Merge pull request #426 from limhyon/master

PX4Flow, and several tiny things enhanced.

ROMFS/px4fmu_common/init.d/rc.custom_io_esc

+#!nsh
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+	# Set all params here, then disable autoconfig
+	param set SYS_AUTOCONFIG 0
+
+	param set MC_ATTRATE_D 0.002
+	param set MC_ATTRATE_I 0.0
+	param set MC_ATTRATE_P 0.09
+	param set MC_ATT_D 0.0
+	param set MC_ATT_I 0.0
+	param set MC_ATT_P 6.8
+	param set MC_YAWPOS_D 0.0
+	param set MC_YAWPOS_I 0.0
+	param set MC_YAWPOS_P 2.0
+	param set MC_YAWRATE_D 0.005
+	param set MC_YAWRATE_I 0.2
+	param set MC_YAWRATE_P 0.3
+	param set NAV_TAKEOFF_ALT 3.0
+	param set MPC_TILT_MAX 0.5
+	param set MPC_THR_MAX 0.7
+	param set MPC_THR_MIN 0.3
+	param set MPC_XY_D 0
+	param set MPC_XY_P 0.5
+	param set MPC_XY_VEL_D 0
+	param set MPC_XY_VEL_I 0
+	param set MPC_XY_VEL_MAX 3
+	param set MPC_XY_VEL_P 0.2
+	param set MPC_Z_D 0
+	param set MPC_Z_P 1
+	param set MPC_Z_VEL_D 0
+	param set MPC_Z_VEL_I 0.1
+	param set MPC_Z_VEL_MAX 2
+	param set MPC_Z_VEL_P 0.20
+
+	param save
+fi
+
+echo "RC script for PX4FMU + PX4IO + PPM-ESCs running"
+ 
+#
+# Force some key parameters to sane values
+# MAV_TYPE     2 = quadrotor
+#
+param set MAV_TYPE 2
+
+set EXIT_ON_END no
+
+usleep 10000
+
+#
+# Start and configure PX4IO or FMU interface
+#
+if px4io detect
+then
+	# Start MAVLink (depends on orb)
+	mavlink start -d /dev/ttyS1 -b 115200
+	usleep 5000
+
+	sh /etc/init.d/rc.io
+
+	if [ $ESC_MAKER = afro ]
+	then
+		# Set PWM values for Afro ESCs
+		px4io idle 1050 1050 1050 1050 
+		px4io min 1080 1080 1080 1080
+		px4io max 1860 1860 1860 1860
+	else
+		# Set PWM values for typical ESCs
+        	px4io idle 900 900 900 900
+        	px4io min 1110 1100 1100 1100
+        	px4io max 1800 1800 1800 1800
+	fi
+else
+	fmu mode_pwm
+	# Start MAVLink (on UART1 / ttyS0)
+	mavlink start -d /dev/ttyS1 -b 115200
+	usleep 5000
+	param set BAT_V_SCALING 0.004593
+	set EXIT_ON_END yes
+fi
+
+#
+# Load mixer
+#
+if [ $FRAME_GEOMETRY == x ]
+then
+    echo "Frame geometry X"
+    mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
+else
+    if [ $FRAME_GEOMETRY == w ]
+    then
+	echo "Frame geometry W"
+	mixer load /dev/pwm_output /etc/mixers/FMU_quad_w.mix
+    else
+	echo "Frame geometry +"
+    	mixer load /dev/pwm_output /etc/mixers/FMU_quad_+.mix
+    fi
+fi
+
+#
+# Set PWM output frequency
+#
+pwm -u 400 -m 0xff
+
+#
+# Start common for all multirotors apps
+#
+sh /etc/init.d/rc.multirotor
+
+if [ $EXIT_ON_END == yes ]
+then
+	exit
+fi
+
+echo "Script end"

ROMFS/px4fmu_common/init.d/rcS

@@ -225,6 +225,23 @@ then
 		sh /etc/init.d/rc.custom_dji_f330_mkblctrl
 		set MODE custom
 	fi
+
+	# PX4FMU v1 with IO + PPM-based ESCs on Quad X-shape frame
+	if param compare SYS_AUTOSTART 21
+	then
+		set FRAME_GEOMETRY x
+		set ESC_MAKER afro
+		sh /etc/init.d/rc.custom_io_esc
+		set MODE custom
+	fi
+
+        # PX4FMU v1 with IO + PPM-based ESCs on Quad X-shape frame
+        if param compare SYS_AUTOSTART 22
+        then
+                set FRAME_GEOMETRY w
+                sh /etc/init.d/rc.custom_io_esc
+                set MODE custom
+        fi
 	
 	if param compare SYS_AUTOSTART 30
 	then

src/examples/flow_position_control/flow_position_control_main.c

@@ -67,6 +67,7 @@
 #include <systemlib/perf_counter.h>
 #include <systemlib/err.h>
 #include <poll.h>
+#include <mavlink/mavlink_log.h>
 
 #include "flow_position_control_params.h"
 
@@ -153,20 +154,28 @@ flow_position_control_thread_main(int argc, char *argv[])
 {
 	/* welcome user */
 	thread_running = true;
-	printf("[flow position control] starting\n");
+	static int mavlink_fd;
+	mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
+	mavlink_log_info(mavlink_fd, "[fpc] started");
 
 	uint32_t counter = 0;
 	const float time_scale = powf(10.0f,-6.0f);
 
 	/* structures */
 	struct actuator_armed_s armed;
+	memset(&armed, 0, sizeof(armed));
 	struct vehicle_control_mode_s control_mode;
+	memset(&control_mode, 0, sizeof(control_mode));
 	struct vehicle_attitude_s att;
+	memset(&att, 0, sizeof(att));
 	struct manual_control_setpoint_s manual;
+	memset(&manual, 0, sizeof(manual));
 	struct filtered_bottom_flow_s filtered_flow;
+	memset(&filtered_flow, 0, sizeof(filtered_flow));
 	struct vehicle_local_position_s local_pos;
-
+	memset(&local_pos, 0, sizeof(local_pos));
 	struct vehicle_bodyframe_speed_setpoint_s speed_sp;
+	memset(&speed_sp, 0, sizeof(speed_sp));
 
 	/* subscribe to attitude, motor setpoints and system state */
 	int parameter_update_sub = orb_subscribe(ORB_ID(parameter_update));
@@ -216,6 +225,7 @@ flow_position_control_thread_main(int argc, char *argv[])
 	perf_counter_t mc_err_perf = perf_alloc(PC_COUNT, "flow_position_control_err");
 
 	static bool sensors_ready = false;
+	static bool status_changed = false;
 
 	while (!thread_should_exit)
 	{
@@ -252,7 +262,7 @@ flow_position_control_thread_main(int argc, char *argv[])
 					orb_copy(ORB_ID(parameter_update), parameter_update_sub, &update);
 
 					parameters_update(&param_handles, &params);
-					printf("[flow position control] parameters updated.\n");
+					mavlink_log_info(mavlink_fd,"[fpc] parameters updated.");
 				}
 
 				/* only run controller if position/speed changed */
@@ -270,6 +280,8 @@ flow_position_control_thread_main(int argc, char *argv[])
 					orb_copy(ORB_ID(filtered_bottom_flow), filtered_bottom_flow_sub, &filtered_flow);
 					/* get a local copy of local position */
 					orb_copy(ORB_ID(vehicle_local_position), vehicle_local_position_sub, &local_pos);
+					/* get a local copy of control mode */
+					orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode);
 
 					if (control_mode.flag_control_velocity_enabled)
 					{
@@ -277,6 +289,11 @@ flow_position_control_thread_main(int argc, char *argv[])
 						float manual_roll = manual.roll / params.rc_scale_roll; // 0 to 1
 						float manual_yaw = manual.yaw / params.rc_scale_yaw; // -1 to 1
 
+						if(status_changed == false)
+							mavlink_log_info(mavlink_fd,"[fpc] flow POSITION control engaged");
+
+						status_changed = true;
+
 						/* calc dt */
 						if(last_time == 0)
 						{
@@ -296,7 +313,7 @@ flow_position_control_thread_main(int argc, char *argv[])
 						{
 							flow_sp_sumy = filtered_flow.sumy;
 							update_flow_sp_sumy = false;
-						}
+						} 
 
 						/* calc new bodyframe speed setpoints */
 						float speed_body_x = (flow_sp_sumx - filtered_flow.sumx) * params.pos_p - filtered_flow.vx * params.pos_d;
@@ -518,6 +535,11 @@ flow_position_control_thread_main(int argc, char *argv[])
 					else
 					{
 						/* in manual or stabilized state just reset speed and flow sum setpoint */
+						//mavlink_log_info(mavlink_fd,"[fpc] reset speed sp, flow_sp_sumx,y (%f,%f)",filtered_flow.sumx, filtered_flow.sumy);
+						if(status_changed == true)
+							mavlink_log_info(mavlink_fd,"[fpc] flow POSITION controller disengaged.");
+
+						status_changed = false;
 						speed_sp.vx = 0.0f;
 						speed_sp.vy = 0.0f;
 						flow_sp_sumx = filtered_flow.sumx;
@@ -558,20 +580,20 @@ flow_position_control_thread_main(int argc, char *argv[])
 			else if (ret == 0)
 			{
 				/* no return value, ignore */
-				printf("[flow position control] no attitude received.\n");
+				mavlink_log_info(mavlink_fd,"[fpc] no attitude received.\n");
 			}
 			else
 			{
 				if (fds[0].revents & POLLIN)
 				{
 					sensors_ready = true;
-					printf("[flow position control] initialized.\n");
+					mavlink_log_info(mavlink_fd,"[fpc] initialized.\n");
 				}
 			}
 		}
 	}
 
-	printf("[flow position control] ending now...\n");
+	mavlink_log_info(mavlink_fd,"[fpc] ending now...\n");
 
 	thread_running = false;
 

src/examples/flow_position_estimator/flow_position_estimator_main.c

@@ -345,6 +345,8 @@ int flow_position_estimator_thread_main(int argc, char *argv[])
 						local_pos.y = local_pos.y + global_speed[1] * dt;
 						local_pos.vx = global_speed[0];
 						local_pos.vy = global_speed[1];
+						local_pos.xy_valid = true;
+						local_pos.v_xy_valid = true;
 					}
 					else
 					{
@@ -353,6 +355,8 @@ int flow_position_estimator_thread_main(int argc, char *argv[])
 						filtered_flow.vy = 0;
 						local_pos.vx = 0;
 						local_pos.vy = 0;
+						local_pos.xy_valid = false;
+						local_pos.v_xy_valid = false;
 					}
 
 					/* filtering ground distance */
@@ -361,6 +365,7 @@ int flow_position_estimator_thread_main(int argc, char *argv[])
 						/* not possible to fly */
 						sonar_valid = false;
 						local_pos.z = 0.0f;
+						local_pos.z_valid = false;
 					}
 					else
 					{
@@ -388,6 +393,8 @@ int flow_position_estimator_thread_main(int argc, char *argv[])
 						{
 							local_pos.z = -sonar_new;
 						}
+
+						local_pos.z_valid = true;
 					}
 
 					filtered_flow.timestamp = hrt_absolute_time();

src/examples/flow_speed_control/flow_speed_control_main.c

@@ -65,6 +65,7 @@
 #include <systemlib/perf_counter.h>
 #include <systemlib/err.h>
 #include <poll.h>
+#include <mavlink/mavlink_log.h>
 
 #include "flow_speed_control_params.h"
 
@@ -151,17 +152,23 @@ flow_speed_control_thread_main(int argc, char *argv[])
 {
 	/* welcome user */
 	thread_running = true;
-	printf("[flow speed control] starting\n");
+	static int mavlink_fd;
+	mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
+	mavlink_log_info(mavlink_fd,"[fsc] started");
 
 	uint32_t counter = 0;
 
 	/* structures */
 	struct actuator_armed_s armed;
+	memset(&armed, 0, sizeof(armed));
 	struct vehicle_control_mode_s control_mode;
+	memset(&control_mode, 0, sizeof(control_mode));
 	struct filtered_bottom_flow_s filtered_flow;
+	memset(&filtered_flow, 0, sizeof(filtered_flow));
 	struct vehicle_bodyframe_speed_setpoint_s speed_sp;
-
+	memset(&speed_sp, 0, sizeof(speed_sp));
 	struct vehicle_attitude_setpoint_s att_sp;
+	memset(&att_sp, 0, sizeof(att_sp));
 
 	/* subscribe to attitude, motor setpoints and system state */
 	int parameter_update_sub = orb_subscribe(ORB_ID(parameter_update));
@@ -186,6 +193,7 @@ flow_speed_control_thread_main(int argc, char *argv[])
 	perf_counter_t mc_err_perf = perf_alloc(PC_COUNT, "flow_speed_control_err");
 
 	static bool sensors_ready = false;
+	static bool status_changed = false;
 
 	while (!thread_should_exit)
 	{
@@ -221,7 +229,7 @@ flow_speed_control_thread_main(int argc, char *argv[])
 					orb_copy(ORB_ID(parameter_update), parameter_update_sub, &update);
 
 					parameters_update(&param_handles, &params);
-					printf("[flow speed control] parameters updated.\n");
+					mavlink_log_info(mavlink_fd,"[fsp] parameters updated.");
 				}
 
 				/* only run controller if position/speed changed */
@@ -237,6 +245,8 @@ flow_speed_control_thread_main(int argc, char *argv[])
 					orb_copy(ORB_ID(filtered_bottom_flow), filtered_bottom_flow_sub, &filtered_flow);
 					/* get a local copy of bodyframe speed setpoint */
 					orb_copy(ORB_ID(vehicle_bodyframe_speed_setpoint), vehicle_bodyframe_speed_setpoint_sub, &speed_sp);
+					/* get a local copy of control mode */
+					orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode);
 
 					if (control_mode.flag_control_velocity_enabled)
 					{
@@ -244,6 +254,11 @@ flow_speed_control_thread_main(int argc, char *argv[])
 						float pitch_body = -(speed_sp.vx - filtered_flow.vx) * params.speed_p;
 						float roll_body  =  (speed_sp.vy - filtered_flow.vy) * params.speed_p;
 
+						if(status_changed == false)
+							mavlink_log_info(mavlink_fd,"[fsc] flow SPEED control engaged");
+
+						status_changed = true;
+
 						/* limit roll and pitch corrections */
 						if((pitch_body <= params.limit_pitch) && (pitch_body >= -params.limit_pitch))
 						{
@@ -299,6 +314,11 @@ flow_speed_control_thread_main(int argc, char *argv[])
 					}
 					else
 					{
+						if(status_changed == true)
+							mavlink_log_info(mavlink_fd,"[fsc] flow SPEED controller disengaged.");
+
+						status_changed = false;
+
 						/* reset attitude setpoint */
 						att_sp.roll_body = 0.0f;
 						att_sp.pitch_body = 0.0f;
@@ -334,20 +354,20 @@ flow_speed_control_thread_main(int argc, char *argv[])
 			else if (ret == 0)
 			{
 				/* no return value, ignore */
-				printf("[flow speed control] no attitude received.\n");
+				mavlink_log_info(mavlink_fd,"[fsc] no attitude received.");
 			}
 			else
 			{
 				if (fds[0].revents & POLLIN)
 				{
 					sensors_ready = true;
-					printf("[flow speed control] initialized.\n");
+					mavlink_log_info(mavlink_fd,"[fsp] initialized.");
 				}
 			}
 		}
 	}
 
-	printf("[flow speed control] ending now...\n");
+	mavlink_log_info(mavlink_fd,"[fsc] ending now...");
 
 	thread_running = false;