Lorenz Meier
10 years ago
25 changed files with 397 additions and 330 deletions
@ -0,0 +1,57 @@
@@ -0,0 +1,57 @@
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#
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# Makefile for the EAGLE *default* configuration
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#
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#
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# Board support modules
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#
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MODULES += drivers/device
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#
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# System commands
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#
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MODULES += systemcmds/param
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MODULES += systemcmds/ver
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#
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# General system control
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#
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MODULES += modules/mavlink
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#
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# Estimation modules (EKF/ SO3 / other filters)
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#
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#
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# Vehicle Control
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#
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#
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# Library modules
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#
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MODULES += modules/systemlib
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MODULES += modules/uORB
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MODULES += modules/dataman
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#
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# Libraries
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#
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MODULES += lib/mathlib
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MODULES += lib/mathlib/math/filter
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MODULES += lib/geo
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MODULES += lib/geo_lookup
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MODULES += lib/conversion
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#
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# Linux port
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#
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MODULES += platforms/posix/px4_layer
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MODULES += platforms/posix/work_queue
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#
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# Unit tests
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#
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#
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# muorb fastrpc changes.
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#
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MODULES += modules/muorb/krait
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@ -0,0 +1,8 @@
@@ -0,0 +1,8 @@
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#
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# Board-specific startup code for SITL
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#
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SRCS = \
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sitl_led.c
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MAXOPTIMIZATION = -Os
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@ -0,0 +1,81 @@
@@ -0,0 +1,81 @@
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/****************************************************************************
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* |
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* Copyright (c) 2013 PX4 Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/**
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* @file sitl_led.c |
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* |
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* sitl LED backend. |
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*/ |
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#include <px4_config.h> |
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#include <px4_log.h> |
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#include <stdbool.h> |
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__BEGIN_DECLS |
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extern void led_init(void); |
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extern void led_on(int led); |
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extern void led_off(int led); |
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extern void led_toggle(int led); |
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__END_DECLS |
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static bool _led_state[2] = { false , false }; |
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__EXPORT void led_init() |
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{ |
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PX4_DEBUG("LED_INIT"); |
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} |
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__EXPORT void led_on(int led) |
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{ |
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if (led == 1 || led == 0) { |
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PX4_DEBUG("LED%d_ON", led); |
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_led_state[led] = true; |
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} |
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} |
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__EXPORT void led_off(int led) |
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{ |
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if (led == 1 || led == 0) { |
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PX4_DEBUG("LED%d_OFF", led); |
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_led_state[led] = false; |
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} |
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} |
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__EXPORT void led_toggle(int led) |
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{ |
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if (led == 1 || led == 0) { |
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_led_state[led] = !_led_state[led]; |
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PX4_DEBUG("LED%d_TOGGLE: %s", led, _led_state[led] ? "ON" : "OFF"); |
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} |
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} |
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@ -0,0 +1 @@
@@ -0,0 +1 @@
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Subproject commit 1741154446c7c92c6e632d7ee1619c6d4174bf2d |
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@ -1,190 +0,0 @@
@@ -1,190 +0,0 @@
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diff --git a/src/include/mavlink/mavlink_log.h b/src/include/mavlink/mavlink_log.h
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index 4ba2f98..a7b664e 100644
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--- a/src/include/mavlink/mavlink_log.h
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+++ b/src/include/mavlink/mavlink_log.h
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@@ -106,10 +106,11 @@ __EXPORT void mavlink_vasprintf(int _fd, int severity, const char *fmt, ...);
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* @param _fd A file descriptor returned from open(MAVLINK_LOG_DEVICE, 0);
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* @param _text The text to log;
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*/
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-#define mavlink_and_console_log_emergency(_fd, _text, ...) mavlink_vasprintf(_fd, MAVLINK_IOC_SEND_TEXT_EMERGENCY, _text, ##__VA_ARGS__); \
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- fprintf(stderr, "telem> "); \
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+#define mavlink_and_console_log_emergency(_fd, _text, ...) mavlink_vasprintf(_fd, MAVLINK_IOC_SEND_TEXT_EMERGENCY, _text, ##__VA_ARGS__);
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+/* fprintf(stderr, "telem> "); \
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fprintf(stderr, _text, ##__VA_ARGS__); \
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fprintf(stderr, "\n");
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+*/
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/**
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* Send a mavlink critical message and print to console.
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@@ -117,10 +118,11 @@ __EXPORT void mavlink_vasprintf(int _fd, int severity, const char *fmt, ...);
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* @param _fd A file descriptor returned from open(MAVLINK_LOG_DEVICE, 0);
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* @param _text The text to log;
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*/
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-#define mavlink_and_console_log_critical(_fd, _text, ...) mavlink_vasprintf(_fd, MAVLINK_IOC_SEND_TEXT_CRITICAL, _text, ##__VA_ARGS__); \
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- fprintf(stderr, "telem> "); \
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+#define mavlink_and_console_log_critical(_fd, _text, ...) mavlink_vasprintf(_fd, MAVLINK_IOC_SEND_TEXT_CRITICAL, _text, ##__VA_ARGS__)
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+/* fprintf(stderr, "telem> "); \
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fprintf(stderr, _text, ##__VA_ARGS__); \
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fprintf(stderr, "\n");
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+*/
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/**
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* Send a mavlink emergency message and print to console.
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@@ -128,11 +130,11 @@ __EXPORT void mavlink_vasprintf(int _fd, int severity, const char *fmt, ...);
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* @param _fd A file descriptor returned from open(MAVLINK_LOG_DEVICE, 0);
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* @param _text The text to log;
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*/
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-#define mavlink_and_console_log_info(_fd, _text, ...) mavlink_vasprintf(_fd, MAVLINK_IOC_SEND_TEXT_INFO, _text, ##__VA_ARGS__); \
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- fprintf(stderr, "telem> "); \
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+#define mavlink_and_console_log_info(_fd, _text, ...) mavlink_vasprintf(_fd, MAVLINK_IOC_SEND_TEXT_INFO, _text, ##__VA_ARGS__);
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+/* fprintf(stderr, "telem> "); \
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fprintf(stderr, _text, ##__VA_ARGS__); \
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fprintf(stderr, "\n");
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-
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+*/
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struct mavlink_logmessage {
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char text[MAVLINK_LOG_MAXLEN + 1];
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unsigned char severity;
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diff --git a/src/lib/eigen b/src/lib/eigen
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--- a/src/lib/eigen
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+++ b/src/lib/eigen
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@@ -1 +1 @@
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-Subproject commit e7850ed81f9c469e02df496ef09ae32ec0379b71
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+Subproject commit e7850ed81f9c469e02df496ef09ae32ec0379b71-dirty
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diff --git a/src/modules/commander/PreflightCheck.cpp b/src/modules/commander/PreflightCheck.cpp
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index bbf5f8e..50c7d8b 100644
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--- a/src/modules/commander/PreflightCheck.cpp
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+++ b/src/modules/commander/PreflightCheck.cpp
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@@ -378,6 +378,14 @@ bool preflightCheck(int mavlink_fd, bool checkMag, bool checkAcc, bool checkGyro
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}
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}
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+
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+#ifdef __PX4_QURT
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+ // WARNING: Preflight checks are important and should be added back when
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+ // all the sensors are supported
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+ PX4_WARN("WARNING: Preflight checks PASS always.");
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+ failed = false;
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+#endif
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+
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/* Report status */
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return !failed;
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}
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diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
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index 971e086..c165322 100644
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--- a/src/modules/commander/commander.cpp
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+++ b/src/modules/commander/commander.cpp
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@@ -1836,8 +1836,13 @@ int commander_thread_main(int argc, char *argv[])
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}
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/* RC input check */
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+#ifndef __PX4_QURT
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if (!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF) && !status.rc_input_blocked && sp_man.timestamp != 0 &&
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- hrt_absolute_time() < sp_man.timestamp + (uint64_t)(rc_loss_timeout * 1e6f)) {
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+ hrt_absolute_time() < sp_man.timestamp + (uint64_t)(rc_loss_timeout * 1e6f)) {
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+#else
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+ // HACK: remove old data check due to timestamp issue in QURT
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+ if (!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF) && !status.rc_input_blocked && sp_man.timestamp != 0 ) {
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+#endif
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/* handle the case where RC signal was regained */
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if (!status.rc_signal_found_once) {
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status.rc_signal_found_once = true;
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@@ -2526,7 +2531,7 @@ set_control_mode()
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/* set vehicle_control_mode according to set_navigation_state */
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control_mode.flag_armed = armed.armed;
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control_mode.flag_external_manual_override_ok = (!status.is_rotary_wing && !status.is_vtol);
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- control_mode.flag_system_hil_enabled = status.hil_state == vehicle_status_s::HIL_STATE_ON;
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+ //control_mode.flag_system_hil_enabled = status.hil_state == vehicle_status_s::HIL_STATE_ON;
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control_mode.flag_control_offboard_enabled = false;
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switch (status.nav_state) {
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diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c
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index 892e50f..7ac6776 100644
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--- a/src/modules/position_estimator_inav/position_estimator_inav_main.c
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+++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c
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@@ -384,7 +384,13 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
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};
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/* wait for initial baro value */
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+#ifdef __PX4_QURT
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+ // WARNING skipping
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+ PX4_WARN("Hacked to skip baro initialization for testing.");
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+ bool wait_baro = false;
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+#else
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bool wait_baro = true;
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+#endif
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thread_running = true;
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diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
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index 3fa4458..0ef1883 100644
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--- a/src/modules/sensors/sensors.cpp
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+++ b/src/modules/sensors/sensors.cpp
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@@ -1099,7 +1099,12 @@ Sensors::gyro_poll(struct sensor_combined_s &raw)
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raw.gyro_raw[1] = gyro_report.y_raw;
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raw.gyro_raw[2] = gyro_report.z_raw;
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+#ifdef __PX4_QURT
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+// Temporary fix required due to lack of time sync between apps and dsp cores
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+ raw.timestamp = hrt_absolute_time();
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+#else
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raw.timestamp = gyro_report.timestamp;
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+#endif
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raw.gyro_errcount = gyro_report.error_count;
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raw.gyro_temp = gyro_report.temperature;
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}
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@@ -2068,6 +2073,7 @@ Sensors::task_main()
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/* start individual sensors */
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int ret = 0;
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+#if 0
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do { /* create a scope to handle exit with break */
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ret = accel_init();
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if (ret) break;
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@@ -2091,7 +2097,7 @@ Sensors::task_main()
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}
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return;
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}
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-
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+#endif
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/*
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* do subscriptions
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*/
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diff --git a/src/systemcmds/mixer/mixer.cpp b/src/systemcmds/mixer/mixer.cpp
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index 83a9378..ec86faf 100644
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--- a/src/systemcmds/mixer/mixer.cpp
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+++ b/src/systemcmds/mixer/mixer.cpp
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@@ -118,6 +118,8 @@ load(const char *devname, const char *fname)
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return 1;
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}
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+#ifndef __PX4_QURT
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+
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if (load_mixer_file(fname, &buf[0], sizeof(buf)) < 0) {
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warnx("can't load mixer: %s", fname);
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return 1;
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@@ -125,6 +127,24 @@ load(const char *devname, const char *fname)
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/* XXX pass the buffer to the device */
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int ret = px4_ioctl(dev, MIXERIOCLOADBUF, (unsigned long)buf);
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+#else
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+ char newbuf[] =
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+ "R: 4x 10000 10000 10000 0\n"
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+ "M: 1\n"
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+ "O: 10000 10000 0 -10000 10000\n"
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+ "S: 0 4 10000 10000 0 -10000 10000\n"
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+ "M: 1\n"
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+ "O: 10000 10000 0 -10000 10000\n"
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+ "S: 0 5 10000 10000 0 -10000 10000\n"
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+ "M: 1\n"
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+ "O: 10000 10000 0 -10000 10000\n"
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+ "S: 0 6 10000 10000 0 -10000 10000\n"
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+ "M: 1\n"
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+ "O: 10000 10000 0 -10000 10000\n"
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+ "S: 0 7 10000 10000 0 -10000 10000\n";
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+ /* XXX pass the buffer to the device */
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+ int ret = px4_ioctl(dev, MIXERIOCLOADBUF, (unsigned long)newbuf);
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+#endif
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|
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if (ret < 0) {
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warnx("error loading mixers from %s", fname);
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@ -0,0 +1,175 @@
@@ -0,0 +1,175 @@
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/****************************************************************************
|
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* |
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* Copyright (C) 2015 Mark Charlebois. All rights reserved. |
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* |
||||
* Redistribution and use in source and binary forms, with or without |
||||
* modification, are permitted provided that the following conditions |
||||
* are met: |
||||
* |
||||
* 1. Redistributions of source code must retain the above copyright |
||||
* notice, this list of conditions and the following disclaimer. |
||||
* 2. Redistributions in binary form must reproduce the above copyright |
||||
* notice, this list of conditions and the following disclaimer in |
||||
* the documentation and/or other materials provided with the |
||||
* distribution. |
||||
* 3. Neither the name PX4 nor the names of its contributors may be |
||||
* used to endorse or promote products derived from this software |
||||
* without specific prior written permission. |
||||
* |
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
||||
* POSSIBILITY OF SUCH DAMAGE. |
||||
* |
||||
****************************************************************************/ |
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/**
|
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* @file commands_muorb_test.c |
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* Commands to run for the "qurt_muorb_test" config |
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* |
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* @author Mark Charlebois <charlebm@gmail.com> |
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*/ |
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|
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const char *get_commands() |
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{ |
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|
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static const char *commands = |
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"uorb start\n" |
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"param set CAL_GYRO0_ID 2293760\n" |
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"param set CAL_ACC0_ID 1310720\n" |
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"param set CAL_ACC1_ID 1376256\n" |
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"param set CAL_MAG0_ID 196608\n" |
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"commander start\n" |
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"param set RC_RECEIVER_TYPE 1\n" |
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"rc_receiver start -D /dev/tty-1\n" |
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"attitude_estimator_q start\n" |
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"position_estimator_inav start\n" |
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//"ekf_att_pos_estimator start\n"
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"mc_pos_control start\n" |
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"mc_att_control start\n" |
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"sleep 1\n" |
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// Channel mapping for Spektrum DX8
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"param set RC_MAP_THROTTLE 1\n" |
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"param set RC_MAP_ROLL 2\n" |
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"param set RC_MAP_PITCH 3\n" |
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"param set RC_MAP_YAW 4\n" |
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"param set RC_MAP_MODE_SW 5\n" |
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"param set RC_MAP_POSCTL_SW 6\n" |
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|
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// RC calibration for Spektrum DX8
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"param set RC1_MAX 852\n" |
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"param set RC1_MIN 171\n" |
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"param set RC1_TRIM 171\n" |
||||
"param set RC1_REV 1\n" |
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"param set RC2_MAX 852\n" |
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"param set RC2_MIN 171\n" |
||||
"param set RC2_TRIM 512\n" |
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"param set RC2_REV -1\n" |
||||
"param set RC3_MAX 852\n" |
||||
"param set RC3_MIN 171\n" |
||||
"param set RC3_TRIM 512\n" |
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"param set RC3_REV 1\n" |
||||
"param set RC4_MAX 852\n" |
||||
"param set RC4_MIN 171\n" |
||||
"param set RC4_TRIM 514\n" |
||||
"param set RC4_REV -1\n" |
||||
"param set RC5_MAX 852\n" |
||||
"param set RC5_MIN 171\n" |
||||
"param set RC5_TRIM 512\n" |
||||
"param set RC5_REV 1\n" |
||||
"param set RC6_MAX 852\n" |
||||
"param set RC6_MIN 171\n" |
||||
"param set RC6_TRIM 171\n" |
||||
"param set RC6_REV 1\n" |
||||
|
||||
// // RC calibration for DX6i
|
||||
// "param set RC1_MAX 2015\n"
|
||||
// "param set RC1_MIN 996\n"
|
||||
// "param set RC1_TRIM 1502\n"
|
||||
// "param set RC1_REV -1\n"
|
||||
// "param set RC2_MAX 2016 \n"
|
||||
// "param set RC2_MIN 995\n"
|
||||
// "param set RC2_TRIM 1500\n"
|
||||
// "param set RC3_MAX 2003\n"
|
||||
// "param set RC3_MIN 992\n"
|
||||
// "param set RC3_TRIM 992\n"
|
||||
// "param set RC4_MAX 2011\n"
|
||||
// "param set RC4_MIN 997\n"
|
||||
// "param set RC4_TRIM 1504\n"
|
||||
// "param set RC4_REV -1\n"
|
||||
// "param set RC6_MAX 2016\n"
|
||||
// "param set RC6_MIN 992\n"
|
||||
// "param set RC6_TRIM 1504\n"
|
||||
// "param set RC_CHAN_CNT 8\n"
|
||||
// "param set RC_MAP_MODE_SW 5\n"
|
||||
// "param set RC_MAP_POSCTL_SW 7\n"
|
||||
// "param set RC_MAP_RETURN_SW 8\n"
|
||||
|
||||
"sensors start\n" |
||||
"param set MC_YAW_P 7.0\n" |
||||
"param set MC_YAWRATE_P 0.1125\n" |
||||
"param set MC_YAWRATE_I 0.0\n" |
||||
"param set MC_YAWRATE_D 0\n" |
||||
"param set MC_PITCH_P 6.0\n" |
||||
"param set MC_PITCHRATE_P 0.125\n" |
||||
"param set MC_PITCHRATE_I 0.0\n" |
||||
"param set MC_PITCHRATE_D 0.0\n" |
||||
"param set MC_ROLL_P 6.0\n" |
||||
"param set MC_ROLLRATE_P 0.1125\n" |
||||
"param set MC_ROLLRATE_I 0.0\n" |
||||
"param set MC_ROLLRATE_D 0.0\n" |
||||
"param set ATT_W_MAG 0.00\n" |
||||
"param set PE_MAG_NOISE 1.0f\n" // ekf_att_pos only
|
||||
"param set SENS_BOARD_ROT 6\n" |
||||
|
||||
"param set CAL_GYRO0_XOFF 0.0\n" |
||||
"param set CAL_GYRO0_YOFF 0.0\n" |
||||
"param set CAL_GYRO0_ZOFF 0.0\n" |
||||
"param set CAL_GYRO0_XSCALE 1.000000\n" |
||||
"param set CAL_GYRO0_YSCALE 1.000000\n" |
||||
"param set CAL_GYRO0_ZSCALE 1.000000\n" |
||||
"param set CAL_ACC0_XOFF 0.0\n" |
||||
"param set CAL_ACC0_YOFF 0.0\n" |
||||
"param set CAL_ACC0_ZOFF 0.0\n" |
||||
"param set CAL_ACC0_XSCALE 1.0\n" |
||||
"param set CAL_ACC0_YSCALE 1.0\n" |
||||
"param set CAL_ACC0_ZSCALE 1.0\n" |
||||
// "param set CAL_ACC0_XOFF 0.064189\n"
|
||||
// "param set CAL_ACC0_YOFF 0.153990\n"
|
||||
// "param set CAL_ACC0_ZOFF -0.000567\n"
|
||||
"param set MPU_GYRO_LPF_ENUM 4\n" |
||||
"param set MPU_ACC_LPF_ENUM 4\n" |
||||
"param set MPU_SAMPLE_RATE_ENUM 2\n" |
||||
"sleep 1\n" |
||||
"mpu9x50 start -D /dev/spi-1\n" |
||||
"uart_esc start -D /dev/tty-2\n" |
||||
"csr_gps start -D /dev/tty-3\n" |
||||
"param set MAV_TYPE 2\n" |
||||
"list_devices\n" |
||||
"list_files\n" |
||||
"list_tasks\n" |
||||
"list_topics\n" |
||||
|
||||
; |
||||
|
||||
return commands; |
||||
|
||||
} |
||||
|
||||
/*
|
||||
simulator numbers |
||||
"param set MC_YAW_P 1.5\n" |
||||
"param set MC_PITCH_P 3.0\n" |
||||
"param set MC_ROLL_P 3.0\n" |
||||
"param set MC_YAWRATE_P 0.2\n" |
||||
"param set MC_PITCHRATE_P 0.03\n" |
||||
"param set MC_ROLLRATE_P 0.03\n" |
||||
*/ |
||||
Loading…
Reference in new issue