Merge pull request #34 from julianoes/ardrone

ardrone flying, simplified magnetometer calibration

apps/ardrone_interface/ardrone_interface.c

@@ -140,9 +140,7 @@ static int ardrone_open_uart(char *uart_name, struct termios *uart_config_origin
 	int speed = B115200;
 	int uart;
 
-
 	/* open uart */
-	printf("[ardrone_interface] UART is %s, baud rate is%d\n",uart_name,speed);
 	uart = open(uart_name, O_RDWR | O_NOCTTY);
 
 	/* Try to set baud rate */
@@ -329,6 +327,7 @@ int ardrone_interface_thread_main(int argc, char *argv[])
 			 */
 			if (armed.armed && !armed.lockdown) {
 				ardrone_mixing_and_output(ardrone_write, &actuator_controls);
+
 			} else {
 				/* Silently lock down motor speeds to zero */
 				ardrone_write_motor_commands(ardrone_write, 0, 0, 0, 0);

apps/ardrone_interface/ardrone_motor_control.c

@@ -368,10 +368,11 @@ void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls
 	float yaw_control = actuators->control[2];
 	float motor_thrust = actuators->control[3];
 
+	//printf("AMO: Roll: %4.4f, Pitch: %4.4f, Yaw: %4.4f, Thrust: %4.4f\n",roll_control, pitch_control, yaw_control, motor_thrust);
+
 	const float min_thrust = 0.02f;			/**< 2% minimum thrust */
 	const float max_thrust = 1.0f;			/**< 100% max thrust */
 	const float scaling = 500.0f;			/**< 100% thrust equals a value of 500 which works, 512 leads to cutoff */
-
 	const float min_gas = min_thrust * scaling;	/**< value range sent to motors, minimum */
 	const float max_gas = max_thrust * scaling;	/**< value range sent to motors, maximum */
 
@@ -387,13 +388,10 @@ void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls
 	if (motor_thrust <= min_thrust) {
 		motor_thrust = min_thrust;
 		output_band = 0.0f;
-
 	} else if (motor_thrust < startpoint_full_control && motor_thrust > min_thrust) {
 		output_band = band_factor * (motor_thrust - min_thrust);
-
 	} else if (motor_thrust >= startpoint_full_control && motor_thrust < max_thrust - band_factor * startpoint_full_control) {
 		output_band = band_factor * startpoint_full_control;
-
 	} else if (motor_thrust >= max_thrust - band_factor * startpoint_full_control) {
 		output_band = band_factor * (max_thrust - motor_thrust);
 	}

apps/commander/commander.c

@@ -256,22 +256,6 @@ int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, u
 	return 0;
 }
 
-static void cal_bsort(float a[], int n)
-{
-	int i,j,t;
-	for(i=0;i<n-1;i++)
-	{
-		for(j=0;j<n-i-1;j++)
-		{
-			if(a[j]>a[j+1]) {
-				t=a[j];
-				a[j]=a[j+1];
-				a[j+1]=t;
-			}
-		}
-	}
-}
-
 static const char *parameter_file = "/eeprom/parameters";
 
 static int pm_save_eeprom(bool only_unsaved)
@@ -312,30 +296,8 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
 	const uint64_t calibration_interval_us = 45 * 1000000;
 	unsigned int calibration_counter = 0;
 
-	const int peak_samples = 2000;
-	/* Get rid of 10% */
-	const int outlier_margin = (peak_samples) / 10;
-
-	float *mag_maxima[3];
-	mag_maxima[0] = (float*)malloc(peak_samples * sizeof(float));
-	mag_maxima[1] = (float*)malloc(peak_samples * sizeof(float));
-	mag_maxima[2] = (float*)malloc(peak_samples * sizeof(float));
-
-	float *mag_minima[3];
-	mag_minima[0] = (float*)malloc(peak_samples * sizeof(float));
-	mag_minima[1] = (float*)malloc(peak_samples * sizeof(float));
-	mag_minima[2] = (float*)malloc(peak_samples * sizeof(float));
-
-	/* initialize data table */
-	for (int i = 0; i < peak_samples; i++) {
-		mag_maxima[0][i] = FLT_MIN;
-		mag_maxima[1][i] = FLT_MIN;
-		mag_maxima[2][i] = FLT_MIN;
-
-		mag_minima[0][i] = FLT_MAX;
-		mag_minima[1][i] = FLT_MAX;
-		mag_minima[2][i] = FLT_MAX;
-	}
+	float mag_max[3] = {-FLT_MAX, -FLT_MAX, -FLT_MAX};
+	float mag_min[3] = {FLT_MAX, FLT_MAX, FLT_MAX};
 
 	int fd = open(MAG_DEVICE_PATH, 0);
 	struct mag_scale mscale_null = {
@@ -362,34 +324,32 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
 			orb_copy(ORB_ID(sensor_combined), sub_sensor_combined, &raw);
 			/* get min/max values */
 
-			/* iterate through full list */
-			for (int i = 0; i < peak_samples; i++) {
-				/* x minimum */
-				if (raw.magnetometer_raw[0] < mag_minima[0][i])
-					mag_minima[0][i] = raw.magnetometer_ga[0];
-				/* y minimum */
-				if (raw.magnetometer_raw[1] < mag_minima[1][i])
-					mag_minima[1][i] = raw.magnetometer_ga[1];
-				/* z minimum */
-				if (raw.magnetometer_raw[2] < mag_minima[2][i])
-					mag_minima[2][i] = raw.magnetometer_ga[2];
-
-				/* x maximum */
-				if (raw.magnetometer_raw[0] > mag_maxima[0][i])
-					mag_maxima[0][i] = raw.magnetometer_ga[0];
-				/* y maximum */
-				if (raw.magnetometer_raw[1] > mag_maxima[1][i])
-					mag_maxima[1][i] = raw.magnetometer_ga[1];
-				/* z maximum */
-				if (raw.magnetometer_raw[2] > mag_maxima[2][i])
-					mag_maxima[2][i] = raw.magnetometer_ga[2];
+			if (raw.magnetometer_ga[0] < mag_min[0]) {
+				mag_min[0] = raw.magnetometer_ga[0];
+			}
+			else if (raw.magnetometer_ga[0] > mag_max[0]) {
+				mag_max[0] = raw.magnetometer_ga[0];
+			}
+
+			if (raw.magnetometer_ga[1] < mag_min[1]) {
+				mag_min[1] = raw.magnetometer_ga[1];
+			}
+			else if (raw.magnetometer_ga[1] > mag_max[1]) {
+				mag_max[1] = raw.magnetometer_ga[1];
+			}
+
+			if (raw.magnetometer_ga[2] < mag_min[2]) {
+				mag_min[2] = raw.magnetometer_ga[2];
+			}
+			else if (raw.magnetometer_ga[2] > mag_max[2]) {
+				mag_max[2] = raw.magnetometer_ga[2];
 			}
 
 			calibration_counter++;
 		} else {
 			/* any poll failure for 1s is a reason to abort */
-			//mavlink_log_info(mavlink_fd, "[commander] mag calibration aborted, please retry.");
-			//break;
+			mavlink_log_info(mavlink_fd, "[commander] mag calibration aborted, please retry.");
+			break;
 		}
 	}
 
@@ -397,67 +357,6 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
 	status->flag_preflight_mag_calibration = false;
 	state_machine_publish(status_pub, status, mavlink_fd);
 
-	/* sort values */
-	cal_bsort(mag_minima[0], peak_samples);
-	cal_bsort(mag_minima[1], peak_samples);
-	cal_bsort(mag_minima[2], peak_samples);
-
-	cal_bsort(mag_maxima[0], peak_samples);
-	cal_bsort(mag_maxima[1], peak_samples);
-	cal_bsort(mag_maxima[2], peak_samples);
-
-	float min_avg[3] = { 0.0f, 0.0f, 0.0f };
-	float max_avg[3] = { 0.0f, 0.0f, 0.0f };
-
-	// printf("start:\n");
-
-	// for (int i = 0; i < 10; i++) {
-	// 	printf("mag min: %8.4f\t%8.4f\t%8.4f\tmax: %8.4f\t%8.4f\t%8.4f\n",
-	// 								mag_minima[0][i],
-	// 								mag_minima[1][i],
-	// 								mag_minima[2][i],
-	// 								mag_maxima[0][i],
-	// 								mag_maxima[1][i],
-	// 								mag_maxima[2][i]);
-	// 		usleep(10000);
-	// }
-	// printf("-----\n");
-
-	// for (int i = (peak_samples - outlier_margin)-10; i < (peak_samples - outlier_margin); i++) {
-	// 	printf("mag min: %8.4f\t%8.4f\t%8.4f\tmax: %8.4f\t%8.4f\t%8.4f\n",
-	// 								mag_minima[0][i],
-	// 								mag_minima[1][i],
-	// 								mag_minima[2][i],
-	// 								mag_maxima[0][i],
-	// 								mag_maxima[1][i],
-	// 								mag_maxima[2][i]);
-	// 		usleep(10000);
-	// }
-
-	// printf("end\n");
-
-	/* take average of center value group */
-	for (int i = 0; i < (peak_samples - outlier_margin); i++) {
-		min_avg[0] += mag_minima[0][i+outlier_margin];
-		min_avg[1] += mag_minima[1][i+outlier_margin];
-		min_avg[2] += mag_minima[2][i+outlier_margin];
-
-		max_avg[0] += mag_maxima[0][i];
-		max_avg[1] += mag_maxima[1][i];
-		max_avg[2] += mag_maxima[2][i];
-	}
-
-	min_avg[0] /= (peak_samples - outlier_margin);
-	min_avg[1] /= (peak_samples - outlier_margin);
-	min_avg[2] /= (peak_samples - outlier_margin);
-
-	max_avg[0] /= (peak_samples - outlier_margin);
-	max_avg[1] /= (peak_samples - outlier_margin);
-	max_avg[2] /= (peak_samples - outlier_margin);
-
-	// printf("\nFINAL:\nmag min: %8.4f\t%8.4f\t%8.4f\nmax: %8.4f\t%8.4f\t%8.4f\n", (double)min_avg[0], 
-	// 	(double)min_avg[1], (double)min_avg[2], (double)max_avg[0], (double)max_avg[1], (double)max_avg[2]);
-
 	float mag_offset[3];
 
 	/**
@@ -472,20 +371,14 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
 	 * offset = (max + min) / 2.0f
 	 */
 
-	mag_offset[0] = (max_avg[0] + min_avg[0]) / 2.0f;
-	mag_offset[1] = (max_avg[1] + min_avg[1]) / 2.0f;
-	mag_offset[2] = (max_avg[2] + min_avg[2]) / 2.0f;
+	mag_offset[0] = (mag_max[0] + mag_min[0]) / 2.0f;
+	mag_offset[1] = (mag_max[1] + mag_min[1]) / 2.0f;
+	mag_offset[2] = (mag_max[2] + mag_min[2]) / 2.0f;
 
-	if (!isfinite(mag_offset[1]) || !isfinite(mag_offset[1]) || !isfinite(mag_offset[2])) {
+	printf("mag off x: %4.4f, y: %4.4f, z: %4.4f\n",(double)mag_offset[0],(double)mag_offset[0],(double)mag_offset[2]);
 
-		mavlink_log_critical(mavlink_fd, "[commander] MAG calibration failed (INF/NAN)");
-	} else {
 	/* announce and set new offset */
 
-		// char offset_output[50];
-		// sprintf(offset_output, "[commander] mag cal: %8.4f %8.4f %8.4f", (double)mag_offset[0], (double)mag_offset[1], (double)mag_offset[2]);
-		// mavlink_log_info(mavlink_fd, offset_output);
-
 	if (param_set(param_find("SENS_MAG_XOFF"), &(mag_offset[0]))) {
 		fprintf(stderr, "[commander] Setting X mag offset failed!\n");
 	}
@@ -497,7 +390,6 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
 	if (param_set(param_find("SENS_MAG_ZOFF"), &(mag_offset[2]))) {
 		fprintf(stderr, "[commander] Setting Z mag offset failed!\n");
 	}
-	}
 
 	fd = open(MAG_DEVICE_PATH, 0);
 	struct mag_scale mscale = {
@@ -512,14 +404,6 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
 		warn("WARNING: failed to set scale / offsets for mag");
 	close(fd);
 
-	free(mag_maxima[0]);
-	free(mag_maxima[1]);
-	free(mag_maxima[2]);
-
-	free(mag_minima[0]);
-	free(mag_minima[1]);
-	free(mag_minima[2]);
-
 	/* auto-save to EEPROM */
 	int save_ret = pm_save_eeprom(false);
 	if(save_ret != 0) {
@@ -572,7 +456,7 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
 			calibration_counter++;
 		} else {
 			/* any poll failure for 1s is a reason to abort */
-			mavlink_log_info(mavlink_fd, "[commander] gyro calibration aborted, please retry.");
+			mavlink_log_info(mavlink_fd, "[commander] gyro calibration aborted, retry");
 			return;
 		}
 	}
@@ -619,9 +503,7 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
 
 	mavlink_log_info(mavlink_fd, "[commander] gyro calibration finished");
 
-	// char offset_output[50];
-	// sprintf(offset_output, "[commander] gyro cal: x:%8.4f y:%8.4f z:%8.4f", (double)gyro_offset[0], (double)gyro_offset[1], (double)gyro_offset[2]);
-	// mavlink_log_info(mavlink_fd, offset_output);
+	printf("[commander] gyro cal: x:%8.4f y:%8.4f z:%8.4f\n", (double)gyro_offset[0], (double)gyro_offset[1], (double)gyro_offset[2]);
 
 	close(sub_sensor_combined);
 }
@@ -629,9 +511,8 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
 void do_accel_calibration(int status_pub, struct vehicle_status_s *status)
 {
 	/* announce change */
-	usleep(5000);
-	mavlink_log_info(mavlink_fd, "[commander] The system should be level and not moved");
 
+	mavlink_log_info(mavlink_fd, "[commander] keep it level and still");
 	/* set to accel calibration mode */
 	status->flag_preflight_accel_calibration = true;
 	state_machine_publish(status_pub, status, mavlink_fd);
@@ -656,7 +537,6 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status)
 	if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale_null))
 		warn("WARNING: failed to set scale / offsets for accel");
 	close(fd);
-
 	while (calibration_counter < calibration_count) {
 
 		/* wait blocking for new data */
@@ -670,11 +550,10 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status)
 			calibration_counter++;
 		} else {
 			/* any poll failure for 1s is a reason to abort */
-			mavlink_log_info(mavlink_fd, "[commander] gyro calibration aborted, please retry.");
+			mavlink_log_info(mavlink_fd, "[commander] acceleration calibration aborted");
 			return;
 		}
 	}
-
 	accel_offset[0] = accel_offset[0] / calibration_count;
 	accel_offset[1] = accel_offset[1] / calibration_count;
 	accel_offset[2] = accel_offset[2] / calibration_count;
@@ -729,18 +608,11 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status)
 	if(save_ret != 0) {
 		warn("WARNING: auto-save of params to EEPROM failed");
 	}
-
 	/* exit to gyro calibration mode */
 	status->flag_preflight_accel_calibration = false;
 	state_machine_publish(status_pub, status, mavlink_fd);
-
 	mavlink_log_info(mavlink_fd, "[commander] acceleration calibration finished");
-
-	// char offset_output[50];
-	// sprintf(offset_output, "[commander] accel cal: x:%8.4f y:%8.4f z:%8.4f", (double)accel_offset[0],
-	// 	(double)accel_offset[1], (double)accel_offset[2]);
-	// mavlink_log_info(mavlink_fd, offset_output);
-
+	printf("[commander] accel calibration: x:%8.4f y:%8.4f z:%8.4f\n", (double)accel_offset[0],(double)accel_offset[1], (double)accel_offset[2]);
 	close(sub_sensor_combined);
 }
 
@@ -908,7 +780,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 			/* none found */
 			if (!handled) {
 				//fprintf(stderr, "[commander] refusing unsupported calibration request\n");
-				mavlink_log_critical(mavlink_fd, "[commander] CMD refusing unsupported calibration request");
+				mavlink_log_critical(mavlink_fd, "[commander] CMD refusing unsup. calib. request");
 				result = MAV_RESULT_UNSUPPORTED;
 			}
 		}

apps/multirotor_att_control/multirotor_att_control_main.c

@@ -76,7 +76,7 @@ __EXPORT int multirotor_att_control_main(int argc, char *argv[]);
 static bool thread_should_exit;
 static int mc_task;
 static bool motor_test_mode = false;
-static struct actuator_controls_s actuators;
+
 static orb_advert_t actuator_pub;
 
 static struct vehicle_status_s state;
@@ -88,6 +88,8 @@ static void *rate_control_thread_main(void *arg)
 {
 	prctl(PR_SET_NAME, "mc rate control", getpid());
 
+	struct actuator_controls_s actuators;
+
 	int gyro_sub = orb_subscribe(ORB_ID(sensor_gyro));
 	int rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
 
@@ -154,6 +156,8 @@ mc_thread_main(int argc, char *argv[])
 	struct vehicle_rates_setpoint_s rates_sp;
 	memset(&rates_sp, 0, sizeof(rates_sp));
 
+	struct actuator_controls_s actuators;
+
 	/* subscribe to attitude, motor setpoints and system state */
 	int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
 	int att_setpoint_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
@@ -334,6 +338,7 @@ int multirotor_att_control_main(int argc, char *argv[])
 		default:
 			fprintf(stderr, "option: -%c\n", ch);
 			usage("unrecognized option");
+			break;
 		}
 	}
 	argc -= optioncount;

apps/sensors/sensors.cpp

@@ -1029,6 +1029,7 @@ Sensors::ppm_poll()
 
 	orb_publish(ORB_ID(rc_channels), _rc_pub, &_rc);
 	orb_publish(ORB_ID(manual_control_setpoint), _manual_control_pub, &manual_control);
+
 }
 #endif
 

apps/systemlib/param/param.c

@@ -484,7 +484,7 @@ param_export(int fd, bool only_unsaved)
 
 		s->unsaved = false;
 
-		/* append the appripriate BSON type object */
+		/* append the appropriate BSON type object */
 		switch (param_type(s->param)) {
 		case PARAM_TYPE_INT32:
 			param_get(s->param, &i);