From d0c6636b7ff0d1e83a973a32e67d7ed1bd75a28c Mon Sep 17 00:00:00 2001 From: Marcel Stuettgen Date: Sat, 28 Feb 2015 17:25:51 +0100 Subject: [PATCH 1/6] added debug code to check if the values are really changing --- src/examples/rover_steering_control/main.cpp | 17 +++++++++++++++++ 1 file changed, 17 insertions(+) diff --git a/src/examples/rover_steering_control/main.cpp b/src/examples/rover_steering_control/main.cpp index 7ef9140980..67ff489166 100644 --- a/src/examples/rover_steering_control/main.cpp +++ b/src/examples/rover_steering_control/main.cpp @@ -156,6 +156,23 @@ void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const st struct actuator_controls_s *actuators) { + //double r,p,y,t; + + + + //printf("vehicle_attitude_setpoint:\n"); + //print values only when they change to get less spam in console + if((double)att_sp->roll_body > 0.0) { printf("att_sp->roll_body: %8.4f\n" , (double)att_sp->roll_body); } + if((double)att_sp->pitch_body > 0.0) {printf("att_sp->pitch_body: %8.4f\n" , (double)att_sp->pitch_body); } + if((double)att_sp->yaw_body > 0.0) { printf("att_sp->yaw_body: %8.4f\n" , (double)att_sp->yaw_body); } + if((double)att_sp->thrust > 0.0) { printf("att_sp->throttle: %8.4f\n" , (double)att_sp->thrust); } + + // r = (double)att_sp->roll_body; + // p = (double)att_sp->pitch_body; + // y = (double)att_sp->yaw_body; + // t = (double)att_sp->thrust; + + /* * The PX4 architecture provides a mixer outside of the controller. * The mixer is fed with a default vector of actuator controls, representing From 77142f2da77adcda9d5882b96ec3f2da3c8cda17 Mon Sep 17 00:00:00 2001 From: Marcel Stuettgen Date: Tue, 3 Mar 2015 18:54:16 +0100 Subject: [PATCH 2/6] renaming of rover file to match the model's name --- .../init.d/{50001_rover => 50001_axialracing_ax10} | 0 ROMFS/px4fmu_common/init.d/rc.autostart | 4 ++-- 2 files changed, 2 insertions(+), 2 deletions(-) rename ROMFS/px4fmu_common/init.d/{50001_rover => 50001_axialracing_ax10} (100%) diff --git a/ROMFS/px4fmu_common/init.d/50001_rover b/ROMFS/px4fmu_common/init.d/50001_axialracing_ax10 similarity index 100% rename from ROMFS/px4fmu_common/init.d/50001_rover rename to ROMFS/px4fmu_common/init.d/50001_axialracing_ax10 diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart index 434e7870b8..de81795b44 100644 --- a/ROMFS/px4fmu_common/init.d/rc.autostart +++ b/ROMFS/px4fmu_common/init.d/rc.autostart @@ -287,10 +287,10 @@ fi # -# Ground Rover +# Ground Rover AxialRacing AX10 # if param compare SYS_AUTOSTART 50001 then - sh /etc/init.d/50001_rover + sh /etc/init.d/50001_axialracing_ax10 fi From 9f99f7a79b2fb1bbbedcb6c1cbfa4089c860a1a0 Mon Sep 17 00:00:00 2001 From: Marcel Stuettgen Date: Tue, 3 Mar 2015 19:00:14 +0100 Subject: [PATCH 3/6] renamed apps and default config files too to match the model's name --- ROMFS/px4fmu_common/init.d/50001_axialracing_ax10 | 4 ++-- .../init.d/{rc.rover_apps => rc.axialracing_ax10_apps} | 0 .../{rc.rover_defaults => rc.axialracing_ax10_defaults} | 4 ++-- ROMFS/px4fmu_common/init.d/rcS | 4 ++-- 4 files changed, 6 insertions(+), 6 deletions(-) rename ROMFS/px4fmu_common/init.d/{rc.rover_apps => rc.axialracing_ax10_apps} (100%) rename ROMFS/px4fmu_common/init.d/{rc.rover_defaults => rc.axialracing_ax10_defaults} (95%) diff --git a/ROMFS/px4fmu_common/init.d/50001_axialracing_ax10 b/ROMFS/px4fmu_common/init.d/50001_axialracing_ax10 index c2f94705cd..a36bac5cc8 100644 --- a/ROMFS/px4fmu_common/init.d/50001_axialracing_ax10 +++ b/ROMFS/px4fmu_common/init.d/50001_axialracing_ax10 @@ -1,10 +1,10 @@ #!nsh # -# Generic rover +# loading default values for the axialracing ax10 # #load some defaults e.g. PWM values -sh /etc/init.d/rc.rover_defaults +sh /etc/init.d/rc.axialracing_ax10_defaults #choose a mixer, for rover control we need a plain passthrough to the servos set MIXER IO_pass diff --git a/ROMFS/px4fmu_common/init.d/rc.rover_apps b/ROMFS/px4fmu_common/init.d/rc.axialracing_ax10_apps similarity index 100% rename from ROMFS/px4fmu_common/init.d/rc.rover_apps rename to ROMFS/px4fmu_common/init.d/rc.axialracing_ax10_apps diff --git a/ROMFS/px4fmu_common/init.d/rc.rover_defaults b/ROMFS/px4fmu_common/init.d/rc.axialracing_ax10_defaults similarity index 95% rename from ROMFS/px4fmu_common/init.d/rc.rover_defaults rename to ROMFS/px4fmu_common/init.d/rc.axialracing_ax10_defaults index 23bf47df16..e5d400abe4 100644 --- a/ROMFS/px4fmu_common/init.d/rc.rover_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.axialracing_ax10_defaults @@ -19,8 +19,8 @@ set PWM_RATE 50 set PWM_DISARMED 1500 # PWM range -set PWM_MIN 1200 -set PWM_MAX 1800 +set PWM_MIN 1100 +set PWM_MAX 1900 # Enable servo output on pins 3 and 4 (steering and thrust) # but also include 1+2 as they form together one output group diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 9118f26013..1f70f96600 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -18,7 +18,7 @@ set MODE autostart set FRC /fs/microsd/etc/rc.txt set FCONFIG /fs/microsd/etc/config.txt -set TUNE_ERR ML< Date: Tue, 3 Mar 2015 19:03:50 +0100 Subject: [PATCH 4/6] disabled start of rover steering app --- ROMFS/px4fmu_common/init.d/rc.axialracing_ax10_apps | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/ROMFS/px4fmu_common/init.d/rc.axialracing_ax10_apps b/ROMFS/px4fmu_common/init.d/rc.axialracing_ax10_apps index 1d15b98351..625febd7a4 100644 --- a/ROMFS/px4fmu_common/init.d/rc.axialracing_ax10_apps +++ b/ROMFS/px4fmu_common/init.d/rc.axialracing_ax10_apps @@ -6,4 +6,5 @@ ekf_att_pos_estimator start -rover_steering_control start +# disabled the start of steering control app due to use of offboard mode only +# rover_steering_control start From f23b1d23501c9c56c5fc371a17a3537972088461 Mon Sep 17 00:00:00 2001 From: Marcel Stuettgen Date: Tue, 3 Mar 2015 19:06:08 +0100 Subject: [PATCH 5/6] commented set tuner back in (was commented out by accident) --- ROMFS/px4fmu_common/init.d/rcS | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 1f70f96600..b6db3a0e49 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -18,7 +18,7 @@ set MODE autostart set FRC /fs/microsd/etc/rc.txt set FCONFIG /fs/microsd/etc/config.txt -#set TUNE_ERR ML< Date: Fri, 20 Mar 2015 17:01:52 +0100 Subject: [PATCH 6/6] Update main.cpp removed debug output code --- src/examples/rover_steering_control/main.cpp | 18 ------------------ 1 file changed, 18 deletions(-) diff --git a/src/examples/rover_steering_control/main.cpp b/src/examples/rover_steering_control/main.cpp index 67ff489166..edde5627de 100644 --- a/src/examples/rover_steering_control/main.cpp +++ b/src/examples/rover_steering_control/main.cpp @@ -155,24 +155,6 @@ int parameters_update(const struct param_handles *h, struct params *p) void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att, struct actuator_controls_s *actuators) { - - //double r,p,y,t; - - - - //printf("vehicle_attitude_setpoint:\n"); - //print values only when they change to get less spam in console - if((double)att_sp->roll_body > 0.0) { printf("att_sp->roll_body: %8.4f\n" , (double)att_sp->roll_body); } - if((double)att_sp->pitch_body > 0.0) {printf("att_sp->pitch_body: %8.4f\n" , (double)att_sp->pitch_body); } - if((double)att_sp->yaw_body > 0.0) { printf("att_sp->yaw_body: %8.4f\n" , (double)att_sp->yaw_body); } - if((double)att_sp->thrust > 0.0) { printf("att_sp->throttle: %8.4f\n" , (double)att_sp->thrust); } - - // r = (double)att_sp->roll_body; - // p = (double)att_sp->pitch_body; - // y = (double)att_sp->yaw_body; - // t = (double)att_sp->thrust; - - /* * The PX4 architecture provides a mixer outside of the controller. * The mixer is fed with a default vector of actuator controls, representing