Merge branch 'release_v1.0.0' of github.com:PX4/Firmware into beta

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -17,9 +17,9 @@ then
 	param set FW_T_TIME_CONST 5
 
 	param set PE_VELNE_NOISE 0.3
-	param set PE_VELD_NOISE 0.5
+	param set PE_VELD_NOISE 0.35
 	param set PE_POSNE_NOISE 0.5
-	param set PE_POSD_NOISE 0.5
+	param set PE_POSD_NOISE 1.0
 	param set PE_GBIAS_PNOISE 0.000001
 	param set PE_ABIAS_PNOISE 0.0002
 fi

ROMFS/px4fmu_common/init.d/rc.mc_defaults

@@ -5,9 +5,9 @@ set VEHICLE_TYPE mc
 if [ $AUTOCNF == yes ]
 then
 	param set PE_VELNE_NOISE 0.5
-	param set PE_VELD_NOISE 0.7
+	param set PE_VELD_NOISE 0.35
 	param set PE_POSNE_NOISE 0.5
-	param set PE_POSD_NOISE 1.0
+	param set PE_POSD_NOISE 1.25
 	param set PE_GBIAS_PNOISE 0.000001
 	param set PE_ABIAS_PNOISE 0.0001
 

ROMFS/px4fmu_common/init.d/rc.vtol_defaults

@@ -34,9 +34,9 @@ then
 	param set FW_RR_P 0.02
 
 	param set PE_VELNE_NOISE 0.5
-	param set PE_VELD_NOISE 0.7
+	param set PE_VELD_NOISE 0.3
 	param set PE_POSNE_NOISE 0.5
-	param set PE_POSD_NOISE 1.0
+	param set PE_POSD_NOISE 1.25
 	param set PE_GBIAS_PNOISE 0.000001
 	param set PE_ABIAS_PNOISE 0.0001
 fi

makefiles/upload.mk

@@ -15,7 +15,7 @@ ifeq ($(SYSTYPE),Darwin)
 SERIAL_PORTS		?= "/dev/tty.usbmodemPX*,/dev/tty.usbmodem*"
 endif
 ifeq ($(SYSTYPE),Linux)
-SERIAL_PORTS		?= "/dev/serial/by-id/usb-3D_Robotics*"
+SERIAL_PORTS		?= "/dev/serial/by-id/usb-3D_Robotics*,/dev/serial/by-id/pci-3D_Robotics*"
 endif
 ifeq ($(SERIAL_PORTS),)
 SERIAL_PORTS		 = "COM32,COM31,COM30,COM29,COM28,COM27,COM26,COM25,COM24,COM23,COM22,COM21,COM20,COM19,COM18,COM17,COM16,COM15,COM14,COM13,COM12,COM11,COM10,COM9,COM8,COM7,COM6,COM5,COM4,COM3,COM2,COM1,COM0"

src/drivers/l3gd20/l3gd20.cpp

@@ -179,6 +179,8 @@ static const int ERROR = -1;
 #define L3GD20_DEFAULT_FILTER_FREQ		30
 #define L3GD20_TEMP_OFFSET_CELSIUS		40
 
+#define L3GD20_MAX_OFFSET			0.45f /**< max offset: 25 degrees/s */
+
 #ifdef PX4_SPI_BUS_EXT
 #define EXTERNAL_BUS PX4_SPI_BUS_EXT
 #else
@@ -1102,18 +1104,18 @@ L3GD20::test_error()
 int
 L3GD20::self_test()
 {
-	/* evaluate gyro offsets, complain if offset -> zero or larger than 6 dps */
-	if (fabsf(_gyro_scale.x_offset) > 0.1f || fabsf(_gyro_scale.x_offset) < 0.000001f)
+	/* evaluate gyro offsets, complain if offset -> zero or larger than 25 dps */
+	if (fabsf(_gyro_scale.x_offset) > L3GD20_MAX_OFFSET || fabsf(_gyro_scale.x_offset) < 0.000001f)
 		return 1;
 	if (fabsf(_gyro_scale.x_scale - 1.0f) > 0.3f)
 		return 1;
 
-	if (fabsf(_gyro_scale.y_offset) > 0.1f || fabsf(_gyro_scale.y_offset) < 0.000001f)
+	if (fabsf(_gyro_scale.y_offset) > L3GD20_MAX_OFFSET || fabsf(_gyro_scale.y_offset) < 0.000001f)
 		return 1;
 	if (fabsf(_gyro_scale.y_scale - 1.0f) > 0.3f)
 		return 1;
 
-	if (fabsf(_gyro_scale.z_offset) > 0.1f || fabsf(_gyro_scale.z_offset) < 0.000001f)
+	if (fabsf(_gyro_scale.z_offset) > L3GD20_MAX_OFFSET || fabsf(_gyro_scale.z_offset) < 0.000001f)
 		return 1;
 	if (fabsf(_gyro_scale.z_scale - 1.0f) > 0.3f)
 		return 1;

src/modules/commander/commander_params.c

@@ -150,11 +150,12 @@ PARAM_DEFINE_FLOAT(COM_EF_THROT, 0.5f);
 /**
  * Engine Failure Current/Throttle Threshold
  *
- * Engine failure triggers only below this current/throttle value
+ * Engine failure triggers only below this current value
  *
  * @group Commander
  * @min 0.0
- * @max 7.0
+ * @max 30.0
+ * @unit ampere
  */
 PARAM_DEFINE_FLOAT(COM_EF_C2T, 5.0f);
 
@@ -167,7 +168,7 @@ PARAM_DEFINE_FLOAT(COM_EF_C2T, 5.0f);
  * @group Commander
  * @unit second
  * @min 0.0
- * @max 7.0
+ * @max 60.0
  */
 PARAM_DEFINE_FLOAT(COM_EF_TIME, 10.0f);
 

src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c

@@ -141,13 +141,13 @@ PARAM_DEFINE_FLOAT(PE_VELNE_NOISE, 0.3f);
 /**
  * Velocity noise in down (vertical) direction
  *
- * Generic default: 0.5, multicopters: 0.7, ground vehicles: 0.7
+ * Generic default: 0.3, multicopters: 0.4, ground vehicles: 0.7
  *
- * @min 0.05
- * @max 5.0
+ * @min 0.2
+ * @max 3.0
  * @group Position Estimator
  */
-PARAM_DEFINE_FLOAT(PE_VELD_NOISE, 0.5f);
+PARAM_DEFINE_FLOAT(PE_VELD_NOISE, 0.3f);
 
 /**
  * Position noise in north-east (horizontal) direction
@@ -163,21 +163,21 @@ PARAM_DEFINE_FLOAT(PE_POSNE_NOISE, 0.5f);
 /**
  * Position noise in down (vertical) direction
  *
- * Generic defaults: 0.5, multicopters: 1.0, ground vehicles: 1.0
+ * Generic defaults: 1.25, multicopters: 1.0, ground vehicles: 1.0
  *
- * @min 0.1
- * @max 10.0
+ * @min 0.5
+ * @max 3.0
  * @group Position Estimator
  */
-PARAM_DEFINE_FLOAT(PE_POSD_NOISE, 0.5f);
+PARAM_DEFINE_FLOAT(PE_POSD_NOISE, 1.25f);
 
 /**
  * Magnetometer measurement noise
  *
  * Generic defaults: 0.05, multicopters: 0.05, ground vehicles: 0.05
  *
- * @min 0.1
- * @max 10.0
+ * @min 0.01
+ * @max 1.0
  * @group Position Estimator
  */
 PARAM_DEFINE_FLOAT(PE_MAG_NOISE, 0.05f);

src/modules/mavlink/mavlink.c

@@ -59,15 +59,18 @@ PARAM_DEFINE_INT32(MAV_SYS_ID, 1);
  * MAVLink component ID
  * @group MAVLink
  * @min 1
- * @max 50
+ * @max 250
  */
 PARAM_DEFINE_INT32(MAV_COMP_ID, 50);
 
 /**
- * MAVLink type
+ * MAVLink airframe type
+ *
+ * 
+ * @min 0
  * @group MAVLink
  */
-PARAM_DEFINE_INT32(MAV_TYPE, MAV_TYPE_FIXED_WING);
+PARAM_DEFINE_INT32(MAV_TYPE, 1);
 
 /**
  * Use/Accept HIL GPS message (even if not in HIL mode)

src/modules/mavlink/mavlink_messages.cpp

@@ -1767,6 +1767,10 @@ protected:
 			msg.x = pos_sp.x;
 			msg.y = pos_sp.y;
 			msg.z = pos_sp.z;
+			msg.yaw = pos_sp.yaw;
+			msg.vx = pos_sp.vx;
+			msg.vy = pos_sp.vy;
+			msg.vz = pos_sp.vz;
 
 			_mavlink->send_message(MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED, &msg);
 		}

src/modules/mc_pos_control/mc_pos_control_main.cpp

@@ -1380,44 +1380,44 @@ MulticopterPositionControl::task_main()
 			reset_int_xy = true;
 		}
 
-		// generate attitude setpoint from manual controls
+		/* generate attitude setpoint from manual controls */
 		if(_control_mode.flag_control_manual_enabled && _control_mode.flag_control_attitude_enabled) {
 
-			// reset yaw setpoint to current position if needed
+			/* reset yaw setpoint to current position if needed */
 			if (reset_yaw_sp) {
 				reset_yaw_sp = false;
 				_att_sp.yaw_body = _att.yaw;
 			}
 
-			// do not move yaw while arming
+			/* do not move yaw while arming */
 			else if (_manual.z > 0.1f)
 			{
-				const float YAW_OFFSET_MAX = _params.man_yaw_max / _params.mc_att_yaw_p;
+				const float yaw_offset_max = _params.man_yaw_max / _params.mc_att_yaw_p;
 
 				_att_sp.yaw_sp_move_rate = _manual.r * _params.man_yaw_max;
-				_att_sp.yaw_body = _wrap_pi(_att_sp.yaw_body + _att_sp.yaw_sp_move_rate * dt);
-				float yaw_offs = _wrap_pi(_att_sp.yaw_body - _att.yaw);
-				if (yaw_offs < - YAW_OFFSET_MAX) {
-					_att_sp.yaw_body = _wrap_pi(_att.yaw - YAW_OFFSET_MAX);
+				float yaw_target = _wrap_pi(_att_sp.yaw_body + _att_sp.yaw_sp_move_rate * dt);
+				float yaw_offs = _wrap_pi(yaw_target - _att.yaw);
 
-				} else if (yaw_offs > YAW_OFFSET_MAX) {
-					_att_sp.yaw_body = _wrap_pi(_att.yaw + YAW_OFFSET_MAX);
+				// If the yaw offset became too big for the system to track stop
+				// shifting it
+				if (fabsf(yaw_offs) < yaw_offset_max) {
+					_att_sp.yaw_body = yaw_target;
 				}
 			}
 
-			//Control roll and pitch directly if we no aiding velocity controller is active
+			/* control roll and pitch directly if we no aiding velocity controller is active */
 			if (!_control_mode.flag_control_velocity_enabled) {
 				_att_sp.roll_body = _manual.y * _params.man_roll_max;
 				_att_sp.pitch_body = -_manual.x * _params.man_pitch_max;
 			}
 
-			//Control climb rate directly if no aiding altitude controller is active
+			/* control throttle directly if no climb rate controller is active */
 			if (!_control_mode.flag_control_climb_rate_enabled) {
 				_att_sp.thrust = math::min(_manual.z, _params.thr_max);
 				_att_sp.thrust = math::max(_att_sp.thrust, _params.thr_min);
 			}
 
-			//Construct attitude setpoint rotation matrix
+			/* construct attitude setpoint rotation matrix */
 			math::Matrix<3,3> R_sp;
 			R_sp.from_euler(_att_sp.roll_body,_att_sp.pitch_body,_att_sp.yaw_body);
 			memcpy(&_att_sp.R_body[0], R_sp.data, sizeof(_att_sp.R_body));

src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp

@@ -647,6 +647,21 @@ void  MulticopterPositionControl::handle_vehicle_attitude(const px4_vehicle_atti
 
 			_vel_sp = pos_err.emult(_params.pos_p) + _vel_ff;
 
+			/* make sure velocity setpoint is saturated in xy*/
+			float vel_norm_xy = sqrtf(_vel_sp(0)*_vel_sp(0) +
+				_vel_sp(1)*_vel_sp(1));
+			if (vel_norm_xy > _params.vel_max(0)) {
+				/* note assumes vel_max(0) == vel_max(1) */
+				_vel_sp(0) = _vel_sp(0)*_params.vel_max(0)/vel_norm_xy;
+				_vel_sp(1) = _vel_sp(1)*_params.vel_max(1)/vel_norm_xy;
+			}
+
+			/* make sure velocity setpoint is saturated in z*/
+			float vel_norm_z = sqrtf(_vel_sp(2)*_vel_sp(2));
+			if (vel_norm_z > _params.vel_max(2)) {
+				_vel_sp(2) = _vel_sp(2)*_params.vel_max(2)/vel_norm_z;
+			}
+
 			if (!_control_mode->data().flag_control_altitude_enabled) {
 				_reset_alt_sp = true;
 				_vel_sp(2) = 0.0f;

src/modules/navigator/datalinkloss_params.c

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2014 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2014, 2015 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -64,7 +64,8 @@ PARAM_DEFINE_FLOAT(NAV_DLL_CH_T, 120.0f);
  * Latitude of comms hold waypoint
  *
  * @unit degrees * 1e7
- * @min 0
+ * @min -90
+ * @max 90
  * @group Data Link Loss
  */
 PARAM_DEFINE_INT32(NAV_DLL_CH_LAT, -266072120);
@@ -75,7 +76,8 @@ PARAM_DEFINE_INT32(NAV_DLL_CH_LAT, -266072120);
  * Longitude of comms hold waypoint
  *
  * @unit degrees * 1e7
- * @min 0
+ * @min -180
+ * @max 180
  * @group Data Link Loss
  */
 PARAM_DEFINE_INT32(NAV_DLL_CH_LON, 1518453890);
@@ -86,13 +88,14 @@ PARAM_DEFINE_INT32(NAV_DLL_CH_LON, 1518453890);
  * Altitude of comms hold waypoint
  *
  * @unit m
- * @min 0.0
+ * @min -50
+ * @max 30000
  * @group Data Link Loss
  */
 PARAM_DEFINE_FLOAT(NAV_DLL_CH_ALT, 600.0f);
 
 /**
- * Aifield hole wait time
+ * Airfield hole wait time
  *
  * The amount of time in seconds the system should wait at the airfield home waypoint
  *

src/modules/position_estimator_inav/position_estimator_inav_main.c

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013, 2014 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -147,10 +147,9 @@ int position_estimator_inav_main(int argc, char *argv[])
 
 		verbose_mode = false;
 
-		if (argc > 1)
-			if (!strcmp(argv[2], "-v")) {
-				verbose_mode = true;
-			}
+		if (argc > 2 && !strcmp(argv[2], "-v")) {
+			verbose_mode = true;
+		}
 
 		thread_should_exit = false;
 		position_estimator_inav_task = task_spawn_cmd("position_estimator_inav",

src/modules/vtol_att_control/vtol_att_control_params.c

@@ -43,10 +43,10 @@
 /**
  * VTOL number of engines
  *
- * @min 1
+ * @min 0
  * @group VTOL Attitude Control
  */
-PARAM_DEFINE_INT32(VT_MOT_COUNT,0);
+PARAM_DEFINE_INT32(VT_MOT_COUNT, 0);
 
 /**
  * Idle speed of VTOL when in multicopter mode
@@ -54,7 +54,7 @@ PARAM_DEFINE_INT32(VT_MOT_COUNT,0);
  * @min 900
  * @group VTOL Attitude Control
  */
-PARAM_DEFINE_INT32(VT_IDLE_PWM_MC,900);
+PARAM_DEFINE_INT32(VT_IDLE_PWM_MC, 900);
 
 /**
  * Minimum airspeed in multicopter mode
@@ -64,7 +64,7 @@ PARAM_DEFINE_INT32(VT_IDLE_PWM_MC,900);
  * @min 0.0
  * @group VTOL Attitude Control
  */
-PARAM_DEFINE_FLOAT(VT_MC_ARSPD_MIN,10.0f);
+PARAM_DEFINE_FLOAT(VT_MC_ARSPD_MIN, 10.0f);
 
 /**
  * Maximum airspeed in multicopter mode
@@ -74,7 +74,7 @@ PARAM_DEFINE_FLOAT(VT_MC_ARSPD_MIN,10.0f);
  * @min 0.0
  * @group VTOL Attitude Control
  */
-PARAM_DEFINE_FLOAT(VT_MC_ARSPD_MAX,30.0f);
+PARAM_DEFINE_FLOAT(VT_MC_ARSPD_MAX, 30.0f);
 
 /**
  * Trim airspeed when in multicopter mode
@@ -84,7 +84,7 @@ PARAM_DEFINE_FLOAT(VT_MC_ARSPD_MAX,30.0f);
  * @min 0.0
  * @group VTOL Attitude Control
  */
-PARAM_DEFINE_FLOAT(VT_MC_ARSPD_TRIM,10.0f);
+PARAM_DEFINE_FLOAT(VT_MC_ARSPD_TRIM, 10.0f);
 
 /**
  * Permanent stabilization in fw mode
@@ -96,7 +96,7 @@ PARAM_DEFINE_FLOAT(VT_MC_ARSPD_TRIM,10.0f);
  * @max 1
  * @group VTOL Attitude Control
  */
-PARAM_DEFINE_INT32(VT_FW_PERM_STAB,0);
+PARAM_DEFINE_INT32(VT_FW_PERM_STAB, 0);
 
 /**
  * Fixed wing pitch trim
@@ -107,7 +107,7 @@ PARAM_DEFINE_INT32(VT_FW_PERM_STAB,0);
  * @max 1
  * @group VTOL Attitude Control
  */
-PARAM_DEFINE_FLOAT(VT_FW_PITCH_TRIM,0.0f);
+PARAM_DEFINE_FLOAT(VT_FW_PITCH_TRIM, 0.0f);
 
 /**
  * Motor max power
@@ -118,18 +118,18 @@ PARAM_DEFINE_FLOAT(VT_FW_PITCH_TRIM,0.0f);
  * @min 1
  * @group VTOL Attitude Control
  */
-PARAM_DEFINE_FLOAT(VT_POWER_MAX,120.0f);
+PARAM_DEFINE_FLOAT(VT_POWER_MAX, 120.0f);
 
 /**
  * Propeller efficiency parameter
  *
  * Influences propeller efficiency at different power settings. Should be tuned beforehand.
  *
- * @min 0.5
+ * @min 0.0
  * @max 0.9
  * @group VTOL Attitude Control
  */
-PARAM_DEFINE_FLOAT(VT_PROP_EFF,0.0f);
+PARAM_DEFINE_FLOAT(VT_PROP_EFF, 0.0f);
 
 /**
  * Total airspeed estimate low-pass filter gain
@@ -140,7 +140,7 @@ PARAM_DEFINE_FLOAT(VT_PROP_EFF,0.0f);
  * @max 0.99
  * @group VTOL Attitude Control
  */
-PARAM_DEFINE_FLOAT(VT_ARSP_LP_GAIN,0.3f);
+PARAM_DEFINE_FLOAT(VT_ARSP_LP_GAIN, 0.3f);
 
 /**
  * VTOL Type (Tailsitter=0, Tiltrotor=1)
@@ -160,4 +160,4 @@ PARAM_DEFINE_INT32(VT_TYPE, 0);
  * @max 1
  * @group VTOL Attitude Control
  */
-PARAM_DEFINE_INT32(VT_ELEV_MC_LOCK,0);
+PARAM_DEFINE_INT32(VT_ELEV_MC_LOCK, 0);