Merged master

ROMFS/px4fmu_common/init.d/rc.PX4IOAR_PX4FLOW_example

@@ -0,0 +1,94 @@
+#!nsh
+#
+# Flight startup script for PX4FMU on PX4IOAR carrier board.
+#
+
+# Disable the USB interface
+set USB no
+
+# Disable autostarting other apps
+set MODE ardrone
+ 
+echo "[init] doing PX4IOAR startup..."
+ 
+#
+# Start the ORB
+#
+uorb start
+ 
+#
+# Load microSD params
+#
+echo "[init] loading microSD params"
+param select /fs/microsd/params
+if [ -f /fs/microsd/params ]
+then
+	param load /fs/microsd/params
+fi
+
+#
+# Force some key parameters to sane values
+# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
+#              see https://pixhawk.ethz.ch/mavlink/
+#
+param set MAV_TYPE 2
+
+#
+# Configure PX4FMU for operation with PX4IOAR
+#
+fmu mode_gpio_serial
+ 
+#
+# Start the sensors.
+#
+sh /etc/init.d/rc.sensors
+
+#
+# Start MAVLink and MAVLink Onboard (Flow Sensor)
+#
+mavlink start -d /dev/ttyS0 -b 57600
+mavlink_onboard start -d /dev/ttyS3 -b 115200
+usleep 5000
+
+#
+# Start the commander.
+#
+commander start
+
+#
+# Start the attitude estimator
+#
+attitude_estimator_ekf start
+
+#
+# Start the position estimator
+#
+flow_position_estimator start
+
+#
+# Fire up the multi rotor attitude controller
+#
+multirotor_att_control start
+
+#
+# Fire up the flow position controller
+#
+flow_position_control start
+
+#
+# Fire up the flow speed controller
+#
+flow_speed_control start
+
+#
+# Fire up the AR.Drone interface.
+#
+ardrone_interface start -d /dev/ttyS1
+ 
+#
+# startup is done; we don't want the shell because we
+# use the same UART for telemetry
+#
+echo "[init] startup done"
+
+exit

src/modules/sdlog2/logbuffer.c

@@ -121,7 +121,7 @@ int logbuffer_get_ptr(struct logbuffer_s *lb, void **ptr, bool *is_part)
 	} else {
 		// read pointer is after write pointer, read bytes from read_ptr to end of the buffer
 		n = lb->size - lb->read_ptr;
-		*is_part = true;
+		*is_part = lb->write_ptr > 0;
 	}
 
 	*ptr = &(lb->data[lb->read_ptr]);

src/modules/sdlog2/sdlog2.c

@@ -64,6 +64,7 @@
 #include <uORB/topics/sensor_combined.h>
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_attitude_setpoint.h>
+#include <uORB/topics/vehicle_rates_setpoint.h>
 #include <uORB/topics/actuator_outputs.h>
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/actuator_controls_effective.h>
@@ -102,7 +103,7 @@
 
 //#define SDLOG2_DEBUG
 
-static bool thread_should_exit = false;		/**< Deamon exit flag */
+static bool main_thread_should_exit = false;		/**< Deamon exit flag */
 static bool thread_running = false;			/**< Deamon status flag */
 static int deamon_task;						/**< Handle of deamon task / thread */
 static bool logwriter_should_exit = false;	/**< Logwriter thread exit flag */
@@ -113,35 +114,34 @@ static const int MAX_WRITE_CHUNK = 512;
 static const int MIN_BYTES_TO_WRITE = 512;
 
 static const char *mountpoint = "/fs/microsd";
-int log_file = -1;
-int mavlink_fd = -1;
+static int mavlink_fd = -1;
 struct logbuffer_s lb;
 
 /* mutex / condition to synchronize threads */
-pthread_mutex_t logbuffer_mutex;
-pthread_cond_t logbuffer_cond;
+static pthread_mutex_t logbuffer_mutex;
+static pthread_cond_t logbuffer_cond;
 
-char folder_path[64];
+static char folder_path[64];
 
 /* statistics counters */
-unsigned long log_bytes_written = 0;
-uint64_t start_time = 0;
-unsigned long log_msgs_written = 0;
-unsigned long log_msgs_skipped = 0;
+static unsigned long log_bytes_written = 0;
+static uint64_t start_time = 0;
+static unsigned long log_msgs_written = 0;
+static unsigned long log_msgs_skipped = 0;
 
 /* current state of logging */
-bool logging_enabled = false;
+static bool logging_enabled = false;
 /* enable logging on start (-e option) */
-bool log_on_start = false;
+static bool log_on_start = false;
 /* enable logging when armed (-a option) */
-bool log_when_armed = false;
+static bool log_when_armed = false;
 /* delay = 1 / rate (rate defined by -r option) */
-useconds_t sleep_delay = 0;
+static useconds_t sleep_delay = 0;
 
 /* helper flag to track system state changes */
-bool flag_system_armed = false;
+static bool flag_system_armed = false;
 
-pthread_t logwriter_pthread = 0;
+static pthread_t logwriter_pthread = 0;
 
 /**
  * Log buffer writing thread. Open and close file here.
@@ -171,17 +171,17 @@ static void sdlog2_status(void);
 /**
  * Start logging: create new file and start log writer thread.
  */
-void sdlog2_start_log();
+static void sdlog2_start_log(void);
 
 /**
  * Stop logging: stop log writer thread and close log file.
  */
-void sdlog2_stop_log();
+static void sdlog2_stop_log(void);
 
 /**
  * Write a header to log file: list of message formats.
  */
-void write_formats(int fd);
+static void write_formats(int fd);
 
 
 static bool file_exist(const char *filename);
@@ -195,12 +195,12 @@ static void handle_status(struct vehicle_status_s *cmd);
 /**
  * Create folder for current logging session. Store folder name in 'log_folder'.
  */
-static int create_logfolder();
+static int create_logfolder(void);
 
 /**
  * Select first free log file name and open it.
  */
-static int open_logfile();
+static int open_logfile(void);
 
 static void
 sdlog2_usage(const char *reason)
@@ -236,7 +236,7 @@ int sdlog2_main(int argc, char *argv[])
 			exit(0);
 		}
 
-		thread_should_exit = false;
+		main_thread_should_exit = false;
 		deamon_task = task_spawn_cmd("sdlog2",
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_DEFAULT - 30,
@@ -251,7 +251,7 @@ int sdlog2_main(int argc, char *argv[])
 			printf("\tsdlog2 is not started\n");
 		}
 
-		thread_should_exit = true;
+		main_thread_should_exit = true;
 		exit(0);
 	}
 
@@ -285,22 +285,6 @@ int create_logfolder()
 
 		if (mkdir_ret == 0) {
 			/* folder does not exist, success */
-
-			/* copy parser script file */
-			// TODO
-			/*
-			char mfile_out[100];
-			sprintf(mfile_out, "%s/session%04u/run_to_plot_data.m", mountpoint, foldernumber);
-			int ret = file_copy(mfile_in, mfile_out);
-
-			if (!ret) {
-				warnx("copied m file to %s", mfile_out);
-
-			} else {
-				warnx("failed copying m file from %s to\n %s", mfile_in, mfile_out);
-			}
-			*/
-
 			break;
 
 		} else if (mkdir_ret == -1) {
@@ -346,10 +330,10 @@ int open_logfile()
 		fd = open(path_buf, O_CREAT | O_WRONLY | O_DSYNC);
 
 		if (fd == 0) {
-			errx(1, "opening %s failed.", path_buf);
+			warn("opening %s failed", path_buf);
 		}
 
-		warnx("logging to: %s", path_buf);
+		warnx("logging to: %s.", path_buf);
 		mavlink_log_info(mavlink_fd, "[sdlog2] log: %s", path_buf);
 
 		return fd;
@@ -357,7 +341,7 @@ int open_logfile()
 
 	if (file_number > MAX_NO_LOGFILE) {
 		/* we should not end up here, either we have more than MAX_NO_LOGFILE on the SD card, or another problem */
-		warn("all %d possible files exist already", MAX_NO_LOGFILE);
+		warnx("all %d possible files exist already.", MAX_NO_LOGFILE);
 		return -1;
 	}
 
@@ -383,8 +367,7 @@ static void *logwriter_thread(void *arg)
 	bool should_wait = false;
 	bool is_part = false;
 
-	while (!thread_should_exit && !logwriter_should_exit) {
-
+	while (true) {
 		/* make sure threads are synchronized */
 		pthread_mutex_lock(&logbuffer_mutex);
 
@@ -394,7 +377,7 @@ static void *logwriter_thread(void *arg)
 		}
 
 		/* only wait if no data is available to process */
-		if (should_wait) {
+		if (should_wait && !logwriter_should_exit) {
 			/* blocking wait for new data at this line */
 			pthread_cond_wait(&logbuffer_cond, &logbuffer_mutex);
 		}
@@ -402,6 +385,11 @@ static void *logwriter_thread(void *arg)
 		/* only get pointer to thread-safe data, do heavy I/O a few lines down */
 		int available = logbuffer_get_ptr(logbuf, &read_ptr, &is_part);
 
+#ifdef SDLOG2_DEBUG
+		int rp = logbuf->read_ptr;
+		int wp = logbuf->write_ptr;
+#endif
+
 		/* continue */
 		pthread_mutex_unlock(&logbuffer_mutex);
 
@@ -418,11 +406,11 @@ static void *logwriter_thread(void *arg)
 
 			should_wait = (n == available) && !is_part;
 #ifdef SDLOG2_DEBUG
-			printf("%i wrote: %i of %i, is_part=%i, should_wait=%i", poll_count, n, available, (int)is_part, (int)should_wait);
+			printf("write %i %i of %i rp=%i wp=%i, is_part=%i, should_wait=%i\n", log_bytes_written, n, available, rp, wp, (int)is_part, (int)should_wait);
 #endif
 
 			if (n < 0) {
-				thread_should_exit = true;
+				main_thread_should_exit = true;
 				err(1, "error writing log file");
 			}
 
@@ -431,19 +419,33 @@ static void *logwriter_thread(void *arg)
 			}
 
 		} else {
+			n = 0;
+#ifdef SDLOG2_DEBUG
+			printf("no data available, main_thread_should_exit=%i, logwriter_should_exit=%i\n", (int)main_thread_should_exit, (int)logwriter_should_exit);
+#endif
+			/* exit only with empty buffer */
+			if (main_thread_should_exit || logwriter_should_exit) {
+#ifdef SDLOG2_DEBUG
+				printf("break logwriter thread\n");
+#endif
+				break;
+			}
 			should_wait = true;
 		}
 
-		if (poll_count % 10 == 0) {
+		if (++poll_count == 10) {
 			fsync(log_file);
+			poll_count = 0;
 		}
-
-		poll_count++;
 	}
 
 	fsync(log_file);
 	close(log_file);
 
+#ifdef SDLOG2_DEBUG
+	printf("logwriter thread exit\n");
+#endif
+
 	return OK;
 }
 
@@ -470,10 +472,9 @@ void sdlog2_start_log()
 	pthread_attr_setstacksize(&receiveloop_attr, 2048);
 
 	logwriter_should_exit = false;
-	pthread_t thread;
 
 	/* start log buffer emptying thread */
-	if (0 != pthread_create(&thread, &receiveloop_attr, logwriter_thread, &lb)) {
+	if (0 != pthread_create(&logwriter_pthread, &receiveloop_attr, logwriter_thread, &lb)) {
 		errx(1, "error creating logwriter thread");
 	}
 
@@ -487,16 +488,20 @@ void sdlog2_stop_log()
 	mavlink_log_info(mavlink_fd, "[sdlog2] stop logging");
 
 	logging_enabled = false;
-	logwriter_should_exit = true;
 
 	/* wake up write thread one last time */
 	pthread_mutex_lock(&logbuffer_mutex);
+	logwriter_should_exit = true;
 	pthread_cond_signal(&logbuffer_cond);
 	/* unlock, now the writer thread may return */
 	pthread_mutex_unlock(&logbuffer_mutex);
 
 	/* wait for write thread to return */
-	(void)pthread_join(logwriter_pthread, NULL);
+	int ret;
+	if ((ret = pthread_join(logwriter_pthread, NULL)) != 0) {
+		warnx("error joining logwriter thread: %i", ret);
+	}
+	logwriter_pthread = 0;
 
 	sdlog2_status();
 }
@@ -517,7 +522,7 @@ void write_formats(int fd)
 
 	for (i = 0; i < log_formats_num; i++) {
 		log_format_packet.body = log_formats[i];
-		write(fd, &log_format_packet, sizeof(log_format_packet));
+		log_bytes_written += write(fd, &log_format_packet, sizeof(log_format_packet));
 	}
 
 	fsync(fd);
@@ -607,12 +612,9 @@ int sdlog2_thread_main(int argc, char *argv[])
 		errx(1, "can't allocate log buffer, exiting.");
 	}
 
-	/* file descriptors to wait for */
-	struct pollfd fds_control[2];
-
 	/* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */
 	/* number of messages */
-	const ssize_t fdsc = 16;
+	const ssize_t fdsc = 17;
 	/* Sanity check variable and index */
 	ssize_t fdsc_count = 0;
 	/* file descriptors to wait for */
@@ -627,6 +629,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 		struct sensor_combined_s sensor;
 		struct vehicle_attitude_s att;
 		struct vehicle_attitude_setpoint_s att_sp;
+		struct vehicle_rates_setpoint_s rates_sp;
 		struct actuator_outputs_s act_outputs;
 		struct actuator_controls_s act_controls;
 		struct actuator_controls_effective_s act_controls_effective;
@@ -648,6 +651,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 		int sensor_sub;
 		int att_sub;
 		int att_sp_sub;
+		int rates_sp_sub;
 		int act_outputs_sub;
 		int act_controls_sub;
 		int act_controls_effective_sub;
@@ -679,6 +683,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 			struct log_RC_s log_RC;
 			struct log_OUT0_s log_OUT0;
 			struct log_AIRS_s log_AIRS;
+			struct log_ARSP_s log_ARSP;
 		} body;
 	} log_msg = {
 		LOG_PACKET_HEADER_INIT(0)
@@ -722,6 +727,12 @@ int sdlog2_thread_main(int argc, char *argv[])
 	fds[fdsc_count].events = POLLIN;
 	fdsc_count++;
 
+	/* --- RATES SETPOINT --- */
+	subs.rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
+	fds[fdsc_count].fd = subs.rates_sp_sub;
+	fds[fdsc_count].events = POLLIN;
+	fdsc_count++;
+
 	/* --- ACTUATOR OUTPUTS --- */
 	subs.act_outputs_sub = orb_subscribe(ORB_ID_VEHICLE_CONTROLS);
 	fds[fdsc_count].fd = subs.act_outputs_sub;
@@ -814,7 +825,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 	if (log_on_start)
 		sdlog2_start_log();
 
-	while (!thread_should_exit) {
+	while (!main_thread_should_exit) {
 		/* decide use usleep() or blocking poll() */
 		bool use_sleep = sleep_delay > 0 && logging_enabled;
 
@@ -824,7 +835,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 		/* handle the poll result */
 		if (poll_ret < 0) {
 			warnx("ERROR: poll error, stop logging.");
-			thread_should_exit = true;
+			main_thread_should_exit = true;
 
 		} else if (poll_ret > 0) {
 
@@ -891,7 +902,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 				log_msg.body.log_GPS.epv = buf.gps_pos.epv_m;
 				log_msg.body.log_GPS.lat = buf.gps_pos.lat;
 				log_msg.body.log_GPS.lon = buf.gps_pos.lon;
-				log_msg.body.log_GPS.alt = buf.gps_pos.alt * 0.001;
+				log_msg.body.log_GPS.alt = buf.gps_pos.alt * 0.001f;
 				log_msg.body.log_GPS.vel_n = buf.gps_pos.vel_n_m_s;
 				log_msg.body.log_GPS.vel_e = buf.gps_pos.vel_e_m_s;
 				log_msg.body.log_GPS.vel_d = buf.gps_pos.vel_d_m_s;
@@ -961,6 +972,9 @@ int sdlog2_thread_main(int argc, char *argv[])
 				log_msg.body.log_ATT.roll = buf.att.roll;
 				log_msg.body.log_ATT.pitch = buf.att.pitch;
 				log_msg.body.log_ATT.yaw = buf.att.yaw;
+				log_msg.body.log_ATT.roll_rate = buf.att.rollspeed;
+				log_msg.body.log_ATT.pitch_rate = buf.att.pitchspeed;
+				log_msg.body.log_ATT.yaw_rate = buf.att.yawspeed;
 				LOGBUFFER_WRITE_AND_COUNT(ATT);
 			}
 
@@ -971,9 +985,20 @@ int sdlog2_thread_main(int argc, char *argv[])
 				log_msg.body.log_ATSP.roll_sp = buf.att_sp.roll_body;
 				log_msg.body.log_ATSP.pitch_sp = buf.att_sp.pitch_body;
 				log_msg.body.log_ATSP.yaw_sp = buf.att_sp.yaw_body;
+				log_msg.body.log_ATSP.thrust_sp = buf.att_sp.thrust;
 				LOGBUFFER_WRITE_AND_COUNT(ATSP);
 			}
 
+			/* --- RATES SETPOINT --- */
+			if (fds[ifds++].revents & POLLIN) {
+				orb_copy(ORB_ID(vehicle_rates_setpoint), subs.rates_sp_sub, &buf.rates_sp);
+				log_msg.msg_type = LOG_ARSP_MSG;
+				log_msg.body.log_ARSP.roll_rate_sp = buf.rates_sp.roll;
+				log_msg.body.log_ARSP.pitch_rate_sp = buf.rates_sp.pitch;
+				log_msg.body.log_ARSP.yaw_rate_sp = buf.rates_sp.yaw;
+				LOGBUFFER_WRITE_AND_COUNT(ARSP);
+			}
+
 			/* --- ACTUATOR OUTPUTS --- */
 			if (fds[ifds++].revents & POLLIN) {
 				orb_copy(ORB_ID(actuator_outputs_0), subs.act_outputs_sub, &buf.act_outputs);
@@ -1063,10 +1088,13 @@ int sdlog2_thread_main(int argc, char *argv[])
 				LOGBUFFER_WRITE_AND_COUNT(AIRS);
 			}
 
+#ifdef SDLOG2_DEBUG
+				printf("fill rp=%i wp=%i count=%i\n", lb.read_ptr, lb.write_ptr, logbuffer_count(&lb));
+#endif
 			/* signal the other thread new data, but not yet unlock */
 			if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) {
 #ifdef SDLOG2_DEBUG
-				printf("signal %i", logbuffer_count(&lb));
+				printf("signal rp=%i wp=%i count=%i\n", lb.read_ptr, lb.write_ptr, logbuffer_count(&lb));
 #endif
 				/* only request write if several packets can be written at once */
 				pthread_cond_signal(&logbuffer_cond);

src/modules/sdlog2/sdlog2_messages.h

@@ -60,6 +60,9 @@ struct log_ATT_s {
 	float roll;
 	float pitch;
 	float yaw;
+	float roll_rate;
+	float pitch_rate;
+	float yaw_rate;
 };
 
 /* --- ATSP - ATTITUDE SET POINT --- */
@@ -68,6 +71,7 @@ struct log_ATSP_s {
 	float roll_sp;
 	float pitch_sp;
 	float yaw_sp;
+	float thrust_sp;
 };
 
 /* --- IMU - IMU SENSORS --- */
@@ -174,14 +178,22 @@ struct log_AIRS_s {
 	float indicated_airspeed;
 	float true_airspeed;
 };
+
+/* --- ARSP - ATTITUDE RATE SET POINT --- */
+#define LOG_ARSP_MSG 14
+struct log_ARSP_s {
+	float roll_rate_sp;
+	float pitch_rate_sp;
+	float yaw_rate_sp;
+};
 #pragma pack(pop)
 
 /* construct list of all message formats */
 
 static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(TIME, "Q", "StartTime"),
-	LOG_FORMAT(ATT, "fff", "Roll,Pitch,Yaw"),
-	LOG_FORMAT(ATSP, "fff", "RollSP,PitchSP,YawSP"),
+	LOG_FORMAT(ATT, "ffffff", "Roll,Pitch,Yaw,RollRate,PitchRate,YawRate"),
+	LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"),
 	LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"),
 	LOG_FORMAT(SENS, "ffff", "BaroPres,BaroAlt,BaroTemp,DiffPres"),
 	LOG_FORMAT(LPOS, "fffffffLLf", "X,Y,Z,VX,VY,VZ,Heading,HomeLat,HomeLon,HomeAlt"),
@@ -192,6 +204,7 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(RC, "ffffffff", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7"),
 	LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"),
 	LOG_FORMAT(AIRS, "ff", "IndSpeed,TrueSpeed"),
+	LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"),
 };
 
 static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s);