Useful bits for high-rate logging

ROMFS/px4fmu_logging/init.d/rcS

@@ -0,0 +1,88 @@
+#!nsh
+#
+# PX4FMU startup script for logging purposes
+#
+
+#
+# Try to mount the microSD card.
+#
+echo "[init] looking for microSD..."
+if mount -t vfat /dev/mmcsd0 /fs/microsd
+then
+	echo "[init] card mounted at /fs/microsd"
+	# Start playing the startup tune
+	tone_alarm start
+else
+	echo "[init] no microSD card found"
+	# Play SOS
+	tone_alarm error
+fi
+
+uorb start
+
+#
+# Start sensor drivers here.
+#
+
+ms5611 start
+adc start
+
+# mag might be external
+if hmc5883 start
+then
+	echo "using HMC5883"
+fi
+
+if mpu6000 start
+then
+	echo "using MPU6000"
+fi
+
+if l3gd20 start
+then
+	echo "using L3GD20(H)"
+fi
+
+if lsm303d start
+then
+	set BOARD fmuv2
+else
+	set BOARD fmuv1
+fi
+
+# Start airspeed sensors
+if meas_airspeed start
+then
+	echo "using MEAS airspeed sensor"
+else
+	if ets_airspeed start
+	then
+		echo "using ETS airspeed sensor (bus 3)"
+	else
+		if ets_airspeed start -b 1
+		then
+			echo "Using ETS airspeed sensor (bus 1)"
+		fi
+	fi
+fi
+
+#
+# Start the sensor collection task.
+# IMPORTANT: this also loads param offsets
+# ALWAYS start this task before the
+# preflight_check.
+#
+if sensors start
+then
+	echo "SENSORS STARTED"
+fi
+
+sdlog2 start -r 250 -e -b 16
+
+if sercon
+then
+	echo "[init] USB interface connected"
+
+	# Try to get an USB console
+	nshterm /dev/ttyACM0 &
+fi

ROMFS/px4fmu_test/init.d/rcS

@@ -2,3 +2,11 @@
 #
 # PX4FMU startup script for test hackery.
 #
+
+if sercon
+then
+	echo "[init] USB interface connected"
+
+	# Try to get an USB console
+	nshterm /dev/ttyACM0 &
+fi

makefiles/config_px4fmu-v2_logging.mk

@@ -0,0 +1,157 @@
+#
+# Makefile for the px4fmu_default configuration
+#
+
+#
+# Use the configuration's ROMFS, copy the px4iov2 firmware into
+# the ROMFS if it's available
+#
+ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/px4fmu_logging
+ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v2_default.bin
+
+#
+# Board support modules
+#
+MODULES		+= drivers/device
+MODULES		+= drivers/stm32
+MODULES		+= drivers/stm32/adc
+MODULES		+= drivers/stm32/tone_alarm
+MODULES		+= drivers/led
+MODULES		+= drivers/px4fmu
+MODULES		+= drivers/px4io
+MODULES		+= drivers/boards/px4fmu-v2
+MODULES		+= drivers/rgbled
+MODULES		+= drivers/mpu6000
+MODULES		+= drivers/lsm303d
+MODULES		+= drivers/l3gd20
+MODULES		+= drivers/hmc5883
+MODULES		+= drivers/ms5611
+MODULES		+= drivers/mb12xx
+MODULES		+= drivers/gps
+MODULES		+= drivers/hil
+MODULES		+= drivers/hott/hott_telemetry
+MODULES		+= drivers/hott/hott_sensors
+MODULES		+= drivers/blinkm
+MODULES		+= drivers/roboclaw
+MODULES		+= drivers/airspeed
+MODULES		+= drivers/ets_airspeed
+MODULES		+= drivers/meas_airspeed
+MODULES		+= modules/sensors
+
+# Needs to be burned to the ground and re-written; for now,
+# just don't build it.
+#MODULES		+= drivers/mkblctrl
+
+#
+# System commands
+#
+MODULES		+= systemcmds/ramtron
+MODULES		+= systemcmds/bl_update
+MODULES		+= systemcmds/boardinfo
+MODULES		+= systemcmds/mixer
+MODULES		+= systemcmds/param
+MODULES		+= systemcmds/perf
+MODULES		+= systemcmds/preflight_check
+MODULES		+= systemcmds/pwm
+MODULES		+= systemcmds/esc_calib
+MODULES		+= systemcmds/reboot
+MODULES		+= systemcmds/top
+MODULES		+= systemcmds/tests
+MODULES		+= systemcmds/config
+MODULES		+= systemcmds/nshterm
+
+#
+# General system control
+#
+MODULES		+= modules/commander
+MODULES		+= modules/navigator
+MODULES		+= modules/mavlink
+MODULES		+= modules/mavlink_onboard
+
+#
+# Estimation modules (EKF/ SO3 / other filters)
+#
+MODULES		+= modules/attitude_estimator_ekf
+MODULES		+= modules/attitude_estimator_so3
+MODULES		+= modules/att_pos_estimator_ekf
+MODULES		+= modules/position_estimator_inav
+MODULES		+= examples/flow_position_estimator
+
+#
+# Vehicle Control
+#
+#MODULES		+= modules/segway # XXX Needs GCC 4.7 fix
+MODULES		+= modules/fw_pos_control_l1
+MODULES		+= modules/fw_att_control
+MODULES		+= modules/multirotor_att_control
+MODULES		+= modules/multirotor_pos_control
+
+#
+# Logging
+#
+MODULES		+= modules/sdlog2
+
+#
+# Unit tests
+#
+#MODULES 	+= modules/unit_test
+#MODULES 	+= modules/commander/commander_tests
+
+#
+# Library modules
+#
+MODULES		+= modules/systemlib
+MODULES		+= modules/systemlib/mixer
+MODULES		+= modules/controllib
+MODULES		+= modules/uORB
+
+#
+# Libraries
+#
+LIBRARIES	+= lib/mathlib/CMSIS
+MODULES		+= lib/mathlib
+MODULES		+= lib/mathlib/math/filter
+MODULES		+= lib/ecl
+MODULES		+= lib/external_lgpl
+MODULES		+= lib/geo
+MODULES		+= lib/conversion
+
+#
+# Demo apps
+#
+#MODULES		+= examples/math_demo
+# Tutorial code from
+# https://pixhawk.ethz.ch/px4/dev/hello_sky
+MODULES		+= examples/px4_simple_app
+
+# Tutorial code from
+# https://pixhawk.ethz.ch/px4/dev/daemon
+#MODULES		+= examples/px4_daemon_app
+
+# Tutorial code from
+# https://pixhawk.ethz.ch/px4/dev/debug_values
+#MODULES		+= examples/px4_mavlink_debug
+
+# Tutorial code from
+# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control
+#MODULES			+= examples/fixedwing_control
+
+# Hardware test
+#MODULES			+= examples/hwtest
+
+#
+# Transitional support - add commands from the NuttX export archive.
+#
+# In general, these should move to modules over time.
+#
+# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
+# to make the table a bit more readable.
+#
+define _B
+	$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
+endef
+
+#                  command                 priority                   stack  entrypoint
+BUILTIN_COMMANDS := \
+	$(call _B, sercon,                 ,                          2048,  sercon_main                ) \
+	$(call _B, serdis,                 ,                          2048,  serdis_main                )

src/systemcmds/tests/test_sensors.c

@@ -78,7 +78,8 @@ static int accel(int argc, char *argv[]);
 static int gyro(int argc, char *argv[]);
 static int mag(int argc, char *argv[]);
 static int baro(int argc, char *argv[]);
-static int mpu6k(int argc, char *argv[]);
+static int accel1(int argc, char *argv[]);
+static int gyro1(int argc, char *argv[]);
 
 /****************************************************************************
  * Private Data
@@ -93,7 +94,8 @@ struct {
 	{"gyro",	"/dev/gyro",	gyro},
 	{"mag",		"/dev/mag",	mag},
 	{"baro",	"/dev/baro",	baro},
-	{"mpu6k",	"/dev/mpu6k",	mpu6k},
+	{"accel1",	"/dev/accel1",	accel1},
+	{"gyro1",	"/dev/gyro1",	gyro1},
 	{NULL, NULL, NULL}
 };
 
@@ -137,7 +139,7 @@ accel(int argc, char *argv[])
 	}
 
 	if (fabsf(buf.x) > 30.0f || fabsf(buf.y) > 30.0f || fabsf(buf.z) > 30.0f) {
-		warnx("MPU6K acceleration values out of range!");
+		warnx("ACCEL1 acceleration values out of range!");
 		return ERROR;
 	}
 
@@ -149,20 +151,19 @@ accel(int argc, char *argv[])
 }
 
 static int
-mpu6k(int argc, char *argv[])
+accel1(int argc, char *argv[])
 {
-	printf("\tMPU6K: test start\n");
+	printf("\tACCEL1: test start\n");
 	fflush(stdout);
 
 	int		fd;
 	struct accel_report buf;
-	struct gyro_report gyro_buf;
 	int		ret;
 
-	fd = open("/dev/accel_mpu6k", O_RDONLY);
+	fd = open("/dev/accel1", O_RDONLY);
 
 	if (fd < 0) {
-		printf("\tMPU6K: open fail, run <mpu6000 start> first.\n");
+		printf("\tACCEL1: open fail, run <mpu6000 start> or <lsm303d start> first.\n");
 		return ERROR;
 	}
 
@@ -173,45 +174,21 @@ mpu6k(int argc, char *argv[])
 	ret = read(fd, &buf, sizeof(buf));
 
 	if (ret != sizeof(buf)) {
-		printf("\tMPU6K: read1 fail (%d)\n", ret);
+		printf("\tACCEL1: read1 fail (%d)\n", ret);
 		return ERROR;
 
 	} else {
-		printf("\tMPU6K accel: x:%8.4f\ty:%8.4f\tz:%8.4f m/s^2\n", (double)buf.x, (double)buf.y, (double)buf.z);
+		printf("\tACCEL1 accel: x:%8.4f\ty:%8.4f\tz:%8.4f m/s^2\n", (double)buf.x, (double)buf.y, (double)buf.z);
 	}
 
 	if (fabsf(buf.x) > 30.0f || fabsf(buf.y) > 30.0f || fabsf(buf.z) > 30.0f) {
-		warnx("MPU6K acceleration values out of range!");
+		warnx("ACCEL1 acceleration values out of range!");
 		return ERROR;
 	}
 
 	/* Let user know everything is ok */
-	printf("\tOK: MPU6K ACCEL passed all tests successfully\n");
+	printf("\tOK: ACCEL1 passed all tests successfully\n");
 
-	close(fd);
-	fd = open("/dev/gyro_mpu6k", O_RDONLY);
-
-	if (fd < 0) {
-		printf("\tMPU6K GYRO: open fail, run <l3gd20 start> or <mpu6000 start> first.\n");
-		return ERROR;
-	}
-
-	/* wait at least 5 ms, sensor should have data after that */
-	usleep(5000);
-
-	/* read data - expect samples */
-	ret = read(fd, &gyro_buf, sizeof(gyro_buf));
-
-	if (ret != sizeof(gyro_buf)) {
-		printf("\tMPU6K GYRO: read fail (%d)\n", ret);
-		return ERROR;
-
-	} else {
-		printf("\tMPU6K GYRO rates: x:%8.4f\ty:%8.4f\tz:%8.4f rad/s\n", (double)gyro_buf.x, (double)gyro_buf.y, (double)gyro_buf.z);
-	}
-
-	/* Let user know everything is ok */
-	printf("\tOK: MPU6K GYRO passed all tests successfully\n");
 	close(fd);
 
 	return OK;
@@ -255,6 +232,44 @@ gyro(int argc, char *argv[])
 	return OK;
 }
 
+static int
+gyro1(int argc, char *argv[])
+{
+	printf("\tGYRO1: test start\n");
+	fflush(stdout);
+
+	int		fd;
+	struct gyro_report buf;
+	int		ret;
+
+	fd = open("/dev/gyro1", O_RDONLY);
+
+	if (fd < 0) {
+		printf("\tGYRO1: open fail, run <l3gd20 start> or <mpu6000 start> first.\n");
+		return ERROR;
+	}
+
+	/* wait at least 5 ms, sensor should have data after that */
+	usleep(5000);
+
+	/* read data - expect samples */
+	ret = read(fd, &buf, sizeof(buf));
+
+	if (ret != sizeof(buf)) {
+		printf("\tGYRO1: read fail (%d)\n", ret);
+		return ERROR;
+
+	} else {
+		printf("\tGYRO1 rates: x:%8.4f\ty:%8.4f\tz:%8.4f rad/s\n", (double)buf.x, (double)buf.y, (double)buf.z);
+	}
+
+	/* Let user know everything is ok */
+	printf("\tOK: GYRO1 passed all tests successfully\n");
+	close(fd);
+
+	return OK;
+}
+
 static int
 mag(int argc, char *argv[])
 {