 #endif
 
-  // be nice to the more important stuff
+  // Be nice to the more important stuff
   set_nice_level(VIDEO_THREAD_NICE_LEVEL);
   fprintf(stdout, "[%s] Set nice level to %i.\n", print_tag, VIDEO_THREAD_NICE_LEVEL);
 
@@ -126,7 +124,7 @@ static void *video_thread_function(void *data)
   vid->thread.is_running = true;
   while (vid->thread.is_running) {
 
-    // get time in us since last run
+    // Get time in us since last run
     clock_gettime(CLOCK_MONOTONIC, &time_now);
     uint32_t dt_us = sys_time_elapsed_us(&time_prev, &time_now);
     time_prev = time_now;
@@ -145,10 +143,10 @@ static void *video_thread_function(void *data)
     struct image_t img;
     v4l2_image_get(vid->thread.dev, &img);
 
-    // pointer to the final image to pass for saving and further processing
+    // Pointer to the final image to pass for saving and further processing
     struct image_t *img_final = &img;
 
-    // run selected filters
+    // Run selected filters
     if (vid->filters & VIDEO_FILTER_DEBAYER) {
       BayerToYUV(&img, &img_color, 0, 0);
       // use color image for further processing
@@ -171,7 +169,7 @@ static bool initialize_camera(struct video_config_t *camera)
 {
   // Initialize the V4L2 subdevice if needed
   if (camera->subdev_name != NULL) {
-    // FIXME! add subdev format to config, only needed on bebop front camera so far
+    // FIXME! add subdev format to config, only needed on Bebop/Disco(?) front camera so far
     if (!v4l2_init_subdev(camera->subdev_name, 0, camera->subdev_format, camera->sensor_size)) {
       printf("[video_thread] Could not initialize the %s subdevice.\n", camera->subdev_name);
       return false;
@@ -185,7 +183,7 @@ static bool initialize_camera(struct video_config_t *camera)
     return false;
   }
 
-  // Initialize OK
+  // Initialized just fine
   return true;
 }
 
@@ -278,7 +276,6 @@ void video_thread_start()
   }
 }
 
-
 /**
  * Stops the streaming of all cameras
  * This could take some time, because the thread is stopped asynchronous.

sw/airborne/modules/loggers/file_logger.c

@@ -22,6 +22,7 @@
 
 /** @file modules/loggers/file_logger.c
  *  @brief File logger for Linux based autopilots
+ *  This module purpose is for debugging airframest
  */
 
 #include "file_logger.h"
@@ -30,7 +31,17 @@
 #include "std.h"
 
 #include "subsystems/imu.h"
+
+/* Ugly fix until Fixedwing and rotorcraft are uniofied in a nice way
+ * COMMAND_THRUST only and always defined in ROTORCRAFT
+ * A gliding Rotorcraft is an ecxeption ;) */
+#ifdef COMMAND_THRUST
 #include "firmwares/rotorcraft/stabilization.h"
+#else
+/* adaptive also an option */
+#include "firmwares/fixedwing/stabilization/stabilization_attitude.h"
+#endif
+
 #include "state.h"
 
 /** Set the default File logger path to the USB drive */
@@ -61,7 +72,12 @@ void file_logger_start(void)
   if (file_logger != NULL) {
     fprintf(
       file_logger,
+      /* Add and removed values here as wished to log */
+#ifdef COMMAND_THRUST
       "counter,gyro_unscaled_p,gyro_unscaled_q,gyro_unscaled_r,accel_unscaled_x,accel_unscaled_y,accel_unscaled_z,mag_unscaled_x,mag_unscaled_y,mag_unscaled_z,COMMAND_THRUST,COMMAND_ROLL,COMMAND_PITCH,COMMAND_YAW,qi,qx,qy,qz\n"
+#else
+	  "counter,gyro_unscaled_p,gyro_unscaled_q,gyro_unscaled_r,accel_unscaled_x,accel_unscaled_y,accel_unscaled_z,mag_unscaled_x,mag_unscaled_y,mag_unscaled_z,qi,qx,qy,qz\n"
+#endif
     );
   }
 }
@@ -75,7 +91,7 @@ void file_logger_stop(void)
   }
 }
 
-/** Log the values to a csv file */
+/** Log the values to a CSV file */
 void file_logger_periodic(void)
 {
   if (file_logger == NULL) {
@@ -84,6 +100,8 @@ void file_logger_periodic(void)
   static uint32_t counter;
   struct Int32Quat *quat = stateGetNedToBodyQuat_i();
 
+  /* Add and removed values here as wished to log */
+#ifdef COMMAND_THRUST
   fprintf(file_logger, "%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\n",
           counter,
           imu.gyro_unscaled.p,
@@ -96,6 +114,7 @@ void file_logger_periodic(void)
           imu.mag_unscaled.y,
           imu.mag_unscaled.z,
           stabilization_cmd[COMMAND_THRUST],
+          stabilization_cmd[COMMAND_THROTTLE],
           stabilization_cmd[COMMAND_ROLL],
           stabilization_cmd[COMMAND_PITCH],
           stabilization_cmd[COMMAND_YAW],
@@ -104,5 +123,36 @@ void file_logger_periodic(void)
           quat->qy,
           quat->qz
          );
+#else
+  fprintf(file_logger, "%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\n",
+          counter,
+          imu.gyro_unscaled.p,
+          imu.gyro_unscaled.q,
+          imu.gyro_unscaled.r,
+          imu.accel_unscaled.x,
+          imu.accel_unscaled.y,
+          imu.accel_unscaled.z,
+          imu.mag_unscaled.x,
+          imu.mag_unscaled.y,
+          imu.mag_unscaled.z,
+          /* imu.gyro_scaled.p,
+          imu.gyro_scaled.q,
+          imu.gyro_scaled.r,
+          imu.accel_scaled.x,
+          imu.accel_scaled.y,
+          imu.accel_scaled.z,
+          imu.mag_scaled.x,
+          imu.mag_scaled.y,
+          imu.mag_scaled.z, */
+          //stabilization_cmd[COMMAND_THROTTLE],
+          //stabilization_cmd[COMMAND_ROLL],
+          //stabilization_cmd[COMMAND_PITCH],
+          ////stabilization_cmd[COMMAND_PITCH], //for time being...
+          quat->qi,
+          quat->qx,
+          quat->qy,
+          quat->qz
+         );
+#endif
   counter++;
 }

sw/airborne/subsystems/imu/imu_disco.c

@@ -44,8 +44,16 @@ PRINT_CONFIG_VAR(DISCO_MPU_I2C_DEV)
 #define DISCO_LOWPASS_FILTER MPU60X0_DLPF_42HZ
 #define DISCO_SMPLRT_DIV 9
 PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz at 1kHz internal sampling")
+#elif PERIODIC_FREQUENCY == 512
+/* Accelerometer: Bandwidth 260Hz, Delay 0ms
+ * Gyroscope: Bandwidth 256Hz, Delay 0.98ms sampling 8kHz
+ */
+#define DISCO_LOWPASS_FILTER MPU60X0_DLPF_256HZ
+#define DISCO_SMPLRT_DIV 3
+PRINT_CONFIG_MSG("Gyro/Accel output rate is 2kHz at 8kHz internal sampling")
 #endif
 #endif
+
 PRINT_CONFIG_VAR(DISCO_SMPLRT_DIV)
 PRINT_CONFIG_VAR(DISCO_LOWPASS_FILTER)