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Merge branch 'beta'

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This commit is contained in:
Lorenz Meier
2015-07-12 15:52:02 +02:00
parent 5013c65e0d cdc17f1fdd
commit 7277d390c4
6 changed files with 117 additions and 15 deletions
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7
Makefile
View File

@@ -169,6 +169,7 @@ TOPICS_DIR = $(PX4_BASE)src/modules/uORB/topics
MULTIPLATFORM_HEADER_DIR = $(PX4_BASE)src/platforms/$(PX4_TARGET_OS)/px4_messages
MULTIPLATFORM_PREFIX = px4_
TOPICHEADER_TEMP_DIR = $(BUILD_DIR)topics_temporary
MULTI_TOPICHEADER_TEMP_DIR = $(BUILD_DIR)multi_topics_temporary
GENMSG_PYTHONPATH = $(PX4_BASE)Tools/genmsg/src
GENCPP_PYTHONPATH = $(PX4_BASE)Tools/gencpp/src
@@ -181,9 +182,7 @@ generateuorbtopicheaders: checksubmodules
@$(ECHO) "Generating multiplatform uORB topic wrapper headers"
$(Q) (PYTHONPATH=$(GENMSG_PYTHONPATH):$(GENCPP_PYTHONPATH):$(PYTHONPATH) $(PYTHON) \
$(PX4_BASE)Tools/px_generate_uorb_topic_headers.py \
-d $(MSG_DIR) -o $(MULTIPLATFORM_HEADER_DIR) -e $(MULTIPLATFORM_TEMPLATE_DIR) -t $(TOPICHEADER_TEMP_DIR) -p $(MULTIPLATFORM_PREFIX))
# clean up temporary files
$(Q) (rm -r $(TOPICHEADER_TEMP_DIR))
-d $(MSG_DIR) -o $(MULTIPLATFORM_HEADER_DIR) -e $(MULTIPLATFORM_TEMPLATE_DIR) -t $(MULTI_TOPICHEADER_TEMP_DIR) -p $(MULTIPLATFORM_PREFIX))
#
# Testing targets
@@ -230,6 +229,8 @@ clean:
$(Q) $(RMDIR) $(BUILD_DIR)*.build
$(Q) $(RMDIR) $(PX4_VERSIONING_DIR)
$(Q) $(REMOVE) $(IMAGE_DIR)*.px4
$(Q) $(RMDIR) $(TOPICHEADER_TEMP_DIR)
$(Q) $(RMDIR) $(MULTI_TOPICHEADER_TEMP_DIR)
.PHONY: distclean
distclean: clean

34
Tools/px_generate_uorb_topic_headers.py
View File

@@ -93,6 +93,29 @@ def convert_dir(inputdir, outputdir, templatedir):
"""
Converts all .msg files in inputdir to uORB header files
"""
# Find the most recent modification time in input dir
maxinputtime = 0
for f in os.listdir(inputdir):
fni = os.path.join(inputdir, f)
if os.path.isfile(fni):
it = os.path.getmtime(fni)
if it > maxinputtime:
maxinputtime = it;
# Find the most recent modification time in output dir
maxouttime = 0
for f in os.listdir(outputdir):
fni = os.path.join(outputdir, f)
if os.path.isfile(fni):
it = os.path.getmtime(fni)
if it > maxouttime:
maxouttime = it;
# Do not generate if nothing changed on the input
if (maxinputtime != 0 and maxouttime != 0 and maxinputtime < maxouttime):
return False
includepath = incl_default + [':'.join([package, inputdir])]
for f in os.listdir(inputdir):
# Ignore hidden files
@@ -109,6 +132,8 @@ def convert_dir(inputdir, outputdir, templatedir):
templatedir,
includepath)
return True
def copy_changed(inputdir, outputdir, prefix=''):
"""
@@ -145,10 +170,11 @@ def convert_dir_save(inputdir, outputdir, templatedir, temporarydir, prefix):
Unchanged existing files are not overwritten.
"""
# Create new headers in temporary output directory
convert_dir(inputdir, temporarydir, templatedir)
# Copy changed headers from temporary dir to output dir
copy_changed(temporarydir, outputdir, prefix)
if (convert_dir(inputdir, temporarydir, templatedir)):
# Copy changed headers from temporary dir to output dir
copy_changed(temporarydir, outputdir, prefix)
else:
print('No changes.')
if __name__ == "__main__":
parser = argparse.ArgumentParser(

1
makefiles/nuttx/config_px4fmu-v1_default.mk
View File

@@ -37,6 +37,7 @@ MODULES += drivers/ets_airspeed
MODULES += drivers/meas_airspeed
MODULES += drivers/frsky_telemetry
MODULES += modules/sensors
MODULES += drivers/px4flow
#
# System commands

8
src/drivers/mpu6000/mpu6000.cpp
View File

@@ -913,10 +913,14 @@ MPU6000::gyro_self_test()
/*
* Maximum deviation of 20 degrees, according to
* http://www.invensense.com/mems/gyro/documents/PS-MPU-6000A-00v3.4.pdf
* http://www.farnell.com/datasheets/1788002.pdf
* Section 6.1, initial ZRO tolerance
*
* 20 dps (0.34 rad/s) initial offset
* and 20 dps temperature drift, so 0.34 rad/s * 2
*/
const float max_offset = 0.34f;
const float max_offset = 2.0f * 0.34f;
/* 30% scale error is chosen to catch completely faulty units but
* to let some slight scale error pass. Requires a rate table or correlation
* with mag rotations + data fit to

6
src/modules/commander/commander.cpp
View File

@@ -878,6 +878,8 @@ int commander_thread_main(int argc, char *argv[])
param_t _param_autostart_id = param_find("SYS_AUTOSTART");
param_t _param_autosave_params = param_find("COM_AUTOS_PAR");
param_t _param_rc_in_off = param_find("COM_RC_IN_MODE");
param_t _param_eph = param_find("COM_HOME_H_T");
param_t _param_epv = param_find("COM_HOME_V_T");
const char *main_states_str[vehicle_status_s::MAIN_STATE_MAX];
main_states_str[vehicle_status_s::MAIN_STATE_MANUAL] = "MANUAL";
@@ -1300,6 +1302,10 @@ int commander_thread_main(int argc, char *argv[])
/* Parameter autosave setting */
param_get(_param_autosave_params, &autosave_params);
/* EPH / EPV */
param_get(_param_eph, &eph_threshold);
param_get(_param_epv, &epv_threshold);
}
/* Set flag to autosave parameters if necessary */

76
src/modules/commander/commander_params.c
View File

@@ -1,7 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
* Copyright (c) 2013-2015 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
@@ -37,16 +36,54 @@
*
* Parameters defined by the sensors task.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <julian@oes.ch>
* @author Lorenz Meier <lorenz@px4.io>
* @author Thomas Gubler <thomas@px4.io>
* @author Julian Oes <julian@px4.io>
*/
#include <px4_config.h>
#include <systemlib/param/param.h>
/**
* Roll trim
*
* The trim value is the actuator control value the system needs
* for straight and level flight. It can be calibrated by
* flying manually straight and level using the RC trims and
* copying them using the GCS.
*
* @group Radio Calibration
* @min -0.25
* @max 0.25
*/
PARAM_DEFINE_FLOAT(TRIM_ROLL, 0.0f);
/**
* Pitch trim
*
* The trim value is the actuator control value the system needs
* for straight and level flight. It can be calibrated by
* flying manually straight and level using the RC trims and
* copying them using the GCS.
*
* @group Radio Calibration
* @min -0.25
* @max 0.25
*/
PARAM_DEFINE_FLOAT(TRIM_PITCH, 0.0f);
/**
* Yaw trim
*
* The trim value is the actuator control value the system needs
* for straight and level flight. It can be calibrated by
* flying manually straight and level using the RC trims and
* copying them using the GCS.
*
* @group Radio Calibration
* @min -0.25
* @max 0.25
*/
PARAM_DEFINE_FLOAT(TRIM_YAW, 0.0f);
/**
@@ -77,6 +114,7 @@ PARAM_DEFINE_FLOAT(BAT_V_CHARGED, 4.2f);
*
* @group Battery Calibration
* @unit V
* @min 0.0f
*/
PARAM_DEFINE_FLOAT(BAT_V_LOAD_DROP, 0.07f);
@@ -87,6 +125,8 @@ PARAM_DEFINE_FLOAT(BAT_V_LOAD_DROP, 0.07f);
*
* @group Battery Calibration
* @unit S
* @min 1
* @max 10
*/
PARAM_DEFINE_INT32(BAT_N_CELLS, 3);
@@ -182,7 +222,31 @@ PARAM_DEFINE_FLOAT(COM_EF_TIME, 10.0f);
* @min 0
* @max 35
*/
PARAM_DEFINE_FLOAT(COM_RC_LOSS_T, 0.5);
PARAM_DEFINE_FLOAT(COM_RC_LOSS_T, 0.5f);
/**
* Home set horizontal threshold
*
* The home position will be set if the estimated positioning accuracy is below the threshold.
*
* @group Commander
* @unit meter
* @min 2
* @max 15
*/
PARAM_DEFINE_FLOAT(COM_HOME_H_T, 5.0f);
/**
* Home set vertical threshold
*
* The home position will be set if the estimated positioning accuracy is below the threshold.
*
* @group Commander
* @unit meter
* @min 5
* @max 25
*/
PARAM_DEFINE_FLOAT(COM_HOME_V_T, 10.0f);
/**
* Autosaving of params