Merge branch 'master' of https://github.com/PX4/Firmware

Documentation/px4_hil/UserGuide.md

+[TOC]
+
+# Introduction
+
+The HIL architecture allows you to test the flight stack replacing the real physical vehicle and sensors with a simulator of vehicle dynamics and sensor outputs.  The flight stack "is not aware" that it is not on a real vehicle.  This is a powerful tool for develping and testing code rapidly in a benchtop environment. 
+
+The flight stack can be run anywhere that supports a network connection to the simulator (with sufficient bandwidth and latency to transport the sensor and actuator messages).  This can be on a standard linux workstation, an on-target linux image, or the on-target DSP image.  These modes can be selected based on the goals of the testing.  Workstation is useful for rapid testing in a tool-rich environment.  DSP image testing is the closest to the final implementation, so is useful for testing actual HW operation, other than the physical sensing and actuation.
+
+## Px4 High-level HIL Architecture
+
+A diagram of the setup described is shown here.  Note that UDP port numbers are only displayed on the socket server and are left blank on the socket client. 
+
+(???NOTES:  This diagram needs to be updated to use control inputs over UDP, either from QGC or from other)
+
+![SITL Diagram](./SITL_Diagram_QGC.png "SITL Diagram")  
+
+## Requirements
+The simulator that is currently supported is jMAVSim.  The setup described here requires PX4 and jMAVSim installed and running.  qGroundControl (QGC) is also required because it is the supported method of providing manual control commands.  
+
+## Assumptions
+
+# Compiling Code
+
+## JMAVSim
+
+### Platform Requirements
+Linux with java-1.7.x or greater
+
+### Build Instructions
+In a clean directory
+```
+> git clone https://github.com/PX4/jMAVSim.git
+> cd jMAVSim
+> git submodule init
+> git submodule update
+> ant
+```
+
+## qGroundControl
+
+### Platform Requirements
+Windows 7
+Logitech Gamepad F310 joystick controller
+
+### Download/Install Instructions
+Download QGC from http://qgroundcontrol.org/downloads and install using the windows executable.
+
+
+## PX4
+
+### Platfrom Requirements
+Linux or Eagle with a working IP interface (?? does this need further instructions?)
+
+### Build Host Requirements
+(???Notes:  Windows?)
+
+### Download & Build Instructions
+
+### Installing binaries on the Qualcomm Target
+
+# Running PX4 in HIL Mode
+
+## Starting PX4 on Qualcomm Eagle
+
+```
+> adb shell
+# bash
+root@linaro-developer:/# cd ???
+root@linaro-developer:/# ./mainapp
+App name: mainapp
+Enter a command and its args:
+uorb start
+muorb start
+mavlink start -u 14556
+simulator start -p
+```
+
+## Starting jMAVSim
+In the directory where jMAVSim is installed
+```
+ java -cp lib/*:out/production/jmavsim.jar me.drton.jmavsim.Simulator -udp <IPADDR>:14560 -n 100
+```
+replacing <IPADDR> with the IP address of the machine running PX4 (Eagle).  This can be found by running "ifconfig" on that machine.
+
+## Starting qGroundControl
+Launch the qGroundControl application
+1. Set up the communication to the flight stack.  In the menu File:Settings:CommLinks, select Add.  Enter a Link Name of your choice.  Select Link Type: UDP.  Set the listening port to an unused port (example: 14561).  Select Add.  Enter the IP address and port of the PX4 Mavlink app, which is <IPADDR>:14556 with <IPADDR> being the IP address of the Eagle board. Select OK.
+1. Set up the joystick.  Plug in the joystick to your Windows machine.  In the menu File:Settings:CommLinks, check Enable Controllers.  Select "Gamepad F310".  Select "Manual".  Set the axes/channel mapping to 0:Yaw, 1:Throttle, 2:unset, 3:Pitch, 4:Roll.  Seletct "Inverted" for the throttle axis.  Click "Calibrate range".  Move the right joystick through its full range of motion.  Move the left joystick full left then full right.  Move the left joystick full forward (but not full backward).  Click "end calibration."
+1. Connect to the flight stack.  Click Analyze.  Click the "Connect" button in the upper right, and select the connection that you created in the first step.
+
+You should now be connected to the flight stack.  You can see incoming Mavlink packets using the MAVLink Instpector (from Advanced:Tool Widgets)
+
+
+## Controlling PX4 flight in HIL Mode
+The joystick can now be used to fly the simulated vehicle.  The jMAVSim world visualization gives a FPV view, and QGC can be used to display instruments such as artificial horizon and maps (if GPS simulation is enabled).
+
+
+# Debugging/FAQ

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -115,17 +115,6 @@ if px4flow start &
 then
 fi
 
-if param compare SENS_EN_LL40LS 1
-then
-	if pwm_input start
-	then
-	fi
-	
-	if ll40ls start pwm
-	then
-	fi
-fi
-
 #
 # Start sensors
 #

ROMFS/px4fmu_common/init.d/rc.usb

@@ -13,7 +13,7 @@ mavlink stream -d /dev/ttyACM0 -s DISTANCE_SENSOR -r 10
 mavlink stream -d /dev/ttyACM0 -s VFR_HUD -r 20
 mavlink stream -d /dev/ttyACM0 -s ATTITUDE -r 100
 mavlink stream -d /dev/ttyACM0 -s ACTUATOR_CONTROL_TARGET0 -r 30
-mavlink stream -d /dev/ttyACM0 -s RC_CHANNELS_RAW -r 5
+mavlink stream -d /dev/ttyACM0 -s RC_CHANNELS -r 5
 mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 20
 mavlink stream -d /dev/ttyACM0 -s POSITION_TARGET_GLOBAL_INT -r 10
 mavlink stream -d /dev/ttyACM0 -s LOCAL_POSITION_NED -r 30

ROMFS/px4fmu_common/init.d/rcS

@@ -451,6 +451,17 @@ then
 		fi
 	fi
 
+	# Start sensors depending on the interface being up
+	if param compare SENS_EN_LL40LS 1
+	then
+		if pwm_input start
+		then
+			if ll40ls start pwm
+			then
+			fi
+		fi
+	fi
+
 	if [ $MAVLINK_F == default ]
 	then
 		# Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s

Tools/px4params/srcparser.py

@@ -101,6 +101,7 @@ class SourceParser(object):
     re_cut_type_specifier = re.compile(r'[a-z]+$')
     re_is_a_number = re.compile(r'^-?[0-9\.]')
     re_remove_dots = re.compile(r'\.+$')
+    re_remove_carriage_return = re.compile('\n+')
 
     valid_tags = set(["group", "board", "min", "max", "unit"])
 
@@ -188,12 +189,20 @@ class SourceParser(object):
                 if last_comment_line:
                     state = "comment-processed"
             else:
+                tp = None
+                name = None
+                defval = ""
                 # Non-empty line outside the comment
                 m = self.re_parameter_definition.match(line)
                 if m:
                     tp, name, defval = m.group(1, 2, 3)
+                else:
+                    m = self.re_px4_parameter_definition.match(line)
+                    if m:
+                        tp, name = m.group(1, 2)
+                if tp is not None:
                     # Remove trailing type specifier from numbers: 0.1f => 0.1
-                    if self.re_is_a_number.match(defval):
+                    if defval != "" and self.re_is_a_number.match(defval):
                         defval = self.re_cut_type_specifier.sub('', defval)
                     param = Parameter(name, tp, defval)
                     param.SetField("short_desc", name)
@@ -202,52 +211,71 @@ class SourceParser(object):
                     group = "Miscellaneous"
                     if state == "comment-processed":
                         if short_desc is not None:
-                            param.SetField("short_desc",
-                                    self.re_remove_dots.sub('', short_desc))
+                            param.SetField("short_desc", self.re_remove_dots.sub('', short_desc))
                         if long_desc is not None:
+                            long_desc = self.re_remove_carriage_return.sub(' ', long_desc)
                             param.SetField("long_desc", long_desc)
                         for tag in tags:
                             if tag == "group":
                                 group = tags[tag]
                             elif tag not in self.valid_tags:
-                                sys.stderr.write("Skipping invalid "
-                                        "documentation tag: '%s'\n" % tag)
+                                sys.stderr.write("Skipping invalid documentation tag: '%s'\n" % tag)
+                                return False
                             else:
                                 param.SetField(tag, tags[tag])
                     # Store the parameter
                     if group not in self.param_groups:
                         self.param_groups[group] = ParameterGroup(group)
                     self.param_groups[group].AddParameter(param)
-                else:
-                    # Nasty code dup, but this will all go away soon, so quick and dirty (DonLakeFlyer)
-                    m = self.re_px4_parameter_definition.match(line)
-                    if m:
-                        tp, name = m.group(1, 2)
-                        param = Parameter(name, tp)
-                        param.SetField("short_desc", name)
-                        # If comment was found before the parameter declaration,
-                        # inject its data into the newly created parameter.
-                        group = "Miscellaneous"
-                        if state == "comment-processed":
-                            if short_desc is not None:
-                                param.SetField("short_desc",
-                                   self.re_remove_dots.sub('', short_desc))
-                            if long_desc is not None:
-                                param.SetField("long_desc", long_desc)
-                            for tag in tags:
-                                if tag == "group":
-                                    group = tags[tag]
-                                elif tag not in self.valid_tags:
-                                    sys.stderr.write("Skipping invalid "
-                                             "documentation tag: '%s'\n" % tag)
-                                else:
-                                    param.SetField(tag, tags[tag])
-                        # Store the parameter
-                        if group not in self.param_groups:
-                            self.param_groups[group] = ParameterGroup(group)
-                        self.param_groups[group].AddParameter(param)
-                    # Reset parsed comment.
-                    state = None
+                state = None
+        return True
+    
+    def IsNumber(self, numberString):
+        try:
+            float(numberString)
+            return True
+        except ValueError:
+            return False
+
+    def Validate(self):
+        """
+        Validates the parameter meta data.
+        """
+        seenParamNames = []
+        for group in self.GetParamGroups():
+            for param in group.GetParams():
+                name  = param.GetName()
+                board = param.GetFieldValue("board")
+                # Check for duplicates
+                name_plus_board = name + "+" + board
+                for seenParamName in seenParamNames:
+                    if seenParamName == name_plus_board:
+                        sys.stderr.write("Duplicate parameter definition: {0}\n".format(name_plus_board))
+                        return False
+                seenParamNames.append(name_plus_board)
+                # Validate values
+                default = param.GetDefault()
+                min = param.GetFieldValue("min")
+                max = param.GetFieldValue("max")
+                #sys.stderr.write("{0} default:{1} min:{2} max:{3}\n".format(name, default, min, max))
+                if default != "" and not self.IsNumber(default):
+                    sys.stderr.write("Default value not number: {0} {1}\n".format(name, default))
+                    return False
+                if min != "":
+                    if not self.IsNumber(min):
+                        sys.stderr.write("Min value not number: {0} {1}\n".format(name, min))
+                        return False
+                    if default != "" and float(default) < float(min):
+                        sys.stderr.write("Default value is smaller than min: {0} default:{1} min:{2}\n".format(name, default, min))
+                        return False
+                if max != "":
+                    if not self.IsNumber(max):
+                        sys.stderr.write("Max value not number: {0} {1}\n".format(name, max))
+                        return False
+                    if default != "" and float(default) > float(max):
+                        sys.stderr.write("Default value is larger than max: {0} default:{1} max:{2}\n".format(name, default, max))
+                        return False
+        return True
 
     def GetParamGroups(self):
         """

Tools/px4params/srcscanner.py

@@ -17,8 +17,10 @@ class SourceScanner(object):
         for dirname, dirnames, filenames in os.walk(srcdir):
             for filename in filenames:
                 if filename.endswith(extensions):
-                        path = os.path.join(dirname, filename)
-                        self.ScanFile(path, parser)
+                    path = os.path.join(dirname, filename)
+                    if not self.ScanFile(path, parser):
+                        return False
+        return True
 
     def ScanFile(self, path, parser):
         """
@@ -32,4 +34,4 @@ class SourceScanner(object):
                 contents = ''
                 print('Failed reading file: %s, skipping content.' % path)
                 pass
-        parser.Parse(contents)
+        return parser.Parse(contents)

Tools/px_process_params.py

@@ -115,7 +115,10 @@ def main():
 
     # Scan directories, and parse the files
     print("Scanning source path " + args.src_path)
-    scanner.ScanDir(args.src_path, parser)
+    if not scanner.ScanDir(args.src_path, parser):
+        sys.exit(1)
+    if not parser.Validate():
+        sys.exit(1)
     param_groups = parser.GetParamGroups()
 
     # Output to XML file

package.xml

@@ -47,12 +47,14 @@
   <build_depend>libmavconn</build_depend>
   <build_depend>tf</build_depend>
   <build_depend>rostest</build_depend>
+  <build_depend>mav_msgs</build_depend>
   <run_depend>roscpp</run_depend>
   <run_depend>rospy</run_depend>
   <run_depend>std_msgs</run_depend>
   <run_depend>eigen</run_depend>
   <run_depend>libmavconn</run_depend>
   <run_depend>tf</run_depend>
+  <run_depend>mav_msgs</run_depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->

src/drivers/boards/aerocore/board_config.h

@@ -112,6 +112,18 @@ __BEGIN_DECLS
 #define GPIO_GPIO10_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN5)
 #define GPIO_GPIO11_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8)
 
+/*
+ * ADC channels
+ *
+ * These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4 Firmware in the adc driver
+ */
+#define ADC_CHANNELS (1 << 10) | (1 << 11) | (1 << 12) | (1 << 13)
+
+// ADC defines to be used in sensors.cpp to read from a particular channel
+#define ADC_BATTERY_VOLTAGE_CHANNEL	10
+#define ADC_BATTERY_CURRENT_CHANNEL	((uint8_t)(-1))
+#define ADC_AIRSPEED_VOLTAGE_CHANNEL	((uint8_t)(-1))
+
 /* PWM
  *
  * Eight PWM outputs are configured.

src/drivers/boards/px4fmu-v1/board_config.h

@@ -120,6 +120,18 @@ __BEGIN_DECLS
 #define PX4_I2C_OBDEV_PX4IO_BL	0x18
 #define PX4_I2C_OBDEV_PX4IO	0x1a
 
+/*
+ * ADC channels
+ *
+ * These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4 Firmware in the adc driver
+ */
+#define ADC_CHANNELS (1 << 10) | (1 << 11) | (1 << 12) | (1 << 13)
+
+// ADC defines to be used in sensors.cpp to read from a particular channel
+#define ADC_BATTERY_VOLTAGE_CHANNEL	10
+#define ADC_BATTERY_CURRENT_CHANNEL	((uint8_t)(-1))
+#define ADC_AIRSPEED_VOLTAGE_CHANNEL	11
+
 /* User GPIOs
  *
  * GPIO0-1 are the buffered high-power GPIOs.

src/drivers/boards/px4fmu-v2/board_config.h

@@ -146,6 +146,19 @@ __BEGIN_DECLS
 #define PX4_I2C_OBDEV_LED	0x55
 #define PX4_I2C_OBDEV_HMC5883	0x1e
 
+/*
+ * ADC channels
+ *
+ * These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4 Firmware in the adc driver
+ */
+#define ADC_CHANNELS (1 << 2) | (1 << 3) | (1 << 4) | (1 << 10) | (1 << 11) | (1 << 12) | (1 << 13) | (1 << 14) | (1 << 15)
+
+// ADC defines to be used in sensors.cpp to read from a particular channel
+#define ADC_BATTERY_VOLTAGE_CHANNEL	2
+#define ADC_BATTERY_CURRENT_CHANNEL	3
+#define ADC_5V_RAIL_SENSE		4
+#define ADC_AIRSPEED_VOLTAGE_CHANNEL	15
+
 /* User GPIOs
  *
  * GPIO0-5 are the PWM servo outputs.

src/drivers/gps/gps.cpp

@@ -310,7 +310,7 @@ GPS::task_main()
 			_report_gps_pos.cog_rad = 0.0f;
 			_report_gps_pos.vel_ned_valid = true;				
 
-			//no time and satellite information simulated
+			/* no time and satellite information simulated */
 
 
 			if (!(_pub_blocked)) {
@@ -351,28 +351,46 @@ GPS::task_main()
 
 			unlock();
 
+			/* the Ashtech driver lies about successful configuration and the
+			 * MTK driver is not well tested, so we really only trust the UBX
+			 * driver for an advance publication
+			 */
 			if (_Helper->configure(_baudrate) == 0) {
 				unlock();
 
-				//Publish initial report that we have access to a GPS
-				//Make sure to clear any stale data in case driver is reset
+				/* reset report */
 				memset(&_report_gps_pos, 0, sizeof(_report_gps_pos));
-				_report_gps_pos.timestamp_position = hrt_absolute_time();
-				_report_gps_pos.timestamp_variance = hrt_absolute_time();
-				_report_gps_pos.timestamp_velocity = hrt_absolute_time();
-				_report_gps_pos.timestamp_time = hrt_absolute_time();
 
-				if (!(_pub_blocked)) {
-					if (_report_gps_pos_pub != nullptr) {
-						orb_publish(ORB_ID(vehicle_gps_position), _report_gps_pos_pub, &_report_gps_pos);
+				if (_mode == GPS_DRIVER_MODE_UBX) {
+					/* Publish initial report that we have access to a GPS,
+					 * but set all critical state fields to indicate we have
+					 * no valid position lock
+					 */
 
-					} else {
-						_report_gps_pos_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report_gps_pos);
+					_report_gps_pos.timestamp_time = hrt_absolute_time();
+
+					/* reset the timestamps for data, because we have no data yet */
+					_report_gps_pos.timestamp_position = 0;
+					_report_gps_pos.timestamp_variance = 0;
+					_report_gps_pos.timestamp_velocity = 0;
+
+					/* set a massive variance */
+					_report_gps_pos.eph = 10000.0f;
+					_report_gps_pos.epv = 10000.0f;
+					_report_gps_pos.fix_type = 0;
+
+					if (!(_pub_blocked)) {
+						if (_report_gps_pos_pub != nullptr) {
+							orb_publish(ORB_ID(vehicle_gps_position), _report_gps_pos_pub, &_report_gps_pos);
+
+						} else {
+							_report_gps_pos_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report_gps_pos);
+						}
 					}
-				}
 
-				// GPS is obviously detected successfully, reset statistics
-				_Helper->reset_update_rates();
+					/* GPS is obviously detected successfully, reset statistics */
+					_Helper->reset_update_rates();
+				}
 
 				int helper_ret;
 				while ((helper_ret = _Helper->receive(TIMEOUT_5HZ)) > 0 && !_task_should_exit) {

src/drivers/stm32/adc/adc.cpp

@@ -410,19 +410,8 @@ int
 adc_main(int argc, char *argv[])
 {
 	if (g_adc == nullptr) {
-#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
-		/* XXX this hardcodes the default channel set for PX4FMUv1 - should be configurable */
-		g_adc = new ADC((1 << 10) | (1 << 11) | (1 << 12) | (1 << 13));
-#endif
-#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
-		/* XXX this hardcodes the default channel set for PX4FMUv2 - should be configurable */
-		g_adc = new ADC((1 << 2) | (1 << 3) | (1 << 4) | 
-			(1 << 10) | (1 << 11) | (1 << 12) | (1 << 13) | (1 << 14) | (1 << 15));
-#endif
-#ifdef CONFIG_ARCH_BOARD_AEROCORE
-		/* XXX this hardcodes the default channel set for AeroCore - should be configurable */
-		g_adc = new ADC((1 << 10) | (1 << 11) | (1 << 12) | (1 << 13));
-#endif
+        /* XXX this hardcodes the default channel set for the board in board_config.h - should be configurable */
+        g_adc = new ADC(ADC_CHANNELS);
 
 		if (g_adc == nullptr)
 			errx(1, "couldn't allocate the ADC driver");

src/modules/camera_trigger/camera_trigger_params.c

@@ -83,7 +83,6 @@ PARAM_DEFINE_INT32(TRIG_POLARITY, 0);
  * integration.
  *
  * @unit milliseconds
- * @default 4.0 ms
  * @group Camera trigger
  */
 PARAM_DEFINE_FLOAT(TRIG_ACT_TIME, 5.0f);

src/modules/commander/commander_params.c

@@ -114,7 +114,7 @@ PARAM_DEFINE_FLOAT(BAT_V_CHARGED, 4.2f);
  *
  * @group Battery Calibration
  * @unit V
- * @min 0.0f
+ * @min 0.0
  */
 PARAM_DEFINE_FLOAT(BAT_V_LOAD_DROP, 0.07f);
 

src/modules/commander/mag_calibration.cpp

@@ -226,7 +226,7 @@ static calibrate_return mag_calibration_worker(detect_orientation_return orienta
 	 * for a good result, so we're not constraining the user more than we have to.
 	 */
 
-	hrt_abstime detection_deadline = hrt_absolute_time() + worker_data->calibration_interval_perside_useconds;
+	hrt_abstime detection_deadline = hrt_absolute_time() + worker_data->calibration_interval_perside_useconds * 2;
 	hrt_abstime last_gyro = 0;
 	float gyro_x_integral = 0.0f;
 	float gyro_y_integral = 0.0f;