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Merge remote-tracking branch 'upstream/master' into fw_autoland_att_tecs

sbg
Thomas Gubler 11 years ago
parent
e62d08a8fb cd5bde2144
commit
c29fa61143
17 changed files with 143 additions and 178 deletions
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  1. 35
      ROMFS/px4fmu_common/init.d/100_mpx_easystar
  2. 36
      ROMFS/px4fmu_common/init.d/101_hk_bixler
  3. 5
      ROMFS/px4fmu_common/init.d/10_dji_f330
  4. 2
      ROMFS/px4fmu_common/init.d/11_dji_f450
  5. 15
      ROMFS/px4fmu_common/init.d/12-13_hex
  6. 8
      ROMFS/px4fmu_common/init.d/15_tbs_discovery
  7. 2
      ROMFS/px4fmu_common/init.d/16_3dr_iris
  8. 36
      ROMFS/px4fmu_common/init.d/30_io_camflyer
  9. 36
      ROMFS/px4fmu_common/init.d/31_io_phantom
  10. 31
      ROMFS/px4fmu_common/init.d/32_skywalker_x5
  11. 33
      ROMFS/px4fmu_common/init.d/666_fmu_q_x550
  12. 2
      ROMFS/px4fmu_common/init.d/rc.custom_dji_f330_mkblctrl
  13. 2
      ROMFS/px4fmu_common/init.d/rc.custom_io_esc
  14. 34
      ROMFS/px4fmu_common/init.d/rc.fixedwing
  15. 2
      ROMFS/px4fmu_common/init.d/rc.multirotor
  16. 5
      ROMFS/px4fmu_common/init.d/rcS
  17. 17
      src/modules/commander/commander.cpp

35
ROMFS/px4fmu_common/init.d/100_mpx_easystar
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@ -52,8 +52,6 @@ then @@ -52,8 +52,6 @@ then
# Start MAVLink (depends on orb)
mavlink start
commander start
sh /etc/init.d/rc.io
# Limit to 100 Hz updates and (implicit) 50 Hz PWM
px4io limit 100
@ -61,46 +59,27 @@ else @@ -61,46 +59,27 @@ else
# Start MAVLink (on UART1 / ttyS0)
mavlink start -d /dev/ttyS0
commander start
fmu mode_pwm
param set BAT_V_SCALING 0.004593
set EXIT_ON_END yes
fi
#
# Start the sensors and test them.
#
sh /etc/init.d/rc.sensors
#
# Start logging (depends on sensors)
#
sh /etc/init.d/rc.logging
#
# Start GPS interface (depends on orb)
#
gps start
#
# Start the attitude and position estimator
#
att_pos_estimator_ekf start
#
# Load mixer and start controllers (depends on px4io)
#
if [ -f /fs/microsd/etc/mixers/FMU_RET.mix ]
then
echo "Using FMU_RET mixer from sd card"
echo "Using /fs/microsd/etc/mixers/FMU_RET.mix"
mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_RET.mix
else
echo "Using standard FMU_RET mixer"
echo "Using /etc/mixers/FMU_RET.mix"
mixer load /dev/pwm_output /etc/mixers/FMU_RET.mix
fi
fw_att_control start
fw_pos_control_l1 start
#
Start common fixedwing apps
#
sh /etc/init.d/rc.fixedwing
if [ $EXIT_ON_END == yes ]
then

36
ROMFS/px4fmu_common/init.d/101_hk_bixler
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@ -52,8 +52,6 @@ then @@ -52,8 +52,6 @@ then
# Start MAVLink (depends on orb)
mavlink start
commander start
sh /etc/init.d/rc.io
# Limit to 100 Hz updates and (implicit) 50 Hz PWM
px4io limit 100
@ -61,39 +59,27 @@ else @@ -61,39 +59,27 @@ else
# Start MAVLink (on UART1 / ttyS0)
mavlink start -d /dev/ttyS0
commander start
fmu mode_pwm
param set BAT_V_SCALING 0.004593
set EXIT_ON_END yes
fi
#
# Start the sensors and test them.
#
sh /etc/init.d/rc.sensors
#
# Start logging (depends on sensors)
#
sh /etc/init.d/rc.logging
#
# Start GPS interface (depends on orb)
#
gps start
#
# Start the attitude and position estimator
# Load mixer and start controllers (depends on px4io)
#
att_pos_estimator_ekf start
if [ -f /fs/microsd/etc/mixers/FMU_AERT.mix ]
then
echo "Using /fs/microsd/etc/mixers/FMU_AERT.mix"
mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_AERT.mix
else
echo "Using /etc/mixers/FMU_Q.mix"
mixer load /dev/pwm_output /etc/mixers/FMU_AERT.mix
fi
#
# Load mixer and start controllers (depends on px4io)
Start common fixedwing apps
#
mixer load /dev/pwm_output /etc/mixers/FMU_AERT.mix
fw_att_control start
fw_pos_control_l1 start
sh /etc/init.d/rc.fixedwing
if [ $EXIT_ON_END == yes ]
then

5
ROMFS/px4fmu_common/init.d/10_dji_f330
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@ -59,10 +59,7 @@ then @@ -59,10 +59,7 @@ then
mavlink start
usleep 5000
commander start
sh /etc/init.d/rc.io
# Set PWM values for DJI ESCs
else
# Start MAVLink (on UART1 / ttyS0)
mavlink start -d /dev/ttyS0
@ -83,7 +80,7 @@ mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix @@ -83,7 +80,7 @@ mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
pwm rate -c 1234 -r 400
#
# Set disarmed, min and max PWM signals
# Set disarmed, min and max PWM signals (for DJI ESCs)
#
pwm disarmed -c 1234 -p 900
pwm min -c 1234 -p 1200

2
ROMFS/px4fmu_common/init.d/11_dji_f450
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@ -73,7 +73,7 @@ pwm min -c 1234 -p 1200 @@ -73,7 +73,7 @@ pwm min -c 1234 -p 1200
pwm max -c 1234 -p 1800
#
# Start common for all multirotors apps
# Start common multirotor apps
#
sh /etc/init.d/rc.multirotor

15
ROMFS/px4fmu_common/init.d/12-13_hex
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@ -61,10 +61,6 @@ then @@ -61,10 +61,6 @@ then
usleep 5000
sh /etc/init.d/rc.io
# Set PWM values for DJI ESCs
px4io idle 900 900 900 900 900 900
px4io min 1200 1200 1200 1200 1200 1200
px4io max 1900 1900 1900 1900 1900 1900
else
# Start MAVLink (on UART1 / ttyS0)
mavlink start -d /dev/ttyS0
@ -77,12 +73,19 @@ fi @@ -77,12 +73,19 @@ fi
#
# Load mixer
#
mixer load /dev/pwm_output $MIXER
mixer load /dev/pwm_output /etc/mixers/FMU_hex_x.mix
#
# Set PWM output frequency to 400 Hz
#
pwm -u 400 -m 0xff
pwm rate -c 123456 -r 400
#
# Set disarmed, min and max PWM signals
#
pwm disarmed -c 123456 -p 900
pwm min -c 123456 -p 1100
pwm max -c 123456 -p 1900
#
# Start common for all multirotors apps

8
ROMFS/px4fmu_common/init.d/15_tbs_discovery
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@ -43,8 +43,6 @@ then @@ -43,8 +43,6 @@ then
mavlink start
usleep 5000
commander start
sh /etc/init.d/rc.io
else
# Start MAVLink (on UART1 / ttyS0)
@ -66,11 +64,11 @@ mixer load /dev/pwm_output /etc/mixers/FMU_quad_w.mix @@ -66,11 +64,11 @@ mixer load /dev/pwm_output /etc/mixers/FMU_quad_w.mix
pwm rate -c 1234 -r 400
#
# Set disarmed, min and max PWM signals (for DJI ESCs)
# Set disarmed, min and max PWM signals
#
pwm disarmed -c 1234 -p 900
pwm min -c 1234 -p 1200
pwm max -c 1234 -p 1800
pwm min -c 1234 -p 1100
pwm max -c 1234 -p 1900
#
# Start common for all multirotors apps

2
ROMFS/px4fmu_common/init.d/16_3dr_iris
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@ -43,8 +43,6 @@ then @@ -43,8 +43,6 @@ then
mavlink start
usleep 5000
commander start
sh /etc/init.d/rc.io
else
# Start MAVLink (on UART1 / ttyS0)

36
ROMFS/px4fmu_common/init.d/30_io_camflyer
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@ -30,8 +30,6 @@ then @@ -30,8 +30,6 @@ then
# Start MAVLink (depends on orb)
mavlink start
commander start
sh /etc/init.d/rc.io
# Limit to 100 Hz updates and (implicit) 50 Hz PWM
px4io limit 100
@ -39,39 +37,27 @@ else @@ -39,39 +37,27 @@ else
# Start MAVLink (on UART1 / ttyS0)
mavlink start -d /dev/ttyS0
commander start
fmu mode_pwm
param set BAT_V_SCALING 0.004593
set EXIT_ON_END yes
fi
#
# Start the sensors and test them.
#
sh /etc/init.d/rc.sensors
#
# Start logging (depends on sensors)
#
sh /etc/init.d/rc.logging
#
# Start GPS interface (depends on orb)
#
gps start
#
# Start the attitude and position estimator
# Load mixer and start controllers (depends on px4io)
#
att_pos_estimator_ekf start
if [ -f /fs/microsd/etc/mixers/FMU_Q.mix ]
then
echo "Using /fs/microsd/etc/mixers/FMU_Q.mix"
mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_Q.mix
else
echo "Using /etc/mixers/FMU_Q.mix"
mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
fi
#
# Load mixer and start controllers (depends on px4io)
Start common fixedwing apps
#
mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
fw_att_control start
fw_pos_control_l1 start
sh /etc/init.d/rc.fixedwing
if [ $EXIT_ON_END == yes ]
then

36
ROMFS/px4fmu_common/init.d/31_io_phantom
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@ -52,8 +52,6 @@ then @@ -52,8 +52,6 @@ then
# Start MAVLink (depends on orb)
mavlink start
commander start
sh /etc/init.d/rc.io
# Limit to 100 Hz updates and (implicit) 50 Hz PWM
px4io limit 100
@ -61,39 +59,27 @@ else @@ -61,39 +59,27 @@ else
# Start MAVLink (on UART1 / ttyS0)
mavlink start -d /dev/ttyS0
commander start
fmu mode_pwm
param set BAT_V_SCALING 0.004593
set EXIT_ON_END yes
fi
#
# Start the sensors and test them.
#
sh /etc/init.d/rc.sensors
#
# Start logging (depends on sensors)
#
sh /etc/init.d/rc.logging
#
# Start GPS interface (depends on orb)
#
gps start
#
# Start the attitude and position estimator
# Load mixer and start controllers (depends on px4io)
#
att_pos_estimator_ekf start
if [ -f /fs/microsd/etc/mixers/FMU_Q.mix ]
then
echo "Using /fs/microsd/etc/mixers/FMU_Q.mix"
mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_Q.mix
else
echo "Using /etc/mixers/FMU_Q.mix"
mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
fi
#
# Load mixer and start controllers (depends on px4io)
Start common fixedwing apps
#
mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
fw_att_control start
fw_pos_control_l1 start
sh /etc/init.d/rc.fixedwing
if [ $EXIT_ON_END == yes ]
then

31
ROMFS/px4fmu_common/init.d/32_skywalker_x5
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@ -30,8 +30,6 @@ then @@ -30,8 +30,6 @@ then
# Start MAVLink (depends on orb)
mavlink start
commander start
sh /etc/init.d/rc.io
# Limit to 100 Hz updates and (implicit) 50 Hz PWM
px4io limit 100
@ -39,33 +37,11 @@ else @@ -39,33 +37,11 @@ else
# Start MAVLink (on UART1 / ttyS0)
mavlink start -d /dev/ttyS0
commander start
fmu mode_pwm
param set BAT_V_SCALING 0.004593
set EXIT_ON_END yes
fi
#
# Start the sensors and test them.
#
sh /etc/init.d/rc.sensors
#
# Start logging (depends on sensors)
#
sh /etc/init.d/rc.logging
#
# Start GPS interface (depends on orb)
#
gps start
#
# Start the attitude and position estimator
#
att_pos_estimator_ekf start
#
# Load mixer and start controllers (depends on px4io)
#
@ -77,8 +53,11 @@ else @@ -77,8 +53,11 @@ else
echo "Using /etc/mixers/FMU_Q.mix"
mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
fi
fw_att_control start
fw_pos_control_l1 start
#
Start common fixedwing apps
#
sh /etc/init.d/rc.fixedwing
if [ $EXIT_ON_END == yes ]
then

33
ROMFS/px4fmu_common/init.d/666_fmu_q_x550
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@ -1,6 +1,6 @@ @@ -1,6 +1,6 @@
#!nsh
echo "[init] 666_fmu_q_x550: PX4FMU Quad X550 with PWM outputs"
echo "[init] 666_fmu_q_x550: PX4FMU Quad X550 with or without IO"
#
# Load default params for this platform
@ -34,16 +34,26 @@ fi @@ -34,16 +34,26 @@ fi
#
param set MAV_TYPE 2
set EXIT_ON_END no
#
# Start MAVLink
# Start and configure PX4IO or FMU interface
#
mavlink start -d /dev/ttyS0 -b 57600
if px4io detect
then
# Start MAVLink (depends on orb)
mavlink start
usleep 5000
#
# Start PWM output
#
sh /etc/init.d/rc.io
else
# Start MAVLink (on UART1 / ttyS0)
mavlink start -d /dev/ttyS0
usleep 5000
fmu mode_pwm
param set BAT_V_SCALING 0.004593
set EXIT_ON_END yes
fi
#
# Load mixer
@ -55,10 +65,19 @@ mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix @@ -55,10 +65,19 @@ mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
#
pwm rate -c 1234 -r 400
#
# Set disarmed, min and max PWM signals
#
pwm disarmed -c 1234 -p 900
pwm min -c 1234 -p 1100
pwm max -c 1234 -p 1900
#
# Start common for all multirotors apps
#
sh /etc/init.d/rc.multirotor
# Exit, because /dev/ttyS0 is needed for MAVLink
if [ $EXIT_ON_END == yes ]
then
exit
fi

2
ROMFS/px4fmu_common/init.d/rc.custom_dji_f330_mkblctrl
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@ -84,10 +84,10 @@ then @@ -84,10 +84,10 @@ then
sh /etc/init.d/rc.io
else
fmu mode_pwm
# Start MAVLink (on UART1 / ttyS0)
mavlink start -d /dev/ttyS0
usleep 5000
fmu mode_pwm
param set BAT_V_SCALING 0.004593
set EXIT_ON_END yes
fi

2
ROMFS/px4fmu_common/init.d/rc.custom_io_esc
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@ -61,8 +61,6 @@ then @@ -61,8 +61,6 @@ then
mavlink start -d /dev/ttyS1 -b 57600
usleep 5000
commander start
sh /etc/init.d/rc.io
else
fmu mode_pwm

34
ROMFS/px4fmu_common/init.d/rc.fixedwing
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@ -0,0 +1,34 @@ @@ -0,0 +1,34 @@
#!nsh
#
# Standard everything needed for fixedwing except mixer, actuator output and mavlink
#
#
# Start the sensors and test them.
#
sh /etc/init.d/rc.sensors
#
# Start logging (depends on sensors)
#
sh /etc/init.d/rc.logging
#
# Start GPS interface (depends on orb)
#
gps start
#
# Start the attitude and position estimator
#
att_pos_estimator_ekf start
#
# Start attitude controller
#
fw_att_control start
#
# Start the position controller
#
fw_pos_control_l1 start

2
ROMFS/px4fmu_common/init.d/rc.multirotor
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@ -1,6 +1,6 @@ @@ -1,6 +1,6 @@
#!nsh
#
# Standard everything needed for multirotors except mixer, output and mavlink
# Standard everything needed for multirotors except mixer, actuator output and mavlink
#
#

5
ROMFS/px4fmu_common/init.d/rcS
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@ -106,6 +106,11 @@ then @@ -106,6 +106,11 @@ then
fi
fi
#
# Start the Commander (needs to be this early for in-air-restarts)
#
commander start
if param compare SYS_AUTOSTART 1000
then
sh /etc/init.d/1000_rc_fw_easystar.hil

17
src/modules/commander/commander.cpp
Unescape View File

@ -116,6 +116,8 @@ extern struct system_load_s system_load; @@ -116,6 +116,8 @@ extern struct system_load_s system_load;
#define LOW_VOLTAGE_BATTERY_COUNTER_LIMIT (LOW_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC)
#define CRITICAL_VOLTAGE_BATTERY_COUNTER_LIMIT (CRITICAL_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC)
#define MAVLINK_OPEN_INTERVAL 50000
#define STICK_ON_OFF_LIMIT 0.75f
#define STICK_THRUST_RANGE 1.0f
#define STICK_ON_OFF_HYSTERESIS_TIME_MS 1000
@ -582,16 +584,6 @@ int commander_thread_main(int argc, char *argv[]) @@ -582,16 +584,6 @@ int commander_thread_main(int argc, char *argv[])
mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
if (mavlink_fd < 0) {
/* try again later */
usleep(20000);
mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
if (mavlink_fd < 0) {
warnx("ERROR: Failed to open MAVLink log stream again, start mavlink app first.");
}
}
/* Main state machine */
/* make sure we are in preflight state */
memset(&status, 0, sizeof(status));
@ -770,6 +762,11 @@ int commander_thread_main(int argc, char *argv[]) @@ -770,6 +762,11 @@ int commander_thread_main(int argc, char *argv[])
while (!thread_should_exit) {
if (mavlink_fd < 0 && counter % (1000000 / MAVLINK_OPEN_INTERVAL) == 0) {
/* try to open the mavlink log device every once in a while */
mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
}
/* update parameters */
orb_check(param_changed_sub, &updated);

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