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UVify Core and Draco-R updates

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* Draco-R sensor orientation correction
* LL40LS sensor is not stable during I2C probing. More trials have been implemented.
* px4flow execution has been removed as rc script already running it
* GPS LED script repaired
* Off ICM20608 due to some bug?
* Removed i2c speed adjustment due to SMBUS.
* ms5611 test2 does not exist
* Baud rate has changed.
* Draco-R airframe parameters are updated.
* IFO and Draco parameters are updated
* Draco-R sensor orientation corrected
* Draco-R DSHOT supports
This commit is contained in:
Daniel Agar
2019-11-02 11:39:41 -04:00
committed by GitHub
parent a475d71ca9
commit 7a82df3872
9 changed files with 123 additions and 154 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
ROMFS/px4fmu_common/init.d/airframes/4071_ifo
View File

@@ -74,6 +74,10 @@ then
#param set SYS_FMU_TASK 1 #param set SYS_FMU_TASK 1
param set SENS_BOARD_ROT 10 param set SENS_BOARD_ROT 10
# EKF2
param set EKF2_GND_EFF_DZ 6.0
param set EKF2_HGT_MODE 1
# Position control # Position control
param set MPC_Z_P 1.00000 param set MPC_Z_P 1.00000
param set MPC_Z_VEL_P 0.20000 param set MPC_Z_VEL_P 0.20000
@@ -81,7 +85,6 @@ then
param set MPC_Z_VEL_D 0.00000 param set MPC_Z_VEL_D 0.00000
param set MPC_THR_MIN 0.06000 param set MPC_THR_MIN 0.06000
param set MPC_THR_MAX 0.40000
param set MPC_THR_HOVER 0.3000 param set MPC_THR_HOVER 0.3000
param set MIS_TAKEOFF_ALT 1.1000 param set MIS_TAKEOFF_ALT 1.1000

98
ROMFS/px4fmu_common/init.d/airframes/4072_draco
View File

@@ -20,100 +20,84 @@
# @maintainer Hyon Lim <lim@uvify.com> # @maintainer Hyon Lim <lim@uvify.com>
# #
set VEHICLE_TYPE mc sh /etc/init.d/rc.mc_defaults
set MIXER quad_x set MIXER quad_x
set PWM_OUT 1234 set PWM_OUT 1234
if [ $AUTOCNF = yes ] if [ $AUTOCNF = yes ]
then then
# use the Q attitude estimator, it works w/o mag or GPS.
param set SYS_MC_EST_GROUP 3
param set ATT_ACC_COMP 0
param set ATT_W_ACC 0.4000
param set ATT_W_GYRO_BIAS 0.0000
param set SYS_HAS_MAG 0
# Attitude & rate gains # Attitude & rate gains
param set MC_ROLL_P 7.00000 param set MC_ROLL_P 8.0
param set MC_ROLLRATE_P 0.15000 param set MC_ROLLRATE_P 0.11
param set MC_ROLLRATE_I 0.90000 param set MC_ROLLRATE_I 0.3
param set MC_ROLLRATE_D 0.00130 param set MC_ROLLRATE_D 0.0015
param set MC_ROLLRATE_MAX 1600.0
param set MC_PITCH_P 7.00000 param set MC_PITCH_P 8.0
param set MC_PITCHRATE_P 0.15000 param set MC_PITCHRATE_P 0.13
param set MC_PITCHRATE_I 1.10000 param set MC_PITCHRATE_I 0.35
param set MC_PITCHRATE_D 0.00160 param set MC_PITCHRATE_D 0.0015
param set MC_PITCHRATE_MAX 1600.0
param set MC_YAW_P 2.8 param set MC_YAW_P 4.0
param set MC_YAWRATE_P 0.2 param set MC_YAWRATE_P 0.21
param set MC_YAWRATE_I 0.15 param set MC_YAWRATE_I 0.3
param set MC_YAWRATE_D 0.0 param set MC_YAWRATE_D 0.0
param set MC_YAW_FF 0.5 param set MC_YAW_FF 0.5
param set MC_YAWRATE_MAX 600.0
param set MC_ROLL_TC 0.19 param set MC_ROLL_TC 0.19
param set MC_PITCH_TC 0.16 param set MC_PITCH_TC 0.16
param set MC_AIRMODE 1
# Manual mode settings: Unleash Draco R's power :) param set MPC_MAN_TILT_MAX 60.0
param set MPC_MAN_TILT_MAX 70.00000 param set MPC_THR_CURVE 1
param set MC_PITCHRATE_MAX 1600.00000 param set MPC_THR_HOVER 0.25
param set MC_ROLLRATE_MAX 1600.00000
param set MC_YAWRATE_MAX 700.00000
param set MPC_MANTHR_MAX 0.90000
param set MPC_MANTHR_MIN 0.08000
param set MPC_MAN_TILT_MAX 35.0000
param set MPC_TILTMAX_AIR 20.0000
# Disable RC filtering # Disable RC filtering
param set RC_FLT_CUTOFF 0.00000 param set RC_FLT_CUTOFF 0.00000
# Filter settings
param set MC_DTERM_CUTOFF 90.00000
param set IMU_GYRO_CUTOFF 100.00000
# Thrust curve (avoids the need for TPA) # Thrust curve (avoids the need for TPA)
param set THR_MDL_FAC 0.25 param set THR_MDL_FAC 0.3
# System # System
param set PWM_MAX 1950 param set PWM_MAX 1950
param set PWM_MIN 1100 param set PWM_MIN 1180
# enable one-shot
param set PWM_RATE 0 param set PWM_RATE 0
param set SYS_FMU_TASK 1
param set SENS_BOARD_ROT 2 param set SENS_BOARD_ROT 2
# Position control
param set MPC_Z_P 1.00000
param set MPC_Z_VEL_P 0.20000
param set MPC_Z_VEL_I 0.02000
param set MPC_Z_VEL_D 0.00000
param set MPC_THR_MIN 0.06000
param set MPC_THR_MAX 0.40000
param set MPC_THR_HOVER 0.3000
param set MIS_TAKEOFF_ALT 1.1000
param set MPC_XY_P 1.7000
param set MPC_XY_VEL_P 0.1300
param set MPC_XY_VEL_I 0.0600
param set MPC_XY_VEL_D 0.0100
param set MPC_TKO_RAMP_T 1.0000
param set MPC_TKO_SPEED 1.1000
param set MPC_VEL_MANUAL 3.0000
param set BAT_SOURCE 0 param set BAT_SOURCE 0
param set CBRK_IO_SAFETY 22027 param set CBRK_IO_SAFETY 22027
param set COM_ARM_EKF_AB 0.00500 #param set COM_ARM_EKF_AB 0.00500
param set COM_DISARM_LAND 3 #param set COM_DISARM_LAND 3
# Filter settings # Filter settings
param set IMU_GYRO_CUTOFF 90.00000 param set IMU_GYRO_CUTOFF 90.00000
param set MC_DTERM_CUTOFF 70.00000 param set MC_DTERM_CUTOFF 100.00000
# Don't try to be intelligent on RC loss: just cut the motors # Don't try to be intelligent on RC loss: just cut the motors
param set NAV_RCL_ACT 6 #param set NAV_RCL_ACT 6
# enable to use high-rate logging for better rate tracking analysis # enable to use high-rate logging for better rate tracking analysis
# param set SDLOG_PROFILE 19 param set SDLOG_PROFILE 27
# TELEM1 ttyS1 # TELEM1 ttyS1
param set MAV_0_CONFIG 101 #param set MAV_0_CONFIG 101
param set MAV_0_MODE 2 # onboard #param set MAV_0_MODE 2 # onboard
param set MAV_0_RATE 20000 #param set MAV_0_RATE 20000
param set SER_TEL1_BAUD 921600 #param set SER_TEL1_BAUD 921600
# TELEM2 ttyS2 # TELEM2 ttyS2
param set MAV_1_CONFIG 0 #param set MAV_1_CONFIG 0
fi fi

132
ROMFS/px4fmu_common/init.d/airframes/6002_draco_r
View File

@@ -24,47 +24,56 @@
# #
# @maintainer Hyon Lim <lim@uvify.com> # @maintainer Hyon Lim <lim@uvify.com>
# #
sh /etc/init.d/rc.mc_defaults
set VEHICLE_TYPE mc
set MIXER hexa_x set MIXER hexa_x
set PWM_OUT 123456 set PWM_OUT 12345678
if [ $AUTOCNF = yes ] if [ $AUTOCNF = yes ]
then then
###############################################
# Attitude & rate gains # Attitude & rate gains
###############################################
# Roll
param set MC_ROLL_P 6.50000 param set MC_ROLL_P 6.50000
param set MC_ROLLRATE_P 0.15000 param set MC_ROLLRATE_P 0.15000
param set MC_ROLLRATE_I 0.05000 param set MC_ROLLRATE_I 0.05000
param set MC_ROLLRATE_D 0.00130 param set MC_ROLLRATE_D 0.00130
param set MC_ROLLRATE_MAX 800.00000
# Pitch
param set MC_PITCH_P 6.50000 param set MC_PITCH_P 6.50000
param set MC_PITCHRATE_P 0.15000 param set MC_PITCHRATE_P 0.15000
param set MC_PITCHRATE_I 0.05000 param set MC_PITCHRATE_I 0.05000
param set MC_PITCHRATE_D 0.00160 param set MC_PITCHRATE_D 0.00160
param set MC_PITCHRATE_MAX 800.00000
# Yaw
param set MC_YAW_P 2.80000 param set MC_YAW_P 2.80000
param set MC_YAWRATE_P 0.20000 param set MC_YAWRATE_P 0.20000
param set MC_YAWRATE_I 0.10000 param set MC_YAWRATE_I 0.10000
param set MC_YAWRATE_D 0.00000 param set MC_YAWRATE_D 0.00000
param set MC_YAW_FF 0.00000 param set MC_YAW_FF 0.00000
#param set MC_ROLL_TC 0.19
#param set MC_PITCH_TC 0.16
# Manual mode settings: Unleash Draco R's power :)
param set MPC_MAN_TILT_MAX 70.00000
param set MPC_MANTHR_MAX 0.90000
param set MPC_MANTHR_MIN 0.08000
param set MPC_MAN_TILT_MAX 35.0000
param set MPC_TILTMAX_AIR 45.0000
param set MPC_POS_MODE 2
param set MPC_AUTO_MODE 1
param set MPC_ACC_HOR 8.0000
param set MC_PITCHRATE_MAX 800.00000
param set MC_ROLLRATE_MAX 800.00000
param set MC_YAWRATE_MAX 700.00000 param set MC_YAWRATE_MAX 700.00000
###############################################
# Multirotor Position Gains
###############################################
param set MPC_ACC_HOR 8.0000
param set MPC_THR_MIN 0.06000
param set MPC_THR_HOVER 0.3000
# altitude control gains
param set MPC_Z_P 1.00000
param set MPC_Z_VEL_P 0.20000
param set MPC_Z_VEL_I 0.02000
param set MPC_Z_VEL_D 0.00000
# position control gains
param set MPC_XY_P 0.9500
param set MPC_XY_VEL_P 0.0900
param set MPC_XY_VEL_I 0.0200
param set MPC_XY_VEL_D 0.0100
# etc gains
param set MPC_TKO_RAMP_T 0.4000
param set MPC_TKO_SPEED 1.5000
param set MPC_VEL_MANUAL 5.0000
# Disable RC filtering # Disable RC filtering
param set RC_FLT_CUTOFF 0.00000 param set RC_FLT_CUTOFF 0.00000
@@ -81,97 +90,58 @@ then
param set PWM_MAIN_DIS5 980 param set PWM_MAIN_DIS5 980
param set PWM_MAIN_DIS6 980 param set PWM_MAIN_DIS6 980
param set SYS_FMU_TASK 1 # DSHOT
param set SENS_BOARD_ROT 2 param set DSHOT_CONFIG 600
param set COM_ARM_MAG 0.2000 param set COM_ARM_MAG 0.2000
# Sensors
param set SENS_EN_LL40LS 2
param set SENS_FLOW_ROT 2
# Position control
param set MPC_Z_P 1.00000
param set MPC_Z_VEL_P 0.20000
param set MPC_Z_VEL_I 0.02000
param set MPC_Z_VEL_D 0.00000
param set MPC_THR_MIN 0.06000
param set MPC_THR_MAX 0.40000
param set MPC_THR_HOVER 0.3000
param set MIS_TAKEOFF_ALT 1.1000 param set MIS_TAKEOFF_ALT 1.1000
param set MPC_XY_P 0.9500 #####################################
param set MPC_XY_VEL_P 0.0900
param set MPC_XY_VEL_I 0.0200
param set MPC_XY_VEL_D 0.0100
param set MPC_TKO_RAMP_T 0.4000
param set MPC_TKO_SPEED 1.5000
param set MPC_VEL_MANUAL 10.0000
# EKF # EKF
# Set baro first #####################################
# Height mode as GPS
param set EKF2_HGT_MODE 1 param set EKF2_HGT_MODE 1
# Enable optical flow and GPS # Enable optical flow and GPS
param set EKF2_AID_MASK 1 param set EKF2_AID_MASK 1
param set EKF2_RNG_AID 0 param set EKF2_RNG_AID 1
param set EKF2_MAG_TYPE 1 param set EKF2_MAG_TYPE 1
param set EKF2_OF_QMIN 80.0000 param set EKF2_OF_QMIN 80.0000
# default horizontal stablization sensors
param set SENS_EN_PMW3901 1
param set SENS_EN_PX4FLOW 1
param set SENS_EN_LL40LS 2
param set SENS_FLOW_ROT 2
# #
param set CBRK_IO_SAFETY 22027 param set CBRK_IO_SAFETY 22027
param set SYS_COMPANION 921600
param set COM_DISARM_LAND 3 param set COM_DISARM_LAND 3
#PWM # PWM ONESHOT
# ONESHOT
param set PWM_RATE 0 param set PWM_RATE 0
# gimbal # Battery
#param set MNT_DO_STAB 1
#param set MNT_MAN_PITCH 1
#param set MNT_MAN_ROLL 2
#param set MNT_MODE_IN 1
param set BAT_SOURCE 0 param set BAT_SOURCE 0
param set BAT_N_CELLS 4 param set BAT_N_CELLS 4
param set BAT_V_DIV 10.133 param set BAT_V_DIV 10.133
# TELEM1 ttyS1 # TELEM1 ttyS1
param set MAV_0_CONFIG 101 param set MAV_0_CONFIG 101
param set MAV_0_MODE 1 # onboard param set MAV_0_MODE 0 # onboard
param set MAV_0_FORWARD 1 param set MAV_0_FORWARD 1
param set SER_TEL1_BAUD 57600 param set SER_TEL1_BAUD 57600
# TELEM2 ttyS2 # TELEM2 ttyS2
param set MAV_1_CONFIG 102 param set MAV_1_CONFIG 102
param set MAV_1_MODE 2 param set MAV_1_MODE 2
param set MAV_1_RATE 800000
param set MAV_1_FORWARD 1 param set MAV_1_FORWARD 1
param set MAV_1_RATE 800000
param set SER_TEL2_BAUD 921600 param set SER_TEL2_BAUD 921600
# Disable internal magnetometer sensor
param set CAL_MAG0_EN 0
# Enable external magnetometer sensor
param set CAL_MAG1_EN 1
fi fi
#set PWM_OUT 12345678
#set MIXER_AUX mount_2axes
#set PWM_AUX_OUT 78
#set PWM_AUX_RATE 50
#set OUTPUT_AUX_DEV /dev/pwm_output0
#set OUTPUT_AUX_TO_MAIN yes
#set MIXER_APPEND yes
#if mixer append /dev/pwm_output0 /etc/mixers/mount_2axes.aux.mix
#then
# echo "INFO [6002] Mixer append success"
#else
# echo "ERROR [6002] Mixer append failed"
#fi
#if pwm rate -c 78 -r 50 -d /dev/pwm_output0
#then
# echo "INFO [6002] PWM RATE CHANGE SUCCESS"
#else
# echo "INFO [6002] PWM RATE CHANGE FAILED"
#fi

6
boards/uvify/core/default.cmake
View File

@@ -24,6 +24,7 @@ px4_add_board(
camera_trigger camera_trigger
#differential_pressure # all available differential pressure drivers #differential_pressure # all available differential pressure drivers
distance_sensor # all available distance sensor drivers distance_sensor # all available distance sensor drivers
dshot
gps gps
#heater #heater
#imu # all available imu drivers #imu # all available imu drivers
@@ -38,15 +39,14 @@ px4_add_board(
magnetometer/lis3mdl magnetometer/lis3mdl
magnetometer/ist8310 magnetometer/ist8310
#mkblctrl #mkblctrl
#optical_flow # all available optical flow drivers optical_flow # all available optical flow drivers
optical_flow/px4flow
pca9685 pca9685
pwm_input pwm_input
pwm_out_sim pwm_out_sim
px4fmu px4fmu
rc_input rc_input
#tap_esc #tap_esc
telemetry # all available telemetry drivers #telemetry # all available telemetry drivers
#test_ppm #test_ppm
tone_alarm tone_alarm
uavcan uavcan

2
boards/uvify/core/init/rc.board_extras
View File

@@ -8,7 +8,7 @@
if param compare SYS_AUTOSTART 4071 if param compare SYS_AUTOSTART 4071
then then
# Change rate to 400 Khz for fast barometer # Change rate to 400 Khz for fast barometer
fmu i2c 1 400000 #fmu i2c 1 400000
# IFO has only external i2c barometer. # IFO has only external i2c barometer.
# It does not start EKF2 in the beginning which is strange behaviour. but 3 seconds hack. # It does not start EKF2 in the beginning which is strange behaviour. but 3 seconds hack.

16
boards/uvify/core/init/rc.board_sensors
View File

@@ -4,20 +4,18 @@
#------------------------------------------------------------------------------ #------------------------------------------------------------------------------
# Internal SPI # Internal SPI
ms5611 -s start ms5611 -T 0 -s start
# Draco-R # Draco-R
if param compare SYS_AUTOSTART 6002 if param compare SYS_AUTOSTART 6002
then then
# Barometer # GPS LED
# Internal SPI rgbled_ncp5623c start -a 0x38
ms5611 -T 0 -s start
# PX4flow #mpu6000 -R 4 -T 20608 start
px4flow start mpu9250 -R 4 start
ist8310 start
mpu6000 -R 2 -T 20608 start # Default GNSS with LIS3MDL magnetometer with external i2c.
mpu9250 -R 2 start
lis3mdl -R 2 -X start lis3mdl -R 2 -X start
fi fi

4
boards/uvify/core/src/board_config.h
View File

@@ -52,7 +52,7 @@
****************************************************************************************************/ ****************************************************************************************************/
/* Configuration ************************************************************************************/ /* Configuration ************************************************************************************/
/* PX4FMU GPIOs ***********************************************************************************/ /* UVify Core GPIOs ***********************************************************************************/
/* LEDs */ /* LEDs */
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN11) #define GPIO_LED1 (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN11)
#define GPIO_LED2 (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1) #define GPIO_LED2 (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1)
@@ -344,6 +344,8 @@
#define BOARD_HAS_ON_RESET 1 #define BOARD_HAS_ON_RESET 1
#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5};
#define BOARD_ENABLE_CONSOLE_BUFFER #define BOARD_ENABLE_CONSOLE_BUFFER
#define BOARD_CONSOLE_BUFFER_SIZE (1024*3) #define BOARD_CONSOLE_BUFFER_SIZE (1024*3)

12
boards/uvify/core/src/timer_config.c
View File

@@ -60,6 +60,12 @@ __EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
.last_channel_index = 3, .last_channel_index = 3,
.handler = io_timer_handler0, .handler = io_timer_handler0,
.vectorno = STM32_IRQ_TIM1CC, .vectorno = STM32_IRQ_TIM1CC,
.dshot = {
.dma_base = STM32_DMA2_BASE,
.dmamap = DMAMAP_TIM1_UP,
.start_ccr_register = TIM_DMABASE_CCR1,
.channels_number = 4u /* CCR1, CCR2, CCR3 and CCR4 */
}
}, },
{ {
@@ -71,6 +77,12 @@ __EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
.last_channel_index = 5, .last_channel_index = 5,
.handler = io_timer_handler1, .handler = io_timer_handler1,
.vectorno = STM32_IRQ_TIM4, .vectorno = STM32_IRQ_TIM4,
.dshot = {
.dma_base = STM32_DMA1_BASE,
.dmamap = DMAMAP_TIM4_UP,
.start_ccr_register = TIM_DMABASE_CCR2,
.channels_number = 2u // CCR2 and CCR3
}
} }
}; };

2
src/drivers/barometer/ms5611/ms5611.cpp
View File

@@ -1024,7 +1024,7 @@ info()
void void
usage() usage()
{ {
warnx("missing command: try 'start', 'info', 'test', 'test2', 'reset'"); warnx("missing command: try 'start', 'info', 'test', 'reset'");
warnx("options:"); warnx("options:");
warnx(" -X (external I2C bus)"); warnx(" -X (external I2C bus)");
warnx(" -I (intternal I2C bus)"); warnx(" -I (intternal I2C bus)");