From cb57fdb28c35f6c472a6b21bc66e96cbf5d45c82 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 12 Sep 2012 10:34:49 +0200 Subject: [PATCH] Added ground estimator, fixed RC calibration --- apps/mavlink/mavlink.c | 14 +- apps/px4/ground_estimator/Makefile | 42 ++++++ apps/px4/ground_estimator/ground_estimator.c | 129 +++++++++++++++++++ apps/sensors/sensors.cpp | 20 +-- 4 files changed, 186 insertions(+), 19 deletions(-) create mode 100644 apps/px4/ground_estimator/Makefile create mode 100644 apps/px4/ground_estimator/ground_estimator.c diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c index 2321031215..b65e701db7 100644 --- a/apps/mavlink/mavlink.c +++ b/apps/mavlink/mavlink.c @@ -754,9 +754,9 @@ static void *uorb_receiveloop(void *arg) /* handle the poll result */ if (poll_ret == 0) { - /* XXX this means none of our providers is giving us data - might be an error? */ + mavlink_missionlib_send_gcs_string("[mavlink] No telemetry data for 1 s"); } else if (poll_ret < 0) { - /* XXX this is seriously bad - should be an emergency */ + mavlink_missionlib_send_gcs_string("[mavlink] ERROR reading uORB data"); } else { int ifds = 0; @@ -867,7 +867,8 @@ static void *uorb_receiveloop(void *arg) /* copy rc channels into local buffer */ orb_copy(ORB_ID(rc_channels), rc_sub, &rc); /* Channels are sent in MAVLink main loop at a fixed interval */ - // TODO decide where to send channels + mavlink_msg_rc_channels_raw_send(chan, rc.timestamp / 1000, 0, rc.chan[0].raw, rc.chan[1].raw, rc.chan[2].raw, rc.chan[3].raw, + rc.chan[4].raw, rc.chan[5].raw, rc.chan[6].raw, rc.chan[7].raw, rc.rssi); } /* --- VEHICLE GLOBAL POSITION --- */ @@ -1617,13 +1618,6 @@ int mavlink_thread_main(int argc, char *argv[]) v_status.onboard_control_sensors_health, v_status.load, v_status.voltage_battery * 1000.f, v_status.current_battery * 1000.f, v_status.battery_remaining, v_status.drop_rate_comm, v_status.errors_comm, v_status.errors_count1, v_status.errors_count2, v_status.errors_count3, v_status.errors_count4); - - /* send over MAVLink */ - if ((hrt_absolute_time() - rc.timestamp) < 200000) { - mavlink_msg_rc_channels_raw_send(chan, rc.timestamp / 1000, 0, rc.chan[0].raw, rc.chan[1].raw, rc.chan[2].raw, rc.chan[3].raw, - rc.chan[4].raw, rc.chan[5].raw, rc.chan[6].raw, rc.chan[7].raw, rc.rssi); - } - lowspeed_counter = 0; } lowspeed_counter++; diff --git a/apps/px4/ground_estimator/Makefile b/apps/px4/ground_estimator/Makefile new file mode 100644 index 0000000000..b44d871c67 --- /dev/null +++ b/apps/px4/ground_estimator/Makefile @@ -0,0 +1,42 @@ +############################################################################ +# +# Copyright (C) 2012 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 +# 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. +# +############################################################################ + +# +# Basic example application +# + +APPNAME = ground_estimator +PRIORITY = SCHED_PRIORITY_DEFAULT +STACKSIZE = 2048 + +include $(APPDIR)/mk/app.mk diff --git a/apps/px4/ground_estimator/ground_estimator.c b/apps/px4/ground_estimator/ground_estimator.c new file mode 100644 index 0000000000..0bd8f09f1e --- /dev/null +++ b/apps/px4/ground_estimator/ground_estimator.c @@ -0,0 +1,129 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Example User + * + * 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. + * + ****************************************************************************/ + +/** + * @file ground_estimator.c + * ground_estimator application example for PX4 autopilot + */ + +#include +#include +#include + +static bool thread_should_exit = false; /**< ground_estimator exit flag */ +static bool thread_running = false; /**< ground_estimator status flag */ +static int ground_estimator_task; /**< Handle of ground_estimator task / thread */ + +/** + * ground_estimator management function. + */ +__EXPORT int ground_estimator_app_main(int argc, char *argv[]); + +/** + * Mainloop of ground_estimator. + */ +int ground_estimator_thread_main(int argc, char *argv[]); + +/** + * Print the correct usage. + */ +static void usage(const char *reason); + +int ground_estimator_thread_main(int argc, char *argv[]) { + + printf("[ground_estimator] starting\n"); + + while (!thread_should_exit) { + printf("Hello ground_estimator!\n"); + sleep(10); + } + + printf("[ground_estimator] exiting.\n"); + + return 0; +} + +static void +usage(const char *reason) +{ + if (reason) + fprintf(stderr, "%s\n", reason); + fprintf(stderr, "usage: ground_estimator {start|stop|status} [-p ]\n\n"); + exit(1); +} + +/** + * The ground_estimator app only briefly exists to start + * the background job. The stack size assigned in the + * Makefile does only apply to this management task. + * + * The actual stack size should be set in the call + * to task_create(). + */ +int ground_estimator_app_main(int argc, char *argv[]) +{ + if (argc < 1) + usage("missing command"); + + if (!strcmp(argv[1], "start")) { + + if (thread_running) { + printf("ground_estimator already running\n"); + /* this is not an error */ + exit(0); + } + + thread_should_exit = false; + ground_estimator_task = task_create("ground_estimator", SCHED_PRIORITY_DEFAULT, 4096, ground_estimator_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL); + thread_running = true; + exit(0); + } + + if (!strcmp(argv[1], "stop")) { + thread_should_exit = true; + exit(0); + } + + if (!strcmp(argv[1], "status")) { + if (thread_running) { + printf("\tground_estimator is running\n"); + } else { + printf("\tground_estimator not started\n"); + } + exit(0); + } + + usage("unrecognized command"); + exit(1); +} diff --git a/apps/sensors/sensors.cpp b/apps/sensors/sensors.cpp index de481eb1fe..3adf280e55 100644 --- a/apps/sensors/sensors.cpp +++ b/apps/sensors/sensors.cpp @@ -195,9 +195,9 @@ private: int rc_map_throttle; int rc_map_mode_sw; - int rc_scale_roll; - int rc_scale_pitch; - int rc_scale_yaw; + float rc_scale_roll; + float rc_scale_pitch; + float rc_scale_yaw; float battery_voltage_scaling; } _parameters; /**< local copies of interesting parameters */ @@ -960,17 +960,19 @@ Sensors::ppm_poll() _rc.chan[i].scale = (ppm_buffer[i] - _rc.chan[i].mid) * _rc.chan[i].scaling_factor * 10000; /* scale around the mid point differently for lower and upper range */ - if (ppm_buffer[i] > _rc.chan[i].mid + _parameters.dz[i]) { - _rc.chan[i].scaled = ((ppm_buffer[i] - _parameters.trim[i]) / (_parameters.max[i] - _parameters.trim[i])); - } else if ((ppm_buffer[i] < _rc_chan[i].mid - _parameters.dz[i])) { - _rc.chan[i].scaled = -1.0 + ((ppm_buffer[i] - _parameters.min[i]) / (_parameters.trim[i] - _parameters.min[i])); + if (ppm_buffer[i] > (_parameters.trim[i] + _parameters.dz[i])) { + _rc.chan[i].scaled = (ppm_buffer[i] - _parameters.trim[i]) / (float)(_parameters.max[i] - _parameters.trim[i]); + } else if (ppm_buffer[i] < (_parameters.trim[i] - _parameters.dz[i])) { + /* division by zero impossible for trim == min (as for throttle), as this falls in the above if clause */ + _rc.chan[i].scaled = -1.0 + ((ppm_buffer[i] - _parameters.min[i]) / (float)(_parameters.trim[i] - _parameters.min[i])); + } else { /* in the configured dead zone, output zero */ _rc.chan[i].scaled = 0.0f; } /* reverse channel if required */ - _rc.chan[i] *= _parameters.rev[i]; + _rc.chan[i].scaled *= _parameters.rev[i]; /* handle any parameter-induced blowups */ if (isnan(_rc.chan[i].scaled) || isinf(_rc.chan[i].scaled)) @@ -1001,7 +1003,7 @@ Sensors::ppm_poll() if (manual_control.yaw > 1.0f) manual_control.yaw = 1.0f; /* throttle input */ - manual_control.throttle = _rc.chan[_rc.function[THROTTLE]].scaled/2.0f; + manual_control.throttle = _rc.chan[_rc.function[THROTTLE]].scaled; if (manual_control.throttle < 0.0f) manual_control.throttle = 0.0f; if (manual_control.throttle > 1.0f) manual_control.throttle = 1.0f;