diff --git a/src/firmware/posix/CMakeLists.txt b/src/firmware/posix/CMakeLists.txt
index dcba5f58512b19fdb5cbbbf3ccf100dc2fa49933..e761f12220fc6eff71d97cf074d2b3ba23b04009 100644
--- a/src/firmware/posix/CMakeLists.txt
+++ b/src/firmware/posix/CMakeLists.txt
@@ -91,7 +91,6 @@ elseif ("${BOARD}" STREQUAL "bebop")
OS ${OS}
BOARD ${BOARD}
FILES ${CMAKE_CURRENT_BINARY_DIR}/px4
- ${PX4_SOURCE_DIR}/posix-configs/bebop/px4.config
DEPENDS px4
DEST /usr/bin)
diff --git a/src/platforms/posix/drivers/df_bebop_bus_wrapper/df_bebop_bus_wrapper.cpp b/src/platforms/posix/drivers/df_bebop_bus_wrapper/df_bebop_bus_wrapper.cpp
index a0d8d0e4a84df6d2786da5fb4b4de5cecaf1d71f..374c54b5747913fc331d3fd997c4505241f6207b 100644
--- a/src/platforms/posix/drivers/df_bebop_bus_wrapper/df_bebop_bus_wrapper.cpp
+++ b/src/platforms/posix/drivers/df_bebop_bus_wrapper/df_bebop_bus_wrapper.cpp
@@ -69,14 +69,28 @@ public:
DfBebopBusWrapper();
~DfBebopBusWrapper() = default;
+ /// Start and initialize the driver
int start();
+
+ /// Stop the driver
int stop();
+
+ /// Print various infos (version, type, flights, errors
int print_info();
+
+ /// Start the motors
int start_motors();
+
+ /// Stop the motors
int stop_motors();
+
+ /// Reset pending errors on the Bebop hardware
int clear_errors();
+
+ /// Set the ESC speeds [front left, front right, back right, back left]
int set_esc_speeds(const float pwm[4]);
+ /// Capture the last throttle value for the battey computation
void set_last_throttle(float throttle) {_last_throttle = throttle;};
private:
@@ -182,6 +196,7 @@ int DfBebopBusWrapper::_publish(struct bebop_state_data &data)
const hrt_abstime timestamp = hrt_absolute_time();
// TODO Check if this is the right way for the Bebop
+ // We don't have current measurements
_battery.updateBatteryStatus(timestamp, data.battery_voltage_v, 0.0, _last_throttle, _armed, &battery_report);
// TODO: when is this ever blocked?
@@ -209,8 +224,7 @@ static bool _is_running = false; // flag indicating if bebop esc app is
static bool _motors_running = false; // flag indicating if the motors are running
static px4_task_t _task_handle = -1; // handle to the task main thread
-static const int FREQUENCY_PWM = 400;
-static const char *MIXER_FILENAME = "/home/root/quad_x.main.mix";
+static const char *MIXER_FILENAME = "/home/root/bebop.main.mix";
// subscriptions
int _controls_sub;
@@ -230,12 +244,14 @@ MixerGroup *_mixers = nullptr;
int start();
int stop();
int info();
+int clear_errors();
void usage();
void task_main(int argc, char *argv[]);
/* mixers initialization */
int initialize_mixers(const char *mixers_filename);
-int mixers_control_callback(uintptr_t handle, uint8_t control_group, uint8_t control_index, float &input);
+int mixers_control_callback(uintptr_t handle, uint8_t control_group,
+ uint8_t control_index, float &input);
int mixers_control_callback(uintptr_t handle,
uint8_t control_group,
@@ -286,7 +302,6 @@ int initialize_mixers(const char *mixers_filename)
void task_main(int argc, char *argv[])
{
_is_running = true;
- _motors_running = false;
// Subscribe for orb topics
_controls_sub = orb_subscribe(ORB_ID(actuator_controls_0));
@@ -295,6 +310,7 @@ void task_main(int argc, char *argv[])
// Start disarmed
_armed.armed = false;
_armed.prearmed = false;
+ _motors_running = false;
// Set up poll topic
px4_pollfd_struct_t fds[1];
@@ -309,9 +325,6 @@ void task_main(int argc, char *argv[])
return;
}
- // TODO check if we have to adjust the frequency
- //orb_set_interval(_controls_sub, 1000);
-
// Main loop
while (!_task_should_exit) {
@@ -352,9 +365,8 @@ void task_main(int argc, char *argv[])
_outputs.output[i] = NAN;
}
- float motor_out[4];
-
- for (size_t i = 0; i < 4; ++i) {
+ // Check if the outputs are in range and rescale
+ for (size_t i = 0; i < _outputs.noutputs; ++i) {
if (i < _outputs.noutputs &&
PX4_ISFINITE(_outputs.output[i]) &&
_outputs.output[i] >= -1.0f &&
@@ -373,6 +385,7 @@ void task_main(int argc, char *argv[])
}
// Adjust order of BLDCs from PX4 to Bebop
+ float motor_out[4];
motor_out[0] = _outputs.output[2];
motor_out[1] = _outputs.output[0];
motor_out[2] = _outputs.output[3];
@@ -395,14 +408,15 @@ void task_main(int argc, char *argv[])
orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed);
}
+ // Start the motors if armed but not alreay running
if (_armed.armed && !_motors_running) {
g_dev->start_motors();
_motors_running = true;
}
+ // Stop motors if not armed but running
if (!_armed.armed && _motors_running) {
g_dev->stop_motors();
- g_dev->clear_errors();
_motors_running = false;
}
}
@@ -515,10 +529,33 @@ info()
return 0;
}
+/**
+ * Clear errors present on the Bebop hardware
+ */
+int
+clear_errors()
+{
+ if (g_dev == nullptr) {
+ PX4_ERR("driver not running");
+ return 1;
+ }
+
+ PX4_DEBUG("state @ %p", g_dev);
+
+ int ret = g_dev->clear_errors();
+
+ if (ret != 0) {
+ PX4_ERR("Unable to clear errors");
+ return ret;
+ }
+
+ return 0;
+}
+
void
usage()
{
- PX4_INFO("Usage: df_bebop_bus_wrapper 'start', 'info', 'stop'");
+ PX4_INFO("Usage: df_bebop_bus_wrapper 'start', 'info', 'clear_errors', 'stop'");
}
} /* df_bebop_bus_wrapper */
@@ -550,6 +587,10 @@ df_bebop_bus_wrapper_main(int argc, char *argv[])
ret = df_bebop_bus_wrapper::info();
}
+ else if (!strcmp(verb, "clear_errors")) {
+ ret = df_bebop_bus_wrapper::clear_errors();
+ }
+
else {
df_bebop_bus_wrapper::usage();
return 1;