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Merge branch 'master' of github.com:PX4/Firmware

Browse Source
This commit is contained in:
Lorenz Meier
2012-09-10 20:52:59 +02:00
parent 246f8fd3bd 4b293a19e6
commit 0019f65b10
9 changed files with 42 additions and 39 deletions
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1
ROMFS/Makefile
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@@ -21,6 +21,7 @@ ROMFS_FSSPEC := $(SRCROOT)/scripts/rcS~init.d/rcS \
$(SRCROOT)/scripts/rc.standalone~init.d/rc.standalone \
$(SRCROOT)/scripts/rc.PX4IO~init.d/rc.PX4IO \
$(SRCROOT)/scripts/rc.PX4IOAR~init.d/rc.PX4IOAR \
$(SRCROOT)/scripts/rc.FMU_quad_x~init.d/rc.FMU_quad_x \
$(SRCROOT)/mixers/FMU_pass.mix~mixers/FMU_pass.mix \
$(SRCROOT)/mixers/FMU_delta.mix~mixers/FMU_delta.mix \
$(SRCROOT)/mixers/FMU_AERT.mix~mixers/FMU_AERT.mix \

0
ROMFS/scripts/rc.PX4FMU_quad_x → ROMFS/scripts/rc.FMU_quad_x
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14
Tools/px_uploader.py
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@@ -172,10 +172,16 @@ class uploader(object):
self.__send(uploader.CHIP_ERASE
+ uploader.EOC)
# erase is very slow, give it 10s
old_timeout = self.port.timeout
self.port.timeout = 10
self.__getSync()
self.port.timeout = old_timeout
deadline = time.time() + 10
while time.time() < deadline:
try:
self.__getSync()
return
except RuntimeError as ex:
# we timed out, that's OK
continue
raise RuntimeError("timed out waiting for erase")
# send a PROG_MULTI command to write a collection of bytes
def __program_multi(self, data):

12
apps/px4/attitude_estimator_bm/attitude_bm.c
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@@ -150,15 +150,15 @@ void attitude_blackmagic_init(void)
0.0007f , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0,
0 , 0.0007f , 0 , 0 , 0 , 0 , 0 , 0 , 0,
0 , 0 , 0.0007f , 0 , 0 , 0 , 0 , 0 , 0,
0 , 0 , 0 , 0.01f, 0 , 0 , 0 , 0 , 0,
0 , 0 , 0 , 0 , 0.01f, 0 , 0 , 0 , 0,
0 , 0 , 0 , 0 , 0 , 0.01f, 0 , 0 , 0,
0 , 0 , 0 , 0.015f, 0 , 0 , 0 , 0 , 0,
0 , 0 , 0 , 0 , 0.015f, 0 , 0 , 0 , 0,
0 , 0 , 0 , 0 , 0 , 0.015f, 0 , 0 , 0,
0.0000f , +0.00002f, 0 , 0 , 0, 0, 0, 0 , 0,
-0.00002f, 0 , 0 , 0 , 0, 0, 0, 0, 0,
0, 0 , 0 , 0, 0, 0, 0, 0, 0,
0 , 0 , 0 , 0 , 0 , 0 , 0.4f , 0 , 0,
0 , 0 , 0 , 0 , 0 , 0 , 0 , 0.4f , 0,
0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0.4f
0 , 0 , 0 , 0 , 0 , 0 , 0.7f , 0 , 0,
0 , 0 , 0 , 0 , 0 , 0 , 0 , 0.7f , 0,
0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0.7f
};
//offset update only correct if not upside down.

21
apps/sensors/sensors.cpp
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@@ -533,12 +533,10 @@ Sensors::accel_init()
warnx("using BMA180");
} else {
/* set the accel internal sampling rate up to at leat 500Hz */
if (OK != ioctl(fd, ACCELIOCSSAMPLERATE, 500))
warn("WARNING: failed to set minimum 500Hz sample rate for accel");
ioctl(fd, ACCELIOCSSAMPLERATE, 500);
/* set the driver to poll at 500Hz */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 500))
warn("WARNING: failed to set 500Hz poll rate for accel");
ioctl(fd, SENSORIOCSPOLLRATE, 500);
warnx("using system accel");
close(fd);
@@ -568,12 +566,10 @@ Sensors::gyro_init()
warn("using L3GD20");
} else {
/* set the gyro internal sampling rate up to at leat 500Hz */
if (OK != ioctl(fd, GYROIOCSSAMPLERATE, 500))
warn("WARNING: failed to set minimum 500Hz sample rate for gyro");
ioctl(fd, GYROIOCSSAMPLERATE, 500);
/* set the driver to poll at 500Hz */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 500))
warn("WARNING: failed to set 500Hz poll rate for gyro");
ioctl(fd, SENSORIOCSPOLLRATE, 500);
warnx("using system gyro");
close(fd);
@@ -592,12 +588,10 @@ Sensors::mag_init()
}
/* set the mag internal poll rate to at least 150Hz */
if (OK != ioctl(fd, MAGIOCSSAMPLERATE, 150))
warn("WARNING: failed to set minimum 150Hz sample rate for mag");
ioctl(fd, MAGIOCSSAMPLERATE, 150);
/* set the driver to poll at 150Hz */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 150))
warn("WARNING: failed to set 150Hz poll rate for mag");
ioctl(fd, SENSORIOCSPOLLRATE, 150);
close(fd);
}
@@ -614,8 +608,7 @@ Sensors::baro_init()
}
/* set the driver to poll at 150Hz */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 150))
warn("WARNING: failed to set 150Hz poll rate for baro");
ioctl(fd, SENSORIOCSPOLLRATE, 150);
close(fd);
}

2
apps/systemcmds/boardinfo/boardinfo.c
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@@ -247,7 +247,7 @@ int boardinfo_main(int argc, char *argv[])
int ret = carrier_get_board_info(&info);
if (ret != sizeof(info)) {
fprintf(stderr, "[boardinfo] ERROR loading board info from EEPROM (errno #%d), aborting\n", -ret);
fprintf(stderr, "[boardinfo] no EEPROM for board %d\n", test_boardid);
exit(1);
}

18
apps/systemlib/getopt_long.c
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@@ -87,9 +87,7 @@ gpietsch@comcast.net
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#ifndef GETOPT_H
#include "getopt_long.h"
#endif
/* macros */
@@ -143,8 +141,8 @@ is_option (char *argv_element, int only)
/* getopt_internal: the function that does all the dirty work */
static int
getopt_internal (int argc, char **argv, char *shortopts,
GETOPT_LONG_OPTION_T * longopts, int *longind, int only)
getopt_internal (int argc, char **argv, const char *shortopts,
const GETOPT_LONG_OPTION_T * longopts, int *longind, int only)
{
GETOPT_ORDERING_T ordering = PERMUTE;
static size_t optwhere = 0;
@@ -178,7 +176,7 @@ getopt_internal (int argc, char **argv, char *shortopts,
shortopts++;
}
else
ordering = (getenv ("POSIXLY_CORRECT") != NULL) ? REQUIRE_ORDER : PERMUTE;
ordering = /*(getenv ("POSIXLY_CORRECT") != NULL) ? REQUIRE_ORDER :*/ PERMUTE;
/*
* based on ordering, find our next option, if we're at the beginning of
@@ -381,22 +379,24 @@ getopt_internal (int argc, char **argv, char *shortopts,
return optopt;
}
#if 0
int
getopt (int argc, char **argv, char *optstring)
{
return getopt_internal (argc, argv, optstring, NULL, NULL, 0);
}
#endif
int
getopt_long (int argc, char **argv, char *shortopts,
GETOPT_LONG_OPTION_T * longopts, int *longind)
getopt_long (int argc, char **argv, const char *shortopts,
const GETOPT_LONG_OPTION_T * longopts, int *longind)
{
return getopt_internal (argc, argv, shortopts, longopts, longind, 0);
}
int
getopt_long_only (int argc, char **argv, char *shortopts,
GETOPT_LONG_OPTION_T * longopts, int *longind)
getopt_long_only (int argc, char **argv, const char *shortopts,
const GETOPT_LONG_OPTION_T * longopts, int *longind)
{
return getopt_internal (argc, argv, shortopts, longopts, longind, 1);
}

10
apps/systemlib/getopt_long.h
View File

@@ -121,11 +121,13 @@ extern "C"
extern int optopt;
/* function prototypes */
#if 0
int getopt (int argc, char **argv, char *optstring);
int getopt_long (int argc, char **argv, char *shortopts,
GETOPT_LONG_OPTION_T * longopts, int *longind);
int getopt_long_only (int argc, char **argv, char *shortopts,
GETOPT_LONG_OPTION_T * longopts, int *longind);
#endif
int getopt_long (int argc, char **argv, const char *shortopts,
const GETOPT_LONG_OPTION_T * longopts, int *longind);
int getopt_long_only (int argc, char **argv, const char *shortopts,
const GETOPT_LONG_OPTION_T * longopts, int *longind);
#ifdef __cplusplus
};

3
apps/systemlib/systemlib.c
View File

@@ -176,7 +176,8 @@ int carrier_get_board_info(struct carrier_board_info_s *info)
int ret;
int fd = open("/dev/eeprom", O_RDONLY | O_NONBLOCK);
if (fd < 0) fprintf(stderr, "[boardinfo carrier] ERROR opening carrier eeprom\n");
if (fd < 0)
return -1; /* no board */
ret = read(fd, info, sizeof(struct carrier_board_info_s));